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flightgear/src/AIModel/AIAircraft.cxx

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// FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
//
// This program is free software; you can redistribute it and/or
// 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.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Main/util.hxx>
#include <simgear/structure/exception.hxx>
#include <string>
#include <cmath>
#include <ctime>
// defined in AIShip.cxx
extern double fgIsFinite(double x);
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include "performancedb.hxx"
#include <signal.h>
using std::string;
using std::cerr;
using std::endl;
//#include <Airports/trafficcontroller.hxx>
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
/* HOT must be disabled for AI Aircraft,
* otherwise traffic detection isn't working as expected.*/
FGAIBase(otAircraft, false)
{
trafficRef = ref;
if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
setCallSign(trafficRef->getCallSign());
}
else
groundOffset = 0;
fp = 0;
controller = 0;
prevController = 0;
towerController = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
no_roll = false;
tgt_speed = 0;
speed = 0;
groundTargetSpeed = 0;
// set heading and altitude locks
hdg_lock = false;
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
headingError = 0;
minBearing = 360;
speedFraction =1.0;
prev_dist_to_go = 0.0;
holdPos = false;
needsTaxiClearance = false;
_needsGroundElevation = true;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0;
takeOffStatus = 0;
trackCache.remainingLength = 0;
trackCache.startWptName = "-";
}
FGAIAircraft::~FGAIAircraft() {
//delete fp;
if (controller)
controller->signOff(getID());
}
void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
if (!scFileNode)
return;
FGAIBase::readFromScenario(scFileNode);
setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
setFlightPlan(scFileNode->getStringValue("flightplan"),
scFileNode->getBoolValue("repeat", false));
setCallSign(scFileNode->getStringValue("callsign"));
}
void FGAIAircraft::bind() {
FGAIBase::bind();
tie("transponder-id",
SGRawValueMethods<FGAIAircraft,const char*>(*this,
&FGAIAircraft::_getTransponderCode));
}
void FGAIAircraft::update(double dt) {
FGAIBase::update(dt);
Run(dt);
Transform();
}
void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass)
{
static PerformanceDB perfdb; //TODO make it a global service
_performance = perfdb.getDataFor(acType, acclass);
}
#if 0
void FGAIAircraft::setPerformance(PerformanceData *ps) {
_performance = ps;
}
#endif
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
bool outOfSight = false,
flightplanActive = true;
updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
if (outOfSight) {
return;
}
if (!flightplanActive) {
groundTargetSpeed = 0;
}
handleATCRequests(); // ATC also has a word to say
updateSecondaryTargetValues(); // target roll, vertical speed, pitch
updateActualState();
#if 0
// 25/11/12 - added but disabled, since setting properties isn't
// affecting the AI-model as expected.
updateModelProperties(dt);
#endif
// We currently have one situation in which an AIAircraft object is used that is not attached to the
// AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
// Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
// enough
if (manager){
UpdateRadar(manager);
invisible = !manager->isVisible(pos);
}
}
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
//assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
void FGAIAircraft::PitchTo(double angle) {
tgt_pitch = angle;
alt_lock = false;
}
void FGAIAircraft::RollTo(double angle) {
tgt_roll = angle;
hdg_lock = false;
}
void FGAIAircraft::YawTo(double angle) {
tgt_yaw = angle;
}
void FGAIAircraft::ClimbTo(double alt_ft ) {
tgt_altitude_ft = alt_ft;
alt_lock = true;
}
void FGAIAircraft::TurnTo(double heading) {
tgt_heading = heading;
hdg_lock = true;
}
double FGAIAircraft::sign(double x) {
if (x == 0.0)
return x;
else
return x/fabs(x);
}
void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat)
{
if (flightplan.empty()) {
// this is the case for Nasal-scripted aircraft
return;
}
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
if (fp->isValidPlan()) {
fp->setRepeat(repeat);
SetFlightPlan(fp);
} else {
SG_LOG(SG_AI, SG_WARN, "setFlightPlan: invalid flightplan specified:" << flightplan);
delete fp;
}
}
void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f)
{
delete fp;
fp = f;
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
// the one behind you
FGAIWaypoint* prev = 0;
// the one ahead
FGAIWaypoint* curr = 0;
// the next plus 1
FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
dt_count += dt;
///////////////////////////////////////////////////////////////////////////
// Initialize the flightplan
//////////////////////////////////////////////////////////////////////////
if (!prev) {
handleFirstWaypoint();
return;
} // end of initialization
if (! fpExecutable(now))
return;
dt_count = 0;
double distanceToDescent;
if(reachedEndOfCruise(distanceToDescent)) {
if (!loadNextLeg(distanceToDescent)) {
setDie(true);
return;
}
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
if (!curr)
{
// Oops! FIXME
return;
}
if (! leadPointReached(curr)) {
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
{
if (fp->getRepeat())
fp->restart();
else
setDie(true);
return;
}
if (next) {
//TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
tgt_heading = fp->getBearing(curr, next);
spinCounter = 0;
}
//TODO let the fp handle this (loading of next leg)
fp->IncrementWaypoint( trafficRef != 0 );
if ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
if (!loadNextLeg()) {
setDie(true);
return;
}
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
// Now that we have incremented the waypoints, excute some traffic manager specific code
if (trafficRef) {
//TODO isn't this best executed right at the beginning?
if (! aiTrafficVisible()) {
setDie(true);
return;
}
if (! handleAirportEndPoints(prev, now)) {
setDie(true);
return;
}
announcePositionToController();
}
if (next) {
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
tgt_altitude_ft = prev->getAltitude();
if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
// Distance to go in meters
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);
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
}
}
AccelTo(prev->getSpeed());
hdg_lock = alt_lock = true;
no_roll = prev->getOn_ground();
}
}
double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
{
// 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;
}
void FGAIAircraft::assertSpeed(double speed)
{
if ((speed < -50) || (speed > 1000)) {
cerr << getCallSign() << " "
<< "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
<< "Departure airport " << trafficRef->getDepartureAirport() << " "
<< "Leg " << fp->getLeg() << " "
<< "target_speed << " << tgt_speed << " "
<< "speedFraction << " << speedFraction << " "
<< "Currecnt speed << " << speed << " "
<< endl;
//raise(SIGSEGV);
}
}
void FGAIAircraft::checkTcas(void)
{
if (props->getIntValue("tcas/threat-level",0)==3)
{
int RASense = props->getIntValue("tcas/ra-sense",0);
if ((RASense>0)&&(tgt_vs<4000))
// upward RA: climb!
tgt_vs = 4000;
else
if (RASense<0)
{
// downward RA: descend!
if (altitude_ft < 1000)
{
// too low: level off
if (tgt_vs>0)
tgt_vs = 0;
}
else
{
if (tgt_vs >- 4000)
tgt_vs = -4000;
}
}
}
}
void FGAIAircraft::initializeFlightPlan() {
}
const char * FGAIAircraft::_getTransponderCode() const {
return transponderCode.c_str();
}
// NOTE: Check whether the new (delayed leg increment code has any effect on this code.
// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
bool FGAIAircraft::loadNextLeg(double distance) {
int leg;
if ((leg = fp->getLeg()) == 9) {
if (!trafficRef->next()) {
return false;
}
setCallSign(trafficRef->getCallSign());
leg = 0;
fp->setLeg(leg);
}
FGAirport *dep = trafficRef->getDepartureAirport();
FGAirport *arr = trafficRef->getArrivalAirport();
if (!(dep && arr)) {
setDie(true);
} else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
fp->create (this,
dep,
arr,
leg+1,
cruiseAlt,
trafficRef->getSpeed(),
_getLatitude(),
_getLongitude(),
false,
trafficRef->getRadius(),
trafficRef->getFlightType(),
acType,
company,
distance);
//cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
}
return true;
}
// Note: This code is copied from David Luff's AILocalTraffic
// Warning - ground elev determination is CPU intensive
// Either this function or the logic of how often it is called
// will almost certainly change.
void FGAIAircraft::getGroundElev(double dt) {
dt_elev_count += dt;
if (!needGroundElevation())
return;
// Update minimally every three secs, but add some randomness
// to prevent all AI objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
dt_elev_count = 0;
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
double visibility_meters = fgGetDouble("/environment/visibility-m");
if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
return;
}
double range = 500.0;
if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
{
double alt;
if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
{
tgt_altitude_ft = alt * SG_METER_TO_FEET;
if (isStationary())
{
// aircraft is stationary and we obtained altitude for this spot - we're done.
