X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIShip.cxx;h=41f09550e010caa143ee71695889c81e17ace689;hb=ae50c054a9007b98f1a8dafe6d589d0b4cab8873;hp=a781822ce272e97762c35f473a02cc3a9bc7dd95;hpb=4bfd1722df24f5be89459b25010e5d7352720a7b;p=flightgear.git diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index a781822ce..41f09550e 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -1,7 +1,7 @@ // FGAIShip - FGAIBase-derived class creates an AI ship // // Written by David Culp, started October 2003. -// - davidculp2@comcast.net +// with major amendments and additions by Vivian Meazza, 2004 - 2007 // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as @@ -15,76 +15,194 @@ // // 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 #endif -#include +#ifdef _MSC_VER +# include +# define finite _finite +#elif defined(__sun) || defined(sgi) +# include +#endif + #include -#include "AIFlightPlan.hxx" +#include +#include +#include +#include + +#include +#include + #include "AIShip.hxx" -FGAIShip::FGAIShip(object_type ot) : FGAIBase(ot) { +FGAIShip::FGAIShip(object_type ot) : +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; - - FGAIBase::readFromScenario(scFileNode); - - setRudder(scFileNode->getFloatValue("rudder", 0.0)); - setName(scFileNode->getStringValue("name", "Titanic")); - - std::string flightplan = scFileNode->getStringValue("flightplan"); - if (!flightplan.empty()){ - FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan); - setFlightPlan(fp); - } -} - -bool FGAIShip::init() { - - 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; - - return FGAIBase::init(); + + if (!scFileNode) + return; + + FGAIBase::readFromScenario(scFileNode); + + setRudder(scFileNode->getFloatValue("rudder", 0.0)); + setName(scFileNode->getStringValue("name", "Titanic")); + 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); + } + +} + +bool FGAIShip::init(bool search_in_AI_path) { + prev = 0; // the one behind you + curr = 0; // the one ahead + next = 0; // the next plus 1 + + props->setStringValue("name", _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; + + _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft; + + if (fp) + _fp_init = initFlightPlan(); + + return FGAIBase::init(search_in_AI_path); } void FGAIShip::bind() { FGAIBase::bind(); props->tie("surface-positions/rudder-pos-deg", - SGRawValuePointer(&rudder)); + SGRawValuePointer(&_rudder)); props->tie("controls/heading-lock", - SGRawValuePointer(&hdg_lock)); + SGRawValuePointer(&_hdg_lock)); props->tie("controls/tgt-speed-kts", - SGRawValuePointer(&tgt_speed)); + SGRawValuePointer(&tgt_speed)); props->tie("controls/tgt-heading-degs", - SGRawValuePointer(&tgt_heading)); + SGRawValuePointer(&tgt_heading)); props->tie("controls/constants/rudder", - SGRawValuePointer(&rudder_constant)); + SGRawValuePointer(&_rudder_constant)); + props->tie("controls/constants/roll-factor", + SGRawValuePointer(&_roll_factor)); props->tie("controls/constants/roll", - SGRawValuePointer(&roll_constant)); + SGRawValuePointer(&_roll_constant)); props->tie("controls/constants/rudder", - SGRawValuePointer(&rudder_constant)); + SGRawValuePointer(&_rudder_constant)); props->tie("controls/constants/speed", - SGRawValuePointer(&speed_constant)); - - props->setStringValue("name", name.c_str()); + SGRawValuePointer(&_speed_constant)); + props->tie("waypoint/range-nm", + SGRawValuePointer(&_wp_range)); + props->tie("waypoint/brg-deg", + SGRawValuePointer(&_course)); + props->tie("waypoint/rangerate-nm-sec", + SGRawValuePointer(&_range_rate)); + props->tie("waypoint/new", + SGRawValuePointer(&_new_waypoint)); + props->tie("waypoint/missed", + SGRawValuePointer(&_missed)); + props->tie("waypoint/missed-count-sec", + SGRawValuePointer(&_missed_count)); + props->tie("waypoint/missed-range-nm", + SGRawValuePointer(&_missed_range)); + props->tie("waypoint/missed-time-sec", + SGRawValuePointer(&_missed_time_sec)); + props->tie("waypoint/wait-count-sec", + SGRawValuePointer(&_wait_count)); + 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() { @@ -95,195 +213,900 @@ void FGAIShip::unbind() { props->untie("controls/tgt-heading-degs"); props->untie("controls/constants/roll"); props->untie("controls/constants/rudder"); - props->untie("controls/constants/speed"); + props->untie("controls/constants/roll-factor"); + props->untie("controls/constants/speed"); + 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); + + string type = getTypeString(); + + double alpha; + double rudder_limit; + double raw_roll; + + // adjust speed + double speed_diff = tgt_speed - speed; + + if (fabs(speed_diff) > 0.1) { + + if (speed_diff > 0.0) + speed += _speed_constant * dt; - if (fp) ProcessFlightPlan(dt); - - double sp_turn_radius_ft; - double rd_turn_radius_ft; - double speed_north_deg_sec; - double speed_east_deg_sec; - double dist_covered_ft; - double