-// FGAIFlightPlan - class for loading and storing AI flight plans
+// // FGAIFlightPlan - class for loading and storing AI flight plans
// Written by David Culp, started May 2004
// - davidculp2@comcast.net
//
using std::cerr;
+FGAIWaypoint::FGAIWaypoint() {
+ latitude = 0;
+ longitude = 0;
+ altitude = 0;
+ speed = 0;
+ crossat = 0;
+ finished = 0;
+ gear_down = 0;
+ flaps_down = 0;
+ on_ground = 0;
+ routeIndex = 0;
+ time_sec = 0;
+ trackLength = 0;
+}
+
+bool FGAIWaypoint::contains(string target) {
+ size_t found = name.find(target);
+ if (found == string::npos)
+ return false;
+ else
+ return true;
+}
+
FGAIFlightPlan::FGAIFlightPlan()
{
- sid = 0;
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = 0;
+ arrivalTime = 0;
+ leg = 10;
+ gateId = 0;
+ lastNodeVisited = 0;
+ taxiRoute = 0;
+ wpt_iterator = waypoints.begin();
+ isValid = true;
}
FGAIFlightPlan::FGAIFlightPlan(const string& filename)
SGPropertyNode * node = root.getNode("flightplan");
for (i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
- waypoint* wpt = new waypoint;
+ FGAIWaypoint* wpt = new FGAIWaypoint;
SGPropertyNode * wpt_node = node->getChild(i);
- wpt->name = wpt_node->getStringValue("name", "END");
- wpt->latitude = wpt_node->getDoubleValue("lat", 0);
- wpt->longitude = wpt_node->getDoubleValue("lon", 0);
- wpt->altitude = wpt_node->getDoubleValue("alt", 0);
- wpt->speed = wpt_node->getDoubleValue("ktas", 0);
- wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
- wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
- wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
- wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
- wpt->time_sec = wpt_node->getDoubleValue("time-sec", 0);
- wpt->time = wpt_node->getStringValue("time", "");
-
- if (wpt->name == "END") wpt->finished = true;
- else wpt->finished = false;
-
- waypoints.push_back( wpt );
+ wpt->setName (wpt_node->getStringValue("name", "END" ));
+ wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
+ wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
+ wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
+ wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
+ wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
+ wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
+ wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
+ wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false ));
+ wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 ));
+ wpt->setTime (wpt_node->getStringValue("time", "" ));
+
+ if (wpt->getName() == "END") wpt->setFinished(true);
+ else wpt->setFinished(false);
+
+ pushBackWaypoint( wpt );
}
wpt_iterator = waypoints.begin();
+ isValid = true;
//cout << waypoints.size() << " waypoints read." << endl;
}
path.append( p );
SGPropertyNode root;
-
+ isValid = true;
// This is a bit of a hack:
// Normally the value of course will be used to evaluate whether
// or not a waypoint will be used for midair initialization of
SGPropertyNode * node = root.getNode("flightplan");
- //waypoints.push_back( init_waypoint );
+ //pushBackWaypoint( init_waypoint );
for (int i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
- waypoint* wpt = new waypoint;
+ FGAIWaypoint* wpt = new FGAIWaypoint;
SGPropertyNode * wpt_node = node->getChild(i);
- wpt->name = wpt_node->getStringValue("name", "END");
- wpt->latitude = wpt_node->getDoubleValue("lat", 0);
- wpt->longitude = wpt_node->getDoubleValue("lon", 0);
- wpt->altitude = wpt_node->getDoubleValue("alt", 0);
- wpt->speed = wpt_node->getDoubleValue("ktas", 0);
- //wpt->speed = speed;
- wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
- wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
- wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
+ wpt->setName (wpt_node->getStringValue("name", "END" ));
+ wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
+ wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
+ wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
+ wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
+ wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
+ wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
+ wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
- if (wpt->name == "END") wpt->finished = true;
- else wpt->finished = false;
- waypoints.push_back(wpt);
- }
- }
- catch (const sg_exception &) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "Error reading AI flight plan: ");
- cerr << "Errno = " << errno << endl;
- if (errno == ENOENT)
- {
- SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
- }
- }
+ if (wpt->getName() == "END") wpt->setFinished(true);
+ else wpt->setFinished(false);
+ pushBackWaypoint(wpt);
+ } // of node loop
+ wpt_iterator = waypoints.begin();
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " <<
+ e.getMessage() << " from " << e.getOrigin());
}
- else
- {
+ } else {
// cout << path.str() << endl;
// cout << "Trying to create this plan dynamically" << endl;
// cout << "Route from " << dep->id << " to " << arr->id << endl;
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
time_t timeDiff = now-start;
leg = 1;
- /*
- if ((timeDiff > 300) && (timeDiff < 1200))
+
+ if ((timeDiff > 60) && (timeDiff < 1500))
leg = 2;
- else if ((timeDiff >= 1200) && (timeDiff < 1500))
- leg = 3;
+ //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
+ //leg = 3;
+ //ac->setTakeOffStatus(2);
+ //}
else if ((timeDiff >= 1500) && (timeDiff < 2000))
leg = 4;
else if (timeDiff >= 2000)
leg = 5;
- */
+ /*
if (timeDiff >= 2000)
leg = 5;
-
+ */
SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
wpt_iterator = waypoints.begin();
- create(ac, dep,arr, leg, alt, speed, lat, lon,
- firstLeg, radius, fltType, acType, airline);
+ bool dist = 0;
+ isValid = create(ac, dep,arr, leg, alt, speed, lat, lon,
+ firstLeg, radius, fltType, acType, airline, dist);
wpt_iterator = waypoints.begin();
//cerr << "after create: " << (*wpt_iterator)->name << endl;
//leg++;
{
if ((dist > 100.0) && (useInitialWayPoint))
{
- //waypoints.push_back(init_waypoint);;
+ //pushBackWaypoint(init_waypoint);;
waypoints.insert(i, init_waypoint);
//cerr << "Using waypoint : " << init_waypoint->name << endl;
}
// {
// (*i)->speed = dist; // A hack
// }
- //waypoints.push_back( wpt );
+ //pushBackWaypoint( wpt );
//cerr << "Using waypoint : " << (*i)->name
// << ": course diff : " << crsDiff
// << "Course = " << course
}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getPreviousWaypoint( void ) const
+FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
}
}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getCurrentWaypoint( void ) const
+FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
{
return *wpt_iterator;
}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getNextWaypoint( void ) const
+FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
{
wpt_vector_iterator i = waypoints.end();
i--; // end() points to one element after the last one.
