//
// 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 <Airports/simple.hxx>
#include <string>
#include <math.h>
#include <time.h>
+
#ifdef _MSC_VER
# include <float.h>
# define finite _finite
# include <ieeefp.h>
#endif
-SG_USING_STD(string);
+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
-//
-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},
- // tanker
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0}
-};
+#include "performancedata.hxx"
+#include "performancedb.hxx"
+#include <signal.h>
+//#include <Airports/trafficcontroller.hxx>
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;
+ /* 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());
+ }
+ else
+ groundOffset = 0;
+
+ fp = 0;
+ controller = 0;
+ prevController = 0;
+ towerController = 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;
+ headingError = 0;
+ minBearing = 360;
+ speedFraction =1.0;
+
+ holdPos = false;
+ needsTaxiClearance = false;
+ _needsGroundElevation = true;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+ dt = 0;
+ takeOffStatus = 0;
}
FGAIAircraft::~FGAIAircraft() {
- delete fp;
+ //delete fp;
+ if (controller)
+ controller->signOff(getID());
}
+
void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
- return;
+ if (!scFileNode)
+ return;
- FGAIBase::readFromScenario(scFileNode);
+ FGAIBase::readFromScenario(scFileNode);
- setPerformance(scFileNode->getStringValue("class", "jet_transport"));
- setFlightPlan(scFileNode->getStringValue("flightplan"),
- scFileNode->getBoolValue("repeat", false));
+ setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
+ setFlightPlan(scFileNode->getStringValue("flightplan"),
+ scFileNode->getBoolValue("repeat", false));
+ setCallSign(scFileNode->getStringValue("callsign"));
}
-bool FGAIAircraft::init() {
- refuel_node = fgGetNode("systems/refuel/contact", true);
- return FGAIBase::init();
-}
void FGAIAircraft::bind() {
FGAIBase::bind();
- props->tie("controls/gear/gear-down",
- SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
-}
-
-void FGAIAircraft::unbind() {
- FGAIBase::unbind();
-
- props->untie("controls/gear/gear-down");
+ tie("controls/gear/gear-down",
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
+ tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
-
void FGAIAircraft::update(double dt) {
-
- FGAIBase::update(dt);
- Run(dt);
- Transform();
+ FGAIBase::update(dt);
+ Run(dt);
+ Transform();
}
-void FGAIAircraft::setPerformance(const std::string& acclass)
+void FGAIAircraft::setPerformance(const std::string& acType, 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]);
- }
+ static PerformanceDB perfdb; //TODO make it a global service
+ _performance = perfdb.getDataFor(acType, acclass);
}
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
-
- performance = ps;
-}
-
-
-void FGAIAircraft::Run(double dt) {
-
- FGAIAircraft::dt = 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 speed_east_deg_sec;
- double dist_covered_ft;
- double alpha;
-
- // adjust 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) { // was (!no_roll) but seems more logical this way (ground brakes).
- speed -= performance->decel * dt * 3;
- } else {
- 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);
- //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) {
- // 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;
- 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;
- }
- 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
- 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;
- //while (roll > 180) roll -= 360;
- //while (roll < 180) roll += 360;
- }
-
- // 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;
-
- // 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 0
+ void FGAIAircraft::setPerformance(PerformanceData *ps) {
+ _performance = ps;
+ }
+#endif
+
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
+
+ bool outOfSight = false,
+ flightplanActive = true;
+ updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+ if (outOfSight) {
+ return;
}
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += 900.0 * dt;
- if (vs > tgt_vs) vs = tgt_vs;
- } else {
- vs -= 400.0 * dt;
- if (vs < tgt_vs) vs = tgt_vs;
+
+ if (!flightplanActive) {
+ groundTargetSpeed = 0;
}
- }
-
- // match pitch angle to vertical speed
- if (vs > 0){
- pitch = vs * 0.005;
- } else {
- pitch = vs * 0.002;
- }
-
- //###########################//
- // do calculations for radar //
- //###########################//
- double range_ft2 = UpdateRadar(manager);
-
- //************************************//
- // Tanker code //
- //************************************//
-
- if ( isTanker) {
- if ( (range_ft2 < 250.0 * 250.0) &&
- (y_shift > 0.0) &&
- (elevation > 0.0) ) {
- refuel_node->setBoolValue(true);
- } else {
