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 <Traffic/Schedule.hxx>
46 #include "AIFlightPlan.hxx"
47 #include "AIAircraft.hxx"
52 FGAIWaypoint::FGAIWaypoint() {
64 bool FGAIWaypoint::contains(const string& target) {
65 size_t found = name.find(target);
66 if (found == string::npos)
72 double FGAIWaypoint::getLatitude()
74 return pos.getLatitudeDeg();
77 double FGAIWaypoint::getLongitude()
79 return pos.getLongitudeDeg();
82 double FGAIWaypoint::getAltitude()
84 return pos.getElevationFt();
87 void FGAIWaypoint::setLatitude(double lat)
89 pos.setLatitudeDeg(lat);
92 void FGAIWaypoint::setLongitude(double lon)
94 pos.setLongitudeDeg(lon);
97 void FGAIWaypoint::setAltitude(double alt)
99 pos.setElevationFt(alt);
102 FGAIFlightPlan::FGAIFlightPlan() :
114 wpt_iterator = waypoints.begin();
117 FGAIFlightPlan::FGAIFlightPlan(const string& filename) :
127 isValid(parseProperties(filename))
132 // This is a modified version of the constructor,
133 // Which not only reads the waypoints from a
134 // Flight plan file, but also adds the current
135 // Position computed by the traffic manager, as well
136 // as setting speeds and altitude computed by the
138 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
139 const std::string& p,
150 const string& fltType,
151 const string& acType,
152 const string& airline) :
166 if (parseProperties(p)) {
169 createWaypoints(ac, course, start, dep, arr, firstLeg, radius,
170 alt, lat, lon, speed, fltType, acType, airline);
174 FGAIFlightPlan::~FGAIFlightPlan()
180 void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
191 const string& fltType,
192 const string& acType,
193 const string& airline)
195 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
196 time_t timeDiff = now-start;
199 if ((timeDiff > 60) && (timeDiff < 1500))
201 //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
203 //ac->setTakeOffStatus(2);
205 else if ((timeDiff >= 1500) && (timeDiff < 2000))
207 else if (timeDiff >= 2000)
210 if (timeDiff >= 2000)
213 SG_LOG(SG_AI, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
214 wpt_iterator = waypoints.begin();
216 isValid = create(ac, dep, arr, leg, alt, speed, lat, lon,
217 firstLeg, radius, fltType, acType, airline, dist);
218 wpt_iterator = waypoints.begin();
221 bool FGAIFlightPlan::parseProperties(const std::string& filename)
223 SGPath path( globals->get_fg_root() );
224 path.append( "/AI/FlightPlans/" + filename );
225 if (!path.exists()) {
231 readProperties(path.str(), &root);
232 } catch (const sg_exception &e) {
233 SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << path.str()
234 << "message:" << e.getFormattedMessage());
238 SGPropertyNode * node = root.getNode("flightplan");
239 for (int i = 0; i < node->nChildren(); i++) {
240 FGAIWaypoint* wpt = new FGAIWaypoint;
241 SGPropertyNode * wpt_node = node->getChild(i);
242 wpt->setName (wpt_node->getStringValue("name", "END" ));
243 wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
244 wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
245 wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
246 wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
247 wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
248 wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
249 wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
250 wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false ));
251 wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 ));
252 wpt->setTime (wpt_node->getStringValue("time", "" ));
253 wpt->setFinished ((wpt->getName() == "END"));
254 pushBackWaypoint( wpt );
256 if( getLastWaypoint()->getName().compare("END") != 0 ) {
257 SG_LOG(SG_AI, SG_ALERT, "FGAIFlightPlan::Flightplan missing END node" );
262 wpt_iterator = waypoints.begin();
266 FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
268 if (wpt_iterator == waypoints.begin()) {
271 wpt_vector_iterator prev = wpt_iterator;
276 FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
278 if (wpt_iterator == waypoints.end())
280 return *wpt_iterator;
283 FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
285 wpt_vector_iterator i = waypoints.end();
286 i--; // end() points to one element after the last one.
