/******************************************************************************
* AIFlightPlanCreate.cxx
* Written by Durk Talsma, started May, 2004.
*
* 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.
*
**************************************************************************/
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
/* FGAIFlightPlan::create()
* dynamically create a flight plan for AI traffic, based on data provided by the
* Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
*
* This is the top-level function, and the only one that is publicly available.
*
*/
// Check lat/lon values during initialization;
void FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
FGAirport * arr, int legNr, double alt,
double speed, double latitude,
double longitude, bool firstFlight,
double radius, const string & fltType,
const string & aircraftType,
const string & airline, double distance)
{
int currWpt = wpt_iterator - waypoints.begin();
switch (legNr) {
case 1:
createPushBack(ac, firstFlight, dep, latitude, longitude,
radius, fltType, aircraftType, airline);
break;
case 2:
createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
aircraftType, airline);
break;
case 3:
createTakeOff(ac, firstFlight, dep, speed, fltType);
break;
case 4:
createClimb(ac, firstFlight, dep, speed, alt, fltType);
break;
case 5:
createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
alt, fltType);
break;
case 6:
createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
distance);
break;
case 7:
createLanding(ac, arr, fltType);
break;
case 8:
createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
break;
case 9:
createParking(ac, arr, radius);
break;
default:
//exit(1);
SG_LOG(SG_INPUT, SG_ALERT,
"AIFlightPlan::create() attempting to create unknown leg"
" this is probably an internal program error");
}
wpt_iterator = waypoints.begin() + currWpt;
leg++;
}
FGAIFlightPlan::waypoint *
FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
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 = -10000.1;
wpt->gear_down = true;
wpt->flaps_down = true;
wpt->finished = false;
wpt->on_ground = true;
wpt->routeIndex = 0;
return wpt;
}
FGAIFlightPlan::waypoint *
FGAIFlightPlan::createInAir(FGAIAircraft * ac,
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 = -10000.1;
wpt->gear_down = false;
wpt->flaps_down = false;
wpt->finished = false;
wpt->on_ground = false;
wpt->routeIndex = 0;
return wpt;
}
FGAIFlightPlan::waypoint *
FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, 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;
}
FGAIFlightPlan::waypoint * FGAIFlightPlan::clone(waypoint * aWpt)
{
waypoint *wpt = new waypoint;
wpt->name = aWpt->name;
wpt->longitude = aWpt->longitude;
wpt->latitude = aWpt->latitude;
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;
}
void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
FGAirport * aAirport,
FGRunway * aRunway)
{
SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
double airportElev = aAirport->getElevation();
waypoint *wpt;
wpt =
createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
ac->getPerformance()->vTaxi());
waypoints.push_back(wpt);
wpt =
createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
ac->getPerformance()->vTaxi());
waypoints.push_back(wpt);
}
void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt,
double radius,
const string & fltType,
const string & acType,
const string & airline)
{
double heading, lat, lon;
// 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 (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
&heading, &gateId,
radius, fltType,
acType, airline))) {
SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
acType <<
" of flight type " << fltType <<
" of airline " << airline <<
" at airport " << apt->getId());
}
}
string rwyClass = getRunwayClassFromTrafficType(fltType);
// Only set this if it hasn't been set by ATC already.
if (activeRunway.empty()) {
//cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
double depHeading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
depHeading);
}
rwy = apt->getRunwayByIdent(activeRunway);
SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
if (!gn->exists()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
return;
}
intVec ids;
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.
delete taxiRoute;
taxiRoute = new FGTaxiRoute;
// Determine which node to start from.
int node = 0;
// Find out which node to start from
FGParking *park = apt->getDynamics()->getParking(gateId);
if (park) {
node = park->getPushBackPoint();
}
if (node == -1) {
node = gateId;
}
// HAndle case where parking doens't have a node
if ((node == 0) && park) {
if (firstFlight) {
node = gateId;
} else {
node = lastNodeVisited;
}
}
*taxiRoute = gn->findShortestRoute(node, runwayId);
intVecIterator i;
if (taxiRoute->empty()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
return;
}
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.
