977 lines
30 KiB
C++
977 lines
30 KiB
C++
// FGAIAircraft - FGAIBase-derived class creates an AI airplane
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//
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// Written by David Culp, started October 2003.
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//
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// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/math/point3d.hxx>
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#include <simgear/route/waypoint.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <Main/viewer.hxx>
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#include <Scenery/scenery.hxx>
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#include <Scenery/tilemgr.hxx>
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#include <string>
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#include <math.h>
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#include <time.h>
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#ifdef _MSC_VER
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# include <float.h>
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# define finite _finite
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#elif defined(__sun) || defined(sgi)
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# include <ieeefp.h>
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#endif
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SG_USING_STD(string);
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#include "AIAircraft.hxx"
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static string tempReg;
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//
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// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
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// cruise_speed, descent_speed, land_speed
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//
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const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
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// light aircraft
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{2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
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// ww2_fighter
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{4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
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// jet_transport
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{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
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// jet_fighter
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{7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
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// tanker
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{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0}
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};
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FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
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FGAIBase(otAircraft) {
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trafficRef = ref;
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if (trafficRef)
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groundOffset = trafficRef->getGroundOffset();
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else
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groundOffset = 0;
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fp = 0;
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dt_count = 0;
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dt_elev_count = 0;
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use_perf_vs = true;
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isTanker = false;
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// set heading and altitude locks
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hdg_lock = false;
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alt_lock = false;
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roll = 0;
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headingChangeRate = 0.0;
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}
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FGAIAircraft::~FGAIAircraft() {
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//delete fp;
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}
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void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
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if (!scFileNode)
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return;
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FGAIBase::readFromScenario(scFileNode);
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setPerformance(scFileNode->getStringValue("class", "jet_transport"));
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setFlightPlan(scFileNode->getStringValue("flightplan"),
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scFileNode->getBoolValue("repeat", false));
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}
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bool FGAIAircraft::init() {
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refuel_node = fgGetNode("systems/refuel/contact", true);
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return FGAIBase::init();
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}
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void FGAIAircraft::bind() {
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FGAIBase::bind();
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props->tie("controls/gear/gear-down",
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SGRawValueMethods<FGAIAircraft,bool>(*this,
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&FGAIAircraft::_getGearDown));
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}
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void FGAIAircraft::unbind() {
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FGAIBase::unbind();
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props->untie("controls/gear/gear-down");
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}
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void FGAIAircraft::update(double dt) {
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FGAIBase::update(dt);
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Run(dt);
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Transform();
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}
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void FGAIAircraft::setPerformance(const std::string& acclass)
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{
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if (acclass == "light") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
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} else if (acclass == "ww2_fighter") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
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} else if (acclass == "jet_transport") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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} else if (acclass == "jet_fighter") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
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} else if (acclass == "tanker") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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SetTanker(true);
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} else {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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}
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}
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void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
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performance = ps;
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}
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void FGAIAircraft::Run(double dt) {
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FGAIAircraft::dt = dt;
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if (fp)
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{
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time_t now = time(NULL) + fgGetLong("/sim/time/warp");
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ProcessFlightPlan(dt, now);
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if (now < fp->getStartTime())
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{
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// Do execute Ground elev for inactive aircraft, so they
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// Are repositioned to the correct ground altitude when the user flies within visibility range.
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if (no_roll)
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{
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Transform(); // make sure aip is initialized.
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getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
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//getGroundElev(dt); // Need to do this twice.
