// FGAIFlightPlan - class for loading and storing AI flight plans
// Written by David Culp, started May 2004
// - davidculp2@comcast.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// 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., 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>
#include <simgear/route/waypoint.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/structure/exception.hxx>
#include <simgear/constants.h>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <Main/fg_init.hxx>
#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
#include <Airports/groundnetwork.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
#include "AIFlightPlan.hxx"
#include "AIAircraft.hxx"
using std::cerr;
FGAIFlightPlan::FGAIFlightPlan()
{
sid = 0;
}
FGAIFlightPlan::FGAIFlightPlan(const string& filename)
{
int i;
sid = 0;
start_time = 0;
leg = 10;
gateId = 0;
taxiRoute = 0;
SGPath path( globals->get_fg_root() );
path.append( ("/AI/FlightPlans/" + filename).c_str() );
SGPropertyNode root;
repeat = false;
try {
readProperties(path.str(), &root);
} catch (const sg_exception &) {
SG_LOG(SG_GENERAL, SG_ALERT,
"Error reading AI flight plan: " << path.str());
// cout << path.str() << endl;
return;
}
SGPropertyNode * node = root.getNode("flightplan");
for (i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
waypoint* wpt = new waypoint;
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;
waypoints.push_back( wpt );
}
wpt_iterator = waypoints.begin();
//cout << waypoints.size() << " waypoints read." << endl;
}
// This is a modified version of the constructor,
// Which not only reads the waypoints from a
// Flight plan file, but also adds the current
// Position computed by the traffic manager, as well
// as setting speeds and altitude computed by the
// traffic manager.
FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
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)
{
sid = 0;
repeat = false;
leg = 10;
gateId=0;
taxiRoute = 0;
start_time = start;
bool useInitialWayPoint = true;
bool useCurrentWayPoint = false;
SGPath path( globals->get_fg_root() );
path.append( "/AI/FlightPlans" );
path.append( p );
SGPropertyNode root;
// This is a bit of a hack:
// Normally the value of course will be used to evaluate whether
// or not a waypoint will be used for midair initialization of
// an AI aircraft. However, if a course value of 999 will be passed
// when an update request is received, which will by definition always be
// on the ground and should include all waypoints.
if (course == 999)
{
useInitialWayPoint = false;
useCurrentWayPoint = true;
}
if (path.exists())
{
try
{
readProperties(path.str(), &root);
SGPropertyNode * node = root.getNode("flightplan");
//waypoints.push_back( init_waypoint );
for (int i = 0; i < node->nChildren(); i++) {
//cout << "Reading waypoint " << i << endl;
waypoint* wpt = new waypoint;
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);
if (wpt->name == "END") wpt->finished = true;
else wpt->finished = false;
waypoints.push_back(wpt);
} // of node loop
} catch (const sg_exception &e) {
SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " <<
e.getMessage() << " from " << e.getOrigin());
}
} else {
// cout << path.str() << endl;
// cout << "Trying to create this plan dynamically" << endl;
// cout << "Route from " << dep->id << " to " << arr->id << endl;
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
time_t timeDiff = now-start;
leg = 1;
if ((timeDiff > 60) && (timeDiff < 1200))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500))
leg = 3;
else if ((timeDiff >= 1500) && (timeDiff < 2000))
leg = 4;
else if (timeDiff >= 2000)
leg = 5;
/*
if (timeDiff >= 2000)
leg = 5;
*/
SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
wpt_iterator = waypoints.begin();
bool dist = 0;
create(ac, dep,arr, leg, alt, speed, lat, lon,
firstLeg, radius, fltType, acType, airline, dist);
wpt_iterator = waypoints.begin();
//cerr << "after create: " << (*wpt_iterator)->name << endl;
//leg++;
// Now that we have dynamically created a flight plan,
// we need to add some code that pops any waypoints already past.
//return;
}
/*
waypoint* init_waypoint = new waypoint;
init_waypoint->name = string("initial position");
init_waypoint->latitude = entity->latitude;
init_waypoint->longitude = entity->longitude;
init_waypoint->altitude = entity->altitude;
init_waypoint->speed = entity->speed;
init_waypoint->crossat = - 10000;
init_waypoint->gear_down = false;
init_waypoint->flaps_down = false;
init_waypoint->finished = false;
wpt_vector_iterator i = waypoints.begin();
while (i != waypoints.end())
{
//cerr << "Checking status of each waypoint: " << (*i)->name << endl;
SGWayPoint first(init_waypoint->longitude,
init_waypoint->latitude,
init_waypoint->altitude);
SGWayPoint curr ((*i)->longitude,
(*i)->latitude,
(*i)->altitude);
double crse, crsDiff;
double dist;
curr.CourseAndDistance(first, &crse, &dist);
dist *= SG_METER_TO_NM;
// We're only interested in the absolute value of crsDiff
// wich should fall in the 0-180 deg range.
crsDiff = fabs(crse-course);
if (crsDiff > 180)
crsDiff = 360-crsDiff;
// These are the three conditions that we consider including
// in our flight plan:
// 1) current waypoint is less then 100 miles away OR
// 2) curren waypoint is ahead of us, at any distance
if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
{
//useWpt = false;
// Once we start including waypoints, we have to continue, even though
// one of the following way point would suffice.
