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.
36 #include <simgear/compiler.h>
38 #include "route_mgr.hxx"
40 #include <boost/algorithm/string/case_conv.hpp>
41 #include <boost/tuple/tuple.hpp>
42 #include <boost/foreach.hpp>
44 #include <simgear/misc/strutils.hxx>
45 #include <simgear/structure/exception.hxx>
46 #include <simgear/structure/commands.hxx>
47 #include <simgear/misc/sg_path.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/procedure.hxx>
54 #include "Airports/airport.hxx"
55 #include "Airports/runways.hxx"
56 #include <GUI/new_gui.hxx>
57 #include <GUI/dialog.hxx>
59 #define RM "/autopilot/route-manager/"
61 using namespace flightgear;
64 static bool commandLoadFlightPlan(const SGPropertyNode* arg)
66 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
67 SGPath path(arg->getStringValue("path"));
68 return self->loadRoute(path);
71 static bool commandSaveFlightPlan(const SGPropertyNode* arg)
73 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
74 SGPath path(arg->getStringValue("path"));
75 return self->saveRoute(path);
78 static bool commandActivateFlightPlan(const SGPropertyNode* arg)
80 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
81 bool activate = arg->getBoolValue("activate", true);
91 static bool commandClearFlightPlan(const SGPropertyNode*)
93 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
98 static bool commandSetActiveWaypt(const SGPropertyNode* arg)
100 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
101 int index = arg->getIntValue("index");
102 if ((index < 0) || (index >= self->numLegs())) {
106 self->jumpToIndex(index);
110 static bool commandInsertWaypt(const SGPropertyNode* arg)
112 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
113 int index = arg->getIntValue("index");
114 std::string ident(arg->getStringValue("id"));
115 int alt = arg->getIntValue("altitude-ft", -999);
116 int ias = arg->getIntValue("speed-knots", -999);
119 // lat/lon may be supplied to narrow down navaid search, or to specify
122 if (arg->hasChild("longitude-deg")) {
123 pos = SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
124 arg->getDoubleValue("latitude-deg"));
127 if (arg->hasChild("navaid")) {
128 FGPositionedRef p = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid"), pos);
130 if (arg->hasChild("navaid", 1)) {
131 // intersection of two radials
132 FGPositionedRef p2 = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid[1]"), pos);
134 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << arg->getStringValue("navaid[1]"));
138 double r1 = arg->getDoubleValue("radial"),
139 r2 = arg->getDoubleValue("radial[1]");
142 bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
144 SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << p->ident()
145 << "," << p2->ident());
149 std::string name = p->ident() + "-" + p2->ident();
150 wp = new BasicWaypt(intersection, name, NULL);
151 } else if (arg->hasChild("offset-nm") && arg->hasChild("radial")) {
152 // offset radial from navaid
153 double radial = arg->getDoubleValue("radial");
154 double distanceNm = arg->getDoubleValue("offset-nm");
155 //radial += magvar->getDoubleValue(); // convert to true bearing
156 wp = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
158 wp = new NavaidWaypoint(p, NULL);
160 } else if (arg->hasChild("airport")) {
161 const FGAirport* apt = fgFindAirportID(arg->getStringValue("airport"));
163 SG_LOG(SG_AUTOPILOT, SG_INFO, "no such airport" << arg->getStringValue("airport"));
167 if (arg->hasChild("runway")) {
168 if (!apt->hasRunwayWithIdent(arg->getStringValue("runway"))) {
169 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << arg->getStringValue("runway") << " at " << apt->ident());
173 FGRunway* runway = apt->getRunwayByIdent(arg->getStringValue("runway"));
