X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAICarrier.cxx;h=b6487519d026c05ea55bc026423f093d30ce9375;hb=b4fbde72b275dc75e8ecf7b44261aba642e5da0f;hp=bb52128188ca1e1394af6b725b9d466a87c47123;hpb=670ea7c881b3e6cecc64d38eaf503a8e1a8a9972;p=flightgear.git

diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx
index bb5212818..b6487519d 100644
--- a/src/AIModel/AICarrier.cxx
+++ b/src/AIModel/AICarrier.cxx
@@ -15,25 +15,608 @@
 //
 // 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 "AICarrier.hxx"
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
 
+#include <math.h>
+#include <Main/util.hxx>
+#include <Main/viewer.hxx>
 
-FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
+#include "AICarrier.hxx"
+
+FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
 }
 
 FGAICarrier::~FGAICarrier() {
 }
 
+void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
+  if (!scFileNode)
+    return;
+
+  FGAIShip::readFromScenario(scFileNode);
+
+  setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
+  setSign(scFileNode->getStringValue("pennant-number"));
+  setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
+  setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
+  setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
+  setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
+  setMinLat(scFileNode->getDoubleValue("min-lat", 0));
+  setMaxLong(scFileNode->getDoubleValue("max-long", 0));
+  setMinLong(scFileNode->getDoubleValue("min-long", 0));
+  setMPControl(scFileNode->getBoolValue("mp-control", false));
+  setAIControl(scFileNode->getBoolValue("ai-control", false));
+
+  SGPropertyNode* flols = scFileNode->getChild("flols-pos");
+  if (flols) {
+    // Transform to the right coordinate frame, configuration is done in
+    // the usual x-back, y-right, z-up coordinates, computations
+    // in the simulation usual body x-forward, y-right, z-down coordinates
+    flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
+    flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
+    flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
+  } else
+    flols_off = SGVec3d::zeros();
+
+  std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
+  std::vector<SGPropertyNode_ptr>::const_iterator it;
+  for (it = props.begin(); it != props.end(); ++it) {
+    string name = (*it)->getStringValue("name", "unnamed");
+    // Transform to the right coordinate frame, configuration is done in
+    // the usual x-back, y-right, z-up coordinates, computations
+    // in the simulation usual body x-forward, y-right, z-down coordinates
+    double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
+    double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
+    double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
+    double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
+    ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
+    ppositions.push_back(pp);
+  }
+}
+
+void FGAICarrier::setWind_from_east(double fps) {
+    wind_from_east = fps;
+}
+
+void FGAICarrier::setWind_from_north(double fps) {
+    wind_from_north = fps;
+}
+
+void FGAICarrier::setMaxLat(double deg) {
+    max_lat = fabs(deg);
+}
+
+void FGAICarrier::setMinLat(double deg) {
+    min_lat = fabs(deg);
+}
+
+void FGAICarrier::setMaxLong(double deg) {
+    max_long = fabs(deg);
+}
+
+void FGAICarrier::setMinLong(double deg) {
+    min_long = fabs(deg);
+}
+
+void FGAICarrier::setSign(const string& s) {
+    sign = s;
+}
+
+void FGAICarrier::setTACANChannelID(const string& id) {
+    TACAN_channel_id = id;
+}
+
+void FGAICarrier::setMPControl(bool c) {
+    MPControl = c;
+}
+
+void FGAICarrier::setAIControl(bool c) {
+    AIControl = c;
+}
 
