648 lines
19 KiB
C++
648 lines
19 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 <iterator>
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#include <algorithm>
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#include <simgear/constants.h>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/io/iostreams/sgstream.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/props/props.hxx>
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#include <simgear/props/props_io.hxx>
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#include <simgear/structure/exception.hxx>
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#include <simgear/timing/sg_time.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/airport.hxx>
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#include <Airports/dynamics.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 <Traffic/Schedule.hxx>
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#include "AIFlightPlan.hxx"
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#include "AIAircraft.hxx"
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using std::string;
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FGAIWaypoint::FGAIWaypoint() {
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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 = 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(const 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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double FGAIWaypoint::getLatitude()
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{
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return pos.getLatitudeDeg();
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}
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double FGAIWaypoint::getLongitude()
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{
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return pos.getLongitudeDeg();
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}
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double FGAIWaypoint::getAltitude()
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{
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return pos.getElevationFt();
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}
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void FGAIWaypoint::setLatitude(double lat)
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{
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pos.setLatitudeDeg(lat);
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}
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void FGAIWaypoint::setLongitude(double lon)
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{
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pos.setLongitudeDeg(lon);
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}
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void FGAIWaypoint::setAltitude(double alt)
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{
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pos.setElevationFt(alt);
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}
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FGAIFlightPlan::FGAIFlightPlan() :
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sid(NULL),
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repeat(false),
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distance_to_go(0),
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lead_distance_ft(0),
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leadInAngle(0),
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start_time(0),
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arrivalTime(0),
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leg(0),
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lastNodeVisited(0),
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isValid(true)
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{
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wpt_iterator = waypoints.begin();
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}
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FGAIFlightPlan::FGAIFlightPlan(const string& filename) :
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sid(NULL),
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repeat(false),
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distance_to_go(0),
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lead_distance_ft(0),
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leadInAngle(0),
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start_time(0),
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arrivalTime(0),
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leg(10),
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lastNodeVisited(0),
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isValid(parseProperties(filename))
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{
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}
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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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*/
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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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time_t remainingTime,
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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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sid(NULL),
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repeat(false),
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distance_to_go(0),
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lead_distance_ft(0),
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leadInAngle(0),
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start_time(start),
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arrivalTime(0),
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leg(10),
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lastNodeVisited(0),
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isValid(false),
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departure(dep),
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arrival(arr)
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{
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if (parseProperties(p)) {
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isValid = true;
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} else {
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createWaypoints(ac, course, start, remainingTime, dep, arr, firstLeg, radius,
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alt, lat, lon, speed, fltType, acType, airline);
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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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void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
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double course,
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time_t start,
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time_t remainingTime,
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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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time_t now = globals->get_time_params()->get_cur_time();
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time_t timeDiff = now-start;
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leg = AILeg::STARTUP_PUSHBACK;
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if ((timeDiff > 60) && (timeDiff < 1500))
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leg = AILeg::TAXI;
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else if ((timeDiff >= 1500) && (timeDiff < 2000))
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leg = AILeg::TAKEOFF;
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else if (timeDiff >= 2000) {
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if (remainingTime > 2000) {
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leg = AILeg::CRUISE;
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} else {
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leg = AILeg::APPROACH;
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}
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}
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SG_LOG(SG_AI, SG_DEBUG, ac->getTrafficRef()->getCallSign() << "|Route from " << dep->getId() << " to " << arr->getId() <<
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". Set leg to : " << leg << " " << remainingTime);
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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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bool FGAIFlightPlan::parseProperties(const std::string& filename)
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{
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SGPath fp = globals->findDataPath("AI/FlightPlans/" + filename);
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if (!fp.exists()) {
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return false;
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}
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return readFlightplan(fp);
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}
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bool FGAIFlightPlan::readFlightplan(const SGPath& file)
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{
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sg_ifstream f(file);
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return readFlightplan(f, file);
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}
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bool FGAIFlightPlan::readFlightplan(std::istream& stream, const sg_location& loc)
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{
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SGPropertyNode root;
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try {
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readProperties(stream, &root);
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} catch (const sg_exception& e) {
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SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << loc.asString() << " message:" << e.getFormattedMessage());
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return false;
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}
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SGPropertyNode* node = root.getNode("flightplan");
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if (!node) {
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SG_LOG(SG_AI, SG_ALERT, "Error reading AI flight plan: " << loc.asString() << ": no <flightplan> root element");
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return false;
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}
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for (int i = 0; i < node->nChildren(); i++) {
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FGAIWaypoint* wpt = new FGAIWaypoint;
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SGPropertyNode* wpt_node = node->getChild(i);
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bool gear, flaps;
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// Calculate some default values if they are not set explicitly in the flightplan
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if (wpt_node->getDoubleValue("ktas", 0) < 1.0f) {
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// Not moving so assume shut down.
