# include <config.h>
#endif
-#include <simgear/compiler.h>
+#ifdef HAVE_WINDOWS_H
+#include <time.h>
+#endif
-#include <Airports/simple.hxx>
-#include <FDM/flight.hxx>
-#include <Main/fg_props.hxx>
-#include <Navaids/fixlist.hxx>
-#include <Navaids/navlist.hxx>
+#include <simgear/compiler.h>
#include "route_mgr.hxx"
+#include <boost/algorithm/string/case_conv.hpp>
+
+#include <simgear/misc/strutils.hxx>
+#include <simgear/structure/exception.hxx>
+
+#include <simgear/props/props_io.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/route/route.hxx>
+#include <simgear/sg_inlines.h>
+
+#include "Main/fg_props.hxx"
+#include "Navaids/positioned.hxx"
+#include "Airports/simple.hxx"
+#include "Airports/runways.hxx"
+
+#include "FDM/flight.hxx" // for getting ground speed
+
#define RM "/autopilot/route-manager/"
+static double get_ground_speed() {
+ // starts in ft/s so we convert to kts
+ static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
+
+ double ft_s = cur_fdm_state->get_V_ground_speed()
+ * speedup_node->getIntValue();
+ double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
+ return kts;
+}
FGRouteMgr::FGRouteMgr() :
- route( new SGRoute ),
- lon( NULL ),
- lat( NULL ),
- alt( NULL ),
- true_hdg_deg( NULL ),
- wp0_id( NULL ),
- wp0_dist( NULL ),
- wp0_eta( NULL ),
- wp1_id( NULL ),
- wp1_dist( NULL ),
- wp1_eta( NULL ),
- wpn_id( NULL ),
- wpn_dist( NULL ),
- wpn_eta( NULL ),
+ _route( new SGRoute ),
input(fgGetNode( RM "input", true )),
- listener(new Listener(this)),
mirror(fgGetNode( RM "route", true ))
{
+ listener = new InputListener(this);
input->setStringValue("");
input->addChangeListener(listener);
}
FGRouteMgr::~FGRouteMgr() {
- delete route;
input->removeChangeListener(listener);
+
+ delete listener;
+ delete _route;
}
void FGRouteMgr::init() {
- lon = fgGetNode( "/position/longitude-deg", true );
- lat = fgGetNode( "/position/latitude-deg", true );
- alt = fgGetNode( "/position/altitude-ft", true );
-
- true_hdg_deg = fgGetNode( "/autopilot/settings/true-heading-deg", true );
-
- wp0_id = fgGetNode( RM "wp[0]/id", true );
- wp0_dist = fgGetNode( RM "wp[0]/dist", true );
- wp0_eta = fgGetNode( RM "wp[0]/eta", true );
-
- wp1_id = fgGetNode( RM "wp[1]/id", true );
- wp1_dist = fgGetNode( RM "wp[1]/dist", true );
- wp1_eta = fgGetNode( RM "wp[1]/eta", true );
-
- wpn_id = fgGetNode( RM "wp-last/id", true );
- wpn_dist = fgGetNode( RM "wp-last/dist", true );
- wpn_eta = fgGetNode( RM "wp-last/eta", true );
-
- route->clear();
- update_mirror();
+ SGPropertyNode_ptr rm(fgGetNode(RM));
+
+ lon = fgGetNode( "/position/longitude-deg", true );
+ lat = fgGetNode( "/position/latitude-deg", true );
+ alt = fgGetNode( "/position/altitude-ft", true );
+ magvar = fgGetNode("/environment/magnetic-variation-deg", true);
+
+ departure = fgGetNode(RM "departure", true);
+// init departure information from current location
+ SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
+ FGAirport* apt = FGAirport::findClosest(pos, 20.0);
+ if (apt) {
+ departure->setStringValue("airport", apt->ident().c_str());
+ FGRunway* active = apt->getActiveRunwayForUsage();
+ departure->setStringValue("runway", active->ident().c_str());
+ } else {
+ departure->setStringValue("airport", "");
+ departure->setStringValue("runway", "");
+ }
+
+ departure->getChild("etd", 0, true);
+ departure->getChild("takeoff-time", 0, true);
+
+ destination = fgGetNode(RM "destination", true);
+ destination->getChild("airport", 0, true);
+ destination->getChild("runway", 0, true);
