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>
40 #include <simgear/misc/strutils.hxx>
41 #include <simgear/structure/exception.hxx>
43 #include <simgear/props/props_io.hxx>
44 #include <simgear/misc/sg_path.hxx>
45 #include <simgear/route/route.hxx>
46 #include <simgear/sg_inlines.h>
48 #include "Main/fg_props.hxx"
49 #include "Navaids/positioned.hxx"
50 #include "Airports/simple.hxx"
51 #include "Airports/runways.hxx"
53 #include "FDM/flight.hxx" // for getting ground speed
55 #define RM "/autopilot/route-manager/"
57 static double get_ground_speed() {
58 // starts in ft/s so we convert to kts
59 static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
61 double ft_s = cur_fdm_state->get_V_ground_speed()
62 * speedup_node->getIntValue();
63 double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
67 FGRouteMgr::FGRouteMgr() :
68 _route( new SGRoute ),
69 input(fgGetNode( RM "input", true )),
70 mirror(fgGetNode( RM "route", true ))
72 listener = new InputListener(this);
73 input->setStringValue("");
74 input->addChangeListener(listener);
78 FGRouteMgr::~FGRouteMgr() {
79 input->removeChangeListener(listener);
86 void FGRouteMgr::init() {
87 SGPropertyNode_ptr rm(fgGetNode(RM));
89 lon = fgGetNode( "/position/longitude-deg", true );
90 lat = fgGetNode( "/position/latitude-deg", true );
91 alt = fgGetNode( "/position/altitude-ft", true );
92 magvar = fgGetNode("/environment/magnetic-variation-deg", true);
94 departure = fgGetNode(RM "departure", true);
95 // init departure information from current location
96 SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
97 FGAirport* apt = FGAirport::findClosest(pos, 20.0);
99 departure->setStringValue("airport", apt->ident().c_str());
100 FGRunway* active = apt->getActiveRunwayForUsage();
101 departure->setStringValue("runway", active->ident().c_str());
103 departure->setStringValue("airport", "");
104 departure->setStringValue("runway", "");
107 departure->getChild("etd", 0, true);
108 departure->getChild("takeoff-time", 0, true);
110 destination = fgGetNode(RM "destination", true);
111 destination->getChild("airport", 0, true);
112 destination->getChild("runway", 0, true);
113 destination->getChild("eta", 0, true);
114 destination->getChild("touchdown-time", 0, true);
116 alternate = fgGetNode(RM "alternate", true);
117 alternate->getChild("airport", 0, true);
118 alternate->getChild("runway", 0, true);
120 cruise = fgGetNode(RM "cruise", true);
121 cruise->getChild("altitude-ft", 0, true);
122 cruise->setDoubleValue("altitude-ft", 10000.0);
123 cruise->getChild("flight-level", 0, true);
124 cruise->getChild("speed-kts", 0, true);
125 cruise->setDoubleValue("speed-kts", 160.0);
127 totalDistance = fgGetNode(RM "total-distance", true);
128 totalDistance->setDoubleValue(0.0);
130 ete = fgGetNode(RM "ete", true);
131 ete->setDoubleValue(0.0);
133 elapsedFlightTime = fgGetNode(RM "flight-time", true);
134 elapsedFlightTime->setDoubleValue(0.0);
136 active = fgGetNode(RM "active", true);
137 active->setBoolValue(false);
139 airborne = fgGetNode(RM "airborne", true);
140 airborne->setBoolValue(false);
142 _edited = fgGetNode(RM "signals/edited", true);
143 _finished = fgGetNode(RM "signals/finished", true);
145 rm->tie("current-wp", SGRawValueMethods<FGRouteMgr, int>
146 (*this, &FGRouteMgr::currentWaypoint, &FGRouteMgr::jumpToIndex));
148 // temporary distance / eta calculations, for backward-compatability
149 wp0 = fgGetNode(RM "wp", 0, true);
150 wp0->getChild("id", 0, true);
151 wp0->getChild("dist", 0, true);
152 wp0->getChild("eta", 0, true);
153 wp0->getChild("bearing-deg", 0, true);
155 wp1 = fgGetNode(RM "wp", 1, true);
156 wp1->getChild("id", 0, true);
157 wp1->getChild("dist", 0, true);
158 wp1->getChild("eta", 0, true);
160 wpn = fgGetNode(RM "wp-last", 0, true);
161 wpn->getChild("dist", 0, true);
162 wpn->getChild("eta", 0, true);
