From: Durk Talsma Date: Sun, 31 Jul 2011 17:27:44 +0000 (+0200) Subject: A fairly major interal reorganization of the AI code X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=f84d9d475752879b113e373d640f18ee6267c276;p=flightgear.git A fairly major interal reorganization of the AI code - Change AIFlightPlan::waypoint into an independent class FGAIWaypoint - Don't update leg count until the aircraft has passed the last waypoint that was created by the corresponding leg - Clear ground network rendering for controllers that are no longer active. --- diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx index 7443a65d0..9d630d683 100644 --- a/src/AIModel/AIAircraft.cxx +++ b/src/AIModel/AIAircraft.cxx @@ -249,11 +249,11 @@ void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) { void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { // the one behind you - FGAIFlightPlan::waypoint* prev = 0; + FGAIWaypoint* prev = 0; // the one ahead - FGAIFlightPlan::waypoint* curr = 0; + FGAIWaypoint* curr = 0; // the next plus 1 - FGAIFlightPlan::waypoint* next = 0; + FGAIWaypoint* next = 0; prev = fp->getPreviousWaypoint(); curr = fp->getCurrentWaypoint(); @@ -300,7 +300,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { << endl; } */ } else { - if (curr->finished) //end of the flight plan + if (curr->isFinished()) //end of the flight plan { if (fp->getRepeat()) fp->restart(); @@ -348,22 +348,22 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { fp->setLeadDistance(tgt_speed, tgt_heading, curr, next); } - if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground + if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground { - tgt_altitude_ft = prev->altitude; - if (curr->crossat > -1000.0) { + tgt_altitude_ft = prev->getAltitude(); + if (curr->getCrossat() > -1000.0) { use_perf_vs = false; - tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) + tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) / 6076.0 / speed*60.0); checkTcas(); - tgt_altitude_ft = curr->crossat; + tgt_altitude_ft = curr->getCrossat(); } else { use_perf_vs = true; } } - AccelTo(prev->speed); + AccelTo(prev->getSpeed()); hdg_lock = alt_lock = true; - no_roll = prev->on_ground; + no_roll = prev->getOn_ground(); } } @@ -407,6 +407,8 @@ const char * FGAIAircraft::_getTransponderCode() const { return transponderCode.c_str(); } +// NOTE: Check whether the new (delayed leg increment code has any effect on this code. +// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint. bool FGAIAircraft::loadNextLeg(double distance) { @@ -431,7 +433,7 @@ bool FGAIAircraft::loadNextLeg(double distance) { fp->create (this, dep, arr, - leg, + leg+1, cruiseAlt, trafficRef->getSpeed(), _getLatitude(), @@ -508,29 +510,31 @@ void FGAIAircraft::announcePositionToController() { // Note that leg has been incremented after creating the current leg, so we should use // leg numbers here that are one higher than the number that is used to create the leg - // + // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening. + // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use + // the original leg numbers here! switch (leg) { - case 2: // Startup and Push back + case 1: // Startup and Push back if (trafficRef->getDepartureAirport()->getDynamics()) controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController(); break; - case 3: // Taxiing to runway + case 2: // Taxiing to runway if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists()) controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork(); break; - case 4: //Take off tower controller + case 3: //Take off tower controller if (trafficRef->getDepartureAirport()->getDynamics()) { controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController(); } else { cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl; } break; - case 7: + case 6: if (trafficRef->getDepartureAirport()->getDynamics()) { controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController(); } break; - case 9: // Taxiing for parking + case 8: // Taxiing for parking if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists()) controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork(); break; @@ -544,7 +548,7 @@ void FGAIAircraft::announcePositionToController() { } prevController = controller; if (controller) { - controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex, + controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(), _getLatitude(), _getLongitude(), hdg, speed, altitude_ft, trafficRef->getRadius(), leg, this); } @@ -587,7 +591,7 @@ void FGAIAircraft::processATC(FGATCInstruction instruction) { //cerr << trafficRef->getCallSign() << " Changing Speed " << endl; AccelTo(instruction.getSpeed()); } else { - if (fp) AccelTo(fp->getPreviousWaypoint()->speed); + if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed()); } } if (instruction.getChangeHeading ()) { @@ -612,9 +616,9 @@ void FGAIAircraft::handleFirstWaypoint() { eraseWaypoints = false; } - FGAIFlightPlan::waypoint* prev = 0; // the one behind you - FGAIFlightPlan::waypoint* curr = 0; // the one ahead - FGAIFlightPlan::waypoint* next = 0;// the next plus 1 + FGAIWaypoint* prev = 0; // the one behind you + FGAIWaypoint* curr = 0; // the one ahead + FGAIWaypoint* next = 0;// the next plus 1 spinCounter = 0; tempReg = ""; @@ -631,15 +635,15 @@ void FGAIAircraft::handleFirstWaypoint() { curr = fp->getCurrentWaypoint(); //second waypoint next = fp->getNextWaypoint(); //third waypoint (might not exist!) - setLatitude(prev->latitude); - setLongitude(prev->longitude); - setSpeed(prev->speed); - setAltitude(prev->altitude); + setLatitude(prev->getLatitude()); + setLongitude(prev->getLongitude()); + setSpeed(prev->getSpeed()); + setAltitude(prev->getAltitude()); - if (prev->speed > 0.0) - setHeading(fp->getBearing(prev->latitude, prev->longitude, curr)); + if (prev->getSpeed() > 0.0) + setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr)); else - setHeading(fp->getBearing(curr->latitude, curr->longitude, prev)); + setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev)); // If next doesn't exist, as in incrementally created flightplans for // AI/Trafficmanager created plans, @@ -647,20 +651,20 @@ void FGAIAircraft::handleFirstWaypoint() { if (next) fp->setLeadDistance(speed, hdg, curr, next); - if (curr->crossat > -1000.0) //use a calculated descent/climb rate + if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate { use_perf_vs = false; - tgt_vs = (curr->crossat - prev->altitude) + tgt_vs = (curr->getCrossat() - prev->getAltitude()) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / prev->speed*60.0); + / 6076.0 / prev->getSpeed()*60.0); checkTcas(); - tgt_altitude_ft = curr->crossat; + tgt_altitude_ft = curr->getCrossat(); } else { use_perf_vs = true; - tgt_altitude_ft = prev->altitude; + tgt_altitude_ft = prev->getAltitude(); } alt_lock = hdg_lock = true; - no_roll = prev->on_ground; + no_roll = prev->getOn_ground(); if (no_roll) { Transform(); // make sure aip is initialized. getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value @@ -693,19 +697,19 @@ bool FGAIAircraft::fpExecutable(time_t now) { * @param curr * @return */ -bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) { +bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); //cerr << "2" << endl; double lead_dist = fp->getLeadDistance(); // experimental: Use fabs, because speed can be negative (I hope) during push_back. - if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->name == string("PushBackPoint")) { + if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) { tgt_speed = -(dist_to_go / 10.0); if (tgt_speed > -0.5) { tgt_speed = -0.5; } - if (fp->getPreviousWaypoint()->speed < tgt_speed) { - fp->getPreviousWaypoint()->speed = tgt_speed; + if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) { + fp->getPreviousWaypoint()->setSpeed(tgt_speed); } } if (lead_dist < fabs(2*speed)) { @@ -768,7 +772,7 @@ bool FGAIAircraft::aiTrafficVisible() { */ //TODO the trafficRef is the right place for the method -bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) { +bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { // prepare routing from one airport to another FGAirport * dep = trafficRef->getDepartureAirport(); FGAirport * arr = trafficRef->getArrivalAirport(); @@ -779,15 +783,18 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t // This waypoint marks the fact that the aircraft has passed the initial taxi // departure waypoint, so it can release the parking. //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl; - if (prev->name == "PushBackPoint") { + if (prev->contains("PushBackPoint")) { dep->getDynamics()->releaseParking(fp->getGate()); AccelTo(0.0); setTaxiClearanceRequest(true); } + if (prev->contains("legend")) { + fp->incrementLeg(); + } // This is the last taxi waypoint, and marks the the end of the flight plan // so, the schedule should update and wait for the next departure time. - if (prev->name == "END") { + if (prev->contains("END")) { time_t nextDeparture = trafficRef->getDepartureTime(); // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior if (nextDeparture < (now+1200)) { @@ -805,7 +812,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t * * @param curr */ -void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) { +void FGAIAircraft::controlHeading(FGAIWaypoint* curr) { double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); //cerr << "Bearing = " << calc_bearing << endl; if (speed < 0) { @@ -824,8 +831,8 @@ void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) { cerr << "calc_bearing is not a finite number : " << "Speed " << speed << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg() - << "waypoint " << curr->latitude << ", " << curr->longitude << endl; - cerr << "waypoint name " << curr->name; + << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl; + cerr << "waypoint name " << curr->getName(); exit(1); // FIXME } } @@ -838,7 +845,7 @@ void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) { * @param curr * @param next */ -void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) { +void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) { double speed_diff = speed - prevSpeed; if (fabs(speed_diff) > 10) { @@ -1168,8 +1175,8 @@ void FGAIAircraft::updateSecondaryTargetValues() { bool FGAIAircraft::reachedEndOfCruise(double &distance) { - FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint(); - if (curr->name == "BOD") { + FGAIWaypoint* curr = fp->getCurrentWaypoint(); + if (curr->getName() == string("BOD")) { double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s @@ -1205,22 +1212,22 @@ bool FGAIAircraft::reachedEndOfCruise(double &distance) { void FGAIAircraft::resetPositionFromFlightPlan() { // the one behind you - FGAIFlightPlan::waypoint* prev = 0; + FGAIWaypoint* prev = 0; // the one ahead - FGAIFlightPlan::waypoint* curr = 0; + FGAIWaypoint* curr = 0; // the next plus 1 - FGAIFlightPlan::waypoint* next = 0; + FGAIWaypoint* next = 0; prev = fp->getPreviousWaypoint(); curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); - setLatitude(prev->latitude); - setLongitude(prev->longitude); + setLatitude(prev->getLatitude()); + setLongitude(prev->getLongitude()); double tgt_heading = fp->getBearing(curr, next); setHeading(tgt_heading); - setAltitude(prev->altitude); - setSpeed(prev->speed); + setAltitude(prev->getAltitude()); + setSpeed(prev->getSpeed()); } double FGAIAircraft::getBearing(double crse) @@ -1232,7 +1239,7 @@ double FGAIAircraft::getBearing(double crse) } time_t FGAIAircraft::checkForArrivalTime(string wptName) { - FGAIFlightPlan::waypoint* curr = 0; + FGAIWaypoint* curr = 0; curr = fp->getCurrentWaypoint(); double tracklength = fp->checkTrackLength(wptName); diff --git a/src/AIModel/AIAircraft.hxx b/src/AIModel/AIAircraft.hxx index c1bbaa9f9..3921bacc6 100644 --- a/src/AIModel/AIAircraft.hxx +++ b/src/AIModel/AIAircraft.hxx @@ -126,13 +126,13 @@ private: //subclasses to override specific behaviour bool fpExecutable(time_t now); void handleFirstWaypoint(void); - bool leadPointReached(FGAIFlightPlan::waypoint* curr); - bool handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now); + bool leadPointReached(FGAIWaypoint* curr); + bool handleAirportEndPoints(FGAIWaypoint* prev, time_t now); bool reachedEndOfCruise(double&); bool aiTrafficVisible(void); - void controlHeading(FGAIFlightPlan::waypoint* curr); - void controlSpeed(FGAIFlightPlan::waypoint* curr, - FGAIFlightPlan::waypoint* next); + void controlHeading(FGAIWaypoint* curr); + void controlSpeed(FGAIWaypoint* curr, + FGAIWaypoint* next); void updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight); diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx index fb6da0c5c..c937716a4 100644 --- a/src/AIModel/AIFlightPlan.cxx +++ b/src/AIModel/AIFlightPlan.cxx @@ -46,6 +46,29 @@ using std::cerr; +FGAIWaypoint::FGAIWaypoint() { + latitude = 0; + longitude = 0; + altitude = 0; + speed = 0; + crossat = 0; + finished = 0; + gear_down = 0; + flaps_down = 0; + on_ground = 0; + routeIndex = 0; + time_sec = 0; + trackLength = 0; +} + +bool FGAIWaypoint::contains(string target) { + size_t found = name.find(target); + if (found == string::npos) + return false; + else + return true; +} + FGAIFlightPlan::FGAIFlightPlan() { rwy = 0; @@ -88,22 +111,22 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename) SGPropertyNode * node = root.getNode("flightplan"); for (i = 0; i < node->nChildren(); i++) { //cout << "Reading waypoint " << i << endl; - waypoint* wpt = new waypoint; + FGAIWaypoint* wpt = new FGAIWaypoint; SGPropertyNode * wpt_node = node->getChild(i); - wpt->name = wpt_node->getStringValue("name", "END"); - wpt->latitude = wpt_node->getDoubleValue("lat", 0); - wpt->longitude = wpt_node->getDoubleValue("lon", 0); - wpt->altitude = wpt_node->getDoubleValue("alt", 0); - wpt->speed = wpt_node->getDoubleValue("ktas", 0); - wpt->crossat = wpt_node->getDoubleValue("crossat", -10000); - 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; + wpt->setName (wpt_node->getStringValue("name", "END" )); + wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 )); + wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 )); + wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 )); + wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 )); + wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 )); + wpt->setGear_down (wpt_node->getBoolValue("gear-down", false )); + wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false )); + wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false )); + wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 )); + wpt->setTime (wpt_node->getStringValue("time", "" )); + + if (wpt->getName() == "END") wpt->setFinished(true); + else wpt->setFinished(false); waypoints.push_back( wpt ); } @@ -173,20 +196,19 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac, //waypoints.push_back( init_waypoint ); for (int i = 0; i < node->nChildren(); i++) { //cout << "Reading waypoint " << i << endl; - waypoint* wpt = new waypoint; + FGAIWaypoint* wpt = new FGAIWaypoint; SGPropertyNode * wpt_node = node->getChild(i); - wpt->name = wpt_node->getStringValue("name", "END"); - wpt->latitude = wpt_node->getDoubleValue("lat", 0); - wpt->longitude = wpt_node->getDoubleValue("lon", 0); - wpt->altitude = wpt_node->getDoubleValue("alt", 0); - wpt->speed = wpt_node->getDoubleValue("ktas", 0); - //wpt->speed = speed; - wpt->crossat = wpt_node->getDoubleValue("crossat", -10000); - wpt->gear_down = wpt_node->getBoolValue("gear-down", false); - wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false); + wpt->setName (wpt_node->getStringValue("name", "END" )); + wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 )); + wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 )); + wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 )); + wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 )); + wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 )); + wpt->setGear_down (wpt_node->getBoolValue("gear-down", false )); + wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false )); - if (wpt->name == "END") wpt->finished = true; - else wpt->finished = false; + if (wpt->getName() == "END") wpt->setFinished(true); + else wpt->setFinished(false); waypoints.push_back(wpt); } // of node loop wpt_iterator = waypoints.begin(); @@ -324,8 +346,7 @@ FGAIFlightPlan::~FGAIFlightPlan() } -FGAIFlightPlan::waypoint* const -FGAIFlightPlan::getPreviousWaypoint( void ) const +FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const { if (wpt_iterator == waypoints.begin()) { return 0; @@ -335,14 +356,12 @@ FGAIFlightPlan::getPreviousWaypoint( void ) const } } -FGAIFlightPlan::waypoint* const -FGAIFlightPlan::getCurrentWaypoint( void ) const +FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const { return *wpt_iterator; } -FGAIFlightPlan::waypoint* const -FGAIFlightPlan::getNextWaypoint( void ) const +FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const { wpt_vector_iterator i = waypoints.end(); i--; // end() points to one element after the last one. @@ -394,14 +413,14 @@ void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints ) // gives distance in feet from a position to a waypoint -double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{ +double FGAIFlightPlan::getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const{ return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), - SGGeod::fromDeg(wp->longitude, wp->latitude)); + SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude())); } // sets distance in feet from a lead point to the current waypoint void FGAIFlightPlan::setLeadDistance(double speed, double bearing, - waypoint* current, waypoint* next){ + FGAIWaypoint* current, FGAIWaypoint* next){ double turn_radius; // Handle Ground steering // At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn @@ -444,14 +463,14 @@ void FGAIFlightPlan::setLeadDistance(double distance_ft){ } -double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{ - return getBearing(first->latitude, first->longitude, second); +double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const{ + return getBearing(first->getLatitude(), first->getLongitude(), second); } -double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{ +double FGAIFlightPlan::getBearing(double lat, double lon, FGAIWaypoint* wp) const{ return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat), - SGGeod::fromDeg(wp->longitude, wp->latitude)); + SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude())); } void FGAIFlightPlan::deleteWaypoints() @@ -469,19 +488,19 @@ void FGAIFlightPlan::resetWaypoints() return; else { - waypoint *wpt = new waypoint; + FGAIWaypoint *wpt = new FGAIWaypoint; wpt_vector_iterator i = waypoints.end(); i--; - wpt->name = (*i)->name; - wpt->latitude = (*i)->latitude; - wpt->longitude = (*i)->longitude; - wpt->altitude = (*i)->altitude; - wpt->speed = (*i)->speed; - wpt->crossat = (*i)->crossat; - wpt->gear_down = (*i)->gear_down; - wpt->flaps_down= (*i)->flaps_down; - wpt->finished = false; - wpt->on_ground = (*i)->on_ground; + wpt->setName ( (*i)->getName() ); + wpt->setLatitude ( (*i)->getLatitude() ); + wpt->setLongitude ( (*i)->getLongitude() ); + wpt->setAltitude ( (*i)->getAltitude() ); + wpt->setSpeed ( (*i)->getSpeed() ); + wpt->setCrossat ( (*i)->getCrossat() ); + wpt->setGear_down ( (*i)->getGear_down() ); + wpt->setFlaps_down ( (*i)->getFlaps_down() ); + wpt->setFinished ( false ); + wpt->setOn_ground ( (*i)->getOn_ground() ); //cerr << "Recycling waypoint " << wpt->name << endl; deleteWaypoints(); waypoints.push_back(wpt); @@ -504,7 +523,7 @@ void FGAIFlightPlan::deleteTaxiRoute() int FGAIFlightPlan::getRouteIndex(int i) { if ((i > 0) && (i < (int)waypoints.size())) { - return waypoints[i]->routeIndex; + return waypoints[i]->getRouteIndex(); } else return 0; @@ -517,8 +536,8 @@ double FGAIFlightPlan::checkTrackLength(string wptName) { wpt_vector_iterator wptvec = waypoints.begin(); wptvec++; wptvec++; - while ((wptvec != waypoints.end()) && ((*wptvec)->name != wptName)) { - trackDistance += (*wptvec)->trackLength; + while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) { + trackDistance += (*wptvec)->getTrackLength(); wptvec++; } if (wptvec == waypoints.end()) { diff --git a/src/AIModel/AIFlightPlan.hxx b/src/AIModel/AIFlightPlan.hxx index 44485ae75..95edce9d7 100644 --- a/src/AIModel/AIFlightPlan.hxx +++ b/src/AIModel/AIFlightPlan.hxx @@ -30,11 +30,8 @@ class FGAIAircraft; class FGAirport; class SGGeod; -class FGAIFlightPlan { - -public: - - typedef struct { +class FGAIWaypoint { +private: std::string name; double latitude; double longitude; @@ -47,10 +44,52 @@ public: bool on_ground; int routeIndex; // For AI/ATC purposes; double time_sec; - double trackLength; // distance from previous waypoint (for AI purposes); + double trackLength; // distance from previous FGAIWaypoint (for AI purposes); std::string time; - } waypoint; +public: + FGAIWaypoint(); + ~FGAIWaypoint() {}; + void setName (std::string nam) { name = nam; }; + void setLatitude (double lat) { latitude = lat; }; + void setLongitude (double lon) { longitude = lon; }; + void setAltitude (double alt) { altitude = alt; }; + void setSpeed (double spd) { speed = spd; }; + void setCrossat (double val) { crossat = val; }; + void setFinished (bool fin) { finished = fin; }; + void setGear_down (bool grd) { gear_down = grd; }; + void setFlaps_down (bool fld) { flaps_down = fld; }; + void setOn_ground (bool grn) { on_ground = grn; }; + void setRouteIndex (int rte) { routeIndex = rte; }; + void setTime_sec (double ts ) { time_sec = ts; }; + void setTrackLength (double tl ) { trackLength = tl; }; + void setTime (std::string tme) { time = tme; }; + + bool contains(std::string name); + + std::string getName () { return name; }; + double getLatitude () { return latitude; }; + double getLongitude () { return longitude; }; + double getAltitude () { return altitude; }; + double getSpeed () { return speed; }; + + double getCrossat () { return crossat; }; + bool getGear_down () { return gear_down; }; + bool getFlaps_down () { return flaps_down; }; + bool getOn_ground () { return on_ground; }; + int getRouteIndex () { return routeIndex; }; + bool isFinished () { return finished; }; + double getTime_sec () { return time_sec; }; + double getTrackLength() { return trackLength; }; + std::string getTime () { return time; }; + + }; + + +class FGAIFlightPlan { + +public: + FGAIFlightPlan(); FGAIFlightPlan(const std::string& filename); FGAIFlightPlan(FGAIAircraft *, @@ -70,19 +109,19 @@ public: const std::string& airline); ~FGAIFlightPlan(); - waypoint* const getPreviousWaypoint( void ) const; - waypoint* const getCurrentWaypoint( void ) const; - waypoint* const getNextWaypoint( void ) const; + FGAIWaypoint* const getPreviousWaypoint( void ) const; + FGAIWaypoint* const getCurrentWaypoint( void ) const; + FGAIWaypoint* const getNextWaypoint( void ) const; void IncrementWaypoint( bool erase ); void DecrementWaypoint( bool erase ); - double getDistanceToGo(double lat, double lon, waypoint* wp) const; + double getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const; int getLeg () const { return leg;}; - void setLeadDistance(double speed, double bearing, waypoint* current, waypoint* next); + void setLeadDistance(double speed, double bearing, FGAIWaypoint* current, FGAIWaypoint* next); void setLeadDistance(double distance_ft); double getLeadDistance( void ) const {return lead_distance;} - double getBearing(waypoint* previous, waypoint* next) const; - double getBearing(double lat, double lon, waypoint* next) const; + double getBearing(FGAIWaypoint* previous, FGAIWaypoint* next) const; + double getBearing(double lat, double lon, FGAIWaypoint* next) const; double checkTrackLength(std::string wptName); time_t getStartTime() const { return start_time; } time_t getArrivalTime() const { return arrivalTime; } @@ -110,21 +149,25 @@ public: std::string getRunway() { return activeRunway; } bool isActive(time_t time) {return time >= this->getStartTime();} + void incrementLeg() { leg++;}; + void setRunway(std::string rwy) { activeRunway = rwy; }; std::string getRunwayClassFromTrafficType(std::string fltType); - void addWaypoint(waypoint* wpt) { waypoints.push_back(wpt); }; + void addWaypoint(FGAIWaypoint* wpt) { waypoints.push_back(wpt); }; void setName(std::string n) { name = n; }; std::string getName() { return name; }; void setSID(FGAIFlightPlan* fp) { sid = fp;}; FGAIFlightPlan* getSID() { return sid; }; + FGAIWaypoint *getWayPoint(int i) { return waypoints[i]; }; + FGAIWaypoint *getLastWaypoint() { return waypoints.back(); }; private: FGRunway* rwy; FGAIFlightPlan *sid; - typedef std::vector wpt_vector_type; + typedef std::vector wpt_vector_type; typedef wpt_vector_type::const_iterator wpt_vector_iterator; @@ -160,10 +203,10 @@ private: double getTurnRadius(double, bool); - waypoint* createOnGround(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed); - waypoint* createInAir(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed); - waypoint* cloneWithPos(FGAIAircraft *, waypoint* aWpt, const std::string& aName, const SGGeod& aPos); - waypoint* clone(waypoint* aWpt); + FGAIWaypoint* createOnGround(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed); + FGAIWaypoint* createInAir(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed); + FGAIWaypoint* cloneWithPos(FGAIAircraft *, FGAIWaypoint* aWpt, const std::string& aName, const SGGeod& aPos); + FGAIWaypoint* clone(FGAIWaypoint* aWpt); //void createCruiseFallback(bool, FGAirport*, FGAirport*, double, double, double, double); @@ -172,6 +215,6 @@ private: wpt_vector_iterator getFirstWayPoint() { return waypoints.begin(); }; wpt_vector_iterator getLastWayPoint() { return waypoints.end(); }; bool isValidPlan() { return isValid; }; -}; +}; #endif // _FG_AIFLIGHTPLAN_HXX diff --git a/src/AIModel/AIFlightPlanCreate.cxx b/src/AIModel/AIFlightPlanCreate.cxx index ef12ac489..e438ac4d1 100644 --- a/src/AIModel/AIFlightPlanCreate.cxx +++ b/src/AIModel/AIFlightPlanCreate.cxx @@ -22,6 +22,7 @@ # include #endif + #include "AIFlightPlan.hxx" #include #include @@ -96,94 +97,83 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep, " this is probably an internal program error"); } wpt_iterator = waypoints.begin() + currWpt; - leg++; + //don't increment leg right away, but only once we pass the actual last waypoint that was created. + // to do so, mark the last waypoint with a special status flag + if (retVal) { + waypoints.back()->setName( waypoints.back()->getName() + string("legend")); + // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993) + } + + + //leg++; return retVal; } -FGAIFlightPlan::waypoint * - FGAIFlightPlan::createOnGround(FGAIAircraft * ac, +FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac, const std::string & aName, const SGGeod & aPos, double aElev, double aSpeed) { - waypoint *wpt = new waypoint; - wpt->name = aName; - wpt->longitude = aPos.getLongitudeDeg(); - wpt->latitude = aPos.getLatitudeDeg(); - wpt->altitude = aElev; - wpt->speed = aSpeed; - wpt->crossat = -10000.1; - wpt->gear_down = true; - wpt->flaps_down = true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = 0; + FGAIWaypoint *wpt = new FGAIWaypoint; + wpt->setName (aName ); + wpt->setLongitude (aPos.getLongitudeDeg() ); + wpt->setLatitude (aPos.getLatitudeDeg() ); + wpt->setAltitude (aElev ); + wpt->setSpeed (aSpeed ); + wpt->setCrossat (-10000.1 ); + wpt->setGear_down (true ); + wpt->setFlaps_down (true ); + wpt->setFinished (false ); + wpt->setOn_ground (true ); + wpt->setRouteIndex (0 ); return wpt; } -FGAIFlightPlan::waypoint * - FGAIFlightPlan::createInAir(FGAIAircraft * ac, +FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac, const std::string & aName, const SGGeod & aPos, double aElev, double aSpeed) { - waypoint *wpt = new waypoint; - wpt->name = aName; - wpt->longitude = aPos.getLongitudeDeg(); - wpt->latitude = aPos.getLatitudeDeg(); - wpt->altitude = aElev; - wpt->speed = aSpeed; - wpt->crossat = -10000.1; - wpt->gear_down = false; - wpt->flaps_down = false; - wpt->finished = false; - wpt->on_ground = false; - wpt->routeIndex = 0; + FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed); + wpt->setGear_down (false ); + wpt->setFlaps_down (false ); + wpt->setOn_ground (false ); return wpt; } -FGAIFlightPlan::waypoint * - FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, waypoint * aWpt, - const std::string & aName, - const SGGeod & aPos) +FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt) { - waypoint *wpt = new waypoint; - wpt->name = aName; - wpt->longitude = aPos.getLongitudeDeg(); - wpt->latitude = aPos.getLatitudeDeg(); - - wpt->altitude = aWpt->altitude; - wpt->speed = aWpt->speed; - wpt->crossat = aWpt->crossat; - wpt->gear_down = aWpt->gear_down; - wpt->flaps_down = aWpt->flaps_down; - wpt->finished = aWpt->finished; - wpt->on_ground = aWpt->on_ground; - wpt->routeIndex = 0; + FGAIWaypoint *wpt = new FGAIWaypoint; + wpt->setName ( aWpt->getName () ); + wpt->setLongitude ( aWpt->getLongitude() ); + wpt->setLatitude ( aWpt->getLatitude() ); + wpt->setAltitude ( aWpt->getAltitude() ); + wpt->setSpeed ( aWpt->getSpeed() ); + wpt->setCrossat ( aWpt->getCrossat() ); + wpt->setGear_down ( aWpt->getGear_down() ); + wpt->setFlaps_down ( aWpt->getFlaps_down() ); + wpt->setFinished ( aWpt->isFinished() ); + wpt->setOn_ground ( aWpt->getOn_ground() ); + wpt->setRouteIndex ( 0 ); return wpt; } -FGAIFlightPlan::waypoint * FGAIFlightPlan::clone(waypoint * aWpt) + +FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt, + const std::string & aName, + const SGGeod & aPos) { - waypoint *wpt = new waypoint; - wpt->name = aWpt->name; - wpt->longitude = aWpt->longitude; - wpt->latitude = aWpt->latitude; - - wpt->altitude = aWpt->altitude; - wpt->speed = aWpt->speed; - wpt->crossat = aWpt->crossat; - wpt->gear_down = aWpt->gear_down; - wpt->flaps_down = aWpt->flaps_down; - wpt->finished = aWpt->finished; - wpt->on_ground = aWpt->on_ground; - wpt->routeIndex = 0; + FGAIWaypoint *wpt = clone(aWpt); + wpt->setName ( aName ); + wpt->setLongitude ( aPos.getLongitudeDeg () ); + wpt->setLatitude ( aPos.getLatitudeDeg () ); return wpt; } + void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac, FGAirport * aAirport, FGRunway * aRunway) @@ -191,7 +181,7 @@ void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac, SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0); double airportElev = aAirport->getElevation(); - waypoint *wpt; + FGAIWaypoint *wpt; wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi()); @@ -309,10 +299,10 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight, snprintf(buffer, 10, "%d", node); FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node); - waypoint *wpt = + FGAIWaypoint *wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi()); - wpt->routeIndex = route; + wpt->setRouteIndex(route); waypoints.push_back(wpt); } return true; @@ -322,11 +312,11 @@ void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac, FGAirport * aAirport) { SGGeod lastWptPos = - SGGeod::fromDeg(waypoints.back()->longitude, - waypoints.back()->latitude); + SGGeod::fromDeg(waypoints.back()->getLongitude(), + waypoints.back()->getLatitude()); double airportElev = aAirport->getElevation(); - waypoint *wpt; + FGAIWaypoint *wpt; wpt = createOnGround(ac, "Runway Exit", lastWptPos, airportElev, ac->getPerformance()->vTaxi()); @@ -356,8 +346,8 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt, acType, airline); SGGeod lastWptPos = - SGGeod::fromDeg(waypoints.back()->longitude, - waypoints.back()->latitude); + SGGeod::fromDeg(waypoints.back()->getLongitude(), + waypoints.back()->getLatitude()); FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork(); // Find a route from runway end to parking/gate. @@ -396,10 +386,10 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt, char buffer[10]; snprintf(buffer, 10, "%d", node); FGTaxiNode *tn = gn->findNode(node); - waypoint *wpt = + FGAIWaypoint *wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi()); - wpt->routeIndex = route; + wpt->setRouteIndex(route); waypoints.push_back(wpt); } return true; @@ -441,7 +431,7 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight, (vRotateMetric * vRotateMetric - vTaxiMetric * vTaxiMetric) / (2 * accelMetric); //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl; - waypoint *wpt; + FGAIWaypoint *wpt; // Get the current active runway, based on code from David Luff // This should actually be unified and extended to include // Preferential runway use schema's @@ -480,18 +470,18 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight, wpt = createOnGround(ac, "rotate", accelPoint, airportElev + 1000, vTakeoff * 1.1); - wpt->on_ground = false; + wpt->setOn_ground(false); waypoints.push_back(wpt); wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end()); - wpt->altitude = airportElev + 3000; + wpt->setAltitude(airportElev + 3000); waypoints.push_back(wpt); // Finally, add two more waypoints, so that aircraft will remain under // Tower control until they have reached the 3000 ft climb point SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5); wpt = cloneWithPos(ac, wpt, "5000 ft", pt); - wpt->altitude = airportElev + 5000; + wpt->setAltitude(airportElev + 5000); waypoints.push_back(wpt); return true; } @@ -504,7 +494,7 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight, FGAirport * apt, double speed, double alt, const string & fltType) { - waypoint *wpt; + FGAIWaypoint *wpt; // bool planLoaded = false; string fPLName; double vClimb = ac->getPerformance()->vClimb(); @@ -525,13 +515,13 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight, } else { SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER); wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000); - wpt->gear_down = true; - wpt->flaps_down = true; + wpt->setGear_down(true); + wpt->setFlaps_down(true); waypoints.push_back(wpt); SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER); wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2); - wpt->altitude = 18000; + wpt->setAltitude(18000); waypoints.push_back(wpt); } return true; @@ -551,7 +541,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, double requiredDistance) { bool reposition = false; - waypoint *wpt; + FGAIWaypoint *wpt; double vDescent = ac->getPerformance()->vDescent(); double vApproach = ac->getPerformance()->vApproach(); @@ -729,8 +719,8 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2); snprintf(buffer, 16, "descent%03d", i); wpt = createInAir(ac, buffer, result, currentAltitude, vDescent); - wpt->crossat = currentAltitude; - wpt->trackLength = (newDistance / nPoints); + wpt->setCrossat(currentAltitude); + wpt->setTrackLength((newDistance / nPoints)); waypoints.push_back(wpt); //cerr << "Track Length : " << wpt->trackLength; //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl; @@ -772,8 +762,8 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, initialTurnRadius, result, dummyAz2); snprintf(buffer, 16, "turn%03d", i); wpt = createInAir(ac, buffer, result, currentAltitude, vDescent); - wpt->crossat = currentAltitude; - wpt->trackLength = trackLength; + wpt->setCrossat(currentAltitude); + wpt->setTrackLength(trackLength); //cerr << "Track Length : " << wpt->trackLength; waypoints.push_back(wpt); //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl; @@ -791,11 +781,11 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, snprintf(buffer, 16, "final%03d", i); result = rwy->pointOnCenterline((-distanceOut) + currentDist); wpt = createInAir(ac, buffer, result, currentAltitude, vApproach); - wpt->crossat = currentAltitude; - wpt->trackLength = (distanceOut / nPoints); + wpt->setCrossat(currentAltitude); + wpt->setTrackLength((distanceOut / nPoints)); // account for the extra distance due to an extended downwind leg if (i == 1) { - wpt->trackLength += distanceCovered; + wpt->setTrackLength(wpt->getTrackLength() + distanceCovered); } //cerr << "Track Length : " << wpt->trackLength; waypoints.push_back(wpt); @@ -852,7 +842,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, //rwy = apt->getRunwayByIdent(activeRunway); - waypoint *wpt; + FGAIWaypoint *wpt; double aptElev = apt->getElevation(); SGGeod coord; @@ -861,7 +851,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, snprintf(buffer, 12, "wpt%d", i); coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0)); wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i)); - wpt->crossat = apt->getElevation(); + wpt->setCrossat(apt->getElevation()); waypoints.push_back(wpt); } @@ -890,7 +880,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt, double radius) { - waypoint *wpt; + FGAIWaypoint *wpt; double aptElev = apt->getElevation(); double lat = 0.0, lat2 = 0.0; double lon = 0.0, lon2 = 0.0; diff --git a/src/AIModel/AIFlightPlanCreateCruise.cxx b/src/AIModel/AIFlightPlanCreateCruise.cxx index b74593dba..0e8a97495 100644 --- a/src/AIModel/AIFlightPlanCreateCruise.cxx +++ b/src/AIModel/AIFlightPlanCreateCruise.cxx @@ -292,7 +292,7 @@ bool FGAIFlightPlan::createCruise(FGAIAircraft *ac, bool firstFlight, FGAirport double alt, const string& fltType) { double vCruise = ac->getPerformance()->vCruise(); - waypoint *wpt; + FGAIWaypoint *wpt; wpt = createInAir(ac, "Cruise", SGGeod::fromDeg(longitude, latitude), alt, vCruise); waypoints.push_back(wpt); diff --git a/src/AIModel/AIFlightPlanCreatePushBack.cxx b/src/AIModel/AIFlightPlanCreatePushBack.cxx index de2d83eeb..93aee3222 100644 --- a/src/AIModel/AIFlightPlanCreatePushBack.cxx +++ b/src/AIModel/AIFlightPlanCreatePushBack.cxx @@ -74,22 +74,10 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, return false; char buffer[10]; snprintf (buffer, 10, "%d", gateId); + SGGeod coord = coord.fromDeg(lon, lat); //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node); - waypoint *wpt; - wpt = new waypoint; - wpt->name = string(buffer); // fixme: should be the name of the taxiway - wpt->latitude = lat; - wpt->longitude = lon; - // Elevation is currently disregarded when on_ground is true - // because the AIModel obtains a periodic ground elevation estimate. - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiBackward; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = -1; + FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward); + wpt->setRouteIndex(-1); waypoints.push_back(wpt); } //cerr << "Success : GateId = " << gateId << endl; @@ -119,7 +107,7 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, pushBackRoute = parking->getPushBackRoute(); - if ((pushBackNode > 0) && (pushBackRoute == 0)) { + if ((pushBackNode > 0) && (pushBackRoute == 0)) { // Load the already established route for this gate int node, rte; FGTaxiRoute route; //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl; @@ -134,7 +122,6 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, SG_LOG(SG_GENERAL, SG_WARN, "Using " << pushBackNode); } pushBackRoute->first(); - waypoint *wpt; while(pushBackRoute->next(&node, &rte)) { //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd(); @@ -142,122 +129,18 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, snprintf (buffer, 10, "%d", node); FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node); //ids.pop_back(); - wpt = new waypoint; - wpt->name = string(buffer); // fixme: should be the name of the taxiway - wpt->latitude = tn->getLatitude(); - wpt->longitude = tn->getLongitude(); - // Elevation is currently disregarded when on_ground is true - // because the AIModel obtains a periodic ground elevation estimate. - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiBackward; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = rte; + //wpt = new waypoint; + SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude()); + FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward); + + wpt->setRouteIndex(rte); waypoints.push_back(wpt); } // some special considerations for the last point: - wpt->name = string("PushBackPoint"); - wpt->speed = vTaxi; - //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) { - // cerr << "Waypoint Name: " << (*i)->name << endl; - //} - } else { - /* - string rwyClass = getRunwayClassFromTrafficType(fltType); - - // Only set this if it hasn't been set by ATC already. - if (activeRunway.empty()) { - //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl; - double depHeading = ac->getTrafficRef()->getCourse(); - dep->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, - depHeading); - } - rwy = dep->getRunwayByIdent(activeRunway); - SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0); - - FGGroundNetwork *gn = dep->getDynamics()->getGroundNetwork(); - if (!gn->exists()) { - createDefaultTakeoffTaxi(ac, dep, rwy); - return true; - } - int runwayId = gn->findNearestNode(runwayTakeoff); - int node = 0; - // Find out which node to start from - FGParking *park = dep->getDynamics()->getParking(gateId); - if (park) { - node = park->getPushBackPoint(); - } - - if (node == -1) { - node = gateId; - } - // HAndle case where parking doens't have a node - if ((node == 0) && park) { - if (firstFlight) { - node = gateId; - } else { - node = gateId; - } - } - //delete taxiRoute; - //taxiRoute = new FGTaxiRoute; - FGTaxiRoute tr = gn->findShortestRoute(node, runwayId); - int route; - FGTaxiNode *tn; - waypoint *wpt; - int nr = 0; - cerr << "Creating taxiroute from gate: " << gateId << " at " << dep->getId() << endl; - while (tr.next(&node, &route) && (nr++ < 3)) { - char buffer[10]; - snprintf(buffer, 10, "%d", node); - tn = dep->getDynamics()->getGroundNetwork()->findNode(node); - wpt = createOnGround(ac, buffer, tn->getGeod(), dep->getElevation(), - vTaxiReduced); - wpt->routeIndex = route; - waypoints.push_back(wpt); - } - wpt->name = "PushBackPoint"; - lastNodeVisited = tn->getIndex(); - //FGTaxiNode *firstNode = findNode(gateId); - //FGTaxiNode *lastNode = findNode(runwayId); - //cerr << "Creating direct forward departure route fragment" << endl; - */ + waypoints.back()->setName(string("PushBackPoint")); + waypoints.back()->setSpeed(vTaxi); + } else { // In case of a push forward departure... double lat2 = 0.0, lon2 = 0.0, az2 = 0.0; - waypoint *wpt; - geo_direct_wgs_84 ( 0, lat, lon, heading, - 2, &lat2, &lon2, &az2 ); - wpt = new waypoint; - wpt->name = "park2"; - wpt->latitude = lat2; - wpt->longitude = lon2; - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiReduced; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = 0; - waypoints.push_back(wpt); - - geo_direct_wgs_84 ( 0, lat, lon, heading, - 4, &lat2, &lon2, &az2 ); - wpt = new waypoint; - wpt->name = "name"; - wpt->latitude = lat2; - wpt->longitude = lon2; - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiReduced; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = 0; - waypoints.push_back(wpt); //cerr << "Creating final push forward point for gate " << gateId << endl; FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId); @@ -273,21 +156,27 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found"); exit(1); } - wpt = new waypoint; - wpt->name = "PushBackPoint"; - wpt->latitude = tn->getLatitude(); - wpt->longitude = tn->getLongitude(); - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiReduced; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = (*ts)->getIndex(); - waypoints.push_back(wpt); + double distance = (*ts)->getLength(); + cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl; + lat2 = tn->getLatitude(); + lon2 = tn->getLongitude(); + + for (int i = 1; i < 10; i++) { + geo_direct_wgs_84 ( 0, lat, lon, heading, + ((i / 10.0) * distance), &lat2, &lon2, &az2 ); + char buffer[16]; + snprintf(buffer, 16, "pushback-%02d", i); + SGGeod coord = coord.fromDeg(lon2, lat2); + cerr << i << endl; + FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced); + + wpt->setRouteIndex((*ts)->getIndex()); + waypoints.push_back(wpt); + } + cerr << "Done " << endl; + waypoints.back()->setName(string("PushBackPoint")); + cerr << "Done assinging new name" << endl; } - } return true; } @@ -321,51 +210,26 @@ void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, heading += 180.0; if (heading > 360) - heading -= 360; - waypoint *wpt = new waypoint; - wpt->name = "park"; - wpt->latitude = lat; - wpt->longitude = lon; - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiBackward; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; + heading -= 360; + + SGGeod coord = coord.fromDeg(lon, lat); + FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward); waypoints.push_back(wpt); geo_direct_wgs_84 ( 0, lat, lon, heading, 10, &lat2, &lon2, &az2 ); - wpt = new waypoint; - wpt->name = "park2"; - wpt->latitude = lat2; - wpt->longitude = lon2; - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiBackward; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = 0; + coord = coord.fromDeg(lon2, lat2); + wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward); + waypoints.push_back(wpt); + geo_direct_wgs_84 ( 0, lat, lon, heading, 2.2*radius, &lat2, &lon2, &az2 ); - wpt = new waypoint; - wpt->name = "taxiStart"; - wpt->latitude = lat2; - wpt->longitude = lon2; - wpt->altitude = dep->getElevation(); - wpt->speed = vTaxiReduced; - wpt->crossat = -10000; - wpt->gear_down = true; - wpt->flaps_down= true; - wpt->finished = false; - wpt->on_ground = true; - wpt->routeIndex = 0; + coord = coord.fromDeg(lon2, lat2); + wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced); waypoints.push_back(wpt); + } diff --git a/src/AIModel/AIGroundVehicle.cxx b/src/AIModel/AIGroundVehicle.cxx index 08a47489b..84e7bd1c9 100644 --- a/src/AIModel/AIGroundVehicle.cxx +++ b/src/AIModel/AIGroundVehicle.cxx @@ -280,7 +280,7 @@ bool FGAIGroundVehicle::getPitch() { } else { - if (prev->altitude == 0 || curr->altitude == 0) return false; + if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false; static double distance; static double d_alt; @@ -289,20 +289,20 @@ bool FGAIGroundVehicle::getPitch() { if (_new_waypoint){ //cout << "new waypoint, calculating pitch " << endl; - curr_alt = curr->altitude; - prev_alt = prev->altitude; + curr_alt = curr->getAltitude(); + prev_alt = prev->getAltitude(); //cout << "prev_alt" <altitude; - distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude), - SGGeod::fromDeg(curr->longitude, curr->latitude)); + distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->getLongitude(), prev->getLatitude()), + SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude())); _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES; //cout << "new waypoint, calculating pitch " << _pitch << // " " << _pitch_offset << " " << _elevation <longitude, curr->latitude)); + SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude())); /*cout << "tunnel " << _tunnel << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET @@ -385,13 +385,13 @@ void FGAIGroundVehicle::AdvanceFP(){ double count = 0; string parent_next_name =_selected_ac->getStringValue("waypoint/name-next"); - while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->name != "END" && count < 5){ + while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->getName() != "END" && count < 5){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name <<" advancing waypoint to: " << parent_next_name); - if (fp->getNextWaypoint()->name == parent_next_name){ + if (fp->getNextWaypoint()->getName() == parent_next_name){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name - << " not setting waypoint already at: " << fp->getNextWaypoint()->name); + << " not setting waypoint already at: " << fp->getNextWaypoint()->getName()); return; } @@ -400,9 +400,9 @@ void FGAIGroundVehicle::AdvanceFP(){ curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); - if (fp->getNextWaypoint()->name == parent_next_name){ + if (fp->getNextWaypoint()->getName() == parent_next_name){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name - << " waypoint set to: " << fp->getNextWaypoint()->name); + << " waypoint set to: " << fp->getNextWaypoint()->getName()); return; } @@ -410,15 +410,15 @@ void FGAIGroundVehicle::AdvanceFP(){ }// end while loop - while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->name != "END" + while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END" && count > -10){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name << " retreating waypoint to: " << parent_next_name - << " at: " << fp->getNextWaypoint()->name); + << " at: " << fp->getNextWaypoint()->getName()); - if (fp->getNextWaypoint()->name == parent_next_name){ + if (fp->getNextWaypoint()->getName() == parent_next_name){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name - << " not setting waypoint already at:" << fp->getNextWaypoint()->name ); + << " not setting waypoint already at:" << fp->getNextWaypoint()->getName() ); return; } @@ -427,9 +427,9 @@ void FGAIGroundVehicle::AdvanceFP(){ curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); - if (fp->getNextWaypoint()->name == parent_next_name){ + if (fp->getNextWaypoint()->getName() == parent_next_name){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name - << " waypoint set to: " << fp->getNextWaypoint()->name); + << " waypoint set to: " << fp->getNextWaypoint()->getName()); return; } @@ -488,7 +488,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){ } if(_parent == ""){ - AccelTo(prev->speed); + AccelTo(prev->getSpeed()); _dt_count = 0; return; } @@ -499,7 +499,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){ bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting"); //bool parent_restart = _selected_ac->getBoolValue("controls/restart"); - if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){ + if (parent_next_name == "END" && fp->getNextWaypoint()->getName() != "END" ){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name << " setting END: getting new waypoints "); AdvanceFP(); @@ -513,7 +513,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){ AdvanceFP(); setWPNames(); _waiting = true; - } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->name == "WAIT"){ + } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->getName() == "WAIT"){ SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name << " wait done: getting new waypoints "); _waiting = false; @@ -521,8 +521,8 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){ fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); - if (next->name == "WAITUNTIL" || next->name == "WAIT" - || next->name == "END"){ + if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" + || next->getName() == "END"){ } else { prev = curr; fp->IncrementWaypoint(false); diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index b5df3d145..8d15fa6d6 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -572,25 +572,25 @@ void FGAIShip::setTunnel(bool t) { void FGAIShip::setWPNames() { if (prev != 0) - setPrevName(prev->name); + setPrevName(prev->getName()); else setPrevName(""); if (curr != 0) - setCurrName(curr->name); + setCurrName(curr->getName()); else{ setCurrName(""); SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" ); } if (next != 0) - setNextName(next->name); + setNextName(next->getName()); else setNextName(""); - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: prev wp name " << prev->name); - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: current wp name " << curr->name); - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: next wp name " << next->name); + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: prev wp name " << prev->getName()); + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: current wp name " << curr->getName()); + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: next wp name " << next->getName()); } @@ -647,7 +647,7 @@ void FGAIShip::ProcessFlightPlan(double dt) { // check to see if we've reached the point for our next turn // if the range to the waypoint is less than the calculated turn // radius we can start the turn to the next leg - _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude()); _range_rate = (_wp_range - _old_range) / _dt_count; double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155; // we need to try to identify a _missed waypoint @@ -687,8 +687,8 @@ void FGAIShip::ProcessFlightPlan(double dt) { fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); - if (next->name == "WAITUNTIL" || next->name == "WAIT" - || next->name == "END" || next->name == "TUNNEL") + if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" + || next->getName() == "END" || next->getName() == "TUNNEL") return; prev = curr; @@ -705,13 +705,13 @@ void FGAIShip::ProcessFlightPlan(double dt) { curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); setWPNames(); - _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude()); _old_range = _wp_range; _range_rate = 0; _new_waypoint = true; _missed_count = 0; _lead_angle = 0; - AccelTo(prev->speed); + AccelTo(prev->getSpeed()); } else if (_restart){ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " Flightplan restarting "); _missed_count = 0; @@ -725,7 +725,7 @@ void FGAIShip::ProcessFlightPlan(double dt) { } else if (_next_name == "WAIT") { - if (_wait_count < next->time_sec) { + if (_wait_count < next->getTime_sec()) { SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting "); setSpeed(0); _waiting = true; @@ -741,8 +741,8 @@ void FGAIShip::ProcessFlightPlan(double dt) { fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); - if (next->name == "WAITUNTIL" || next->name == "WAIT" - || next->name == "END" || next->name == "TUNNEL") + if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" + || next->getName() == "END" || next->getName() == "TUNNEL") return; prev = curr; @@ -753,12 +753,12 @@ void FGAIShip::ProcessFlightPlan(double dt) { } else if (_next_name == "WAITUNTIL") { time_sec = getDaySeconds(); - until_time_sec = processTimeString(next->time); - _until_time = next->time; - setUntilTime(next->time); + until_time_sec = processTimeString(next->getTime()); + _until_time = next->getTime(); + setUntilTime(next->getTime()); if (until_time_sec > time_sec) { SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " " - << curr->name << " waiting until: " + << curr->getName() << " waiting until: " << _until_time << " " << until_time_sec << " now " << time_sec ); setSpeed(0); _lead_angle = 0; @@ -770,12 +770,12 @@ void FGAIShip::ProcessFlightPlan(double dt) { setUntilTime(""); fp->IncrementWaypoint(false); - while (next->name == "WAITUNTIL") { + while (next->getName() == "WAITUNTIL") { fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); } - if (next->name == "WAIT") + if (next->getName() == "WAIT") return; prev = curr; @@ -799,23 +799,23 @@ void FGAIShip::ProcessFlightPlan(double dt) { _missed_count = 0; _range_rate = 0; _lead_angle = 0; - _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude()); _old_range = _wp_range; setWPPos(); object_type type = getType(); if (type != 10) - AccelTo(prev->speed); + AccelTo(prev->getSpeed()); - _curr_alt = curr->altitude; - _prev_alt = prev->altitude; + _curr_alt = curr->getAltitude(); + _prev_alt = prev->getAltitude(); } else { _new_waypoint = false; } // now revise the required course for the next way point - _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->getLatitude(), curr->getLongitude()); if (finite(_course)) TurnTo(_course); @@ -840,7 +840,7 @@ bool FGAIShip::initFlightPlan() { curr = fp->getCurrentWaypoint(); //second waypoint next = fp->getNextWaypoint(); //third waypoint (might not exist!) - while (curr->name == "WAIT" || curr->name == "WAITUNTIL") { // don't wait when initialising + while (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL") { // don't wait when initialising SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints "); fp->IncrementWaypoint(false); curr = fp->getCurrentWaypoint(); @@ -874,14 +874,14 @@ bool FGAIShip::initFlightPlan() { } } else { - setLatitude(prev->latitude); - setLongitude(prev->longitude); - setSpeed(prev->speed); + setLatitude(prev->getLatitude()); + setLongitude(prev->getLongitude()); + setSpeed(prev->getSpeed()); } setWPNames(); - setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude)); - _wp_range = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude); + setHeading(getCourse(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude())); + _wp_range = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()); _old_range = _wp_range; _range_rate = 0; _hdg_lock = true; @@ -941,7 +941,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { while ( elapsed_sec < day_sec ) { - if (next->name == "END" || fp->getNextWaypoint() == 0) { + if (next->getName() == "END" || fp->getNextWaypoint() == 0) { if (_repeat ) { //cout << _name << ": " << "restarting flightplan" << endl; @@ -954,11 +954,11 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { return false; } - } else if (next->name == "WAIT") { + } else if (next->getName() == "WAIT") { //cout << _name << ": begin WAIT: " << prev->name << " "; //cout << curr->name << " " << next->name << endl; - elapsed_sec += next->time_sec; + elapsed_sec += next->getTime_sec(); if ( elapsed_sec >= day_sec) continue; @@ -966,16 +966,16 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); - if (next->name != "WAITUNTIL" && next->name != "WAIT" - && next->name != "END") { + if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT" + && next->getName() != "END") { prev = curr; fp->IncrementWaypoint(false); curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); } - } else if (next->name == "WAITUNTIL") { - double until_sec = processTimeString(next->time); + } else if (next->getName() == "WAITUNTIL") { + double until_sec = processTimeString(next->getTime()); if (until_sec > _start_sec && start_sec < 0) until_sec -= _day; @@ -989,7 +989,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { fp->IncrementWaypoint(false); next = fp->getNextWaypoint(); - if (next->name != "WAITUNTIL" && next->name != "WAIT") { + if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT") { prev = curr; fp->IncrementWaypoint(false); curr = fp->getCurrentWaypoint(); @@ -1000,8 +1000,8 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { //cout << prev->name << " " << curr->name << " " << next->name << endl; } else { - distance_nm = getRange(prev->latitude, prev->longitude, curr->latitude, curr->longitude); - elapsed_sec += distance_nm * 60 * 60 / prev->speed; + distance_nm = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()); + elapsed_sec += distance_nm * 60 * 60 / prev->getSpeed(); if (elapsed_sec >= day_sec) continue; @@ -1026,31 +1026,31 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { //cout << " time diff " << time_diff << endl; - if (next->name == "WAIT" ){ + if (next->getName() == "WAIT" ){ setSpeed(0); - lat = curr->latitude; - lon = curr->longitude; + lat = curr->getLatitude(); + lon = curr->getLongitude(); _wait_count= time_diff; _waiting = true; - } else if (next->name == "WAITUNTIL") { + } else if (next->getName() == "WAITUNTIL") { setSpeed(0); - lat = curr->latitude; - lon = curr->longitude; + lat = curr->getLatitude(); + lon = curr->getLongitude(); _waiting = true; } else { - setSpeed(prev->speed); + setSpeed(prev->getSpeed()); distance_nm = speed * time_diff / (60 * 60); - double brg = getCourse(curr->latitude, curr->longitude, prev->latitude, prev->longitude); + double brg = getCourse(curr->getLatitude(), curr->getLongitude(), prev->getLatitude(), prev->getLongitude()); //cout << " brg " << brg << " from " << curr->name << " to " << prev->name << " " // << " lat " << curr->latitude << " lon " << curr->longitude // << " distance m " << distance_nm * SG_NM_TO_METER << endl; - lat = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg, + lat = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); - lon = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg, + lon = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); - recip = geo_direct_wgs_84 (curr->latitude, curr->longitude, brg, + recip = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg, distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); } @@ -1062,18 +1062,18 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { void FGAIShip::setWPPos() { - if (curr->name == "END" || curr->name == "WAIT" - || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){ + if (curr->getName() == "END" || curr->getName() == "WAIT" + || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL"){ //cout << curr->name << " returning" << endl; return; } double elevation_m = 0; - wppos.setLatitudeDeg(curr->latitude); - wppos.setLongitudeDeg(curr->longitude); + wppos.setLatitudeDeg(curr->getLatitude()); + wppos.setLongitudeDeg(curr->getLongitude()); wppos.setElevationM(0); - if (curr->on_ground){ + if (curr->getOn_ground()){ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000), elevation_m, &_material, 0)){ @@ -1083,20 +1083,20 @@ void FGAIShip::setWPPos() { //cout << curr->name << " setting measured elev " << elevation_m << endl; } else { - wppos.setElevationM(curr->altitude); + wppos.setElevationM(curr->getAltitude()); //cout << curr->name << " setting FP elev " << elevation_m << endl; } - curr->altitude = wppos.getElevationM(); + curr->setAltitude(wppos.getElevationM()); } void FGAIShip::setXTrackError() { - double course = getCourse(prev->latitude, prev->longitude, - curr->latitude, curr->longitude); + double course = getCourse(prev->getLatitude(), prev->getLongitude(), + curr->getLatitude(), curr->getLongitude()); double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), - curr->latitude, curr->longitude); + curr->getLatitude(), curr->getLongitude()); double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range; double factor = -0.0045 * speed + 1; double limit = _lead_angle_limit * factor; diff --git a/src/AIModel/AIShip.hxx b/src/AIModel/AIShip.hxx index e7bda3570..591aa6166 100644 --- a/src/AIModel/AIShip.hxx +++ b/src/AIModel/AIShip.hxx @@ -81,9 +81,9 @@ public: double _missed_range, _tow_angle, _wait_count, _missed_count,_wp_range; double _dt_count, _next_run; - FGAIFlightPlan::waypoint* prev; // the one behind you - FGAIFlightPlan::waypoint* curr; // the one ahead - FGAIFlightPlan::waypoint* next; // the next plus 1 + FGAIWaypoint* prev; // the one behind you + FGAIWaypoint* curr; // the one ahead + FGAIWaypoint* next; // the next plus 1 protected: diff --git a/src/ATC/atc_mgr.cxx b/src/ATC/atc_mgr.cxx index a70f968cf..b367eeff0 100644 --- a/src/ATC/atc_mgr.cxx +++ b/src/ATC/atc_mgr.cxx @@ -34,6 +34,8 @@ FGATCManager::FGATCManager() { + controller = 0; + prevController = 0; networkVisible = false; } @@ -115,16 +117,16 @@ void FGATCManager::init() { int stationFreq = apt->getDynamics()->getTowerFrequency(2); //cerr << "Setting radio frequency to in airfrequency: " << stationFreq << endl; fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0)); - leg = 4; + leg = 3; string fltType = "ga"; fp->setRunway(runway); fp->createTakeOff(&ai_ac, false, apt, 0, fltType); } else { controller = apt->getDynamics()->getStartupController(); - int stationFreq = apt->getDynamics()->getGroundFrequency(2); + int stationFreq = apt->getDynamics()->getGroundFrequency(1); //cerr << "Setting radio frequency to : " << stationFreq << endl; fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0)); - leg = 2; + leg = 1; //double, lat, lon, head; // Unused variables; //int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head); FGParking* parking = dcs->getParking(park_index); @@ -142,7 +144,9 @@ void FGATCManager::init() { fltType, aircraftType, airline); - } + + } + fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend")); } else { controller = 0; } @@ -155,7 +159,7 @@ void FGATCManager::init() { ai_ac.SetFlightPlan(fp); } if (controller) { - controller->announcePosition(ai_ac.getID(), fp, fp->getCurrentWaypoint()->routeIndex, + controller->announcePosition(ai_ac.getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(), ai_ac._getLatitude(), ai_ac._getLongitude(), heading, speed, altitude, aircraftRadius, leg, &ai_ac); @@ -180,20 +184,23 @@ void FGATCManager::update ( double time ) { FGAIFlightPlan *fp = ai_ac.GetFlightPlan(); /* test code : find out how the routing develops */ - //if (fp) { - // int size = fp->getNrOfWayPoints(); + if (fp) { + int size = fp->getNrOfWayPoints(); // //cerr << "Setting pos" << pos << " "; // //cerr << "setting intentions " ; - // for (int i = 0; i < size; i++) { + for (int i = 0; i < size; i++) { // int val = fp->getRouteIndex(i); - // cerr << val << " "; + cerr << fp->getWayPoint(i)->getName() << " "; //if ((val) && (val != pos)) { //intentions.push_back(val); //cerr << "[done ] " << endl; //} - // } - //} - //cerr << "[done ] " << endl; + } + } + cerr << "[done ] " << endl; + if (fp) { + cerr << "Currently at leg : " << fp->getLeg() << endl; + } double longitude = fgGetDouble("/position/longitude-deg"); double latitude = fgGetDouble("/position/latitude-deg"); double heading = fgGetDouble("/orientation/heading-deg"); @@ -208,9 +215,10 @@ void FGATCManager::update ( double time ) { controller = ai_ac.getATCController(); currentATCDialog->update(time); if (controller) { - + cerr << "name of previous waypoint : " << fp->getPreviousWaypoint()->getName() << endl; //cerr << "Running FGATCManager::update()" << endl; + cerr << "Currently under control of " << controller->getName() << endl; controller->updateAircraftInformation(ai_ac.getID(), latitude, longitude, @@ -227,9 +235,13 @@ void FGATCManager::update ( double time ) { networkVisible = !networkVisible; trans_num->setIntValue(-1); } + if ((controller != prevController) && (prevController)) { + prevController->render(false); + } controller->render(networkVisible); //cerr << "Adding groundnetWork to the scenegraph::update" << endl; + prevController = controller; } //globals->get_scenery()->get_scene_graph()->addChild(node); } diff --git a/src/ATC/atc_mgr.hxx b/src/ATC/atc_mgr.hxx index 81025b95e..277ad4d9b 100644 --- a/src/ATC/atc_mgr.hxx +++ b/src/ATC/atc_mgr.hxx @@ -49,7 +49,7 @@ class FGATCManager : public SGSubsystem private: AtcVec activeStations; FGAIAircraft ai_ac; - FGATCController *controller; // The ATC controller that is responsible for the user's aircraft. + FGATCController *controller, *prevController; // The ATC controller that is responsible for the user's aircraft. //FGATCDialogNew dialog; // note that this variable should really replace the ugly global "currentATCDialog(); bool networkVisible; diff --git a/src/ATC/trafficcontrol.cxx b/src/ATC/trafficcontrol.cxx index d8abc05e4..0e660b87e 100644 --- a/src/ATC/trafficcontrol.cxx +++ b/src/ATC/trafficcontrol.cxx @@ -514,15 +514,15 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId, sender = rec->getAircraft()->getTrafficRef()->getCallSign(); //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl; switch (rec->getLeg()) { + case 1: case 2: - case 3: freqId = rec->getNextFrequency(); stationFreq = rec->getAircraft()->getTrafficRef()->getDepartureAirport()-> getDynamics()->getGroundFrequency(rec->getLeg() + freqId); taxiFreq = rec->getAircraft()->getTrafficRef()->getDepartureAirport()-> - getDynamics()->getGroundFrequency(3); + getDynamics()->getGroundFrequency(2); receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()-> getName() + "-Ground"; @@ -530,7 +530,7 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId, rec->getAircraft()->getTrafficRef()->getDepartureAirport()-> getDynamics()->getAtisSequence(); break; - case 4: + case 3: receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()-> getName() + "-Tower"; @@ -716,9 +716,10 @@ void FGATCController::init() * class FGTowerController * **************************************************************************/ -FGTowerController::FGTowerController(): +FGTowerController::FGTowerController(FGAirportDynamics *par) : FGATCController() { + parent = par; } // @@ -911,6 +912,11 @@ void FGTowerController::render(bool visible) { //cerr << "FGTowerController::render function not yet implemented" << endl; } +string FGTowerController::getName() { + return string(parent->getId() + "-tower"); +} + + /*************************************************************************** * class FGStartupController @@ -1273,13 +1279,19 @@ void FGStartupController::render(bool visible) } } +string FGStartupController::getName() { + return string(parent->getId() + "-startup"); +} + + /*************************************************************************** * class FGApproachController * **************************************************************************/ -FGApproachController::FGApproachController(): +FGApproachController::FGApproachController(FGAirportDynamics *par): FGATCController() { + parent = par; } // @@ -1467,3 +1479,9 @@ ActiveRunway *FGApproachController::getRunway(string name) void FGApproachController::render(bool visible) { //cerr << "FGApproachController::render function not yet implemented" << endl; } + + + +string FGApproachController::getName() { + return string(parent->getId() + "-approach"); +} diff --git a/src/ATC/trafficcontrol.hxx b/src/ATC/trafficcontrol.hxx index 3cffcced4..fcbaf9bf0 100644 --- a/src/ATC/trafficcontrol.hxx +++ b/src/ATC/trafficcontrol.hxx @@ -286,6 +286,8 @@ public: void transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir msgDir, bool audible); string getGateName(FGAIAircraft *aircraft); virtual void render(bool) = 0; + virtual string getName() = 0; + private: @@ -300,9 +302,10 @@ class FGTowerController : public FGATCController private: TrafficVector activeTraffic; ActiveRunwayVec activeRunways; + FGAirportDynamics *parent; public: - FGTowerController(); + FGTowerController(FGAirportDynamics *parent); virtual ~FGTowerController() {}; virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute, double lat, double lon, @@ -315,6 +318,7 @@ public: virtual FGATCInstruction getInstruction(int id); virtual void render(bool); + virtual string getName(); bool hasActiveTraffic() { return activeTraffic.size() != 0; }; TrafficVector &getActiveTraffic() { return activeTraffic; }; }; @@ -329,7 +333,7 @@ class FGStartupController : public FGATCController private: TrafficVector activeTraffic; //ActiveRunwayVec activeRunways; -FGAirportDynamics *parent; + FGAirportDynamics *parent; public: FGStartupController(FGAirportDynamics *parent); @@ -345,6 +349,7 @@ public: virtual FGATCInstruction getInstruction(int id); virtual void render(bool); + virtual string getName(); bool hasActiveTraffic() { return activeTraffic.size() != 0; }; TrafficVector &getActiveTraffic() { return activeTraffic; }; @@ -363,10 +368,11 @@ class FGApproachController : public FGATCController private: TrafficVector activeTraffic; ActiveRunwayVec activeRunways; + FGAirportDynamics *parent; public: - FGApproachController(); - virtual ~FGApproachController() {}; + FGApproachController(FGAirportDynamics * parent); + virtual ~FGApproachController() { }; virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute, double lat, double lon, double hdg, double spd, double alt, double radius, int leg, @@ -378,6 +384,7 @@ public: virtual FGATCInstruction getInstruction(int id); virtual void render(bool); + virtual string getName(); ActiveRunway* getRunway(string name); diff --git a/src/Airports/dynamics.cxx b/src/Airports/dynamics.cxx index 3d443d08f..854b3b481 100644 --- a/src/Airports/dynamics.cxx +++ b/src/Airports/dynamics.cxx @@ -51,9 +51,12 @@ using std::random_shuffle; FGAirportDynamics::FGAirportDynamics(FGAirport * ap): _ap(ap), rwyPrefs(ap), SIDs(ap), + startupController (this), + towerController (this), + approachController (this), atisSequenceIndex(-1), - atisSequenceTimeStamp(0.0), - startupController(this) + atisSequenceTimeStamp(0.0) + { lastUpdate = 0; } @@ -493,25 +496,24 @@ const string & FGAirportDynamics::getId() const int FGAirportDynamics::getGroundFrequency(unsigned leg) { //return freqGround.size() ? freqGround[0] : 0; }; + cerr << "Getting frequency for : " << leg << endl; int groundFreq = 0; - if (leg < 2) { + if (leg < 1) { SG_LOG(SG_ATC, SG_ALERT, - "Leg value is smaller than two at " << SG_ORIGIN); + "Leg value is smaller than one at " << SG_ORIGIN); } if (freqGround.size() == 0) { return 0; } - if ((freqGround.size() > leg - 1) && (leg > 1)) { - groundFreq = freqGround[leg - 1]; - } - if ((freqGround.size() < leg - 1) && (leg > 1)) { + + if ((freqGround.size() < leg) && (leg > 0)) { groundFreq = (freqGround.size() < (leg - 1)) ? freqGround[freqGround.size() - - 1] : freqGround[leg - 2]; + 1] : freqGround[leg - 1]; } - if ((freqGround.size() >= leg - 1) && (leg > 1)) { - groundFreq = freqGround[leg - 2]; + if ((freqGround.size() >= leg) && (leg > 0)) { + groundFreq = freqGround[leg - 1]; } return groundFreq; } diff --git a/src/Airports/groundnetwork.cxx b/src/Airports/groundnetwork.cxx index 2fd437026..36fdeeb17 100644 --- a/src/Airports/groundnetwork.cxx +++ b/src/Airports/groundnetwork.cxx @@ -46,6 +46,8 @@ #include #include +#include + #include #include "groundnetwork.hxx" @@ -510,6 +512,7 @@ void FGGroundNetwork::announcePosition(int id, } } + void FGGroundNetwork::signOff(int id) { TrafficVectorIterator i = activeTraffic.begin(); @@ -538,7 +541,6 @@ bool FGGroundNetwork::checkTransmissionState(int minState, int maxState, Traffic int state = i->getState(); if ((state >= minState) && (state <= maxState) && available) { if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) { - //cerr << "Checking state " << state << " for " << i->getAircraft()->getCallSign() << endl; static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true); int n = trans_num->getIntValue(); @@ -546,13 +548,14 @@ bool FGGroundNetwork::checkTransmissionState(int minState, int maxState, Traffic trans_num->setIntValue(-1); // PopupCallback(n); cerr << "Selected transmission message " << n << endl; + FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc"); + atc->getATCDialog()->removeEntry(1); } else { //cerr << "creating message for " << i->getAircraft()->getCallSign() << endl; transmit(&(*i), msgId, msgDir, false); return false; } } - //cerr << "Transmitting startup msg" << endl; transmit(&(*i), msgId, msgDir, true); i->updateState(); lastTransmission = now; @@ -913,24 +916,6 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat, current->setState(0); current->setHoldPosition(false); } - - /*if ((state == 1) && (available)) { - //cerr << "ACKNOWLEDGE HOLD" << endl; - transmit(&(*current), MSG_ACKNOWLEDGE_HOLD_POSITION, ATC_AIR_TO_GROUND, true); - current->setState(0); - current->setHoldPosition(true); - lastTransmission = now; - available = false; - - } - if ((state == 2) && (available)) { - //cerr << "ACKNOWLEDGE RESUME" << endl; - transmit(&(*current), MSG_ACKNOWLEDGE_RESUME_TAXI, ATC_AIR_TO_GROUND, true); - current->setState(0); - current->setHoldPosition(false); - lastTransmission = now; - available = false; - }*/ } /** @@ -1208,4 +1193,8 @@ void FGGroundNetwork::render(bool visible) } globals->get_scenery()->get_scene_graph()->addChild(group); } -} \ No newline at end of file +} + +string FGGroundNetwork::getName() { + return string(parent->getId() + "-ground"); +} diff --git a/src/Airports/groundnetwork.hxx b/src/Airports/groundnetwork.hxx index e72ef92a7..87dafe0a0 100644 --- a/src/Airports/groundnetwork.hxx +++ b/src/Airports/groundnetwork.hxx @@ -288,6 +288,7 @@ public: AtcMsgDir msgDir); bool checkForCircularWaits(int id); virtual void render(bool); + virtual string getName(); }; diff --git a/src/Airports/sidstar.cxx b/src/Airports/sidstar.cxx index 6566e23d8..e19ff1925 100644 --- a/src/Airports/sidstar.cxx +++ b/src/Airports/sidstar.cxx @@ -73,23 +73,25 @@ void FGSidStar::load(SGPath filename) { fp->setName(name); SGPropertyNode * wpts_node = fpl_node->getNode("wpts"); for (int j = 0; j < wpts_node->nChildren(); j++) { - FGAIFlightPlan::waypoint* wpt = new FGAIFlightPlan::waypoint; + FGAIWaypoint* wpt = new FGAIWaypoint; SGPropertyNode * wpt_node = wpts_node->getChild(j); //cerr << "Reading waypoint " << j << wpt_node->getStringValue("name", "END") << endl; - wpt->name = wpt_node->getStringValue("name", "END"); - wpt->latitude = wpt_node->getDoubleValue("lat", 0); - wpt->longitude = wpt_node->getDoubleValue("lon", 0); - wpt->altitude = wpt_node->getDoubleValue("alt", 0); - wpt->speed = wpt_node->getDoubleValue("ktas", 0); - wpt->crossat = wpt_node->getDoubleValue("crossat", -10000); - 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; + wpt->setName (wpt_node->getStringValue("name", "END")); + wpt->setLatitude (wpt_node->getDoubleValue("lat", 0)); + wpt->setLongitude (wpt_node->getDoubleValue("lon", 0)); + wpt->setAltitude (wpt_node->getDoubleValue("alt", 0)); + wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0)); + wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000)); + wpt->setGear_down (wpt_node->getBoolValue("gear-down", false)); + wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false)); + wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false)); + wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0)); + wpt->setTime (wpt_node->getStringValue("time", "")); + + if (wpt->contains("END")) + wpt->setFinished(true); + else + wpt->setFinished(false); // fp->addWaypoint( wpt );