1 // route_mgr.cxx - manage a route (i.e. a collection of waypoints)
3 // Written by Curtis Olson, started January 2004.
7 // Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
9 // This program is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU General Public License as
11 // published by the Free Software Foundation; either version 2 of the
12 // License, or (at your option) any later version.
14 // This program is distributed in the hope that it will be useful, but
15 // WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // General Public License for more details.
19 // You should have received a copy of the GNU General Public License
20 // along with this program; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
34 #include <simgear/compiler.h>
36 #include "route_mgr.hxx"
38 #include <boost/algorithm/string/case_conv.hpp>
39 #include <boost/tuple/tuple.hpp>
41 #include <simgear/misc/strutils.hxx>
42 #include <simgear/structure/exception.hxx>
43 #include <simgear/misc/sgstream.hxx>
45 #include <simgear/props/props_io.hxx>
46 #include <simgear/misc/sg_path.hxx>
47 #include <simgear/route/route.hxx>
48 #include <simgear/sg_inlines.h>
50 #include "Main/fg_props.hxx"
51 #include "Navaids/positioned.hxx"
52 #include <Navaids/waypoint.hxx>
53 #include <Navaids/airways.hxx>
54 #include <Navaids/procedure.hxx>
55 #include "Airports/simple.hxx"
56 #include "Airports/runways.hxx"
58 #define RM "/autopilot/route-manager/"
60 #include <GUI/new_gui.hxx>
61 #include <GUI/dialog.hxx>
63 using namespace flightgear;
65 class PropertyWatcher : public SGPropertyChangeListener
68 void watch(SGPropertyNode* p)
70 p->addChangeListener(this, false);
73 virtual void valueChanged(SGPropertyNode*)
78 virtual void fire() = 0;
82 * Template adapter, created by convenience helper below
85 class MethodPropertyWatcher : public PropertyWatcher
88 typedef void (T::*fire_method)();
90 MethodPropertyWatcher(T* obj, fire_method m) :
97 { // dispatch to the object method we're helping
98 (_object->*_method)();
107 PropertyWatcher* createWatcher(T* obj, void (T::*m)())
109 return new MethodPropertyWatcher<T>(obj, m);
112 FGRouteMgr::FGRouteMgr() :
114 input(fgGetNode( RM "input", true )),
115 mirror(fgGetNode( RM "route", true ))
117 listener = new InputListener(this);
118 input->setStringValue("");
119 input->addChangeListener(listener);
123 FGRouteMgr::~FGRouteMgr()
125 input->removeChangeListener(listener);
130 void FGRouteMgr::init() {
131 SGPropertyNode_ptr rm(fgGetNode(RM));
133 lon = fgGetNode( "/position/longitude-deg", true );
134 lat = fgGetNode( "/position/latitude-deg", true );
135 alt = fgGetNode( "/position/altitude-ft", true );
136 magvar = fgGetNode("/environment/magnetic-variation-deg", true);
138 departure = fgGetNode(RM "departure", true);
139 departure->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
140 &FGRouteMgr::getDepartureICAO, &FGRouteMgr::setDepartureICAO));
141 departure->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
142 &FGRouteMgr::getDepartureName, NULL));
143 departure->setStringValue("runway", "");
145 _departureWatcher = createWatcher(this, &FGRouteMgr::departureChanged);
146 _departureWatcher->watch(departure->getChild("runway"));
148 departure->getChild("etd", 0, true);
149 _departureWatcher->watch(departure->getChild("sid", 0, true));
150 departure->getChild("takeoff-time", 0, true);
152 destination = fgGetNode(RM "destination", true);
153 destination->getChild("airport", 0, true);
155 destination->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
156 &FGRouteMgr::getDestinationICAO, &FGRouteMgr::setDestinationICAO));
157 destination->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
158 &FGRouteMgr::getDestinationName, NULL));
160 _arrivalWatcher = createWatcher(this, &FGRouteMgr::arrivalChanged);
161 _arrivalWatcher->watch(destination->getChild("runway", 0, true));
163 destination->getChild("eta", 0, true);
164 _arrivalWatcher->watch(destination->getChild("star", 0, true));
165 _arrivalWatcher->watch(destination->getChild("transition", 0, true));
