// route_mgr.cxx - manage a route (i.e. a collection of waypoints)
//
// Written by Curtis Olson, started January 2004.
+// Norman Vine
+// Melchior FRANZ
//
// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
#include <simgear/compiler.h>
+#include <Airports/simple.hxx>
#include <FDM/flight.hxx>
#include <Main/fg_props.hxx>
+#include <Navaids/fixlist.hxx>
+#include <Navaids/navlist.hxx>
-#include "auto_gui.hxx" // FIXME temporary dependency (NewWaypoint)
#include "route_mgr.hxx"
+#define RM "/autopilot/route-manager/"
+
FGRouteMgr::FGRouteMgr() :
route( new SGRoute ),
lat( NULL ),
alt( NULL ),
true_hdg_deg( NULL ),
+ target_altitude_ft( NULL ),
+ altitude_lock( NULL ),
wp0_id( NULL ),
wp0_dist( NULL ),
wp0_eta( NULL ),
wp1_eta( NULL ),
wpn_id( NULL ),
wpn_dist( NULL ),
- wpn_eta( NULL )
+ wpn_eta( NULL ),
+ input(fgGetNode( RM "input", true )),
+ listener(new Listener(this)),
+ mirror(fgGetNode( RM "route", true )),
+ altitude_set( false )
{
+ input->setStringValue("");
+ input->addChangeListener(listener);
}
FGRouteMgr::~FGRouteMgr() {
delete route;
+ input->removeChangeListener(listener);
}
alt = fgGetNode( "/position/altitude-ft", true );
true_hdg_deg = fgGetNode( "/autopilot/settings/true-heading-deg", true );
+ target_altitude_ft = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
+ altitude_lock = fgGetNode( "/autopilot/locks/altitude", true );
- wp0_id = fgGetNode( "/autopilot/route-manager/wp[0]/id", true );
- wp0_dist = fgGetNode( "/autopilot/route-manager/wp[0]/dist", true );
- wp0_eta = fgGetNode( "/autopilot/route-manager/wp[0]/eta", 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( "/autopilot/route-manager/wp[1]/id", true );
- wp1_dist = fgGetNode( "/autopilot/route-manager/wp[1]/dist", true );
- wp1_eta = fgGetNode( "/autopilot/route-manager/wp[1]/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( "/autopilot/route-manager/wp-last/id", true );
- wpn_dist = fgGetNode( "/autopilot/route-manager/wp-last/dist", true );
- wpn_eta = fgGetNode( "/autopilot/route-manager/wp-last/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();
}
vector<string>::iterator it;
for (it = waypoints->begin(); it != waypoints->end(); ++it)
- NewWaypoint(*it);
+ new_waypoint(*it);
}
// 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()
+ 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;
alt->getDoubleValue(), &wp_course, &wp_distance );
true_hdg_deg->setDoubleValue( wp_course );
+ double target_alt = wp.get_target_alt();
+
+ if ( !altitude_set && target_alt > -9990 ) {
+ target_altitude_ft->setDoubleValue( target_alt * SG_METER_TO_FEET );
+ altitude_set = true;
+
+ if ( !on_ground() )
+ altitude_lock->setStringValue( "altitude-hold" );
+ }
if ( wp_distance < 200.0 ) {
pop_waypoint();
+ altitude_set = false;
}
}
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 );
+ 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 );
}
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 );
+ 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 );
}
// summarize remaining way points
if ( route->size() > 2 ) {
SGWayPoint wp;
- for ( int i = 2; i < route->size(); ++i ) {
+ for ( int i = 2; i < route->size(); ++i ) {
wp = route->get_waypoint( i );
- accum += wp.get_distance();
- }
+ accum += wp.get_distance();
+ }
// update the property tree info
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 );
+ 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 );
}
}
-SGWayPoint FGRouteMgr::pop_waypoint() {
+void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
+ if ( n == 0 || !route->size() )
+ altitude_set = false;
+
+ route->add_waypoint( wp, n );
+ update_mirror();
+}
+
+
+SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
SGWayPoint wp;
if ( route->size() > 0 ) {
- wp = route->get_first();
- route->delete_first();
+ if ( n < 0 )
+ n = route->size() - 1;
+ wp = route->get_waypoint(n);
+ route->delete_waypoint(n);
}
if ( route->size() <= 2 ) {
wp0_eta->setStringValue( "" );
}
+ if ( n == 0 && route->size() )
+ altitude_set = false;
+
+ update_mirror();
return wp;
}
bool FGRouteMgr::build() {
return true;
}
+
+
+int FGRouteMgr::new_waypoint( const string& Tgt_Alt, int n ) {
+ 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 *wp = 0;
+ int type = make_waypoint( &wp, target );
+
+ if (wp) {
+ add_waypoint( *wp, n );
+ delete wp;
+
+ if ( !on_ground() )
+ fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
+ }
+ return type;
+}
+
+
+int FGRouteMgr::make_waypoint(SGWayPoint **wp, string& target) {
+ double alt = -9999.0;
+
+ // extract altitude
+ unsigned int pos = target.find( '@' );
+ if ( pos != string::npos ) {
+ alt = atof( target.c_str() + pos + 1 );
+ target = target.substr( 0, pos );
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
+ alt *= SG_FEET_TO_METER;
+ }
+
+ // check for lon,lat
+ pos = target.find( ',' );
+ if ( pos != string::npos ) {
+ double lon = atof( target.substr(0, pos).c_str());
+ double lat = atof( target.c_str() + pos + 1);
+
+ SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint lon = " << lon << ", lat = " << lat );
+ *wp = new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
+ return 1;
+ }
+
+ // check for airport id
+ const FGAirport *apt = fgFindAirportID( target );
+ if (apt) {
+ SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint (airport) = " << target );
+ *wp = new SGWayPoint( apt->getLongitude(), apt->getLatitude(), alt, SGWayPoint::WGS84, target );
+ 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 );
+ *wp = new SGWayPoint( f.get_lon(), f.get_lat(), alt, SGWayPoint::WGS84, target );
+ return 3;
+ }
+
+ // 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();
+ }
+
+ 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 );
+ *wp = new SGWayPoint( nav->get_lon(), nav->get_lat(), alt, SGWayPoint::WGS84, target );
+ return 4;
+ }
+
+ // unknown target
+ return 0;
+}
+
+
+// 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);
+ SGPropertyNode *prop = mirror->getChild("wp", i, 1);
+
+ 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);
+ }
+ // set number as listener attachment point
+ mirror->setIntValue("num", route->size());
+}
+
+
+bool FGRouteMgr::on_ground() {
+ SGPropertyNode *gear = fgGetNode( "/gear/gear/wow", false );
+ if ( !gear || gear->getType() == SGPropertyNode::NONE )
+ return fgGetBool( "/sim/presets/onground", true );
+
+ return gear->getBoolValue();
+}
+
+
+// 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"
+//
+void FGRouteMgr::Listener::valueChanged(SGPropertyNode *prop)
+{
+ const char *s = prop->getStringValue();
+ if (!strcmp(s, "@clear"))
+ mgr->init();
+ else if (!strcmp(s, "@pop"))
+ mgr->pop_waypoint(0);
+ else if (!strncmp(s, "@delete", 7))
+ mgr->pop_waypoint(atoi(s + 7));
+ else if (!strncmp(s, "@insert", 7)) {
+ char *r;
+ int pos = strtol(s + 7, &r, 10);
+ if (*r++ != ':')
+ return;
+ while (isspace(*r))
+ r++;
+ if (*r)
+ mgr->new_waypoint(r, pos);
+ } else
+ mgr->new_waypoint(s);
+}
+
+
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