src/AIModel/AIFlightPlanCreate.cxx

   1 /******************************************************************************
   2  * AIFlightPlanCreate.cxx
   3  * Written by Durk Talsma, started May, 2004.
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License as
   7  * published by the Free Software Foundation; either version 2 of the
   8  * License, or (at your option) any later version.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  13  * General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this program; if not, write to the Free Software
  17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  18  *
  19  **************************************************************************/
  20 #include "AIFlightPlan.hxx"
  21 #include <simgear/math/sg_geodesy.hxx>
  22 #include <Airports/runways.hxx>
  23
  24 #include <Environment/environment_mgr.hxx>
  25 #include <Environment/environment.hxx>
  26
  27
  28 /* FGAIFlightPlan::create()
  29  * dynamically create a flight plan for AI traffic, based on data provided by the
  30  * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
  31  *
  32  * This is the top-level function, and the only one that is publicly available.
  33  *
  34  */
  35
  36
  37 // Check lat/lon values during initialization;
  38 void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
  39                             double alt, double speed, double latitude,
  40                             double longitude, bool firstFlight,double radius,
  41                             const string& fltType, const string& aircraftType,
  42                             const string& airline)
  43 {
  44   int currWpt = wpt_iterator - waypoints.begin();
  45   switch(legNr)
  46     {
  47       case 1:
  48       createPushBack(firstFlight,dep, latitude, longitude,
  49                      radius, fltType, aircraftType, airline);
  50       break;
  51     case 2:
  52       createTaxi(firstFlight, 1, dep, latitude, longitude,
  53                  radius, fltType, aircraftType, airline);
  54       break;
  55     case 3:
  56       createTakeOff(firstFlight, dep, speed);
  57       break;
  58     case 4:
  59       createClimb(firstFlight, dep, speed, alt);
  60       break;
  61     case 5:
  62       createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt);
  63       break;
  64     case 6:
  65       createDecent(arr);
  66       break;
  67     case 7:
  68       createLanding(arr);
  69       break;
  70     case 8:
  71       createTaxi(false, 2, arr, latitude, longitude, radius,
  72                  fltType, aircraftType, airline);
  73       break;
  74       case 9:
  75         createParking(arr, radius);
  76       break;
  77     default:
  78       //exit(1);
  79       SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
  80              " this is probably an internal program error");
  81     }
  82   wpt_iterator = waypoints.begin()+currWpt;
  83   leg++;
  84 }
  85
  86 /*******************************************************************
  87  * createPushBack
  88  * initialize the Aircraft at the parking location
  89  ******************************************************************/
  90 void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
  91                                     double latitude,
  92                                     double longitude,
  93                                     double radius,
  94                                     const string& fltType,
  95                                     const string& aircraftType,
  96                                     const string& airline)
  97 {
  98   double heading;
  99   double lat;
 100   double lon;
 101   double lat2;
 102   double lon2;
 103   double az2;
 104
 105   //int currWpt = wpt_iterator - waypoints.begin();
 106   // Erase all existing waypoints.
 107   //resetWaypoints();
 108
 109   // We only need to get a valid parking if this is the first leg.
 110   // Otherwise use the current aircraft position.
