int GetNextTaxiPt (int ptindex)
{
// FRB - CTD's here
if ((ptindex < 0) || (ptindex >= NumPts))
ptindex = 0;
ptindex = GetNextPt(ptindex);
while(ptindex && PtDataTable[ptindex].type != TaxiPt && PtDataTable[ptindex].type != CritTaxiPt){
ptindex = GetNextPt(ptindex);
}
return ptindex;
}
int FalconATCMessage::Process(uchar autodisp)
{
AircraftClass *aircraft = (AircraftClass*)vuDatabase->Find(dataBlock.from );
ObjectiveClass *atc = (ObjectiveClass*)vuDatabase->Find(EntityId());
runwayQueueStruct *info = NULL;
FalconRadioChatterMessage *radioMessage = NULL;
if (autodisp)
return 0;
float cosAngle=0.0F, dx=0.0F, dy=0.0F, finalHdg=0.0F;
float finalX=0.0F, finalY=0.0F, baseX=0.0F, baseY=0.0F, x=0.0F ,y=0.0F,z=0.0F, dist=0.0F;
int taxiPoint=0, tod=0, time_in_minutes=0;
int delay = 7 * CampaignSeconds;
if (!PlayerOptions.PlayerRadioVoice)
delay = 500;
if (aircraft && aircraft->IsAirplane())
{
DigitalBrain *acBrain = aircraft->DBrain();
ATCBrain* atcBrain = NULL;
if(atc)
{
atcBrain = atc->brain;
dx = aircraft->XPos() - atc->XPos();
dy = aircraft->YPos() - atc->YPos();
dist = dx*dx + dy*dy;
}
switch (dataBlock.type)
{
case ContactApproach:
case RequestClearance:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
{
if(aircraft->pctStrength < STRENGTH_PCT_FOR_EMERG_LDG)
SendCallToATC(aircraft, EntityId(), rcLANDCLEAREMERGENCY, FalconLocalSession);
else
SendCallToATC(aircraft, EntityId(), rcLANDCLEARANCE, FalconLocalSession);
}
if(atcBrain && atc->IsLocal())
{
info = atcBrain->InList(aircraft->Id());
if( info )
{
cosAngle = atcBrain->DetermineAngle(aircraft, acBrain->Runway(), lOnFinal);
//if(info->status >= tReqTaxi)
//if(info->status < tReqTaxi) // JB 010802 RTBing AI aircraft won't land. This compare was messed up. Right? I hope so.
if(info->status >= tReqTaxi) // JB It appears to work but this was called a bit much for my comfort level. We'll try another approach.
{
if(!aircraft->OnGround())
{
if(dist < (TOWER_RANGE + 100) * NM_TO_FT * NM_TO_FT)
{
if(!aircraft->IsPlayer() && aircraft->pctStrength < STRENGTH_PCT_FOR_EMERG_LDG)
atcBrain->RequestEmerClearance(aircraft);
else
atcBrain->RequestClearance(aircraft);
}
else if(dist < APPROACH_RANGE * NM_TO_FT * NM_TO_FT && dist >= (TOWER_RANGE + 100) * NM_TO_FT * NM_TO_FT)
{
if(!aircraft->IsPlayer() && aircraft->GetCampaignObject()->GetComponentLead() == aircraft)
HandleInboundFlight( atc, (Flight)aircraft->GetCampaignObject());
else
HandleInbound(atc, aircraft);
}
else
{
//note this comm should be rcOUTSIDEAIRSPACE, but Joe misnamed it
radioMessage = CreateCallFromATC(atc, aircraft, rcOUTSIDEAIRSPEED, FalconLocalGame);
radioMessage->dataBlock.edata[4] = (short)(rand()%2);
radioMessage->dataBlock.time_to_play= delay;
atcBrain->RemoveTraffic(aircraft->Id(), PtHeaderDataTable[info->rwindex].runwayNum);
}
info->lastContacted = SimLibElapsedTime;
}
break;
}
else if(info->rwindex)
{
switch(info->status)
{
case noATC:
case lReqClearance:
case lReqEmerClearance:
case lIngressing:
case lTakingPosition:
ShiWarning("This should never happen!");
radioMessage = CreateCallFromATC(atc, aircraft, rcCONTINUEINBOUND1, FalconLocalGame);
