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) :
51 _initial_tunnel(false),
62 _roll_constant(0.001),
63 _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));
102 setSMPath(scFileNode->getStringValue("submodel-path", ""));
104 if (!flightplan.empty()) {
105 SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
107 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
113 bool FGAIShip::init(bool search_in_AI_path) {
114 prev = 0; // the one behind you
115 curr = 0; // the one ahead
116 next = 0; // the next plus 1
118 props->setStringValue("name", _name.c_str());
119 props->setStringValue("waypoint/name-prev", _prev_name.c_str());
120 props->setStringValue("waypoint/name-curr", _curr_name.c_str());
121 props->setStringValue("waypoint/name-next", _next_name.c_str());
122 props->setStringValue("submodels/path", _path.c_str());
123 props->setStringValue("waypoint/start-time", _start_time.c_str());
124 props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
130 _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
133 _fp_init = initFlightPlan();
135 return FGAIBase::init(search_in_AI_path);
138 void FGAIShip::bind() {
141 props->tie("surface-positions/rudder-pos-deg",
142 SGRawValuePointer<float>(&_rudder));
143 props->tie("controls/heading-lock",
144 SGRawValuePointer<bool>(&_hdg_lock));
145 props->tie("controls/tgt-speed-kts",
146 SGRawValuePointer<double>(&tgt_speed));
147 props->tie("controls/tgt-heading-degs",
148 SGRawValuePointer<double>(&tgt_heading));
149 props->tie("controls/constants/rudder",
150 SGRawValuePointer<double>(&_rudder_constant));
151 props->tie("controls/constants/roll-factor",
152 SGRawValuePointer<double>(&_roll_factor));
153 props->tie("controls/constants/roll",
154 SGRawValuePointer<double>(&_roll_constant));
155 props->tie("controls/constants/rudder",
156 SGRawValuePointer<double>(&_rudder_constant));
157 props->tie("controls/constants/speed",
158 SGRawValuePointer<double>(&_speed_constant));
159 props->tie("waypoint/range-nm",
160 SGRawValuePointer<double>(&_wp_range));
161 props->tie("waypoint/brg-deg",
162 SGRawValuePointer<double>(&_course));
163 props->tie("waypoint/rangerate-nm-sec",
164 SGRawValuePointer<double>(&_range_rate));
165 props->tie("waypoint/new",
166 SGRawValuePointer<bool>(&_new_waypoint));
167 props->tie("waypoint/missed",
168 SGRawValuePointer<bool>(&_missed));
169 props->tie("waypoint/missed-count-sec",
170 SGRawValuePointer<double>(&_missed_count));
171 props->tie("waypoint/missed-range-nm",
172 SGRawValuePointer<double>(&_missed_range));
173 props->tie("waypoint/missed-time-sec",
174 SGRawValuePointer<double>(&_missed_time_sec));
175 props->tie("waypoint/wait-count-sec",
176 SGRawValuePointer<double>(&_wait_count));
177 props->tie("waypoint/xtrack-error-ft",
178 SGRawValuePointer<double>(&_xtrack_error));
179 props->tie("waypoint/waiting",
180 SGRawValuePointer<bool>(&_waiting));
181 props->tie("waypoint/lead-angle-deg",
182 SGRawValuePointer<double>(&_lead_angle));
183 props->tie("waypoint/tunnel",
184 SGRawValuePointer<bool>(&_tunnel));
185 props->tie("waypoint/alt-curr-m",
186 SGRawValuePointer<double>(&_curr_alt));
187 props->tie("waypoint/alt-prev-m",
188 SGRawValuePointer<double>(&_prev_alt));
189 props->tie("submodels/serviceable",
190 SGRawValuePointer<bool>(&_serviceable));
191 props->tie("controls/turn-radius-ft",
192 SGRawValuePointer<double>(&turn_radius_ft));
193 props->tie("controls/turn-radius-corrected-ft",
194 SGRawValuePointer<double>(&_rd_turn_radius_ft));
195 props->tie("controls/constants/lead-angle/gain",
196 SGRawValuePointer<double>(&_lead_angle_gain));
197 props->tie("controls/constants/lead-angle/limit-deg",
198 SGRawValuePointer<double>(&_lead_angle_limit));
199 props->tie("controls/constants/lead-angle/proportion",
200 SGRawValuePointer<double>(&_proportion));
201 props->tie("controls/fixed-turn-radius-ft",
202 SGRawValuePointer<double>(&_fixed_turn_radius));
203 props->tie("controls/restart",
204 SGRawValuePointer<bool>(&_restart));
205 props->tie("velocities/speed-kts",
206 SGRawValuePointer<double>(&speed));
209 void FGAIShip::unbind() {
211 props->untie("surface-positions/rudder-pos-deg");
212 props->untie("controls/heading-lock");
213 props->untie("controls/tgt-speed-kts");
214 props->untie("controls/tgt-heading-degs");
