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"
49 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
56 SGPath path( globals->get_fg_root() );
57 path.append( ("/AI/FlightPlans/" + filename).c_str() );
62 readProperties(path.str(), &root);
63 } catch (const sg_exception &e) {
64 SG_LOG(SG_GENERAL, SG_ALERT,
65 "Error reading AI flight plan: " << path.str());
66 // cout << path.str() << endl;
70 SGPropertyNode * node = root.getNode("flightplan");
71 for (i = 0; i < node->nChildren(); i++) {
72 //cout << "Reading waypoint " << i << endl;
73 waypoint* wpt = new waypoint;
74 SGPropertyNode * wpt_node = node->getChild(i);
75 wpt->name = wpt_node->getStringValue("name", "END");
76 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
77 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
78 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
79 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
80 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
81 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
82 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
83 wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
84 wpt->time_sec = wpt_node->getDoubleValue("time-sec", 0);
85 wpt->time = wpt_node->getStringValue("time", "");
87 if (wpt->name == "END") wpt->finished = true;
88 else wpt->finished = false;
90 waypoints.push_back( wpt );
93 wpt_iterator = waypoints.begin();
94 //cout << waypoints.size() << " waypoints read." << endl;
98 // This is a modified version of the constructor,
99 // Which not only reads the waypoints from a
100 // Flight plan file, but also adds the current
101 // Position computed by the traffic manager, as well
102 // as setting speeds and altitude computed by the
104 FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
115 const string& fltType,
116 const string& acType,
117 const string& airline)
124 bool useInitialWayPoint = true;
125 bool useCurrentWayPoint = false;
126 SGPath path( globals->get_fg_root() );
127 path.append( "/AI/FlightPlans" );
132 // This is a bit of a hack:
133 // Normally the value of course will be used to evaluate whether
134 // or not a waypoint will be used for midair initialization of
135 // an AI aircraft. However, if a course value of 999 will be passed
136 // when an update request is received, which will by definition always be
137 // on the ground and should include all waypoints.
140 useInitialWayPoint = false;
141 useCurrentWayPoint = true;
148 readProperties(path.str(), &root);
150 SGPropertyNode * node = root.getNode("flightplan");
152 //waypoints.push_back( init_waypoint );
153 for (int i = 0; i < node->nChildren(); i++) {
154 //cout << "Reading waypoint " << i << endl;
155 waypoint* wpt = new waypoint;
156 SGPropertyNode * wpt_node = node->getChild(i);
157 wpt->name = wpt_node->getStringValue("name", "END");
158 wpt->latitude = wpt_node->getDoubleValue("lat", 0);
159 wpt->longitude = wpt_node->getDoubleValue("lon", 0);
160 wpt->altitude = wpt_node->getDoubleValue("alt", 0);
161 wpt->speed = wpt_node->getDoubleValue("ktas", 0);
162 //wpt->speed = speed;
163 wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
164 wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
165 wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
167 if (wpt->name == "END") wpt->finished = true;
168 else wpt->finished = false;
169 waypoints.push_back(wpt);
172 catch (const sg_exception &e) {
173 SG_LOG(SG_GENERAL, SG_WARN,
174 "Error reading AI flight plan: ");
175 cerr << "Errno = " << errno << endl;
178 SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
184 // cout << path.str() << endl;
185 // cout << "Trying to create this plan dynamically" << endl;
186 // cout << "Route from " << dep->id << " to " << arr->id << endl;
187 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
188 time_t timeDiff = now-start;
191 if ((timeDiff > 300) && (timeDiff < 1200))
193 else if ((timeDiff >= 1200) && (timeDiff < 1500))
195 else if ((timeDiff >= 1500) && (timeDiff < 2000))
197 else if (timeDiff >= 2000)
200 if (timeDiff >= 2000)
203 SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg);
204 wpt_iterator = waypoints.begin();
205 create(dep,arr, leg, alt, speed, lat, lon,
206 firstLeg, radius, fltType, acType, airline);
207 wpt_iterator = waypoints.begin();
208 //cerr << "after create: " << (*wpt_iterator)->name << endl;
210 // Now that we have dynamically created a flight plan,
211 // we need to add some code that pops any waypoints already past.