//M.N. changed to 32767 -> flexibly use randomized value of max available eval indexes
radioMessage->dataBlock.edata[4] = 32767;
radioMessage->dataBlock.edata[5] = (short)atcBrain->GetRunwayName(atcBrain->GetOppositeRunway(info->rwindex));
if(rand()%2)
radioMessage->dataBlock.edata[6] = 4;
else
radioMessage->dataBlock.edata[6] = -1;
break;
case lAborted:
atcBrain->FindAbortPt(aircraft, &x, &y, &z);
radioMessage = CreateCallFromATC (atc, aircraft, rcATCGOAROUND, FalconLocalSession);
atcBrain->CalculateStandRateTurnToPt(aircraft, x, y, &finalHdg);
radioMessage->dataBlock.edata[3] = (short)FloatToInt32(finalHdg);
//M.N. changed to 32767 -> flexibly use randomized value of max available eval indexes
radioMessage->dataBlock.edata[4] = 32767;
break;
case lEmerHold:
case lHolding:
radioMessage = CreateCallFromATC (atc, aircraft, rcATCORBIT2, FalconLocalGame);
radioMessage->dataBlock.edata[2] = -1; //altitude in thousands
radioMessage->dataBlock.edata[3] = -1; //altitude in thousands
break;
case lFirstLeg:
case lToBase:
case lToFinal:
radioMessage = CreateCallFromATC(atc, aircraft, rcATCLANDSEQUENCE, FalconLocalGame);
radioMessage->dataBlock.edata[4] = (short)atcBrain->GetLandingNumber(info);
//atcBrain->SendCmdMessage(aircraft, info);
break;
case lOnFinal:
case lClearToLand:
if(aircraft->DBrain()->IsSetATC(DigitalBrain::ClearToLand))
{
radioMessage = CreateCallFromATC (atc, aircraft, rcCLEAREDLAND, FalconLocalGame);
radioMessage->dataBlock.edata[4] = (short)atcBrain->GetRunwayName(atcBrain->GetOppositeRunway(acBrain->Runway()));
}
else
{
radioMessage = CreateCallFromATC(atc, aircraft, rcATCLANDSEQUENCE, FalconLocalGame);
radioMessage->dataBlock.edata[4] = (short)atcBrain->GetLandingNumber(info);
}
break;
case lLanded:
radioMessage = CreateCallFromATC (atc, aircraft, rcTAXICLEAR, FalconLocalGame);
break;
case lTaxiOff:
//there isn't anything better to say, oh well :)
radioMessage = CreateCallFromATC (atc, aircraft, rcTAXICLEAR, FalconLocalGame);
break;
case lEmergencyToBase:
case lEmergencyToFinal:
case lEmergencyOnFinal:
atcBrain->RequestClearance(aircraft);
return 1;
break;
case lCrashed:
radioMessage = CreateCallFromATC (atc, aircraft, rcCLEAREDEMERGLAND, FalconLocalGame);
radioMessage->dataBlock.edata[3] = -1;
radioMessage->dataBlock.edata[4] = -1;
//M.N. changed to 32767 -> flexibly use randomized value of max available eval indexes
radioMessage->dataBlock.edata[5] = 32767;
break;
}
}
else
{
radioMessage = CreateCallFromATC(atc, aircraft, rcCONTINUEINBOUND2, FalconLocalGame);
if(rand()%2)
{
radioMessage->dataBlock.edata[3] = (short)(rand()%3);
}
else
{
time_in_minutes = TheCampaign.GetMinutesSinceMidnight();
if (time_in_minutes < 180)//3am
tod = 1;
else if(time_in_minutes < 720 )//noon
tod = 0;
else if(time_in_minutes < 1020 ) //5pm
tod = 2;
else
tod = 1;
radioMessage->dataBlock.edata[3] = (short)(3 + tod + (rand()%3)*3);
}
if(rand()%2)
radioMessage->dataBlock.edata[4] = 4;
else
radioMessage->dataBlock.edata[4] = -1;
atcBrain->SendCmdMessage(aircraft, info);
}
if (radioMessage)
{
info->lastContacted = SimLibElapsedTime;