}
else
wpt_iterator--;
+}
+void FGAIFlightPlan::eraseLastWaypoint()
+{
+ delete (waypoints.back());
+ waypoints.pop_back();;
+ wpt_iterator = waypoints.begin();
+ wpt_iterator++;
}
+
+
// gives distance in feet from a position to a waypoint
-double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
+double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{
return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
- SGGeod::fromDeg(wp->longitude, wp->latitude));
+ SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
}
// sets distance in feet from a lead point to the current waypoint
void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
- waypoint* current, waypoint* next){
+ FGAIWaypoint* current, FGAIWaypoint* next){
double turn_radius;
// Handle Ground steering
// At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
return;
}
if (speed < 25) {
- turn_radius = ((360/30)*15) / (2*M_PI);
+ turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
} else
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
//lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
- if (lead_distance > (3*turn_radius)) {
+ /*
+ if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
// cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
// << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
lead_distance = 3 * turn_radius;
+ return;
}
+ if ((leadInAngle > 90) && (current->on_ground == true)) {
+ lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
+ return;
+ }*/
}
void FGAIFlightPlan::setLeadDistance(double distance_ft){
}
-double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
- return getBearing(first->latitude, first->longitude, second);
+double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const{
+ return getBearing(first->getLatitude(), first->getLongitude(), second);
}
-double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
+double FGAIFlightPlan::getBearing(double lat, double lon, FGAIWaypoint* wp) const{
return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
- SGGeod::fromDeg(wp->longitude, wp->latitude));
+ SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
}
void FGAIFlightPlan::deleteWaypoints()
return;
else
{
- waypoint *wpt = new waypoint;
+ FGAIWaypoint *wpt = new FGAIWaypoint;
wpt_vector_iterator i = waypoints.end();
i--;
- wpt->name = (*i)->name;
- wpt->latitude = (*i)->latitude;
- wpt->longitude = (*i)->longitude;
- wpt->altitude = (*i)->altitude;
- wpt->speed = (*i)->speed;
- wpt->crossat = (*i)->crossat;
- wpt->gear_down = (*i)->gear_down;
- wpt->flaps_down= (*i)->flaps_down;
- wpt->finished = false;
- wpt->on_ground = (*i)->on_ground;
+ wpt->setName ( (*i)->getName() );
+ wpt->setLatitude ( (*i)->getLatitude() );
+ wpt->setLongitude ( (*i)->getLongitude() );
+ wpt->setAltitude ( (*i)->getAltitude() );
+ wpt->setSpeed ( (*i)->getSpeed() );
+ wpt->setCrossat ( (*i)->getCrossat() );
+ wpt->setGear_down ( (*i)->getGear_down() );
+ wpt->setFlaps_down ( (*i)->getFlaps_down() );
+ wpt->setFinished ( false );
+ wpt->setOn_ground ( (*i)->getOn_ground() );
//cerr << "Recycling waypoint " << wpt->name << endl;
deleteWaypoints();
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
}
+void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
+{
+ // std::vector::push_back invalidates waypoints
+ // so we should restore wpt_iterator after push_back
+ // (or it could be an index in the vector)
+ size_t pos = wpt_iterator - waypoints.begin();
+ waypoints.push_back(wpt);
+ wpt_iterator = waypoints.begin() + pos;
+}
+
// Start flightplan over from the beginning
void FGAIFlightPlan::restart()
{
int FGAIFlightPlan::getRouteIndex(int i) {
if ((i > 0) && (i < (int)waypoints.size())) {
- return waypoints[i]->routeIndex;
+ return waypoints[i]->getRouteIndex();
}
else
return 0;
}
+
+
+double FGAIFlightPlan::checkTrackLength(string wptName) {
+ // skip the first two waypoints: first one is behind, second one is partially done;
+ double trackDistance = 0;
+ wpt_vector_iterator wptvec = waypoints.begin();
+ wptvec++;
+ wptvec++;
+ while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) {
+ trackDistance += (*wptvec)->getTrackLength();
+ wptvec++;
+ }
+ if (wptvec == waypoints.end()) {
+ trackDistance = 0; // name not found
+ }
+ return trackDistance;
+}
+
+void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
+{
+ while (waypoints.size() > number + 3) {
+ eraseLastWaypoint();
+ }
+ (waypoints.back())->setName((waypoints.back())->getName() + name);
+}
projects / flightgear.git / blobdiff