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Maintenance: AIShip

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explicit ctor.
SPDX tags.
spelling.
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scttgs0 2023-05-21 20:09:21 -05:00
parent f57266bac8
commit 69854326e6
2 changed files with 189 additions and 197 deletions
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310
src/AIModel/AIShip.cxx
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@ -1,43 +1,31 @@
// FGAIShip - FGAIBase-derived class creates an AI ship /*
// * SPDX-FileName: AIShip.cxx
// Written by David Culp, started October 2003. * SPDX-FileComment: AIBase-derived class creates an AI ship
// with major amendments and additions by Vivian Meazza, 2004 - 2007 * SPDX-FileCopyrightText: Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
// * SPDX-FileContributor: with major amendments and additions by Vivian Meazza, 2004 - 2007
// This program is free software; you can redistribute it and/or * SPDX-License-Identifier: GPL-2.0-or-later
// modify it under the terms of the GNU General Public License as */
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#include <cmath> #include <cmath>
#ifdef _MSC_VER #ifdef _MSC_VER
# include <float.h> #include <float.h>
double fgIsFinite(double x) { return _finite(x); } double fgIsFinite(double x) { return _finite(x); }
#else #else
double fgIsFinite(double x) { return std::isfinite(x); } double fgIsFinite(double x) { return std::isfinite(x); }
#endif #endif
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx> #include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.hxx> #include <simgear/math/sg_random.hxx>
#include <simgear/sg_inlines.h>
#include <simgear/timing/sg_time.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <Scenery/scenery.hxx>
#include <Main/globals.hxx> #include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include "AIShip.hxx" #include "AIShip.hxx"
using std::string;
FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
FGAIBase(ot, true), FGAIBase(ot, true),
@ -72,7 +60,8 @@ FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
invisible = false; invisible = false;
} }
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) { void FGAIShip::readFromScenario(SGPropertyNode* scFileNode)
{
if (!scFileNode) if (!scFileNode)
return; return;
@ -100,7 +89,8 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
} }
} }
bool FGAIShip::init(ModelSearchOrder searchOrder) { bool FGAIShip::init(ModelSearchOrder searchOrder)
{
reinit(); reinit();
return FGAIBase::init(searchOrder); return FGAIBase::init(searchOrder);
} }
@ -131,7 +121,8 @@ void FGAIShip::reinit()
FGAIBase::reinit(); FGAIBase::reinit();
} }
void FGAIShip::bind() { void FGAIShip::bind()
{
FGAIBase::bind(); FGAIBase::bind();
tie("surface-positions/rudder-pos-deg", tie("surface-positions/rudder-pos-deg",
@ -205,10 +196,9 @@ void FGAIShip::bind() {
} }
void FGAIShip::update(double dt) { void FGAIShip::update(double dt)
if (replay_time->getDoubleValue() <= 0) {
{ if (replay_time->getDoubleValue() <= 0) {
//SG_LOG(SG_AI, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll); //SG_LOG(SG_AI, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
// For computation of rotation speeds we just use finite differences here. // For computation of rotation speeds we just use finite differences here.