+ destination->getChild("eta", 0, true);
+ destination->getChild("touchdown-time", 0, true);
+
+ alternate = fgGetNode(RM "alternate", true);
+ alternate->getChild("airport", 0, true);
+ alternate->getChild("runway", 0, true);
+
+ cruise = fgGetNode(RM "cruise", true);
+ cruise->getChild("altitude-ft", 0, true);
+ cruise->setDoubleValue("altitude-ft", 10000.0);
+ cruise->getChild("flight-level", 0, true);
+ cruise->getChild("speed-kts", 0, true);
+ cruise->setDoubleValue("speed-kts", 160.0);
+
+ totalDistance = fgGetNode(RM "total-distance", true);
+ totalDistance->setDoubleValue(0.0);
+
+ ete = fgGetNode(RM "ete", true);
+ ete->setDoubleValue(0.0);
+
+ elapsedFlightTime = fgGetNode(RM "flight-time", true);
+ elapsedFlightTime->setDoubleValue(0.0);
+
+ active = fgGetNode(RM "active", true);
+ active->setBoolValue(false);
+
+ airborne = fgGetNode(RM "airborne", true);
+ airborne->setBoolValue(false);
+
+ _edited = fgGetNode(RM "signals/edited", true);
+ _finished = fgGetNode(RM "signals/finished", true);
+
+ _currentWpt = fgGetNode(RM "current-wp", true);
+ _currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
+ (*this, &FGRouteMgr::currentWaypoint, &FGRouteMgr::jumpToIndex));
+
+ // temporary distance / eta calculations, for backward-compatability
+ wp0 = fgGetNode(RM "wp", 0, true);
+ wp0->getChild("id", 0, true);
+ wp0->getChild("dist", 0, true);
+ wp0->getChild("eta", 0, true);
+ wp0->getChild("bearing-deg", 0, true);
+
+ wp1 = fgGetNode(RM "wp", 1, true);
+ wp1->getChild("id", 0, true);
+ wp1->getChild("dist", 0, true);
+ wp1->getChild("eta", 0, true);
+
+ wpn = fgGetNode(RM "wp-last", 0, true);
+ wpn->getChild("dist", 0, true);
+ wpn->getChild("eta", 0, true);
+
+ _route->clear();
+ update_mirror();
+
+ _pathNode = fgGetNode(RM "file-path", 0, true);
}
void FGRouteMgr::postinit() {
string_list *waypoints = globals->get_initial_waypoints();
- if (!waypoints)
- return;
-
- vector<string>::iterator it;
- for (it = waypoints->begin(); it != waypoints->end(); ++it)
+ if (waypoints) {
+ vector<string>::iterator it;
+ for (it = waypoints->begin(); it != waypoints->end(); ++it)
new_waypoint(*it);
+ }
+
+ weightOnWheels = fgGetNode("/gear/gear[0]/wow", false);
+ // check airbone flag agrees with presets
+
}
void FGRouteMgr::bind() { }
void FGRouteMgr::unbind() { }
-
-static double get_ground_speed() {
- // starts in ft/s so we convert to kts
- static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
-
- double ft_s = cur_fdm_state->get_V_ground_speed()
- * speedup_node->getIntValue();
- double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
-
- return kts;
+bool FGRouteMgr::isRouteActive() const
+{
+ return active->getBoolValue();
}
-
void FGRouteMgr::update( double dt ) {
- double accum = 0.0;
- double wp_course, wp_distance;
- char eta_str[128];
-
- // first way point
- if ( route->size() > 0 ) {
- SGWayPoint wp = route->get_waypoint( 0 );
- wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
- alt->getDoubleValue(), &wp_course, &wp_distance );
-
- true_hdg_deg->setDoubleValue( wp_course );
-
- if ( wp_distance < 200.0 ) {
- pop_waypoint();
- }
+ if (dt <= 0.0) {
+ // paused, nothing to do here
+ return;
}
-
- // next way point
- if ( route->size() > 0 ) {
- SGWayPoint wp = route->get_waypoint( 0 );
- // update the property tree info
-
- wp0_id->setStringValue( wp.get_id().c_str() );
-
- accum += wp_distance;
- wp0_dist->setDoubleValue( accum * SG_METER_TO_NM );
-
- double eta = accum * SG_METER_TO_NM / get_ground_speed();
- if ( eta >= 100.0 ) { eta = 99.999; }
- int major, minor;
