-// FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// // // FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# 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
+#elif defined(__sun) || defined(sgi)
+# include <ieeefp.h>
+#endif
-SG_USING_STD(string);
+using std::string;
#include "AIAircraft.hxx"
+#include "performancedata.hxx"
+#include "performancedb.hxx"
-//
-// 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}
-};
-
+//#include <Airports/trafficcontroller.hxx>
-FGAIAircraft *FGAIAircraft::_self = NULL;
+static string tempReg;
-FGAIAircraft::FGAIAircraft(FGAIManager* mgr) {
- _self = this; // This needs to be the first entry.
- manager = mgr;
- _type_str = "aircraft";
- _otype = otAircraft;
- fp = 0;
- dt_count = 0;
- use_perf_vs = true;
+class AI_OutOfSight{};
+class FP_Inactive{};
- // set heading and altitude locks
- hdg_lock = false;
- alt_lock = false;
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
+ trafficRef = ref;
+ if (trafficRef) {
+ groundOffset = trafficRef->getGroundOffset();
+ setCallSign(trafficRef->getCallSign());
+ }
+ else
+ groundOffset = 0;
+
+ fp = 0;
+ controller = 0;
+ prevController = 0;
+ dt_count = 0;
+ dt_elev_count = 0;
+ use_perf_vs = true;
+
+ no_roll = false;
+ tgt_speed = 0;
+ speed = 0;
+ groundTargetSpeed = 0;
+
+ // set heading and altitude locks
+ hdg_lock = false;
+ alt_lock = false;
+ roll = 0;
+ headingChangeRate = 0.0;
+
+ holdPos = false;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+
}
FGAIAircraft::~FGAIAircraft() {
- if (fp) delete fp;
- _self = NULL;
+ //delete fp;
+ if (controller)
+ controller->signOff(getID());
}
-bool FGAIAircraft::init() {
- return FGAIBase::init();
+void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIBase::readFromScenario(scFileNode);
+
+ setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+ setFlightPlan(scFileNode->getStringValue("flightplan"),
+ scFileNode->getBoolValue("repeat", false));
+ setCallSign(scFileNode->getStringValue("callsign"));
}
+
void FGAIAircraft::bind() {
FGAIBase::bind();
props->tie("controls/gear/gear-down",
- SGRawValueFunctions<bool>(FGAIAircraft::_getGearDown));
-
-/*
- props->getNode("controls/lighting/landing-lights", true)
- ->alias("controls/gear/gear-down");
-*/
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
}
+
void FGAIAircraft::unbind() {
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
-// props->getNode("controls/lighting/landing-lights")->unalias();
}
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(PerformanceData *ps) {
+ _performance = ps;
+ }
- Run(dt);
- Transform();
- FGAIBase::update(dt);
-}
-
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
-
- performance = ps;
-}
-
-
-void FGAIAircraft::Run(double dt) {
-
- FGAIAircraft::dt = dt;
-
- if (fp) ProcessFlightPlan(dt);
-
- double turn_radius_ft;
- double turn_circum_ft;
- double speed_north_deg_sec;
- double speed_east_deg_sec;
- double ft_per_deg_lon;
- double ft_per_deg_lat;
- double dist_covered_ft;
- double alpha;
-
- // get size of a degree at this latitude
- ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
-
- // adjust speed
- double speed_diff = tgt_speed - speed;
- if (fabs(speed_diff) > 0.2) {
- if (speed_diff > 0.0) speed += performance->accel * dt;
- if (speed_diff < 0.0) speed -= performance->decel * dt;
- }
-
- // convert speed to degrees per second
- speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
- * speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
- * speed * 1.686 / ft_per_deg_lon;
-
- // set new position
- pos.setlat( pos.lat() + speed_north_deg_sec * dt);
- pos.setlon( pos.lon() + speed_east_deg_sec * dt);
-
- // adjust heading based on current bank angle
- if (roll != 0.0) {
- turn_radius_ft = 0.088362 * speed * speed
- / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
- turn_circum_ft = SGD_2PI * turn_radius_ft;
- dist_covered_ft = speed * 1.686 * dt;
- alpha = dist_covered_ft / turn_circum_ft * 360.0;
- hdg += alpha * sign( roll );
