-// 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
//
#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>
#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.hxx>
#include "AIFlightPlan.hxx"
+#include "AIAircraft.hxx"
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;
+}
-FGAIFlightPlan::FGAIFlightPlan(const string& filename)
+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;
- start_time = 0;
- leg = 10;
- gateId = 0;
- taxiRoute = 0;
- SGPath path( globals->get_fg_root() );
- path.append( ("/AI/FlightPlans/" + filename).c_str() );
- SGPropertyNode root;
- repeat = false;
+ return pos.getLatitudeDeg();
+}
- try {
- readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "Error reading AI flight plan: " << path.str());
- // 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;
- 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);
- 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 );
- }
+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);
}
// traffic manager.
FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
const std::string& p,
- double course,
- time_t start,
- FGAirport *dep,
- FGAirport *arr,
- bool firstLeg,
- double radius,
+ 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)
+ const string& fltType,
+ const string& acType,
+ const string& airline) :
+ departure(dep),
+ arrival(arr)
{
- 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 &e) {
- 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);
- 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;
+ 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()
{
deleteWaypoints();
- delete taxiRoute;
+ //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();
+}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getPreviousWaypoint( void ) const
+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;
+}
+
+FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
}
}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getCurrentWaypoint( void ) const
+FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
{
+ if (wpt_iterator == waypoints.end())
+ return 0;
return *wpt_iterator;
}
-FGAIFlightPlan::waypoint* const
-FGAIFlightPlan::getNextWaypoint( void ) const
+FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
{
wpt_vector_iterator i = waypoints.end();
i--; // end() points to one element after the last one.
}
+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--;
+}
+
+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) const{
- return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
- SGGeod::fromDeg(wp->longitude, wp->latitude));
+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){
+ 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
return;
}
if (speed < 25) {
- turn_radius = ((360/30)*15) / (2*M_PI);
+ turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
} else
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
//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)
- // {
- // }
+ /*
+ 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) const{
- 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(double lat, double lon, waypoint* wp) const{
- return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
- SGGeod::fromDeg(wp->longitude, wp->latitude));
+double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
+{
+ return SGGeodesy::courseDeg(aPos, wp->getPos());
}
void FGAIFlightPlan::deleteWaypoints()
return;
else
{
- waypoint *wpt = new waypoint;
+ FGAIWaypoint *wpt = new FGAIWaypoint;
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;
+ 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();
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
}
+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;
+}
+
// 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;
+}
-void FGAIFlightPlan::deleteTaxiRoute()
+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)
{
- delete taxiRoute;
- taxiRoute = 0;
+ while (waypoints.size() > number + 3) {
+ eraseLastWaypoint();
+ }
+ (waypoints.back())->setName((waypoints.back())->getName() + name);
}
+void FGAIFlightPlan::setGate(ParkingAssignment pka)
+{
+ gate = pka;
+}
-int FGAIFlightPlan::getRouteIndex(int i) {
- if ((i > 0) && (i < waypoints.size())) {
- return waypoints[i]->routeIndex;
- }
- else
- return 0;
+FGParking* FGAIFlightPlan::getParkingGate()
+{
+ return gate.parking();
}
projects / flightgear.git / blobdiff