// so once is the useWpt flag is set to true, we cannot reset it to false.
//cerr << "Discarding waypoint: " << (*i)->name
// << ": Course difference = " << crsDiff
// << "Course = " << course
// << "crse = " << crse << endl;
}
else
useCurrentWayPoint = true;
if (useCurrentWayPoint)
{
if ((dist > 100.0) && (useInitialWayPoint))
{
//waypoints.push_back(init_waypoint);;
waypoints.insert(i, init_waypoint);
//cerr << "Using waypoint : " << init_waypoint->name << endl;
}
//if (useInitialWayPoint)
// {
// (*i)->speed = dist; // A hack
// }
//waypoints.push_back( wpt );
//cerr << "Using waypoint : " << (*i)->name
// << ": course diff : " << crsDiff
// << "Course = " << course
// << "crse = " << crse << endl
// << "distance : " << dist << endl;
useInitialWayPoint = false;
i++;
}
else
{
//delete wpt;
delete *(i);
i = waypoints.erase(i);
}
}
*/
//for (i = waypoints.begin(); i != waypoints.end(); i++)
// cerr << "Using waypoint : " << (*i)->name << endl;
//wpt_iterator = waypoints.begin();
//cout << waypoints.size() << " waypoints read." << endl;
}
FGAIFlightPlan::~FGAIFlightPlan()
{
deleteWaypoints();
delete taxiRoute;
}
FGAIFlightPlan::waypoint* const
FGAIFlightPlan::getPreviousWaypoint( void ) const
{
if (wpt_iterator == waypoints.begin()) {
return 0;
} else {
wpt_vector_iterator prev = wpt_iterator;
return *(--prev);
}
}
FGAIFlightPlan::waypoint* const
FGAIFlightPlan::getCurrentWaypoint( void ) const
{
return *wpt_iterator;
}
FGAIFlightPlan::waypoint* const
FGAIFlightPlan::getNextWaypoint( void ) const
{
wpt_vector_iterator i = waypoints.end();
i--; // end() points to one element after the last one.
if (wpt_iterator == i) {
return 0;
} else {
wpt_vector_iterator next = wpt_iterator;
return *(++next);
}
}
void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
{
if (eraseWaypoints)
{
if (wpt_iterator == waypoints.begin())
wpt_iterator++;
else
{
delete *(waypoints.begin());
waypoints.erase(waypoints.begin());
wpt_iterator = waypoints.begin();
wpt_iterator++;
}
}
else
wpt_iterator++;
}
void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
{
if (eraseWaypoints)
{
if (wpt_iterator == waypoints.end())
wpt_iterator--;
else
{
delete *(waypoints.end());
waypoints.erase(waypoints.end());
wpt_iterator = waypoints.end();
wpt_iterator--;
}
}
else
wpt_iterator--;
}
// gives distance in feet from a position to a waypoint
double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
SGGeod::fromDeg(wp->longitude, wp->latitude));
}
// sets distance in feet from a lead point to the current waypoint
void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
waypoint* current, waypoint* next){
double turn_radius;
// 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)*fabs(speed)) / (2*M_PI);
} else
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
double inbound = bearing;
double outbound = getBearing(current, next);
leadInAngle = fabs(inbound - outbound);
if (leadInAngle > 180.0)
leadInAngle = 360.0 - leadInAngle;
//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 * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
/*
if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
// cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
// << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
lead_distance = 3 * turn_radius;
return;
}
if ((leadInAngle > 90) && (current->on_ground == true)) {
lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
return;
}*/
}
void FGAIFlightPlan::setLeadDistance(double distance_ft){
lead_distance = distance_ft;
}
double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second) const{
return getBearing(first->latitude, first->longitude, second);
}
double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp) const{
return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
SGGeod::fromDeg(wp->longitude, wp->latitude));
}
void FGAIFlightPlan::deleteWaypoints()
{
for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
delete (*i);
waypoints.clear();
}
// Delete all waypoints except the last,
// which we will recycle as the first waypoint in the next leg;
void FGAIFlightPlan::resetWaypoints()
{
if (waypoints.begin() == waypoints.end())
return;
else
{
waypoint *wpt = new waypoint;
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;
//cerr << "Recycling waypoint " << wpt->name << endl;
deleteWaypoints();
waypoints.push_back(wpt);
}
}
// Start flightplan over from the beginning
void FGAIFlightPlan::restart()
{
wpt_iterator = waypoints.begin();
}
void FGAIFlightPlan::deleteTaxiRoute()
{
delete taxiRoute;
taxiRoute = 0;
}
int FGAIFlightPlan::getRouteIndex(int i) {
if ((i > 0) && (i < (int)waypoints.size())) {
return waypoints[i]->routeIndex;
}
else
return 0;
}
double FGAIFlightPlan::checkTrackLength(string wptName) {
// skip the first two waypoints: first one is behind, second one is partially done;
double trackDistance = 0;
wpt_vector_iterator wptvec = waypoints.begin();
wptvec++;
wptvec++;
while ((wptvec != waypoints.end()) && ((*wptvec)->name != wptName)) {
trackDistance += (*wptvec)->trackLength;
wptvec++;
}
if (wptvec == waypoints.end()) {
trackDistance = 0; // name not found
}
return trackDistance;
}