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/structure/commands.hxx>
44 #include <simgear/misc/sgstream.hxx>
46 #include <simgear/props/props_io.hxx>
47 #include <simgear/misc/sg_path.hxx>
48 #include <simgear/route/route.hxx>
49 #include <simgear/sg_inlines.h>
51 #include "Main/fg_props.hxx"
52 #include "Navaids/positioned.hxx"
53 #include <Navaids/waypoint.hxx>
54 #include <Navaids/airways.hxx>
55 #include <Navaids/procedure.hxx>
56 #include "Airports/simple.hxx"
57 #include "Airports/runways.hxx"
59 #define RM "/autopilot/route-manager/"
61 #include <GUI/new_gui.hxx>
62 #include <GUI/dialog.hxx>
64 using namespace flightgear;
66 class PropertyWatcher : public SGPropertyChangeListener
69 void watch(SGPropertyNode* p)
71 p->addChangeListener(this, false);
74 virtual void valueChanged(SGPropertyNode*)
79 virtual void fire() = 0;
83 * Template adapter, created by convenience helper below
86 class MethodPropertyWatcher : public PropertyWatcher
89 typedef void (T::*fire_method)();
91 MethodPropertyWatcher(T* obj, fire_method m) :
98 { // dispatch to the object method we're helping
99 (_object->*_method)();
108 PropertyWatcher* createWatcher(T* obj, void (T::*m)())
110 return new MethodPropertyWatcher<T>(obj, m);
113 static bool commandLoadFlightPlan(const SGPropertyNode* arg)
115 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
116 SGPath path(arg->getStringValue("path"));
117 return self->loadRoute(path);
120 static bool commandSaveFlightPlan(const SGPropertyNode* arg)
122 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
123 SGPath path(arg->getStringValue("path"));
124 return self->saveRoute(path);
127 static bool commandActivateFlightPlan(const SGPropertyNode* arg)
129 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
130 bool activate = arg->getBoolValue("activate", true);
140 static bool commandClearFlightPlan(const SGPropertyNode*)
142 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
147 static bool commandSetActiveWaypt(const SGPropertyNode* arg)
149 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
150 int index = arg->getIntValue("index");
151 if ((index < 0) || (index >= self->numWaypts())) {
155 self->jumpToIndex(index);
159 static bool commandInsertWaypt(const SGPropertyNode* arg)
161 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
162 int index = arg->getIntValue("index");
163 std::string ident(arg->getStringValue("id"));
164 int alt = arg->getIntValue("altitude-ft", -999);
165 int ias = arg->getIntValue("speed-knots", -999);
168 // lat/lon may be supplied to narrow down navaid search, or to specify
171 if (arg->hasChild("longitude-deg")) {
172 pos = SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
173 arg->getDoubleValue("latitude-deg"));
176 if (arg->hasChild("navaid")) {
177 FGPositionedRef p = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid"), pos);
179 if (arg->hasChild("navaid", 1)) {
180 // intersection of two radials
181 FGPositionedRef p2 = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid[1]"), pos);
183 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << arg->getStringValue("navaid[1]"));
187 double r1 = arg->getDoubleValue("radial"),
188 r2 = arg->getDoubleValue("radial[1]");
191 bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
193 SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << p->ident()
194 << "," << p2->ident());
198 std::string name = p->ident() + "-" + p2->ident();
199 wp = new BasicWaypt(intersection, name, NULL);
200 } else if (arg->hasChild("offset-nm") && arg->hasChild("radial")) {
201 // offset radial from navaid
202 double radial = arg->getDoubleValue("radial");
203 double distanceNm = arg->getDoubleValue("offset-nm");
204 //radial += magvar->getDoubleValue(); // convert to true bearing
205 wp = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
207 wp = new NavaidWaypoint(p, NULL);
209 } else if (arg->hasChild("airport")) {
210 const FGAirport* apt = fgFindAirportID(arg->getStringValue("airport"));
212 SG_LOG(SG_AUTOPILOT, SG_INFO, "no such airport" << arg->getStringValue("airport"));
216 if (arg->hasChild("runway")) {
217 if (!apt->hasRunwayWithIdent(arg->getStringValue("runway"))) {
218 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << arg->getStringValue("runway") << " at " << apt->ident());
222 FGRunway* runway = apt->getRunwayByIdent(arg->getStringValue("runway"));
223 wp = new RunwayWaypt(runway, NULL);
225 wp = new NavaidWaypoint((FGAirport*) apt, NULL);
227 } else if (arg->hasChild("text")) {
228 wp = self->waypointFromString(arg->getStringValue("text"));
229 } else if (!(pos == SGGeod())) {
230 // just a raw lat/lon
231 wp = new BasicWaypt(pos, ident, NULL);
233 return false; // failed to build waypoint
237 wp->setAltitude(alt, flightgear::RESTRICT_AT);
241 wp->setSpeed(ias, flightgear::RESTRICT_AT);
244 self->insertWayptAtIndex(wp, index);
248 static bool commandDeleteWaypt(const SGPropertyNode* arg)
