1 // FGAIShip - FGAIBase-derived class creates an AI ship
3 // Written by David Culp, started October 2003.
4 // with major amendments and additions by Vivian Meazza, 2004 - 2007
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.
26 # define finite _finite
27 #elif defined(__sun) || defined(sgi)
33 #include <simgear/sg_inlines.h>
34 #include <simgear/math/sg_geodesy.hxx>
35 #include <simgear/timing/sg_time.hxx>
36 #include <simgear/math/sg_random.h>
38 #include <simgear/scene/util/SGNodeMasks.hxx>
39 #include <Scenery/scenery.hxx>
44 FGAIShip::FGAIShip(object_type ot) :
55 _initial_tunnel(false),
70 _roll_constant(0.001),
72 _roll_factor(-0.0083335),
79 FGAIShip::~FGAIShip() {
82 void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
87 FGAIBase::readFromScenario(scFileNode);
89 setRudder(scFileNode->getFloatValue("rudder", 0.0));
90 setName(scFileNode->getStringValue("name", "Titanic"));
91 setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
92 std::string flightplan = scFileNode->getStringValue("flightplan");
93 setRepeat(scFileNode->getBoolValue("repeat", false));
94 setRestart(scFileNode->getBoolValue("restart", false));
95 setStartTime(scFileNode->getStringValue("time", ""));
96 setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
97 setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
98 setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75));
99 setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
100 setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
101 setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
103 if (!flightplan.empty()) {
104 SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
106 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
112 bool FGAIShip::init(bool search_in_AI_path) {
113 prev = 0; // the one behind you
114 curr = 0; // the one ahead
115 next = 0; // the next plus 1
117 props->setStringValue("name", _name.c_str());
118 props->setStringValue("waypoint/name-prev", _prev_name.c_str());
119 props->setStringValue("waypoint/name-curr", _curr_name.c_str());
120 props->setStringValue("waypoint/name-next", _next_name.c_str());
121 props->setStringValue("submodels/path", _path.c_str());
122 props->setStringValue("waypoint/start-time", _start_time.c_str());
123 props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
129 _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
132 _fp_init = initFlightPlan();
134 return FGAIBase::init(search_in_AI_path);
137 void FGAIShip::bind() {
140 props->tie("surface-positions/rudder-pos-deg",
141 SGRawValuePointer<float>(&_rudder));
142 props->tie("controls/heading-lock",
143 SGRawValuePointer<bool>(&_hdg_lock));
144 props->tie("controls/tgt-speed-kts",
145 SGRawValuePointer<double>(&tgt_speed));
146 props->tie("controls/tgt-heading-degs",
147 SGRawValuePointer<double>(&tgt_heading));
148 props->tie("controls/constants/rudder",
149 SGRawValuePointer<double>(&_rudder_constant));
150 props->tie("controls/constants/roll-factor",
151 SGRawValuePointer<double>(&_roll_factor));
152 props->tie("controls/constants/roll",
153 SGRawValuePointer<double>(&_roll_constant));
154 props->tie("controls/constants/rudder",
155 SGRawValuePointer<double>(&_rudder_constant));
156 props->tie("controls/constants/speed",
157 SGRawValuePointer<double>(&_speed_constant));
158 props->tie("waypoint/range-nm",
159 SGRawValuePointer<double>(&_wp_range));
160 props->tie("waypoint/brg-deg",
161 SGRawValuePointer<double>(&_course));
162 props->tie("waypoint/rangerate-nm-sec",
163 SGRawValuePointer<double>(&_range_rate));
164 props->tie("waypoint/new",
165 SGRawValuePointer<bool>(&_new_waypoint));
166 props->tie("waypoint/missed",
167 SGRawValuePointer<bool>(&_missed));
168 props->tie("waypoint/missed-count-sec",
169 SGRawValuePointer<double>(&_missed_count));
170 props->tie("waypoint/missed-range-nm",
171 SGRawValuePointer<double>(&_missed_range));
172 props->tie("waypoint/missed-time-sec",
173 SGRawValuePointer<double>(&_missed_time_sec));
174 props->tie("waypoint/wait-count-sec",
175 SGRawValuePointer<double>(&_wait_count));
176 props->tie("waypoint/xtrack-error-ft",
177 SGRawValuePointer<double>(&_xtrack_error));
