X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIShip.cxx;h=41f09550e010caa143ee71695889c81e17ace689;hb=ae50c054a9007b98f1a8dafe6d589d0b4cab8873;hp=849a3b6a0872a795b1b7459530e0b336a53adb37;hpb=002b880e7efc342c43b822b182e7f0a8f654f390;p=flightgear.git diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index 849a3b6a0..41f09550e 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -29,23 +29,58 @@ #endif #include + +#include #include +#include #include +#include +#include + #include "AIShip.hxx" FGAIShip::FGAIShip(object_type ot) : - FGAIBase(ot), - _dt_count(0), - _next_run(0) +FGAIBase(ot), +_limit(100), +_elevation_m(0), +_elevation_ft(0), +_tow_angle(0), +_dt_count(0), +_next_run(0), +_lead_angle(0), +_xtrack_error(0), +_tunnel(false), +_initial_tunnel(false), +_curr_alt(0), +_prev_alt(0), +_until_time(""), +_fp_init(false), +_missed(false), +_waiting(false), +_new_waypoint(true), +_missed_count(0), +_wait_count(0), +_missed_time_sec(30), +_day(86400), +_wp_range(0), +_old_range(0), +_range_rate(0), +_roll_constant(0.001), +_hdg_constant(0.01), +_roll_factor(-0.0083335), +_restart(false) + { + invisible = false; } FGAIShip::~FGAIShip() { } void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) { + if (!scFileNode) return; @@ -56,8 +91,18 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) { setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000)); std::string flightplan = scFileNode->getStringValue("flightplan"); setRepeat(scFileNode->getBoolValue("repeat", false)); + setRestart(scFileNode->getBoolValue("restart", false)); + setStartTime(scFileNode->getStringValue("time", "")); + setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5)); + setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15)); + setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75)); + setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5)); + setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500)); + setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5)); if (!flightplan.empty()) { + SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name ); + FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan); setFlightPlan(fp); } @@ -70,40 +115,25 @@ bool FGAIShip::init(bool search_in_AI_path) { next = 0; // the next plus 1 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("waypoint/name-prev", _prev_name.c_str()); + props->setStringValue("waypoint/name-curr", _curr_name.c_str()); + props->setStringValue("waypoint/name-next", _next_name.c_str()); + props->setStringValue("submodels/path", _path.c_str()); + props->setStringValue("waypoint/start-time", _start_time.c_str()); + props->setStringValue("waypoint/wait-until-time", _until_time.c_str()); _hdg_lock = false; _rudder = 0.0; no_roll = false; - _rudder_constant = 0.5; - _roll_constant = 0.001; - _speed_constant = 0.05; - _hdg_constant = 0.01; - _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft; - _fp_init = false; - _missed = false; - _waiting = false; - _new_waypoint = true; - - _missed_count = 0; - _wait_count = 0; - _missed_time_sec = 30; - - _wp_range = _old_range = 0; - _range_rate = 0; - if (fp) _fp_init = initFlightPlan(); return FGAIBase::init(search_in_AI_path); } - void FGAIShip::bind() { FGAIBase::bind(); @@ -117,30 +147,62 @@ void FGAIShip::bind() { SGRawValuePointer(&tgt_heading)); props->tie("controls/constants/rudder", SGRawValuePointer(&_rudder_constant)); + props->tie("controls/constants/roll-factor", + SGRawValuePointer(&_roll_factor)); props->tie("controls/constants/roll", SGRawValuePointer(&_roll_constant)); props->tie("controls/constants/rudder", SGRawValuePointer(&_rudder_constant)); props->tie("controls/constants/speed", SGRawValuePointer(&_speed_constant)); - props->tie("position/waypoint-range-nm", + props->tie("waypoint/range-nm", SGRawValuePointer(&_wp_range)); - props->tie("position/waypoint-range-old-nm", - SGRawValuePointer(&_old_range)); - props->tie("position/waypoint-range-rate-nm-sec", + props->tie("waypoint/brg-deg", + SGRawValuePointer(&_course)); + props->tie("waypoint/rangerate-nm-sec", SGRawValuePointer(&_range_rate)); - props->tie("position/waypoint-new", + props->tie("waypoint/new", SGRawValuePointer(&_new_waypoint)); - props->