307 lines
9.5 KiB
C++
307 lines
9.5 KiB
C++
/******************************************************************************
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* AIFlightPlanCreateCruise.cxx
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* Written by Durk Talsma, started February, 2006.
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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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*
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*
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**************************************************************************/
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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 <fstream>
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#include <iostream>
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#include <simgear/route/waypoint.hxx>
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#include <Navaids/awynet.hxx>
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#include <Airports/runways.hxx>
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#include <Airports/dynamics.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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#include "performancedata.hxx"
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using std::iostream;
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void FGAIFlightPlan::evaluateRoutePart(double deplat,
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double deplon,
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double arrlat,
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double arrlon)
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{
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// First do a prescan of all the waypoints that are within a reasonable distance of the
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// ideal route.
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intVec nodes;
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int tmpNode, prevNode;
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SGGeoc dep(SGGeoc::fromDegM(deplon, deplat, 100.0));
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SGGeoc arr(SGGeoc::fromDegM(arrlon, arrlat, 100.0));
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SGVec3d a = SGVec3d::fromGeoc(dep);
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SGVec3d nb = normalize(SGVec3d::fromGeoc(arr));
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SGVec3d na = normalize(a);
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SGVec3d _cross = cross(nb, na);
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double angle = acos(dot(na, nb));
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const double angleStep = 0.05 * SG_DEGREES_TO_RADIANS;
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tmpNode = 0;
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for (double ang = 0.0; ang < angle; ang += angleStep)
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{
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SGQuatd q = SGQuatd::fromAngleAxis(ang, _cross);
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SGGeod geod = SGGeod::fromCart(q.transform(a));
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prevNode = tmpNode;
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tmpNode = globals->get_airwaynet()->findNearestNode(geod);
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FGNode* node = globals->get_airwaynet()->findNode(tmpNode);
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if ((tmpNode != prevNode) && (SGGeodesy::distanceM(geod, node->getPosition()) < 25000)) {
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nodes.push_back(tmpNode);
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}
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}
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intVecIterator i = nodes.begin();
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intVecIterator j = nodes.end();
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while (i != nodes.end())
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{
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j = nodes.end();
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while (j != i)
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{
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j--;
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FGAirRoute routePart = globals->get_airwaynet()->findShortestRoute(*i, *j);
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if (!(routePart.empty()))
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{
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airRoute.add(routePart);
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i = j;
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break;
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}
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}
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i++;
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}
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}
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/*
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void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
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FGAirport *arr, double latitude,
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double longitude, double speed, double alt)
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{
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bool useInitialWayPoint = true;
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bool useCurrentWayPoint = false;
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double heading;
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double lat, lon, az;
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double lat2, lon2, az2;
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double azimuth;
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waypoint *wpt;
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waypoint *init_waypoint;
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intVec ids;
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char buffer[32];
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SGPath routefile = globals->get_fg_root();
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init_waypoint = new waypoint;
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init_waypoint->name = "Initial waypoint";
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init_waypoint->latitude = latitude;
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init_waypoint->longitude = longitude;;
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//wpt->altitude = apt->getElevation(); // should maybe be tn->elev too
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init_waypoint->altitude = alt;
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init_waypoint->speed = 450; //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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init_waypoint->on_ground = false;
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waypoints.push_back(init_waypoint);
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routefile.append("Data/AI/FlightPlans");
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snprintf(buffer, 32, "%s-%s.txt",
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dep->getId().c_str(),
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arr->getId().c_str());
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routefile.append(buffer);
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cerr << "trying to read " << routefile.c_str()<< endl;
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//exit(1);
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if (routefile.exists())
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{
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sg_gzifstream in( routefile.str() );
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do {
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in >> route;
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} while (!(in.eof()));
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}
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else {
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//int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2, lon2);
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//int startId = globals->get_airwaynet()->findNearestNode(dep->getLatitude(), dep->getLongitude());
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//int endId = globals->get_airwaynet()->findNearestNode(arr->getLatitude(), arr->getLongitude());
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//FGAirRoute route;
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evaluateRoutePart(dep->getLatitude(), dep->getLongitude(),
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arr->getLatitude(), arr->getLongitude());
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//exit(1);
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}
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route.first();
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int node;
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if (route.empty()) {
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// if no route could be found, create a direct gps route...