// That is perfectly valid since this thing is not driven by accelerations // That is perfectly valid since this thing is not driven by accelerations
@ -220,7 +210,7 @@ void FGAIShip::update(double dt) {
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal // and postrotate the orientation of the AIModel wrt the horizontal
// local frame // local frame
SGQuatd ec2body = ec2hl*hl2body; SGQuatd ec2body = ec2hl * hl2body;
// The cartesian position of the ship in the wgs84 world // The cartesian position of the ship in the wgs84 world
//SGVec3d cartPos = SGVec3d::fromGeod(pos); //SGVec3d cartPos = SGVec3d::fromGeod(pos);
@ -253,7 +243,7 @@ void FGAIShip::update(double dt) {
// compute the new orientation // compute the new orientation
SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The rotation difference // The rotation difference
SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew; SGQuatd dOr = inverse(ec2body) * ec2hlNew * hl2bodyNew;
SGVec3d dOrAngleAxis; SGVec3d dOrAngleAxis;
dOr.getAngleAxis(dOrAngleAxis); dOr.getAngleAxis(dOrAngleAxis);
// divided by the time difference provides a rotation speed vector // divided by the time difference provides a rotation speed vector
@ -261,14 +251,13 @@ void FGAIShip::update(double dt) {
aip.setBodyAngularVelocity(dOrAngleAxis); aip.setBodyAngularVelocity(dOrAngleAxis);
} }
} } else {
else
{
Transform(); Transform();
} }
} }
void FGAIShip::Run(double dt) { void FGAIShip::Run(double dt)
{
if (_fp_init) if (_fp_init)
ProcessFlightPlan(dt); ProcessFlightPlan(dt);
@ -281,7 +270,6 @@ void FGAIShip::Run(double dt) {
double speed_diff = tgt_speed - speed; double speed_diff = tgt_speed - speed;
if (fabs(speed_diff) > 0.1) { if (fabs(speed_diff) > 0.1) {
if (speed_diff > 0.0) if (speed_diff > 0.0)
speed += _speed_constant * dt; speed += _speed_constant * dt;
@ -296,7 +284,7 @@ void FGAIShip::Run(double dt) {
SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit); SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
{ {
/* The rotation rotating from the earth centerd frame to the horizontal /* The rotation rotating from the earth centered frame to the horizontal
local frame. */ local frame. */
SGQuatd hlOr = SGQuatd::fromLonLat(pos); SGQuatd hlOr = SGQuatd::fromLonLat(pos);
@ -305,7 +293,7 @@ void FGAIShip::Run(double dt) {
SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
/* Compute the eyepoints orientation and position wrt the earth /* Compute the eyepoints orientation and position wrt the earth
centered frame - that is global coorinates. */ centered frame - that is global coordinates. */
SGQuatd ec2body = hlOr * hlToBody; SGQuatd ec2body = hlOr * hlToBody;
/* The cartesian position of the basic view coordinate. */ /* The cartesian position of the basic view coordinate. */
@ -334,17 +322,16 @@ void FGAIShip::Run(double dt) {
_rudder = -45; _rudder = -45;
// we assume that at slow speed ships will manoeuvre using engines/bow thruster // we assume that at slow speed ships will manoeuver using engines/bow thruster
if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum??? if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
if (fabs(speed)<=5) if (fabs(speed) <= 5)
_sp_turn_radius_ft = _fixed_turn_radius; _sp_turn_radius_ft = _fixed_turn_radius;
else { else {
// adjust turn radius for speed. The equation is very approximate. // adjust turn radius for speed. The equation is very approximate.
// we need to allow for negative speeds // we need to allow for negative speeds
_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft; _sp_turn_radius_ft = 10 * pow((fabs(speed) - 15), 2) + turn_radius_ft;
} }
} else { } else {
if (fabs(speed) <= 40) if (fabs(speed) <= 40)
_sp_turn_radius_ft = _fixed_turn_radius; _sp_turn_radius_ft = _fixed_turn_radius;
else { else {
@ -396,7 +383,7 @@ void FGAIShip::Run(double dt) {
if (sum > 360.0) if (sum > 360.0)
sum -= 360.0; sum -= 360.0;
if (fabs(sum - tgt_heading)< 1.0) if (fabs(sum - tgt_heading) < 1.0)
rudder_sense = 1.0; rudder_sense = 1.0;
else else