- if ( eta < (1.0/6.0) ) {
- // within 10 minutes, bump up to min/secs
- eta *= 60.0;
- }
- major = (int)eta;
- minor = (int)((eta - (int)eta) * 60.0);
- snprintf( eta_str, 128, "%d:%02d", major, minor );
- wp0_eta->setStringValue( eta_str );
+
+ if (!active->getBoolValue()) {
+ return;
}
-
- // next way point
- if ( route->size() > 1 ) {
- SGWayPoint wp = route->get_waypoint( 1 );
-
- // update the property tree info
-
- wp1_id->setStringValue( wp.get_id().c_str() );
-
- accum += wp.get_distance();
- wp1_dist->setDoubleValue( accum * SG_METER_TO_NM );
-
- double eta = accum * SG_METER_TO_NM / get_ground_speed();
- if ( eta >= 100.0 ) { eta = 99.999; }
- int major, minor;
- if ( eta < (1.0/6.0) ) {
- // within 10 minutes, bump up to min/secs
- eta *= 60.0;
- }
- major = (int)eta;
- minor = (int)((eta - (int)eta) * 60.0);
- snprintf( eta_str, 128, "%d:%02d", major, minor );
- wp1_eta->setStringValue( eta_str );
+
+ double groundSpeed = get_ground_speed();
+ if (airborne->getBoolValue()) {
+ time_t now = time(NULL);
+ elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
+ } else { // not airborne
+ if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
+ return;
+ }
+
+ airborne->setBoolValue(true);
+ _takeoffTime = time(NULL); // start the clock
+ departure->setIntValue("takeoff-time", _takeoffTime);
}
+
+ // basic course/distance information
+ double inboundCourse, dummy, wp_course, wp_distance;
+ SGWayPoint wp = _route->get_current();
+
+ wp.CourseAndDistance(_route->get_waypoint(_route->current_index() - 1),
+ &inboundCourse, &dummy);
+
+ wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
+ alt->getDoubleValue(), &wp_course, &wp_distance );
+
+ // update wp0 / wp1 / wp-last for legacy users
+ wp0->setDoubleValue("dist", wp_distance * SG_METER_TO_NM);
+ wp_course -= magvar->getDoubleValue(); // expose magnetic bearing
+ wp0->setDoubleValue("bearing-deg", wp_course);
+ setETAPropertyFromDistance(wp0->getChild("eta"), wp_distance);
+
+ if ((_route->current_index() + 1) < _route->size()) {
+ wp = _route->get_waypoint(_route->current_index() + 1);
+ double wp1_course, wp1_distance;
+ wp.CourseAndDistance(lon->getDoubleValue(), lat->getDoubleValue(),
+ alt->getDoubleValue(), &wp1_course, &wp1_distance);
+
+ wp1->setDoubleValue("dist", wp1_distance * SG_METER_TO_NM);
+ setETAPropertyFromDistance(wp1->getChild("eta"), wp1_distance);
+ }
+
+ double totalDistanceRemaining = wp_distance; // distance to current waypoint
+ for (int i=_route->current_index() + 1; i<_route->size(); ++i) {
+ totalDistanceRemaining += _route->get_waypoint(i).get_distance();
+ }
+
+ wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
+ ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
+ setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
+
+ // get time now at destination tz as tm struct
+ // add ete seconds
+ // convert to string ... and stash in property
+ //destination->setDoubleValue("eta", eta);
+}
- // summarize remaining way points
- if ( route->size() > 2 ) {
- SGWayPoint wp;
- for ( int i = 2; i < route->size(); ++i ) {
- wp = route->get_waypoint( i );
- accum += wp.get_distance();
- }
-
- // update the property tree info
-
- wpn_id->setStringValue( wp.get_id().c_str() );
-
- wpn_dist->setDoubleValue( accum * SG_METER_TO_NM );
- double eta = accum * SG_METER_TO_NM / get_ground_speed();
- if ( eta >= 100.0 ) { eta = 99.999; }
- int major, minor;
- if ( eta < (1.0/6.0) ) {
- // within 10 minutes, bump up to min/secs
- eta *= 60.0;
- }
- major = (int)eta;
- minor = (int)((eta - (int)eta) * 60.0);
