// FGAIShip - FGAIBase-derived class creates an AI ship
//
// Written by David Culp, started October 2003.
-// - davidculp2@comcast.net
+// with major amendments and additions by Vivian Meazza, 2004 - 2007
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// 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>
+#ifdef _MSC_VER
+# include <float.h>
+# define finite _finite
+#elif defined(__sun) || defined(sgi)
+# include <ieeefp.h>
+#endif
+
#include <math.h>
+#include <simgear/sg_inlines.h>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/timing/sg_time.hxx>
+#include <simgear/math/sg_random.h>
+
+#include <simgear/scene/util/SGNodeMasks.hxx>
+#include <Scenery/scenery.hxx>
+
#include "AIShip.hxx"
-FGAIShip::FGAIShip() {
- hdg_lock = false;
- rudder = 0.0;
+FGAIShip::FGAIShip(object_type ot) :
+FGAIBase(ot),
+_limit(100),
+_elevation_m(0),
+_elevation_ft(0),
+_tow_angle(0),
+_dt_count(0),
+_next_run(0),
+_lead_angle(0),
+_xtrack_error(0),
+_tunnel(false),
+_initial_tunnel(false),
+_curr_alt(0),
+_prev_alt(0),
+_until_time(""),
+_fp_init(false),
+_missed(false),
+_waiting(false),
+_new_waypoint(true),
+_missed_count(0),
+_wait_count(0),
+_missed_time_sec(30),
+_day(86400),
+_wp_range(0),
+_old_range(0),
+_range_rate(0),
+_roll_constant(0.001),
+_hdg_constant(0.01),
+_roll_factor(-0.0083335),
+_restart(false)
+
+{
+ invisible = false;
}
FGAIShip::~FGAIShip() {
}
+void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
+
+ if (!scFileNode)
+ return;
+
+ FGAIBase::readFromScenario(scFileNode);
+
+ setRudder(scFileNode->getFloatValue("rudder", 0.0));
+ setName(scFileNode->getStringValue("name", "Titanic"));
+ setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
+ std::string flightplan = scFileNode->getStringValue("flightplan");
+ setRepeat(scFileNode->getBoolValue("repeat", false));
+ setRestart(scFileNode->getBoolValue("restart", false));
+ setStartTime(scFileNode->getStringValue("time", ""));
+ setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
+ setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
+ setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75));
+ setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
+ setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
+ setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
+
+ if (!flightplan.empty()) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
+
+ FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
+ setFlightPlan(fp);
+ }
+
+}
+
+bool FGAIShip::init(bool search_in_AI_path) {
+ prev = 0; // the one behind you
+ curr = 0; // the one ahead
+ next = 0; // the next plus 1
+
+ props->setStringValue("name", _name.c_str());
+ props->setStringValue("waypoint/name-prev", _prev_name.c_str());
+ props->setStringValue("waypoint/name-curr", _curr_name.c_str());
+ props->setStringValue("waypoint/name-next", _next_name.c_str());
+ props->setStringValue("submodels/path", _path.c_str());
+ props->setStringValue("waypoint/start-time", _start_time.c_str());
+ props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
+
+ _hdg_lock = false;
+ _rudder = 0.0;
+ no_roll = false;
-bool FGAIShip::init() {
- return FGAIBase::init();
+ _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
+
+ if (fp)
+ _fp_init = initFlightPlan();
+
+ return FGAIBase::init(search_in_AI_path);
}
void FGAIShip::bind() {
FGAIBase::bind();
- props->tie("surface-positions/rudder-pos-norm",