rudder_sense = -1.0; rudder_sense = -1.0;
@ -421,7 +408,7 @@ void FGAIShip::Run(double dt) {
} else } else
rudder_limit = 20; rudder_limit = 20;
if (fabs(rudder_diff)> 0.1) { // apply dead zone if (fabs(rudder_diff) > 0.1) { // apply dead zone
if (rudder_diff > 0.0) { if (rudder_diff > 0.0) {
_rudder += _rudder_constant * dt; _rudder += _rudder_constant * dt;
@ -434,23 +421,25 @@ void FGAIShip::Run(double dt) {
if (_rudder < -rudder_limit) if (_rudder < -rudder_limit)
_rudder = -rudder_limit; _rudder = -rudder_limit;
} }
// do calculations for radar // do calculations for radar
UpdateRadar(manager); UpdateRadar(manager);
} }
}//end function } //end function
void FGAIShip::AccelTo(double speed) { void FGAIShip::AccelTo(double speed)
{
tgt_speed = speed; tgt_speed = speed;
} }
void FGAIShip::PitchTo(double angle) { void FGAIShip::PitchTo(double angle)
{
tgt_pitch = angle; tgt_pitch = angle;
} }
void FGAIShip::RollTo(double angle) { void FGAIShip::RollTo(double angle)
{
tgt_roll = angle; tgt_roll = angle;
} }
@ -459,108 +448,130 @@ void FGAIShip::YawTo(double angle) {
} }
#endif #endif
void FGAIShip::ClimbTo(double altitude) { void FGAIShip::ClimbTo(double altitude)
{
tgt_altitude_ft = altitude; tgt_altitude_ft = altitude;
_setAltitude(altitude); _setAltitude(altitude);
} }
void FGAIShip::TurnTo(double heading) { void FGAIShip::TurnTo(double heading)
{
tgt_heading = heading - _lead_angle + _tow_angle; tgt_heading = heading - _lead_angle + _tow_angle;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0); SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
_hdg_lock = true; _hdg_lock = true;
} }
double FGAIShip::sign(double x) { double FGAIShip::sign(double x)
{
if (x < 0.0) if (x < 0.0)
return -1.0; return -1.0;
else else
return 1.0; return 1.0;
} }
void FGAIShip::setStartTime(const string& st) { void FGAIShip::setStartTime(const std::string& st)
{
_start_time = st; _start_time = st;
} }
void FGAIShip::setUntilTime(const string& ut) { void FGAIShip::setUntilTime(const std::string& ut)
{
_until_time = ut; _until_time = ut;
props->setStringValue("waypoint/wait-until-time", _until_time.c_str()); props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
} }
void FGAIShip::setCurrName(const string& c) { void FGAIShip::setCurrName(const std::string& c)
{
_curr_name = c; _curr_name = c;
props->setStringValue("waypoint/name-curr", _curr_name.c_str()); props->setStringValue("waypoint/name-curr", _curr_name.c_str());
} }
void FGAIShip::setNextName(const string& n) { void FGAIShip::setNextName(const std::string& n)
{
_next_name = n; _next_name = n;
props->setStringValue("waypoint/name-next", _next_name.c_str()); props->setStringValue("waypoint/name-next", _next_name.c_str());
} }
void FGAIShip::setPrevName(const string& p) { void FGAIShip::setPrevName(const std::string& p)
{
_prev_name = p; _prev_name = p;
props->setStringValue("waypoint/name-prev", _prev_name.c_str()); props->setStringValue("waypoint/name-prev", _prev_name.c_str());
} }
void FGAIShip::setRepeat(bool r) { void FGAIShip::setRepeat(bool r)
{
_repeat = r; _repeat = r;
} }
void FGAIShip::setRestart(bool r) { void FGAIShip::setRestart(bool r)
{
_restart = r; _restart = r;
} }
void FGAIShip::setMissed(bool m) { void FGAIShip::setMissed(bool m)
{
_missed = m; _missed = m;
props->setBoolValue("waypoint/missed", _missed); props->setBoolValue("waypoint/missed", _missed);
} }
void FGAIShip::setRudder(float r) { void FGAIShip::setRudder(float r)
{
_rudder = r; _rudder = r;
} }
void FGAIShip::setRoll(double rl) { void FGAIShip::setRoll(double rl)
{
roll = rl; roll = rl;
} }
void FGAIShip::setLeadAngleGain(double g) { void FGAIShip::setLeadAngleGain(double g)
{
_lead_angle_gain = g; _lead_angle_gain = g;
} }
void FGAIShip::setLeadAngleLimit(double l) { void FGAIShip::setLeadAngleLimit(double l)
{
_lead_angle_limit = l; _lead_angle_limit = l;
} }
void FGAIShip::setLeadAngleProp(double p) { void FGAIShip::setLeadAngleProp(double p)
{
_proportion = p; _proportion = p;
} }
void FGAIShip::setRudderConstant(double rc) { void FGAIShip::setRudderConstant(double rc)
