bool
WayPointFileWinPilot::parseLine(const TCHAR* line, const unsigned linenum,
Waypoints &way_points,
const RasterTerrain *terrain)
{
TCHAR ctemp[255];
const TCHAR *params[20];
size_t n_params;
// If (end-of-file or comment)
if (line[0] == '\0' || line[0] == 0x1a ||
_tcsstr(line, _T("**")) == line ||
_tcsstr(line, _T("*")) == line)
// -> return without error condition
return true;
if (_tcslen(line) >= sizeof(ctemp) / sizeof(ctemp[0]))
/* line too long for buffer */
return false;
GeoPoint location;
// Get fields
n_params = extractParameters(line, ctemp, params, 20);
if (n_params < 6)
return false;
// Latitude (e.g. 51:15.900N)
if (!parseAngle(params[1], location.Latitude, true))
return false;
// Longitude (e.g. 00715.900W)
if (!parseAngle(params[2], location.Longitude, false))
return false;
Waypoint new_waypoint(location);
new_waypoint.FileNum = file_num;
// Name (e.g. KAMPLI)
if (!parseString(params[5], new_waypoint.Name))
return false;
// Altitude (e.g. 458M)
/// @todo configurable behaviour
bool alt_ok = parseAltitude(params[3], new_waypoint.Altitude);
check_altitude(new_waypoint, terrain, alt_ok);
if (n_params > 6) {
// Description (e.g. 119.750 Airport)
parseString(params[6], new_waypoint.Comment);
}
// Waypoint Flags (e.g. AT)
parseFlags(params[4], new_waypoint.Flags);
add_waypoint(way_points, new_waypoint);
return true;
}
void main_game::add_waypoint_to_selection(waypoint new_waypoint) {
for (auto& selected_ship : teams[0].selected_ships) {
auto controller = (waypoint_controller*)selected_ship->get_controller();
if (!keyboard->is_key_down(keys::ShiftLeft)) {
controller->clear_waypoints(*selected_ship);
}
controller->add_waypoint(*selected_ship, new_waypoint);
}
}
void setup_waypoints()
{
add_waypoint(degToRad(51.298349), degToRad(1.069928));
add_waypoint(degToRad(51.297772), degToRad(1.070301));
add_waypoint(degToRad(51.297048), degToRad(1.069866));
add_waypoint(degToRad(51.296581), degToRad(1.068332));
add_waypoint(degToRad(51.2974), degToRad(1.067618));
add_waypoint(degToRad(51.29795), degToRad(1.068573));
add_waypoint(degToRad(51.298356), degToRad(1.069871));
}
bool
WayPointFileZander::parseLine(const TCHAR* line, const unsigned linenum,
Waypoints &way_points,
const RasterTerrain *terrain)
{
// If (end-of-file or comment)
if (line[0] == '\0' || line[0] == 0x1a ||
_tcsstr(line, _T("**")) == line ||
_tcsstr(line, _T("*")) == line)
// -> return without error condition
return true;
// Determine the length of the line
size_t len = _tcslen(line);
// If less then 34 characters -> something is wrong -> cancel
if (len < 34)
return false;
GeoPoint location;
// Latitude (Characters 13-20 // DDMMSS(N/S))
if (!parseAngle(line + 13, location.Latitude, true))
return false;
// Longitude (Characters 21-29 // DDDMMSS(E/W))
if (!parseAngle(line + 21, location.Longitude, false))
return false;
Waypoint new_waypoint(location);
new_waypoint.FileNum = file_num;
// Name (Characters 0-12)
if (!parseString(line, new_waypoint.Name))
return false;
// Altitude (Characters 30-34 // e.g. 1561 (in meters))
/// @todo configurable behaviour
bool alt_ok = parseAltitude(line + 30, new_waypoint.Altitude);
check_altitude(new_waypoint, terrain, alt_ok);
// Description (Characters 35-44)
if (len > 35)
parseString(line + 35, new_waypoint.Comment);
// Flags (Characters 45-49)
if (len > 45)
parseFlags(line + 45, new_waypoint.Flags);
add_waypoint(way_points, new_waypoint);
return true;
}
static inline void MissionItem(mavlink_message_t* handle_msg)
{
int16_t flags;
struct waypoint3D wp;
mavlink_mission_item_t packet;
//send_text((uint8_t*)"waypoint\r\n");
// DPRINT("mission item\r\n");
