1c8f2e3c5b
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.
318 lines
12 KiB
C++
318 lines
12 KiB
C++
/******************************************************************************
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* AIFlightPlanCreatePushBack.cxx
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* Written by Durk Talsma, started August 1, 2007.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as
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* published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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**************************************************************************/
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#include "AIFlightPlan.hxx"
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#include <simgear/math/sg_geodesy.hxx>
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#include <Airports/runways.hxx>
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#include <Environment/environment_mgr.hxx>
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#include <Environment/environment.hxx>
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void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
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double latitude,
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double longitude,
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double radius,
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const string& fltType,
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const string& aircraftType,
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const string& airline)
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{
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double lat, lon, heading;
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FGTaxiRoute *pushBackRoute;
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if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
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//cerr << "Push Back fallback" << endl;
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createPushBackFallBack(firstFlight, dep, latitude, longitude,
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radius, fltType, aircraftType, airline);
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} else {
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if (firstFlight) {
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if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
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&heading, &gateId,
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radius, fltType,
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aircraftType, airline))) {
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SG_LOG(SG_INPUT, SG_WARN, "Warning: Could not find parking for a " <<
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aircraftType <<
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" of flight type " << fltType <<
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" of airline " << airline <<
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" at airport " << dep->getId());
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char buffer[10];
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snprintf (buffer, 10, "%d", gateId);
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//FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
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waypoint *wpt;
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wpt = new waypoint;
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wpt->name = string(buffer); // fixme: should be the name of the taxiway
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wpt->latitude = lat;
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wpt->longitude = lon;
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// Elevation is currently disregarded when on_ground is true
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// because the AIModel obtains a periodic ground elevation estimate.
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wpt->altitude = dep->getElevation();
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wpt->speed = -10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = -1;
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waypoints.push_back(wpt);
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}
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} else {
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//cerr << "Push Back follow-up Flight" << endl;
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dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
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}
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if (gateId < 0) {
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createPushBackFallBack(firstFlight, dep, latitude, longitude,
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radius, fltType, aircraftType, airline);
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return;
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}
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//cerr << "getting parking " << gateId;
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//cerr << " for a " <<
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// aircraftType <<
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// " of flight type " << fltType <<
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// " of airline " << airline <<
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// " at airport " << dep->getId() << endl;
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FGParking *parking = dep->getDynamics()->getParking(gateId);
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int pushBackNode = parking->getPushBackPoint();
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// initialize the pushback route. Note that parts
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// of this procedure should probably be done inside
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// taxidraw. This code is likely to change once this
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// this is fully implemented in taxidraw. Until that time,
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// however, the full initialization procedure looks like this:
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// 1) Build a list of all the nodes that are classified as
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// pushBack hold points
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// 2) For each hold point, use the dykstra algorithm to find a route
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// between the gate and the pushBack hold nodes, however use only
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// segments that are classified as "pushback" routes.
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// 3) return the TaxiRoute class that is non empty.
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// 4) store refer this route in the parking object, for future use
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if (pushBackNode < 0) {
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//cerr << "Initializing PushBackRoute " << endl;
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intVec pushBackNodes;
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int nAINodes = dep->getDynamics()->getGroundNetwork()->getNrOfNodes();
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int hits = 0;
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parking->setPushBackPoint(0); // default in case no network was found.
