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James Turner: Cleanup of AI traffic route generation code.

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This commit is contained in:
durk 2008-12-30 07:41:15 +00:00 • committed by Tim Moore
parent c604514754
commit 632d89d6e7
6 changed files with 304 additions and 772 deletions
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10
src/AIModel/AIFlightPlan.hxx
View file

@ -126,7 +126,6 @@ private:
void createPushBack(bool, FGAirport*, double, double, double, const string&, const string&, const string&);
void createPushBackFallBack(bool, FGAirport*, double, double, double, const string&, const string&, const string&);
void createTaxi(bool, int, FGAirport *, double, double, double, const string&, const string&, const string&);
void createTakeOff(bool, FGAirport *, double, const string&);
void createClimb(bool, FGAirport *, double, double, const string&);
void createCruise(bool, FGAirport*, FGAirport*, double, double, double, double, const string&);
@ -136,6 +135,15 @@ private:
void deleteWaypoints();
void resetWaypoints();
void createLandingTaxi(FGAirport *apt, double radius, const string& fltType, const string& acType, const string& airline);
void createDefaultLandingTaxi(FGAirport* aAirport);
void createDefaultTakeoffTaxi(FGAirport* aAirport, FGRunway* aRunway);
void createTakeoffTaxi(bool firstFlight, FGAirport *apt, double radius, const string& fltType, const string& acType, const string& airline);
waypoint* createOnGround(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed);
waypoint* createInAir(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed);
waypoint* cloneWithPos(waypoint* aWpt, const std::string& aName, const SGGeod& aPos);
string getRunwayClassFromTrafficType(string fltType);
//void createCruiseFallback(bool, FGAirport*, FGAirport*, double, double, double, double);

