-// 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
//
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+#include <iostream>
#include <simgear/misc/sg_path.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/structure/exception.hxx>
#include <simgear/constants.h>
-#ifdef __BORLANDC__
-# define exception c_exception
-#endif
#include <simgear/props/props.hxx>
+#include <simgear/props/props_io.hxx>
+
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <Main/fg_init.hxx>
#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
-
+#include <Airports/groundnetwork.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
#include "AIFlightPlan.hxx"
+#include "AIAircraft.hxx"
+
+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(string filename)
+FGAIFlightPlan::FGAIFlightPlan()
+{
+ 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)
{
int i;
+ sid = 0;
start_time = 0;
+ leg = 10;
+ gateId = 0;
+ taxiRoute = 0;
SGPath path( globals->get_fg_root() );
- path.append( ("/Data/AI/FlightPlans/" + filename).c_str() );
+ path.append( ("/AI/FlightPlans/" + filename).c_str() );
SGPropertyNode root;
+ repeat = false;
try {
readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
+ } catch (const sg_exception &) {
SG_LOG(SG_GENERAL, SG_ALERT,
"Error reading AI flight plan: " << path.str());
// cout << path.str() << endl;
- return;
+ return;
}
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);
-
- 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;
}
// Position computed by the traffic manager, as well
// as setting speeds and altitude computed by the
// traffic manager.
-FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
+FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
+ const std::string& p,
double course,
time_t start,
FGAirport *dep,
- FGAirport *arr)
+ FGAirport *arr,
+ bool firstLeg,
+ double radius,
+ double alt,
+ double lat,
+ double lon,
+ double speed,
+ const string& fltType,
+ const string& acType,
+ const string& airline)
{
+ sid = 0;
+ repeat = false;
+ leg = 10;
+ gateId=0;
+ taxiRoute = 0;
start_time = start;
bool useInitialWayPoint = true;
bool useCurrentWayPoint = false;
SGPath path( globals->get_fg_root() );
- path.append( "/Data/AI/FlightPlans" );
- path.append( entity->path );
- SGPropertyNode root;
+ path.append( "/AI/FlightPlans" );
+ 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
useCurrentWayPoint = true;
}
- try {
- readProperties(path.str(), &root);
-
- SGPropertyNode * node = root.getNode("flightplan");
-
- //waypoints.push_back( init_waypoint );
- for (int i = 0; i < node->nChildren(); i++) {
- //cout << "Reading waypoint " << i << endl;
- waypoint* wpt = new waypoint;
- 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);
+ if (path.exists())
+ {
+ try
+ {
+ readProperties(path.str(), &root);
+
+ SGPropertyNode * node = root.getNode("flightplan");
+
+ //pushBackWaypoint( init_waypoint );
+ for (int i = 0; i < node->nChildren(); i++) {
+ //cout << "Reading waypoint " << i << endl;
+ FGAIWaypoint* wpt = new FGAIWaypoint;
+ SGPropertyNode * wpt_node = node->getChild(i);
+ 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->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 {
+ // 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 (wpt->name == "END") wpt->finished = true;
- else wpt->finished = false;
- waypoints.push_back(wpt);
+ if ((timeDiff > 60) && (timeDiff < 1500))
+ leg = 2;
+ //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();
+ 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++;
+ // Now that we have dynamically created a flight plan,
+ // we need to add some code that pops any waypoints already past.
+ //return;
}
- }
- catch (const sg_exception &e) {
- //SG_LOG(SG_GENERAL, SG_ALERT,
- // "Error reading AI flight plan: ");
- // cout << path.str() << endl;
- // cout << "Trying to create this plan dynamically" << endl;
- // cout << "Route from " << dep->id << " to " << arr->id << endl;
- create(dep,arr, entity->altitude, entity->speed);
- // Now that we have dynamically created a flight plan,
- // we need to add some code that pops any waypoints already past.
