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/math/sg_geodesy.hxx>
28 #include <simgear/structure/exception.hxx>
29 #include <simgear/constants.h>
30 #include <simgear/props/props.hxx>
31 #include <simgear/props/props_io.hxx>
33 #include <Main/globals.hxx>
34 #include <Main/fg_props.hxx>
35 #include <Main/fg_init.hxx>
36 #include <Airports/airport.hxx>
37 #include <Airports/dynamics.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"
50 FGAIWaypoint::FGAIWaypoint() {
62 bool FGAIWaypoint::contains(const string& target) {
63 size_t found = name.find(target);
64 if (found == string::npos)
70 double FGAIWaypoint::getLatitude()
72 return pos.getLatitudeDeg();
75 double FGAIWaypoint::getLongitude()
77 return pos.getLongitudeDeg();
80 double FGAIWaypoint::getAltitude()
82 return pos.getElevationFt();
85 void FGAIWaypoint::setLatitude(double lat)
87 pos.setLatitudeDeg(lat);
90 void FGAIWaypoint::setLongitude(double lon)
92 pos.setLongitudeDeg(lon);
95 void FGAIWaypoint::setAltitude(double alt)
97 pos.setElevationFt(alt);
100 FGAIFlightPlan::FGAIFlightPlan() :
112 wpt_iterator = waypoints.begin();
115 FGAIFlightPlan::FGAIFlightPlan(const string& filename) :
125 isValid(parseProperties(filename))
130 // This is a modified version of the constructor,
131 // Which not only reads the waypoints from a
132 // Flight plan file, but also adds the current
133 // Position computed by the traffic manager, as well
134 // as setting speeds and altitude computed by the
136 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
137 const std::string& p,
148 const string& fltType,
149 const string& acType,
150 const string& airline) :
164 if (parseProperties(p)) {
167 createWaypoints(ac, course, start, dep, arr, firstLeg, radius,
168 alt, lat, lon, speed, fltType, acType, airline);
172 FGAIFlightPlan::~FGAIFlightPlan()
178 void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
189 const string& fltType,
190 const string& acType,
191 const string& airline)
193 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
194 time_t timeDiff = now-start;
197 if ((timeDiff > 60) && (timeDiff < 1500))
199 //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
201 //ac->setTakeOffStatus(2);
203 else if ((timeDiff >= 1500) && (timeDiff < 2000))
205 else if (timeDiff >= 2000)
208 if (timeDiff >= 2000)
211 SG_LOG(SG_AI, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
212 wpt_iterator = waypoints.begin();
214 isValid = create(ac, dep, arr, leg, alt, speed, lat, lon,
215 firstLeg, radius, fltType, acType, airline, dist);
216 wpt_iterator = waypoints.begin();
219 bool FGAIFlightPlan::parseProperties(const std::string& filename)
221 SGPath path( globals->get_fg_root() );
222 path.append( "/AI/FlightPlans/" + filename );
223 if (!path.exists()) {
229 readProperties(path.str(), &root);
230 } catch (const sg_exception &e) {
231 SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << path.str()
232 << "message:" << e.getFormattedMessage());
236 SGPropertyNode * node = root.getNode("flightplan");
237 for (int i = 0; i < node->nChildren(); i++) {
238 FGAIWaypoint* wpt = new FGAIWaypoint;
239 SGPropertyNode * wpt_node = node->getChild(i);
240 wpt->setName (wpt_node->getStringValue("name", "END" ));
241 wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
242 wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
243 wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
244 wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
245 wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
246 wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
247 wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
248 wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false ));
249 wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 ));
250 wpt->setTime (wpt_node->getStringValue("time", "" ));
251 wpt->setFinished ((wpt->getName() == "END"));
252 pushBackWaypoint( wpt );
254 if( getLastWaypoint()->getName().compare("END") != 0 ) {
255 SG_LOG(SG_AI, SG_ALERT, "FGAIFlightPlan::Flightplan missing END node" );
260 wpt_iterator = waypoints.begin();
264 FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
266 if (wpt_iterator == waypoints.begin()) {
269 wpt_vector_iterator prev = wpt_iterator;
274 FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
276 if (wpt_iterator == waypoints.end())
278 return *wpt_iterator;
281 FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
283 wpt_vector_iterator i = waypoints.end();
284 i--; // end() points to one element after the last one.
