496 lines
15 KiB
C++
496 lines
15 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <iostream>
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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/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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#include <simgear/props/props.hxx>
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#include <simgear/props/props_io.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 <Airports/groundnetwork.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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#include "AIAircraft.hxx"
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using std::cerr;
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FGAIWaypoint::FGAIWaypoint() {
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latitude = 0;
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longitude = 0;
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altitude = 0;
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speed = 0;
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crossat = 0;
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finished = 0;
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gear_down = 0;
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flaps_down = 0;
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on_ground = 0;
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routeIndex = 0;
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time_sec = 0;
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trackLength = 0;
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}
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bool FGAIWaypoint::contains(string target) {
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size_t found = name.find(target);
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if (found == string::npos)
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return false;
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else
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return true;
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}
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FGAIFlightPlan::FGAIFlightPlan()
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{
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sid = 0;
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repeat = false;
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distance_to_go = 0;
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lead_distance = 0;
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start_time = 0;
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arrivalTime = 0;
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leg = 10;
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gateId = 0;
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lastNodeVisited = 0;
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taxiRoute = 0;
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wpt_iterator = waypoints.begin();
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isValid = true;
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}
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FGAIFlightPlan::FGAIFlightPlan(const string& filename)
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{
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sid = 0;
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repeat = false;
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distance_to_go = 0;
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lead_distance = 0;
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start_time = 0;
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arrivalTime = 0;
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leg = 10;
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gateId = 0;
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lastNodeVisited = 0;
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taxiRoute = 0;
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SGPath path( globals->get_fg_root() );
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path.append( ("/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 &) {
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SG_LOG(SG_AI, 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 (int i = 0; i < node->nChildren(); i++) {
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//cout << "Reading waypoint " << i << endl;
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FGAIWaypoint* wpt = new FGAIWaypoint;
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SGPropertyNode * wpt_node = node->getChild(i);
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wpt->setName (wpt_node->getStringValue("name", "END" ));
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wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
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wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
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wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
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wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
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wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
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wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
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wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
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wpt->setOn_ground (wpt_node->getBoolValue("on-ground", false ));
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wpt->setTime_sec (wpt_node->getDoubleValue("time-sec", 0 ));
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wpt->setTime (wpt_node->getStringValue("time", "" ));
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if (wpt->getName() == "END") wpt->setFinished(true);
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else wpt->setFinished(false);
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pushBackWaypoint( wpt );
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}
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wpt_iterator = waypoints.begin();
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isValid = true;
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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(FGAIAircraft *ac,
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const std::string& p,
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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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bool firstLeg,
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double radius,
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double alt,
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double lat,
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double lon,
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double speed,
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const string& fltType,
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const string& acType,
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const string& airline)
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{
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sid = 0;
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repeat = false;
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distance_to_go = 0;
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lead_distance = 0;
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start_time = start;
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arrivalTime = 0;
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leg = 10;
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gateId = 0;
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lastNodeVisited = 0;
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taxiRoute = 0;
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SGPath path( globals->get_fg_root() );
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path.append( "/AI/FlightPlans" );
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path.append( p );
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SGPropertyNode root;
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isValid = true;
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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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// bool useInitialWayPoint = true;
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// bool useCurrentWayPoint = false;
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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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if (path.exists())
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{
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try
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{
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readProperties(path.str(), &root);
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SGPropertyNode * node = root.getNode("flightplan");
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//pushBackWaypoint( 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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FGAIWaypoint* wpt = new FGAIWaypoint;
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SGPropertyNode * wpt_node = node->getChild(i);
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wpt->setName (wpt_node->getStringValue("name", "END" ));
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wpt->setLatitude (wpt_node->getDoubleValue("lat", 0 ));
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wpt->setLongitude (wpt_node->getDoubleValue("lon", 0 ));
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wpt->setAltitude (wpt_node->getDoubleValue("alt", 0 ));
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wpt->setSpeed (wpt_node->getDoubleValue("ktas", 0 ));
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wpt->setCrossat (wpt_node->getDoubleValue("crossat", -10000 ));
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wpt->setGear_down (wpt_node->getBoolValue("gear-down", false ));
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wpt->setFlaps_down (wpt_node->getBoolValue("flaps-down", false ));
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if (wpt->getName() == "END") wpt->setFinished(true);
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else wpt->setFinished(false);
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pushBackWaypoint(wpt);
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} // of node loop
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wpt_iterator = waypoints.begin();
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} catch (const sg_exception &e) {
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SG_LOG(SG_AI, SG_WARN, "Error reading AI flight plan: " <<
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e.getMessage() << " from " << e.getOrigin());
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}
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} else {
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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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time_t now = time(NULL) + fgGetLong("/sim/time/warp");
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time_t timeDiff = now-start;
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leg = 1;
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if ((timeDiff > 60) && (timeDiff < 1500))
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leg = 2;
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//else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
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//leg = 3;
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//ac->setTakeOffStatus(2);
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//}
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else if ((timeDiff >= 1500) && (timeDiff < 2000))
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leg = 4;
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else if (timeDiff >= 2000)
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leg = 5;
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/*
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if (timeDiff >= 2000)
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leg = 5;
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*/
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SG_LOG(SG_AI, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
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wpt_iterator = waypoints.begin();
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bool dist = 0;
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isValid = create(ac, dep,arr, leg, alt, speed, lat, lon,
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firstLeg, radius, fltType, acType, airline, dist);
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wpt_iterator = waypoints.begin();
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}
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}
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FGAIFlightPlan::~FGAIFlightPlan()
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{
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deleteWaypoints();
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delete taxiRoute;
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}
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FGAIWaypoint* const FGAIFlightPlan::getPreviousWaypoint( void ) const
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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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FGAIWaypoint* const FGAIFlightPlan::getCurrentWaypoint( void ) const
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{
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if (wpt_iterator == waypoints.end())
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return 0;
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return *wpt_iterator;
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}
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FGAIWaypoint* const FGAIFlightPlan::getNextWaypoint( void ) const
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{
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wpt_vector_iterator i = waypoints.end();
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i--; // end() points to one element after the last one.
