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()
54 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
62 SGPath path( globals->get_fg_root() );
63 path.append( ("/AI/FlightPlans/" + filename).c_str() );
68 readProperties(path.str(), &root);
69 } catch (const sg_exception &) {
70 SG_LOG(SG_GENERAL, SG_ALERT,
71 "Error reading AI flight plan: " << path.str());
72 // cout << path.str() << endl;
76 SGPropertyNode * node = root.getNode("flightplan");
77 for (i = 0; i < node->nChildren(); i++) {
78 //cout << "Reading waypoint " << i << endl;
79 waypoint* wpt = new waypoint;
80 SGPropertyNode * wpt_node = node->getChild(i);
81 wpt->name = wpt_node->getStringValue("name", "END");
82 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
83 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
84 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
85 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
86 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
87 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
88 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
89 wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
90 wpt->time_sec = wpt_node->getDoubleValue("time-sec", 0);
91 wpt->time = wpt_node->getStringValue("time", "");
93 if (wpt->name == "END") wpt->finished = true;
94 else wpt->finished = false;
96 waypoints.push_back( wpt );
99 wpt_iterator = waypoints.begin();
100 //cout << waypoints.size() << " waypoints read." << endl;
104 // This is a modified version of the constructor,
105 // Which not only reads the waypoints from a
106 // Flight plan file, but also adds the current
107 // Position computed by the traffic manager, as well
108 // as setting speeds and altitude computed by the
110 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
111 const std::string& p,
122 const string& fltType,
123 const string& acType,
124 const string& airline)
132 bool useInitialWayPoint = true;
133 bool useCurrentWayPoint = false;
134 SGPath path( globals->get_fg_root() );
135 path.append( "/AI/FlightPlans" );
140 // This is a bit of a hack:
141 // Normally the value of course will be used to evaluate whether
142 // or not a waypoint will be used for midair initialization of
143 // an AI aircraft. However, if a course value of 999 will be passed
144 // when an update request is received, which will by definition always be
145 // on the ground and should include all waypoints.
148 useInitialWayPoint = false;
149 useCurrentWayPoint = true;
156 readProperties(path.str(), &root);
158 SGPropertyNode * node = root.getNode("flightplan");
160 //waypoints.push_back( init_waypoint );
161 for (int i = 0; i < node->nChildren(); i++) {
162 //cout << "Reading waypoint " << i << endl;
163 waypoint* wpt = new waypoint;
164 SGPropertyNode * wpt_node = node->getChild(i);
165 wpt->name = wpt_node->getStringValue("name", "END");
166 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
167 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
168 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
169 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
170 //wpt->speed = speed;
171 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
172 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
173 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
175 if (wpt->name == "END") wpt->finished = true;
176 else wpt->finished = false;
177 waypoints.push_back(wpt);
180 catch (const sg_exception &) {
181 SG_LOG(SG_GENERAL, SG_WARN,
182 "Error reading AI flight plan: ");
183 cerr << "Errno = " << errno << endl;
186 SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
192 // cout << path.str() << endl;
193 // cout << "Trying to create this plan dynamically" << endl;
194 // cout << "Route from " << dep->id << " to " << arr->id << endl;
195 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
196 time_t timeDiff = now-start;
199 if ((timeDiff > 300) && (timeDiff < 1200))
201 else if ((timeDiff >= 1200) && (timeDiff < 1500))
203 else if ((timeDiff >= 1500) && (timeDiff < 2000))
205 else if (timeDiff >= 2000)
208 if (timeDiff >= 2000)
211 SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
212 wpt_iterator = waypoints.begin();
213 create(ac, dep,arr, leg, alt, speed, lat, lon,
214 firstLeg, radius, fltType, acType, airline);
215 wpt_iterator = waypoints.begin();
216 //cerr << "after create: " << (*wpt_iterator)->name << endl;
218 // Now that we have dynamically created a flight plan,
219 // we need to add some code that pops any waypoints already past.
223 waypoint* init_waypoint = new waypoint;
224 init_waypoint->name = string("initial position");
225 init_waypoint->latitude = entity->latitude;
226 init_waypoint->longitude = entity->longitude;
227 init_waypoint->altitude = entity->altitude;
228 init_waypoint->speed = entity->speed;
229 init_waypoint->crossat = - 10000;
230 init_waypoint->gear_down = false;
231 init_waypoint->flaps_down = false;
232 init_waypoint->finished = false;
234 wpt_vector_iterator i = waypoints.begin();
235 while (i != waypoints.end())
237 //cerr << "Checking status of each waypoint: " << (*i)->name << endl;
238 SGWayPoint first(init_waypoint->longitude,
239 init_waypoint->latitude,
240 init_waypoint->altitude);
241 SGWayPoint curr ((*i)->longitude,
244 double crse, crsDiff;
246 curr.CourseAndDistance(first, &crse, &dist);
248 dist *= SG_METER_TO_NM;
250 // We're only interested in the absolute value of crsDiff
251 // wich should fall in the 0-180 deg range.