215 waypoint* init_waypoint = new waypoint;
216 init_waypoint->name = string("initial position");
217 init_waypoint->latitude = entity->latitude;
218 init_waypoint->longitude = entity->longitude;
219 init_waypoint->altitude = entity->altitude;
220 init_waypoint->speed = entity->speed;
221 init_waypoint->crossat = - 10000;
222 init_waypoint->gear_down = false;
223 init_waypoint->flaps_down = false;
224 init_waypoint->finished = false;
226 wpt_vector_iterator i = waypoints.begin();
227 while (i != waypoints.end())
229 //cerr << "Checking status of each waypoint: " << (*i)->name << endl;
230 SGWayPoint first(init_waypoint->longitude,
231 init_waypoint->latitude,
232 init_waypoint->altitude);
233 SGWayPoint curr ((*i)->longitude,
236 double crse, crsDiff;
238 curr.CourseAndDistance(first, &crse, &dist);
240 dist *= SG_METER_TO_NM;
242 // We're only interested in the absolute value of crsDiff
243 // wich should fall in the 0-180 deg range.
244 crsDiff = fabs(crse-course);
246 crsDiff = 360-crsDiff;
247 // These are the three conditions that we consider including
248 // in our flight plan:
249 // 1) current waypoint is less then 100 miles away OR
250 // 2) curren waypoint is ahead of us, at any distance
252 if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
255 // Once we start including waypoints, we have to continue, even though
256 // one of the following way point would suffice.
257 // so once is the useWpt flag is set to true, we cannot reset it to false.
258 //cerr << "Discarding waypoint: " << (*i)->name
259 // << ": Course difference = " << crsDiff
260 // << "Course = " << course
261 // << "crse = " << crse << endl;
264 useCurrentWayPoint = true;
266 if (useCurrentWayPoint)
268 if ((dist > 100.0) && (useInitialWayPoint))
270 //waypoints.push_back(init_waypoint);;
271 waypoints.insert(i, init_waypoint);
272 //cerr << "Using waypoint : " << init_waypoint->name << endl;
274 //if (useInitialWayPoint)
276 // (*i)->speed = dist; // A hack
278 //waypoints.push_back( wpt );
279 //cerr << "Using waypoint : " << (*i)->name
280 // << ": course diff : " << crsDiff
281 // << "Course = " << course
282 // << "crse = " << crse << endl
283 // << "distance : " << dist << endl;
284 useInitialWayPoint = false;
291 i = waypoints.erase(i);
296 //for (i = waypoints.begin(); i != waypoints.end(); i++)
297 // cerr << "Using waypoint : " << (*i)->name << endl;
298 //wpt_iterator = waypoints.begin();
299 //cout << waypoints.size() << " waypoints read." << endl;
305 FGAIFlightPlan::~FGAIFlightPlan()
312 FGAIFlightPlan::waypoint* const
313 FGAIFlightPlan::getPreviousWaypoint( void ) const
315 if (wpt_iterator == waypoints.begin()) {
318 wpt_vector_iterator prev = wpt_iterator;
323 FGAIFlightPlan::waypoint* const
324 FGAIFlightPlan::getCurrentWaypoint( void ) const
326 return *wpt_iterator;
329 FGAIFlightPlan::waypoint* const
330 FGAIFlightPlan::getNextWaypoint( void ) const
332 wpt_vector_iterator i = waypoints.end();
333 i--; // end() points to one element after the last one.
