X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIAircraft.cxx;h=2bf71b3b18b96b35a66462bce9f0fe2c9e282e97;hb=9d00d55f483ad2fb252d998e26e52fa9a768493b;hp=c73919d0a39dbafab322b9ca7c94b620d16df9f4;hpb=7783e6495336cb7ed83778381701c521c43a102f;p=flightgear.git

diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx
index c73919d0a..2bf71b3b1 100644
--- a/src/AIModel/AIAircraft.cxx
+++ b/src/AIModel/AIAircraft.cxx
@@ -22,17 +22,18 @@
 #  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 <string>
 #include <math.h>
 #include <time.h>
+
 #ifdef _MSC_VER
 #  include <float.h>
 #  define finite _finite
@@ -40,7 +41,7 @@
 #  include <ieeefp.h>
 #endif
 
-SG_USING_STD(string);
+using std::string;
 
 #include "AIAircraft.hxx"
 #include "performancedata.hxx"
@@ -50,9 +51,6 @@ SG_USING_STD(string);
 
 static string tempReg;
 
-class AI_OutOfSight{};
-class FP_Inactive{};
-
 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
     trafficRef = ref;
     if (trafficRef) {
@@ -79,11 +77,12 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
     alt_lock = false;
     roll = 0;
     headingChangeRate = 0.0;
+    headingError = 0;
 
     holdPos = false;
 
     _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
-    
+    dt = 0;
 }
 
 
@@ -113,6 +112,9 @@ void FGAIAircraft::bind() {
     props->tie("controls/gear/gear-down",
                SGRawValueMethods<FGAIAircraft,bool>(*this,
                                                     &FGAIAircraft::_getGearDown));
+    props->tie("transponder-id",
+               SGRawValueMethods<FGAIAircraft,const char*>(*this,
+                                                    &FGAIAircraft::_getTransponderCode));
 }
 
 
@@ -120,6 +122,7 @@ void FGAIAircraft::unbind() {
     FGAIBase::unbind();
 
     props->untie("controls/gear/gear-down");
+    props->untie("transponder-id");
 }
 
 
@@ -142,23 +145,32 @@ void FGAIAircraft::setPerformance(const std::string& acclass) {
 
  void FGAIAircraft::Run(double dt) {
       FGAIAircraft::dt = dt;
-
-     try {
-         updatePrimaryTargetValues(); // target hdg, alt, speed
-     }
-     catch (AI_OutOfSight) {
-         return;
+    
+     bool outOfSight = false, 
+        flightplanActive = true;
+     updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+     if (outOfSight) {
+        return;
      }
-     catch (FP_Inactive) {
-         return;
+
+     if (!flightplanActive) {
+        groundTargetSpeed = 0;
      }
 
      handleATCRequests(); // ATC also has a word to say
      updateSecondaryTargetValues(); // target roll, vertical speed, pitch
      updateActualState(); 
      UpdateRadar(manager);
+     checkVisibility();
   }
 
+void FGAIAircraft::checkVisibility() 
+{
+  double visibility_meters = fgGetDouble("/environment/visibility-m");
+  FGViewer* vw = globals->get_current_view();
+  invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
+}
+
 
 
 void FGAIAircraft::AccelTo(double speed) {
@@ -264,9 +276,12 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
         }
 
         //TODO let the fp handle this (loading of next leg)
-        fp->IncrementWaypoint((bool) trafficRef);
-        if (!(fp->getNextWaypoint()) && trafficRef)
-            loadNextLeg();
+        fp->IncrementWaypoint( trafficRef != 0 );
+        if (!(fp->getNextWaypoint()) && trafficRef != 0)
+            if (!loadNextLeg()) {
+                setDie(true);
+                return;
+            }
 
         prev = fp->getPreviousWaypoint();
         curr = fp->getCurrentWaypoint();
@@ -321,13 +336,19 @@ bool FGAIAircraft::_getGearDown() const {
 }
 
