222446df29
a single apt.dat.gz file which is in the native X-Plane format. To do this I wrote a front end loader than builds the airport and runway list. Some of the changes I needed to make had a cascading effect, so there are minor naming changes scattered throughout the code.
654 lines
21 KiB
C++
654 lines
21 KiB
C++
// FGAIFlightPlan - class for loading and storing AI flight plans
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// Written by David Culp, started May 2004
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// - davidculp2@comcast.net
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/route/waypoint.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/structure/exception.hxx>
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#include <simgear/constants.h>
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#ifdef __BORLANDC__
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# define exception c_exception
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#endif
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#include <simgear/props/props.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/fg_init.hxx>
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#include <Airports/simple.hxx>
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#include <Airports/runways.hxx>
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#include <Environment/environment_mgr.hxx>
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#include <Environment/environment.hxx>
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#include "AIFlightPlan.hxx"
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FGAIFlightPlan::FGAIFlightPlan(string filename)
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{
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int i;
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start_time = 0;
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SGPath path( globals->get_fg_root() );
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path.append( ("/Data/AI/FlightPlans/" + filename).c_str() );
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SGPropertyNode root;
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try {
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readProperties(path.str(), &root);
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} catch (const sg_exception &e) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"Error reading AI flight plan: " << path.str());
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// cout << path.str() << endl;
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return;
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}
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SGPropertyNode * node = root.getNode("flightplan");
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for (i = 0; i < node->nChildren(); i++) {
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//cout << "Reading waypoint " << i << endl;
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waypoint* wpt = new waypoint;
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SGPropertyNode * wpt_node = node->getChild(i);
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wpt->name = wpt_node->getStringValue("name", "END");
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wpt->latitude = wpt_node->getDoubleValue("lat", 0);
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wpt->longitude = wpt_node->getDoubleValue("lon", 0);
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wpt->altitude = wpt_node->getDoubleValue("alt", 0);
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wpt->speed = wpt_node->getDoubleValue("ktas", 0);
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wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
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wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
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wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
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wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
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if (wpt->name == "END") wpt->finished = true;
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else wpt->finished = false;
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waypoints.push_back( wpt );
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}
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wpt_iterator = waypoints.begin();
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//cout << waypoints.size() << " waypoints read." << endl;
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}
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// This is a modified version of the constructor,
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// Which not only reads the waypoints from a
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// Flight plan file, but also adds the current
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// Position computed by the traffic manager, as well
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// as setting speeds and altitude computed by the
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// traffic manager.
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FGAIFlightPlan::FGAIFlightPlan(FGAIModelEntity *entity,
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double course,
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time_t start,
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FGAirport *dep,
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FGAirport *arr)
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{
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start_time = start;
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bool useInitialWayPoint = true;
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bool useCurrentWayPoint = false;
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SGPath path( globals->get_fg_root() );
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path.append( "/Data/AI/FlightPlans" );
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path.append( entity->path );
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SGPropertyNode root;
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// This is a bit of a hack:
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// Normally the value of course will be used to evaluate whether
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// or not a waypoint will be used for midair initialization of
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// an AI aircraft. However, if a course value of 999 will be passed
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// when an update request is received, which will by definition always be
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// on the ground and should include all waypoints.
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if (course == 999)
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{
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useInitialWayPoint = false;
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useCurrentWayPoint = true;
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}
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try {
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readProperties(path.str(), &root);
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SGPropertyNode * node = root.getNode("flightplan");
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//waypoints.push_back( init_waypoint );
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for (int i = 0; i < node->nChildren(); i++) {
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//cout << "Reading waypoint " << i << endl;
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waypoint* wpt = new waypoint;
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SGPropertyNode * wpt_node = node->getChild(i);
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wpt->name = wpt_node->getStringValue("name", "END");
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wpt->latitude = wpt_node->getDoubleValue("lat", 0);
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wpt->longitude = wpt_node->getDoubleValue("lon", 0);
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wpt->altitude = wpt_node->getDoubleValue("alt", 0);
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wpt->speed = wpt_node->getDoubleValue("ktas", 0);
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//wpt->speed = speed;
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wpt->crossat = wpt_node->getDoubleValue("crossat", -10000);
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wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
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wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
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if (wpt->name == "END") wpt->finished = true;
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else wpt->finished = false;
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waypoints.push_back(wpt);
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}
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}
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catch (const sg_exception &e) {
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//SG_LOG(SG_GENERAL, SG_ALERT,
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// "Error reading AI flight plan: ");
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// cout << path.str() << endl;
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// cout << "Trying to create this plan dynamically" << endl;
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// cout << "Route from " << dep->id << " to " << arr->id << endl;
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create(dep,arr, entity->altitude, entity->speed);
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// Now that we have dynamically created a flight plan,
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// we need to add some code that pops any waypoints already past.
