#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 <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);
#include "AIAircraft.hxx"
-
+ static string tempReg;
//
// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
// cruise_speed, descent_speed, land_speed
};
-FGAIAircraft::FGAIAircraft(FGAIManager* mgr) {
- manager = mgr;
- _type_str = "aircraft";
- _otype = otAircraft;
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+ FGAIBase(otAircraft) {
+ trafficRef = ref;
+ if (trafficRef)
+ groundOffset = trafficRef->getGroundOffset();
+ else
+ groundOffset = 0;
fp = 0;
dt_count = 0;
+ dt_elev_count = 0;
use_perf_vs = true;
isTanker = false;
// set heading and altitude locks
hdg_lock = false;
alt_lock = false;
+ roll = 0;
+ headingChangeRate = 0.0;
}
FGAIAircraft::~FGAIAircraft() {
+ delete fp;
}
+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));
+}
bool FGAIAircraft::init() {
refuel_node = fgGetNode("systems/refuel/contact", true);
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();
+ props->untie("controls/gear/gear-down");
}
Transform();
}
+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]);
+ SetTanker(true);
+ } else {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ }
+}
+
void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
performance = ps;
FGAIAircraft::dt = dt;
- if (fp) ProcessFlightPlan(dt);
-
+ if (fp)
+ {
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ ProcessFlightPlan(dt, now);
+ if (now < fp->getStartTime())
+ {
+ // Do execute Ground elev for inactive aircraft, so they
+ // Are repositioned to the correct ground altitude when the user flies within visibility range.
+ if (no_roll)
+ {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
+ //getGroundElev(dt); // Need to do this twice.
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
+ doGroundAltitude();
+ //cerr << " Actual altitude " << altitude << endl;
+ // Transform();
+ pos.setelev(altitude * SG_FEET_TO_METER);
+ }
+ return;
+ }
+ }
+
double turn_radius_ft;
double turn_circum_ft;
double speed_north_deg_sec;
double alpha;
// adjust speed
- double speed_diff = tgt_speed - speed;
+ double speed_diff; //= tgt_speed - speed;
+ if (!no_roll)
+ {
+ speed_diff = tgt_speed - speed;
+ }
+ else
+ {
+ speed_diff = groundTargetSpeed - speed;
+ }
if (fabs(speed_diff) > 0.2) {
if (speed_diff > 0.0) speed += performance->accel * dt;
if (speed_diff < 0.0) {
- if (!no_roll) {
+ if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
speed -= performance->decel * dt * 3;
} else {
speed -= performance->decel * dt;
// set new position
pos.setlat( pos.lat() + speed_north_deg_sec * dt);
pos.setlon( pos.lon() + speed_east_deg_sec * dt);
+ //if (!(finite(pos.lat()) && finite(pos.lon())))
+ // {
+ // cerr << "Position is not finite" << endl;
+ // cerr << "speed = " << speed << endl;
+ // cerr << "dt" << dt << endl;
+ // cerr << "heading " << hdg << endl;
+ // cerr << "speed east " << speed_east_deg_sec << endl;
+ // cerr << "speed nrth " << speed_north_deg_sec << endl;
+ // cerr << "deg_lat " << ft_per_deg_lat << endl;
+ // cerr << "deg_lon " << ft_per_deg_lon << endl;
+ // }
// adjust heading based on current bank angle
+ if (roll == 0.0)
+ roll = 0.01;
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;
+ // double turnConstant;
+ //if (no_roll)
+ // turnConstant = 0.0088362;
+ //else
+ // turnConstant = 0.088362;
+ // If on ground, calculate heading change directly
+ if (no_roll) {
+ double headingDiff = fabs(hdg-tgt_heading);
+
+ if (headingDiff > 180)
+ headingDiff = fabs(headingDiff - 360);
+ groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
+ if (sign(groundTargetSpeed) != sign(tgt_speed))
+ groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
+ if (headingDiff > 30.0)
+ {
+
+ headingChangeRate += dt * sign(roll); // invert if pushed backward
+ // Print some debug statements to find out why aircraft may get stuck
+ // forever turning
+ //if (trafficRef->getDepartureAirport()->getId() == string("EHAM"))
+ // {
+ //cerr << "Turning : " << trafficRef->getRegistration()
+ //cerr << " Speed = " << speed << " Heading " << hdg
+ //<< " Target Heading " << tgt_heading
+ // << " Lead Distance " << fp->getLeadDistance()
+ // << " Distance to go "
+ // << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
+ // << "waypoint name " << fp->getCurrentWaypoint()->name
+ // << endl;
+ //}
+ 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;
+ //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading << ". Target speed: " << groundTargetSpeed << ". heading change rate" << headingChangeRate << endl;
+ }
+ else {
+ if (fabs(speed) > 1.0) {
+ turn_radius_ft = 0.088362 * speed * speed
+ / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
+ }
+ else
+ {
+ turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
+ }
+ 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);
+ }
+ while ( hdg > 360.0 ) {
+ hdg -= 360.0;
+ spinCounter++;
+ }
+ while ( hdg < 0.0)
+ {
+ hdg += 360.0;
+ spinCounter--;
+ }
}
-
+
+
// adjust target bank angle if heading lock engaged
if (hdg_lock) {
double bank_sense = 0.0;
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) {
+ if (fabs(sum - tgt_heading) < 1.0) {
bank_sense = 1.0; // right turn
} else {
bank_sense = -1.0; // left turn
} else {
tgt_roll = 30.0 * bank_sense;
}
+ if ((fabs((double) spinCounter) > 1) && (diff > 30))
+ {
+ 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.