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wpt->setPowerDownLights();
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flaps = false;
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gear = true;
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} else if (wpt_node->getDoubleValue("alt", 0) > 10000.0f) {
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// Cruise flight;
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wpt->setCruiseLights();
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flaps = false;
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gear = false;
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} else if (wpt_node->getBoolValue("on-ground", false)) {
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// On ground
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wpt->setGroundLights();
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flaps = true;
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gear = true;
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} else if (wpt_node->getDoubleValue("alt", 0) < 3000.0f) {
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// In the air below 3000 ft, so flaps and gear down.
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wpt->setApproachLights();
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flaps = true;
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gear = true;
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} else {
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// In the air 3000-10000 ft
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wpt->setApproachLights();
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flaps = false;
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gear = false;
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}
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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", gear));
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wpt->setFlaps(wpt_node->getBoolValue("flaps-down", flaps) ? 1.0 : 0.0);
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wpt->setSpoilers(wpt_node->getBoolValue("spoilers", false) ? 1.0 : 0.0);
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wpt->setSpeedBrakes(wpt_node->getBoolValue("speedbrakes", false) ? 1.0 : 0.0);
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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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wpt->setFinished((wpt->getName() == "END"));
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pushBackWaypoint(wpt);
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}
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auto lastWp = getLastWaypoint();
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if (!lastWp || lastWp->getName().compare("END") != 0) {
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SG_LOG(SG_AI, SG_ALERT, "FGAIFlightPlan::Flightplan (" + loc.asString() + ") missing END node");
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return false;
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}
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wpt_iterator = waypoints.begin();
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return true;
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}
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FGAIWaypoint* FGAIFlightPlan::getLastWaypoint()
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{
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if (waypoints.empty())
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return nullptr;
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return waypoints.back();
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};
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FGAIWaypoint* FGAIFlightPlan::getPreviousWaypoint( void ) const
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{
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if (empty())
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return nullptr;
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if (wpt_iterator == waypoints.begin()) {
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return nullptr;
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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* FGAIFlightPlan::getCurrentWaypoint( void ) const
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{
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if (wpt_iterator == waypoints.end())
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return nullptr;
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return *wpt_iterator;
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}
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FGAIWaypoint* FGAIFlightPlan::getNextWaypoint( void ) const
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{
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if (wpt_iterator == waypoints.end())
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return nullptr;
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wpt_vector_iterator last = waypoints.end() - 1;
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if (wpt_iterator == last) {
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return nullptr;
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} else {
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return *(wpt_iterator + 1);
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}
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}
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int FGAIFlightPlan::getNextTurnAngle( void ) const
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{
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return nextTurnAngle;
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}
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void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
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{
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if (empty())
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return;
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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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if (!waypoints.empty())
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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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// Calculate the angle of the next turn.