166 destination->getChild("touchdown-time", 0, true);
168 alternate = fgGetNode(RM "alternate", true);
169 alternate->getChild("airport", 0, true);
170 alternate->getChild("runway", 0, true);
172 cruise = fgGetNode(RM "cruise", true);
173 cruise->getChild("altitude-ft", 0, true);
174 cruise->setDoubleValue("altitude-ft", 10000.0);
175 cruise->getChild("flight-level", 0, true);
176 cruise->getChild("speed-kts", 0, true);
177 cruise->setDoubleValue("speed-kts", 160.0);
179 _routingType = cruise->getChild("routing", 0, true);
180 _routingType->setIntValue(ROUTE_HIGH_AIRWAYS);
182 totalDistance = fgGetNode(RM "total-distance", true);
183 totalDistance->setDoubleValue(0.0);
185 ete = fgGetNode(RM "ete", true);
186 ete->setDoubleValue(0.0);
188 elapsedFlightTime = fgGetNode(RM "flight-time", true);
189 elapsedFlightTime->setDoubleValue(0.0);
191 active = fgGetNode(RM "active", true);
192 active->setBoolValue(false);
194 airborne = fgGetNode(RM "airborne", true);
195 airborne->setBoolValue(false);
197 _edited = fgGetNode(RM "signals/edited", true);
198 _finished = fgGetNode(RM "signals/finished", true);
200 _currentWpt = fgGetNode(RM "current-wp", true);
201 _currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
202 (*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
204 // temporary distance / eta calculations, for backward-compatability
205 wp0 = fgGetNode(RM "wp", 0, true);
206 wp0->getChild("id", 0, true);
207 wp0->getChild("dist", 0, true);
208 wp0->getChild("eta", 0, true);
209 wp0->getChild("bearing-deg", 0, true);
211 wp1 = fgGetNode(RM "wp", 1, true);
212 wp1->getChild("id", 0, true);
213 wp1->getChild("dist", 0, true);
214 wp1->getChild("eta", 0, true);
216 wpn = fgGetNode(RM "wp-last", 0, true);
217 wpn->getChild("dist", 0, true);
218 wpn->getChild("eta", 0, true);
221 _pathNode = fgGetNode(RM "file-path", 0, true);
225 void FGRouteMgr::postinit()
227 string_list *waypoints = globals->get_initial_waypoints();
229 string_list::iterator it;
230 for (it = waypoints->begin(); it != waypoints->end(); ++it) {
231 WayptRef w = waypointFromString(*it);
237 SG_LOG(SG_AUTOPILOT, SG_INFO, "loaded initial waypoints:" << _route.size());
240 weightOnWheels = fgGetNode("/gear/gear[0]/wow", true);
241 // check airbone flag agrees with presets
244 void FGRouteMgr::bind() { }
245 void FGRouteMgr::unbind() { }
247 bool FGRouteMgr::isRouteActive() const
249 return active->getBoolValue();
252 void FGRouteMgr::update( double dt )
255 return; // paused, nothing to do here
258 double groundSpeed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
259 if (airborne->getBoolValue()) {
260 time_t now = time(NULL);
261 elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
262 } else { // not airborne
263 if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
267 airborne->setBoolValue(true);
268 _takeoffTime = time(NULL); // start the clock
269 departure->setIntValue("takeoff-time", _takeoffTime);
272 if (!active->getBoolValue()) {
276 // basic course/distance information
277 SGGeod currentPos = SGGeod::fromDegFt(lon->getDoubleValue(),
278 lat->getDoubleValue(),alt->getDoubleValue());
280 Waypt* curWpt = currentWaypt();
287 boost::tie(courseDeg, distanceM) = curWpt->courseAndDistanceFrom(currentPos);
289 // update wp0 / wp1 / wp-last for legacy users
290 wp0->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
291 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
292 wp0->setDoubleValue("bearing-deg", courseDeg);
293 setETAPropertyFromDistance(wp0->getChild("eta"), distanceM);
295 double totalDistanceRemaining = distanceM; // distance to current waypoint
297 Waypt* nextWpt = nextWaypt();
299 boost::tie(courseDeg, distanceM) = nextWpt->courseAndDistanceFrom(currentPos);
301 wp1->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
302 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
303 wp1->setDoubleValue("bearing-deg", courseDeg);
304 setETAPropertyFromDistance(wp1->getChild("eta"), distanceM);
307 Waypt* prev = curWpt;
308 for (unsigned int i=_currentIndex + 1; i<_route.size(); ++i) {
309 Waypt* w = _route[i];
