//
// 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 "AIFlightPlan.hxx"
#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"
-FGAIFlightPlan::FGAIFlightPlan(string filename)
+using std::cerr;
+
+FGAIFlightPlan::FGAIFlightPlan()
+{
+ sid = 0;
+}
+
+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: ");
- cout << path.str() << endl;
- return;
+ "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;
- waypoints.push_back( wpt );
SGPropertyNode * wpt_node = node->getChild(i);
wpt->name = wpt_node->getStringValue("name", "END");
wpt->latitude = wpt_node->getDoubleValue("lat", 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_iterator = waypoints.begin();
}
+// This is a modified version of the constructor,
+// Which not only reads the waypoints from a
+// Flight plan file, but also adds the current
+// Position computed by the traffic manager, as well
+// as setting speeds and altitude computed by the
+// traffic manager.
+FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
+ const std::string& p,
+ double course,
+ time_t start,
+ FGAirport *dep,
+ 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( "/AI/FlightPlans" );
+ path.append( p );
+
+ SGPropertyNode root;
+
+ // 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
+ // an AI aircraft. However, if a course value of 999 will be passed
+ // when an update request is received, which will by definition always be
+ // on the ground and should include all waypoints.
+ if (course == 999)
+ {
+ useInitialWayPoint = false;
+ useCurrentWayPoint = true;
+ }
+
+ if (path.exists())
+ {
+ 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 (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");
+ }
+ }
+ }
+ 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))
+ leg = 2;
+ else if ((timeDiff >= 1200) && (timeDiff < 1500))
+ leg = 3;
+ 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);
+ 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()
{
- waypoints.clear();
+ deleteWaypoints();
+ delete taxiRoute;
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getPreviousWaypoint( void )
+FGAIFlightPlan::waypoint* const
+FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
}
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getCurrentWaypoint( void )
+FGAIFlightPlan::waypoint* const
+FGAIFlightPlan::getCurrentWaypoint( void ) const
{
return *wpt_iterator;
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getNextWaypoint( void )
+FGAIFlightPlan::waypoint* 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 )
{
- wpt_iterator++;
+ 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--;
+
}
+
// 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, waypoint* wp) const{
+ 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 = 0.1911 * speed * speed; // an estimate for 25 degrees bank
+ 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)*15) / (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 ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
+ // {
+ // }
}
void FGAIFlightPlan::setLeadDistance(double distance_ft){
}
-double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second){
+double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
return getBearing(first->latitude, first->longitude, second);
}
-double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp){
- 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);
+double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
+ return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
+ SGGeod::fromDeg(wp->longitude, wp->latitude));
+}
- if (lond < 0.0) lond+=360.0;
- if (lont < 0.0) lont+=360.0;
- latd+=90.0;
- latt+=90.0;
+void FGAIFlightPlan::deleteWaypoints()
+{
+ for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
+ delete (*i);
+ waypoints.clear();
+}
+
+// Delete all waypoints except the last,
+// which we will recycle as the first waypoint in the next leg;
+void FGAIFlightPlan::resetWaypoints()
+{
+ if (waypoints.begin() == waypoints.end())
+ return;
+ else
+ {
+ waypoint *wpt = new waypoint;
+ 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;
+ //cerr << "Recycling waypoint " << wpt->name << endl;
+ deleteWaypoints();
+ waypoints.push_back(wpt);
+ }
+}
+
+// Start flightplan over from the beginning
+void FGAIFlightPlan::restart()
+{
+ wpt_iterator = waypoints.begin();
+}
- 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;
+void FGAIFlightPlan::deleteTaxiRoute()
+{
+ delete taxiRoute;
+ taxiRoute = 0;
}
+int FGAIFlightPlan::getRouteIndex(int i) {
+ if ((i > 0) && (i < (int)waypoints.size())) {
+ return waypoints[i]->routeIndex;
+ }
+ else
+ return 0;
+}
projects / flightgear.git / blobdiff