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flightgear/src/AIModel/AICarrier.cxx
Julian Smith c872af41bf Allow AI carrier to be always tied exactly to MP carrier. 
Also fixed uneven MP carrier motion.

If /ai/models/carrier[]/ai-latch is true (e.g. by MPCarrier.nas), we
set /position/* and /orientation/* in C++ every frame instead of in
nasal. For external multiplayer carriers the values are copied from
/ai/models/multiplayer[]/*, so the AI carrier follows the corresponding MP
carrier exactly. For this to be useful, multiplayer motion needs be smooth,
e.g. with /sim/time/simple-time/enabled=true.

scripts/python/recordreplay.py
    Added --carrier test - checks that multiplayer carrier moves with even
    speed.

src/AIModel/AIBase.hxx
    Added speed_fps, to be kept up to date and tied to velocities/uBody-fps
    when we are a carrier. Previously this was set from Nasal which doesn't
    do what is required when all updates happen in C++.

src/AIModel/AICarrier.cxx
src/AIModel/AICarrier.hxx
    If is-user-craft is true, we directly update /position/* every frame.

    If ai-latch is true, we don't call TurnToLaunch(), TurnToRecover(),
    ReturnToBox(), TurnToBase() etc, because our position and orientation is
    determined only by multiplayer packets.

src/AIModel/AIMultiplayer.cxx
src/AIModel/AIMultiplayer.hxx
    If an mp craft is a carrier, MP packets define velocities/speed-kts but
    set ecLinearVel to all-zeros. So we now copy across to ensure that the
    extrapolation algorithm has a velocity to work with. Previously the zero
    velocity caused very uneven motion.

    If ai-latch is true we set AI craft's position+velocities directly from
    the equivalent (extrapolated or interpolated) MP position, every frame. We
    also set AI craft's orientation. And we copy MP's uBody-fps to AI's
    velocities/speed-kts which ensures that friction works between carrier deck
    and aircraft undercarriage.

    Added logging of raw speeds implied by multiplayer packets, activated by
    /sim/log-multiplayer-callsign; used by scripts/python/recordreplay.py's
    --carrier test.

src/AIModel/AIShip.cxx
    Tie velocities/uBody-fps to new speed_fps member and set speed_fps in
    update() along with members that are tied to properties.

    Replaced code that calculated new position using heading and speed:

        Previously the new position after dt was calculated using
        ft_per_deg_lat, ft_per_deg_lon, speed_north_deg_sec and
        speed_east_deg_sec. But this was moving slightly faster than the
        specified speed.

        This was leading to incremental errors when a different Flightgear
        instance extrapolated the multiplayer position from the information in
        multiplayer packets, because the specified velocity was too small, so
        we jumped forwards when extrapolation moved to a new packet.

        The fix is to use a Quaternion-based calculation to calculate movement
        in the direction specified by (heading, pitch, roll), as done by other
        code such as the view code.

src/Main/fg_init.cxx
    Moved FGAIManager to just before FGMultiplayMgr so we send latest info in
    mp packets.

src/MultiPlayer/multiplaymgr.cxx
    Fixed minimum transmit rate calculation - if transmit rate is less than 1,
    default to 1, not 10.

src/Network/props.cxx
    Use more precision when sending double-precision values e.g. to telnet
    client. Otherwise for example UTC times don't have sufficient resolution.

src/Viewer/viewmgr.cxx
    Generate internal logs of multiplayer position and speed (after
    interpolation/extrapolation) if /sim/log-multiplayer-callsign is set. Used
    by scripts/python/recordreplay.py's --carrier test.
2021-06-25 11:08:12 +01:00