if (PlayerOptions.PlayerRadioVoice)
radioMessage->dataBlock.time_to_play= 2 * CampaignSeconds;
else
radioMessage->dataBlock.time_to_play= delay;
FalconSendMessage(radioMessage, TRUE);
}
}
else
{
if(dist <= (TOWER_RANGE + 100) * NM_TO_FT * NM_TO_FT)
{
if(aircraft->GetCampaignObject()->GetComponentLead() == aircraft)
{
AircraftClass *element = NULL;
Flight flight = (Flight)aircraft->GetCampaignObject();
VuListIterator flightIter(flight->GetComponents());
element = (AircraftClass*) flightIter.GetFirst();
while(element)
{
runwayQueueStruct *tempinfo = atcBrain->InList(element->Id());
if(!tempinfo)
{
if( !element->IsPlayer() && element->pctStrength < STRENGTH_PCT_FOR_EMERG_LDG)
{
SendCallToATC(element, EntityId(), rcLANDCLEAREMERGENCY, FalconLocalGame);
atcBrain->RequestEmerClearance(element);
}
else
atcBrain->RequestClearance(element);
}
element = (AircraftClass*) flightIter.GetNext();
}
}
else
{
if(!aircraft->IsPlayer() && aircraft->pctStrength < STRENGTH_PCT_FOR_EMERG_LDG)
{
SendCallToATC(aircraft, EntityId(), rcLANDCLEAREMERGENCY, FalconLocalGame);
atcBrain->RequestEmerClearance(aircraft);
}
else
atcBrain->RequestClearance(aircraft);
}
}
else if(dist < APPROACH_RANGE * NM_TO_FT * NM_TO_FT && dist > (TOWER_RANGE + 100) * NM_TO_FT * NM_TO_FT)
{
if(aircraft->GetCampaignObject()->GetComponentLead() == aircraft)
HandleInboundFlight( atc, (Flight)aircraft->GetCampaignObject());
else
HandleInbound(atc, aircraft);
}
else
{
//note this comm should be rcOUTSIDEAIRSPACE, but Joe misnamed it
radioMessage = CreateCallFromATC(atc, aircraft, rcOUTSIDEAIRSPEED, FalconLocalGame);
radioMessage->dataBlock.edata[4] = (short)(rand()%2);
radioMessage->dataBlock.time_to_play= delay;
FalconSendMessage(radioMessage, TRUE);
}
}
}
break;
case RequestEmerClearance:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcLANDCLEAREMERGENCY, FalconLocalSession);
if(atcBrain && atc->IsLocal())
atcBrain->RequestEmerClearance(aircraft);
break;
case RequestTakeoff:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcREADYFORDERARTURE, FalconLocalSession);
if(atcBrain && atc->IsLocal())
atcBrain->RequestTakeoff(aircraft);
break;
case RequestTaxi:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcREADYFORDERARTURE, FalconLocalSession);
if(atcBrain && atc->IsLocal())
atcBrain->RequestTaxi(aircraft);
break;
// M.N. 2001-12-20
case AbortApproach:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcABORTAPPROACH, FalconLocalSession);
atcBrain->AbortApproach(aircraft);//Cobra
if (atcBrain && atc->IsLocal())
atcBrain->AbortApproach(aircraft);
break;
// RAS - 22Jan04 - Set flag for traffic in sight call
case TrafficInSight:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcCOPY, FalconLocalSession);
if (atcBrain && atc->IsLocal())
atcBrain->trafficInSightFlag = TRUE;
break;
// TJL 08/16/04 - Set flag for Hotpit Refueling //Cobra 10/31/04 TJL
case RequestHotpitRefuel:
if(!aircraft->IsPlayer() || !aircraft->IsLocal())
SendCallToATC(aircraft, EntityId(), rcCOPY, FalconLocalSession);
aircraft->requestHotpitRefuel = TRUE; //Cobra 11/13/04 TJL will this make online work?