178 props->tie("waypoint/waiting",
179 SGRawValuePointer<bool>(&_waiting));
180 props->tie("waypoint/lead-angle-deg",
181 SGRawValuePointer<double>(&_lead_angle));
182 props->tie("waypoint/tunnel",
183 SGRawValuePointer<bool>(&_tunnel));
184 props->tie("waypoint/alt-curr-m",
185 SGRawValuePointer<double>(&_curr_alt));
186 props->tie("waypoint/alt-prev-m",
187 SGRawValuePointer<double>(&_prev_alt));
188 props->tie("submodels/serviceable",
189 SGRawValuePointer<bool>(&_serviceable));
190 props->tie("controls/turn-radius-ft",
191 SGRawValuePointer<double>(&turn_radius_ft));
192 props->tie("controls/turn-radius-corrected-ft",
193 SGRawValuePointer<double>(&_rd_turn_radius_ft));
194 props->tie("controls/constants/lead-angle/gain",
195 SGRawValuePointer<double>(&_lead_angle_gain));
196 props->tie("controls/constants/lead-angle/limit-deg",
197 SGRawValuePointer<double>(&_lead_angle_limit));
198 props->tie("controls/constants/lead-angle/proportion",
199 SGRawValuePointer<double>(&_proportion));
200 props->tie("controls/fixed-turn-radius-ft",
201 SGRawValuePointer<double>(&_fixed_turn_radius));
202 props->tie("controls/restart",
203 SGRawValuePointer<bool>(&_restart));
204 props->tie("velocities/speed-kts",
205 SGRawValuePointer<double>(&speed));
208 void FGAIShip::unbind() {
210 props->untie("surface-positions/rudder-pos-deg");
211 props->untie("controls/heading-lock");
212 props->untie("controls/tgt-speed-kts");
213 props->untie("controls/tgt-heading-degs");
214 props->untie("controls/constants/roll");
215 props->untie("controls/constants/rudder");
216 props->untie("controls/constants/roll-factor");
217 props->untie("controls/constants/speed");
218 props->untie("waypoint/range-nm");
219 props->untie("waypoint/range-brg-deg");
220 props->untie("waypoint/rangerate-nm-sec");
221 props->untie("waypoint/new");
222 props->untie("waypoint/missed");
223 props->untie("waypoint/missed-count-sec");
224 props->untie("waypoint/missed-time-sec");
225 props->untie("waypoint/missed-range");
226 props->untie("waypoint/wait-count-sec");
227 props->untie("waypoint/lead-angle-deg");
228 props->untie("waypoint/xtrack-error-ft");
229 props->untie("waypoint/waiting");
230 props->untie("waypoint/tunnel");
231 props->untie("waypoint/alt-curr-m");
232 props->untie("waypoint/alt-prev-m");
233 props->untie("submodels/serviceable");
234 props->untie("controls/turn-radius-ft");
235 props->untie("controls/turn-radius-corrected-ft");
236 props->untie("controls/constants/lead-angle/gain");
237 props->untie("controls/constants/lead-angle/limit-deg");
238 props->untie("controls/constants/lead-angle/proportion");
239 props->untie("controls/fixed-turn-radius-ft");
240 props->untie("controls/constants/speed");
241 props->untie("controls/restart");
242 props->untie("velocities/speed-kts");
245 void FGAIShip::update(double dt) {
246 //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
247 // For computation of rotation speeds we just use finite differences here.
248 // That is perfectly valid since this thing is not driven by accelerations
249 // but by just apply discrete changes at its velocity variables.
250 // Update the velocity information stored in those nodes.
251 // Transform that one to the horizontal local coordinate system.
252 SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
253 // The orientation of the carrier wrt the horizontal local frame
254 SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
255 // and postrotate the orientation of the AIModel wrt the horizontal
257 SGQuatd ec2body = ec2hl*hl2body;
258 // The cartesian position of the carrier in the wgs84 world
259 SGVec3d cartPos = SGVec3d::fromGeod(pos);
261 // The simulation time this transform is meant for
262 aip.setReferenceTime(globals->get_sim_time_sec());
264 // Compute the velocity in m/s in the body frame
265 aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
267 FGAIBase::update(dt);
273 // Only change these values if we are able to compute them safely
274 if (SGLimits<double>::min() < dt) {
275 // Now here is the finite difference ...
277 // Transform that one to the horizontal local coordinate system.