- snprintf( eta_str, 128, "%d:%02d", major, minor );
- wpn_eta->setStringValue( eta_str );
+void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
+ double speed = get_ground_speed();
+ if (speed < 1.0) {
+ aProp->setStringValue("--:--");
+ return;
+ }
+
+ char eta_str[64];
+ double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
+ if ( eta >= 100.0 ) {
+ eta = 99.999; // clamp
}
+
+ if ( eta < (1.0/6.0) ) {
+ eta *= 60.0; // within 10 minutes, bump up to min/secs
+ }
+
+ int major = (int)eta,
+ minor = (int)((eta - (int)eta) * 60.0);
+ snprintf( eta_str, 64, "%d:%02d", major, minor );
+ aProp->setStringValue( eta_str );
}
-
void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
- route->add_waypoint( wp, n );
- update_mirror();
+ _route->add_waypoint( wp, n );
+
+ if (_route->current_index() > n) {
+ _route->set_current(_route->current_index() + 1);
+ }
+
+ update_mirror();
+ _edited->fireValueChanged();
}
SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
- SGWayPoint wp;
-
- if ( route->size() > 0 ) {
- if ( n < 0 )
- n = route->size() - 1;
- wp = route->get_waypoint(n);
- route->delete_waypoint(n);
- }
-
- if ( route->size() <= 2 ) {
- wpn_id->setStringValue( "" );
- wpn_dist->setDoubleValue( 0.0 );
- wpn_eta->setStringValue( "" );
- }
-
- if ( route->size() <= 1 ) {
- wp1_id->setStringValue( "" );
- wp1_dist->setDoubleValue( 0.0 );
- wp1_eta->setStringValue( "" );
- }
-
- if ( route->size() <= 0 ) {
- wp0_id->setStringValue( "" );
- wp0_dist->setDoubleValue( 0.0 );
- wp0_eta->setStringValue( "" );
- }
-
- update_mirror();
- return wp;
+ if ( _route->size() <= 0 ) {
+ return SGWayPoint();
+ }
+
+ if ( n < 0 ) {
+ n = _route->size() - 1;
+ }
+
+ if (_route->current_index() > n) {
+ _route->set_current(_route->current_index() - 1);
+ }
+
+ SGWayPoint wp = _route->get_waypoint(n);
+ _route->delete_waypoint(n);
+
+ update_mirror();
+ _edited->fireValueChanged();
+ checkFinished();
+
+ return wp;
}
}
+void FGRouteMgr::new_waypoint( const string& target, int n ) {
+ SGWayPoint* wp = make_waypoint( target );
+ if (!wp) {
+ return;
+ }
+
+ add_waypoint( *wp, n );
+ delete wp;
+}
-int FGRouteMgr::new_waypoint( const string& Tgt_Alt, int n ) {
- double alt = 0.0;
- string target = Tgt_Alt;
-
- // make upper case
- for (unsigned int i = 0; i < target.size(); i++)
- if (target[i] >= 'a' && target[i] <= 'z')
- target[i] -= 'a' - 'A';
+SGWayPoint* FGRouteMgr::make_waypoint(const string& tgt ) {
+ string target(boost::to_upper_copy(tgt));
+
// extract altitude
- unsigned int pos = target.find( '@' );
+ double alt = cruise->getDoubleValue("altitude-ft") * SG_FEET_TO_METER;
+
+ size_t pos = target.find( '@' );
if ( pos != string::npos ) {
alt = atof( target.c_str() + pos + 1 );
target = target.substr( 0, pos );
}
// check for lon,lat
- pos = target.find(',');
+ pos = target.find( ',' );
if ( pos != string::npos ) {
double lon = atof( target.substr(0, pos).c_str());
double lat = atof( target.c_str() + pos + 1);
+ return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
+ }
- SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint lon = " << lon << ", lat = " << lat );
- SGWayPoint wp( lon, lat, alt, SGWayPoint::WGS84, target );
- add_waypoint( wp, n );
- fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
- return 1;
+ SGGeod basePosition;
+ if (_route->size() > 0) {
+ SGWayPoint wp = get_waypoint(_route->size()-1);
+ basePosition = wp.get_target();
+ } else {
+ // route is empty, use current position
+ basePosition = SGGeod::fromDeg(