+ //if (tempReg.empty())
+ // tempReg = trafficRef->getRegistration();
+ //if (trafficRef->getRegistration() == tempReg)
+ // {
+ // cerr << trafficRef->getRegistration()
+ // << " appears to be spinning: " << spinCounter << endl
+ // << " speed " << speed << endl
+ // << " heading " << hdg << endl
+ // << " lead distance " << fp->getLeadDistance() << endl
+ // << " waypoint " << fp->getCurrentWaypoint()->name
+ // << " target heading " << tgt_heading << endl
+ // << " lead in angle " << fp->getLeadInAngle()<< endl
+ // << " roll " << roll << endl
+ // << " target_roll " << tgt_roll << endl;
+
+ // }
+ }
}
// adjust bank angle, use 9 degrees per second
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;
}
// adjust altitude (meters) based on current vertical speed (fpm)
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;
+ // adjust target Altitude, based on ground elevation when on ground
+ if (no_roll)
+ {
+ getGroundElev(dt);
+ doGroundAltitude();
+ }
+ else
+ {
+ // 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;
+ }
+ }
+
+ if (alt_lock && !use_perf_vs) {
+ double max_vs = 4*(tgt_altitude - altitude);
+ double min_vs = 100;
+ if (tgt_altitude < altitude) min_vs = -100.0;
+ if ((fabs(tgt_altitude - altitude) < 1500.0) &&
+ (fabs(max_vs) < fabs(tgt_vs))) tgt_vs = max_vs;
+ if (fabs(tgt_vs) < fabs(min_vs)) tgt_vs = min_vs;
+ }
}
- }
-
- if (alt_lock && !use_perf_vs) {
- double max_vs = 4*(tgt_altitude - altitude);
- double min_vs = 100;
- if (tgt_altitude < altitude) min_vs = -100.0;
- if ((fabs(tgt_altitude - altitude) < 1500.0) &&
- (fabs(max_vs) < fabs(tgt_vs))) tgt_vs = max_vs;
- if (fabs(tgt_vs) < fabs(min_vs)) tgt_vs = min_vs;
- }
-
// adjust vertical speed
double vs_diff = tgt_vs - vs;
if (fabs(vs_diff) > 10.0) {
else { return 1.0; }
}
+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) {
+ delete fp;
fp = f;
}
-void FGAIAircraft::ProcessFlightPlan( double dt ) {
+void FGAIAircraft::ProcessFlightPlan( double dt, time_t now )
+{
+ bool eraseWaypoints;
+ if (trafficRef)
+ {
+// FGAirport *arr;
+// FGAirport *dep;
+ eraseWaypoints = true;
+// cerr << trafficRef->getRegistration();
+// cerr << "Departure airport " << endl;
+// dep = trafficRef->getDepartureAirport();
+// if (dep)
+// cerr << dep->getId() << endl;
+// cerr << "Arrival airport " << endl;
+// arr = trafficRef->getArrivalAirport();
+// if (arr)
+// cerr << arr->getId() <<endl << endl;;
+ }
+ else
+ eraseWaypoints = false;
+
+ //cerr << "Processing Flightplan" << endl;
FGAIFlightPlan::waypoint* prev = 0; // the one behind you
FGAIFlightPlan::waypoint* curr = 0; // the one ahead
FGAIFlightPlan::waypoint* next = 0; // the next plus 1
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
dt_count += dt;
-
+
if (!prev) { //beginning of flightplan, do this initialization once
- fp->IncrementWaypoint();
+ //setBank(0.0);
+ spinCounter = 0;
+ tempReg = "";
+ //prev_dist_to_go = HUGE;
+ //cerr << "Before increment " << curr-> name << endl;
+ fp->IncrementWaypoint(eraseWaypoints);
+ //prev = fp->getPreviousWaypoint(); //first waypoint
+ //curr = fp->getCurrentWaypoint(); //second waypoint
+ //next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ //cerr << "After increment " << prev-> name << endl;
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ {
+ loadNextLeg();
+ }
+ //cerr << "After load " << prev-> name << endl;
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ //cerr << "After load " << prev-> name << endl;
