-// 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"
+#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}
-};
-
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft)
-{
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
trafficRef = ref;
- if (trafficRef)
+ if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
+ setCallSign(trafficRef->getCallSign());
+ }
else
groundOffset = 0;
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
+ headingError = 0;
holdPos = false;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+ dt = 0;
}
-FGAIAircraft::~FGAIAircraft()
-{
+FGAIAircraft::~FGAIAircraft() {
//delete fp;
if (controller)
controller->signOff(getID());
}
-void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode)
-{
+void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
if (!scFileNode)
return;
setPerformance(scFileNode->getStringValue("class", "jet_transport"));
setFlightPlan(scFileNode->getStringValue("flightplan"),
- scFileNode->getBoolValue("repeat", false));
+ scFileNode->getBoolValue("repeat", false));
setCallSign(scFileNode->getStringValue("callsign"));
}
-void FGAIAircraft::bind()
-{
+void FGAIAircraft::bind() {
FGAIBase::bind();
props->tie("controls/gear/gear-down",
- SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
- props->setStringValue("callsign", callsign.c_str());
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
+ props->tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
-void FGAIAircraft::unbind()
-{
+void FGAIAircraft::unbind() {
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
+ props->untie("transponder-id");
}
-void FGAIAircraft::update(double dt)
-{
+void FGAIAircraft::update(double dt) {
FGAIBase::update(dt);
Run(dt);
Transform();
}
+void FGAIAircraft::setPerformance(const std::string& acclass) {
+ static PerformanceDB perfdb; //TODO make it a global service
+ setPerformance(perfdb.getDataFor(acclass));
+ }
-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]);
- }
-}
+ void FGAIAircraft::setPerformance(PerformanceData *ps) {
+ _performance = ps;
+ }
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps)
-{
-
- performance = ps;
-}
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
+
+ bool outOfSight = false,
+ flightplanActive = true;
+ updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+ if (outOfSight) {
+ return;
+ }
-void FGAIAircraft::Run(double dt)
-{
+ if (!flightplanActive) {
+ groundTargetSpeed = 0;
+ }
- FGAIAircraft::dt = dt;
- if(!updateTargetValues())
- return;
+ handleATCRequests(); // ATC also has a word to say
+ updateSecondaryTargetValues(); // target roll, vertical speed, pitch
+ updateActualState();
+ UpdateRadar(manager);
+ checkVisibility();
+ }
- 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();
+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)
-{
+
+void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
}
-void FGAIAircraft::PitchTo(double angle)
-{
+void FGAIAircraft::PitchTo(double angle) {
tgt_pitch = angle;
alt_lock = false;
}
-void FGAIAircraft::RollTo(double angle)
-{
+void FGAIAircraft::RollTo(double angle) {
tgt_roll = angle;
hdg_lock = false;
}
-void FGAIAircraft::YawTo(double angle)
-{
+void FGAIAircraft::YawTo(double angle) {
tgt_yaw = angle;
}
-void FGAIAircraft::ClimbTo(double alt_ft )
-{
+void FGAIAircraft::ClimbTo(double alt_ft ) {
tgt_altitude_ft = alt_ft;
alt_lock = true;
}
-void FGAIAircraft::TurnTo(double heading)
-{
+void FGAIAircraft::TurnTo(double heading) {
tgt_heading = heading;
hdg_lock = true;
}
-double FGAIAircraft::sign(double x)
-{
+double FGAIAircraft::sign(double x) {
if (x == 0.0)
return x;
else
}
-void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat)
-{
- if (!flightplan.empty())
- {
+void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
+ if (!flightplan.empty()) {
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
fp->setRepeat(repeat);
SetFlightPlan(fp);
}
-void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f)
-{
+void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
delete fp;
fp = f;
}
-void FGAIAircraft::ProcessFlightPlan( double dt, time_t now )
-{
-
- //if (! fpExecutable(now))
- // return;
+void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
// the one behind you
FGAIFlightPlan::waypoint* prev = 0;
///////////////////////////////////////////////////////////////////////////
// Initialize the flightplan
//////////////////////////////////////////////////////////////////////////
- if (!prev)
- {
+ if (!prev) {
handleFirstWaypoint();
return;
} // end of initialization
-
+ if (! fpExecutable(now))
+ return;
dt_count = 0;
- if (! leadPointReached(curr))
- {
+ if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
- }
- else
- {
+ } else {
if (curr->finished) //end of the flight plan
{
if (fp->getRepeat())
return;
}
- if (next)
- {
+ if (next) {
//TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
tgt_heading = fp->getBearing(curr, next);
spinCounter = 0;
}
//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();
next = fp->getNextWaypoint();
// Now that we have incremented the waypoints, excute some traffic manager specific code
- if (trafficRef)
- {
+ if (trafficRef) {
//TODO isn't this best executed right at the beginning?
