1 // FGAIShip - FGAIBase-derived class creates an AI ship
3 // Written by David Culp, started October 2003.
4 // with major amendments and additions by Vivian Meazza, 2004 - 2007
6 // This program is free software; you can redistribute it and/or
7 // modify it under the terms of the GNU General Public License as
8 // published by the Free Software Foundation; either version 2 of the
9 // License, or (at your option) any later version.
11 // This program is distributed in the hope that it will be useful, but
12 // WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with this program; if not, write to the Free Software
18 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
26 # define finite _finite
27 #elif defined(__sun) || defined(sgi)
33 #include <simgear/sg_inlines.h>
34 #include <simgear/math/sg_geodesy.hxx>
35 #include <simgear/timing/sg_time.hxx>
36 #include <simgear/math/sg_random.h>
38 #include <simgear/scene/util/SGNodeMasks.hxx>
39 #include <Scenery/scenery.hxx>
44 FGAIShip::FGAIShip(object_type ot) :
45 // allow HOT to be enabled
52 _initial_tunnel(false),
63 _roll_constant(0.001),
64 _roll_factor(-0.0083335),
80 FGAIShip::~FGAIShip() {
83 void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
88 FGAIBase::readFromScenario(scFileNode);
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));
106 if (!flightplan.empty()) {
107 SG_LOG(SG_AI, SG_ALERT, "getting flightplan: " << _name );
109 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
115 bool FGAIShip::init(bool search_in_AI_path) {
117 return FGAIBase::init(search_in_AI_path);
120 void FGAIShip::reinit()
122 prev = 0; // the one behind you
123 curr = 0; // the one ahead
124 next = 0; // the next plus 1
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());
138 _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
141 _fp_init = initFlightPlan();
146 void FGAIShip::bind() {
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));
217 void FGAIShip::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");
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
266 SGQuatd ec2body = ec2hl*hl2body;
267 // The cartesian position of the ship in the wgs84 world
268 SGVec3d cartPos = SGVec3d::fromGeod(pos);
270 // The simulation time this transform is meant for
271 aip.setReferenceTime(globals->get_sim_time_sec());
273 // Compute the velocity in m/s in the body frame
274 aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
276 FGAIBase::update(dt);
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 ...
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
297 aip.setBodyAngularVelocity(dOrAngleAxis);
301 void FGAIShip::Run(double dt) {
303 ProcessFlightPlan(dt);
305 string type = getTypeString();
312 double speed_diff = tgt_speed - speed;
314 if (fabs(speed_diff) > 0.1) {
316 if (speed_diff > 0.0)
317 speed += _speed_constant * dt;
319 if (speed_diff < 0.0)
320 speed -= _speed_constant * dt;
324 // do not allow unreasonable speeds
325 SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
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;
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);
340 // adjust heading based on current _rudder angle
341 if (turn_radius_ft <= 0)
342 turn_radius_ft = 0; // don't allow nonsense values
351 //we assume that at slow speed ships will manoeuvre using engines/bow thruster
352 if(type == "ship" || type == "carrier" || type == "escort"){
355 _sp_turn_radius_ft = _fixed_turn_radius;
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;
364 if (fabs(speed) <= 40)
365 _sp_turn_radius_ft = _fixed_turn_radius;
367 // adjust turn radius for speed.
368 _sp_turn_radius_ft = turn_radius_ft;
373 if (_rudder <= -0.25 || _rudder >= 0.25) {
374 // adjust turn radius for _rudder angle. The equation is even more approximate.