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//return;
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}
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waypoint* init_waypoint = new waypoint;
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init_waypoint->name = string("initial position");
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init_waypoint->latitude = entity->latitude;
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init_waypoint->longitude = entity->longitude;
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init_waypoint->altitude = entity->altitude;
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init_waypoint->speed = entity->speed;
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init_waypoint->crossat = - 10000;
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init_waypoint->gear_down = false;
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init_waypoint->flaps_down = false;
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init_waypoint->finished = false;
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wpt_vector_iterator i = waypoints.begin();
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while (i != waypoints.end())
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{
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//cerr << "Checking status of each waypoint: " << (*i)->name << endl;
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SGWayPoint first(init_waypoint->longitude,
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init_waypoint->latitude,
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init_waypoint->altitude);
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SGWayPoint curr ((*i)->longitude,
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(*i)->latitude,
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(*i)->altitude);
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double crse, crsDiff;
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double dist;
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curr.CourseAndDistance(first, &crse, &dist);
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dist *= SG_METER_TO_NM;
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// We're only interested in the absolute value of crsDiff
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// wich should fall in the 0-180 deg range.
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crsDiff = fabs(crse-course);
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if (crsDiff > 180)
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crsDiff = 360-crsDiff;
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// These are the three conditions that we consider including
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// in our flight plan:
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// 1) current waypoint is less then 100 miles away OR
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// 2) curren waypoint is ahead of us, at any distance
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if ((dist > 20.0) && (crsDiff > 90.0) && ((*i)->name != string ("EOF")))
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{
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//useWpt = false;
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// Once we start including waypoints, we have to continue, even though
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// one of the following way point would suffice.
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// so once is the useWpt flag is set to true, we cannot reset it to false.
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//cerr << "Discarding waypoint: " << (*i)->name
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// << ": Course difference = " << crsDiff
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// << "Course = " << course
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// << "crse = " << crse << endl;
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}
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else
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useCurrentWayPoint = true;
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if (useCurrentWayPoint)
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{
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if ((dist > 100.0) && (useInitialWayPoint))
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{
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//waypoints.push_back(init_waypoint);;
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waypoints.insert(i, init_waypoint);
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//cerr << "Using waypoint : " << init_waypoint->name << endl;
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}
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//if (useInitialWayPoint)
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// {
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// (*i)->speed = dist; // A hack
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// }
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//waypoints.push_back( wpt );
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//cerr << "Using waypoint : " << (*i)->name
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// << ": course diff : " << crsDiff
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// << "Course = " << course
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// << "crse = " << crse << endl
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// << "distance : " << dist << endl;
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useInitialWayPoint = false;
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i++;
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}
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else
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{
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//delete wpt;
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delete *(i);
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i = waypoints.erase(i);
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}
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}
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//for (i = waypoints.begin(); i != waypoints.end(); i++)
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// cerr << "Using waypoint : " << (*i)->name << endl;
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wpt_iterator = waypoints.begin();
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//cout << waypoints.size() << " waypoints read." << endl;
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}
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FGAIFlightPlan::~FGAIFlightPlan()
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{
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waypoints.clear();
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}
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FGAIFlightPlan::waypoint*
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FGAIFlightPlan::getPreviousWaypoint( void )
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{
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if (wpt_iterator == waypoints.begin()) {
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return 0;
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} else {
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wpt_vector_iterator prev = wpt_iterator;
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return *(--prev);
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}
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}
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FGAIFlightPlan::waypoint*
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FGAIFlightPlan::getCurrentWaypoint( void )
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{
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return *wpt_iterator;
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}
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FGAIFlightPlan::waypoint*
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FGAIFlightPlan::getNextWaypoint( void )
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{
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if (wpt_iterator == waypoints.end()) {
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return 0;
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} else {
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wpt_vector_iterator next = wpt_iterator;
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return *(++next);
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}
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}
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void FGAIFlightPlan::IncrementWaypoint( void )
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{
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wpt_iterator++;
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}
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// gives distance in feet from a position to a waypoint
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double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp){
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// get size of a degree at the present latitude
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// this won't work over large distances
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double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
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double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
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double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
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double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
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return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
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}
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// sets distance in feet from a lead point to the current waypoint
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void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
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waypoint* current, waypoint* next){
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double turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
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double inbound = bearing;
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double outbound = getBearing(current, next);
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double diff = fabs(inbound - outbound);
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if (diff > 180.0) diff = 360.0 - diff;
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lead_distance = turn_radius * sin(diff * SG_DEGREES_TO_RADIANS);
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}
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void FGAIFlightPlan::setLeadDistance(double distance_ft){
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lead_distance = distance_ft;
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}