- if ( hdg > 360.0 ) hdg -= 360.0;
- if ( hdg < 0.0) hdg += 360.0;
- }
-
- // adjust target bank angle if heading lock engaged
- if (hdg_lock) {
- 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 (diff < 30) {
- tgt_roll = diff * bank_sense;
- } else {
- tgt_roll = 30.0 * bank_sense;
+
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
+
+ try {
+ updatePrimaryTargetValues(); // target hdg, alt, speed
}
- }
-
- // 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;
- }
-
- // adjust altitude (meters) based on current vertical speed (fpm)
- altitude += vs / 60.0 * dt;
- pos.setelev(altitude * SG_FEET_TO_METER);
- double altitude_ft = altitude;
-
- // find target vertical speed if altitude lock engaged
- if (alt_lock && use_perf_vs) {
- if (altitude_ft < tgt_altitude) {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs > performance->climb_rate)
- tgt_vs = performance->climb_rate;
- } else {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs < (-performance->descent_rate))
- tgt_vs = -performance->descent_rate;
+ catch (AI_OutOfSight) {
+ return;
}
- }
-
- if (alt_lock && !use_perf_vs) {
- double max_vs = 2*(tgt_altitude - altitude);
- if ((fabs(tgt_altitude - altitude) < 1500.0) &&
- (fabs(max_vs) < fabs(tgt_vs))) tgt_vs = max_vs;
- }
-
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += 400.0 * dt;
- if (vs > tgt_vs) vs = tgt_vs;
- } else {
- vs -= 300.0 * dt;
- if (vs < tgt_vs) vs = tgt_vs;
+ catch (FP_Inactive) {
+ //return;
+ groundTargetSpeed = 0;
}
- }
-
- // match pitch angle to vertical speed
- pitch = vs * 0.005;
-
- //###########################//
- // do calculations for radar //
- //###########################//
-
- // copy values from the AIManager
- double user_latitude = manager->get_user_latitude();
- double user_longitude = manager->get_user_longitude();
- double user_altitude = manager->get_user_altitude();
- double user_heading = manager->get_user_heading();
- double user_pitch = manager->get_user_pitch();
- double user_yaw = manager->get_user_yaw();
- double user_speed = manager->get_user_speed();
-
- // calculate range to target in feet and nautical miles
- double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
- double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
- double range_ft = sqrt( lat_range*lat_range + lon_range*lon_range );
- range = range_ft / 6076.11549;
-
- // calculate bearing to target
- if (pos.lat() >= user_latitude) {
- bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
- if (pos.lon() >= user_longitude) {
- bearing = 90.0 - bearing;
- } else {
- bearing = 270.0 + bearing;
- }
- } else {
- bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
- if (pos.lon() >= user_longitude) {
- bearing = 180.0 - bearing;
- } else {
- bearing = 180.0 + bearing;
- }
- }
-
- // calculate look left/right to target, without yaw correction
- horiz_offset = bearing - user_heading;
- if (horiz_offset > 180.0) horiz_offset -= 360.0;
- if (horiz_offset < -180.0) horiz_offset += 360.0;
-
- // calculate elevation to target
- elevation = atan2( altitude_ft - user_altitude, range_ft )
- * SG_RADIANS_TO_DEGREES;
-
- // calculate look up/down to target
- vert_offset = elevation + user_pitch;
-
-/* this calculation needs to be fixed, but it isn't important anyway
- // calculate range rate
- double recip_bearing = bearing + 180.0;
- if (recip_bearing > 360.0) recip_bearing -= 360.0;
- double my_horiz_offset = recip_bearing - hdg;
- if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
- if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
- rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
- + (-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
-*/
-
- // now correct look left/right for yaw
- horiz_offset += user_yaw;
-
- // calculate values for radar display
- y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
- x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
- rotation = hdg - user_heading;