250 FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
251 int index = arg->getIntValue("index");
252 self->removeWayptAtIndex(index);
256 /////////////////////////////////////////////////////////////////////////////
258 FGRouteMgr::FGRouteMgr() :
260 input(fgGetNode( RM "input", true )),
261 mirror(fgGetNode( RM "route", true ))
263 listener = new InputListener(this);
264 input->setStringValue("");
265 input->addChangeListener(listener);
267 SGCommandMgr::instance()->addCommand("load-flightplan", commandLoadFlightPlan);
268 SGCommandMgr::instance()->addCommand("save-flightplan", commandSaveFlightPlan);
269 SGCommandMgr::instance()->addCommand("activate-flightplan", commandActivateFlightPlan);
270 SGCommandMgr::instance()->addCommand("clear-flightplan", commandClearFlightPlan);
271 SGCommandMgr::instance()->addCommand("set-active-waypt", commandSetActiveWaypt);
272 SGCommandMgr::instance()->addCommand("insert-waypt", commandInsertWaypt);
273 SGCommandMgr::instance()->addCommand("delete-waypt", commandDeleteWaypt);
277 FGRouteMgr::~FGRouteMgr()
279 input->removeChangeListener(listener);
284 void FGRouteMgr::init() {
285 SGPropertyNode_ptr rm(fgGetNode(RM));
287 lon = fgGetNode( "/position/longitude-deg", true );
288 lat = fgGetNode( "/position/latitude-deg", true );
289 alt = fgGetNode( "/position/altitude-ft", true );
290 magvar = fgGetNode("/environment/magnetic-variation-deg", true);
292 departure = fgGetNode(RM "departure", true);
293 departure->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
294 &FGRouteMgr::getDepartureICAO, &FGRouteMgr::setDepartureICAO));
295 departure->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
296 &FGRouteMgr::getDepartureName, NULL));
297 departure->setStringValue("runway", "");
299 _departureWatcher = createWatcher(this, &FGRouteMgr::departureChanged);
300 _departureWatcher->watch(departure->getChild("runway"));
302 departure->getChild("etd", 0, true);
303 _departureWatcher->watch(departure->getChild("sid", 0, true));
304 departure->getChild("takeoff-time", 0, true);
306 destination = fgGetNode(RM "destination", true);
307 destination->getChild("airport", 0, true);
309 destination->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
310 &FGRouteMgr::getDestinationICAO, &FGRouteMgr::setDestinationICAO));
311 destination->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
312 &FGRouteMgr::getDestinationName, NULL));
314 _arrivalWatcher = createWatcher(this, &FGRouteMgr::arrivalChanged);
315 _arrivalWatcher->watch(destination->getChild("runway", 0, true));
317 destination->getChild("eta", 0, true);
318 _arrivalWatcher->watch(destination->getChild("star", 0, true));
319 _arrivalWatcher->watch(destination->getChild("transition", 0, true));
320 destination->getChild("touchdown-time", 0, true);
322 alternate = fgGetNode(RM "alternate", true);
323 alternate->getChild("airport", 0, true);
324 alternate->getChild("runway", 0, true);
326 cruise = fgGetNode(RM "cruise", true);
327 cruise->getChild("altitude-ft", 0, true);
328 cruise->setDoubleValue("altitude-ft", 10000.0);
329 cruise->getChild("flight-level", 0, true);
330 cruise->getChild("speed-kts", 0, true);
331 cruise->setDoubleValue("speed-kts", 160.0);
333 _routingType = cruise->getChild("routing", 0, true);
334 _routingType->setIntValue(ROUTE_HIGH_AIRWAYS);
336 totalDistance = fgGetNode(RM "total-distance", true);
337 totalDistance->setDoubleValue(0.0);
339 ete = fgGetNode(RM "ete", true);
340 ete->setDoubleValue(0.0);
342 elapsedFlightTime = fgGetNode(RM "flight-time", true);
343 elapsedFlightTime->setDoubleValue(0.0);
345 active = fgGetNode(RM "active", true);
346 active->setBoolValue(false);
348 airborne = fgGetNode(RM "airborne", true);
349 airborne->setBoolValue(false);
351 _edited = fgGetNode(RM "signals/edited", true);
352 _finished = fgGetNode(RM "signals/finished", true);
354 _currentWpt = fgGetNode(RM "current-wp", true);
355 _currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
356 (*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
358 // temporary distance / eta calculations, for backward-compatability
359 wp0 = fgGetNode(RM "wp", 0, true);
360 wp0->getChild("id", 0, true);
361 wp0->getChild("dist", 0, true);
362 wp0->getChild("eta", 0, true);
363 wp0->getChild("bearing-deg", 0, true);
365 wp1 = fgGetNode(RM "wp", 1, true);
366 wp1->getChild("id", 0, true);
367 wp1->getChild("dist", 0, true);
368 wp1->getChild("eta", 0, true);
370 wpn = fgGetNode(RM "wp-last", 0, true);
371 wpn->getChild("dist", 0, true);
372 wpn->getChild("eta", 0, true);
375 _pathNode = fgGetNode(RM "file-path", 0, true);
379 void FGRouteMgr::postinit()
381 SGPath path(_pathNode->getStringValue());
382 if (!path.isNull()) {
383 SG_LOG(SG_AUTOPILOT, SG_INFO, "loading flight-plan from: " << path.str());
387 // this code only matters for the --wp option now - perhaps the option
388 // should be deprecated in favour of an explicit flight-plan file?
