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flightgear/src/Autopilot/route_mgr.cxx
Florent Rougon 3dea0f73aa Use SGPath::fromUtf8() to construct an SGPath from a property node string value 
This was missing in a few places of src/Autopilot/route_mgr.cxx.
2016-12-11 12:40:09 +01:00

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// route_mgr.cxx - manage a route (i.e. a collection of waypoints)
//
// Written by Curtis Olson, started January 2004.
// Norman Vine
// Melchior FRANZ
//
// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <cstdio>
#include <simgear/compiler.h>
#include "route_mgr.hxx"
#include <boost/algorithm/string/case_conv.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/foreach.hpp>
#include <simgear/misc/strutils.hxx>
#include <simgear/structure/exception.hxx>
#include <simgear/structure/commands.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/sg_inlines.h>
#include <Main/globals.hxx>
#include "Main/fg_props.hxx"
#include "Navaids/positioned.hxx"
#include <Navaids/waypoint.hxx>
#include <Navaids/procedure.hxx>
#include <Navaids/routePath.hxx>
#include "Airports/airport.hxx"
#include "Airports/runways.hxx"
#include <GUI/new_gui.hxx>
#include <GUI/dialog.hxx>
#include <Main/util.hxx> // fgValidatePath()
#include <GUI/MessageBox.hxx>
#define RM "/autopilot/route-manager/"
using namespace flightgear;
using std::string;
static bool commandLoadFlightPlan(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
SGPath path = SGPath::fromUtf8(arg->getStringValue("path"));
return self->loadRoute(path);
}
static bool commandSaveFlightPlan(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
SGPath path = SGPath::fromUtf8(arg->getStringValue("path"));
return self->saveRoute(path);
}
static bool commandActivateFlightPlan(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
bool activate = arg->getBoolValue("activate", true);
if (activate) {
self->activate();
} else {
self->deactivate();
}
return true;
}
static bool commandClearFlightPlan(const SGPropertyNode*)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
self->clearRoute();
return true;
}
static bool commandSetActiveWaypt(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
int index = arg->getIntValue("index");
if ((index < 0) || (index >= self->numLegs())) {
return false;
}
self->jumpToIndex(index);
return true;
}
static bool commandInsertWaypt(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
int index = arg->getIntValue("index");
std::string ident(arg->getStringValue("id"));
int alt = arg->getIntValue("altitude-ft", -999);
int ias = arg->getIntValue("speed-knots", -999);
WayptRef wp;
// lat/lon may be supplied to narrow down navaid search, or to specify
// a raw waypoint
SGGeod pos;
if (arg->hasChild("longitude-deg")) {
pos = SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
arg->getDoubleValue("latitude-deg"));
}
if (arg->hasChild("navaid")) {
FGPositionedRef p = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid"), pos);
if (arg->hasChild("navaid", 1)) {
// intersection of two radials
FGPositionedRef p2 = FGPositioned::findClosestWithIdent(arg->getStringValue("navaid[1]"), pos);
if (!p2) {
SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << arg->getStringValue("navaid[1]"));
return false;
}
double r1 = arg->getDoubleValue("radial"),
r2 = arg->getDoubleValue("radial[1]");
SGGeod intersection;
bool ok = SGGeodesy::radialIntersection(p->geod(), r1, p2->geod(), r2, intersection);
if (!ok) {
SG_LOG(SG_AUTOPILOT, SG_INFO, "no valid intersection for:" << p->ident()
<< "," << p2->ident());
return false;
}
std::string name = p->ident() + "-" + p2->ident();
wp = new BasicWaypt(intersection, name, NULL);
} else if (arg->hasChild("offset-nm") && arg->hasChild("radial")) {
// offset radial from navaid
double radial = arg->getDoubleValue("radial");
double distanceNm = arg->getDoubleValue("offset-nm");
//radial += magvar->getDoubleValue(); // convert to true bearing
wp = new OffsetNavaidWaypoint(p, NULL, radial, distanceNm);
