1 // FGAICarrier - FGAIShip-derived class creates an AI aircraft carrier
3 // Written by David Culp, started October 2004.
4 // - davidculp2@comcast.net
6 // This program is free software; you can redistribute it and/or
7 // modify it under the terms of the GNU General Public License as
8 // published by the Free Software Foundation; either version 2 of the
9 // License, or (at your option) any later version.
11 // This program is distributed in the hope that it will be useful, but
12 // WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with this program; if not, write to the Free Software
18 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
28 #include <simgear/sg_inlines.h>
29 #include <simgear/math/sg_geodesy.hxx>
32 #include <Main/util.hxx>
33 #include <Main/globals.hxx>
34 #include <Main/fg_props.hxx>
36 #include "AICarrier.hxx"
38 FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
41 FGAICarrier::~FGAICarrier() {
44 void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
48 FGAIShip::readFromScenario(scFileNode);
50 setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
51 setSign(scFileNode->getStringValue("pennant-number"));
52 setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
53 setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
54 setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
55 setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
56 setMinLat(scFileNode->getDoubleValue("min-lat", 0));
57 setMaxLong(scFileNode->getDoubleValue("max-long", 0));
58 setMinLong(scFileNode->getDoubleValue("min-long", 0));
59 setMPControl(scFileNode->getBoolValue("mp-control", false));
60 setAIControl(scFileNode->getBoolValue("ai-control", false));
61 setCallSign(scFileNode->getStringValue("callsign", ""));
64 SGPropertyNode* flols = scFileNode->getChild("flols-pos");
66 // Transform to the right coordinate frame, configuration is done in
67 // the usual x-back, y-right, z-up coordinates, computations
68 // in the simulation usual body x-forward, y-right, z-down coordinates
69 flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
70 flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
71 flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
73 flols_off = SGVec3d::zeros();
75 std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
76 std::vector<SGPropertyNode_ptr>::const_iterator it;
77 for (it = props.begin(); it != props.end(); ++it) {
78 const string name = (*it)->getStringValue("name", "unnamed");
79 // Transform to the right coordinate frame, configuration is done in
80 // the usual x-back, y-right, z-up coordinates, computations
81 // in the simulation usual body x-forward, y-right, z-down coordinates
82 double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
83 double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
84 double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
85 double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
86 ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
87 ppositions.push_back(pp);
91 void FGAICarrier::setWind_from_east(double fps) {
95 void FGAICarrier::setWind_from_north(double fps) {
96 wind_from_north = fps;
99 void FGAICarrier::setMaxLat(double deg) {
103 void FGAICarrier::setMinLat(double deg) {
107 void FGAICarrier::setMaxLong(double deg) {
108 max_long = fabs(deg);
111 void FGAICarrier::setMinLong(double deg) {
112 min_long = fabs(deg);
115 void FGAICarrier::setSign(const string& s) {
119 void FGAICarrier::setTACANChannelID(const string& id) {
120 TACAN_channel_id = id;
123 void FGAICarrier::setMPControl(bool c) {
127 void FGAICarrier::setAIControl(bool c) {
131 void FGAICarrier::update(double dt) {
132 // Now update the position and heading. This will compute new hdg and
133 // roll values required for the rotation speed computation.
134 FGAIShip::update(dt);
136 //automatic turn into wind with a target wind of 25 kts otd
137 //SG_LOG(SG_AI, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
138 if (!MPControl && AIControl){
140 if(turn_to_launch_hdg){
142 } else if(turn_to_recovery_hdg ){
144 } else if(OutsideBox() || returning ) {// check that the carrier is inside
145 ReturnToBox(); // the operating box,
151 FGAIShip::TurnTo(tgt_heading);
152 FGAIShip::AccelTo(tgt_speed);
156 UpdateElevator(dt, transition_time);
157 UpdateJBD(dt, jbd_transition_time);
159 // Transform that one to the horizontal local coordinate system.
160 SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
161 // The orientation of the carrier wrt the horizontal local frame
162 SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
163 // and postrotate the orientation of the AIModel wrt the horizontal
165 SGQuatd ec2body = ec2hl*hl2body;
166 // The cartesian position of the carrier in the wgs84 world
167 SGVec3d cartPos = SGVec3d::fromGeod(pos);
169 // The position of the eyepoint - at least near that ...
