// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-#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__
#include <simgear/props/props.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <Main/fg_init.hxx>
+#include <Airports/simple.hxx>
+#include <Airports/runways.hxx>
+
+
+#include <Environment/environment_mgr.hxx>
+#include <Environment/environment.hxx>
+
+#include "AIFlightPlan.hxx"
FGAIFlightPlan::FGAIFlightPlan(string filename)
{
int i;
+ start_time = 0;
SGPath path( globals->get_fg_root() );
path.append( ("/Data/AI/FlightPlans/" + filename).c_str() );
SGPropertyNode root;
readProperties(path.str(), &root);
} catch (const sg_exception &e) {
SG_LOG(SG_GENERAL, SG_ALERT,
- "Error reading AI flight plan: ");
- cout << path.str() << endl;
+ "Error reading AI flight plan: " << path.str());
+ // cout << path.str() << endl;
return;
}
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;
}
+// 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(FGAIModelEntity *entity,
+ double course,
+ time_t start,
+ FGAirport *dep,
+ FGAirport *arr)
+{
+ start_time = start;
+ bool useInitialWayPoint = true;
+ bool useCurrentWayPoint = false;
+ SGPath path( globals->get_fg_root() );
+ path.append( "/Data/AI/FlightPlans" );
+ path.append( entity->path );
+ 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;
+ }
+
+ 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 &e) {
+ //SG_LOG(SG_GENERAL, SG_ALERT,
+ // "Error reading AI flight plan: ");
+ // cout << path.str() << endl;
+ // cout << "Trying to create this plan dynamically" << endl;
+ // cout << "Route from " << dep->id << " to " << arr->id << endl;
+ create(dep,arr, entity->altitude, entity->speed);
+ // 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();
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);
-
- if (lond < 0.0) lond+=360.0;
- if (lont < 0.0) 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;
+ 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.
- return 0;
+
}
+/* FGAIFlightPlan::create()
+ * dynamically create a flight plan for AI traffic, based on data provided by the
+ * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
+ *
+ * Probably need to split this into separate functions for different parts of the flight
+
+ * once the code matures a bit more.
+ *
+ */
+void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, double alt, double speed)
+{
+double wind_speed;
+ double wind_heading;
+ FGRunway rwy;
+ double lat, lon, az;
+ double lat2, lon2, az2;
+ int direction;
+
+ //waypoints.push_back(wpt);
+ // Create the outbound taxi leg, for now simplified as a
+ // Direct route from the airport center point to the start
+ // of the runway.
+ ///////////////////////////////////////////////////////////
+ //cerr << "Cruise Alt << " << alt << endl;
+ // Temporary code to add some small random variation to aircraft parking positions;
+ direction = (rand() % 360);
+geo_direct_wgs_84 ( 0, dep->_latitude, dep->_longitude, direction,
+ 100,
+ &lat2, &lon2, &az2 );
+ waypoint *wpt = new waypoint;
+ wpt->name = dep->_id; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = dep->_elevation + 19; // probably need to add some model height to it
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ // Get the current active runway, based on code from David Luff
+ FGEnvironment
+ stationweather = ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
+ ->getEnvironment(dep->_latitude, dep->_longitude, dep->_elevation);
+
+ wind_speed = stationweather.get_wind_speed_kt();
+ wind_heading = stationweather.get_wind_from_heading_deg();
+ if (wind_speed == 0) {
+ wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
+ // which is consistent with Flightgear's initial setup.
+ }
+
+ string rwy_no = globals->get_runways()->search(dep->_id, int(wind_heading));
+ if (!(globals->get_runways()->search(dep->_id, (int) wind_heading, &rwy )))
+ {
+ cout << "Failed to find runway for " << dep->_id << endl;
+ // Hmm, how do we handle a potential error like this?
+ exit(1);
+ }
+
+
+ double heading = rwy._heading;
+ double azimuth = heading + 180.0;
+ while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
+ &lat2, &lon2, &az2 );
+
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = rwy._id;
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = dep->_elevation + 19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //Next: The point on the runway where we begin to accelerate to take-off speed
+ //100 meters down the runway seems to work. Shorter distances cause problems with
+ // the turn with larger aircraft
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "accel";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = dep->_elevation + 19;
+ wpt->speed = speed;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ lat = lat2;
+ lon = lon2;
+ az = az2;
+
+ //Next: the Start of Climb
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 2560 * SG_FEET_TO_METER,
+ &lat2, &lon2, &az2 );
+
+ wpt = new waypoint;
+ wpt->name = "SOC";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = alt + 19;
+ wpt->speed = speed;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+
+//Next: the Top of Climb
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 20*SG_NM_TO_METER,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "10000ft climb";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = 10000;
+ wpt->speed = speed;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+
+
+
+ //Beginning of Decent
+ stationweather = ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
+ ->getEnvironment(arr->_latitude, arr->_longitude, arr->_elevation);
+
+ wind_speed = stationweather.get_wind_speed_kt();
+ wind_heading = stationweather.get_wind_from_heading_deg();
+
+ if (wind_speed == 0) {
+ wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
+ // which is consistent with Flightgear's initial setup.
+ }
+
+ rwy_no = globals->get_runways()->search(arr->_id, int(wind_heading));
+ //cout << "Using runway # " << rwy_no << " for departure at " << dep->_id << endl;
+
+ if (!(globals->get_runways()->search(arr->_id, (int) wind_heading, &rwy )))
+ {
+ cout << "Failed to find runway for " << arr->_id << endl;
+ // Hmm, how do we handle a potential error like this?
+ exit(1);
+ }
+ //cerr << "Done" << endl;
+ heading = rwy._heading;
+ azimuth = heading + 180.0;
+ while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
+
+
+
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ 100000,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "BOD"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = 10000;
+ wpt->speed = speed;
+ wpt->crossat = alt +19;
+ wpt->gear_down = false;
+ wpt->flaps_down= false;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+
+ // Ten thousand ft. Slowing down to 240 kts
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ 20*SG_NM_TO_METER,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = arr->_elevation + 19;
+ wpt->speed = 240;
+ wpt->crossat = 10000;
+ wpt->gear_down = false;
+ wpt->flaps_down= false;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+
+ // Three thousand ft. Slowing down to 160 kts
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ 8*SG_NM_TO_METER,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = arr->_elevation + 19;
+ wpt->speed = 160;
+ wpt->crossat = 3000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+ //Runway Threshold
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ rwy._length*0.45 * SG_FEET_TO_METER,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = arr->_elevation + 19;
+ wpt->speed = 15;
+ wpt->crossat = arr->_elevation + 19;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //Full stop at the runway centerpoint
+ geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
+ rwy._length*0.45,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = rwy._lat;
+ wpt->longitude = rwy._lon;
+ wpt->altitude = arr->_elevation + 19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+direction = (rand() % 360);
+geo_direct_wgs_84 ( 0, arr->_latitude, arr->_longitude, direction,
+ 100,
+ &lat2, &lon2, &az2 );
+
+ // Add the final destination waypoint
+ wpt = new waypoint;
+ wpt->name = arr->_id; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = arr->_elevation+19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ // And finally one more named "END"
+ wpt = new waypoint;
+ wpt->name = "END"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = 19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = true;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ // And finally one more named "EOF"
+ wpt = new waypoint;
+ wpt->name = "EOF"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = 19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = true;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+}
projects / flightgear.git / blobdiff