+ fgGetNode("/position/longitude-deg")->getDoubleValue(),
+ fgGetNode("/position/latitude-deg")->getDoubleValue());
}
+
+ vector<string> pieces(simgear::strutils::split(target, "/"));
- // check for airport id
- const FGAirport *apt = fgFindAirportID( target );
- if (apt) {
- SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (airport) = " << target );
- SGWayPoint wp( apt->getLongitude(), apt->getLatitude(), alt, SGWayPoint::WGS84, target );
- add_waypoint( wp, n );
- fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
- return 2;
- }
- // check for fix id
- FGFix f;
- if ( globals->get_fixlist()->query( target, &f ) ) {
- SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (fix) = " << target );
- SGWayPoint wp( f.get_lon(), f.get_lat(), alt, SGWayPoint::WGS84, target );
- add_waypoint( wp, n );
- fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
- return 3;
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
+ if (!p) {
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
+ return NULL;
}
-
- // Try finding a nav matching the ID
- double lat, lon;
- // The base lon/lat are determined by the last WP,
- // or the current pos if the WP list is empty.
- const int wps = this->size();
-
- if (wps > 0) {
- SGWayPoint wp = get_waypoint(wps-1);
- lat = wp.get_target_lat();
- lon = wp.get_target_lon();
- } else {
- lat = fgGetNode("/position/latitude-deg")->getDoubleValue();
- lon = fgGetNode("/position/longitude-deg")->getDoubleValue();
+
+ SGGeod geod = SGGeod::fromGeodM(p->geod(), alt);
+ if (pieces.size() == 1) {
+ // simple case
+ return new SGWayPoint(geod, target, p->name());
}
-
- lat *= SGD_DEGREES_TO_RADIANS;
- lon *= SGD_DEGREES_TO_RADIANS;
-
- SG_LOG( SG_GENERAL, SG_INFO, "Looking for nav " << target << " at " << lon << " " << lat);
-
- if (FGNavRecord* nav = globals->get_navlist()->findByIdent(target.c_str(), lon, lat)) {
- SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (nav) = " << target );
- SGWayPoint wp( nav->get_lon(), nav->get_lat(), alt, SGWayPoint::WGS84, target );
- add_waypoint( wp, n );
- fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
- return 4;
+
+ if (pieces.size() == 3) {
+ // navaid/radial/distance-nm notation
+ double radial = atof(pieces[1].c_str()),
+ distanceNm = atof(pieces[2].c_str()),
+ az2;
+ radial += magvar->getDoubleValue(); // convert to true bearing
+ SGGeod offsetPos;
+ SGGeodesy::direct(geod, radial, distanceNm * SG_NM_TO_METER, offsetPos, az2);
+ offsetPos.setElevationM(alt);
+
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "final offset radial is " << radial);
+ return new SGWayPoint(offsetPos, p->ident() + pieces[2], target);
}
-
- // target not identified
- return 0;
+
+ if (pieces.size() == 2) {
+ FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
+ if (!apt) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
+ return NULL;
+ }
+
+ if (!apt->hasRunwayWithIdent(pieces[1])) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
+ return NULL;
+ }
+
+ FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
+ SGGeod t = runway->threshold();
+ return new SGWayPoint(t.getLongitudeDeg(), t.getLatitudeDeg(), alt, SGWayPoint::WGS84, pieces[1]);
+ }
+
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
+ return NULL;
}
// mirror internal route to the property system for inspection by other subsystems
void FGRouteMgr::update_mirror() {
mirror->removeChildren("wp");
- for (int i = 0; i < route->size(); i++) {
- SGWayPoint wp = route->get_waypoint(i);
+ for (int i = 0; i < _route->size(); i++) {