- SGRawValuePointer<double>(&rudder));
+ props->tie("surface-positions/rudder-pos-deg",
+ SGRawValuePointer<float>(&_rudder));
+ props->tie("controls/heading-lock",
+ SGRawValuePointer<bool>(&_hdg_lock));
+ props->tie("controls/tgt-speed-kts",
+ SGRawValuePointer<double>(&tgt_speed));
+ props->tie("controls/tgt-heading-degs",
+ SGRawValuePointer<double>(&tgt_heading));
+ props->tie("controls/constants/rudder",
+ SGRawValuePointer<double>(&_rudder_constant));
+ props->tie("controls/constants/roll-factor",
+ SGRawValuePointer<double>(&_roll_factor));
+ props->tie("controls/constants/roll",
+ SGRawValuePointer<double>(&_roll_constant));
+ props->tie("controls/constants/rudder",
+ SGRawValuePointer<double>(&_rudder_constant));
+ props->tie("controls/constants/speed",
+ SGRawValuePointer<double>(&_speed_constant));
+ props->tie("waypoint/range-nm",
+ SGRawValuePointer<double>(&_wp_range));
+ props->tie("waypoint/brg-deg",
+ SGRawValuePointer<double>(&_course));
+ props->tie("waypoint/rangerate-nm-sec",
+ SGRawValuePointer<double>(&_range_rate));
+ props->tie("waypoint/new",
+ SGRawValuePointer<bool>(&_new_waypoint));
+ props->tie("waypoint/missed",
+ SGRawValuePointer<bool>(&_missed));
+ props->tie("waypoint/missed-count-sec",
+ SGRawValuePointer<double>(&_missed_count));
+ props->tie("waypoint/missed-range-nm",
+ SGRawValuePointer<double>(&_missed_range));
+ props->tie("waypoint/missed-time-sec",
+ SGRawValuePointer<double>(&_missed_time_sec));
+ props->tie("waypoint/wait-count-sec",
+ SGRawValuePointer<double>(&_wait_count));
+ props->tie("waypoint/xtrack-error-ft",
+ SGRawValuePointer<double>(&_xtrack_error));
+ props->tie("waypoint/waiting",
+ SGRawValuePointer<bool>(&_waiting));
+ props->tie("waypoint/lead-angle-deg",
+ SGRawValuePointer<double>(&_lead_angle));
+ props->tie("waypoint/tunnel",
+ SGRawValuePointer<bool>(&_tunnel));
+ props->tie("waypoint/alt-curr-m",
+ SGRawValuePointer<double>(&_curr_alt));
+ props->tie("waypoint/alt-prev-m",
+ SGRawValuePointer<double>(&_prev_alt));
+ props->tie("submodels/serviceable",
+ SGRawValuePointer<bool>(&_serviceable));
+ props->tie("controls/turn-radius-ft",
+ SGRawValuePointer<double>(&turn_radius_ft));
+ props->tie("controls/turn-radius-corrected-ft",
+ SGRawValuePointer<double>(&_rd_turn_radius_ft));
+ props->tie("controls/constants/lead-angle/gain",
+ SGRawValuePointer<double>(&_lead_angle_gain));
+ props->tie("controls/constants/lead-angle/limit-deg",
+ SGRawValuePointer<double>(&_lead_angle_limit));
+ props->tie("controls/constants/lead-angle/proportion",
+ SGRawValuePointer<double>(&_proportion));
+ props->tie("controls/fixed-turn-radius-ft",
+ SGRawValuePointer<double>(&_fixed_turn_radius));
+ props->tie("controls/restart",
+ SGRawValuePointer<bool>(&_restart));
+ props->tie("velocities/speed-kts",
+ SGRawValuePointer<double>(&speed));
}
void FGAIShip::unbind() {
FGAIBase::unbind();
-}
+ props->untie("surface-positions/rudder-pos-deg");
+ props->untie("controls/heading-lock");
+ props->untie("controls/tgt-speed-kts");
+ props->untie("controls/tgt-heading-degs");
+ props->untie("controls/constants/roll");
+ props->untie("controls/constants/rudder");
+ props->untie("controls/constants/roll-factor");
+ props->untie("controls/constants/speed");
+ props->untie("waypoint/range-nm");
+ props->untie("waypoint/range-brg-deg");
+ props->untie("waypoint/rangerate-nm-sec");