 111   if (firstFlight)
 112     {
 113       if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
 114                                                     &heading, &gateId,
 115                                                     radius, fltType,
 116                                                     aircraftType, airline)))
 117         {
 118           SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
 119                  aircraftType <<
 120                  " of flight type " << fltType <<
 121                  " of airline     " << airline <<
 122                  " at airport     " << dep->getId());
 123         }
 124     }
 125   else
 126     {
 127       dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 128     }
 129   heading += 180.0;
 130   if (heading > 360)
 131     heading -= 360;
 132   waypoint *wpt = new waypoint;
 133   wpt->name      = "park";
 134   wpt->latitude  = lat;
 135   wpt->longitude = lon;
 136   wpt->altitude  = dep->getElevation();
 137   wpt->speed     = -10;
 138   wpt->crossat   = -10000;
 139   wpt->gear_down = true;
 140   wpt->flaps_down= true;
 141   wpt->finished  = false;
 142   wpt->on_ground = true;
 143
 144   waypoints.push_back(wpt);
 145
 146   geo_direct_wgs_84 ( 0, lat, lon, heading,
 147                       10,
 148                       &lat2, &lon2, &az2 );
 149   wpt = new waypoint;
 150   wpt->name      = "park2";
 151   wpt->latitude  = lat2;
 152   wpt->longitude = lon2;
 153   wpt->altitude  = dep->getElevation();
 154   wpt->speed     = -10;
 155   wpt->crossat   = -10000;
 156   wpt->gear_down = true;
 157   wpt->flaps_down= true;
 158   wpt->finished  = false;
 159   wpt->on_ground = true;
 160   wpt->routeIndex = 0;
 161   waypoints.push_back(wpt);
 162   geo_direct_wgs_84 ( 0, lat, lon, heading,
 163                       2.2*radius,
 164                       &lat2, &lon2, &az2 );
 165   wpt = new waypoint;
 166   wpt->name      = "taxiStart";
 167   wpt->latitude  = lat2;
 168   wpt->longitude = lon2;
 169   wpt->altitude  = dep->getElevation();
 170   wpt->speed     = 10;
 171   wpt->crossat   = -10000;
 172   wpt->gear_down = true;
 173   wpt->flaps_down= true;
 174   wpt->finished  = false;
 175   wpt->on_ground = true;
 176   wpt->routeIndex = 0;
 177   waypoints.push_back(wpt);
 178 }
 179
 180 /*******************************************************************
 181  * createCreate Taxi.
 182  * initialize the Aircraft at the parking location
 183  ******************************************************************/
 184 void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
 185                                 FGAirport *apt, double latitude, double longitude,
 186                                 double radius, const string& fltType,
 187                                 const string& acType, const string& airline)
 188 {
 189   double heading;
 190   double lat, lon;
 191   double lat2, lon2, az2;
 192   waypoint *wpt;
 193
 194   int nrWaypointsToSkip;
 195
 196    if (direction == 1)
 197     {
 198       // If this function is called during initialization,
 199       // make sure we obtain a valid gate ID first
 200       // and place the model at the location of the gate.
 201       if (firstFlight)
 202         {
 203           if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
 204                                                         &heading, &gateId,
 205                                                         radius, fltType,
 206                                                         acType, airline)))
 207             {
 208               SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
 209                      acType <<
 210                      " of flight type " << fltType <<
 211                      " of airline     " << airline <<
 212                      " at airport     " << apt->getId());
 213             }
 214           //waypoint *wpt = new waypoint;
 215           //wpt->name      = "park";
 216           //wpt->latitude  = lat;
 217           //wpt->longitude = lon;
 218           //wpt->altitude  = apt->getElevation();
 219           //wpt->speed     = -10;
 220           //wpt->crossat   = -10000;
 221           //wpt->gear_down = true;
 222           //wpt->flaps_down= true;
 223           //wpt->finished  = false;
 224           //wpt->on_ground = true;
 225           //waypoints.push_back(wpt);
 226         }
 227       // "NOTE: this is currently fixed to "com" for commercial traffic
 228       // Should be changed to be used dynamically to allow "gen" and "mil"
 229       // as well
 230       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 231       if (!(globals->get_runways()->search(apt->getId(),
 232                                             activeRunway,
 233                                             &rwy)))
 234         {
 235            SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 236                   activeRunway <<
 237                   " at airport     " << apt->getId());
 238            exit(1);
 239         }
 240
 241       // Determine the beginning of he runway
 242       heading = rwy._heading;
 243       double azimuth = heading + 180.0;
 244       while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 245       geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 246                           rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
 247                           &lat2, &lon2, &az2 );
 248
 249       if (apt->getDynamics()->getGroundNetwork()->exists())
 250         {
 251           intVec ids;
 252           int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
 253                                                                                  lon2);
 254
 255
 256           // A negative gateId indicates an overflow parking, use a
 257           // fallback mechanism for this.
 258           // Starting from gate 0 in this case is a bit of a hack
 259           // which requires a more proper solution later on.