- if (! aiTrafficVisible())
- {
+ if (! aiTrafficVisible()) {
setDie(true);
return;
}
- if (! handleAirportEndPoints(prev, now))
- {
+ if (! handleAirportEndPoints(prev, now)) {
setDie(true);
return;
}
}
- if (next)
- {
- fp->setLeadDistance(speed, tgt_heading, curr, next);
+ if (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
{
tgt_altitude_ft = prev->altitude;
- if (curr->crossat > -1000.0)
- {
+ if (curr->crossat > -1000.0) {
use_perf_vs = false;
tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / speed*60.0);
+ / 6076.0 / speed*60.0);
tgt_altitude_ft = curr->crossat;
- }
- else
- {
+ } else {
use_perf_vs = true;
}
}
}
-void FGAIAircraft::initializeFlightPlan()
-{
+void FGAIAircraft::initializeFlightPlan() {
+}
+
+bool FGAIAircraft::_getGearDown() const {
+ return _performance->gearExtensible(this);
}
-bool FGAIAircraft::_getGearDown() const
-{
- return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
- && (props->getFloatValue("velocities/airspeed-kt")
- < performance->land_speed*1.25));
+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 ((leg = fp->getLeg()) == 10) {
+ if (!trafficRef->next()) {
+ return false;
+ }
+ setCallSign(trafficRef->getCallSign());
leg = 1;
fp->setLeg(leg);
}
FGAirport *dep = trafficRef->getDepartureAirport();
FGAirport *arr = trafficRef->getArrivalAirport();
- if (!(dep && arr))
- {
+ if (!(dep && arr)) {
setDie(true);
- }
- else
- {
+ } else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
- fp->create (dep,
- arr,
- leg,
- cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
- trafficRef->getSpeed(),
- _getLatitude(),
- _getLongitude(),
- false,
- trafficRef->getRadius(),
- trafficRef->getFlightType(),
- acType,
- company);
+ fp->create (this,
+ dep,
+ arr,
+ leg,
+ cruiseAlt,
+ trafficRef->getSpeed(),
+ _getLatitude(),
+ _getLongitude(),
+ false,
+ trafficRef->getRadius(),
+ trafficRef->getFlightType(),
+ acType,
+ company);
+ //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
}
+ return true;
}
// Either this function or the logic of how often it is called
// will almost certainly change.
-void FGAIAircraft::getGroundElev(double dt)
-{
+void FGAIAircraft::getGroundElev(double dt) {
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;
- 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)
- {
+ 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()
-{
+void FGAIAircraft::doGroundAltitude() {
if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
altitude_ft = (tgt_altitude_ft + groundOffset);
else
}
-void FGAIAircraft::announcePositionToController()
-{
- if (trafficRef)
- {
+void FGAIAircraft::announcePositionToController() {
+ 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 3: // Taxiing to runway
- if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
- break;
- 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;
- }
- break;
- case 9: // Taxiing for parking
- if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
- break;
- default:
- controller = 0;
- break;
+ 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();
+ break;
+ case 4: //Take off tower controller
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+ }
+ break;
+ case 9: // Taxiing for parking
+ if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
+ controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
+ break;
+ default:
+ controller = 0;
+ break;
}
- if ((controller != prevController) && (prevController != 0))
- {
+ 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)
- {
+ if (controller) {
controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
- _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
- trafficRef->getRadius(), leg, trafficRef->getCallSign());
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
}
}
}
-
-void FGAIAircraft::processATC(FGATCInstruction instruction)
-{
- //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
- if (instruction.getHoldPattern ())
- {
+// Process ATC instructions and report back
+
+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 ()) {}
// Hold Position
- if (instruction.getHoldPosition ())
- {
- if (!holdPos)
- {
+ if (instruction.getHoldPosition ()) {
+ if (!holdPos) {
holdPos = true;
}
AccelTo(0.0);
- }
- else
- {
- if (holdPos)
- {
+ } 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
// Hold position instruction.