+ props->untie("waypoint/new");
+ props->untie("waypoint/missed");
+ props->untie("waypoint/missed-count-sec");
+ props->untie("waypoint/missed-time-sec");
+ props->untie("waypoint/missed-range");
+ props->untie("waypoint/wait-count-sec");
+ props->untie("waypoint/lead-angle-deg");
+ props->untie("waypoint/xtrack-error-ft");
+ props->untie("waypoint/waiting");
+ props->untie("waypoint/tunnel");
+ props->untie("waypoint/alt-curr-m");
+ props->untie("waypoint/alt-prev-m");
+ props->untie("submodels/serviceable");
+ props->untie("controls/turn-radius-ft");
+ props->untie("controls/turn-radius-corrected-ft");
+ props->untie("controls/constants/lead-angle/gain");
+ props->untie("controls/constants/lead-angle/limit-deg");
+ props->untie("controls/constants/lead-angle/proportion");
+ props->untie("controls/fixed-turn-radius-ft");
+ props->untie("controls/constants/speed");
+ props->untie("controls/restart");
+ props->untie("velocities/speed-kts");
+}
void FGAIShip::update(double dt) {
+ //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
+ // For computation of rotation speeds we just use finite differences here.
+ // That is perfectly valid since this thing is not driven by accelerations
+ // but by just apply discrete changes at its velocity variables.
+ // Update the velocity information stored in those nodes.
+ // 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);
- Run(dt);
- Transform();
- FGAIBase::update(dt);
-}
+ // The simulation time this transform is meant for
+ aip.setReferenceTime(globals->get_sim_time_sec());
+ // Compute the velocity in m/s in the body frame
+ aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
+ FGAIBase::update(dt);
+ Run(dt);
+ Transform();
+ if (fp)
+ setXTrackError();
-void FGAIShip::Run(double dt) {
+ // Only change these values if we are able to compute them safely
+ if (SGLimits<double>::min() < dt) {
+ // Now here is the finite difference ...
- double turn_radius_ft;
- double turn_circum_ft;
- double speed_north_deg_sec;
- double speed_east_deg_sec;
- double ft_per_deg_lon;
- double ft_per_deg_lat;
- double dist_covered_ft;
- double alpha;
-
- // get size of a degree at this latitude
- ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
-
- // adjust speed
- double speed_diff = tgt_speed - speed;
- if (fabs(speed_diff) > 0.1) {
- if (speed_diff > 0.0) speed += 0.1 * dt;
- if (speed_diff < 0.0) speed -= 0.1 * 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);
-
- // adjust heading based on current rudder angle
- if (rudder != 0.0) {
- turn_radius_ft = 0.088362 * speed * speed
- / tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
- turn_circum_ft = SGD_2PI * turn_radius_ft;
- dist_covered_ft = speed * 1.686 * dt;
- alpha = dist_covered_ft / turn_circum_ft * 360.0;
- hdg += alpha * sign( rudder );
- if ( hdg > 360.0 ) hdg -= 360.0;
- if ( hdg < 0.0) hdg += 360.0;
- }
-
- // adjust target rudder angle if heading lock engaged
- if (hdg_lock) {
- double rudder_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) {
- rudder_sense = 1.0;
- } else {
- rudder_sense = -1.0;
- }
- if (diff < 30) tgt_roll = diff * rudder_sense;
- }
-
- // adjust rudder angle
- double rudder_diff = tgt_roll - rudder;
- if (fabs(rudder_diff) > 0.1) {
- if (rudder_diff > 0.0) rudder += 5.0 * dt;
- if (rudder_diff < 0.0) rudder -= 5.0 * dt;
- }
+ // Transform that one to the horizontal local coordinate system.
+ SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
+ // compute the new orientation
+ SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+ // The rotation difference
+ SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
+ SGVec3d dOrAngleAxis;
+ dOr.getAngleAxis(dOrAngleAxis);
+ // divided by the time difference provides a rotation speed vector
+ dOrAngleAxis /= dt;
+ aip.setBodyAngularVelocity(dOrAngleAxis);
+ }
}
+void FGAIShip::Run(double dt) {
+ if (_fp_init)
+ ProcessFlightPlan(dt);
+
+ string type = getTypeString();
+
+ double alpha;
+ double rudder_limit;
+ double raw_roll;
+
+ // adjust speed
+ double speed_diff = tgt_speed - speed;
+
+ if (fabs(speed_diff) > 0.1) {
+
+ if (speed_diff > 0.0)
+ speed += _speed_constant * dt;
+
+ if (speed_diff < 0.0)
+ speed -= _speed_constant * dt;
+
+ }
+
+ // do not allow unreasonable speeds
+ SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
+
+ // convert speed to degrees per second
+ speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
+ * speed * 1.686 / ft_per_deg_lat;
+ speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
+ * speed * 1.686 / ft_per_deg_lon;
+
+ // set new position
+ //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
+ pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
+ pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+ pos.setElevationFt(tgt_altitude_ft);
+ pitch = tgt_pitch;
+
+ // adjust heading based on current _rudder angle
+ if (turn_radius_ft <= 0)
+ turn_radius_ft = 0; // don't allow nonsense values
+
+ if (_rudder > 45)
+ _rudder = 45;
+
+ if (_rudder < -45)
+ _rudder = -45;
+
+
+ //we assume that at slow speed ships will manoeuvre using engines/bow thruster
+ if(type == "ship" || type == "carrier" || type == "escort"){
+
+ if (fabs(speed)<=5)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed. The equation is very approximate.
+ // we need to allow for negative speeds
+ _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+ }
+
+ } else {
+
+ if (fabs(speed) <= 40)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed.
+ _sp_turn_radius_ft = turn_radius_ft;
+ }
+ }
+
+
+ if (_rudder <= -0.25 || _rudder >= 0.25) {
+ // adjust turn radius for _rudder angle. The equation is even more approximate.
+ float a = 19;
+ float b = -0.2485;
+ float c = 0.543;
+
+ _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
+
+ // calculate the angle, alpha, subtended by the arc traversed in time dt
+ alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
+ //cout << _name << " alpha " << alpha << endl;
+ // make sure that alpha is applied in the right direction
+ hdg += alpha * sign(_rudder);
+
+ SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
+
+ //adjust roll for rudder angle and speed. Another bit of voodoo
+ raw_roll = _roll_factor * speed * _rudder;
+ } else {
+ // _rudder angle is 0
+ raw_roll = 0;
+ }
+
+ //low pass filter
+ if (speed < 0)
+ roll = -roll;
+
+ roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
+
+ // adjust target _rudder angle if heading lock engaged
+ double rudder_diff = 0.0;
+ if (_hdg_lock) {
+ double rudder_sense = 0.0;
+ double diff = fabs(hdg - tgt_heading);
+ //cout << "_rudder diff" << diff << endl;
+ 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)
+ rudder_sense = 1.0;
+ else
+ rudder_sense = -1.0;
+
+ if (speed < 0)
+ rudder_sense = -rudder_sense;
+
+ if (diff < 15)
+ _tgt_rudder = diff * rudder_sense;
+ else
+ _tgt_rudder = 45 * rudder_sense;
+
+ rudder_diff = _tgt_rudder - _rudder;
+ }
+
+ // set the _rudder limit by speed
+ if (type == "ship" || type == "carrier" || type == "escort"){
+
+ if (speed <= 40)
+ rudder_limit = (-0.825 * speed) + 35;
+ else
+ rudder_limit = 2;
+
+ } else
+ rudder_limit = 20;
+
+ if (fabs(rudder_diff)> 0.1) { // apply dead zone
+
+ if (rudder_diff > 0.0) {
+ _rudder += _rudder_constant * dt;
+
+ if (_rudder > rudder_limit) // apply the _rudder limit
+ _rudder = rudder_limit;
+
+ } else if (rudder_diff < 0.0) {
+ _rudder -= _rudder_constant * dt;
+
+ if (_rudder < -rudder_limit)