170 SGVec3d eyePos(globals->get_view_position_cart());
171 // Add the position offset of the AIModel to gain the earth
173 SGVec3d eyeWrtCarrier = eyePos - cartPos;
174 // rotate the eyepoint wrt carrier vector into the carriers frame
175 eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
176 // the eyepoints vector wrt the flols position
177 SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
179 // the distance from the eyepoint to the flols
180 dist = norm(eyeWrtFlols);
182 // now the angle, positive angles are upwards
183 if (fabs(dist) < SGLimits<float>::min()) {
186 double sAngle = -eyeWrtFlols(2)/dist;
187 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
188 angle = SGMiscd::rad2deg(asin(sAngle));
191 // set the value of source
192 if ( angle <= 4.35 && angle > 4.01 )
194 else if ( angle <= 4.01 && angle > 3.670 )
196 else if ( angle <= 3.670 && angle > 3.330 )
198 else if ( angle <= 3.330 && angle > 2.990 )
200 else if ( angle <= 2.990 && angle > 2.650 )
202 else if ( angle <= 2.650 )
208 bool FGAICarrier::init(bool search_in_AI_path) {
209 if (!FGAIShip::init(search_in_AI_path))
212 _longitude_node = fgGetNode("/position/longitude-deg", true);
213 _latitude_node = fgGetNode("/position/latitude-deg", true);
214 _altitude_node = fgGetNode("/position/altitude-ft", true);
216 _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
218 _surface_wind_from_deg_node =
219 fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
220 _surface_wind_speed_node =
221 fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
224 turn_to_launch_hdg = false;
225 turn_to_recovery_hdg = false;
226 turn_to_base_course = true;
234 pos_norm = raw_pos_norm = 0;
236 transition_time = 150;
237 time_constant = 0.005;
238 jbd_pos_norm = raw_jbd_pos_norm = 0;
240 jbd_transition_time = 3;
241 jbd_time_constant = 0.1;
245 void FGAICarrier::bind() {
248 props->untie("velocities/true-airspeed-kt");
250 tie("controls/flols/source-lights",
251 SGRawValuePointer<int>(&source));
252 tie("controls/flols/distance-m",
253 SGRawValuePointer<double>(&dist));
254 tie("controls/flols/angle-degs",
255 SGRawValuePointer<double>(&angle));
256 tie("controls/turn-to-launch-hdg",
257 SGRawValuePointer<bool>(&turn_to_launch_hdg));
258 tie("controls/in-to-wind",
259 SGRawValuePointer<bool>(&turn_to_launch_hdg));
260 tie("controls/base-course-deg",
261 SGRawValuePointer<double>(&base_course));
262 tie("controls/base-speed-kts",
263 SGRawValuePointer<double>(&base_speed));
264 tie("controls/start-pos-lat-deg",
265 SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
266 tie("controls/start-pos-long-deg",
267 SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
268 tie("controls/mp-control",
269 SGRawValuePointer<bool>(&MPControl));
270 tie("controls/ai-control",
271 SGRawValuePointer<bool>(&AIControl));
272 tie("environment/surface-wind-speed-true-kts",
273 SGRawValuePointer<double>(&wind_speed_kts));
274 tie("environment/surface-wind-from-true-degs",
275 SGRawValuePointer<double>(&wind_from_deg));
276 tie("environment/rel-wind-from-degs",
277 SGRawValuePointer<double>(&rel_wind_from_deg));
278 tie("environment/rel-wind-from-carrier-hdg-degs",
279 SGRawValuePointer<double>(&rel_wind));
280 tie("environment/rel-wind-speed-kts",
281 SGRawValuePointer<double>(&rel_wind_speed_kts));
282 tie("environment/in-to-wind",
283 SGRawValuePointer<bool>(&in_to_wind));
284 //tie("controls/flols/wave-off-lights",
285 // SGRawValuePointer<bool>(&wave_off_lights));
286 tie("controls/elevators",
287 SGRawValuePointer<bool>(&elevators));
288 tie("surface-positions/elevators-pos-norm",
289 SGRawValuePointer<double>(&pos_norm));
290 tie("controls/constants/elevators/trans-time-s",
291 SGRawValuePointer<double>(&transition_time));
292 tie("controls/constants/elevators/time-constant",
293 SGRawValuePointer<double>(&time_constant));
295 SGRawValuePointer<bool>(&jbd));
296 tie("surface-positions/jbd-pos-norm",
297 SGRawValuePointer<double>(&jbd_pos_norm));
298 tie("controls/constants/jbd/trans-time-s",
299 SGRawValuePointer<double>(&jbd_transition_time));
300 tie("controls/constants/jbd/time-constant",
301 SGRawValuePointer<double>(&jbd_time_constant));
302 tie("controls/turn-to-recovery-hdg",
303 SGRawValuePointer<bool>(&turn_to_recovery_hdg));
304 tie("controls/turn-to-base-course",
305 SGRawValuePointer<bool>(&turn_to_base_course));
307 props->setBoolValue("controls/flols/cut-lights", false);
308 props->setBoolValue("controls/flols/wave-off-lights", false);
309 props->setBoolValue("controls/flols/cond-datum-lights", true);
310 props->setBoolValue("controls/crew", false);
311 props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
312 props->setStringValue("sign", sign.c_str());
313 props->setBoolValue("controls/lighting/deck-lights", false);
314 props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
317 bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
318 double& hdng, SGVec3d& uvw)
321 // FIXME: does not yet cover rotation speeds.