{
_rudder_constant = rc; _rudder_constant = rc;
} }
void FGAIShip::setSpeedConstant(double sc) { void FGAIShip::setSpeedConstant(double sc)
{
_speed_constant = sc; _speed_constant = sc;
} }
void FGAIShip::setFixedTurnRadius(double ftr) { void FGAIShip::setFixedTurnRadius(double ftr)
{
_fixed_turn_radius = ftr; _fixed_turn_radius = ftr;
} }
void FGAIShip::setRollFactor(double rf) { void FGAIShip::setRollFactor(double rf)
{
_roll_factor = rf * -0.0083335; _roll_factor = rf * -0.0083335;
} }
void FGAIShip::setInitialTunnel(bool t) { void FGAIShip::setInitialTunnel(bool t)
{
_initial_tunnel = t; _initial_tunnel = t;
setTunnel(_initial_tunnel); setTunnel(_initial_tunnel);
} }
void FGAIShip::setTunnel(bool t) { void FGAIShip::setTunnel(bool t)
{
_tunnel = t; _tunnel = t;
} }
void FGAIShip::setWPNames() { void FGAIShip::setWPNames()
{
if (prev != 0) if (prev != 0)
setPrevName(prev->getName()); setPrevName(prev->getName());
else else
@ -568,9 +579,9 @@ void FGAIShip::setWPNames() {
if (curr != 0) if (curr != 0)
setCurrName(curr->getName()); setCurrName(curr->getName());
else{ else {
setCurrName(""); setCurrName("");
SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error" ); SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error");
} }
if (next != 0) if (next != 0)
@ -581,24 +592,23 @@ void FGAIShip::setWPNames() {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: prev wp name " << prev->getName()); SG_LOG(SG_AI, SG_DEBUG, "AIShip: prev wp name " << prev->getName());
SG_LOG(SG_AI, SG_DEBUG, "AIShip: current wp name " << curr->getName()); SG_LOG(SG_AI, SG_DEBUG, "AIShip: current wp name " << curr->getName());
SG_LOG(SG_AI, SG_DEBUG, "AIShip: next wp name " << next->getName()); SG_LOG(SG_AI, SG_DEBUG, "AIShip: next wp name " << next->getName());
} }
double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const { double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const
{
double course, distance, az2; double course, distance, az2;
//calculate the bearing and range of the second pos from the first // calculate the bearing and range of the second pos from the first
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance); geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
distance *= SG_METER_TO_NM; distance *= SG_METER_TO_NM;
return distance; return distance;
} }
double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const { double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const
{
double course, distance, recip; double course, distance, recip;
//calculate the bearing and range of the second pos from the first // calculate the bearing and range of the second pos from the first
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance); geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
if (tgt_speed >= 0) { if (tgt_speed >= 0) {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: course " << course); SG_LOG(SG_AI, SG_DEBUG, "AIShip: course " << course);
@ -609,9 +619,9 @@ double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) con
} }
} }
void FGAIShip::ProcessFlightPlan(double dt) { void FGAIShip::ProcessFlightPlan(double dt)
{
if ( dt < 0.00001 ) { if (dt < 0.00001) {
return; return;
} }
@ -652,7 +662,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
//cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ; //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
//if ((_range_rate > 0) && !_new_waypoint){ //if ((_range_rate > 0) && !_new_waypoint){
if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){ if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint) {
_missed_count += _dt_count; _missed_count += _dt_count;
} }
@ -667,17 +677,15 @@ void FGAIShip::ProcessFlightPlan(double dt) {
setWPNames(); setWPNames();
if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) { if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
if (_next_name == "TUNNEL") {
if (_next_name == "TUNNEL"){
_tunnel = !_tunnel; _tunnel = !_tunnel;
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm ); SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm);
