#include <math.h>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.h>
#include "AIShip.hxx"
}
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
+
if (!scFileNode)
return;
setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
std::string flightplan = scFileNode->getStringValue("flightplan");
setRepeat(scFileNode->getBoolValue("repeat", false));
+ setStartTime(scFileNode->getStringValue("time", ""));
if (!flightplan.empty()) {
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
curr = 0; // the one ahead
next = 0; // the next plus 1
+ _until_time = "";
+
props->setStringValue("name", _name.c_str());
props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+ props->setStringValue("submodels/path", _path.c_str());
+ props->setStringValue("position/waypoint-start-time", _start_time.c_str());
+ props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
_hdg_lock = false;
_rudder = 0.0;
_roll_constant = 0.001;
_speed_constant = 0.05;
_hdg_constant = 0.01;
+ _roll_factor = -0.0083335;
_rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
_wait_count = 0;
_missed_time_sec = 30;
+ _day = 86400;
+
+
_wp_range = _old_range = 0;
_range_rate = 0;
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>(&_wait_count));
props->tie("position/waypoint-waiting",
SGRawValuePointer<bool>(&_waiting));
+ props->tie("submodels/serviceable",
+ SGRawValuePointer<bool>(&_serviceable));
}
void FGAIShip::unbind() {
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("position/waypoint-range-nm");
props->untie("position/waypoint-range-old-nm");
props->untie("position/waypoint-range-rate-nm-sec");
props->untie("position/waypoint-new");
props->untie("position/waypoint-missed");
+ props->untie("position/waypoint-missed-count");
+ props->untie("position/waypoint-missed-time-sec");
props->untie("position/waypoint-wait-count");
props->untie("position/waypoint-waiting");
- props->untie("position/waypoint-missed-time-sec");
+ props->untie("submodels/serviceable");
}
void FGAIShip::update(double dt) {
}
void FGAIShip::Run(double dt) {
-
+ //cout << _name << " init: " << _fp_init << endl;
if (_fp_init)
ProcessFlightPlan(dt);
- double speed_north_deg_sec;
- double speed_east_deg_sec;
+ // double speed_north_deg_sec;
+ // double speed_east_deg_sec;
double alpha;
double rudder_limit;
double raw_roll;
if (speed_diff < 0.0)
speed -= _speed_constant * dt;
+
}
// do not allow unreasonable ship speeds
if (hdg < 0.0)
hdg += 360.0;
- //adjust roll for _rudder angle and speed. Another bit of voodoo
- raw_roll = -0.0166667 * speed * _rudder;
+ //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;
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);
_tgt_rudder = diff * rudder_sense;
else
_tgt_rudder = 45 * rudder_sense;
+
+ rudder_diff = _tgt_rudder - _rudder;
}
- // adjust _rudder angle
- double rudder_diff = _tgt_rudder - _rudder;
// set the _rudder limit by speed
if (speed <= 40)
rudder_limit = (-0.825 * speed) + 35;
}
+ // do calculations for radar
+ UpdateRadar(manager);
}
}//end function
_name = n;
}
+void FGAIShip::setStartTime(const string& st) {
+ _start_time = st;
+}
+
+void FGAIShip::setUntilTime(const string& ut) {
+ _until_time = ut;
+ props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
+}
+
void FGAIShip::setCurrName(const string& c) {
_curr_name = c;
props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
props->setBoolValue("position/waypoint-missed", _missed);
}
+void FGAIShip::setRudder(float r) {
+ _rudder = r;
+}
+
+void FGAIShip::setRoll(double rl) {
+ roll = rl;
+}
+
+void FGAIShip::setWPNames() {
+
+ if (prev != 0)
+ setPrevName(prev->name);
+ else
+ setPrevName("");
+
+ setCurrName(curr->name);
+
+ 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;
+ } else {
+ return recip;
+ }
+}
+
void FGAIShip::ProcessFlightPlan(double dt) {
+ double time_sec = getDaySeconds();
+ double until_time_sec = 0;
+
_missed = false;
_dt_count += dt;
// Add a bit of randomization to prevent the execution of all flight plans
// in synchrony, which can add significant periodic framerate flutter.
///////////////////////////////////////////////////////////////////////////
- if (_dt_count < _next_run)
+
+ //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
+ if (_dt_count < _next_run && _start_sec < time_sec)
return;
_next_run = 1.0 + (0.5 * sg_random());
if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint)
_missed_count += _dt_count;
-
if (_missed_count >= _missed_time_sec) {
setMissed(true);
} else {
}
_old_range = _wp_range;
+ setWPNames();
if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) {
if (_next_name == "END") {
if (_repeat) {
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan restarting ");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan restarting ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
_missed_count = 0;
AccelTo(prev->speed);
} else {
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan dieing ");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan dieing ");
setDie(true);
_dt_count = 0;
return;
} else if (_next_name == "WAIT") {
- if (_wait_count < next->wait_time) {
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " _waiting ");
+ 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;
return;
} else {
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " wait done: getting new waypoints ");
+ 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")
+ 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_DEBUG, "AIShip: " << _name << " waiting until: "
+ << _until_time << " " << until_time_sec << " now " << time_sec );
+ setSpeed(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);
- fp->IncrementWaypoint(false); // do it twice
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
_waiting = false;
- _wait_count = 0;
}
} else {
//now reorganise the waypoints, so that next becomes current and so on
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " getting new waypoints ");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
fp->IncrementWaypoint(false);
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
if (finite(course))
TurnTo(course);
else
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Bearing or Range is not a finite number");
_dt_count = 0;
} // end Processing FlightPlan
-void FGAIShip::setRudder(float r) {
- _rudder = r;
-}
-
-void FGAIShip::setRoll(double rl) {
- roll = rl;
-}
-
-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;
-}
+bool FGAIShip::initFlightPlan() {
-double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " initializing waypoints ");
- double course, distance, recip;
+ bool init = false;
- //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;
- } else {
- return recip;
- }
-}
+ _start_sec = 0;
-bool FGAIShip::initFlightPlan() {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initialising waypoints ");
fp->restart();
fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
- if (curr->name == "WAIT") { // don't wait when initialising
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " re-initialising waypoints ");
+ 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();
}
- setWPNames();
+ 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));
- _hdg_lock = true;
- _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 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_INFO, "AIShip: " << _name << " done initialising waypoints ");
-
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " done initialising waypoints ");
if (prev)
+ init = true;
+
+ if (init)
return true;
else
return false;
} // end of initialization
-void FGAIShip::setWPNames() {
- if (prev != 0)
- setPrevName(prev->name);
- else
- setPrevName("");
+double FGAIShip::processTimeString(const string& theTime) {
- setCurrName(curr->name);
+ int Hour;
+ int Minute;
+ int Second;
- if (next != 0)
- setNextName(next->name);
- else
- setNextName("");
+ // 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") {
+
+ 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 );
+ }
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: prev wp name " << prev->name);
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: current wp name " << curr->name);
- SG_LOG(SG_GENERAL, SG_INFO, "AIShip: next wp name " << next->name);
+ //cout << "Pos " << lat << ", " << lon << " recip " << recip << endl;
+ setLatitude(lat);
+ setLongitude(lon);
+ return true;
}
projects / flightgear.git / blobdiff