285 if (wpt_iterator == i) {
288 wpt_vector_iterator next = wpt_iterator;
293 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
297 if (wpt_iterator == waypoints.begin())
300 if (!waypoints.empty())
302 delete *(waypoints.begin());
303 waypoints.erase(waypoints.begin());
304 wpt_iterator = waypoints.begin();
312 void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
316 if (wpt_iterator == waypoints.end())
319 if (!waypoints.empty())
321 delete *(waypoints.end()-1);
322 waypoints.erase(waypoints.end()-1);
323 wpt_iterator = waypoints.end();
331 void FGAIFlightPlan::eraseLastWaypoint()
333 delete (waypoints.back());
334 waypoints.pop_back();;
335 wpt_iterator = waypoints.begin();
342 // gives distance in feet from a position to a waypoint
343 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{
344 return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), wp->getPos());
347 // sets distance in feet from a lead point to the current waypoint
348 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
349 FGAIWaypoint* current, FGAIWaypoint* next){
351 // Handle Ground steering
352 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
353 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
354 // we travel on. Get the turn radius by dividing by PI (*2).
360 turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
362 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
364 double inbound = bearing;
365 double outbound = getBearing(current, next);
366 leadInAngle = fabs(inbound - outbound);
367 if (leadInAngle > 180.0)
368 leadInAngle = 360.0 - leadInAngle;
369 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
370 // leadInAngle = 30.0;
372 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
373 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
375 if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
376 // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
377 // << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
378 lead_distance = 3 * turn_radius;
381 if ((leadInAngle > 90) && (current->on_ground == true)) {
382 lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
387 void FGAIFlightPlan::setLeadDistance(double distance_ft){
388 lead_distance = distance_ft;
392 double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const
394 return SGGeodesy::courseDeg(first->getPos(), second->getPos());
397 double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
399 return SGGeodesy::courseDeg(aPos, wp->getPos());
402 void FGAIFlightPlan::deleteWaypoints()
404 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
407 wpt_iterator = waypoints.begin();
410 // Delete all waypoints except the last,
411 // which we will recycle as the first waypoint in the next leg;
412 void FGAIFlightPlan::resetWaypoints()
414 if (waypoints.begin() == waypoints.end())
418 FGAIWaypoint *wpt = new FGAIWaypoint;
419 wpt_vector_iterator i = waypoints.end();
421 wpt->setName ( (*i)->getName() );
422 wpt->setPos ( (*i)->getPos() );
423 wpt->setCrossat ( (*i)->getCrossat() );
424 wpt->setGear_down ( (*i)->getGear_down() );
425 wpt->setFlaps_down ( (*i)->getFlaps_down() );
426 wpt->setFinished ( false );
427 wpt->setOn_ground ( (*i)->getOn_ground() );
428 //cerr << "Recycling waypoint " << wpt->name << endl;
430 pushBackWaypoint(wpt);
434 void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
436 // std::vector::push_back invalidates waypoints
437 // so we should restore wpt_iterator after push_back
438 // (or it could be an index in the vector)
439 size_t pos = wpt_iterator - waypoints.begin();
440 waypoints.push_back(wpt);
441 wpt_iterator = waypoints.begin() + pos;
444 // Start flightplan over from the beginning
445 void FGAIFlightPlan::restart()
447 wpt_iterator = waypoints.begin();
450 int FGAIFlightPlan::getRouteIndex(int i) {
451 if ((i > 0) && (i < (int)waypoints.size())) {
452 return waypoints[i]->getRouteIndex();
458 double FGAIFlightPlan::checkTrackLength(const string& wptName) const {
459 // skip the first two waypoints: first one is behind, second one is partially done;
460 double trackDistance = 0;
461 wpt_vector_iterator wptvec = waypoints.begin();
464 while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) {
465 trackDistance += (*wptvec)->getTrackLength();
468 if (wptvec == waypoints.end()) {
469 trackDistance = 0; // name not found
471 return trackDistance;
474 void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
476 while (waypoints.size() > number + 3) {
479 (waypoints.back())->setName((waypoints.back())->getName() + name);
482 void FGAIFlightPlan::setGate(const ParkingAssignment& pka)
487 FGParking* FGAIFlightPlan::getParkingGate()
489 return gate.parking();
492 FGAirportRef FGAIFlightPlan::departureAirport() const
497 FGAirportRef FGAIFlightPlan::arrivalAirport() const