X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIFlightPlan.cxx;h=438d9912552993126bd992e9bc62ebdfdabd8125;hb=90b2d25671d60ff3c5561791676f27d31676904c;hp=39ca074d864eb2d81fa03d507fa55a91c428df42;hpb=62a359cc4a338b2f8b720edf8183ab5b69710b14;p=flightgear.git

diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx
index 39ca074d8..438d99125 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>
@@ -24,22 +28,23 @@
 #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"
 
+using std::cerr;
+
 
 FGAIFlightPlan::FGAIFlightPlan(const string& filename)
 {
@@ -47,8 +52,9 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename)
   start_time = 0;
   leg = 10;
   gateId = 0;
+  taxiRoute = 0;
   SGPath path( globals->get_fg_root() );
-  path.append( ("/Data/AI/FlightPlans/" + filename).c_str() );
+  path.append( ("/AI/FlightPlans/" + filename).c_str() );
   SGPropertyNode root;
   repeat = false;
 
@@ -75,6 +81,8 @@ 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;
@@ -93,25 +101,32 @@ 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(FGAIModelEntity *entity,
+FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
 			       double course,
 			       time_t start,
 			       FGAirport *dep,
 			       FGAirport *arr,
 			       bool firstLeg,
 			       double radius,
+                               double alt,
+                               double lat,
+                               double lon,
+                               double speed,
 			       const string& fltType,
 			       const string& acType,
 			       const string& airline)
 {
+  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( "/Data/AI/FlightPlans" );
-  path.append( entity->path );
+  path.append( "/AI/FlightPlans" );
+  path.append( p );
+  
   SGPropertyNode root;
   
   // This is a bit of a hack:
@@ -155,12 +170,12 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
 	  }
 	}
       catch (const sg_exception &e) {
-	SG_LOG(SG_GENERAL, SG_ALERT,
+	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");
 	  }
       }
     }
@@ -172,6 +187,7 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
       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))
@@ -180,10 +196,13 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
 	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);
       wpt_iterator = waypoints.begin();
-      create(dep,arr, leg, entity->altitude, entity->speed, entity->latitude, entity->longitude,
+      create(dep,arr, leg, alt, speed, lat, lon,
 	     firstLeg, radius, fltType, acType, airline);
       wpt_iterator = waypoints.begin();
       //cerr << "after create: " << (*wpt_iterator)->name << endl;
@@ -286,17 +305,12 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
 FGAIFlightPlan::~FGAIFlightPlan()
 {
   deleteWaypoints();
-  //waypoints.clear();
-  //while (waypoints.begin() != waypoints.end())
-  //  {
-  //    delete *(waypoints.begin());
-  //    waypoints.erase (waypoints.begin());
-  //  }
+  delete taxiRoute;
 }
 
 
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getPreviousWaypoint( void )
+FGAIFlightPlan::waypoint* const
+FGAIFlightPlan::getPreviousWaypoint( void ) const
 {
   if (wpt_iterator == waypoints.begin()) {
     return 0;
@@ -306,14 +320,14 @@ FGAIFlightPlan::getPreviousWaypoint( void )
   }
 }
 
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getCurrentWaypoint( void )
+FGAIFlightPlan::waypoint* const
+FGAIFlightPlan::getCurrentWaypoint( void ) const
 {
   return *wpt_iterator;
 }
 
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::getNextWaypoint( void )
+FGAIFlightPlan::waypoint* const
+FGAIFlightPlan::getNextWaypoint( void ) const
 {
   wpt_vector_iterator i = waypoints.end();
   i--;  // end() points to one element after the last one. 
@@ -341,43 +355,53 @@ void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
     }
   else
     wpt_iterator++;
+
 }
 
 // gives distance in feet from a position to a waypoint
-double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp){
+double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
+   double course, distance;
    // 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));
+   //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));
+   SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
+   sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
+   return distance;
 }
 
 // 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;
   //  }
 }
 
@@ -386,12 +410,12 @@ void FGAIFlightPlan::setLeadDistance(double distance_ft){
 }
 
 
-double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second){
+double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
   return getBearing(first->latitude, first->longitude, second);
 }
 
 
-double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp){
+double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
   double course, distance;
  //  double latd = lat;
 //   double lond = lon;
@@ -479,3 +503,19 @@ void FGAIFlightPlan::restart()
 {
   wpt_iterator = waypoints.begin();
 }
+
+
+void FGAIFlightPlan::deleteTaxiRoute() 
+{
+  delete taxiRoute;
+  taxiRoute = 0;
+}
+
+
+int FGAIFlightPlan::getRouteIndex(int i) {
+  if ((i > 0) && (i < waypoints.size())) {
+    return waypoints[i]->routeIndex;
+  }
+  else
+    return 0;
+}