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if (wpt_iterator == i) {
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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(bool eraseWaypoints )
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{
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if (eraseWaypoints)
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{
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if (wpt_iterator == waypoints.begin())
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wpt_iterator++;
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else
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{
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delete *(waypoints.begin());
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waypoints.erase(waypoints.begin());
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wpt_iterator = waypoints.begin();
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wpt_iterator++;
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}
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}
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else
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wpt_iterator++;
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}
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void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
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{
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if (eraseWaypoints)
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{
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if (wpt_iterator == waypoints.end())
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wpt_iterator--;
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else
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{
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delete *(waypoints.end());
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waypoints.erase(waypoints.end());
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wpt_iterator = waypoints.end();
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wpt_iterator--;
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}
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}
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else
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wpt_iterator--;
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}
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void FGAIFlightPlan::eraseLastWaypoint()
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{
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delete (waypoints.back());
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waypoints.pop_back();;
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wpt_iterator = waypoints.begin();
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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, FGAIWaypoint* wp) const{
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return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat),
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SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
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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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FGAIWaypoint* current, FGAIWaypoint* next){
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double turn_radius;
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// Handle Ground steering
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// At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
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// So, to get an estimate of the turn radius, calculate the cicumference of the circle
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// we travel on. Get the turn radius by dividing by PI (*2).
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if (speed < 0.5) {
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lead_distance = 0.5;
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return;
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}
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if (speed < 25) {
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turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
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} else
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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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leadInAngle = fabs(inbound - outbound);
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if (leadInAngle > 180.0)
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leadInAngle = 360.0 - leadInAngle;
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//if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
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// leadInAngle = 30.0;
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//lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
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lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
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/*
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if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
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// cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
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// << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
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lead_distance = 3 * turn_radius;
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return;
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}
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if ((leadInAngle > 90) && (current->on_ground == true)) {
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lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
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return;
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}*/
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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(FGAIWaypoint* first, FGAIWaypoint* second) const{
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return getBearing(first->getLatitude(), first->getLongitude(), second);
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}
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double FGAIFlightPlan::getBearing(double lat, double lon, FGAIWaypoint* wp) const{
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return SGGeodesy::courseDeg(SGGeod::fromDeg(lon, lat),
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SGGeod::fromDeg(wp->getLongitude(), wp->getLatitude()));
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}
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void FGAIFlightPlan::deleteWaypoints()
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{
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for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end();i++)
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delete (*i);
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waypoints.clear();
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}
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// Delete all waypoints except the last,
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// which we will recycle as the first waypoint in the next leg;
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void FGAIFlightPlan::resetWaypoints()
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{
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if (waypoints.begin() == waypoints.end())
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return;
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else
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{
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FGAIWaypoint *wpt = new FGAIWaypoint;
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wpt_vector_iterator i = waypoints.end();
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i--;
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wpt->setName ( (*i)->getName() );
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wpt->setLatitude ( (*i)->getLatitude() );
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wpt->setLongitude ( (*i)->getLongitude() );
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wpt->setAltitude ( (*i)->getAltitude() );
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wpt->setSpeed ( (*i)->getSpeed() );
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wpt->setCrossat ( (*i)->getCrossat() );
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wpt->setGear_down ( (*i)->getGear_down() );
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wpt->setFlaps_down ( (*i)->getFlaps_down() );
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wpt->setFinished ( false );
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wpt->setOn_ground ( (*i)->getOn_ground() );
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//cerr << "Recycling waypoint " << wpt->name << endl;
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deleteWaypoints();
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pushBackWaypoint(wpt);
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}
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}
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void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
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{
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// std::vector::push_back invalidates waypoints
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// so we should restore wpt_iterator after push_back
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// (or it could be an index in the vector)
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size_t pos = wpt_iterator - waypoints.begin();
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waypoints.push_back(wpt);
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wpt_iterator = waypoints.begin() + pos;
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}
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// Start flightplan over from the beginning
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void FGAIFlightPlan::restart()
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{
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wpt_iterator = waypoints.begin();
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}
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void FGAIFlightPlan::deleteTaxiRoute()
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{
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delete taxiRoute;
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taxiRoute = 0;
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}
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int FGAIFlightPlan::getRouteIndex(int i) {
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if ((i > 0) && (i < (int)waypoints.size())) {
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return waypoints[i]->getRouteIndex();
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}
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else
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return 0;
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}
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double FGAIFlightPlan::checkTrackLength(string wptName) {
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// skip the first two waypoints: first one is behind, second one is partially done;
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double trackDistance = 0;
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wpt_vector_iterator wptvec = waypoints.begin();
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wptvec++;
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wptvec++;
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while ((wptvec != waypoints.end()) && (!((*wptvec)->contains(wptName)))) {
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trackDistance += (*wptvec)->getTrackLength();
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wptvec++;
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}
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if (wptvec == waypoints.end()) {
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trackDistance = 0; // name not found
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}
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return trackDistance;
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}
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void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
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{
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while (waypoints.size() > number + 3) {
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eraseLastWaypoint();
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}
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(waypoints.back())->setName((waypoints.back())->getName() + name);
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}
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