#include <math.h>
#include <algorithm>
-//#include <plib/sg.h>
-//#include <plib/ul.h>
-
-//#include <Environment/environment_mgr.hxx>
-//#include <Environment/environment.hxx>
-//#include <simgear/misc/sg_path.hxx>
-//#include <simgear/props/props.hxx>
-//#include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/route/waypoint.hxx>
-//#include <Main/globals.hxx>
-//#include <Main/fg_props.hxx>
-//#include <Airports/runways.hxx>
-#include <AIModel/AIFlightPlan.hxx>
+#include <Airports/dynamics.hxx>
-//#include STL_STRING
+#include <AIModel/AIFlightPlan.hxx>
#include "groundnetwork.hxx"
// doing this.
void FGTaxiSegment::setTrackDistance()
{
- //double course;
- SGWayPoint first (start->getLongitude(),
- start->getLatitude(),
- 0);
- SGWayPoint second (end->getLongitude(),
- end->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &length);
+ length = SGGeodesy::distanceM(start->getGeod(), end->getGeod());
}
{
if ((*j)->getEnd()->getIndex() == (*i)->getStart()->getIndex())
{
- int start1 = (*i)->getStart()->getIndex();
- int end1 = (*i)->getEnd() ->getIndex();
- int start2 = (*j)->getStart()->getIndex();
- int end2 = (*j)->getEnd()->getIndex();
- int oppIndex = (*j)->getIndex();
+// int start1 = (*i)->getStart()->getIndex();
+// int end1 = (*i)->getEnd() ->getIndex();
+// int start2 = (*j)->getStart()->getIndex();
+// int end2 = (*j)->getEnd()->getIndex();
+// int oppIndex = (*j)->getIndex();
//cerr << "Opposite of " << (*i)->getIndex() << " (" << start1 << "," << end1 << ") "
// << "happens to be " << oppIndex << " (" << start2 << "," << end2 << ") " << endl;
(*i)->setOpposite(*j);
//exit(1);
}
-
-
-int FGGroundNetwork::findNearestNode(double lat, double lon)
+int FGGroundNetwork::findNearestNode(const SGGeod& aGeod)
{
double minDist = HUGE_VAL;
- double dist;
- int index;
- SGWayPoint first (lon,
- lat,
- 0);
+ int index = -1;
- for (FGTaxiNodeVectorIterator
- itr = nodes.begin();
- itr != nodes.end(); itr++)
+ for (FGTaxiNodeVectorIterator itr = nodes.begin(); itr != nodes.end(); itr++)
+ {
+ double d = SGGeodesy::distanceM(aGeod, (*itr)->getGeod());
+ if (d < minDist)
{
- double course;
- SGWayPoint second ((*itr)->getLongitude(),
- (*itr)->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &dist);
- if (dist < minDist)
- {
- minDist = dist;
- index = (*itr)->getIndex();
- //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
- }
+ minDist = d;
+ index = (*itr)->getIndex();
+ //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
}
+ }
+
return index;
}
-FGTaxiNode *FGGroundNetwork::findNode(int idx)
+int FGGroundNetwork::findNearestNode(double lat, double lon)
+{
+ return findNearestNode(SGGeod::fromDeg(lon, lat));
+}
+
+FGTaxiNode *FGGroundNetwork::findNode(unsigned idx)
{ /*
for (FGTaxiNodeVectorIterator
itr = nodes.begin();
return 0;
}
-FGTaxiSegment *FGGroundNetwork::findSegment(int idx)
+FGTaxiSegment *FGGroundNetwork::findSegment(unsigned idx)
{/*
for (FGTaxiSegmentVectorIterator
itr = segments.begin();
return penalty;
}
-// void FGGroundNetwork::trace(FGTaxiNode *currNode, int end, int depth, double distance)
-// {
-// // Just check some preconditions of the trace algorithm
-// if (nodesStack.size() != routesStack.size())
-// {
-// SG_LOG(SG_GENERAL, SG_ALERT, "size of nodesStack and routesStack is not equal. NodesStack :"
-// << nodesStack.size() << ". RoutesStack : " << routesStack.size());
-// }
-// nodesStack.push_back(currNode->getIndex());
-// totalDistance += distance;
-// //cerr << "Starting trace " << currNode->getIndex() << " " << "total distance: " << totalDistance << endl;
-// // << currNode->getIndex() << endl;
-//
-// // If the current route matches the required end point we found a valid route
-// // So we can add this to the routing table
-// if (currNode->getIndex() == end)
-// {
-// maxDepth = depth;
-// //cerr << "Found route : " << totalDistance << "" << " " << *(nodesStack.end()-1) << " Depth = " << depth << endl;
-// routes.push_back(FGTaxiRoute(nodesStack,routesStack,totalDistance, depth));
-// if (nodesStack.empty() || routesStack.empty())
-// {
-// printRoutingError(string("while finishing route"));
-// }
-// nodesStack.pop_back();
-// routesStack.pop_back();
-// if (!(foundRoute)) {
-// maxDistance = totalDistance;
-// }
-// else
-// if (totalDistance < maxDistance)
-// maxDistance = totalDistance;
-// foundRoute = true;
-// totalDistance -= distance;
-// return;
-// }
-//
-//
-// // search if the currentNode has been encountered before
-// // if so, we should step back one level, because it is
-// // rather rediculous to proceed further from here.