 260           //FGTaxiRoute route;
 261           if (taxiRoute)
 262             delete taxiRoute;
 263           taxiRoute = new FGTaxiRoute;
 264           if (gateId >= 0)
 265             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
 266                                                                               runwayId);
 267           else
 268             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
 269           intVecIterator i;
 270
 271           if (taxiRoute->empty()) {
 272             //Add the runway startpoint;
 273             wpt = new waypoint;
 274             wpt->name      = "Airport Center";
 275             wpt->latitude  = latitude;
 276             wpt->longitude = longitude;
 277             wpt->altitude  = apt->getElevation();
 278             wpt->speed     = 15;
 279             wpt->crossat   = -10000;
 280             wpt->gear_down = true;
 281             wpt->flaps_down= true;
 282             wpt->finished  = false;
 283             wpt->on_ground = true;
 284             wpt->routeIndex = 0;
 285             waypoints.push_back(wpt);
 286
 287             //Add the runway startpoint;
 288             wpt = new waypoint;
 289             wpt->name      = "Runway Takeoff";
 290             wpt->latitude  = lat2;
 291             wpt->longitude = lon2;
 292             wpt->altitude  = apt->getElevation();
 293             wpt->speed     = 15;
 294             wpt->crossat   = -10000;
 295             wpt->gear_down = true;
 296             wpt->flaps_down= true;
 297             wpt->finished  = false;
 298             wpt->on_ground = true;
 299             wpt->routeIndex = 0;
 300             waypoints.push_back(wpt);
 301           } else {
 302             int node;
 303             taxiRoute->first();
 304             bool isPushBackPoint = false;
 305             if (firstFlight) {
 306               // If this is called during initialization, randomly
 307               // skip a number of waypoints to get a more realistic
 308               // taxi situation.
 309               isPushBackPoint = true;
 310               int nrWaypoints = taxiRoute->size();
 311               nrWaypointsToSkip = rand() % nrWaypoints;
 312               // but make sure we always keep two active waypoints
 313               // to prevent a segmentation fault
 314               for (int i = 0; i < nrWaypointsToSkip-2; i++) {
 315                 isPushBackPoint = false;
 316                 taxiRoute->next(&node);
 317               }
 318             } else {
 319               //chop off the first two waypoints, because
 320               // those have already been created
 321               // by create pushback
 322               int size = taxiRoute->size();
 323               if (size > 2) {
 324                 taxiRoute->next(&node);
 325                 taxiRoute->next(&node);
 326               }
 327             }
 328             int route;
 329             while(taxiRoute->next(&node, &route))
 330               {
 331                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 332                 char buffer[10];
 333                 snprintf (buffer, 10, "%d", node);
 334                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 335                 //ids.pop_back();
 336                 wpt = new waypoint;
 337                 wpt->name      = string(buffer); // fixme: should be the name of the taxiway
 338                 wpt->latitude  = tn->getLatitude();
 339                 wpt->longitude = tn->getLongitude();
 340                 // Elevation is currently disregarded when on_ground is true
 341                 // because the AIModel obtains a periodic ground elevation estimate.
 342                 wpt->altitude  = apt->getElevation();
 343                 if (isPushBackPoint) {
 344                   wpt->speed = -10;
 345                   isPushBackPoint = false;
 346                 }
 347                 else {
 348                   wpt->speed     = 15;
 349                 }
 350                 wpt->crossat   = -10000;
 351                 wpt->gear_down = true;
 352                 wpt->flaps_down= true;
 353                 wpt->finished  = false;
 354                 wpt->on_ground = true;
 355                 wpt->routeIndex = route;
 356                 waypoints.push_back(wpt);
 357               }
 358             //cerr << endl;
 359             // finally, rewind the taxiRoute object to the point where we started
 360             // generating the Flightplan, for AI use.