215 props->untie("controls/constants/roll");
216 props->untie("controls/constants/rudder");
217 props->untie("controls/constants/roll-factor");
218 props->untie("controls/constants/speed");
219 props->untie("waypoint/range-nm");
220 props->untie("waypoint/range-brg-deg");
221 props->untie("waypoint/rangerate-nm-sec");
222 props->untie("waypoint/new");
223 props->untie("waypoint/missed");
224 props->untie("waypoint/missed-count-sec");
225 props->untie("waypoint/missed-time-sec");
226 props->untie("waypoint/missed-range");
227 props->untie("waypoint/wait-count-sec");
228 props->untie("waypoint/lead-angle-deg");
229 props->untie("waypoint/xtrack-error-ft");
230 props->untie("waypoint/waiting");
231 props->untie("waypoint/tunnel");
232 props->untie("waypoint/alt-curr-m");
233 props->untie("waypoint/alt-prev-m");
234 props->untie("submodels/serviceable");
235 props->untie("controls/turn-radius-ft");
236 props->untie("controls/turn-radius-corrected-ft");
237 props->untie("controls/constants/lead-angle/gain");
238 props->untie("controls/constants/lead-angle/limit-deg");
239 props->untie("controls/constants/lead-angle/proportion");
240 props->untie("controls/fixed-turn-radius-ft");
241 props->untie("controls/constants/speed");
242 props->untie("controls/restart");
243 props->untie("velocities/speed-kts");
246 void FGAIShip::update(double dt) {
247 //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
248 // For computation of rotation speeds we just use finite differences here.
249 // That is perfectly valid since this thing is not driven by accelerations
250 // but by just apply discrete changes at its velocity variables.
251 // Update the velocity information stored in those nodes.
252 // Transform that one to the horizontal local coordinate system.
253 SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
254 // The orientation of the ship wrt the horizontal local frame
255 SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
256 // and postrotate the orientation of the AIModel wrt the horizontal
258 SGQuatd ec2body = ec2hl*hl2body;
259 // The cartesian position of the ship in the wgs84 world
260 SGVec3d cartPos = SGVec3d::fromGeod(pos);
262 // The simulation time this transform is meant for
263 aip.setReferenceTime(globals->get_sim_time_sec());
265 // Compute the velocity in m/s in the body frame
266 aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
268 FGAIBase::update(dt);
274 // Only change these values if we are able to compute them safely
275 if (SGLimits<double>::min() < dt) {
276 // Now here is the finite difference ...
278 // Transform that one to the horizontal local coordinate system.
279 SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
280 // compute the new orientation
281 SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
282 // The rotation difference
283 SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
284 SGVec3d dOrAngleAxis;
285 dOr.getAngleAxis(dOrAngleAxis);
286 // divided by the time difference provides a rotation speed vector
289 aip.setBodyAngularVelocity(dOrAngleAxis);
293 void FGAIShip::Run(double dt) {
295 ProcessFlightPlan(dt);
297 string type = getTypeString();
304 double speed_diff = tgt_speed - speed;
306 if (fabs(speed_diff) > 0.1) {
308 if (speed_diff > 0.0)
309 speed += _speed_constant * dt;
311 if (speed_diff < 0.0)
312 speed -= _speed_constant * dt;
316 // do not allow unreasonable speeds
317 SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
319 // convert speed to degrees per second
320 speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
321 * speed * 1.686 / ft_per_deg_lat;
322 speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
323 * speed * 1.686 / ft_per_deg_lon;
326 //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
327 pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
328 pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
329 pos.setElevationFt(tgt_altitude_ft);
332 // adjust heading based on current _rudder angle
333 if (turn_radius_ft <= 0)
334 turn_radius_ft = 0; // don't allow nonsense values
343 //we assume that at slow speed ships will manoeuvre using engines/bow thruster
344 if(type == "ship" || type == "carrier" || type == "escort"){
347 _sp_turn_radius_ft = _fixed_turn_radius;
349 // adjust turn radius for speed. The equation is very approximate.
