-// FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// // FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Airports/dynamics.hxx>
+#include <Airports/simple.hxx>
#include <string>
#include <math.h>
static string tempReg;
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+ /* HOT must be disabled for AI Aircraft,
+ * otherwise traffic detection isn't working as expected.*/
+ FGAIBase(otAircraft, false)
+{
trafficRef = ref;
if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
- setCallSign(trafficRef->getCallSign());
+ setCallSign(trafficRef->getCallSign());
}
else
groundOffset = 0;
- fp = 0;
- controller = 0;
- prevController = 0;
+ fp = 0;
+ controller = 0;
+ prevController = 0;
+ towerController = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
holdPos = false;
needsTaxiClearance = false;
+ _needsGroundElevation = true;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0;
+ scheduledForTakeoff = false;
}
handleATCRequests(); // ATC also has a word to say
updateSecondaryTargetValues(); // target roll, vertical speed, pitch
updateActualState();
- UpdateRadar(manager);
+ // 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)
+ UpdateRadar(manager);
checkVisibility();
}
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
+ if (!isStationary())
+ _needsGroundElevation = true;
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
// the one behind you
- FGAIFlightPlan::waypoint* prev = 0;
+ FGAIWaypoint* prev = 0;
// the one ahead
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
// the next plus 1
- FGAIFlightPlan::waypoint* next = 0;
+ FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
+ /*
+ if (speed < 0) {
+ cerr << getCallSign()
+ << ": verifying lead distance to waypoint : "
+ << fp->getCurrentWaypoint()->name << " "
+ << fp->getLeadDistance() << ". Distance to go "
+ << (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr))
+ << ". Target speed = "
+ << tgt_speed
+ << ". Current speed = "
+ << speed
+ << ". Minimum Bearing " << minBearing
+ << endl;
+ } */
} else {
- if (curr->finished) //end of the flight plan
+ if (curr->isFinished()) //end of the flight plan
{
if (fp->getRepeat())
fp->restart();
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
- if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
+ if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
- tgt_altitude_ft = prev->altitude;
- if (curr->crossat > -1000.0) {
+ tgt_altitude_ft = prev->getAltitude();
+ if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
- tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / speed*60.0);
- tgt_altitude_ft = curr->crossat;
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
}
}
- tgt_speed = prev->speed;
+ AccelTo(prev->getSpeed());
hdg_lock = alt_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_ground();
}
}
+void FGAIAircraft::checkTcas(void)
+{
+ if (props->getIntValue("tcas/threat-level",0)==3)
+ {
+ int RASense = props->getIntValue("tcas/ra-sense",0);
+ if ((RASense>0)&&(tgt_vs<4000))
+ // upward RA: climb!
+ tgt_vs = 4000;
+ else
+ if (RASense<0)
+ {
+ // downward RA: descend!
+ if (altitude_ft < 1000)
+ {
+ // too low: level off
+ if (tgt_vs>0)
+ tgt_vs = 0;
+ }
+ else
+ {
+ if (tgt_vs >- 4000)
+ tgt_vs = -4000;
+ }
+ }
+ }
+}
void FGAIAircraft::initializeFlightPlan() {
}
return transponderCode.c_str();
}
+// NOTE: Check whether the new (delayed leg increment code has any effect on this code.
+// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
bool FGAIAircraft::loadNextLeg(double distance) {
int leg;
- if ((leg = fp->getLeg()) == 10) {
+ if ((leg = fp->getLeg()) == 9) {
if (!trafficRef->next()) {
return false;
}
setCallSign(trafficRef->getCallSign());
- leg = 1;
+ leg = 0;
fp->setLeg(leg);
}
fp->create (this,
dep,
arr,
- leg,
+ leg+1,
cruiseAlt,
trafficRef->getSpeed(),
_getLatitude(),
void FGAIAircraft::getGroundElev(double dt) {
dt_elev_count += dt;
+ if (!needGroundElevation())
+ return;
// 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))
}
double range = 500.0;
- if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
- // Try to shedule tiles for that position.
- globals->get_tile_mgr()->schedule_tiles_at( pos, range );
+ if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
+ {
+ double alt;
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
+ {
+ tgt_altitude_ft = alt * SG_METER_TO_FEET;
+ if (isStationary())
+ {
+ // aircraft is stationary and we obtained altitude for this spot - we're done.
