src/AIModel/AIShip.cxx

   1 // FGAIShip - FGAIBase-derived class creates an AI ship
   2 //
   3 // Written by David Culp, started October 2003.
   4 // with major amendments and additions by Vivian Meazza, 2004 - 2007
   5 //
   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.
  10 //
  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.
  15 //
  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.
  19
  20 #ifdef HAVE_CONFIG_H
  21 #  include <config.h>
  22 #endif
  23
  24 #ifdef _MSC_VER
  25 #  include <float.h>
  26 #  define finite _finite
  27 #elif defined(__sun) || defined(sgi)
  28 #  include <ieeefp.h>
  29 #endif
  30
  31 #include <math.h>
  32
  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>
  37
  38 #include <simgear/scene/util/SGNodeMasks.hxx>
  39 #include <Scenery/scenery.hxx>
  40
  41 #include "AIShip.hxx"
  42
  43
  44 FGAIShip::FGAIShip(object_type ot) :
  45 // allow HOT to be enabled
  46 FGAIBase(ot, true),
  47
  48
  49 _waiting(false),
  50 _new_waypoint(true),
  51 _tunnel(false),
  52 _initial_tunnel(false),
  53 _restart(false),
  54 _hdg_constant(0.01),
  55 _limit(100),
  56 _elevation_m(0),
  57 _elevation_ft(0),
  58 _tow_angle(0),
  59 _missed_count(0),
  60 _wp_range(0),
  61 _dt_count(0),
  62 _next_run(0),
  63 _roll_constant(0.001),
  64 _roll_factor(-0.0083335),
  65 _old_range(0),
  66 _range_rate(0),
  67 _missed_time_sec(30),
  68 _day(86400),
  69 _lead_angle(0),
  70 _xtrack_error(0),
  71 _curr_alt(0),
  72 _prev_alt(0),
  73 _until_time(""),
  74 _fp_init(false),
  75 _missed(false)
  76 {
  77         invisible = false;
  78 }
  79
  80 FGAIShip::~FGAIShip() {
  81 }
  82
  83 void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
  84
  85     if (!scFileNode)
  86         return;
  87
  88     FGAIBase::readFromScenario(scFileNode);
  89
  90     setRudder(scFileNode->getFloatValue("rudder", 0.0));
  91     setName(scFileNode->getStringValue("name", "Titanic"));
  92     setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
  93     std::string flightplan = scFileNode->getStringValue("flightplan");
  94     setRepeat(scFileNode->getBoolValue("repeat", false));
  95     setRestart(scFileNode->getBoolValue("restart", false));
  96     setStartTime(scFileNode->getStringValue("time", ""));
  97     setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
  98     setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
  99     setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75));
 100     setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
 101     setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
 102     setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
 103     setSMPath(scFileNode->getStringValue("submodel-path", ""));
 104     setRollFactor(scFileNode->getDoubleValue("roll-factor", 1));
 105
 106     if (!flightplan.empty()) {
 107         SG_LOG(SG_AI, SG_ALERT, "getting flightplan: " << _name );
 108
 109         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
 110         setFlightPlan(fp);
 111     }
 112
 113 }
 114
 115 bool FGAIShip::init(bool search_in_AI_path) {
 116     reinit();
 117     return FGAIBase::init(search_in_AI_path);
 118 }
 119
 120 void FGAIShip::reinit()
 121 {
 122     prev = 0; // the one behind you
 123     curr = 0; // the one ahead
 124     next = 0; // the next plus 1
 125
 126     props->setStringValue("name", _name.c_str());
 127     props->setStringValue("waypoint/name-prev", _prev_name.c_str());
 128     props->setStringValue("waypoint/name-curr", _curr_name.c_str());
 129     props->setStringValue("waypoint/name-next", _next_name.c_str());
 130     props->setStringValue("submodels/path", _path.c_str());
 131     props->setStringValue("waypoint/start-time", _start_time.c_str());
 132     props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
 133
 134     _hdg_lock = false;
 135     _rudder = 0.0;
 136     no_roll = false;
 137
 138     _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
 139
 140     if (fp)
 141         _fp_init = initFlightPlan();
 142
 143     FGAIBase::reinit();
 144 }
 145
 146 void FGAIShip::bind() {
 147     FGAIBase::bind();
 148
 149     props->tie("surface-positions/rudder-pos-deg",
 150         SGRawValuePointer<float>(&_rudder));
 151     props->tie("controls/heading-lock",
 152         SGRawValuePointer<bool>(&_hdg_lock));
 153     props->tie("controls/tgt-speed-kts",
 154         SGRawValuePointer<double>(&tgt_speed));
 155     props->tie("controls/tgt-heading-degs",
 156         SGRawValuePointer<double>(&tgt_heading));
 157     props->tie("controls/constants/rudder",
 158         SGRawValuePointer<double>(&_rudder_constant));
 159     props->tie("controls/constants/roll-factor",