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 (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;
+ 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;
} else {
- use_perf_vs = true;
- tgt_altitude = prev->altitude;
+ use_perf_vs = true;
+ tgt_altitude = prev->altitude;
}
alt_lock = hdg_lock = true;
no_roll = prev->on_ground;
+ if (no_roll)
+ {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
+ //getGroundElev(60.1); // Need to do this twice.
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
+ doGroundAltitude(); //(tgt_altitude);
+ }
+ prevSpeed = 0;
//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;
+ //cerr << "Done Flightplan init" << endl;
return;
} // end of initialization
-
+
// let's only process the flight plan every 100 ms.
- if (dt_count < 0.1) {
- return;
- } else {
- dt_count = 0;
-
- // 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);
- 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;
-
- if ( dist_to_go < lead_dist ) {
- if (curr->finished) { //end of the flight plan, so terminate
- setDie(true);
- return;
+ if ((dt_count < 0.1) || (now < fp->getStartTime()))
+ {
+ //cerr << "done fp dt" << endl;
+ return;
+ } else {
+ dt_count = 0;
+ }
+ // 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);
+
+ //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))
+ {
+ lead_dist = fabs(2*speed); //don't skip over the waypoint
+ //cerr << "Extending lead distance to " << lead_dist << endl;
+ }
+// FGAirport * apt = trafficRef->getDepartureAirport();
+// if ((dist_to_go > prev_dist_to_go) && trafficRef && apt)
+// {
+// if (apt->getId() == string("EHAM"))
+// cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name << endl
+// << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
+// << "Lead distance : " << lead_dist << endl
+// << "Distance to go: " << dist_to_go << endl;
+
+// }
+ prev_dist_to_go = dist_to_go;
+ //cerr << "2" << endl;
+ //if (no_roll)
+ // lead_dist = 10.0;
+ //cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ", lead_dist: " << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading << " speed " << speed << " hdg " << hdg << ". Altitude " << altitude << " TAget alt :" << tgt_altitude << endl;
+
+ if ( dist_to_go < lead_dist ) {
+ //prev_dist_to_go = HUGE;
+ // For traffic manager generated aircraft:
+ // check if the aircraft flies of of user range. And adjust the
+ // Current waypoint's elevation according to Terrain Elevation
+ if (curr->finished) { //end of the flight plan
+ {
+ if (fp->getRepeat()) {
+ fp->restart();
+ } else {
+ setDie(true);
+ }
+
+ //cerr << "Done die end of fp" << endl;
}
- // 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);
+ return;
+ }
+
+ // we've reached the lead-point for the waypoint ahead
+ //cerr << "4" << endl;
+ //cerr << "Situation after lead point" << endl;
+ //cerr << "Prviious: " << prev->name << endl;
+ //cerr << "Current : " << curr->name << endl;
+ //cerr << "Next : " << next->name << endl;
+ if (next)
+ {
+ tgt_heading = fp->getBearing(curr, next);
+ spinCounter = 0;
+ }
+ fp->IncrementWaypoint(eraseWaypoints);
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ {
+ loadNextLeg();
+ }
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ // Now that we have incremented the waypoints, excute some traffic manager specific code
+ // based on the name of the waypoint we just passed.