310 if (w->flag(WPT_DYNAMIC)) continue;
311 totalDistanceRemaining += SGGeodesy::distanceM(prev->position(), w->position());
315 wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
316 ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
317 setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
320 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance)
322 double speed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
324 aProp->setStringValue("--:--");
329 double eta = aDistance * SG_METER_TO_NM / speed;
330 if ( eta >= 100.0 ) {
331 eta = 99.999; // clamp
334 if ( eta < (1.0/6.0) ) {
335 eta *= 60.0; // within 10 minutes, bump up to min/secs
338 int major = (int)eta,
339 minor = (int)((eta - (int)eta) * 60.0);
340 snprintf( eta_str, 64, "%d:%02d", major, minor );
341 aProp->setStringValue( eta_str );
344 flightgear::WayptRef FGRouteMgr::removeWayptAtIndex(int aIndex)
347 if (aIndex < 0) { // negative indices count the the end
348 index = _route.size() + index;
351 if ((index < 0) || (index >= numWaypts())) {
352 SG_LOG(SG_AUTOPILOT, SG_WARN, "removeWayptAtIndex with invalid index:" << aIndex);
356 if (_currentIndex > index) {
357 --_currentIndex; // shift current index down if necessary
360 WayptVec::iterator it = _route.begin();
363 WayptRef w = *it; // hold a ref now, in case _route is the only other owner
367 _edited->fireValueChanged();
373 void FGRouteMgr::clearRoute()
379 active->setBoolValue(false);
380 _edited->fireValueChanged();
384 * route between index-1 and index, using airways.
386 bool FGRouteMgr::routeToIndex(int index, RouteType aRouteType)
392 index = _route.size(); // can still be zero, of course
397 SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no departure set");
401 wp1 = new NavaidWaypoint(_departure.get(), NULL);
403 wp1 = wayptAtIndex(index - 1);
406 if (index >= numWaypts()) {
408 SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no destination set");
412 wp2 = new NavaidWaypoint(_destination.get(), NULL);
414 wp2 = wayptAtIndex(index);
417 double distNm = SGGeodesy::distanceNm(wp1->position(), wp2->position());
418 if (distNm < 100.0) {
419 SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: existing waypoints are nearby, direct route");
424 switch (aRouteType) {
425 case ROUTE_HIGH_AIRWAYS:
426 Airway::highLevel()->route(wp1, wp2, r);
429 case ROUTE_LOW_AIRWAYS:
430 Airway::lowLevel()->route(wp1, wp2, r);
434 throw sg_exception("VOR routing not supported yet");
438 SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: no route found");
442 WayptVec::iterator it = _route.begin();
444 _route.insert(it, r.begin(), r.end());
447 _edited->fireValueChanged();
451 void FGRouteMgr::autoRoute()
453 if (!_departure || !_destination) {
457 string runwayId(departure->getStringValue("runway"));
458 FGRunway* runway = NULL;
459 if (_departure->hasRunwayWithIdent(runwayId)) {
460 runway = _departure->getRunwayByIdent(runwayId);
463 FGRunway* dstRunway = NULL;
464 runwayId = destination->getStringValue("runway");
465 if (_destination->hasRunwayWithIdent(runwayId)) {
466 dstRunway = _destination->getRunwayByIdent(runwayId);
469 _route.clear(); // clear out the existing, first
471 flightgear::SID* sid;
474 boost::tie(sid, sidTrans) = _departure->selectSID(_destination->geod(), runway);
476 SG_LOG(SG_AUTOPILOT, SG_INFO, "selected SID " << sid->ident());
478 SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << sidTrans->ident() << " transition");
481 sid->route(runway, sidTrans, _route);
482 departure->setStringValue("sid", sid->ident());
484 // use airport location for airway search
485 sidTrans = new NavaidWaypoint(_departure.get(), NULL);
486 departure->setStringValue("sid", "");
490 destination->setStringValue("transition", "");
491 destination->setStringValue("star", "");
495 boost::tie(star, starTrans) = _destination->selectSTAR(_departure->geod(), dstRunway);
497 SG_LOG(SG_AUTOPILOT, SG_INFO, "selected STAR " << star->ident());
499 SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << starTrans->ident() << " transition");
500 destination->setStringValue("transition", starTrans->ident());
