1 // // FGAIFlightPlan - class for loading and storing AI flight plans
2 // Written by David Culp, started May 2004
3 // - davidculp2@comcast.net
5 // This program is free software; you can redistribute it and/or
6 // modify it under the terms of the GNU General Public License as
7 // published by the Free Software Foundation; either version 2 of the
8 // License, or (at your option) any later version.
10 // This program is distributed in the hope that it will be useful, but
11 // WITHOUT ANY WARRANTY; without even the implied warranty of
12 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Public License for more details.
15 // You should have received a copy of the GNU General Public License
16 // along with this program; if not, write to the Free Software
17 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
25 #include <simgear/misc/sg_path.hxx>
26 #include <simgear/debug/logstream.hxx>
27 #include <simgear/route/waypoint.hxx>
28 #include <simgear/math/sg_geodesy.hxx>
29 #include <simgear/structure/exception.hxx>
30 #include <simgear/constants.h>
31 #include <simgear/props/props.hxx>
32 #include <simgear/props/props_io.hxx>
34 #include <Main/globals.hxx>
35 #include <Main/fg_props.hxx>
36 #include <Main/fg_init.hxx>
37 #include <Airports/simple.hxx>
38 #include <Airports/runways.hxx>
39 #include <Airports/groundnetwork.hxx>
41 #include <Environment/environment_mgr.hxx>
42 #include <Environment/environment.hxx>
44 #include "AIFlightPlan.hxx"
45 #include "AIAircraft.hxx"
49 FGAIFlightPlan::FGAIFlightPlan()
52 wpt_iterator = waypoints.begin();
56 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
64 SGPath path( globals->get_fg_root() );
65 path.append( ("/AI/FlightPlans/" + filename).c_str() );
70 readProperties(path.str(), &root);
71 } catch (const sg_exception &) {
72 SG_LOG(SG_GENERAL, SG_ALERT,
73 "Error reading AI flight plan: " << path.str());
74 // cout << path.str() << endl;
78 SGPropertyNode * node = root.getNode("flightplan");
79 for (i = 0; i < node->nChildren(); i++) {
80 //cout << "Reading waypoint " << i << endl;
81 waypoint* wpt = new waypoint;
82 SGPropertyNode * wpt_node = node->getChild(i);
83 wpt->name = wpt_node->getStringValue("name", "END");
84 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
85 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
86 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
87 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
88 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
89 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
90 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
91 wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
92 wpt->time_sec = wpt_node->getDoubleValue("time-sec", 0);
93 wpt->time = wpt_node->getStringValue("time", "");
95 if (wpt->name == "END") wpt->finished = true;
96 else wpt->finished = false;
98 waypoints.push_back( wpt );
101 wpt_iterator = waypoints.begin();
103 //cout << waypoints.size() << " waypoints read." << endl;
107 // This is a modified version of the constructor,
108 // Which not only reads the waypoints from a
109 // Flight plan file, but also adds the current
110 // Position computed by the traffic manager, as well
111 // as setting speeds and altitude computed by the
113 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
114 const std::string& p,
125 const string& fltType,
126 const string& acType,
127 const string& airline)
135 bool useInitialWayPoint = true;
136 bool useCurrentWayPoint = false;
137 SGPath path( globals->get_fg_root() );
138 path.append( "/AI/FlightPlans" );
143 // This is a bit of a hack:
144 // Normally the value of course will be used to evaluate whether
145 // or not a waypoint will be used for midair initialization of
146 // an AI aircraft. However, if a course value of 999 will be passed
147 // when an update request is received, which will by definition always be
148 // on the ground and should include all waypoints.
