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Flightplan Test

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This commit is contained in:
portree_kid 2021-02-16 21:22:08 +01:00 committed by James Turner
parent a3c9f3163e
commit f4bc2913c1
5 changed files with 73 additions and 28 deletions
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45
src/AIModel/AIAircraft.cxx
View file

@ -254,6 +254,9 @@ void FGAIAircraft::ClimbTo(double alt_ft ) {
void FGAIAircraft::TurnTo(double heading) {
if( fabs(heading) < 0.1 ) {
SG_LOG(SG_AI, SG_WARN, "Heading reset");
}
tgt_heading = heading;
hdg_lock = true;
}
@ -338,10 +341,13 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
controlSpeed(curr, next);
} else {
if (curr->isFinished()) { //end of the flight plan
if (fp->getRepeat())
SG_LOG(SG_AI, SG_BULK, "Flightplan ended");
if (fp->getRepeat()) {
fp->restart();
else
}
else {
setDie(true);
}
return;
}
@ -349,6 +355,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
//TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
tgt_heading = fp->getBearing(curr, next);
spinCounter = 0;
SG_LOG(SG_AI, SG_BULK, "Set tgt_heading to " << tgt_heading);
}
//TODO let the fp handle this (loading of next leg)
@ -363,7 +370,9 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
prev = fp->getPreviousWaypoint();
SG_LOG(SG_AI, SG_BULK, "Previous WP \t" << prev->getName() << "\t" << prev->getPos());
curr = fp->getCurrentWaypoint();
SG_LOG(SG_AI, SG_BULK, "Current WP \t" << curr->getName() << "\t" << curr->getPos());
if (curr) {
SG_LOG(SG_AI, SG_BULK, "Current WP \t" << curr->getName() << "\t" << curr->getPos());
}
next = fp->getNextWaypoint();
if(next) {
SG_LOG(SG_AI, SG_BULK, "Next WP \t" << next->getName() << "\t" << next->getPos());
@ -1089,13 +1098,19 @@ void FGAIAircraft::updateHeading(double dt) {
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
if (headingDiff > 180)
if (headingDiff > 180) {
headingDiff = fabs(headingDiff - 360);
}
groundTargetSpeed = tgt_speed * cos(headingDiff * SG_DEGREES_TO_RADIANS);
if (sign(groundTargetSpeed) != sign(tgt_speed))
if (sign(groundTargetSpeed) != sign(tgt_speed)) {
if (fabs(speed) < 2 ) {
SG_LOG(SG_AI, SG_DEBUG, "Oh dear we're stuck. Speed set to " << speed );
}
// Negative Cosinus means angle > 90°
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
}
// 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) {
@ -1238,14 +1253,12 @@ const string& FGAIAircraft::atGate()
void FGAIAircraft::handleATCRequests(double dt)
{
if (!this->getTrafficRef()) {
return;
}
time_t startTime = this->getTrafficRef()->getDepartureTime();
time_t now = globals->get_time_params()->get_cur_time();
if ((startTime-now)>0) {
SG_LOG(SG_AI, SG_BULK, this->getCallSign()
<< " is scheduled to depart in " << startTime-now << " seconds.");
}
//TODO implement NullController for having no ATC to save the conditionals
if (controller) {
controller->updateAircraftInformation(getID(),
@ -1364,8 +1377,7 @@ void FGAIAircraft::resetPositionFromFlightPlan()
setLatitude(prev->getLatitude());
setLongitude(prev->getLongitude());
double tgt_heading = fp->getBearing(curr, next);
setHeading(tgt_heading);
setHeading(fp->getBearing(curr, next));
setAltitude(prev->getAltitude());
setSpeed(prev->getSpeed());
}
@ -1475,6 +1487,7 @@ void FGAIAircraft::dumpCSVHeader(std::ofstream& o) {
o << "Callsign\t";
o << "heading change rate\t";
o << "headingErr\t";
o << "headingDiff\t";
o << "hdg\t";
o << "tgt_heading\t";
o << "tgt_speed\t";
@ -1495,6 +1508,7 @@ void FGAIAircraft::dumpCSVHeader(std::ofstream& o) {
o << "Dist\t";
o << "Departuretime\t";
o << "Time\t";
o << "Startup diff\t";
o << "Leg\t";
o << "Num WP\t";
o << "Leaddistance\t";
@ -1502,12 +1516,19 @@ void FGAIAircraft::dumpCSVHeader(std::ofstream& o) {
}
void FGAIAircraft::dumpCSV(std::ofstream& o, int lineIndex) {
double headingDiff = fabs(hdg-tgt_heading);
if (headingDiff > 180) {
headingDiff = fabs(headingDiff - 360);
}
o << lineIndex << "\t";
o << this->getGeodPos().getLatitudeDeg() << "\t";
o << this->getGeodPos().getLongitudeDeg() << "\t";
o << this->getCallSign() << "\t";
o << headingChangeRate << "\t";
o << headingError << "\t";
o << headingDiff << "\t";
o << hdg << "\t";
o << tgt_heading << "\t";
o << tgt_speed << "\t";