// Check if receiving waypoint
if (!mavlink_flags.mavlink_receiving_waypoints) return;
// decode
mavlink_msg_mission_item_decode(handle_msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) return;
DPRINT("mission item: %u\r\n", packet.seq);
// check if this is the requested waypoint
if (packet.seq != waypoint_request_i) return;
// store waypoint
//uint8_t loadAction = 0; // 0 insert in list, 1 exec now
switch (packet.frame)
{
case MAV_FRAME_GLOBAL:
{
// DPRINT("FRAME_GLOBAL\r\n");
//struct waypoint3D { int32_t x; int32_t y; int16_t z; };
//struct waypointDef { struct waypoint3D loc; int16_t flags; struct waypoint3D viewpoint; };
// DPRINT("packet.x %f packet.y %f packet.z %f\r\n", packet.x, packet.y, packet.z);
//tell_command.lng = 1.0e7*packet.x;
//tell_command.lat = 1.0e7*packet.y;
//tell_command.alt = packet.z*1.0e2;
// MatrixPilot uses X & Y in reverse to QGC
wp.x = packet.y * 1.0e7;
wp.y = packet.x * 1.0e7;
wp.z = packet.z;
flags = F_ABSOLUTE;
break;
}
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
{
DPRINT("FRAME_LOCAL - not implemented\r\n");
//tell_command.lng = 1.0e7*ToDeg(packet.x/
//(radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lng;
//tell_command.lat = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lat;
//tell_command.alt = -packet.z*1.0e2 + home.alt;
break;
}
}
// defaults
//tell_command.id = CMD_BLANK;
// Currently F can be set to: F_NORMAL, or any combination of:
// F_ABSOLUTE - Waypoints are Relative by default, unless F_ABSOLUTE is specified.
//
// F_TAKEOFF - More quickly gain altitude at takeoff.
// F_INVERTED - Navigate to this waypoint with the plane upside down. (only if STABILIZE_INVERTED_FLIGHT is set to 1 in options.h)
// F_HOVER - Hover the plane until reaching this waypoint. (only if STABILIZE_HOVER is set to 1 in options.h)
// NOTE: while hovering, no navigation is performed, and throttle is under manual control.
// F_LOITER - After reaching this waypoint, continue navigating towards this same waypoint. Repeat until leaving waypoint mode.
// F_TRIGGER - Trigger an action to happen when this waypoint leg starts. (See the Trigger Action section of the options.h file.)
// F_ALTITUDE_GOAL - Climb or descend to the given altitude, then continue to the next waypoint.
// F_CROSS_TRACK - Navigate using cross-tracking. Best used for longer waypoint legs.
// F_LAND - Navigate towards this waypoint with the throttle off.
switch (packet.command)
{
case MAV_CMD_NAV_TAKEOFF:
DPRINT("NAV_TAKEOFF\r\n");
//tell_command.id = CMD_TAKEOFF;
flags |= F_TAKEOFF;
break;
case MAV_CMD_NAV_LAND:
DPRINT("NAV_LAND\r\n");
//tell_command.id = CMD_LAND;
flags |= F_LAND;
break;
case MAV_CMD_NAV_WAYPOINT:
// DPRINT("NAV_WAYPOINT\r\n");
//tell_command.id = CMD_WAYPOINT;
break;
case MAV_CMD_NAV_LOITER_UNLIM:
// DPRINT("NAV_LOITER\r\n");
//tell_command.id = CMD_LOITER_TIME;
//tell_command.p1 = packet.param2/1.0e2;
break;
}
// save waypoint
add_waypoint(wp, flags);
//set_wp_with_index(tell_command, packet.seq);
// update waypoint receiving state machine
//global_data.waypoint_timelast_receive = millis();
mavlink_waypoint_timeout = MAVLINK_WAYPOINT_TIMEOUT;
waypoint_request_i++;
if (waypoint_request_i == get(PARAM_WP_TOTAL))
{
uint8_t type = 0; // ok (0), error(1)
//gcs.send_text("flight plane received");
DPRINT("flight plan received\r\n");
mavlink_msg_mission_ack_send(MAVLINK_COMM_0, handle_msg->sysid, handle_msg->compid, type);
mavlink_flags.mavlink_receiving_waypoints = false;
// XXX ignores waypoint radius for individual waypoints, can
// only set WP_RADIUS parameter
// send MAVLINK_MSG_ID_MISSION_ACK ?