167 _pathNode = fgGetNode(RM "file-path", 0, true);
171 void FGRouteMgr::postinit() {
172 string_list *waypoints = globals->get_initial_waypoints();
174 vector<string>::iterator it;
175 for (it = waypoints->begin(); it != waypoints->end(); ++it)
179 weightOnWheels = fgGetNode("/gear/gear[0]/wow", false);
180 // check airbone flag agrees with presets
185 void FGRouteMgr::bind() { }
186 void FGRouteMgr::unbind() { }
188 bool FGRouteMgr::isRouteActive() const
190 return active->getBoolValue();
193 void FGRouteMgr::update( double dt ) {
195 // paused, nothing to do here
199 if (!active->getBoolValue()) {
203 double groundSpeed = get_ground_speed();
204 if (airborne->getBoolValue()) {
205 time_t now = time(NULL);
206 elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
207 } else { // not airborne
208 if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
212 airborne->setBoolValue(true);
213 _takeoffTime = time(NULL); // start the clock
214 departure->setIntValue("takeoff-time", _takeoffTime);
217 // basic course/distance information
218 double inboundCourse, dummy, wp_course, wp_distance;
219 SGWayPoint wp = _route->get_current();
221 wp.CourseAndDistance(_route->get_waypoint(_route->current_index() - 1),
222 &inboundCourse, &dummy);
224 wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
225 alt->getDoubleValue(), &wp_course, &wp_distance );
227 // update wp0 / wp1 / wp-last for legacy users
228 wp0->setDoubleValue("dist", wp_distance * SG_METER_TO_NM);
229 wp_course -= magvar->getDoubleValue(); // expose magnetic bearing
230 wp0->setDoubleValue("bearing-deg", wp_course);
231 setETAPropertyFromDistance(wp0->getChild("eta"), wp_distance);
233 if ((_route->current_index() + 1) < _route->size()) {
234 wp = _route->get_waypoint(_route->current_index() + 1);
235 double wp1_course, wp1_distance;
236 wp.CourseAndDistance(lon->getDoubleValue(), lat->getDoubleValue(),
237 alt->getDoubleValue(), &wp1_course, &wp1_distance);
239 wp1->setDoubleValue("dist", wp1_distance * SG_METER_TO_NM);
240 setETAPropertyFromDistance(wp1->getChild("eta"), wp1_distance);
243 double totalDistanceRemaining = wp_distance; // distance to current waypoint
244 for (int i=_route->current_index() + 1; i<_route->size(); ++i) {
245 totalDistanceRemaining += _route->get_waypoint(i).get_distance();
248 wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
249 ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
250 setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
252 // get time now at destination tz as tm struct
254 // convert to string ... and stash in property
255 //destination->setDoubleValue("eta", eta);
259 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
260 double speed = get_ground_speed();
262 aProp->setStringValue("--:--");
267 double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
268 if ( eta >= 100.0 ) {
269 eta = 99.999; // clamp
272 if ( eta < (1.0/6.0) ) {
273 eta *= 60.0; // within 10 minutes, bump up to min/secs
276 int major = (int)eta,
277 minor = (int)((eta - (int)eta) * 60.0);
278 snprintf( eta_str, 64, "%d:%02d", major, minor );
279 aProp->setStringValue( eta_str );
282 void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
283 _route->add_waypoint( wp, n );
285 if (_route->current_index() > n) {
286 _route->set_current(_route->current_index() + 1);
290 _edited->fireValueChanged();
294 SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
295 if ( _route->size() <= 0 ) {
300 n = _route->size() - 1;
303 if (_route->current_index() > n) {
304 _route->set_current(_route->current_index() - 1);
307 SGWayPoint wp = _route->get_waypoint(n);
308 _route->delete_waypoint(n);
311 _edited->fireValueChanged();
318 bool FGRouteMgr::build() {
323 void FGRouteMgr::new_waypoint( const string& target, int n ) {
324 SGWayPoint* wp = make_waypoint( target );
329 add_waypoint( *wp, n );
334 SGWayPoint* FGRouteMgr::make_waypoint(const string& tgt ) {
