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.
30 #include <simgear/compiler.h>
32 #include <Airports/simple.hxx>
33 #include <FDM/flight.hxx>
34 #include <Main/fg_props.hxx>
35 #include <Navaids/fixlist.hxx>
36 #include <Navaids/navlist.hxx>
38 #include "route_mgr.hxx"
40 #define RM "/autopilot/route-manager/"
43 FGRouteMgr::FGRouteMgr() :
49 target_altitude_ft( NULL ),
50 altitude_lock( NULL ),
60 input(fgGetNode( RM "input", true )),
61 listener(new Listener(this)),
62 mirror(fgGetNode( RM "route", true )),
65 input->setStringValue("");
66 input->addChangeListener(listener);
70 FGRouteMgr::~FGRouteMgr() {
72 input->removeChangeListener(listener);
76 void FGRouteMgr::init() {
77 lon = fgGetNode( "/position/longitude-deg", true );
78 lat = fgGetNode( "/position/latitude-deg", true );
79 alt = fgGetNode( "/position/altitude-ft", true );
81 true_hdg_deg = fgGetNode( "/autopilot/settings/true-heading-deg", true );
82 target_altitude_ft = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
83 altitude_lock = fgGetNode( "/autopilot/locks/altitude", true );
85 wp0_id = fgGetNode( RM "wp[0]/id", true );
86 wp0_dist = fgGetNode( RM "wp[0]/dist", true );
87 wp0_eta = fgGetNode( RM "wp[0]/eta", true );
89 wp1_id = fgGetNode( RM "wp[1]/id", true );
90 wp1_dist = fgGetNode( RM "wp[1]/dist", true );
91 wp1_eta = fgGetNode( RM "wp[1]/eta", true );
93 wpn_id = fgGetNode( RM "wp-last/id", true );
94 wpn_dist = fgGetNode( RM "wp-last/dist", true );
95 wpn_eta = fgGetNode( RM "wp-last/eta", true );
102 void FGRouteMgr::postinit() {
103 string_list *waypoints = globals->get_initial_waypoints();
107 vector<string>::iterator it;
108 for (it = waypoints->begin(); it != waypoints->end(); ++it)
113 void FGRouteMgr::bind() { }
114 void FGRouteMgr::unbind() { }
117 static double get_ground_speed() {
118 // starts in ft/s so we convert to kts
119 static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
121 double ft_s = cur_fdm_state->get_V_ground_speed()
122 * speedup_node->getIntValue();
123 double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
129 void FGRouteMgr::update( double dt ) {
131 double wp_course, wp_distance;
135 if ( route->size() > 0 ) {
136 SGWayPoint wp = route->get_waypoint( 0 );
137 wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
138 alt->getDoubleValue(), &wp_course, &wp_distance );
140 true_hdg_deg->setDoubleValue( wp_course );
141 double target_alt = wp.get_target_alt();
143 if (!altitude_set && target_alt > -9990) {
144 target_altitude_ft->setDoubleValue( target_alt * SG_METER_TO_FEET );
145 altitude_lock->setStringValue( "altitude-hold" );
149 if ( wp_distance < 200.0 ) {
151 altitude_set = false;
156 if ( route->size() > 0 ) {
157 SGWayPoint wp = route->get_waypoint( 0 );
158 // update the property tree info
160 wp0_id->setStringValue( wp.get_id().c_str() );
162 accum += wp_distance;
163 wp0_dist->setDoubleValue( accum * SG_METER_TO_NM );
165 double eta = accum * SG_METER_TO_NM / get_ground_speed();
166 if ( eta >= 100.0 ) { eta = 99.999; }
168 if ( eta < (1.0/6.0) ) {
169 // within 10 minutes, bump up to min/secs
173 minor = (int)((eta - (int)eta) * 60.0);
174 snprintf( eta_str, 128, "%d:%02d", major, minor );
175 wp0_eta->setStringValue( eta_str );
179 if ( route->size() > 1 ) {
180 SGWayPoint wp = route->get_waypoint( 1 );
182 // update the property tree info
184 wp1_id->setStringValue( wp.get_id().c_str() );
186 accum += wp.get_distance();
187 wp1_dist->setDoubleValue( accum * SG_METER_TO_NM );
189 double eta = accum * SG_METER_TO_NM / get_ground_speed();
190 if ( eta >= 100.0 ) { eta = 99.999; }
192 if ( eta < (1.0/6.0) ) {
193 // within 10 minutes, bump up to min/secs
197 minor = (int)((eta - (int)eta) * 60.0);
198 snprintf( eta_str, 128, "%d:%02d", major, minor );
199 wp1_eta->setStringValue( eta_str );
202 // summarize remaining way points
203 if ( route->size() > 2 ) {
205 for ( int i = 2; i < route->size(); ++i ) {
206 wp = route->get_waypoint( i );
207 accum += wp.get_distance();
210 // update the property tree info
212 wpn_id->setStringValue( wp.get_id().c_str() );
214 wpn_dist->setDoubleValue( accum * SG_METER_TO_NM );
216 double eta = accum * SG_METER_TO_NM / get_ground_speed();
217 if ( eta >= 100.0 ) { eta = 99.999; }
219 if ( eta < (1.0/6.0) ) {
220 // within 10 minutes, bump up to min/secs
224 minor = (int)((eta - (int)eta) * 60.0);
225 snprintf( eta_str, 128, "%d:%02d", major, minor );
226 wpn_eta->setStringValue( eta_str );
231 void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
232 if ( n == 0 || !route->size())