}
else
{
mavlink_flags.mavlink_request_specific_waypoint = 1;
}
}
bool
WayPointFileSeeYou::parseLine(const TCHAR* line, const unsigned linenum,
Waypoints &way_points,
const RasterTerrain *terrain)
{
TCHAR ctemp[255];
const TCHAR *params[20];
size_t n_params;
static unsigned iName = 0, iCode = 1, iCountry = 2;
static unsigned iLatitude = 3, iLongitude = 4, iElevation = 5;
static unsigned iStyle = 6, iRWDir = 7, iRWLen = 8;
static unsigned iFrequency = 9, iDescription = 10;
static bool ignore_following = false;
// If (end-of-file or comment)
if (line[0] == '\0' || line[0] == 0x1a ||
_tcsstr(line, _T("**")) == line ||
_tcsstr(line, _T("*")) == line)
// -> return without error condition
return true;
if (_tcslen(line) >= sizeof(ctemp) / sizeof(ctemp[0]))
/* line too long for buffer */
return false;
// Parse first line holding field order
/// @todo linenum == 0 should be the first
/// (not ignored) line, not just line 0
if (linenum == 0) {
// Get fields
n_params = extractParameters(line, ctemp, params, 20);
// Iterate through fields and save the field order
for (unsigned i = 0; i < n_params; i++) {
const TCHAR* value = params[i];
if (!_tcscmp(value, _T("name")))
iName = i;
else if (!_tcscmp(value, _T("code")))
iCode = i;
else if (!_tcscmp(value, _T("country")))
iCountry = i;
else if (!_tcscmp(value, _T("lat")))
iLatitude = i;
else if (!_tcscmp(value, _T("lon")))
iLongitude = i;
else if (!_tcscmp(value, _T("elev")))
iElevation = i;
else if (!_tcscmp(value, _T("style")))
iStyle = i;
else if (!_tcscmp(value, _T("rwdir")))
iRWDir = i;
else if (!_tcscmp(value, _T("rwlen")))
iRWLen = i;
else if (!_tcscmp(value, _T("freq")))
iFrequency = i;
else if (!_tcscmp(value, _T("desc")))
iDescription = i;
}
ignore_following = false;
return true;
}
// If task marker is reached ignore all following lines
if (_tcsstr(line, _T("-----Related Tasks-----")) == line)
ignore_following = true;
if (ignore_following)
return true;
// Get fields
n_params = extractParameters(line, ctemp, params, 20);
// Check if the basic fields are provided
if (iName >= n_params)
return false;
if (iLatitude >= n_params)
return false;
if (iLongitude >= n_params)
return false;
GeoPoint location;
// Latitude (e.g. 5115.900N)
if (!parseAngle(params[iLatitude], location.Latitude, true))
return false;
// Longitude (e.g. 00715.900W)
if (!parseAngle(params[iLongitude], location.Longitude, false))
return false;
Waypoint new_waypoint(location);
new_waypoint.FileNum = file_num;
// Name (e.g. "Some Turnpoint", with quotes)
if (!parseString(params[iName], new_waypoint.Name))
return false;
// Elevation (e.g. 458.0m)
/// @todo configurable behaviour
bool alt_ok = iElevation < n_params &&
parseAltitude(params[iElevation], new_waypoint.Altitude);
check_altitude(new_waypoint, terrain, alt_ok);
// Description (e.g. "Some Turnpoint", with quotes)
/// @todo include frequency and rwdir/len
if (iDescription < n_params)
parseString(params[iDescription], new_waypoint.Comment);
// Style (e.g. 5)
/// @todo include peaks with peak symbols etc.