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double FGAIFlightPlan::getBearing(waypoint* first, waypoint* second){
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return getBearing(first->latitude, first->longitude, second);
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}
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double FGAIFlightPlan::getBearing(double lat, double lon, waypoint* wp){
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double course, distance;
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// double latd = lat;
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// double lond = lon;
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// double latt = wp->latitude;
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// double lont = wp->longitude;
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// double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat/SG_RADIANS_TO_DEGREES);
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// double ft_per_deg_lon = 365228.16 * cos(lat/SG_RADIANS_TO_DEGREES);
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// if (lond < 0.0) {
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// lond+=360.0;
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// lont+=360;
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// }
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// if (lont < 0.0) {
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// lond+=360.0;
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// lont+=360.0;
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// }
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// latd+=90.0;
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// latt+=90.0;
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// double lat_diff = (latt - latd) * ft_per_deg_lat;
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// double lon_diff = (lont - lond) * ft_per_deg_lon;
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// double angle = atan(fabs(lat_diff / lon_diff)) * SG_RADIANS_TO_DEGREES;
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// bool southerly = true;
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// if (latt > latd) southerly = false;
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// bool easterly = false;
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// if (lont > lond) easterly = true;
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// if (southerly && easterly) return 90.0 + angle;
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// if (!southerly && easterly) return 90.0 - angle;
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// if (southerly && !easterly) return 270.0 - angle;
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// if (!southerly && !easterly) return 270.0 + angle;
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SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
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sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
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return course;
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// Omit a compiler warning.
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}
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/* FGAIFlightPlan::create()
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* dynamically create a flight plan for AI traffic, based on data provided by the
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* Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
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*
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* Probably need to split this into separate functions for different parts of the flight
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* once the code matures a bit more.
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*
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*/
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void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, double alt, double speed)
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{
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double wind_speed;
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double wind_heading;
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FGRunway rwy;
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double lat, lon, az;
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double lat2, lon2, az2;
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int direction;
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//waypoints.push_back(wpt);
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// Create the outbound taxi leg, for now simplified as a
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// Direct route from the airport center point to the start
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// of the runway.
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///////////////////////////////////////////////////////////
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//cerr << "Cruise Alt << " << alt << endl;
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// Temporary code to add some small random variation to aircraft parking positions;
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direction = (rand() % 360);
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geo_direct_wgs_84 ( 0, dep->_latitude, dep->_longitude, direction,
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100,
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&lat2, &lon2, &az2 );
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waypoint *wpt = new waypoint;
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wpt->name = dep->_id; //wpt_node->getStringValue("name", "END");
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->_elevation + 19; // probably need to add some model height to it
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wpt->speed = 15;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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waypoints.push_back(wpt);
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// Get the current active runway, based on code from David Luff
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FGEnvironment
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stationweather = ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
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->getEnvironment(dep->_latitude, dep->_longitude, dep->_elevation);
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wind_speed = stationweather.get_wind_speed_kt();
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wind_heading = stationweather.get_wind_from_heading_deg();
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if (wind_speed == 0) {
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wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
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// which is consistent with Flightgear's initial setup.
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}
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string rwy_no = globals->get_runways()->search(dep->_id, int(wind_heading));
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if (!(globals->get_runways()->search(dep->_id, (int) wind_heading, &rwy )))
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{
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cout << "Failed to find runway for " << dep->_id << endl;
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// Hmm, how do we handle a potential error like this?
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exit(1);
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}
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double heading = rwy._heading;
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double azimuth = heading + 180.0;
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while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
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geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
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rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
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&lat2, &lon2, &az2 );
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//Add the runway startpoint;
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wpt = new waypoint;
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wpt->name = rwy._id;
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->_elevation + 19;
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wpt->speed = 15;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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waypoints.push_back(wpt);
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//Next: The point on the runway where we begin to accelerate to take-off speed
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//100 meters down the runway seems to work. Shorter distances cause problems with
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// the turn with larger aircraft
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geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
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rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
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&lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "accel";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->_elevation + 19;
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wpt->speed = speed;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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waypoints.push_back(wpt);
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lat = lat2;
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lon = lon2;
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az = az2;
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//Next: the Start of Climb
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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2560 * SG_FEET_TO_METER,
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&lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "SOC";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
|
|
wpt->altitude = alt + 19;
|
|
wpt->speed = speed;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = false;
|
|
waypoints.push_back(wpt);
|
|
|
|
//Next: the Top of Climb
|
|
geo_direct_wgs_84 ( 0, lat, lon, heading,
|
|
20*SG_NM_TO_METER,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "10000ft climb";
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = 10000;
|
|
wpt->speed = speed;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = false;
|
|
waypoints.push_back(wpt);
|
|
|
|
|
|
|
|
//Beginning of Decent
|
|
stationweather = ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
|
|
->getEnvironment(arr->_latitude, arr->_longitude, arr->_elevation);
|
|
|
|
wind_speed = stationweather.get_wind_speed_kt();
|
|
wind_heading = stationweather.get_wind_from_heading_deg();
|
|
|
|
if (wind_speed == 0) {
|
|
wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
|
|
// which is consistent with Flightgear's initial setup.