-// // if the current node has not been encountered before,
-// // i should point to nodesStack.end()-1; and we can continue
-// // if i is not nodesStack.end, the previous node was found,
-// // and we should return.
-// // This only works at trace levels of 1 or higher though
-// if (depth > 0) {
-// intVecIterator i = nodesStack.begin();
-// while ((*i) != currNode->getIndex()) {
-// //cerr << "Route so far : " << (*i) << endl;
-// i++;
-// }
-// if (i != nodesStack.end()-1) {
-// if (nodesStack.empty() || routesStack.empty())
-// {
-// printRoutingError(string("while returning from an already encountered node"));
-// }
-// nodesStack.pop_back();
-// routesStack.pop_back();
-// totalDistance -= distance;
-// return;
-// }
-// if (depth >= maxDepth) {
-// count++;
-// if (!(count % 100000)) {
-// maxDepth--; // Gradually decrease maxdepth, to prevent "eternal searches"
-// //cerr << "Reducing maxdepth to " << maxDepth << endl;
-// }
-// nodesStack.pop_back();
-// routesStack.pop_back();
-// totalDistance -= distance;
-// return;
-// }
-// // If the total distance from start to the current waypoint
-// // is longer than that of a route we can also stop this trace
-// // and go back one level.
-// if ((totalDistance > maxDistance) && foundRoute)
-// //if (foundRoute)
-// {
-// //cerr << "Stopping rediculously long trace: " << totalDistance << endl;
-// if (nodesStack.empty() || routesStack.empty())
-// {
-// printRoutingError(string("while returning from finding a rediculously long route"));
-// }
-// nodesStack.pop_back();
-// routesStack.pop_back();
-// totalDistance -= distance;
-// return;
-// }
-// }
-/*
- //cerr << "2" << endl;
- if (currNode->getBeginRoute() != currNode->getEndRoute())
- {
- double course, length;
- //cerr << "3" << endl;
- // calculate distance and heading "as the crow flies" between starn and end points"
- SGWayPoint first(currNode->getLongitude(),
- currNode->getLatitude(),
- 0);
- //SGWayPoint second (lastNode->getLongitude(),
- // lastNode->getLatitude(),
- // 0);
-
- first.CourseAndDistance(destination, &course, &length);
- //for (FGTaxiSegmentVectorIterator
- // itr = segments.begin();
- // itr != segments.end(); itr++)
- // {
- // (*itr)->setCourseDiff(course);
- // }
- //FGTaxiNodeVectorIterator nde = nodes.begin();
- //while (nde != nodes.end()) {
- //(*nde)->sortEndSegments();
- //nde++;
-
- for (FGTaxiSegmentVectorIterator
- i = currNode->getBeginRoute();
- i != currNode->getEndRoute();
- i++)
- {
- (*i)->setCourseDiff(course);
- }
- currNode->sortEndSegments(foundRoute);
- for (FGTaxiSegmentVectorIterator
- i = currNode->getBeginRoute();
- i != currNode->getEndRoute();
- i++)
- {
- //cerr << (*i)->getLength() << endl;
- //cerr << (*i)->getIndex() << endl;
- int idx = (*i)->getIndex();
- routesStack.push_back((*i)->getIndex());
- trace((*i)->getEnd(), end, depth+1, (*i)->getLength());
- // {
- // // cerr << currNode -> getIndex() << " ";
- // route.push_back(currNode->getIndex());
- // return true;
- // }
- }
- }
- else
- {
- //SG_LOG( SG_GENERAL, SG_DEBUG, "4" );
- }
- if (nodesStack.empty())
- {
- printRoutingError(string("while finishing trace"));
- }
- nodesStack.pop_back();
- // Make sure not to dump the level-zero routesStack entry, because that was never created.