 160         SGRawValuePointer<double>(&_roll_factor));
 161     props->tie("controls/constants/roll",
 162         SGRawValuePointer<double>(&_roll_constant));
 163     props->tie("controls/constants/rudder",
 164         SGRawValuePointer<double>(&_rudder_constant));
 165     props->tie("controls/constants/speed",
 166         SGRawValuePointer<double>(&_speed_constant));
 167     props->tie("waypoint/range-nm",
 168         SGRawValuePointer<double>(&_wp_range));
 169     props->tie("waypoint/brg-deg",
 170         SGRawValuePointer<double>(&_course));
 171     props->tie("waypoint/rangerate-nm-sec",
 172         SGRawValuePointer<double>(&_range_rate));
 173     props->tie("waypoint/new",
 174         SGRawValuePointer<bool>(&_new_waypoint));
 175     props->tie("waypoint/missed",
 176         SGRawValuePointer<bool>(&_missed));
 177     props->tie("waypoint/missed-count-sec",
 178         SGRawValuePointer<double>(&_missed_count));
 179     props->tie("waypoint/missed-range-nm",
 180         SGRawValuePointer<double>(&_missed_range));
 181     props->tie("waypoint/missed-time-sec",
 182         SGRawValuePointer<double>(&_missed_time_sec));
 183     props->tie("waypoint/wait-count-sec",
 184         SGRawValuePointer<double>(&_wait_count));
 185     props->tie("waypoint/xtrack-error-ft",
 186         SGRawValuePointer<double>(&_xtrack_error));
 187     props->tie("waypoint/waiting",
 188         SGRawValuePointer<bool>(&_waiting));
 189     props->tie("waypoint/lead-angle-deg",
 190         SGRawValuePointer<double>(&_lead_angle));
 191     props->tie("waypoint/tunnel",
 192         SGRawValuePointer<bool>(&_tunnel));
 193     props->tie("waypoint/alt-curr-m",
 194         SGRawValuePointer<double>(&_curr_alt));
 195     props->tie("waypoint/alt-prev-m",
 196         SGRawValuePointer<double>(&_prev_alt));
 197     props->tie("submodels/serviceable",
 198         SGRawValuePointer<bool>(&_serviceable));
 199     props->tie("controls/turn-radius-ft",
 200         SGRawValuePointer<double>(&turn_radius_ft));
 201     props->tie("controls/turn-radius-corrected-ft",
 202         SGRawValuePointer<double>(&_rd_turn_radius_ft));
 203     props->tie("controls/constants/lead-angle/gain",
 204         SGRawValuePointer<double>(&_lead_angle_gain));
 205     props->tie("controls/constants/lead-angle/limit-deg",
 206         SGRawValuePointer<double>(&_lead_angle_limit));
 207     props->tie("controls/constants/lead-angle/proportion",
 208         SGRawValuePointer<double>(&_proportion));
 209     props->tie("controls/fixed-turn-radius-ft",
 210         SGRawValuePointer<double>(&_fixed_turn_radius));
 211     props->tie("controls/restart",
 212         SGRawValuePointer<bool>(&_restart));
 213     props->tie("velocities/speed-kts",
 214                 SGRawValuePointer<double>(&speed));
 215 }
 216
 217 void FGAIShip::unbind() {
 218     FGAIBase::unbind();
 219     props->untie("surface-positions/rudder-pos-deg");
 220     props->untie("controls/heading-lock");
 221     props->untie("controls/tgt-speed-kts");
 222     props->untie("controls/tgt-heading-degs");
 223     props->untie("controls/constants/roll");
 224     props->untie("controls/constants/rudder");
 225     props->untie("controls/constants/roll-factor");
 226     props->untie("controls/constants/speed");
 227     props->untie("waypoint/range-nm");
 228     props->untie("waypoint/range-brg-deg");
 229     props->untie("waypoint/rangerate-nm-sec");
 230     props->untie("waypoint/new");
 231     props->untie("waypoint/missed");
 232     props->untie("waypoint/missed-count-sec");
 233     props->untie("waypoint/missed-time-sec");
 234     props->untie("waypoint/missed-range");
 235     props->untie("waypoint/wait-count-sec");
 236     props->untie("waypoint/lead-angle-deg");
 237     props->untie("waypoint/xtrack-error-ft");
 238     props->untie("waypoint/waiting");
 239     props->untie("waypoint/tunnel");
 240     props->untie("waypoint/alt-curr-m");
 241     props->untie("waypoint/alt-prev-m");
 242     props->untie("submodels/serviceable");
 243     props->untie("controls/turn-radius-ft");
 244     props->untie("controls/turn-radius-corrected-ft");
 245     props->untie("controls/constants/lead-angle/gain");
 246     props->untie("controls/constants/lead-angle/limit-deg");
 247     props->untie("controls/constants/lead-angle/proportion");
 248     props->untie("controls/fixed-turn-radius-ft");
 249     props->untie("controls/constants/speed");
 250     props->untie("controls/restart");
 251     props->untie("velocities/speed-kts");
 252
 253 }
 254
 255 void FGAIShip::update(double dt) {
 256     //SG_LOG(SG_AI, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
 257     // For computation of rotation speeds we just use finite differences here.
