-// FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// // FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
SG_USING_STD(string);
#include "AIAircraft.hxx"
+#include "performancedata.hxx"
+#include "performancedb.hxx"
+
//#include <Airports/trafficcontroller.hxx>
static string tempReg;
-//
-// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
-// cruise_speed, descent_speed, land_speed
-//
-const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
- // light aircraft
- {2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
- // ww2_fighter
- {4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
- // jet_transport
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // jet_fighter
- {7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
- // tanker
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // ufo (extreme accel/decel)
- {30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
- };
+class AI_OutOfSight{};
+class FP_Inactive{};
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
trafficRef = ref;
- if (trafficRef)
+ if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
+ setCallSign(trafficRef->getCallSign());
+ }
else
groundOffset = 0;
headingChangeRate = 0.0;
holdPos = false;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+
}
props->tie("controls/gear/gear-down",
SGRawValueMethods<FGAIAircraft,bool>(*this,
&FGAIAircraft::_getGearDown));
- props->setStringValue("callsign", callsign.c_str());
}
Transform();
}
-
void FGAIAircraft::setPerformance(const std::string& acclass) {
- if (acclass == "light") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
- } else if (acclass == "ww2_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
- } else if (acclass == "jet_transport") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "jet_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
- } else if (acclass == "tanker") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "ufo") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
- } else {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- }
-}
+ static PerformanceDB perfdb; //TODO make it a global service
+ setPerformance(perfdb.getDataFor(acclass));
+ }
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
+ void FGAIAircraft::setPerformance(PerformanceData *ps) {
+ _performance = ps;
+ }
- performance = ps;
-}
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
-void FGAIAircraft::Run(double dt) {
+ try {
+ updatePrimaryTargetValues(); // target hdg, alt, speed
+ }
+ catch (AI_OutOfSight) {
+ return;
+ }
+ catch (FP_Inactive) {
+ return;
+ }
- FGAIAircraft::dt = dt;
- if (!updateTargetValues())
- return;
+ handleATCRequests(); // ATC also has a word to say
+ updateSecondaryTargetValues(); // target roll, vertical speed, pitch
+ updateActualState();
+ UpdateRadar(manager);
+ }
- if (controller) {
- controller->update(getID(),
- pos.getLatitudeDeg(),
- pos.getLongitudeDeg(),
- hdg,
- speed,
- altitude_ft, dt);
- processATC(controller->getInstruction(getID()));
- }
-
- if (no_roll) {
- adjustSpeed(groundTargetSpeed);
- } else {
- adjustSpeed(tgt_speed);
- }
-
- updatePosition();
- updateHeading();
- updateBankAngles();
- updateAltitudes();
- updateVerticalSpeed();
- matchPitchAngle();
- UpdateRadar(manager);
-}
void FGAIAircraft::AccelTo(double speed) {
bool FGAIAircraft::_getGearDown() const {
- return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
- && (props->getFloatValue("velocities/airspeed-kt")
- < performance->land_speed*1.25));
+ return _performance->gearExtensible(this);
}
int leg;
if ((leg = fp->getLeg()) == 10) {
trafficRef->next();
+ setCallSign(trafficRef->getCallSign());
+ //props->setStringValue("callsign", callsign.c_str());
leg = 1;
fp->setLeg(leg);
}
// to prevent all IA objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
- else
- dt_elev_count = 0;
+
+ dt_elev_count = 0;
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
}
-void FGAIAircraft::setCallSign(const string& s) {
- callsign = s;
-}
-
-
void FGAIAircraft::doGroundAltitude() {
if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
altitude_ft = (tgt_altitude_ft + groundOffset);
void FGAIAircraft::processATC(FGATCInstruction instruction) {
+ if (instruction.getCheckForCircularWait()) {
+ // This is not exactly an elegant solution,
+ // but at least it gives me a chance to check
+ // if circular waits are resolved.
+ // For now, just take the offending aircraft
+ // out of the scene
+ setDie(true);
+ // a more proper way should be - of course - to
+ // let an offending aircraft take an evasive action
+ // for instance taxi back a little bit.
