#include "route_mgr.hxx"
#include <boost/algorithm/string/case_conv.hpp>
+#include <boost/tuple/tuple.hpp>
#include <simgear/misc/strutils.hxx>
#include <simgear/structure/exception.hxx>
+#include <simgear/structure/commands.hxx>
#include <simgear/misc/sgstream.hxx>
#include <simgear/props/props_io.hxx>
#include "Main/fg_props.hxx"
#include "Navaids/positioned.hxx"
+#include <Navaids/waypoint.hxx>
+#include <Navaids/airways.hxx>
+#include <Navaids/procedure.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");
+#include <GUI/new_gui.hxx>
+#include <GUI/dialog.hxx>
+
+using namespace flightgear;
+
+class PropertyWatcher : public SGPropertyChangeListener
+{
+public:
+ void watch(SGPropertyNode* p)
+ {
+ p->addChangeListener(this, false);
+ }
+
+ virtual void valueChanged(SGPropertyNode*)
+ {
+ fire();
+ }
+protected:
+ virtual void fire() = 0;
+};
+
+/**
+ * Template adapter, created by convenience helper below
+ */
+template <class T>
+class MethodPropertyWatcher : public PropertyWatcher
+{
+public:
+ typedef void (T::*fire_method)();
+
+ MethodPropertyWatcher(T* obj, fire_method m) :
+ _object(obj),
+ _method(m)
+ { ; }
+
+protected:
+ virtual void fire()
+ { // dispatch to the object method we're helping
+ (_object->*_method)();
+ }
+
+private:
+ T* _object;
+ fire_method _method;
+};
- 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;
+template <class T>
+PropertyWatcher* createWatcher(T* obj, void (T::*m)())
+{
+ return new MethodPropertyWatcher<T>(obj, m);
}
-FGRouteMgr::FGRouteMgr() :
- _route( new SGRoute ),
- input(fgGetNode( RM "input", true )),
- mirror(fgGetNode( RM "route", true ))
+static bool commandLoadFlightPlan(const SGPropertyNode* arg)
{
- listener = new InputListener(this);
- input->setStringValue("");
- input->addChangeListener(listener);
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ SGPath path(arg->getStringValue("path"));
+ return self->loadRoute(path);
}
+static bool commandSaveFlightPlan(const SGPropertyNode* arg)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ SGPath path(arg->getStringValue("path"));
+ return self->saveRoute(path);
+}
-FGRouteMgr::~FGRouteMgr() {
- input->removeChangeListener(listener);
+static bool commandActivateFlightPlan(const SGPropertyNode* arg)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ bool activate = arg->getBoolValue("activate", true);
+ if (activate) {
+ self->activate();
+ } else {
- delete listener;
- delete _route;
+ }
+
+ return true;
+}
+
+static bool commandClearFlightPlan(const SGPropertyNode*)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ self->clearRoute();
+ return true;
+}
+
+static bool commandSetActiveWaypt(const SGPropertyNode* arg)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ int index = arg->getIntValue("index");
+ if ((index < 0) || (index >= self->numWaypts())) {
+ return false;
+ }
+
+ self->jumpToIndex(index);
+ return true;
+}
+
+static bool commandInsertWaypt(const SGPropertyNode* arg)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ int index = arg->getIntValue("index");
+ std::string ident(arg->getStringValue("id"));
+ int alt = arg->getIntValue("altitude-ft", -999);
+ int ias = arg->getIntValue("speed-knots", -999);
+
+ WayptRef wp;
+// lat/lon may be supplied to narrow down navaid search, or to specify
+// a raw waypoint
+ SGGeod pos;
+ if (arg->hasChild("longitude-deg")) {
+ pos = SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
+ arg->getDoubleValue("latitude-deg"));
+ }
+
+ if (arg->hasChild("navaid")) {
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid"), pos);
+
+ if (arg->hasChild("navaid", 1)) {
+ // intersection of two radials
+ FGPositionedRef p2 = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid[1]"), pos);
+ if (!p2) {
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << arg->getStringValue("navaid[1]"));
+ return false;
+ }
+
+ double r1 = arg->getDoubleValue("radial"),
+ r2 = arg->getDoubleValue("radial[1]");
+
+ SGGeod intersection;
+ bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
+ if (!ok) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << p->ident()
+ << "," << p2->ident());
+ return false;
+ }
+
+ std::string name = p->ident() + "-" + p2->ident();
+ wp = new BasicWaypt(intersection, name, NULL);
+ } else if (arg->hasChild("offset-nm") && arg->hasChild("radial")) {
+ // offset radial from navaid
+ double radial = arg->getDoubleValue("radial");
+ double distanceNm = arg->getDoubleValue("offset-nm");
+ //radial += magvar->getDoubleValue(); // convert to true bearing
+ wp = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
+ } else {
+ wp = new NavaidWaypoint(p, NULL);
+ }
+ } else if (arg->hasChild("airport")) {
+ const FGAirport* apt = fgFindAirportID(arg->getStringValue("airport"));
+ if (!apt) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "no such airport" << arg->getStringValue("airport"));
+ return false;
+ }
+
+ if (arg->hasChild("runway")) {
+ if (!apt->hasRunwayWithIdent(arg->getStringValue("runway"))) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << arg->getStringValue("runway") << " at " << apt->ident());
+ return false;
+ }
+
+ FGRunway* runway = apt->getRunwayByIdent(arg->getStringValue("runway"));
+ wp = new RunwayWaypt(runway, NULL);
+ } else {
+ wp = new NavaidWaypoint((FGAirport*) apt, NULL);
+ }
+ } else if (arg->hasChild("text")) {
+ wp = self->waypointFromString(arg->getStringValue("text"));
+ } else if (!(pos == SGGeod())) {
+ // just a raw lat/lon
+ wp = new BasicWaypt(pos, ident, NULL);
+ } else {
+ return false; // failed to build waypoint
+ }
+
+ if (alt >= 0) {
+ wp->setAltitude(alt, flightgear::RESTRICT_AT);
+ }
+
+ if (ias > 0) {
+ wp->setSpeed(ias, flightgear::RESTRICT_AT);
+ }
+
+ self->insertWayptAtIndex(wp, index);
+ return true;
+}
+
+static bool commandDeleteWaypt(const SGPropertyNode* arg)
+{
+ FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ int index = arg->getIntValue("index");
+ self->removeWayptAtIndex(index);
+ return true;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+
+FGRouteMgr::FGRouteMgr() :
+ _currentIndex(0),
+ input(fgGetNode( RM "input", true )),
+ mirror(fgGetNode( RM "route", true ))
+{
+ listener = new InputListener(this);
+ input->setStringValue("");
+ input->addChangeListener(listener);
+
+ SGCommandMgr::instance()->addCommand("load-flightplan", commandLoadFlightPlan);
+ SGCommandMgr::instance()->addCommand("save-flightplan", commandSaveFlightPlan);
+ SGCommandMgr::instance()->addCommand("activate-flightplan", commandActivateFlightPlan);
+ SGCommandMgr::instance()->addCommand("clear-flightplan", commandClearFlightPlan);
+ SGCommandMgr::instance()->addCommand("set-active-waypt", commandSetActiveWaypt);
+ SGCommandMgr::instance()->addCommand("insert-waypt", commandInsertWaypt);
+ SGCommandMgr::instance()->addCommand("delete-waypt", commandDeleteWaypt);
+}
+
+
+FGRouteMgr::~FGRouteMgr()
+{
+ input->removeChangeListener(listener);
+ delete listener;
}
&FGRouteMgr::getDepartureICAO, &FGRouteMgr::setDepartureICAO));
departure->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDepartureName, NULL));
-
-// init departure information from current location
- SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
- _departure = FGAirport::findClosest(pos, 20.0);
- if (_departure) {
- FGRunway* active = _departure->getActiveRunwayForUsage();
- departure->setStringValue("runway", active->ident().c_str());
- } else {
- departure->setStringValue("runway", "");
- }
+ departure->setStringValue("runway", "");
+
+ _departureWatcher = createWatcher(this, &FGRouteMgr::departureChanged);
+ _departureWatcher->watch(departure->getChild("runway"));
departure->getChild("etd", 0, true);
+ _departureWatcher->watch(departure->getChild("sid", 0, true));
departure->getChild("takeoff-time", 0, true);
destination = fgGetNode(RM "destination", true);
&FGRouteMgr::getDestinationICAO, &FGRouteMgr::setDestinationICAO));
destination->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDestinationName, NULL));
-
- destination->getChild("runway", 0, true);
+
+ _arrivalWatcher = createWatcher(this, &FGRouteMgr::arrivalChanged);
+ _arrivalWatcher->watch(destination->getChild("runway", 0, true));
+
destination->getChild("eta", 0, true);
+ _arrivalWatcher->watch(destination->getChild("star", 0, true));
+ _arrivalWatcher->watch(destination->getChild("transition", 0, true));
destination->getChild("touchdown-time", 0, true);
-
+
alternate = fgGetNode(RM "alternate", true);
alternate->getChild("airport", 0, true);
alternate->getChild("runway", 0, true);
cruise->getChild("speed-kts", 0, true);
cruise->setDoubleValue("speed-kts", 160.0);
+ _routingType = cruise->getChild("routing", 0, true);
+ _routingType->setIntValue(ROUTE_HIGH_AIRWAYS);
+
totalDistance = fgGetNode(RM "total-distance", true);
totalDistance->setDoubleValue(0.0);
_currentWpt = fgGetNode(RM "current-wp", true);
_currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
- (*this, &FGRouteMgr::currentWaypoint, &FGRouteMgr::jumpToIndex));
+ (*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
// temporary distance / eta calculations, for backward-compatability
wp0 = fgGetNode(RM "wp", 0, true);
wpn->getChild("dist", 0, true);
wpn->getChild("eta", 0, true);
- _route->clear();
- _route->set_current(0);
update_mirror();
-
_pathNode = fgGetNode(RM "file-path", 0, true);
}
-void FGRouteMgr::postinit() {
- string_list *waypoints = globals->get_initial_waypoints();
- if (waypoints) {
- vector<string>::iterator it;
- for (it = waypoints->begin(); it != waypoints->end(); ++it)
- new_waypoint(*it);
+void FGRouteMgr::postinit()
+{
+ SGPath path(_pathNode->getStringValue());
+ if (!path.isNull()) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "loading flight-plan from: " << path.str());
+ loadRoute(path);
+ }
+
+// this code only matters for the --wp option now - perhaps the option
+// should be deprecated in favour of an explicit flight-plan file?
+// then the global initial waypoint list could die.
+ string_list *waypoints = globals->get_initial_waypoints();
+ if (waypoints) {
+ string_list::iterator it;
+ for (it = waypoints->begin(); it != waypoints->end(); ++it) {
+ WayptRef w = waypointFromString(*it);
+ if (w) {
+ _route.push_back(w);
+ }
}
-
- weightOnWheels = fgGetNode("/gear/gear[0]/wow", false);
- // check airbone flag agrees with presets
-}
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "loaded initial waypoints:" << _route.size());
+ }
+ weightOnWheels = fgGetNode("/gear/gear[0]/wow", true);
+ // check airbone flag agrees with presets
+}
void FGRouteMgr::bind() { }
void FGRouteMgr::unbind() { }
return active->getBoolValue();
}
-void FGRouteMgr::update( double dt ) {
- if (dt <= 0.0) {
- // paused, nothing to do here
- return;
- }
+void FGRouteMgr::update( double dt )
+{
+ if (dt <= 0.0) {
+ return; // paused, nothing to do here
+ }
- if (!active->getBoolValue()) {
+ double groundSpeed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
+ if (airborne->getBoolValue()) {
+ time_t now = time(NULL);
+ elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
+ } else { // not airborne
+ if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
return;
}
- 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 wp_course, wp_distance;
- SGWayPoint wp = _route->get_current();
- wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
- alt->getDoubleValue(), &wp_course, &wp_distance );
+ airborne->setBoolValue(true);
+ _takeoffTime = time(NULL); // start the clock
+ departure->setIntValue("takeoff-time", _takeoffTime);
+ }
+
+ if (!active->getBoolValue()) {
+ return;
+ }
+
+// basic course/distance information
+ SGGeod currentPos = SGGeod::fromDegFt(lon->getDoubleValue(),
+ lat->getDoubleValue(),alt->getDoubleValue());
