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/simple.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"
49 FGAIWaypoint::FGAIWaypoint() {
61 bool FGAIWaypoint::contains(string target) {
62 size_t found = name.find(target);
63 if (found == string::npos)
69 double FGAIWaypoint::getLatitude()
71 return pos.getLatitudeDeg();
74 double FGAIWaypoint::getLongitude()
76 return pos.getLongitudeDeg();
79 double FGAIWaypoint::getAltitude()
81 return pos.getElevationFt();
84 void FGAIWaypoint::setLatitude(double lat)
86 pos.setLatitudeDeg(lat);
89 void FGAIWaypoint::setLongitude(double lon)
91 pos.setLongitudeDeg(lon);
94 void FGAIWaypoint::setAltitude(double alt)
96 pos.setElevationFt(alt);
99 FGAIFlightPlan::FGAIFlightPlan()
110 wpt_iterator = waypoints.begin();
114 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
127 isValid = parseProperties(filename);
131 // This is a modified version of the constructor,
132 // Which not only reads the waypoints from a
133 // Flight plan file, but also adds the current
134 // Position computed by the traffic manager, as well
135 // as setting speeds and altitude computed by the
137 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
138 const std::string& p,
149 const string& fltType,
150 const string& acType,
151 const string& airline) :
165 if (parseProperties(p)) {
168 createWaypoints(ac, course, start, dep, arr, firstLeg, radius,
169 alt, lat, lon, speed, fltType, acType, airline);
173 FGAIFlightPlan::~FGAIFlightPlan()
179 void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
190 const string& fltType,
191 const string& acType,
192 const string& airline)
194 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
195 time_t timeDiff = now-start;
198 if ((timeDiff > 60) && (timeDiff < 1500))
200 //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
202 //ac->setTakeOffStatus(2);
204 else if ((timeDiff >= 1500) && (timeDiff < 2000))
206 else if (timeDiff >= 2000)
209 if (timeDiff >= 2000)
212 SG_LOG(SG_AI, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
213 wpt_iterator = waypoints.begin();
215 isValid = create(ac, dep, arr, leg, alt, speed, lat, lon,
216 firstLeg, radius, fltType, acType, airline, dist);
217 wpt_iterator = waypoints.begin();
220 bool FGAIFlightPlan::parseProperties(const std::string& filename)
222 SGPath path( globals->get_fg_root() );
223 path.append( "/AI/FlightPlans/" + filename );
224 if (!path.exists()) {
230 readProperties(path.str(), &root);
231 } catch (const sg_exception &e) {
232 SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << path.str()
233 << "message:" << e.getFormattedMessage());
237 SGPropertyNode * node = root.getNode("flightplan");
238 for (int i = 0; i < node->nChildren(); i++) {
239 FGAIWaypoint* wpt = new FGAIWaypoint;
240 SGPropertyNode * wpt_node = node->getChild(i);
241 wpt->setName (wpt_node->getStringValue("name", "END" ));
242 wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
243 wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
244 wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
245 wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
246 wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
247 wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
248 wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
249 wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false ));
250 wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 ));
251 wpt->setTime (wpt_node->getStringValue("time", "" ));
252 wpt->setFinished ((wpt->getName() == "END"));
253 pushBackWaypoint( wpt );
256 wpt_iterator = waypoints.begin();
260 FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
262 if (wpt_iterator == waypoints.begin()) {
265 wpt_vector_iterator prev = wpt_iterator;
270 FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
272 if (wpt_iterator == waypoints.end())
274 return *wpt_iterator;
277 FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
279 wpt_vector_iterator i = waypoints.end();
280 i--; // end() points to one element after the last one.