 361             // This is a bit tricky, because the
 362             taxiRoute->first();
 363             if (firstFlight) {
 364               for (int i = 0; i < nrWaypointsToSkip-1; i++) {
 365                 taxiRoute->next(&node);
 366               }
 367             } else {
 368               int size = taxiRoute->size();
 369               if (size > 2) {
 370                 //taxiRoute->next(&node);
 371                 //taxiRoute->next(&node);
 372                 //taxiRoute->next(&node);
 373               }
 374             }
 375           } // taxiRoute not empty
 376         }
 377       else
 378         {
 379           // This is the fallback mechanism, in case no ground network is available
 380           //Add the runway startpoint;
 381           wpt = new waypoint;
 382           wpt->name      = "Airport Center";
 383           wpt->latitude  = apt->getLatitude();
 384           wpt->longitude = apt->getLongitude();
 385           wpt->altitude  = apt->getElevation();
 386           wpt->speed     = 15;
 387           wpt->crossat   = -10000;
 388           wpt->gear_down = true;
 389           wpt->flaps_down= true;
 390           wpt->finished  = false;
 391           wpt->on_ground = true;
 392           wpt->routeIndex = 0;
 393           waypoints.push_back(wpt);
 394
 395           //Add the runway startpoint;
 396           wpt = new waypoint;
 397           wpt->name      = "Runway Takeoff";
 398           wpt->latitude  = lat2;
 399           wpt->longitude = lon2;
 400           wpt->altitude  = apt->getElevation();
 401           wpt->speed     = 15;
 402           wpt->crossat   = -10000;
 403           wpt->gear_down = true;
 404           wpt->flaps_down= true;
 405           wpt->finished  = false;
 406           wpt->on_ground = true;
 407           wpt->routeIndex = 0;
 408           waypoints.push_back(wpt);
 409         }
 410     }
 411   else  // Landing taxi
 412     {
 413       apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
 414                                               &gateId, radius, fltType,
 415                                               acType, airline);
 416
 417       double lat3 = (*(waypoints.end()-1))->latitude;
 418       double lon3 = (*(waypoints.end()-1))->longitude;
 419       //cerr << (*(waypoints.end()-1))->name << endl;
 420
 421       // Find a route from runway end to parking/gate.
 422       if (apt->getDynamics()->getGroundNetwork()->exists())
 423         {
 424           intVec ids;
 425           int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
 426                                                                                  lon3);
 427           // A negative gateId indicates an overflow parking, use a
 428           // fallback mechanism for this.
 429           // Starting from gate 0 is a bit of a hack...
 430           //FGTaxiRoute route;
 431           if (taxiRoute)
 432             delete taxiRoute;
 433           taxiRoute = new FGTaxiRoute;
 434           if (gateId >= 0)
 435             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
 436                                                                               gateId);
 437           else
 438             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
 439           intVecIterator i;
 440
 441           // No route found: go from gate directly to runway
 442           if (taxiRoute->empty()) {
 443             //Add the runway startpoint;
 444             wpt = new waypoint;
 445             wpt->name      = "Airport Center";
 446             wpt->latitude  = latitude;
 447             wpt->longitude = longitude;
 448             wpt->altitude  = apt->getElevation();
 449             wpt->speed     = 15;
 450             wpt->crossat   = -10000;
 451             wpt->gear_down = true;
 452             wpt->flaps_down= true;
 453             wpt->finished  = false;
 454             wpt->on_ground = true;
 455             wpt->routeIndex = 0;
 456             waypoints.push_back(wpt);
 457
 458             //Add the runway startpoint;
 459             wpt = new waypoint;
 460             wpt->name      = "Runway Takeoff";
 461             wpt->latitude  = lat3;
 462             wpt->longitude = lon3;
 463             wpt->altitude  = apt->getElevation();
 464             wpt->speed     = 15;
 465             wpt->crossat   = -10000;
 466             wpt->gear_down = true;
 467             wpt->flaps_down= true;
 468             wpt->finished  = false;
 469             wpt->on_ground = true;
 470             wpt->routeIndex = 0;
 471             waypoints.push_back(wpt);