233 altitude_set = false;
235 route->add_waypoint( wp, n );
240 SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
243 if ( route->size() > 0 ) {
245 n = route->size() - 1;
246 wp = route->get_waypoint(n);
247 route->delete_waypoint(n);
250 if ( route->size() <= 2 ) {
251 wpn_id->setStringValue( "" );
252 wpn_dist->setDoubleValue( 0.0 );
253 wpn_eta->setStringValue( "" );
256 if ( route->size() <= 1 ) {
257 wp1_id->setStringValue( "" );
258 wp1_dist->setDoubleValue( 0.0 );
259 wp1_eta->setStringValue( "" );
262 if ( route->size() <= 0 ) {
263 wp0_id->setStringValue( "" );
264 wp0_dist->setDoubleValue( 0.0 );
265 wp0_eta->setStringValue( "" );
268 if ( n == 0 && route->size() )
269 altitude_set = false;
276 bool FGRouteMgr::build() {
282 int FGRouteMgr::new_waypoint( const string& Tgt_Alt, int n ) {
283 string target = Tgt_Alt;
286 for (unsigned int i = 0; i < target.size(); i++)
287 if (target[i] >= 'a' && target[i] <= 'z')
288 target[i] -= 'a' - 'A';
291 int type = make_waypoint( &wp, target );
294 add_waypoint( *wp, n );
295 fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
303 int FGRouteMgr::make_waypoint(SGWayPoint **wp, string& target) {
304 double alt = -9999.0;
307 unsigned int pos = target.find( '@' );
308 if ( pos != string::npos ) {
309 alt = atof( target.c_str() + pos + 1 );
310 target = target.substr( 0, pos );
311 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
312 alt *= SG_FEET_TO_METER;
316 pos = target.find( ',' );
317 if ( pos != string::npos ) {
318 double lon = atof( target.substr(0, pos).c_str());
319 double lat = atof( target.c_str() + pos + 1);
321 SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint lon = " << lon << ", lat = " << lat );
322 *wp = new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
326 // check for airport id
327 const FGAirport *apt = fgFindAirportID( target );
329 SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (airport) = " << target );
330 *wp = new SGWayPoint( apt->getLongitude(), apt->getLatitude(), alt, SGWayPoint::WGS84, target );
336 if ( globals->get_fixlist()->query( target, &f ) ) {
337 SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (fix) = " << target );
338 *wp = new SGWayPoint( f.get_lon(), f.get_lat(), alt, SGWayPoint::WGS84, target );
342 // Try finding a nav matching the ID
344 // The base lon/lat are determined by the last WP,
345 // or the current pos if the WP list is empty.
346 const int wps = this->size();
349 SGWayPoint wp = get_waypoint(wps-1);
350 lat = wp.get_target_lat();
351 lon = wp.get_target_lon();
353 lat = fgGetNode("/position/latitude-deg")->getDoubleValue();
354 lon = fgGetNode("/position/longitude-deg")->getDoubleValue();
357 lat *= SGD_DEGREES_TO_RADIANS;
358 lon *= SGD_DEGREES_TO_RADIANS;
360 SG_LOG( SG_GENERAL, SG_INFO, "Looking for nav " << target << " at " << lon << " " << lat);
362 if (FGNavRecord* nav = globals->get_navlist()->findByIdent(target.c_str(), lon, lat)) {
363 SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (nav) = " << target );
364 *wp = new SGWayPoint( nav->get_lon(), nav->get_lat(), alt, SGWayPoint::WGS84, target );
373 // mirror internal route to the property system for inspection by other subsystems
374 void FGRouteMgr::update_mirror() {
375 mirror->removeChildren("wp");
376 for (int i = 0; i < route->size(); i++) {
377 SGWayPoint wp = route->get_waypoint(i);
378 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
380 prop->setStringValue("id", wp.get_id().c_str());
381 prop->setStringValue("name", wp.get_name().c_str());
382 prop->setDoubleValue("longitude-deg", wp.get_target_lon());
383 prop->setDoubleValue("latitude-deg", wp.get_target_lat());
384 prop->setDoubleValue("altitude-m", wp.get_target_alt());
385 prop->setDoubleValue("altitude-ft", wp.get_target_alt() * SG_METER_TO_FEET);
387 // set number as listener attachment point
388 mirror->setIntValue("num", route->size());
392 // command interface /autopilot/route-manager/input:
394 // @clear ... clear route
395 // @pop ... remove first entry
396 // @delete3 ... delete 4th entry
397 // @insert2:ksfo@900 ... insert "ksfo@900" as 3rd entry
398 // ksfo@900 ... append "ksfo@900"
400 void FGRouteMgr::Listener::valueChanged(SGPropertyNode *prop)
402 const char *s = prop->getStringValue();
403 if (!strcmp(s, "@clear"))
405 else if (!strcmp(s, "@pop"))
406 mgr->pop_waypoint(0);
407 else if (!strncmp(s, "@delete", 7))
408 mgr->pop_waypoint(atoi(s + 7));
409 else if (!strncmp(s, "@insert", 7)) {
411 int pos = strtol(s + 7, &r, 10);
417 mgr->new_waypoint(r, pos);
419 mgr->new_waypoint(s);