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if (wpt_iterator == waypoints.end())
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return;
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if (wpt_iterator == waypoints.begin())
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return;
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if (wpt_iterator+1 == waypoints.end())
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return;
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if (waypoints.size()<3)
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return;
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FGAIWaypoint* previousWP = *(wpt_iterator -1);
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FGAIWaypoint* currentWP = *(wpt_iterator);
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FGAIWaypoint* nextWP = *(wpt_iterator + 1);
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int currentBearing = this->getBearing(previousWP, currentWP);
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int nextBearing = this->getBearing(currentWP, nextWP);
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nextTurnAngle = SGMiscd::normalizePeriodic(-180, 180, nextBearing - currentBearing);
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if ((previousWP->getSpeed() > 0 && nextWP->getSpeed() < 0) ||
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(previousWP->getSpeed() < 0 && nextWP->getSpeed() > 0)) {
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nextTurnAngle += 180;
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SG_LOG(SG_AI, SG_BULK, "Add 180 to turn angle pushback end");
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}
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SG_LOG(SG_AI, SG_BULK, "Calculated next turn angle " << nextTurnAngle << " " << previousWP->getName() << " " << currentWP->getName() << " Previous Speed " << previousWP->getSpeed() << " Next Speed " << nextWP->getSpeed());
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}
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void FGAIFlightPlan::DecrementWaypoint()
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{
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if (empty())
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return;
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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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if (empty())
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return;
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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 meters 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), wp->getPos());
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}
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// sets distance in feet from a lead point to the current waypoint
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// basically a catch radius, that triggers the advancement of WPs
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void FGAIFlightPlan::setLeadDistance(double speed,
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double bearing,
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FGAIWaypoint* current,
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FGAIWaypoint* next){
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double turn_radius_m;
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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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// FIXME Why when going backwards? No fabs
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if (speed < 0.5) {
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lead_distance_ft = 0.5;
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return;
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}
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if (speed > 0 && speed < 0.5) {
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lead_distance_ft = 5 * SG_FEET_TO_METER;
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SG_LOG(SG_AI, SG_BULK, "Setting Leaddistance fixed " << (lead_distance_ft*SG_FEET_TO_METER));
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return;
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}
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double speed_mps = speed * SG_KT_TO_MPS;
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if (speed < 25) {
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turn_radius_m = ((360/30)*fabs(speed_mps)) / (2*M_PI);
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} else {
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turn_radius_m = 0.1911 * speed * speed; // an estimate for 25 degrees bank
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}
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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) 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_ft = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
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double lead_distance_m = turn_radius_m * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
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lead_distance_ft = lead_distance_m * SG_METER_TO_FEET;
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SG_LOG(SG_AI, SG_BULK, "Setting Leaddistance " << (lead_distance_ft*SG_FEET_TO_METER) << " Turnradius " << turn_radius_m << " Speed " << speed_mps << " Half turn Angle " << (leadInAngle)/2);
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if (lead_distance_ft > 1000) {
