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   // Acceleration point, 105 meters into the runway,
 602   heading = rwy._heading;
 603   double azimuth = heading + 180.0;
 604   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 605   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 606                       rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
 607                       &lat2, &lon2, &az2 );
 608   wpt = new waypoint;
 609   wpt->name      = "accel";
 610   wpt->latitude  = lat2;
 611   wpt->longitude = lon2;
 612   wpt->altitude  = apt->getElevation();
 613   wpt->speed     = speed;
 614   wpt->crossat   = -10000;
 615   wpt->gear_down = true;
 616   wpt->flaps_down= true;
 617   wpt->finished  = false;
 618   wpt->on_ground = true;
 619   wpt->routeIndex = 0;
 620   waypoints.push_back(wpt);
 621
 622   lat = lat2;
 623   lon = lon2;
 624   az  = az2;
 625
 626   //Start Climbing to 3000 ft. Let's do this
 627   // at the center of the runway for now:
 628   //
 629   geo_direct_wgs_84 ( 0, lat, lon, heading,
 630   2560 * SG_FEET_TO_METER,
 631   &lat2, &lon2, &az2 );
 632
 633   wpt = new waypoint;
 634   wpt->name      = "SOC";
 635   wpt->latitude  = rwy._lat;
 636   wpt->longitude = rwy._lon;
 637   wpt->altitude  = apt->getElevation()+1000;
 638   wpt->speed     = speed;
 639   wpt->crossat   = -10000;
 640   wpt->gear_down = true;
 641   wpt->flaps_down= true;
 642   wpt->finished  = false;
 643   wpt->on_ground = false;
 644   wpt->routeIndex = 0;
 645   waypoints.push_back(wpt);
 646
 647
 648  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 649   rwy._length * SG_FEET_TO_METER,
 650   &lat2, &lon2, &az2 );
 651
 652   wpt = new waypoint;
 653   wpt->name      = "3000 ft";
 654   wpt->latitude  = lat2;
 655   wpt->longitude = lon2;
 656   wpt->altitude  = apt->getElevation()+3000;
 657   wpt->speed     = speed;
 658   wpt->crossat   = -10000;
 659   wpt->gear_down = true;
 660   wpt->flaps_down= true;
 661   wpt->finished  = false;
 662   wpt->on_ground = false;
 663   wpt->routeIndex = 0;
 664   waypoints.push_back(wpt);
 665
 666 // Finally, add two more waypoints, so that aircraft will remain under
 667   // Tower control until they have reached the 3000 ft climb point
 668
 669
 670  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 671   5000,
 672   &lat2, &lon2, &az2 );
 673
 674
 675   wpt = new waypoint;
 676   wpt->name      = "5000 ft";
 677   wpt->latitude  = lat2;
 678   wpt->longitude = lon2;
 679   wpt->altitude  = apt->getElevation()+5000;
 680   wpt->speed     = speed;
 681   wpt->crossat   = -10000;
 682   wpt->gear_down = true;
 683   wpt->flaps_down= true;
 684   wpt->finished  = false;
 685   wpt->on_ground = false;
 686   wpt->routeIndex = 0;
 687   waypoints.push_back(wpt);
 688
 689  //  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 690 //   100000,
 691 //   &lat2, &lon2, &az2 );
 692 //   wpt = new waypoint;
 693 //   wpt->name      = "5100 ft";
 694 //   wpt->latitude  = lat2;
 695 //   wpt->longitude = lon2;
 696 //   wpt->altitude  = apt->getElevation()+5100;
 697 //   wpt->speed     = speed;
 698 //   wpt->crossat   = -10000;
 699 //   wpt->gear_down = true;
 700 //   wpt->flaps_down= true;
 701 //   wpt->finished  = false;
 702 //   wpt->on_ground = false;
 703 //   wpt->routeIndex = 0;
 704 //   waypoints.push_back(wpt);
 705 }
 706
 707 /*******************************************************************
 708  * CreateClimb
 709  * initialize the Aircraft at the parking location
 710  ******************************************************************/
 711 void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
 712 {
 713   double heading;
 714   //FGRunway rwy;
 715   double lat2, lon2, az2;
 716   //int direction;
 717   waypoint *wpt;
 718
 719
 720   if (firstFlight)