502 destination->setStringValue("star", star->ident());
504 // use airport location for search
505 starTrans = new NavaidWaypoint(_destination.get(), NULL);
508 // route between them
509 WayptVec airwayRoute;
510 if (Airway::highLevel()->route(sidTrans, starTrans, airwayRoute)) {
511 _route.insert(_route.end(), airwayRoute.begin(), airwayRoute.end());
514 // add the STAR if we have one
516 _destination->buildApproach(starTrans, star, dstRunway, _route);
520 _edited->fireValueChanged();
523 void FGRouteMgr::departureChanged()
525 // remove existing departure waypoints
526 WayptVec::iterator it = _route.begin();
527 for (; it != _route.end(); ++it) {
528 if (!(*it)->flag(WPT_DEPARTURE)) {
533 // erase() invalidates iterators, so grab now
535 if (it == _route.end()) {
537 enroute = new NavaidWaypoint(_destination.get(), NULL);
543 _route.erase(_route.begin(), it);
550 buildDeparture(enroute, wps);
551 for (it = wps.begin(); it != wps.end(); ++it) {
552 (*it)->setFlag(WPT_DEPARTURE);
553 (*it)->setFlag(WPT_GENERATED);
555 _route.insert(_route.begin(), wps.begin(), wps.end());
561 void FGRouteMgr::buildDeparture(WayptRef enroute, WayptVec& wps)
563 string runwayId(departure->getStringValue("runway"));
564 if (!_departure->hasRunwayWithIdent(runwayId)) {
565 // valid airport, but no runway selected, so just the airport noide itself
566 wps.push_back(new NavaidWaypoint(_departure.get(), NULL));
570 FGRunway* r = _departure->getRunwayByIdent(runwayId);
571 string sidId = departure->getStringValue("sid");
572 flightgear::SID* sid = _departure->findSIDWithIdent(sidId);
574 // valid runway, but no SID selected/found, so just the runway node for now
575 if (!sidId.empty() && (sidId != "(none)")) {
576 SG_LOG(SG_AUTOPILOT, SG_INFO, "SID not found:" << sidId);
579 wps.push_back(new RunwayWaypt(r, NULL));
583 // we have a valid SID, awesome
584 string trans(departure->getStringValue("transition"));
585 WayptRef t = sid->findTransitionByName(trans);
587 t = sid->findBestTransition(enroute->position());
590 sid->route(r, t, wps);
591 if (!wps.empty() && wps.front()->flag(WPT_DYNAMIC)) {
592 // ensure first waypoint is static, to simplify other computations
593 wps.insert(wps.begin(), new RunwayWaypt(r, NULL));
597 void FGRouteMgr::arrivalChanged()
599 // remove existing arrival waypoints
600 WayptVec::reverse_iterator rit = _route.rbegin();
601 for (; rit != _route.rend(); ++rit) {
602 if (!(*rit)->flag(WPT_ARRIVAL)) {
607 // erase() invalidates iterators, so grab now
609 WayptVec::iterator it;
611 if (rit != _route.rend()) {
613 it = rit.base(); // convert to fwd iterator
618 _route.erase(it, _route.end());
621 buildArrival(enroute, wps);
622 for (it = wps.begin(); it != wps.end(); ++it) {
623 (*it)->setFlag(WPT_ARRIVAL);
624 (*it)->setFlag(WPT_GENERATED);
626 _route.insert(_route.end(), wps.begin(), wps.end());
632 void FGRouteMgr::buildArrival(WayptRef enroute, WayptVec& wps)
638 string runwayId(destination->getStringValue("runway"));
639 if (!_destination->hasRunwayWithIdent(runwayId)) {
640 // valid airport, but no runway selected, so just the airport node itself
641 wps.push_back(new NavaidWaypoint(_destination.get(), NULL));
645 FGRunway* r = _destination->getRunwayByIdent(runwayId);
646 string starId = destination->getStringValue("star");
647 STAR* star = _destination->findSTARWithIdent(starId);
649 // valid runway, but no STAR selected/found, so just the runway node for now
650 wps.push_back(new RunwayWaypt(r, NULL));
654 // we have a valid STAR
655 string trans(destination->getStringValue("transition"));
656 WayptRef t = star->findTransitionByName(trans);
658 t = star->findBestTransition(enroute->position());
661 _destination->buildApproach(t, star, r, wps);
664 void FGRouteMgr::waypointsChanged()
669 void FGRouteMgr::insertWayptAtIndex(Waypt* aWpt, int aIndex)
676 if ((aIndex == -1) || (aIndex > (int) _route.size())) {
677 index = _route.size();
680 WayptVec::iterator it = _route.begin();
683 if (_currentIndex > index) {
687 _route.insert(it, aWpt);
690 _edited->fireValueChanged();