174 wp = new RunwayWaypt(runway, NULL);
176 wp = new NavaidWaypoint((FGAirport*) apt, NULL);
178 } else if (arg->hasChild("text")) {
179 wp = self->waypointFromString(arg->getStringValue("text"));
180 } else if (!(pos == SGGeod())) {
181 // just a raw lat/lon
182 wp = new BasicWaypt(pos, ident, NULL);
184 return false; // failed to build waypoint
187 FlightPlan::Leg* leg = self->flightPlan()->insertWayptAtIndex(wp, index);
189 leg->setAltitude(RESTRICT_AT, alt);
193 leg->setSpeed(RESTRICT_AT, ias);
199 static bool commandDeleteWaypt(const SGPropertyNode* arg)
201 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
202 int index = arg->getIntValue("index");
203 self->removeLegAtIndex(index);
207 /////////////////////////////////////////////////////////////////////////////
209 FGRouteMgr::FGRouteMgr() :
211 input(fgGetNode( RM "input", true )),
212 mirror(fgGetNode( RM "route", true ))
214 listener = new InputListener(this);
215 input->setStringValue("");
216 input->addChangeListener(listener);
218 SGCommandMgr* cmdMgr = globals->get_commands();
219 cmdMgr->addCommand("define-user-waypoint", this, &FGRouteMgr::commandDefineUserWaypoint);
220 cmdMgr->addCommand("delete-user-waypoint", this, &FGRouteMgr::commandDeleteUserWaypoint);
222 cmdMgr->addCommand("load-flightplan", commandLoadFlightPlan);
223 cmdMgr->addCommand("save-flightplan", commandSaveFlightPlan);
224 cmdMgr->addCommand("activate-flightplan", commandActivateFlightPlan);
225 cmdMgr->addCommand("clear-flightplan", commandClearFlightPlan);
226 cmdMgr->addCommand("set-active-waypt", commandSetActiveWaypt);
227 cmdMgr->addCommand("insert-waypt", commandInsertWaypt);
228 cmdMgr->addCommand("delete-waypt", commandDeleteWaypt);
232 FGRouteMgr::~FGRouteMgr()
234 input->removeChangeListener(listener);
238 _plan->removeDelegate(this);
241 SGCommandMgr* cmdMgr = globals->get_commands();
242 cmdMgr->removeCommand("define-user-waypoint");
243 cmdMgr->removeCommand("delete-user-waypoint");
244 cmdMgr->removeCommand("load-flightplan");
245 cmdMgr->removeCommand("save-flightplan");
246 cmdMgr->removeCommand("activate-flightplan");
247 cmdMgr->removeCommand("clear-flightplan");
248 cmdMgr->removeCommand("set-active-waypt");
249 cmdMgr->removeCommand("insert-waypt");
250 cmdMgr->removeCommand("delete-waypt");
254 void FGRouteMgr::init() {
255 SGPropertyNode_ptr rm(fgGetNode(RM));
257 magvar = fgGetNode("/environment/magnetic-variation-deg", true);
259 departure = fgGetNode(RM "departure", true);
260 departure->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
261 &FGRouteMgr::getDepartureICAO, &FGRouteMgr::setDepartureICAO));
262 departure->tie("runway", SGRawValueMethods<FGRouteMgr, const char*>(*this,
263 &FGRouteMgr::getDepartureRunway,
264 &FGRouteMgr::setDepartureRunway));
265 departure->tie("sid", SGRawValueMethods<FGRouteMgr, const char*>(*this,
267 &FGRouteMgr::setSID));
269 departure->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
270 &FGRouteMgr::getDepartureName, NULL));
271 departure->tie("field-elevation-ft", SGRawValueMethods<FGRouteMgr, double>(*this,
272 &FGRouteMgr::getDepartureFieldElevation, NULL));
273 departure->getChild("etd", 0, true);
274 departure->getChild("takeoff-time", 0, true);
276 destination = fgGetNode(RM "destination", true);
277 destination->getChild("airport", 0, true);
279 destination->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
280 &FGRouteMgr::getDestinationICAO, &FGRouteMgr::setDestinationICAO));
281 destination->tie("runway", SGRawValueMethods<FGRouteMgr, const char*>(*this,
282 &FGRouteMgr::getDestinationRunway,
283 &FGRouteMgr::setDestinationRunway));
284 destination->tie("star", SGRawValueMethods<FGRouteMgr, const char*>(*this,
285 &FGRouteMgr::getSTAR,