+ if (trafficRef)
+ {
+ double userLatitude = fgGetDouble("/position/latitude-deg");
+ double userLongitude = fgGetDouble("/position/longitude-deg");
+ double course, distance;
+ SGWayPoint current (pos.lon(),
+ pos.lat(),
+ 0);
+ SGWayPoint user ( userLongitude,
+ userLatitude,
+ 0);
+ user.CourseAndDistance(current, &course, &distance);
+ if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST)
+ {
+ setDie(true);
+ //cerr << "done fp die out of range" << endl;
+ return;
+ }
+
+ FGAirport * dep = trafficRef->getDepartureAirport();
+ FGAirport * arr = trafficRef->getArrivalAirport();
+ // At parking the beginning of the airport
+ if (!( dep && arr))
+ {
+ setDie(true);
+ return;
+ }
+ //if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM"))))
+ // {
+ // cerr << trafficRef->getRegistration()
+ // << " Enroute from " << dep->getId()
+ // << " to " << arr->getId()
+ // << " just crossed " << prev->name
+ // << " Assigned rwy " << fp->getRunwayId()
+ // << " " << fp->getRunway() << endl;
+ // }
+ //if ((dep->getId() == string("EHAM")) && (prev->name == "park2"))
+ // {
+ // cerr << "Schiphol ground "
+ // << trafficRef->getCallSign();
+ // if (trafficRef->getHeavy())
+ // cerr << "Heavy";
+ // cerr << ", is type "
+ // << trafficRef->getAircraft()
+ // << " ready to go. IFR to "
+ // << arr->getId() <<endl;
+ // }
+ if (prev->name == "park2")
+ {
+ dep->getDynamics()->releaseParking(fp->getGate());
+ }
+ // Some debug messages, specific to TESTING THE Logical networks.
+ //if ((arr->getId() == string("EHAM")) && (prev->name == "Center"))
+ // {
+ //
+ // cerr << "Schiphol ground "
+ // << trafficRef->getCallSign();
+ // if (trafficRef->getHeavy())
+ // cerr << "Heavy";
+ // cerr << " landed runway "
+ // << fp->getRunway()
+ // << " request taxi to gate "
+ // << arr->getParkingName(fp->getGate())
+ // << endl;
+ // }
+ if (prev->name == "END")
+ fp->setTime(trafficRef->getDepartureTime());
+ //cerr << "5" << endl;
+ }
+ if (next)
+ {
+ //cerr << "Current waypoint" << curr->name << endl;
+ //cerr << "Next waypoint" << next->name << endl;
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
+ //cerr << "5.1" << endl;
+ if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
+ tgt_altitude = prev->altitude;
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;
+ //cerr << "5.1a" << endl;
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - altitude)/
+ (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
+ //cerr << "5.1b" << endl;
+ tgt_altitude = curr->crossat;
} else {
- use_perf_vs = true;
- tgt_altitude = prev->altitude;
+ //cerr << "5.1c" << endl;
+ use_perf_vs = true;
+ //cerr << "5.1d" << endl;
+
+ //cerr << "Setting target altitude : " <<tgt_altitude << endl;
}
- tgt_speed = prev->speed;
- hdg_lock = alt_lock = true;
- no_roll = prev->on_ground;
- //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);
- double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
- TurnTo( calc_bearing );
- }
}
-
- }
+ //cerr << "6" << endl;
+ tgt_speed = prev->speed;
+ hdg_lock = alt_lock = true;
+ no_roll = prev->on_ground;
+ //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);
+ //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 );
+ }
+ }
+ else
+ {
+ cerr << "calc_bearing is not a finite number : "
+ << "Speed " << speed
+ << "pos : " << pos.lat() << ", " << pos.lon()
+ << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
+ cerr << "waypoint name " << curr->name;
+ exit(1);
+ }
+ double speed_diff = speed - prevSpeed;
+ // Update the lead distance calculation if speed has changed sufficiently
+ // to prevent spinning (hopefully);
+ if (fabs(speed_diff) > 10)
+ {
+ prevSpeed = speed;
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
+
+ //cerr << "Done Processing FlightPlan"<< endl;
+ } // if (dt count) else
+}
+ bool FGAIAircraft::_getGearDown() const {
+ return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
+ && (props->getFloatValue("velocities/airspeed-kt")
+ < performance->land_speed*1.25));
}
+void FGAIAircraft::loadNextLeg()
+{
+ //delete fp;