+ _needsGroundElevation = false;
+ }
+ }
}
-
- double alt;
- if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
- tgt_altitude_ft = alt * SG_METER_TO_FEET;
}
}
void FGAIAircraft::doGroundAltitude() {
- if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
+ if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
+ (isStationary()))
altitude_ft = (tgt_altitude_ft + groundOffset);
else
altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
// 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 2: // Startup and Push back
+ case 1: // Startup and Push back
if (trafficRef->getDepartureAirport()->getDynamics())
controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
break;
- case 3: // Taxiing to runway
+ case 2: // Taxiing to runway
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
break;
- case 4: //Take off tower controller
+ case 3: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
break;
- case 7:
+ case 6:
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
}
break;
- case 9: // Taxiing for parking
+ case 8: // Taxiing for parking
if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
break;
}
prevController = controller;
if (controller) {
- controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
}
}
}
+void FGAIAircraft::scheduleForATCTowerDepartureControl() {
+ if (!scheduledForTakeoff) {
+ int leg = fp->getLeg();
+ if (trafficRef) {
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+ }
+ if (towerController) {
+ towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
+ }
+ }
+ }
+ scheduledForTakeoff = true;
+}
+
// Process ATC instructions and report back
void FGAIAircraft::processATC(FGATCInstruction instruction) {
//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
AccelTo(instruction.getSpeed());
} else {
- if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+ if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
}
}
if (instruction.getChangeHeading ()) {
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
+ FGAIWaypoint* prev = 0; // the one behind you
+ FGAIWaypoint* curr = 0; // the one ahead
+ FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
tempReg = "";
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);
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ setSpeed(prev->getSpeed());
+ setAltitude(prev->getAltitude());
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ if (prev->getSpeed() > 0.0)
+ setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
else
- setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+ setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
// If next doesn't exist, as in incrementally created flightplans for
// AI/Trafficmanager created plans,
if (next)
fp->setLeadDistance(speed, hdg, curr, next);
- if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+ if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
{
use_perf_vs = false;
- tgt_vs = (curr->crossat - prev->altitude)
+ tgt_vs = (curr->getCrossat() - prev->getAltitude())
/ (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / prev->speed*60.0);
- tgt_altitude_ft = curr->crossat;
+ / 6076.0 / prev->getSpeed()*60.0);
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
- tgt_altitude_ft = prev->altitude;
+ tgt_altitude_ft = prev->getAltitude();
}
alt_lock = hdg_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_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();
+ _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
}
// Make sure to announce the aircraft's position
announcePositionToController();
* @param curr
* @return
*/
-bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
+bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
-
+ if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
+ tgt_speed = -(dist_to_go / 10.0);
+ if (tgt_speed > -0.5) {
+ tgt_speed = -0.5;
+ }
+ if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
+ fp->getPreviousWaypoint()->setSpeed(tgt_speed);
+ }
+ }
if (lead_dist < fabs(2*speed)) {
//don't skip over the waypoint
lead_dist = fabs(2*speed);
*/
//TODO the trafficRef is the right place for the method
-bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// prepare routing from one airport to another
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
- if (prev->name == "PushBackPoint") {
+ if (prev->contains("PushBackPoint")) {
dep->getDynamics()->releaseParking(fp->getGate());
AccelTo(0.0);
setTaxiClearanceRequest(true);
}
+ if (prev->contains("legend")) {
+ fp->incrementLeg();
+ }
+ if (prev->contains(string("DepartureHold"))) {
+ scheduleForATCTowerDepartureControl();
+ }
// This is the last taxi waypoint, and marks the the end of the flight plan
// so, the schedule should update and wait for the next departure time.
- if (prev->name == "END") {
+ if (prev->contains("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)) {
*
* @param curr
*/
-void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
+void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
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;
+ << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+ cerr << "waypoint name " << curr->getName();
exit(1); // FIXME
}
}
* @param curr
* @param next
*/
-void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
double speed_diff = speed - prevSpeed;
if (fabs(speed_diff) > 10) {
bank_sense = 1.0;
}
//if (trafficRef)
- //cerr << trafficRef->getCallSign() << " Heading "
- // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
+ // 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);
//}
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;
+
+ // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
+ if (speed != 0) {
+ 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 (speed != 0) {
+ if (fabs(headingChangeRate) > headingDiff)
+ headingChangeRate = headingDiff*sign(roll);
+ else
+ headingChangeRate += dt * sign(roll);
+ }
}
- } else {
- if (fabs(headingChangeRate) > headingDiff)
- headingChangeRate = headingDiff*sign(roll);
- else
- headingChangeRate += dt * sign(roll);
}
-
- hdg += headingChangeRate * dt * (fabs(speed) / 15);
+ 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);
headingError = headingDiff;
} else {
if (fabs(speed) > 1.0) {
}
} //else
// tgt_vs = 0.0;
+ checkTcas();
}
void FGAIAircraft::updatePitchAngleTarget() {
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);
+ controller->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
processATC(controller->getInstruction(getID()));
}
}
bool FGAIAircraft::reachedEndOfCruise(double &distance) {
- FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint();
- if (curr->name == "BOD") {
+ FGAIWaypoint* curr = fp->getCurrentWaypoint();
+ if (curr->getName() == string("BOD")) {
double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
void FGAIAircraft::resetPositionFromFlightPlan()
{
// the one behind you
- FGAIFlightPlan::waypoint* prev = 0;
+ FGAIWaypoint* prev = 0;
// the one ahead
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
// the next plus 1
- FGAIFlightPlan::waypoint* next = 0;
+ FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
double tgt_heading = fp->getBearing(curr, next);
setHeading(tgt_heading);
- setAltitude(prev->altitude);
- setSpeed(prev->speed);
+ setAltitude(prev->getAltitude());
+ setSpeed(prev->getSpeed());
}
double FGAIAircraft::getBearing(double crse)
}
time_t FGAIAircraft::checkForArrivalTime(string wptName) {
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
curr = fp->getCurrentWaypoint();
double tracklength = fp->checkTrackLength(wptName);
cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
}
return (ete - secondsToGo); // Positive when we're too slow...
-}
\ No newline at end of file
+}
projects / flightgear.git / blobdiff