286 &FGRouteMgr::setSTAR));
287 destination->tie("approach", SGRawValueMethods<FGRouteMgr, const char*>(*this,
288 &FGRouteMgr::getApproach,
289 &FGRouteMgr::setApproach));
291 destination->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
292 &FGRouteMgr::getDestinationName, NULL));
293 destination->tie("field-elevation-ft", SGRawValueMethods<FGRouteMgr, double>(*this,
294 &FGRouteMgr::getDestinationFieldElevation, NULL));
296 destination->getChild("eta", 0, true);
297 destination->getChild("touchdown-time", 0, true);
299 alternate = fgGetNode(RM "alternate", true);
300 alternate->getChild("airport", 0, true);
301 alternate->getChild("runway", 0, true);
303 cruise = fgGetNode(RM "cruise", true);
304 cruise->getChild("altitude-ft", 0, true);
305 cruise->setDoubleValue("altitude-ft", 10000.0);
306 cruise->getChild("flight-level", 0, true);
307 cruise->getChild("speed-kts", 0, true);
308 cruise->setDoubleValue("speed-kts", 160.0);
310 totalDistance = fgGetNode(RM "total-distance", true);
311 totalDistance->setDoubleValue(0.0);
312 distanceToGo = fgGetNode(RM "distance-remaining-nm", true);
313 distanceToGo->setDoubleValue(0.0);
315 ete = fgGetNode(RM "ete", true);
316 ete->setDoubleValue(0.0);
318 elapsedFlightTime = fgGetNode(RM "flight-time", true);
319 elapsedFlightTime->setDoubleValue(0.0);
321 active = fgGetNode(RM "active", true);
322 active->setBoolValue(false);
324 airborne = fgGetNode(RM "airborne", true);
325 airborne->setBoolValue(false);
327 _edited = fgGetNode(RM "signals/edited", true);
328 _flightplanChanged = fgGetNode(RM "signals/flightplan-changed", true);
330 _currentWpt = fgGetNode(RM "current-wp", true);
331 _currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
332 (*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
334 wp0 = fgGetNode(RM "wp", 0, true);
335 wp0->getChild("id", 0, true);
336 wp0->getChild("dist", 0, true);
337 wp0->getChild("eta", 0, true);
338 wp0->getChild("bearing-deg", 0, true);
340 wp1 = fgGetNode(RM "wp", 1, true);
341 wp1->getChild("id", 0, true);
342 wp1->getChild("dist", 0, true);
343 wp1->getChild("eta", 0, true);
345 wpn = fgGetNode(RM "wp-last", 0, true);
346 wpn->getChild("dist", 0, true);
347 wpn->getChild("eta", 0, true);
349 _pathNode = fgGetNode(RM "file-path", 0, true);
353 void FGRouteMgr::postinit()
355 setFlightPlan(new FlightPlan());
357 SGPath path(_pathNode->getStringValue());
358 if (!path.isNull()) {
359 SG_LOG(SG_AUTOPILOT, SG_INFO, "loading flight-plan from: " << path.str());
363 // this code only matters for the --wp option now - perhaps the option
364 // should be deprecated in favour of an explicit flight-plan file?
365 // then the global initial waypoint list could die.
366 string_list *waypoints = globals->get_initial_waypoints();
368 string_list::iterator it;
369 for (it = waypoints->begin(); it != waypoints->end(); ++it) {
370 WayptRef w = waypointFromString(*it);
372 _plan->insertWayptAtIndex(w, -1);
376 SG_LOG(SG_AUTOPILOT, SG_INFO, "loaded initial waypoints:" << numLegs());
380 weightOnWheels = fgGetNode("/gear/gear[0]/wow", true);
381 groundSpeed = fgGetNode("/velocities/groundspeed-kt", true);
383 // check airbone flag agrees with presets
386 void FGRouteMgr::bind() { }
387 void FGRouteMgr::unbind() { }
389 bool FGRouteMgr::isRouteActive() const
391 return active->getBoolValue();
394 bool FGRouteMgr::saveRoute(const SGPath& p)
400 return _plan->save(p);
403 bool FGRouteMgr::loadRoute(const SGPath& p)
405 FlightPlan* fp = new FlightPlan;
415 FlightPlanRef FGRouteMgr::flightPlan() const
420 void FGRouteMgr::setFlightPlan(const FlightPlanRef& plan)
427 _plan->removeDelegate(this);
428 active->setBoolValue(false);
432 _plan->addDelegate(this);
434 _flightplanChanged->fireValueChanged();
436 // fire all the callbacks!