_needsGroundElevation = false;
}
}
}
}
}
void FGAIAircraft::doGroundAltitude() {
if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
tgt_vs = -500;
} else {
if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
(isStationary()))
altitude_ft = (tgt_altitude_ft + groundOffset);
else
altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
tgt_vs = 0;
}
}
void FGAIAircraft::announcePositionToController() {
if (!trafficRef) {
return;
}
int leg = fp->getLeg();
if (!fp->getCurrentWaypoint()) {
// http://code.google.com/p/flightgear-bugs/issues/detail?id=1153
// throw an exception so this aircraft gets killed by the AIManager.
throw sg_exception("bad AI flight plan");
}
// Note that leg has been incremented after creating the current leg, so we should use
// leg numbers here that are one higher than the number that is used to create the leg
// NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
// Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
// the original leg numbers here!
switch (leg) {
case 1: // Startup and Push back
if (trafficRef->getDepartureAirport()->getDynamics())
controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
break;
case 2: // Taxiing to runway
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
break;
case 3: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
towerController = 0;
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
break;
case 6:
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
}
break;
case 8: // Taxiing for parking
if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
break;
default:
controller = 0;
break;
}
if ((controller != prevController) && (prevController != 0)) {
prevController->signOff(getID());
}
prevController = controller;
if (controller) {
controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
}
}
void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
if (!takeOffStatus) {
int leg = fp->getLeg();
if (trafficRef) {
if (trafficRef->getDepartureAirport()->getDynamics()) {
towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
if (towerController) {
towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
//cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
}
}
}
takeOffStatus = state;
}
// Process ATC instructions and report back
void FGAIAircraft::processATC(const FGATCInstruction& instruction) {
if (instruction.getCheckForCircularWait()) {
// This is not exactly an elegant solution,
// but at least it gives me a chance to check
// if circular waits are resolved.
// For now, just take the offending aircraft
// out of the scene
setDie(true);
// a more proper way should be - of course - to
// 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
if (instruction.getHoldPosition ()) {
if (!holdPos) {
holdPos = true;
}
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());
}
}
if (instruction.getChangeHeading ()) {
hdg_lock = false;
TurnTo(instruction.getHeading());
} else {
if (fp) {
hdg_lock = true;
}
}
if (instruction.getChangeAltitude()) {}
}
void FGAIAircraft::handleFirstWaypoint() {
bool eraseWaypoints; //TODO YAGNI
headingError = 0;
if (trafficRef) {
eraseWaypoints = true;
} else {
eraseWaypoints = false;
}
FGAIWaypoint* prev = 0; // the one behind you
FGAIWaypoint* curr = 0; // the one ahead
FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
if (!(fp->getNextWaypoint()) && trafficRef)
if (!loadNextLeg()) {
setDie(true);
return;
}
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
setLatitude(prev->getLatitude());
setLongitude(prev->getLongitude());
setSpeed(prev->getSpeed());
setAltitude(prev->getAltitude());
if (prev->getSpeed() > 0.0)
setHeading(fp->getBearing(prev, curr));
else
setHeading(fp->getBearing(curr, prev));
// If next doesn't exist, as in incrementally created flightplans for
// AI/Trafficmanager created plans,
// Make sure lead distance is initialized otherwise
if (next)
fp->setLeadDistance(speed, hdg, curr, next);
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);
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
tgt_altitude_ft = prev->getAltitude();
}
alt_lock = hdg_lock = true;
no_roll = prev->getOn_ground();
if (no_roll) {
Transform(); // make sure aip is initialized.
getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
doGroundAltitude();
_needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
}
// Make sure to announce the aircraft's position
announcePositionToController();
prevSpeed = 0;
}
/**
* Check Execution time (currently once every 100 ms)
* Add a bit of randomization to prevent the execution of all flight plans
* in synchrony, which can add significant periodic framerate flutter.