} else {
wp = new NavaidWaypoint(p, NULL);
}
} else if (arg->hasChild("airport")) {
const FGAirport* apt = fgFindAirportID(arg->getStringValue("airport"));
if (!apt) {
SG_LOG(SG_AUTOPILOT, SG_INFO, "no such airport" << arg->getStringValue("airport"));
return false;
}
if (arg->hasChild("runway")) {
if (!apt->hasRunwayWithIdent(arg->getStringValue("runway"))) {
SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << arg->getStringValue("runway") << " at " << apt->ident());
return false;
}
FGRunway* runway = apt->getRunwayByIdent(arg->getStringValue("runway"));
wp = new RunwayWaypt(runway, NULL);
} else {
wp = new NavaidWaypoint((FGAirport*) apt, NULL);
}
} else if (arg->hasChild("text")) {
wp = self->waypointFromString(arg->getStringValue("text"));
} else if (!(pos == SGGeod())) {
// just a raw lat/lon
wp = new BasicWaypt(pos, ident, NULL);
} else {
return false; // failed to build waypoint
}
FlightPlan::Leg* leg = self->flightPlan()->insertWayptAtIndex(wp, index);
if (alt >= 0) {
leg->setAltitude(RESTRICT_AT, alt);
}
if (ias > 0) {
leg->setSpeed(RESTRICT_AT, ias);
}
return true;
}
static bool commandDeleteWaypt(const SGPropertyNode* arg)
{
FGRouteMgr* self = (FGRouteMgr*) globals->get_subsystem("route-manager");
int index = arg->getIntValue("index");
self->removeLegAtIndex(index);
return true;
}
/////////////////////////////////////////////////////////////////////////////
FGRouteMgr::FGRouteMgr() :
_plan(NULL),
input(fgGetNode( RM "input", true )),
mirror(fgGetNode( RM "route", true ))
{
listener = new InputListener(this);
input->setStringValue("");
input->addChangeListener(listener);
SGCommandMgr* cmdMgr = globals->get_commands();
cmdMgr->addCommand("define-user-waypoint", this, &FGRouteMgr::commandDefineUserWaypoint);
cmdMgr->addCommand("delete-user-waypoint", this, &FGRouteMgr::commandDeleteUserWaypoint);
cmdMgr->addCommand("load-flightplan", commandLoadFlightPlan);
cmdMgr->addCommand("save-flightplan", commandSaveFlightPlan);
cmdMgr->addCommand("activate-flightplan", commandActivateFlightPlan);
cmdMgr->addCommand("clear-flightplan", commandClearFlightPlan);
cmdMgr->addCommand("set-active-waypt", commandSetActiveWaypt);
cmdMgr->addCommand("insert-waypt", commandInsertWaypt);
cmdMgr->addCommand("delete-waypt", commandDeleteWaypt);
}
FGRouteMgr::~FGRouteMgr()
{
input->removeChangeListener(listener);
delete listener;
if (_plan) {
_plan->removeDelegate(this);
}
SGCommandMgr* cmdMgr = globals->get_commands();
cmdMgr->removeCommand("define-user-waypoint");
cmdMgr->removeCommand("delete-user-waypoint");
cmdMgr->removeCommand("load-flightplan");
cmdMgr->removeCommand("save-flightplan");
cmdMgr->removeCommand("activate-flightplan");
cmdMgr->removeCommand("clear-flightplan");
cmdMgr->removeCommand("set-active-waypt");
cmdMgr->removeCommand("insert-waypt");
cmdMgr->removeCommand("delete-waypt");
}
void FGRouteMgr::init() {
SGPropertyNode_ptr rm(fgGetNode(RM));
magvar = fgGetNode("/environment/magnetic-variation-deg", true);
departure = fgGetNode(RM "departure", true);
departure->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDepartureICAO, &FGRouteMgr::setDepartureICAO));
departure->tie("runway", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDepartureRunway,
&FGRouteMgr::setDepartureRunway));
departure->tie("sid", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getSID,
&FGRouteMgr::setSID));
departure->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDepartureName, NULL));
departure->tie("field-elevation-ft", SGRawValueMethods<FGRouteMgr, double>(*this,
&FGRouteMgr::getDepartureFieldElevation, NULL));
departure->getChild("etd", 0, true);
departure->getChild("takeoff-time", 0, true);
destination = fgGetNode(RM "destination", true);
destination->getChild("airport", 0, true);
destination->tie("airport", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDestinationICAO, &FGRouteMgr::setDestinationICAO));
destination->tie("runway", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDestinationRunway,
