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flightgear/src/AIModel/AIAircraft.cxx
durk 402046e580 AI Modifications: 1) Added a patch that takes ground speed into consideration 
using Curt's new speed adjustment code. 2) Separated the function
FlightPlanCreateCruise() into a new source file in preparation of a more
elaborate airway following scheme.
2006-07-27 14:42:15 +00:00

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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 <simgear/math/point3d.hxx>
#include <simgear/route/waypoint.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Main/viewer.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <string>
#include <math.h>
#include <time.h>
#ifdef _MSC_VER
# include <float.h>
# define finite _finite
#elif defined(__sun) || defined(sgi)
# include <ieeefp.h>
#endif
SG_USING_STD(string);
#include "AIAircraft.hxx"
static string tempReg;
//
// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
// cruise_speed, descent_speed, land_speed
//
const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
// light aircraft
{2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
// ww2_fighter
{4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
// jet_transport
{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
// jet_fighter
{7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
// tanker
{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
// ufo (extreme accel/decel)
{30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
};
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
FGAIBase(otAircraft)
{
trafficRef = ref;
if (trafficRef)
groundOffset = trafficRef->getGroundOffset();
else
groundOffset = 0;
fp = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
isTanker = false;
// set heading and altitude locks
hdg_lock = false;
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
}
FGAIAircraft::~FGAIAircraft() {
//delete fp;
}
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"));
setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
}
bool FGAIAircraft::init() {
//refuel_node = fgGetNode("systems/refuel/contact", true);
return FGAIBase::init();
}
void FGAIAircraft::bind() {
FGAIBase::bind();
props->tie("controls/gear/gear-down",
SGRawValueMethods<FGAIAircraft,bool>(*this,
&FGAIAircraft::_getGearDown));
props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
props->setStringValue("callsign", callsign.c_str());
props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
props->setBoolValue("tanker",isTanker);
}
void FGAIAircraft::unbind() {
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
props->untie("refuel/contact");
}
void FGAIAircraft::update(double dt) {
FGAIBase::update(dt);
Run(dt);
Transform();
}
void FGAIAircraft::setPerformance(const std::string& acclass) {
if (acclass == "light") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
} else if (acclass == "ww2_fighter") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
} else if (acclass == "jet_transport") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
} else if (acclass == "jet_fighter") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
} else if (acclass == "tanker") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
SetTanker(true);
} else if (acclass == "ufo") {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
} else {
SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
}
}
void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
performance = ps;
}
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
if (fp) {
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
ProcessFlightPlan(dt, now);
if (now < fp->getStartTime()) {
// Do execute Ground elev for inactive aircraft, so they
// Are repositioned to the correct ground altitude when the user flies within visibility range.
if (no_roll) {
Transform(); // make sure aip is initialized.
getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
//getGroundElev(dt); // Need to do this twice.
//cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
doGroundAltitude();
//cerr << " Actual altitude " << altitude << endl;
// Transform();
pos.setElevationFt(altitude_ft);
}
return;
}
} 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".
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" ) );
}
double turn_radius_ft;
double turn_circum_ft;
double speed_north_deg_sec;
double speed_east_deg_sec;
double dist_covered_ft;
double alpha;
// adjust speed
double speed_diff; //= tgt_speed - speed;
if (!no_roll) {
speed_diff = tgt_speed - speed;
} else {
speed_diff = groundTargetSpeed - speed;
}
if (speed_diff > 0.0) {
speed += performance->accel * dt;
if (no_roll) { // apply overshoot correction
if ( speed > groundTargetSpeed ) speed = groundTargetSpeed;
}else {
if ( speed > tgt_speed ) speed = tgt_speed;
}
} else if (speed_diff < 0.0) {
if (no_roll) {
// on ground (aircraft can't roll)
// deceleration performance is better due to wheel brakes.