- refuel_node->setBoolValue(false);
- }
- }
+
+ 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
+ // 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::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;
+ tgt_speed = speed;
+ //assertSpeed(speed);
+ if (!isStationary())
+ _needsGroundElevation = true;
}
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(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;
+ delete fp;
+ fp = f;
+}
+
+
+void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
+
+ // the one behind you
+ FGAIWaypoint* prev = 0;
+ // the one ahead
+ FGAIWaypoint* curr = 0;
+ // the next plus 1
+ FGAIWaypoint* 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;
+
+ double distanceToDescent;
+ if(reachedEndOfCruise(distanceToDescent)) {
+ if (!loadNextLeg(distanceToDescent)) {
+ setDie(true);
+ return;
+ }
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+ if (!curr)
+ {
+ // Oops! FIXME
+ return;
+ }
+
+ 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->isFinished()) //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( trafficRef != 0 );
+ if ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
+ 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->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
+ {
+ tgt_altitude_ft = prev->getAltitude();
+ if (curr->getCrossat() > -1000.0) {
+ use_perf_vs = false;
+ // Distance to go in meters
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
+ } else {
+ use_perf_vs = true;
+ }
+ }
+ AccelTo(prev->getSpeed());
+ hdg_lock = alt_lock = true;
+ no_roll = prev->getOn_ground();
+ }
+}
+
+double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
+{
+ // 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 angle = atan2(vert_m, dist_m);
+ double speedMs = (speed * SG_NM_TO_METER) / 3600;
+ //double vs = cos(angle) * speedMs; // Now in m/s
+ double vs = 0;
+ //cerr << "Error term = " << err_m << endl;
+ if (dist_m) {
+ vs = ((vert_m) / dist_m) * speedMs;
+ }
+ // Convert to feet per minute
+ vs *= (SG_METER_TO_FEET * 60);
+ //if (getCallSign() == "LUFTHANSA2002")
+ //if (fabs(vs) > 100000) {
+// if (getCallSign() == "LUFTHANSA2057") {
+// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
+// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+// // / 6076.0 / speed*60.0);
+// //raise(SIGSEGV);
+// }
+ return vs;
+}
+
+void FGAIAircraft::assertSpeed(double speed)
+{
+ if ((speed < -50) || (speed > 1000)) {
+ cerr << getCallSign() << " "
+ << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
+ << "Departure airport " << trafficRef->getDepartureAirport() << " "
+ << "Leg " << fp->getLeg() << " "
+ << "target_speed << " << tgt_speed << " "
+ << "speedFraction << " << speedFraction << " "
+ << "Currecnt speed << " << speed << " "
+ << endl;
+ //raise(SIGSEGV);
+ }
}
-void FGAIAircraft::ProcessFlightPlan( double dt, time_t now )
+
+
+void FGAIAircraft::checkTcas(void)
{
- bool eraseWaypoints;
- if (trafficRef)
+ if (props->getIntValue("tcas/threat-level",0)==3)
{
-// 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
- prev = fp->getPreviousWaypoint();
- curr = fp->getCurrentWaypoint();
- next = fp->getNextWaypoint();
- dt_count += dt;
-
- if (!prev) { //beginning of flightplan, do this initialization once
- //setBank(0.0);
+ 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() {
+}
+
+
+bool FGAIAircraft::_getGearDown() const {
+ return _performance->gearExtensible(this);
+}
+
+
+const char * FGAIAircraft::_getTransponderCode() const {
+ 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()) == 9) {
+ if (!trafficRef->next()) {
+ return false;
+ }
+ setCallSign(trafficRef->getCallSign());
+ leg = 0;
+ 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+1,
+ cruiseAlt,
+ trafficRef->getSpeed(),
+ _getLatitude(),
+ _getLongitude(),
+ false,
+ trafficRef->getRadius(),
+ trafficRef->getFlightType(),
+ acType,
+ company,
+ distance);
+ //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;
+
+ 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))
+ 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");
+ if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
+ return;
+ }
+
+ double range = 500.0;
+ 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;
+ }
+ }
+ }
+ }
+}
+
+
+void FGAIAircraft::doGroundAltitude() {
+ if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
+ tgt_vs = -500;
+ } else {
+ 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);
+ tgt_vs = 0;
+ }
+}
+
+
+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 ((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);
+ }
+ }
+}
+
+void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
+ if (!takeOffStatus) {
+ 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);
