#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>
FGAIFlightPlan::FGAIFlightPlan()
{
- rwy = 0;
- sid = 0;
- repeat = false;
- distance_to_go = 0;
- lead_distance = 0;
- start_time = 0;
- arrivalTime = 0;
- leg = 10;
- gateId = 0;
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = 0;
+ arrivalTime = 0;
+ leg = 10;
+ gateId = 0;
lastNodeVisited = 0;
- taxiRoute = 0;
- wpt_iterator = waypoints.begin();
- isValid = true;
+ taxiRoute = 0;
+ wpt_iterator = waypoints.begin();
+ isValid = true;
}
FGAIFlightPlan::FGAIFlightPlan(const string& filename)
{
- int i;
- sid = 0;
- start_time = 0;
- leg = 10;
- gateId = 0;
- taxiRoute = 0;
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = 0;
+ arrivalTime = 0;
+ leg = 10;
+ gateId = 0;
+ lastNodeVisited = 0;
+ taxiRoute = 0;
+
SGPath path( globals->get_fg_root() );
path.append( ("/AI/FlightPlans/" + filename).c_str() );
SGPropertyNode root;
- repeat = false;
try {
readProperties(path.str(), &root);
} catch (const sg_exception &) {
- SG_LOG(SG_GENERAL, SG_ALERT,
+ SG_LOG(SG_AI, SG_ALERT,
"Error reading AI flight plan: " << path.str());
// cout << path.str() << endl;
return;
}
SGPropertyNode * node = root.getNode("flightplan");
- for (i = 0; i < node->nChildren(); i++) {
+ for (int i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
FGAIWaypoint* wpt = new FGAIWaypoint;
SGPropertyNode * wpt_node = node->getChild(i);
if (wpt->getName() == "END") wpt->setFinished(true);
else wpt->setFinished(false);
- waypoints.push_back( wpt );
+ pushBackWaypoint( wpt );
}
wpt_iterator = waypoints.begin();
// 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)
{
- sid = 0;
- repeat = false;
- leg = 10;
- gateId=0;
- taxiRoute = 0;
- start_time = start;
- bool useInitialWayPoint = true;
- bool useCurrentWayPoint = false;
+ sid = 0;
+ repeat = false;
+ distance_to_go = 0;
+ lead_distance = 0;
+ start_time = start;
+ arrivalTime = 0;
+ leg = 10;
+ gateId = 0;
+ lastNodeVisited = 0;
+ taxiRoute = 0;
+
SGPath path( globals->get_fg_root() );
path.append( "/AI/FlightPlans" );
path.append( p );
SGPropertyNode root;
isValid = true;
+
// 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;
- }
+// bool useInitialWayPoint = true;
+// bool useCurrentWayPoint = false;
+// if (course == 999)
+// {
+// useInitialWayPoint = false;
+// useCurrentWayPoint = true;
+// }
if (path.exists())
{
SGPropertyNode * node = root.getNode("flightplan");
- //waypoints.push_back( init_waypoint );
+ //pushBackWaypoint( init_waypoint );
for (int i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
FGAIWaypoint* wpt = new FGAIWaypoint;
if (wpt->getName() == "END") wpt->setFinished(true);
else wpt->setFinished(false);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
} // of node loop
wpt_iterator = waypoints.begin();
} catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " <<
+ SG_LOG(SG_AI, SG_WARN, "Error reading AI flight plan: " <<
e.getMessage() << " from " << e.getOrigin());
}
} else {
time_t timeDiff = now-start;
leg = 1;
- if ((timeDiff > 60) && (timeDiff < 1200))
+ if ((timeDiff > 60) && (timeDiff < 1500))
leg = 2;
- else if ((timeDiff >= 1200) && (timeDiff < 1500))
- leg = 3;
+ //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
+ //leg = 3;
+ //ac->setTakeOffStatus(2);
+ //}
else if ((timeDiff >= 1500) && (timeDiff < 2000))
leg = 4;
else if (timeDiff >= 2000)
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());
+ 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();
- //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;
+
}
FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
{
+ if (wpt_iterator == waypoints.end())
+ return 0;
return *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, FGAIWaypoint* wp) const{
return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
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()
{
trackDistance = 0; // name not found
}
return trackDistance;
-}
\ No newline at end of file
+}
+
+void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
+{
+ while (waypoints.size() > number + 3) {
+ eraseLastWaypoint();
+ }
+ (waypoints.back())->setName((waypoints.back())->getName() + name);
+}
projects / flightgear.git / blobdiff