TestFlightResult
run_flight(TestFlightComponents components, TaskManager &task_manager,
const AutopilotParameters &parms, const int n_wind,
const double speed_factor)
{
AircraftStateFilter *aircraft_filter = components.aircraft_filter;
Airspaces *airspaces = components.airspaces;
TestFlightResult result;
TaskAccessor ta(task_manager, fixed_300);
PrintTaskAutoPilot autopilot(parms);
AircraftSim aircraft;
autopilot.SetDefaultLocation(GeoPoint(Angle::Degrees(1), Angle::Degrees(0)));
unsigned print_counter=0;
if (n_wind)
aircraft.SetWind(wind_to_mag(n_wind), wind_to_dir(n_wind));
autopilot.SetSpeedFactor(fixed(speed_factor));
Directory::Create(_T("output/results"));
std::ofstream f4("output/results/res-sample.txt");
std::ofstream f5("output/results/res-sample-filtered.txt");
bool do_print = verbose;
bool first = true;
static const fixed fixed_10(10);
const AirspaceAircraftPerformance perf(task_manager.GetGlidePolar());
if (aircraft_filter)
aircraft_filter->Reset(aircraft.GetState());
autopilot.Start(ta);
aircraft.Start(autopilot.location_start, autopilot.location_previous,
parms.start_alt);
AirspaceWarningManager *airspace_warnings;
if (airspaces) {
airspace_warnings = new AirspaceWarningManager(*airspaces);
airspace_warnings->Reset(aircraft.GetState());
} else {
airspace_warnings = NULL;
}
do {
if ((task_manager.GetActiveTaskPointIndex() == 1) &&
first && (task_manager.GetStats().total.time_elapsed > fixed_10)) {
result.time_remaining = (double)task_manager.GetStats().total.time_remaining_now;
first = false;
result.time_planned = (double)task_manager.GetStats().total.time_planned;
if (verbose > 1) {
printf("# time remaining %g\n", result.time_remaining);
printf("# time planned %g\n", result.time_planned);
}
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, aircraft.GetState());
const AircraftState state = aircraft.GetState();
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.GetState(), *airspaces, perf,
do_print,
autopilot.GetTarget(ta));
}
if (airspace_warnings) {
if (verbose > 1) {
bool warnings_updated = airspace_warnings->Update(aircraft.GetState(),
task_manager.GetGlidePolar(),
task_manager.GetStats(),
false, 1);
if (warnings_updated) {
printf("# airspace warnings updated, size %d\n",
(int)airspace_warnings->size());
print_warnings(*airspace_warnings);
WaitPrompt();
}
}
}
n_samples++;
do_print = (++print_counter % output_skip == 0) && verbose;
if (aircraft_filter)
aircraft_filter->Update(aircraft.GetState());
autopilot.UpdateState(ta, aircraft.GetState());
aircraft.Update(autopilot.heading);
{
const AircraftState state = aircraft.GetState();
const AircraftState state_last = aircraft.GetLastState();
task_manager.Update(state, state_last);
task_manager.UpdateIdle(state);
task_manager.UpdateAutoMC(state, fixed(0));
}
} while (autopilot.UpdateAutopilot(ta, aircraft.GetState()));
if (verbose) {
PrintHelper::taskmanager_print(task_manager, aircraft.GetState());
const AircraftState state = aircraft.GetState();
f4 << state.time << " "
<< state.location.longitude << " "
<< state.location.latitude << " "
<< state.altitude << "\n";
f4 << "\n";
f4.flush();
task_report(task_manager, "end of task\n");
}
WaitPrompt();
result.time_elapsed = (double)task_manager.GetStats().total.time_elapsed;
result.time_planned = (double)task_manager.GetStats().total.time_planned;
result.calc_cruise_efficiency = (double)task_manager.GetStats().cruise_efficiency;
result.calc_effective_mc = (double)task_manager.GetStats().effective_mc;
if (verbose)
PrintDistanceCounts();
if (airspace_warnings)
delete airspace_warnings;
result.result = true;
return result;
}
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;
}