 258     // That is perfectly valid since this thing is not driven by accelerations
 259     // but by just apply discrete changes at its velocity variables.
 260     // Update the velocity information stored in those nodes.
 261     // Transform that one to the horizontal local coordinate system.
 262     SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
 263     // The orientation of the ship wrt the horizontal local frame
 264     SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
 265     // and postrotate the orientation of the AIModel wrt the horizontal
 266     // local frame
 267     SGQuatd ec2body = ec2hl*hl2body;
 268     // The cartesian position of the ship in the wgs84 world
 269     //SGVec3d cartPos = SGVec3d::fromGeod(pos);
 270
 271     // The simulation time this transform is meant for
 272     aip.setReferenceTime(globals->get_sim_time_sec());
 273
 274     // Compute the velocity in m/s in the body frame
 275     aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
 276
 277     FGAIBase::update(dt);
 278     Run(dt);
 279     Transform();
 280     if (fp)
 281         setXTrackError();
 282
 283     // Only change these values if we are able to compute them safely
 284     if (SGLimits<double>::min() < dt) {
 285         // Now here is the finite difference ...
 286
 287         // Transform that one to the horizontal local coordinate system.
 288         SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
 289         // compute the new orientation
 290         SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
 291         // The rotation difference
 292         SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
 293         SGVec3d dOrAngleAxis;
 294         dOr.getAngleAxis(dOrAngleAxis);
 295         // divided by the time difference provides a rotation speed vector
 296         dOrAngleAxis /= dt;
 297
 298         aip.setBodyAngularVelocity(dOrAngleAxis);
 299     }
 300 }
 301
 302 void FGAIShip::Run(double dt) {
 303     if (_fp_init)
 304         ProcessFlightPlan(dt);
 305
 306     string type = getTypeString();
 307
 308     double alpha;
 309     double rudder_limit;
 310     double raw_roll;
 311
 312     // adjust speed
 313     double speed_diff = tgt_speed - speed;
 314
 315     if (fabs(speed_diff) > 0.1) {
 316
 317         if (speed_diff > 0.0)
 318             speed += _speed_constant * dt;
 319
 320         if (speed_diff < 0.0)
 321             speed -= _speed_constant * dt;
 322
 323     }
 324
 325     // do not allow unreasonable speeds
 326     SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
 327
 328     // convert speed to degrees per second
 329     speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
 330         * speed * 1.686 / ft_per_deg_lat;
 331     speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
 332         * speed * 1.686 / ft_per_deg_lon;
 333
 334     // set new position
 335     //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
 336     pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
 337     pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 338     pos.setElevationFt(tgt_altitude_ft);
 339     pitch = tgt_pitch;
 340
 341     // adjust heading based on current _rudder angle
 342     if (turn_radius_ft <= 0)
 343         turn_radius_ft = 0; // don't allow nonsense values
 344
 345     if (_rudder > 45)
 346         _rudder = 45;
 347
 348     if (_rudder < -45)
 349         _rudder = -45;
 350
 351
 352     //we assume that at slow speed ships will manoeuvre using engines/bow thruster
 353         if(type == "ship" || type == "carrier" || type == "escort"){
 354
 355                 if (fabs(speed)<=5)
 356                         _sp_turn_radius_ft = _fixed_turn_radius;
 357                 else {
 358                         // adjust turn radius for speed. The equation is very approximate.
 359                         // we need to allow for negative speeds
 360                         _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
 361                 }
 362
 363         } else {
 364
 365                 if (fabs(speed) <= 40)
 366            _sp_turn_radius_ft = _fixed_turn_radius;
 367                 else {
 368                         // adjust turn radius for speed.
 369                         _sp_turn_radius_ft = turn_radius_ft;
 370                 }
 371         }
 372
 373
 374     if (_rudder <= -0.25 || _rudder >= 0.25) {
 375         // adjust turn radius for _rudder angle. The equation is even more approximate.
