//
// 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 "AICarrier.hxx"
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <math.h>
+#include <Main/util.hxx>
+#include <Main/viewer.hxx>
-FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
+#include "AICarrier.hxx"
+
+FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
FGAICarrier::~FGAICarrier() {
}
+void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIShip::readFromScenario(scFileNode);
+
+ setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
+ setSign(scFileNode->getStringValue("pennant-number"));
+ setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
+ setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
+ setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
+ setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
+ setMinLat(scFileNode->getDoubleValue("min-lat", 0));
+ setMaxLong(scFileNode->getDoubleValue("max-long", 0));
+ setMinLong(scFileNode->getDoubleValue("min-long", 0));
+ setMPControl(scFileNode->getBoolValue("mp-control", false));
+ setAIControl(scFileNode->getBoolValue("ai-control", false));
+
+ SGPropertyNode* flols = scFileNode->getChild("flols-pos");
+ if (flols) {
+ // Transform to the right coordinate frame, configuration is done in
+ // the usual x-back, y-right, z-up coordinates, computations
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
+ flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
+ flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
+ } else
+ flols_off = SGVec3d::zeros();
+
+ std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
+ std::vector<SGPropertyNode_ptr>::const_iterator it;
+ for (it = props.begin(); it != props.end(); ++it) {
+ string name = (*it)->getStringValue("name", "unnamed");
+ // Transform to the right coordinate frame, configuration is done in
+ // the usual x-back, y-right, z-up coordinates, computations
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
+ double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
+ double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
+ double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
+ ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
+ ppositions.push_back(pp);
+ }
+}
+
+void FGAICarrier::setWind_from_east(double fps) {
+ wind_from_east = fps;
+}
+
+void FGAICarrier::setWind_from_north(double fps) {
+ wind_from_north = fps;
+}
+
+void FGAICarrier::setMaxLat(double deg) {
+ max_lat = fabs(deg);
+}
+
+void FGAICarrier::setMinLat(double deg) {
+ min_lat = fabs(deg);
+}
+
+void FGAICarrier::setMaxLong(double deg) {
+ max_long = fabs(deg);
+}
+
+void FGAICarrier::setMinLong(double deg) {
+ min_long = fabs(deg);
+}
+
+void FGAICarrier::setSign(const string& s) {
+ sign = s;
+}
+
+void FGAICarrier::setTACANChannelID(const string& id) {
+ TACAN_channel_id = id;
+}
+
+void FGAICarrier::setMPControl(bool c) {
+ MPControl = c;
+}
+
+void FGAICarrier::setAIControl(bool c) {
+ AIControl = c;
+}
void FGAICarrier::update(double dt) {
- FGAIShip::update(dt);
+ // Now update the position and heading. This will compute new hdg and
+ // roll values required for the rotation speed computation.
+ FGAIShip::update(dt);
+
+ //automatic turn into wind with a target wind of 25 kts otd
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
+ if (!MPControl && AIControl){
+
+ if(turn_to_launch_hdg){
+ TurnToLaunch();
+ } else if(turn_to_recovery_hdg ){
+ TurnToRecover();
+ } else if(OutsideBox() || returning ) {// check that the carrier is inside
+ ReturnToBox(); // the operating box,
+ } else {
+ TurnToBase();
+ }
+
+ } else {
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+ }
+
+ UpdateWind(dt);
+ UpdateElevator(dt, transition_time);
+ UpdateJBD(dt, jbd_transition_time);
+
+ // Transform that one to the horizontal local coordinate system.
+ SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
+ // The orientation of the carrier wrt the horizontal local frame
+ SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ SGQuatd ec2body = ec2hl*hl2body;
+ // The cartesian position of the carrier in the wgs84 world
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+
+ // The position of the eyepoint - at least near that ...
