fly/flightgear
1
0
Fork 0
Code Activity

Maintenance: AIAircraft

Browse source 
fix a few missing initializations.
remove dead code.
This commit is contained in:
Scott Giese 2021-02-21 22:14:05 -06:00
parent d605294348
commit efcd505c9c
2 changed files with 24 additions and 155 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

147
src/AIModel/AIAircraft.cxx
View file

@ -88,6 +88,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI A
headingError = 0;
minBearing = 360;
speedFraction =1.0;
prevSpeed = 0.0;
prev_dist_to_go = 0.0;
holdPos = false;
@ -103,6 +104,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI A
}
takeOffStatus = 0;
timeElapsed = 0;
trackCache.remainingLength = 0;
trackCache.startWptName = "-";
@ -114,7 +116,6 @@ FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI A
FGAIAircraft::~FGAIAircraft() {
//delete fp;
if (controller)
controller->signOff(getID());
}
@ -126,7 +127,6 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
FGAIBase::readFromScenario(scFileNode);
//acwakecategory = scFileNode->getStringValue("class", "jet_transport");
setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
setFlightPlan(scFileNode->getStringValue("flightplan"),
scFileNode->getBoolValue("repeat", false));
@ -167,12 +167,6 @@ void FGAIAircraft::setPerformance(const std::string& acType, const std::string&
}
}
#if 0
void FGAIAircraft::setPerformance(PerformanceData *ps) {
_performance = ps;
}
#endif
void FGAIAircraft::Run(double dt)
{
bool outOfSight = false,
@ -205,7 +199,6 @@ void FGAIAircraft::setPerformance(const std::string& acType, const std::string&
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
//assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
@ -310,20 +303,6 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
controlHeading(curr);
controlSpeed(curr, next);
/*
if (speed < 0) {
cerr << getCallSign()
<< ": verifying lead distance to waypoint : "
<< fp->getCurrentWaypoint()->name << " "
<< fp->getLeadDistance() << ". Distance to go "
<< (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr))
<< ". Target speed = "
<< tgt_speed
<< ". Current speed = "
<< speed
<< ". Minimum Bearing " << minBearing
<< endl;
} */
} else {
if (curr->isFinished()) //end of the flight plan
{
@ -428,25 +407,13 @@ double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double spe
{
// err is negative when we passed too high
double vert_m = vert_ft * SG_FEET_TO_METER;
//double err_m = err * SG_FEET_TO_METER;
//double angle = atan2(vert_m, dist_m);
double speedMs = (speed * SG_NM_TO_METER) / 3600;
//double vs = cos(angle) * speedMs; // Now in m/s
double vs = 0;
//cerr << "Error term = " << err_m << endl;
if (dist_m) {
vs = ((vert_m) / dist_m) * speedMs;
}
// Convert to feet per minute
vs *= (SG_METER_TO_FEET * 60);
//if (getCallSign() == "LUFTHANSA2002")
//if (fabs(vs) > 100000) {
// if (getCallSign() == "LUFTHANSA2057") {
// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
// // / 6076.0 / speed*60.0);
// //raise(SIGSEGV);
// }
return vs;
}
@ -468,7 +435,6 @@ void FGAIAircraft::assertSpeed(double speed)
<< "speedFraction << " << speedFraction << " "
<< "Currecnt speed << " << speed << " "
<< endl;
//raise(SIGSEGV);
}
}
@ -547,7 +513,6 @@ bool FGAIAircraft::loadNextLeg(double distance) {
if (!ok) {
SG_LOG(SG_AI, SG_WARN, "Failed to create waypoints for leg:" << leg+1);
}
//cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
}
return true;
}
@ -681,7 +646,6 @@ void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
towerController->announcePosition(getID(), fp.get(), fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
//cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
}
}
}
@ -702,7 +666,6 @@ void FGAIAircraft::processATC(const FGATCInstruction& instruction) {
// let an offending aircraft take an evasive action
// for instance taxi back a little bit.
}
//cerr << "Processing ATC instruction (not Implimented yet)" << endl;
if (instruction.getHoldPattern ()) {}
// Hold Position
@ -713,15 +676,11 @@ void FGAIAircraft::processATC(const FGATCInstruction& instruction) {
AccelTo(0.0);
} else {
if (holdPos) {
//if (trafficRef)
// cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
holdPos = false;
}
// Change speed Instruction. This can only be excecuted when there is no
// Hold position instruction.