389 // then the global initial waypoint list could die.
390 string_list *waypoints = globals->get_initial_waypoints();
392 string_list::iterator it;
393 for (it = waypoints->begin(); it != waypoints->end(); ++it) {
394 WayptRef w = waypointFromString(*it);
400 SG_LOG(SG_AUTOPILOT, SG_INFO, "loaded initial waypoints:" << _route.size());
404 weightOnWheels = fgGetNode("/gear/gear[0]/wow", true);
405 // check airbone flag agrees with presets
408 void FGRouteMgr::bind() { }
409 void FGRouteMgr::unbind() { }
411 bool FGRouteMgr::isRouteActive() const
413 return active->getBoolValue();
416 void FGRouteMgr::update( double dt )
419 return; // paused, nothing to do here
422 double groundSpeed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
423 if (airborne->getBoolValue()) {
424 time_t now = time(NULL);
425 elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
426 } else { // not airborne
427 if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
431 airborne->setBoolValue(true);
432 _takeoffTime = time(NULL); // start the clock
433 departure->setIntValue("takeoff-time", _takeoffTime);
436 if (!active->getBoolValue()) {
440 // basic course/distance information
441 SGGeod currentPos = SGGeod::fromDegFt(lon->getDoubleValue(),
442 lat->getDoubleValue(),alt->getDoubleValue());
444 Waypt* curWpt = currentWaypt();
451 boost::tie(courseDeg, distanceM) = curWpt->courseAndDistanceFrom(currentPos);
453 // update wp0 / wp1 / wp-last for legacy users
454 wp0->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
455 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
456 wp0->setDoubleValue("bearing-deg", courseDeg);
457 setETAPropertyFromDistance(wp0->getChild("eta"), distanceM);
459 double totalDistanceRemaining = distanceM; // distance to current waypoint
461 Waypt* nextWpt = nextWaypt();
463 boost::tie(courseDeg, distanceM) = nextWpt->courseAndDistanceFrom(currentPos);
465 wp1->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
466 courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
467 wp1->setDoubleValue("bearing-deg", courseDeg);
468 setETAPropertyFromDistance(wp1->getChild("eta"), distanceM);
471 Waypt* prev = curWpt;
472 for (unsigned int i=_currentIndex + 1; i<_route.size(); ++i) {
473 Waypt* w = _route[i];
474 if (w->flag(WPT_DYNAMIC)) continue;
475 totalDistanceRemaining += SGGeodesy::distanceM(prev->position(), w->position());
481 wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
482 ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
483 setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
486 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance)
488 double speed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
490 aProp->setStringValue("--:--");
495 double eta = aDistance * SG_METER_TO_NM / speed;
496 if ( eta >= 100.0 ) {
497 eta = 99.999; // clamp
500 if ( eta < (1.0/6.0) ) {
501 eta *= 60.0; // within 10 minutes, bump up to min/secs
504 int major = (int)eta,
505 minor = (int)((eta - (int)eta) * 60.0);
506 snprintf( eta_str, 64, "%d:%02d", major, minor );
507 aProp->setStringValue( eta_str );
510 flightgear::WayptRef FGRouteMgr::removeWayptAtIndex(int aIndex)
513 if (aIndex < 0) { // negative indices count the the end
514 index = _route.size() + index;
517 if ((index < 0) || (index >= numWaypts())) {
518 SG_LOG(SG_AUTOPILOT, SG_WARN, "removeWayptAtIndex with invalid index:" << aIndex);
521 WayptVec::iterator it = _route.begin();
524 WayptRef w = *it; // hold a ref now, in case _route is the only other owner
529 if (_currentIndex == index) {
530 currentWaypointChanged(); // current waypoint was removed
533 if (_currentIndex > index) {
534 --_currentIndex; // shift current index down if necessary
537 _edited->fireValueChanged();
543 struct NotGeneratedWayptPredicate : public std::unary_function<const Waypt*, bool>
545 bool operator() (const Waypt* w) const
547 return (w->flag(WPT_GENERATED) == false);
552 void FGRouteMgr::clearRoute()
554 // erase all non-generated waypoints
555 WayptVec::iterator r =
556 std::remove_if(_route.begin(), _route.end(), NotGeneratedWayptPredicate());
557 _route.erase(r, _route.end());
562 active->setBoolValue(false);
563 _edited->fireValueChanged();
567 * route between index-1 and index, using airways.
