bool AircraftSim::Update() {
update_state();
integrate();
update_mode();
task_manager.update(state, state_last);
task_manager.update_idle(state);
task_manager.update_auto_mc(state, fixed_zero);
state_last = state;
state.flying_state_moving(state.Time);
if (!far()) {
wait_prompt(time());
awp++;
if (awp>= w.size()) {
return false;
}
task_manager.setActiveTaskPoint(awp);
}
if (goto_target) {
if (task_manager.getActiveTaskPointIndex() < awp) {
// manual advance
task_manager.setActiveTaskPoint(awp);
if (verbose>1) {
printf("# manual advance to %d\n",awp);
}
}
}
if (task_manager.getActiveTaskPointIndex() > awp) {
awp = task_manager.getActiveTaskPointIndex();
}
if (awp>= w.size()) {
return false;
}
if (short_flight && awp>=1) {
return false;
}
if (task_manager.get_common_stats().task_finished) {
return false;
}
return true;
}
int connect_wait(msyncdata *md)
{
int r;
r = wait_prompt(md->s, md->passwd, 0, NULL);
if(r == 0){
fprintf(stderr, "remote socket close\n");
return(1);
}
if(r == -1){
fprintf(stderr, "socket read error\n");
return(1);
}
return(0);
}
void task_report(TaskManager& task_manager, const char* text)
{
AIRCRAFT_STATE ac;
if (verbose) {
printf("%s",text);
const AbstractTask *task = task_manager.get_active_task();
if (task != NULL) {
switch (task->type) {
case TaskInterface::ORDERED:
printf("# task is ordered\n");
break;
case TaskInterface::ABORT:
printf("# task is abort\n");
break;
case TaskInterface::GOTO:
printf("# task is goto\n");
break;
}
TaskPointVisitorPrint tpv;
task->tp_CAccept(tpv);
printf("# - dist nominal %g\n",
(double)task->get_stats().distance_nominal);
if (task->type == TaskInterface::ORDERED &&
task->get_stats().distance_max > task->get_stats().distance_min) {
printf("# - dist max %g\n", (double)task->get_stats().distance_max);
printf("# - dist min %g\n", (double)task->get_stats().distance_min);
}
}
PrintHelper::taskmanager_print(task_manager, ac);
}
if (interactive>1) {
wait_prompt(0);
}
}
int makuo(int s, char *c, int view)
{
int r;
int line = 1;
char buff[256];
if(sizeof(buff) < strlen(c) + 2){
fprintf(stderr, "error: command too long\n");
return(-1);
}
sprintf(buff, "%s\r\n", c);
if(writeline(s, buff) == -1){
fprintf(stderr, "error: can't write socket\n");
return(-1);
}
r = wait_prompt(s, NULL, view, &line);
if(r == -1){
fprintf(stderr, "error: can't read socket\n");
return(-1);
}
if(r == 0){
return(0);
}
return(line);
}
bool run_flight(TaskManager &task_manager,
const AutopilotParameters &parms,
const int n_wind,
const double speed_factor)
{
DirectTaskAccessor ta(task_manager);
PrintTaskAutoPilot autopilot(parms);
AircraftSim aircraft;
autopilot.set_default_location(GeoPoint(Angle::degrees(fixed(1.0)), Angle::degrees(fixed(0.0))));
unsigned print_counter=0;
if (n_wind)
aircraft.set_wind(wind_to_mag(n_wind), wind_to_dir(n_wind));
autopilot.set_speed_factor(fixed(speed_factor));
std::ofstream f4("results/res-sample.txt");
std::ofstream f5("results/res-sample-filtered.txt");
bool do_print = verbose;
bool first = true;
time_elapsed = 0.0;
time_planned = 1.0;
time_remaining = 0;
calc_cruise_efficiency = 1.0;
calc_effective_mc = 1.0;
static const fixed fixed_10(10);
AirspaceAircraftPerformanceGlide perf(task_manager.get_glide_polar());
if (aircraft_filter)
aircraft_filter->Reset(aircraft.get_state());
autopilot.Start(ta);
aircraft.Start(autopilot.location_start, autopilot.location_previous,
parms.start_alt);
if (airspaces) {
airspace_warnings =
new AirspaceWarningManager(*airspaces, task_manager);
airspace_warnings->reset(aircraft.get_state());
}
do {
if ((task_manager.getActiveTaskPointIndex() == 1) &&
first && (task_manager.get_stats().total.time_elapsed > fixed_10)) {
time_remaining = task_manager.get_stats().total.time_remaining;
first = false;
time_planned = task_manager.get_stats().total.time_planned;
if (verbose > 1) {
printf("# time remaining %g\n", time_remaining);
printf("# time planned %g\n", time_planned);
}
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, aircraft.get_state());
const AircraftState state = aircraft.get_state();
f4 << state.time << " "
<< state.location.Longitude << " "
<< state.location.Latitude << " "
<< state.altitude << "\n";
f4.flush();
if (aircraft_filter) {
f5 << aircraft_filter->GetSpeed() << " "
<< aircraft_filter->GetBearing() << " "
<< aircraft_filter->GetClimbRate() << "\n";
f5.flush();
}
}
if (airspaces) {
scan_airspaces(aircraft.get_state(), *airspaces, perf,
do_print,
autopilot.target(ta));
}
if (airspace_warnings) {
if (verbose > 1) {
bool warnings_updated = airspace_warnings->update(aircraft.get_state(),
false, 1);
if (warnings_updated) {
printf("# airspace warnings updated, size %d\n",
(int)airspace_warnings->size());
print_warnings();
wait_prompt();
}
}
}
n_samples++;
do_print = (++print_counter % output_skip == 0) && verbose;
if (aircraft_filter)
aircraft_filter->Update(aircraft.get_state());
autopilot.update_state(ta, aircraft.get_state());
aircraft.Update(autopilot.heading);
{
const AircraftState state = aircraft.get_state();
const AircraftState state_last = aircraft.get_state_last();
task_manager.update(state, state_last);
task_manager.update_idle(state);
task_manager.update_auto_mc(state, fixed_zero);
}
} while (autopilot.update_autopilot(ta, aircraft.get_state(), aircraft.get_state_last()));
aircraft.Stop();
autopilot.Stop();
if (verbose) {
PrintHelper::taskmanager_print(task_manager, aircraft.get_state());
const AircraftState state = aircraft.get_state();
f4 << state.time << " "
<< state.location.Longitude << " "
<< state.location.Latitude << " "
<< state.altitude << "\n";
f4 << "\n";
f4.flush();
task_report(task_manager, "end of task\n");
}
wait_prompt();
time_elapsed = task_manager.get_stats().total.time_elapsed;
time_planned = task_manager.get_stats().total.time_planned;
calc_cruise_efficiency = task_manager.get_stats().cruise_efficiency;
calc_effective_mc = task_manager.get_stats().effective_mc;
if (verbose)
distance_counts();
if (airspace_warnings)
delete airspace_warnings;
return true;
}
virtual void on_close() {
wait_prompt();
}