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flightgear/src/AIModel/AIFlightPlanCreatePushBack.cxx

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- Ground network XML parsing code reads the new attributes "holdPointType" and "isOnRunway". - Added initial support for AI controlled pushback operations, making use of the current editing capabilities of TaxiDraw CVS / New_GUI_CODE. The current implementation is slightly more computationally intensive than strictly required, due to the currently inability of taxidraw to link one specific pushBack point to to a particular startup location. FlightGear now determines this dynamically, and once we have that functionality in TaxiDraw, the initialization part of createPushBack() can be further simplified. - Smoother transition from pushback to taxi. No more skipping of waypoints, and aircraft wait for two minutes at pushback point. - The classes FGTaxiNode, FGTaxiSegment, and FGParking, now have copy constructors, and assignment operators. - Removed declaration of undefined constructor FGTaxiNode(double, double, int) - Array boundry checks and cleanup. - Modified Dijkstra path search algoritm to solve partial problems. Currently limited to include pushback points and routes only, but can probably be extended to a more general approach. - Added initial support for giving certain routes in the network a penalty, in order to discourage the use of certain routes over others.
2007-08-08 06:09:58 +00:00
/******************************************************************************
* AIFlightPlanCreatePushBack.cxx
* Written by Durk Talsma, started August 1, 2007.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
**************************************************************************/
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <Airports/runways.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
double latitude,
double longitude,
double radius,
const string& fltType,
const string& aircraftType,
const string& airline)
{
double lat, lon, heading;
FGTaxiRoute *pushBackRoute;
if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
//cerr << "Push Back fallback" << endl;
createPushBackFallBack(firstFlight, dep, latitude, longitude,
radius, fltType, aircraftType, airline);
} else {
if (firstFlight) {
if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
&heading, &gateId,
radius, fltType,
aircraftType, airline))) {
SG_LOG(SG_INPUT, SG_WARN, "Warning: Could not find parking for a " <<
aircraftType <<
" of flight type " << fltType <<
" of airline " << airline <<
" at airport " << dep->getId());
char buffer[10];
snprintf (buffer, 10, "%d", gateId);
//FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
waypoint *wpt;
wpt = new waypoint;
wpt->name = string(buffer); // fixme: should be the name of the taxiway
wpt->latitude = lat;
wpt->longitude = lon;
// Elevation is currently disregarded when on_ground is true
// because the AIModel obtains a periodic ground elevation estimate.
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = -1;
waypoints.push_back(wpt);
}
} else {
//cerr << "Push Back follow-up Flight" << endl;
dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
}
if (gateId < 0) {
createPushBackFallBack(firstFlight, dep, latitude, longitude,
radius, fltType, aircraftType, airline);
return;
}
//cerr << "getting parking " << gateId;
//cerr << " for a " <<
// aircraftType <<
// " of flight type " << fltType <<
// " of airline " << airline <<
// " at airport " << dep->getId() << endl;
FGParking *parking = dep->getDynamics()->getParking(gateId);
int pushBackNode = parking->getPushBackPoint();
// initialize the pushback route. Note that parts
// of this procedure should probably be done inside
// taxidraw. This code is likely to change once this
// this is fully implemented in taxidraw. Until that time,
// however, the full initialization procedure looks like this:
// 1) Build a list of all the nodes that are classified as
// pushBack hold points
// 2) For each hold point, use the dykstra algorithm to find a route
// between the gate and the pushBack hold nodes, however use only
// segments that are classified as "pushback" routes.
// 3) return the TaxiRoute class that is non empty.
// 4) store refer this route in the parking object, for future use
if (pushBackNode < 0) {
//cerr << "Initializing PushBackRoute " << endl;
intVec pushBackNodes;
int nAINodes = dep->getDynamics()->getGroundNetwork()->getNrOfNodes();
int hits = 0;
parking->setPushBackPoint(0); // default in case no network was found.
// Collect all the nodes that are classified as having pushBack hold status
for (int i = 0; i < nAINodes; i++) {
if (dep->getDynamics()->getGroundNetwork()->findNode(i)->getHoldPointType() == 3) {
pushBackNodes.push_back(i);
}
}
// For each node found in step 1, check if it can be reached
FGTaxiRoute route;
for (intVecIterator nodes = pushBackNodes.begin();
nodes != pushBackNodes.end();
nodes++) {
route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, *nodes, false);
if (!(route.empty())) {
//cerr << "Found Pushback route of size " << route.size() << endl;
hits++;
parking->setPushBackRoute(new FGTaxiRoute(route));
parking->setPushBackPoint(*nodes);
pushBackNode = *nodes;
}
}
if (hits == 0) {
SG_LOG(SG_GENERAL, SG_INFO, "No pushback route found for gate " << gateId << " at " << dep->getId());
}
if (hits > 1) {
SG_LOG(SG_GENERAL, SG_WARN, hits << " pushback routes found for gate " << gateId << " at " << dep->getId());
}
}
if (pushBackNode > 0) {
int node, rte;
//cerr << "Found valid pusback node " << pushBackNode << "for gate " << gateId << endl;
pushBackRoute = parking->getPushBackRoute();
int size = pushBackRoute->size();
if (size < 2) {
SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
}
pushBackRoute->first();
waypoint *wpt;
while(pushBackRoute->next(&node, &rte))
{
//FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
char buffer[10];
snprintf (buffer, 10, "%d", node);
FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
//ids.pop_back();
wpt = new waypoint;
wpt->name = string(buffer); // fixme: should be the name of the taxiway
wpt->latitude = tn->getLatitude();
wpt->longitude = tn->getLongitude();
// Elevation is currently disregarded when on_ground is true
// because the AIModel obtains a periodic ground elevation estimate.
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = rte;
waypoints.push_back(wpt);
}
// some special considerations for the last point:
wpt->name = string("PushBackPoint");
wpt->speed = 15;
} else {
//cerr << "Creating direct forward departure route fragment" << endl;
double lat2, lon2, az2;
waypoint *wpt;
geo_direct_wgs_84 ( 0, lat, lon, heading,
2, &lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "park2";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
4, &lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "name";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
//cerr << "Creating final push forward point for gate " << gateId << endl;
FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
FGTaxiSegmentVectorIterator te = tn->getEndRoute();
if (ts == te) {
SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
//exit(1);
}
tn = (*ts)->getEnd();
lastNodeVisited = tn->getIndex();
if (tn == NULL) {
SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
exit(1);
}
wpt = new waypoint;
wpt->name = "PushBackPoint";
wpt->latitude = tn->getLatitude();
wpt->longitude = tn->getLongitude();
wpt->altitude = dep->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = (*ts)->getIndex();
waypoints.push_back(wpt);
}
}
}
/*******************************************************************
* createPushBackFallBack
* This is the backup function for airports that don't have a
* network yet.
******************************************************************/
void FGAIFlightPlan::createPushBackFallBack(bool firstFlight, FGAirport *dep,
double latitude,
double longitude,
double radius,
const string& fltType,
const string& aircraftType,
const string& airline)
{
double heading;
double lat;
double lon;
double lat2;
double lon2;
double az2;
dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
waypoint *wpt = new waypoint;
wpt->name = "park";
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
10,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "park2";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
2.2*radius,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
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