379 _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
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);
387 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
389 //adjust roll for rudder angle and speed. Another bit of voodoo
390 raw_roll = _roll_factor * speed * _rudder;
392 // _rudder angle is 0
400 roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
402 // adjust target _rudder angle if heading lock engaged
403 double rudder_diff = 0.0;
405 double rudder_sense = 0.0;
406 double diff = fabs(hdg - tgt_heading);
407 //cout << "_rudder diff" << diff << endl;
409 diff = fabs(diff - 360);
411 double sum = hdg + diff;
416 if (fabs(sum - tgt_heading)< 1.0)
422 rudder_sense = -rudder_sense;
425 _tgt_rudder = diff * rudder_sense;
427 _tgt_rudder = 45 * rudder_sense;
429 rudder_diff = _tgt_rudder - _rudder;
432 // set the _rudder limit by speed
433 if (type == "ship" || type == "carrier" || type == "escort"){
436 rudder_limit = (-0.825 * speed) + 35;
443 if (fabs(rudder_diff)> 0.1) { // apply dead zone
445 if (rudder_diff > 0.0) {
446 _rudder += _rudder_constant * dt;
448 if (_rudder > rudder_limit) // apply the _rudder limit
449 _rudder = rudder_limit;
451 } else if (rudder_diff < 0.0) {
452 _rudder -= _rudder_constant * dt;
454 if (_rudder < -rudder_limit)
455 _rudder = -rudder_limit;
459 // do calculations for radar
460 UpdateRadar(manager);
464 void FGAIShip::AccelTo(double speed) {
468 void FGAIShip::PitchTo(double angle) {
472 void FGAIShip::RollTo(double angle) {
476 void FGAIShip::YawTo(double angle) {
479 void FGAIShip::ClimbTo(double altitude) {
480 tgt_altitude_ft = altitude;
481 _setAltitude(altitude);
484 void FGAIShip::TurnTo(double heading) {
485 tgt_heading = heading - _lead_angle + _tow_angle;
486 SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
490 double FGAIShip::sign(double x) {
497 void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
501 void FGAIShip::setStartTime(const string& st) {
505 void FGAIShip::setUntilTime(const string& ut) {
507 props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
510 void FGAIShip::setCurrName(const string& c) {
512 props->setStringValue("waypoint/name-curr", _curr_name.c_str());
515 void FGAIShip::setNextName(const string& n) {
517 props->setStringValue("waypoint/name-next", _next_name.c_str());
520 void FGAIShip::setPrevName(const string& p) {
522 props->setStringValue("waypoint/name-prev", _prev_name.c_str());
525 void FGAIShip::setRepeat(bool r) {
529 void FGAIShip::setRestart(bool r) {
533 void FGAIShip::setMissed(bool m) {
535 props->setBoolValue("waypoint/missed", _missed);
538 void FGAIShip::setRudder(float r) {
542 void FGAIShip::setRoll(double rl) {
546 void FGAIShip::setLeadAngleGain(double g) {
547 _lead_angle_gain = g;
550 void FGAIShip::setLeadAngleLimit(double l) {
551 _lead_angle_limit = l;
554 void FGAIShip::setLeadAngleProp(double p) {
558 void FGAIShip::setRudderConstant(double rc) {
559 _rudder_constant = rc;
562 void FGAIShip::setSpeedConstant(double sc) {
563 _speed_constant = sc;
566 void FGAIShip::setFixedTurnRadius(double ftr) {
567 _fixed_turn_radius = ftr;
570 void FGAIShip::setRollFactor(double rf) {
571 _roll_factor = rf * -0.0083335;
574 void FGAIShip::setInitialTunnel(bool t) {
576 setTunnel(_initial_tunnel);
579 void FGAIShip::setTunnel(bool t) {
583 void FGAIShip::setWPNames() {
586 setPrevName(prev->getName());
591 setCurrName(curr->getName());
594 SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error" );
598 setNextName(next->getName());
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());
608 double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
610 double course, distance, az2;
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;
618 double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
620 double course, distance, recip;
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) {
626 SG_LOG(SG_AI, SG_DEBUG, "AIShip: course " << course);
629 SG_LOG(SG_AI, SG_DEBUG, "AIShip: recip " << recip);
633 void FGAIShip::ProcessFlightPlan(double dt) {
635 if ( dt < 0.00001 ) {
639 double time_sec = getDaySeconds();
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 ///////////////////////////////////////////////////////////////////////////
649 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