- // 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);
+ Waypt* curWpt = currentWaypt();
+ if (!curWpt) {
+ return;
+ }
+
+ double courseDeg;
+ double distanceM;
+ boost::tie(courseDeg, distanceM) = curWpt->courseAndDistanceFrom(currentPos);
+
+// update wp0 / wp1 / wp-last for legacy users
+ wp0->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
+ courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
+ wp0->setDoubleValue("bearing-deg", courseDeg);
+ setETAPropertyFromDistance(wp0->getChild("eta"), distanceM);
+
+ double totalDistanceRemaining = distanceM; // distance to current waypoint
+
+ Waypt* nextWpt = nextWaypt();
+ if (nextWpt) {
+ boost::tie(courseDeg, distanceM) = nextWpt->courseAndDistanceFrom(currentPos);
+
+ wp1->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
+ courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
+ wp1->setDoubleValue("bearing-deg", courseDeg);
+ setETAPropertyFromDistance(wp1->getChild("eta"), distanceM);
+ }
+
+ Waypt* prev = curWpt;
+ for (unsigned int i=_currentIndex + 1; i<_route.size(); ++i) {
+ Waypt* w = _route[i];
+ if (w->flag(WPT_DYNAMIC)) continue;
+ totalDistanceRemaining += SGGeodesy::distanceM(prev->position(), w->position());
+ prev = w;
- 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);
+ }
+
+ wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
+ ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
+ setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
+}
+
+void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance)
+{
+ double speed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
+ if (speed < 1.0) {
+ aProp->setStringValue("--:--");
+ return;
+ }
+
+ char eta_str[64];
+ double eta = aDistance * SG_METER_TO_NM / 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 );
+}
+
+flightgear::WayptRef FGRouteMgr::removeWayptAtIndex(int aIndex)
+{
+ int index = aIndex;
+ if (aIndex < 0) { // negative indices count the the end
+ index = _route.size() + index;
+ }
+
+ if ((index < 0) || (index >= numWaypts())) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "removeWayptAtIndex with invalid index:" << aIndex);
+ return NULL;
+ }
+ WayptVec::iterator it = _route.begin();
+ it += index;
+
+ WayptRef w = *it; // hold a ref now, in case _route is the only other owner
+ _route.erase(it);
+
+ update_mirror();
+
+ if (_currentIndex == index) {
+ currentWaypointChanged(); // current waypoint was removed
+ }
+ else
+ if (_currentIndex > index) {
+ --_currentIndex; // shift current index down if necessary
+ }
+
+ _edited->fireValueChanged();
+ checkFinished();
+
+ return w;
+}
+
+void FGRouteMgr::clearRoute()
+{
+ _route.clear();
+ _currentIndex = -1;
+
+ update_mirror();
+ active->setBoolValue(false);
+ _edited->fireValueChanged();
+}
+
+/**
+ * route between index-1 and index, using airways.
+ */
+bool FGRouteMgr::routeToIndex(int index, RouteType aRouteType)
+{
+ WayptRef wp1;
+ WayptRef wp2;
+
+ if (index == -1) {
+ index = _route.size(); // can still be zero, of course
+ }
+
+ if (index == 0) {
+ if (!_departure) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no departure set");
+ return false;
}
- 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();
+ wp1 = new NavaidWaypoint(_departure.get(), NULL);
+ } else {
+ wp1 = wayptAtIndex(index - 1);
+ }
+
+ if (index >= numWaypts()) {
+ if (!_destination) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "routeToIndex: no destination set");
+ return false;
}
- wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
- ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
- setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
+ wp2 = new NavaidWaypoint(_destination.get(), NULL);
+ } else {
+ wp2 = wayptAtIndex(index);
+ }
+
+ double distNm = SGGeodesy::distanceNm(wp1->position(), wp2->position());
+ if (distNm < 100.0) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: existing waypoints are nearby, direct route");
+ return true;
+ }
+
+ WayptVec r;
+ switch (aRouteType) {
+ case ROUTE_HIGH_AIRWAYS:
+ Airway::highLevel()->route(wp1, wp2, r);
+ break;
+
+ case ROUTE_LOW_AIRWAYS:
+ Airway::lowLevel()->route(wp1, wp2, r);
+ break;
- // get time now at destination tz as tm struct
- // add ete seconds
- // convert to string ... and stash in property
- //destination->setDoubleValue("eta", eta);
-}
+ case ROUTE_VOR:
+ throw sg_exception("VOR routing not supported yet");
+ }
+
+ if (r.empty()) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "routeToIndex: no route found");
+ return false;
+ }
+ WayptVec::iterator it = _route.begin();
+ it += index;
+ _route.insert(it, r.begin(), r.end());
-void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
- double speed = get_ground_speed();
- if (speed < 1.0) {
- aProp->setStringValue("--:--");
- return;
- }
+ update_mirror();
+ _edited->fireValueChanged();
+ return true;
+}
+
+void FGRouteMgr::autoRoute()
+{
+ if (!_departure || !_destination) {
+ return;
+ }
- char eta_str[64];
- double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
- if ( eta >= 100.0 ) {
- eta = 99.999; // clamp
- }
+ string runwayId(departure->getStringValue("runway"));
+ FGRunway* runway = NULL;
+ if (_departure->hasRunwayWithIdent(runwayId)) {
+ runway = _departure->getRunwayByIdent(runwayId);
+ }
+
+ FGRunway* dstRunway = NULL;
+ runwayId = destination->getStringValue("runway");
+ if (_destination->hasRunwayWithIdent(runwayId)) {
+ dstRunway = _destination->getRunwayByIdent(runwayId);
+ }
- if ( eta < (1.0/6.0) ) {
- eta *= 60.0; // within 10 minutes, bump up to min/secs
+ _route.clear(); // clear out the existing, first
+// SID
+ flightgear::SID* sid;
+ WayptRef sidTrans;
+
+ boost::tie(sid, sidTrans) = _departure->selectSID(_destination->geod(), runway);
+ if (sid) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "selected SID " << sid->ident());
+ if (sidTrans) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << sidTrans->ident() << " transition");