569 bool FGRouteMgr::routeToIndex(int index, RouteType aRouteType)
575 index = _route.size(); // can still be zero, of course
580 SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no departure set");
584 wp1 = new NavaidWaypoint(_departure.get(), NULL);
586 wp1 = wayptAtIndex(index - 1);
589 if (index >= numWaypts()) {
591 SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no destination set");
595 wp2 = new NavaidWaypoint(_destination.get(), NULL);
597 wp2 = wayptAtIndex(index);
600 double distNm = SGGeodesy::distanceNm(wp1->position(), wp2->position());
601 if (distNm < 100.0) {
602 SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: existing waypoints are nearby, direct route");
607 switch (aRouteType) {
608 case ROUTE_HIGH_AIRWAYS:
609 Airway::highLevel()->route(wp1, wp2, r);
612 case ROUTE_LOW_AIRWAYS:
613 Airway::lowLevel()->route(wp1, wp2, r);
617 throw sg_exception("VOR routing not supported yet");
621 SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: no route found");
625 WayptVec::iterator it = _route.begin();
627 _route.insert(it, r.begin(), r.end());
630 _edited->fireValueChanged();
634 void FGRouteMgr::autoRoute()
636 if (!_departure || !_destination) {
640 string runwayId(departure->getStringValue("runway"));
641 FGRunway* runway = NULL;
642 if (_departure->hasRunwayWithIdent(runwayId)) {
643 runway = _departure->getRunwayByIdent(runwayId);
646 FGRunway* dstRunway = NULL;
647 runwayId = destination->getStringValue("runway");
648 if (_destination->hasRunwayWithIdent(runwayId)) {
649 dstRunway = _destination->getRunwayByIdent(runwayId);
652 _route.clear(); // clear out the existing, first
654 flightgear::SID* sid;
657 boost::tie(sid, sidTrans) = _departure->selectSID(_destination->geod(), runway);
659 SG_LOG(SG_AUTOPILOT, SG_INFO, "selected SID " << sid->ident());
661 SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << sidTrans->ident() << " transition");
664 sid->route(runway, sidTrans, _route);
665 departure->setStringValue("sid", sid->ident());
667 // use airport location for airway search
668 sidTrans = new NavaidWaypoint(_departure.get(), NULL);
669 departure->setStringValue("sid", "");
673 destination->setStringValue("transition", "");
674 destination->setStringValue("star", "");
678 boost::tie(star, starTrans) = _destination->selectSTAR(_departure->geod(), dstRunway);
680 SG_LOG(SG_AUTOPILOT, SG_INFO, "selected STAR " << star->ident());
682 SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << starTrans->ident() << " transition");
683 destination->setStringValue("transition", starTrans->ident());
685 destination->setStringValue("star", star->ident());
687 // use airport location for search
688 starTrans = new NavaidWaypoint(_destination.get(), NULL);
691 // route between them
692 WayptVec airwayRoute;
693 if (Airway::highLevel()->route(sidTrans, starTrans, airwayRoute)) {
694 _route.insert(_route.end(), airwayRoute.begin(), airwayRoute.end());
697 // add the STAR if we have one
699 _destination->buildApproach(starTrans, star, dstRunway, _route);
703 _edited->fireValueChanged();
706 void FGRouteMgr::departureChanged()
708 // remove existing departure waypoints
709 WayptVec::iterator it = _route.begin();
710 for (; it != _route.end(); ++it) {
711 if (!(*it)->flag(WPT_DEPARTURE)) {
716 // erase() invalidates iterators, so grab now
718 if (it == _route.end()) {
720 enroute = new NavaidWaypoint(_destination.get(), NULL);
726 _route.erase(_route.begin(), it);
733 buildDeparture(enroute, wps);
734 for (it = wps.begin(); it != wps.end(); ++it) {
735 (*it)->setFlag(WPT_DEPARTURE);
736 (*it)->setFlag(WPT_GENERATED);
738 _route.insert(_route.begin(), wps.begin(), wps.end());
744 void FGRouteMgr::buildDeparture(WayptRef enroute, WayptVec& wps)
746 string runwayId(departure->getStringValue("runway"));
747 if (!_departure->hasRunwayWithIdent(runwayId)) {
748 // valid airport, but no runway selected, so just the airport noide itself
749 wps.push_back(new NavaidWaypoint(_departure.get(), NULL));
753 FGRunway* r = _departure->getRunwayByIdent(runwayId);
754 string sidId = departure->getStringValue("sid");
755 flightgear::SID* sid = _departure->findSIDWithIdent(sidId);
757 // valid runway, but no SID selected/found, so just the runway node for now
758 if (!sidId.empty() && (sidId != "(none)")) {
759 SG_LOG(SG_AUTOPILOT, SG_INFO, "SID not found:" << sidId);
762 wps.push_back(new RunwayWaypt(r, NULL));
766 // we have a valid SID, awesome
767 string trans(departure->getStringValue("transition"));
768 WayptRef t = sid->findTransitionByName(trans);
770 t = sid->findBestTransition(enroute->position());
773 sid->route(r, t, wps);
774 if (!wps.empty() && wps.front()->flag(WPT_DYNAMIC)) {
775 // ensure first waypoint is static, to simplify other computations
776 wps.insert(wps.begin(), new RunwayWaypt(r, NULL));
780 void FGRouteMgr::arrivalChanged()
782 // remove existing arrival waypoints
783 WayptVec::reverse_iterator rit = _route.rbegin();