 376         float a = 19;
 377         float b = -0.2485;
 378         float c = 0.543;
 379
 380         _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
 381
 382         // calculate the angle, alpha, subtended by the arc traversed in time dt
 383         alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
 384         //cout << _name << " alpha " << alpha << endl;
 385         // make sure that alpha is applied in the right direction
 386         hdg += alpha * sign(_rudder);
 387
 388         SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
 389
 390         //adjust roll for rudder angle and speed. Another bit of voodoo
 391         raw_roll = _roll_factor * speed * _rudder;
 392     } else {
 393         // _rudder angle is 0
 394         raw_roll = 0;
 395     }
 396
 397     //low pass filter
 398     if (speed < 0)
 399         roll = -roll;
 400
 401     roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
 402
 403     // adjust target _rudder angle if heading lock engaged
 404     double rudder_diff = 0.0;
 405     if (_hdg_lock) {
 406         double rudder_sense = 0.0;
 407         double diff = fabs(hdg - tgt_heading);
 408         //cout << "_rudder diff" << diff << endl;
 409         if (diff > 180)
 410             diff = fabs(diff - 360);
 411
 412         double sum = hdg + diff;
 413
 414         if (sum > 360.0)
 415             sum -= 360.0;
 416
 417         if (fabs(sum - tgt_heading)< 1.0)
 418             rudder_sense = 1.0;
 419         else
 420             rudder_sense = -1.0;
 421
 422         if (speed < 0)
 423             rudder_sense = -rudder_sense;
 424
 425         if (diff < 15)
 426             _tgt_rudder = diff * rudder_sense;
 427         else
 428             _tgt_rudder = 45 * rudder_sense;
 429
 430         rudder_diff = _tgt_rudder - _rudder;
 431     }
 432
 433     // set the _rudder limit by speed
 434     if (type == "ship" || type == "carrier" || type == "escort"){
 435
 436         if (speed <= 40)
 437             rudder_limit = (-0.825 * speed) + 35;
 438         else
 439             rudder_limit = 2;
 440
 441     } else
 442         rudder_limit = 20;
 443
 444     if (fabs(rudder_diff)> 0.1) { // apply dead zone
 445
 446         if (rudder_diff > 0.0) {
 447             _rudder += _rudder_constant * dt;
 448
 449             if (_rudder > rudder_limit) // apply the _rudder limit
 450                 _rudder = rudder_limit;
 451
 452         } else if (rudder_diff < 0.0) {
 453             _rudder -= _rudder_constant * dt;
 454
 455             if (_rudder < -rudder_limit)
 456                 _rudder = -rudder_limit;
 457
 458         }
 459
 460         // do calculations for radar
 461         UpdateRadar(manager);
 462     }
 463 }//end function
 464
 465 void FGAIShip::AccelTo(double speed) {
 466     tgt_speed = speed;
 467 }
 468
 469 void FGAIShip::PitchTo(double angle) {
 470     tgt_pitch = angle;
 471 }
 472
 473 void FGAIShip::RollTo(double angle) {
 474     tgt_roll = angle;
 475 }
 476
 477 void FGAIShip::YawTo(double angle) {
 478 }
 479
 480 void FGAIShip::ClimbTo(double altitude) {
 481     tgt_altitude_ft = altitude;
 482     _setAltitude(altitude);
 483 }
 484
 485 void FGAIShip::TurnTo(double heading) {
 486     tgt_heading = heading - _lead_angle + _tow_angle;
 487     SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
 488     _hdg_lock = true;
 489 }
 490
 491 double FGAIShip::sign(double x) {
 492     if (x < 0.0)
 493         return -1.0;
 494     else
 495         return 1.0;
 496 }
 497
 498 void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
 499     fp = f;
 500 }
 501
 502 void FGAIShip::setStartTime(const string& st) {
 503     _start_time = st;
 504 }
 505
 506 void FGAIShip::setUntilTime(const string& ut) {
 507     _until_time = ut;
 508     props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