if (atcBrain && atc->IsLocal())
aircraft->requestHotpitRefuel = TRUE;
break;
case UpdateStatus:
if(atcBrain)
{
if(atc->IsLocal())
{
info = atcBrain->InList(aircraft->Id());
if(info)
{
switch(dataBlock.status)
{
case noATC:
if(info->rwindex)
atcBrain->RemoveTraffic(aircraft->Id(), PtHeaderDataTable[info->rwindex].runwayNum);
else
atcBrain->RemoveInbound(info);
break;
case lReqClearance:
case lReqEmerClearance:
case tReqTaxi:
case tReqTakeoff:
case lIngressing:
case lTakingPosition:
break;
case tFlyOut:
info->lastContacted = SimLibElapsedTime;
info->status = noATC;
break;
case lCrashed:
info->lastContacted = SimLibElapsedTime;
info->status = lCrashed;
{
atcBrain->RemoveFromAllOtherATCs(aircraft);
int Runway = atcBrain->IsOverRunway(aircraft);
if(GetQueue(Runway) != GetQueue(info->rwindex))
{
atcBrain->RemoveTraffic(aircraft->Id(), GetQueue(info->rwindex));
atcBrain->AddTraffic(aircraft->Id(), lCrashed, Runway, SimLibElapsedTime);
}
atcBrain->FindNextEmergency(GetQueue(Runway));
atcBrain->SetEmergency(GetQueue(Runway));
}
break;
default:
info->lastContacted = SimLibElapsedTime;
info->status = (AtcStatusEnum)dataBlock.status;
break;
}
}
else
{
//he thinks we already know about him, orig owner of atc must have dropped
//offline, so we need to put him into the appropriate list
switch(dataBlock.status)
{
case lIngressing:
break;
case lTakingPosition:
case lAborted:
case lEmerHold:
case lHolding:
case lFirstLeg:
case lToBase:
case lToFinal:
case lOnFinal:
case lLanded:
case lTaxiOff:
case lEmergencyToBase:
case lEmergencyToFinal:
case lEmergencyOnFinal:
case lClearToLand:
atcBrain->RequestClearance(aircraft);
break;
case lCrashed:
{
atcBrain->RemoveFromAllOtherATCs(aircraft);
int Runway = atcBrain->IsOverRunway(aircraft);
atcBrain->AddTraffic(aircraft->Id(), lCrashed, Runway, SimLibElapsedTime);
atcBrain->FindNextEmergency(GetQueue(Runway));
atcBrain->SetEmergency(GetQueue(Runway));
}
break;
case tEmerStop:
case tTaxi:
case tHoldShort:
case tPrepToTakeRunway:
case tTakeRunway:
case tTakeoff:
atcBrain->RequestTaxi(aircraft);
break;
case tFlyOut:
break;
default:
break;
}
}
}
//update track point, taxi point, timer, status, etc...