650 if (_dt_count < _next_run && _start_sec < time_sec)
653 _next_run = 0.05 + (0.025 * sg_random());
655 double until_time_sec = 0;
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
666 // calculate the time needed to turn through an arc of 90 degrees,
667 // and allow a time error
669 _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
671 _missed_time_sec = 10;
673 _missed_range = 4 * sp_turn_radius_nm;
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;
681 if (_missed_count >= 120)
683 else if (_missed_count >= _missed_time_sec)
688 _old_range = _wp_range;
691 if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
693 if (_next_name == "TUNNEL"){
696 SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
698 fp->IncrementWaypoint(false);
699 next = fp->getNextWaypoint();
701 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
702 || next->getName() == "END" || next->getName() == "TUNNEL")
706 fp->IncrementWaypoint(false);
707 curr = fp->getCurrentWaypoint();
708 next = fp->getNextWaypoint();
710 }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
713 SG_LOG(SG_AI, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
716 curr = fp->getCurrentWaypoint();
717 next = fp->getNextWaypoint();
719 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
720 _old_range = _wp_range;
722 _new_waypoint = true;
725 AccelTo(prev->getSpeed());
726 } else if (_restart){
727 SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
731 SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
737 } else if (_next_name == "WAIT") {
739 if (_wait_count < next->getTime_sec()) {
740 SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
743 _wait_count += _dt_count;
748 SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name
749 << " wait done: getting new waypoints ");
752 fp->IncrementWaypoint(false);
753 next = fp->getNextWaypoint();
755 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
756 || next->getName() == "END" || next->getName() == "TUNNEL")
760 fp->IncrementWaypoint(false);
761 curr = fp->getCurrentWaypoint();
762 next = fp->getNextWaypoint();
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 );
779 SG_LOG(SG_AI, SG_INFO, "AIShip: "
780 << _name << " wait until done: getting new waypoints ");
782 fp->IncrementWaypoint(false);
784 while (next->getName() == "WAITUNTIL") {
785 fp->IncrementWaypoint(false);
786 next = fp->getNextWaypoint();
789 if (next->getName() == "WAIT")
793 fp->IncrementWaypoint(false);
794 curr = fp->getCurrentWaypoint();
795 next = fp->getNextWaypoint();
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!)
809 _new_waypoint = true;
813 _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
814 _old_range = _wp_range;
816 object_type type = getType();
819 AccelTo(prev->getSpeed());
821 _curr_alt = curr->getAltitude();
822 _prev_alt = prev->getAltitude();
825 _new_waypoint = false;
828 // now revise the required course for the next way point
829 _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
834 SG_LOG(SG_AI, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
837 } // end Processing FlightPlan
839 bool FGAIShip::initFlightPlan() {
841 SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
845 _tunnel = _initial_tunnel;
848 fp->IncrementWaypoint(false);
850 prev = fp->getPreviousWaypoint(); //first waypoint
851 curr = fp->getCurrentWaypoint(); //second waypoint
852 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
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();
861 if (!_start_time.empty()){
862 _start_sec = processTimeString(_start_time);
863 double day_sec = getDaySeconds();
865 if (_start_sec < day_sec){
866 //cout << "flight plan has already started " << _start_time << endl;
867 init = advanceFlightPlan(_start_sec, day_sec);
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;
873 init = advanceFlightPlan(_start_sec, day_sec);
877 _start_sec = 0; // set to zero for an immediate start of the Flight Plan
880 fp->IncrementWaypoint(false);
881 prev = fp->getPreviousWaypoint();
882 curr = fp->getCurrentWaypoint();
883 next = fp->getNextWaypoint();
888 setLatitude(prev->getLatitude());
889 setLongitude(prev->getLongitude());
890 setSpeed(prev->getSpeed());
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;
901 _new_waypoint = true;