278 SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
279 // compute the new orientation
280 SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
281 // The rotation difference
282 SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
283 SGVec3d dOrAngleAxis;
284 dOr.getAngleAxis(dOrAngleAxis);
285 // divided by the time difference provides a rotation speed vector
288 aip.setBodyAngularVelocity(dOrAngleAxis);
292 void FGAIShip::Run(double dt) {
294 ProcessFlightPlan(dt);
296 string type = getTypeString();
303 double speed_diff = tgt_speed - speed;
305 if (fabs(speed_diff) > 0.1) {
307 if (speed_diff > 0.0)
308 speed += _speed_constant * dt;
310 if (speed_diff < 0.0)
311 speed -= _speed_constant * dt;
315 // do not allow unreasonable speeds
316 SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
318 // convert speed to degrees per second
319 speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
320 * speed * 1.686 / ft_per_deg_lat;
321 speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
322 * speed * 1.686 / ft_per_deg_lon;
325 //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
326 pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
327 pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
328 pos.setElevationFt(tgt_altitude_ft);
331 // adjust heading based on current _rudder angle
332 if (turn_radius_ft <= 0)
333 turn_radius_ft = 0; // don't allow nonsense values
342 //we assume that at slow speed ships will manoeuvre using engines/bow thruster
343 if(type == "ship" || type == "carrier" || type == "escort"){
346 _sp_turn_radius_ft = _fixed_turn_radius;
348 // adjust turn radius for speed. The equation is very approximate.
349 // we need to allow for negative speeds
350 _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
355 if (fabs(speed) <= 40)
356 _sp_turn_radius_ft = _fixed_turn_radius;
358 // adjust turn radius for speed.
359 _sp_turn_radius_ft = turn_radius_ft;
364 if (_rudder <= -0.25 || _rudder >= 0.25) {
365 // adjust turn radius for _rudder angle. The equation is even more approximate.
370 _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
372 // calculate the angle, alpha, subtended by the arc traversed in time dt
373 alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
374 //cout << _name << " alpha " << alpha << endl;
375 // make sure that alpha is applied in the right direction
376 hdg += alpha * sign(_rudder);
378 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
380 //adjust roll for rudder angle and speed. Another bit of voodoo
381 raw_roll = _roll_factor * speed * _rudder;
383 // _rudder angle is 0
391 roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
393 // adjust target _rudder angle if heading lock engaged
394 double rudder_diff = 0.0;
396 double rudder_sense = 0.0;
397 double diff = fabs(hdg - tgt_heading);
398 //cout << "_rudder diff" << diff << endl;
400 diff = fabs(diff - 360);
402 double sum = hdg + diff;
407 if (fabs(sum - tgt_heading)< 1.0)
413 rudder_sense = -rudder_sense;
416 _tgt_rudder = diff * rudder_sense;
418 _tgt_rudder = 45 * rudder_sense;
420 rudder_diff = _tgt_rudder - _rudder;
423 // set the _rudder limit by speed
424 if (type == "ship" || type == "carrier" || type == "escort"){
427 rudder_limit = (-0.825 * speed) + 35;
434 if (fabs(rudder_diff)> 0.1) { // apply dead zone
436 if (rudder_diff > 0.0) {
437 _rudder += _rudder_constant * dt;
439 if (_rudder > rudder_limit) // apply the _rudder limit
440 _rudder = rudder_limit;
442 } else if (rudder_diff < 0.0) {
443 _rudder -= _rudder_constant * dt;
445 if (_rudder < -rudder_limit)
446 _rudder = -rudder_limit;
450 // do calculations for radar
451 UpdateRadar(manager);
455 void FGAIShip::AccelTo(double speed) {
459 void FGAIShip::PitchTo(double angle) {
463 void FGAIShip::RollTo(double angle) {
467 void FGAIShip::YawTo(double angle) {
470 void FGAIShip::ClimbTo(double altitude) {
471 tgt_altitude_ft = altitude;
472 _setAltitude(altitude);
475 void FGAIShip::TurnTo(double heading) {
476 tgt_heading = heading - _lead_angle + _tow_angle;
477 SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
481 double FGAIShip::sign(double x) {
488 void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
492 void FGAIShip::setName(const string& n) {
496 void FGAIShip::setStartTime(const string& st) {
500 void FGAIShip::setUntilTime(const string& ut) {
502 props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
505 void FGAIShip::setCurrName(const string& c) {
507 props->setStringValue("waypoint/name-curr", _curr_name.c_str());