693 WayptRef FGRouteMgr::waypointFromString(const string& tgt )
695 string target(boost::to_upper_copy(tgt));
699 double altFt = cruise->getDoubleValue("altitude-ft");
700 RouteRestriction altSetting = RESTRICT_NONE;
702 size_t pos = target.find( '@' );
703 if ( pos != string::npos ) {
704 altFt = atof( target.c_str() + pos + 1 );
705 target = target.substr( 0, pos );
706 if ( !strcmp(fgGetString("/sim/startup/units"), "meter") )
707 altFt *= SG_METER_TO_FEET;
708 altSetting = RESTRICT_AT;
712 pos = target.find( ',' );
713 if ( pos != string::npos ) {
714 double lon = atof( target.substr(0, pos).c_str());
715 double lat = atof( target.c_str() + pos + 1);
717 char ew = (lon < 0.0) ? 'W' : 'E';
718 char ns = (lat < 0.0) ? 'S' : 'N';
719 snprintf(buf, 32, "%c%03d%c%03d", ew, (int) fabs(lon), ns, (int)fabs(lat));
721 wpt = new BasicWaypt(SGGeod::fromDeg(lon, lat), buf, NULL);
722 if (altSetting != RESTRICT_NONE) {
723 wpt->setAltitude(altFt, altSetting);
729 if (_route.empty()) {
730 // route is empty, use current position
731 basePosition = SGGeod::fromDeg(lon->getDoubleValue(), lat->getDoubleValue());
733 basePosition = _route.back()->position();
736 string_list pieces(simgear::strutils::split(target, "/"));
737 FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
739 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
743 if (pieces.size() == 1) {
744 wpt = new NavaidWaypoint(p, NULL);
745 } else if (pieces.size() == 3) {
746 // navaid/radial/distance-nm notation
747 double radial = atof(pieces[1].c_str()),
748 distanceNm = atof(pieces[2].c_str());
749 radial += magvar->getDoubleValue(); // convert to true bearing
750 wpt = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
751 } else if (pieces.size() == 2) {
752 FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
754 SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
758 if (!apt->hasRunwayWithIdent(pieces[1])) {
759 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
763 FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
764 wpt = new NavaidWaypoint(runway, NULL);
765 } else if (pieces.size() == 4) {
766 // navid/radial/navid/radial notation
767 FGPositionedRef p2 = FGPositioned::findClosestWithIdent(pieces[2], basePosition);
769 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces[2]);
773 double r1 = atof(pieces[1].c_str()),
774 r2 = atof(pieces[3].c_str());
775 r1 += magvar->getDoubleValue();
776 r2 += magvar->getDoubleValue();
779 bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
781 SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << target);
785 std::string name = p->ident() + "-" + p2->ident();
786 wpt = new BasicWaypt(intersection, name, NULL);
790 SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
794 if (altSetting != RESTRICT_NONE) {
795 wpt->setAltitude(altFt, altSetting);
800 // mirror internal route to the property system for inspection by other subsystems
801 void FGRouteMgr::update_mirror()
803 mirror->removeChildren("wp");
804 for (int i = 0; i < numWaypts(); i++) {
805 Waypt* wp = _route[i];
806 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
808 const SGGeod& pos(wp->position());
809 prop->setStringValue("id", wp->ident().c_str());
810 //prop->setStringValue("name", wp.get_name().c_str());
811 prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
812 prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
814 if (wp->altitudeRestriction() != RESTRICT_NONE) {
815 double ft = wp->altitudeFt();
816 prop->setDoubleValue("altitude-m", ft * SG_FEET_TO_METER);
817 prop->setDoubleValue("altitude-ft", ft);
819 prop->setDoubleValue("altitude-m", -9999.9);
820 prop->setDoubleValue("altitude-ft", -9999.9);
823 if (wp->speedRestriction() != RESTRICT_NONE) {
824 prop->setDoubleValue("speed-kts", wp->speedKts());
827 if (wp->flag(WPT_ARRIVAL)) {
828 prop->setBoolValue("arrival", true);
831 if (wp->flag(WPT_DEPARTURE)) {
832 prop->setBoolValue("departure", true);
835 if (wp->flag(WPT_MISS)) {
836 prop->setBoolValue("missed-approach", true);
839 prop->setBoolValue("generated", wp->flag(WPT_GENERATED));
840 } // of waypoint iteration