}
- int major = (int)eta,
- minor = (int)((eta - (int)eta) * 60.0);
- snprintf( eta_str, 64, "%d:%02d", major, minor );
- aProp->setStringValue( eta_str );
+ sid->route(runway, sidTrans, _route);
+ departure->setStringValue("sid", sid->ident());
+ } else {
+ // use airport location for airway search
+ sidTrans = new NavaidWaypoint(_departure.get(), NULL);
+ departure->setStringValue("sid", "");
+ }
+
+// STAR
+ destination->setStringValue("transition", "");
+ destination->setStringValue("star", "");
+
+ STAR* star;
+ WayptRef starTrans;
+ boost::tie(star, starTrans) = _destination->selectSTAR(_departure->geod(), dstRunway);
+ if (star) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "selected STAR " << star->ident());
+ if (starTrans) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "\tvia " << starTrans->ident() << " transition");
+ destination->setStringValue("transition", starTrans->ident());
+ }
+ destination->setStringValue("star", star->ident());
+ } else {
+ // use airport location for search
+ starTrans = new NavaidWaypoint(_destination.get(), NULL);
+ }
+
+// route between them
+ WayptVec airwayRoute;
+ if (Airway::highLevel()->route(sidTrans, starTrans, airwayRoute)) {
+ _route.insert(_route.end(), airwayRoute.begin(), airwayRoute.end());
+ }
+
+// add the STAR if we have one
+ if (star) {
+ _destination->buildApproach(starTrans, star, dstRunway, _route);
+ }
+
+ update_mirror();
+ _edited->fireValueChanged();
}
-void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n )
+void FGRouteMgr::departureChanged()
{
- _route->add_waypoint( wp, n );
-
- if ((n >= 0) && (_route->current_index() > n)) {
- _route->set_current(_route->current_index() + 1);
+// remove existing departure waypoints
+ WayptVec::iterator it = _route.begin();
+ for (; it != _route.end(); ++it) {
+ if (!(*it)->flag(WPT_DEPARTURE)) {
+ break;
+ }
}
+ // erase() invalidates iterators, so grab now
+ WayptRef enroute;
+ if (it == _route.end()) {
+ if (_destination) {
+ enroute = new NavaidWaypoint(_destination.get(), NULL);
+ }
+ } else {
+ enroute = *it;
+ }
+
+ _route.erase(_route.begin(), it);
+ if (!_departure) {
+ waypointsChanged();
+ return;
+ }
+
+ WayptVec wps;
+ buildDeparture(enroute, wps);
+ for (it = wps.begin(); it != wps.end(); ++it) {
+ (*it)->setFlag(WPT_DEPARTURE);
+ (*it)->setFlag(WPT_GENERATED);
+ }
+ _route.insert(_route.begin(), wps.begin(), wps.end());
+
+ update_mirror();
waypointsChanged();
}
-void FGRouteMgr::waypointsChanged()
+void FGRouteMgr::buildDeparture(WayptRef enroute, WayptVec& wps)
{
- 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));
+ string runwayId(departure->getStringValue("runway"));
+ if (!_departure->hasRunwayWithIdent(runwayId)) {
+// valid airport, but no runway selected, so just the airport noide itself
+ wps.push_back(new NavaidWaypoint(_departure.get(), NULL));
+ return;
+ }
+
+ FGRunway* r = _departure->getRunwayByIdent(runwayId);
+ string sidId = departure->getStringValue("sid");
+ flightgear::SID* sid = _departure->findSIDWithIdent(sidId);
+ if (!sid) {
+// valid runway, but no SID selected/found, so just the runway node for now
+ if (!sidId.empty() && (sidId != "(none)")) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "SID not found:" << sidId);
+ }
+
+ wps.push_back(new RunwayWaypt(r, NULL));
+ return;
+ }
+
+// we have a valid SID, awesome
+ string trans(departure->getStringValue("transition"));
+ WayptRef t = sid->findTransitionByName(trans);
+ if (!t && enroute) {
+ t = sid->findBestTransition(enroute->position());
}
- update_mirror();
- _edited->fireValueChanged();
- checkFinished();
+ sid->route(r, t, wps);
+ if (!wps.empty() && wps.front()->flag(WPT_DYNAMIC)) {
+ // ensure first waypoint is static, to simplify other computations
+ wps.insert(wps.begin(), new RunwayWaypt(r, NULL));
+ }
}
-SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
- if ( _route->size() <= 0 ) {
- return SGWayPoint();
+void FGRouteMgr::arrivalChanged()
+{
+ // remove existing arrival waypoints
+ WayptVec::reverse_iterator rit = _route.rbegin();
+ for (; rit != _route.rend(); ++rit) {
+ if (!(*rit)->flag(WPT_ARRIVAL)) {
+ break;
+ }
}
- if ( n < 0 ) {
- n = _route->size() - 1;
- }
+ // erase() invalidates iterators, so grab now
+ WayptRef enroute;
+ WayptVec::iterator it;
- if (_route->current_index() > n) {
- _route->set_current(_route->current_index() - 1);
+ if (rit != _route.rend()) {
+ enroute = *rit;
+ it = rit.base(); // convert to fwd iterator
+ } else {
+ it = _route.begin();
}
- SGWayPoint wp = _route->get_waypoint(n);
- _route->delete_waypoint(n);
-
+ _route.erase(it, _route.end());
+
+ WayptVec wps;
+ buildArrival(enroute, wps);
+ for (it = wps.begin(); it != wps.end(); ++it) {
+ (*it)->setFlag(WPT_ARRIVAL);
+ (*it)->setFlag(WPT_GENERATED);
+ }
+ _route.insert(_route.end(), wps.begin(), wps.end());
+
+ update_mirror();
waypointsChanged();
- return wp;
}
-
-bool FGRouteMgr::build() {
- return true;
+void FGRouteMgr::buildArrival(WayptRef enroute, WayptVec& wps)
+{
+ if (!_destination) {
+ return;
+ }
+
+ string runwayId(destination->getStringValue("runway"));
+ if (!_destination->hasRunwayWithIdent(runwayId)) {
+// valid airport, but no runway selected, so just the airport node itself
+ wps.push_back(new NavaidWaypoint(_destination.get(), NULL));
+ return;
+ }
+
+ FGRunway* r = _destination->getRunwayByIdent(runwayId);
+ string starId = destination->getStringValue("star");
+ STAR* star = _destination->findSTARWithIdent(starId);
+ if (!star) {
+// valid runway, but no STAR selected/found, so just the runway node for now
+ wps.push_back(new RunwayWaypt(r, NULL));
+ return;
+ }
+
+// we have a valid STAR
+ string trans(destination->getStringValue("transition"));
+ WayptRef t = star->findTransitionByName(trans);
+ if (!t && enroute) {
+ t = star->findBestTransition(enroute->position());
+ }