&FGRouteMgr::setDestinationRunway));
destination->tie("star", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getSTAR,
&FGRouteMgr::setSTAR));
destination->tie("approach", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getApproach,
&FGRouteMgr::setApproach));
destination->tie("name", SGRawValueMethods<FGRouteMgr, const char*>(*this,
&FGRouteMgr::getDestinationName, NULL));
destination->tie("field-elevation-ft", SGRawValueMethods<FGRouteMgr, double>(*this,
&FGRouteMgr::getDestinationFieldElevation, NULL));
destination->getChild("eta", 0, true);
destination->getChild("eta-seconds", 0, true);
destination->getChild("touchdown-time", 0, true);
alternate = fgGetNode(RM "alternate", true);
alternate->getChild("airport", 0, true);
alternate->getChild("runway", 0, true);
cruise = fgGetNode(RM "cruise", true);
cruise->getChild("altitude-ft", 0, true);
cruise->setDoubleValue("altitude-ft", 10000.0);
cruise->getChild("flight-level", 0, true);
cruise->getChild("speed-kts", 0, true);
cruise->setDoubleValue("speed-kts", 160.0);
totalDistance = fgGetNode(RM "total-distance", true);
totalDistance->setDoubleValue(0.0);
distanceToGo = fgGetNode(RM "distance-remaining-nm", true);
distanceToGo->setDoubleValue(0.0);
ete = fgGetNode(RM "ete", true);
ete->setDoubleValue(0.0);
elapsedFlightTime = fgGetNode(RM "flight-time", true);
elapsedFlightTime->setDoubleValue(0.0);
active = fgGetNode(RM "active", true);
active->setBoolValue(false);
airborne = fgGetNode(RM "airborne", true);
airborne->setBoolValue(false);
_edited = fgGetNode(RM "signals/edited", true);
_flightplanChanged = fgGetNode(RM "signals/flightplan-changed", true);
_currentWpt = fgGetNode(RM "current-wp", true);
_currentWpt->tie(SGRawValueMethods<FGRouteMgr, int>
(*this, &FGRouteMgr::currentIndex, &FGRouteMgr::jumpToIndex));
wp0 = fgGetNode(RM "wp", 0, true);
wp0->getChild("id", 0, true);
wp0->getChild("dist", 0, true);
wp0->getChild("eta", 0, true);
wp0->getChild("eta-seconds", 0, true);
wp0->getChild("bearing-deg", 0, true);
wp1 = fgGetNode(RM "wp", 1, true);
wp1->getChild("id", 0, true);
wp1->getChild("dist", 0, true);
wp1->getChild("eta", 0, true);
wp1->getChild("eta-seconds", 0, true);
wpn = fgGetNode(RM "wp-last", 0, true);
wpn->getChild("dist", 0, true);
wpn->getChild("eta", 0, true);
wpn->getChild("eta-seconds", 0, true);
_pathNode = fgGetNode(RM "file-path", 0, true);
}
void FGRouteMgr::postinit()
{
setFlightPlan(new FlightPlan());
SGPath path = SGPath::fromUtf8(_pathNode->getStringValue());
if (!path.isNull()) {
SG_LOG(SG_AUTOPILOT, SG_INFO, "loading flight-plan from: " << path);
loadRoute(path);
}
// this code only matters for the --wp option now - perhaps the option
// should be deprecated in favour of an explicit flight-plan file?
// then the global initial waypoint list could die.
string_list *waypoints = globals->get_initial_waypoints();
if (waypoints) {
string_list::iterator it;
for (it = waypoints->begin(); it != waypoints->end(); ++it) {
WayptRef w = waypointFromString(*it);
if (w) {
_plan->insertWayptAtIndex(w, -1);
}
}
SG_LOG(SG_AUTOPILOT, SG_INFO, "loaded initial waypoints:" << numLegs());
update_mirror();
}
weightOnWheels = fgGetNode("/gear/gear[0]/wow", true);
groundSpeed = fgGetNode("/velocities/groundspeed-kt", true);
// check airbone flag agrees with presets
}
void FGRouteMgr::bind() { }
void FGRouteMgr::unbind() { }
bool FGRouteMgr::isRouteActive() const
{
return active->getBoolValue();
}
bool FGRouteMgr::saveRoute(const SGPath& p)
{
if (!_plan) {
return false;
}
return _plan->save(p);
}
bool FGRouteMgr::loadRoute(const SGPath& p)
{
FlightPlan* fp = new FlightPlan;
if (!fp->load(p)) {
delete fp;
return false;
}
setFlightPlan(fp);
return true;
}
FlightPlanRef FGRouteMgr::flightPlan() const
{
return _plan;
}
void FGRouteMgr::setFlightPlan(const FlightPlanRef& plan)
{
if (plan == _plan) {
return;
}
if (_plan) {
_plan->removeDelegate(this);
active->setBoolValue(false);
}
_plan = plan;
_plan->addDelegate(this);
_flightplanChanged->fireValueChanged();
// fire all the callbacks!