784 for (; rit != _route.rend(); ++rit) {
785 if (!(*rit)->flag(WPT_ARRIVAL)) {
790 // erase() invalidates iterators, so grab now
792 WayptVec::iterator it;
794 if (rit != _route.rend()) {
796 it = rit.base(); // convert to fwd iterator
801 _route.erase(it, _route.end());
804 buildArrival(enroute, wps);
805 for (it = wps.begin(); it != wps.end(); ++it) {
806 (*it)->setFlag(WPT_ARRIVAL);
807 (*it)->setFlag(WPT_GENERATED);
809 _route.insert(_route.end(), wps.begin(), wps.end());
815 void FGRouteMgr::buildArrival(WayptRef enroute, WayptVec& wps)
821 string runwayId(destination->getStringValue("runway"));
822 if (!_destination->hasRunwayWithIdent(runwayId)) {
823 // valid airport, but no runway selected, so just the airport node itself
824 wps.push_back(new NavaidWaypoint(_destination.get(), NULL));
828 FGRunway* r = _destination->getRunwayByIdent(runwayId);
829 string starId = destination->getStringValue("star");
830 STAR* star = _destination->findSTARWithIdent(starId);
832 // valid runway, but no STAR selected/found, so just the runway node for now
833 wps.push_back(new RunwayWaypt(r, NULL));
837 // we have a valid STAR
838 string trans(destination->getStringValue("transition"));
839 WayptRef t = star->findTransitionByName(trans);
841 t = star->findBestTransition(enroute->position());
844 _destination->buildApproach(t, star, r, wps);
847 void FGRouteMgr::waypointsChanged()
852 void FGRouteMgr::insertWayptAtIndex(Waypt* aWpt, int aIndex)
859 if ((aIndex == -1) || (aIndex > (int) _route.size())) {
860 index = _route.size();
863 WayptVec::iterator it = _route.begin();
866 if (_currentIndex >= index) {
870 _route.insert(it, aWpt);
873 _edited->fireValueChanged();
876 WayptRef FGRouteMgr::waypointFromString(const string& tgt )
878 string target(boost::to_upper_copy(tgt));
882 double altFt = cruise->getDoubleValue("altitude-ft");
883 RouteRestriction altSetting = RESTRICT_NONE;
885 size_t pos = target.find( '@' );
886 if ( pos != string::npos ) {
887 altFt = atof( target.c_str() + pos + 1 );
888 target = target.substr( 0, pos );
889 if ( !strcmp(fgGetString("/sim/startup/units"), "meter") )
890 altFt *= SG_METER_TO_FEET;
891 altSetting = RESTRICT_AT;
895 pos = target.find( ',' );
896 if ( pos != string::npos ) {
897 double lon = atof( target.substr(0, pos).c_str());
898 double lat = atof( target.c_str() + pos + 1);
900 char ew = (lon < 0.0) ? 'W' : 'E';
901 char ns = (lat < 0.0) ? 'S' : 'N';
902 snprintf(buf, 32, "%c%03d%c%03d", ew, (int) fabs(lon), ns, (int)fabs(lat));
904 wpt = new BasicWaypt(SGGeod::fromDeg(lon, lat), buf, NULL);
905 if (altSetting != RESTRICT_NONE) {
906 wpt->setAltitude(altFt, altSetting);
912 if (_route.empty()) {
913 // route is empty, use current position
914 basePosition = SGGeod::fromDeg(lon->getDoubleValue(), lat->getDoubleValue());
916 basePosition = _route.back()->position();
919 string_list pieces(simgear::strutils::split(target, "/"));
920 FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
922 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
926 if (pieces.size() == 1) {
927 wpt = new NavaidWaypoint(p, NULL);
928 } else if (pieces.size() == 3) {
929 // navaid/radial/distance-nm notation
930 double radial = atof(pieces[1].c_str()),
931 distanceNm = atof(pieces[2].c_str());
932 radial += magvar->getDoubleValue(); // convert to true bearing
933 wpt = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
934 } else if (pieces.size() == 2) {
935 FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
937 SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
941 if (!apt->hasRunwayWithIdent(pieces[1])) {
942 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
946 FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
947 wpt = new NavaidWaypoint(runway, NULL);
948 } else if (pieces.size() == 4) {
949 // navid/radial/navid/radial notation
950 FGPositionedRef p2 = FGPositioned::findClosestWithIdent(pieces[2], basePosition);
952 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces[2]);
956 double r1 = atof(pieces[1].c_str()),
957 r2 = atof(pieces[3].c_str());
958 r1 += magvar->getDoubleValue();
959 r2 += magvar->getDoubleValue();
962 bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
964 SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << target);
968 std::string name = p->ident() + "-" + p2->ident();
969 wpt = new BasicWaypt(intersection, name, NULL);
973 SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
977 if (altSetting != RESTRICT_NONE) {
978 wpt->setAltitude(altFt, altSetting);
983 // mirror internal route to the property system for inspection by other subsystems
984 void FGRouteMgr::update_mirror()
986 mirror->removeChildren("wp");
988 int num = numWaypts();
989 for (int i = 0; i < num; i++) {
990 Waypt* wp = _route[i];
991 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
993 const SGGeod& pos(wp->position());
994 prop->setStringValue("id", wp->ident().c_str());