+ SGWayPoint wp = _route->get_waypoint(i);
SGPropertyNode *prop = mirror->getChild("wp", i, 1);
+ const SGGeod& pos(wp.get_target());
prop->setStringValue("id", wp.get_id().c_str());
prop->setStringValue("name", wp.get_name().c_str());
- prop->setDoubleValue("longitude-deg", wp.get_target_lon());
- prop->setDoubleValue("latitude-deg", wp.get_target_lat());
- prop->setDoubleValue("altitude-m", wp.get_target_alt());
- prop->setDoubleValue("altitude-ft", wp.get_target_alt() * SG_METER_TO_FEET);
+ prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
+ prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
+ prop->setDoubleValue("altitude-m", pos.getElevationM());
+ prop->setDoubleValue("altitude-ft", pos.getElevationFt());
}
// set number as listener attachment point
- mirror->setIntValue("num", route->size());
+ mirror->setIntValue("num", _route->size());
}
-
// command interface /autopilot/route-manager/input:
//
-// @clear ... clear route
-// @pop ... remove first entry
-// @delete3 ... delete 4th entry
-// @insert2:ksfo@900 ... insert "ksfo@900" as 3rd entry
-// ksfo@900 ... append "ksfo@900"
+// @CLEAR ... clear route
+// @POP ... remove first entry
+// @DELETE3 ... delete 4th entry
+// @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
+// KSFO@900 ... append "KSFO@900"
//
-void FGRouteMgr::Listener::valueChanged(SGPropertyNode *prop)
+void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
{
const char *s = prop->getStringValue();
- if (!strcmp(s, "@clear"))
+ if (!strcmp(s, "@CLEAR"))
mgr->init();
- else if (!strcmp(s, "@pop"))
+ else if (!strcmp(s, "@ACTIVATE"))
+ mgr->activate();
+ else if (!strcmp(s, "@LOAD")) {
+ mgr->loadRoute();
+ } else if (!strcmp(s, "@SAVE")) {
+ mgr->saveRoute();
+ } else if (!strcmp(s, "@POP"))
mgr->pop_waypoint(0);
- else if (!strncmp(s, "@delete", 7))
+ else if (!strncmp(s, "@DELETE", 7))
mgr->pop_waypoint(atoi(s + 7));
- else if (!strncmp(s, "@insert", 7)) {
+ else if (!strncmp(s, "@INSERT", 7)) {
char *r;
int pos = strtol(s + 7, &r, 10);
- if (*r++ == ':' && *r)
+ if (*r++ != ':')
+ return;
+ while (isspace(*r))
+ r++;
+ if (*r)
mgr->new_waypoint(r, pos);
} else
mgr->new_waypoint(s);
}
+// SGWayPoint( const double lon = 0.0, const double lat = 0.0,
+// const double alt = 0.0, const modetype m = WGS84,
+// const string& s = "", const string& n = "" );
+
+bool FGRouteMgr::activate()
+{
+ const FGAirport* depApt = fgFindAirportID(departure->getStringValue("airport"));
+ if (!depApt) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT,
+ "unable to activate route: departure airport is invalid:"
+ << departure->getStringValue("airport") );
+ return false;
+ }
+
+ string runwayId(departure->getStringValue("runway"));
+ FGRunway* runway = NULL;
+ if (depApt->hasRunwayWithIdent(runwayId)) {
+ runway = depApt->getRunwayByIdent(runwayId);
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_INFO,
+ "route-manager, departure runway not found:" << runwayId);
+ runway = depApt->getActiveRunwayForUsage();
+ }
+
+ SGWayPoint swp(runway->threshold(),
+ depApt->ident() + "-" + runway->ident(), runway->name());
+ add_waypoint(swp, 0);
+
+ const FGAirport* destApt = fgFindAirportID(destination->getStringValue("airport"));
+ if (!destApt) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT,
+ "unable to activate route: destination airport is invalid:"
+ << destination->getStringValue("airport") );
+ return false;
+ }
+
+ runwayId = (destination->getStringValue("runway"));
+ if (destApt->hasRunwayWithIdent(runwayId)) {
+ FGRunway* runway = destApt->getRunwayByIdent(runwayId);