+ SGVec3d eyePos(globals->get_current_view()->get_view_pos());
+ // Add the position offset of the AIModel to gain the earth
+ // centered position
+ SGVec3d eyeWrtCarrier = eyePos - cartPos;
+ // rotate the eyepoint wrt carrier vector into the carriers frame
+ eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
+ // the eyepoints vector wrt the flols position
+ SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
+
+ // the distance from the eyepoint to the flols
+ dist = norm(eyeWrtFlols);
+
+ // now the angle, positive angles are upwards
+ if (fabs(dist) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = -eyeWrtFlols(2)/dist;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ // set the value of source
+ if ( angle <= 4.35 && angle > 4.01 )
+ source = 1;
+ else if ( angle <= 4.01 && angle > 3.670 )
+ source = 2;
+ else if ( angle <= 3.670 && angle > 3.330 )
+ source = 3;
+ else if ( angle <= 3.330 && angle > 2.990 )
+ source = 4;
+ else if ( angle <= 2.990 && angle > 2.650 )
+ source = 5;
+ else if ( angle <= 2.650 )
+ source = 6;
+ else
+ source = 0;
+} //end update
+
+bool FGAICarrier::init(bool search_in_AI_path) {
+ if (!FGAIShip::init(search_in_AI_path))
+ return false;
+
+ _longitude_node = fgGetNode("/position/longitude-deg", true);
+ _latitude_node = fgGetNode("/position/latitude-deg", true);
+ _altitude_node = fgGetNode("/position/altitude-ft", true);
+
+ _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
+
+ _surface_wind_from_deg_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+ _surface_wind_speed_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+
+
+ turn_to_launch_hdg = false;
+ turn_to_recovery_hdg = false;
+ turn_to_base_course = true;
+ returning = false;
+ in_to_wind = false;
+
+ mOpBoxPos = pos;
+ base_course = hdg;
+ base_speed = speed;
+
+ pos_norm = raw_pos_norm = 0;
+ elevators = false;
+ transition_time = 150;
+ time_constant = 0.005;
+ jbd_pos_norm = raw_jbd_pos_norm = 0;
+ jbd = false ;
+ jbd_transition_time = 3;
+ jbd_time_constant = 0.1;
+ return true;
+}
+
+void FGAICarrier::bind() {
+ FGAIShip::bind();
+
+ props->untie("velocities/true-airspeed-kt");
+
+ props->tie("controls/flols/source-lights",
+ SGRawValuePointer<int>(&source));
+ props->tie("controls/flols/distance-m",
+ SGRawValuePointer<double>(&dist));
+ props->tie("controls/flols/angle-degs",
+ SGRawValuePointer<double>(&angle));
+ props->tie("controls/turn-to-launch-hdg",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ props->tie("controls/in-to-wind",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ props->tie("controls/base-course-deg",
+ SGRawValuePointer<double>(&base_course));
+ props->tie("controls/base-speed-kts",
+ SGRawValuePointer<double>(&base_speed));
+ props->tie("controls/start-pos-lat-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
+ props->tie("controls/start-pos-long-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+ props->tie("controls/mp-control",
+ SGRawValuePointer<bool>(&MPControl));
+ props->tie("controls/ai-control",
+ SGRawValuePointer<bool>(&AIControl));
+ props->tie("environment/surface-wind-speed-true-kts",
+ SGRawValuePointer<double>(&wind_speed_kts));
+ props->tie("environment/surface-wind-from-true-degs",
+ SGRawValuePointer<double>(&wind_from_deg));
+ props->tie("environment/rel-wind-from-degs",
+ SGRawValuePointer<double>(&rel_wind_from_deg));
+ props->tie("environment/rel-wind-from-carrier-hdg-degs",
+ SGRawValuePointer<double>(&rel_wind));
+ props->tie("environment/rel-wind-speed-kts",
+ SGRawValuePointer<double>(&rel_wind_speed_kts));
+ props->tie("environment/in-to-wind",
+ SGRawValuePointer<bool>(&in_to_wind));
+ //props->tie("controls/flols/wave-off-lights",
+ // SGRawValuePointer<bool>(&wave_off_lights));
+ props->tie("controls/elevators",
+ SGRawValuePointer<bool>(&elevators));
+ props->tie("surface-positions/elevators-pos-norm",
+ SGRawValuePointer<double>(&pos_norm));
+ props->tie("controls/constants/elevators/trans-time-s",
+ SGRawValuePointer<double>(&transition_time));
+ props->tie("controls/constants/elevators/time-constant",
+ SGRawValuePointer<double>(&time_constant));
+ props->tie("controls/jbd",
+ SGRawValuePointer<bool>(&jbd));