510 void FGAIShip::setNextName(const string& n) {
512 props->setStringValue("waypoint/name-next", _next_name.c_str());
515 void FGAIShip::setPrevName(const string& p) {
517 props->setStringValue("waypoint/name-prev", _prev_name.c_str());
520 void FGAIShip::setRepeat(bool r) {
524 void FGAIShip::setRestart(bool r) {
528 void FGAIShip::setMissed(bool m) {
530 props->setBoolValue("waypoint/missed", _missed);
533 void FGAIShip::setRudder(float r) {
537 void FGAIShip::setRoll(double rl) {
541 void FGAIShip::setLeadAngleGain(double g) {
542 _lead_angle_gain = g;
545 void FGAIShip::setLeadAngleLimit(double l) {
546 _lead_angle_limit = l;
549 void FGAIShip::setLeadAngleProp(double p) {
553 void FGAIShip::setRudderConstant(double rc) {
554 _rudder_constant = rc;
557 void FGAIShip::setSpeedConstant(double sc) {
558 _speed_constant = sc;
561 void FGAIShip::setFixedTurnRadius(double ftr) {
562 _fixed_turn_radius = ftr;
565 void FGAIShip::setInitialTunnel(bool t) {
567 setTunnel(_initial_tunnel);
570 void FGAIShip::setTunnel(bool t) {
574 void FGAIShip::setWPNames() {
577 setPrevName(prev->name);
582 setCurrName(curr->name);
585 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
589 setNextName(next->name);
593 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: prev wp name " << prev->name);
594 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: current wp name " << curr->name);
595 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: next wp name " << next->name);
599 double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
601 double course, distance, az2;
603 //calculate the bearing and range of the second pos from the first
604 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
605 distance *= SG_METER_TO_NM;
609 double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
611 double course, distance, recip;
613 //calculate the bearing and range of the second pos from the first
614 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
615 if (tgt_speed >= 0) {
617 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course);
620 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip);
624 void FGAIShip::ProcessFlightPlan(double dt) {
626 double time_sec = getDaySeconds();
630 ///////////////////////////////////////////////////////////////////////////
631 // Check Execution time (currently once every 1 sec)
632 // Add a bit of randomization to prevent the execution of all flight plans
633 // in synchrony, which can add significant periodic framerate flutter.
634 ///////////////////////////////////////////////////////////////////////////
636 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
637 if (_dt_count < _next_run && _start_sec < time_sec)
640 _next_run = 0.05 + (0.025 * sg_random());
642 double until_time_sec = 0;
645 // check to see if we've reached the point for our next turn
646 // if the range to the waypoint is less than the calculated turn
647 // radius we can start the turn to the next leg
648 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
649 _range_rate = (_wp_range - _old_range) / _dt_count;
650 double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
651 // we need to try to identify a _missed waypoint
653 // calculate the time needed to turn through an arc of 90 degrees,
654 // and allow a time error
656 _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
658 _missed_time_sec = 10;
660 _missed_range = 4 * sp_turn_radius_nm;
662 //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
663 //if ((_range_rate > 0) && !_new_waypoint){
664 if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
665 _missed_count += _dt_count;
668 if (_missed_count >= 120)
670 else if (_missed_count >= _missed_time_sec)
675 _old_range = _wp_range;
678 if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
680 if (_next_name == "TUNNEL"){
683 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
685 fp->IncrementWaypoint(false);
686 next = fp->getNextWaypoint();
688 if (next->name == "WAITUNTIL" || next->name == "WAIT"
689 || next->name == "END" || next->name == "TUNNEL")
693 fp->IncrementWaypoint(false);
694 curr = fp->getCurrentWaypoint();
695 next = fp->getNextWaypoint();
697 }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
700 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
703 curr = fp->getCurrentWaypoint();
704 next = fp->getNextWaypoint();
706 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
707 _old_range = _wp_range;
709 _new_waypoint = true;
712 AccelTo(prev->speed);
713 } else if (_restart){
714 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
