AIAircraft.hxx

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/*
 * SPDX-FileName: AIAircraft.hxx
 * SPDX-FileComment: AIBase derived class creates an AI aircraft
 * SPDX-FileCopyrightText: Copyright (C) 2003  David P. Culp - davidculp2@comcast.net
 * SPDX-License-Identifier: GPL-2.0-or-later
 */
 
#pragma once
 
#include <iostream>
#include <string>
#include <string_view>
 
#include "AIBaseAircraft.hxx"
#include "AIConstants.hxx"
 
 
class PerformanceData;
class FGAISchedule;
class FGAIFlightPlan;
class FGATCController;
class FGATCInstruction;
class FGAIWaypoint;
class sg_ofstream;
 
class FGAIAircraft : public FGAIBaseAircraft
{
public:
    explicit FGAIAircraft(FGAISchedule* ref = 0);
    virtual ~FGAIAircraft();
 
    std::string_view getTypeString(void) const override { return "aircraft"; }
    void readFromScenario(SGPropertyNode* scFileNode) override;
 
    void bind() override;
    void update(double dt) override;
    void unbind() override;
 
    void setPerformance(const std::string& acType, const std::string& perfString);
 
    void setFlightPlan(const std::string& fp, bool repat = false);
 
#if 0
    void initializeFlightPlan();
#endif
 
    FGAIFlightPlan* GetFlightPlan() const
    {
        return fp.get();
    };
    void ProcessFlightPlan(double dt, time_t now);
    time_t checkForArrivalTime(const std::string& wptName);
    time_t calcDeparture();
 
    void AccelTo(double speed);
    void PitchTo(double angle);
    void RollTo(double angle);
 
#if 0
    void YawTo(double angle);
#endif
 
    void ClimbTo(double altitude);
    void TurnTo(double heading);
 
    void getGroundElev(double dt); // TODO: these 3 really need to be public?
    void doGroundAltitude();
    bool loadNextLeg(double dist = 0);
    void resetPositionFromFlightPlan();
    double getBearing(double crse);
 
    void setAcType(const std::string& ac) { acType = ac; };
    const std::string& getAcType() const { return acType; }
 
    const std::string& getCompany() const { return company; }
    void setCompany(const std::string& comp) { company = comp; };
 
    //ATC
    void announcePositionToController(); // TODO: have to be public?
    void processATC(const FGATCInstruction& instruction);
    void setTaxiClearanceRequest(bool arg) { needsTaxiClearance = arg; };
    bool getTaxiClearanceRequest() { return needsTaxiClearance; };
    FGAISchedule* getTrafficRef() { return trafficRef; };
    void setTrafficRef(FGAISchedule* ref) { trafficRef = ref; };
    void scheduleForATCTowerRunwayControl();
 
    const std::string& GetTransponderCode() { return transponderCode; };
    void SetTransponderCode(const std::string& tc) { transponderCode = tc; };
 
    // included as performance data needs them, who else?
    inline PerformanceData* getPerformance() { return _performance; };
    inline bool onGround() const { return no_roll; };
    inline double getSpeed() const { return speed; };
    inline double getRoll() const { return roll; };
    inline double getPitch() const { return pitch; };
    inline double getAltitude() const { return altitude_ft; };
    inline double getVerticalSpeedFPM() const { return vs_fps * 60; };
    inline double altitudeAGL() const { return props->getFloatValue("position/altitude-agl-ft"); };
    inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt"); };
    const std::string& atGate();
    std::string acwakecategory;
 
    void checkTcas();
    double calcVerticalSpeed(double vert_ft, double dist_m, double speed, double error);
 
    FGATCController* getATCController() { return controller; };
 
    void clearATCController();
    bool isBlockedBy(FGAIAircraft* other);
    void dumpCSVHeader(const std::unique_ptr<sg_ofstream>& o);
    void dumpCSV(const std::unique_ptr<sg_ofstream>& o, int lineIndex);
 
protected:
    void Run(double dt);
 
private:
    FGAISchedule* trafficRef;
    FGATCController *controller,
        *prevController,
        *towerController; // Only needed to make a pre-announcement
 
    bool hdg_lock;
    bool alt_lock;
    double dt_count;
    double dt_elev_count;
    double headingChangeRate;
    double headingError;
    double minBearing;
    double speedFraction;

    double groundTargetSpeed;
    double groundOffset;
 
    bool use_perf_vs;
    SGPropertyNode_ptr refuel_node;
    SGPropertyNode_ptr tcasThreatNode;
    SGPropertyNode_ptr tcasRANode;
 
    // helpers for Run
    // TODO: sort out which ones are better protected virtuals to allow
    //subclasses to override specific behaviour
    bool fpExecutable(time_t now);
    void handleFirstWaypoint(void);
    bool leadPointReached(FGAIWaypoint* curr, FGAIWaypoint* next, int nextTurnAngle);
    bool handleAirportEndPoints(FGAIWaypoint* prev, time_t now);
    bool reachedEndOfCruise(double&);
    bool aiTrafficVisible(void);
    void controlHeading(FGAIWaypoint* curr,
                        FGAIWaypoint* next);
    void controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next);
 
    void updatePrimaryTargetValues(double dt, bool& flightplanActive, bool& aiOutOfSight);
    void updateSecondaryTargetValues(double dt);
    void updateHeading(double dt);
    void updateBankAngleTarget();
    void updateVerticalSpeedTarget(double dt);
    void updatePitchAngleTarget();
    void updateActualState(double dt);
    void updateModelProperties(double dt);
    void updateUserFlightPlan(double dt);

    int determineNextLeg(int leg);
    void handleATCRequests(double dt);
 
    inline bool isStationary()
    {
        return ((fabs(speed) <= 0.0001) && (fabs(tgt_speed) <= 0.0001));
    }
 
    inline bool needGroundElevation()
    {
        if (!isStationary())
            _needsGroundElevation = true;
        return _needsGroundElevation;
    }
 
    double sign(double x);
 
#if 0
    std::string getTimeString(int timeOffset);
#endif
 
    void lazyInitControlsNodes();
 
    std::string acType;
    std::string company;
    std::string transponderCode;
 
    int spinCounter;

    const int AI_STUCK_LIMIT = 100000;
    int stuckCounter = 0;
    bool tracked = false;
    bool repositioned = false;
    double prevSpeed;
    double prev_dist_to_go;
 
    bool holdPos = false;
    int waitsForId = 0;
 
    const char* _getTransponderCode() const;
 
    bool needsTaxiClearance = false;
    bool _needsGroundElevation = true;
    time_t timeElapsed{0};
 
    PerformanceData* _performance; // the performance data for this aircraft
 
#if 0
   void assertSpeed(double speed);
#endif
 
    struct
    {
        double remainingLength;
        std::string startWptName;
        std::string finalWptName;
    } trackCache;
 
    // these are init-ed on first use by lazyInitControlsNodes()
    SGPropertyNode_ptr _controlsLateralModeNode,
        _controlsVerticalModeNode,
        _controlsTargetHeadingNode,
        _controlsTargetRollNode,
        _controlsTargetAltitude,
        _controlsTargetPitch,
        _controlsTargetSpeed;
 
    std::unique_ptr<sg_ofstream> csvFile;
    long csvIndex{0};
};