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