- //return;
- }
- waypoint* init_waypoint = new waypoint;
- init_waypoint->name = string("initial position");
- init_waypoint->latitude = entity->latitude;
- init_waypoint->longitude = entity->longitude;
- init_waypoint->altitude = entity->altitude;
- init_waypoint->speed = entity->speed;
- init_waypoint->crossat = - 10000;
- init_waypoint->gear_down = false;
- init_waypoint->flaps_down = false;
- init_waypoint->finished = false;
-
- wpt_vector_iterator i = waypoints.begin();
- while (i != waypoints.end())
+ /*
+ waypoint* init_waypoint = new waypoint;
+ init_waypoint->name = string("initial position");
+ init_waypoint->latitude = entity->latitude;
+ init_waypoint->longitude = entity->longitude;
+ init_waypoint->altitude = entity->altitude;
+ init_waypoint->speed = entity->speed;
+ init_waypoint->crossat = - 10000;
+ init_waypoint->gear_down = false;
+ init_waypoint->flaps_down = false;
+ init_waypoint->finished = false;
+
+ wpt_vector_iterator i = waypoints.begin();
+ while (i != waypoints.end())
{
//cerr << "Checking status of each waypoint: " << (*i)->name << endl;
SGWayPoint first(init_waypoint->longitude,
{
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
//delete wpt;
delete *(i);
i = waypoints.erase(i);
+ }
+
}
- }
+ */
//for (i = waypoints.begin(); i != waypoints.end(); i++)
// cerr << "Using waypoint : " << (*i)->name << endl;
- wpt_iterator = waypoints.begin();
+ //wpt_iterator = waypoints.begin();
//cout << waypoints.size() << " waypoints read." << endl;
}
FGAIFlightPlan::~FGAIFlightPlan()
{
- waypoints.clear();
+ deleteWaypoints();
+ delete taxiRoute;
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getPreviousWaypoint( void )
+FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
}
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getCurrentWaypoint( void )
+FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
{
return *wpt_iterator;
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getNextWaypoint( void )
+FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
{
- if (wpt_iterator == waypoints.end()) {
+ wpt_vector_iterator i = waypoints.end();
+ i--; // end() points to one element after the last one.
+ if (wpt_iterator == i) {
return 0;
} else {
wpt_vector_iterator next = wpt_iterator;
}
}
-void FGAIFlightPlan::IncrementWaypoint( void )
+void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
+{
+ if (eraseWaypoints)
+ {
+ if (wpt_iterator == waypoints.begin())
+ wpt_iterator++;
+ else
+ {
+ delete *(waypoints.begin());
+ waypoints.erase(waypoints.begin());
+ wpt_iterator = waypoints.begin();
+ wpt_iterator++;
+ }
+ }
+ else
+ wpt_iterator++;
+
+}
+
+void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
+{
+ if (eraseWaypoints)
+ {
+ if (wpt_iterator == waypoints.end())
+ wpt_iterator--;
+ else
+ {
+ delete *(waypoints.end());
+ waypoints.erase(waypoints.end());
+ wpt_iterator = waypoints.end();
+ wpt_iterator--;
+ }
+ }
+ else
+ wpt_iterator--;
+}
+
+void FGAIFlightPlan::eraseLastWaypoint()
{
- wpt_iterator++;
+ 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){
- // get size of a degree at the present latitude
- // this won't work over large distances
- double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
- double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
- double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
- double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
- return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
+double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{
+ return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
+ 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){
- double turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
+ 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
+ // So, to get an estimate of the turn radius, calculate the cicumference of the circle
+ // we travel on. Get the turn radius by dividing by PI (*2).