718 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
724 } else if (_next_name == "WAIT") {
726 if (_wait_count < next->time_sec) {
727 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting ");
730 _wait_count += _dt_count;
735 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name
736 << " wait done: getting new waypoints ");
739 fp->IncrementWaypoint(false);
740 next = fp->getNextWaypoint();
742 if (next->name == "WAITUNTIL" || next->name == "WAIT"
743 || next->name == "END" || next->name == "TUNNEL")
747 fp->IncrementWaypoint(false);
748 curr = fp->getCurrentWaypoint();
749 next = fp->getNextWaypoint();
752 } else if (_next_name == "WAITUNTIL") {
753 time_sec = getDaySeconds();
754 until_time_sec = processTimeString(next->time);
755 _until_time = next->time;
756 setUntilTime(next->time);
757 if (until_time_sec > time_sec) {
758 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " "
759 << curr->name << " waiting until: "
760 << _until_time << " " << until_time_sec << " now " << time_sec );
766 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: "
767 << _name << " wait until done: getting new waypoints ");
769 fp->IncrementWaypoint(false);
771 while (next->name == "WAITUNTIL") {
772 fp->IncrementWaypoint(false);
773 next = fp->getNextWaypoint();
776 if (next->name == "WAIT")
780 fp->IncrementWaypoint(false);
781 curr = fp->getCurrentWaypoint();
782 next = fp->getNextWaypoint();
787 //now reorganise the waypoints, so that next becomes current and so on
788 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
789 fp->IncrementWaypoint(false);
790 prev = fp->getPreviousWaypoint(); //first waypoint
791 curr = fp->getCurrentWaypoint(); //second waypoint
792 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
796 _new_waypoint = true;
800 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
801 _old_range = _wp_range;
803 object_type type = getType();
806 AccelTo(prev->speed);
808 _curr_alt = curr->altitude;
809 _prev_alt = prev->altitude;
812 _new_waypoint = false;
815 // now revise the required course for the next way point
816 _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
821 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
824 } // end Processing FlightPlan
826 bool FGAIShip::initFlightPlan() {
828 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
832 _tunnel = _initial_tunnel;
835 fp->IncrementWaypoint(false);
837 prev = fp->getPreviousWaypoint(); //first waypoint
838 curr = fp->getCurrentWaypoint(); //second waypoint
839 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
841 while (curr->name == "WAIT" || curr->name == "WAITUNTIL") { // don't wait when initialising
842 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
843 fp->IncrementWaypoint(false);
844 curr = fp->getCurrentWaypoint();
845 next = fp->getNextWaypoint();
848 if (!_start_time.empty()){
849 _start_sec = processTimeString(_start_time);
850 double day_sec = getDaySeconds();
852 if (_start_sec < day_sec){
853 //cout << "flight plan has already started " << _start_time << endl;
854 init = advanceFlightPlan(_start_sec, day_sec);
856 } else if (_start_sec > day_sec && _repeat) {
857 //cout << "flight plan has not started, " << _start_time;
858 //cout << "offsetting start time by -24 hrs" << endl;
860 init = advanceFlightPlan(_start_sec, day_sec);
864 _start_sec = 0; // set to zero for an immediate start of the Flight Plan
867 fp->IncrementWaypoint(false);
868 prev = fp->getPreviousWaypoint();
869 curr = fp->getCurrentWaypoint();
870 next = fp->getNextWaypoint();
875 setLatitude(prev->latitude);
876 setLongitude(prev->longitude);
877 setSpeed(prev->speed);
881 setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude));
882 _wp_range = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
883 _old_range = _wp_range;
888 _new_waypoint = true;
890 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
899 } // end of initialization
902 double FGAIShip::processTimeString(const string& theTime) {
908 // first split theTime string into
909 // hour, minute, second and convert to int;
910 Hour = atoi(theTime.substr(0,2).c_str());
911 Minute = atoi(theTime.substr(3,5).c_str());
912 Second = atoi(theTime.substr(6,8).c_str());
914 // offset by a day-sec to allow for starting a day earlier
915 double time_seconds = Hour * 3600
922 double FGAIShip::getDaySeconds () {
924 struct tm *t = globals->get_time_params()->getGmt();
926 double day_seconds = t->tm_hour * 3600
933 bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