 void FGAICarrier::update(double dt) {
-   FGAIShip::update(dt);
+    // Now update the position and heading. This will compute new hdg and
+    // roll values required for the rotation speed computation.
+    FGAIShip::update(dt);
+
+    //automatic turn into wind with a target wind of 25 kts otd
+    //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
+    if (!MPControl && AIControl){
+
+        if(turn_to_launch_hdg){
+            TurnToLaunch();
+        } else if(turn_to_recovery_hdg ){
+            TurnToRecover();
+        } else if(OutsideBox() || returning ) {// check that the carrier is inside
+            ReturnToBox();                     // the operating box,
+        } else {
+            TurnToBase();
+        }
+
+    } else {
+        FGAIShip::TurnTo(tgt_heading);
+        FGAIShip::AccelTo(tgt_speed);
+    }
+
+    UpdateWind(dt);
+    UpdateElevator(dt, transition_time);
+    UpdateJBD(dt, jbd_transition_time);
+
+    // 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);
+
+    // The position of the eyepoint - at least near that ...
+    SGVec3d eyePos(globals->get_current_view()->get_view_pos());
+    // Add the position offset of the AIModel to gain the earth
+    // centered position
+    SGVec3d eyeWrtCarrier = eyePos - cartPos;
+    // rotate the eyepoint wrt carrier vector into the carriers frame
+    eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
+    // the eyepoints vector wrt the flols position
+    SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
+
+    // the distance from the eyepoint to the flols
+    dist = norm(eyeWrtFlols);
+
+    // now the angle, positive angles are upwards
+    if (fabs(dist) < SGLimits<float>::min()) {
+      angle = 0;
+    } else {
+      double sAngle = -eyeWrtFlols(2)/dist;
+      sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+      angle = SGMiscd::rad2deg(asin(sAngle));
+    }
+
+    // set the value of source
+    if ( angle <= 4.35 && angle > 4.01 )
+      source = 1;
+    else if ( angle <= 4.01 && angle > 3.670 )
+      source = 2;
+    else if ( angle <= 3.670 && angle > 3.330 )
+      source = 3;
+    else if ( angle <= 3.330 && angle > 2.990 )
+      source = 4;
+    else if ( angle <= 2.990 && angle > 2.650 )
+      source = 5;
+    else if ( angle <= 2.650 )
+      source = 6;
+    else
+      source = 0;
+} //end update
+
+bool FGAICarrier::init(bool search_in_AI_path) {
+    if (!FGAIShip::init(search_in_AI_path))
+        return false;
+
+    _longitude_node = fgGetNode("/position/longitude-deg", true);
+    _latitude_node = fgGetNode("/position/latitude-deg", true);
+    _altitude_node = fgGetNode("/position/altitude-ft", true);
+
+    _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
+
+    _surface_wind_from_deg_node =
+            fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+    _surface_wind_speed_node =
+            fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+
+
+    turn_to_launch_hdg = false;
+    turn_to_recovery_hdg = false;
+    turn_to_base_course = true;
+    returning = false;
+    in_to_wind = false;
+
+    mOpBoxPos = pos;
+    base_course = hdg;
+    base_speed = speed;
+
+    pos_norm = raw_pos_norm = 0;
+    elevators = false;
+    transition_time = 150;
+    time_constant = 0.005;
+    jbd_pos_norm = raw_jbd_pos_norm = 0;
+    jbd = false ;
+    jbd_transition_time = 3;
+    jbd_time_constant = 0.1;
+    return true;
+}
+
+void FGAICarrier::bind() {
+    FGAIShip::bind();
+
+    props->untie("velocities/true-airspeed-kt");
+
+    props->tie("controls/flols/source-lights",
+                SGRawValuePointer<int>(&source));
+    props->tie("controls/flols/distance-m",
+                SGRawValuePointer<double>(&dist));
+    props->tie("controls/flols/angle-degs",
+                SGRawValuePointer<double>(&angle));
+    props->tie("controls/turn-to-launch-hdg",
+                SGRawValuePointer<bool>(&turn_to_launch_hdg));
+    props->tie("controls/in-to-wind",
+                SGRawValuePointer<bool>(&turn_to_launch_hdg));
+    props->tie("controls/base-course-deg",
+                SGRawValuePointer<double>(&base_course));
+    props->tie("controls/base-speed-kts",
+                SGRawValuePointer<double>(&base_speed));
+    props->tie("controls/start-pos-lat-deg",
+               SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
+    props->tie("controls/start-pos-long-deg",
+               SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+    props->tie("controls/mp-control",
+                SGRawValuePointer<bool>(&MPControl));
+    props->tie("controls/ai-control",
+                SGRawValuePointer<bool>(&AIControl));
+    props->tie("environment/surface-wind-speed-true-kts",
+                SGRawValuePointer<double>(&wind_speed_kts));
+    props->tie("environment/surface-wind-from-true-degs",
+                SGRawValuePointer<double>(&wind_from_deg));
+    props->tie("environment/rel-wind-from-degs",
+                SGRawValuePointer<double>(&rel_wind_from_deg));
+    props->tie("environment/rel-wind-from-carrier-hdg-degs",
+                SGRawValuePointer<double>(&rel_wind));
+    props->tie("environment/rel-wind-speed-kts",
+                SGRawValuePointer<double>(&rel_wind_speed_kts));
+    props->tie("environment/in-to-wind",
+        SGRawValuePointer<bool>(&in_to_wind));
+    //props->tie("controls/flols/wave-off-lights",
+    //            SGRawValuePointer<bool>(&wave_off_lights));
+    props->tie("controls/elevators",
+                SGRawValuePointer<bool>(&elevators));
+    props->tie("surface-positions/elevators-pos-norm",