 472           } else {
 473             int node;
 474             taxiRoute->first();
 475             int size = taxiRoute->size();
 476             // Omit the last two waypoints, as
 477             // those are created by createParking()
 478             int route;
 479             for (int i = 0; i < size-2; i++)
 480               {
 481                 taxiRoute->next(&node, &route);
 482                 char buffer[10];
 483                 snprintf (buffer, 10, "%d", node);
 484                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 485                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 486                 wpt = new waypoint;
 487                 //wpt->name      = "taxiway"; // fixme: should be the name of the taxiway
 488                 wpt->name      = string(buffer);// fixme: should be the name of the taxiway
 489                 wpt->latitude  = tn->getLatitude();
 490                 wpt->longitude = tn->getLongitude();
 491                 wpt->altitude  = apt->getElevation();
 492                 wpt->speed     = 15;
 493                 wpt->crossat   = -10000;
 494                 wpt->gear_down = true;
 495                 wpt->flaps_down= true;
 496                 wpt->finished  = false;
 497                 wpt->on_ground = true;
 498                 wpt->routeIndex = route;
 499                 waypoints.push_back(wpt);
 500               }
 501             //taxiRoute->first();
 502             //taxiRoute->next(&node);
 503           }
 504         }
 505       else
 506         {
 507           // Use a fallback mechanism in case no ground network is available
 508           // obtain the location of the gate entrance point
 509           heading += 180.0;
 510           if (heading > 360)
 511             heading -= 360;
 512           geo_direct_wgs_84 ( 0, lat, lon, heading,
 513                               100,
 514                               &lat2, &lon2, &az2 );
 515           wpt = new waypoint;
 516           wpt->name      = "Airport Center";
 517           wpt->latitude  = apt->getLatitude();
 518           wpt->longitude = apt->getLongitude();
 519           wpt->altitude  = apt->getElevation();
 520           wpt->speed     = 15;
 521           wpt->crossat   = -10000;
 522           wpt->gear_down = true;
 523           wpt->flaps_down= true;
 524           wpt->finished  = false;
 525           wpt->on_ground = true;
 526           wpt->routeIndex = 0;
 527           waypoints.push_back(wpt);
 528
 529           wpt = new waypoint;
 530           wpt->name      = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
 531           wpt->latitude  = lat2;
 532           wpt->longitude = lon2;
 533           wpt->altitude  = apt->getElevation();
 534           wpt->speed     = 15;
 535           wpt->crossat   = -10000;
 536           wpt->gear_down = true;
 537           wpt->flaps_down= true;
 538           wpt->finished  = false;
 539           wpt->on_ground = true;
 540           wpt->routeIndex = 0;
 541           waypoints.push_back(wpt);
 542
 543           //waypoint* wpt;
 544           //double lat;
 545           //double lon;
 546           //double heading;
 547           apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 548           heading += 180.0;
 549           if (heading > 360)
 550             heading -= 360;
 551
 552           wpt = new waypoint;
 553           wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 554           wpt->latitude  = lat;
 555           wpt->longitude = lon;
 556           wpt->altitude  = 19;
 557           wpt->speed     = 15;
 558           wpt->crossat   = -10000;
 559           wpt->gear_down = true;
 560           wpt->flaps_down= true;
 561           wpt->finished  = false;
 562           wpt->on_ground = true;
 563           wpt->routeIndex = 0;
 564           waypoints.push_back(wpt);
 565         }
 566
 567     }
 568 }
 569
 570 /*******************************************************************
 571  * CreateTakeOff
 572  * initialize the Aircraft at the parking location
 573  ******************************************************************/
 574 void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
 575 {
 576   double heading;
 577   double lat, lon, az;
 578   double lat2, lon2, az2;
 579   waypoint *wpt;
 580
 581   // Get the current active runway, based on code from David Luff
 582   // This should actually be unified and extended to include
 583   // Preferential runway use schema's
 584   if (firstFlight)
 585     {
 586       //string name;
 587        // "NOTE: this is currently fixed to "com" for commercial traffic