alpha; - double rudder_limit; - double raw_roll; - - // adjust speed - double speed_diff = tgt_speed - speed; - if (fabs(speed_diff) > 0.1) { - if (speed_diff > 0.0) speed += speed_constant * dt; - if (speed_diff < 0.0) speed -= speed_constant * dt; - } - - // convert speed to degrees per second - speed_north_deg_sec = cos( hdg / SGD_RADIANS_TO_DEGREES ) - * speed * 1.686 / ft_per_deg_lat; - speed_east_deg_sec = sin( hdg / SGD_RADIANS_TO_DEGREES ) - * speed * 1.686 / ft_per_deg_lon; - - // set new position - pos.setlat( pos.lat() + speed_north_deg_sec * dt); - pos.setlon( pos.lon() + speed_east_deg_sec * dt); - - - // adjust heading based on current rudder angle - if (rudder <= -0.25 || rudder >= 0.25) { - /* turn_radius_ft = 0.088362 * speed * speed - / tan( fabs(rudder) / SG_RADIANS_TO_DEGREES ); - turn_circum_ft = SGD_2PI * turn_radius_ft; - dist_covered_ft = speed * 1.686 * dt; - alpha = dist_covered_ft / turn_circum_ft * 360.0;*/ - - if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values - if (rudder > 45) rudder = 45; - if (rudder < -45) rudder = -45; - -// adjust turn radius for speed. The equation is very approximate. - sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft; -// cout << " speed turn radius " << sp_turn_radius_ft ; - -// adjust turn radius for rudder angle. The equation is even more approximate. - float a = 19; - float b = -0.2485; - float c = 0.543; - - 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; - - -// make sure that alpha is applied in the right direction - hdg += alpha * sign( rudder ); - if ( hdg > 360.0 ) hdg -= 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; - } - else - { -// rudder angle is 0 - raw_roll = 0; -// cout << " roll "<< roll << endl; - } + if (speed_diff < 0.0) + speed -= _speed_constant * dt; + + } + + // 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) + * speed * 1.686 / ft_per_deg_lat; + speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES) + * 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 + if (turn_radius_ft <= 0) + turn_radius_ft = 0; // don't allow nonsense values + + if (_rudder > 45) + _rudder = 45; + + if (_rudder < -45) + _rudder = -45; + + + //we assume that at slow speed ships will manoeuvre using engines/bow thruster + 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; + } + } + + + if (_rudder <= -0.25 || _rudder >= 0.25) { + // adjust turn radius for _rudder angle. The equation is even more approximate. + float a = 19; + float b = -0.2485; + float c = 0.543; + + _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft; + + // 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); + + SG_NORMALIZE_RANGE(hdg, 0.0, 360.0); + + //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; + } //low pass filter - roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant)); - - /*cout << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ; - cout << " hdg: " << hdg << endl ;*/ - - // adjust target rudder angle if heading lock engaged - if (hdg_lock) { - double rudder_sense = 0.0; - double diff = fabs(hdg - tgt_heading); - if (diff > 180) diff = fabs(diff - 360); - double sum = hdg + diff; - if (sum > 360.0) sum -= 360.0; - if (fabs(sum - tgt_heading) < 1.0) { - rudder_sense = 1.0; - } else { - rudder_sense = -1.0; - } - if (diff < 15){ - tgt_rudder = diff * rudder_sense; - } - else - { - tgt_rudder = 45 * rudder_sense; - } - } - - // 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 (fabs(rudder_diff) > 0.1) { - if (rudder_diff > 0.0){ - rudder += rudder_constant * dt; - if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit - } else if (rudder_diff < 0.0){ - rudder -= rudder_constant * dt; - if (rudder < -rudder_limit) rudder = -rudder_limit; - } -} + if (speed < 0) + roll = -roll; + 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); + //cout << "_rudder diff" << diff << endl; + if (diff > 180) + diff = fabs(diff - 360); -}//end function + double sum = hdg + diff; + + if (sum > 360.0) + sum -= 360.0; + + if (fabs(sum - tgt_heading)< 1.0) + rudder_sense = 1.0; + else + rudder_sense = -1.0; + + if (speed < 0) + rudder_sense = -rudder_sense; + + if (diff < 15) + _tgt_rudder = diff * rudder_sense; + else + _tgt_rudder = 45 * rudder_sense; + + rudder_diff = _tgt_rudder - _rudder; + } + + // set the _rudder limit by speed + 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 + if (rudder_diff > 0.0) { + _rudder += _rudder_constant * dt; + + if (_rudder > rudder_limit) // apply the _rudder limit + _rudder = rudder_limit; + + } else if (rudder_diff < 0.0) { + _rudder -= _rudder_constant * dt; + + if (_rudder < -rudder_limit) + _rudder = -rudder_limit; + + } + + // do calculations for radar + UpdateRadar(manager); + } +}//end function void FGAIShip::AccelTo(double speed) { - tgt_speed = speed; + tgt_speed = speed; } void FGAIShip::PitchTo(double