872 lines
30 KiB
C++
Raw Blame History

// FGAICarrier - FGAIShip-derived class creates an AI aircraft carrier
//
// Written by David Culp, started October 2004.
// - 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.
#include <config.h>
#include <algorithm>
#include <string>
#include <vector>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <cmath>
#include <Main/util.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Main/util.hxx>
#include "AICarrier.hxx"
#include "AINotifications.hxx"
FGAICarrier::FGAICarrier() : FGAIShip(otCarrier)
{
simgear::Emesary::GlobalTransmitter::instance()->Register(this);
}
FGAICarrier::~FGAICarrier()
{
simgear::Emesary::GlobalTransmitter::instance()->DeRegister(this);
}
void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
if (!scFileNode)
return;
FGAIShip::readFromScenario(scFileNode);
setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
setSign(scFileNode->getStringValue("pennant-number"));
setDeckAltitudeFt(scFileNode->getDoubleValue("deck-altitude"));
setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
setMinLat(scFileNode->getDoubleValue("min-lat", 0));
setMaxLong(scFileNode->getDoubleValue("max-long", 0));
setMinLong(scFileNode->getDoubleValue("min-long", 0));
setMPControl(scFileNode->getBoolValue("mp-control", false));
setAIControl(scFileNode->getBoolValue("ai-control", false));
setCallSign(scFileNode->getStringValue("callsign", ""));
_angled_deck_degrees = scFileNode->getDoubleValue("angled-deck-degrees", -8.5);
SGPropertyNode* flolsNode = getPositionFromNode(scFileNode, "flols-pos", _flolsPosOffset);
if (flolsNode) {
_flolsHeadingOffsetDeg = flolsNode->getDoubleValue("heading-offset-deg", 0.0);
_flolsApproachAngle = flolsNode->getDoubleValue("glidepath-angle-deg", 3.5);
}
else {
_flolsPosOffset(2) = -(_deck_altitude_ft * SG_FEET_TO_METER + 10);
}
//// the FLOLS (or IFLOLS) position doesn't produce an accurate angle;
//// so to fix this we can definition the touchdown position which
//// is the centreline of the 3rd wire
_flolsTouchdownPosition = _flolsPosOffset; // default to the flolsPosition
getPositionFromNode(scFileNode, "flols-touchdown-position", _flolsTouchdownPosition);
if (!getPositionFromNode(scFileNode, "tower-position", _towerPosition)) {
_towerPosition(2) = -(_deck_altitude_ft * SG_FEET_TO_METER + 10);
SG_LOG(SG_AI, SG_INFO, "AICarrier: tower-position not defined - using default");
}
if (!getPositionFromNode(scFileNode, "lso-position", _lsoPosition)){
_lsoPosition(2) = -(_deck_altitude_ft * SG_FEET_TO_METER + 10);
SG_LOG(SG_AI, SG_INFO, "AICarrier: lso-position not defined - using default");
}
std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
std::vector<SGPropertyNode_ptr>::const_iterator it;
for (it = props.begin(); it != props.end(); ++it) {
const string name = (*it)->getStringValue("name", "unnamed");
// Transform to the right coordinate frame, configuration is done in
// the usual x-back, y-right, z-up coordinates, computations
// in the simulation usual body x-forward, y-right, z-down coordinates
double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
_ppositions.push_back(pp);
}
}
void FGAICarrier::setWind_from_east(double fps) {
_wind_from_east = fps;
}
void FGAICarrier::setWind_from_north(double fps) {
_wind_from_north = fps;
}
void FGAICarrier::setMaxLat(double deg) {
_max_lat = fabs(deg);
}
void FGAICarrier::setMinLat(double deg) {
_min_lat = fabs(deg);
}
void FGAICarrier::setMaxLong(double deg) {
_max_lon = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
_min_lon = fabs(deg);