+
+ _destination->buildApproach(t, star, r, wps);
}
+void FGRouteMgr::waypointsChanged()
+{
-void FGRouteMgr::new_waypoint( const string& target, int n ) {
- SGWayPoint* wp = make_waypoint( target );
- if (!wp) {
- return;
- }
-
- add_waypoint( *wp, n );
- delete wp;
}
+void FGRouteMgr::insertWayptAtIndex(Waypt* aWpt, int aIndex)
+{
+ if (!aWpt) {
+ return;
+ }
+
+ int index = aIndex;
+ if ((aIndex == -1) || (aIndex > (int) _route.size())) {
+ index = _route.size();
+ }
+
+ WayptVec::iterator it = _route.begin();
+ it += index;
+
+ if (_currentIndex >= index) {
+ ++_currentIndex;
+ }
+
+ _route.insert(it, aWpt);
+
+ update_mirror();
+ _edited->fireValueChanged();
+}
-SGWayPoint* FGRouteMgr::make_waypoint(const string& tgt ) {
- string target(boost::to_upper_copy(tgt));
+WayptRef FGRouteMgr::waypointFromString(const string& tgt )
+{
+ string target(boost::to_upper_copy(tgt));
+ WayptRef wpt;
+
+// extract altitude
+ double altFt = cruise->getDoubleValue("altitude-ft");
+ RouteRestriction altSetting = RESTRICT_NONE;
+ size_t pos = target.find( '@' );
+ if ( pos != string::npos ) {
+ altFt = atof( target.c_str() + pos + 1 );
+ target = target.substr( 0, pos );
+ if ( !strcmp(fgGetString("/sim/startup/units"), "meter") )
+ altFt *= SG_METER_TO_FEET;
+ altSetting = RESTRICT_AT;
+ }
+
+// 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);
+ char buf[32];
+ char ew = (lon < 0.0) ? 'W' : 'E';
+ char ns = (lat < 0.0) ? 'S' : 'N';
+ snprintf(buf, 32, "%c%03d%c%03d", ew, (int) fabs(lon), ns, (int)fabs(lat));
- double alt = -9999.0;
- // extract altitude
- size_t 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;
+ wpt = new BasicWaypt(SGGeod::fromDeg(lon, lat), buf, NULL);
+ if (altSetting != RESTRICT_NONE) {
+ wpt->setAltitude(altFt, altSetting);
}
+ return wpt;
+ }
- // 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);
- char buf[32];
- char ew = (lon < 0.0) ? 'W' : 'E';
- char ns = (lat < 0.0) ? 'S' : 'N';
- snprintf(buf, 32, "%c%03d%c%03d", ew, (int) fabs(lon), ns, (int)fabs(lat));
- return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, buf);
- }
-
- 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());
- }
+ SGGeod basePosition;
+ if (_route.empty()) {
+ // route is empty, use current position
+ basePosition = SGGeod::fromDeg(lon->getDoubleValue(), lat->getDoubleValue());
+ } else {
+ basePosition = _route.back()->position();
+ }
- vector<string> pieces(simgear::strutils::split(target, "/"));
-
+ string_list pieces(simgear::strutils::split(target, "/"));
+ 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;
+ }
- FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
- if (!p) {
- SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
+ if (pieces.size() == 1) {
+ wpt = new NavaidWaypoint(p, NULL);
+ } else if (pieces.size() == 3) {
+ // navaid/radial/distance-nm notation
+ double radial = atof(pieces[1].c_str()),
+ distanceNm = atof(pieces[2].c_str());
+ radial += magvar->getDoubleValue(); // convert to true bearing
+ wpt = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
+ } else 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;
}
- SGGeod geod = SGGeod::fromGeodM(p->geod(), alt);
- if (pieces.size() == 1) {
- // simple case
- return new SGWayPoint(geod, target, p->name());
- }
-
- 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);
+ if (!apt->hasRunwayWithIdent(pieces[1])) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
+ return NULL;
+ }
- SG_LOG(SG_AUTOPILOT, SG_INFO, "final offset radial is " << radial);
- return new SGWayPoint(offsetPos, p->ident() + pieces[2], target);
+ FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
+ wpt = new NavaidWaypoint(runway, NULL);
+ } else if (pieces.size() == 4) {
+ // navid/radial/navid/radial notation
+ FGPositionedRef p2 = FGPositioned::findClosestWithIdent(pieces[2], basePosition);
+ if (!p2) {
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces[2]);
+ return NULL;
}
+
+ double r1 = atof(pieces[1].c_str()),
+ r2 = atof(pieces[3].c_str());
+ r1 += magvar->getDoubleValue();
+ r2 += magvar->getDoubleValue();
- 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]);
+ SGGeod intersection;
+ bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
+ if (!ok) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << target);
+ return NULL;
}
+ std::string name = p->ident() + "-" + p2->ident();
+ wpt = new BasicWaypt(intersection, name, NULL);
+ }
+
+ if (!wpt) {
SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
return NULL;
+ }
+
+ if (altSetting != RESTRICT_NONE) {
+ wpt->setAltitude(altFt, altSetting);
+ }
+ return wpt;
}
-
// 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);
-
- 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", pos.getLongitudeDeg());
- prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
- prop->setDoubleValue("altitude-m", pos.getElevationM());
- prop->setDoubleValue("altitude-ft", pos.getElevationFt());
+void FGRouteMgr::update_mirror()
+{
+ mirror->removeChildren("wp");
+
+ int num = numWaypts();
+ for (int i = 0; i < num; i++) {
+ Waypt* wp = _route[i];
+ SGPropertyNode *prop = mirror->getChild("wp", i, 1);
+
+ const SGGeod& pos(wp->position());
+ prop->setStringValue("id", wp->ident().c_str());
+ prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
+ prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
+
+ // leg course+distance
+ if (i < (num - 1)) {
+ Waypt* next = _route[i+1];
+ std::pair<double, double> crsDist =
+ next->courseAndDistanceFrom(pos);
+ prop->setDoubleValue("leg-bearing-true-deg", crsDist.first);
+ prop->setDoubleValue("leg-distance-nm", crsDist.second * SG_METER_TO_NM);
+ }
+
+ if (wp->altitudeRestriction() != RESTRICT_NONE) {
+ double ft = wp->altitudeFt();
+ prop->setDoubleValue("altitude-m", ft * SG_FEET_TO_METER);
+ prop->setDoubleValue("altitude-ft", ft);
+ prop->setIntValue("flight-level", static_cast<int>(ft / 1000) * 10);