+ props->tie("surface-positions/jbd-pos-norm",
+ SGRawValuePointer<double>(&jbd_pos_norm));
+ props->tie("controls/constants/jbd/trans-time-s",
+ SGRawValuePointer<double>(&jbd_transition_time));
+ props->tie("controls/constants/jbd/time-constant",
+ SGRawValuePointer<double>(&jbd_time_constant));
+ props->tie("controls/turn-to-recovery-hdg",
+ SGRawValuePointer<bool>(&turn_to_recovery_hdg));
+ props->tie("controls/turn-to-base-course",
+ SGRawValuePointer<bool>(&turn_to_base_course));
+
+
+ props->setBoolValue("controls/flols/cut-lights", false);
+ props->setBoolValue("controls/flols/wave-off-lights", false);
+ props->setBoolValue("controls/flols/cond-datum-lights", true);
+ props->setBoolValue("controls/crew", false);
+ props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
+ props->setStringValue("sign", sign.c_str());
+ props->setBoolValue("controls/lighting/deck-lights", false);
+ props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
+}
+
+
+void FGAICarrier::unbind() {
+ FGAIShip::unbind();
+
+ props->untie("velocities/true-airspeed-kt");
+ props->untie("controls/flols/source-lights");
+ props->untie("controls/flols/distance-m");
+ props->untie("controls/flols/angle-degs");
+ props->untie("controls/turn-to-launch-hdg");
+ props->untie("environment/wind-speed-true-kts");
+ props->untie("environment/wind-from-true-degs");
+ props->untie("environment/rel-wind-from-degs");
+ props->untie("environment/rel-wind-speed-kts");
+ props->untie("environment/in-to-wind");
+ //props->untie("controls/flols/wave-off-lights");
+ props->untie("controls/elevators");
+ props->untie("surface-positions/elevators-pos-norm");
+ props->untie("controls/constants/elevators/trans-time-secs");
+ props->untie("controls/constants/elevators/time-constant");
+ props->untie("controls/jbd");
+ props->untie("surface-positions/jbd/pos-norm");
+ props->untie("controls/constants/jbd/trans-time-s");
+ props->untie("controls/jbd-time-constant");
+ props->untie("controls/mp-control");
+ props->untie("controls/ai-control");
+ props->untie("controls/turn-to-recovery-hdg");
+ props->untie("controls/turn-to-base-course");
+}
+
+
+bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
+ double& hdng, SGVec3d& uvw)
+{
+
+ // FIXME: does not yet cover rotation speeds.
+ list<ParkPosition>::iterator it = ppositions.begin();
+ while (it != ppositions.end()) {
+ // Take either the specified one or the first one ...
+ if ((*it).name == id || id.empty()) {
+ ParkPosition ppos = *it;
+ SGVec3d cartPos = getCartPosAt(ppos.offset);
+ geodPos = SGGeod::fromCart(cartPos);
+ hdng = hdg + ppos.heading_deg;
+ double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double speed_fps = speed*1.6878099;
+ uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
+ return true;
+ }
+ ++it;
+ }
+
+ return false;
+}
+
+// find relative wind
+void FGAICarrier::UpdateWind( double dt) {
+
+ //get the surface wind speed and direction
+ wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
+ wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
+
+ //calculate the surface wind speed north and east in kts
+ double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+ double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+
+ //calculate the carrier speed north and east in kts
+ double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+ double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+
+ //calculate the relative wind speed north and east in kts
+ double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
+ double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
+
+ //combine relative speeds north and east to get relative windspeed in kts
+ rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
+
+ //calculate the relative wind direction
+ rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
+ * SG_RADIANS_TO_DEGREES;
+
+ //calculate rel wind
+ rel_wind = rel_wind_from_deg - hdg;
+ SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
+
+ //set in to wind property
+ InToWind();
+
+ //switch the wave-off lights
+ //if (InToWind())
+ // wave_off_lights = false;
+ //else
+ // wave_off_lights = true;
+
+ // cout << "rel wind: " << rel_wind << endl;