+ if (speed < 0.5) {
+ lead_distance = 0.5;
+ return;
+ }
+ if (speed < 25) {
+ turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
+ } else
+ turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
+
double inbound = bearing;
double outbound = getBearing(current, next);
- double diff = fabs(inbound - outbound);
- if (diff > 180.0) diff = 360.0 - diff;
- lead_distance = turn_radius * sin(diff * SG_DEGREES_TO_RADIANS);
+ leadInAngle = fabs(inbound - outbound);
+ if (leadInAngle > 180.0)
+ leadInAngle = 360.0 - leadInAngle;
+ //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
+ // leadInAngle = 30.0;
+
+ //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)) && (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){
- 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){
- double course, distance;
- // double latd = lat;
-// double lond = lon;
-// double latt = wp->latitude;
-// double lont = wp->longitude;
-// double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat/SG_RADIANS_TO_DEGREES);
-// double ft_per_deg_lon = 365228.16 * cos(lat/SG_RADIANS_TO_DEGREES);
-
-// if (lond < 0.0) {
-// lond+=360.0;
-// lont+=360;
-// }
-// if (lont < 0.0) {
-// lond+=360.0;
-// lont+=360.0;
-// }
-// latd+=90.0;
-// latt+=90.0;
-
-// double lat_diff = (latt - latd) * ft_per_deg_lat;
-// double lon_diff = (lont - lond) * ft_per_deg_lon;
-// double angle = atan(fabs(lat_diff / lon_diff)) * SG_RADIANS_TO_DEGREES;
-
-// bool southerly = true;
-// if (latt > latd) southerly = false;
-// bool easterly = false;
-// if (lont > lond) easterly = true;
-// if (southerly && easterly) return 90.0 + angle;
-// if (!southerly && easterly) return 90.0 - angle;
-// if (southerly && !easterly) return 270.0 - angle;
-// if (!southerly && !easterly) return 270.0 + angle;
- SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
- sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
- return course;
- // Omit a compiler warning.
-
+double FGAIFlightPlan::getBearing(double lat, double lon, FGAIWaypoint* wp) const{
+ return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
+ SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
}
-/* FGAIFlightPlan::create()
- * dynamically create a flight plan for AI traffic, based on data provided by the
- * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
- *
- * Probably need to split this into separate functions for different parts of the flight
+void FGAIFlightPlan::deleteWaypoints()
+{
+ for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
+ delete (*i);
+ waypoints.clear();
+}
- * once the code matures a bit more.
- *
- */
-void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, double alt, double speed)
+// Delete all waypoints except the last,
+// which we will recycle as the first waypoint in the next leg;
+void FGAIFlightPlan::resetWaypoints()
{
-double wind_speed;
- double wind_heading;
- FGRunway rwy;
- double lat, lon, az;
- double lat2, lon2, az2;
- int direction;
-
- //waypoints.push_back(wpt);
- // Create the outbound taxi leg, for now simplified as a
- // Direct route from the airport center point to the start
- // of the runway.
- ///////////////////////////////////////////////////////////
- //cerr << "Cruise Alt << " << alt << endl;
- // Temporary code to add some small random variation to aircraft parking positions;
- direction = (rand() % 360);
-geo_direct_wgs_84 ( 0, dep->latitude, dep->longitude, direction,
- 100,
- &lat2, &lon2, &az2 );
- waypoint *wpt = new waypoint;
- wpt->name = dep->id; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = dep->elevation + 19; // probably need to add some model height to it
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- // Get the current active runway, based on code from David Luff
- FGEnvironment
- stationweather = ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
- ->getEnvironment(dep->latitude, dep->longitude, dep->elevation);
-
- wind_speed = stationweather.get_wind_speed_kt();
- wind_heading = stationweather.get_wind_from_heading_deg();
- if (wind_speed == 0) {
- wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
- // which is consistent with Flightgear's initial setup.
- }
-
- string rwy_no = globals->get_runways()->search(dep->id, int(wind_heading));
- if (!(globals->get_runways()->search(dep->id, (int) wind_heading, &rwy )))
+ if (waypoints.begin() == waypoints.end())
+ return;
+ else
{
- cout << "Failed to find runway for " << dep->id << endl;
- // Hmm, how do we handle a potential error like this?