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 - 3; i++) {
taxiRoute->next(&node);
}
apt->getDynamics()->releaseParking(gateId);
} else {
if (taxiRoute->size() > 1) {
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)) {
char buffer[10];
snprintf(buffer, 10, "%d", node);
FGTaxiNode *tn =
apt->getDynamics()->getGroundNetwork()->findNode(node);
waypoint *wpt =
createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
wpt->routeIndex = route;
waypoints.push_back(wpt);
}
}
void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
FGAirport * aAirport)
{
SGGeod lastWptPos =
SGGeod::fromDeg(waypoints.back()->longitude,
waypoints.back()->latitude);
double airportElev = aAirport->getElevation();
waypoint *wpt;
wpt =
createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
ac->getPerformance()->vTaxi());
waypoints.push_back(wpt);
wpt =
createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
ac->getPerformance()->vTaxi());
waypoints.push_back(wpt);
double heading, lat, lon;
aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
wpt =
createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev,
ac->getPerformance()->vTaxi());
waypoints.push_back(wpt);
}
void FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, 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);
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 (!gn->exists()) {
createDefaultLandingTaxi(ac, apt);
return;
}
intVec ids;
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...
//FGTaxiRoute route;
delete taxiRoute;
taxiRoute = new FGTaxiRoute;
if (gateId >= 0)
*taxiRoute = gn->findShortestRoute(runwayId, gateId);
else
*taxiRoute = gn->findShortestRoute(runwayId, 0);
intVecIterator i;
if (taxiRoute->empty()) {
createDefaultLandingTaxi(ac, apt);
return;
}
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++) {
taxiRoute->next(&node, &route);
char buffer[10];
snprintf(buffer, 10, "%d", node);
FGTaxiNode *tn = gn->findNode(node);
waypoint *wpt =
createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
wpt->routeIndex = route;
waypoints.push_back(wpt);
}
}
/*******************************************************************
* CreateTakeOff
* A note on units:
* - Speed -> knots -> nm/hour
* - distance along runway =-> meters
* - accel / decel -> is given as knots/hour, but this is highly questionable:
* for a jet_transport performance class, a accel / decel rate of 5 / 2 is
* given respectively. According to performance data.cxx, a value of kts / second seems
* more likely however.
*
******************************************************************/
void FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt, double speed,
const string & fltType)
{
double accel = ac->getPerformance()->acceleration();
double vTaxi = ac->getPerformance()->vTaxi();
double vRotate = ac->getPerformance()->vRotate();
double vTakeoff = ac->getPerformance()->vTakeoff();
//double vClimb = ac->getPerformance()->vClimb();
double accelMetric = (accel * SG_NM_TO_METER) / 3600;
double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600;
double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600;
//double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
// Acceleration = dV / dT
// Acceleration X dT = dV
// dT = dT / Acceleration
//d = (Vf^2 - Vo^2) / (2*a)
//double accelTime = (vRotate - vTaxi) / accel;
//cerr << "Using " << accelTime << " as total acceleration time" << endl;
double accelDistance =
(vRotateMetric * vRotateMetric -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
waypoint *wpt;
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// Preferential runway use schema's
// NOTE: DT (2009-01-18: IIRC, this is currently already the case,
// because the getActive runway function takes care of that.