 588       // Should be changed to be used dynamically to allow "gen" and "mil"
 589       // as well
 590       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 591         if (!(globals->get_runways()->search(apt->getId(),
 592                                               activeRunway,
 593                                               &rwy)))
 594           {
 595             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 596                    activeRunway <<
 597                    " at airport     " << apt->getId());
 598             exit(1);
 599           }
 600     }
 601   heading = rwy._heading;
 602   double azimuth = heading + 180.0;
 603   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 604   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 605                       rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
 606                       &lat2, &lon2, &az2 );
 607   wpt = new waypoint;
 608   wpt->name      = "accel";
 609   wpt->latitude  = lat2;
 610   wpt->longitude = lon2;
 611   wpt->altitude  = apt->getElevation();
 612   wpt->speed     = speed;
 613   wpt->crossat   = -10000;
 614   wpt->gear_down = true;
 615   wpt->flaps_down= true;
 616   wpt->finished  = false;
 617   wpt->on_ground = true;
 618   wpt->routeIndex = 0;
 619   waypoints.push_back(wpt);
 620
 621   lat = lat2;
 622   lon = lon2;
 623   az  = az2;
 624
 625   //Next: the Start of Climb
 626   geo_direct_wgs_84 ( 0, lat, lon, heading,
 627   2560 * SG_FEET_TO_METER,
 628   &lat2, &lon2, &az2 );
 629
 630   wpt = new waypoint;
 631   wpt->name      = "SOC";
 632   wpt->latitude  = lat2;
 633   wpt->longitude = lon2;
 634   wpt->altitude  = apt->getElevation()+3000;
 635   wpt->speed     = speed;
 636   wpt->crossat   = -10000;
 637   wpt->gear_down = true;
 638   wpt->flaps_down= true;
 639   wpt->finished  = false;
 640   wpt->on_ground = false;
 641   wpt->routeIndex = 0;
 642   waypoints.push_back(wpt);
 643 }
 644
 645 /*******************************************************************
 646  * CreateClimb
 647  * initialize the Aircraft at the parking location
 648  ******************************************************************/
 649 void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
 650 {
 651   double heading;
 652   //FGRunway rwy;
 653   double lat2, lon2, az2;
 654   //int direction;
 655   waypoint *wpt;
 656
 657
 658   if (firstFlight)
 659     {
 660       //string name;
 661       // "NOTE: this is currently fixed to "com" for commercial traffic
 662       // Should be changed to be used dynamically to allow "gen" and "mil"
 663       // as well
 664       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 665         if (!(globals->get_runways()->search(apt->getId(),
 666                                               activeRunway,
 667                                               &rwy)))
 668           {
 669             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 670                    activeRunway <<
 671                    " at airport     " << apt->getId());
 672             exit(1);
 673           }
 674     }
 675
 676
 677   heading = rwy._heading;
 678   double azimuth = heading + 180.0;
 679   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 680   //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
 681   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 682                       10*SG_NM_TO_METER,
 683                       &lat2, &lon2, &az2 );
 684   wpt = new waypoint;
 685   wpt->name      = "10000ft climb";
 686   wpt->latitude  = lat2;
 687   wpt->longitude = lon2;
 688   wpt->altitude  = 10000;
 689   wpt->speed     = speed;
 690   wpt->crossat   = -10000;
 691   wpt->gear_down = true;
 692   wpt->flaps_down= true;
 693   wpt->finished  = false;
 694   wpt->on_ground = false;
 695   wpt->routeIndex = 0;
 696   waypoints.push_back(wpt);
 697
 698
 699   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 700                       20*SG_NM_TO_METER,
 701                       &lat2, &lon2, &az2 );
 702   wpt = new waypoint;
 703   wpt->name      = "18000ft climb";
 704   wpt->latitude  = lat2;
 705   wpt->longitude = lon2;
 706   wpt->altitude  = 18000;
 707   wpt->speed     = speed;
 708   wpt->crossat   = -10000;
 709   wpt->gear_down = true;
 710   wpt->flaps_down= true;
 711   wpt->finished  = false;
 712   wpt->on_ground = false;
 713   wpt->routeIndex = 0;
 714   waypoints.push_back(wpt);
 715 }
 716
 717
 718 // /*******************************************************************
 719 //  * CreateCruise
 720 //  * initialize the Aircraft at the parking location