335 string target(boost::to_upper_copy(tgt));
338 double alt = cruise->getDoubleValue("altitude-ft") * SG_FEET_TO_METER;
340 size_t pos = target.find( '@' );
341 if ( pos != string::npos ) {
342 alt = atof( target.c_str() + pos + 1 );
343 target = target.substr( 0, pos );
344 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
345 alt *= SG_FEET_TO_METER;
349 pos = target.find( ',' );
350 if ( pos != string::npos ) {
351 double lon = atof( target.substr(0, pos).c_str());
352 double lat = atof( target.c_str() + pos + 1);
353 return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
357 if (_route->size() > 0) {
358 SGWayPoint wp = get_waypoint(_route->size()-1);
359 basePosition = wp.get_target();
361 // route is empty, use current position
362 basePosition = SGGeod::fromDeg(
363 fgGetNode("/position/longitude-deg")->getDoubleValue(),
364 fgGetNode("/position/latitude-deg")->getDoubleValue());
367 vector<string> pieces(simgear::strutils::split(target, "/"));
370 FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
372 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
376 SGGeod geod = SGGeod::fromGeodM(p->geod(), alt);
377 if (pieces.size() == 1) {
379 return new SGWayPoint(geod, target, p->name());
382 if (pieces.size() == 3) {
383 // navaid/radial/distance-nm notation
384 double radial = atof(pieces[1].c_str()),
385 distanceNm = atof(pieces[2].c_str()),
387 radial += magvar->getDoubleValue(); // convert to true bearing
389 SGGeodesy::direct(geod, radial, distanceNm * SG_NM_TO_METER, offsetPos, az2);
390 offsetPos.setElevationM(alt);
392 SG_LOG(SG_AUTOPILOT, SG_INFO, "final offset radial is " << radial);
393 return new SGWayPoint(offsetPos, p->ident() + pieces[2], target);
396 if (pieces.size() == 2) {
397 FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
399 SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
403 if (!apt->hasRunwayWithIdent(pieces[1])) {
404 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
408 FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
409 SGGeod t = runway->threshold();
410 return new SGWayPoint(t.getLongitudeDeg(), t.getLatitudeDeg(), alt, SGWayPoint::WGS84, pieces[1]);
413 SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
418 // mirror internal route to the property system for inspection by other subsystems
419 void FGRouteMgr::update_mirror() {
420 mirror->removeChildren("wp");
421 for (int i = 0; i < _route->size(); i++) {
422 SGWayPoint wp = _route->get_waypoint(i);
423 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
425 const SGGeod& pos(wp.get_target());
426 prop->setStringValue("id", wp.get_id().c_str());
427 prop->setStringValue("name", wp.get_name().c_str());
428 prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
429 prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
430 prop->setDoubleValue("altitude-m", pos.getElevationM());
431 prop->setDoubleValue("altitude-ft", pos.getElevationFt());
433 // set number as listener attachment point
434 mirror->setIntValue("num", _route->size());
437 // command interface /autopilot/route-manager/input:
439 // @CLEAR ... clear route
440 // @POP ... remove first entry
441 // @DELETE3 ... delete 4th entry
442 // @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
443 // KSFO@900 ... append "KSFO@900"
445 void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
447 const char *s = prop->getStringValue();
448 if (!strcmp(s, "@CLEAR"))
450 else if (!strcmp(s, "@ACTIVATE"))
452 else if (!strcmp(s, "@LOAD")) {
454 } else if (!strcmp(s, "@SAVE")) {
456 } else if (!strcmp(s, "@POP"))
457 mgr->pop_waypoint(0);
458 else if (!strncmp(s, "@DELETE", 7))
459 mgr->pop_waypoint(atoi(s + 7));
460 else if (!strncmp(s, "@INSERT", 7)) {
462 int pos = strtol(s + 7, &r, 10);
468 mgr->new_waypoint(r, pos);
470 mgr->new_waypoint(s);
473 // SGWayPoint( const double lon = 0.0, const double lat = 0.0,