}
void FGAICarrier::setDeckAltitudeFt(const double altitude_feet) {
_deck_altitude_ft = altitude_feet;
}
void FGAICarrier::setSign(const string& s) {
_sign = s;
}
void FGAICarrier::setTACANChannelID(const string& id) {
_TACAN_channel_id = id;
}
void FGAICarrier::setMPControl(bool c) {
_MPControl = c;
}
void FGAICarrier::setAIControl(bool c) {
_AIControl = c;
}
void FGAICarrier::update(double dt) {
// Now update the position and heading. This will compute new hdg and
// roll values required for the rotation speed computation.
FGAIShip::update(dt);
if (_is_user_craft->getBoolValue()) {
_latitude_node->setDoubleValue(pos.getLatitudeDeg());
_longitude_node->setDoubleValue(pos.getLongitudeDeg());
_altitude_node->setDoubleValue(pos.getElevationFt());
_heading_node->setDoubleValue(hdg);
_pitch_node->setDoubleValue(pitch);
_roll_node->setDoubleValue(roll);
}
//automatic turn into wind with a target wind of 25 kts otd
//SG_LOG(SG_AI, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
if (strcmp(_ai_latch_node->getStringValue(), "")) {
SG_LOG(SG_AI, SG_DEBUG, "FGAICarrier::update(): not updating because ai-latch=" << _ai_latch_node->getStringValue());
}
else if (!_MPControl && _AIControl){
if(_turn_to_launch_hdg){
TurnToLaunch();
} else if(_turn_to_recovery_hdg ){
TurnToRecover();
} else if(OutsideBox() || _returning ) {// check that the carrier is inside
ReturnToBox(); // the operating box,
} else {
TurnToBase();
}
} else {
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
UpdateWind(dt);
UpdateElevator(dt);
UpdateJBD(dt);
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
// The orientation of the carrier wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl * hl2body;
// The cartesian position of the carrier in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// The position of the eyepoint - at least near that ...
SGVec3d eyePos(globals->get_ownship_reference_position_cart());
// Add the position offset of the AIModel to gain the earth
// centered position
SGVec3d eyeWrtCarrier = eyePos - cartPos;
// rotate the eyepoint wrt carrier vector into the carriers frame
eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
// the eyepoints vector wrt the flols position
SGVec3d eyeWrtFlols = eyeWrtCarrier - _flolsPosOffset;
SGVec3d flols_location = getCartPosAt(_flolsPosOffset);
// the distance from the eyepoint to the flols
_flols_dist = norm(eyeWrtFlols);
// lineup (left/right) - stern lights and Carrier landing system (Aircraft/Generic/an_spn_46.nas)
double lineup_hdg, lineup_az2, lineup_s;
SGGeod g_eyePos = SGGeod::fromCart(eyePos);
SGGeod g_carrier = SGGeod::fromCart(cartPos);
//
// set the view as requested by control/view-index.
SGGeod viewPosition;
switch (_view_index) {
default:
case 0:
viewPosition = SGGeod::fromCart(getCartPosAt(_towerPosition));
break;
case 1:
viewPosition = SGGeod::fromCart(getCartPosAt(_flolsTouchdownPosition));
break;
case 2:
viewPosition = SGGeod::fromCart(getCartPosAt(_lsoPosition));
break;
}
_view_position_lat_deg_node->setDoubleValue(viewPosition.getLatitudeDeg());
_view_position_lon_deg_node->setDoubleValue(viewPosition.getLongitudeDeg());
_view_position_alt_ft_node->setDoubleValue(viewPosition.getElevationFt());
SGGeodesy::inverse(g_carrier, g_eyePos, lineup_hdg, lineup_az2, lineup_s);
double target_lineup = _getHeading() + _angled_deck_degrees + 180.0;
SG_NORMALIZE_RANGE(target_lineup, 0.0, 360.0);
_lineup = lineup_hdg - target_lineup;
// now the angle, positive angles are upwards
if (fabs(_flols_dist) < SGLimits<double>::min()) {