 721 //  ******************************************************************/
 722 // void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
 723 //                                FGAirport *arr, double latitude,
 724 //                                double longitude, double speed,
 725 //                                double alt)
 726 // {
 727 //   double wind_speed;
 728 //   double wind_heading;
 729 //   double heading;
 730 //   double lat, lon, az;
 731 //   double lat2, lon2, az2;
 732 //   double azimuth;
 733 //   waypoint *wpt;
 734
 735 //   wpt = new waypoint;
 736 //   wpt->name      = "Cruise"; //wpt_node->getStringValue("name", "END");
 737 //   wpt->latitude  = latitude;
 738 //   wpt->longitude = longitude;
 739 //   wpt->altitude  = alt;
 740 //   wpt->speed     = speed;
 741 //   wpt->crossat   = -10000;
 742 //   wpt->gear_down = false;
 743 //   wpt->flaps_down= false;
 744 //   wpt->finished  = false;
 745 //   wpt->on_ground = false;
 746 //   waypoints.push_back(wpt);
 747
 748
 749 //   // should be changed dynamically to allow "gen" and "mil"
 750 //   arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
 751 //   if (!(globals->get_runways()->search(arr->getId(),
 752 //                                     activeRunway,
 753 //                                     &rwy)))
 754 //     {
 755 //       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 756 //           activeRunway <<
 757 //           " at airport     " << arr->getId());
 758 //       exit(1);
 759 //     }
 760 //   heading = rwy._heading;
 761 //   azimuth = heading + 180.0;
 762 //   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 763
 764
 765 //   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 766 //                    110000,
 767 //                    &lat2, &lon2, &az2 );
 768 //   wpt = new waypoint;
 769 //   wpt->name      = "BOD";
 770 //   wpt->latitude  = lat2;
 771 //   wpt->longitude = lon2;
 772 //   wpt->altitude  = alt;
 773 //   wpt->speed     = speed;
 774 //   wpt->crossat   = alt;
 775 //   wpt->gear_down = false;
 776 //   wpt->flaps_down= false;
 777 //   wpt->finished  = false;
 778 //   wpt->on_ground = false;
 779 //   waypoints.push_back(wpt);
 780 // }
 781
 782 /*******************************************************************
 783  * CreateDecent
 784  * initialize the Aircraft at the parking location
 785  ******************************************************************/
 786 void FGAIFlightPlan::createDecent(FGAirport *apt)
 787 {
 788
 789   // Ten thousand ft. Slowing down to 240 kts
 790   double heading;
 791   //FGRunway rwy;
 792   double lat2, lon2, az2;
 793   double azimuth;
 794   //int direction;
 795   waypoint *wpt;
 796
 797   //Beginning of Decent
 798   //string name;
 799   // allow "mil" and "gen" as well
 800   apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
 801   if (!(globals->get_runways()->search(apt->getId(),
 802                                        activeRunway,
 803                                        &rwy)))
 804     {
 805       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 806              activeRunway <<
 807              " at airport     " << apt->getId());
 808       exit(1);
 809     }
 810
 811   heading = rwy._heading;
 812   azimuth = heading + 180.0;
 813   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 814   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 815                       100000,
 816                       &lat2, &lon2, &az2 );
 817
 818   wpt = new waypoint;
 819   wpt->name      = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
 820   wpt->latitude  = lat2;
 821   wpt->longitude = lon2;
 822   wpt->altitude  = apt->getElevation();
 823   wpt->speed     = 240;
 824   wpt->crossat   = 10000;
 825   wpt->gear_down = false;
 826   wpt->flaps_down= false;
 827   wpt->finished  = false;
 828   wpt->on_ground = false;
 829   wpt->routeIndex = 0;
 830   waypoints.push_back(wpt);
 831
 832   // Three thousand ft. Slowing down to 160 kts
 833   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 834                       8*SG_NM_TO_METER,
 835                       &lat2, &lon2, &az2 );
 836   wpt = new waypoint;
 837   wpt->name      = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
 838   wpt->latitude  = lat2;
 839   wpt->longitude = lon2;
 840   wpt->altitude  = apt->getElevation();
 841   wpt->speed     = 160;
 842   wpt->crossat   = 3000;
 843   wpt->gear_down = true;
 844   wpt->flaps_down= true;
 845   wpt->finished  = false;
 846   wpt->on_ground = false;
 847   wpt->routeIndex = 0;
 848   waypoints.push_back(wpt);
 849 }