322 list<ParkPosition>::iterator it = ppositions.begin();
323 while (it != ppositions.end()) {
324 // Take either the specified one or the first one ...
325 if ((*it).name == id || id.empty()) {
326 ParkPosition ppos = *it;
327 SGVec3d cartPos = getCartPosAt(ppos.offset);
328 geodPos = SGGeod::fromCart(cartPos);
329 hdng = hdg + ppos.heading_deg;
330 double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
331 double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
332 double speed_fps = speed*1.6878099;
333 uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
342 // find relative wind
343 void FGAICarrier::UpdateWind( double dt) {
345 //get the surface wind speed and direction
346 wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
347 wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
349 //calculate the surface wind speed north and east in kts
350 double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
351 double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
353 //calculate the carrier speed north and east in kts
354 double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
355 double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
357 //calculate the relative wind speed north and east in kts
358 double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
359 double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
361 //combine relative speeds north and east to get relative windspeed in kts
362 rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
363 + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
365 //calculate the relative wind direction
366 rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
367 * SG_RADIANS_TO_DEGREES;
370 rel_wind = rel_wind_from_deg - hdg;
371 SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
373 //set in to wind property
376 //switch the wave-off lights
378 // wave_off_lights = false;
380 // wave_off_lights = true;
382 // cout << "rel wind: " << rel_wind << endl;
387 void FGAICarrier::TurnToLaunch(){
389 // calculate tgt heading
390 if (wind_speed_kts < 3){
391 tgt_heading = base_course;
393 tgt_heading = wind_from_deg;
396 //calculate tgt speed
397 double tgt_speed = 25 - wind_speed_kts;
402 FGAIShip::TurnTo(tgt_heading);
403 FGAIShip::AccelTo(tgt_speed);
407 void FGAICarrier::TurnToRecover(){
409 //these are the rules for adjusting heading to provide a relative wind
410 //down the angled flightdeck
412 if (wind_speed_kts < 3){
413 tgt_heading = base_course + 60;
414 } else if (rel_wind < -9 && rel_wind >= -180){
415 tgt_heading = wind_from_deg;
416 } else if (rel_wind > -7 && rel_wind < 45){
417 tgt_heading = wind_from_deg + 60;
418 } else if (rel_wind >=45 && rel_wind < 180){
419 tgt_heading = wind_from_deg + 45;
423 SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
425 //calculate tgt speed
426 double tgt_speed = 26 - wind_speed_kts;
431 FGAIShip::TurnTo(tgt_heading);
432 FGAIShip::AccelTo(tgt_speed);
435 void FGAICarrier::TurnToBase(){
438 FGAIShip::TurnTo(base_course);
439 FGAIShip::AccelTo(base_speed);
444 void FGAICarrier::ReturnToBox(){
445 double course, distance, az2;
447 //calculate the bearing and range of the initial position from the carrier
448 geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
450 distance *= SG_METER_TO_NM;
452 //cout << "return course: " << course << " distance: " << distance << endl;
454 FGAIShip::TurnTo(course);
455 FGAIShip::AccelTo(base_speed);
462 } // end turn to base
465 bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
467 if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
468 SG_LOG(SG_AI, SG_DEBUG, "AICarrier: No Operating Box defined" );
472 if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
473 if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
476 if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
479 } else { //southern hemisphere
480 if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
483 if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
487 if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
488 if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
491 if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
494 } else { //western hemisphere
495 if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
498 if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
507 bool FGAICarrier::InToWind() {
510 if ( fabs(rel_wind) < 10 ){
518 void FGAICarrier::UpdateElevator(double dt, double transition_time) {
522 if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
525 // move the elevators
527 step = dt/transition_time;
531 step = -dt/transition_time;
535 // assume a linear relationship
536 raw_pos_norm += step;
539 pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
541 //sanitise the output
542 if (raw_pos_norm >= 1) {
544 } else if (raw_pos_norm <= 0) {
549 } // end UpdateElevator
551 void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
553 const string launchbar_state = _launchbar_state_node->getStringValue();
556 if (launchbar_state == "Engaged"){
562 if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_pos_norm <= 0 )){
568 step = dt/jbd_transition_time;
572 step = -dt/jbd_transition_time;
577 // assume a linear relationship
578 raw_jbd_pos_norm += step;
581 jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
583 //sanitise the output
584 if (jbd_pos_norm >= 1) {
586 } else if (jbd_pos_norm <= 0) {