- if (instruction.getChangeSpeed ())
- {
+ if (instruction.getChangeSpeed ()) {
// if (trafficRef)
//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
AccelTo(instruction.getSpeed());
- }
- else
- {
+ } else {
if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
}
}
- if (instruction.getChangeHeading ())
- {
+ if (instruction.getChangeHeading ()) {
hdg_lock = false;
TurnTo(instruction.getHeading());
+ } else {
+ if (fp) {
+ hdg_lock = true;
+ }
}
- else
- {
- if (fp) {hdg_lock = true;}
- }
- if (instruction.getChangeAltitude())
- {
- }
+ if (instruction.getChangeAltitude()) {}
}
-void FGAIAircraft::handleFirstWaypoint()
-{
+void FGAIAircraft::handleFirstWaypoint() {
bool eraseWaypoints; //TODO YAGNI
- if (trafficRef)
- {
+ headingError = 0;
+ if (trafficRef) {
eraseWaypoints = true;
- }
- else
- {
+ } else {
eraseWaypoints = false;
}
//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
{
use_perf_vs = false;
tgt_vs = (curr->crossat - prev->altitude)
- / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / prev->speed*60.0);
+ / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ / 6076.0 / prev->speed*60.0);
tgt_altitude_ft = curr->crossat;
- }
- else
- {
+ } else {
use_perf_vs = true;
tgt_altitude_ft = prev->altitude;
}
alt_lock = hdg_lock = true;
no_roll = prev->on_ground;
- if (no_roll)
- {
+ if (no_roll) {
Transform(); // make sure aip is initialized.
getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
doGroundAltitude();
* @param now
* @return
*/
-bool FGAIAircraft::fpExecutable(time_t now)
-{
+bool FGAIAircraft::fpExecutable(time_t now) {
double rand_exec_time = (rand() % 100) / 100;
return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
}
* @param curr
* @return
*/
-bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr)
-{
+bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//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))
- {
- //don't skip over the waypoint
- lead_dist = fabs(2*speed);
- //cerr << "Extending lead distance to " << lead_dist << endl;
+ if (lead_dist < fabs(2*speed)) {
+ //don't skip over the waypoint
+ lead_dist = fabs(2*speed);
+ //cerr << "Extending lead distance to " << lead_dist << endl;
}
//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);
+bool FGAIAircraft::aiTrafficVisible() {
+ SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
+ fgGetDouble("/position/latitude-deg")));
+
+ return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
}
*/
//TODO the trafficRef is the right place for the method
-bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now)
-{
+bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
// prepare routing from one airport to another
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
// 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
// so, the schedule should update and wait for the next departure time.
- if (prev->name == "END")
- {
+ if (prev->name == "END") {
time_t nextDeparture = trafficRef->getDepartureTime();
// make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
- if (nextDeparture < (now+1200))
- {
+ if (nextDeparture < (now+1200)) {
nextDeparture = now + 1200;
}
- fp->setTime(nextDeparture);
+ fp->setTime(nextDeparture); // should be "next departure"
}
return true;
*
* @param curr
*/
-void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr)
-{
+void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "Bearing = " << calc_bearing << endl;
- if (speed < 0)
- {
+ if (speed < 0) {
calc_bearing +=180;
if (calc_bearing > 360)
calc_bearing -= 360;
}
- if (finite(calc_bearing))
- {
+ 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 );
}
- }
- else
- {
+ } else {
cerr << "calc_bearing is not a finite number : "
- << "Speed " << speed
- << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
- << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
+ << "Speed " << speed
+ << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
+ << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
cerr << "waypoint name " << curr->name;
exit(1); // FIXME
}
* @param curr
* @param next
*/
-void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next)
-{
+void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
double speed_diff = speed - prevSpeed;
- if (fabs(speed_diff) > 10)
- {
+ 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(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 (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;
+ aiOutOfSight = !aiTrafficVisible();
+ if (aiOutOfSight) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ aiOutOfSight = true;
+ return;
}
- return false;
}
- }
- 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
// fly".