 
-void FGAIAircraft::loadNextLeg() {
+const char * FGAIAircraft::_getTransponderCode() const {
+  return transponderCode.c_str();
+}
+
+
+bool FGAIAircraft::loadNextLeg() {
 
     int leg;
     if ((leg = fp->getLeg())  == 10) {
-        trafficRef->next();
+        if (!trafficRef->next()) {
+            return false;
+        }
         setCallSign(trafficRef->getCallSign());
-	//props->setStringValue("callsign", callsign.c_str());
         leg = 1;
         fp->setLeg(leg);
     }
@@ -340,10 +361,11 @@ void FGAIAircraft::loadNextLeg() {
     } else {
         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 
-        fp->create (dep,
+        fp->create (this,
+                    dep,
                     arr,
                     leg,
-                    cruiseAlt,           //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
+                    cruiseAlt,
                     trafficRef->getSpeed(),
                     _getLatitude(),
                     _getLongitude(),
@@ -352,7 +374,9 @@ void FGAIAircraft::loadNextLeg() {
                     trafficRef->getFlightType(),
                     acType,
                     company);
+       //cerr << "created  leg " << leg << " for " << trafficRef->getCallSign() << endl;
     }
+    return true;
 }
 
 
@@ -365,7 +389,7 @@ void FGAIAircraft::getGroundElev(double dt) {
     dt_elev_count += dt;
 
     // Update minimally every three secs, but add some randomness
-    // to prevent all IA objects doing this in synchrony
+    // to prevent all AI objects doing this in synchrony
     if (dt_elev_count < (3.0) + (rand() % 10))
         return;
 
@@ -374,28 +398,20 @@ void FGAIAircraft::getGroundElev(double dt) {
     // Only do the proper hitlist stuff if we are within visible range of the viewer.
     if (!invisible) {
         double visibility_meters = fgGetDouble("/environment/visibility-m");
-
         FGViewer* vw = globals->get_current_view();
-        double course, distance;
-
-        SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 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);
+        
+        if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
             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.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
+        if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
             // Try to shedule tiles for that position.
-            globals->get_tile_mgr()->update( aip.getSGLocation(), range );
+            globals->get_tile_mgr()->update( pos, range );
         }
 
-        // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
         double alt;
-        if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
+        if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
             tgt_altitude_ft = alt * SG_METER_TO_FEET;
     }
 }
@@ -413,10 +429,14 @@ void FGAIAircraft::announcePositionToController() {
     if (trafficRef) {
         int leg = fp->getLeg();
 
-        // Note that leg was been incremented after creating the current leg, so we should use
+        // 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
         //
         switch (leg) {
+          case 2:              // Startup and Push back
+            if (trafficRef->getDepartureAirport()->getDynamics())
+                controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
+            break;
         case 3:              // Taxiing to runway
             if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
                 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
@@ -424,13 +444,6 @@ void FGAIAircraft::announcePositionToController() {
         case 4:              //Take off tower controller
             if (trafficRef->getDepartureAirport()->getDynamics()) {
                 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
-                //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
-                //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
-                //   << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
-                //  if (controller == 0) {
-                //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
-                //}
-
             } else {
                 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
             }
@@ -446,29 +459,17 @@ void FGAIAircraft::announcePositionToController() {
 
         if ((controller != prevController) && (prevController != 0)) {
             prevController->signOff(getID());
-            string callsign =  trafficRef->getCallSign();
-            if ( trafficRef->getHeavy())
-                callsign += "Heavy";
-            switch (leg) {
-            case 3:
-                //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
-                break;
-            case 4:
-                //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
-                //     << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
-                //     << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
-                break;
-            }
         }
         prevController = controller;
         if (controller) {
             controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
                                          _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
-                                         trafficRef->getRadius(), leg, trafficRef->getCallSign());
+                                         trafficRef->getRadius(), leg, this);
         }
     }
 }
 
