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