_flols_angle = 0;
} else {
double sAngle = -eyeWrtFlols(2) / _flols_dist;
sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
_flols_angle = SGMiscd::rad2deg(asin(sAngle));
}
if (_flols_dist < 8000){
SGVec3d eyeWrtFlols_tdp = eyeWrtCarrier - _flolsTouchdownPosition;
// the distance from the eyepoint to the flols
double dist_tdp = norm(eyeWrtFlols_tdp);
double angle_tdp = 0;
// now the angle, positive angles are upwards
if (fabs(dist_tdp) < SGLimits<double>::min()) {
angle_tdp = 0;
}
else {
double sAngle = -eyeWrtFlols_tdp(2) / dist_tdp;
sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
angle_tdp = SGMiscd::rad2deg(asin(sAngle));
}
// printf("angle %5.2f td angle %5.2f \n", _flols_angle, angle_tdp);
//angle += 1.481; // adjust for FLOLS offset (measured on Nimitz class)
}
// set the value of _flols_visible_light
if ( _flols_angle <= 4.35 && _flols_angle > 4.01 )
_flols_visible_light = 1;
else if ( _flols_angle <= 4.01 && _flols_angle > 3.670 )
_flols_visible_light = 2;
else if ( _flols_angle <= 3.670 && _flols_angle > 3.330 )
_flols_visible_light = 3;
else if ( _flols_angle <= 3.330 && _flols_angle > 2.990 )
_flols_visible_light = 4;
else if ( _flols_angle <= 2.990 && _flols_angle > 2.650 )
_flols_visible_light = 5;
else if ( _flols_angle <= 2.650 )
_flols_visible_light = 6;
else
_flols_visible_light = 0;
// only bother with waveoff FLOLS when ownship within a reasonable range.
// red ball is <= 3.075 to 2.65, below this is off. above this is orange.
// only do this when within ~1.8nm
if (_flols_dist < 3200) {
if (_flols_dist > 100) {
bool new_wave_off_lights_demand = (_flols_angle <= 3.0);
if (new_wave_off_lights_demand != _wave_off_lights_demand) {
// start timing when the lights come up.
_wave_off_lights_demand = new_wave_off_lights_demand;
}
//// below 1degrees close in is to low to continue; wave them off.
if (_flols_angle < 2 && _flols_dist < 800) {
_wave_off_lights_demand = true;
}
}
}
else {
_wave_off_lights_demand = true; // sensible default when very far away.
}
} //end update
bool FGAICarrier::init(ModelSearchOrder searchOrder) {
if (!FGAIShip::init(searchOrder))
return false;
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_heading_node = fgGetNode("/orientation/true-heading-deg", true);
_pitch_node = fgGetNode("/orientation/pitch-deg", true);
_roll_node = fgGetNode("/orientation/roll-deg", true);
_launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
_surface_wind_from_deg_node = fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
_surface_wind_speed_node = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
int dmd_course = fgGetInt("/sim/presets/carrier-course");
if (dmd_course == 2) {
// launch
_turn_to_launch_hdg = true;
_turn_to_recovery_hdg = false;
_turn_to_base_course = false;
} else if (dmd_course == 3) {
// recovery
_turn_to_launch_hdg = false;
_turn_to_recovery_hdg = true;
_turn_to_base_course = false;
} else {
// default to base
_turn_to_launch_hdg = false;
_turn_to_recovery_hdg = false;
_turn_to_base_course = true;
}
_returning = false;
_in_to_wind = false;
_mOpBoxPos = pos;
_base_course = hdg;
_base_speed = speed;
_elevator_pos_norm = 0;
_elevator_pos_norm_raw = 0;
_elevators = false;
_elevator_transition_time = 150;
_elevator_time_constant = 0.005;
_jbd_elevator_pos_norm = 0;
_jbd_elevator_pos_norm_raw = 0;
_jbd = false ;
_jbd_transition_time = 3;
_jbd_time_constant = 0.1;
return true;
}
void FGAICarrier::bind(){
FGAIShip::bind();
_is_user_craft = props->getNode("is-user-craft", true /*create*/);