350 // we need to allow for negative speeds
351 _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
356 if (fabs(speed) <= 40)
357 _sp_turn_radius_ft = _fixed_turn_radius;
359 // adjust turn radius for speed.
360 _sp_turn_radius_ft = turn_radius_ft;
365 if (_rudder <= -0.25 || _rudder >= 0.25) {
366 // adjust turn radius for _rudder angle. The equation is even more approximate.
371 _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
373 // calculate the angle, alpha, subtended by the arc traversed in time dt
374 alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
375 //cout << _name << " alpha " << alpha << endl;
376 // make sure that alpha is applied in the right direction
377 hdg += alpha * sign(_rudder);
379 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
381 //adjust roll for rudder angle and speed. Another bit of voodoo
382 raw_roll = _roll_factor * speed * _rudder;
384 // _rudder angle is 0
392 roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
394 // adjust target _rudder angle if heading lock engaged
395 double rudder_diff = 0.0;
397 double rudder_sense = 0.0;
398 double diff = fabs(hdg - tgt_heading);
399 //cout << "_rudder diff" << diff << endl;
401 diff = fabs(diff - 360);
403 double sum = hdg + diff;
408 if (fabs(sum - tgt_heading)< 1.0)
414 rudder_sense = -rudder_sense;
417 _tgt_rudder = diff * rudder_sense;
419 _tgt_rudder = 45 * rudder_sense;
421 rudder_diff = _tgt_rudder - _rudder;
424 // set the _rudder limit by speed
425 if (type == "ship" || type == "carrier" || type == "escort"){
428 rudder_limit = (-0.825 * speed) + 35;
435 if (fabs(rudder_diff)> 0.1) { // apply dead zone
437 if (rudder_diff > 0.0) {
438 _rudder += _rudder_constant * dt;
440 if (_rudder > rudder_limit) // apply the _rudder limit
441 _rudder = rudder_limit;
443 } else if (rudder_diff < 0.0) {
444 _rudder -= _rudder_constant * dt;
446 if (_rudder < -rudder_limit)
447 _rudder = -rudder_limit;
451 // do calculations for radar
452 UpdateRadar(manager);
456 void FGAIShip::AccelTo(double speed) {
460 void FGAIShip::PitchTo(double angle) {
464 void FGAIShip::RollTo(double angle) {
468 void FGAIShip::YawTo(double angle) {
471 void FGAIShip::ClimbTo(double altitude) {
472 tgt_altitude_ft = altitude;
473 _setAltitude(altitude);
476 void FGAIShip::TurnTo(double heading) {
477 tgt_heading = heading - _lead_angle + _tow_angle;
478 SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
482 double FGAIShip::sign(double x) {
489 void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
493 void FGAIShip::setStartTime(const string& st) {
497 void FGAIShip::setUntilTime(const string& ut) {
499 props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
502 void FGAIShip::setCurrName(const string& c) {
504 props->setStringValue("waypoint/name-curr", _curr_name.c_str());
507 void FGAIShip::setNextName(const string& n) {
509 props->setStringValue("waypoint/name-next", _next_name.c_str());
512 void FGAIShip::setPrevName(const string& p) {
514 props->setStringValue("waypoint/name-prev", _prev_name.c_str());
517 void FGAIShip::setRepeat(bool r) {
521 void FGAIShip::setRestart(bool r) {
525 void FGAIShip::setMissed(bool m) {
527 props->setBoolValue("waypoint/missed", _missed);
530 void FGAIShip::setRudder(float r) {
534 void FGAIShip::setRoll(double rl) {
538 void FGAIShip::setLeadAngleGain(double g) {
539 _lead_angle_gain = g;
542 void FGAIShip::setLeadAngleLimit(double l) {
543 _lead_angle_limit = l;
546 void FGAIShip::setLeadAngleProp(double p) {
550 void FGAIShip::setRudderConstant(double rc) {
551 _rudder_constant = rc;
554 void FGAIShip::setSpeedConstant(double sc) {
555 _speed_constant = sc;
558 void FGAIShip::setFixedTurnRadius(double ftr) {
559 _fixed_turn_radius = ftr;
562 void FGAIShip::setInitialTunnel(bool t) {
564 setTunnel(_initial_tunnel);
567 void FGAIShip::setTunnel(bool t) {
571 void FGAIShip::setWPNames() {
574 setPrevName(prev->name);
579 setCurrName(curr->name);
582 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
586 setNextName(next->name);
590 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: prev wp name " << prev->name);