474 // const double alt = 0.0, const modetype m = WGS84,
475 // const string& s = "", const string& n = "" );
477 bool FGRouteMgr::activate()
479 const FGAirport* depApt = fgFindAirportID(departure->getStringValue("airport"));
481 SG_LOG(SG_AUTOPILOT, SG_ALERT,
482 "unable to activate route: departure airport is invalid:"
483 << departure->getStringValue("airport") );
487 string runwayId(departure->getStringValue("runway"));
488 FGRunway* runway = NULL;
489 if (depApt->hasRunwayWithIdent(runwayId)) {
490 runway = depApt->getRunwayByIdent(runwayId);
492 SG_LOG(SG_AUTOPILOT, SG_INFO,
493 "route-manager, departure runway not found:" << runwayId);
494 runway = depApt->getActiveRunwayForUsage();
497 SGWayPoint swp(runway->threshold(),
498 depApt->ident() + "-" + runway->ident(), runway->name());
499 add_waypoint(swp, 0);
501 const FGAirport* destApt = fgFindAirportID(destination->getStringValue("airport"));
503 SG_LOG(SG_AUTOPILOT, SG_ALERT,
504 "unable to activate route: destination airport is invalid:"
505 << destination->getStringValue("airport") );
509 runwayId = (destination->getStringValue("runway"));
510 if (destApt->hasRunwayWithIdent(runwayId)) {
511 FGRunway* runway = destApt->getRunwayByIdent(runwayId);
512 SGWayPoint swp(runway->end(),
513 destApt->ident() + "-" + runway->ident(), runway->name());
516 // quite likely, since destination runway may not be known until enroute
517 // probably want a listener on the 'destination' node to allow an enroute
519 add_waypoint(SGWayPoint(destApt->geod(), destApt->ident(), destApt->name()));
522 _route->set_current(0);
524 double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
525 totalDistance->setDoubleValue(routeDistanceNm);
526 double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
527 if (cruiseSpeedKts > 1.0) {
528 // very very crude approximation, doesn't allow for climb / descent
529 // performance or anything else at all
530 ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
533 active->setBoolValue(true);
534 sequence(); // sequence will sync up wp0, wp1 and current-wp
535 SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
540 void FGRouteMgr::sequence()
542 if (!active->getBoolValue()) {
543 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
547 if (checkFinished()) {
551 _route->increment_current();
552 currentWaypointChanged();
555 bool FGRouteMgr::checkFinished()
557 int lastWayptIndex = _route->size() - 1;
558 if (_route->current_index() < lastWayptIndex) {
562 SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
563 _finished->fireValueChanged();
564 active->setBoolValue(false);
568 void FGRouteMgr::jumpToIndex(int index)
570 if (!active->getBoolValue()) {
571 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
575 if ((index < 0) || (index >= _route->size())) {
576 SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
577 index << ") to FGRouteMgr::jumpToIndex");
581 if (_route->current_index() == index) {
585 _route->set_current(index);
586 currentWaypointChanged();
589 void FGRouteMgr::currentWaypointChanged()
591 SGWayPoint previous = _route->get_previous();
592 SGWayPoint cur = _route->get_current();
594 wp0->getChild("id")->setStringValue(cur.get_id());
595 if ((_route->current_index() + 1) < _route->size()) {
596 wp1->getChild("id")->setStringValue(_route->get_next().get_id());
598 wp1->getChild("id")->setStringValue("");
601 SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
604 int FGRouteMgr::findWaypoint(const SGGeod& aPos) const
606 for (int i=0; i<_route->size(); ++i) {
607 double d = SGGeodesy::distanceM(aPos, _route->get_waypoint(i).get_target());
608 if (d < 200.0) { // 200 metres seems close enough
616 SGWayPoint FGRouteMgr::get_waypoint( int i ) const
618 return _route->get_waypoint(i);
621 int FGRouteMgr::size() const
623 return _route->size();
626 int FGRouteMgr::currentWaypoint() const
628 return _route->current_index();
631 void FGRouteMgr::saveRoute()