departureChanged();
arrivalChanged();
waypointsChanged();
currentWaypointChanged();
}
void FGRouteMgr::update( double dt )
{
if (dt <= 0.0) {
return; // paused, nothing to do here
}
double gs = groundSpeed->getDoubleValue();
if (airborne->getBoolValue()) {
time_t now = globals->get_time_params()->get_cur_time();
elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
if (weightOnWheels->getBoolValue()) {
// touch down
destination->setIntValue("touchdown-time", now);
airborne->setBoolValue(false);
}
} else { // not airborne
if (weightOnWheels->getBoolValue() || (gs < 40)) {
// either taking-off or rolling-out after touchdown
} else {
airborne->setBoolValue(true);
_takeoffTime = globals->get_time_params()->get_cur_time(); // start the clock
departure->setIntValue("takeoff-time", _takeoffTime);
}
}
if (!active->getBoolValue()) {
return;
}
// basic course/distance information
SGGeod currentPos = globals->get_aircraft_position();
FlightPlan::Leg* leg = _plan ? _plan->currentLeg() : NULL;
if (!leg) {
return;
}
// use RoutePath to compute location of active WP
RoutePath path(_plan);
SGGeod wpPos = path.positionForIndex(_plan->currentIndex());
double courseDeg, az2, distanceM;
SGGeodesy::inverse(currentPos, wpPos, courseDeg, az2, distanceM);
// update wp0 / wp1 / wp-last
wp0->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
wp0->setDoubleValue("true-bearing-deg", courseDeg);
courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
wp0->setDoubleValue("bearing-deg", courseDeg);
setETAPropertyFromDistance(wp0, distanceM);
double totalPathDistanceNm = _plan->totalDistanceNm();
double totalDistanceRemaining = distanceM * SG_METER_TO_NM; // distance to current waypoint
// total distance to go, is direct distance to wp0, plus the remaining
// path distance from wp0
totalDistanceRemaining += (totalPathDistanceNm - leg->distanceAlongRoute());
wp0->setDoubleValue("distance-along-route-nm",
leg->distanceAlongRoute());
wp0->setDoubleValue("remaining-distance-nm",
totalPathDistanceNm - leg->distanceAlongRoute());
FlightPlan::Leg* nextLeg = _plan->nextLeg();
if (nextLeg) {
wpPos = path.positionForIndex(_plan->currentIndex() + 1);
SGGeodesy::inverse(currentPos, wpPos, courseDeg, az2, distanceM);
wp1->setDoubleValue("dist", distanceM * SG_METER_TO_NM);
wp1->setDoubleValue("true-bearing-deg", courseDeg);
courseDeg -= magvar->getDoubleValue(); // expose magnetic bearing
wp1->setDoubleValue("bearing-deg", courseDeg);
setETAPropertyFromDistance(wp1, distanceM);
wp1->setDoubleValue("distance-along-route-nm",
nextLeg->distanceAlongRoute());
wp1->setDoubleValue("remaining-distance-nm",
totalPathDistanceNm - nextLeg->distanceAlongRoute());
}
distanceToGo->setDoubleValue(totalDistanceRemaining);
wpn->setDoubleValue("dist", totalDistanceRemaining);
ete->setDoubleValue(totalDistanceRemaining / gs * 3600.0);
setETAPropertyFromDistance(wpn, totalDistanceRemaining);
}
void FGRouteMgr::clearRoute()
{
if (_plan) {
_plan->clear();
}
}
Waypt* FGRouteMgr::currentWaypt() const
{
if (_plan && _plan->currentLeg()) {
return _plan->currentLeg()->waypoint();
}
return NULL;
}
int FGRouteMgr::currentIndex() const
{
if (!_plan) {
return 0;
}
return _plan->currentIndex();
}
Waypt* FGRouteMgr::wayptAtIndex(int index) const
{
if (!_plan) {
throw sg_range_exception("wayptAtindex: no flightplan");
}
return _plan->legAtIndex(index)->waypoint();
}
int FGRouteMgr::numLegs() const
{
if (_plan) {
return _plan->numLegs();
}
return 0;
}
void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance)
{
double speed = groundSpeed->getDoubleValue();
if (speed < 1.0) {
aProp->setStringValue("--:--");
return;
}
char eta_str[64];
double eta = aDistance * SG_METER_TO_NM / speed;