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//cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
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doGroundAltitude();
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//cerr << " Actual altitude " << altitude << endl;
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// Transform();
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pos.setelev(altitude * SG_FEET_TO_METER);
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}
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return;
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}
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}
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double turn_radius_ft;
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double turn_circum_ft;
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double dist_covered_ft;
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double alpha;
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// adjust speed
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double speed_diff; //= tgt_speed - speed;
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if (!no_roll)
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{
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speed_diff = tgt_speed - speed;
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}
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else
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{
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speed_diff = groundTargetSpeed - speed;
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}
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if (fabs(speed_diff) > 0.2) {
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if (speed_diff > 0.0) speed += performance->accel * dt;
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if (speed_diff < 0.0) {
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if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
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speed -= performance->decel * dt * 3;
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} else {
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speed -= performance->decel * dt;
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}
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}
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}
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// convert speed to degrees per second
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speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
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* speed * 1.686 / ft_per_deg_lat;
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speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
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* speed * 1.686 / ft_per_deg_lon;
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// set new position
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pos.setlat( pos.lat() + speed_north_deg_sec * dt);
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pos.setlon( pos.lon() + speed_east_deg_sec * dt);
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//if (!(finite(pos.lat()) && finite(pos.lon())))
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// {
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// cerr << "Position is not finite" << endl;
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// cerr << "speed = " << speed << endl;
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// cerr << "dt" << dt << endl;
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// cerr << "heading " << hdg << endl;
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// cerr << "speed east " << speed_east_deg_sec << endl;
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// cerr << "speed nrth " << speed_north_deg_sec << endl;
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// cerr << "deg_lat " << ft_per_deg_lat << endl;
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// cerr << "deg_lon " << ft_per_deg_lon << endl;
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// }
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// adjust heading based on current bank angle
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if (roll == 0.0)
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roll = 0.01;
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if (roll != 0.0) {
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// double turnConstant;
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//if (no_roll)
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// turnConstant = 0.0088362;
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//else
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// turnConstant = 0.088362;
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// If on ground, calculate heading change directly
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if (no_roll) {
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double headingDiff = fabs(hdg-tgt_heading);
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if (headingDiff > 180)
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headingDiff = fabs(headingDiff - 360);
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groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
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if (sign(groundTargetSpeed) != sign(tgt_speed))
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groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
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if (headingDiff > 30.0)
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{
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headingChangeRate += dt * sign(roll); // invert if pushed backward
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// Print some debug statements to find out why aircraft may get stuck
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// forever turning
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//if (trafficRef->getDepartureAirport()->getId() == string("EHAM"))
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// {
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//cerr << "Turning : " << trafficRef->getRegistration()
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//cerr << " Speed = " << speed << " Heading " << hdg
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//<< " Target Heading " << tgt_heading
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// << " Lead Distance " << fp->getLeadDistance()
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// << " Distance to go "
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// << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
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// << "waypoint name " << fp->getCurrentWaypoint()->name
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// << endl;
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//}
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if (headingChangeRate > 30)
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{
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headingChangeRate = 30;
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}
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else if (headingChangeRate < -30)
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{
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headingChangeRate = -30;
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}
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}
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else
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{
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if (fabs(headingChangeRate) > headingDiff)
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headingChangeRate = headingDiff*sign(roll);
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else
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headingChangeRate += dt * sign(roll);
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}
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hdg += headingChangeRate * dt;
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//cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading << ". Target speed: " << groundTargetSpeed << ". heading change rate" << headingChangeRate << endl;
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}
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else {
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if (fabs(speed) > 1.0) {
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turn_radius_ft = 0.088362 * speed * speed
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/ tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
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}
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else
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{
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turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
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}
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turn_circum_ft = SGD_2PI * turn_radius_ft;
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dist_covered_ft = speed * 1.686 * dt;
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alpha = dist_covered_ft / turn_circum_ft * 360.0;
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hdg += alpha * sign(roll);
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}
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while ( hdg > 360.0 ) {
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hdg -= 360.0;
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spinCounter++;
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}
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while ( hdg < 0.0)
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{
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hdg += 360.0;
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spinCounter--;
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}
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}
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// adjust target bank angle if heading lock engaged
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if (hdg_lock) {
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double bank_sense = 0.0;
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double diff = fabs(hdg - tgt_heading);
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if (diff > 180) diff = fabs(diff - 360);
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double sum = hdg + diff;
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if (sum > 360.0) sum -= 360.0;
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if (fabs(sum - tgt_heading) < 1.0) {
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bank_sense = 1.0; // right turn
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} else {
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bank_sense = -1.0; // left turn
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}
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if (diff < 30) {
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tgt_roll = diff * bank_sense;
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} else {
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tgt_roll = 30.0 * bank_sense;
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}
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if ((fabs((double) spinCounter) > 1) && (diff > 30))
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{
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tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
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// The only way to resolve this is to make them slow down.