switch(dataBlock.status)
{
case noATC:
break;
case lClearToLand:
break;
case lIngressing:
case lTakingPosition:
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, lTakingPosition));
break;
case lEmerHold:
case lHolding:
acBrain->SetTrackPoint(aircraft->XPos(), aircraft->YPos(), atcBrain->GetAltitude(aircraft, lHolding));
break;
case lFirstLeg:
if(acBrain->ATCStatus() != lFirstLeg && acBrain->ATCStatus() <= lOnFinal)
{
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &finalX, &finalY);
cosAngle = atcBrain->DetermineAngle(aircraft, acBrain->Runway(), lFirstLeg);
if(cosAngle < 0.0F)
{
atcBrain->FindBasePt(aircraft, acBrain->Runway(), finalX, finalY, &baseX, &baseY);
atcBrain->FindFirstLegPt(aircraft, acBrain->Runway(), acBrain->RwTime(), baseX, baseY, TRUE, &x, &y);
}
else
{
atcBrain->FindFirstLegPt(aircraft, acBrain->Runway(), acBrain->RwTime(), finalX, finalY, FALSE, &x, &y);
}
acBrain->SetATCStatus(lFirstLeg);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, lFirstLeg));
acBrain->CalculateNextTurnDistance();
}
if( !aircraft->IsPlayer() )
{
atcBrain->MakeVectorCall(aircraft, FalconLocalSession);
}
break;
case lToBase:
if(acBrain->ATCStatus() != lToBase && acBrain->ATCStatus() <= lOnFinal)
{
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &finalX, &finalY);
atcBrain->FindBasePt(aircraft, acBrain->Runway(), finalX, finalY, &baseX, &baseY);
acBrain->SetATCStatus(lToBase);
acBrain->SetTrackPoint(baseX, baseY, atcBrain->GetAltitude(aircraft, lToBase));
acBrain->CalculateNextTurnDistance();
}
if( !aircraft->IsPlayer() )
{
atcBrain->MakeVectorCall(aircraft, FalconLocalSession);
}
break;
case lToFinal:
if(acBrain->ATCStatus() != lToFinal && acBrain->ATCStatus() <= lOnFinal)
{
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &finalX, &finalY);
acBrain->SetATCStatus(lToFinal);
acBrain->SetTrackPoint(finalX, finalY, atcBrain->GetAltitude(aircraft, lToFinal));
acBrain->CalculateNextTurnDistance();
}
if( !aircraft->IsPlayer() )
{
atcBrain->MakeVectorCall(aircraft, FalconLocalSession);
}
break;
case lOnFinal:
TranslatePointData (atc, GetFirstPt(acBrain->Runway()), &x, &y);
//if we sent the message we already know this
if(acBrain->ATCStatus() != lOnFinal && acBrain->ATCStatus() <= lOnFinal)
{
acBrain->SetATCStatus(lOnFinal);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, lOnFinal));
acBrain->CalculateNextTurnDistance();
}
if( !aircraft->IsPlayer() )
{
radioMessage = CreateCallFromATC (atc, aircraft, rcTURNTOFINAL, FalconLocalSession);
#if 0
//MI Turn final for AI fix
if(atcBrain->CalculateStandRateTurnToPt(aircraft, x, y, &finalHdg) > 0)
radioMessage->dataBlock.edata[2] = 1;
else
radioMessage->dataBlock.edata[2] = 0;
#else
if(atcBrain->CalculateStandRateTurnToPt(aircraft, x, y, &finalHdg) > 0)
radioMessage->dataBlock.edata[2] = 0;
else
radioMessage->dataBlock.edata[2] = 1;
#endif
finalHdg = PtHeaderDataTable[acBrain->Runway()].data + 180.0F;
if(finalHdg > 360)
finalHdg -= 360;
radioMessage->dataBlock.edata[3] = (short)FloatToInt32(finalHdg);
//M.N. changed to 32767 -> flexibly use randomized value of max available eval indexes
radioMessage->dataBlock.edata[4] = 32767; //vector type
FalconSendMessage(radioMessage, TRUE);
}
break;
case lLanded:
//if we sent the message we already know this