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// Collect all the nodes that are classified as having pushBack hold status
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for (int i = 0; i < nAINodes; i++) {
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if (dep->getDynamics()->getGroundNetwork()->findNode(i)->getHoldPointType() == 3) {
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pushBackNodes.push_back(i);
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}
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}
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// For each node found in step 1, check if it can be reached
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FGTaxiRoute route;
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for (intVecIterator nodes = pushBackNodes.begin();
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nodes != pushBackNodes.end();
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nodes++) {
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route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, *nodes, false);
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if (!(route.empty())) {
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//cerr << "Found Pushback route of size " << route.size() << endl;
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hits++;
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parking->setPushBackRoute(new FGTaxiRoute(route));
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parking->setPushBackPoint(*nodes);
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pushBackNode = *nodes;
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}
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}
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if (hits == 0) {
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SG_LOG(SG_GENERAL, SG_INFO, "No pushback route found for gate " << gateId << " at " << dep->getId());
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}
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if (hits > 1) {
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SG_LOG(SG_GENERAL, SG_WARN, hits << " pushback routes found for gate " << gateId << " at " << dep->getId());
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}
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}
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if (pushBackNode > 0) {
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int node, rte;
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//cerr << "Found valid pusback node " << pushBackNode << "for gate " << gateId << endl;
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pushBackRoute = parking->getPushBackRoute();
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int size = pushBackRoute->size();
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if (size < 2) {
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SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
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}
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pushBackRoute->first();
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waypoint *wpt;
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while(pushBackRoute->next(&node, &rte))
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{
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//FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
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char buffer[10];
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snprintf (buffer, 10, "%d", node);
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FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
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//ids.pop_back();
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wpt = new waypoint;
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wpt->name = string(buffer); // fixme: should be the name of the taxiway
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wpt->latitude = tn->getLatitude();
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wpt->longitude = tn->getLongitude();
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// Elevation is currently disregarded when on_ground is true
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// because the AIModel obtains a periodic ground elevation estimate.
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wpt->altitude = dep->getElevation();
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wpt->speed = -10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = rte;
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waypoints.push_back(wpt);
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}
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// some special considerations for the last point:
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wpt->name = string("PushBackPoint");
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wpt->speed = 15;
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} else {
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//cerr << "Creating direct forward departure route fragment" << endl;
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double lat2, lon2, az2;
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waypoint *wpt;
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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2, &lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "park2";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->getElevation();
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wpt->speed = 10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = 0;
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waypoints.push_back(wpt);
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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4, &lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "name";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->getElevation();
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wpt->speed = 10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = 0;
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waypoints.push_back(wpt);
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//cerr << "Creating final push forward point for gate " << gateId << endl;
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FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
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FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
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FGTaxiSegmentVectorIterator te = tn->getEndRoute();
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if (ts == te) {
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SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
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//exit(1);
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}
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tn = (*ts)->getEnd();
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lastNodeVisited = tn->getIndex();
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if (tn == NULL) {
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SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
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exit(1);
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}
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wpt = new waypoint;
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wpt->name = "PushBackPoint";
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wpt->latitude = tn->getLatitude();
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wpt->longitude = tn->getLongitude();
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wpt->altitude = dep->getElevation();
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wpt->speed = 10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = (*ts)->getIndex();
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waypoints.push_back(wpt);
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}
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}
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}
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/*******************************************************************
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* createPushBackFallBack
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* This is the backup function for airports that don't have a
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* network yet.
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******************************************************************/
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void FGAIFlightPlan::createPushBackFallBack(bool firstFlight, FGAirport *dep,
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double latitude,
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double longitude,
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double radius,
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const string& fltType,
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const string& aircraftType,
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const string& airline)
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{
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double heading;
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double lat;
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double lon;
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double lat2;
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double lon2;
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double az2;
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dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
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heading += 180.0;
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if (heading > 360)
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heading -= 360;
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waypoint *wpt = new waypoint;
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wpt->name = "park";
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wpt->latitude = lat;
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wpt->longitude = lon;
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wpt->altitude = dep->getElevation();
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wpt->speed = -10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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waypoints.push_back(wpt);
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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10,
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&lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "park2";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->getElevation();
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wpt->speed = -10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = 0;
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waypoints.push_back(wpt);
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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2.2*radius,
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&lat2, &lon2, &az2 );
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wpt = new waypoint;
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wpt->name = "taxiStart";
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wpt->latitude = lat2;
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wpt->longitude = lon2;
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wpt->altitude = dep->getElevation();
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wpt->speed = 10;
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wpt->crossat = -10000;
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wpt->gear_down = true;
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wpt->flaps_down= true;
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wpt->finished = false;
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wpt->on_ground = true;
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wpt->routeIndex = 0;
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waypoints.push_back(wpt);
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}
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