 509 }
 510
 511 void FGAIShip::setCurrName(const string& c) {
 512     _curr_name = c;
 513     props->setStringValue("waypoint/name-curr", _curr_name.c_str());
 514 }
 515
 516 void FGAIShip::setNextName(const string& n) {
 517     _next_name = n;
 518     props->setStringValue("waypoint/name-next", _next_name.c_str());
 519 }
 520
 521 void FGAIShip::setPrevName(const string& p) {
 522     _prev_name = p;
 523     props->setStringValue("waypoint/name-prev", _prev_name.c_str());
 524 }
 525
 526 void FGAIShip::setRepeat(bool r) {
 527     _repeat = r;
 528 }
 529
 530 void FGAIShip::setRestart(bool r) {
 531     _restart = r;
 532 }
 533
 534 void FGAIShip::setMissed(bool m) {
 535     _missed = m;
 536     props->setBoolValue("waypoint/missed", _missed);
 537 }
 538
 539 void FGAIShip::setRudder(float r) {
 540     _rudder = r;
 541 }
 542
 543 void FGAIShip::setRoll(double rl) {
 544     roll = rl;
 545 }
 546
 547 void FGAIShip::setLeadAngleGain(double g) {
 548     _lead_angle_gain = g;
 549 }
 550
 551 void FGAIShip::setLeadAngleLimit(double l) {
 552     _lead_angle_limit = l;
 553 }
 554
 555 void FGAIShip::setLeadAngleProp(double p) {
 556     _proportion = p;
 557 }
 558
 559 void FGAIShip::setRudderConstant(double rc) {
 560     _rudder_constant = rc;
 561 }
 562
 563 void FGAIShip::setSpeedConstant(double sc) {
 564     _speed_constant = sc;
 565 }
 566
 567 void FGAIShip::setFixedTurnRadius(double ftr) {
 568     _fixed_turn_radius = ftr;
 569 }
 570
 571 void FGAIShip::setRollFactor(double rf) {
 572     _roll_factor = rf * -0.0083335;
 573 }
 574
 575 void FGAIShip::setInitialTunnel(bool t) {
 576     _initial_tunnel = t;
 577     setTunnel(_initial_tunnel);
 578 }
 579
 580 void FGAIShip::setTunnel(bool t) {
 581     _tunnel = t;
 582 }
 583
 584 void FGAIShip::setWPNames() {
 585
 586     if (prev != 0)
 587         setPrevName(prev->getName());
 588     else
 589         setPrevName("");
 590
 591     if (curr != 0)
 592         setCurrName(curr->getName());
 593     else{
 594         setCurrName("");
 595         SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error" );
 596     }
 597
 598     if (next != 0)
 599         setNextName(next->getName());
 600     else
 601         setNextName("");
 602
 603     SG_LOG(SG_AI, SG_DEBUG, "AIShip: prev wp name " << prev->getName());
 604     SG_LOG(SG_AI, SG_DEBUG, "AIShip: current wp name " << curr->getName());
 605     SG_LOG(SG_AI, SG_DEBUG, "AIShip: next wp name " << next->getName());
 606
 607 }
 608
 609 double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
 610
 611     double course, distance, az2;
 612
 613     //calculate the bearing and range of the second pos from the first
 614     geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
 615     distance *= SG_METER_TO_NM;
 616     return distance;
 617 }
 618
 619 double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
 620
 621     double course, distance, recip;
 622
 623     //calculate the bearing and range of the second pos from the first
 624     geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
 625     if (tgt_speed >= 0) {
 626         return course;
 627         SG_LOG(SG_AI, SG_DEBUG, "AIShip: course " << course);
 628     } else {
 629         return recip;
 630         SG_LOG(SG_AI, SG_DEBUG, "AIShip: recip " << recip);
 631     }
 632 }
 633
 634 void FGAIShip::ProcessFlightPlan(double dt) {
 635
 636     if ( dt < 0.00001 ) {
 637         return;
 638     }
 639
 640     double time_sec = getDaySeconds();
 641
 642     _dt_count += dt;
 643
 644     ///////////////////////////////////////////////////////////////////////////
 645     // Check Execution time (currently once every 1 sec)
 646     // Add a bit of randomization to prevent the execution of all flight plans
 647     // in synchrony, which can add significant periodic framerate flutter.