if (firstFlight) {
string rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
rwy = apt->getRunwayByIdent(activeRunway);
}
double airportElev = apt->getElevation();
// Acceleration point, 105 meters into the runway,
SGGeod accelPoint = rwy->pointOnCenterline(105.0);
wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate);
waypoints.push_back(wpt);
accelDistance =
(vTakeoffMetric * vTakeoffMetric -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
waypoints.push_back(wpt);
accelDistance =
((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
wpt =
createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
vTakeoff * 1.1);
wpt->on_ground = false;
waypoints.push_back(wpt);
wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
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
SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
wpt = cloneWithPos(ac, wpt, "5000 ft", pt);
wpt->altitude = airportElev + 5000;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt, double speed, double alt,
const string & fltType)
{
waypoint *wpt;
// bool planLoaded = false;
string fPLName;
double vClimb = ac->getPerformance()->vClimb();
if (firstFlight) {
string rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
rwy = apt->getRunwayByIdent(activeRunway);
}
if (sid) {
for (wpt_vector_iterator i = sid->getFirstWayPoint();
i != sid->getLastWayPoint(); i++) {
waypoints.push_back(clone(*(i)));
//cerr << " Cloning waypoint " << endl;
}
} else {
SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER);
wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000);
wpt->gear_down = true;
wpt->flaps_down = true;
waypoints.push_back(wpt);
SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
wpt->altitude = 18000;
waypoints.push_back(wpt);
}
}
/*******************************************************************
* CreateDescent
* Generate a flight path from the last waypoint of the cruise to
* the permission to land point
******************************************************************/
void FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
double latitude, double longitude,
double speed, double alt,
const string & fltType,
double requiredDistance)
{
bool reposition = false;
waypoint *wpt;
double vDescent = ac->getPerformance()->vDescent();
double vApproach = ac->getPerformance()->vApproach();
//Beginning of Descent
string rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
heading);
rwy = apt->getRunwayByIdent(activeRunway);
// Create a slow descent path that ends 250 lateral to the runway.
double initialTurnRadius = getTurnRadius(vDescent, true);
//double finalTurnRadius = getTurnRadius(vApproach, true);
// get length of the downwind leg for the intended runway
double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER;
//time_t previousArrivalTime= apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime();
SGGeod current = SGGeod::fromDegM(longitude, latitude, 0);
SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
SGGeod refPoint = rwy->pointOnCenterline(0);
double distance = SGGeodesy::distanceM(current, initialTarget);
double azimuth = SGGeodesy::courseDeg(current, initialTarget);
double dummyAz2;
// To prevent absurdly steep approaches, compute the origin from where the approach should have started
SGGeod origin;
if (ac->getTrafficRef()->getCallSign() ==
fgGetString("/ai/track-callsign")) {
//cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl;
//exit(1);
}
if (distance < requiredDistance * 0.8) {
reposition = true;
SGGeodesy::direct(initialTarget, azimuth,
-requiredDistance, origin, dummyAz2);
distance = SGGeodesy::distanceM(current, initialTarget);
azimuth = SGGeodesy::courseDeg(current, initialTarget);
} else {
origin = current;
}
double dAlt = alt - (apt->getElevation() + 2000);
double nPoints = 100;
char buffer[16];
// The descent path contains the following phases:
// 1) a linear glide path from the initial position to
// 2) a semi circle turn to final
// 3) approach
//cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
// Create an initial destination point on a semicircle
//cerr << "lateral offset : " << lateralOffset << endl;
//cerr << "Distance : " << distance << endl;
//cerr << "Azimuth : " << azimuth << endl;
//cerr << "Initial Lateral point: " << lateralOffset << endl;
double lat = refPoint.getLatitudeDeg();
double lon = refPoint.getLongitudeDeg();
//cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
lat = initialTarget.getLatitudeDeg();
lon = initialTarget.getLongitudeDeg();
//cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
double ratio = initialTurnRadius / distance;
if (ratio > 1.0)
ratio = 1.0;
if (ratio < -1.0)
ratio = -1.0;
double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
double newDistance =
cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
//cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
double side = azimuth - rwy->headingDeg();
double lateralOffset = initialTurnRadius;
if (side < 0)
side += 360;
if (side < 180) {
lateralOffset *= -1;
}
// Calculate the ETA at final, based on remaining distance, and approach speed.
// distance should really consist of flying time to terniary target, plus circle
// but the distance to secondary target should work as a reasonable approximation
// aditionally add the amount of distance covered by making a turn of "side"
double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
time_t remaining =
(turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
// cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
// //exit(1);
//}
time_t eta = now + remaining;
//choose a distance to the runway such that it will take at least 60 seconds more
// time to get there than the previous aircraft.
// Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
time_t newEta;
if (reposition == false) {
newEta =
apt->getDynamics()->getApproachController()->getRunway(rwy->
name
())->
requestTimeSlot(eta);
} else {
newEta = eta;
}
//if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
arrivalTime = newEta;
time_t additionalTimeNeeded = newEta - eta;
double distanceCovered =
((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
distanceOut += distanceCovered;
//apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
//cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
//} else {
//apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
//}
//cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
SGGeod secondaryTarget =
rwy->pointOffCenterline(-distanceOut, lateralOffset);
initialTarget = rwy->pointOnCenterline(-distanceOut);
distance = SGGeodesy::distanceM(origin, secondaryTarget);
azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
lat = secondaryTarget.getLatitudeDeg();
lon = secondaryTarget.getLongitudeDeg();
//cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
//cerr << "Distance : " << distance << endl;
//cerr << "Azimuth : " << azimuth << endl;
ratio = initialTurnRadius / distance;
if (ratio > 1.0)
ratio = 1.0;
if (ratio < -1.0)
ratio = -1.0;
newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
//cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
if (side < 180) {
azimuth += newHeading;
} else {
azimuth -= newHeading;
}
SGGeod tertiaryTarget;
SGGeodesy::direct(origin, azimuth,
newDistance, tertiaryTarget, dummyAz2);
lat = tertiaryTarget.getLatitudeDeg();
lon = tertiaryTarget.getLongitudeDeg();
//cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
for (int i = 1; i < nPoints; i++) {
SGGeod result;
double currentDist = i * (newDistance / nPoints);
double currentAltitude = alt - (i * (dAlt / nPoints));
SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
snprintf(buffer, 16, "descent%03d", i);
wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
wpt->crossat = currentAltitude;
wpt->trackLength = (newDistance / nPoints);
waypoints.push_back(wpt);
//cerr << "Track Length : " << wpt->trackLength;
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
//cerr << "Phase 2: Circle " << endl;
double initialAzimuth =
SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
double finalAzimuth =
SGGeodesy::courseDeg(secondaryTarget, initialTarget);
//cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
int increment, startval, endval;
// circle right around secondary target if orig of position is to the right of the runway
// i.e. use negative angles; else circle leftward and use postivi
if (side < 180) {
increment = -1;
startval = floor(initialAzimuth);
endval = ceil(finalAzimuth);
if (endval > startval) {
endval -= 360;
}
} else {
increment = 1;
startval = ceil(initialAzimuth);
endval = floor(finalAzimuth);
if (endval < startval) {
endval += 360;
}
}
//cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
for (int i = startval; i != endval; i += increment) {
SGGeod result;
double currentAltitude = apt->getElevation() + 2000;
SGGeodesy::direct(secondaryTarget, i,
initialTurnRadius, result, dummyAz2);
snprintf(buffer, 16, "turn%03d", i);
wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
wpt->crossat = currentAltitude;
wpt->trackLength = trackLength;
//cerr << "Track Length : " << wpt->trackLength;
waypoints.push_back(wpt);
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
// The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over.