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
next = fp->getNextWaypoint(); next = fp->getNextWaypoint();
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
|| next->getName() == "END" || next->getName() == "TUNNEL")
return; return;
prev = curr; prev = curr;
@ -685,10 +693,9 @@ void FGAIShip::ProcessFlightPlan(double dt) {
curr = fp->getCurrentWaypoint(); curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint(); next = fp->getNextWaypoint();
} else if(_next_name == "END" || fp->getNextWaypoint() == 0) { } else if (_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) { if (_repeat) {
SG_LOG(SG_AI, SG_INFO, "AIShip: "<< _name << " Flightplan repeating "); SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan repeating ");
fp->restart(); fp->restart();
prev = curr; prev = curr;
curr = fp->getCurrentWaypoint(); curr = fp->getCurrentWaypoint();
@ -713,7 +720,6 @@ void FGAIShip::ProcessFlightPlan(double dt) {
} }
} else if (_next_name == "WAIT") { } else if (_next_name == "WAIT") {
if (_wait_count < next->getTime_sec()) { if (_wait_count < next->getTime_sec()) {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting "); SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
setSpeed(0); setSpeed(0);
@ -723,15 +729,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_lead_angle = 0; _lead_angle = 0;
return; return;
} else { } else {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " wait done: getting new waypoints ");
<< " wait done: getting new waypoints ");
_waiting = false; _waiting = false;
_wait_count = 0; _wait_count = 0;
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
next = fp->getNextWaypoint(); next = fp->getNextWaypoint();
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
|| next->getName() == "END" || next->getName() == "TUNNEL")
return; return;
prev = curr; prev = curr;
@ -746,16 +750,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_until_time = next->getTime(); _until_time = next->getTime();
setUntilTime(next->getTime()); setUntilTime(next->getTime());
if (until_time_sec > time_sec) { if (until_time_sec > time_sec) {
SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " " SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " " << curr->getName() << " waiting until: " << _until_time << " " << until_time_sec << " now " << time_sec);
<< curr->getName() << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
setSpeed(0); setSpeed(0);
_lead_angle = 0; _lead_angle = 0;
_waiting = true; _waiting = true;
return; return;
} else { } else {
SG_LOG(SG_AI, SG_INFO, "AIShip: " SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " wait until done: getting new waypoints ");
<< _name << " wait until done: getting new waypoints ");
setUntilTime(""); setUntilTime("");
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
@ -775,7 +776,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
} }
} else { } else {
//now reorganise the waypoints, so that next becomes current and so on //now reorganize the waypoints, so that next becomes current and so on
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " getting new waypoints "); SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
prev = fp->getPreviousWaypoint(); //first waypoint prev = fp->getPreviousWaypoint(); //first waypoint
@ -814,8 +815,8 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_dt_count = 0; _dt_count = 0;
} // end Processing FlightPlan } // end Processing FlightPlan
bool FGAIShip::initFlightPlan() { bool FGAIShip::initFlightPlan()
{
SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints "); SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
bool init = false; bool init = false;
@ -825,9 +826,9 @@ bool FGAIShip::initFlightPlan() {
fp->restart(); fp->restart();
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
prev = fp->getPreviousWaypoint(); //first waypoint prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!) next = fp->getNextWaypoint(); //third waypoint (might not exist!)
