X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIAircraft.cxx;h=5e803ef5e159b81e6c3934a73c060f13ab96a16a;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=82f21a4e4dfddc12eb45149591adf2b3777b7745;hpb=649d579124130d92a908c588c6972673fa0ac064;p=flightgear.git diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx index 82f21a4e4..5e803ef5e 100644 --- a/src/AIModel/AIAircraft.cxx +++ b/src/AIModel/AIAircraft.cxx @@ -27,26 +27,27 @@ #include #include #include -#include +#include +#include
+ +#include #include -#include -#include - -#ifdef _MSC_VER -# include -# define finite _finite -#elif defined(__sun) || defined(sgi) -# include -#endif +#include +#include -using std::string; +// defined in AIShip.cxx +extern double fgIsFinite(double x); #include "AIAircraft.hxx" #include "performancedata.hxx" #include "performancedb.hxx" #include +using std::string; +using std::cerr; +using std::endl; + //#include FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : @@ -83,6 +84,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : headingError = 0; minBearing = 360; speedFraction =1.0; + prev_dist_to_go = 0.0; holdPos = false; needsTaxiClearance = false; @@ -91,6 +93,9 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB dt = 0; takeOffStatus = 0; + + trackCache.remainingLength = 0; + trackCache.startWptName = "-"; } @@ -107,7 +112,7 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) { FGAIBase::readFromScenario(scFileNode); - setPerformance(scFileNode->getStringValue("class", "jet_transport")); + setPerformance("", scFileNode->getStringValue("class", "jet_transport")); setFlightPlan(scFileNode->getStringValue("flightplan"), scFileNode->getBoolValue("repeat", false)); setCallSign(scFileNode->getStringValue("callsign")); @@ -117,9 +122,6 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) { void FGAIAircraft::bind() { FGAIBase::bind(); - tie("controls/gear/gear-down", - SGRawValueMethods(*this, - &FGAIAircraft::_getGearDown)); tie("transponder-id", SGRawValueMethods(*this, &FGAIAircraft::_getTransponderCode)); @@ -131,16 +133,17 @@ void FGAIAircraft::update(double dt) { Transform(); } -void FGAIAircraft::setPerformance(const std::string& acclass) { - static PerformanceDB perfdb; //TODO make it a global service - setPerformance(perfdb.getDataFor(acclass)); - } - +void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass) +{ + static PerformanceDB perfdb; //TODO make it a global service + _performance = perfdb.getDataFor(acType, acclass); +} +#if 0 void FGAIAircraft::setPerformance(PerformanceData *ps) { _performance = ps; } - +#endif void FGAIAircraft::Run(double dt) { FGAIAircraft::dt = dt; @@ -158,23 +161,23 @@ void FGAIAircraft::setPerformance(const std::string& acclass) { 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 + updateActualState(); +#if 0 + // 25/11/12 - added but disabled, since setting properties isn't + // affecting the AI-model as expected. + updateModelProperties(dt); +#endif + + // 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) + if (manager){ UpdateRadar(manager); - checkVisibility(); + invisible = !manager->isVisible(pos); + } } -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; @@ -221,16 +224,26 @@ double FGAIAircraft::sign(double x) { } -void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) { - if (!flightplan.empty()) { - FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan); +void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) +{ + if (flightplan.empty()) { + // this is the case for Nasal-scripted aircraft + return; + } + + FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan); + if (fp->isValidPlan()) { fp->setRepeat(repeat); SetFlightPlan(fp); + } else { + SG_LOG(SG_AI, SG_WARN, "setFlightPlan: invalid flightplan specified:" << flightplan); + delete fp; } } -void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) { +void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) +{ delete fp; fp = f; } @@ -442,12 +455,6 @@ void FGAIAircraft::checkTcas(void) void FGAIAircraft::initializeFlightPlan() { } - -bool FGAIAircraft::_getGearDown() const { - return _performance->gearExtensible(this); -} - - const char * FGAIAircraft::_getTransponderCode() const { return transponderCode.c_str(); } @@ -552,54 +559,61 @@ void FGAIAircraft::doGroundAltitude() { 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 (!trafficRef) { + return; + } + + int leg = fp->getLeg(); + if (!fp->getCurrentWaypoint()) { + // http://code.google.com/p/flightgear-bugs/issues/detail?id=1153 + // throw an exception so this aircraft gets killed by the AIManager. + throw sg_exception("bad AI flight plan"); + } + + // 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); - } + 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); } } @@ -625,7 +639,7 @@ void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) { // Process ATC instructions and report back -void FGAIAircraft::processATC(FGATCInstruction instruction) { +void FGAIAircraft::processATC(const FGATCInstruction& instruction) { if (instruction.getCheckForCircularWait()) { // This is not exactly an elegant solution, // but at least it gives me a chance to check @@ -708,9 +722,9 @@ void FGAIAircraft::handleFirstWaypoint() { setAltitude(prev->getAltitude()); if (prev->getSpeed() > 0.0) - setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr)); + setHeading(fp->getBearing(prev, curr)); else - setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev)); + setHeading(fp->getBearing(curr, prev)); // If