+// Process ATC instructions and report back
 
 void FGAIAircraft::processATC(FGATCInstruction instruction) {
     if (instruction.getCheckForCircularWait()) {
@@ -494,7 +495,7 @@ void FGAIAircraft::processATC(FGATCInstruction instruction) {
     } else {
         if (holdPos) {
             //if (trafficRef)
-            //	cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
+            //	cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
             holdPos = false;
         }
         // Change speed Instruction. This can only be excecuted when there is no
@@ -539,7 +540,10 @@ void FGAIAircraft::handleFirstWaypoint() {
     //TODO fp should handle this
     fp->IncrementWaypoint(eraseWaypoints);
     if (!(fp->getNextWaypoint()) && trafficRef)
-        loadNextLeg();
+        if (!loadNextLeg()) {
+            setDie(true);
+            return;
+        }
 
     prev = fp->getPreviousWaypoint();   //first waypoint
     curr = fp->getCurrentWaypoint();    //second waypoint
@@ -620,22 +624,20 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* 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 << endl;
+    //     cerr << trafficRef->getCallSign() << " Distance : " 
+    //          << dist_to_go << ": Lead distance " 
+    //          << lead_dist << " " << curr->name 
+    //          << " Ground target speed " << groundTargetSpeed << endl;
+         
     return dist_to_go < lead_dist;
 }
 
 
 bool FGAIAircraft::aiTrafficVisible() {
-    double userLatitude  = fgGetDouble("/position/latitude-deg");
-    double userLongitude = fgGetDouble("/position/longitude-deg");
-    double course, distance;
-
-    SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
-    SGWayPoint user (userLongitude, userLatitude, 0);
-
-    user.CourseAndDistance(current, &course, &distance);
-
-    return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
+  SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"), 
+    fgGetDouble("/position/latitude-deg")));
+  
+  return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
 }
 
 
@@ -658,6 +660,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t
 
     // This waypoint marks the fact that the aircraft has passed the initial taxi
     // departure waypoint, so it can release the parking.
+    //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
     if (prev->name == "PushBackPoint") {
         dep->getDynamics()->releaseParking(fp->getGate());
         time_t holdUntil = now + 120;
@@ -733,7 +736,7 @@ void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::
 /**
  * Update target values (heading, alt, speed) depending on flight plan or control properties
  */
-void FGAIAircraft::updatePrimaryTargetValues() {
+void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
     if (fp)                      // AI object has a flightplan
     {
         //TODO make this a function of AIBase
@@ -754,15 +757,16 @@ void FGAIAircraft::updatePrimaryTargetValues() {
         }
         if (trafficRef) {
            //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
-            if (! aiTrafficVisible()) {
+            aiOutOfSight = !aiTrafficVisible();
+            if (aiOutOfSight) {
                 setDie(true);
                 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
-                throw AI_OutOfSight();
+                aiOutOfSight = true;
+                return;
             }
         }
-        if (! fp->isActive(now)) { 
-            throw FP_Inactive();
-        }
+        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
@@ -845,7 +849,7 @@ void FGAIAircraft::updateHeading() {
             } else {
                 bank_sense = 1.0;
             }
-            if (trafficRef)
+            //if (trafficRef)
             	//cerr << trafficRef->getCallSign() << " Heading " 
                 //     << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
             //if (headingDiff > 60) {
@@ -875,7 +879,8 @@ void FGAIAircraft::updateHeading() {
                    else
                        headingChangeRate += dt * sign(roll);
             }
-	    hdg += headingChangeRate * dt;
+
+	    hdg += headingChangeRate * dt * (fabs(speed) / 15);
             headingError = headingDiff;
         } else {
             if (fabs(speed) > 1.0) {
@@ -979,6 +984,20 @@ void FGAIAircraft::updatePitchAngleTarget() {
     }
 }
 
+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) {