if (instruction.getChangeSpeed ()) {
// if (trafficRef)
//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
AccelTo(instruction.getSpeed());
} else {
if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
@ -786,9 +745,6 @@ void FGAIAircraft::handleFirstWaypoint() {
if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
{
use_perf_vs = false;
//tgt_vs = (curr->getCrossat() - prev->getAltitude())
// / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
// / 6076.0 / prev->getSpeed()*60.0);
double vert_dist_ft = curr->getCrossat() - altitude_ft;
double err_dist = prev->getCrossat() - altitude_ft;
double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
@ -844,7 +800,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
//assertSpeed(tgt_speed);
if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
@ -853,15 +809,8 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
if (lead_dist < fabs(2*speed)) {
//don't skip over the waypoint
lead_dist = fabs(2*speed);
//cerr << "Extending lead distance to " << lead_dist << endl;
}
//prev_dist_to_go = dist_to_go;
//if (dist_to_go < lead_dist)
// cerr << trafficRef->getCallSign() << " Distance : "
// << dist_to_go << ": Lead distance "
// << lead_dist << " " << curr->name
// << " Ground target speed " << groundTargetSpeed << endl;
double bearing = 0;
// don't do bearing calculations for ground traffic
bearing = getBearing(fp->getBearing(pos, curr));
@ -876,13 +825,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
speedFraction = 1.0;
}
}
if (trafficRef) {
//cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
//if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
//cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
// << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
//}
}
if ((dist_to_go < lead_dist) ||
((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
minBearing = 360;
@ -924,13 +867,10 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
//cerr << "Passing waypoint : " << prev->getName() << endl;
if (prev->contains("PushBackPoint")) {
// clearing the parking assignment will release the gate
fp->setGate(ParkingAssignment());
AccelTo(0.0);
//setTaxiClearanceRequest(true);
}
if (prev->contains("legend")) {
fp->incrementLeg();
@ -942,22 +882,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
if (prev->contains(string("Accel"))) {
takeOffStatus = 3;
}
//if (prev->contains(string("landing"))) {
// if (speed < _performance->vTaxi() * 2) {
// fp->shortenToFirst(2, "legend");
// }
//}
//if (prev->contains(string("final"))) {
//
// cerr << getCallSign() << " "
// << fp->getPreviousWaypoint()->getName()
// << ". Alt = " << altitude_ft
// << " vs " << vs
// << " horizontal speed " << speed
// << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
// << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
// << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
//q}
// This is the last taxi waypoint, and marks the the end of the flight plan
// so, the schedule should update and wait for the next departure time.
if (prev->contains("END")) {
@ -980,7 +905,6 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
*/
void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
double calc_bearing = fp->getBearing(pos, curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
calc_bearing +=180;
SG_NORMALIZE_RANGE(calc_bearing, 0.0, 360.0);
@ -998,7 +922,6 @@ void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
<< ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
cerr << "waypoint name: '" << curr->getName() << "'" << endl;
//exit(1); // FIXME
}
}
@ -1015,7 +938,6 @@ void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
//assertSpeed(speed);
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
@ -1047,11 +969,9 @@ void FGAIAircraft::updatePrimaryTargetValues(double dt, bool& flightplanActive,
pos.setElevationFt(altitude_ft);
}
if (trafficRef) {
//cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
aiOutOfSight = !aiTrafficVisible();
if (aiOutOfSight) {
setDie(true);
//cerr << trafficRef->getRegistration() << " is set to die " << endl;
aiOutOfSight = true;
return;
}
@ -1095,51 +1015,21 @@ void FGAIAircraft::updateHeading(double dt) {
roll = 0.01;
if (roll != 0.0) {
// double turnConstant;
//if (no_roll)
// turnConstant = 0.0088362;
//else