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//if (tempReg.empty())
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// tempReg = trafficRef->getRegistration();
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//if (trafficRef->getRegistration() == tempReg)
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// {
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// cerr << trafficRef->getRegistration()
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// << " appears to be spinning: " << spinCounter << endl
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// << " speed " << speed << endl
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// << " heading " << hdg << endl
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// << " lead distance " << fp->getLeadDistance() << endl
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// << " waypoint " << fp->getCurrentWaypoint()->name
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// << " target heading " << tgt_heading << endl
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// << " lead in angle " << fp->getLeadInAngle()<< endl
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// << " roll " << roll << endl
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// << " target_roll " << tgt_roll << endl;
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// }
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}
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}
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// adjust bank angle, use 9 degrees per second
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double bank_diff = tgt_roll - roll;
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if (fabs(bank_diff) > 0.2) {
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if (bank_diff > 0.0) roll += 9.0 * dt;
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if (bank_diff < 0.0) roll -= 9.0 * dt;
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//while (roll > 180) roll -= 360;
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//while (roll < 180) roll += 360;
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}
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// adjust altitude (meters) based on current vertical speed (fpm)
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altitude += vs / 60.0 * dt;
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pos.setelev(altitude * SG_FEET_TO_METER);
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double altitude_ft = altitude;
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// adjust target Altitude, based on ground elevation when on ground
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if (no_roll)
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{
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getGroundElev(dt);
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doGroundAltitude();
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}
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else
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{
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// find target vertical speed if altitude lock engaged
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if (alt_lock && use_perf_vs) {
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if (altitude_ft < tgt_altitude) {
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tgt_vs = tgt_altitude - altitude_ft;
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if (tgt_vs > performance->climb_rate)
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tgt_vs = performance->climb_rate;
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} else {
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tgt_vs = tgt_altitude - altitude_ft;
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if (tgt_vs < (-performance->descent_rate))
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tgt_vs = -performance->descent_rate;
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}
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}
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if (alt_lock && !use_perf_vs) {
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double max_vs = 4*(tgt_altitude - altitude);
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double min_vs = 100;
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if (tgt_altitude < altitude) min_vs = -100.0;
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if ((fabs(tgt_altitude - altitude) < 1500.0) &&
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(fabs(max_vs) < fabs(tgt_vs))) tgt_vs = max_vs;
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if (fabs(tgt_vs) < fabs(min_vs)) tgt_vs = min_vs;
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}
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}
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// adjust vertical speed
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double vs_diff = tgt_vs - vs;
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if (fabs(vs_diff) > 10.0) {
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if (vs_diff > 0.0) {
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vs += 900.0 * dt;
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if (vs > tgt_vs) vs = tgt_vs;
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} else {
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vs -= 400.0 * dt;
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if (vs < tgt_vs) vs = tgt_vs;
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}
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}
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// match pitch angle to vertical speed
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if (vs > 0){
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pitch = vs * 0.005;
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} else {
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pitch = vs * 0.002;
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}
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//###########################//
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// do calculations for radar //
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//###########################//
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double range_ft2 = UpdateRadar(manager);
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//************************************//
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// Tanker code //
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//************************************//
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if ( isTanker) {
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if ( (range_ft2 < 250.0 * 250.0) &&
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(y_shift > 0.0) &&
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(elevation > 0.0) ) {
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refuel_node->setBoolValue(true);
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} else {
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refuel_node->setBoolValue(false);
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}
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}
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}
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void FGAIAircraft::AccelTo(double speed) {
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tgt_speed = speed;
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}
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void FGAIAircraft::PitchTo(double angle) {
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tgt_pitch = angle;
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alt_lock = false;
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}