440 currentWaypointChanged();
443 void FGRouteMgr::update( double dt )
446 return; // paused, nothing to do here
449 double gs = groundSpeed->getDoubleValue();
450 if (airborne->getBoolValue()) {
451 time_t now = time(NULL);
452 elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
454 if (weightOnWheels->getBoolValue()) {
456 destination->setIntValue("touchdown-time", time(NULL));
457 airborne->setBoolValue(false);
459 } else { // not airborne
460 if (weightOnWheels->getBoolValue() || (gs < 40)) {
461 // either taking-off or rolling-out after touchdown
463 airborne->setBoolValue(true);
464 _takeoffTime = time(NULL); // start the clock
465 departure->setIntValue("takeoff-time", _takeoffTime);
469 if (!active->getBoolValue()) {
473 // basic course/distance information
474 SGGeod currentPos = globals->get_aircraft_position();
476 FlightPlan::Leg* leg = _plan ? _plan->currentLeg() : NULL;
483 boost::tie(courseDeg, distanceM) = leg->waypoint()->courseAndDistanceFrom(currentPos);
485 // update wp0 / wp1 / wp-last
486 wp0->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
487 wp0->setDoubleValue("true-bearing-deg", courseDeg);
488 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
489 wp0->setDoubleValue("bearing-deg", courseDeg);
490 setETAPropertyFromDistance(wp0->getChild("eta"), distanceM);
492 double totalPathDistanceNm = _plan->totalDistanceNm();
493 double totalDistanceRemaining = distanceM * SG_METER_TO_NM; // distance to current waypoint
495 // total distance to go, is direct distance to wp0, plus the remaining
496 // path distance from wp0
497 totalDistanceRemaining += (totalPathDistanceNm - leg->distanceAlongRoute());
499 wp0->setDoubleValue("distance-along-route-nm",
500 leg->distanceAlongRoute());
501 wp0->setDoubleValue("remaining-distance-nm",
502 totalPathDistanceNm - leg->distanceAlongRoute());
504 FlightPlan::Leg* nextLeg = _plan->nextLeg();
506 boost::tie(courseDeg, distanceM) = nextLeg->waypoint()->courseAndDistanceFrom(currentPos);
508 wp1->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
509 wp1->setDoubleValue("true-bearing-deg", courseDeg);
510 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
511 wp1->setDoubleValue("bearing-deg", courseDeg);
512 setETAPropertyFromDistance(wp1->getChild("eta"), distanceM);
513 wp1->setDoubleValue("distance-along-route-nm",
514 nextLeg->distanceAlongRoute());
515 wp1->setDoubleValue("remaining-distance-nm",
516 totalPathDistanceNm - nextLeg->distanceAlongRoute());
519 distanceToGo->setDoubleValue(totalDistanceRemaining);
520 wpn->setDoubleValue("dist", totalDistanceRemaining);
521 ete->setDoubleValue(totalDistanceRemaining / gs * 3600.0);
522 setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
525 void FGRouteMgr::clearRoute()
532 Waypt* FGRouteMgr::currentWaypt() const
534 if (_plan && _plan->currentLeg()) {
535 return _plan->currentLeg()->waypoint();
541 int FGRouteMgr::currentIndex() const
547 return _plan->currentIndex();
550 Waypt* FGRouteMgr::wayptAtIndex(int index) const
553 throw sg_range_exception("wayptAtindex: no flightplan");
556 return _plan->legAtIndex(index)->waypoint();
559 int FGRouteMgr::numLegs() const
562 return _plan->numLegs();
568 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance)
570 double speed = groundSpeed->getDoubleValue();
572 aProp->setStringValue("--:--");
577 double eta = aDistance * SG_METER_TO_NM / speed;
578 if ( eta >= 100.0 ) {
579 eta = 99.999; // clamp
582 if ( eta < (1.0/6.0) ) {
583 eta *= 60.0; // within 10 minutes, bump up to min/secs