- if (rotation < 0.0) rotation += 360.0;
+ 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();
+ 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);
+ //return;
+ invisible = true;
+ } else {
+ invisible = false;
+ }
}
+
void FGAIAircraft::AccelTo(double speed) {
- tgt_speed = speed;
+ tgt_speed = speed;
}
void FGAIAircraft::PitchTo(double angle) {
- tgt_pitch = angle;
- alt_lock = false;
+ tgt_pitch = angle;
+ alt_lock = false;
}
void FGAIAircraft::RollTo(double angle) {
- tgt_roll = angle;
- hdg_lock = false;
+ tgt_roll = angle;
+ hdg_lock = false;
}
void FGAIAircraft::YawTo(double angle) {
- tgt_yaw = angle;
+ tgt_yaw = angle;
}
-void FGAIAircraft::ClimbTo(double altitude) {
- tgt_altitude = altitude;
- alt_lock = true;
+void FGAIAircraft::ClimbTo(double alt_ft ) {
+ tgt_altitude_ft = alt_ft;
+ alt_lock = true;
}
void FGAIAircraft::TurnTo(double heading) {
- tgt_heading = heading;
- hdg_lock = true;
+ tgt_heading = heading;
+ hdg_lock = true;
}
double FGAIAircraft::sign(double x) {
- if ( x < 0.0 ) { return -1.0; }
- else { return 1.0; }
+ if (x == 0.0)
+ return x;
+ else
+ return x/fabs(x);
+}
+
+
+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) {
- fp = f;
-}
-
-void FGAIAircraft::ProcessFlightPlan( double dt ) {
- FGAIFlightPlan::waypoint* prev = 0; // the one behind you
- FGAIFlightPlan::waypoint* curr = 0; // the one ahead
- FGAIFlightPlan::waypoint* next = 0; // the next plus 1
- prev = fp->getPreviousWaypoint();
- curr = fp->getCurrentWaypoint();
- next = fp->getNextWaypoint();
- dt_count += dt;
-
- if (!prev) { //beginning of flightplan, do this initialization once
- fp->IncrementWaypoint();
- prev = fp->getPreviousWaypoint(); //first waypoint
- curr = fp->getCurrentWaypoint(); //second waypoint
- next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ delete fp;
+ fp = f;
+}
+
+
+void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
+
+ // the one behind you
+ FGAIFlightPlan::waypoint* prev = 0;
+ // the one ahead
+ FGAIFlightPlan::waypoint* curr = 0;
+ // the next plus 1
+ FGAIFlightPlan::waypoint* next = 0;
+
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ dt_count += dt;
+
+ ///////////////////////////////////////////////////////////////////////////
+ // Initialize the flightplan
+ //////////////////////////////////////////////////////////////////////////
+ if (!prev) {
+ handleFirstWaypoint();
+ return;
+ } // end of initialization
+ if (! fpExecutable(now))
+ return;
+ dt_count = 0;
+
+ if (! leadPointReached(curr)) {
+ controlHeading(curr);
+ controlSpeed(curr, next);
+ } else {
+ if (curr->finished) //end of the flight plan
+ {
+ if (fp->getRepeat())
+ fp->restart();
+ else
+ setDie(true);
+ return;
+ }
+
+ 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)
+ 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) {
+ //TODO isn't this best executed right at the beginning?
+ if (! aiTrafficVisible()) {
+ setDie(true);
+ return;
+ }
+
+ if (! handleAirportEndPoints(prev, now)) {
+ setDie(true);
+ return;
+ }
+
+ announcePositionToController();
+
+ }
+
+ 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) {
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ / 6076.0 / speed*60.0);
+ tgt_altitude_ft = curr->crossat;
+ } else {
+ use_perf_vs = true;
+ }
+ }
+ tgt_speed = prev->speed;
+ hdg_lock = alt_lock = true;
+ no_roll = prev->on_ground;
+ }
+}
+
+
+void FGAIAircraft::initializeFlightPlan() {
+}
+
+
+bool FGAIAircraft::_getGearDown() const {
+ return _performance->gearExtensible(this);
+}
+
+
+bool FGAIAircraft::loadNextLeg() {
+
+ int leg;
+ 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)) {
+ setDie(true);
+
+ } else {
+ double cruiseAlt = trafficRef->getCruiseAlt() * 100;
+
+ 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;
+}
+
+
+// Note: This code is copied from David Luff's AILocalTraffic
+// Warning - ground elev determination is CPU intensive
+// Either this function or the logic of how often it is called
+// will almost certainly change.
