/**************************************************************************** * 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. * **************************************************************************/ #ifdef HAVE_CONFIG_H # include #endif #include #include #include #include #include #include #include "AIFlightPlan.hxx" #include "AIAircraft.hxx" #include "performancedata.hxx" // TODO: Use James Turner's createOnGround functions. bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep, double latitude, double longitude, double radius, const string& fltType, const string& aircraftType, const string& airline) { double lat, lon, heading; double vTaxi = ac->getPerformance()->vTaxi(); double vTaxiBackward = vTaxi * (-2.0/3.0); double vTaxiReduced = vTaxi * (2.0/3.0); FGTaxiRoute *pushBackRoute; // Active runway can be conditionally set by ATC, so at the start of a new flight, this // must be reset. activeRunway.clear(); if (!(dep->getDynamics()->getGroundNetwork()->exists())) { //cerr << "Push Back fallback" << endl; createPushBackFallBack(ac, 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_AI, SG_WARN, "Warning: Could not find parking for a " << aircraftType << " of flight type " << fltType << " of airline " << airline << " at airport " << dep->getId()); return false; char buffer[10]; snprintf (buffer, 10, "%d", gateId); SGGeod coord = coord.fromDeg(lon, lat); //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node); FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward); wpt->setRouteIndex(-1); pushBackWaypoint(wpt); } //cerr << "Success : GateId = " << gateId << endl; SG_LOG(SG_AI, SG_WARN, "Warning: Succesfully found a parking for a " << aircraftType << " of flight type " << fltType << " of airline " << airline << " at airport " << dep->getId()); } else { //cerr << "Push Back follow-up Flight" << endl; dep->getDynamics()->getParking(gateId, &lat, &lon, &heading); } if (gateId < 0) { createPushBackFallBack(ac, firstFlight, dep, latitude, longitude, radius, fltType, aircraftType, airline); return true; } //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(); pushBackRoute = parking->getPushBackRoute(); if ((pushBackNode > 0) && (pushBackRoute == 0)) { // Load the already established route for this gate int node, rte; FGTaxiRoute route; //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl; route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false); parking->setPushBackRoute(new FGTaxiRoute(route)); pushBackRoute = parking->getPushBackRoute(); int size = pushBackRoute->size(); if (size < 2) { SG_LOG(SG_AI, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes."); SG_LOG(SG_AI, SG_WARN, "Using " << pushBackNode); } pushBackRoute->first(); 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; SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude()); FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward); wpt->setRouteIndex(rte); pushBackWaypoint(wpt); } // some special considerations for the last point: waypoints.back()->setName(string("PushBackPoint")); waypoints.back()->setSpeed(vTaxi); ac->setTaxiClearanceRequest(true); } else { // In case of a push forward departure... ac->setTaxiClearanceRequest(false); double lat2 = 0.0, lon2 = 0.0, az2 = 0.0; //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 the starting node equals the ending node, then there aren't any routes for this parking. // in cases like these we should flag the gate as being inoperative and return false if (ts == te) { SG_LOG(SG_AI, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it."); parking->setAvailable(false); return false; } tn = (*ts)->getEnd(); lastNodeVisited = tn->getIndex(); if (tn == NULL) { SG_LOG(SG_AI, SG_ALERT, "No valid taxinode found"); exit(1); } double distance = (*ts)->getLength(); //cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl; lat2 = tn->getLatitude(); lon2 = tn->getLongitude(); for (int i = 1; i < 10; i++) { geo_direct_wgs_84 ( 0, lat, lon, heading, ((i / 10.0) * distance), &lat2, &lon2, &az2 ); char buffer[16]; snprintf(buffer, 16, "pushback-%02d", i); SGGeod coord = coord.fromDeg(lon2, lat2); //cerr << i << endl; FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced); wpt->setRouteIndex((*ts)->getIndex()); pushBackWaypoint(wpt); } // cerr << "Done " << endl; waypoints.back()->setName(string("PushBackPoint")); // cerr << "Done assinging new name" << endl; } } return true; } /******************************************************************* * createPushBackFallBack * This is the backup function for airports that don't have a * network yet. ******************************************************************/ void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, 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 = 0.0; double lon2 = 0.0; double az2 = 0.0; double vTaxi = ac->getPerformance()->vTaxi(); double vTaxiBackward = vTaxi * (-2.0/3.0); double vTaxiReduced = vTaxi * (2.0/3.0); dep->getDynamics()->getParking(-1, &lat, &lon, &heading); heading += 180.0; if (heading > 360) heading -= 360; SGGeod coord = coord.fromDeg(lon, lat); FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward); pushBackWaypoint(wpt); geo_direct_wgs_84 ( 0, lat, lon, heading, 10, &lat2, &lon2, &az2 ); coord = coord.fromDeg(lon2, lat2); wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward); pushBackWaypoint(wpt); geo_direct_wgs_84 ( 0, lat, lon, heading, 2.2*radius, &lat2, &lon2, &az2 ); coord = coord.fromDeg(lon2, lat2); wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced); pushBackWaypoint(wpt); }