speed -= performance->decel * dt * 3;
} else {
speed -= performance->decel * dt;
}
if (no_roll) { // apply overshoot correction
if (speed < groundTargetSpeed ) speed = groundTargetSpeed;
} else {
if ( speed < tgt_speed ) speed = tgt_speed;
}
}
// convert speed to degrees per second
speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
* speed * 1.686 / ft_per_deg_lat;
speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
* speed * 1.686 / ft_per_deg_lon;
// set new position
pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
/* printf("%.7f %0.4f %.7f %.5f %.7f %.7f %.8f %.8f %.9f %.9f\n",
dt, hdg, speed, ft_per_deg_lat,
cos( hdg * SGD_DEGREES_TO_RADIANS ),
speed * 1.686 / ft_per_deg_lat,
speed_north_deg_sec, speed_east_deg_sec,
pos.getLatitudeDeg(), pos.getLongitudeDeg()); */
//if (!(finite(pos.lat()) && finite(pos.lon())))
// {
// cerr << "Position is not finite" << endl;
// cerr << "speed = " << speed << endl;
// cerr << "dt" << dt << endl;
// cerr << "heading " << hdg << endl;
// cerr << "speed east " << speed_east_deg_sec << endl;
// cerr << "speed nrth " << speed_north_deg_sec << endl;
// cerr << "deg_lat " << ft_per_deg_lat << endl;
// cerr << "deg_lon " << ft_per_deg_lon << endl;
// }
// 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 (no_roll) {
double headingDiff = fabs(hdg-tgt_heading);
if (headingDiff > 180)
headingDiff = fabs(headingDiff - 360);
groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
if (headingDiff > 30.0) {
headingChangeRate += dt * sign(roll); // invert if pushed backward
// Print some debug statements to find out why aircraft may get stuck
// forever turning
//if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
// cerr << "Turning : " << trafficRef->getRegistration()
// cerr << " Speed = " << speed << " Heading " << hdg
// << " Target Heading " << tgt_heading
// << " Lead Distance " << fp->getLeadDistance()
// << " Distance to go "
// << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
// << "waypoint name " << fp->getCurrentWaypoint()->name
// << endl;
//}
if (headingChangeRate > 30)
headingChangeRate = 30;
else if (headingChangeRate < -30)
headingChangeRate = -30;
} else {
if (fabs(headingChangeRate) > headingDiff)
headingChangeRate = headingDiff*sign(roll);
else
headingChangeRate += dt * sign(roll);
}
hdg += headingChangeRate * dt;
//cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
// << ". Target speed: " << groundTargetSpeed << ". heading change rate"
// << headingChangeRate << endl;
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
/ tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
} else {
turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
}
turn_circum_ft = SGD_2PI * turn_radius_ft;
dist_covered_ft = speed * 1.686 * dt;
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--;
}
}
// 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 < 30) {
tgt_roll = diff * bank_sense;
} else {
tgt_roll = 30.0 * bank_sense;
}
if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
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.
//if (tempReg.empty())
// tempReg = trafficRef->getRegistration();
//if (trafficRef->getRegistration() == tempReg) {
// cerr << trafficRef->getRegistration()
// << " appears to be spinning: " << spinCounter << endl
// << " speed " << speed << endl
// << " heading " << hdg << endl
// << " lead distance " << fp->getLeadDistance() << endl
// << " waypoint " << fp->getCurrentWaypoint()->name
// << " target heading " << tgt_heading << endl
// << " lead in angle " << fp->getLeadInAngle()<< endl
// << " roll " << roll << endl
// << " target_roll " << tgt_roll << endl;
//}
}
}
// adjust bank angle, use 9 degrees per second
double bank_diff = tgt_roll - roll;
if (fabs(bank_diff) > 0.2) {
if (bank_diff > 0.0)
roll += 9.0 * dt;
if (bank_diff < 0.0)
roll -= 9.0 * dt;
//while (roll > 180) roll -= 360;
//while (roll < 180) roll += 360;
}
// adjust altitude (meters) based on current vertical speed (fpm)
altitude_ft += vs / 60.0 * dt;
pos.setElevationFt(altitude_ft);
// adjust target Altitude, based on ground elevation when on ground
if (no_roll) {
getGroundElev(dt);
doGroundAltitude();
} else {
// find target vertical speed if altitude lock engaged
if (alt_lock && use_perf_vs) {
if (altitude_ft < tgt_altitude_ft) {
