X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIFlightPlan.cxx;h=381f9e94498f0680d44eaab337aa4a08005edf04;hb=40639d38a877b7f58702db0c2b8831985b8ddbaf;hp=9a7d6a267bca226371e203916139d7c0ddfdf23e;hpb=4bfd1722df24f5be89459b25010e5d7352720a7b;p=flightgear.git

diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx
index 9a7d6a267..381f9e944 100644
--- a/src/AIModel/AIFlightPlan.cxx
+++ b/src/AIModel/AIFlightPlan.cxx
@@ -14,9 +14,13 @@
 //
 // 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.
 
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
 
+#include <iostream>
 
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/debug/logstream.hxx>
@@ -24,29 +28,37 @@
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/structure/exception.hxx>
 #include <simgear/constants.h>
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <simgear/props/props.hxx>
+#include <simgear/props/props_io.hxx>
+
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/fg_init.hxx>
 #include <Airports/simple.hxx>
 #include <Airports/runways.hxx>
-
+#include <Airports/groundnetwork.hxx>
 
 #include <Environment/environment_mgr.hxx>
 #include <Environment/environment.hxx>
 
 #include "AIFlightPlan.hxx"
+#include "AIAircraft.hxx"
+
+using std::cerr;
 
+FGAIFlightPlan::FGAIFlightPlan() 
+{
+   sid = 0;
+}
 
 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
 {
   int i;
+  sid = 0;
   start_time = 0;
   leg = 10;
   gateId = 0;
+  taxiRoute = 0;
   SGPath path( globals->get_fg_root() );
   path.append( ("/AI/FlightPlans/" + filename).c_str() );
   SGPropertyNode root;
@@ -54,7 +66,7 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename)
 
   try {
       readProperties(path.str(), &root);
-  } catch (const sg_exception &e) {
+  } catch (const sg_exception &) {
       SG_LOG(SG_GENERAL, SG_ALERT,
        "Error reading AI flight plan: " << path.str());
        // cout << path.str() << endl;
@@ -75,6 +87,8 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename)
      wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
      wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
      wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
+     wpt->time_sec   = wpt_node->getDoubleValue("time-sec", 0);
+     wpt->time       = wpt_node->getStringValue("time", "");
 
      if (wpt->name == "END") wpt->finished = true;
      else wpt->finished = false;
@@ -93,7 +107,8 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename)
 // Position computed by the traffic manager, as well
 // as setting speeds and altitude computed by the
 // traffic manager. 
-FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
+FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
+                               const std::string& p,
 			       double course,
 			       time_t start,
 			       FGAirport *dep,
@@ -108,14 +123,18 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
 			       const string& acType,
 			       const string& airline)
 {
+  sid = 0;
+  repeat = false;
   leg = 10;
   gateId=0;
+  taxiRoute = 0;
   start_time = start;
   bool useInitialWayPoint = true;
   bool useCurrentWayPoint = false;
   SGPath path( globals->get_fg_root() );
   path.append( "/AI/FlightPlans" );
   path.append( p );
+  
   SGPropertyNode root;
   
   // This is a bit of a hack:
@@ -158,13 +177,13 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
 	    waypoints.push_back(wpt);
 	  }
 	}
-      catch (const sg_exception &e) {
-	SG_LOG(SG_GENERAL, SG_ALERT,
+      catch (const sg_exception &) {
+	SG_LOG(SG_GENERAL, SG_WARN,
 	       "Error reading AI flight plan: ");
 	cerr << "Errno = " << errno << endl;
 	if (errno == ENOENT)
 	  {
-	    cerr << "Reason: No such file or directory" << endl;
+	    SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
 	  }
       }
     }
@@ -176,6 +195,7 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
       time_t now = time(NULL) + fgGetLong("/sim/time/warp");
       time_t timeDiff = now-start; 
       leg = 1;
+      /*
       if ((timeDiff > 300) && (timeDiff < 1200))
 	leg = 2;
       else if ((timeDiff >= 1200) && (timeDiff < 1500))
@@ -184,10 +204,13 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
 	leg = 4;
       else if (timeDiff >= 2000)
 	leg = 5;
-      
-      //cerr << "Set leg to : " << leg << endl;  
+      */
+      if (timeDiff >= 2000)
+          leg = 5;
+
+      SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
       wpt_iterator = waypoints.begin();
-      create(dep,arr, leg, alt, speed, lat, lon,
+      create(ac, dep,arr, leg, alt, speed, lat, lon,
 	     firstLeg, radius, fltType, acType, airline);
       wpt_iterator = waypoints.begin();
       //cerr << "after create: " << (*wpt_iterator)->name << endl;
@@ -290,12 +313,7 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
 FGAIFlightPlan::~FGAIFlightPlan()
 {
   deleteWaypoints();
-  //waypoints.clear();
-  //while (waypoints.begin() != waypoints.end())
-  //  {
-  //    delete *(waypoints.begin());
-  //    waypoints.erase (waypoints.begin());
-  //  }
+  delete taxiRoute;
 }
 