935 double elapsed_sec = start_sec;
936 double distance_nm = 0;
938 //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
940 while ( elapsed_sec < day_sec ) {
942 if (next->name == "END" || fp->getNextWaypoint() == 0) {
945 //cout << _name << ": " << "restarting flightplan" << endl;
947 curr = fp->getCurrentWaypoint();
948 next = fp->getNextWaypoint();
950 //cout << _name << ": " << "ending flightplan" << endl;
955 } else if (next->name == "WAIT") {
956 //cout << _name << ": begin WAIT: " << prev->name << " ";
957 //cout << curr->name << " " << next->name << endl;
959 elapsed_sec += next->time_sec;
961 if ( elapsed_sec >= day_sec)
964 fp->IncrementWaypoint(false);
965 next = fp->getNextWaypoint();
967 if (next->name != "WAITUNTIL" && next->name != "WAIT"
968 && next->name != "END") {
970 fp->IncrementWaypoint(false);
971 curr = fp->getCurrentWaypoint();
972 next = fp->getNextWaypoint();
975 } else if (next->name == "WAITUNTIL") {
976 double until_sec = processTimeString(next->time);
978 if (until_sec > _start_sec && start_sec < 0)
981 if (elapsed_sec < until_sec)
982 elapsed_sec = until_sec;
984 if (elapsed_sec >= day_sec )
987 fp->IncrementWaypoint(false);
988 next = fp->getNextWaypoint();
990 if (next->name != "WAITUNTIL" && next->name != "WAIT") {
992 fp->IncrementWaypoint(false);
993 curr = fp->getCurrentWaypoint();
994 next = fp->getNextWaypoint();
997 //cout << _name << ": end WAITUNTIL: ";
998 //cout << prev->name << " " << curr->name << " " << next->name << endl;
1001 distance_nm = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
1002 elapsed_sec += distance_nm * 60 * 60 / prev->speed;
1004 if (elapsed_sec >= day_sec)
1007 fp->IncrementWaypoint(false);
1008 prev = fp->getPreviousWaypoint();
1009 curr = fp->getCurrentWaypoint();
1010 next = fp->getNextWaypoint();
1015 // the required position lies between the previous and current waypoints
1016 // so we will calculate the distance back up the track from the current waypoint
1017 // then calculate the lat and lon.
1019 //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
1020 // << " " << day_sec << endl;
1022 double time_diff = elapsed_sec - day_sec;
1023 double lat, lon, recip;
1025 //cout << " time diff " << time_diff << endl;
1027 if (next->name == "WAIT" ){
1029 lat = curr->latitude;
1030 lon = curr->longitude;
1031 _wait_count= time_diff;
1033 } else if (next->name == "WAITUNTIL") {
1035 lat = curr->latitude;
1036 lon = curr->longitude;
1039 setSpeed(prev->speed);
1040 distance_nm = speed * time_diff / (60 * 60);
1041 double brg = getCourse(curr->latitude, curr->longitude, prev->latitude, prev->longitude);
1043 //cout << " brg " << brg << " from " << curr->name << " to " << prev->name << " "
1044 // << " lat " << curr->latitude << " lon " << curr->longitude
1045 // << " distance m " << distance_nm * SG_NM_TO_METER << endl;
1047 lat = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1048 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1049 lon = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1050 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1051 recip = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1052 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1061 void FGAIShip::setWPPos() {
1063 if (curr->name == "END" || curr->name == "WAIT"
1064 || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){
1065 //cout << curr->name << " returning" << endl;
1069 double elevation_m = 0;
1070 wppos.setLatitudeDeg(curr->latitude);
1071 wppos.setLongitudeDeg(curr->longitude);
1072 wppos.setElevationM(0);
1074 if (curr->on_ground){
1076 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
1077 elevation_m, &_material, 0)){
1078 wppos.setElevationM(elevation_m);
1081 //cout << curr->name << " setting measured elev " << elevation_m << endl;
1084 wppos.setElevationM(curr->altitude);
1085 //cout << curr->name << " setting FP elev " << elevation_m << endl;
1088 curr->altitude = wppos.getElevationM();
1092 void FGAIShip::setXTrackError() {
1094 double course = getCourse(prev->latitude, prev->longitude,
1095 curr->latitude, curr->longitude);
1096 double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
1097 curr->latitude, curr->longitude);
1098 double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
1099 double factor = -0.0045 * speed + 1;
1100 double limit = _lead_angle_limit * factor;
1103 _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
1107 _lead_angle *= _lead_angle_gain * factor;
1108 _xtrack_error = xtrack_error_nm * 6076.1155;
1110 SG_CLAMP_RANGE(_lead_angle, -limit, limit);