if (iStyle < n_params)
parseStyle(params[iStyle], new_waypoint.Flags);
// If the Style attribute did not state that this is an airport
if (!new_waypoint.Flags.Airport) {
// -> parse the runway length
fixed rwlen;
// Runway length (e.g. 546.0m)
if (iRWLen < n_params && parseAltitude(params[iRWLen], rwlen)) {
// If runway length is between 100m and 300m -> landpoint
if (rwlen > fixed(100) && rwlen <= fixed(300))
new_waypoint.Flags.LandPoint = true;
// If runway length is higher then 300m -> airport
if (rwlen > fixed(300))
new_waypoint.Flags.Airport = true;
}
}
add_waypoint(way_points, new_waypoint);
return true;
}
bool command_executor::execute_command(HOTKEY_COMMAND command, int /*index*/)
{
switch(command) {
case HOTKEY_CYCLE_UNITS:
cycle_units();
break;
case HOTKEY_CYCLE_BACK_UNITS:
cycle_back_units();
break;
case HOTKEY_ENDTURN:
end_turn();
break;
case HOTKEY_ADD_WAYPOINT:
add_waypoint();
break;
case HOTKEY_UNIT_HOLD_POSITION:
unit_hold_position();
break;
case HOTKEY_END_UNIT_TURN:
end_unit_turn();
break;
case HOTKEY_LEADER:
goto_leader();
break;
case HOTKEY_UNDO:
undo();
break;
case HOTKEY_REDO:
redo();
break;
case HOTKEY_UNIT_DESCRIPTION:
unit_description();
break;
case HOTKEY_RENAME_UNIT:
rename_unit();
break;
case HOTKEY_SAVE_GAME:
save_game();
break;
case HOTKEY_SAVE_REPLAY:
save_replay();
break;
case HOTKEY_SAVE_MAP:
save_map();
break;
case HOTKEY_LOAD_GAME:
load_game();
break;
case HOTKEY_TOGGLE_ELLIPSES:
toggle_ellipses();
break;
case HOTKEY_TOGGLE_GRID:
toggle_grid();
break;
case HOTKEY_STATUS_TABLE:
status_table();
break;
case HOTKEY_RECALL:
recall();
break;
case HOTKEY_RECRUIT:
recruit();
break;
case hotkey::HOTKEY_REPEAT_RECRUIT:
repeat_recruit();
break;
case HOTKEY_SPEAK:
speak();
break;
case HOTKEY_SPEAK_ALLY:
whisper();
break;
case HOTKEY_SPEAK_ALL:
shout();
break;
case HOTKEY_CREATE_UNIT:
create_unit();
break;
case HOTKEY_CHANGE_SIDE:
change_side();
break;
case HOTKEY_PREFERENCES:
preferences();
break;
case HOTKEY_OBJECTIVES:
objectives();
break;
case HOTKEY_UNIT_LIST:
unit_list();
break;
case HOTKEY_STATISTICS:
show_statistics();
break;
case HOTKEY_STOP_NETWORK:
stop_network();
break;
case HOTKEY_START_NETWORK:
start_network();
break;
case HOTKEY_LABEL_TEAM_TERRAIN:
label_terrain(true);
break;
case HOTKEY_LABEL_TERRAIN:
label_terrain(false);
break;
case HOTKEY_CLEAR_LABELS:
clear_labels();
break;
case HOTKEY_SHOW_ENEMY_MOVES:
show_enemy_moves(false);
break;
case HOTKEY_BEST_ENEMY_MOVES:
show_enemy_moves(true);
break;
case HOTKEY_DELAY_SHROUD:
toggle_shroud_updates();
break;
case HOTKEY_UPDATE_SHROUD:
update_shroud_now();
break;
case HOTKEY_CONTINUE_MOVE:
continue_move();
break;
case HOTKEY_SEARCH:
search();
break;
case HOTKEY_HELP:
show_help();
break;
case HOTKEY_CHAT_LOG:
show_chat_log();
break;
case HOTKEY_USER_CMD:
user_command();
break;
case HOTKEY_CUSTOM_CMD:
custom_command();
break;
case HOTKEY_AI_FORMULA:
ai_formula();
break;
case HOTKEY_CLEAR_MSG:
clear_messages();
break;
#ifdef USRCMD2
case HOTKEY_USER_CMD_2:
//user_command();
user_command_2();
break;
case HOTKEY_USER_CMD_3:
user_command_3();
break;
#endif
case HOTKEY_LANGUAGE:
change_language();
break;
case HOTKEY_PLAY_REPLAY:
play_replay();
break;
case HOTKEY_RESET_REPLAY:
reset_replay();
break;
case HOTKEY_STOP_REPLAY:
stop_replay();
break;
case HOTKEY_REPLAY_NEXT_TURN:
replay_next_turn();
break;
case HOTKEY_REPLAY_NEXT_SIDE:
replay_next_side();
break;
case HOTKEY_REPLAY_SHOW_EVERYTHING:
replay_show_everything();
break;
case HOTKEY_REPLAY_SHOW_EACH:
replay_show_each();
break;
case HOTKEY_REPLAY_SHOW_TEAM1:
replay_show_team1();
break;
case HOTKEY_REPLAY_SKIP_ANIMATION:
replay_skip_animation();
break;
default:
return false;
}
return true;
}
