-// FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// // // FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
#include <simgear/route/waypoint.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Main/viewer.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
+#include <Airports/dynamics.hxx>
#include <string>
#include <math.h>
#include <time.h>
+
#ifdef _MSC_VER
# include <float.h>
# define finite _finite
# include <ieeefp.h>
#endif
-SG_USING_STD(string);
+using std::string;
#include "AIAircraft.hxx"
#include "performancedata.hxx"
static string tempReg;
-class AI_OutOfSight{};
-class FP_Inactive{};
-
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
trafficRef = ref;
if (trafficRef) {
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
+ headingError = 0;
holdPos = false;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
-
+ dt = 0;
}
props->tie("controls/gear/gear-down",
SGRawValueMethods<FGAIAircraft,bool>(*this,
&FGAIAircraft::_getGearDown));
- props->tie("callsign",
- SGRawValueMethods<FGAIAircraft,const char *>(*this,
- &FGAIAircraft::_getCallSign));
- //props->setStringValue("callsign", callsign.c_str());
+ props->tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
- props->untie("callsign");
+ props->untie("transponder-id");
}
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
-
- try {
- updatePrimaryTargetValues(); // target hdg, alt, speed
- }
- catch (AI_OutOfSight) {
- return;
+
+ bool outOfSight = false,
+ flightplanActive = true;
+ updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+ if (outOfSight) {
+ return;
}
- catch (FP_Inactive) {
- return;
+
+ if (!flightplanActive) {
+ groundTargetSpeed = 0;
}
handleATCRequests(); // ATC also has a word to say
updateSecondaryTargetValues(); // target roll, vertical speed, pitch
updateActualState();
UpdateRadar(manager);
+ checkVisibility();
}
+void FGAIAircraft::checkVisibility()
+{
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ FGViewer* vw = globals->get_current_view();
+ invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
+}
+
void FGAIAircraft::AccelTo(double speed) {
}
//TODO let the fp handle this (loading of next leg)
- fp->IncrementWaypoint((bool) trafficRef);
- if (!(fp->getNextWaypoint()) && trafficRef)
- loadNextLeg();
+ fp->IncrementWaypoint( trafficRef != 0 );
+ if (!(fp->getNextWaypoint()) && trafficRef != 0)
+ if (!loadNextLeg()) {
+ setDie(true);
+ return;
+ }
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
}
if (next) {
- fp->setLeadDistance(speed, tgt_heading, curr, next);
+ fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
return _performance->gearExtensible(this);
}
-const char * FGAIAircraft::_getCallSign() const {
- return callsign.c_str();
+
+const char * FGAIAircraft::_getTransponderCode() const {
+ return transponderCode.c_str();
}
-void FGAIAircraft::loadNextLeg() {
+bool FGAIAircraft::loadNextLeg() {
int leg;
if ((leg = fp->getLeg()) == 10) {
- trafficRef->next();
+ if (!trafficRef->next()) {
+ return false;
+ }
setCallSign(trafficRef->getCallSign());
- //props->setStringValue("callsign", callsign.c_str());
leg = 1;
fp->setLeg(leg);
}
} else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
- fp->create (dep,
+ fp->create (this,
+ dep,
arr,
leg,
- cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
+ cruiseAlt,
trafficRef->getSpeed(),
_getLatitude(),
_getLongitude(),
trafficRef->getFlightType(),
acType,
company);
+ //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
}
+ return true;
}
dt_elev_count += dt;
// Update minimally every three secs, but add some randomness
- // to prevent all IA objects doing this in synchrony
+ // to prevent all AI objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
double visibility_meters = fgGetDouble("/environment/visibility-m");
-
FGViewer* vw = globals->get_current_view();
- double course, distance;
-
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
- view.CourseAndDistance(current, &course, &distance);
- if (distance > visibility_meters) {
- //aip.getSGLocation()->set_cur_elev_m(aptElev);
+
+ if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
return;
}
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
double range = 500.0;
- if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
+ if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
// Try to shedule tiles for that position.