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cerr << "still no route found from " << dep->getName() << " to << " << arr->getName() <<endl;
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//exit(1);
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} else {
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while(route.next(&node))
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{
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FGNode *fn = globals->get_airwaynet()->findNode(node);
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//cerr << "Checking status of each waypoint: " << fn->getIdent();
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SGWayPoint first(init_waypoint->longitude,
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init_waypoint->latitude,
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alt);
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SGWayPoint curr (fn->getLongitude(),
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fn->getLatitude(),
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alt);
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SGWayPoint arr (arr->getLongitude(),
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arr->getLatitude(),
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alt);
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double crse, crsDiff;
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double dist;
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first.CourseAndDistance(arr, &course, &distance);
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first.CourseAndDistance(curr, &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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//cerr << " Distance : " << dist << " : Course diff " << crsDiff
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// << " crs to dest : " << course
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// << " crs to wpt : " << crse;
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if ((dist > 20.0) && (crsDiff > 90.0))
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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 " << endl;
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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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//i = ids.end()-1;
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//cerr << " accepting " << endl;
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//ids.pop_back();
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wpt = new waypoint;
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wpt->name = "Airway"; // fixme: should be the name of the waypoint
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wpt->latitude = fn->getLatitude();
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wpt->longitude = fn->getLongitude();
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//wpt->altitude = apt->getElevation(); // should maybe be tn->elev too
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wpt->altitude = alt;
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wpt->speed = 450; //speed;
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wpt->crossat = -10000;
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wpt->gear_down = false;
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wpt->flaps_down= false;
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wpt->finished = false;
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wpt->on_ground = false;
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waypoints.push_back(wpt);
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}
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if (!(routefile.exists()))
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{
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route.first();
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fstream outf( routefile.c_str(), fstream::out );
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while (route.next(&node))
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outf << node << endl;
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}
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}
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}
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arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
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if (!(globals->get_runways()->search(arr->getId(),
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activeRunway,
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&rwy)))
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{
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cout << "Failed to find runway for " << arr->getId() << 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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//string test;
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//arr->getActiveRunway(string("com"), 1, test);
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//exit(1);
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//cerr << "Altitude = " << alt << endl;
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//cerr << "Done" << endl;
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//if (arr->getId() == "EHAM")
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// {
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// cerr << "Creating cruise to EHAM " << latitude << " " << longitude << endl;
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// }
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heading = rwy._heading;
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azimuth = heading + 180.0;
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while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
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// Note: This places us at the location of the active
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// runway during initial cruise. This needs to be
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// fixed later.
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geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
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110000,
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&lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "BOD"; //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 = alt;
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wpt->speed = speed;
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wpt->crossat = alt;
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wpt->gear_down = false;
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wpt->flaps_down= false;
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wpt->finished = false;
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wpt->on_ground = false;
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waypoints.push_back(wpt);
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}
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*/
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/*******************************************************************
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* CreateCruise
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* initialize the Aircraft at the parking location
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*
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* Note that this is the original version that does not
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* do any dynamic route computation.
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******************************************************************/
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void FGAIFlightPlan::createCruise(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
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FGAirport *arr, double latitude,
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double longitude, double speed,
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double alt, const string& fltType)
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{
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double vCruise = ac->getPerformance()->vCruise();
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waypoint *wpt;
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wpt = createInAir(ac, "Cruise", SGGeod::fromDeg(longitude, latitude), alt, vCruise);
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waypoints.push_back(wpt);
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string rwyClass = getRunwayClassFromTrafficType(fltType);
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double heading = ac->getTrafficRef()->getCourse();
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arr->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
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rwy = arr->getRunwayByIdent(activeRunway);
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// begin descent 110km out
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SGGeod beginDescentPoint = rwy->pointOnCenterline(-110000);
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wpt = createInAir(ac, "BOD", beginDescentPoint, alt, vCruise);
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waypoints.push_back(wpt);
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}
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