 850 /*******************************************************************
 851  * CreateLanding
 852  * initialize the Aircraft at the parking location
 853  ******************************************************************/
 854 void FGAIFlightPlan::createLanding(FGAirport *apt)
 855 {
 856   // Ten thousand ft. Slowing down to 150 kts
 857   double heading;
 858   //FGRunway rwy;
 859   double lat2, lon2, az2;
 860   double azimuth;
 861   //int direction;
 862   waypoint *wpt;
 863
 864
 865   heading = rwy._heading;
 866   azimuth = heading + 180.0;
 867   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 868
 869   //Runway Threshold
 870  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 871                      rwy._length*0.45 * SG_FEET_TO_METER,
 872                      &lat2, &lon2, &az2 );
 873   wpt = new waypoint;
 874   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 875   wpt->latitude  = lat2;
 876   wpt->longitude = lon2;
 877   wpt->altitude  = apt->getElevation();
 878   wpt->speed     = 150;
 879   wpt->crossat   = apt->getElevation();
 880   wpt->gear_down = true;
 881   wpt->flaps_down= true;
 882   wpt->finished  = false;
 883   wpt->on_ground = true;
 884   wpt->routeIndex = 0;
 885   waypoints.push_back(wpt);
 886
 887  //Full stop at the runway centerpoint
 888  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 889                      rwy._length*0.45,
 890                       &lat2, &lon2, &az2 );
 891   wpt = new waypoint;
 892   wpt->name      = "Center"; //wpt_node->getStringValue("name", "END");
 893   wpt->latitude  = rwy._lat;
 894   wpt->longitude = rwy._lon;
 895   wpt->altitude  = apt->getElevation();
 896   wpt->speed     = 30;
 897   wpt->crossat   = -10000;
 898   wpt->gear_down = true;
 899   wpt->flaps_down= true;
 900   wpt->finished  = false;
 901   wpt->on_ground = true;
 902   wpt->routeIndex = 0;
 903   waypoints.push_back(wpt);
 904
 905  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 906                      rwy._length*0.45 * SG_FEET_TO_METER,
 907                      &lat2, &lon2, &az2 );
 908   wpt = new waypoint;
 909   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 910   wpt->latitude  = lat2;
 911   wpt->longitude = lon2;
 912   wpt->altitude  = apt->getElevation();
 913   wpt->speed     = 15;
 914   wpt->crossat   = apt->getElevation();
 915   wpt->gear_down = true;
 916   wpt->flaps_down= true;
 917   wpt->finished  = false;
 918   wpt->on_ground = true;
 919   wpt->routeIndex = 0;
 920   waypoints.push_back(wpt);
 921 }
 922
 923 /*******************************************************************
 924  * CreateParking
 925  * initialize the Aircraft at the parking location
 926  ******************************************************************/
 927 void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
 928 {
 929   waypoint* wpt;
 930   double lat, lat2;
 931   double lon, lon2;
 932   double az2;
 933   double heading;
 934   apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 935   heading += 180.0;
 936   if (heading > 360)
 937     heading -= 360;
 938   geo_direct_wgs_84 ( 0, lat, lon, heading,
 939                       2.2*radius,
 940                       &lat2, &lon2, &az2 );
 941   wpt = new waypoint;
 942   wpt->name      = "taxiStart";
 943   wpt->latitude  = lat2;
 944   wpt->longitude = lon2;
 945   wpt->altitude  = apt->getElevation();
 946   wpt->speed     = 10;
 947   wpt->crossat   = -10000;
 948   wpt->gear_down = true;
 949   wpt->flaps_down= true;
 950   wpt->finished  = false;
 951   wpt->on_ground = true;
 952   wpt->routeIndex = 0;
 953   waypoints.push_back(wpt);
 954   geo_direct_wgs_84 ( 0, lat, lon, heading,
 955                       0.1 *radius,
 956                       &lat2, &lon2, &az2 );
 957   wpt = new waypoint;
 958   wpt->name      = "taxiStart";
 959   wpt->latitude  = lat2;
 960   wpt->longitude = lon2;
 961   wpt->altitude  = apt->getElevation();
 962   wpt->speed     = 10;
 963   wpt->crossat   = -10000;
 964   wpt->gear_down = true;
 965   wpt->flaps_down= true;
 966   wpt->finished  = false;
 967   wpt->on_ground = true;
 968   wpt->routeIndex = 0;
 969   waypoints.push_back(wpt);
 970
 971   wpt = new waypoint;
 972   wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 973   wpt->latitude  = lat;
 974   wpt->longitude = lon;
 975   wpt->altitude  = apt->getElevation();
 976   wpt->speed     = 15;
 977   wpt->crossat   = -10000;
 978   wpt->gear_down = true;
 979   wpt->flaps_down= true;
 980   wpt->finished  = false;
 981   wpt->on_ground = true;
 982   wpt->routeIndex = 0;
 983   waypoints.push_back(wpt);
 984 }