+
+void FGAIAircraft::getGroundElev(double dt) {
+ dt_elev_count += dt;
+
+ // Update minimally every three secs, but add some randomness
+ // to prevent all AI objects doing this in synchrony
+ if (dt_elev_count < (3.0) + (rand() % 10))
+ return;
+
+ dt_elev_count = 0;
+
+ // 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);
+ 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)) {
+ // Try to shedule tiles for that position.
+ globals->get_tile_mgr()->update( aip.getSGLocation(), 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))
+ tgt_altitude_ft = alt * SG_METER_TO_FEET;
+ }
+}
+
+
+void FGAIAircraft::doGroundAltitude() {
+ if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
+ altitude_ft = (tgt_altitude_ft + groundOffset);
+ else
+ altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+}
+
+
+void FGAIAircraft::announcePositionToController() {
+ if (trafficRef) {
+ int leg = fp->getLeg();
+
+ // 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();
+ break;
+ case 4: //Take off tower controller
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
+ //string trns = trafficRef->getCallSign() + " at runway " + fp->getRunway() +
+ // ". Ready for departure. " + trafficRef->getFlightType() + " to " +
+ // trafficRef->getArrivalAirport()->getId();
+ //fgSetString("/sim/messages/atc", trns.c_str());
+ // 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;
+ }
+
+ if ((controller != prevController) && (prevController != 0)) {
+ prevController->signOff(getID());
+ }
+ prevController = controller;
+ if (controller) {
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
+ }
+ }
+}
+
+// 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) {
+ holdPos = true;
+ }
+ AccelTo(0.0);
+ } else {
+ if (holdPos) {
+ //if (trafficRef)
+ // 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 (trafficRef)
+ //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
+ AccelTo(instruction.getSpeed());
+ } else {
+ if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+ }
+ }
+ if (instruction.getChangeHeading ()) {
+ hdg_lock = false;
+ TurnTo(instruction.getHeading());
+ } else {
+ if (fp) {
+ hdg_lock = true;
+ }
+ }
+ if (instruction.getChangeAltitude()) {}
+
+}
+
+
+void FGAIAircraft::handleFirstWaypoint() {
+ bool eraseWaypoints; //TODO YAGNI
+ headingError = 0;
+ if (trafficRef) {
+ eraseWaypoints = true;
+ } else {
+ eraseWaypoints = false;
+ }
+
+ FGAIFlightPlan::waypoint* prev = 0; // the one behind you
+ FGAIFlightPlan::waypoint* curr = 0; // the one ahead
+ FGAIFlightPlan::waypoint* next = 0;// the next plus 1
+
+ spinCounter = 0;
+ tempReg = "";
+
+ //TODO fp should handle this
+ fp->IncrementWaypoint(eraseWaypoints);
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ if (!loadNextLeg()) {
+ setDie(true);
+ return;
+ }
+
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+
setLatitude(prev->latitude);
setLongitude(prev->longitude);
setSpeed(prev->speed);
setAltitude(prev->altitude);
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
- if (next) fp->setLeadDistance(speed, hdg, curr, next);
-
- if (curr->crossat > -1000.0) { //start descent/climb now
+
+ if (prev->speed > 0.0)
+ setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ else
+ setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+
+ // If next doesn't exist, as in incrementally created flightplans for
+ // AI/Trafficmanager created plans,
+ // Make sure lead distance is initialized otherwise
+ if (next)
+ fp->setLeadDistance(speed, hdg, curr, next);
+
+ if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+ {
use_perf_vs = false;
- tgt_vs = (curr->crossat - prev->altitude)/
- (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/
- 6076.0/prev->speed*60.0);
- tgt_altitude = curr->crossat;
+ tgt_vs = (curr->crossat - prev->altitude)
+ / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ / 6076.0 / prev->speed*60.0);
+ tgt_altitude_ft = curr->crossat;
} else {
use_perf_vs = true;
- tgt_altitude = prev->altitude;
+ tgt_altitude_ft = prev->altitude;
}
alt_lock = hdg_lock = true;
- //cout << "First waypoint: " << prev->name << endl;
- //cout << " Target speed: " << tgt_speed << endl;
- //cout << " Target altitude: " << tgt_altitude << endl;
- //cout << " Target heading: " << tgt_heading << endl << endl;
- return;
- } // end of initialization
-
- // let's only process the flight plan every 500 ms.