// turnConstant = 0.088362;
// If on ground, calculate heading change directly
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
// double bank_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) {
bank_sense = 1.0; // right turn
} else {
bank_sense = -1.0; // left turn
}*/
if (headingDiff > 180)
headingDiff = fabs(headingDiff - 360);
double sum = hdg + headingDiff;
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading) > 0.0001) {
// bank_sense = -1.0;
} else {
// bank_sense = 1.0;
}
//if (trafficRef)
// cerr << trafficRef->getCallSign() << " Heading "
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
//if (headingDiff > 60) {
groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
//assertSpeed(groundTargetSpeed);
//groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
//} else {
// groundTargetSpeed = tgt_speed;
//}
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
//assertSpeed(groundTargetSpeed);
// Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
if (speed != 0) {
if (headingDiff > 30.0) {
@ -1238,21 +1128,9 @@ void FGAIAircraft::updateVerticalSpeedTarget(double dt) {
}
} else if (fp->getCurrentWaypoint()) {
double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
double err_dist = 0; //prev->getCrossat() - altitude_ft;
double err_dist = 0;
double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
//cerr << "Target vs before : " << tgt_vs;
/* double max_vs = 10*(tgt_altitude_ft - altitude_ft);
double min_vs = 100;
if (tgt_altitude_ft < altitude_ft)
min_vs = -100.0;
if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
&& (fabs(max_vs) < fabs(tgt_vs)))
tgt_vs = max_vs;
if (fabs(tgt_vs) < fabs(min_vs))
tgt_vs = min_vs;*/
//cerr << "target vs : after " << tgt_vs << endl;
} else {
// avoid crashes when fp has no current waypoint
// eg see FLIGHTGEAR-68 on sentry; we crashed in getCrossat()
@ -1319,12 +1197,11 @@ void FGAIAircraft::updateActualState(double dt)
double distance = speed * SG_KT_TO_MPS * dt;
pos = SGGeodesy::direct(pos, hdg, distance);
if (onGround())
speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
else
speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
//assertSpeed(speed);
updateHeading(dt);
roll = _performance->actualBankAngle(this, tgt_roll, dt);
@ -1364,7 +1241,6 @@ bool FGAIAircraft::reachedEndOfCruise(double &distance) {
double descentTimeNeeded = verticalDistance / descentRate;
double distanceCovered = descentSpeed * descentTimeNeeded;
//cerr << "Tracking : " << fgGetString("/ai/track-callsign");
if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
cerr << "Descent rate : " << descentRate << endl;
@ -1373,7 +1249,7 @@ bool FGAIAircraft::reachedEndOfCruise(double &distance) {
cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
cerr << "DistanceCovered : " << distanceCovered << endl;
}
//cerr << "Distance = " << distance << endl;
distance = distanceCovered;
if (dist < distanceCovered) {
if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
@ -1502,4 +1378,3 @@ void FGAIAircraft::updateModelProperties(double dt)
setStrobeLight(fp->getPreviousWaypoint()->getStrobeLight());
setTaxiLight(fp->getPreviousWaypoint()->getTaxiLight());
}

6
src/AIModel/AIAircraft.hxx
View file

@ -40,13 +40,11 @@ public:
virtual void readFromScenario(SGPropertyNode* scFileNode);
// virtual bool init(bool search_in_AI_path=false);
virtual void bind();
virtual void update(double dt);
virtual void unbind();
void setPerformance(const std::string& acType, const std::string& perfString);
// void setPerformance(PerformanceData *ps);
void setFlightPlan(const std::string& fp, bool repat = false);
@ -84,8 +82,6 @@ public:
void setTakeOffStatus(int status) { takeOffStatus = status; };
void scheduleForATCTowerDepartureControl(int state);
//inline bool isScheduledForTakeoff() { return scheduledForTakeoff; };
virtual const char* getTypeString(void) const { return "aircraft"; }
const std::string& GetTransponderCode() { return transponderCode; };
@ -163,7 +159,6 @@ private:
inline bool isStationary() { return ((fabs(speed)<=0.0001)&&(fabs(tgt_speed)<=0.0001));}
inline bool needGroundElevation() { if (!isStationary()) _needsGroundElevation=true;return _needsGroundElevation;}
double sign(double x);
std::string acType;
@ -195,5 +190,4 @@ private:
} trackCache;
};
#endif // _FG_AIAircraft_HXX