*
* @param now
* @return
*/
bool FGAIAircraft::fpExecutable(time_t now) {
double rand_exec_time = (rand() % 100) / 100;
return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
}
/**
* Check to see if we've reached the lead point for our next turn
*
* @param curr
* @return
*/
bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
tgt_speed = -(dist_to_go / 10.0);
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
//assertSpeed(tgt_speed);
if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
}
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));
if (bearing < minBearing) {
minBearing = bearing;
if (minBearing < 10) {
minBearing = 10;
}
if ((minBearing < 360.0) && (minBearing > 10.0)) {
speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
} else {
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;
speedFraction = 1.0;
prev_dist_to_go = HUGE_VAL;
return true;
} else {
prev_dist_to_go = dist_to_go;
return false;
}
}
bool FGAIAircraft::aiTrafficVisible()
{
SGVec3d cartPos = SGVec3d::fromGeod(pos);
const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
(TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
}
/**
* Handle release of parking gate, once were taxiing. Also ensure service time at the gate
* in the case of an arrival.
*
* @param prev
* @return
*/
//TODO the trafficRef is the right place for the method
bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// prepare routing from one airport to another
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
if (!( dep && arr))
return false;
// 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();
}
if (prev->contains(string("DepartureHold"))) {
//cerr << "Passing point DepartureHold" << endl;
scheduleForATCTowerDepartureControl(1);
}
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")) {
time_t nextDeparture = trafficRef->getDepartureTime();
// make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
if (nextDeparture < (now+1200)) {
nextDeparture = now + 1200;
}
fp->setTime(nextDeparture);
}
return true;
}
/**
* Check difference between target bearing and current heading and correct if necessary.
*
* @param curr
*/
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);
}
if (fgIsFinite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
if (fabs(hdg_error) > 0.01) {
TurnTo( calc_bearing );
}
} else {
cerr << "calc_bearing is not a finite number : "
<< "Speed " << speed
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
<< ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
cerr << "waypoint name: '" << curr->getName() << "'" << endl;
//exit(1); // FIXME
}
}
/**
* Update the lead distance calculation if speed has changed sufficiently
* to prevent spinning (hopefully);
*
* @param curr
* @param next
*/
void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
double speed_diff = speed - prevSpeed;
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
//assertSpeed(speed);
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
}
}
/**
* Update target values (heading, alt, speed) depending on flight plan or control properties
*/
void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
if (fp) // AI object has a flightplan
{
//TODO make this a function of AIBase
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//cerr << "UpateTArgetValues() " << endl;
ProcessFlightPlan(dt, now);
// Do execute Ground elev for inactive aircraft, so they
// Are repositioned to the correct ground altitude when the user flies within visibility range.
// In addition, check whether we are out of user range, so this aircraft
// can be deleted.
if (onGround()) {
Transform(); // make sure aip is initialized.
getGroundElev(dt);
doGroundAltitude();
// Transform();
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;
}
}
timeElapsed = now - fp->getStartTime();
flightplanActive = fp->isActive(now);
} else {
// no flight plan, update target heading, speed, and altitude
// from control properties. These default to the initial
// settings in the config file, but can be changed "on the
// fly".
const string& lat_mode = props->getStringValue("controls/flight/lateral-mode");
if ( lat_mode == "roll" ) {
double angle
= props->getDoubleValue("controls/flight/target-roll" );
RollTo( angle );
} else {
double angle
= props->getDoubleValue("controls/flight/target-hdg" );
TurnTo( angle );
}
string lon_mode
= props->getStringValue("controls/flight/longitude-mode");
if ( lon_mode == "alt" ) {
double alt = props->getDoubleValue("controls/flight/target-alt" );
ClimbTo( alt );
} else {
double angle
= props->getDoubleValue("controls/flight/target-pitch" );
PitchTo( angle );
}
AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
}
}
void FGAIAircraft::updateHeading() {
// adjust heading based on current bank angle
if (roll == 0.0)
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) {
// invert if pushed backward
headingChangeRate += 10.0 * dt * sign(roll);
// Clamp the maximum steering rate to 30 degrees per second,
// But only do this when the heading error is decreasing.