591 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: current wp name " << curr->name);
592 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: next wp name " << next->name);
596 double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
598 double course, distance, az2;
600 //calculate the bearing and range of the second pos from the first
601 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
602 distance *= SG_METER_TO_NM;
606 double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
608 double course, distance, recip;
610 //calculate the bearing and range of the second pos from the first
611 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
612 if (tgt_speed >= 0) {
614 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course);
617 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip);
621 void FGAIShip::ProcessFlightPlan(double dt) {
623 double time_sec = getDaySeconds();
627 ///////////////////////////////////////////////////////////////////////////
628 // Check Execution time (currently once every 1 sec)
629 // Add a bit of randomization to prevent the execution of all flight plans
630 // in synchrony, which can add significant periodic framerate flutter.
631 ///////////////////////////////////////////////////////////////////////////
633 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
634 if (_dt_count < _next_run && _start_sec < time_sec)
637 _next_run = 0.05 + (0.025 * sg_random());
639 double until_time_sec = 0;
642 // check to see if we've reached the point for our next turn
643 // if the range to the waypoint is less than the calculated turn
644 // radius we can start the turn to the next leg
645 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
646 _range_rate = (_wp_range - _old_range) / _dt_count;
647 double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
648 // we need to try to identify a _missed waypoint
650 // calculate the time needed to turn through an arc of 90 degrees,
651 // and allow a time error
653 _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
655 _missed_time_sec = 10;
657 _missed_range = 4 * sp_turn_radius_nm;
659 //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
660 //if ((_range_rate > 0) && !_new_waypoint){
661 if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
662 _missed_count += _dt_count;
665 if (_missed_count >= 120)
667 else if (_missed_count >= _missed_time_sec)
672 _old_range = _wp_range;
675 if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
677 if (_next_name == "TUNNEL"){
680 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
682 fp->IncrementWaypoint(false);
683 next = fp->getNextWaypoint();
685 if (next->name == "WAITUNTIL" || next->name == "WAIT"
686 || next->name == "END" || next->name == "TUNNEL")
690 fp->IncrementWaypoint(false);
691 curr = fp->getCurrentWaypoint();
692 next = fp->getNextWaypoint();
694 }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
697 SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
700 curr = fp->getCurrentWaypoint();
701 next = fp->getNextWaypoint();
703 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
704 _old_range = _wp_range;
706 _new_waypoint = true;
709 AccelTo(prev->speed);
710 } else if (_restart){
711 SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
715 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
721 } else if (_next_name == "WAIT") {
723 if (_wait_count < next->time_sec) {
724 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting ");
727 _wait_count += _dt_count;
732 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name
733 << " wait done: getting new waypoints ");
736 fp->IncrementWaypoint(false);
737 next = fp->getNextWaypoint();
739 if (next->name == "WAITUNTIL" || next->name == "WAIT"
740 || next->name == "END" || next->name == "TUNNEL")
744 fp->IncrementWaypoint(false);
745 curr = fp->getCurrentWaypoint();
746 next = fp->getNextWaypoint();
749 } else if (_next_name == "WAITUNTIL") {
750 time_sec = getDaySeconds();
751 until_time_sec = processTimeString(next->time);
752 _until_time = next->time;
753 setUntilTime(next->time);
754 if (until_time_sec > time_sec) {
