# include <config.h>
#endif
+#include <iostream>
+
#include <simgear/misc/sg_path.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/route/waypoint.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;
+
+FGAIFlightPlan::FGAIFlightPlan()
+{
+ sid = 0;
+}
FGAIFlightPlan::FGAIFlightPlan(const string& filename)
{
int i;
+ sid = 0;
start_time = 0;
leg = 10;
gateId = 0;
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;
// Position computed by the traffic manager, as well
// as setting speeds and altitude computed by the
// traffic manager.
-FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
+FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
+ const std::string& p,
double course,
time_t start,
FGAirport *dep,
const string& acType,
const string& airline)
{
+ sid = 0;
repeat = false;
leg = 10;
gateId=0;
if (wpt->name == "END") wpt->finished = true;
else wpt->finished = false;
waypoints.push_back(wpt);
- }
- }
- catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "Error reading AI flight plan: ");
- cerr << "Errno = " << errno << endl;
- if (errno == ENOENT)
- {
- cerr << "Reason: No such file or directory" << endl;
- }
- }
+ } // of node loop
+ } 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 < 1200))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500))
leg = 3;
leg = 4;
else if (timeDiff >= 2000)
leg = 5;
-
- //cerr << "Set leg to : " << leg << endl;
+ /*
+ 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(dep,arr, leg, alt, speed, lat, lon,
- firstLeg, radius, fltType, acType, airline);
+ bool dist = 0;
+ 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++;
FGAIFlightPlan::~FGAIFlightPlan()
{
deleteWaypoints();
- if (taxiRoute)
- delete taxiRoute;
+ delete taxiRoute;
}
}
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--;
+
}
+
// gives distance in feet from a position to a waypoint
double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
- // get size of a degree2 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));
+ return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
+ SGGeod::fromDeg(wp->longitude, wp->latitude));
}
// 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;
- if (fabs(speed) > 1)
+ // 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
- else
- turn_radius = 1.0;
double inbound = bearing;
double outbound = getBearing(current, next);
leadInAngle = fabs(inbound - outbound);
if (leadInAngle > 180.0)
leadInAngle = 360.0 - leadInAngle;
- if (leadInAngle < 1.0) // To prevent lead_dist from getting so small it is skipped
- leadInAngle = 1.0;
+ //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);
- // if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
- // {
- // cerr << "Lead Distance = " << lead_distance
- // << "Diff = " << diff
- // << "Turn Radius = " << turn_radius
- // << "Speed = " << speed << endl;
- // }
+ //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(double lat, double lon, waypoint* wp) const{
- 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.
- //if ((errno == EDOM) || (errno == ERANGE))
- // {
- // cerr << "Lon: " << wp->longitude
- // << "Lat = " << wp->latitude
- // << "Tgt Lon = " <<
- // << "TgT Lat = " << speed << endl;
- // }
-
+ return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
+ SGGeod::fromDeg(wp->longitude, wp->latitude));
}
-
-
void FGAIFlightPlan::deleteWaypoints()
{
for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
void FGAIFlightPlan::deleteTaxiRoute()
{
- if (taxiRoute)
- delete taxiRoute;
+ delete taxiRoute;
taxiRoute = 0;
}
int FGAIFlightPlan::getRouteIndex(int i) {
- if ((i > 0) && (i < waypoints.size())) {
+ if ((i > 0) && (i < (int)waypoints.size())) {
return waypoints[i]->routeIndex;
}
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)->name != wptName)) {
+ trackDistance += (*wptvec)->trackLength;
+ wptvec++;
+ }
+ if (wptvec == waypoints.end()) {
+ trackDistance = 0; // name not found
+ }
+ return trackDistance;
+}
\ No newline at end of file