aProp->getChild("eta-seconds")->setIntValue( eta * 3600 );
if ( eta >= 100.0 ) {
eta = 99.999; // clamp
}
if ( eta < (1.0/6.0) ) {
eta *= 60.0; // within 10 minutes, bump up to min/secs
}
int major = (int)eta,
minor = (int)((eta - (int)eta) * 60.0);
snprintf( eta_str, 64, "%d:%02d", major, minor );
aProp->getChild("eta")->setStringValue( eta_str );
}
void FGRouteMgr::removeLegAtIndex(int aIndex)
{
if (!_plan) {
return;
}
_plan->deleteIndex(aIndex);
}
void FGRouteMgr::waypointsChanged()
{
update_mirror();
_edited->fireValueChanged();
}
// mirror internal route to the property system for inspection by other subsystems
void FGRouteMgr::update_mirror()
{
mirror->removeChildren("wp");
NewGUI * gui = (NewGUI *)globals->get_subsystem("gui");
FGDialog* rmDlg = gui ? gui->getDialog("route-manager") : NULL;
if (!_plan) {
mirror->setIntValue("num", 0);
if (rmDlg) {
rmDlg->updateValues();
}
return;
}
int num = _plan->numLegs();
for (int i = 0; i < num; i++) {
FlightPlan::Leg* leg = _plan->legAtIndex(i);
WayptRef wp = leg->waypoint();
SGPropertyNode *prop = mirror->getChild("wp", i, 1);
const SGGeod& pos(wp->position());
prop->setStringValue("id", wp->ident().c_str());
prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
// leg course+distance
prop->setDoubleValue("leg-bearing-true-deg", leg->courseDeg());
prop->setDoubleValue("leg-distance-nm", leg->distanceNm());
prop->setDoubleValue("distance-along-route-nm", leg->distanceAlongRoute());
if (leg->altitudeRestriction() != RESTRICT_NONE) {
double ft = leg->altitudeFt();
prop->setDoubleValue("altitude-m", ft * SG_FEET_TO_METER);
prop->setDoubleValue("altitude-ft", ft);
prop->setIntValue("flight-level", static_cast<int>(ft / 1000) * 10);
} else {
prop->setDoubleValue("altitude-m", -9999.9);
prop->setDoubleValue("altitude-ft", -9999.9);
}
if (leg->speedRestriction() == SPEED_RESTRICT_MACH) {
prop->setDoubleValue("speed-mach", leg->speedMach());
} else if (leg->speedRestriction() != RESTRICT_NONE) {
prop->setDoubleValue("speed-kts", leg->speedKts());
}
if (wp->flag(WPT_ARRIVAL)) {
prop->setBoolValue("arrival", true);
}
if (wp->flag(WPT_DEPARTURE)) {
prop->setBoolValue("departure", true);
}
if (wp->flag(WPT_MISS)) {
prop->setBoolValue("missed-approach", true);
}
prop->setBoolValue("generated", wp->flag(WPT_GENERATED));
} // of waypoint iteration
// set number as listener attachment point
mirror->setIntValue("num", _plan->numLegs());
if (rmDlg) {
rmDlg->updateValues();
}
totalDistance->setDoubleValue(_plan->totalDistanceNm());
}
// command interface /autopilot/route-manager/input:
//
// @CLEAR ... clear route
// @POP ... remove first entry
// @DELETE3 ... delete 4th entry
// @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
// KSFO@900 ... append "KSFO@900"
//
void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
{
const char *s = prop->getStringValue();
if (strlen(s) == 0) {
return;
}
if (!strcmp(s, "@CLEAR"))
mgr->clearRoute();
else if (!strcmp(s, "@ACTIVATE"))
mgr->activate();
else if (!strcmp(s, "@LOAD")) {
SGPath path = SGPath::fromUtf8(mgr->_pathNode->getStringValue());
mgr->loadRoute(path);
} else if (!strcmp(s, "@SAVE")) {
SGPath path = SGPath::fromUtf8(mgr->_pathNode->getStringValue());
SGPath authorizedPath = fgValidatePath(path, true /* write */);
if (!authorizedPath.isNull()) {
mgr->saveRoute(authorizedPath);
} else {
std::string msg =
"The route manager was asked to write the flightplan to '" +
path.utf8Str() + "', but this path is not authorized for writing. " +
"Please choose another location, for instance in the $FG_HOME/Export "
"folder (" + (globals->get_fg_home() / "Export").utf8Str() + ").";
SG_LOG(SG_AUTOPILOT, SG_ALERT, msg);
modalMessageBox("FlightGear", "Unable to write to the specified file",