586 int major = (int)eta,
587 minor = (int)((eta - (int)eta) * 60.0);
588 snprintf( eta_str, 64, "%d:%02d", major, minor );
589 aProp->setStringValue( eta_str );
592 void FGRouteMgr::removeLegAtIndex(int aIndex)
598 _plan->deleteIndex(aIndex);
601 void FGRouteMgr::waypointsChanged()
604 _edited->fireValueChanged();
607 // mirror internal route to the property system for inspection by other subsystems
608 void FGRouteMgr::update_mirror()
610 mirror->removeChildren("wp");
611 NewGUI * gui = (NewGUI *)globals->get_subsystem("gui");
612 FGDialog* rmDlg = gui ? gui->getDialog("route-manager") : NULL;
615 mirror->setIntValue("num", 0);
617 rmDlg->updateValues();
622 int num = _plan->numLegs();
624 for (int i = 0; i < num; i++) {
625 FlightPlan::Leg* leg = _plan->legAtIndex(i);
626 WayptRef wp = leg->waypoint();
627 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
629 const SGGeod& pos(wp->position());
630 prop->setStringValue("id", wp->ident().c_str());
631 prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
632 prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
634 // leg course+distance
636 prop->setDoubleValue("leg-bearing-true-deg", leg->courseDeg());
637 prop->setDoubleValue("leg-distance-nm", leg->distanceNm());
638 prop->setDoubleValue("distance-along-route-nm", leg->distanceAlongRoute());
640 if (leg->altitudeRestriction() != RESTRICT_NONE) {
641 double ft = leg->altitudeFt();
642 prop->setDoubleValue("altitude-m", ft * SG_FEET_TO_METER);
643 prop->setDoubleValue("altitude-ft", ft);
644 prop->setIntValue("flight-level", static_cast<int>(ft / 1000) * 10);
646 prop->setDoubleValue("altitude-m", -9999.9);
647 prop->setDoubleValue("altitude-ft", -9999.9);
650 if (leg->speedRestriction() == SPEED_RESTRICT_MACH) {
651 prop->setDoubleValue("speed-mach", leg->speedMach());
652 } else if (leg->speedRestriction() != RESTRICT_NONE) {
653 prop->setDoubleValue("speed-kts", leg->speedKts());
656 if (wp->flag(WPT_ARRIVAL)) {
657 prop->setBoolValue("arrival", true);
660 if (wp->flag(WPT_DEPARTURE)) {
661 prop->setBoolValue("departure", true);
664 if (wp->flag(WPT_MISS)) {
665 prop->setBoolValue("missed-approach", true);
668 prop->setBoolValue("generated", wp->flag(WPT_GENERATED));
669 } // of waypoint iteration
671 // set number as listener attachment point
672 mirror->setIntValue("num", _plan->numLegs());
675 rmDlg->updateValues();
678 totalDistance->setDoubleValue(_plan->totalDistanceNm());
681 // command interface /autopilot/route-manager/input:
683 // @CLEAR ... clear route
684 // @POP ... remove first entry
685 // @DELETE3 ... delete 4th entry
686 // @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
687 // KSFO@900 ... append "KSFO@900"
689 void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
691 const char *s = prop->getStringValue();
692 if (strlen(s) == 0) {
696 if (!strcmp(s, "@CLEAR"))
698 else if (!strcmp(s, "@ACTIVATE"))
700 else if (!strcmp(s, "@LOAD")) {
701 SGPath path(mgr->_pathNode->getStringValue());
702 mgr->loadRoute(path);
703 } else if (!strcmp(s, "@SAVE")) {
704 SGPath path(mgr->_pathNode->getStringValue());
705 mgr->saveRoute(path);
706 } else if (!strcmp(s, "@NEXT")) {
707 mgr->jumpToIndex(mgr->currentIndex() + 1);
708 } else if (!strcmp(s, "@PREVIOUS")) {
709 mgr->jumpToIndex(mgr->currentIndex() - 1);
710 } else if (!strncmp(s, "@JUMP", 5)) {
711 mgr->jumpToIndex(atoi(s + 5));
712 } else if (!strncmp(s, "@DELETE", 7))
713 mgr->removeLegAtIndex(atoi(s + 7));