+ _rudder = -rudder_limit;
+
+ }
+
+ // do calculations for radar
+ UpdateRadar(manager);
+ }
+}//end function
void FGAIShip::AccelTo(double speed) {
- tgt_speed = speed;
+ tgt_speed = speed;
}
-
void FGAIShip::PitchTo(double angle) {
- tgt_pitch = angle;
+ tgt_pitch = angle;
}
-
void FGAIShip::RollTo(double angle) {
- tgt_roll = angle;
+ tgt_roll = angle;
}
-
void FGAIShip::YawTo(double angle) {
}
-
void FGAIShip::ClimbTo(double altitude) {
+ tgt_altitude_ft = altitude;
+ _setAltitude(altitude);
}
-
void FGAIShip::TurnTo(double heading) {
- tgt_heading = heading;
- hdg_lock = true;
+ tgt_heading = heading - _lead_angle + _tow_angle;
+ SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
+ _hdg_lock = true;
}
-
double FGAIShip::sign(double x) {
+ if (x < 0.0)
+ return -1.0;
+ else
+ return 1.0;
+}
+
+void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
+ fp = f;
+}
+
+void FGAIShip::setName(const string& n) {
+ _name = n;
+}
+
+void FGAIShip::setStartTime(const string& st) {
+ _start_time = st;
+}
+
+void FGAIShip::setUntilTime(const string& ut) {
+ _until_time = ut;
+ props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
+}
+
+void FGAIShip::setCurrName(const string& c) {
+ _curr_name = c;
+ props->setStringValue("waypoint/name-curr", _curr_name.c_str());
+}
+
+void FGAIShip::setNextName(const string& n) {
+ _next_name = n;
+ props->setStringValue("waypoint/name-next", _next_name.c_str());
+}
+
+void FGAIShip::setPrevName(const string& p) {
+ _prev_name = p;
+ props->setStringValue("waypoint/name-prev", _prev_name.c_str());
+}
+
+void FGAIShip::setRepeat(bool r) {
+ _repeat = r;
+}
+
+void FGAIShip::setRestart(bool r) {
+ _restart = r;
+}
+
+void FGAIShip::setMissed(bool m) {
+ _missed = m;
+ props->setBoolValue("waypoint/missed", _missed);
+}
+
+void FGAIShip::setRudder(float r) {
+ _rudder = r;
+}
+
+void FGAIShip::setRoll(double rl) {
+ roll = rl;
+}
+
+void FGAIShip::setLeadAngleGain(double g) {
+ _lead_angle_gain = g;
+}
+
+void FGAIShip::setLeadAngleLimit(double l) {
+ _lead_angle_limit = l;
+}
+
+void FGAIShip::setLeadAngleProp(double p) {
+ _proportion = p;
+}
+
+void FGAIShip::setRudderConstant(double rc) {
+ _rudder_constant = rc;
+}
+
+void FGAIShip::setSpeedConstant(double sc) {
+ _speed_constant = sc;
+}
+
+void FGAIShip::setFixedTurnRadius(double ftr) {
+ _fixed_turn_radius = ftr;
+}
+
+void FGAIShip::setInitialTunnel(bool t) {
+ _initial_tunnel = t;
+ setTunnel(_initial_tunnel);
+}
+
+void FGAIShip::setTunnel(bool t) {
+ _tunnel = t;
+}
+
+void FGAIShip::setWPNames() {
+
+ if (prev != 0)
+ setPrevName(prev->name);
+ else
+ setPrevName("");
+
+ if (curr != 0)
+ setCurrName(curr->name);
+ else{
+ setCurrName("");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
+ }
+
+ if (next != 0)
+ setNextName(next->name);
+ else
+ setNextName("");
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: prev wp name " << prev->name);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: current wp name " << curr->name);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: next wp name " << next->name);
+
+}
+
+double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
+
+ double course, distance, az2;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
+ distance *= SG_METER_TO_NM;
+ return distance;
+}
+
+double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
+
+ double course, distance, recip;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
+ if (tgt_speed >= 0) {
+ return course;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course);
+ } else {
+ return recip;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip);
+ }
+}
+
+void FGAIShip::ProcessFlightPlan(double dt) {
+
+ double time_sec = getDaySeconds();
+
+ _dt_count += dt;
+
+ ///////////////////////////////////////////////////////////////////////////
+ // Check Execution time (currently once every 1 sec)
+ // Add a bit of randomization to prevent the execution of all flight plans
+ // in synchrony, which can add significant periodic framerate flutter.