msg);
}
} else if (!strcmp(s, "@NEXT")) {
mgr->jumpToIndex(mgr->currentIndex() + 1);
} else if (!strcmp(s, "@PREVIOUS")) {
mgr->jumpToIndex(mgr->currentIndex() - 1);
} else if (!strncmp(s, "@JUMP", 5)) {
mgr->jumpToIndex(atoi(s + 5));
} else if (!strncmp(s, "@DELETE", 7))
mgr->removeLegAtIndex(atoi(s + 7));
else if (!strncmp(s, "@INSERT", 7)) {
char *r;
int pos = strtol(s + 7, &r, 10);
if (*r++ != ':')
return;
while (isspace(*r))
r++;
if (*r)
mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(r), pos);
} else
mgr->flightPlan()->insertWayptAtIndex(mgr->waypointFromString(s), -1);
}
bool FGRouteMgr::activate()
{
if (!_plan) {
SG_LOG(SG_AUTOPILOT, SG_WARN, "::activate, no flight plan defined");
return false;
}
if (isRouteActive()) {
SG_LOG(SG_AUTOPILOT, SG_WARN, "duplicate route-activation, no-op");
return false;
}
_plan->activate();
active->setBoolValue(true);
SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
return true;
}
void FGRouteMgr::deactivate()
{
if (!isRouteActive()) {
return;
}
SG_LOG(SG_AUTOPILOT, SG_INFO, "deactivating flight plan");
active->setBoolValue(false);
}
void FGRouteMgr::jumpToIndex(int index)
{
if (!_plan) {
return;
}
_plan->setCurrentIndex(index);
}
void FGRouteMgr::currentWaypointChanged()
{
Waypt* cur = currentWaypt();
FlightPlan::Leg* next = _plan ? _plan->nextLeg() : NULL;
wp0->getChild("id")->setStringValue(cur ? cur->ident() : "");
wp1->getChild("id")->setStringValue(next ? next->waypoint()->ident() : "");
_currentWpt->fireValueChanged();
SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << currentIndex());
}
const char* FGRouteMgr::getDepartureICAO() const
{
if (!_plan || !_plan->departureAirport()) {
return "";
}
return _plan->departureAirport()->ident().c_str();
}
const char* FGRouteMgr::getDepartureName() const
{
if (!_plan || !_plan->departureAirport()) {
return "";
}
return _plan->departureAirport()->name().c_str();
}
const char* FGRouteMgr::getDepartureRunway() const
{
if (_plan && _plan->departureRunway()) {
return _plan->departureRunway()->ident().c_str();
}
return "";
}
void FGRouteMgr::setDepartureRunway(const char* aIdent)
{
if (!_plan) {
return;
}
FGAirport* apt = _plan->departureAirport();
if (!apt || (aIdent == NULL)) {
_plan->setDeparture(apt);
} else if (apt->hasRunwayWithIdent(aIdent)) {
_plan->setDeparture(apt->getRunwayByIdent(aIdent));
}
}
void FGRouteMgr::setDepartureICAO(const char* aIdent)
{
if (!_plan) {
return;
}
if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
_plan->setDeparture((FGAirport*) NULL);
} else {
_plan->setDeparture(FGAirport::findByIdent(aIdent));
}
}
const char* FGRouteMgr::getSID() const
{
if (_plan && _plan->sid()) {
return _plan->sid()->ident().c_str();
}
return "";
}
static double headingDiffDeg(double a, double b)
{
double rawDiff = b - a;
SG_NORMALIZE_RANGE(rawDiff, -180.0, 180.0);
return rawDiff;
}
flightgear::SID* createDefaultSID(FGRunway* aRunway, double enrouteCourse)
{
if (!aRunway) {
return NULL;
}
double runwayElevFt = aRunway->end().getElevationFt();
WayptVec wpts;
std::ostringstream ss;
ss << aRunway->ident() << "-3";
SGGeod p = aRunway->pointOnCenterline(aRunway->lengthM() + (3.0 * SG_NM_TO_METER));
WayptRef w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(runwayElevFt + 3000.0, RESTRICT_AT);
wpts.push_back(w);
ss.str("");
ss << aRunway->ident() << "-6";
p = aRunway->pointOnCenterline(aRunway->lengthM() + (6.0 * SG_NM_TO_METER));
w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(runwayElevFt + 6000.0, RESTRICT_AT);
wpts.push_back(w);
if (enrouteCourse >= 0.0) {
// valid enroute course
int index = 3;
double course = aRunway->headingDeg();
double diff;
while (fabs(diff = headingDiffDeg(course, enrouteCourse)) > 45.0) {