287 if (wpt_iterator == i) {
290 wpt_vector_iterator next = wpt_iterator;
295 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
299 if (wpt_iterator == waypoints.begin())
302 if (!waypoints.empty())
304 delete *(waypoints.begin());
305 waypoints.erase(waypoints.begin());
306 wpt_iterator = waypoints.begin();
314 void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
318 if (wpt_iterator == waypoints.end())
321 if (!waypoints.empty())
323 delete *(waypoints.end()-1);
324 waypoints.erase(waypoints.end()-1);
325 wpt_iterator = waypoints.end();
333 void FGAIFlightPlan::eraseLastWaypoint()
335 delete (waypoints.back());
336 waypoints.pop_back();;
337 wpt_iterator = waypoints.begin();
344 // gives distance in feet from a position to a waypoint
345 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{
346 return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), wp->getPos());
349 // sets distance in feet from a lead point to the current waypoint
350 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
351 FGAIWaypoint* current, FGAIWaypoint* next){
353 // Handle Ground steering
354 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
355 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
356 // we travel on. Get the turn radius by dividing by PI (*2).
362 turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
364 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
366 double inbound = bearing;
367 double outbound = getBearing(current, next);
368 leadInAngle = fabs(inbound - outbound);
369 if (leadInAngle > 180.0)
370 leadInAngle = 360.0 - leadInAngle;
371 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
372 // leadInAngle = 30.0;
374 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
375 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
377 if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
378 // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
379 // << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
380 lead_distance = 3 * turn_radius;
383 if ((leadInAngle > 90) && (current->on_ground == true)) {
384 lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
389 void FGAIFlightPlan::setLeadDistance(double distance_ft){
390 lead_distance = distance_ft;
394 double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const
396 return SGGeodesy::courseDeg(first->getPos(), second->getPos());
399 double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
401 return SGGeodesy::courseDeg(aPos, wp->getPos());
404 void FGAIFlightPlan::deleteWaypoints()
406 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
409 wpt_iterator = waypoints.begin();
412 // Delete all waypoints except the last,
413 // which we will recycle as the first waypoint in the next leg;
414 void FGAIFlightPlan::resetWaypoints()
416 if (waypoints.begin() == waypoints.end())
420 FGAIWaypoint *wpt = new FGAIWaypoint;
421 wpt_vector_iterator i = waypoints.end();
423 wpt->setName ( (*i)->getName() );
424 wpt->setPos ( (*i)->getPos() );
425 wpt->setCrossat ( (*i)->getCrossat() );
426 wpt->setGear_down ( (*i)->getGear_down() );
427 wpt->setFlaps_down ( (*i)->getFlaps_down() );
428 wpt->setFinished ( false );
429 wpt->setOn_ground ( (*i)->getOn_ground() );
430 //cerr << "Recycling waypoint " << wpt->name << endl;
432 pushBackWaypoint(wpt);
436 void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
438 // std::vector::push_back invalidates waypoints
439 // so we should restore wpt_iterator after push_back
440 // (or it could be an index in the vector)
441 size_t pos = wpt_iterator - waypoints.begin();
442 waypoints.push_back(wpt);
443 wpt_iterator = waypoints.begin() + pos;
446 // Start flightplan over from the beginning
447 void FGAIFlightPlan::restart()
449 wpt_iterator = waypoints.begin();
452 int FGAIFlightPlan::getRouteIndex(int i) {
453 if ((i > 0) && (i < (int)waypoints.size())) {
454 return waypoints[i]->getRouteIndex();
460 double FGAIFlightPlan::checkTrackLength(const string& wptName) const {
461 // skip the first two waypoints: first one is behind, second one is partially done;
462 double trackDistance = 0;
463 wpt_vector_iterator wptvec = waypoints.begin();
466 while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) {
467 trackDistance += (*wptvec)->getTrackLength();
470 if (wptvec == waypoints.end()) {
471 trackDistance = 0; // name not found
473 return trackDistance;
476 void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
478 while (waypoints.size() > number + 3) {
481 (waypoints.back())->setName((waypoints.back())->getName() + name);
484 void FGAIFlightPlan::setGate(const ParkingAssignment& pka)
489 FGParking* FGAIFlightPlan::getParkingGate()
491 return gate.parking();
494 FGAirportRef FGAIFlightPlan::departureAirport() const
499 FGAirportRef FGAIFlightPlan::arrivalAirport() const