772
src/AIModel/AIFlightPlanCreate.cxx
View file

@ -55,8 +55,7 @@ void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
radius, fltType, aircraftType, airline);
break;
case 2:
createTaxi(firstFlight, 1, dep, latitude, longitude,
radius, fltType, aircraftType, airline);
createTakeoffTaxi(firstFlight, dep, radius, fltType, aircraftType, airline);
break;
case 3:
createTakeOff(firstFlight, dep, speed, fltType);
@ -74,8 +73,7 @@ void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
createLanding(arr);
break;
case 8:
createTaxi(false, 2, arr, latitude, longitude, radius,
fltType, aircraftType, airline);
createLandingTaxi(arr, radius, fltType, aircraftType, airline);
break;
case 9:
createParking(arr, radius);
@ -89,34 +87,85 @@ void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
leg++;
}
FGAIFlightPlan::waypoint*
FGAIFlightPlan::createOnGround(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
{
waypoint* wpt = new waypoint;
wpt->name = aName;
wpt->longitude = aPos.getLongitudeDeg();
wpt->latitude = aPos.getLatitudeDeg();
wpt->altitude = aElev;
wpt->speed = aSpeed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex= 0;
return wpt;
}
FGAIFlightPlan::waypoint*
FGAIFlightPlan::createInAir(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
{
waypoint* wpt = new waypoint;
wpt->name = aName;
wpt->longitude = aPos.getLongitudeDeg();
wpt->latitude = aPos.getLatitudeDeg();
wpt->altitude = aElev;
wpt->speed = aSpeed;
wpt->crossat = -10000;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex= 0;
return wpt;
}
FGAIFlightPlan::waypoint*
FGAIFlightPlan::cloneWithPos(waypoint* aWpt, const std::string& aName, const SGGeod& aPos)
{
waypoint* wpt = new waypoint;
wpt->name = aName;
wpt->longitude = aPos.getLongitudeDeg();
wpt->latitude = aPos.getLatitudeDeg();
wpt->altitude = aWpt->altitude;
wpt->speed = aWpt->speed;
wpt->crossat = aWpt->crossat;
wpt->gear_down = aWpt->gear_down;
wpt->flaps_down= aWpt->flaps_down;
wpt->finished = aWpt->finished;
wpt->on_ground = aWpt->on_ground;
wpt->routeIndex = 0;
return wpt;
}
/*******************************************************************
* createCreate Taxi.
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
FGAirport *apt, double latitude, double longitude,
void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAirport* aAirport, FGRunway* aRunway)
{
SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
double airportElev = aAirport->getElevation();
waypoint* wpt;
wpt = createOnGround("Airport Center", aAirport->geod(), airportElev, 15);
waypoints.push_back(wpt);
wpt = createOnGround("Runway Takeoff", runwayTakeoff, airportElev, 15);
waypoints.push_back(wpt);
}
void FGAIFlightPlan::createTakeoffTaxi(bool firstFlight,
FGAirport *apt,
double radius, const string& fltType,
const string& acType, const string& airline)
{
double heading;
double lat, lon;
double lat2, lon2, az2;
waypoint *wpt;
double heading, lat, lon;
int nrWaypointsToSkip;
if (direction == 1)
{
// If this function is called during initialization,
// make sure we obtain a valid gate ID first
// and place the model at the location of the gate.
if (firstFlight)
{
if (firstFlight) {
if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
&heading, &gateId,
radius, fltType,
@ -128,56 +177,40 @@ void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
" of airline " << airline <<
" at airport " << apt->getId());
}
//waypoint *wpt = new waypoint;
//wpt->name = "park";
//wpt->latitude = lat;
//wpt->longitude = lon;
//wpt->altitude = apt->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);
}
string rwyClass = getRunwayClassFromTrafficType(fltType);
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
rwy = apt->getRunwayByIdent(activeRunway);
SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
// Determine the beginning of he runway
heading = rwy->headingDeg();
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
rwy->lengthM() * 0.5 - 5.0,
&lat2, &lon2, &az2 );
FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
if (!gn->exists()) {
createDefaultTakeoffTaxi(apt, rwy);
return;
}
if (apt->getDynamics()->getGroundNetwork()->exists())
{
intVec ids;
int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
lon2);
int runwayId = gn->findNearestNode(runwayTakeoff);
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
// Starting from gate 0 in this case is a bit of a hack
// which requires a more proper solution later on.
//FGTaxiRoute route;
delete taxiRoute;
taxiRoute = new FGTaxiRoute;
// Determine which node to start from.
int node;
int node = 0;
// Find out which node to start from
FGParking *park = apt->getDynamics()->getParking(gateId);
if (park)
if (park) {
node = park->getPushBackPoint();
else
node = 0;
if (node == -1)
}
if (node == -1) {
node = gateId;
}
// HAndle case where parking doens't have a node
if ((node == 0) && park) {
@ -188,56 +221,24 @@ void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
}
}
//cerr << "Using node " << node << endl;
*taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(node, runwayId);
*taxiRoute = gn->findShortestRoute(node, runwayId);
intVecIterator i;
if (taxiRoute->empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
createDefaultTakeoffTaxi(apt, rwy);
return;
}
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
} else {
int node;