995 prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
996 prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
998 // leg course+distance
1000 Waypt* next = _route[i+1];
1001 std::pair<double, double> crsDist =
1002 next->courseAndDistanceFrom(pos);
1003 prop->setDoubleValue("leg-bearing-true-deg", crsDist.first);
1004 prop->setDoubleValue("leg-distance-nm", crsDist.second * SG_METER_TO_NM);
1007 if (wp->altitudeRestriction() != RESTRICT_NONE) {
1008 double ft = wp->altitudeFt();
1009 prop->setDoubleValue("altitude-m", ft * SG_FEET_TO_METER);
1010 prop->setDoubleValue("altitude-ft", ft);
1011 prop->setIntValue("flight-level", static_cast<int>(ft / 1000) * 10);
1013 prop->setDoubleValue("altitude-m", -9999.9);
1014 prop->setDoubleValue("altitude-ft", -9999.9);
1017 if (wp->speedRestriction() == SPEED_RESTRICT_MACH) {
1018 prop->setDoubleValue("speed-mach", wp->speedMach());
1019 } else if (wp->speedRestriction() != RESTRICT_NONE) {
1020 prop->setDoubleValue("speed-kts", wp->speedKts());
1023 if (wp->flag(WPT_ARRIVAL)) {
1024 prop->setBoolValue("arrival", true);
1027 if (wp->flag(WPT_DEPARTURE)) {
1028 prop->setBoolValue("departure", true);
1031 if (wp->flag(WPT_MISS)) {
1032 prop->setBoolValue("missed-approach", true);
1035 prop->setBoolValue("generated", wp->flag(WPT_GENERATED));
1036 } // of waypoint iteration
1038 // set number as listener attachment point
1039 mirror->setIntValue("num", _route.size());
1041 NewGUI * gui = (NewGUI *)globals->get_subsystem("gui");
1042 FGDialog* rmDlg = gui->getDialog("route-manager");
1044 rmDlg->updateValues();
1048 // command interface /autopilot/route-manager/input:
1050 // @CLEAR ... clear route
1051 // @POP ... remove first entry
1052 // @DELETE3 ... delete 4th entry
1053 // @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
1054 // KSFO@900 ... append "KSFO@900"
1056 void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
1058 const char *s = prop->getStringValue();
1059 if (strlen(s) == 0) {
1063 if (!strcmp(s, "@CLEAR"))
1065 else if (!strcmp(s, "@ACTIVATE"))
1067 else if (!strcmp(s, "@LOAD")) {
1068 SGPath path(mgr->_pathNode->getStringValue());
1069 mgr->loadRoute(path);
1070 } else if (!strcmp(s, "@SAVE")) {
1071 SGPath path(mgr->_pathNode->getStringValue());
1072 mgr->saveRoute(path);
1073 } else if (!strcmp(s, "@NEXT")) {
1074 mgr->jumpToIndex(mgr->_currentIndex + 1);
1075 } else if (!strcmp(s, "@PREVIOUS")) {
1076 mgr->jumpToIndex(mgr->_currentIndex - 1);
1077 } else if (!strncmp(s, "@JUMP", 5)) {
1078 mgr->jumpToIndex(atoi(s + 5));
1079 } else if (!strncmp(s, "@DELETE", 7))
1080 mgr->removeWayptAtIndex(atoi(s + 7));
1081 else if (!strncmp(s, "@INSERT", 7)) {
1083 int pos = strtol(s + 7, &r, 10);
1089 mgr->insertWayptAtIndex(mgr->waypointFromString(r), pos);
1090 } else if (!strncmp(s, "@ROUTE", 6)) {
1092 int endIndex = strtol(s + 6, &r, 10);
1093 RouteType rt = (RouteType) mgr->_routingType->getIntValue();
1094 mgr->routeToIndex(endIndex, rt);
1095 } else if (!strcmp(s, "@AUTOROUTE")) {
1097 } else if (!strcmp(s, "@POSINIT")) {
1098 mgr->initAtPosition();
1100 mgr->insertWayptAtIndex(mgr->waypointFromString(s), -1);
1103 void FGRouteMgr::initAtPosition()
1105 if (isRouteActive()) {
1106 return; // don't mess with the active route
1109 if (haveUserWaypoints()) {
1110 // user has already defined, loaded or entered a route, again
1111 // don't interfere with it
1115 if (airborne->getBoolValue()) {
1116 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: airborne, clearing departure info");
1118 departure->setStringValue("runway", "");
1123 SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(),
1124 lat->getDoubleValue(), alt->getDoubleValue());
1126 _departure = FGAirport::findClosest(pos, 20.0);
1128 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: couldn't find an airport within 20nm");
1129 departure->setStringValue("runway", "");
1134 std::string rwy = departure->getStringValue("runway");
1136 // runway already set, fine
1140 FGRunway* r = _departure->findBestRunwayForPos(pos);
1145 departure->setStringValue("runway", r->ident().c_str());
1146 SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: starting at "
1147 << _departure->ident() << " on runway " << r->ident());
1150 bool FGRouteMgr::haveUserWaypoints() const
1152 return std::find_if(_route.begin(), _route.end(), NotGeneratedWayptPredicate()) != _route.end();
1155 bool FGRouteMgr::activate()
1157 if (isRouteActive()) {
1158 SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
1163 currentWaypointChanged();
1165 /* double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
1166 totalDistance->setDoubleValue(routeDistanceNm);
1167 double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
1168 if (cruiseSpeedKts > 1.0) {
1169 // very very crude approximation, doesn't allow for climb / descent
1170 // performance or anything else at all
1171 ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