while (curr && (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL")) { // don't wait when initialising while (curr && (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL")) { // don't wait when initialising
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints "); SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
@ -836,11 +837,11 @@ bool FGAIShip::initFlightPlan() {
next = fp->getNextWaypoint(); next = fp->getNextWaypoint();
} }
if (!_start_time.empty()){ if (!_start_time.empty()) {
_start_sec = processTimeString(_start_time); _start_sec = processTimeString(_start_time);
double day_sec = getDaySeconds(); double day_sec = getDaySeconds();
if (_start_sec < day_sec){ if (_start_sec < day_sec) {
//cout << "flight plan has already started " << _start_time << endl; //cout << "flight plan has already started " << _start_time << endl;
init = advanceFlightPlan(_start_sec, day_sec); init = advanceFlightPlan(_start_sec, day_sec);
@ -894,49 +895,44 @@ bool FGAIShip::initFlightPlan() {
} // end of initialization } // end of initialization
double FGAIShip::processTimeString(const string& theTime) { double FGAIShip::processTimeString(const std::string& theTime)
{
int Hour; int Hour;
int Minute; int Minute;
int Second; int Second;
// first split theTime string into // first split theTime string into
// hour, minute, second and convert to int; // hour, minute, second and convert to int;
Hour = atoi(theTime.substr(0,2).c_str()); Hour = atoi(theTime.substr(0, 2).c_str());
Minute = atoi(theTime.substr(3,5).c_str()); Minute = atoi(theTime.substr(3, 5).c_str());
Second = atoi(theTime.substr(6,8).c_str()); Second = atoi(theTime.substr(6, 8).c_str());
// offset by a day-sec to allow for starting a day earlier // offset by a day-sec to allow for starting a day earlier
double time_seconds = Hour * 3600 double time_seconds = Hour * 3600 + Minute * 60 + Second;
+ Minute * 60
+ Second;
return time_seconds; return time_seconds;
} }
double FGAIShip::getDaySeconds () { double FGAIShip::getDaySeconds()
{
// Date and time // Date and time
struct tm *t = globals->get_time_params()->getGmt(); struct tm* t = globals->get_time_params()->getGmt();
double day_seconds = t->tm_hour * 3600 double day_seconds = t->tm_hour * 3600 + t->tm_min * 60 + t->tm_sec;
+ t->tm_min * 60
+ t->tm_sec;
return day_seconds; return day_seconds;
} }
bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { bool FGAIShip::advanceFlightPlan(double start_sec, double day_sec)
{
double elapsed_sec = start_sec; double elapsed_sec = start_sec;
double distance_nm = 0; double distance_nm = 0;
//cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl; //cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
while ( elapsed_sec < day_sec ) { while (elapsed_sec < day_sec) {
if (next->getName() == "END" || fp->getNextWaypoint() == 0) { if (next->getName() == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
if (_repeat ) {
//cout << _name << ": " << "restarting flightplan" << endl; //cout << _name << ": " << "restarting flightplan" << endl;
fp->restart(); fp->restart();
curr = fp->getCurrentWaypoint(); curr = fp->getCurrentWaypoint();
@ -953,14 +949,13 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
elapsed_sec += next->getTime_sec(); elapsed_sec += next->getTime_sec();
if ( elapsed_sec >= day_sec) if (elapsed_sec >= day_sec)
continue; continue;
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
next = fp->getNextWaypoint(); next = fp->getNextWaypoint();
if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT" if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT" && next->getName() != "END") {
&& next->getName() != "END") {
prev = curr; prev = curr;
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint(); curr = fp->getCurrentWaypoint();
@ -976,7 +971,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
if (elapsed_sec < until_sec) if (elapsed_sec < until_sec)
elapsed_sec = until_sec; elapsed_sec = until_sec;
if (elapsed_sec >= day_sec ) if (elapsed_sec >= day_sec)
break; break;
fp->IncrementWaypoint(false); fp->IncrementWaypoint(false);