151 useInitialWayPoint = false;
152 useCurrentWayPoint = true;
159 readProperties(path.str(), &root);
161 SGPropertyNode * node = root.getNode("flightplan");
163 //waypoints.push_back( init_waypoint );
164 for (int i = 0; i < node->nChildren(); i++) {
165 //cout << "Reading waypoint " << i << endl;
166 waypoint* wpt = new waypoint;
167 SGPropertyNode * wpt_node = node->getChild(i);
168 wpt->name = wpt_node->getStringValue("name", "END");
169 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
170 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
171 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
172 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
173 //wpt->speed = speed;
174 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
175 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
176 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
178 if (wpt->name == "END") wpt->finished = true;
179 else wpt->finished = false;
180 waypoints.push_back(wpt);
182 wpt_iterator = waypoints.begin();
183 } catch (const sg_exception &e) {
184 SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " <<
185 e.getMessage() << " from " << e.getOrigin());
188 // cout << path.str() << endl;
189 // cout << "Trying to create this plan dynamically" << endl;
190 // cout << "Route from " << dep->id << " to " << arr->id << endl;
191 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
192 time_t timeDiff = now-start;
195 if ((timeDiff > 60) && (timeDiff < 1200))
197 else if ((timeDiff >= 1200) && (timeDiff < 1500))
199 else if ((timeDiff >= 1500) && (timeDiff < 2000))
201 else if (timeDiff >= 2000)
204 if (timeDiff >= 2000)
207 SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
208 wpt_iterator = waypoints.begin();
210 isValid = create(ac, dep,arr, leg, alt, speed, lat, lon,
211 firstLeg, radius, fltType, acType, airline, dist);
212 wpt_iterator = waypoints.begin();
213 //cerr << "after create: " << (*wpt_iterator)->name << endl;
215 // Now that we have dynamically created a flight plan,
216 // we need to add some code that pops any waypoints already past.
220 waypoint* init_waypoint = new waypoint;
221 init_waypoint->name = string("initial position");
222 init_waypoint->latitude = entity->latitude;
223 init_waypoint->longitude = entity->longitude;
224 init_waypoint->altitude = entity->altitude;
225 init_waypoint->speed = entity->speed;
226 init_waypoint->crossat = - 10000;
227 init_waypoint->gear_down = false;
228 init_waypoint->flaps_down = false;
229 init_waypoint->finished = false;
231 wpt_vector_iterator i = waypoints.begin();
232 while (i != waypoints.end())
234 //cerr << "Checking status of each waypoint: " << (*i)->name << endl;
235 SGWayPoint first(init_waypoint->longitude,
236 init_waypoint->latitude,
237 init_waypoint->altitude);
238 SGWayPoint curr ((*i)->longitude,
241 double crse, crsDiff;
243 curr.CourseAndDistance(first, &crse, &dist);
245 dist *= SG_METER_TO_NM;
247 // We're only interested in the absolute value of crsDiff
248 // wich should fall in the 0-180 deg range.
249 crsDiff = fabs(crse-course);
251 crsDiff = 360-crsDiff;
252 // These are the three conditions that we consider including
253 // in our flight plan:
254 // 1) current waypoint is less then 100 miles away OR
255 // 2) curren waypoint is ahead of us, at any distance
257 if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
260 // Once we start including waypoints, we have to continue, even though
261 // one of the following way point would suffice.
262 // so once is the useWpt flag is set to true, we cannot reset it to false.
263 //cerr << "Discarding waypoint: " << (*i)->name
264 // << ": Course difference = " << crsDiff
265 // << "Course = " << course
266 // << "crse = " << crse << endl;
269 useCurrentWayPoint = true;
271 if (useCurrentWayPoint)
273 if ((dist > 100.0) && (useInitialWayPoint))
275 //waypoints.push_back(init_waypoint);;
276 waypoints.insert(i, init_waypoint);
277 //cerr << "Using waypoint : " << init_waypoint->name << endl;
279 //if (useInitialWayPoint)
281 // (*i)->speed = dist; // A hack
283 //waypoints.push_back( wpt );
284 //cerr << "Using waypoint : " << (*i)->name
285 // << ": course diff : " << crsDiff
286 // << "Course = " << course
287 // << "crse = " << crse << endl
288 // << "distance : " << dist << endl;
289 useInitialWayPoint = false;
296 i = waypoints.erase(i);
301 //for (i = waypoints.begin(); i != waypoints.end(); i++)
302 // cerr << "Using waypoint : " << (*i)->name << endl;
303 //wpt_iterator = waypoints.begin();
304 //cout << waypoints.size() << " waypoints read." << endl;
310 FGAIFlightPlan::~FGAIFlightPlan()
317 FGAIFlightPlan::waypoint* const
318 FGAIFlightPlan::getPreviousWaypoint( void ) const
320 if (wpt_iterator == waypoints.begin()) {
323 wpt_vector_iterator prev = wpt_iterator;
328 FGAIFlightPlan::waypoint* const
329 FGAIFlightPlan::getCurrentWaypoint( void ) const
331 return *wpt_iterator;
334 FGAIFlightPlan::waypoint* const
335 FGAIFlightPlan::getNextWaypoint( void ) const
337 wpt_vector_iterator i = waypoints.end();
338 i--; // end() points to one element after the last one.