1174 active->setBoolValue(true);
1175 SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
1180 void FGRouteMgr::sequence()
1182 if (!active->getBoolValue()) {
1183 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
1187 if (checkFinished()) {
1192 currentWaypointChanged();
1195 bool FGRouteMgr::checkFinished()
1197 if (_currentIndex < (int) _route.size()) {
1201 SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
1202 _finished->fireValueChanged();
1203 active->setBoolValue(false);
1207 void FGRouteMgr::jumpToIndex(int index)
1209 if ((index < 0) || (index >= (int) _route.size())) {
1210 SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
1211 index << ") to FGRouteMgr::jumpToIndex");
1215 if (_currentIndex == index) {
1219 // all the checks out the way, go ahead and update state
1220 _currentIndex = index;
1221 currentWaypointChanged();
1222 _currentWpt->fireValueChanged();
1225 void FGRouteMgr::currentWaypointChanged()
1227 Waypt* cur = currentWaypt();
1228 Waypt* next = nextWaypt();
1230 wp0->getChild("id")->setStringValue(cur ? cur->ident() : "");
1231 wp1->getChild("id")->setStringValue(next ? next->ident() : "");
1233 _currentWpt->fireValueChanged();
1234 SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _currentIndex);
1237 int FGRouteMgr::findWayptIndex(const SGGeod& aPos) const
1239 for (int i=0; i<numWaypts(); ++i) {
1240 if (_route[i]->matches(aPos)) {
1248 Waypt* FGRouteMgr::currentWaypt() const
1250 if ((_currentIndex < 0) || (_currentIndex >= numWaypts()))
1252 return wayptAtIndex(_currentIndex);
1255 Waypt* FGRouteMgr::previousWaypt() const
1257 if (_currentIndex == 0) {
1261 return wayptAtIndex(_currentIndex - 1);
1264 Waypt* FGRouteMgr::nextWaypt() const
1266 if ((_currentIndex < 0) || ((_currentIndex + 1) >= numWaypts())) {
1270 return wayptAtIndex(_currentIndex + 1);
1273 Waypt* FGRouteMgr::wayptAtIndex(int index) const
1275 if ((index < 0) || (index >= numWaypts())) {
1276 throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
1279 return _route[index];
1282 SGPropertyNode_ptr FGRouteMgr::wayptNodeAtIndex(int index) const
1284 if ((index < 0) || (index >= numWaypts())) {
1285 throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
1288 return mirror->getChild("wp", index);
1291 bool FGRouteMgr::saveRoute(const SGPath& path)
1293 SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
1295 SGPropertyNode_ptr d(new SGPropertyNode);
1296 SGPath path(_pathNode->getStringValue());
1297 d->setIntValue("version", 2);
1300 d->setStringValue("departure/airport", _departure->ident());
1301 d->setStringValue("departure/sid", departure->getStringValue("sid"));
1302 d->setStringValue("departure/runway", departure->getStringValue("runway"));
1306 d->setStringValue("destination/airport", _destination->ident());
1307 d->setStringValue("destination/star", destination->getStringValue("star"));
1308 d->setStringValue("destination/transition", destination->getStringValue("transition"));
1309 d->setStringValue("destination/runway", destination->getStringValue("runway"));
1313 SGPropertyNode* routeNode = d->getChild("route", 0, true);
1314 for (unsigned int i=0; i<_route.size(); ++i) {
1315 Waypt* wpt = _route[i];
1316 wpt->saveAsNode(routeNode->getChild("wp", i, true));
1317 } // of waypoint iteration
1318 writeProperties(path.str(), d, true /* write-all */);
1320 } catch (sg_exception& e) {
1321 SG_LOG(SG_IO, SG_ALERT, "Failed to save flight-plan '" << path.str() << "'. " << e.getMessage());
1326 bool FGRouteMgr::loadRoute(const SGPath& path)
1330 SG_LOG(SG_IO, SG_ALERT, "Failed to load flight-plan '" << path.str()
1331 << "'. The file does not exist.");
1335 // deactivate route first
1336 active->setBoolValue(false);
1338 SGPropertyNode_ptr routeData(new SGPropertyNode);
1340 SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
1343 readProperties(path.str(), routeData);
1344 } catch (sg_exception& ) {
1345 // if XML parsing fails, the file might be simple textual list of waypoints
1346 return loadPlainTextRoute(path);
1350 int version = routeData->getIntValue("version", 1);
1352 loadVersion1XMLRoute(routeData);
1353 } else if (version == 2) {
1354 loadVersion2XMLRoute(routeData);
1356 throw sg_io_exception("unsupported XML route version");
1359 } catch (sg_exception& e) {
1360 SG_LOG(SG_IO, SG_ALERT, "Failed to load flight-plan '" << e.getOrigin()
1361 << "'. " << e.getMessage());
1366 void FGRouteMgr::loadXMLRouteHeader(SGPropertyNode_ptr routeData)
1369 SGPropertyNode* dep = routeData->getChild("departure");
1371 string depIdent = dep->getStringValue("airport");
1372 _departure = (FGAirport*) fgFindAirportID(depIdent);
1373 departure->setStringValue("runway", dep->getStringValue("runway"));
1374 departure->setStringValue("sid", dep->getStringValue("sid"));
1375 departure->setStringValue("transition", dep->getStringValue("transition"));
1379 SGPropertyNode* dst = routeData->getChild("destination");