tgt_vs = tgt_altitude_ft - altitude_ft;
if (tgt_vs > performance->climb_rate)
tgt_vs = performance->climb_rate;
} else {
tgt_vs = tgt_altitude_ft - altitude_ft;
if (tgt_vs < (-performance->descent_rate))
tgt_vs = -performance->descent_rate;
}
}
if (alt_lock && !use_perf_vs) {
double max_vs = 4*(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;
}
}
// adjust vertical speed
double vs_diff = tgt_vs - vs;
if (fabs(vs_diff) > 10.0) {
if (vs_diff > 0.0) {
vs += 900.0 * dt;
if (vs > tgt_vs)
vs = tgt_vs;
} else {
vs -= 400.0 * dt;
if (vs < tgt_vs)
vs = tgt_vs;
}
}
// match pitch angle to vertical speed
if (vs > 0) {
pitch = vs * 0.005;
} else {
pitch = vs * 0.002;
}
//###########################//
// do calculations for radar //
//###########################//
double range_ft2 = UpdateRadar(manager);
//************************************//
// Tanker code //
//************************************//
if ( isTanker) {
if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
&& (elevation > 0.0) ) {
//refuel_node->setBoolValue(true);
contact = true;
} else {
//refuel_node->setBoolValue(false);
contact = false;
}
} else {
contact = false;
}
}
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
}
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 -1.0;
else
return 1.0;
}
void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
if (!flightplan.empty()) {
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
fp->setRepeat(repeat);
SetFlightPlan(fp);
}
}
void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
delete fp;
fp = f;
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
bool eraseWaypoints;
if (trafficRef) {
// FGAirport *arr;
// FGAirport *dep;
eraseWaypoints = true;
// cerr << trafficRef->getRegistration();
// cerr << "Departure airport " << endl;
// dep = trafficRef->getDepartureAirport();
// if (dep)
// cerr << dep->getId() << endl;
// cerr << "Arrival airport " << endl;
// arr = trafficRef->getArrivalAirport();
// if (arr)
// cerr << arr->getId() <<endl << endl;;
} else
eraseWaypoints = false;
//cerr << "Processing Flightplan" << endl;
FGAIFlightPlan::waypoint* prev = 0; // the one behind you
FGAIFlightPlan::waypoint* curr = 0; // the one ahead
FGAIFlightPlan::waypoint* next = 0; // the next plus 1
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
dt_count += dt;
if (!prev) { //beginning of flightplan, do this initialization once
//setBank(0.0);
spinCounter = 0;
tempReg = "";
//prev_dist_to_go = HUGE;
//cerr << "Before increment " << curr-> name << endl;
fp->IncrementWaypoint(eraseWaypoints);
//prev = fp->getPreviousWaypoint(); //first waypoint
//curr = fp->getCurrentWaypoint(); //second waypoint
//next = fp->getNextWaypoint(); //third waypoint (might not exist!)
//cerr << "After increment " << prev-> name << endl;
if (!(fp->getNextWaypoint()) && trafficRef)
loadNextLeg();
//cerr << "After load " << prev-> name << endl;
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
//cerr << "After load " << prev-> name << endl;
setLatitude(prev->latitude);
setLongitude(prev->longitude);
setSpeed(prev->speed);
setAltitude(prev->altitude);
if (prev->speed > 0.0)
setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
else
setHeading(fp->getBearing(curr->latitude, curr->longitude, 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->crossat > -1000.0) { //use a calculated descent/climb rate
use_perf_vs = false;
tgt_vs = (curr->crossat - prev->altitude)
/ (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / prev->speed*60.0);
tgt_altitude_ft = curr->crossat;
} else {
use_perf_vs = true;
tgt_altitude_ft = prev->altitude;
}
alt_lock = hdg_lock = true;
no_roll = prev->on_ground;
if (no_roll) {
Transform(); // make sure aip is initialized.
getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
//getGroundElev(60.1); // Need to do this twice.
//cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
doGroundAltitude(); //(tgt_altitude);
}
prevSpeed = 0;
//cout << "First waypoint: " << prev->name << endl;
//cout << " Target speed: " << tgt_speed << endl;
//cout << " Target altitude: " << tgt_altitude << endl;
//cout << " Target heading: " << tgt_heading << endl << endl;
//cerr << "Done Flightplan init" << endl;
return;
} // end of initialization
// let's only process the flight plan every 100 ms.