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SG_LOG(SG_AI, SG_BULK, "Excessive leaddistance possible direction change " << lead_distance_ft << " leadInAngle " << leadInAngle << " inbound " << inbound << " outbound " << outbound);
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}
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/*
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if ((lead_distance_ft > (3*turn_radius)) && (current->on_ground == false)) {
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SG_LOG(SG_AI, SG_ALERT, "Warning: Lead-in distance is large. Inbound = " << inbound
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<< ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius);
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lead_distance_ft = 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_ft = 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_ft = distance_ft;
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}
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double FGAIFlightPlan::getBearing(FGAIWaypoint* first, FGAIWaypoint* second) const
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{
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return SGGeodesy::courseDeg(first->getPos(), second->getPos());
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}
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double FGAIFlightPlan::getBearing(const SGGeod& aPos, FGAIWaypoint* wp) const
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{
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return SGGeodesy::courseDeg(aPos, wp->getPos());
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}
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void FGAIFlightPlan::deleteWaypoints()
|
|
{
|
|
for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); ++i)
|
|
delete (*i);
|
|
waypoints.clear();
|
|
wpt_iterator = waypoints.begin();
|
|
}
|
|
|
|
// Delete all waypoints except the last,
|
|
// which we will recycle as the first waypoint in the next leg;
|
|
void FGAIFlightPlan::resetWaypoints()
|
|
{
|
|
if (waypoints.begin() == waypoints.end())
|
|
return;
|
|
|
|
|
|
FGAIWaypoint* wpt = new FGAIWaypoint;
|
|
wpt_vector_iterator i = waypoints.end();
|
|
--i;
|
|
wpt->setName((*i)->getName());
|
|
wpt->setPos((*i)->getPos());
|
|
wpt->setCrossat((*i)->getCrossat());
|
|
wpt->setGear_down((*i)->getGear_down());
|
|
wpt->setFlaps((*i)->getFlaps());
|
|
wpt->setSpoilers((*i)->getSpoilers());
|
|
wpt->setSpeedBrakes((*i)->getSpeedBrakes());
|
|
wpt->setBeaconLight((*i)->getBeaconLight());
|
|
wpt->setLandingLight((*i)->getLandingLight());
|
|
wpt->setNavLight((*i)->getNavLight());
|
|
wpt->setStrobeLight((*i)->getStrobeLight());
|
|
wpt->setTaxiLight((*i)->getTaxiLight());
|
|
wpt->setFinished(false);
|
|
wpt->setOn_ground((*i)->getOn_ground());
|
|
SG_LOG(SG_AI, SG_DEBUG, "Recycling waypoint " << wpt->getName());
|
|
deleteWaypoints();
|
|
pushBackWaypoint(wpt);
|
|
}
|
|
|
|
void FGAIFlightPlan::addWaypoint(FGAIWaypoint* wpt)
|
|
{
|
|
pushBackWaypoint(wpt);
|
|
}
|
|
|
|
void FGAIFlightPlan::pushBackWaypoint(FGAIWaypoint *wpt)
|
|
{
|
|
if (!wpt) {
|
|
SG_LOG(SG_AI, SG_WARN, "Null WPT added");
|
|
}
|
|
size_t pos = wpt_iterator - waypoints.begin();
|
|
if (waypoints.size()>0) {
|
|
double dist = SGGeodesy::distanceM( waypoints.back()->getPos(), wpt->getPos());
|
|
if( dist == 0 ) {
|
|
SG_LOG(SG_AI, SG_DEBUG, "Double WP : \t" << wpt->getName() << " not added ");
|
|
} else {
|
|
waypoints.push_back(wpt);
|
|
SG_LOG(SG_AI, SG_BULK, "Added WP : \t" << setprecision(12) << wpt->getName() << "\t" << wpt->getPos() << "\t" << wpt->getSpeed());
|
|
}
|
|
} else {
|
|
waypoints.push_back(wpt);
|
|
SG_LOG(SG_AI, SG_BULK, "Added WP : \t" << setprecision(12) << wpt->getName() << "\t" << wpt->getPos() << "\t" << wpt->getSpeed());
|
|
}
|
|
// std::vector::push_back invalidates waypoints
|
|
// so we should restore wpt_iterator after push_back
|
|
// (or it could be an index in the vector)
|
|
wpt_iterator = waypoints.begin() + pos;
|
|
}
|
|
|
|
// Start flightplan over from the beginning
|
|
void FGAIFlightPlan::restart()
|
|
{
|
|
wpt_iterator = waypoints.begin();
|
|
}
|
|
|
|
int FGAIFlightPlan::getRouteIndex(int i) {
|
|
if ((i > 0) && (i < (int)waypoints.size())) {
|
|
return waypoints[i]->getRouteIndex();
|
|
}
|
|
else
|
|
return 0;
|
|
}
|
|
|
|
double FGAIFlightPlan::checkTrackLength(const string& wptName) const {
|
|
// skip the first two waypoints: first one is behind, second one is partially done;
|
|
double trackDistance = 0;
|
|
wpt_vector_iterator wptvec = waypoints.begin();
|
|
++wptvec;
|
|
++wptvec;
|
|
while ((wptvec != waypoints.end())) {
|
|
if (*wptvec!=nullptr && (!((*wptvec)->contains(wptName)))) {
|
|
break;
|
|
}
|
|
trackDistance += (*wptvec)->getTrackLength();
|
|
++wptvec;
|
|
}
|
|
if (wptvec == waypoints.end()) {
|
|
trackDistance = 0; // name not found
|
|
}
|
|
return trackDistance;
|
|
}
|
|
|
|
void FGAIFlightPlan::shortenToFirst(unsigned int number, string name)
|
|
{
|
|
while (waypoints.size() > number + 3) {
|
|
eraseLastWaypoint();
|
|
}
|
|
(waypoints.back())->setName((waypoints.back())->getName() + name);
|
|
}
|
|
|
|
void FGAIFlightPlan::setGate(const ParkingAssignment& pka)
|
|
{
|
|
gate = pka;
|
|
}
|
|
|
|
FGParking* FGAIFlightPlan::getParkingGate()
|
|
{
|
|
return gate.parking();
|
|
}
|
|
|
|
FGAirportRef FGAIFlightPlan::departureAirport() const
|
|
{
|
|
return departure;
|
|
}
|
|
|
|
FGAirportRef FGAIFlightPlan::arrivalAirport() const
|
|
{
|
|
return arrival;
|
|
}
|
|
|
|
FGAIFlightPlan* FGAIFlightPlan::createDummyUserPlan()
|
|
{
|
|
FGAIFlightPlan* fp = new FGAIFlightPlan;
|
|
fp->isValid = false;
|
|
return fp;
|
|
}
|
|
|
|
bool FGAIFlightPlan::empty() const
|
|
{
|
|
return waypoints.empty();
|
|
}
|