if ((headingDiff < headingError)) {
if (headingChangeRate > 30)
headingChangeRate = 30;
else if (headingChangeRate < -30)
headingChangeRate = -30;
}
} else {
if (speed != 0) {
if (fabs(headingChangeRate) > headingDiff)
headingChangeRate = headingDiff*sign(roll);
else
headingChangeRate += dt * sign(roll);
}
}
}
hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
headingError = headingDiff;
if (fabs(headingError) < 1.0) {
hdg = tgt_heading;
}
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
/ tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
} else {
// Check if turn_radius_ft == 0; this might lead to a division by 0.
turn_radius_ft = 1.0;
}
double turn_circum_ft = SGD_2PI * turn_radius_ft;
double dist_covered_ft = speed * 1.686 * dt;
double alpha = dist_covered_ft / turn_circum_ft * 360.0;
hdg += alpha * sign(roll);
}
while ( hdg > 360.0 ) {
hdg -= 360.0;
spinCounter++;
}
while ( hdg < 0.0) {
hdg += 360.0;
spinCounter--;
}
}
}
void FGAIAircraft::updateBankAngleTarget() {
// adjust target bank angle if heading lock engaged
if (hdg_lock) {
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 (diff < _performance->maximumBankAngle()) {
tgt_roll = diff * bank_sense;
} else {
tgt_roll = _performance->maximumBankAngle() * bank_sense;
}
if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
// The only way to resolve this is to make them slow down.
}
}
}
void FGAIAircraft::updateVerticalSpeedTarget() {
// adjust target Altitude, based on ground elevation when on ground
if (onGround()) {
getGroundElev(dt);
doGroundAltitude();
} else if (alt_lock) {
// find target vertical speed
if (use_perf_vs) {
if (altitude_ft < tgt_altitude_ft) {
tgt_vs = std::min(tgt_altitude_ft - altitude_ft, _performance->climbRate());
} else {
tgt_vs = std::max(tgt_altitude_ft - altitude_ft, -_performance->descentRate());
}
} else {
double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
double err_dist = 0; //prev->getCrossat() - altitude_ft;
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
// tgt_vs = 0.0;
checkTcas();
}
void FGAIAircraft::updatePitchAngleTarget() {
// if on ground and above vRotate -> initial rotation
if (onGround() && (speed > _performance->vRotate()))
tgt_pitch = 8.0; // some rough B737 value
//TODO pitch angle on approach and landing
// match pitch angle to vertical speed
else if (tgt_vs > 0) {
tgt_pitch = tgt_vs * 0.005;
} else {
tgt_pitch = tgt_vs * 0.002;
}
}
const string& FGAIAircraft::atGate()
{
if ((fp->getLeg() < 3) && trafficRef) {
if (fp->getParkingGate()) {
return fp->getParkingGate()->ident();
}
}
static const string empty;
return empty;
}
void FGAIAircraft::handleATCRequests() {
//TODO implement NullController for having no ATC to save the conditionals
if (controller) {
controller->updateAircraftInformation(getID(),
pos.getLatitudeDeg(),
pos.getLongitudeDeg(),
hdg,
speed,
altitude_ft, dt);
processATC(controller->getInstruction(getID()));
}
if (towerController) {
towerController->updateAircraftInformation(getID(),
pos.getLatitudeDeg(),
pos.getLongitudeDeg(),
hdg,
speed,
altitude_ft, dt);
}
}
void FGAIAircraft::updateActualState() {
//update current state
//TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
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();
roll = _performance->actualBankAngle(this, tgt_roll, dt);
// adjust altitude (meters) based on current vertical speed (fpm)
altitude_ft += vs / 60.0 * dt;
pos.setElevationFt(altitude_ft);
vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
pitch = _performance->actualPitch(this, tgt_pitch, dt);
}
void FGAIAircraft::updateSecondaryTargetValues() {