if ((dt_count < 0.1) || (now < fp->getStartTime())) {
//cerr << "done fp dt" << endl;
return;
} else {
dt_count = 0;
}
// check to see if we've reached the lead point for our next turn
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
//cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
if (lead_dist < fabs(2*speed)) {
lead_dist = fabs(2*speed); //don't skip over the waypoint
//cerr << "Extending lead distance to " << lead_dist << endl;
}
// FGAirport * apt = trafficRef->getDepartureAirport();
// if ((dist_to_go > prev_dist_to_go) && trafficRef && apt) {
// if (apt->getId() == string("EHAM"))
// cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name << endl
// << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
// << "Lead distance : " << lead_dist << endl
// << "Distance to go: " << dist_to_go << endl;
// }
prev_dist_to_go = dist_to_go;
//cerr << "2" << endl;
//if (no_roll)
// lead_dist = 10.0;
//cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ", lead_dist: "
// << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading
// << " speed " << speed << " hdg " << hdg << ". Altitude " << altitude << " TAget alt :"
// << tgt_altitude << endl;
if ( dist_to_go < lead_dist ) {
//prev_dist_to_go = HUGE;
// For traffic manager generated aircraft:
// check if the aircraft flies of of user range. And adjust the
// Current waypoint's elevation according to Terrain Elevation
if (curr->finished) { //end of the flight plan
if (fp->getRepeat())
fp->restart();
else
setDie(true);
//cerr << "Done die end of fp" << endl;
return;
}
// we've reached the lead-point for the waypoint ahead
//cerr << "4" << endl;
//cerr << "Situation after lead point" << endl;
//cerr << "Prviious: " << prev->name << endl;
//cerr << "Current : " << curr->name << endl;
//cerr << "Next : " << next->name << endl;
if (next) {
tgt_heading = fp->getBearing(curr, next);
spinCounter = 0;
}
fp->IncrementWaypoint(eraseWaypoints);
if (!(fp->getNextWaypoint()) && trafficRef)
loadNextLeg();
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
// Now that we have incremented the waypoints, excute some traffic manager specific code
// based on the name of the waypoint we just passed.
if (trafficRef) {
double userLatitude = fgGetDouble("/position/latitude-deg");
double userLongitude = fgGetDouble("/position/longitude-deg");
double course, distance;
SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
SGWayPoint user (userLongitude, userLatitude, 0);
user.CourseAndDistance(current, &course, &distance);
if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
setDie(true);
//cerr << "done fp die out of range" << endl;
return;
}
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
// At parking the beginning of the airport
if (!( dep && arr)) {
setDie(true);
return;
}
//if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM")))) {
// cerr << trafficRef->getRegistration()
// << " Enroute from " << dep->getId()
// << " to " << arr->getId()
// << " just crossed " << prev->name
// << " Assigned rwy " << fp->getRunwayId()
// << " " << fp->getRunway() << endl;
// }
//if ((dep->getId() == string("EHAM")) && (prev->name == "park2")) {
// cerr << "Schiphol ground "
// << trafficRef->getCallSign();
// if (trafficRef->getHeavy())
// cerr << "Heavy";
// cerr << ", is type "
// << trafficRef->getAircraft()
// << " ready to go. IFR to "
// << arr->getId() <<endl;
// }
if (prev->name == "park2")
dep->getDynamics()->releaseParking(fp->getGate());
// Some debug messages, specific to testing the Logical networks.
// if ((arr->getId() == string("EHAM")) && (prev->name == "Center")) {
// cerr << "Schiphol ground "
// << trafficRef->getRegistration() << " "
// << trafficRef->getCallSign();
// if (trafficRef->getHeavy())
// cerr << "Heavy";
// cerr << ", arriving from " << dep->getName() ;
// cerr << " landed runway "
// << fp->getRunway()
// << " request taxi to gate "
// << arr->getDynamics()->getParkingName(fp->getGate())
// << endl;
// }
if (prev->name == "END")
fp->setTime(trafficRef->getDepartureTime());
//cerr << "5" << endl;
}
if (next) {
//cerr << "Current waypoint" << curr->name << endl;
//cerr << "Next waypoint" << next->name << endl;
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
//cerr << "5.1" << endl;
if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
tgt_altitude_ft = prev->altitude;
if (curr->crossat > -1000.0) {
//cerr << "5.1a" << endl;
use_perf_vs = false;
tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / speed*60.0);
//cerr << "5.1b" << endl;
tgt_altitude_ft = curr->crossat;
} else {
//cerr << "5.1c" << endl;
use_perf_vs = true;
//cerr << "5.1d" << endl;
//cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
}
}
//cerr << "6" << endl;
tgt_speed = prev->speed;
hdg_lock = alt_lock = true;
no_roll = prev->on_ground;
//cout << "Crossing waypoint: " << prev->name << endl;
//cout << " Target speed: " << tgt_speed << endl;
//cout << " Target altitude: " << tgt_altitude_ft << endl;
//cout << " Target heading: " << tgt_heading << endl << endl;