tie("position/waypoint-missed", + props->tie("waypoint/missed", SGRawValuePointer(&_missed)); - props->tie("position/waypoint-missed-count", + props->tie("waypoint/missed-count-sec", SGRawValuePointer(&_missed_count)); - props->tie("position/waypoint-missed-time-sec", + props->tie("waypoint/missed-range-nm", + SGRawValuePointer(&_missed_range)); + props->tie("waypoint/missed-time-sec", SGRawValuePointer(&_missed_time_sec)); - props->tie("position/waypoint-wait-count", + props->tie("waypoint/wait-count-sec", SGRawValuePointer(&_wait_count)); - props->tie("position/waypoint-waiting", + props->tie("waypoint/xtrack-error-ft", + SGRawValuePointer(&_xtrack_error)); + props->tie("waypoint/waiting", SGRawValuePointer(&_waiting)); + props->tie("waypoint/lead-angle-deg", + SGRawValuePointer(&_lead_angle)); + props->tie("waypoint/tunnel", + SGRawValuePointer(&_tunnel)); + props->tie("waypoint/alt-curr-m", + SGRawValuePointer(&_curr_alt)); + props->tie("waypoint/alt-prev-m", + SGRawValuePointer(&_prev_alt)); + props->tie("submodels/serviceable", + SGRawValuePointer(&_serviceable)); + props->tie("controls/turn-radius-ft", + SGRawValuePointer(&turn_radius_ft)); + props->tie("controls/turn-radius-corrected-ft", + SGRawValuePointer(&_rd_turn_radius_ft)); + props->tie("controls/constants/lead-angle/gain", + SGRawValuePointer(&_lead_angle_gain)); + props->tie("controls/constants/lead-angle/limit-deg", + SGRawValuePointer(&_lead_angle_limit)); + props->tie("controls/constants/lead-angle/proportion", + SGRawValuePointer(&_proportion)); + props->tie("controls/fixed-turn-radius-ft", + SGRawValuePointer(&_fixed_turn_radius)); + props->tie("controls/restart", + SGRawValuePointer(&_restart)); + props->tie("velocities/speed-kts", + SGRawValuePointer(&speed)); } void FGAIShip::unbind() { @@ -151,30 +213,88 @@ 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-wait-count"); - props->untie("position/waypoint-waiting"); - props->untie("position/waypoint-missed-time-sec"); -} + props->untie("waypoint/range-nm"); + props->untie("waypoint/range-brg-deg"); + props->untie("waypoint/rangerate-nm-sec"); + props->untie("waypoint/new"); + props->untie("waypoint/missed"); + props->untie("waypoint/missed-count-sec"); + props->untie("waypoint/missed-time-sec"); + props->untie("waypoint/missed-range"); + props->untie("waypoint/wait-count-sec"); + props->untie("waypoint/lead-angle-deg"); + props->untie("waypoint/xtrack-error-ft"); + props->untie("waypoint/waiting"); + props->untie("waypoint/tunnel"); + props->untie("waypoint/alt-curr-m"); + props->untie("waypoint/alt-prev-m"); + props->untie("submodels/serviceable"); + props->untie("controls/turn-radius-ft"); + props->untie("controls/turn-radius-corrected-ft"); + props->untie("controls/constants/lead-angle/gain"); + props->untie("controls/constants/lead-angle/limit-deg"); + props->untie("controls/constants/lead-angle/proportion"); + props->untie("controls/fixed-turn-radius-ft"); + props->untie("controls/constants/speed"); + props->untie("controls/restart"); + props->untie("velocities/speed-kts"); +} void FGAIShip::update(double dt) { + //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <get_sim_time_sec()); + + // Compute the velocity in m/s in the body frame + aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0)); + FGAIBase::update(dt); Run(dt); Transform(); + if (fp) + setXTrackError(); + + // Only change these values if we are able to compute them safely + if (SGLimits::min() < dt) { + // Now here is the finite difference ... + + // Transform that one to the horizontal local coordinate system. + SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos); + // compute the new orientation + SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + // The rotation difference + SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew; + SGVec3d dOrAngleAxis; + dOr.getAngleAxis(dOrAngleAxis); + // divided by the time difference provides a rotation speed vector + dOrAngleAxis /= dt; + + aip.setBodyAngularVelocity(dOrAngleAxis); + } } void FGAIShip::Run(double dt) { - if (_fp_init) ProcessFlightPlan(dt); - double speed_north_deg_sec; - double speed_east_deg_sec; + string type = getTypeString(); + double alpha; double rudder_limit; double