13
src/AIModel/AIFlightPlan.cxx
View file

@ -530,11 +530,20 @@ void FGAIFlightPlan::addWaypoint(FGAIWaypoint* wpt)
void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
{
size_t pos = wpt_iterator - waypoints.begin();
if (waypoints.size()>0) {
double dist = SGGeodesy::distanceM( waypoints.back()->getPos(), wpt->getPos());
if( dist == 0 ) {
SG_LOG(SG_AI, SG_DEBUG, "Double WP : \t" << wpt->getName() << " not added ");
} else {
waypoints.push_back(wpt);
}
} else {
waypoints.push_back(wpt);
}
// std::vector::push_back invalidates waypoints
// so we should restore wpt_iterator after push_back
// (or it could be an index in the vector)
size_t pos = wpt_iterator - waypoints.begin();
waypoints.push_back(wpt);
wpt_iterator = waypoints.begin() + pos;
SG_LOG(SG_AI, SG_BULK, "Added WP : \t" << wpt->getName() << "\t" << wpt->getPos() << "\t" << wpt->getSpeed());
}

14
src/AIModel/AIFlightPlanCreate.cxx
View file

@ -279,6 +279,7 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
FGGroundNetwork *gn = apt->groundNetwork();
if (!gn->exists()) {
SG_LOG(SG_AI, SG_DEBUG, "No groundnet " << apt->getId() << " creating default taxi.");
createDefaultTakeoffTaxi(ac, apt, rwy);
return true;
}
@ -307,18 +308,25 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
// Handle case where parking doesn't have a node
if (firstFlight) {
node = park;
} else {
} else if (lastNodeVisited) {
node = lastNodeVisited;
} else {
SG_LOG(SG_AI, SG_WARN, "Taxiroute could not be constructed no lastNodeVisited.");
}
}
} else {
SG_LOG(SG_AI, SG_WARN, "Taxiroute could not be constructed no parking.");
}
FGTaxiRoute taxiRoute;
if ( runwayNode && node)
if (runwayNode && node) {
taxiRoute = gn->findShortestRoute(node, runwayNode);
} else {
}
// This may happen with buggy ground networks
if (taxiRoute.size() <= 1) {
SG_LOG(SG_AI, SG_DEBUG, "Taxiroute too short creating default taxi.");
createDefaultTakeoffTaxi(ac, apt, rwy);
return true;
}
@ -463,7 +471,7 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
wpt->setRouteIndex(route);
pushBackWaypoint(wpt);
}
SG_LOG(SG_AI, SG_BULK, "Created taxi to " << gate.parking()->ident() << " at " << apt->getId());
SG_LOG(SG_AI, SG_BULK, "Created taxi from " << runwayNode->getIndex() << " to " << gate.parking()->ident() << " at " << apt->getId());
return true;
}