} else {
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
calc_bearing +=180;
if (calc_bearing > 360)
calc_bearing -= 360;
}
if (finite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
if (fabs(hdg_error) > 1.0) {
TurnTo( calc_bearing );
}
} else {
cerr << "calc_bearing is not a finite number : "
<< "Speed " << speed
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
<< "waypoint " << curr->latitude << ", " << curr->longitude << endl;
cerr << "waypoint name " << curr->name;
exit(1); // FIXME
}
double speed_diff = speed - prevSpeed;
// Update the lead distance calculation if speed has changed sufficiently
// to prevent spinning (hopefully);
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
//cerr << "Done Processing FlightPlan"<< endl;
}
}
bool FGAIAircraft::_getGearDown() const {
return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
&& (props->getFloatValue("velocities/airspeed-kt")
< performance->land_speed*1.25));
}
void FGAIAircraft::loadNextLeg() {
//delete fp;
//time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//FGAIModelEntity entity;
//entity.m_class = "jet_transport";
//entity.path = modelPath.c_str();
//entity.flightplan = "none";
//entity.latitude = _getLatitude();
//entity.longitude = _getLongitude();
//entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
//entity.speed = 450; // HACK ALERT
//entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
int leg;
if ((leg = fp->getLeg()) == 10) {
trafficRef->next();
leg = 1;
fp->setLeg(leg);
//cerr << "Resetting leg : " << leg << endl;
}
//leg++;
//fp->setLeg(leg);
//cerr << "Creating leg number : " << leg << endl;
FGAirport *dep = trafficRef->getDepartureAirport();
FGAirport *arr = trafficRef->getArrivalAirport();
if (!(dep && arr)) {
setDie(true);
//cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
//if (dep)
// cerr << "Departure " << dep->getId() << endl;
//if (arr)
// cerr << "Arrival " << arr->getId() << endl;
} else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
//cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
fp->create (dep,
arr,
leg,
cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
trafficRef->getSpeed(),
_getLatitude(),
_getLongitude(),
false,
trafficRef->getRadius(),
trafficRef->getFlightType(),
acType,
company);
//prev = fp->getPreviousWaypoint();
//curr = fp->getCurrentWaypoint();
//next = fp->getNextWaypoint();
//cerr << "25" << endl;
//if (next)
// {
// //cerr << "Next waypoint" << next->name << endl;
// fp->setLeadDistance(speed, tgt_heading, curr, next);
// }
//cerr << "25.1" << endl;
//if (curr->crossat > -1000.0) {
// //cerr << "25.1a" << endl;
// use_perf_vs = false;
//
// tgt_vs = (curr->crossat - altitude_ft)/
// (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
// //cerr << "25.1b" << endl;
// tgt_altitude_ft = curr->crossat;
//} else {
// //cerr << "25.1c" << endl;
// use_perf_vs = true;
// //cerr << "25.1d" << endl;
// tgt_altitude_ft = prev->altitude;
// //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
// }
//cerr << "26" << endl;
//tgt_speed = prev->speed;
//hdg_lock = alt_lock = true;
//no_roll = prev->on_ground;
}
//else
//{
//delete entity.fp;
//entity.fp = new FGAIFlightPlan(&entity,
// 999, // A hack
// trafficRef->getDepartureTime(),
// trafficRef->getDepartureAirport(),
// trafficRef->getArrivalAirport(),
// false,
// acType,
// company);
//SetFlightPlan(entity.fp);
}
// 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;
// Update minimally every three secs, but add some randomness
// to prevent all IA objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
else
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");
FGViewer* vw = globals->get_current_view();
double course, distance;
SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
view.CourseAndDistance(current, &course, &distance);
if(distance > visibility_meters) {
//aip.getSGLocation()->set_cur_elev_m(aptElev);
return;
}
// FIXME: make sure the pos.lat/pos.lon values are in degrees ...
double range = 500.0;
if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
// Try to shedule tiles for that position.
globals->get_tile_mgr()->update( aip.getSGLocation(), range );
}
// FIXME: make sure the pos.lat/pos.lon values are in degrees ...
double alt;
if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
tgt_altitude_ft = alt * SG_METER_TO_FEET;
//cerr << "Target altitude : " << tgt_altitude_ft << endl;
// if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
// 20000.0, alt))
// tgt_altitude_ft = alt * SG_METER_TO_FEET;
//cerr << "Target altitude : " << tgt_altitude_ft << endl;
}
}
void FGAIAircraft::setCallSign(const string& s) {
callsign = s;
}
void FGAIAircraft::setTACANChannelID(const string& id) {
TACAN_channel_id = id;
}
void FGAIAircraft::doGroundAltitude() {
if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
altitude_ft = (tgt_altitude_ft + groundOffset);
else
altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
}
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