X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIAircraft.cxx;h=fe93d938b29385ca9437ea62f96117ad2c0b1582;hb=7d547d128702a643c40b54809e2b4e1a38c4a16d;hp=eac6cd4fa59bb8460444a16a9f2b381d5ab87731;hpb=37591d0ac9c316f107a3c38043edd3a7f89b4892;p=flightgear.git diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx index eac6cd4fa..fe93d938b 100644 --- a/src/AIModel/AIAircraft.cxx +++ b/src/AIModel/AIAircraft.cxx @@ -1,4 +1,4 @@ -// // FGAIAircraft - FGAIBase-derived class creates an AI airplane +// FGAIAircraft - FGAIBase-derived class creates an AI airplane // // Written by David Culp, started October 2003. // @@ -22,10 +22,8 @@ # include #endif -#include #include
#include
-#include
#include #include #include @@ -47,11 +45,10 @@ using std::string; #include "AIAircraft.hxx" #include "performancedata.hxx" #include "performancedb.hxx" +#include //#include -static string tempReg; - FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : /* HOT must be disabled for AI Aircraft, * otherwise traffic detection isn't working as expected.*/ @@ -93,7 +90,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB dt = 0; - scheduledForTakeoff = false; + takeOffStatus = 0; } @@ -110,7 +107,7 @@ 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")); @@ -120,39 +117,31 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) { void FGAIAircraft::bind() { FGAIBase::bind(); - props->tie("controls/gear/gear-down", - SGRawValueMethods(*this, - &FGAIAircraft::_getGearDown)); - props->tie("transponder-id", - SGRawValueMethods(*this, - &FGAIAircraft::_getTransponderCode)); -} - - -void FGAIAircraft::unbind() { - FGAIBase::unbind(); - - props->untie("controls/gear/gear-down"); - props->untie("transponder-id"); + tie("controls/gear/gear-down", + SGRawValueMethods(*this, + &FGAIAircraft::_getGearDown)); + tie("transponder-id", + SGRawValueMethods(*this, + &FGAIAircraft::_getTransponderCode)); } - void FGAIAircraft::update(double dt) { FGAIBase::update(dt); Run(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; @@ -183,14 +172,14 @@ void FGAIAircraft::setPerformance(const std::string& acclass) { void FGAIAircraft::checkVisibility() { double visibility_meters = fgGetDouble("/environment/visibility-m"); - FGViewer* vw = globals->get_current_view(); - invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters); + invisible = (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters); } void FGAIAircraft::AccelTo(double speed) { tgt_speed = speed; + //assertSpeed(speed); if (!isStationary()) _needsGroundElevation = true; } @@ -284,9 +273,16 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); } + if (!curr) + { + // Oops! FIXME + return; + } + if (! leadPointReached(curr)) { controlHeading(curr); controlSpeed(curr, next); + /* if (speed < 0) { cerr << getCallSign() @@ -350,13 +346,18 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { fp->setLeadDistance(tgt_speed, tgt_heading, curr, next); } + if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground { tgt_altitude_ft = prev->getAltitude(); if (curr->getCrossat() > -1000.0) { use_perf_vs = false; - tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / speed*60.0); + // Distance to go in meters + double vert_dist_ft = curr->getCrossat() - altitude_ft; + double err_dist = prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); + checkTcas(); tgt_altitude_ft = curr->getCrossat(); } else { @@ -369,6 +370,49 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { } } +double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err) +{ + // err is negative when we passed too high + double vert_m = vert_ft * SG_FEET_TO_METER; + //double err_m = err * SG_FEET_TO_METER; + //double angle = atan2(vert_m, dist_m); + double speedMs = (speed * SG_NM_TO_METER) / 3600; + //double vs = cos(angle) * speedMs; // Now in m/s + double vs = 0; + //cerr << "Error term = " << err_m << endl; + if (dist_m) { + vs = ((vert_m) / dist_m) * speedMs; + } + // Convert to feet per minute + vs *= (SG_METER_TO_FEET * 60); + //if (getCallSign() == "LUFTHANSA2002") + //if (fabs(vs) > 100000) { +// if (getCallSign() == "LUFTHANSA2057") { +// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl; +// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) +// // / 6076.0 / speed*60.0); +// //raise(SIGSEGV); +// } + return vs; +} + +void FGAIAircraft::assertSpeed(double speed) +{ + if ((speed < -50) || (speed > 1000)) { + cerr << getCallSign() << " " + << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " " + << "Departure airport " << trafficRef->getDepartureAirport() << " " + << "Leg " << fp->getLeg() << " " + << "target_speed << " << tgt_speed << " " + << "speedFraction << " << speedFraction << " " + << "Currecnt speed << " << speed << " " + << endl; + //raise(SIGSEGV); + } +} + + + void FGAIAircraft::checkTcas(void) { if (props->getIntValue("tcas/threat-level",0)==3) @@ -471,10 +515,8 @@ 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(); - - if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) { + double visibility_meters = fgGetDouble("/environment/visibility-m"); + if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) { return; } @@ -497,12 +539,16 @@ void FGAIAircraft::getGroundElev(double dt) { void FGAIAircraft::doGroundAltitude() { - if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)|| - (isStationary())) - altitude_ft = (tgt_altitude_ft + groundOffset); - else - altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft); - tgt_vs = 0; + if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) { + tgt_vs = -500; + } else { + if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)|| + (isStationary())) + altitude_ft = (tgt_altitude_ft + groundOffset); + else + altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft); + tgt_vs = 0; + } } @@ -527,6 +573,7 @@ void FGAIAircraft::announcePositionToController() { 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; } @@ -557,8 +604,8 @@ void FGAIAircraft::announcePositionToController() { } } -void FGAIAircraft::scheduleForATCTowerDepartureControl() { - if (!scheduledForTakeoff) { +void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) { + if (!takeOffStatus) { int leg = fp->getLeg(); if (trafficRef) { if (trafficRef->getDepartureAirport()->getDynamics()) { @@ -570,10 +617,11 @@ void FGAIAircraft::scheduleForATCTowerDepartureControl() { towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(), _getLatitude(), _getLongitude(), hdg, speed, altitude_ft, trafficRef->getRadius(), leg, this); + //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl; } } } - scheduledForTakeoff = true; + takeOffStatus = state; } // Process ATC instructions and report back @@ -642,7 +690,6 @@ void FGAIAircraft::handleFirstWaypoint() { FGAIWaypoint* next = 0;// the next plus 1 spinCounter = 0; - tempReg = ""; //TODO fp should handle this fp->IncrementWaypoint(eraseWaypoints); @@ -675,9 +722,13 @@ void FGAIAircraft::handleFirstWaypoint() { if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate { use_perf_vs = false; - tgt_vs = (curr->getCrossat() - prev->getAltitude()) - / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / prev->getSpeed()*60.0); + //tgt_vs = (curr->getCrossat() - prev->getAltitude()) + // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) + // / 6076.0 / prev->getSpeed()*60.0); + double vert_dist_ft = curr->getCrossat() - altitude_ft; + double err_dist = prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); checkTcas(); tgt_altitude_ft = curr->getCrossat(); } else { @@ -729,6 +780,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { if (tgt_speed > -0.5) { tgt_speed = -0.5; } + //assertSpeed(tgt_speed); if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) { fp->getPreviousWaypoint()->setSpeed(tgt_speed); } @@ -746,7 +798,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { // << lead_dist << " " << curr->name // << " Ground target speed " << groundTargetSpeed << endl; double bearing = 0; - if (speed > 50) { // don't do bearing calculations for ground traffic + // don't do bearing calculations for ground traffic bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)); if (bearing < minBearing) { minBearing = bearing; @@ -754,33 +806,37 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { minBearing = 10; } if ((minBearing < 360.0) && (minBearing > 10.0)) { - speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS); + speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5); } else { speedFraction = 1.0; } - } - } + } if (trafficRef) { //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl; -/* if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) { - cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " - << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl; - }*/ + //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) { + //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " + // << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl; + //} } - if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) { + if ((dist_to_go < lead_dist) || + ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) { minBearing = 360; + speedFraction = 1.0; + prev_dist_to_go = HUGE_VAL; return true; } else { + prev_dist_to_go = dist_to_go; return false; } } -bool FGAIAircraft::aiTrafficVisible() { - SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"), - fgGetDouble("/position/latitude-deg"))); - - return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE); +bool FGAIAircraft::aiTrafficVisible() +{ + SGVec3d cartPos = SGVec3d::fromGeod(pos); + const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) * + (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER); + return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2); } @@ -804,18 +860,38 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { // 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; + //cerr << "Passing waypoint : " << prev->getName() << endl; if (prev->contains("PushBackPoint")) { dep->getDynamics()->releaseParking(fp->getGate()); AccelTo(0.0); - setTaxiClearanceRequest(true); + //setTaxiClearanceRequest(true); } if (prev->contains("legend")) { fp->incrementLeg(); } if (prev->contains(string("DepartureHold"))) { - scheduleForATCTowerDepartureControl(); + //cerr << "Passing point DepartureHold" << endl; + scheduleForATCTowerDepartureControl(1); } - + if (prev->contains(string("Accel"))) { + takeOffStatus = 3; + } + //if (prev->contains(string("landing"))) { + // if (speed < _performance->vTaxi() * 2) { + // fp->shortenToFirst(2, "legend"); + // } + //} + //if (prev->contains(string("final"))) { + // + // cerr << getCallSign() << " " + // << fp->getPreviousWaypoint()->getName() + // << ". Alt = " << altitude_ft + // << " vs " << vs + // << " horizontal speed " << speed + // << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() + // << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation() + // << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl; + //q} // This is the last taxi waypoint, and marks the the end of the flight plan // so, the schedule should update and wait for the next departure time. if (prev->contains("END")) { @@ -824,7 +900,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { if (nextDeparture < (now+1200)) { nextDeparture = now + 1200; } - fp->setTime(nextDeparture); // should be "next departure" + fp->setTime(nextDeparture); } return true; @@ -855,9 +931,9 @@ void FGAIAircraft::controlHeading(FGAIWaypoint* curr) { cerr << "calc_bearing is not a finite number : " << "Speed " << speed << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg() - << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl; - cerr << "waypoint name " << curr->getName(); - exit(1); // FIXME + << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl; + cerr << "waypoint name: '" << curr->getName() << "'" << endl; + //exit(1); // FIXME } } @@ -874,6 +950,7 @@ void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) { if (fabs(speed_diff) > 10) { prevSpeed = speed; + //assertSpeed(speed); if (next) { fp->setLeadDistance(speed, tgt_heading, curr, next); } @@ -973,7 +1050,7 @@ void FGAIAircraft::updateHeading() { // If on ground, calculate heading change directly if (onGround()) { double headingDiff = fabs(hdg-tgt_heading); - double bank_sense = 0.0; +// double bank_sense = 0.0; /* double diff = fabs(hdg - tgt_heading); if (diff > 180) @@ -993,22 +1070,23 @@ void FGAIAircraft::updateHeading() { if (sum > 360.0) sum -= 360.0; if (fabs(sum - tgt_heading) > 0.0001) { - bank_sense = -1.0; +// bank_sense = -1.0; } else { - bank_sense = 1.0; +// bank_sense = 1.0; } //if (trafficRef) // cerr << trafficRef->getCallSign() << " Heading " // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl; //if (headingDiff > 60) { groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS); + //assertSpeed(groundTargetSpeed); //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180); //} else { // groundTargetSpeed = tgt_speed; //} if (sign(groundTargetSpeed) != sign(tgt_speed)) groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode - + //assertSpeed(groundTargetSpeed); // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding. if (speed != 0) { if (headingDiff > 30.0) { @@ -1037,6 +1115,9 @@ void FGAIAircraft::updateHeading() { // << 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); headingError = headingDiff; + if (fabs(headingError) < 1.0) { + hdg = tgt_heading; + } } else { if (fabs(speed) > 1.0) { turn_radius_ft = 0.088362 * speed * speed @@ -1109,7 +1190,12 @@ void FGAIAircraft::updateVerticalSpeedTarget() { tgt_vs = -_performance->descentRate(); } } else { - double max_vs = 4*(tgt_altitude_ft - altitude_ft); + double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft; + double err_dist = 0; //prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint()); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); + //cerr << "Target vs before : " << tgt_vs; +/* double max_vs = 10*(tgt_altitude_ft - altitude_ft); double min_vs = 100; if (tgt_altitude_ft < altitude_ft) min_vs = -100.0; @@ -1118,7 +1204,8 @@ void FGAIAircraft::updateVerticalSpeedTarget() { tgt_vs = max_vs; if (fabs(tgt_vs) < fabs(min_vs)) - tgt_vs = min_vs; + tgt_vs = min_vs;*/ + //cerr << "target vs : after " << tgt_vs << endl; } } //else // tgt_vs = 0.0; @@ -1165,6 +1252,14 @@ void FGAIAircraft::handleATCRequests() { altitude_ft, dt); processATC(controller->getInstruction(getID())); } + if (towerController) { + towerController->updateAircraftInformation(getID(), + pos.getLatitudeDeg(), + pos.getLongitudeDeg(), + hdg, + speed, + altitude_ft, dt); + } } void FGAIAircraft::updateActualState() { @@ -1173,10 +1268,10 @@ void FGAIAircraft::updateActualState() { updatePosition(); if (onGround()) - speed = _performance->actualSpeed(this, groundTargetSpeed, dt); + speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos); else - speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt); - + speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false); + //assertSpeed(speed); updateHeading(); roll = _performance->actualBankAngle(this, tgt_roll, dt);