taxiRoute->first();
//bool isPushBackPoint = false;
if (firstFlight) {
// If this is called during initialization, randomly
// skip a number of waypoints to get a more realistic
// taxi situation.
//isPushBackPoint = true;
int nrWaypoints = taxiRoute->size();
nrWaypointsToSkip = rand() % nrWaypoints;
int nrWaypointsToSkip = rand() % taxiRoute->size();
// but make sure we always keep two active waypoints
// to prevent a segmentation fault
for (int i = 0; i < nrWaypointsToSkip-2; i++) {
//isPushBackPoint = false;
taxiRoute->next(&node);
}
apt->getDynamics()->releaseParking(gateId);
@ -246,100 +247,57 @@ void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
}
}
// push each node on the taxi route as a waypoint
int route;
while(taxiRoute->next(&node, &route))
{
//FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
while(taxiRoute->next(&node, &route)) {
char buffer[10];
snprintf (buffer, 10, "%d", node);
FGTaxiNode *tn = apt->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 = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoint* wpt = createOnGround(buffer, tn->geod(), apt->getElevation(), 15);
wpt->routeIndex = route;
waypoints.push_back(wpt);
}
/*
//cerr << endl;
// finally, rewind the taxiRoute object to the point where we started
// generating the Flightplan, for AI use.
// This is a bit tricky, because the
taxiRoute->first();
if (firstFlight) {
for (int i = 0; i < nrWaypointsToSkip-1; i++) {
taxiRoute->next(&node);
}
} else {
int size = taxiRoute->size();
if (size > 2) {
//taxiRoute->next(&node);
//taxiRoute->next(&node);
//taxiRoute->next(&node);
}
}*/
} // taxiRoute not empty
}
else
void FGAIFlightPlan::createDefaultLandingTaxi(FGAirport* aAirport)
{
// This is the fallback mechanism, in case no ground network is available
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = apt->getLatitude();
wpt->longitude = apt->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
SGGeod lastWptPos =
SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
double airportElev = aAirport->getElevation();
waypoint* wpt;
wpt = createOnGround("Runway Exit", lastWptPos, airportElev, 15);
waypoints.push_back(wpt);
wpt = createOnGround("Airport Center", aAirport->geod(), airportElev, 15);
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
double heading, lat, lon;
aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
wpt = createOnGround("END", SGGeod::fromDeg(lon, lat), airportElev, 15);
waypoints.push_back(wpt);
}
}
else // Landing taxi
void FGAIFlightPlan::createLandingTaxi(FGAirport *apt,
double radius, const string& fltType,
const string& acType, const string& airline)
{
double heading, lat, lon;
apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
&gateId, radius, fltType,
acType, airline);
&gateId, radius, fltType, acType, airline);
double lat3 = (*(waypoints.end()-1))->latitude;
double lon3 = (*(waypoints.end()-1))->longitude;
//cerr << (*(waypoints.end()-1))->name << endl;
SGGeod lastWptPos =
SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
// Find a route from runway end to parking/gate.
if (apt->getDynamics()->getGroundNetwork()->exists())
{
if (!gn->exists()) {
createDefaultLandingTaxi(apt);
return;
}
intVec ids;
int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
lon3);
int runwayId = gn->findNearestNode(lastWptPos);
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
// Starting from gate 0 is a bit of a hack...
@ -347,139 +305,31 @@ void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
delete taxiRoute;
taxiRoute = new FGTaxiRoute;
if (gateId >= 0)
*taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
gateId);
*taxiRoute = gn->findShortestRoute(runwayId, gateId);
else
*taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
*taxiRoute = gn->findShortestRoute(runwayId, 0);
intVecIterator i;
// No route found: go from gate directly to runway
if (taxiRoute->empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
createDefaultLandingTaxi(apt);
return;
}
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat3;
wpt->longitude = lon3;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
} else {
int node;
taxiRoute->first();
int size = taxiRoute->size();
// Omit the last two waypoints, as
// those are created by createParking()
int route;
for (int i = 0; i < size-2; i++)
{
for (int i = 0; i < size-2; i++) {
taxiRoute->next(&node, &route);
char buffer[10];
snprintf (buffer, 10, "%d", node);
//FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
wpt = new waypoint;
//wpt->name = "taxiway"; // fixme: should be the name of the taxiway
wpt->name = string(buffer);// fixme: should be the name of the taxiway
wpt->latitude = tn->getLatitude();
wpt->longitude = tn->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
FGTaxiNode *tn = gn->findNode(node);
waypoint* wpt = createOnGround(buffer, tn->geod(), apt->getElevation(), 15);
wpt->routeIndex = route;
waypoints.push_back(wpt);
}
//taxiRoute->first();
//taxiRoute->next(&node);
}
}
else
{
// Use a fallback mechanism in case no ground network is available
// obtain the location of the gate entrance point
heading += 180.0;
if (heading > 360)
heading -= 360;
geo_direct_wgs_84 ( 0, lat, lon, heading,
100,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = apt->getLatitude();
wpt->longitude = apt->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