755 SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " "
756 << curr->name << " waiting until: "
757 << _until_time << " " << until_time_sec << " now " << time_sec );
763 SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "
764 << _name << " wait until done: getting new waypoints ");
766 fp->IncrementWaypoint(false);
768 while (next->name == "WAITUNTIL") {
769 fp->IncrementWaypoint(false);
770 next = fp->getNextWaypoint();
773 if (next->name == "WAIT")
777 fp->IncrementWaypoint(false);
778 curr = fp->getCurrentWaypoint();
779 next = fp->getNextWaypoint();
784 //now reorganise the waypoints, so that next becomes current and so on
785 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
786 fp->IncrementWaypoint(false);
787 prev = fp->getPreviousWaypoint(); //first waypoint
788 curr = fp->getCurrentWaypoint(); //second waypoint
789 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
793 _new_waypoint = true;
797 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
798 _old_range = _wp_range;
800 object_type type = getType();
803 AccelTo(prev->speed);
805 _curr_alt = curr->altitude;
806 _prev_alt = prev->altitude;
809 _new_waypoint = false;
812 // now revise the required course for the next way point
813 _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
818 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
821 } // end Processing FlightPlan
823 bool FGAIShip::initFlightPlan() {
825 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
829 _tunnel = _initial_tunnel;
832 fp->IncrementWaypoint(false);
834 prev = fp->getPreviousWaypoint(); //first waypoint
835 curr = fp->getCurrentWaypoint(); //second waypoint
836 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
838 while (curr->name == "WAIT" || curr->name == "WAITUNTIL") { // don't wait when initialising
839 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
840 fp->IncrementWaypoint(false);
841 curr = fp->getCurrentWaypoint();
842 next = fp->getNextWaypoint();
845 if (!_start_time.empty()){
846 _start_sec = processTimeString(_start_time);
847 double day_sec = getDaySeconds();
849 if (_start_sec < day_sec){
850 //cout << "flight plan has already started " << _start_time << endl;
851 init = advanceFlightPlan(_start_sec, day_sec);
853 } else if (_start_sec > day_sec && _repeat) {
854 //cout << "flight plan has not started, " << _start_time;
855 //cout << "offsetting start time by -24 hrs" << endl;
857 init = advanceFlightPlan(_start_sec, day_sec);
861 _start_sec = 0; // set to zero for an immediate start of the Flight Plan
864 fp->IncrementWaypoint(false);
865 prev = fp->getPreviousWaypoint();
866 curr = fp->getCurrentWaypoint();
867 next = fp->getNextWaypoint();
872 setLatitude(prev->latitude);
873 setLongitude(prev->longitude);
874 setSpeed(prev->speed);
878 setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude));
879 _wp_range = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
880 _old_range = _wp_range;
885 _new_waypoint = true;
887 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
896 } // end of initialization
899 double FGAIShip::processTimeString(const string& theTime) {
905 // first split theTime string into
906 // hour, minute, second and convert to int;
907 Hour = atoi(theTime.substr(0,2).c_str());
908 Minute = atoi(theTime.substr(3,5).c_str());
909 Second = atoi(theTime.substr(6,8).c_str());
911 // offset by a day-sec to allow for starting a day earlier
912 double time_seconds = Hour * 3600
919 double FGAIShip::getDaySeconds () {
921 struct tm *t = globals->get_time_params()->getGmt();
923 double day_seconds = t->tm_hour * 3600
930 bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
932 double elapsed_sec = start_sec;
933 double distance_nm = 0;
935 //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
937 while ( elapsed_sec < day_sec ) {
939 if (next->name == "END" || fp->getNextWaypoint() == 0) {
942 //cout << _name << ": " << "restarting flightplan" << endl;
944 curr = fp->getCurrentWaypoint();
945 next = fp->getNextWaypoint();
947 //cout << _name << ": " << "ending flightplan" << endl;
952 } else if (next->name == "WAIT") {