 721     {
 722       //string name;
 723       // "NOTE: this is currently fixed to "com" for commercial traffic
 724       // Should be changed to be used dynamically to allow "gen" and "mil"
 725       // as well
 726       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 727         if (!(globals->get_runways()->search(apt->getId(),
 728                                               activeRunway,
 729                                               &rwy)))
 730           {
 731             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 732                    activeRunway <<
 733                    " at airport     " << apt->getId());
 734             exit(1);
 735           }
 736     }
 737
 738
 739   heading = rwy._heading;
 740   double azimuth = heading + 180.0;
 741   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 742   //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
 743   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 744                       10*SG_NM_TO_METER,
 745                       &lat2, &lon2, &az2 );
 746   wpt = new waypoint;
 747   wpt->name      = "10000ft climb";
 748   wpt->latitude  = lat2;
 749   wpt->longitude = lon2;
 750   wpt->altitude  = 10000;
 751   wpt->speed     = speed;
 752   wpt->crossat   = -10000;
 753   wpt->gear_down = true;
 754   wpt->flaps_down= true;
 755   wpt->finished  = false;
 756   wpt->on_ground = false;
 757   wpt->routeIndex = 0;
 758   waypoints.push_back(wpt);
 759
 760
 761   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 762                       20*SG_NM_TO_METER,
 763                       &lat2, &lon2, &az2 );
 764   wpt = new waypoint;
 765   wpt->name      = "18000ft climb";
 766   wpt->latitude  = lat2;
 767   wpt->longitude = lon2;
 768   wpt->altitude  = 18000;
 769   wpt->speed     = speed;
 770   wpt->crossat   = -10000;
 771   wpt->gear_down = true;
 772   wpt->flaps_down= true;
 773   wpt->finished  = false;
 774   wpt->on_ground = false;
 775   wpt->routeIndex = 0;
 776   waypoints.push_back(wpt);
 777 }
 778
 779
 780 // /*******************************************************************
 781 //  * CreateCruise
 782 //  * initialize the Aircraft at the parking location
 783 //  ******************************************************************/
 784 // void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
 785 //                                FGAirport *arr, double latitude,
 786 //                                double longitude, double speed,
 787 //                                double alt)
 788 // {
 789 //   double wind_speed;
 790 //   double wind_heading;
 791 //   double heading;
 792 //   double lat, lon, az;
 793 //   double lat2, lon2, az2;
 794 //   double azimuth;
 795 //   waypoint *wpt;
 796
 797 //   wpt = new waypoint;
 798 //   wpt->name      = "Cruise"; //wpt_node->getStringValue("name", "END");
 799 //   wpt->latitude  = latitude;
 800 //   wpt->longitude = longitude;
 801 //   wpt->altitude  = alt;
 802 //   wpt->speed     = speed;
 803 //   wpt->crossat   = -10000;
 804 //   wpt->gear_down = false;
 805 //   wpt->flaps_down= false;
 806 //   wpt->finished  = false;
 807 //   wpt->on_ground = false;
 808 //   waypoints.push_back(wpt);
 809
 810
 811 //   // should be changed dynamically to allow "gen" and "mil"
 812 //   arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
 813 //   if (!(globals->get_runways()->search(arr->getId(),
 814 //                                     activeRunway,
 815 //                                     &rwy)))
 816 //     {
 817 //       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 818 //           activeRunway <<
 819 //           " at airport     " << arr->getId());
 820 //       exit(1);
 821 //     }
 822 //   heading = rwy._heading;
 823 //   azimuth = heading + 180.0;