 648     ///////////////////////////////////////////////////////////////////////////
 649
 650     //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
 651     if (_dt_count < _next_run && _start_sec < time_sec)
 652         return;
 653
 654     _next_run = 0.05 + (0.025 * sg_random());
 655
 656     double until_time_sec = 0;
 657     _missed = false;
 658
 659     // check to see if we've reached the point for our next turn
 660     // if the range to the waypoint is less than the calculated turn
 661     // radius we can start the turn to the next leg
 662     _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
 663     _range_rate = (_wp_range - _old_range) / _dt_count;
 664     double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
 665     // we need to try to identify a _missed waypoint
 666
 667     // calculate the time needed to turn through an arc of 90 degrees,
 668     // and allow a time error
 669     if (speed != 0)
 670         _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
 671     else
 672         _missed_time_sec = 10;
 673
 674     _missed_range = 4 * sp_turn_radius_nm;
 675
 676     //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
 677     //if ((_range_rate > 0) && !_new_waypoint){
 678     if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
 679         _missed_count += _dt_count;
 680     }
 681
 682     if (_missed_count >= 120)
 683         setMissed(true);
 684     else if (_missed_count >= _missed_time_sec)
 685         setMissed(true);
 686     else
 687         setMissed(false);
 688
 689     _old_range = _wp_range;
 690     setWPNames();
 691
 692     if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
 693
 694         if (_next_name == "TUNNEL"){
 695             _tunnel = !_tunnel;
 696
 697             SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
 698
 699             fp->IncrementWaypoint(false);
 700             next = fp->getNextWaypoint();
 701
 702             if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
 703                 || next->getName() == "END" || next->getName() == "TUNNEL")
 704                 return;
 705
 706             prev = curr;
 707             fp->IncrementWaypoint(false);
 708             curr = fp->getCurrentWaypoint();
 709             next = fp->getNextWaypoint();
 710
 711         }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
 712
 713             if (_repeat) {
 714                 SG_LOG(SG_AI, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
 715                 fp->restart();
 716                 prev = curr;
 717                 curr = fp->getCurrentWaypoint();
 718                 next = fp->getNextWaypoint();
 719                 setWPNames();
 720                 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
 721                 _old_range = _wp_range;
 722                 _range_rate = 0;
 723                 _new_waypoint = true;
 724                 _missed_count = 0;
 725                 _lead_angle = 0;
 726                 AccelTo(prev->getSpeed());
 727             } else if (_restart){
 728                 SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
 729                 _missed_count = 0;
 730                 initFlightPlan();
 731             } else {
 732                 SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
 733                 setDie(true);
 734                 _dt_count = 0;
 735                 return;
 736             }
 737
 738         } else if (_next_name == "WAIT") {
 739
 740             if (_wait_count < next->getTime_sec()) {
 741                 SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
 742                 setSpeed(0);
 743                 _waiting = true;
 744                 _wait_count += _dt_count;
 745                 _dt_count = 0;
 746                 _lead_angle = 0;
 747                 return;
 748             } else {
 749                 SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name
 750                     << " wait done: getting new waypoints ");
 751                 _waiting = false;
 752                 _wait_count = 0;
 753                 fp->IncrementWaypoint(false);
 754                 next = fp->getNextWaypoint();
 755
 756                 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
 757                     || next->getName() == "END" || next->getName() == "TUNNEL")
 758                     return;
 759
 760                 prev = curr;
 761                 fp->IncrementWaypoint(false);
 762                 curr = fp->getCurrentWaypoint();
 763                 next = fp->getNextWaypoint();
 764             }
 765
 766         } else if (_next_name == "WAITUNTIL") {
 767             time_sec = getDaySeconds();
 768             until_time_sec = processTimeString(next->getTime());
 769             _until_time = next->getTime();
 770             setUntilTime(next->getTime());
 771             if (until_time_sec > time_sec) {
 772                 SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " "
 773                     << curr->getName() << " waiting until: "
 774                     << _until_time << " " << until_time_sec << " now " << time_sec );
 775                 setSpeed(0);
 776                 _lead_angle = 0;
 777                 _waiting = true;
 778                 return;
 779             } else {
 780                 SG_LOG(SG_AI, SG_INFO, "AIShip: "
 781                     << _name << " wait until done: getting new waypoints ");
 782                 setUntilTime("");
 783                 fp->IncrementWaypoint(false);
 784
 785                 while (next->getName() == "WAITUNTIL") {
 786                     fp->IncrementWaypoint(false);
 787                     next = fp->getNextWaypoint();
 788                 }
 789
 790                 if (next->getName() == "WAIT")
 791                     return;
 792
 793                 prev = curr;
 794                 fp->IncrementWaypoint(false);