+ }
//cerr << "Processing ATC instruction (not Implimented yet)" << endl;
if (instruction.getHoldPattern ()) {}
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
- if (prev->name == "park2") {
+ if (prev->name == "PushBackPoint") {
dep->getDynamics()->releaseParking(fp->getGate());
- cerr << trafficRef->getCallSign() << "releasing parking " << fp->getGate() << endl;
+ time_t holdUntil = now + 120;
+ fp->setTime(holdUntil);
+ //cerr << _getCallsign() << "Holding at pushback point" << endl;
}
// This is the last taxi waypoint, and marks the the end of the flight plan
if (finite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
+ if (fabs(hdg_error) > 0.01) {
TurnTo( calc_bearing );
}
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
- fp->setLeadDistance(speed, tgt_heading, curr, next);
+ if (next) {
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
}
}
/**
* Update target values (heading, alt, speed) depending on flight plan or control properties
*/
-bool FGAIAircraft::updateTargetValues() {
+void FGAIAircraft::updatePrimaryTargetValues() {
if (fp) // AI object has a flightplan
{
//TODO make this a function of AIBase
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//cerr << "UpateTArgetValues() " << endl;
ProcessFlightPlan(dt, now);
- if (! fp->isActive(now)) {
- // Do execute Ground elev for inactive aircraft, so they
- // Are repositioned to the correct ground altitude when the user flies within visibility range.
- // In addition, check whether we are out of user range, so this aircraft
- // can be deleted.
- if (no_roll) {
+
+ // Do execute Ground elev for inactive aircraft, so they
+ // Are repositioned to the correct ground altitude when the user flies within visibility range.
+ // In addition, check whether we are out of user range, so this aircraft
+ // can be deleted.
+ if (onGround()) {
Transform(); // make sure aip is initialized.
- if (trafficRef) {
- //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
- if (! aiTrafficVisible()) {
- setDie(true);
- return false;
- }
- getGroundElev(dt);
- doGroundAltitude();
- // Transform();
- pos.setElevationFt(altitude_ft);
- }
+ getGroundElev(dt);
+ doGroundAltitude();
+ // Transform();
+ pos.setElevationFt(altitude_ft);
+ }
+ if (trafficRef) {
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
+ if (! aiTrafficVisible()) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ throw AI_OutOfSight();
}
- return false;
}
- }
- else {
+ if (! fp->isActive(now)) {
+ throw FP_Inactive();
+ }
+ } else {
// no flight plan, update target heading, speed, and altitude
// from control properties. These default to the initial
// settings in the config file, but can be changed "on the
AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
}
- return true;
-}
-
-
-/**
- * Adjust the speed (accelerate/decelerate) to tgt_speed.
- */
-void FGAIAircraft::adjustSpeed(double tgt_speed) {
- double speed_diff = tgt_speed - speed;
- speed_diff = groundTargetSpeed - speed;
-
- if (speed_diff > 0.0) // need to accelerate
- {
- speed += performance->accel * dt;
- if ( speed > tgt_speed )
- speed = tgt_speed;
-
- } else if (speed_diff < 0.0) {
- if (no_roll) {
- // on ground (aircraft can't roll)
- // deceleration performance is better due to wheel brakes.
- speed -= performance->decel * dt * 3;
- } else {
- speed -= performance->decel * dt;
- }
-
- if ( speed < tgt_speed )
- speed = tgt_speed;
-
- }
}
-
void FGAIAircraft::updatePosition() {
// convert speed to degrees per second
double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
//else
// turnConstant = 0.088362;
// If on ground, calculate heading change directly
- if (no_roll) {
+ if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
if (headingDiff > 180)
}
-void FGAIAircraft::updateBankAngles() {
+void FGAIAircraft::updateBankAngleTarget() {
// adjust target bank angle if heading lock engaged
if (hdg_lock) {
double bank_sense = 0.0;
} else {
bank_sense = -1.0; // left turn
}
- if (diff < 30) {
+ if (diff < _performance->maximumBankAngle()) {
tgt_roll = diff * bank_sense;
} else {
- tgt_roll = 30.0 * bank_sense;
+ tgt_roll = _performance->maximumBankAngle() * bank_sense;
}
- if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
+ if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
// The only way to resolve this is to make them slow down.