714 else if (!strncmp(s, "@INSERT", 7)) {
716 int pos = strtol(s + 7, &r, 10);
722 mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(r), pos);
724 mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(s), -1);
727 bool FGRouteMgr::activate()
730 SG_LOG(SG_AUTOPILOT, SG_WARN, "::activate, no flight plan defined");
734 if (isRouteActive()) {
735 SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
739 _plan->setCurrentIndex(0);
740 active->setBoolValue(true);
741 SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
745 void FGRouteMgr::deactivate()
747 if (!isRouteActive()) {
751 SG_LOG(SG_AUTOPILOT, SG_INFO, "deactivating flight plan");
752 active->setBoolValue(false);
755 void FGRouteMgr::jumpToIndex(int index)
761 _plan->setCurrentIndex(index);
764 void FGRouteMgr::currentWaypointChanged()
766 Waypt* cur = currentWaypt();
767 FlightPlan::Leg* next = _plan ? _plan->nextLeg() : NULL;
769 wp0->getChild("id")->setStringValue(cur ? cur->ident() : "");
770 wp1->getChild("id")->setStringValue(next ? next->waypoint()->ident() : "");
772 _currentWpt->fireValueChanged();
773 SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << currentIndex());
776 const char* FGRouteMgr::getDepartureICAO() const
778 if (!_plan || !_plan->departureAirport()) {
782 return _plan->departureAirport()->ident().c_str();
785 const char* FGRouteMgr::getDepartureName() const
787 if (!_plan || !_plan->departureAirport()) {
791 return _plan->departureAirport()->name().c_str();
794 const char* FGRouteMgr::getDepartureRunway() const
796 if (_plan && _plan->departureRunway()) {
797 return _plan->departureRunway()->ident().c_str();
803 void FGRouteMgr::setDepartureRunway(const char* aIdent)
809 FGAirport* apt = _plan->departureAirport();
810 if (!apt || (aIdent == NULL)) {
811 _plan->setDeparture(apt);
812 } else if (apt->hasRunwayWithIdent(aIdent)) {
813 _plan->setDeparture(apt->getRunwayByIdent(aIdent));
817 void FGRouteMgr::setDepartureICAO(const char* aIdent)
823 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
824 _plan->setDeparture((FGAirport*) NULL);
826 _plan->setDeparture(FGAirport::findByIdent(aIdent));
830 const char* FGRouteMgr::getSID() const
832 if (_plan && _plan->sid()) {
833 return _plan->sid()->ident().c_str();
839 static double headingDiffDeg(double a, double b)
841 double rawDiff = b - a;
842 SG_NORMALIZE_RANGE(rawDiff, -180.0, 180.0);
846 flightgear::SID* createDefaultSID(FGRunway* aRunway, double enrouteCourse)
852 double runwayElevFt = aRunway->end().getElevationFt();
854 std::ostringstream ss;
855 ss << aRunway->ident() << "-3";
857 SGGeod p = aRunway->pointOnCenterline(aRunway->lengthM() + (3.0 * SG_NM_TO_METER));
858 WayptRef w = new BasicWaypt(p, ss.str(), NULL);
859 w->setAltitude(runwayElevFt + 3000.0, RESTRICT_AT);
863 ss << aRunway->ident() << "-6";
864 p = aRunway->pointOnCenterline(aRunway->lengthM() + (6.0 * SG_NM_TO_METER));
865 w = new BasicWaypt(p, ss.str(), NULL);
866 w->setAltitude(runwayElevFt + 6000.0, RESTRICT_AT);
869 if (enrouteCourse >= 0.0) {
870 // valid enroute course
872 double course = aRunway->headingDeg();
874 while (fabs(diff = headingDiffDeg(course, enrouteCourse)) > 45.0) {
875 // turn in the sign of the heading change 45 degrees
876 course += copysign(45.0, diff);
878 ss << "DEP-" << index++;
879 SGGeod pos = wpts.back()->position();
880 pos = SGGeodesy::direct(pos, course, 3.0 * SG_NM_TO_METER);
881 w = new BasicWaypt(pos, ss.str(), NULL);
885 // no enroute course, just keep runway heading
887 ss << aRunway->ident() << "-9";