842 // set number as listener attachment point
843 mirror->setIntValue("num", _route.size());
845 NewGUI * gui = (NewGUI *)globals->get_subsystem("gui");
846 FGDialog* rmDlg = gui->getDialog("route-manager");
848 rmDlg->updateValues();
852 // command interface /autopilot/route-manager/input:
854 // @CLEAR ... clear route
855 // @POP ... remove first entry
856 // @DELETE3 ... delete 4th entry
857 // @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
858 // KSFO@900 ... append "KSFO@900"
860 void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
862 const char *s = prop->getStringValue();
863 if (strlen(s) == 0) {
867 if (!strcmp(s, "@CLEAR"))
869 else if (!strcmp(s, "@ACTIVATE"))
871 else if (!strcmp(s, "@LOAD")) {
873 } else if (!strcmp(s, "@SAVE")) {
875 } else if (!strcmp(s, "@POP")) {
876 SG_LOG(SG_AUTOPILOT, SG_WARN, "route-manager @POP command is deprecated");
877 } else if (!strcmp(s, "@NEXT")) {
878 mgr->jumpToIndex(mgr->_currentIndex + 1);
879 } else if (!strcmp(s, "@PREVIOUS")) {
880 mgr->jumpToIndex(mgr->_currentIndex - 1);
881 } else if (!strncmp(s, "@JUMP", 5)) {
882 mgr->jumpToIndex(atoi(s + 5));
883 } else if (!strncmp(s, "@DELETE", 7))
884 mgr->removeWayptAtIndex(atoi(s + 7));
885 else if (!strncmp(s, "@INSERT", 7)) {
887 int pos = strtol(s + 7, &r, 10);
893 mgr->insertWayptAtIndex(mgr->waypointFromString(r), pos);
894 } else if (!strncmp(s, "@ROUTE", 6)) {
896 int endIndex = strtol(s + 6, &r, 10);
897 RouteType rt = (RouteType) mgr->_routingType->getIntValue();
898 mgr->routeToIndex(endIndex, rt);
899 } else if (!strcmp(s, "@AUTOROUTE")) {
901 } else if (!strcmp(s, "@POSINIT")) {
902 mgr->initAtPosition();
904 mgr->insertWayptAtIndex(mgr->waypointFromString(s), -1);
907 void FGRouteMgr::initAtPosition()
909 if (isRouteActive()) {
910 return; // don't mess with the active route
913 if (haveUserWaypoints()) {
914 // user has already defined, loaded or entered a route, again
915 // don't interfere with it
919 if (airborne->getBoolValue()) {
920 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: airborne, clearing departure info");
922 departure->setStringValue("runway", "");
927 SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
928 _departure = FGAirport::findClosest(pos, 20.0);
930 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: couldn't find an airport within 20nm");
931 departure->setStringValue("runway", "");
935 FGRunway* r = _departure->findBestRunwayForPos(pos);
940 departure->setStringValue("runway", r->ident().c_str());
941 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: starting at "
942 << _departure->ident() << " on runway " << r->ident());
945 bool FGRouteMgr::haveUserWaypoints() const
947 for (int i = 0; i < numWaypts(); i++) {
948 if (!_route[i]->flag(WPT_GENERATED)) {
949 // have a non-generated waypoint, we're done
954 // all waypoints are generated
958 bool FGRouteMgr::activate()
960 if (isRouteActive()) {
961 SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
966 currentWaypointChanged();
968 /* double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
969 totalDistance->setDoubleValue(routeDistanceNm);
970 double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
971 if (cruiseSpeedKts > 1.0) {
972 // very very crude approximation, doesn't allow for climb / descent
973 // performance or anything else at all
974 ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
977 active->setBoolValue(true);
978 SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
983 void FGRouteMgr::sequence()
985 if (!active->getBoolValue()) {
986 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
990 if (checkFinished()) {
995 currentWaypointChanged();
998 bool FGRouteMgr::checkFinished()
1000 if (_currentIndex < (int) _route.size()) {
1004 SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
1005 _finished->fireValueChanged();
1006 active->setBoolValue(false);
1010 void FGRouteMgr::jumpToIndex(int index)
1012 if ((index < 0) || (index >= (int) _route.size())) {
1013 SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
1014 index << ") to FGRouteMgr::jumpToIndex");