string lat_mode = props->getStringValue("controls/flight/lateral-mode");
- if ( lat_mode == "roll" )
- {
+ if ( lat_mode == "roll" ) {
double angle
- = props->getDoubleValue("controls/flight/target-roll" );
+ = props->getDoubleValue("controls/flight/target-roll" );
RollTo( angle );
- }
- else
- {
+ } else {
double angle
- = props->getDoubleValue("controls/flight/target-hdg" );
+ = props->getDoubleValue("controls/flight/target-hdg" );
TurnTo( angle );
}
string lon_mode
- = props->getStringValue("controls/flight/longitude-mode");
- if ( lon_mode == "alt" )
- {
+ = props->getStringValue("controls/flight/longitude-mode");
+ if ( lon_mode == "alt" ) {
double alt = props->getDoubleValue("controls/flight/target-alt" );
ClimbTo( alt );
- }
- else
- {
+ } else {
double angle
- = props->getDoubleValue("controls/flight/target-pitch" );
+ = props->getDoubleValue("controls/flight/target-pitch" );
PitchTo( angle );
}
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()
-{
+void FGAIAircraft::updatePosition() {
// convert speed to degrees per second
double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
- * speed * 1.686 / ft_per_deg_lat;
+ * speed * 1.686 / ft_per_deg_lat;
double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
- * speed * 1.686 / ft_per_deg_lon;
+ * speed * 1.686 / ft_per_deg_lon;
// set new position
pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
}
-void FGAIAircraft::updateHeading()
-{
+void FGAIAircraft::updateHeading() {
// adjust heading based on current bank angle
if (roll == 0.0)
roll = 0.01;
- if (roll != 0.0)
- {
+ if (roll != 0.0) {
// double turnConstant;
//if (no_roll)
// turnConstant = 0.0088362;
//else
// turnConstant = 0.088362;
// If on ground, calculate heading change directly
- if (no_roll)
- {
+ 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)
- {
+ if (headingDiff > 30.0) {
// invert if pushed backward
- headingChangeRate += dt * sign(roll);
-
- 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);
+ 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);
}
- hdg += headingChangeRate * dt;
- }
- else
- {
- if (fabs(speed) > 1.0)
- {
+
+ hdg += headingChangeRate * dt * (fabs(speed) / 15);
+ headingError = headingDiff;
+ } else {
+ if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
- / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
- }
- else
- {
+ / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
+ } else {
// Check if turn_radius_ft == 0; this might lead to a division by 0.
turn_radius_ft = 1.0;
}
double alpha = dist_covered_ft / turn_circum_ft * 360.0;
hdg += alpha * sign(roll);
}
- while ( hdg > 360.0 )
- {
+ while ( hdg > 360.0 ) {
hdg -= 360.0;
spinCounter++;
}
- while ( hdg < 0.0)
- {
+ while ( hdg < 0.0) {
hdg += 360.0;
spinCounter--;
}
}
-void FGAIAircraft::updateBankAngles()
-{
+void FGAIAircraft::updateBankAngleTarget() {
// adjust target bank angle if heading lock engaged
- if (hdg_lock)
- {
+ if (hdg_lock) {
double bank_sense = 0.0;
double diff = fabs(hdg - tgt_heading);
if (diff > 180)
double sum = hdg + diff;
if (sum > 360.0)
sum -= 360.0;
- if (fabs(sum - tgt_heading) < 1.0)
- {
+ if (fabs(sum - tgt_heading) < 1.0) {
bank_sense = 1.0; // right turn
- }
- else
- {
+ } else {
bank_sense = -1.0; // left turn
}
- if (diff < 30)
- {
+ if (diff < _performance->maximumBankAngle()) {
tgt_roll = diff * bank_sense;
+ } else {
+ tgt_roll = _performance->maximumBankAngle() * bank_sense;
}
- else
- {
- tgt_roll = 30.0 * 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)
- {
- if (altitude_ft < tgt_altitude_ft)
- {
+ } 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;
- }
- else
- {
+ 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)
min_vs = -100.0;
if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
- && (fabs(max_vs) < fabs(tgt_vs)))
+ && (fabs(max_vs) < fabs(tgt_vs)))
tgt_vs = max_vs;
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
-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;
+ //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;
+ }
+}
- if (vs > tgt_vs)
- vs = tgt_vs;
- }
- else
- {
- vs -= (performance->descent_rate / 3.0) * dt;
+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;
+}
- if (vs < tgt_vs)
- vs = tgt_vs;
- }
+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::updateActualState() {
+ //update current state
+ //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
+ updatePosition();
-void FGAIAircraft::matchPitchAngle()
-{
- // match pitch angle to vertical speed
- if (vs > 0)
- {
- pitch = vs * 0.005;
- }
+ if (onGround())
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
else
- {
- pitch = vs * 0.002;
- }
+ speed = _performance->actualSpeed(this, tgt_speed, dt);
+
+ 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();
+
+ //TODO calculate wind correction angle (tgt_yaw)
}
projects / flightgear.git / blobdiff