334 if (wpt_iterator == i) {
337 wpt_vector_iterator next = wpt_iterator;
342 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
346 if (wpt_iterator == waypoints.begin())
350 delete *(waypoints.begin());
351 waypoints.erase(waypoints.begin());
352 wpt_iterator = waypoints.begin();
361 // gives distance in feet from a position to a waypoint
362 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
363 double course, distance;
364 // get size of a degree2 at the present latitude
365 // this won't work over large distances
366 //double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
367 //double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
368 //double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
369 //double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
370 //return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
371 SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
372 sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
376 // sets distance in feet from a lead point to the current waypoint
377 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
378 waypoint* current, waypoint* next){
380 // Handle Ground steering
381 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
382 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
383 // we travel on. Get the turn radius by dividing by PI (*2).
389 turn_radius = ((360/30)*15) / (2*M_PI);
391 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
393 double inbound = bearing;
394 double outbound = getBearing(current, next);
395 leadInAngle = fabs(inbound - outbound);
396 if (leadInAngle > 180.0)
397 leadInAngle = 360.0 - leadInAngle;
398 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
399 // leadInAngle = 30.0;
401 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
402 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
403 // if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
408 void FGAIFlightPlan::setLeadDistance(double distance_ft){
409 lead_distance = distance_ft;
413 double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
414 return getBearing(first->latitude, first->longitude, second);
418 double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
419 double course, distance;
420 // double latd = lat;
421 // double lond = lon;
422 // double latt = wp->latitude;
423 // double lont = wp->longitude;
424 // double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat/SG_RADIANS_TO_DEGREES);
425 // double ft_per_deg_lon = 365228.16 * cos(lat/SG_RADIANS_TO_DEGREES);
438 // double lat_diff = (latt - latd) * ft_per_deg_lat;
439 // double lon_diff = (lont - lond) * ft_per_deg_lon;
440 // double angle = atan(fabs(lat_diff / lon_diff)) * SG_RADIANS_TO_DEGREES;
442 // bool southerly = true;
443 // if (latt > latd) southerly = false;
444 // bool easterly = false;
445 // if (lont > lond) easterly = true;
446 // if (southerly && easterly) return 90.0 + angle;
447 // if (!southerly && easterly) return 90.0 - angle;
448 // if (southerly && !easterly) return 270.0 - angle;
449 // if (!southerly && !easterly) return 270.0 + angle;
450 SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
451 sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
454 // Omit a compiler warning.
455 //if ((errno == EDOM) || (errno == ERANGE))
457 // cerr << "Lon: " << wp->longitude
458 // << "Lat = " << wp->latitude
459 // << "Tgt Lon = " <<
460 // << "TgT Lat = " << speed << endl;
467 void FGAIFlightPlan::deleteWaypoints()
469 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
474 // Delete all waypoints except the last,
475 // which we will recycle as the first waypoint in the next leg;
476 void FGAIFlightPlan::resetWaypoints()
478 if (waypoints.begin() == waypoints.end())
482 waypoint *wpt = new waypoint;
483 wpt_vector_iterator i = waypoints.end();
485 wpt->name = (*i)->name;
486 wpt->latitude = (*i)->latitude;
487 wpt->longitude = (*i)->longitude;
488 wpt->altitude = (*i)->altitude;
489 wpt->speed = (*i)->speed;
490 wpt->crossat = (*i)->crossat;
491 wpt->gear_down = (*i)->gear_down;
492 wpt->flaps_down= (*i)->flaps_down;
493 wpt->finished = false;
494 wpt->on_ground = (*i)->on_ground;
495 //cerr << "Recycling waypoint " << wpt->name << endl;
497 waypoints.push_back(wpt);
501 // Start flightplan over from the beginning
502 void FGAIFlightPlan::restart()
504 wpt_iterator = waypoints.begin();
508 void FGAIFlightPlan::deleteTaxiRoute()
515 int FGAIFlightPlan::getRouteIndex(int i) {
516 if ((i > 0) && (i < waypoints.size())) {
517 return waypoints[i]->routeIndex;