_ai_latch_node = props->getNode("ai-latch", true /*create*/);
props->untie("velocities/true-airspeed-kt");
props->getNode("position/deck-altitude-feet", true)->setDoubleValue(_deck_altitude_ft);
tie("controls/flols/source-lights",
SGRawValuePointer<int>(&_flols_visible_light));
tie("controls/flols/distance-m",
SGRawValuePointer<double>(&_flols_dist));
tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&_flols_angle));
tie("controls/flols/lineup-degs",
SGRawValuePointer<double>(&_lineup));
tie("controls/turn-to-launch-hdg",
SGRawValuePointer<bool>(&_turn_to_launch_hdg));
tie("controls/in-to-wind",
SGRawValuePointer<bool>(&_turn_to_launch_hdg));
tie("controls/base-course-deg",
SGRawValuePointer<double>(&_base_course));
tie("controls/base-speed-kts",
SGRawValuePointer<double>(&_base_speed));
tie("controls/start-pos-lat-deg",
SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
tie("controls/start-pos-long-deg",
SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
tie("controls/mp-control",
SGRawValuePointer<bool>(&_MPControl));
tie("controls/ai-control",
SGRawValuePointer<bool>(&_AIControl));
tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&_wind_speed_kts));
tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&_wind_from_deg));
tie("environment/rel-wind-from-degs",
SGRawValuePointer<double>(&_rel_wind_from_deg));
tie("environment/rel-wind-from-carrier-hdg-degs",
SGRawValuePointer<double>(&_rel_wind));
tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&_rel_wind_speed_kts));
tie("environment/in-to-wind",
SGRawValuePointer<bool>(&_in_to_wind));
tie("controls/flols/wave-off-lights-demand",
SGRawValuePointer<bool>(&_wave_off_lights_demand));
tie("controls/elevators",
SGRawValuePointer<bool>(&_elevators));
tie("surface-positions/elevators-pos-norm",
SGRawValuePointer<double>(&_elevator_pos_norm));
tie("controls/constants/elevators/trans-time-s",
SGRawValuePointer<double>(&_elevator_transition_time));
tie("controls/constants/elevators/time-constant",
SGRawValuePointer<double>(&_elevator_time_constant));
tie("controls/jbd",
SGRawValuePointer<bool>(&_jbd));
tie("surface-positions/jbd-pos-norm",
SGRawValuePointer<double>(&_jbd_elevator_pos_norm));
tie("controls/constants/jbd/trans-time-s",
SGRawValuePointer<double>(&_jbd_transition_time));
tie("controls/constants/jbd/time-constant",
SGRawValuePointer<double>(&_jbd_time_constant));
tie("controls/turn-to-recovery-hdg",
SGRawValuePointer<bool>(&_turn_to_recovery_hdg));
tie("controls/turn-to-base-course",
SGRawValuePointer<bool>(&_turn_to_base_course));
tie("controls/view-index", SGRawValuePointer<int>(&_view_index));
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", false);
props->setBoolValue("controls/flols/wave-off-lights-emergency", false);
props->setBoolValue("controls/flols/cond-datum-lights", true);
props->setBoolValue("controls/crew", false);
props->setStringValue("navaids/tacan/channel-ID", _TACAN_channel_id.c_str());
props->setStringValue("sign", _sign.c_str());
props->setBoolValue("controls/lighting/deck-lights", false);
props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
_flols_x_node = props->getNode("position/flols-x", true);
_flols_y_node = props->getNode("position/flols-y", true);
_flols_z_node = props->getNode("position/flols-z", true);
_view_position_lat_deg_node = props->getNode("position/view-position-lat", true);
_view_position_lon_deg_node = props->getNode("position/view-position-lon", true);
_view_position_alt_ft_node = props->getNode("position/view-position-alt", true);