+ ///////////////////////////////////////////////////////////////////////////
+
+ //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
+ if (_dt_count < _next_run && _start_sec < time_sec)
+ return;
+
+ _next_run = 0.05 + (0.025 * sg_random());
+
+ double until_time_sec = 0;
+ _missed = false;
+
+ // check to see if we've reached the point for our next turn
+ // if the range to the waypoint is less than the calculated turn
+ // radius we can start the turn to the next leg
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _range_rate = (_wp_range - _old_range) / _dt_count;
+ double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
+ // we need to try to identify a _missed waypoint
+
+ // calculate the time needed to turn through an arc of 90 degrees,
+ // and allow a time error
+ if (speed != 0)
+ _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
+ else
+ _missed_time_sec = 10;
+
+ _missed_range = 4 * sp_turn_radius_nm;
+
+ //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
+ //if ((_range_rate > 0) && !_new_waypoint){
+ if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
+ _missed_count += _dt_count;
+ }
+
+ if (_missed_count >= 120)
+ setMissed(true);
+ else if (_missed_count >= _missed_time_sec)
+ setMissed(true);
+ else
+ setMissed(false);
+
+ _old_range = _wp_range;
+ setWPNames();
+
+ if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
+
+ if (_next_name == "TUNNEL"){
+ _tunnel = !_tunnel;
+
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
+
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->name == "WAITUNTIL" || next->name == "WAIT"
+ || next->name == "END" || next->name == "TUNNEL")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
+
+ if (_repeat) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
+ fp->restart();
+ prev = curr;
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ setWPNames();
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _new_waypoint = true;
+ _missed_count = 0;
+ _lead_angle = 0;
+ AccelTo(prev->speed);
+ } else if (_restart){
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
+ _missed_count = 0;
+ initFlightPlan();
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
+ setDie(true);
+ _dt_count = 0;
+ return;
+ }
+
+ } else if (_next_name == "WAIT") {
+
+ if (_wait_count < next->time_sec) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting ");
+ setSpeed(0);
+ _waiting = true;
+ _wait_count += _dt_count;
+ _dt_count = 0;
+ _lead_angle = 0;
+ return;
+ } else {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name
+ << " wait done: getting new waypoints ");
+ _waiting = false;
+ _wait_count = 0;
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->name == "WAITUNTIL" || next->name == "WAIT"
+ || next->name == "END" || next->name == "TUNNEL")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ } else if (_next_name == "WAITUNTIL") {
+ time_sec = getDaySeconds();
+ until_time_sec = processTimeString(next->time);
+ _until_time = next->time;
+ setUntilTime(next->time);
+ if (until_time_sec > time_sec) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " "
+ << curr->name << " waiting until: "
+ << _until_time << " " << until_time_sec << " now " << time_sec );
+ setSpeed(0);
+ _lead_angle = 0;
+ _waiting = true;
+ return;
+ } else {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: "
+ << _name << " wait until done: getting new waypoints ");
+ setUntilTime("");
+ fp->IncrementWaypoint(false);
+
+ while (next->name == "WAITUNTIL") {
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+ }
+
+ if (next->name == "WAIT")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ _waiting = false;
+ }
+
+ } else {
+ //now reorganise the waypoints, so that next becomes current and so on
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ }
+
+ setWPNames();
+ _new_waypoint = true;
+ _missed_count = 0;
+ _range_rate = 0;
+ _lead_angle = 0;
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ setWPPos();
+ object_type type = getType();
+
+ if (type != 10)
+ AccelTo(prev->speed);
+
+ _curr_alt = curr->altitude;
+ _prev_alt = prev->altitude;
+
+ } else {
+ _new_waypoint = false;
+ }
+
+ // now revise the required course for the next way point
+ _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+
+ if (finite(_course))
+ TurnTo(_course);
+ else
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