wpt = new waypoint;
wpt->name = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
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);
//waypoint* wpt;
//double lat;
//double lon;
//double heading;
apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
wpt = new waypoint;
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = 19;
wpt->speed = 15;
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);
}
}
}
/*******************************************************************
@ -488,9 +338,6 @@ void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
******************************************************************/
void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed, const string &fltType)
{
double heading;
double lat, lon, az;
double lat2, lon2, az2;
waypoint *wpt;
// Get the current active runway, based on code from David Luff
@ -498,120 +345,34 @@ void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double spee
// Preferential runway use schema's
if (firstFlight)
{
//string name;
string rwyClass = getRunwayClassFromTrafficType(fltType);
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
rwy = apt->getRunwayByIdent(activeRunway);
}
// Acceleration point, 105 meters into the runway,
heading = rwy->headingDeg();
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
rwy->lengthM() * 0.5 - 105.0,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "accel";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = speed;
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);
lat = lat2;
lon = lon2;
az = az2;
double airportElev = apt->getElevation();
// Acceleration point, 105 meters into the runway,
SGGeod accelPoint = rwy->pointOnCenterline(105.0);
wpt = createOnGround("accel", accelPoint, airportElev, speed);
waypoints.push_back(wpt);
//Start Climbing to 3000 ft. Let's do this
// at the center of the runway for now:
//
geo_direct_wgs_84 ( 0, lat, lon, heading,
2560 * SG_FEET_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "SOC";
wpt->latitude = rwy->latitude();
wpt->longitude = rwy->longitude();
wpt->altitude = apt->getElevation()+1000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt = cloneWithPos(wpt, "SOC", rwy->geod());
wpt->altitude = airportElev+1000;
wpt->on_ground = false;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
rwy->lengthM(),
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "3000 ft";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation()+3000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
wpt = cloneWithPos(wpt, "3000 ft", rwy->reverseThreshold());
wpt->altitude = airportElev+3000;
waypoints.push_back(wpt);
// Finally, add two more waypoints, so that aircraft will remain under
// Tower control until they have reached the 3000 ft climb point
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
5000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "5000 ft";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation()+5000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
wpt = cloneWithPos(wpt, "5000 ft", pt);
wpt->altitude = airportElev+5000;
waypoints.push_back(wpt);
//cerr << "Created takeoff plan : " << endl;
//for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
// cerr << "Waypoint Name: " << (*i)->name << ". Speed = " << (*i)->speed << endl;
//}
// geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
// 100000,
// &lat2, &lon2, &az2 );
// wpt = new waypoint;
// wpt->name = "5100 ft";
// wpt->latitude = lat2;
// wpt->longitude = lon2;
// wpt->altitude = apt->getElevation()+5100;
// wpt->speed = speed;
// wpt->crossat = -10000;
// wpt->gear_down = true;
// wpt->flaps_down= true;
// wpt->finished = false;
// wpt->on_ground = false;
// wpt->routeIndex = 0;
// waypoints.push_back(wpt);
}
/*******************************************************************
@ -620,140 +381,34 @@ void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double spee
******************************************************************/
void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt, const string &fltType)
{
double heading;
//FGRunway rwy;
double lat2, lon2, az2;
//int direction;
waypoint *wpt;
if (firstFlight)
{
//string name;
if (firstFlight) {
string rwyClass = getRunwayClassFromTrafficType(fltType);
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
rwy = apt->getRunwayByIdent(activeRunway);
}
heading = rwy->headingDeg();
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
//cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
10*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "10000ft climb";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = 10000;
wpt->speed = speed;
wpt->crossat = -10000;
SGGeod climb1 = rwy->pointOnCenterline(10*SG_NM_TO_METER);
wpt = createInAir("10000ft climb", climb1, speed, 10000);
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
20*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "18000ft climb";
wpt->latitude = lat2;
wpt->longitude = lon2;
SGGeod climb2 = rwy->pointOnCenterline(20*SG_NM_TO_METER);
wpt = cloneWithPos(wpt, "18000ft climb", climb2);
wpt->altitude = 18000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
// /*******************************************************************
// * CreateCruise
// * initialize the Aircraft at the parking location
