-// 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
//
//
// 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/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/dynamics.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;
+
+FGAIWaypoint::FGAIWaypoint() {
+ 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;
+}
+
+double FGAIWaypoint::getLatitude()
{
- int i;
- SGPath path( globals->get_fg_root() );
- path.append( ("/Data/AI/FlightPlans/" + filename).c_str() );
- SGPropertyNode root;
+ return pos.getLatitudeDeg();
+}
- try {
- readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "Error reading AI flight plan: ");
- cout << path.str() << endl;
- return;
- }
+double FGAIWaypoint::getLongitude()
+{
+ return pos.getLongitudeDeg();
+}
- 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->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);
- }
+double FGAIWaypoint::getAltitude()
+{
+ return pos.getElevationFt();
+}
- wpt_iterator = waypoints.begin();
- //cout << waypoints.size() << " waypoints read." << endl;
+void FGAIWaypoint::setLatitude(double lat)
+{
+ pos.setLatitudeDeg(lat);
}
+void FGAIWaypoint::setLongitude(double lon)
+{
+ pos.setLongitudeDeg(lon);
+}
+
+void FGAIWaypoint::setAltitude(double alt)
+{
+ pos.setElevationFt(alt);
+}
+
+FGAIFlightPlan::FGAIFlightPlan()
+{
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = 0;
+ arrivalTime = 0;
+ leg = 10;
+ lastNodeVisited = 0;
+ // taxiRoute = 0;
+ wpt_iterator = waypoints.begin();
+ isValid = true;
+}
+
+FGAIFlightPlan::FGAIFlightPlan(const string& filename)
+{
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = 0;
+ arrivalTime = 0;
+ leg = 10;
+ lastNodeVisited = 0;
+// taxiRoute = 0;
+
+
+ isValid = parseProperties(filename);
+}
+
+
+// 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) :
+ departure(dep),
+ arrival(arr)
+{
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = start;
+ arrivalTime = 0;
+ leg = 10;
+ lastNodeVisited = 0;
+ // taxiRoute = 0;
+
+ if (parseProperties(p)) {
+ isValid = true;
+ } else {
+ createWaypoints(ac, course, start, dep, arr, firstLeg, radius,
+ alt, lat, lon, speed, fltType, acType, airline);
+ }
+}
FGAIFlightPlan::~FGAIFlightPlan()
{
- waypoints.clear();
+ deleteWaypoints();
+ //delete taxiRoute;
+}
+
+void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
+ 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)
+{
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ time_t timeDiff = now-start;
+ leg = 1;
+
+ if ((timeDiff > 60) && (timeDiff < 1500))
+ leg = 2;
+ //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;
+ /*
+ 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();
+ bool dist = 0;
+ isValid = create(ac, dep, arr, leg, alt, speed, lat, lon,
+ firstLeg, radius, fltType, acType, airline, dist);
+ wpt_iterator = waypoints.begin();
}
+bool FGAIFlightPlan::parseProperties(const std::string& filename)
+{
+ SGPath path( globals->get_fg_root() );
+ path.append( "/AI/FlightPlans/" + filename );
+ if (!path.exists()) {
+ return false;
+ }
+
+ SGPropertyNode root;
+ try {
+ readProperties(path.str(), &root);
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << path.str()
+ << "message:" << e.getFormattedMessage());
+ return false;
+ }
+
+ SGPropertyNode * node = root.getNode("flightplan");
+ for (int i = 0; i < node->nChildren(); i++) {
+ FGAIWaypoint* wpt = new FGAIWaypoint;
+ SGPropertyNode * wpt_node = node->getChild(i);
+ 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", "" ));
+ wpt->setFinished ((wpt->getName() == "END"));
+ pushBackWaypoint( wpt );
+ }
+
+ wpt_iterator = waypoints.begin();
+ return true;
+}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getPreviousWaypoint( void )
+FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
}
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getCurrentWaypoint( void )
+FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
{
+ if (wpt_iterator == waypoints.end())
+ return 0;
return *wpt_iterator;
}
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getNextWaypoint( void )
+FGAIWaypoint* 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 )
+{
+ 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 )
{
- wpt_iterator++;
+ 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){
- // 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, FGAIWaypoint* wp) const{
+ return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), wp->getPos());
}
// 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
+ FGAIWaypoint* current, FGAIWaypoint* next){
+ 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)*fabs(speed)) / (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 ((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){
- return getBearing(first->latitude, first->longitude, second);
+double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const
+{
+ return SGGeodesy::courseDeg(first->getPos(), second->getPos());
}
+double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
+{
+ return SGGeodesy::courseDeg(aPos, wp->getPos());
+}
-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);
+void FGAIFlightPlan::deleteWaypoints()
+{
+ for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
+ delete (*i);
+ waypoints.clear();
+}
- if (lond < 0.0) lond+=360.0;
- if (lont < 0.0) lont+=360.0;
- latd+=90.0;
- latt+=90.0;
+// 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
+ {
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt_vector_iterator i = waypoints.end();
+ i--;
+ wpt->setName ( (*i)->getName() );
+ wpt->setPos ( (*i)->getPos() );
+ 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();
+ pushBackWaypoint(wpt);
+ }
+}
- 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;
+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;
+}
- 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;
+// Start flightplan over from the beginning
+void FGAIFlightPlan::restart()
+{
+ wpt_iterator = waypoints.begin();
}
+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);
+}
+
+void FGAIFlightPlan::setGate(ParkingAssignment pka)
+{
+ gate = pka;
+}
+FGParking* FGAIFlightPlan::getParkingGate()
+{
+ return gate.parking();
+}