888 p = aRunway->pointOnCenterline(aRunway->lengthM() + (9.0 * SG_NM_TO_METER));
889 w = new BasicWaypt(p, ss.str(), NULL);
890 w->setAltitude(runwayElevFt + 9000.0, RESTRICT_AT);
894 BOOST_FOREACH(Waypt* w, wpts) {
895 w->setFlag(WPT_DEPARTURE);
896 w->setFlag(WPT_GENERATED);
899 return flightgear::SID::createTempSID("DEFAULT", aRunway, wpts);
902 void FGRouteMgr::setSID(const char* aIdent)
908 FGAirport* apt = _plan->departureAirport();
909 if (!apt || (aIdent == NULL)) {
910 _plan->setSID((flightgear::SID*) NULL);
914 if (!strcmp(aIdent, "DEFAULT")) {
915 double enrouteCourse = -1.0;
916 if (_plan->destinationAirport()) {
917 enrouteCourse = SGGeodesy::courseDeg(apt->geod(), _plan->destinationAirport()->geod());
920 _plan->setSID(createDefaultSID(_plan->departureRunway(), enrouteCourse));
924 string ident(aIdent);
925 size_t hyphenPos = ident.find('-');
926 if (hyphenPos != string::npos) {
927 string sidIdent = ident.substr(0, hyphenPos);
928 string transIdent = ident.substr(hyphenPos + 1);
930 flightgear::SID* sid = apt->findSIDWithIdent(sidIdent);
931 Transition* trans = sid ? sid->findTransitionByName(transIdent) : NULL;
932 _plan->setSID(trans);
934 _plan->setSID(apt->findSIDWithIdent(aIdent));
938 const char* FGRouteMgr::getDestinationICAO() const
940 if (!_plan || !_plan->destinationAirport()) {
944 return _plan->destinationAirport()->ident().c_str();
947 const char* FGRouteMgr::getDestinationName() const
949 if (!_plan || !_plan->destinationAirport()) {
953 return _plan->destinationAirport()->name().c_str();
956 void FGRouteMgr::setDestinationICAO(const char* aIdent)
962 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
963 _plan->setDestination((FGAirport*) NULL);
965 _plan->setDestination(FGAirport::findByIdent(aIdent));
969 const char* FGRouteMgr::getDestinationRunway() const
971 if (_plan && _plan->destinationRunway()) {
972 return _plan->destinationRunway()->ident().c_str();
978 void FGRouteMgr::setDestinationRunway(const char* aIdent)
984 FGAirport* apt = _plan->destinationAirport();
985 if (!apt || (aIdent == NULL)) {
986 _plan->setDestination(apt);
987 } else if (apt->hasRunwayWithIdent(aIdent)) {
988 _plan->setDestination(apt->getRunwayByIdent(aIdent));
992 const char* FGRouteMgr::getApproach() const
994 if (_plan && _plan->approach()) {
995 return _plan->approach()->ident().c_str();
1001 flightgear::Approach* createDefaultApproach(FGRunway* aRunway, double aEnrouteCourse)
1007 double thresholdElevFt = aRunway->threshold().getElevationFt();
1008 const double approachHeightFt = 2000.0;
1009 double glideslopeDistanceM = (approachHeightFt * SG_FEET_TO_METER) /
1010 tan(3.0 * SG_DEGREES_TO_RADIANS);
1012 std::ostringstream ss;
1013 ss << aRunway->ident() << "-12";
1015 SGGeod p = aRunway->pointOnCenterline(-12.0 * SG_NM_TO_METER);
1016 WayptRef w = new BasicWaypt(p, ss.str(), NULL);
1017 w->setAltitude(thresholdElevFt + 4000, RESTRICT_AT);
1020 // work back form the first point on the centerline
1022 if (aEnrouteCourse >= 0.0) {
1023 // valid enroute course
1025 double course = aRunway->headingDeg();
1027 while (fabs(diff = headingDiffDeg(aEnrouteCourse, course)) > 45.0) {
1028 // turn in the sign of the heading change 45 degrees
1029 course -= copysign(45.0, diff);
1031 ss << "APP-" << index++;
1032 SGGeod pos = wpts.front()->position();
1033 pos = SGGeodesy::direct(pos, course + 180.0, 3.0 * SG_NM_TO_METER);
1034 w = new BasicWaypt(pos, ss.str(), NULL);
1035 wpts.insert(wpts.begin(), w);
