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flightgear/src/AIModel/AICarrier.cxx
ThorstenB bb494e52e5 Performance improvement: pass (const) strings by reference 
to avoid copying actual string data around.
2012-11-24 11:59:13 +01:00

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// 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.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <algorithm>
#include <string>
#include <vector>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <math.h>
#include <Main/util.hxx>
#include "AICarrier.hxx"
FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
FGAICarrier::~FGAICarrier() {
}
void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
if (!scFileNode)
return;
FGAIShip::readFromScenario(scFileNode);
setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
setSign(scFileNode->getStringValue("pennant-number"));
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", ""));
SGPropertyNode* flols = scFileNode->getChild("flols-pos");
if (flols) {
// 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
flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
} else
flols_off = SGVec3d::zeros();
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_long = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
min_long = fabs(deg);
}
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);
//automatic turn into wind with a target wind of 25 kts otd
//SG_LOG(SG_AI, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
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, transition_time);
UpdateJBD(dt, jbd_transition_time);
// 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_view_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 - flols_off;
// the distance from the eyepoint to the flols
dist = norm(eyeWrtFlols);
// now the angle, positive angles are upwards
if (fabs(dist) < SGLimits<float>::min()) {
angle = 0;
} else {
double sAngle = -eyeWrtFlols(2)/dist;
sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
angle = SGMiscd::rad2deg(asin(sAngle));
}
// set the value of source
if ( angle <= 4.35 && angle > 4.01 )
source = 1;
else if ( angle <= 4.01 && angle > 3.670 )
source = 2;
else if ( angle <= 3.670 && angle > 3.330 )
source = 3;
else if ( angle <= 3.330 && angle > 2.990 )
source = 4;
else if ( angle <= 2.990 && angle > 2.650 )
source = 5;
else if ( angle <= 2.650 )
source = 6;
else
source = 0;
} //end update
bool FGAICarrier::init(bool search_in_AI_path) {
if (!FGAIShip::init(search_in_AI_path))
return false;
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", 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);
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;
pos_norm = raw_pos_norm = 0;
elevators = false;
transition_time = 150;
time_constant = 0.005;
jbd_pos_norm = raw_jbd_pos_norm = 0;
jbd = false ;
jbd_transition_time = 3;
jbd_time_constant = 0.1;
return true;
}
void FGAICarrier::bind() {
FGAIShip::bind();
props->untie("velocities/true-airspeed-kt");
tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
tie("controls/flols/distance-m",
SGRawValuePointer<double>(&dist));
tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&angle));
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",
// SGRawValuePointer<bool>(&wave_off_lights));
tie("controls/elevators",
SGRawValuePointer<bool>(&elevators));
tie("surface-positions/elevators-pos-norm",
SGRawValuePointer<double>(&pos_norm));
tie("controls/constants/elevators/trans-time-s",
SGRawValuePointer<double>(&transition_time));
tie("controls/constants/elevators/time-constant",
SGRawValuePointer<double>(&time_constant));
tie("controls/jbd",
SGRawValuePointer<bool>(&jbd));
tie("surface-positions/jbd-pos-norm",
SGRawValuePointer<double>(&jbd_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));
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", 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);
}
bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
double& hdng, SGVec3d& uvw)
{
// FIXME: does not yet cover rotation speeds.
list<ParkPosition>::iterator it = ppositions.begin();
while (it != ppositions.end()) {
// Take either the specified one or the first one ...
if ((*it).name == id || id.empty()) {
ParkPosition ppos = *it;
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;
}
++it;
}
return false;
}
// 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 = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
* SG_RADIANS_TO_DEGREES;
//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_long == 0 && min_long == 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_long)
return true;
if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
return true;
} else { //western hemisphere
if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
return true;
if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
return true;
}
SG_LOG(SG_AI, SG_DEBUG, "AICarrier: Inside Operating Box" );
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 transition_time) {
double step = 0;
if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
return;
// move the elevators
if ( elevators ) {
step = dt/transition_time;
if ( step > 1 )
step = 1;
} else {
step = -dt/transition_time;
if ( step < -1 )
step = -1;
}
// assume a linear relationship
raw_pos_norm += step;
//low pass filter
pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
//sanitise the output
if (raw_pos_norm >= 1) {
raw_pos_norm = 1;
} else if (raw_pos_norm <= 0) {
raw_pos_norm = 0;
}
return;
} // end UpdateElevator
void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
const string launchbar_state = _launchbar_state_node->getStringValue();
double step = 0;
if (launchbar_state == "Engaged"){
jbd = true;
} else {
jbd = false;
}
if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_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
raw_jbd_pos_norm += step;
//low pass filter
jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
//sanitise the output
if (jbd_pos_norm >= 1) {
jbd_pos_norm = 1;
} else if (jbd_pos_norm <= 0) {
jbd_pos_norm = 0;
}
return;
} // end UpdateJBD
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