angle) { - tgt_pitch = angle; + tgt_pitch = angle; } - void FGAIShip::RollTo(double angle) { - tgt_roll = angle; + tgt_roll = angle; } - void FGAIShip::YawTo(double angle) { } - void FGAIShip::ClimbTo(double altitude) { + tgt_altitude_ft = altitude; + _setAltitude(altitude); } - void FGAIShip::TurnTo(double heading) { - tgt_heading = heading; - hdg_lock = true; + tgt_heading = heading - _lead_angle + _tow_angle; + SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0); + _hdg_lock = true; } - double FGAIShip::sign(double x) { - - if ( x < 0.0 ) { return -1.0; } - else { return 1.0; } + if (x < 0.0) + return -1.0; + else + return 1.0; } void FGAIShip::setFlightPlan(FGAIFlightPlan* f) { - fp = f; + fp = f; } void FGAIShip::setName(const string& n) { - name = n; + _name = n; } -void FGAIShip::ProcessFlightPlan(double dt) { - // not implemented yet +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("waypoint/name-curr", _curr_name.c_str()); +} + +void FGAIShip::setNextName(const string& n) { + _next_name = n; + props->setStringValue("waypoint/name-next", _next_name.c_str()); +} + +void FGAIShip::setPrevName(const string& p) { + _prev_name = p; + 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("waypoint/missed", _missed); } void FGAIShip::setRudder(float r) { - rudder = r; + _rudder = r; } void FGAIShip::setRoll(double rl) { - roll = 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) { + + double time_sec = getDaySeconds(); + + _dt_count += dt; + + /////////////////////////////////////////////////////////////////////////// + // Check Execution time (currently once every 1 sec) + // Add a bit of randomization to prevent the execution of all flight plans + // in synchrony, which can add significant periodic framerate flutter. + /////////////////////////////////////////////////////////////////////////// + + //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl; + if (_dt_count < _next_run && _start_sec < time_sec) + return; + + _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 + // radius we can start the turn to the next leg + _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 a time error + if (speed != 0) + _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed))); + else + _missed_time_sec = 10; + + _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 >= 120) + setMissed(true); + 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 (_next_name == "TUNNEL"){ + _tunnel = !_tunnel; + + 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_ALERT, "AIShip: "<< _name << " Flightplan repeating "); + fp->restart(); + prev = curr; + curr = fp->getCurrentWaypoint(); + next = fp->getNextWaypoint(); + setWPNames(); + _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _old_range = _wp_range; + _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_ALERT, "AIShip: " << _name << " Flightplan dying "); + setDie(true); + _dt_count = 0; + return; + } + + } else if (_next_name == "WAIT") { + + 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_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); + curr = fp->getCurrentWaypoint(); + next = fp->getNextWaypoint(); + _waiting = false; + } + + } else { + //now reorganise the waypoints, so that next becomes current and so on + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " getting new waypoints "); + fp->IncrementWaypoint(false); + prev = fp->getPreviousWaypoint(); //first waypoint + curr = fp->getCurrentWaypoint(); //second waypoint + next = fp->getNextWaypoint(); //third waypoint (might not exist!) + } + + setWPNames(); + _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; + 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 + _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + + if (finite(_course)) + TurnTo(_course); + else + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number"); + + _dt_count = 0; +} // end Processing FlightPlan + +bool FGAIShip::initFlightPlan() { + + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints "); + + bool init = false; + _start_sec = 0; + _tunnel = _initial_tunnel; + + fp->restart(); + fp->IncrementWaypoint(false); + + prev = fp->getPreviousWaypoint(); //first waypoint + curr = fp->getCurrentWaypoint(); //second waypoint + next = fp->getNextWaypoint(); //third waypoint (might not exist!) + + 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(); + setHeading(getCourse(prev->latitude, prev->longitude, 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_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel); + if (prev) + init = true; + + if (init) + return true; + else + return false; + +} // end of initialization + + +double FGAIShip::processTimeString(const string& theTime) { + + int Hour; + int Minute; + int Second; + + // 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_CLAMP_RANGE(_lead_angle, -limit, limit); + }