1018 if (_currentIndex == index) {
1022 // all the checks out the way, go ahead and update state
1023 _currentIndex = index;
1024 currentWaypointChanged();
1025 _currentWpt->fireValueChanged();
1028 void FGRouteMgr::currentWaypointChanged()
1030 Waypt* cur = currentWaypt();
1031 Waypt* next = nextWaypt();
1033 wp0->getChild("id")->setStringValue(cur ? cur->ident() : "");
1034 wp1->getChild("id")->setStringValue(next ? next->ident() : "");
1036 _currentWpt->fireValueChanged();
1037 SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _currentIndex);
1040 int FGRouteMgr::findWayptIndex(const SGGeod& aPos) const
1042 for (int i=0; i<numWaypts(); ++i) {
1043 if (_route[i]->matches(aPos)) {
1051 Waypt* FGRouteMgr::currentWaypt() const
1053 if ((_currentIndex < 0) || (_currentIndex >= numWaypts()))
1055 return wayptAtIndex(_currentIndex);
1058 Waypt* FGRouteMgr::previousWaypt() const
1060 if (_currentIndex == 0) {
1064 return wayptAtIndex(_currentIndex - 1);
1067 Waypt* FGRouteMgr::nextWaypt() const
1069 if ((_currentIndex < 0) || ((_currentIndex + 1) >= numWaypts())) {
1073 return wayptAtIndex(_currentIndex + 1);
1076 Waypt* FGRouteMgr::wayptAtIndex(int index) const
1078 if ((index < 0) || (index >= numWaypts())) {
1079 throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
1082 return _route[index];
1085 void FGRouteMgr::saveRoute()
1087 SGPath path(_pathNode->getStringValue());
1088 SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
1090 SGPropertyNode_ptr d(new SGPropertyNode);
1091 SGPath path(_pathNode->getStringValue());
1092 d->setIntValue("version", 2);
1095 d->setStringValue("departure/airport", _departure->ident());
1096 d->setStringValue("departure/sid", departure->getStringValue("sid"));
1097 d->setStringValue("departure/runway", departure->getStringValue("runway"));
1101 d->setStringValue("destination/airport", _destination->ident());
1102 d->setStringValue("destination/star", destination->getStringValue("star"));
1103 d->setStringValue("destination/transition", destination->getStringValue("transition"));
1104 d->setStringValue("destination/runway", destination->getStringValue("runway"));
1108 SGPropertyNode* routeNode = d->getChild("route", 0, true);
1109 for (unsigned int i=0; i<_route.size(); ++i) {
1110 Waypt* wpt = _route[i];
1111 wpt->saveAsNode(routeNode->getChild("wp", i, true));
1112 } // of waypoint iteration
1113 writeProperties(path.str(), d, true /* write-all */);
1114 } catch (sg_exception& e) {
1115 SG_LOG(SG_IO, SG_WARN, "failed to save flight-plan:" << e.getMessage());
1119 void FGRouteMgr::loadRoute()
1121 // deactivate route first
1122 active->setBoolValue(false);
1124 SGPropertyNode_ptr routeData(new SGPropertyNode);
1125 SGPath path(_pathNode->getStringValue());
1127 SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
1130 readProperties(path.str(), routeData);
1131 } catch (sg_exception& ) {
1132 // if XML parsing fails, the file might be simple textual list of waypoints
1133 loadPlainTextRoute(path);
1138 int version = routeData->getIntValue("version", 1);
1140 loadVersion1XMLRoute(routeData);
1141 } else if (version == 2) {
1142 loadVersion2XMLRoute(routeData);
1144 throw sg_io_exception("unsupported XML route version");
1146 } catch (sg_exception& e) {
1147 SG_LOG(SG_IO, SG_WARN, "failed to load flight-plan (from '" << e.getOrigin()
1148 << "'):" << e.getMessage());
1152 void FGRouteMgr::loadXMLRouteHeader(SGPropertyNode_ptr routeData)
1155 SGPropertyNode* dep = routeData->getChild("departure");
1157 string depIdent = dep->getStringValue("airport");
1158 _departure = (FGAirport*) fgFindAirportID(depIdent);
1159 departure->setStringValue("runway", dep->getStringValue("runway"));
1160 departure->setStringValue("sid", dep->getStringValue("sid"));
1161 departure->setStringValue("transition", dep->getStringValue("transition"));
1165 SGPropertyNode* dst = routeData->getChild("destination");
1167 _destination = (FGAirport*) fgFindAirportID(dst->getStringValue("airport"));
1168 destination->setStringValue("runway", dst->getStringValue("runway"));