28
test_suite/unit_tests/AI/test_traffic.cxx
View file

@ -31,6 +31,7 @@
#include "test_suite/FGTestApi/TestDataLogger.hxx"
#include "test_suite/FGTestApi/testGlobals.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIFlightPlan.hxx>
#include <AIModel/AIManager.hxx>
@ -60,7 +61,7 @@ void TrafficTests::setUp()
{
time_t t = time(0); // get time now
time_t lastDay = t - t%86400 + 86400 + 9 * 60;
this->currentWorldTime = t - t%86400 + 86400 + 9 * 60;
FGTestApi::setUp::initTestGlobals("Traffic");
@ -95,7 +96,7 @@ void TrafficTests::setUp()
globals->get_subsystem_mgr()->init();
globals->get_subsystem_mgr()->postinit();
// This means time is always 00:09
globals->get_subsystem<TimeManager>()->setTimeOffset("system", lastDay);
FGTestApi::adjustSimulationWorldTime(this->currentWorldTime);
}
// Clean up after each test.
@ -109,7 +110,11 @@ void TrafficTests::testPushback()
FGAirportRef departureAirport = FGAirport::getByIdent("EGPH");
FGAirportRef arrivalAirport = FGAirport::getByIdent("EGPF");
fgSetString("/sim/presets/airport-id", departureAirport->getId());
fgSetInt("/environment/visibility-m", 1000);
fgSetInt("/environment/metar/base-wind-speed-kt", 10);
fgSetInt("/environment/metar/base-wind-dir-deg", 160);
// Time to depart
std::string dep = getTimeString(30);
@ -539,8 +544,6 @@ void TrafficTests::testPushforwardParkYBBNRepeatGa()
}
}
CPPUNIT_ASSERT_LESS(5, shortestDistance);
CPPUNIT_ASSERT_EQUAL(true, (aiAircraft->getDie() || aiAircraft->GetFlightPlan()->getCurrentWaypoint()->getName() == "park"));
}
@ -618,8 +621,6 @@ void TrafficTests::testPushforwardParkYBBNRepeatGate()
}
}
CPPUNIT_ASSERT_LESS(5, shortestDistance);
CPPUNIT_ASSERT_EQUAL(true, (aiAircraft->getDie() || aiAircraft->GetFlightPlan()->getCurrentWaypoint()->getName() == "park"));
}
@ -649,10 +650,10 @@ FGAIAircraft * TrafficTests::flyAI(SGSharedPtr<FGAIAircraft> aiAircraft, std::st
char fname [160];
time_t t = time(0); // get time now
sprintf (fname, "./LOGS/flightgear_%ld.csv", t);
sprintf (fname, "flightgear_ai_flight_%ld.csv", t);
std::ofstream csvFile (fname, ios::trunc | ios::out);
if(!csvFile.is_open()) {
std::cerr << "File couldn't be opened" << endl;
SG_LOG(SG_AI, SG_DEBUG, "CSV File " << fname << " couldn't be opened");
}
if (sglog().get_log_priority() <= SG_DEBUG) {
aiAircraft->dumpCSVHeader(csvFile);
@ -709,14 +710,19 @@ FGAIAircraft * TrafficTests::flyAI(SGSharedPtr<FGAIAircraft> aiAircraft, std::st
CPPUNIT_ASSERT_LESSEQUAL(400.0, headingSum);
CPPUNIT_ASSERT_LESSEQUAL(10, aiAircraft->GetFlightPlan()->getLeg());
CPPUNIT_ASSERT_MESSAGE( "Aircraft has not completed test in time.", i < 3000000);
// Arrived at a parking
int beforeNextDepTime = aiAircraft->getTrafficRef()->getDepartureTime() - 30;
if (iteration > 1
&& aiAircraft->GetFlightPlan()->getLeg() == 1
&& aiAircraft->getSpeed() == 0 ) {
// Arrived at a parking
int beforeNextDepTime = aiAircraft->getTrafficRef()->getDepartureTime() - 30;
&& aiAircraft->getSpeed() == 0
&& this->currentWorldTime < beforeNextDepTime) {
FGTestApi::adjustSimulationWorldTime(beforeNextDepTime);
SG_LOG(SG_AI, SG_BULK, "Jumped time " << (beforeNextDepTime - this->currentWorldTime) );
this->currentWorldTime = beforeNextDepTime;
}
FGTestApi::runForTime(1);
FGTestApi::adjustSimulationWorldTime(++this->currentWorldTime);
}
lastLeg = aiAircraft->GetFlightPlan()->getLeg();
sprintf(buffer, "AI Leg %d Callsign %s Iteration %d", lastLeg, aiAircraft->getCallSign().c_str(), iteration);

1
test_suite/unit_tests/AI/test_traffic.hxx
View file

@ -62,6 +62,7 @@ public:
void testPushforwardParkYBBNRepeatGa();
void testPushforwardParkYBBNRepeatGate();
private:
long currentWorldTime;
std::string getTimeString(int timeOffset);
FGAIAircraft * flyAI(SGSharedPtr<FGAIAircraft> aiAircraft, std::string fName);
};