1039 p = aRunway->pointOnCenterline(-8.0 * SG_NM_TO_METER);
1041 ss << aRunway->ident() << "-8";
1042 w = new BasicWaypt(p, ss.str(), NULL);
1043 w->setAltitude(thresholdElevFt + approachHeightFt, RESTRICT_AT);
1046 p = aRunway->pointOnCenterline(-glideslopeDistanceM);
1048 ss << aRunway->ident() << "-GS";
1049 w = new BasicWaypt(p, ss.str(), NULL);
1050 w->setAltitude(thresholdElevFt + approachHeightFt, RESTRICT_AT);
1053 BOOST_FOREACH(Waypt* w, wpts) {
1054 w->setFlag(WPT_APPROACH);
1055 w->setFlag(WPT_GENERATED);
1058 return Approach::createTempApproach("DEFAULT", aRunway, wpts);
1061 void FGRouteMgr::setApproach(const char* aIdent)
1067 FGAirport* apt = _plan->destinationAirport();
1068 if (!strcmp(aIdent, "DEFAULT")) {
1069 double enrouteCourse = -1.0;
1070 if (_plan->departureAirport()) {
1071 enrouteCourse = SGGeodesy::courseDeg(_plan->departureAirport()->geod(), apt->geod());
1074 _plan->setApproach(createDefaultApproach(_plan->destinationRunway(), enrouteCourse));
1078 if (!apt || (aIdent == NULL)) {
1079 _plan->setApproach(NULL);
1081 _plan->setApproach(apt->findApproachWithIdent(aIdent));
1085 const char* FGRouteMgr::getSTAR() const
1087 if (_plan && _plan->star()) {
1088 return _plan->star()->ident().c_str();
1094 void FGRouteMgr::setSTAR(const char* aIdent)
1100 FGAirport* apt = _plan->destinationAirport();
1101 if (!apt || (aIdent == NULL)) {
1102 _plan->setSTAR((STAR*) NULL);
1106 string ident(aIdent);
1107 size_t hyphenPos = ident.find('-');
1108 if (hyphenPos != string::npos) {
1109 string starIdent = ident.substr(0, hyphenPos);
1110 string transIdent = ident.substr(hyphenPos + 1);
1112 STAR* star = apt->findSTARWithIdent(starIdent);
1113 Transition* trans = star ? star->findTransitionByName(transIdent) : NULL;
1114 _plan->setSTAR(trans);
1116 _plan->setSTAR(apt->findSTARWithIdent(aIdent));
1120 WayptRef FGRouteMgr::waypointFromString(const std::string& target)
1122 return _plan->waypointFromString(target);
1125 double FGRouteMgr::getDepartureFieldElevation() const
1127 if (!_plan || !_plan->departureAirport()) {
1131 return _plan->departureAirport()->elevation();
1134 double FGRouteMgr::getDestinationFieldElevation() const
1136 if (!_plan || !_plan->destinationAirport()) {
1140 return _plan->destinationAirport()->elevation();
1143 SGPropertyNode_ptr FGRouteMgr::wayptNodeAtIndex(int index) const
1145 if ((index < 0) || (index >= numWaypts())) {
1146 throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
1149 return mirror->getChild("wp", index);
1152 bool FGRouteMgr::commandDefineUserWaypoint(const SGPropertyNode* arg)
1154 std::string ident = arg->getStringValue("ident");
1155 if (ident.empty()) {
1156 SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident defining user waypoint");
1160 // check for duplicate idents
1161 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1162 FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
1163 if (!dups.empty()) {
1164 SG_LOG(SG_AUTOPILOT, SG_WARN, "defineUserWaypoint: non-unique waypoint identifier:" << ident);
1168 SGGeod pos(SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
1169 arg->getDoubleValue("latitude-deg")));
1170 FGPositioned::createUserWaypoint(ident, pos);
1174 bool FGRouteMgr::commandDeleteUserWaypoint(const SGPropertyNode* arg)
1176 std::string ident = arg->getStringValue("ident");
1177 if (ident.empty()) {
1178 SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident deleting user waypoint");
1182 return FGPositioned::deleteUserWaypoint(ident);