// Write out a list of the parking positions - useful for the UI to select
// from
for (const auto& ppos : _ppositions) {
if (ppos.name != "") props->addChild("parking-pos")->setStringValue("name", ppos.name);
}
}
bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
double& hdng, SGVec3d& uvw)
{
// FIXME: does not yet cover rotation speeds.
for (const auto& ppos : _ppositions) {
// Take either the specified one or the first one ...
if (ppos.name == id || id.empty()) {
SGVec3d cartPos = getCartPosAt(ppos.offset);
geodPos = SGGeod::fromCart(cartPos);
hdng = hdg + ppos.heading_deg;
double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
double speed_fps = speed*1.6878099;
uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
return true;
}
}
return false;
}
bool FGAICarrier::getFLOLSPositionHeading(SGGeod& geodPos, double& heading) const
{
SGVec3d cartPos = getCartPosAt(_flolsPosOffset);
geodPos = SGGeod::fromCart(cartPos);
// at present we don't support a heading offset for the FLOLS, so
// heading is just the carrier heading
heading = hdg + _flolsHeadingOffsetDeg;
return true;
}
double FGAICarrier::getFLOLFSGlidepathAngleDeg() const
{
return _flolsApproachAngle;
}
// find relative wind
void FGAICarrier::UpdateWind( double dt) {
//get the surface wind speed and direction
_wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
_wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
//calculate the surface wind speed north and east in kts
double wind_speed_from_north_kts = cos( _wind_from_deg / SGD_RADIANS_TO_DEGREES )* _wind_speed_kts ;
double wind_speed_from_east_kts = sin( _wind_from_deg / SGD_RADIANS_TO_DEGREES )* _wind_speed_kts ;
//calculate the carrier speed north and east in kts
double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
//calculate the relative wind speed north and east in kts
double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
//combine relative speeds north and east to get relative windspeed in kts
_rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
//calculate the relative wind direction
_rel_wind_from_deg = SGMiscd::rad2deg(atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts));
//calculate rel wind
_rel_wind = _rel_wind_from_deg - hdg;
SG_NORMALIZE_RANGE(_rel_wind, -180.0, 180.0);
//set in to wind property
InToWind();
//switch the wave-off lights
//if (InToWind())
// wave_off_lights = false;
//else
// wave_off_lights = true;
// cout << "rel wind: " << rel_wind << endl;
}// end update wind
void FGAICarrier::TurnToLaunch(){
// calculate tgt heading
if (_wind_speed_kts < 3){
tgt_heading = _base_course;
} else {
tgt_heading = _wind_from_deg;
}
//calculate tgt speed
double tgt_speed = 25 - _wind_speed_kts;
if (tgt_speed < 10)
tgt_speed = 10;
//turn the carrier
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
void FGAICarrier::TurnToRecover(){
//these are the rules for adjusting heading to provide a relative wind
//down the angled flightdeck
if (_wind_speed_kts < 3){
tgt_heading = _base_course + 60;
} else if (_rel_wind < -9 && _rel_wind >= -180){
tgt_heading = _wind_from_deg;
} else if (_rel_wind > -7 && _rel_wind < 45){
tgt_heading = _wind_from_deg + 60;
} else if (_rel_wind >=45 && _rel_wind < 180){
tgt_heading = _wind_from_deg + 45;
} else
tgt_heading = hdg;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
//calculate tgt speed
double tgt_speed = 26 - _wind_speed_kts;
if (tgt_speed < 10)
tgt_speed = 10;
//turn the carrier
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
void FGAICarrier::TurnToBase(){
//turn the carrier
FGAIShip::TurnTo(_base_course);