+ } else {
+ prop->setDoubleValue("altitude-m", -9999.9);
+ prop->setDoubleValue("altitude-ft", -9999.9);
+ }
+
+ if (wp->speedRestriction() == SPEED_RESTRICT_MACH) {
+ prop->setDoubleValue("speed-mach", wp->speedMach());
+ } else if (wp->speedRestriction() != RESTRICT_NONE) {
+ prop->setDoubleValue("speed-kts", wp->speedKts());
+ }
+
+ if (wp->flag(WPT_ARRIVAL)) {
+ prop->setBoolValue("arrival", true);
+ }
+
+ if (wp->flag(WPT_DEPARTURE)) {
+ prop->setBoolValue("departure", true);
}
- // set number as listener attachment point
- mirror->setIntValue("num", _route->size());
+
+ if (wp->flag(WPT_MISS)) {
+ prop->setBoolValue("missed-approach", true);
+ }
+
+ prop->setBoolValue("generated", wp->flag(WPT_GENERATED));
+ } // of waypoint iteration
+
+ // set number as listener attachment point
+ mirror->setIntValue("num", _route.size());
+
+ NewGUI * gui = (NewGUI *)globals->get_subsystem("gui");
+ FGDialog* rmDlg = gui->getDialog("route-manager");
+ if (rmDlg) {
+ rmDlg->updateValues();
+ }
}
// command interface /autopilot/route-manager/input:
}
if (!strcmp(s, "@CLEAR"))
- mgr->init();
+ mgr->clearRoute();
else if (!strcmp(s, "@ACTIVATE"))
mgr->activate();
else if (!strcmp(s, "@LOAD")) {
- mgr->loadRoute();
+ SGPath path(mgr->_pathNode->getStringValue());
+ mgr->loadRoute(path);
} else if (!strcmp(s, "@SAVE")) {
- mgr->saveRoute();
- } else if (!strcmp(s, "@POP")) {
- SG_LOG(SG_AUTOPILOT, SG_WARN, "route-manager @POP command is deprecated");
+ SGPath path(mgr->_pathNode->getStringValue());
+ mgr->saveRoute(path);
} else if (!strcmp(s, "@NEXT")) {
- mgr->jumpToIndex(mgr->currentWaypoint() + 1);
+ mgr->jumpToIndex(mgr->_currentIndex + 1);
} else if (!strcmp(s, "@PREVIOUS")) {
- mgr->jumpToIndex(mgr->currentWaypoint() - 1);
+ mgr->jumpToIndex(mgr->_currentIndex - 1);
} else if (!strncmp(s, "@JUMP", 5)) {
mgr->jumpToIndex(atoi(s + 5));
} else if (!strncmp(s, "@DELETE", 7))
- mgr->pop_waypoint(atoi(s + 7));
+ mgr->removeWayptAtIndex(atoi(s + 7));
else if (!strncmp(s, "@INSERT", 7)) {
char *r;
int pos = strtol(s + 7, &r, 10);
while (isspace(*r))
r++;
if (*r)
- mgr->new_waypoint(r, pos);
+ mgr->insertWayptAtIndex(mgr->waypointFromString(r), pos);
+ } else if (!strncmp(s, "@ROUTE", 6)) {
+ char* r;
+ int endIndex = strtol(s + 6, &r, 10);
+ RouteType rt = (RouteType) mgr->_routingType->getIntValue();
+ mgr->routeToIndex(endIndex, rt);
+ } else if (!strcmp(s, "@AUTOROUTE")) {
+ mgr->autoRoute();
+ } else if (!strcmp(s, "@POSINIT")) {
+ mgr->initAtPosition();
} else
- mgr->new_waypoint(s);
+ mgr->insertWayptAtIndex(mgr->waypointFromString(s), -1);
}
-// 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()
+void FGRouteMgr::initAtPosition()
{
if (isRouteActive()) {
- SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
- return false;
+ return; // don't mess with the active route
}
-
- // only add departure waypoint if we're not airborne, so that
- // in-air route activation doesn't confuse matters.
- if (weightOnWheels->getBoolValue() && _departure) {
- string runwayId(departure->getStringValue("runway"));
- FGRunway* runway = NULL;
- if (_departure->hasRunwayWithIdent(runwayId)) {
- runway = _departure->getRunwayByIdent(runwayId);
- } else {
- SG_LOG(SG_AUTOPILOT, SG_INFO,
- "route-manager, departure runway not found:" << runwayId);
- runway = _departure->getActiveRunwayForUsage();
+
+ if (haveUserWaypoints()) {
+ // user has already defined, loaded or entered a route, again
+ // don't interfere with it
+ return;
+ }
+
+ if (airborne->getBoolValue()) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: airborne, clearing departure info");
+ _departure = NULL;
+ departure->setStringValue("runway", "");
+ return;
+ }
+
+// on the ground
+ SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(),
+ lat->getDoubleValue(), alt->getDoubleValue());
+ if (!_departure) {
+ _departure = FGAirport::findClosest(pos, 20.0);
+ if (!_departure) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: couldn't find an airport within 20nm");
+ departure->setStringValue("runway", "");
+ return;
}
-
- SGWayPoint swp(runway->threshold(),
- _departure->ident() + "-" + runway->ident(), runway->name());
- add_waypoint(swp, 0);
}
- if (_destination) {
- string runwayId = (destination->getStringValue("runway"));
- if (_destination->hasRunwayWithIdent(runwayId)) {
- FGRunway* runway = _destination->getRunwayByIdent(runwayId);
- SGWayPoint swp(runway->end(),
- _destination->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(_destination->geod(), _destination->ident(), _destination->name()));
+ std::string rwy = departure->getStringValue("runway");
+ if (!rwy.empty()) {
+ // runway already set, fine
+ return;
+ }
+
+ FGRunway* r = _departure->findBestRunwayForPos(pos);
+ if (!r) {
+ return;
+ }
+
+ departure->setStringValue("runway", r->ident().c_str());
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "initAtPosition: starting at "
+ << _departure->ident() << " on runway " << r->ident());
+}
+
+bool FGRouteMgr::haveUserWaypoints() const
+{
+ for (int i = 0; i < numWaypts(); i++) {
+ if (!_route[i]->flag(WPT_GENERATED)) {
+ // have a non-generated waypoint, we're done
+ return true;
}
}
+
+ // all waypoints are generated
+ return false;
+}
- _route->set_current(0);
+bool FGRouteMgr::activate()
+{
+ if (isRouteActive()) {
+ SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
+ return false;
+ }
+
+ _currentIndex = 0;
+ currentWaypointChanged();
+
+ /* 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;
return;
}
- _route->increment_current();
+ _currentIndex++;
currentWaypointChanged();
- _currentWpt->fireValueChanged();
}
bool FGRouteMgr::checkFinished()
{
- int lastWayptIndex = _route->size() - 1;
- if (_route->current_index() < lastWayptIndex) {
+ if (_currentIndex < (int) _route.size()) {
return false;
}
void FGRouteMgr::jumpToIndex(int index)
{