+ SGWayPoint swp(runway->end(),
+ destApt->ident() + "-" + runway->ident(), runway->name());
+ add_waypoint(swp);
+ } else {
+ // quite likely, since destination runway may not be known until enroute
+ // probably want a listener on the 'destination' node to allow an enroute
+ // update
+ add_waypoint(SGWayPoint(destApt->geod(), destApt->ident(), destApt->name()));
+ }
+
+ _route->set_current(1);
+
+ double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
+ totalDistance->setDoubleValue(routeDistanceNm);
+ double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
+ if (cruiseSpeedKts > 1.0) {
+ // very very crude approximation, doesn't allow for climb / descent
+ // performance or anything else at all
+ ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
+ }
+
+ active->setBoolValue(true);
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
+ return true;
+}
+
+
+void FGRouteMgr::sequence()
+{
+ if (!active->getBoolValue()) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
+ return;
+ }
+
+ if (checkFinished()) {
+ return;
+ }
+
+ _route->increment_current();
+ currentWaypointChanged();
+ _currentWpt->fireValueChanged();
+}
+
+bool FGRouteMgr::checkFinished()
+{
+ int lastWayptIndex = _route->size() - 1;
+ if (_route->current_index() < lastWayptIndex) {
+ return false;
+ }
+
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
+ _finished->fireValueChanged();
+ active->setBoolValue(false);
+ return true;
+}
+
+void FGRouteMgr::jumpToIndex(int index)
+{
+ if (!active->getBoolValue()) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
+ return;
+ }
+
+ if ((index < 0) || (index >= _route->size())) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
+ index << ") to FGRouteMgr::jumpToIndex");
+ return;
+ }
+
+ if (_route->current_index() == index) {
+ return; // no-op
+ }
+
+ _route->set_current(index);
+ currentWaypointChanged();
+}
+void FGRouteMgr::currentWaypointChanged()
+{
+ SGWayPoint previous = _route->get_previous();
+ SGWayPoint cur = _route->get_current();
+
+ wp0->getChild("id")->setStringValue(cur.get_id());
+ if ((_route->current_index() + 1) < _route->size()) {
+ wp1->getChild("id")->setStringValue(_route->get_next().get_id());
+ } else {
+ wp1->getChild("id")->setStringValue("");
+ }
+
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
+}
+
+int FGRouteMgr::findWaypoint(const SGGeod& aPos) const
+{
+ for (int i=0; i<_route->size(); ++i) {
+ double d = SGGeodesy::distanceM(aPos, _route->get_waypoint(i).get_target());
+ if (d < 200.0) { // 200 metres seems close enough
+ return i;
+ }
+ }
+
+ return -1;
+}
+
+SGWayPoint FGRouteMgr::get_waypoint( int i ) const
+{
+ return _route->get_waypoint(i);
+}
+
+int FGRouteMgr::size() const
+{
+ return _route->size();
+}
+
+int FGRouteMgr::currentWaypoint() const
+{
+ return _route->current_index();
+}
+
+void FGRouteMgr::saveRoute()
+{
+ SGPath path(_pathNode->getStringValue());
+ SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
+ try {
+ writeProperties(path.str(), mirror, false, SGPropertyNode::ARCHIVE);
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_IO, SG_WARN, "Error saving route:" << e.getMessage());
+ //guiErrorMessage("Error writing autosave.xml: ", e);
+ }
+}
+
+void FGRouteMgr::loadRoute()
+{
+ try {
+ // deactivate route first
+ active->setBoolValue(false);
+
+ SGPropertyNode_ptr routeData(new SGPropertyNode);
+ SGPath path(_pathNode->getStringValue());
+
+ SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
+ readProperties(path.str(), routeData);
+
+ // departure nodes