953 //cout << _name << ": begin WAIT: " << prev->name << " ";
954 //cout << curr->name << " " << next->name << endl;
956 elapsed_sec += next->time_sec;
958 if ( elapsed_sec >= day_sec)
961 fp->IncrementWaypoint(false);
962 next = fp->getNextWaypoint();
964 if (next->name != "WAITUNTIL" && next->name != "WAIT"
965 && next->name != "END") {
967 fp->IncrementWaypoint(false);
968 curr = fp->getCurrentWaypoint();
969 next = fp->getNextWaypoint();
972 } else if (next->name == "WAITUNTIL") {
973 double until_sec = processTimeString(next->time);
975 if (until_sec > _start_sec && start_sec < 0)
978 if (elapsed_sec < until_sec)
979 elapsed_sec = until_sec;
981 if (elapsed_sec >= day_sec )
984 fp->IncrementWaypoint(false);
985 next = fp->getNextWaypoint();
987 if (next->name != "WAITUNTIL" && next->name != "WAIT") {
989 fp->IncrementWaypoint(false);
990 curr = fp->getCurrentWaypoint();
991 next = fp->getNextWaypoint();
994 //cout << _name << ": end WAITUNTIL: ";
995 //cout << prev->name << " " << curr->name << " " << next->name << endl;
998 distance_nm = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
999 elapsed_sec += distance_nm * 60 * 60 / prev->speed;
1001 if (elapsed_sec >= day_sec)
1004 fp->IncrementWaypoint(false);
1005 prev = fp->getPreviousWaypoint();
1006 curr = fp->getCurrentWaypoint();
1007 next = fp->getNextWaypoint();
1012 // the required position lies between the previous and current waypoints
1013 // so we will calculate the distance back up the track from the current waypoint
1014 // then calculate the lat and lon.
1016 //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
1017 // << " " << day_sec << endl;
1019 double time_diff = elapsed_sec - day_sec;
1020 double lat, lon, recip;
1022 //cout << " time diff " << time_diff << endl;
1024 if (next->name == "WAIT" ){
1026 lat = curr->latitude;
1027 lon = curr->longitude;
1028 _wait_count= time_diff;
1030 } else if (next->name == "WAITUNTIL") {
1032 lat = curr->latitude;
1033 lon = curr->longitude;
1036 setSpeed(prev->speed);
1037 distance_nm = speed * time_diff / (60 * 60);
1038 double brg = getCourse(curr->latitude, curr->longitude, prev->latitude, prev->longitude);
1040 //cout << " brg " << brg << " from " << curr->name << " to " << prev->name << " "
1041 // << " lat " << curr->latitude << " lon " << curr->longitude
1042 // << " distance m " << distance_nm * SG_NM_TO_METER << endl;
1044 lat = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1045 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1046 lon = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1047 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1048 recip = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
1049 distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
1058 void FGAIShip::setWPPos() {
1060 if (curr->name == "END" || curr->name == "WAIT"
1061 || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){
1062 //cout << curr->name << " returning" << endl;
1066 double elevation_m = 0;
1067 wppos.setLatitudeDeg(curr->latitude);
1068 wppos.setLongitudeDeg(curr->longitude);
1069 wppos.setElevationM(0);
1071 if (curr->on_ground){
1073 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
1074 elevation_m, &_material, 0)){
1075 wppos.setElevationM(elevation_m);
1078 //cout << curr->name << " setting measured elev " << elevation_m << endl;
1081 wppos.setElevationM(curr->altitude);
1082 //cout << curr->name << " setting FP elev " << elevation_m << endl;
1085 curr->altitude = wppos.getElevationM();
1089 void FGAIShip::setXTrackError() {
1091 double course = getCourse(prev->latitude, prev->longitude,
1092 curr->latitude, curr->longitude);
1093 double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
1094 curr->latitude, curr->longitude);
1095 double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
1096 double factor = -0.0045 * speed + 1;
1097 double limit = _lead_angle_limit * factor;
1100 _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
1104 _lead_angle *= _lead_angle_gain * factor;
1105 _xtrack_error = xtrack_error_nm * 6076.1155;
1107 SG_CLAMP_RANGE(_lead_angle, -limit, limit);