# include <config.h>
#endif
-#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 <Airports/simple.hxx>
+#include <Airports/airport.hxx>
+#include <Main/util.hxx>
+
+#include <simgear/structure/exception.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
+#include <cmath>
+#include <ctime>
-using std::string;
+// defined in AIShip.cxx
+extern double fgIsFinite(double x);
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include "performancedb.hxx"
#include <signal.h>
+using std::string;
+using std::cerr;
+using std::endl;
+
//#include <Airports/trafficcontroller.hxx>
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
headingError = 0;
minBearing = 360;
speedFraction =1.0;
+ prev_dist_to_go = 0.0;
holdPos = false;
needsTaxiClearance = false;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0;
takeOffStatus = 0;
+
+ trackCache.remainingLength = 0;
+ trackCache.startWptName = "-";
}
FGAIBase::readFromScenario(scFileNode);
- setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+ 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",
- SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
- props->tie("transponder-id",
- SGRawValueMethods<FGAIAircraft,const char*>(*this,
- &FGAIAircraft::_getTransponderCode));
-}
-
-
-void FGAIAircraft::unbind() {
- FGAIBase::unbind();
-
- props->untie("controls/gear/gear-down");
- props->untie("transponder-id");
+ tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
-
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& acType, const std::string& acclass)
+{
+ static PerformanceDB perfdb; //TODO make it a global service
+ _performance = perfdb.getDataFor(acType, acclass);
+}
+#if 0
void FGAIAircraft::setPerformance(PerformanceData *ps) {
_performance = ps;
}
-
+#endif
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
handleATCRequests(); // ATC also has a word to say
updateSecondaryTargetValues(); // target roll, vertical speed, pitch
- updateActualState();
- // We currently have one situation in which an AIAircraft object is used that is not attached to the
+ updateActualState();
+#if 0
+ // 25/11/12 - added but disabled, since setting properties isn't
+ // affecting the AI-model as expected.
+ updateModelProperties(dt);
+#endif
+
+ // We currently have one situation in which an AIAircraft object is used that is not attached to the
// AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
// Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
// enough
- if (manager)
+ if (manager){
UpdateRadar(manager);
- checkVisibility();
+ invisible = !manager->isVisible(pos);
+ }
}
-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) {
tgt_speed = speed;
}
-void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
- if (!flightplan.empty()) {
- FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
+void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat)
+{
+ if (flightplan.empty()) {
+ // this is the case for Nasal-scripted aircraft
+ return;
+ }
+
+ FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
+ if (fp->isValidPlan()) {
fp->setRepeat(repeat);
SetFlightPlan(fp);
+ } else {
+ SG_LOG(SG_AI, SG_WARN, "setFlightPlan: invalid flightplan specified:" << flightplan);
+ delete fp;
}
}
-void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
+void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f)
+{
delete fp;
fp = f;
}
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
+ if (!curr)
+ {
+ // Oops! FIXME
+ return;
+ }
+
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
{
// err is negative when we passed too high
double vert_m = vert_ft * SG_FEET_TO_METER;
- double err_m = err * SG_FEET_TO_METER;
+ //double err_m = err * SG_FEET_TO_METER;
//double angle = atan2(vert_m, dist_m);
double speedMs = (speed * SG_NM_TO_METER) / 3600;
//double vs = cos(angle) * speedMs; // Now in m/s
void FGAIAircraft::initializeFlightPlan() {
}
-
-bool FGAIAircraft::_getGearDown() const {
- return _performance->gearExtensible(this);
-}
-
-
const char * FGAIAircraft::_getTransponderCode() const {
return transponderCode.c_str();
}
// 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();
-
- if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
return;
}
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
- // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
- // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
- // the original leg numbers here!