raw_roll; @@ -189,11 +309,11 @@ void FGAIShip::Run(double dt) { if (speed_diff < 0.0) speed -= _speed_constant * dt; + } - // do not allow unreasonable ship speeds - if (speed > 40) - speed = 40; + // do not allow unreasonable speeds + SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit); // convert speed to degrees per second speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES) @@ -202,13 +322,13 @@ void FGAIShip::Run(double dt) { * speed * 1.686 / ft_per_deg_lon; // set new position + //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl; pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt); pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt); + pos.setElevationFt(tgt_altitude_ft); + pitch = tgt_pitch; // adjust heading based on current _rudder angle - - //cout << "turn_radius_ft " << turn_radius_ft ; - if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values @@ -218,15 +338,28 @@ void FGAIShip::Run(double dt) { if (_rudder < -45) _rudder = -45; + //we assume that at slow speed ships will manoeuvre using engines/bow thruster - if (fabs(speed)<=5) - _sp_turn_radius_ft = 500; - else - // adjust turn radius for speed. The equation is very approximate. - // we need to allow for negative speeds - _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft; + if(type == "ship" || type == "carrier" || type == "escort"){ + + if (fabs(speed)<=5) + _sp_turn_radius_ft = _fixed_turn_radius; + else { + // adjust turn radius for speed. The equation is very approximate. + // we need to allow for negative speeds + _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft; + } + + } else { + + if (fabs(speed) <= 40) + _sp_turn_radius_ft = _fixed_turn_radius; + else { + // adjust turn radius for speed. + _sp_turn_radius_ft = turn_radius_ft; + } + } - //cout << " speed turn radius " << _sp_turn_radius_ft ; if (_rudder <= -0.25 || _rudder >= 0.25) { // adjust turn radius for _rudder angle. The equation is even more approximate. @@ -236,22 +369,16 @@ void FGAIShip::Run(double dt) { _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft; - //cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl; - // calculate the angle, alpha, subtended by the arc traversed in time dt alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES; - + //cout << _name << " alpha " << alpha << endl; // make sure that alpha is applied in the right direction hdg += alpha * sign(_rudder); - if (hdg > 360.0) - hdg -= 360.0; + SG_NORMALIZE_RANGE(hdg, 0.0, 360.0); - 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; @@ -264,6 +391,7 @@ void FGAIShip::Run(double dt) { 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); @@ -288,15 +416,20 @@ void FGAIShip::Run(double dt) { _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; - else - rudder_limit = 2; + if (type == "ship" || type == "carrier" || type == "escort"){ + + if (speed <= 40) + rudder_limit = (-0.825 * speed) + 35; + else + rudder_limit = 2; + + } else + rudder_limit = 20; if (fabs(rudder_diff)> 0.1) { // apply dead zone @@ -314,6 +447,8 @@ void FGAIShip::Run(double dt) { } + // do calculations for radar + UpdateRadar(manager); } }//end function @@ -333,11 +468,13 @@ void FGAIShip::YawTo(double angle) { } void FGAIShip::ClimbTo(double altitude) { + tgt_altitude_ft = altitude; + _setAltitude(altitude); } - void FGAIShip::TurnTo(double heading) { - tgt_heading = heading; + tgt_heading = heading - _lead_angle + _tow_angle; + SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0); _hdg_lock = true; } @@ -356,33 +493,138 @@ void FGAIShip::setName(const string& n) { _name = n; } +void FGAIShip::setStartTime(const string& st) { + _start_time = st; +} + +void FGAIShip::setUntilTime(const string& ut) { + _until_time = ut; + props->setStringValue("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->setStringValue("waypoint/name-curr", _curr_name.c_str()); } void FGAIShip::setNextName(const string& n) { _next_name = n; - props->setStringValue("position/waypoint-name-next", _next_name.c_str()); + props->setStringValue("waypoint/name-next", _next_name.c_str()); } void FGAIShip::setPrevName(const string& p) { _prev_name = p; - props->setStringValue("position/waypoint-name-prev", _prev_name.c_str()); + props->setStringValue("waypoint/name-prev", _prev_name.c_str()); } void