-// 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
//
# 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;
+
+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;
+ 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( ("/AI/FlightPlans/" + filename).c_str() );
SGPropertyNode root;
try {
readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
+ } catch (const sg_exception &) {
+ SG_LOG(SG_AI, SG_ALERT,
"Error reading AI flight plan: " << path.str());
// cout << path.str() << endl;
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(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;
+ taxiRoute = 0;
start_time = start;
bool useInitialWayPoint = true;
bool useCurrentWayPoint = false;
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 &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;
- }
- }
+ 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_AI, 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;
-
- //cerr << "Set leg to : " << leg << endl;
+ /*
+ if (timeDiff >= 2000)
+ leg = 5;
+ */
+ SG_LOG(SG_AI, 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;
+ 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;
}
- /*
- 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,
- init_waypoint->latitude,
- init_waypoint->altitude);
- SGWayPoint curr ((*i)->longitude,
- (*i)->latitude,
- (*i)->altitude);
- double crse, crsDiff;
- double dist;
- curr.CourseAndDistance(first, &crse, &dist);
-
- dist *= SG_METER_TO_NM;
-
- // We're only interested in the absolute value of crsDiff
- // wich should fall in the 0-180 deg range.
- crsDiff = fabs(crse-course);
- if (crsDiff > 180)
- crsDiff = 360-crsDiff;
- // These are the three conditions that we consider including
- // in our flight plan:
- // 1) current waypoint is less then 100 miles away OR
- // 2) curren waypoint is ahead of us, at any distance
-
- if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
- {
- //useWpt = false;
- // Once we start including waypoints, we have to continue, even though
- // one of the following way point would suffice.
- // so once is the useWpt flag is set to true, we cannot reset it to false.
- //cerr << "Discarding waypoint: " << (*i)->name
- // << ": Course difference = " << crsDiff
- // << "Course = " << course
- // << "crse = " << crse << endl;
- }
- else
- useCurrentWayPoint = true;
-
- if (useCurrentWayPoint)
- {
- if ((dist > 100.0) && (useInitialWayPoint))
- {
- //waypoints.push_back(init_waypoint);;
- waypoints.insert(i, init_waypoint);
- //cerr << "Using waypoint : " << init_waypoint->name << endl;
- }
- //if (useInitialWayPoint)
- // {
- // (*i)->speed = dist; // A hack
- // }
- //waypoints.push_back( wpt );
- //cerr << "Using waypoint : " << (*i)->name
- // << ": course diff : " << crsDiff
- // << "Course = " << course
- // << "crse = " << crse << endl
- // << "distance : " << dist << endl;
- useInitialWayPoint = false;
- i++;
- }
- else
- {
- //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();
- //cout << waypoints.size() << " waypoints read." << endl;
+
}
FGAIFlightPlan::~FGAIFlightPlan()
{
deleteWaypoints();
- //waypoints.clear();
- //while (waypoints.begin() != waypoints.end())
- // {
- // delete *(waypoints.begin());
- // waypoints.erase (waypoints.begin());
- // }
+ delete taxiRoute;
}
-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::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()
+{
+ 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{
- // 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));
+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){
+ FGAIWaypoint* current, FGAIWaypoint* 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(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 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;
- // }
-
+double FGAIFlightPlan::getBearing(double lat, double lon, FGAIWaypoint* wp) const{
+ return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
+ SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
}
-
-
void FGAIFlightPlan::deleteWaypoints()
{
for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
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()
{
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;
+}
+
+
+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);
+}