- if (dt_count < 0.5) {
- return;
- } else {
- while (dt_count > 0.5)
- dt_count -= dt;
-
- // check to see if we've reached the lead point for our next turn
- double dist_to_go = fp->getDistanceToGo(pos.lat(), pos.lon(), curr);
+ no_roll = prev->on_ground;
+ 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();
+ }
+ // Make sure to announce the aircraft's position
+ announcePositionToController();
+ prevSpeed = 0;
+}
+
+
+/**
+ * Check Execution time (currently once every 100 ms)
+ * Add a bit of randomization to prevent the execution of all flight plans
+ * in synchrony, which can add significant periodic framerate flutter.
+ *
+ * @param now
+ * @return
+ */
+bool FGAIAircraft::fpExecutable(time_t now) {
+ double rand_exec_time = (rand() % 100) / 100;
+ return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
+}
+
+
+/**
+ * Check to see if we've reached the lead point for our next turn
+ *
+ * @param curr
+ * @return
+ */
+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();
- if (lead_dist < (2*speed)) lead_dist = 2*speed; //don't skip over the waypoint
- //cout << "dist_to_go: " << dist_to_go << ", lead_dist: " << lead_dist << endl;
+ // experimental: Use fabs, because speed can be negative (I hope) during push_back.
- if ( dist_to_go < lead_dist ) {
- if (curr->finished) { //end of the flight plan, so terminate
- setDie(true);
- return;
- }
- // we've reached the lead-point for the waypoint ahead
- if (next) tgt_heading = fp->getBearing(curr, next);
- fp->IncrementWaypoint();
- prev = fp->getPreviousWaypoint();
- curr = fp->getCurrentWaypoint();
- next = fp->getNextWaypoint();
- if (next) fp->setLeadDistance(speed, tgt_heading, curr, next);
- if (curr->crossat > -1000.0) {
- use_perf_vs = false;
- tgt_vs = (curr->crossat - altitude)/
- (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
- tgt_altitude = curr->crossat;
- } else {
- use_perf_vs = true;
- tgt_altitude = prev->altitude;
- }
- tgt_speed = prev->speed;
- hdg_lock = alt_lock = true;
- //cout << "Crossing waypoint: " << prev->name << endl;
- //cout << " Target speed: " << tgt_speed << endl;
- //cout << " Target altitude: " << tgt_altitude << endl;
- //cout << " Target heading: " << tgt_heading << endl << endl;
- } else {
- double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), curr);
+ 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) <= TRAFFICTOAIDISTTODIE);
+}
+
+
+/**
+ * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
+ * in the case of an arrival.
+ *
+ * @param prev
+ * @return
+ */
+
+//TODO the trafficRef is the right place for the method
+bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+ // prepare routing from one airport to another
+ FGAirport * dep = trafficRef->getDepartureAirport();
+ FGAirport * arr = trafficRef->getArrivalAirport();
+
+ if (!( dep && arr))
+ return false;
+
+ // This waypoint marks the fact that the aircraft has passed the initial taxi
+ // departure waypoint, so it can release the parking.
+ //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") {
+ time_t nextDeparture = trafficRef->getDepartureTime();
+ // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
+ if (nextDeparture < (now+1200)) {
+ nextDeparture = now + 1200;
+ }
+ fp->setTime(nextDeparture); // should be "next departure"
+ }
+
+ return true;
+}
+
+
+/**
+ * Check difference between target bearing and current heading and correct if necessary.