- if ((index < 0) || (index >= _route->size())) {
+ if ((index < 0) || (index >= (int) _route.size())) {
SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
index << ") to FGRouteMgr::jumpToIndex");
return;
}
- if (_route->current_index() == index) {
+ if (_currentIndex == index) {
return; // no-op
}
- _route->set_current(index);
+// all the checks out the way, go ahead and update state
+ _currentIndex = index;
currentWaypointChanged();
_currentWpt->fireValueChanged();
}
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("");
- }
+ Waypt* cur = currentWaypt();
+ Waypt* next = nextWaypt();
+
+ wp0->getChild("id")->setStringValue(cur ? cur->ident() : "");
+ wp1->getChild("id")->setStringValue(next ? next->ident() : "");
- SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
+ _currentWpt->fireValueChanged();
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _currentIndex);
}
-int FGRouteMgr::findWaypoint(const SGGeod& aPos) const
+int FGRouteMgr::findWayptIndex(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
+ for (int i=0; i<numWaypts(); ++i) {
+ if (_route[i]->matches(aPos)) {
return i;
}
}
return -1;
}
-SGWayPoint FGRouteMgr::get_waypoint( int i ) const
+Waypt* FGRouteMgr::currentWaypt() const
{
- return _route->get_waypoint(i);
+ if ((_currentIndex < 0) || (_currentIndex >= numWaypts()))
+ return NULL;
+ return wayptAtIndex(_currentIndex);
}
-int FGRouteMgr::size() const
+Waypt* FGRouteMgr::previousWaypt() const
{
- return _route->size();
+ if (_currentIndex == 0) {
+ return NULL;
+ }
+
+ return wayptAtIndex(_currentIndex - 1);
}
-int FGRouteMgr::currentWaypoint() const
+Waypt* FGRouteMgr::nextWaypt() const
{
- return _route->current_index();
+ if ((_currentIndex < 0) || ((_currentIndex + 1) >= numWaypts())) {
+ return NULL;
+ }
+
+ return wayptAtIndex(_currentIndex + 1);
}
-void FGRouteMgr::setWaypointTargetAltitudeFt(unsigned int index, int altFt)
+Waypt* FGRouteMgr::wayptAtIndex(int index) const
{
- SGWayPoint wp = _route->get_waypoint(index);
- wp.setTargetAltFt(altFt);
- // simplest way to update a waypoint is to remove and re-add it
- _route->delete_waypoint(index);
- _route->add_waypoint(wp, index);
- waypointsChanged();
+ if ((index < 0) || (index >= numWaypts())) {
+ throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
+ }
+
+ return _route[index];
}
-void FGRouteMgr::saveRoute()
+SGPropertyNode_ptr FGRouteMgr::wayptNodeAtIndex(int index) const
+{
+ if ((index < 0) || (index >= numWaypts())) {
+ throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
+ }
+
+ return mirror->getChild("wp", index);
+}
+
+bool FGRouteMgr::saveRoute(const SGPath& path)
{
- SGPath path(_pathNode->getStringValue());
SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
try {
SGPropertyNode_ptr d(new SGPropertyNode);
SGPath path(_pathNode->getStringValue());
- d->setIntValue("version", 1);
+ d->setIntValue("version", 2);
if (_departure) {
d->setStringValue("departure/airport", _departure->ident());
d->setStringValue("destination/transition", destination->getStringValue("transition"));
d->setStringValue("destination/runway", destination->getStringValue("runway"));
}
-
- // route nodes
+
+ // route nodes
SGPropertyNode* routeNode = d->getChild("route", 0, true);
- for (int i=0; i<_route->size(); ++i) {
- SGPropertyNode* wpNode = routeNode->getChild("wp",i, true);
- SGWayPoint wp(_route->get_waypoint(i));
-
- wpNode->setStringValue("ident", wp.get_id());
- wpNode->setStringValue("name", wp.get_name());
- SGGeod geod(wp.get_target());
-
- wpNode->setDoubleValue("longitude-deg", geod.getLongitudeDeg());
- wpNode->setDoubleValue("latitude-deg", geod.getLatitudeDeg());
-
- if (geod.getElevationFt() > -9990.0) {
- wpNode->setDoubleValue("altitude-ft", geod.getElevationFt());
- }
+ for (unsigned int i=0; i<_route.size(); ++i) {
+ Waypt* wpt = _route[i];
+ wpt->saveAsNode(routeNode->getChild("wp", i, true));
} // of waypoint iteration
-
writeProperties(path.str(), d, true /* write-all */);
- } catch (const sg_exception &e) {
- SG_LOG(SG_IO, SG_WARN, "Error saving route:" << e.getMessage());
+ return true;
+ } catch (sg_exception& e) {
+ SG_LOG(SG_IO, SG_ALERT, "Failed to save flight-plan '" << path.str() << "'. " << e.getMessage());
+ return false;
}
}
-void FGRouteMgr::loadRoute()
+bool FGRouteMgr::loadRoute(const SGPath& path)
{
+ if (!path.exists())
+ {
+ SG_LOG(SG_IO, SG_ALERT, "Failed to load flight-plan '" << path.str()
+ << "'. The file does not exist.");
+ return false;
+ }
+
// 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());
try {
readProperties(path.str(), routeData);
- } catch (sg_exception& e) {
+ } catch (sg_exception& ) {
// if XML parsing fails, the file might be simple textual list of waypoints
- loadPlainTextRoute(path);
- return;
+ return loadPlainTextRoute(path);
}
try {
- // departure nodes
- SGPropertyNode* dep = routeData->getChild("departure");
- if (!dep) {
- throw sg_io_exception("malformed route file, no departure node");
+ int version = routeData->getIntValue("version", 1);
+ if (version == 1) {
+ loadVersion1XMLRoute(routeData);
+ } else if (version == 2) {
+ loadVersion2XMLRoute(routeData);
+ } else {
+ throw sg_io_exception("unsupported XML route version");
}
-
+ return true;
+ } catch (sg_exception& e) {
+ SG_LOG(SG_IO, SG_ALERT, "Failed to load flight-plan '" << e.getOrigin()
+ << "'. " << e.getMessage());
+ return false;
+ }
+}
+
+void FGRouteMgr::loadXMLRouteHeader(SGPropertyNode_ptr routeData)
+{
+ // departure nodes
+ SGPropertyNode* dep = routeData->getChild("departure");
+ if (dep) {
string depIdent = dep->getStringValue("airport");
_departure = (FGAirport*) fgFindAirportID(depIdent);
-
-
- // destination
- SGPropertyNode* dst = routeData->getChild("destination");
- if (!dst) {
- throw sg_io_exception("malformed route file, no destination node");
- }
-
+ departure->setStringValue("runway", dep->getStringValue("runway"));
