// 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 - curt@flightgear.org
+// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <simgear/compiler.h>
+
#include <FDM/flight.hxx>
#include <Main/fg_props.hxx>
+#include <Navaids/positioned.hxx>
#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 )
{
- cout << "route = " << route << endl;
+ input->setStringValue("");
+ input->addChangeListener(listener);
}
FGRouteMgr::~FGRouteMgr() {
+ input->removeChangeListener(listener);
+ delete listener;
delete route;
}
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();
+}
+
+
+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)
+ 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;
return kts;
}
+void FGRouteMgr::updateTargetAltitude() {
+ if (route->size() == 0) {
+ altitude_set = false;
+ return;
+ }
+
+ SGWayPoint wp = route->get_waypoint( 0 );
+ if (wp.get_target_alt() < -9990.0) {
+ altitude_set = false;
+ return;
+ }
+
+ altitude_set = true;
+ target_altitude_ft->setDoubleValue( wp.get_target_alt() * SG_METER_TO_FEET );
+
+ if ( !near_ground() ) {
+ // James Turner [zakalawe]: there's no explanation for this logic,
+ // it feels like the autopilot should pull the target altitude out of
+ // wp0 instead of us pushing it through here. Hmmm.
+ altitude_lock->setStringValue( "altitude-hold" );
+ }
+}
void FGRouteMgr::update( double dt ) {
- double accum = 0.0;
+ if (route->size() == 0) {
+ return; // no route set, early return
+ }
+
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();
+ 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 (route->size() == 0) {
+ return; // end of route, we're done for the time being
}
+
+ wp = route->get_waypoint( 0 );
}
- // 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 );
- }
+ // update the property tree info for WP0
+ wp0_id->setStringValue( wp.get_id().c_str() );
+ double accum = wp_distance;
+ wp0_dist->setDoubleValue( accum * SG_METER_TO_NM );
+ setETAPropertyFromDistance(wp0_eta, accum);
// 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 );
+ setETAPropertyFromDistance(wp1_eta, accum);
}
// 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_id->setStringValue( wp.get_id().c_str() );
-
wpn_dist->setDoubleValue( accum * SG_METER_TO_NM );
+ setETAPropertyFromDistance(wpn_eta, accum);
+ }
+}
+
+void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
+ 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) ) {
+ // within 10 minutes, bump up to min/secs
+ eta *= 60.0;
+ }
+
+ int major = (int)eta,
+ minor = (int)((eta - (int)eta) * 60.0);
+ snprintf( eta_str, 64, "%d:%02d", major, minor );
+ aProp->setStringValue( eta_str );
+}
- 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::add_waypoint( const SGWayPoint& wp, int n ) {
+ route->add_waypoint( wp, n );
+ update_mirror();
+ if ((n==0) || (route->size() == 1)) {
+ updateTargetAltitude();
}
}
-SGWayPoint FGRouteMgr::pop_waypoint() {
+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( "" );
}
+ updateTargetAltitude();
+ update_mirror();
return wp;
}
bool FGRouteMgr::build() {
return true;
}
+
+
+void FGRouteMgr::new_waypoint( const string& target, int n ) {
+ SGWayPoint* wp = make_waypoint( target );
+ if (!wp) {
+ return;
+ }
+
+ add_waypoint( *wp, n );
+ delete wp;
+
+ if ( !near_ground() ) {
+ fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
+ }
+}
+
+
+SGWayPoint* FGRouteMgr::make_waypoint(const string& tgt ) {
+ string target = tgt;
+
+ // make upper case
+ for (unsigned int i = 0; i < target.size(); i++)
+ if (target[i] >= 'a' && target[i] <= 'z')
+ target[i] -= 'a' - 'A';
+
+ // extract altitude
+ double alt = -9999.0;
+ 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;
+ }
+
+ // 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 );
+ return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
+ }
+
+ SGGeod basePosition;
+ if (route->size() > 0) {
+ SGWayPoint wp = get_waypoint(route->size()-1);
+ basePosition = SGGeod::fromDeg(wp.get_target_lon(), wp.get_target_lat());
+ } else {
+ // route is empty, use current position
+ basePosition = SGGeod::fromDeg(
+ fgGetNode("/position/longitude-deg")->getDoubleValue(),
+ fgGetNode("/position/latitude-deg")->getDoubleValue());
+ }
+
+
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(target, basePosition);
+ if (!p) {
+ SG_LOG( SG_GENERAL, SG_INFO, "Unable to find FGPositioned with ident:" << target);
+ return NULL;
+ }
+
+ return new SGWayPoint(p->longitude(), p->latitude(), alt, SGWayPoint::WGS84, target);
+}
+
+
+// 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::near_ground() {
+ SGPropertyNode *gear = fgGetNode( "/gear/gear/wow", false );
+ if ( !gear || gear->getType() == simgear::props::NONE )
+ return fgGetBool( "/sim/presets/onground", true );
+
+ if ( fgGetDouble("/position/altitude-agl-ft", 300.0)
+ < fgGetDouble("/autopilot/route-manager/min-lock-altitude-agl-ft") )
+ return 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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