FGAIShip::AccelTo(_base_speed);
}
void FGAICarrier::ReturnToBox(){
double course, distance, az2;
//calculate the bearing and range of the initial position from the carrier
geo_inverse_wgs_84(pos, _mOpBoxPos, &course, &az2, &distance);
distance *= SG_METER_TO_NM;
//cout << "return course: " << course << " distance: " << distance << endl;
//turn the carrier
FGAIShip::TurnTo(course);
FGAIShip::AccelTo(_base_speed);
if (distance >= 1)
_returning = true;
else
_returning = false;
} // end turn to base
bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
if ( _max_lat == 0 && _min_lat == 0 && _max_lon == 0 && _min_lon == 0) {
SG_LOG(SG_AI, SG_DEBUG, "AICarrier: No Operating Box defined" );
return false;
}
if (_mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
if (pos.getLatitudeDeg() >= _mOpBoxPos.getLatitudeDeg() + _max_lat)
return true;
if (pos.getLatitudeDeg() <= _mOpBoxPos.getLatitudeDeg() - _min_lat)
return true;
} else { //southern hemisphere
if (pos.getLatitudeDeg() <= _mOpBoxPos.getLatitudeDeg() - _max_lat)
return true;
if (pos.getLatitudeDeg() >= _mOpBoxPos.getLatitudeDeg() + _min_lat)
return true;
}
if (_mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
if (pos.getLongitudeDeg() >= _mOpBoxPos.getLongitudeDeg() + _max_lon)
return true;
if (pos.getLongitudeDeg() <= _mOpBoxPos.getLongitudeDeg() - _min_lon)
return true;
} else { //western hemisphere
if (pos.getLongitudeDeg() <= _mOpBoxPos.getLongitudeDeg() - _max_lon)
return true;
if (pos.getLongitudeDeg() >= _mOpBoxPos.getLongitudeDeg() + _min_lon)
return true;
}
return false;
} // end OutsideBox
bool FGAICarrier::InToWind() {
_in_to_wind = false;
if ( fabs(_rel_wind) < 10 ){
_in_to_wind = true;
return true;
}
return false;
}
void FGAICarrier::UpdateElevator(double dt) {
double step = 0;
if ((_elevators && _elevator_pos_norm >= 1 ) || (!_elevators && _elevator_pos_norm <= 0 ))
return;
// move the elevators
if (_elevators ) {
step = dt / _elevator_transition_time;
if ( step > 1 )
step = 1;
} else {
step = -dt / _elevator_transition_time;
if ( step < -1 )
step = -1;
}
// assume a linear relationship
_elevator_pos_norm_raw += step;
//low pass filter
_elevator_pos_norm = (_elevator_pos_norm_raw * _elevator_time_constant) + (_elevator_pos_norm * (1 - _elevator_time_constant));
//sanitise the output
if (_elevator_pos_norm_raw >= 1) {
_elevator_pos_norm_raw = 1;
} else if (_elevator_pos_norm_raw <= 0) {
_elevator_pos_norm_raw = 0;
}
return;
} // end UpdateElevator
void FGAICarrier::UpdateJBD(double dt) {
const string launchbar_state = _launchbar_state_node->getStringValue();
double step = 0;
if (launchbar_state == "Engaged"){
_jbd = true;
} else {
_jbd = false;
}
if ((_jbd && _jbd_elevator_pos_norm >= 1 ) || ( !_jbd && _jbd_elevator_pos_norm <= 0 )){
return;
}
// move the jbds
if ( _jbd ) {
step = dt / _jbd_transition_time;
if ( step > 1 )
step = 1;
} else {
step = -dt / _jbd_transition_time;
if ( step < -1 )
step = -1;
}
// assume a linear relationship
_jbd_elevator_pos_norm_raw += step;
//low pass filter
_jbd_elevator_pos_norm = (_jbd_elevator_pos_norm_raw * _jbd_time_constant) + (_jbd_elevator_pos_norm * (1 - _jbd_time_constant));
//sanitise the output
if (_jbd_elevator_pos_norm >= 1) {
_jbd_elevator_pos_norm = 1;
} else if (_jbd_elevator_pos_norm <= 0) {
_jbd_elevator_pos_norm = 0;
}
return;
} // end UpdateJBD
std::pair<bool, SGGeod> FGAICarrier::initialPositionForCarrier(const std::string& namePennant)
{
FGAIManager::registerScenarios();
// this is actually a three-layer search (we want the scenario with the