 824 //   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 825
 826
 827 //   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 828 //                    110000,
 829 //                    &lat2, &lon2, &az2 );
 830 //   wpt = new waypoint;
 831 //   wpt->name      = "BOD";
 832 //   wpt->latitude  = lat2;
 833 //   wpt->longitude = lon2;
 834 //   wpt->altitude  = alt;
 835 //   wpt->speed     = speed;
 836 //   wpt->crossat   = alt;
 837 //   wpt->gear_down = false;
 838 //   wpt->flaps_down= false;
 839 //   wpt->finished  = false;
 840 //   wpt->on_ground = false;
 841 //   waypoints.push_back(wpt);
 842 // }
 843
 844 /*******************************************************************
 845  * CreateDecent
 846  * initialize the Aircraft at the parking location
 847  ******************************************************************/
 848 void FGAIFlightPlan::createDecent(FGAirport *apt)
 849 {
 850
 851   // Ten thousand ft. Slowing down to 240 kts
 852   double heading;
 853   //FGRunway rwy;
 854   double lat2, lon2, az2;
 855   double azimuth;
 856   //int direction;
 857   waypoint *wpt;
 858
 859   //Beginning of Decent
 860   //string name;
 861   // allow "mil" and "gen" as well
 862   apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
 863   if (!(globals->get_runways()->search(apt->getId(),
 864                                        activeRunway,
 865                                        &rwy)))
 866     {
 867       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 868              activeRunway <<
 869              " at airport     " << apt->getId());
 870       exit(1);
 871     }
 872
 873   heading = rwy._heading;
 874   azimuth = heading + 180.0;
 875   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 876   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 877                       100000,
 878                       &lat2, &lon2, &az2 );
 879
 880   wpt = new waypoint;
 881   wpt->name      = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
 882   wpt->latitude  = lat2;
 883   wpt->longitude = lon2;
 884   wpt->altitude  = apt->getElevation();
 885   wpt->speed     = 240;
 886   wpt->crossat   = 10000;
 887   wpt->gear_down = false;
 888   wpt->flaps_down= false;
 889   wpt->finished  = false;
 890   wpt->on_ground = false;
 891   wpt->routeIndex = 0;
 892   waypoints.push_back(wpt);
 893
 894   // Three thousand ft. Slowing down to 160 kts
 895   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 896                       8*SG_NM_TO_METER,
 897                       &lat2, &lon2, &az2 );
 898   wpt = new waypoint;
 899   wpt->name      = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
 900   wpt->latitude  = lat2;
 901   wpt->longitude = lon2;
 902   wpt->altitude  = apt->getElevation();
 903   wpt->speed     = 160;
 904   wpt->crossat   = 3000;
 905   wpt->gear_down = true;
 906   wpt->flaps_down= true;
 907   wpt->finished  = false;
 908   wpt->on_ground = false;
 909   wpt->routeIndex = 0;
 910   waypoints.push_back(wpt);
 911 }
 912 /*******************************************************************
 913  * CreateLanding
 914  * initialize the Aircraft at the parking location
 915  ******************************************************************/
 916 void FGAIFlightPlan::createLanding(FGAirport *apt)
 917 {
 918   // Ten thousand ft. Slowing down to 150 kts
 919   double heading;
 920   //FGRunway rwy;
 921   double lat2, lon2, az2;
 922   double azimuth;
 923   //int direction;
 924   waypoint *wpt;
 925
 926
 927   heading = rwy._heading;
 928   azimuth = heading + 180.0;
 929   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 930
 931   //Runway Threshold
 932  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 933                      rwy._length*0.45 * SG_FEET_TO_METER,
 934                      &lat2, &lon2, &az2 );