339 if (wpt_iterator == i) {
342 wpt_vector_iterator next = wpt_iterator;
347 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
351 if (wpt_iterator == waypoints.begin())
355 delete *(waypoints.begin());
356 waypoints.erase(waypoints.begin());
357 wpt_iterator = waypoints.begin();
366 void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
370 if (wpt_iterator == waypoints.end())
374 delete *(waypoints.end());
375 waypoints.erase(waypoints.end());
376 wpt_iterator = waypoints.end();
386 // gives distance in feet from a position to a waypoint
387 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
388 return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
389 SGGeod::fromDeg(wp->longitude, wp->latitude));
392 // sets distance in feet from a lead point to the current waypoint
393 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
394 waypoint* current, waypoint* next){
396 // Handle Ground steering
397 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
398 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
399 // we travel on. Get the turn radius by dividing by PI (*2).
405 turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
407 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
409 double inbound = bearing;
410 double outbound = getBearing(current, next);
411 leadInAngle = fabs(inbound - outbound);
412 if (leadInAngle > 180.0)
413 leadInAngle = 360.0 - leadInAngle;
414 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
415 // leadInAngle = 30.0;
417 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
418 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
420 if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
421 // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
422 // << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
423 lead_distance = 3 * turn_radius;
426 if ((leadInAngle > 90) && (current->on_ground == true)) {
427 lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
432 void FGAIFlightPlan::setLeadDistance(double distance_ft){
433 lead_distance = distance_ft;
437 double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
438 return getBearing(first->latitude, first->longitude, second);
442 double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
443 return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
444 SGGeod::fromDeg(wp->longitude, wp->latitude));
447 void FGAIFlightPlan::deleteWaypoints()
449 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
454 // Delete all waypoints except the last,
455 // which we will recycle as the first waypoint in the next leg;
456 void FGAIFlightPlan::resetWaypoints()
458 if (waypoints.begin() == waypoints.end())
462 waypoint *wpt = new waypoint;
463 wpt_vector_iterator i = waypoints.end();
465 wpt->name = (*i)->name;
466 wpt->latitude = (*i)->latitude;
467 wpt->longitude = (*i)->longitude;
468 wpt->altitude = (*i)->altitude;
469 wpt->speed = (*i)->speed;
470 wpt->crossat = (*i)->crossat;
471 wpt->gear_down = (*i)->gear_down;
472 wpt->flaps_down= (*i)->flaps_down;
473 wpt->finished = false;
474 wpt->on_ground = (*i)->on_ground;
475 //cerr << "Recycling waypoint " << wpt->name << endl;
477 waypoints.push_back(wpt);
481 // Start flightplan over from the beginning
482 void FGAIFlightPlan::restart()
484 wpt_iterator = waypoints.begin();
488 void FGAIFlightPlan::deleteTaxiRoute()
495 int FGAIFlightPlan::getRouteIndex(int i) {
496 if ((i > 0) && (i < (int)waypoints.size())) {
497 return waypoints[i]->routeIndex;
504 double FGAIFlightPlan::checkTrackLength(string wptName) {
505 // skip the first two waypoints: first one is behind, second one is partially done;
506 double trackDistance = 0;
507 wpt_vector_iterator wptvec = waypoints.begin();
510 while ((wptvec != waypoints.end()) && ((*wptvec)->name != wptName)) {
511 trackDistance += (*wptvec)->trackLength;
514 if (wptvec == waypoints.end()) {
515 trackDistance = 0; // name not found
517 return trackDistance;