240 lines
10 KiB
C++
240 lines
10 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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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/math/sg_geodesy.hxx>
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#include <Airports/simple.hxx>
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#include <Airports/runways.hxx>
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#include <Airports/dynamics.hxx>
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#include <Environment/environment_mgr.hxx>
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#include <Environment/environment.hxx>
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#include "AIFlightPlan.hxx"
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#include "AIAircraft.hxx"
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#include "performancedata.hxx"
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// TODO: Use James Turner's createOnGround functions.
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bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
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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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double vTaxi = ac->getPerformance()->vTaxi();
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double vTaxiBackward = vTaxi * (-2.0/3.0);
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double vTaxiReduced = vTaxi * (2.0/3.0);
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FGTaxiRoute *pushBackRoute;
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// Active runway can be conditionally set by ATC, so at the start of a new flight, this
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// must be reset.
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activeRunway.clear();
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if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
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//cerr << "Push Back fallback" << endl;
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createPushBackFallBack(ac, 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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return false;
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char buffer[10];
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snprintf (buffer, 10, "%d", gateId);
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SGGeod coord = coord.fromDeg(lon, lat);
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//FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
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FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
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wpt->setRouteIndex(-1);
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pushBackWaypoint(wpt);
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}
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//cerr << "Success : GateId = " << gateId << endl;
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SG_LOG(SG_INPUT, SG_WARN, "Warning: Succesfully found a 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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} 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(ac, firstFlight, dep, latitude, longitude,
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radius, fltType, aircraftType, airline);
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return true;
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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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pushBackRoute = parking->getPushBackRoute();
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if ((pushBackNode > 0) && (pushBackRoute == 0)) { // Load the already established route for this gate
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int node, rte;
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FGTaxiRoute route;
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//cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
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route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
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parking->setPushBackRoute(new FGTaxiRoute(route));
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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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SG_LOG(SG_GENERAL, SG_WARN, "Using " << pushBackNode);
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}
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pushBackRoute->first();
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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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SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude());
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FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
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wpt->setRouteIndex(rte);
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pushBackWaypoint(wpt);
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}
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// some special considerations for the last point:
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waypoints.back()->setName(string("PushBackPoint"));
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waypoints.back()->setSpeed(vTaxi);
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ac->setTaxiClearanceRequest(true);
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} else { // In case of a push forward departure...
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ac->setTaxiClearanceRequest(false);
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double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
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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 the starting node equals the ending node, then there aren't any routes for this parking.
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// in cases like these we should flag the gate as being inoperative and return false
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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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parking->setAvailable(false);
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return false;
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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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double distance = (*ts)->getLength();
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//cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl;
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lat2 = tn->getLatitude();
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lon2 = tn->getLongitude();
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for (int i = 1; i < 10; i++) {
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geo_direct_wgs_84 ( 0, lat, lon, heading,
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((i / 10.0) * distance), &lat2, &lon2, &az2 );
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char buffer[16];
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snprintf(buffer, 16, "pushback-%02d", i);
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SGGeod coord = coord.fromDeg(lon2, lat2);
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//cerr << i << endl;
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FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced);
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wpt->setRouteIndex((*ts)->getIndex());
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pushBackWaypoint(wpt);
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}
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// cerr << "Done " << endl;
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waypoints.back()->setName(string("PushBackPoint"));
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// cerr << "Done assinging new name" << endl;
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}
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}
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return true;
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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(FGAIAircraft *ac, 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 = 0.0;
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double lon2 = 0.0;
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double az2 = 0.0;
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double vTaxi = ac->getPerformance()->vTaxi();
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double vTaxiBackward = vTaxi * (-2.0/3.0);
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double vTaxiReduced = vTaxi * (2.0/3.0);
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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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SGGeod coord = coord.fromDeg(lon, lat);
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FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward);
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pushBackWaypoint(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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coord = coord.fromDeg(lon2, lat2);
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wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
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pushBackWaypoint(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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coord = coord.fromDeg(lon2, lat2);
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wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
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pushBackWaypoint(wpt);
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}
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