1381 _destination = (FGAirport*) fgFindAirportID(dst->getStringValue("airport"));
1382 destination->setStringValue("runway", dst->getStringValue("runway"));
1383 destination->setStringValue("star", dst->getStringValue("star"));
1384 destination->setStringValue("transition", dst->getStringValue("transition"));
1388 SGPropertyNode* alt = routeData->getChild("alternate");
1390 alternate->setStringValue(alt->getStringValue("airport"));
1391 } // of cruise data loading
1394 SGPropertyNode* crs = routeData->getChild("cruise");
1396 cruise->setDoubleValue("speed-kts", crs->getDoubleValue("speed-kts"));
1397 cruise->setDoubleValue("mach", crs->getDoubleValue("mach"));
1398 cruise->setDoubleValue("altitude-ft", crs->getDoubleValue("altitude-ft"));
1399 } // of cruise data loading
1403 void FGRouteMgr::loadVersion2XMLRoute(SGPropertyNode_ptr routeData)
1405 loadXMLRouteHeader(routeData);
1409 SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
1410 for (int i=0; i<routeNode->nChildren(); ++i) {
1411 SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
1412 WayptRef wpt = Waypt::createFromProperties(NULL, wpNode);
1413 wpts.push_back(wpt);
1414 } // of route iteration
1419 void FGRouteMgr::loadVersion1XMLRoute(SGPropertyNode_ptr routeData)
1421 loadXMLRouteHeader(routeData);
1425 SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
1426 for (int i=0; i<routeNode->nChildren(); ++i) {
1427 SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
1428 WayptRef wpt = parseVersion1XMLWaypt(wpNode);
1429 wpts.push_back(wpt);
1430 } // of route iteration
1435 WayptRef FGRouteMgr::parseVersion1XMLWaypt(SGPropertyNode* aWP)
1438 if (!_route.empty()) {
1439 lastPos = _route.back()->position();
1440 } else if (_departure) {
1441 lastPos = _departure->geod();
1445 string ident(aWP->getStringValue("ident"));
1446 if (aWP->hasChild("longitude-deg")) {
1447 // explicit longitude/latitude
1448 w = new BasicWaypt(SGGeod::fromDeg(aWP->getDoubleValue("longitude-deg"),
1449 aWP->getDoubleValue("latitude-deg")), ident, NULL);
1452 string nid = aWP->getStringValue("navid", ident.c_str());
1453 FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
1455 throw sg_io_exception("bad route file, unknown navid:" + nid);
1458 SGGeod pos(p->geod());
1459 if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
1460 double radialDeg = aWP->getDoubleValue("offset-radial");
1461 // convert magnetic radial to a true radial!
1462 radialDeg += magvar->getDoubleValue();
1463 double offsetNm = aWP->getDoubleValue("offset-nm");
1465 SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
1468 w = new BasicWaypt(pos, ident, NULL);
1471 double altFt = aWP->getDoubleValue("altitude-ft", -9999.9);
1472 if (altFt > -9990.0) {
1473 w->setAltitude(altFt, RESTRICT_AT);
1479 bool FGRouteMgr::loadPlainTextRoute(const SGPath& path)
1482 sg_gzifstream in(path.str().c_str());
1483 if (!in.is_open()) {
1484 throw sg_io_exception("Cannot open file for reading.");
1490 getline(in, line, '\n');
1491 // trim CR from end of line, if found
1492 if (line[line.size() - 1] == '\r') {
1493 line.erase(line.size() - 1, 1);
1496 line = simgear::strutils::strip(line);
1497 if (line.empty() || (line[0] == '#')) {
1498 continue; // ignore empty/comment lines
1501 WayptRef w = waypointFromString(line);
1503 throw sg_io_exception("Failed to create waypoint from line '" + line + "'.");
1507 } // of line iteration
1511 } catch (sg_exception& e) {
1512 SG_LOG(SG_IO, SG_ALERT, "Failed to load route from: '" << path.str() << "'. " << e.getMessage());
1517 const char* FGRouteMgr::getDepartureICAO() const
1523 return _departure->ident().c_str();
1526 const char* FGRouteMgr::getDepartureName() const
1532 return _departure->name().c_str();
1535 void FGRouteMgr::setDepartureICAO(const char* aIdent)
1537 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
1540 _departure = FGAirport::findByIdent(aIdent);
1546 const char* FGRouteMgr::getDestinationICAO() const
1548 if (!_destination) {
1552 return _destination->ident().c_str();
1555 const char* FGRouteMgr::getDestinationName() const
1557 if (!_destination) {
1561 return _destination->name().c_str();
1564 void FGRouteMgr::setDestinationICAO(const char* aIdent)
1566 if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
1567 _destination = NULL;
1569 _destination = FGAirport::findByIdent(aIdent);
1575 FGAirportRef FGRouteMgr::departureAirport() const
1580 FGAirportRef FGRouteMgr::destinationAirport() const
1582 return _destination;
1585 FGRunway* FGRouteMgr::departureRunway() const
1591 string runwayId(departure->getStringValue("runway"));
1592 if (!_departure->hasRunwayWithIdent(runwayId)) {
1596 return _departure->getRunwayByIdent(runwayId);
1599 FGRunway* FGRouteMgr::destinationRunway() const
1601 if (!_destination) {
1605 string runwayId(destination->getStringValue("runway"));
1606 if (!_destination->hasRunwayWithIdent(runwayId)) {
1610 return _destination->getRunwayByIdent(runwayId);