+
+}// end update wind
+
+
+void FGAICarrier::TurnToLaunch(){
+
+ // calculate tgt heading
+ if (wind_speed_kts < 3){
+ tgt_heading = base_course;
+ } else {
+ tgt_heading = wind_from_deg;
+ }
+
+ //calculate tgt speed
+ double tgt_speed = 25 - wind_speed_kts;
+ if (tgt_speed < 10)
+ tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+
}
+void FGAICarrier::TurnToRecover(){
+
+ //these are the rules for adjusting heading to provide a relative wind
+ //down the angled flightdeck
+
+ if (wind_speed_kts < 3){
+ tgt_heading = base_course + 60;
+ } else if (rel_wind < -9 && rel_wind >= -180){
+ tgt_heading = wind_from_deg;
+ } else if (rel_wind > -7 && rel_wind < 45){
+ tgt_heading = wind_from_deg + 60;
+ } else if (rel_wind >=45 && rel_wind < 180){
+ tgt_heading = wind_from_deg + 45;
+ } else
+ tgt_heading = hdg;
+
+ SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
+
+ //calculate tgt speed
+ double tgt_speed = 26 - wind_speed_kts;
+ if (tgt_speed < 10)
+ tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+
+}
+void FGAICarrier::TurnToBase(){
+
+ //turn the carrier
+ FGAIShip::TurnTo(base_course);
+ FGAIShip::AccelTo(base_speed);
+
+}
+
+
+void FGAICarrier::ReturnToBox(){
+ double course, distance, az2;
+
+ //calculate the bearing and range of the initial position from the carrier
+ geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
+
+ distance *= SG_METER_TO_NM;
+
+ //cout << "return course: " << course << " distance: " << distance << endl;
+ //turn the carrier
+ FGAIShip::TurnTo(course);
+ FGAIShip::AccelTo(base_speed);
+
+ if (distance >= 1)
+ returning = true;
+ else
+ returning = false;
+
+} // end turn to base
+
+
+bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
+
+ if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
+ return false;
+ }
+
+ if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
+ return true;
+
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
+ return true;
+
+ } else { //southern hemisphere
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
+ return true;
+
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
+ return true;
+ }
+
+ if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
+ return true;
+
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
+ return true;
+
+ } else { //western hemisphere
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
+ return true;
+
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
+ return true;
+ }
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
+ return false;
+
+} // end OutsideBox
+
+
+bool FGAICarrier::InToWind() {
+ in_to_wind = false;
+
+ if ( fabs(rel_wind) < 10 ){
+ in_to_wind = true;
+ return true;
+ }
+ return false;
+}
+
+
+void FGAICarrier::UpdateElevator(double dt, double transition_time) {
+
+ double step = 0;
+
+ if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
+ return;
+
+ // move the elevators
+ if ( elevators ) {
+ step = dt/transition_time;
+ if ( step > 1 )
+ step = 1;
+ } else {
+ step = -dt/transition_time;
+ if ( step < -1 )
+ step = -1;
+ }
+ // assume a linear relationship
+ raw_pos_norm += step;
+
+ //low pass filter
+ pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
+
+ //sanitise the output
+ if (raw_pos_norm >= 1) {
+ raw_pos_norm = 1;
+ } else if (raw_pos_norm <= 0) {
+ raw_pos_norm = 0;
+ }
+ return;
+
+} // end UpdateElevator
+
+void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
+
+ string launchbar_state = _launchbar_state_node->getStringValue();
+ double step = 0;
+
+ if (launchbar_state == "Engaged"){
+ jbd = true;
+ } else {
+ jbd = false;
+ }
+
+ if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_pos_norm <= 0 )){
+ return;
+ }
+
+ // move the jbds
+ if ( jbd ) {
+ step = dt/jbd_transition_time;
+ if ( step > 1 )
+ step = 1;
+ } else {
+ step = -dt/jbd_transition_time;
+ if ( step < -1 )
+ step = -1;
+ }
+
+ // assume a linear relationship
+ raw_jbd_pos_norm += step;
+
+ //low pass filter
+ jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
+
+ //sanitise the output
+ if (jbd_pos_norm >= 1) {
+ jbd_pos_norm = 1;
+ } else if (jbd_pos_norm <= 0) {
+ jbd_pos_norm = 0;
+ }
+ return;
+} // end UpdateJBD
projects / flightgear.git / blobdiff