+ departure->setStringValue("sid", dep->getStringValue("sid"));
+ departure->setStringValue("transition", dep->getStringValue("transition"));
+ }
+
+// destination
+ SGPropertyNode* dst = routeData->getChild("destination");
+ if (dst) {
_destination = (FGAirport*) fgFindAirportID(dst->getStringValue("airport"));
destination->setStringValue("runway", dst->getStringValue("runway"));
+ destination->setStringValue("star", dst->getStringValue("star"));
+ destination->setStringValue("transition", dst->getStringValue("transition"));
+ }
- // 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("speed-kts", crs->getDoubleValue("speed-kts"));
- cruise->setDoubleValue("mach", crs->getDoubleValue("mach"));
- cruise->setDoubleValue("altitude-ft", crs->getDoubleValue("altitude-ft"));
- } // of cruise data loading
+// 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("speed-kts", crs->getDoubleValue("speed-kts"));
+ cruise->setDoubleValue("mach", crs->getDoubleValue("mach"));
+ cruise->setDoubleValue("altitude-ft", crs->getDoubleValue("altitude-ft"));
+ } // of cruise data loading
- // route nodes
- _route->clear();
- SGPropertyNode_ptr _route = routeData->getChild("route", 0);
- SGGeod lastPos = (_departure ? _departure->geod() : SGGeod());
-
- 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)
+void FGRouteMgr::loadVersion2XMLRoute(SGPropertyNode_ptr routeData)
+{
+ loadXMLRouteHeader(routeData);
+
+// route nodes
+ WayptVec wpts;
+ SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
+ for (int i=0; i<routeNode->nChildren(); ++i) {
+ SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
+ WayptRef wpt = Waypt::createFromProperties(NULL, wpNode);
+ wpts.push_back(wpt);
+ } // of route iteration
+
+ _route = wpts;
+}
+
+void FGRouteMgr::loadVersion1XMLRoute(SGPropertyNode_ptr routeData)
+{
+ loadXMLRouteHeader(routeData);
+
+// route nodes
+ WayptVec wpts;
+ SGPropertyNode_ptr routeNode = routeData->getChild("route", 0);
+ for (int i=0; i<routeNode->nChildren(); ++i) {
+ SGPropertyNode_ptr wpNode = routeNode->getChild("wp", i);
+ WayptRef wpt = parseVersion1XMLWaypt(wpNode);
+ wpts.push_back(wpt);
+ } // of route iteration
+
+ _route = wpts;
+}
+
+WayptRef FGRouteMgr::parseVersion1XMLWaypt(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();
+ if (!_route.empty()) {
+ lastPos = _route.back()->position();
+ } else if (_departure) {
+ lastPos = _departure->geod();
}
- SGPropertyNode_ptr altProp = aWP->getChild("altitude-ft");
- double altM = -9999.0;
- if (altProp) {
- altM = altProp->getDoubleValue() * SG_FEET_TO_METER;
- }
-
+ WayptRef w;
string ident(aWP->getStringValue("ident"));
if (aWP->hasChild("longitude-deg")) {
// explicit longitude/latitude
- SGWayPoint swp(aWP->getDoubleValue("longitude-deg"),
- aWP->getDoubleValue("latitude-deg"), altM,
- 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"));
+ w = new BasicWaypt(SGGeod::fromDeg(aWP->getDoubleValue("longitude-deg"),
+ aWP->getDoubleValue("latitude-deg")), ident, NULL);
+
+ } else {
+ string nid = aWP->getStringValue("navid", ident.c_str());
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");
double az2;
SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
}
-
- SGWayPoint swp(pos.getLongitudeDeg(), pos.getLatitudeDeg(), altM,
- 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(), altM,
- SGWayPoint::WGS84, p->ident(), p->name());
- add_waypoint(swp);
+
+ w = new BasicWaypt(pos, ident, NULL);
}
+
+ double altFt = aWP->getDoubleValue("altitude-ft", -9999.9);
+ if (altFt > -9990.0) {
+ w->setAltitude(altFt, RESTRICT_AT);
+ }
+
+ return w;
}
-void FGRouteMgr::loadPlainTextRoute(const SGPath& path)
+bool FGRouteMgr::loadPlainTextRoute(const SGPath& path)
{
- sg_gzifstream in(path.str().c_str());
- if (!in.is_open()) {
- return;
- }
-
- _route->clear();
- while (!in.eof()) {
- string line;
- getline(in, line, '\n');
- // trim CR from end of line, if found
- if (line[line.size() - 1] == '\r') {
- line.erase(line.size() - 1, 1);
+ try {
+ sg_gzifstream in(path.str().c_str());
+ if (!in.is_open()) {
+ throw sg_io_exception("Cannot open file for reading.");
}
-
- new_waypoint(line, -1);
- } // of line iteration
+
+ WayptVec wpts;
+ while (!in.eof()) {
+ string line;
+ getline(in, line, '\n');
+ // trim CR from end of line, if found
+ if (line[line.size() - 1] == '\r') {
+ line.erase(line.size() - 1, 1);
+ }
+
+ line = simgear::strutils::strip(line);
+ if (line.empty() || (line[0] == '#')) {
+ continue; // ignore empty/comment lines
+ }
+
+ WayptRef w = waypointFromString(line);
+ if (!w) {
+ throw sg_io_exception("Failed to create waypoint from line '" + line + "'.");
+ }
+
+ wpts.push_back(w);
+ } // of line iteration
+
+ _route = wpts;
+ return true;
+ } catch (sg_exception& e) {
+ SG_LOG(SG_IO, SG_ALERT, "Failed to load route from: '" << path.str() << "'. " << e.getMessage());
+ return false;
+ }
}
const char* FGRouteMgr::getDepartureICAO() const
} else {
_departure = FGAirport::findByIdent(aIdent);
}
+
+ departureChanged();
}
const char* FGRouteMgr::getDestinationICAO() const
} else {
_destination = FGAirport::findByIdent(aIdent);
}
+
+ arrivalChanged();
+}
+
+FGAirportRef FGRouteMgr::departureAirport() const
+{
+ return _departure;
+}
+
+FGAirportRef FGRouteMgr::destinationAirport() const
+{
+ return _destination;
}
+
+FGRunway* FGRouteMgr::departureRunway() const
+{
+ if (!_departure) {
+ return NULL;
+ }
+ string runwayId(departure->getStringValue("runway"));
+ if (!_departure->hasRunwayWithIdent(runwayId)) {
+ return NULL;
+ }
+
+ return _departure->getRunwayByIdent(runwayId);
+}
+
+FGRunway* FGRouteMgr::destinationRunway() const
+{
+ if (!_destination) {
+ return NULL;
+ }
+
+ string runwayId(destination->getStringValue("runway"));
+ if (!_destination->hasRunwayWithIdent(runwayId)) {
+ return NULL;
+ }
+
+ return _destination->getRunwayByIdent(runwayId);
+}
+
projects / flightgear.git / blobdiff