+
+ _dt_count = 0;
+} // end Processing FlightPlan
+
+bool FGAIShip::initFlightPlan() {
+
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
+
+ bool init = false;
+ _start_sec = 0;
+ _tunnel = _initial_tunnel;
+
+ fp->restart();
+ fp->IncrementWaypoint(false);
+
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+
+ while (curr->name == "WAIT" || curr->name == "WAITUNTIL") { // don't wait when initialising
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ } // end while loop
+
+ if (!_start_time.empty()){
+ _start_sec = processTimeString(_start_time);
+ double day_sec = getDaySeconds();
+
+ if (_start_sec < day_sec){
+ //cout << "flight plan has already started " << _start_time << endl;
+ init = advanceFlightPlan(_start_sec, day_sec);
+
+ } else if (_start_sec > day_sec && _repeat) {
+ //cout << "flight plan has not started, " << _start_time;
+ //cout << "offsetting start time by -24 hrs" << endl;
+ _start_sec -= _day;
+ init = advanceFlightPlan(_start_sec, day_sec);
+ }
+
+ if (init)
+ _start_sec = 0; // set to zero for an immediate start of the Flight Plan
+ else {
+ fp->restart();
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ return false;
+ }
+
+ } else {
+ setLatitude(prev->latitude);
+ setLongitude(prev->longitude);
+ setSpeed(prev->speed);
+ }
+
+ setWPNames();
+ setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude));
+ _wp_range = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _hdg_lock = true;
+ _missed = false;
+ _missed_count = 0;
+ _new_waypoint = true;
+
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
+ if (prev)
+ init = true;
+
+ if (init)
+ return true;
+ else
+ return false;
+
+} // end of initialization
+
+
+double FGAIShip::processTimeString(const string& theTime) {
+
+ int Hour;
+ int Minute;
+ int Second;
+
+ // first split theTime string into
+ // hour, minute, second and convert to int;
+ Hour = atoi(theTime.substr(0,2).c_str());
+ Minute = atoi(theTime.substr(3,5).c_str());
+ Second = atoi(theTime.substr(6,8).c_str());
+
+ // offset by a day-sec to allow for starting a day earlier
+ double time_seconds = Hour * 3600
+ + Minute * 60
+ + Second;
+
+ return time_seconds;
+}
+
+double FGAIShip::getDaySeconds () {
+ // Date and time
+ struct tm *t = globals->get_time_params()->getGmt();
+
+ double day_seconds = t->tm_hour * 3600
+ + t->tm_min * 60
+ + t->tm_sec;
+
+ return day_seconds;
+}
+
+bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
+
+ double elapsed_sec = start_sec;
+ double distance_nm = 0;
+
+ //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
+
+ while ( elapsed_sec < day_sec ) {
+
+ if (next->name == "END" || fp->getNextWaypoint() == 0) {
+
+ if (_repeat ) {
+ //cout << _name << ": " << "restarting flightplan" << endl;
+ fp->restart();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ } else {
+ //cout << _name << ": " << "ending flightplan" << endl;
+ setDie(true);
+ return false;
+ }
+
+ } else if (next->name == "WAIT") {
+ //cout << _name << ": begin WAIT: " << prev->name << " ";
+ //cout << curr->name << " " << next->name << endl;
+
+ elapsed_sec += next->time_sec;
+
+ if ( elapsed_sec >= day_sec)
+ continue;
+
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->name != "WAITUNTIL" && next->name != "WAIT"
+ && next->name != "END") {
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ } else if (next->name == "WAITUNTIL") {
+ double until_sec = processTimeString(next->time);
+
+ if (until_sec > _start_sec && start_sec < 0)
+ until_sec -= _day;
+
+ if (elapsed_sec < until_sec)
+ elapsed_sec = until_sec;
+
+ if (elapsed_sec >= day_sec )
+ break;
+
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->name != "WAITUNTIL" && next->name != "WAIT") {
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ //cout << _name << ": end WAITUNTIL: ";
+ //cout << prev->name << " " << curr->name << " " << next->name << endl;
+
+ } else {
+ distance_nm = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude);
+ elapsed_sec += distance_nm * 60 * 60 / prev->speed;
+
+ if (elapsed_sec >= day_sec)
+ continue;
+
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ } // end while
+
+ // the required position lies between the previous and current waypoints
+ // so we will calculate the distance back up the track from the current waypoint
+ // then calculate the lat and lon.