- globals->get_tile_mgr()->update( aip.getSGLocation(), range );
+ globals->get_tile_mgr()->update( pos, range );
}
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
double alt;
- if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
tgt_altitude_ft = alt * SG_METER_TO_FEET;
}
}
-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);
if (trafficRef) {
int leg = fp->getLeg();
- // Note that leg was been incremented after creating the current leg, so we should use
+ // Note that leg has been incremented after creating the current leg, so we should use
// leg numbers here that are one higher than the number that is used to create the leg
//
switch (leg) {
+ case 2: // Startup and Push back
+ if (trafficRef->getDepartureAirport()->getDynamics())
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
+ break;
case 3: // Taxiing to runway
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
case 4: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
- //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
- //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
- // << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
- // if (controller == 0) {
- //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
- //}
-
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
if ((controller != prevController) && (prevController != 0)) {
prevController->signOff(getID());
- string callsign = trafficRef->getCallSign();
- if ( trafficRef->getHeavy())
- callsign += "Heavy";
- switch (leg) {
- case 3:
- //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
- break;
- case 4:
- //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
- // << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
- // << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
- break;
- }
}
prevController = controller;
if (controller) {
controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
- trafficRef->getRadius(), leg, trafficRef->getCallSign());
+ trafficRef->getRadius(), leg, this);
}
}
}
+// Process ATC instructions and report back
void FGAIAircraft::processATC(FGATCInstruction instruction) {
if (instruction.getCheckForCircularWait()) {
} else {
if (holdPos) {
//if (trafficRef)
- // cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
+ // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
holdPos = false;
}
// Change speed Instruction. This can only be excecuted when there is no
void FGAIAircraft::handleFirstWaypoint() {
bool eraseWaypoints; //TODO YAGNI
+ headingError = 0;
if (trafficRef) {
eraseWaypoints = true;
} else {
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
if (!(fp->getNextWaypoint()) && trafficRef)
- loadNextLeg();
+ if (!loadNextLeg()) {
+ setDie(true);
+ return;
+ }
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
- //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
if (lead_dist < fabs(2*speed)) {
}
//prev_dist_to_go = dist_to_go;
+ //if (dist_to_go < lead_dist)
+ // cerr << trafficRef->getCallSign() << " Distance : "
+ // << dist_to_go << ": Lead distance "
+ // << lead_dist << " " << curr->name
+ // << " Ground target speed " << groundTargetSpeed << endl;
+
return dist_to_go < lead_dist;
}
bool FGAIAircraft::aiTrafficVisible() {
- double userLatitude = fgGetDouble("/position/latitude-deg");
- double userLongitude = fgGetDouble("/position/longitude-deg");
- double course, distance;
-
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint user (userLongitude, userLatitude, 0);
-
- user.CourseAndDistance(current, &course, &distance);
-
- return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
+ SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
+ fgGetDouble("/position/latitude-deg")));
+
+ return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
}
// 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") {
+ //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
+ if (prev->name == "PushBackPoint") {
dep->getDynamics()->releaseParking(fp->getGate());
+ 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
/**
* Update target values (heading, alt, speed) depending on flight plan or control properties
*/
-void FGAIAircraft::updatePrimaryTargetValues() {
+void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
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 (onGround()) {
+
+ // 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);
- throw AI_OutOfSight();
- }
- 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;
+ aiOutOfSight = !aiTrafficVisible();
+ if (aiOutOfSight) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ aiOutOfSight = true;
+ return;
}
- throw FP_Inactive();
}
- }
- else {
+ timeElapsed = now - fp->getStartTime();
+ flightplanActive = fp->isActive(now);
+ } 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
// If on ground, calculate heading change directly
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
+ double bank_sense = 0.0;
+ /*
+ double diff = fabs(hdg - tgt_heading);
+ if (diff > 180)
+ diff = fabs(diff - 360);
+ double sum = hdg + diff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) < 1.0) {
+ bank_sense = 1.0; // right turn
+ } else {
+ bank_sense = -1.0; // left turn
+ }*/
if (headingDiff > 180)
headingDiff = fabs(headingDiff - 360);
-
- groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
+ double sum = hdg + headingDiff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) > 0.0001) {
+ bank_sense = -1.0;
+ } else {
+ bank_sense = 1.0;
+ }
+ //if (trafficRef)
+ //cerr << trafficRef->getCallSign() << " Heading "
+ // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
+ //if (headingDiff > 60) {
+ groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
+ //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
+ //} else {
+ // groundTargetSpeed = tgt_speed;
+ //}
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
if (headingDiff > 30.0) {
// invert if pushed backward
- headingChangeRate += dt * sign(roll);
-
- if (headingChangeRate > 30)
- headingChangeRate = 30;
- else if (headingChangeRate < -30)
- headingChangeRate = -30;
-
+ headingChangeRate += 10.0 * dt * sign(roll);
+
+ // Clamp the maximum steering rate to 30 degrees per second,
+ // But only do this when the heading error is decreasing.
+ if ((headingDiff < headingError)) {
+ if (headingChangeRate > 30)
+ headingChangeRate = 30;
+ else if (headingChangeRate < -30)
+ headingChangeRate = -30;
+ }
} else {
- if (fabs(headingChangeRate) > headingDiff)
- headingChangeRate = headingDiff*sign(roll);
- else
- headingChangeRate += dt * sign(roll);
+ if (fabs(headingChangeRate) > headingDiff)
+ headingChangeRate = headingDiff*sign(roll);
+ else
+ headingChangeRate += dt * sign(roll);
}
- hdg += headingChangeRate * dt;
+
+ hdg += headingChangeRate * dt * (fabs(speed) / 15);
+ headingError = headingDiff;
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
}
}
+string FGAIAircraft::atGate() {
+ string tmp("");
+ if (fp->getLeg() < 3) {
+ if (trafficRef) {
+ if (fp->getGate() > 0) {
+ FGParking *park =
+ trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
+ tmp = park->getName();
+ }
+ }
+ }
+ return tmp;
+}
+
void FGAIAircraft::handleATCRequests() {
//TODO implement NullController for having no ATC to save the conditionals
if (controller) {
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