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void FGAIAircraft::RollTo(double angle) {
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tgt_roll = angle;
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hdg_lock = false;
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}
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void FGAIAircraft::YawTo(double angle) {
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tgt_yaw = angle;
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}
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void FGAIAircraft::ClimbTo(double altitude) {
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tgt_altitude = altitude;
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alt_lock = true;
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}
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void FGAIAircraft::TurnTo(double heading) {
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tgt_heading = heading;
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hdg_lock = true;
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}
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double FGAIAircraft::sign(double x) {
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if ( x < 0.0 ) { return -1.0; }
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else { return 1.0; }
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}
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void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat)
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{
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if (!flightplan.empty()){
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FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
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fp->setRepeat(repeat);
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SetFlightPlan(fp);
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}
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}
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void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
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delete fp;
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fp = f;
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}
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void FGAIAircraft::ProcessFlightPlan( double dt, time_t now )
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{
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bool eraseWaypoints;
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if (trafficRef)
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{
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// FGAirport *arr;
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// FGAirport *dep;
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eraseWaypoints = true;
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// cerr << trafficRef->getRegistration();
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// cerr << "Departure airport " << endl;
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// dep = trafficRef->getDepartureAirport();
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// if (dep)
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// cerr << dep->getId() << endl;
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// cerr << "Arrival airport " << endl;
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// arr = trafficRef->getArrivalAirport();
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// if (arr)
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// cerr << arr->getId() <<endl << endl;;
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}
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else
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eraseWaypoints = false;
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//cerr << "Processing Flightplan" << endl;
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FGAIFlightPlan::waypoint* prev = 0; // the one behind you
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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.lat(), pos.lon(), curr)/
|
|
6076.0/prev->speed*60.0);
|
|
tgt_altitude = curr->crossat;
|
|
} else {
|
|
use_perf_vs = true;
|
|
tgt_altitude = 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.lat(), pos.lon(), 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.lon(),
|
|
pos.lat(),
|
|
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->getCallSign();
|
|
// if (trafficRef->getHeavy())
|
|
// cerr << "Heavy";
|
|
// cerr << " landed runway "
|
|
// << fp->getRunway()
|
|
// << " request taxi to gate "
|
|
// << arr->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 = prev->altitude;
|
|
if (curr->crossat > -1000.0) {
|
|
//cerr << "5.1a" << endl;
|
|
use_perf_vs = false;
|
|
tgt_vs = (curr->crossat - altitude)/
|
|
(fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
|
|
//cerr << "5.1b" << endl;
|
|
tgt_altitude = curr->crossat;
|
|
} else {
|
|
//cerr << "5.1c" << endl;
|
|
use_perf_vs = true;
|
|
//cerr << "5.1d" << endl;
|
|
|
|
//cerr << "Setting target altitude : " <<tgt_altitude << 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 << endl;
|
|
//cout << " Target heading: " << tgt_heading << endl << endl;
|
|
} else {
|
|
|
|
double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), 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.lat() << ", " << pos.lon()
|
|
<< "waypoint " << curr->latitude << ", " << curr->longitude << endl;
|
|
cerr << "waypoint name " << curr->name;
|
|
exit(1);
|
|
}
|
|
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;
|
|
} // if (dt count) else
|
|
}
|
|
|
|
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)/
|
|
// (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
|
|
// //cerr << "25.1b" << endl;
|
|
// tgt_altitude = curr->crossat;
|
|
//} else {
|
|
// //cerr << "25.1c" << endl;
|
|
// use_perf_vs = true;
|
|
// //cerr << "25.1d" << endl;
|
|
// tgt_altitude = prev->altitude;
|
|
// //cerr << "Setting target altitude : " <<tgt_altitude << 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;
|
|
//return;
|
|
if (dt_elev_count < (3.0) + (rand() % 10)) //Update minimally every three secs, but add some randomness to prevent all IA objects doing this in synchrony
|
|
{
|
|
return;
|
|
}
|
|
else
|
|
{
|
|
dt_elev_count = 0;
|
|
}
|
|
// It would be nice if we could set the correct tile center here in order to get a correct
|
|
// answer with one call to the function, but what I tried in the two commented-out lines
|
|
// below only intermittently worked, and I haven't quite groked why yet.
|
|
//SGBucket buck(pos.lon(), pos.lat());
|
|
//aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
|
|
|
|
// Only do the proper hitlist stuff if we are within visible range of the viewer.
|
|
double visibility_meters = fgGetDouble("/environment/visibility-m");
|
|
|
|
|
|
FGViewer* vw = globals->get_current_view();
|
|
double
|
|
course,
|
|
distance;
|
|
|
|
//Point3D currView(vw->getLongitude_deg(),
|
|
// vw->getLatitude_deg(), 0.0);
|
|
SGWayPoint current (pos.lon(),
|
|
pos.lat(),
|
|
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.lat(), pos.lon(), 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.lat(), pos.lon(),
|
|
20000.0, alt))
|
|
tgt_altitude = alt * SG_METER_TO_FEET;
|
|
//cerr << "Target altitude : " << tgt_altitude << endl;
|
|
// if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
|
|
// 20000.0, alt))
|
|
// tgt_altitude = alt * SG_METER_TO_FEET;
|
|
//cerr << "Target altitude : " << tgt_altitude << endl;
|
|
}
|
|
|
|
void FGAIAircraft::doGroundAltitude()
|
|
{
|
|
if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
|
|
altitude = (tgt_altitude + groundOffset);
|
|
else
|
|
altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
|
|
}
|