if(acBrain->ATCStatus() != lLanded)
{
acBrain->SetATCStatus(lLanded);
taxiPoint = GetFirstPt(acBrain->Runway());
TranslatePointData (atc,GetNextPt(taxiPoint) , &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, lLanded));
}
break;
case lTaxiOff:
break;
case lAborted:
if(acBrain->ATCStatus() != lAborted)
{
atcBrain->FindAbortPt(aircraft, &x, &y, &z);
acBrain->SetATCStatus(lAborted);
acBrain->SetTrackPoint(x, y, z);
}
if(atc->IsLocal())
{
atcBrain->RemoveTraffic(aircraft->Id(), PtHeaderDataTable[acBrain->Runway()].runwayNum);
}
break;
case lEmergencyToBase:
if(acBrain->ATCStatus() != lEmergencyToBase)
{
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &finalX, &finalY);
atcBrain->FindBasePt(aircraft, acBrain->Runway(), finalX, finalY, &baseX, &baseY);
acBrain->SetATCStatus(lEmergencyToBase);
acBrain->SetTrackPoint(baseX, baseY, atcBrain->GetAltitude(aircraft, lEmergencyToBase));
}
break;
case lEmergencyToFinal:
if(acBrain->ATCStatus() != lEmergencyToFinal)
{
atcBrain->FindFinalPt(aircraft, acBrain->Runway(), &finalX, &finalY);
acBrain->SetATCStatus(lEmergencyToFinal);
acBrain->SetTrackPoint(finalX, finalY, atcBrain->GetAltitude(aircraft, lEmergencyToFinal));
}
break;
case lEmergencyOnFinal:
if(acBrain->ATCStatus() != lEmergencyOnFinal)
{
TranslatePointData (atc, GetFirstPt(acBrain->Runway()), &x, &y);
acBrain->SetATCStatus(lEmergencyOnFinal);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, lEmergencyOnFinal));
}
break;
case lCrashed:
acBrain->SetATCStatus(lCrashed);
break;
case tEmerStop:
acBrain->SetATCStatus(tEmerStop);
break;
case tTaxi:
if(acBrain->ATCStatus() != tTaxi)
{
acBrain->SetATCStatus(tTaxi);
TranslatePointData (atc,acBrain->GetTaxiPoint() , &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, tTaxi));
}
break;
case tHoldShort:
acBrain->ClearATCFlag(DigitalBrain::PermitRunway);
acBrain->ClearATCFlag(DigitalBrain::PermitTakeoff);
if(acBrain->ATCStatus() != tHoldShort)
{
acBrain->SetATCStatus(tHoldShort);
taxiPoint = GetFirstPt(acBrain->Runway());
taxiPoint = GetNextPt(taxiPoint);
TranslatePointData (atc,taxiPoint , &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, tHoldShort));
}
break;
case tPrepToTakeRunway:
acBrain->SetATCFlag(DigitalBrain::PermitTakeRunway);
if(acBrain->ATCStatus() != tTaxi)
{
acBrain->SetATCStatus(tTaxi);
if(PtDataTable[acBrain->GetTaxiPoint()].type == TakeoffPt)
atcBrain->FindTakeoffPt((Flight)aircraft->GetCampaignObject(), aircraft->vehicleInUnit, acBrain->Runway(), &x, &y);
else
TranslatePointData (atc,acBrain->GetTaxiPoint() , &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, tTaxi));
}
break;
case tTakeRunway:
if(acBrain->ATCStatus() != tTakeRunway)
{
acBrain->SetATCFlag(DigitalBrain::PermitTakeRunway);
acBrain->SetATCStatus(tTakeRunway);
atcBrain->FindTakeoffPt((Flight)aircraft->GetCampaignObject(), aircraft->vehicleInUnit, acBrain->Runway(), &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, tTakeRunway));
}
break;
case tTakeoff:
if(acBrain->ATCStatus() != tTakeoff)
{
acBrain->SetATCFlag(DigitalBrain::PermitRunway);
acBrain->SetATCFlag(DigitalBrain::PermitTakeoff);
acBrain->SetATCStatus(tTakeRunway);
atcBrain->FindRunwayPt((Flight)aircraft->GetCampaignObject(), aircraft->vehicleInUnit, acBrain->Runway(), &x, &y);