+ SGPropertyNode* dep = routeData->getChild("departure");
+ if (!dep) {
+ throw sg_io_exception("malformed route file, no departure node");
+ }
+
+ string depIdent = dep->getStringValue("airport");
+ const FGAirport* depApt = fgFindAirportID(depIdent);
+ if (!depApt) {
+ throw sg_io_exception("bad route file, unknown airport:" + depIdent);
+ }
+
+ departure->setStringValue("runway", dep->getStringValue("runway"));
+
+ // destination
+ SGPropertyNode* dst = routeData->getChild("destination");
+ if (!dst) {
+ throw sg_io_exception("malformed route file, no destination node");
+ }
+
+ destination->setStringValue("airport", dst->getStringValue("airport"));
+ destination->setStringValue("runay", dst->getStringValue("runway"));
+
+ // alternate
+ SGPropertyNode* alt = routeData->getChild("alternate");
+ if (alt) {
+ alternate->setStringValue(alt->getStringValue("airport"));
+ } // of cruise data loading
+
+ // cruise
+ SGPropertyNode* crs = routeData->getChild("cruise");
+ if (crs) {
+ cruise->setDoubleValue(crs->getDoubleValue("speed"));
+ } // of cruise data loading
+
+ // route nodes
+ _route->clear();
+ SGPropertyNode_ptr _route = routeData->getChild("route", 0);
+ SGGeod lastPos(depApt->geod());
+
+ for (int i=0; i<_route->nChildren(); ++i) {
+ SGPropertyNode_ptr wp = _route->getChild("wp", i);
+ parseRouteWaypoint(wp);
+ } // of route iteration
+ } catch (sg_exception& e) {
+ SG_LOG(SG_IO, SG_WARN, "failed to load flight-plan (from '" << e.getOrigin()
+ << "'):" << e.getMessage());
+ }
+}
+
+void FGRouteMgr::parseRouteWaypoint(SGPropertyNode* aWP)
+{
+ SGGeod lastPos;
+ if (_route->size() > 0) {
+ lastPos = get_waypoint(_route->size()-1).get_target();
+ } else {
+ // route is empty, use departure airport position
+ const FGAirport* apt = fgFindAirportID(departure->getStringValue("airport"));
+ assert(apt); // shouldn't have got this far with an invalid airport
+ lastPos = apt->geod();
+ }
+
+ SGPropertyNode_ptr altProp = aWP->getChild("altitude-ft");
+ double alt = cruise->getDoubleValue("altitude-ft") * SG_FEET_TO_METER;
+ if (altProp) {
+ alt = altProp->getDoubleValue();
+ }
+
+ string ident(aWP->getStringValue("ident"));
+ if (aWP->hasChild("longitude-deg")) {
+ // explicit longitude/latitude
+ SGWayPoint swp(aWP->getDoubleValue("longitude-deg"),
+ aWP->getDoubleValue("latitude-deg"), alt,
+ SGWayPoint::WGS84, ident, aWP->getStringValue("name"));
+ add_waypoint(swp);
+ } else if (aWP->hasChild("navid")) {
+ // lookup by navid (possibly with offset)
+ string nid(aWP->getStringValue("navid"));
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
+ if (!p) {
+ throw sg_io_exception("bad route file, unknown navid:" + nid);
+ }
+
+ SGGeod pos(p->geod());
+ if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
+ double radialDeg = aWP->getDoubleValue("offset-radial");
+ // convert magnetic radial to a true radial!
+ radialDeg += magvar->getDoubleValue();
+ double offsetNm = aWP->getDoubleValue("offset-nm");
+ double az2;
+ SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
+ }
+
+ SGWayPoint swp(pos.getLongitudeDeg(), pos.getLatitudeDeg(), alt,
+ SGWayPoint::WGS84, ident, "");
+ add_waypoint(swp);
+ } else {
+ // lookup by ident (symbolic waypoint)
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(ident, lastPos);
+ if (!p) {
+ throw sg_io_exception("bad route file, unknown waypoint:" + ident);
+ }
+
+ SGWayPoint swp(p->longitude(), p->latitude(), alt,
+ SGWayPoint::WGS84, p->ident(), p->name());
+ add_waypoint(swp);
+ }
+}
projects / flightgear.git / blobdiff