# 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;
waypoints.push_back(wpt);
}
}
- catch (const sg_exception &e) {
+ catch (const sg_exception &) {
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;
+ SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
}
}
}
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
time_t timeDiff = now-start;
leg = 1;
+ /*
if ((timeDiff > 300) && (timeDiff < 1200))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500))
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);
+ 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,
+ create(ac, dep,arr, leg, alt, speed, lat, lon,
firstLeg, radius, fltType, acType, airline);
wpt_iterator = waypoints.begin();
//cerr << "after create: " << (*wpt_iterator)->name << endl;
FGAIFlightPlan::~FGAIFlightPlan()
{
deleteWaypoints();
- if (taxiRoute)
- delete taxiRoute;
+ delete taxiRoute;
}
}
+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)*15) / (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);
+ //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
+ lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
// if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
// {
- // cerr << "Lead Distance = " << lead_distance
- // << "Diff = " << diff
- // << "Turn Radius = " << turn_radius
- // << "Speed = " << speed << endl;
// }
}
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
projects / flightgear.git / blobdiff