// turn in the sign of the heading change 45 degrees
course += copysign(45.0, diff);
ss.str("");
ss << "DEP-" << index++;
SGGeod pos = wpts.back()->position();
pos = SGGeodesy::direct(pos, course, 3.0 * SG_NM_TO_METER);
w = new BasicWaypt(pos, ss.str(), NULL);
wpts.push_back(w);
}
} else {
// no enroute course, just keep runway heading
ss.str("");
ss << aRunway->ident() << "-9";
p = aRunway->pointOnCenterline(aRunway->lengthM() + (9.0 * SG_NM_TO_METER));
w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(runwayElevFt + 9000.0, RESTRICT_AT);
wpts.push_back(w);
}
BOOST_FOREACH(Waypt* w, wpts) {
w->setFlag(WPT_DEPARTURE);
w->setFlag(WPT_GENERATED);
}
return flightgear::SID::createTempSID("DEFAULT", aRunway, wpts);
}
void FGRouteMgr::setSID(const char* aIdent)
{
if (!_plan) {
return;
}
FGAirport* apt = _plan->departureAirport();
if (!apt || (aIdent == NULL)) {
_plan->setSID((flightgear::SID*) NULL);
return;
}
if (!strcmp(aIdent, "DEFAULT")) {
double enrouteCourse = -1.0;
if (_plan->destinationAirport()) {
enrouteCourse = SGGeodesy::courseDeg(apt->geod(), _plan->destinationAirport()->geod());
}
_plan->setSID(createDefaultSID(_plan->departureRunway(), enrouteCourse));
return;
}
string ident(aIdent);
size_t hyphenPos = ident.find('-');
if (hyphenPos != string::npos) {
string sidIdent = ident.substr(0, hyphenPos);
string transIdent = ident.substr(hyphenPos + 1);
flightgear::SID* sid = apt->findSIDWithIdent(sidIdent);
Transition* trans = sid ? sid->findTransitionByName(transIdent) : NULL;
_plan->setSID(trans);
} else {
_plan->setSID(apt->findSIDWithIdent(aIdent));
}
}
const char* FGRouteMgr::getDestinationICAO() const
{
if (!_plan || !_plan->destinationAirport()) {
return "";
}
return _plan->destinationAirport()->ident().c_str();
}
const char* FGRouteMgr::getDestinationName() const
{
if (!_plan || !_plan->destinationAirport()) {
return "";
}
return _plan->destinationAirport()->name().c_str();
}
void FGRouteMgr::setDestinationICAO(const char* aIdent)
{
if (!_plan) {
return;
}
if ((aIdent == NULL) || (strlen(aIdent) < 4)) {
_plan->setDestination((FGAirport*) NULL);
} else {
_plan->setDestination(FGAirport::findByIdent(aIdent));
}
}
const char* FGRouteMgr::getDestinationRunway() const
{
if (_plan && _plan->destinationRunway()) {
return _plan->destinationRunway()->ident().c_str();
}
return "";
}
void FGRouteMgr::setDestinationRunway(const char* aIdent)
{
if (!_plan) {
return;
}
FGAirport* apt = _plan->destinationAirport();
if (!apt || (aIdent == NULL)) {
_plan->setDestination(apt);
} else if (apt->hasRunwayWithIdent(aIdent)) {
_plan->setDestination(apt->getRunwayByIdent(aIdent));
}
}
const char* FGRouteMgr::getApproach() const
{
if (_plan && _plan->approach()) {
return _plan->approach()->ident().c_str();
}
return "";
}
flightgear::Approach* createDefaultApproach(FGRunway* aRunway, double aEnrouteCourse)
{
if (!aRunway) {
return NULL;
}
double thresholdElevFt = aRunway->threshold().getElevationFt();
const double approachHeightFt = 2000.0;
double glideslopeDistanceM = (approachHeightFt * SG_FEET_TO_METER) /
tan(3.0 * SG_DEGREES_TO_RADIANS);
std::ostringstream ss;
ss << aRunway->ident() << "-12";
WayptVec wpts;
SGGeod p = aRunway->pointOnCenterline(-12.0 * SG_NM_TO_METER);
WayptRef w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(thresholdElevFt + 4000, RESTRICT_AT);
wpts.push_back(w);
// work back form the first point on the centerline
if (aEnrouteCourse >= 0.0) {
// valid enroute course
int index = 4;
double course = aRunway->headingDeg();
double diff;
while (fabs(diff = headingDiffDeg(aEnrouteCourse, course)) > 45.0) {
// turn in the sign of the heading change 45 degrees
course -= copysign(45.0, diff);