+ //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
+ }
+ }
+ }
+ takeOffStatus = state;
+}
+
+// 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()->getSpeed());
+ }
+ }
+ 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;
+ }
+
+ FGAIWaypoint* prev = 0; // the one behind you
+ FGAIWaypoint* curr = 0; // the one ahead
+ FGAIWaypoint* next = 0;// the next plus 1
+
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;
+
+ //TODO fp should handle this
+ fp->IncrementWaypoint(eraseWaypoints);
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);
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ 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->getLatitude());
+ setLongitude(prev->getLongitude());
+ setSpeed(prev->getSpeed());
+ setAltitude(prev->getAltitude());
+
+ if (prev->getSpeed() > 0.0)
+ setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), 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,
+ setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), 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;
+ if (next)
+ fp->setLeadDistance(speed, hdg, curr, next);
+
+ if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
+ {
+ use_perf_vs = false;
+ //tgt_vs = (curr->getCrossat() - prev->getAltitude())
+ // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ // / 6076.0 / prev->getSpeed()*60.0);
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
} else {
- use_perf_vs = true;
- tgt_altitude = prev->altitude;
+ use_perf_vs = true;
+ tgt_altitude_ft = prev->getAltitude();
}
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);
- }
+ 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();
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) || (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
+}
+
+
+/**
+ * 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(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;
+ }
+ //assertSpeed(tgt_speed);
+ 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);
//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;
- }
- 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) {
- //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 {
- //cerr << "5.1c" << endl;
- use_perf_vs = true;
- //cerr << "5.1d" << endl;
-
- //cerr << "Setting target altitude : " <<tgt_altitude << endl;
- }
- }
- //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);
+
+ //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;
+ double bearing = 0;
+ // don't do bearing calculations for ground traffic
+ bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
+ if (bearing < minBearing) {
+ minBearing = bearing;
+ if (minBearing < 10) {
+ minBearing = 10;
+ }
+ if ((minBearing < 360.0) && (minBearing > 10.0)) {
+ speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
+ } else {
+ speedFraction = 1.0;
+ }
+ }
+ if (trafficRef) {
+ //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
+ //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
+ // << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
+ //}
+ }
+ if ((dist_to_go < lead_dist) ||
+ ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
+ minBearing = 360;
+ speedFraction = 1.0;
+ prev_dist_to_go = HUGE_VAL;
+ return true;
+ } else {
+ prev_dist_to_go = dist_to_go;
+ return false;
+ }
+}
+
+
+bool FGAIAircraft::aiTrafficVisible()
+{
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
+ (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
+ return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
+}
+
+
+/**
+ * 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(FGAIWaypoint* 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;
+ //cerr << "Passing waypoint : " << prev->getName() << endl;
+ 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"))) {
+ //cerr << "Passing point DepartureHold" << endl;
+ scheduleForATCTowerDepartureControl(1);
+ }
+ if (prev->contains(string("Accel"))) {
+ takeOffStatus = 3;
+ }
+ //if (prev->contains(string("landing"))) {
+ // if (speed < _performance->vTaxi() * 2) {
+ // fp->shortenToFirst(2, "legend");
+ // }
+ //}
+ //if (prev->contains(string("final"))) {
+ //
+ // cerr << getCallSign() << " "
+ // << fp->getPreviousWaypoint()->getName()
+ // << ". Alt = " << altitude_ft
+ // << " vs " << vs
+ // << " horizontal speed " << speed
+ // << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
+ // << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
+ // << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
+ //q}
+ // 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->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)) {
+ nextDeparture = now + 1200;
+ }
+ fp->setTime(nextDeparture);
+ }
+
+ return true;
+}
+
+
+/**
+ * Check difference between target bearing and current heading and correct if necessary.