- switch (leg) {
- case 1: // Startup and Push back
- if (trafficRef->getDepartureAirport()->getDynamics())
- controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
- break;
- case 2: // Taxiing to runway
- if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
- break;
- case 3: //Take off tower controller
- if (trafficRef->getDepartureAirport()->getDynamics()) {
- controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
- towerController = 0;
- } else {
- cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
- }
- break;
- case 6:
- if (trafficRef->getDepartureAirport()->getDynamics()) {
- controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
- }
- break;
- case 8: // Taxiing for parking
- if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
- break;
- default:
- controller = 0;
- break;
+ if (!trafficRef) {
+ return;
+ }
+
+ int leg = fp->getLeg();
+ if (!fp->getCurrentWaypoint()) {
+ // http://code.google.com/p/flightgear-bugs/issues/detail?id=1153
+ // throw an exception so this aircraft gets killed by the AIManager.
+ throw sg_exception("bad AI flight plan");
+ }
+
+ // 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
+ // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
+ // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
+ // the original leg numbers here!
+ switch (leg) {
+ case 1: // Startup and Push back
+ if (trafficRef->getDepartureAirport()->getDynamics())
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
+ break;
+ case 2: // Taxiing to runway
+ if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
+ break;
+ case 3: //Take off tower controller
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ towerController = 0;
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
+ break;
+ case 6:
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
+ }
+ break;
+ case 8: // 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()->getRouteIndex(),
- _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
- trafficRef->getRadius(), leg, this);
- }
+ if ((controller != prevController) && (prevController != 0)) {
+ prevController->signOff(getID());
+ }
+ prevController = controller;
+ if (controller) {
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
}
}
// Process ATC instructions and report back
-void FGAIAircraft::processATC(FGATCInstruction instruction) {
+void FGAIAircraft::processATC(const FGATCInstruction& instruction) {
if (instruction.getCheckForCircularWait()) {
// This is not exactly an elegant solution,
// but at least it gives me a chance to check
setAltitude(prev->getAltitude());
if (prev->getSpeed() > 0.0)
- setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
+ setHeading(fp->getBearing(prev, curr));
else
- setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
+ setHeading(fp->getBearing(curr, prev));
// If next doesn't exist, as in incrementally created flightplans for
// AI/Trafficmanager created plans,
// << " Ground target speed " << groundTargetSpeed << endl;
double bearing = 0;
// don't do bearing calculations for ground traffic
- bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
+ bearing = getBearing(fp->getBearing(pos, curr));
if (bearing < minBearing) {
minBearing = bearing;
if (minBearing < 10) {
SGVec3d cartPos = SGVec3d::fromGeod(pos);
const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
(TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
- return (distSqr(cartPos, globals->get_aircraft_positon_cart()) < d2);
+ return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
}
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
//cerr << "Passing waypoint : " << prev->getName() << endl;
if (prev->contains("PushBackPoint")) {
- dep->getDynamics()->releaseParking(fp->getGate());
+ // clearing the parking assignment will release the gate
+ fp->setGate(ParkingAssignment());
AccelTo(0.0);
//setTaxiClearanceRequest(true);
}
* @param curr
*/
void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
- double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ double calc_bearing = fp->getBearing(pos, curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
calc_bearing +=180;
- if (calc_bearing > 360)
- calc_bearing -= 360;
+ SG_NORMALIZE_RANGE(calc_bearing, 0.0, 360.0);
}
- if (finite(calc_bearing)) {
+ if (fgIsFinite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
if (fabs(hdg_error) > 0.01) {
TurnTo( calc_bearing );
cerr << "calc_bearing is not a finite number : "
<< "Speed " << speed
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
- << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
- cerr << "waypoint name " << curr->getName();
- exit(1); // FIXME
+ << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+ cerr << "waypoint name: '" << curr->getName() << "'" << endl;
+ //exit(1); // FIXME
}
}
// 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");
+ const string& lat_mode = props->getStringValue("controls/flight/lateral-mode");
if ( lat_mode == "roll" ) {
double angle
= props->getDoubleValue("controls/flight/target-roll" );
}
}
-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)
// If on ground, calculate heading change directly
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
- double bank_sense = 0.0;
+// double bank_sense = 0.0;
/*
double diff = fabs(hdg - tgt_heading);
if (diff > 180)
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading) > 0.0001) {
- bank_sense = -1.0;
+// bank_sense = -1.0;
} else {
- bank_sense = 1.0;
+// bank_sense = 1.0;
}
//if (trafficRef)
// cerr << trafficRef->getCallSign() << " Heading "
}
}
}
- if (trafficRef)
- //cerr << trafficRef->getCallSign() << " Heading "
- // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
- hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
+
+ hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
headingError = headingDiff;
if (fabs(headingError) < 1.0) {
hdg = tgt_heading;
// 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();
+ tgt_vs = std::min(tgt_altitude_ft - altitude_ft, _performance->climbRate());
} else {
- tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs < (-_performance->descentRate()))
- tgt_vs = -_performance->descentRate();
+ tgt_vs = std::max(tgt_altitude_ft - altitude_ft, -_performance->descentRate());
}
} else {
double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
}
}
-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();
- }
- }
+const string& FGAIAircraft::atGate()
+{
+ if ((fp->getLeg() < 3) && trafficRef) {
+ if (fp->getParkingGate()) {
+ return fp->getParkingGate()->ident();
+ }
}
- return tmp;
+
+ static const string empty;
+ return empty;
}
void FGAIAircraft::handleATCRequests() {
void FGAIAircraft::updateActualState() {
//update current state
//TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
- updatePosition();
+ double distance = speed * SG_KT_TO_MPS * dt;
+ pos = SGGeodesy::direct(pos, hdg, distance);
+
if (onGround())
speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
return hdgDiff;
}
-time_t FGAIAircraft::checkForArrivalTime(string wptName) {
+time_t FGAIAircraft::checkForArrivalTime(const string& wptName) {
FGAIWaypoint* curr = 0;
curr = fp->getCurrentWaypoint();
- double tracklength = fp->checkTrackLength(wptName);
+ // don't recalculate tracklength unless the start/stop waypoint has changed
+ if (curr &&
+ ((curr->getName() != trackCache.startWptName)||
+ (wptName != trackCache.finalWptName)))
+ {
+ trackCache.remainingLength = fp->checkTrackLength(wptName);
+ trackCache.startWptName = curr->getName();
+ trackCache.finalWptName = wptName;
+ }
+ double tracklength = trackCache.remainingLength;
if (tracklength > 0.1) {
tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
} else {
}
return (ete - secondsToGo); // Positive when we're too slow...
}
+
+double limitRateOfChange(double cur, double target, double maxDeltaSec, double dt)
+{
+ double delta = target - cur;
+ double maxDelta = maxDeltaSec * dt;
+
+// if delta is > maxDelta, use maxDelta, but with the sign of delta.
+ return (fabs(delta) < maxDelta) ? delta : copysign(maxDelta, delta);
+}
+
+// drive various properties in a semi-realistic fashion.
+void FGAIAircraft::updateModelProperties(double dt)
+{
+ if (!props) {
+ return;
+ }
+
+ SGPropertyNode* gear = props->getChild("gear", 0, true);
+ double targetGearPos = fp->getCurrentWaypoint()->getGear_down() ? 1.0 : 0.0;
+ if (!gear->hasValue("gear/position-norm")) {
+ gear->setDoubleValue("gear/position-norm", targetGearPos);
+ }
+
+ double gearPosNorm = gear->getDoubleValue("gear/position-norm");
+ if (gearPosNorm != targetGearPos) {
+ gearPosNorm += limitRateOfChange(gearPosNorm, targetGearPos, 0.1, dt);
+ if (gearPosNorm < 0.001) {
+ gearPosNorm = 0.0;
+ } else if (gearPosNorm > 0.999) {
+ gearPosNorm = 1.0;
+ }
+
+ for (int i=0; i<6; ++i) {
+ SGPropertyNode* g = gear->getChild("gear", i, true);
+ g->setDoubleValue("position-norm", gearPosNorm);
+ } // of gear setting loop
+ } // of gear in-transit
+
+// double flapPosNorm = props->getDoubleValue();
+}
+
projects / flightgear.git / blobdiff