+                SGRawValuePointer<double>(&pos_norm));
+    props->tie("controls/constants/elevators/trans-time-s",
+                SGRawValuePointer<double>(&transition_time));
+    props->tie("controls/constants/elevators/time-constant",
+                SGRawValuePointer<double>(&time_constant));
+    props->tie("controls/jbd",
+        SGRawValuePointer<bool>(&jbd));
+    props->tie("surface-positions/jbd-pos-norm",
+        SGRawValuePointer<double>(&jbd_pos_norm));
+    props->tie("controls/constants/jbd/trans-time-s",
+        SGRawValuePointer<double>(&jbd_transition_time));
+    props->tie("controls/constants/jbd/time-constant",
+        SGRawValuePointer<double>(&jbd_time_constant));
+    props->tie("controls/turn-to-recovery-hdg",
+        SGRawValuePointer<bool>(&turn_to_recovery_hdg));
+    props->tie("controls/turn-to-base-course",
+        SGRawValuePointer<bool>(&turn_to_base_course));
+
+
+    props->setBoolValue("controls/flols/cut-lights", false);
+    props->setBoolValue("controls/flols/wave-off-lights", false);
+    props->setBoolValue("controls/flols/cond-datum-lights", true);
+    props->setBoolValue("controls/crew", false);
+    props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
+    props->setStringValue("sign", sign.c_str());
+    props->setBoolValue("controls/lighting/deck-lights", false);
+    props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
+}
+
+
+void FGAICarrier::unbind() {
+    FGAIShip::unbind();
+
+    props->untie("velocities/true-airspeed-kt");
+    props->untie("controls/flols/source-lights");
+    props->untie("controls/flols/distance-m");
+    props->untie("controls/flols/angle-degs");
+    props->untie("controls/turn-to-launch-hdg");
+    props->untie("environment/wind-speed-true-kts");
+    props->untie("environment/wind-from-true-degs");
+    props->untie("environment/rel-wind-from-degs");
+    props->untie("environment/rel-wind-speed-kts");
+    props->untie("environment/in-to-wind");
+    //props->untie("controls/flols/wave-off-lights");
+    props->untie("controls/elevators");
+    props->untie("surface-positions/elevators-pos-norm");
+    props->untie("controls/constants/elevators/trans-time-secs");
+    props->untie("controls/constants/elevators/time-constant");
+    props->untie("controls/jbd");
+    props->untie("surface-positions/jbd/pos-norm");
+    props->untie("controls/constants/jbd/trans-time-s");
+    props->untie("controls/jbd-time-constant");
+    props->untie("controls/mp-control");
+    props->untie("controls/ai-control");
+    props->untie("controls/turn-to-recovery-hdg");
+    props->untie("controls/turn-to-base-course");
+}
+
+
+bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
+                                  double& hdng, SGVec3d& uvw)
+{
+
+    // FIXME: does not yet cover rotation speeds.
+    list<ParkPosition>::iterator it = ppositions.begin();
+    while (it != ppositions.end()) {
+        // Take either the specified one or the first one ...
+        if ((*it).name == id || id.empty()) {
+            ParkPosition ppos = *it;
+            SGVec3d cartPos = getCartPosAt(ppos.offset);
+            geodPos = SGGeod::fromCart(cartPos);
+            hdng = hdg + ppos.heading_deg;
+            double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+            double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+            double speed_fps = speed*1.6878099;
+            uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
+            return true;
+        }
+        ++it;
+    }
+
+    return false;
+}
+
+// find relative wind
+void FGAICarrier::UpdateWind( double dt) {
+
+    //get the surface wind speed and direction
+    wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
+    wind_speed_kts  = _surface_wind_speed_node->getDoubleValue();
+
+    //calculate the surface wind speed north and east in kts
+    double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+    double wind_speed_from_east_kts  = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+
+    //calculate the carrier speed north and east in kts
+    double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+    double speed_east_kts  = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+
+    //calculate the relative wind speed north and east in kts
+    double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
+    double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
+
+    //combine relative speeds north and east to get relative windspeed in kts
+    rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+    + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
+
+    //calculate the relative wind direction
+    rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
+                            * SG_RADIANS_TO_DEGREES;
+
+    //calculate rel wind
+    rel_wind = rel_wind_from_deg - hdg;
+    SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
+
+    //set in to wind property
+    InToWind();
+
+    //switch the wave-off lights
+    //if (InToWind())
+    //   wave_off_lights = false;
+    //else
+    //   wave_off_lights = true;
+
+    // cout << "rel wind: " << rel_wind << endl;
+
+}// end update wind
+
+
+void FGAICarrier::TurnToLaunch(){
+
+    // calculate tgt heading
+    if (wind_speed_kts < 3){
+        tgt_heading = base_course;
+    } else {
+        tgt_heading = wind_from_deg;
+    }
+
+    //calculate tgt speed
+    double tgt_speed = 25 - wind_speed_kts;
+    if (tgt_speed < 10)
+        tgt_speed = 10;
+
+    //turn the carrier
+    FGAIShip::TurnTo(tgt_heading);
+    FGAIShip::AccelTo(tgt_speed);
+
 }
 