+
+ //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
+ // << " " << day_sec << endl;
+
+ double time_diff = elapsed_sec - day_sec;
+ double lat, lon, recip;
+
+ //cout << " time diff " << time_diff << endl;
+
+ if (next->name == "WAIT" ){
+ setSpeed(0);
+ lat = curr->latitude;
+ lon = curr->longitude;
+ _wait_count= time_diff;
+ _waiting = true;
+ } else if (next->name == "WAITUNTIL") {
+ setSpeed(0);
+ lat = curr->latitude;
+ lon = curr->longitude;
+ _waiting = true;
+ } else {
+ setSpeed(prev->speed);
+ distance_nm = speed * time_diff / (60 * 60);
+ double brg = getCourse(curr->latitude, curr->longitude, prev->latitude, prev->longitude);
+
+ //cout << " brg " << brg << " from " << curr->name << " to " << prev->name << " "
+ // << " lat " << curr->latitude << " lon " << curr->longitude
+ // << " distance m " << distance_nm * SG_NM_TO_METER << endl;
+
+ lat = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
+ distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
+ lon = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
+ distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
+ recip = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg,
+ distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
+ }
+
+ setLatitude(lat);
+ setLongitude(lon);
+
+ return true;
+}
+
+void FGAIShip::setWPPos() {
+
+ if (curr->name == "END" || curr->name == "WAIT"
+ || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){
+ //cout << curr->name << " returning" << endl;
+ return;
+ }
+
+ double elevation_m = 0;
+ wppos.setLatitudeDeg(curr->latitude);
+ wppos.setLongitudeDeg(curr->longitude);
+ wppos.setElevationM(0);
+
+ if (curr->on_ground){
+
+ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
+ elevation_m, &_material, 0)){
+ wppos.setElevationM(elevation_m);
+ }
+
+ //cout << curr->name << " setting measured elev " << elevation_m << endl;
+
+ } else {
+ wppos.setElevationM(curr->altitude);
+ //cout << curr->name << " setting FP elev " << elevation_m << endl;
+ }
+
+ curr->altitude = wppos.getElevationM();
+
+}
+
+void FGAIShip::setXTrackError() {
+
+ double course = getCourse(prev->latitude, prev->longitude,
+ curr->latitude, curr->longitude);
+ double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ curr->latitude, curr->longitude);
+ double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+ double factor = -0.0045 * speed + 1;
+ double limit = _lead_angle_limit * factor;
+
+ if (_wp_range > 0){
+ _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
+ } else
+ _lead_angle = 0;
+
+ _lead_angle *= _lead_angle_gain * factor;
+ _xtrack_error = xtrack_error_nm * 6076.1155;
+
+ SG_CLAMP_RANGE(_lead_angle, -limit, limit);
- if ( x < 0.0 ) { return -1.0; }
- else { return 1.0; }
}
projects / flightgear.git / blobdiff