- if (depth)
- {
- routesStack.pop_back();
- //cerr << "leaving trace " << routesStack.size() << endl;
- }
- totalDistance -= distance;
- return;
-}*/
-/*
-void FGGroundNetwork::printRoutingError(string mess)
-{
- SG_LOG(SG_GENERAL, SG_ALERT, "Error in ground network trace algorithm " << mess);
- if (nodesStack.empty())
- {
- SG_LOG(SG_GENERAL, SG_ALERT, " nodesStack is empty. Dumping routesStack");
- for (intVecIterator i = routesStack.begin() ; i != routesStack.end(); i++)
- SG_LOG(SG_GENERAL, SG_ALERT, "Route " << (*i));
- }
- if (routesStack.empty())
- {
- SG_LOG(SG_GENERAL, SG_ALERT, " routesStack is empty. Dumping nodesStack");
- for (intVecIterator i = nodesStack.begin() ; i != nodesStack.end(); i++)
- SG_LOG(SG_GENERAL, SG_ALERT, "Node " << (*i));
- }
- //exit(1);
-}
-*/
+/* ATC Related Functions */
void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
double lat, double lon, double heading,
double speed, double alt, double radius, int leg,
- string callsign)
+ FGAIAircraft *aircraft)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id alread has an entry
rec.setPositionAndIntentions(currentPosition, intendedRoute);
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRadius(radius); // only need to do this when creating the record.
- rec.setCallSign(callsign);
+ rec.setAircraft(aircraft);
activeTraffic.push_back(rec);
} else {
i->setPositionAndIntentions(currentPosition, intendedRoute);
//closest = current;
previousInstruction = current->getSpeedAdjustment();
- double mindist = HUGE;
+ double mindist = HUGE_VAL;
if (activeTraffic.size())
{
- double course, dist, bearing, minbearing;
- SGWayPoint curr (lon,
- lat,
- alt);
+ double course, dist, bearing, minbearing, az2;
+ SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
//TrafficVector iterator closest;
closest = current;
for (TrafficVectorIterator i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
- if (i != current) {
- //SGWayPoint curr (lon,
- // lat,
- // alt);
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- other.CourseAndDistance(curr, &course, &dist);
- bearing = fabs(heading-course);
+ if (i == current) {
+ continue;
+ }
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(), i->getAltitude()));
+ SGGeodesy::inverse(curr, other, course, az2, dist);
+ bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
closest = i;
minbearing = bearing;
}
- }
}
//Check traffic at the tower controller
if (towerController->hasActiveTraffic())
i != towerController->getActiveTraffic().end(); i++)
{
//cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
- //SGWayPoint curr (lon,
- // lat,
- // alt);
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- other.CourseAndDistance(curr, &course, &dist);
- bearing = fabs(heading-course);
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(), i->getAltitude()));
+ SGGeodesy::inverse(curr, other, course, az2, dist);
+ bearing = fabs(heading-course);
if (bearing > 180)
- bearing = 360-bearing;
+ bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
{
mindist = dist;
// Finally, check UserPosition
double userLatitude = fgGetDouble("/position/latitude-deg");
double userLongitude = fgGetDouble("/position/longitude-deg");
- SGWayPoint user (userLongitude,
- userLatitude,
- alt); // Alt is not really important here.
- user.CourseAndDistance(curr, &course, &dist);
+ SGGeod user(SGGeod::fromDeg(userLatitude,userLongitude));
+ SGGeodesy::inverse(user, curr, course, az2, dist);
+
bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
}
current = i;
current->setHoldPosition(false);
- SGWayPoint curr (lon,
- lat,
- alt);
- double course, dist, bearing, minbearing;
+ SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
+
for (i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
int node = current->crosses(this, *i);
if (node != -1)
{
+ FGTaxiNode* taxiNode = findNode(node);
+
// Determine whether it's save to continue or not.
// If we have a crossing route, there are two possibilities:
// 1) This is an interestion
// 2) This is oncoming two-way traffic, using the same taxiway.
//cerr << "Hold check 1 : " << id << " has common node " << node << endl;
- SGWayPoint nodePos(findNode(node)->getLongitude (),
- findNode(node)->getLatitude (),
- alt);
-
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- //other.CourseAndDistance(curr, &course, &dist);
- bool needsToWait;
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(), i->getLatitude(), i->getAltitude()));
+ bool needsToWait;
bool opposing;
if (current->isOpposing(this, *i, node))
{
else
{
opposing = false;
- other.CourseAndDistance(nodePos, &course, &dist);
- if (dist > 200) // 2.0*i->getRadius())
+ if (SGGeodesy::distanceM(other, taxiNode->getGeod()) > 200) // 2.0*i->getRadius())
{
needsToWait = false;
//cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue "
//cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl;
}
}
- curr.CourseAndDistance(nodePos, &course, &dist);
- if (!(i->hasHoldPosition()))
+
+ double dist = SGGeodesy::distanceM(curr, taxiNode->getGeod());
+ if (!(i->hasHoldPosition()))
{
if ((dist < 200) && //2.5*current->getRadius()) &&
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