+ *
+ * @param curr
+ */
+void FGAIAircraft::controlHeading(FGAIWaypoint* 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 );
- }
- }
- 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);
- }
+ 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) > 0.01) {
+ TurnTo( calc_bearing );
+ }
+
+ } else {
+ 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() << "'" << endl;
+ //exit(1); // FIXME
+ }
+}
+
+
+/**
+ * Update the lead distance calculation if speed has changed sufficiently
+ * to prevent spinning (hopefully);
+ *
+ * @param curr
+ * @param next
+ */
+void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
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);
- }
+
+ if (fabs(speed_diff) > 10) {
+ prevSpeed = speed;
+ //assertSpeed(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(bool& flightplanActive, bool& aiOutOfSight) {
+ 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;
+ aiOutOfSight = !aiTrafficVisible();
+ if (aiOutOfSight) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ aiOutOfSight = true;
+ return;
+ }
+ }
+ timeElapsed = now - fp->getStartTime();
+ flightplanActive = fp->isActive(now);
+ } 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);
+ //assertSpeed(groundTargetSpeed);
+ //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
+ //assertSpeed(groundTargetSpeed);
+ // 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);
+ }
+ }
+ }
+ 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;
+ if (fabs(headingError) < 1.0) {
+ hdg = tgt_heading;
+ }
+ } 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 vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
+ double err_dist = 0; //prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ //cerr << "Target vs before : " << tgt_vs;
+/* double max_vs = 10*(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;*/
+ //cerr << "target vs : after " << tgt_vs << endl;
+ }
+ } //else
+ // tgt_vs = 0.0;
+ checkTcas();
+}
+
+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
- //cerr << "Done Processing FlightPlan"<< endl;
- } // if (dt count) else
+ // 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->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ processATC(controller->getInstruction(getID()));
+ }
+ if (towerController) {
+ towerController->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ }
+}
+
+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, holdPos);
+ else
+ speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
+ //assertSpeed(speed);
+ 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);
}
- 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::updateSecondaryTargetValues() {
+ // derived target state values
+ updateBankAngleTarget();
+ updateVerticalSpeedTarget();
+ updatePitchAngleTarget();
+
+ //TODO calculate wind correction angle (tgt_yaw)
}
-void FGAIAircraft::loadNextLeg()
+bool FGAIAircraft::reachedEndOfCruise(double &distance) {
+ 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
+
+ double verticalDistance = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
+ double descentTimeNeeded = verticalDistance / descentRate;
+ double distanceCovered = descentSpeed * descentTimeNeeded;
+
+ //cerr << "Tracking : " << fgGetString("/ai/track-callsign");
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
+ cerr << "Descent rate : " << descentRate << endl;
+ cerr << "Descent speed : " << descentSpeed << endl;
+ cerr << "VerticalDistance : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
+ cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
+ cerr << "DistanceCovered : " << distanceCovered << endl;
+ }
+ //cerr << "Distance = " << distance << endl;
+ distance = distanceCovered;
+ if (dist < distanceCovered) {
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ //exit(1);
+ }
+ return true;
+ } else {
+ return false;
+ }
+ } else {
+ return false;
+ }
+}
+
+void FGAIAircraft::resetPositionFromFlightPlan()
{
- //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.
+ // the one behind you
+ FGAIWaypoint* prev = 0;
+ // the one ahead
+ FGAIWaypoint* curr = 0;
+ // the next plus 1
+ FGAIWaypoint* next = 0;
-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 );
- }
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
- // 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;
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ double tgt_heading = fp->getBearing(curr, next);
+ setHeading(tgt_heading);
+ setAltitude(prev->getAltitude());
+ setSpeed(prev->getSpeed());
}
-void FGAIAircraft::doGroundAltitude()
+double FGAIAircraft::getBearing(double crse)
{
- if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
- altitude = (tgt_altitude + groundOffset);
- else
- altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
+ double hdgDiff = fabs(hdg-crse);
+ if (hdgDiff > 180)
+ hdgDiff = fabs(hdgDiff - 360);
+ return hdgDiff;
+}
+
+time_t FGAIAircraft::checkForArrivalTime(string wptName) {
+ FGAIWaypoint* curr = 0;
+ curr = fp->getCurrentWaypoint();
+
+ double tracklength = fp->checkTrackLength(wptName);
+ if (tracklength > 0.1) {
+ tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ } else {
+ return 0;
+ }
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ time_t arrivalTime = fp->getArrivalTime();
+
+ time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
+ time_t secondsToGo = arrivalTime - now;
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
+ }
+ return (ete - secondsToGo); // Positive when we're too slow...
}
projects / flightgear.git / blobdiff