#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 <Navaids/positioned.hxx>
#include "route_mgr.hxx"
lat( NULL ),
alt( NULL ),
true_hdg_deg( NULL ),
+ target_altitude_ft( NULL ),
+ altitude_lock( NULL ),
wp0_id( NULL ),
wp0_dist( NULL ),
wp0_eta( NULL ),
wpn_eta( NULL ),
input(fgGetNode( RM "input", true )),
listener(new Listener(this)),
- mirror(fgGetNode( RM "route", true ))
+ mirror(fgGetNode( RM "route", true )),
+ altitude_set( false )
{
input->setStringValue("");
input->addChangeListener(listener);
FGRouteMgr::~FGRouteMgr() {
- delete route;
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( RM "wp[0]/id", true );
wp0_dist = fgGetNode( RM "wp[0]/dist", true );
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
}
// 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 );
+ 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 );
+}
void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
route->add_waypoint( wp, n );
update_mirror();
+ if ((n==0) || (route->size() == 1)) {
+ updateTargetAltitude();
+ }
}
wp0_eta->setStringValue( "" );
}
+ updateTargetAltitude();
update_mirror();
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;
+
+ if ( !near_ground() ) {
+ fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
+ }
+}
-int FGRouteMgr::new_waypoint( const string& Tgt_Alt, int n ) {
- double alt = 0.0;
- string target = Tgt_Alt;
+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
- unsigned int pos = target.find( '@' );
+ 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 );
}
// 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);
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;
- }
+ return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, 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;
- }
-
- // 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();
+ 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 {
- lat = fgGetNode("/position/latitude-deg")->getDoubleValue();
- lon = fgGetNode("/position/longitude-deg")->getDoubleValue();
+ // route is empty, use current position
+ basePosition = SGGeod::fromDeg(
+ fgGetNode("/position/longitude-deg")->getDoubleValue(),
+ fgGetNode("/position/latitude-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 );
- 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;
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(target, basePosition);
+ if (!p) {
+ SG_LOG( SG_GENERAL, SG_INFO, "Unable to find FGPositioned with ident:" << target);
+ return NULL;
}
-
- // target not identified
- return 0;
+
+ return new SGWayPoint(p->longitude(), p->latitude(), alt, SGWayPoint::WGS84, target);
}
}
+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"
+// @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"))
+ if (!strcmp(s, "@CLEAR"))
mgr->init();
- else if (!strcmp(s, "@pop"))
+ 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++ != ':')
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