acBrain->SetTrackPoint(x, y, atcBrain->GetAltitude(aircraft, tTakeRunway));
}
break;
case tTaxiBack:
if(acBrain->ATCStatus() != tTaxiBack)
{
acBrain->SetATCStatus(tTaxiBack);
}
break;
case tFlyOut:
if(acBrain->ATCStatus() != tFlyOut)
{
acBrain->ResetATC();
}
default:
break;
}
}
break;
}
}
return 1;
}
void CControl::TreeGrowing(TreeType::iterator n_Iterator,CTreeTracker& n_treetracker,int n_depth)
{
//++++++++++++++++++++++++++++++++++++++
// Iterator Function
RotatedRect n_RectCenter=n_Iterator->mRect;
int n_neighbour[5]={0,1,-1,2,-2};
int n_neighbours=0;
for(int i=0;i<n_depth;i++)
cout<<"+";
cout<<endl;
for(int i=0;i<5;i++)
{
//get next points
Point2f n_pt=GetNextPt(n_RectCenter.center,n_RectCenter.angle,nControlOptions.nSteps);
//get the next angle
float n_angle=n_RectCenter.angle+n_neighbour[i]*45;
//get the next rotatedrect
RotatedRect n_RectNeighbour;
if(!GetRotatedRect(n_pt,n_angle,n_RectNeighbour))
continue;
//check if overlay in temp spatial index;
if(n_treetracker.CheckOverLay(n_RectNeighbour))
continue;
//check if overlay in gloable spatial index;
//get subsetimg;
Mat n_img=GetSubsetImg(n_RectNeighbour);
//get lines in all direction;
nLineSegExtractor.SetParamters(n_img);
vector<Point2f> n_linevct=nLineSegExtractor.GetLineSegments();
//get lines in specific direction
vector<Point2f> n_filterlinevct;
FilterLineAngle(n_linevct,n_filterlinevct,0,nControlOptions.nAngleThhold);
//get ransac lines;
vector<Point3f> n_linecoef;
nRansacExtractor.GetRansacLines(n_linecoef,n_filterlinevct,nControlOptions.nInterval,nControlOptions.nRansacThreshold,nControlOptions.nRansacMininlier);
if(nIfDebug)
{
// cout<<"angle: "<<n_angle<<' '<<"threshold: "<<nControlOptions.nAngleThhold<<endl;
// cout<<"get filter line: "<<n_filterlinevct.size()<<endl;
// cout<<"get ransac lines: "<<n_linecoef.size()<<endl;
// Draw_debug;
// draw n_filterlinevct;
char* n_windowname1="2";
Draw_debug(n_img,n_filterlinevct,n_windowname1);
//draw all lines
char* n_windowname2="1";
Draw_debug(n_img,n_linevct,n_windowname2);
}
//evaluate pass direction;
CEvaluate n_evaluate;
n_evaluate.SetLines(n_linecoef,n_filterlinevct);
n_evaluate.GetNearestLines(5);
float n_score=GetWeightedScore(n_evaluate.GetDensityVal(),n_evaluate.GetLengthVal(),n_RectNeighbour.size.width);
//in the turning directions,we should add ** information
float n_score2=0;
if(i!=0)
{
//get lines in vertical direction
vector<Point2f> n_filterlinevct2;
FilterLineAngle(n_linevct,n_filterlinevct2,90,nControlOptions.nAngleThhold);
//get ransac lines;
vector<Point3f> n_linecoef2;
nRansacExtractor.GetRansacLines(n_linecoef2,n_filterlinevct2,nControlOptions.nInterval,nControlOptions.nRansacThreshold,nControlOptions.nRansacMininlier);
if(nIfDebug)
{
// cout<<"get vertical filter line: "<<n_filterlinevct2.size()<<endl;
// cout<<"get vertical ransac lines: "<<n_linecoef2.size()<<endl;
// Draw_debug;
// draw n_filterlinevct;
char* n_windowname1="vertical lines";
Draw_debug(n_img,n_filterlinevct2,n_windowname1);
}
//evaluate vertical situation;
CEvaluate n_evaluate2;
n_evaluate2.SetLines(n_linecoef2,n_filterlinevct2);
n_evaluate2.GetNearestLines(5);
n_score2=GetWeightedScore(n_evaluate2.GetDensityVal(),n_evaluate2.GetLengthVal(),n_RectNeighbour.size.height);
//draw vertical direction rectangles.