252 crsDiff = fabs(crse-course);
254 crsDiff = 360-crsDiff;
255 // These are the three conditions that we consider including
256 // in our flight plan:
257 // 1) current waypoint is less then 100 miles away OR
258 // 2) curren waypoint is ahead of us, at any distance
260 if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
263 // Once we start including waypoints, we have to continue, even though
264 // one of the following way point would suffice.
265 // so once is the useWpt flag is set to true, we cannot reset it to false.
266 //cerr << "Discarding waypoint: " << (*i)->name
267 // << ": Course difference = " << crsDiff
268 // << "Course = " << course
269 // << "crse = " << crse << endl;
272 useCurrentWayPoint = true;
274 if (useCurrentWayPoint)
276 if ((dist > 100.0) && (useInitialWayPoint))
278 //waypoints.push_back(init_waypoint);;
279 waypoints.insert(i, init_waypoint);
280 //cerr << "Using waypoint : " << init_waypoint->name << endl;
282 //if (useInitialWayPoint)
284 // (*i)->speed = dist; // A hack
286 //waypoints.push_back( wpt );
287 //cerr << "Using waypoint : " << (*i)->name
288 // << ": course diff : " << crsDiff
289 // << "Course = " << course
290 // << "crse = " << crse << endl
291 // << "distance : " << dist << endl;
292 useInitialWayPoint = false;
299 i = waypoints.erase(i);
304 //for (i = waypoints.begin(); i != waypoints.end(); i++)
305 // cerr << "Using waypoint : " << (*i)->name << endl;
306 //wpt_iterator = waypoints.begin();
307 //cout << waypoints.size() << " waypoints read." << endl;
313 FGAIFlightPlan::~FGAIFlightPlan()
320 FGAIFlightPlan::waypoint* const
321 FGAIFlightPlan::getPreviousWaypoint( void ) const
323 if (wpt_iterator == waypoints.begin()) {
326 wpt_vector_iterator prev = wpt_iterator;
331 FGAIFlightPlan::waypoint* const
332 FGAIFlightPlan::getCurrentWaypoint( void ) const
334 return *wpt_iterator;
337 FGAIFlightPlan::waypoint* const
338 FGAIFlightPlan::getNextWaypoint( void ) const
340 wpt_vector_iterator i = waypoints.end();
341 i--; // end() points to one element after the last one.
342 if (wpt_iterator == i) {
345 wpt_vector_iterator next = wpt_iterator;
350 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
354 if (wpt_iterator == waypoints.begin())
358 delete *(waypoints.begin());
359 waypoints.erase(waypoints.begin());
360 wpt_iterator = waypoints.begin();
369 void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
373 if (wpt_iterator == waypoints.end())
377 delete *(waypoints.end());
378 waypoints.erase(waypoints.end());
379 wpt_iterator = waypoints.end();
389 // gives distance in feet from a position to a waypoint
390 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
391 return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
392 SGGeod::fromDeg(wp->longitude, wp->latitude));
395 // sets distance in feet from a lead point to the current waypoint
396 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
397 waypoint* current, waypoint* next){
399 // Handle Ground steering
400 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
401 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
402 // we travel on. Get the turn radius by dividing by PI (*2).
408 turn_radius = ((360/30)*15) / (2*M_PI);
410 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
412 double inbound = bearing;
413 double outbound = getBearing(current, next);
414 leadInAngle = fabs(inbound - outbound);
415 if (leadInAngle > 180.0)
416 leadInAngle = 360.0 - leadInAngle;
417 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
418 // leadInAngle = 30.0;
420 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
421 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
422 // if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
427 void FGAIFlightPlan::setLeadDistance(double distance_ft){
428 lead_distance = distance_ft;
432 double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
433 return getBearing(first->latitude, first->longitude, second);
437 double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
438 return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
439 SGGeod::fromDeg(wp->longitude, wp->latitude));
442 void FGAIFlightPlan::deleteWaypoints()
444 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
449 // Delete all waypoints except the last,
450 // which we will recycle as the first waypoint in the next leg;
451 void FGAIFlightPlan::resetWaypoints()
453 if (waypoints.begin() == waypoints.end())
457 waypoint *wpt = new waypoint;
458 wpt_vector_iterator i = waypoints.end();
460 wpt->name = (*i)->name;
461 wpt->latitude = (*i)->latitude;
462 wpt->longitude = (*i)->longitude;
463 wpt->altitude = (*i)->altitude;
464 wpt->speed = (*i)->speed;
465 wpt->crossat = (*i)->crossat;
466 wpt->gear_down = (*i)->gear_down;
467 wpt->flaps_down= (*i)->flaps_down;
468 wpt->finished = false;
469 wpt->on_ground = (*i)->on_ground;
470 //cerr << "Recycling waypoint " << wpt->name << endl;
472 waypoints.push_back(wpt);
476 // Start flightplan over from the beginning
477 void FGAIFlightPlan::restart()
479 wpt_iterator = waypoints.begin();
483 void FGAIFlightPlan::deleteTaxiRoute()
490 int FGAIFlightPlan::getRouteIndex(int i) {
491 if ((i > 0) && (i < (int)waypoints.size())) {
492 return waypoints[i]->routeIndex;