// derived target state values
updateBankAngleTarget();
updateVerticalSpeedTarget();
updatePitchAngleTarget();
//TODO calculate wind correction angle (tgt_yaw)
}
bool FGAIAircraft::reachedEndOfCruise(double &distance) {
FGAIWaypoint* curr = fp->getCurrentWaypoint();
if (curr->getName() == string("BOD")) {
double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
double verticalDistance = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
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;
cerr << "Descent speed : " << descentSpeed << endl;
cerr << "VerticalDistance : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
cerr << "DistanceCovered : " << distanceCovered << endl;
}
//cerr << "Distance = " << distance << endl;
distance = distanceCovered;
if (dist < distanceCovered) {
if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
//exit(1);
}
return true;
} else {
return false;
}
} else {
return false;
}
}
void FGAIAircraft::resetPositionFromFlightPlan()
{
// the one behind you
FGAIWaypoint* prev = 0;
// the one ahead
FGAIWaypoint* curr = 0;
// the next plus 1
FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
setLatitude(prev->getLatitude());
setLongitude(prev->getLongitude());
double tgt_heading = fp->getBearing(curr, next);
setHeading(tgt_heading);
setAltitude(prev->getAltitude());
setSpeed(prev->getSpeed());
}
double FGAIAircraft::getBearing(double crse)
{
double hdgDiff = fabs(hdg-crse);
if (hdgDiff > 180)
hdgDiff = fabs(hdgDiff - 360);
return hdgDiff;
}
time_t FGAIAircraft::checkForArrivalTime(const string& wptName) {
FGAIWaypoint* curr = 0;
curr = fp->getCurrentWaypoint();
// don't recalculate tracklength unless the start/stop waypoint has changed
if (curr &&
((curr->getName() != trackCache.startWptName)||
(wptName != trackCache.finalWptName)))
{
trackCache.remainingLength = fp->checkTrackLength(wptName);
trackCache.startWptName = curr->getName();
trackCache.finalWptName = wptName;
}
double tracklength = trackCache.remainingLength;
if (tracklength > 0.1) {
tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
} else {
return 0;
}
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
time_t arrivalTime = fp->getArrivalTime();
time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
time_t secondsToGo = arrivalTime - now;
if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
}
return (ete - secondsToGo); // Positive when we're too slow...
}
double limitRateOfChange(double cur, double target, double maxDeltaSec, double dt)
{
double delta = target - cur;
double maxDelta = maxDeltaSec * dt;
// if delta is > maxDelta, use maxDelta, but with the sign of delta.
return (fabs(delta) < maxDelta) ? delta : copysign(maxDelta, delta);
}
// drive various properties in a semi-realistic fashion.
void FGAIAircraft::updateModelProperties(double dt)
{
if (!props) {
return;
}
SGPropertyNode* gear = props->getChild("gear", 0, true);
double targetGearPos = fp->getCurrentWaypoint()->getGear_down() ? 1.0 : 0.0;
if (!gear->hasValue("gear/position-norm")) {
gear->setDoubleValue("gear/position-norm", targetGearPos);
}
double gearPosNorm = gear->getDoubleValue("gear/position-norm");
if (gearPosNorm != targetGearPos) {
gearPosNorm += limitRateOfChange(gearPosNorm, targetGearPos, 0.1, dt);
if (gearPosNorm < 0.001) {
gearPosNorm = 0.0;
} else if (gearPosNorm > 0.999) {
gearPosNorm = 1.0;
}
for (int i=0; i<6; ++i) {
SGPropertyNode* g = gear->getChild("gear", i, true);
g->setDoubleValue("position-norm", gearPosNorm);
} // of gear setting loop
} // of gear in-transit
// double flapPosNorm = props->getDoubleValue();
}
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