//
// 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"
+using std::cerr;
-FGAIFlightPlan::FGAIFlightPlan(string filename)
+
+FGAIFlightPlan::FGAIFlightPlan(const string& filename)
{
int i;
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);
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;
// Position computed by the traffic manager, as well
// as setting speeds and altitude computed by the
// traffic manager.
-FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
+FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
double course,
time_t start,
FGAirport *dep,
FGAirport *arr,
bool firstLeg,
double radius,
- string fltType,
- string acType,
- string airline)
+ double alt,
+ double lat,
+ double lon,
+ double speed,
+ const string& fltType,
+ const string& acType,
+ const string& airline)
{
+ 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 );
+ path.append( "/AI/FlightPlans" );
+ path.append( p );
+
SGPropertyNode root;
// This is a bit of a hack:
}
}
catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
+ 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;
-
- //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);
wpt_iterator = waypoints.begin();
- create(dep,arr, leg, entity->altitude, entity->speed, entity->latitude, entity->longitude,
+ create(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();
- //waypoints.clear();
- //while (waypoints.begin() != waypoints.end())
- // {
- // delete *(waypoints.begin());
- // waypoints.erase (waypoints.begin());
- // }
+ 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
{
wpt_vector_iterator i = waypoints.end();
i--; // end() points to one element after the last one.
}
else
wpt_iterator++;
+
}
// gives distance in feet from a position to a waypoint
-double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp){
+double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
+ double course, distance;
// 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 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));
+ SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
+ sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
+ return distance;
}
// 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(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 FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
double course, distance;
// double latd = lat;
// double lond = lon;
waypoints.push_back(wpt);
}
}
+
+// 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 < waypoints.size())) {
+ return waypoints[i]->routeIndex;
+ }
+ else
+ return 0;
+}
projects / flightgear.git / blobdiff