FGAIShip::setRepeat(bool r) { _repeat = r; } +void FGAIShip::setRestart(bool r) { + _restart = r; +} + void FGAIShip::setMissed(bool m) { _missed = m; - props->setBoolValue("position/waypoint-missed", _missed); + props->setBoolValue("waypoint/missed", _missed); +} + +void FGAIShip::setRudder(float r) { + _rudder = r; +} + +void FGAIShip::setRoll(double rl) { + roll = rl; +} + +void FGAIShip::setLeadAngleGain(double g) { + _lead_angle_gain = g; +} + +void FGAIShip::setLeadAngleLimit(double l) { + _lead_angle_limit = l; +} + +void FGAIShip::setLeadAngleProp(double p) { + _proportion = p; +} + +void FGAIShip::setRudderConstant(double rc) { + _rudder_constant = rc; +} + +void FGAIShip::setSpeedConstant(double sc) { + _speed_constant = sc; +} + +void FGAIShip::setFixedTurnRadius(double ftr) { + _fixed_turn_radius = ftr; +} + +void FGAIShip::setInitialTunnel(bool t) { + _initial_tunnel = t; + setTunnel(_initial_tunnel); +} + +void FGAIShip::setTunnel(bool t) { + _tunnel = t; +} + +void FGAIShip::setWPNames() { + + if (prev != 0) + setPrevName(prev->name); + else + setPrevName(""); + + if (curr != 0) + setCurrName(curr->name); + else{ + setCurrName(""); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" ); + } + + 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; + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course); + } else { + return recip; + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip); + } } void FGAIShip::ProcessFlightPlan(double dt) { - _missed = false; + double time_sec = getDaySeconds(); + _dt_count += dt; /////////////////////////////////////////////////////////////////////////// @@ -390,10 +632,15 @@ void FGAIShip::ProcessFlightPlan(double 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()); + _next_run = 0.05 + (0.025 * sg_random()); + + double until_time_sec = 0; + _missed = false; // check to see if we've reached the point for our next turn // if the range to the waypoint is less than the calculated turn @@ -401,33 +648,56 @@ void FGAIShip::ProcessFlightPlan(double dt) { _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); _range_rate = (_wp_range - _old_range) / _dt_count; double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155; - // we need to try to identify a _missed waypoint - // calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs + // calculate the time needed to turn through an arc of 90 degrees, + // and allow a time error if (speed != 0) - _missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed))); + _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed))); else - _missed_time_sec = 30; + _missed_time_sec = 10; - if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint) - _missed_count += _dt_count; + _missed_range = 4 * sp_turn_radius_nm; + //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ; + //if ((_range_rate > 0) && !_new_waypoint){ + if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){ + _missed_count += _dt_count; + } - if (_missed_count >= _missed_time_sec) { + if (_missed_count >= 120) setMissed(true); - } else { + else if (_missed_count >= _missed_time_sec) + setMissed(true); + else setMissed(false); - } _old_range = _wp_range; + setWPNames(); + + if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) { - if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) { + if (_next_name == "TUNNEL"){ + _tunnel = !_tunnel; - if (_next_name == "END") { + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm ); + + fp->IncrementWaypoint(false); + next = fp->getNextWaypoint(); + + if (next->name == "WAITUNTIL" || next->name == "WAIT" + || next->name == "END" || next->name == "TUNNEL") + return; + + prev = curr; + fp->IncrementWaypoint(false); + curr = fp->getCurrentWaypoint(); + next = fp->getNextWaypoint(); + + }else if(_next_name == "END" || fp->getNextWaypoint() == 0) { if (_repeat) { - SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan restarting "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating "); fp->restart(); prev = curr; curr = fp->getCurrentWaypoint(); @@ -438,9 +708,14 @@ void FGAIShip::ProcessFlightPlan(double dt) { _range_rate = 0; _new_waypoint = true; _missed_count = 0; + _lead_angle = 0; AccelTo(prev->speed); + } else if (_restart){ + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting "); + _missed_count = 0; + initFlightPlan(); } else { - SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan dieing "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying "); setDie(true); _dt_count = 0; return; @@ -448,27 +723,69 @@ void FGAIShip::ProcessFlightPlan(double dt) { } 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; + _lead_angle = 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" || next->name == "TUNNEL") + 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_ALERT, "AIShip: " << _name << " " + << curr->name << " waiting until: " + << _until_time << " " << until_time_sec << " now " << time_sec ); + setSpeed(0); + _lead_angle = 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 @@ -479,57 +796,41 @@ void FGAIShip::ProcessFlightPlan(double dt) { _new_waypoint = true; _missed_count = 0; _range_rate = 0; + _lead_angle = 0; _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); _old_range = _wp_range; - AccelTo(prev->speed); + setWPPos(); + object_type type = getType(); + + if (type != 10) + AccelTo(prev->speed); + + _curr_alt = curr->altitude; + _prev_alt = prev->altitude; + } else { _new_waypoint = false; } // now revise the required course for the next way point - double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); - if (finite(course)) - TurnTo(course); + if (finite(_course)) + TurnTo(_course); else SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number"); - _dt_count = 0; + _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; -} - -double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const { +bool FGAIShip::initFlightPlan() { - double course, distance, recip; + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints "); - //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; - } -} + bool init = false; + _start_sec = 0; + _tunnel = _initial_tunnel; -bool FGAIShip::initFlightPlan() { - SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initialising waypoints "); fp->restart(); fp->IncrementWaypoint(false); @@ -537,51 +838,275 @@ bool FGAIShip::initFlightPlan() { 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(); + } // end while loop + + 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(); - setLatitude(prev->latitude); - setLongitude(prev->longitude); - setSpeed(prev->speed); 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_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel); 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" || fp->getNextWaypoint() == 0) { + + 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 ); + } + + setLatitude(lat); + setLongitude(lon); + + return true; +} + +void FGAIShip::setWPPos() { + + if (curr->name == "END" || curr->name == "WAIT" + || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){ + //cout << curr->name << " returning" << endl; + return; + } + + double elevation_m = 0; + wppos.setLatitudeDeg(curr->latitude); + wppos.setLongitudeDeg(curr->longitude); + wppos.setElevationM(0); + + if (curr->on_ground){ + + if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000), + elevation_m, &_material, 0)){ + wppos.setElevationM(elevation_m); + } + + //cout << curr->name << " setting measured elev " << elevation_m << endl; + + } else { + wppos.setElevationM(curr->altitude); + //cout << curr->name << " setting FP elev " << elevation_m << endl; + } + + curr->altitude = wppos.getElevationM(); + +} + +void FGAIShip::setXTrackError() { + + double course = getCourse(prev->latitude, prev->longitude, + curr->latitude, curr->longitude); + double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), + curr->latitude, curr->longitude); + double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range; + double factor = -0.0045 * speed + 1; + double limit = _lead_angle_limit * factor; + + if (_wp_range > 0){ + _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES; + } else + _lead_angle = 0; + + _lead_angle *= _lead_angle_gain * factor; + _xtrack_error = xtrack_error_nm * 6076.1155; - 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); + SG_CLAMP_RANGE(_lead_angle, -limit, limit); }