903 SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
912 } // end of initialization
915 double FGAIShip::processTimeString(const string& theTime) {
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());
927 // offset by a day-sec to allow for starting a day earlier
928 double time_seconds = Hour * 3600
935 double FGAIShip::getDaySeconds () {
937 struct tm *t = globals->get_time_params()->getGmt();
939 double day_seconds = t->tm_hour * 3600
946 bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
948 double elapsed_sec = start_sec;
949 double distance_nm = 0;
951 //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
953 while ( elapsed_sec < day_sec ) {
955 if (next->getName() == "END" || fp->getNextWaypoint() == 0) {
958 //cout << _name << ": " << "restarting flightplan" << endl;
960 curr = fp->getCurrentWaypoint();
961 next = fp->getNextWaypoint();
963 //cout << _name << ": " << "ending flightplan" << endl;
968 } else if (next->getName() == "WAIT") {
969 //cout << _name << ": begin WAIT: " << prev->name << " ";
970 //cout << curr->name << " " << next->name << endl;
972 elapsed_sec += next->getTime_sec();
974 if ( elapsed_sec >= day_sec)
977 fp->IncrementWaypoint(false);
978 next = fp->getNextWaypoint();
980 if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT"
981 && next->getName() != "END") {
983 fp->IncrementWaypoint(false);
984 curr = fp->getCurrentWaypoint();
985 next = fp->getNextWaypoint();
988 } else if (next->getName() == "WAITUNTIL") {
989 double until_sec = processTimeString(next->getTime());
991 if (until_sec > _start_sec && start_sec < 0)
994 if (elapsed_sec < until_sec)
995 elapsed_sec = until_sec;
997 if (elapsed_sec >= day_sec )
1000 fp->IncrementWaypoint(false);
1001 next = fp->getNextWaypoint();
1003 if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT") {
1005 fp->IncrementWaypoint(false);
1006 curr = fp->getCurrentWaypoint();
1007 next = fp->getNextWaypoint();
1010 //cout << _name << ": end WAITUNTIL: ";
1011 //cout << prev->name << " " << curr->name << " " << next->name << endl;
1014 distance_nm = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
1015 elapsed_sec += distance_nm * 60 * 60 / prev->getSpeed();
1017 if (elapsed_sec >= day_sec)
1020 fp->IncrementWaypoint(false);
1021 prev = fp->getPreviousWaypoint();
1022 curr = fp->getCurrentWaypoint();
1023 next = fp->getNextWaypoint();
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.
1032 //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
1033 // << " " << day_sec << endl;
1035 double time_diff = elapsed_sec - day_sec;
1036 double lat, lon, recip;
1038 //cout << " time diff " << time_diff << endl;
1040 if (next->getName() == "WAIT" ){
1042 lat = curr->getLatitude();
1043 lon = curr->getLongitude();
1044 _wait_count= time_diff;
1046 } else if (next->getName() == "WAITUNTIL") {
1048 lat = curr->getLatitude();
1049 lon = curr->getLongitude();
1052 setSpeed(prev->getSpeed());
1053 distance_nm = speed * time_diff / (60 * 60);
1054 double brg = getCourse(curr->getLatitude(), curr->getLongitude(), prev->getLatitude(), prev->getLongitude());
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;
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 );
1074 void FGAIShip::setWPPos() {
1076 if (curr->getName() == "END" || curr->getName() == "WAIT"
1077 || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL"){
1078 //cout << curr->name << " returning" << endl;
1082 double elevation_m = 0;
1083 wppos.setLatitudeDeg(curr->getLatitude());
1084 wppos.setLongitudeDeg(curr->getLongitude());
1085 wppos.setElevationM(0);
1087 if (curr->getOn_ground()){
1089 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
1090 elevation_m, &_material, 0)){
1091 wppos.setElevationM(elevation_m);
1094 //cout << curr->name << " setting measured elev " << elevation_m << endl;
1097 wppos.setElevationM(curr->getAltitude());
1098 //cout << curr->name << " setting FP elev " << elevation_m << endl;
1101 curr->setAltitude(wppos.getElevationM());
1105 void FGAIShip::setXTrackError() {
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;
1116 _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
1120 _lead_angle *= _lead_angle_gain * factor;
1121 _xtrack_error = xtrack_error_nm * 6076.1155;
1123 SG_CLAMP_RANGE(_lead_angle, -limit, limit);