- exit(1);
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt_vector_iterator i = waypoints.end();
+ i--;
+ 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();
+ pushBackWaypoint(wpt);
}
+}
-
- double heading = rwy.heading;
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- rwy.length * SG_FEET_TO_METER * 0.5 - 5.0,
- &lat2, &lon2, &az2 );
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = rwy.id;
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = dep->elevation + 19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
+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;
+}
- //Next: The point on the runway where we begin to accelerate to take-off speed
- //100 meters down the runway seems to work. Shorter distances cause problems with
- // the turn with larger aircraft
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- rwy.length * SG_FEET_TO_METER * 0.5 - 105.0,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "accel";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = dep->elevation + 19;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- lat = lat2;
- lon = lon2;
- az = az2;
-
- //Next: the Start of Climb
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2560 * SG_FEET_TO_METER,
- &lat2, &lon2, &az2 );
-
- wpt = new waypoint;
- wpt->name = "SOC";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = alt + 19;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- waypoints.push_back(wpt);
-
-//Next: the Top of Climb
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 20*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "10000ft climb";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 10000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- waypoints.push_back(wpt);
-
-
-
- //Beginning of Decent
- stationweather = ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
- ->getEnvironment(arr->latitude, arr->longitude, arr->elevation);
-
- wind_speed = stationweather.get_wind_speed_kt();
- wind_heading = stationweather.get_wind_from_heading_deg();
-
- if (wind_speed == 0) {
- wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
- // which is consistent with Flightgear's initial setup.
+// Start flightplan over from the beginning
+void FGAIFlightPlan::restart()
+{
+ wpt_iterator = waypoints.begin();
+}
+
+
+void FGAIFlightPlan::deleteTaxiRoute()
+{
+ delete taxiRoute;
+ taxiRoute = 0;
+}
+
+
+int FGAIFlightPlan::getRouteIndex(int i) {
+ if ((i > 0) && (i < (int)waypoints.size())) {
+ return waypoints[i]->getRouteIndex();
}
+ else
+ return 0;
+}
- rwy_no = globals->get_runways()->search(arr->id, int(wind_heading));
- //cout << "Using runway # " << rwy_no << " for departure at " << dep->id << endl;
-
- if (!(globals->get_runways()->search(arr->id, (int) wind_heading, &rwy )))
- {
- cout << "Failed to find runway for " << arr->id << endl;
- // Hmm, how do we handle a potential error like this?
- exit(1);
+
+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++;
}
- //cerr << "Done" << endl;
- heading = rwy.heading;
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
-
-
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- 100000,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "BOD"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 10000;
- wpt->speed = speed;
- wpt->crossat = alt +19;
- wpt->gear_down = false;
- wpt->flaps_down= false;
- wpt->finished = false;
- wpt->on_ground = false;
- waypoints.push_back(wpt);
-
- // Ten thousand ft. Slowing down to 240 kts
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- 20*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = arr->elevation + 19;
- wpt->speed = 240;
- wpt->crossat = 10000;
- wpt->gear_down = false;
- wpt->flaps_down= false;
- wpt->finished = false;
- wpt->on_ground = false;
- waypoints.push_back(wpt);
-
- // Three thousand ft. Slowing down to 160 kts
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- 8*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = arr->elevation + 19;
- wpt->speed = 160;
- wpt->crossat = 3000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- waypoints.push_back(wpt);
- //Runway Threshold
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- rwy.length*0.45 * SG_FEET_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = arr->elevation + 19;
- wpt->speed = 15;
- wpt->crossat = arr->elevation + 19;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //Full stop at the runway centerpoint
- geo_direct_wgs_84 ( 0, rwy.lat, rwy.lon, azimuth,
- rwy.length*0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = rwy.lat;
- wpt->longitude = rwy.lon;
- wpt->altitude = arr->elevation + 19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
-direction = (rand() % 360);
-geo_direct_wgs_84 ( 0, arr->latitude, arr->longitude, direction,
- 100,
- &lat2, &lon2, &az2 );
-
- // Add the final destination waypoint
- wpt = new waypoint;
- wpt->name = arr->id; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = arr->elevation+19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- // And finally one more named "END"
- wpt = new waypoint;
- wpt->name = "END"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = true;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
+ if (wptvec == waypoints.end()) {
+ trackDistance = 0; // name not found
+ }
+ return trackDistance;
+}
- // And finally one more named "EOF"
- wpt = new waypoint;
- wpt->name = "EOF"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = true;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
+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