// ******************************************************************/
// void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
// FGAirport *arr, double latitude,
// double longitude, double speed,
// double alt)
// {
// double wind_speed;
// double wind_heading;
// double heading;
// double lat, lon, az;
// double lat2, lon2, az2;
// double azimuth;
// waypoint *wpt;
// wpt = new waypoint;
// wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
// wpt->latitude = latitude;
// wpt->longitude = longitude;
// wpt->altitude = alt;
// wpt->speed = speed;
// wpt->crossat = -10000;
// wpt->gear_down = false;
// wpt->flaps_down= false;
// wpt->finished = false;
// wpt->on_ground = false;
// waypoints.push_back(wpt);
// // should be changed dynamically to allow "gen" and "mil"
// arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
// if (!(globals->get_runways()->search(arr->getId(),
// activeRunway,
// &rwy)))
// {
// SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
// activeRunway <<
// " at airport " << arr->getId());
// exit(1);
// }
// heading = rwy->headingDeg();
// azimuth = heading + 180.0;
// while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
// geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
// 110000,
// &lat2, &lon2, &az2 );
// wpt = new waypoint;
// wpt->name = "BOD";
// wpt->latitude = lat2;
// wpt->longitude = lon2;
// wpt->altitude = alt;
// wpt->speed = speed;
// wpt->crossat = alt;
// wpt->gear_down = false;
// wpt->flaps_down= false;
// wpt->finished = false;
// wpt->on_ground = false;
// waypoints.push_back(wpt);
// }
/*******************************************************************
* CreateDecent
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createDecent(FGAirport *apt, const string &fltType)
{
// Ten thousand ft. Slowing down to 240 kts
double heading;
//FGRunway rwy;
double lat2, lon2, az2;
double azimuth;
//int direction;
waypoint *wpt;
//Beginning of Decent
@ -763,43 +418,17 @@ void FGAIFlightPlan::createDecent(FGAirport *apt, const string &fltType)
apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway);
rwy = apt->getRunwayByIdent(activeRunway);
heading = rwy->headingDeg();
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
100000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 240;
SGGeod descent1 = rwy->pointOnCenterline(-100000); // 100km out
wpt = createInAir("Dec 10000ft", descent1, apt->getElevation(), 240);
wpt->crossat = 10000;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
// Three thousand ft. Slowing down to 160 kts
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
8*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 160;
SGGeod descent2 = rwy->pointOnCenterline(-8*SG_NM_TO_METER); // 8nm out
wpt = createInAir("DEC 3000ft", descent2, apt->getElevation(), 160);
wpt->crossat = 3000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
/*******************************************************************
@ -809,69 +438,20 @@ void FGAIFlightPlan::createDecent(FGAirport *apt, const string &fltType)
void FGAIFlightPlan::createLanding(FGAirport *apt)
{
// Ten thousand ft. Slowing down to 150 kts
double heading;
//FGRunway rwy;
double lat2, lon2, az2;
double azimuth;
//int direction;
waypoint *wpt;
heading = rwy->headingDeg();
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
double aptElev = apt->getElevation();
//Runway Threshold
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
rwy->lengthM() *0.45,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 150;
wpt = createOnGround("Threshold", rwy->displacedThreshold(), aptElev, 150);
wpt->crossat = apt->getElevation();
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
//Full stop at the runway centerpoint
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
rwy->lengthFt() *0.45,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
wpt->latitude = rwy->latitude();
wpt->longitude = rwy->longitude();
wpt->altitude = apt->getElevation();
wpt->speed = 30;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
// Roll-out
wpt = createOnGround("Center", rwy->geod(), aptElev, 30);
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
rwy->lengthM() *0.45,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
wpt = createOnGround("Roll Out", rollOut, aptElev, 15);
wpt->crossat = apt->getElevation();
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
@ -882,6 +462,7 @@ void FGAIFlightPlan::createLanding(FGAirport *apt)
void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
{
waypoint* wpt;
double aptElev = apt->getElevation();
double lat, lat2;
double lon, lon2;
double az2;
@ -893,48 +474,17 @@ void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
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 = apt->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;
wpt = createOnGround("taxiStart", SGGeod::fromDeg(lon2, lat2), aptElev, 10);
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
0.1 *radius,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->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;
wpt = createOnGround("taxiStart2", SGGeod::fromDeg(lon2, lat2), aptElev, 10);
waypoints.push_back(wpt);
wpt = new waypoint;
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
wpt = createOnGround("END", SGGeod::fromDeg(lon, lat), aptElev, 10);
waypoints.push_back(wpt);
}