next doesn't exist, as in incrementally created flightplans for // AI/Trafficmanager created plans, @@ -798,7 +812,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { // << " 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)); + bearing = getBearing(fp->getBearing(pos, curr)); if (bearing < minBearing) { minBearing = bearing; if (minBearing < 10) { @@ -861,7 +875,8 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { //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()); + // clearing the parking assignment will release the gate + fp->setGate(ParkingAssignment()); AccelTo(0.0); //setTaxiClearanceRequest(true); } @@ -912,15 +927,14 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { * @param curr */ void FGAIAircraft::controlHeading(FGAIWaypoint* curr) { - double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); + double calc_bearing = fp->getBearing(pos, curr); //cerr << "Bearing = " << calc_bearing << endl; if (speed < 0) { calc_bearing +=180; - if (calc_bearing > 360) - calc_bearing -= 360; + SG_NORMALIZE_RANGE(calc_bearing, 0.0, 360.0); } - if (finite(calc_bearing)) { + if (fgIsFinite(calc_bearing)) { double hdg_error = calc_bearing - tgt_heading; if (fabs(hdg_error) > 0.01) { TurnTo( calc_bearing ); @@ -996,7 +1010,7 @@ void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOut // 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"); + const string& lat_mode = props->getStringValue("controls/flight/lateral-mode"); if ( lat_mode == "roll" ) { double angle = props->getDoubleValue("controls/flight/target-roll" ); @@ -1022,19 +1036,6 @@ void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOut } } -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) @@ -1109,10 +1110,8 @@ void FGAIAircraft::updateHeading() { } } } - 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); + + hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15); headingError = headingDiff; if (fabs(headingError) < 1.0) { hdg = tgt_heading; @@ -1180,13 +1179,9 @@ void FGAIAircraft::updateVerticalSpeedTarget() { // 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(); + tgt_vs = std::min(tgt_altitude_ft - altitude_ft, _performance->climbRate()); } else { - tgt_vs = tgt_altitude_ft - altitude_ft; - if (tgt_vs < (-_performance->descentRate())) - tgt_vs = -_performance->descentRate(); + tgt_vs = std::max(tgt_altitude_ft - altitude_ft, -_performance->descentRate()); } } else { double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft; @@ -1226,18 +1221,16 @@ 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(); - } - } +const string& FGAIAircraft::atGate() +{ + if ((fp->getLeg() < 3) && trafficRef) { + if (fp->getParkingGate()) { + return fp->getParkingGate()->ident(); + } } - return tmp; + + static const string empty; + return empty; } void FGAIAircraft::handleATCRequests() { @@ -1264,7 +1257,9 @@ void FGAIAircraft::handleATCRequests() { void FGAIAircraft::updateActualState() { //update current state //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed - updatePosition(); + double distance = speed * SG_KT_TO_MPS * dt; + pos = SGGeodesy::direct(pos, hdg, distance); + if (onGround()) speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos); @@ -1356,11 +1351,20 @@ double FGAIAircraft::getBearing(double crse) return hdgDiff; } -time_t FGAIAircraft::checkForArrivalTime(string wptName) { +time_t FGAIAircraft::checkForArrivalTime(const string& wptName) { FGAIWaypoint* curr = 0; curr = fp->getCurrentWaypoint(); - double tracklength = fp->checkTrackLength(wptName); + // don't recalculate tracklength unless the start/stop waypoint has changed + if (curr && + ((curr->getName() != trackCache.startWptName)|| + (wptName != trackCache.finalWptName))) + { + trackCache.remainingLength = fp->checkTrackLength(wptName); + trackCache.startWptName = curr->getName(); + trackCache.finalWptName = wptName; + } + double tracklength = trackCache.remainingLength; if (tracklength > 0.1) { tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); } else { @@ -1376,3 +1380,44 @@ time_t FGAIAircraft::checkForArrivalTime(string wptName) { } return (ete - secondsToGo); // Positive when we're too slow... } + +double limitRateOfChange(double cur, double target, double maxDeltaSec, double dt) +{ + double delta = target - cur; + double maxDelta = maxDeltaSec * dt; + +// if delta is > maxDelta, use maxDelta, but with the sign of delta. + return (fabs(delta) < maxDelta) ? delta : copysign(maxDelta, delta); +} + +// drive various properties in a semi-realistic fashion. +void FGAIAircraft::updateModelProperties(double dt) +{ + if (!props) { + return; + } + + SGPropertyNode* gear = props->getChild("gear", 0, true); + double targetGearPos = fp->getCurrentWaypoint()->getGear_down() ? 1.0 : 0.0; + if (!gear->hasValue("gear/position-norm")) { + gear->setDoubleValue("gear/position-norm", targetGearPos); + } + + double gearPosNorm = gear->getDoubleValue("gear/position-norm"); + if (gearPosNorm != targetGearPos) { + gearPosNorm += limitRateOfChange(gearPosNorm, targetGearPos, 0.1, dt); + if (gearPosNorm < 0.001) { + gearPosNorm = 0.0; + } else if (gearPosNorm > 0.999) { + gearPosNorm = 1.0; + } + + for (int i=0; i<6; ++i) { + SGPropertyNode* g = gear->getChild("gear", i, true); + g->setDoubleValue("position-norm", gearPosNorm); + } // of gear setting loop + } // of gear in-transit + +// double flapPosNorm = props->getDoubleValue(); +} +