 795                 curr = fp->getCurrentWaypoint();
 796                 next = fp->getNextWaypoint();
 797                 _waiting = false;
 798             }
 799
 800         } else {
 801             //now reorganise the waypoints, so that next becomes current and so on
 802             SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
 803             fp->IncrementWaypoint(false);
 804             prev = fp->getPreviousWaypoint(); //first waypoint
 805             curr = fp->getCurrentWaypoint();  //second waypoint
 806             next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 807         }
 808
 809         setWPNames();
 810         _new_waypoint = true;
 811         _missed_count = 0;
 812         _range_rate = 0;
 813         _lead_angle = 0;
 814         _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
 815         _old_range = _wp_range;
 816         setWPPos();
 817         object_type type = getType();
 818
 819         if (type != 10)
 820             AccelTo(prev->getSpeed());
 821
 822         _curr_alt = curr->getAltitude();
 823         _prev_alt = prev->getAltitude();
 824
 825     } else {
 826         _new_waypoint = false;
 827     }
 828
 829     //   now revise the required course for the next way point
 830     _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
 831
 832     if (finite(_course))
 833         TurnTo(_course);
 834     else
 835         SG_LOG(SG_AI, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
 836
 837     _dt_count = 0;
 838 } // end Processing FlightPlan
 839
 840 bool FGAIShip::initFlightPlan() {
 841
 842     SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
 843
 844     bool init = false;
 845     _start_sec = 0;
 846     _tunnel = _initial_tunnel;
 847
 848     fp->restart();
 849     fp->IncrementWaypoint(false);
 850
 851     prev = fp->getPreviousWaypoint(); //first waypoint
 852     curr = fp->getCurrentWaypoint();  //second waypoint
 853     next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 854
 855     while (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL") {  // don't wait when initialising
 856         SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
 857         fp->IncrementWaypoint(false);
 858         curr = fp->getCurrentWaypoint();
 859         next = fp->getNextWaypoint();
 860     } // end while loop
 861
 862     if (!_start_time.empty()){
 863         _start_sec = processTimeString(_start_time);
 864         double day_sec = getDaySeconds();
 865
 866         if (_start_sec < day_sec){
 867             //cout << "flight plan has already started " << _start_time << endl;
 868             init = advanceFlightPlan(_start_sec, day_sec);
 869
 870         } else if (_start_sec > day_sec && _repeat) {
 871             //cout << "flight plan has not started, " << _start_time;
 872             //cout << "offsetting start time by -24 hrs" << endl;
 873             _start_sec -= _day;
 874             init = advanceFlightPlan(_start_sec, day_sec);
 875         }
 876
 877         if (init)
 878             _start_sec = 0; // set to zero for an immediate start of the Flight Plan
 879         else {
 880             fp->restart();
 881             fp->IncrementWaypoint(false);
 882             prev = fp->getPreviousWaypoint();
 883             curr = fp->getCurrentWaypoint();
 884             next = fp->getNextWaypoint();
 885             return false;
 886         }
 887
 888     } else {
 889         setLatitude(prev->getLatitude());
 890         setLongitude(prev->getLongitude());
 891         setSpeed(prev->getSpeed());
 892     }
 893
 894     setWPNames();
 895     setHeading(getCourse(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()));
 896     _wp_range = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
 897     _old_range = _wp_range;
 898     _range_rate = 0;
 899     _hdg_lock = true;
 900     _missed = false;
 901     _missed_count = 0;
 902     _new_waypoint = true;
 903
 904     SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
 905     if (prev)
 906         init = true;
 907
 908     if (init)
 909         return true;
 910     else
 911         return false;
 912
 913 } // end of initialization
 914
 915
 916 double FGAIShip::processTimeString(const string& theTime) {
 917
 918     int Hour;
 919     int Minute;
 920     int Second;
 921
 922     // first split theTime string into
 923     //  hour, minute, second and convert to int;
 924     Hour   = atoi(theTime.substr(0,2).c_str());
 925     Minute = atoi(theTime.substr(3,5).c_str());
 926     Second = atoi(theTime.substr(6,8).c_str());
 927
 928     // offset by a day-sec to allow for starting a day earlier
 929     double time_seconds = Hour * 3600
 930         + Minute * 60
 931         + Second;
 932
 933     return time_seconds;
 934 }
 935
 936 double FGAIShip::getDaySeconds () {
 937     // Date and time
 938     struct tm *t = globals->get_time_params()->getGmt();
 939
 940     double day_seconds = t->tm_hour * 3600
 941         + t->tm_min * 60
 942         + t->tm_sec;
 943
 944     return day_seconds;
 945 }
 946
 947 bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
 948
 949     double elapsed_sec = start_sec;
 950     double distance_nm = 0;
 951
 952     //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
 953
 954     while ( elapsed_sec < day_sec ) {
 955
 956         if (next->getName() == "END" || fp->getNextWaypoint() == 0) {
 957
 958             if (_repeat ) {
 959                 //cout << _name << ": " << "restarting flightplan" << endl;
 960                 fp->restart();
 961                 curr = fp->getCurrentWaypoint();
 962                 next = fp->getNextWaypoint();
 963             } else {
 964                 //cout << _name << ": " << "ending flightplan" << endl;
 965                 setDie(true);
 966                 return false;
 967             }
 968
 969         } else if (next->getName() == "WAIT") {
