1 /****************************************************************************
2 * AIFlightPlanCreatePushBack.cxx
3 * Written by Durk Talsma, started August 1, 2007.
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.
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.
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.
19 **************************************************************************/
27 #include <simgear/math/sg_geodesy.hxx>
29 #include <Airports/simple.hxx>
30 #include <Airports/runways.hxx>
31 #include <Airports/dynamics.hxx>
33 #include <Environment/environment_mgr.hxx>
34 #include <Environment/environment.hxx>
36 #include "AIFlightPlan.hxx"
37 #include "AIAircraft.hxx"
38 #include "performancedata.hxx"
41 // TODO: Use James Turner's createOnGround functions.
42 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
43 bool firstFlight, FGAirport *dep,
45 const string& fltType,
46 const string& aircraftType,
47 const string& airline)
49 double vTaxi = ac->getPerformance()->vTaxi();
50 double vTaxiBackward = vTaxi * (-2.0/3.0);
51 double vTaxiReduced = vTaxi * (2.0/3.0);
52 FGTaxiRoute *pushBackRoute;
53 // Active runway can be conditionally set by ATC, so at the start of a new flight, this
57 if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
58 //cerr << "Push Back fallback" << endl;
59 createPushBackFallBack(ac, firstFlight, dep,
60 radius, fltType, aircraftType, airline);
64 // establish the parking position / gate if required
66 gateId = dep->getDynamics()->getAvailableParking(radius, fltType,
67 aircraftType, airline);
69 SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
71 " of flight type " << fltType <<
72 " of airline " << airline <<
73 " at airport " << dep->getId());
77 dep->getDynamics()->getParking(gateId);
81 createPushBackFallBack(ac, firstFlight, dep,
82 radius, fltType, aircraftType, airline);
87 FGParking *parking = dep->getDynamics()->getParking(gateId);
88 int pushBackNode = parking->getPushBackPoint();
90 pushBackRoute = parking->getPushBackRoute();
91 if ((pushBackNode > 0) && (pushBackRoute == 0)) { // Load the already established route for this gate
94 //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
95 route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
96 parking->setPushBackRoute(new FGTaxiRoute(route));
99 pushBackRoute = parking->getPushBackRoute();
100 int size = pushBackRoute->size();
102 SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << gateId << " has only " << size << " nodes.");
103 SG_LOG(SG_AI, SG_ALERT, "Using " << pushBackNode);
105 pushBackRoute->first();
106 while (pushBackRoute->next(&node, &rte))
108 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
110 snprintf (buffer, 10, "%d", node);
111 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
113 //wpt = new waypoint;
114 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->getGeod(), dep->getElevation(), vTaxiBackward);
116 wpt->setRouteIndex(rte);
117 pushBackWaypoint(wpt);
119 // some special considerations for the last point:
120 waypoints.back()->setName(string("PushBackPoint"));
121 waypoints.back()->setSpeed(vTaxi);
122 ac->setTaxiClearanceRequest(true);
123 } else { // In case of a push forward departure...
124 ac->setTaxiClearanceRequest(false);
127 //cerr << "Creating final push forward point for gate " << gateId << endl;
128 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
129 FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
130 FGTaxiSegmentVectorIterator te = tn->getEndRoute();
131 // if the starting node equals the ending node, then there aren't any routes for this parking.
132 // in cases like these we should flag the gate as being inoperative and return false
134 SG_LOG(SG_AI, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
135 parking->setAvailable(false);
138 tn = (*ts)->getEnd();
139 lastNodeVisited = tn->getIndex();
141 SG_LOG(SG_AI, SG_ALERT, "No valid taxinode found");
144 double distance = (*ts)->getLength();
146 double parkingHeading = parking->getHeading();
148 for (int i = 1; i < 10; i++) {
149 SGGeod pushForwardPt;
150 SGGeodesy::direct(parking->getGeod(), parkingHeading,
151 ((i / 10.0) * distance), pushForwardPt, az2);
153 snprintf(buffer, 16, "pushback-%02d", i);
154 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
156 wpt->setRouteIndex((*ts)->getIndex());
157 pushBackWaypoint(wpt);
159 // cerr << "Done " << endl;
160 waypoints.back()->setName(string("PushBackPoint"));
161 // cerr << "Done assinging new name" << endl;
166 /*******************************************************************
167 * createPushBackFallBack
168 * This is the backup function for airports that don't have a
170 ******************************************************************/
171 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
173 const string& fltType,
174 const string& aircraftType,
175 const string& airline)
179 double vTaxi = ac->getPerformance()->vTaxi();
180 double vTaxiBackward = vTaxi * (-2.0/3.0);
181 double vTaxiReduced = vTaxi * (2.0/3.0);
183 double heading = 180.0; // this is a completely arbitrary heading!
184 FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
186 pushBackWaypoint(wpt);
189 SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
190 wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
192 pushBackWaypoint(wpt);
194 SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
195 wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
196 pushBackWaypoint(wpt);