281 if (wpt_iterator == i) {
284 wpt_vector_iterator next = wpt_iterator;
289 void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
293 if (wpt_iterator == waypoints.begin())
297 delete *(waypoints.begin());
298 waypoints.erase(waypoints.begin());
299 wpt_iterator = waypoints.begin();
308 void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
312 if (wpt_iterator == waypoints.end())
316 delete *(waypoints.end());
317 waypoints.erase(waypoints.end());
318 wpt_iterator = waypoints.end();
326 void FGAIFlightPlan::eraseLastWaypoint()
328 delete (waypoints.back());
329 waypoints.pop_back();;
330 wpt_iterator = waypoints.begin();
337 // gives distance in feet from a position to a waypoint
338 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{
339 return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), wp->getPos());
342 // sets distance in feet from a lead point to the current waypoint
343 void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
344 FGAIWaypoint* current, FGAIWaypoint* next){
346 // Handle Ground steering
347 // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
348 // So, to get an estimate of the turn radius, calculate the cicumference of the circle
349 // we travel on. Get the turn radius by dividing by PI (*2).
355 turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
357 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
359 double inbound = bearing;
360 double outbound = getBearing(current, next);
361 leadInAngle = fabs(inbound - outbound);
362 if (leadInAngle > 180.0)
363 leadInAngle = 360.0 - leadInAngle;
364 //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
365 // leadInAngle = 30.0;
367 //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
368 lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
370 if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
371 // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
372 // << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
373 lead_distance = 3 * turn_radius;
376 if ((leadInAngle > 90) && (current->on_ground == true)) {
377 lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
382 void FGAIFlightPlan::setLeadDistance(double distance_ft){
383 lead_distance = distance_ft;
387 double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const
389 return SGGeodesy::courseDeg(first->getPos(), second->getPos());
392 double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
394 return SGGeodesy::courseDeg(aPos, wp->getPos());
397 void FGAIFlightPlan::deleteWaypoints()
399 for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
404 // Delete all waypoints except the last,
405 // which we will recycle as the first waypoint in the next leg;
406 void FGAIFlightPlan::resetWaypoints()
408 if (waypoints.begin() == waypoints.end())
412 FGAIWaypoint *wpt = new FGAIWaypoint;
413 wpt_vector_iterator i = waypoints.end();
415 wpt->setName ( (*i)->getName() );
416 wpt->setPos ( (*i)->getPos() );
417 wpt->setCrossat ( (*i)->getCrossat() );
418 wpt->setGear_down ( (*i)->getGear_down() );
419 wpt->setFlaps_down ( (*i)->getFlaps_down() );
420 wpt->setFinished ( false );
421 wpt->setOn_ground ( (*i)->getOn_ground() );
422 //cerr << "Recycling waypoint " << wpt->name << endl;
424 pushBackWaypoint(wpt);
428 void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
430 // std::vector::push_back invalidates waypoints
431 // so we should restore wpt_iterator after push_back
432 // (or it could be an index in the vector)
433 size_t pos = wpt_iterator - waypoints.begin();
434 waypoints.push_back(wpt);
435 wpt_iterator = waypoints.begin() + pos;
438 // Start flightplan over from the beginning
439 void FGAIFlightPlan::restart()
441 wpt_iterator = waypoints.begin();
444 int FGAIFlightPlan::getRouteIndex(int i) {
445 if ((i > 0) && (i < (int)waypoints.size())) {
446 return waypoints[i]->getRouteIndex();
452 double FGAIFlightPlan::checkTrackLength(string wptName) {
453 // skip the first two waypoints: first one is behind, second one is partially done;
454 double trackDistance = 0;
455 wpt_vector_iterator wptvec = waypoints.begin();
458 while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) {
459 trackDistance += (*wptvec)->getTrackLength();
462 if (wptvec == waypoints.end()) {
463 trackDistance = 0; // name not found
465 return trackDistance;
468 void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
470 while (waypoints.size() > number + 3) {
473 (waypoints.back())->setName((waypoints.back())->getName() + name);
476 void FGAIFlightPlan::setGate(ParkingAssignment pka)
481 FGParking* FGAIFlightPlan::getParkingGate()
483 return gate.parking();