+
+ if ( dt < 0.00001 ) {
+ return;
+ }
+
+ double time_sec = getDaySeconds();
+
+ _dt_count += dt;
+
+ ///////////////////////////////////////////////////////////////////////////
+ // Check Execution time (currently once every 1 sec)
+ // Add a bit of randomization to prevent the execution of all flight plans
+ // in synchrony, which can add significant periodic framerate flutter.
+ ///////////////////////////////////////////////////////////////////////////
+
+ //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
+ if (_dt_count < _next_run && _start_sec < time_sec)
+ return;
+
+ _next_run = 0.05 + (0.025 * sg_random());
+
+ double until_time_sec = 0;
+ _missed = false;
+
+ // check to see if we've reached the point for our next turn
+ // if the range to the waypoint is less than the calculated turn
+ // radius we can start the turn to the next leg
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
+ _range_rate = (_wp_range - _old_range) / _dt_count;
+ double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
+ // we need to try to identify a _missed waypoint
+
+ // calculate the time needed to turn through an arc of 90 degrees,
+ // and allow a time error
+ if (speed != 0)
+ _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
+ else
+ _missed_time_sec = 10;
+
+ _missed_range = 4 * sp_turn_radius_nm;
+
+ //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
+ //if ((_range_rate > 0) && !_new_waypoint){
+ if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
+ _missed_count += _dt_count;
+ }
+
+ if (_missed_count >= 120)
+ setMissed(true);
+ else if (_missed_count >= _missed_time_sec)
+ setMissed(true);
+ else
+ setMissed(false);
+
+ _old_range = _wp_range;
+ setWPNames();
+
+ if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
+
+ if (_next_name == "TUNNEL"){
+ _tunnel = !_tunnel;
+
+ SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
+
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
+ || next->getName() == "END" || next->getName() == "TUNNEL")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
+
+ if (_repeat) {
+ SG_LOG(SG_AI, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
+ fp->restart();
+ prev = curr;
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ setWPNames();
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _new_waypoint = true;
+ _missed_count = 0;
+ _lead_angle = 0;
+ AccelTo(prev->getSpeed());
+ } else if (_restart){
+ SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
+ _missed_count = 0;
+ initFlightPlan();
+ } else {
+ SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
+ setDie(true);
+ _dt_count = 0;
+ return;
+ }
+
+ } else if (_next_name == "WAIT") {
+
+ if (_wait_count < next->getTime_sec()) {
+ SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
+ setSpeed(0);
+ _waiting = true;
+ _wait_count += _dt_count;
+ _dt_count = 0;
+ _lead_angle = 0;
+ return;
+ } else {
+ SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name
+ << " wait done: getting new waypoints ");
+ _waiting = false;
+ _wait_count = 0;
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
+ || next->getName() == "END" || next->getName() == "TUNNEL")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ } else if (_next_name == "WAITUNTIL") {
+ time_sec = getDaySeconds();
+ until_time_sec = processTimeString(next->getTime());
+ _until_time = next->getTime();
+ setUntilTime(next->getTime());
+ if (until_time_sec > time_sec) {
+ SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " "
+ << curr->getName() << " waiting until: "
+ << _until_time << " " << until_time_sec << " now " << time_sec );
+ setSpeed(0);
+ _lead_angle = 0;
+ _waiting = true;
+ return;
+ } else {
+ SG_LOG(SG_AI, SG_INFO, "AIShip: "
+ << _name << " wait until done: getting new waypoints ");
+ setUntilTime("");
+ fp->IncrementWaypoint(false);
+
+ while (next->getName() == "WAITUNTIL") {
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+ }
+
+ if (next->getName() == "WAIT")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ _waiting = false;
+ }
+
+ } else {
+ //now reorganise the waypoints, so that next becomes current and so on
+ SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ }
+
+ setWPNames();
+ _new_waypoint = true;
+ _missed_count = 0;
+ _range_rate = 0;
+ _lead_angle = 0;
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
+ _old_range = _wp_range;
+ setWPPos();
+ object_type type = getType();
+
+ if (type != 10)
+ AccelTo(prev->getSpeed());
+
+ _curr_alt = curr->getAltitude();
+ _prev_alt = prev->getAltitude();
+
+ } else {
+ _new_waypoint = false;
+ }
+
+ // now revise the required course for the next way point
+ _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude());
+
+ if (finite(_course))
+ TurnTo(_course);
+ else
+ SG_LOG(SG_AI, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
+
+ _dt_count = 0;
+} // end Processing FlightPlan
+
+bool FGAIShip::initFlightPlan() {
+
+ SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
+
+ bool init = false;
+ _start_sec = 0;
+ _tunnel = _initial_tunnel;
+
+ fp->restart();
+ fp->IncrementWaypoint(false);
+
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+
+ while (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL") { // don't wait when initialising
+ SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ } // end while loop
+
+ if (!_start_time.empty()){
+ _start_sec = processTimeString(_start_time);
+ double day_sec = getDaySeconds();
+
+ if (_start_sec < day_sec){
+ //cout << "flight plan has already started " << _start_time << endl;
+ init = advanceFlightPlan(_start_sec, day_sec);
+
+ } else if (_start_sec > day_sec && _repeat) {
+ //cout << "flight plan has not started, " << _start_time;
+ //cout << "offsetting start time by -24 hrs" << endl;
+ _start_sec -= _day;
+ init = advanceFlightPlan(_start_sec, day_sec);
+ }
+
+ if (init)
+ _start_sec = 0; // set to zero for an immediate start of the Flight Plan
+ else {
+ fp->restart();
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ return false;
+ }
+
+ } else {
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ setSpeed(prev->getSpeed());
+ }
+
+ setWPNames();
+ setHeading(getCourse(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()));
+ _wp_range = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _hdg_lock = true;
+ _missed = false;
+ _missed_count = 0;
+ _new_waypoint = true;
+
+ SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
+ if (prev)
+ init = true;
+
+ if (init)
+ return true;
+ else
+ return false;
+
+} // end of initialization
+
+
+double FGAIShip::processTimeString(const string& theTime) {
+
+ int Hour;
+ int Minute;
+ int Second;
+
+ // first split theTime string into
+ // hour, minute, second and convert to int;
+ Hour = atoi(theTime.substr(0,2).c_str());
+ Minute = atoi(theTime.substr(3,5).c_str());
+ Second = atoi(theTime.substr(6,8).c_str());
+
+ // offset by a day-sec to allow for starting a day earlier
+ double time_seconds = Hour * 3600
+ + Minute * 60
+ + Second;
+
+ return time_seconds;