+ //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+
+
+ //FGAIModelEntity entity;
+ //entity.m_class = "jet_transport";
+ //entity.path = modelPath.c_str();
+ //entity.flightplan = "none";
+ //entity.latitude = _getLatitude();
+ //entity.longitude = _getLongitude();
+ //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
+ //entity.speed = 450; // HACK ALERT
+ //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
+ int leg;
+ if ((leg = fp->getLeg()) == 10)
+ {
+ trafficRef->next();
+ leg = 1;
+ fp->setLeg(leg);
+
+ //cerr << "Resetting leg : " << leg << endl;
+ }
+ //{
+ //leg++;
+ //fp->setLeg(leg);
+ //cerr << "Creating leg number : " << leg << endl;
+ FGAirport *dep = trafficRef->getDepartureAirport();
+ FGAirport *arr = trafficRef->getArrivalAirport();
+ if (!(dep && arr))
+ {
+ setDie(true);
+ //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
+ //if (dep)
+ // cerr << "Departure " << dep->getId() << endl;
+ //if (arr)
+ // cerr << "Arrival " << arr->getId() << endl;
+ }
+ else
+ {
+ double cruiseAlt = trafficRef->getCruiseAlt() * 100;
+ //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
+
+ 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);
+ //prev = fp->getPreviousWaypoint();
+ //curr = fp->getCurrentWaypoint();
+ //next = fp->getNextWaypoint();
+ //cerr << "25" << endl;
+ //if (next)
+ // {
+ // //cerr << "Next waypoint" << next->name << endl;
+ // fp->setLeadDistance(speed, tgt_heading, curr, next);
+ // }
+ //cerr << "25.1" << endl;
+ //if (curr->crossat > -1000.0) {
+ // //cerr << "25.1a" << endl;
+ // use_perf_vs = false;
+ //
+ // tgt_vs = (curr->crossat - altitude)/
+ // (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
+ // //cerr << "25.1b" << endl;
+ // tgt_altitude = curr->crossat;
+ //} else {
+ // //cerr << "25.1c" << endl;
+ // use_perf_vs = true;
+ // //cerr << "25.1d" << endl;
+ // tgt_altitude = prev->altitude;
+ // //cerr << "Setting target altitude : " <<tgt_altitude << endl;
+ // }
+ //cerr << "26" << endl;
+ //tgt_speed = prev->speed;
+ //hdg_lock = alt_lock = true;
+ //no_roll = prev->on_ground;
+
+ }
+ //}
+ //else
+ //{
+ //delete entity.fp;
+ //entity.fp = new FGAIFlightPlan(&entity,
+ // 999, // A hack
+ // trafficRef->getDepartureTime(),
+ // trafficRef->getDepartureAirport(),
+ // trafficRef->getArrivalAirport(),
+ // false,
+ // acType,
+ // company);
+ //SetFlightPlan(entity.fp);
+}
+
+
+
+// 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;
+ //return;
+ if (dt_elev_count < (3.0) + (rand() % 10)) //Update minimally every three secs, but add some randomness to prevent all IA objects doing this in synchrony
+ {
+ return;
+ }
+ else
+ {
+ dt_elev_count = 0;
+ }
+ // It would be nice if we could set the correct tile center here in order to get a correct
+ // answer with one call to the function, but what I tried in the two commented-out lines
+ // below only intermittently worked, and I haven't quite groked why yet.
+ //SGBucket buck(pos.lon(), pos.lat());
+ //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
+
+ // Only do the proper hitlist stuff if we are within visible range of the viewer.
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+
+
+ FGViewer* vw = globals->get_current_view();
+ double
+ course,
+ distance;
+
+ //Point3D currView(vw->getLongitude_deg(),
+ // vw->getLatitude_deg(), 0.0);
+ SGWayPoint current (pos.lon(),
+ pos.lat(),
+ 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.lat(), pos.lon(), 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.lat(), pos.lon(),
+ 20000.0, alt))
+ tgt_altitude = alt * SG_METER_TO_FEET;
+ //cerr << "Target altitude : " << tgt_altitude << endl;
+ // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
+ // 20000.0, alt))
+ // tgt_altitude = alt * SG_METER_TO_FEET;
+ //cerr << "Target altitude : " << tgt_altitude << endl;
+}
+
+void FGAIAircraft::doGroundAltitude()
+{
+ if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
+ altitude = (tgt_altitude + groundOffset);
+ else
+ altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
+}
projects / flightgear.git / blobdiff