1169 destination->setStringValue("star", dst->getStringValue("star"));
1170 destination->setStringValue("transition", dst->getStringValue("transition"));
1174 SGPropertyNode* alt = routeData->getChild("alternate");
1176 alternate->setStringValue(alt->getStringValue("airport"));
1177 } // of cruise data loading
1180 SGPropertyNode* crs = routeData->getChild("cruise");
1182 cruise->setDoubleValue("speed-kts", crs->getDoubleValue("speed-kts"));
1183 cruise->setDoubleValue("mach", crs->getDoubleValue("mach"));
1184 cruise->setDoubleValue("altitude-ft", crs->getDoubleValue("altitude-ft"));
1185 } // of cruise data loading
1189 void FGRouteMgr::loadVersion2XMLRoute(SGPropertyNode_ptr routeData)
1191 loadXMLRouteHeader(routeData);
1195 SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
1196 for (int i=0; i<routeNode->nChildren(); ++i) {
1197 SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
1198 WayptRef wpt = Waypt::createFromProperties(NULL, wpNode);
1199 wpts.push_back(wpt);
1200 } // of route iteration
1205 void FGRouteMgr::loadVersion1XMLRoute(SGPropertyNode_ptr routeData)
1207 loadXMLRouteHeader(routeData);
1211 SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
1212 for (int i=0; i<routeNode->nChildren(); ++i) {
1213 SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
1214 WayptRef wpt = parseVersion1XMLWaypt(wpNode);
1215 wpts.push_back(wpt);
1216 } // of route iteration
1221 WayptRef FGRouteMgr::parseVersion1XMLWaypt(SGPropertyNode* aWP)
1224 if (!_route.empty()) {
1225 lastPos = _route.back()->position();
1226 } else if (_departure) {
1227 lastPos = _departure->geod();
1231 string ident(aWP->getStringValue("ident"));
1232 if (aWP->hasChild("longitude-deg")) {
1233 // explicit longitude/latitude
1234 w = new BasicWaypt(SGGeod::fromDeg(aWP->getDoubleValue("longitude-deg"),
1235 aWP->getDoubleValue("latitude-deg")), ident, NULL);
1238 string nid = aWP->getStringValue("navid", ident.c_str());
1239 FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
1241 throw sg_io_exception("bad route file, unknown navid:" + nid);
1244 SGGeod pos(p->geod());
1245 if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
1246 double radialDeg = aWP->getDoubleValue("offset-radial");
1247 // convert magnetic radial to a true radial!
1248 radialDeg += magvar->getDoubleValue();
1249 double offsetNm = aWP->getDoubleValue("offset-nm");
1251 SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
1254 w = new BasicWaypt(pos, ident, NULL);
1257 double altFt = aWP->getDoubleValue("altitude-ft", -9999.9);
1258 if (altFt > -9990.0) {
1259 w->setAltitude(altFt, RESTRICT_AT);
1265 void FGRouteMgr::loadPlainTextRoute(const SGPath& path)
1267 sg_gzifstream in(path.str().c_str());
1268 if (!in.is_open()) {
1276 getline(in, line, '\n');
1277 // trim CR from end of line, if found
1278 if (line[line.size() - 1] == '\r') {
1279 line.erase(line.size() - 1, 1);
1282 line = simgear::strutils::strip(line);
1283 if (line.empty() || (line[0] == '#')) {
1284 continue; // ignore empty/comment lines
1287 WayptRef w = waypointFromString(line);
1289 throw sg_io_exception("failed to create waypoint from line:" + line);
1293 } // of line iteration
1296 } catch (sg_exception& e) {
1297 SG_LOG(SG_IO, SG_WARN, "failed to load route from:" << path.str() << ":" << e.getMessage());
1301 const char* FGRouteMgr::getDepartureICAO() const
1307 return _departure->ident().c_str();
1310 const char* FGRouteMgr::getDepartureName() const
1316 return _departure->name().c_str();
1319 void FGRouteMgr::setDepartureICAO(const char* aIdent)
1321 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
1324 _departure = FGAirport::findByIdent(aIdent);
1330 const char* FGRouteMgr::getDestinationICAO() const
1332 if (!_destination) {
1336 return _destination->ident().c_str();
1339 const char* FGRouteMgr::getDestinationName() const
1341 if (!_destination) {
1345 return _destination->name().c_str();
1348 void FGRouteMgr::setDestinationICAO(const char* aIdent)
1350 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
1351 _destination = NULL;
1353 _destination = FGAirport::findByIdent(aIdent);