 
@@ -345,43 +363,64 @@ void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
     }
   else
     wpt_iterator++;
+
+}
+
+void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
+{
+    if (eraseWaypoints)
+    {
+        if (wpt_iterator == waypoints.end())
+            wpt_iterator--;
+        else
+        {
+            delete *(waypoints.end());
+            waypoints.erase(waypoints.end());
+            wpt_iterator = waypoints.end();
+            wpt_iterator--;
+        }
+    }
+    else
+        wpt_iterator--;
+
 }
 
+
 // gives distance in feet from a position to a waypoint
 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
-   // get size of a degree2 at the present latitude
-   // this won't work over large distances
-   double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
-   double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
-   double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
-   double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
-   return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
+  return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), 
+      SGGeod::fromDeg(wp->longitude, wp->latitude));
 }
 
 // sets distance in feet from a lead point to the current waypoint
 void FGAIFlightPlan::setLeadDistance(double speed, double bearing, 
                                      waypoint* current, waypoint* next){
   double turn_radius;
-    if (fabs(speed) > 1) 
+  // Handle Ground steering
+  // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
+  // So, to get an estimate of the turn radius, calculate the cicumference of the circle
+  // we travel on. Get the turn radius by dividing by PI (*2).
+  if (speed < 0.5) {
+        lead_distance = 0.5;
+        return;
+  }
+  if (speed < 25) {
+       turn_radius = ((360/30)*15) / (2*M_PI);
+  } else 
       turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
-    else
-      turn_radius = 1.0;
 
   double inbound = bearing;
   double outbound = getBearing(current, next);
   leadInAngle = fabs(inbound - outbound);
   if (leadInAngle > 180.0) 
     leadInAngle = 360.0 - leadInAngle;
-  if (leadInAngle < 1.0) // To prevent lead_dist from getting so small it is skipped 
-    leadInAngle = 1.0;
+  //if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped 
+  //  leadInAngle = 30.0;
   
-  lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS); 
+  //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS); 
+  lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
   //  if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
   //  {
-  //    cerr << "Lead Distance = " << lead_distance
-  //	   << "Diff          = " << diff
-  //	   << "Turn Radius   = " << turn_radius 
-  //	   << "Speed         = " << speed << endl;
   //  }
 }
 
@@ -396,54 +435,10 @@ double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
 
 
 double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
-  double course, distance;
- //  double latd = lat;
-//   double lond = lon;
-//   double latt = wp->latitude;
-//   double lont = wp->longitude;
-//   double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat/SG_RADIANS_TO_DEGREES);
-//   double ft_per_deg_lon = 365228.16 * cos(lat/SG_RADIANS_TO_DEGREES);
-
-//   if (lond < 0.0) {
-//     lond+=360.0;
-//     lont+=360;
-//   }
-//   if (lont < 0.0) {
-//     lond+=360.0;
-//     lont+=360.0;
-//   }
-//   latd+=90.0;
-//   latt+=90.0;
-
-//   double lat_diff = (latt - latd) * ft_per_deg_lat;
-//   double lon_diff = (lont - lond) * ft_per_deg_lon;
-//   double angle = atan(fabs(lat_diff / lon_diff)) * SG_RADIANS_TO_DEGREES;
-
-//   bool southerly = true;
-//   if (latt > latd) southerly = false;
-//   bool easterly = false;
-//   if (lont > lond) easterly = true;
-//   if (southerly && easterly) return 90.0 + angle;
-//   if (!southerly && easterly) return 90.0 - angle;
-//   if (southerly && !easterly) return 270.0 - angle;
-//   if (!southerly && !easterly) return 270.0 + angle; 
-  SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
-  sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
-  
-  return course;
-  // Omit a compiler warning. 
-  //if ((errno == EDOM) || (errno == ERANGE))
-  //  {
-  //    cerr << "Lon:  " << wp->longitude
-  //	   << "Lat       = " << wp->latitude
-  //   << "Tgt Lon   = " <<  
-  //   << "TgT Lat   = " << speed << endl;
-  //  }
-  
+  return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat), 
+      SGGeod::fromDeg(wp->longitude, wp->latitude));
 }
 
-
-
 void FGAIFlightPlan::deleteWaypoints()
 {
   for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
@@ -483,3 +478,19 @@ void FGAIFlightPlan::restart()
 {
   wpt_iterator = waypoints.begin();
 }
+
+
+void FGAIFlightPlan::deleteTaxiRoute() 
+{
+  delete taxiRoute;
+  taxiRoute = 0;
+}
+
+
+int FGAIFlightPlan::getRouteIndex(int i) {
+  if ((i > 0) && (i < (int)waypoints.size())) {
+    return waypoints[i]->routeIndex;
+  }
+  else
+    return 0;
+}