633 SGPath path(_pathNode->getStringValue());
634 SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
636 writeProperties(path.str(), mirror, false, SGPropertyNode::ARCHIVE);
637 } catch (const sg_exception &e) {
638 SG_LOG(SG_IO, SG_WARN, "Error saving route:" << e.getMessage());
639 //guiErrorMessage("Error writing autosave.xml: ", e);
643 void FGRouteMgr::loadRoute()
646 // deactivate route first
647 active->setBoolValue(false);
649 SGPropertyNode_ptr routeData(new SGPropertyNode);
650 SGPath path(_pathNode->getStringValue());
652 SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
653 readProperties(path.str(), routeData);
656 SGPropertyNode* dep = routeData->getChild("departure");
658 throw sg_io_exception("malformed route file, no departure node");
661 string depIdent = dep->getStringValue("airport");
662 const FGAirport* depApt = fgFindAirportID(depIdent);
664 throw sg_io_exception("bad route file, unknown airport:" + depIdent);
667 departure->setStringValue("runway", dep->getStringValue("runway"));
670 SGPropertyNode* dst = routeData->getChild("destination");
672 throw sg_io_exception("malformed route file, no destination node");
675 destination->setStringValue("airport", dst->getStringValue("airport"));
676 destination->setStringValue("runay", dst->getStringValue("runway"));
679 SGPropertyNode* alt = routeData->getChild("alternate");
681 alternate->setStringValue(alt->getStringValue("airport"));
682 } // of cruise data loading
685 SGPropertyNode* crs = routeData->getChild("cruise");
687 cruise->setDoubleValue(crs->getDoubleValue("speed"));
688 } // of cruise data loading
692 SGPropertyNode_ptr _route = routeData->getChild("route", 0);
693 SGGeod lastPos(depApt->geod());
695 for (int i=0; i<_route->nChildren(); ++i) {
696 SGPropertyNode_ptr wp = _route->getChild("wp", i);
697 parseRouteWaypoint(wp);
698 } // of route iteration
699 } catch (sg_exception& e) {
700 SG_LOG(SG_IO, SG_WARN, "failed to load flight-plan (from '" << e.getOrigin()
701 << "'):" << e.getMessage());
705 void FGRouteMgr::parseRouteWaypoint(SGPropertyNode* aWP)
708 if (_route->size() > 0) {
709 lastPos = get_waypoint(_route->size()-1).get_target();
711 // route is empty, use departure airport position
712 const FGAirport* apt = fgFindAirportID(departure->getStringValue("airport"));
713 assert(apt); // shouldn't have got this far with an invalid airport
714 lastPos = apt->geod();
717 SGPropertyNode_ptr altProp = aWP->getChild("altitude-ft");
718 double alt = cruise->getDoubleValue("altitude-ft") * SG_FEET_TO_METER;
720 alt = altProp->getDoubleValue();
723 string ident(aWP->getStringValue("ident"));
724 if (aWP->hasChild("longitude-deg")) {
725 // explicit longitude/latitude
726 SGWayPoint swp(aWP->getDoubleValue("longitude-deg"),
727 aWP->getDoubleValue("latitude-deg"), alt,
728 SGWayPoint::WGS84, ident, aWP->getStringValue("name"));
730 } else if (aWP->hasChild("navid")) {
731 // lookup by navid (possibly with offset)
732 string nid(aWP->getStringValue("navid"));
733 FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
735 throw sg_io_exception("bad route file, unknown navid:" + nid);
738 SGGeod pos(p->geod());
739 if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
740 double radialDeg = aWP->getDoubleValue("offset-radial");
741 // convert magnetic radial to a true radial!
742 radialDeg += magvar->getDoubleValue();
743 double offsetNm = aWP->getDoubleValue("offset-nm");
745 SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
748 SGWayPoint swp(pos.getLongitudeDeg(), pos.getLatitudeDeg(), alt,
749 SGWayPoint::WGS84, ident, "");
752 // lookup by ident (symbolic waypoint)
753 FGPositionedRef p = FGPositioned::findClosestWithIdent(ident, lastPos);
755 throw sg_io_exception("bad route file, unknown waypoint:" + ident);
758 SGWayPoint swp(p->longitude(), p->latitude(), alt,
759 SGWayPoint::WGS84, p->ident(), p->name());