|
|
}
|
|
|
|
rwy_no = globals->get_runways()->search(arr->_id, int(wind_heading));
|
|
//cout << "Using runway # " << rwy_no << " for departure at " << dep->_id << endl;
|
|
|
|
if (!(globals->get_runways()->search(arr->_id, (int) wind_heading, &rwy )))
|
|
{
|
|
cout << "Failed to find runway for " << arr->_id << endl;
|
|
// Hmm, how do we handle a potential error like this?
|
|
exit(1);
|
|
}
|
|
//cerr << "Done" << endl;
|
|
heading = rwy._heading;
|
|
azimuth = heading + 180.0;
|
|
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
|
|
|
|
|
|
|
|
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
|
|
100000,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "BOD"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = 10000;
|
|
wpt->speed = speed;
|
|
wpt->crossat = alt +19;
|
|
wpt->gear_down = false;
|
|
wpt->flaps_down= false;
|
|
wpt->finished = false;
|
|
wpt->on_ground = false;
|
|
waypoints.push_back(wpt);
|
|
|
|
// Ten thousand ft. Slowing down to 240 kts
|
|
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
|
|
20*SG_NM_TO_METER,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = arr->_elevation + 19;
|
|
wpt->speed = 240;
|
|
wpt->crossat = 10000;
|
|
wpt->gear_down = false;
|
|
wpt->flaps_down= false;
|
|
wpt->finished = false;
|
|
wpt->on_ground = false;
|
|
waypoints.push_back(wpt);
|
|
|
|
// Three thousand ft. Slowing down to 160 kts
|
|
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
|
|
8*SG_NM_TO_METER,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = arr->_elevation + 19;
|
|
wpt->speed = 160;
|
|
wpt->crossat = 3000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = false;
|
|
waypoints.push_back(wpt);
|
|
//Runway Threshold
|
|
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
|
|
rwy._length*0.45 * SG_FEET_TO_METER,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = arr->_elevation + 19;
|
|
wpt->speed = 15;
|
|
wpt->crossat = arr->_elevation + 19;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = true;
|
|
waypoints.push_back(wpt);
|
|
|
|
//Full stop at the runway centerpoint
|
|
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
|
|
rwy._length*0.45,
|
|
&lat2, &lon2, &az2 );
|
|
wpt = new waypoint;
|
|
wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = rwy._lat;
|
|
wpt->longitude = rwy._lon;
|
|
wpt->altitude = arr->_elevation + 19;
|
|
wpt->speed = 15;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = true;
|
|
waypoints.push_back(wpt);
|
|
|
|
direction = (rand() % 360);
|
|
geo_direct_wgs_84 ( 0, arr->_latitude, arr->_longitude, direction,
|
|
100,
|
|
&lat2, &lon2, &az2 );
|
|
|
|
// Add the final destination waypoint
|
|
wpt = new waypoint;
|
|
wpt->name = arr->_id; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = arr->_elevation+19;
|
|
wpt->speed = 15;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = false;
|
|
wpt->on_ground = true;
|
|
waypoints.push_back(wpt);
|
|
|
|
// And finally one more named "END"
|
|
wpt = new waypoint;
|
|
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = 19;
|
|
wpt->speed = 15;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = true;
|
|
wpt->on_ground = true;
|
|
waypoints.push_back(wpt);
|
|
|
|
// And finally one more named "EOF"
|
|
wpt = new waypoint;
|
|
wpt->name = "EOF"; //wpt_node->getStringValue("name", "END");
|
|
wpt->latitude = lat2;
|
|
wpt->longitude = lon2;
|
|
wpt->altitude = 19;
|
|
wpt->speed = 15;
|
|
wpt->crossat = -10000;
|
|
wpt->gear_down = true;
|
|
wpt->flaps_down= true;
|
|
wpt->finished = true;
|
|
wpt->on_ground = true;
|
|
waypoints.push_back(wpt);
|
|
}
|