+ *
+ * @param 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) {
+ calc_bearing +=180;
+ if (calc_bearing > 360)
+ calc_bearing -= 360;
+ }
+
+ if (finite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
- TurnTo( calc_bearing );
+ if (fabs(hdg_error) > 0.01) {
+ TurnTo( calc_bearing );
+ }
+
+ } else {
+ cerr << "calc_bearing is not a finite number : "
+ << "Speed " << speed
+ << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
+ << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
+ cerr << "waypoint name " << curr->name;
+ exit(1); // FIXME
+ }
+}
+
+
+/**
+ * Update the lead distance calculation if speed has changed sufficiently
+ * to prevent spinning (hopefully);
+ *
+ * @param curr
+ * @param next
+ */
+void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+ double speed_diff = speed - prevSpeed;
+
+ if (fabs(speed_diff) > 10) {
+ prevSpeed = speed;
+ if (next) {
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
}
}
-
- }
+}
+
+/**
+ * Update target values (heading, alt, speed) depending on flight plan or control properties
+ */
+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);
+
+ // 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.
+ 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();
+ }
+ }
+ timeElapsed = now - fp->getStartTime();
+ 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
+ // fly".
+ string lat_mode = props->getStringValue("controls/flight/lateral-mode");
+ if ( lat_mode == "roll" ) {
+ double angle
+ = props->getDoubleValue("controls/flight/target-roll" );
+ RollTo( angle );
+ } else {
+ double angle
+ = props->getDoubleValue("controls/flight/target-hdg" );
+ TurnTo( angle );
+ }
+
+ string lon_mode
+ = props->getStringValue("controls/flight/longitude-mode");
+ if ( lon_mode == "alt" ) {
+ double alt = props->getDoubleValue("controls/flight/target-alt" );
+ ClimbTo( alt );
+ } else {
+ double angle
+ = props->getDoubleValue("controls/flight/target-pitch" );
+ PitchTo( angle );
+ }
+
+ AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
+ }
+}
+
+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;
+ double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
+ * speed * 1.686 / ft_per_deg_lon;
+
+ // set new position
+ pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
+ pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+}
+
+
+void FGAIAircraft::updateHeading() {
+ // adjust heading based on current bank angle
+ if (roll == 0.0)
+ roll = 0.01;
+
+ if (roll != 0.0) {
+ // double turnConstant;
+ //if (no_roll)
+ // turnConstant = 0.0088362;
+ //else
+ // turnConstant = 0.088362;
+ // 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);
+ 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 += 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 * (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 {
+ // Check if turn_radius_ft == 0; this might lead to a division by 0.
+ turn_radius_ft = 1.0;
+ }
+ double turn_circum_ft = SGD_2PI * turn_radius_ft;
+ double dist_covered_ft = speed * 1.686 * dt;
+ double alpha = dist_covered_ft / turn_circum_ft * 360.0;
+ hdg += alpha * sign(roll);
+ }
+ while ( hdg > 360.0 ) {
+ hdg -= 360.0;
+ spinCounter++;
+ }
+ while ( hdg < 0.0) {
+ hdg += 360.0;
+ spinCounter--;
+ }
+ }
+}
+
+
+void FGAIAircraft::updateBankAngleTarget() {
+ // adjust target bank angle if heading lock engaged
+ if (hdg_lock) {
+ 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 (diff < _performance->maximumBankAngle()) {
+ tgt_roll = diff * bank_sense;
+ } else {
+ tgt_roll = _performance->maximumBankAngle() * bank_sense;
+ }
+ 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.
+ }
+ }
}
+void FGAIAircraft::updateVerticalSpeedTarget() {
+ // adjust target Altitude, based on ground elevation when on ground
+ if (onGround()) {
+ getGroundElev(dt);
+ doGroundAltitude();
+ } 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->climbRate())
+ tgt_vs = _performance->climbRate();
+ } else {
+ tgt_vs = tgt_altitude_ft - altitude_ft;
+ if (tgt_vs < (-_performance->descentRate()))
+ tgt_vs = -_performance->descentRate();
+ }
+ } 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)))
+ 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
+
+ //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;
+ }
+}
+
+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) {
+ 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();
+
+ if (onGround())
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
+ else
+ 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