+void FGAICarrier::TurnToRecover(){
+
+    //these are the rules for adjusting heading to provide a relative wind
+    //down the angled flightdeck
+
+    if (wind_speed_kts < 3){
+        tgt_heading = base_course + 60;
+    } else if (rel_wind < -9 && rel_wind >= -180){
+        tgt_heading = wind_from_deg;
+    } else if (rel_wind > -7 && rel_wind < 45){
+        tgt_heading = wind_from_deg + 60;
+    } else if (rel_wind >=45 && rel_wind < 180){
+        tgt_heading = wind_from_deg + 45;
+    } else
+        tgt_heading = hdg;
+
+    SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
+
+    //calculate tgt speed
+    double tgt_speed = 26 - wind_speed_kts;
+    if (tgt_speed < 10)
+        tgt_speed = 10;
+
+    //turn the carrier
+    FGAIShip::TurnTo(tgt_heading);
+    FGAIShip::AccelTo(tgt_speed);
+
+}
+void FGAICarrier::TurnToBase(){
+
+    //turn the carrier
+    FGAIShip::TurnTo(base_course);
+    FGAIShip::AccelTo(base_speed);
+
+}
+
+
+void FGAICarrier::ReturnToBox(){
+    double course, distance, az2;
+
+    //calculate the bearing and range of the initial position from the carrier
+    geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
+
+    distance *= SG_METER_TO_NM;
+
+    //cout << "return course: " << course << " distance: " << distance << endl;
+    //turn the carrier
+    FGAIShip::TurnTo(course);
+    FGAIShip::AccelTo(base_speed);
+
+    if (distance >= 1)
+        returning = true;
+    else
+        returning = false;
+
+} //  end turn to base
+
+
+bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
+
+    if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
+        SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
+        return false;
+    }
+
+    if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
+        if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
+            return true;
+
+        if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
+            return true;
+
+    } else {                  //southern hemisphere
+        if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
+            return true;
+
+        if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
+            return true;
+    }
+
+    if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
+        if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
+            return true;
+
+        if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
+            return true;
+
+    } else {                 //western hemisphere
+        if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
+            return true;
+
+        if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
+            return true;
+    }
+
+    SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
+    return false;
+
+} // end OutsideBox
+
+
+bool FGAICarrier::InToWind() {
+    in_to_wind = false;
+
+    if ( fabs(rel_wind) < 10 ){
+        in_to_wind = true;
+        return true;
+    }
+    return false;
+}
+
+
+void FGAICarrier::UpdateElevator(double dt, double transition_time) {
+
+    double step = 0;
+
+    if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
+        return;
+
+    // move the elevators
+    if ( elevators ) {
+        step = dt/transition_time;
+        if ( step > 1 )
+            step = 1;
+    } else {
+        step = -dt/transition_time;
+        if ( step < -1 )
+            step = -1;
+    }
+    // assume a linear relationship
+    raw_pos_norm += step;
+
+    //low pass filter
+    pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
+
+    //sanitise the output
+    if (raw_pos_norm >= 1) {
+        raw_pos_norm = 1;
+    } else if (raw_pos_norm <= 0) {
+        raw_pos_norm = 0;
+    }
+    return;
+
+} // end UpdateElevator
+
+void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
+
+    string launchbar_state = _launchbar_state_node->getStringValue();
+    double step = 0;
+
+    if (launchbar_state == "Engaged"){
+        jbd = true;
+    } else {
+        jbd = false;
+    }
+
+    if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_pos_norm <= 0 )){
+        return;
+    }
+
+    // move the jbds
+    if ( jbd ) {
+        step = dt/jbd_transition_time;
+        if ( step > 1 )
+            step = 1;
+    } else {
+        step = -dt/jbd_transition_time;
+        if ( step < -1 )
+            step = -1;
+    }
+
+    // assume a linear relationship
+    raw_jbd_pos_norm += step;
+
+    //low pass filter
+    jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
+
+    //sanitise the output
+    if (jbd_pos_norm >= 1) {
+        jbd_pos_norm = 1;
+    } else if (jbd_pos_norm <= 0) {
+        jbd_pos_norm = 0;
+    }
 
+    return;
 
+} // end UpdateJBD