ss.str("");
ss << "APP-" << index++;
SGGeod pos = wpts.front()->position();
pos = SGGeodesy::direct(pos, course + 180.0, 3.0 * SG_NM_TO_METER);
w = new BasicWaypt(pos, ss.str(), NULL);
wpts.insert(wpts.begin(), w);
}
}
p = aRunway->pointOnCenterline(-8.0 * SG_NM_TO_METER);
ss.str("");
ss << aRunway->ident() << "-8";
w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(thresholdElevFt + approachHeightFt, RESTRICT_AT);
wpts.push_back(w);
p = aRunway->pointOnCenterline(-glideslopeDistanceM);
ss.str("");
ss << aRunway->ident() << "-GS";
w = new BasicWaypt(p, ss.str(), NULL);
w->setAltitude(thresholdElevFt + approachHeightFt, RESTRICT_AT);
wpts.push_back(w);
BOOST_FOREACH(Waypt* w, wpts) {
w->setFlag(WPT_APPROACH);
w->setFlag(WPT_GENERATED);
}
return Approach::createTempApproach("DEFAULT", aRunway, wpts);
}
void FGRouteMgr::setApproach(const char* aIdent)
{
if (!_plan) {
return;
}
FGAirport* apt = _plan->destinationAirport();
if (!strcmp(aIdent, "DEFAULT")) {
double enrouteCourse = -1.0;
if (_plan->departureAirport()) {
enrouteCourse = SGGeodesy::courseDeg(_plan->departureAirport()->geod(), apt->geod());
}
_plan->setApproach(createDefaultApproach(_plan->destinationRunway(), enrouteCourse));
return;
}
if (!apt || (aIdent == NULL)) {
_plan->setApproach(NULL);
} else {
_plan->setApproach(apt->findApproachWithIdent(aIdent));
}
}
const char* FGRouteMgr::getSTAR() const
{
if (_plan && _plan->star()) {
return _plan->star()->ident().c_str();
}
return "";
}
void FGRouteMgr::setSTAR(const char* aIdent)
{
if (!_plan) {
return;
}
FGAirport* apt = _plan->destinationAirport();
if (!apt || (aIdent == NULL)) {
_plan->setSTAR((STAR*) NULL);
return;
}
string ident(aIdent);
size_t hyphenPos = ident.find('-');
if (hyphenPos != string::npos) {
string starIdent = ident.substr(0, hyphenPos);
string transIdent = ident.substr(hyphenPos + 1);
STAR* star = apt->findSTARWithIdent(starIdent);
Transition* trans = star ? star->findTransitionByName(transIdent) : NULL;
_plan->setSTAR(trans);
} else {
_plan->setSTAR(apt->findSTARWithIdent(aIdent));
}
}
WayptRef FGRouteMgr::waypointFromString(const std::string& target)
{
return _plan->waypointFromString(target);
}
double FGRouteMgr::getDepartureFieldElevation() const
{
if (!_plan || !_plan->departureAirport()) {
return 0.0;
}
return _plan->departureAirport()->elevation();
}
double FGRouteMgr::getDestinationFieldElevation() const
{
if (!_plan || !_plan->destinationAirport()) {
return 0.0;
}
return _plan->destinationAirport()->elevation();
}
SGPropertyNode_ptr FGRouteMgr::wayptNodeAtIndex(int index) const
{
if ((index < 0) || (index >= numWaypts())) {
throw sg_range_exception("waypt index out of range", "FGRouteMgr::wayptAtIndex");
}
return mirror->getChild("wp", index);
}
bool FGRouteMgr::commandDefineUserWaypoint(const SGPropertyNode* arg)
{
std::string ident = arg->getStringValue("ident");
if (ident.empty()) {
SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident defining user waypoint");
return false;
}
// check for duplicate idents
FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
if (!dups.empty()) {
SG_LOG(SG_AUTOPILOT, SG_WARN, "defineUserWaypoint: non-unique waypoint identifier:" << ident);
return false;
}
SGGeod pos(SGGeod::fromDeg(arg->getDoubleValue("longitude-deg"),
arg->getDoubleValue("latitude-deg")));
FGPositioned::createUserWaypoint(ident, pos);
return true;
}
bool FGRouteMgr::commandDeleteUserWaypoint(const SGPropertyNode* arg)
{
std::string ident = arg->getStringValue("ident");
if (ident.empty()) {
SG_LOG(SG_AUTOPILOT, SG_WARN, "missing ident deleting user waypoint");
return false;
}
return FGPositioned::deleteUserWaypoint(ident);
}
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