@ -1019,11 +1014,11 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
//cout << " time diff " << time_diff << endl; //cout << " time diff " << time_diff << endl;
if (next->getName() == "WAIT" ){ if (next->getName() == "WAIT") {
setSpeed(0); setSpeed(0);
lat = curr->getLatitude(); lat = curr->getLatitude();
lon = curr->getLongitude(); lon = curr->getLongitude();
_wait_count= time_diff; _wait_count = time_diff;
_waiting = true; _waiting = true;
} else if (next->getName() == "WAITUNTIL") { } else if (next->getName() == "WAITUNTIL") {
setSpeed(0); setSpeed(0);
@ -1039,12 +1034,12 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
// << " lat " << curr->latitude << " lon " << curr->longitude // << " lat " << curr->latitude << " lon " << curr->longitude
// << " distance m " << distance_nm * SG_NM_TO_METER << endl; // << " distance m " << distance_nm * SG_NM_TO_METER << endl;
lat = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, lat = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
lon = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, lon = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
recip = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, recip = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
} }
setLatitude(lat); setLatitude(lat);
@ -1053,10 +1048,9 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
return true; return true;
} }
void FGAIShip::setWPPos() { void FGAIShip::setWPPos()
{
if (curr->getName() == "END" || curr->getName() == "WAIT" if (curr->getName() == "END" || curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL") {
|| curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL"){
//cout << curr->name << " returning" << endl; //cout << curr->name << " returning" << endl;
return; return;
} }
@ -1065,7 +1059,7 @@ void FGAIShip::setWPPos() {
wppos.setLongitudeDeg(curr->getLongitude()); wppos.setLongitudeDeg(curr->getLongitude());
wppos.setElevationM(0); wppos.setElevationM(0);
if (curr->getOn_ground()){ if (curr->getOn_ground()) {
double elevation_m = 0; double elevation_m = 0;
if (globals->get_scenery()->get_elevation_m( if (globals->get_scenery()->get_elevation_m(
SGGeod::fromGeodM(wppos, 3000), elevation_m, NULL, 0)) { SGGeod::fromGeodM(wppos, 3000), elevation_m, NULL, 0)) {
@ -1076,21 +1070,20 @@ void FGAIShip::setWPPos() {
} }
curr->setAltitude(wppos.getElevationM()); curr->setAltitude(wppos.getElevationM());
} }
void FGAIShip::setXTrackError() { void FGAIShip::setXTrackError()
{
double course = getCourse(prev->getLatitude(), prev->getLongitude(), double course = getCourse(prev->getLatitude(), prev->getLongitude(),
curr->getLatitude(), curr->getLongitude()); curr->getLatitude(), curr->getLongitude());
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
curr->getLatitude(), curr->getLongitude()); curr->getLatitude(), curr->getLongitude());
double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range; double xtrack_error_nm = sin((course - brg) * SG_DEGREES_TO_RADIANS) * _wp_range;
double factor = -0.0045 * speed + 1; double factor = -0.0045 * speed + 1;
double limit = _lead_angle_limit * factor; double limit = _lead_angle_limit * factor;
if (_wp_range > 0){ if (_wp_range > 0) {
_lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES; _lead_angle = atan2(xtrack_error_nm, (_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
} else } else
_lead_angle = 0; _lead_angle = 0;
@ -1098,5 +1091,4 @@ void FGAIShip::setXTrackError() {
_xtrack_error = xtrack_error_nm * 6076.1155; _xtrack_error = xtrack_error_nm * 6076.1155;
SG_CLAMP_RANGE(_lead_angle, -limit, limit); SG_CLAMP_RANGE(_lead_angle, -limit, limit);
} }

2
src/AIModel/AIShip.hxx
View file

@ -21,7 +21,7 @@ class FGAIManager;
class FGAIShip : public FGAIBase class FGAIShip : public FGAIBase
{ {
public: public:
FGAIShip(object_type ot = object_type::otShip); explicit FGAIShip(object_type ot = object_type::otShip);
virtual ~FGAIShip() = default; virtual ~FGAIShip() = default;
std::string_view getTypeString(void) const override { return "ship"; } std::string_view getTypeString(void) const override { return "ship"; }