46
src/AIModel/AIFlightPlanCreateCruise.cxx
View file

@ -276,7 +276,7 @@ void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
// {
// cerr << "Creating cruise to EHAM " << latitude << " " << longitude << endl;
// }
heading = rwy->headingDeg();
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
@ -315,52 +315,16 @@ void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
double longitude, double speed,
double alt, const string& fltType)
{
double wind_speed;
double wind_heading;
double heading;
double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
waypoint *wpt;
wpt = new waypoint;
wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = alt;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
wpt = createInAir("Cruise", SGGeod::fromDeg(longitude, latitude), alt, speed);
waypoints.push_back(wpt);
string rwyClass = getRunwayClassFromTrafficType(fltType);
arr->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway);
rwy = arr->getRunwayByIdent(activeRunway);
// begin descent 110km out
SGGeod beginDescentPoint = rwy->pointOnCenterline(-110000);
heading = rwy->headingDeg();
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
110000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "BOD";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = alt;
wpt->speed = speed;
wpt->crossat = alt;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
wpt = createInAir("BOD", beginDescentPoint, alt, speed);
waypoints.push_back(wpt);
}

4
src/Airports/gnnode.hxx
View file

@ -18,7 +18,9 @@
#include <vector>
#include <string>
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
using std::string;
using std::vector;
@ -107,6 +109,8 @@ FGTaxiNode &operator =(const FGTaxiNode &other)
double getLatitude() { return lat;};
double getLongitude(){ return lon;};
SGGeod geod() const { return SGGeod::fromDeg(lon, lat); }
int getIndex() { return index; };
int getHoldPointType() { return holdType; };
bool getIsOnRunway() { return isOnRunway; };

5
src/Airports/groundnetwork.cxx
View file

@ -312,7 +312,10 @@ void FGGroundNetwork::init()
//exit(1);
}
int FGGroundNetwork::findNearestNode(const SGGeod& aGeod)
{
return findNearestNode(aGeod.getLatitudeDeg(), aGeod.getLongitudeDeg());
}
int FGGroundNetwork::findNearestNode(double lat, double lon)
{

3
src/Airports/groundnetwork.hxx
View file

@ -253,7 +253,10 @@ public:
void init();
bool exists() { return hasNetwork; };
void setTowerController(FGTowerController *twrCtrlr) { towerController = twrCtrlr; };
int findNearestNode(double lat, double lon);
int findNearestNode(const SGGeod& aGeod);
FGTaxiNode *findNode(int idx);
FGTaxiSegment *findSegment(int idx);
FGTaxiRoute findShortestRoute(int start, int end, bool fullSearch=true);