}
}
-
- // adjust bank angle, use 9 degrees per second
- double bank_diff = tgt_roll - roll;
- if (fabs(bank_diff) > 0.2) {
- if (bank_diff > 0.0)
- roll += 9.0 * dt;
-
- if (bank_diff < 0.0)
- roll -= 9.0 * dt;
- //while (roll > 180) roll -= 360;
- //while (roll < 180) roll += 360;
- }
}
-void FGAIAircraft::updateAltitudes() {
- // adjust altitude (meters) based on current vertical speed (fpm)
- altitude_ft += vs / 60.0 * dt;
- pos.setElevationFt(altitude_ft);
-
+void FGAIAircraft::updateVerticalSpeedTarget() {
// adjust target Altitude, based on ground elevation when on ground
- if (no_roll) {
+ if (onGround()) {
getGroundElev(dt);
doGroundAltitude();
- } else {
- // find target vertical speed if altitude lock engaged
- if (alt_lock && use_perf_vs) {
+ } else if (alt_lock) {
+ // find target vertical speed
+ if (use_perf_vs) {
if (altitude_ft < tgt_altitude_ft) {
tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs > performance->climb_rate)
- tgt_vs = performance->climb_rate;
+ if (tgt_vs > _performance->climbRate())
+ tgt_vs = _performance->climbRate();
} else {
tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs < (-performance->descent_rate))
- tgt_vs = -performance->descent_rate;
+ if (tgt_vs < (-_performance->descentRate()))
+ tgt_vs = -_performance->descentRate();
}
- }
-
- if (alt_lock && !use_perf_vs) {
+ } else {
double max_vs = 4*(tgt_altitude_ft - altitude_ft);
double min_vs = 100;
if (tgt_altitude_ft < altitude_ft)
if (fabs(tgt_vs) < fabs(min_vs))
tgt_vs = min_vs;
}
+ } //else
+ // tgt_vs = 0.0;
+}
+
+void FGAIAircraft::updatePitchAngleTarget() {
+ // if on ground and above vRotate -> initial rotation
+ if (onGround() && (speed > _performance->vRotate()))
+ tgt_pitch = 8.0; // some rough B737 value
+
+ //TODO pitch angle on approach and landing
+
+ // match pitch angle to vertical speed
+ else if (tgt_vs > 0) {
+ tgt_pitch = tgt_vs * 0.005;
+ } else {
+ tgt_pitch = tgt_vs * 0.002;
}
}
+void FGAIAircraft::handleATCRequests() {
+ //TODO implement NullController for having no ATC to save the conditionals
+ if (controller) {
+ controller->update(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ processATC(controller->getInstruction(getID()));
+ }
+}
-void FGAIAircraft::updateVerticalSpeed() {
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += (performance->climb_rate / 3.0) * dt;
+void FGAIAircraft::updateActualState() {
+ //update current state
+ //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
+ updatePosition();
- if (vs > tgt_vs)
- vs = tgt_vs;
- } else {
- vs -= (performance->descent_rate / 3.0) * dt;
+ if (onGround())
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
+ else
+ speed = _performance->actualSpeed(this, tgt_speed, dt);
- if (vs < tgt_vs)
- vs = tgt_vs;
- }
- }
+ updateHeading();
+ roll = _performance->actualBankAngle(this, tgt_roll, dt);
+
+ // adjust altitude (meters) based on current vertical speed (fpm)
+ altitude_ft += vs / 60.0 * dt;
+ pos.setElevationFt(altitude_ft);
+
+ vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
+ pitch = _performance->actualPitch(this, tgt_pitch, dt);
}
+void FGAIAircraft::updateSecondaryTargetValues() {
+ // derived target state values
+ updateBankAngleTarget();
+ updateVerticalSpeedTarget();
+ updatePitchAngleTarget();
-void FGAIAircraft::matchPitchAngle() {
- // match pitch angle to vertical speed
- if (vs > 0) {
- pitch = vs * 0.005;
- } else {
- pitch = vs * 0.002;
- }
+ //TODO calculate wind correction angle (tgt_yaw)
}
projects / flightgear.git / blobdiff