#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>
+// defined in AIShip.cxx
+extern double fgIsFinite(double x);
#include "AIAircraft.hxx"
#include "performancedata.hxx"
headingError = 0;
minBearing = 360;
speedFraction =1.0;
+ prev_dist_to_go = 0.0;
holdPos = false;
needsTaxiClearance = false;
// 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");
- invisible = (SGGeodesy::distanceM(globals->get_view_position(), 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;
}
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);
}
}
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 );
}
}
}
- 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;
projects / flightgear.git / blobdiff