 970             //cout << _name << ": begin WAIT: " << prev->name << " ";
 971             //cout << curr->name << " " << next->name << endl;
 972
 973             elapsed_sec += next->getTime_sec();
 974
 975             if ( elapsed_sec >= day_sec)
 976                 continue;
 977
 978             fp->IncrementWaypoint(false);
 979             next = fp->getNextWaypoint();
 980
 981             if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT"
 982                 && next->getName() != "END") {
 983                     prev = curr;
 984                     fp->IncrementWaypoint(false);
 985                     curr = fp->getCurrentWaypoint();
 986                     next = fp->getNextWaypoint();
 987             }
 988
 989         } else if (next->getName() == "WAITUNTIL") {
 990             double until_sec = processTimeString(next->getTime());
 991
 992             if (until_sec > _start_sec && start_sec < 0)
 993                 until_sec -= _day;
 994
 995             if (elapsed_sec < until_sec)
 996                 elapsed_sec = until_sec;
 997
 998             if (elapsed_sec >= day_sec )
 999                 break;
1000
1001             fp->IncrementWaypoint(false);
1002             next = fp->getNextWaypoint();
1003
1004             if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT") {
1005                 prev = curr;
1006                 fp->IncrementWaypoint(false);
1007                 curr = fp->getCurrentWaypoint();
1008                 next = fp->getNextWaypoint();
1009             }
1010
1011             //cout << _name << ": end WAITUNTIL: ";
1012             //cout << prev->name << " " << curr->name << " " << next->name <<  endl;
1013
1014         } else {
1015             distance_nm = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
1016             elapsed_sec += distance_nm * 60 * 60 / prev->getSpeed();
1017
1018             if (elapsed_sec >= day_sec)
1019                 continue;
1020
1021             fp->IncrementWaypoint(false);
1022             prev = fp->getPreviousWaypoint();
1023             curr = fp->getCurrentWaypoint();
1024             next = fp->getNextWaypoint();
1025         }
1026
1027     }   // end while
1028
1029     // the required position lies between the previous and current waypoints
1030     // so we will calculate the distance back up the track from the current waypoint
1031     // then calculate the lat and lon.
1032
1033     //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
1034     //    << " " << day_sec << endl;
1035
1036     double time_diff = elapsed_sec - day_sec;
1037     double lat, lon, recip;
1038
1039     //cout << " time diff " << time_diff << endl;
1040
1041     if (next->getName() == "WAIT" ){
1042         setSpeed(0);
1043         lat = curr->getLatitude();
1044         lon = curr->getLongitude();
1045         _wait_count= time_diff;
1046         _waiting = true;
1047     } else if (next->getName() == "WAITUNTIL") {
1048         setSpeed(0);
1049         lat = curr->getLatitude();
1050         lon = curr->getLongitude();
1051         _waiting = true;
1052     } else {
1053         setSpeed(prev->getSpeed());
1054         distance_nm = speed * time_diff / (60 * 60);
1055         double brg = getCourse(curr->getLatitude(), curr->getLongitude(), prev->getLatitude(), prev->getLongitude());
1056
1057         //cout << " brg " << brg << " from " << curr->name << " to " << prev->name << " "
1058         //    << " lat "  << curr->latitude << " lon " << curr->longitude
1059         //    << " distance m " << distance_nm * SG_NM_TO_METER << endl;
1060
1061         lat = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
1062             distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1063         lon = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
1064             distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1065         recip = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
1066             distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1067     }
1068
1069     setLatitude(lat);
1070     setLongitude(lon);
1071
1072     return true;
1073 }
1074
1075 void FGAIShip::setWPPos() {
1076
1077     if (curr->getName() == "END" || curr->getName() == "WAIT"
1078         || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL"){
1079             //cout << curr->name << " returning" << endl;
1080             return;
1081     }
1082
1083     double elevation_m = 0;
1084     wppos.setLatitudeDeg(curr->getLatitude());
1085     wppos.setLongitudeDeg(curr->getLongitude());
1086     wppos.setElevationM(0);
1087
1088     if (curr->getOn_ground()){
1089
1090         if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
1091             elevation_m, &_material, 0)){
1092                 wppos.setElevationM(elevation_m);
1093         }
1094
1095         //cout << curr->name << " setting measured  elev " << elevation_m << endl;
1096
1097     } else {
1098         wppos.setElevationM(curr->getAltitude());
1099         //cout << curr->name << " setting FP elev " << elevation_m << endl;
1100     }
1101
1102     curr->setAltitude(wppos.getElevationM());
1103
1104 }
1105
1106 void FGAIShip::setXTrackError() {
1107
1108     double course = getCourse(prev->getLatitude(), prev->getLongitude(),
1109         curr->getLatitude(), curr->getLongitude());
1110     double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
1111         curr->getLatitude(), curr->getLongitude());
1112     double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
1113     double factor = -0.0045 * speed + 1;
1114     double limit = _lead_angle_limit * factor;
1115
1116     if (_wp_range > 0){
1117         _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
1118     } else
1119         _lead_angle = 0;
1120
1121     _lead_angle *= _lead_angle_gain * factor;
1122     _xtrack_error = xtrack_error_nm * 6076.1155;
1123
1124     SG_CLAMP_RANGE(_lead_angle, -limit, limit);
1125
1126 }