n_evaluate2.Draw_debug(n_img,"VerticalDirection");
}
if(nIfDebug)
{
cout<<"score1:"<<n_score<<" score2:"<<n_score2<<endl;
//draw rotated rect on gloable img
char* n_windowname3="gloable";
Point2f n_vertices[4];
n_RectNeighbour.points(n_vertices);
Draw_debug(nImgRaw,n_vertices,n_windowname3);
//draw pass direction rectangles
n_evaluate.Draw_debug(n_img,"PassDirection");
waitKey(0);
}
n_score-=n_score2;
if(n_score>nControlOptions.mEvaluateThreshold)
{
//do something;
//insert into tree;
StrctRoadNode n_node(n_RectNeighbour);
TreeType::iterator n_it2;
if(!n_treetracker.Insert(n_Iterator,n_node,n_it2))
continue;
//add into spatial tree
n_treetracker.AddSpatialIdx(n_RectNeighbour,1);
//grow tree using iterate;
n_neighbours++;
//draw all path rectangles in gloable img
if(nIfDebug)
{
Draw_debug(nImgRaw,n_treetracker.GetPathRect(n_it2),"gloable2");
waitKey(0);
}
// n_evaluate.Draw_debug_gloable(nImgRaw,
// Draw_debug(nImgRaw,
//reduce case;
TreeGrowing(n_it2,n_treetracker,n_depth+1);
}
}
//if no neighour exist,then add end point for traverse
if(n_neighbours==0)
n_treetracker.InsertEndNode(n_Iterator);
}
int TaskForceClass::GetDeaggregationPoint (int slot, CampEntity *installation)
{
int pt=0,type;
static int last_pt, index = 0;
if (!*installation)
{
// We're looking for a new list, so clear statics
last_pt = index = 0;
// Check if we care about placement
if (!Moving())
{
// Find the appropriate installation
GridIndex x,y;
Objective o;
GetLocation(&x,&y);
o = FindNearestObjective (x,y,NULL,0);
*installation = o;
// Find the appropriate list
if (o)
{
ObjClassDataType *oc = o->GetObjectiveClassData();
index = oc->PtDataIndex;
while (index)
{
if (PtHeaderDataTable[index].type == DockListType)
{
// The first time we look, we just want to know if we have a list.
// Return now.
return index;
}
index = PtHeaderDataTable[index].nextHeader;
}
#ifdef DEBUG
FILE *fp = fopen("PtDatErr.log","a");
if (fp)
{
char name[80];
o->GetName(name,79,FALSE);
fprintf(fp, "Obj %s @ %d,%d: No header list of type %d.\n",name,x,y,DockListType);
fclose(fp);
}
#endif
}
}
}
if (index)
{
// We have a list, and want to find the correct point
UnitClassDataType *uc = GetUnitClassData();
VehicleClassDataType *vc = GetVehicleClassData(uc->VehicleType[slot]);
// Check which type of point we're looking for
// TODO: Check ship type here...
// type = SmallDockPt;
type = LargeDockPt;
// Return the next point, if it's the base type
// NOTE: Log error if we don't have enough points of this type
if (last_pt)
{
last_pt = pt = GetNextPt(last_pt);
#ifdef DEBUG
if (!pt || PtDataTable[pt].type != type)
{
FILE *fp = fopen("PtDatErr.log","a");
if (fp)
{
char name[80];
GridIndex x,y;
(*installation)->GetName(name,79,FALSE);
(*installation)->GetLocation(&x,&y);
fprintf(fp, "HeaderList %d (Obj %s @ %d,%d): Insufficient points of type %d.\n",index,name,x,y,type);
fclose(fp);
}
}
#endif
return pt;
}
// Find one of the appropriate type
pt = GetFirstPt(index);
while (pt)
{
if (PtDataTable[pt].type == type)
{
last_pt = pt;
return pt;
}
pt = GetNextPt(pt);
}
#ifdef DEBUG
FILE *fp = fopen("PtDatErr.log","a");
if (fp)
{
char name[80];
GridIndex x,y;
(*installation)->GetName(name,79,FALSE);
(*installation)->GetLocation(&x,&y);
fprintf(fp, "HeaderList %d (Obj %s @ %d,%d): No points of type %d.\n",index,name,x,y,type);
fclose(fp);
}
#endif
}
return pt;
}