// carrier with the correct penanant or name. Sometimes an XPath for
// properties would be quite handy :)
for (auto s : fgGetNode("/sim/ai/scenarios")->getChildren("scenario")) {
auto carriers = s->getChildren("carrier");
auto it = std::find_if(carriers.begin(), carriers.end(),
[namePennant] (const SGPropertyNode* n)
{
// don't want to use a recursive lambda here, so inner search is a flat loop
for (auto nameChild : n->getChildren("name")) {
if (nameChild->getStringValue() == namePennant) return true;
}
return false;
});
if (it == carriers.end()) {
continue;
}
// mark the scenario for loading (which will happen in post-init of the AIManager)
fgGetNode("/sim/ai/")->addChild("scenario")->setStringValue(s->getStringValue("id"));
// read out the initial-position
SGGeod geod = SGGeod::fromDeg((*it)->getDoubleValue("longitude"),
(*it)->getDoubleValue("latitude"));
return std::make_pair(true, geod);
} // of scenarios iteration
return std::make_pair(false, SGGeod());
}
SGSharedPtr<FGAICarrier> FGAICarrier::findCarrierByNameOrPennant(const std::string& namePennant)
{
const FGAIManager* aiManager = globals->get_subsystem<FGAIManager>();
if (!aiManager) {
return {};
}
for (const auto& aiObject : aiManager->get_ai_list()) {
if (aiObject->isa(FGAIBase::otCarrier)) {
SGSharedPtr<FGAICarrier> c = static_cast<FGAICarrier*>(aiObject.get());
if ((c->_sign == namePennant) || (c->_getName() == namePennant)) {
return c;
}
}
} // of all objects iteration
return {};
}
void FGAICarrier::extractCarriersFromScenario(SGPropertyNode_ptr xmlNode, SGPropertyNode_ptr scenario)
{
for (auto c : xmlNode->getChildren("entry")) {
if (c->getStringValue("type") != std::string("carrier"))
continue;
const std::string name = c->getStringValue("name");
const std::string pennant = c->getStringValue("pennant-number");
if (name.empty() && pennant.empty()) {
continue;
}
SGPropertyNode_ptr carrierNode = scenario->addChild("carrier");
// extract the initial position from the scenario
carrierNode->setDoubleValue("longitude", c->getDoubleValue("longitude"));
carrierNode->setDoubleValue("latitude", c->getDoubleValue("latitude"));
// A description of the carrier is also available from the entry. Primarily for use by the launcher
carrierNode->setStringValue("description", c->getStringValue("description"));
// the find code above just looks for anything called a name (so alias
// are possible, for example)
if (!name.empty()) carrierNode->addChild("name")->setStringValue(name);
if (!pennant.empty()) {
carrierNode->addChild("name")->setStringValue(pennant);
carrierNode->addChild("pennant-number")->setStringValue(pennant);
}
// extact parkings
for (auto p : c->getChildren("parking-pos")) {
carrierNode->addChild("parking-pos")->setStringValue(p->getStringValue("name"));
}
}
}
simgear::Emesary::ReceiptStatus FGAICarrier::Receive(simgear::Emesary::INotificationPtr n)
{
auto nctn = dynamic_pointer_cast<NearestCarrierToNotification>(n);
if (nctn) {
if (!nctn->GetCarrier() || nctn->GetDistanceMeters() > nctn->GetDistanceToMeters(pos)) {
nctn->SetCarrier(this, &pos);
nctn->SetViewPositionLatNode(_view_position_lat_deg_node);
nctn->SetViewPositionLonNode(_view_position_lon_deg_node);
nctn->SetViewPositionAltNode(_view_position_alt_ft_node);
nctn->SetDeckheight(_deck_altitude_ft);
nctn->SetHeading(hdg);
nctn->SetVckts(speed);
nctn->SetCarrierIdent(this->_getName());
}
return simgear::Emesary::ReceiptStatus::OK;
}
return simgear::Emesary::ReceiptStatus::NotProcessed;
}
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