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