flightgear/src/AIModel/AIFlightPlanCreatePushBack.cxx

/****************************************************************************
* 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 <config.h>
#endif

#include <cstdlib>

#include <simgear/math/sg_geodesy.hxx>

#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>

#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>

#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 radius,
                                    const string& fltType,
                                    const string& aircraftType,
                                    const string& airline)
{
    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,
                               radius, fltType, aircraftType, airline);
      return true;
    }
  
  // establish the parking position / gate if required
    if (firstFlight) {
      gateId = dep->getDynamics()->getAvailableParking(radius, fltType,
                                                       aircraftType, airline);
      if (gateId < 0) {
        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;
      }
    } else {
      dep->getDynamics()->getParking(gateId);
    }
  
    if (gateId < 0) {
        createPushBackFallBack(ac, firstFlight, dep,
                               radius, fltType, aircraftType, airline);
        return true;

    }

    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_ALERT, "Push back route from gate " << gateId << " has only " << size << " nodes.");
            SG_LOG(SG_AI, SG_ALERT, "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;
            FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->getGeod(), 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 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();

        double parkingHeading = parking->getHeading();
      
        for (int i = 1; i < 10; i++) {
            SGGeod pushForwardPt;
            SGGeodesy::direct(parking->getGeod(), parkingHeading,
                              ((i / 10.0) * distance), pushForwardPt, az2);
            char buffer[16];
            snprintf(buffer, 16, "pushback-%02d", i);
            FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, 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 radius,
        const string& fltType,
        const string& aircraftType,
        const string& airline)
{
    double az2 = 0.0;

    double vTaxi = ac->getPerformance()->vTaxi();
    double vTaxiBackward = vTaxi * (-2.0/3.0);
    double vTaxiReduced  = vTaxi * (2.0/3.0);

    double heading = 180.0; // this is a completely arbitrary heading!
    FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);

    pushBackWaypoint(wpt);

    SGGeod coord;
    SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
    wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);

    pushBackWaypoint(wpt);
  
    SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
    wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
    pushBackWaypoint(wpt);

}