//cerr << "Phase 3: Approach" << endl;
distanceOut -= distanceCovered;
for (int i = 1; i < nPoints; i++) {
SGGeod result;
double currentDist = i * (distanceOut / nPoints);
double currentAltitude =
apt->getElevation() + 2000 - (i * 2000 / nPoints);
snprintf(buffer, 16, "final%03d", i);
result = rwy->pointOnCenterline((-distanceOut) + currentDist);
wpt = createInAir(ac, buffer, result, currentAltitude, vApproach);
wpt->crossat = currentAltitude;
wpt->trackLength = (distanceOut / nPoints);
// account for the extra distance due to an extended downwind leg
if (i == 1) {
wpt->trackLength += distanceCovered;
}
//cerr << "Track Length : " << wpt->trackLength;
waypoints.push_back(wpt);
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
//cerr << "Done" << endl;
// Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
IncrementWaypoint(true);
IncrementWaypoint(true);
if (reposition) {
double tempDistance;
//double minDistance = HUGE_VAL;
string wptName;
tempDistance = SGGeodesy::distanceM(current, initialTarget);
time_t eta =
tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
time_t newEta =
apt->getDynamics()->getApproachController()->getRunway(rwy->
name
())->
requestTimeSlot(eta);
arrivalTime = newEta;
double newDistance =
((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
//cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
IncrementWaypoint(true); // remove waypoint BOD2
while (checkTrackLength("final001") > newDistance) {
IncrementWaypoint(true);
}
//cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
ac->resetPositionFromFlightPlan();
}
}
/*******************************************************************
* CreateLanding
* Create a flight path from the "permision to land" point (currently
hardcoded at 5000 meters from the threshold) to the threshold, at
a standard glide slope angle of 3 degrees.
******************************************************************/
void FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
const string & fltType)
{
double vTouchdown = ac->getPerformance()->vTouchdown();
//double vTaxi = ac->getPerformance()->vTaxi();
//string rwyClass = getRunwayClassFromTrafficType(fltType);
//double heading = ac->getTrafficRef()->getCourse();
//apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
//rwy = apt->getRunwayByIdent(activeRunway);
waypoint *wpt;
double aptElev = apt->getElevation();
SGGeod coord;
char buffer[12];
for (int i = 1; i < 10; i++) {
snprintf(buffer, 12, "wpt%d", i);
coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0));
wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i));
wpt->crossat = apt->getElevation();
waypoints.push_back(wpt);
}
/*
//Runway Threshold
wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
wpt->crossat = apt->getElevation();
waypoints.push_back(wpt);
// Roll-out
wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
waypoints.push_back(wpt);
SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
wpt->crossat = apt->getElevation();
waypoints.push_back(wpt);
*/
}
/*******************************************************************
* CreateParking
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
double radius)
{
waypoint *wpt;
double aptElev = apt->getElevation();
double lat = 0.0, lat2 = 0.0;
double lon = 0.0, lon2 = 0.0;
double az2 = 0.0;
double heading = 0.0;
double vTaxi = ac->getPerformance()->vTaxi();
double vTaxiReduced = vTaxi * (2.0 / 3.0);
apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
geo_direct_wgs_84(0, lat, lon, heading,
2.2 * radius, &lat2, &lon2, &az2);
wpt =
createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
aptElev, vTaxiReduced);
waypoints.push_back(wpt);
geo_direct_wgs_84(0, lat, lon, heading,
0.1 * radius, &lat2, &lon2, &az2);
wpt =
createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2),
aptElev, vTaxiReduced);
waypoints.push_back(wpt);
wpt =
createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
vTaxiReduced);
waypoints.push_back(wpt);
}
/**
*
* @param fltType a string describing the type of
* traffic, normally used for gate assignments
* @return a converted string that gives the runway
* preference schedule to be used at aircraft having
* a preferential runway schedule implemented (i.e.
* having a rwyprefs.xml file
*
* Currently valid traffic types for gate assignment:
* - gate (commercial gate)
* - cargo (commercial gargo),
* - ga (general aviation) ,
* - ul (ultralight),
* - mil-fighter (military - fighter),
* - mil-transport (military - transport)
*
* Valid runway classes:
* - com (commercial traffic: jetliners, passenger and cargo)
* - gen (general aviation)
* - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
* - mil (all military traffic)
*/
string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
{
if ((fltType == "gate") || (fltType == "cargo")) {
return string("com");
}
if (fltType == "ga") {
return string("gen");
}
if (fltType == "ul") {
return string("ul");
}
if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
return string("mil");
}
return string("com");
}
double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
{
double turn_radius;
if (inAir == false) {
turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
} else {
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
}
return turn_radius;
}