 935   wpt = new waypoint;
 936   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 937   wpt->latitude  = lat2;
 938   wpt->longitude = lon2;
 939   wpt->altitude  = apt->getElevation();
 940   wpt->speed     = 150;
 941   wpt->crossat   = apt->getElevation();
 942   wpt->gear_down = true;
 943   wpt->flaps_down= true;
 944   wpt->finished  = false;
 945   wpt->on_ground = true;
 946   wpt->routeIndex = 0;
 947   waypoints.push_back(wpt);
 948
 949  //Full stop at the runway centerpoint
 950  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 951                      rwy._length*0.45,
 952                       &lat2, &lon2, &az2 );
 953   wpt = new waypoint;
 954   wpt->name      = "Center"; //wpt_node->getStringValue("name", "END");
 955   wpt->latitude  = rwy._lat;
 956   wpt->longitude = rwy._lon;
 957   wpt->altitude  = apt->getElevation();
 958   wpt->speed     = 30;
 959   wpt->crossat   = -10000;
 960   wpt->gear_down = true;
 961   wpt->flaps_down= true;
 962   wpt->finished  = false;
 963   wpt->on_ground = true;
 964   wpt->routeIndex = 0;
 965   waypoints.push_back(wpt);
 966
 967  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 968                      rwy._length*0.45 * SG_FEET_TO_METER,
 969                      &lat2, &lon2, &az2 );
 970   wpt = new waypoint;
 971   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 972   wpt->latitude  = lat2;
 973   wpt->longitude = lon2;
 974   wpt->altitude  = apt->getElevation();
 975   wpt->speed     = 15;
 976   wpt->crossat   = apt->getElevation();
 977   wpt->gear_down = true;
 978   wpt->flaps_down= true;
 979   wpt->finished  = false;
 980   wpt->on_ground = true;
 981   wpt->routeIndex = 0;
 982   waypoints.push_back(wpt);
 983 }
 984
 985 /*******************************************************************
 986  * CreateParking
 987  * initialize the Aircraft at the parking location
 988  ******************************************************************/
 989 void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
 990 {
 991   waypoint* wpt;
 992   double lat, lat2;
 993   double lon, lon2;
 994   double az2;
 995   double heading;
 996   apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 997   heading += 180.0;
 998   if (heading > 360)
 999     heading -= 360;
1000   geo_direct_wgs_84 ( 0, lat, lon, heading,
1001                       2.2*radius,
1002                       &lat2, &lon2, &az2 );
1003   wpt = new waypoint;
1004   wpt->name      = "taxiStart";
1005   wpt->latitude  = lat2;
1006   wpt->longitude = lon2;
1007   wpt->altitude  = apt->getElevation();
1008   wpt->speed     = 10;
1009   wpt->crossat   = -10000;
1010   wpt->gear_down = true;
1011   wpt->flaps_down= true;
1012   wpt->finished  = false;
1013   wpt->on_ground = true;
1014   wpt->routeIndex = 0;
1015   waypoints.push_back(wpt);
1016   geo_direct_wgs_84 ( 0, lat, lon, heading,
1017                       0.1 *radius,
1018                       &lat2, &lon2, &az2 );
1019   wpt = new waypoint;
1020   wpt->name      = "taxiStart";
1021   wpt->latitude  = lat2;
1022   wpt->longitude = lon2;
1023   wpt->altitude  = apt->getElevation();
1024   wpt->speed     = 10;
1025   wpt->crossat   = -10000;
1026   wpt->gear_down = true;
1027   wpt->flaps_down= true;
1028   wpt->finished  = false;
1029   wpt->on_ground = true;
1030   wpt->routeIndex = 0;
1031   waypoints.push_back(wpt);
1032
1033   wpt = new waypoint;
1034   wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
1035   wpt->latitude  = lat;
1036   wpt->longitude = lon;
1037   wpt->altitude  = apt->getElevation();
1038   wpt->speed     = 15;
1039   wpt->crossat   = -10000;
1040   wpt->gear_down = true;
1041   wpt->flaps_down= true;
1042   wpt->finished  = false;
1043   wpt->on_ground = true;
1044   wpt->routeIndex = 0;
1045   waypoints.push_back(wpt);
1046 }