src/AIModel/AIFlightPlanCreatePushBack.cxx

   1 /****************************************************************************
   2 * AIFlightPlanCreatePushBack.cxx
   3 * Written by Durk Talsma, started August 1, 2007.
   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
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <cstdlib>
  26 #include <cstdio>
  27
  28 #include <simgear/math/sg_geodesy.hxx>
  29
  30 #include <Airports/airport.hxx>
  31 #include <Airports/runways.hxx>
  32 #include <Airports/dynamics.hxx>
  33
  34 #include <Environment/environment_mgr.hxx>
  35 #include <Environment/environment.hxx>
  36
  37 #include "AIFlightPlan.hxx"
  38 #include "AIAircraft.hxx"
  39 #include "performancedata.hxx"
  40
  41 using std::string;
  42
  43 // TODO: Use James Turner's createOnGround functions.
  44 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  45                                     bool firstFlight, FGAirport *dep,
  46                                     double radius,
  47                                     const string& fltType,
  48                                     const string& aircraftType,
  49                                     const string& airline)
  50 {
  51     double vTaxi = ac->getPerformance()->vTaxi();
  52     double vTaxiBackward = vTaxi * (-2.0/3.0);
  53     double vTaxiReduced  = vTaxi * (2.0/3.0);
  54     // Active runway can be conditionally set by ATC, so at the start of a new flight, this
  55     // must be reset.
  56     activeRunway.clear();
  57
  58     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  59         //cerr << "Push Back fallback" << endl;
  60         createPushBackFallBack(ac, firstFlight, dep,
  61                                radius, fltType, aircraftType, airline);
  62       return true;
  63     }
  64
  65   // establish the parking position / gate if required
  66     if (firstFlight) {
  67       gate = dep->getDynamics()->getAvailableParking(radius, fltType,
  68                                                        aircraftType, airline);
  69       if (!gate.isValid()) {
  70         SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
  71                aircraftType <<
  72                " of flight type " << fltType <<
  73                " of airline     " << airline <<
  74                " at airport     " << dep->getId());
  75         return false;
  76       }
  77     }
  78
  79     if (!gate.isValid()) {
  80         createPushBackFallBack(ac, firstFlight, dep,
  81                                radius, fltType, aircraftType, airline);
  82         return true;
  83
  84     }
  85
  86     FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
  87     FGParking *parking = gate.parking();
  88     if (parking && parking->getPushBackPoint() > 0) {
  89         FGTaxiRoute route = groundNet->findShortestRoute(parking->guid(), parking->getPushBackPoint(), false);
  90
  91         int size = route.size();
  92         if (size < 2) {
  93             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
  94             SG_LOG(SG_AI, SG_ALERT, "Using  " << parking->getPushBackPoint());
  95         }
  96
  97         route.first();
  98         PositionedID node, previous= 0;
  99
 100         while (route.next(&node))
 101         {
 102             char buffer[10];
 103             snprintf (buffer, 10, "%lld",  (long long int) node);
 104             FGTaxiNode *tn = groundNet->findNode(node);
 105             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->geod(), dep->getElevation(), vTaxiBackward);
 106
 107             if (previous) {
 108               FGTaxiSegment* segment = groundNet->findSegment(previous, node);
 109               wpt->setRouteIndex(segment->getIndex());
 110             } else {
 111               // not on the route yet, make up a unique segment ID
 112               int x = (int) tn->guid();
 113               wpt->setRouteIndex(x);
 114             }
 115
 116             pushBackWaypoint(wpt);
 117             previous = node;
 118         }
 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);
 125         double az2 = 0.0;
 126
 127       FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking->guid(), 0);
 128       // there aren't any routes for this parking.
 129       if (!pushForwardSegment) {
 130           SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
 131           return false;
 132       }
 133
 134       lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
 135       double distance = pushForwardSegment->getLength();
 136
 137       double parkingHeading = parking->getHeading();
 138
 139       for (int i = 1; i < 10; i++) {
 140           SGGeod pushForwardPt;
 141           SGGeodesy::direct(parking->geod(), parkingHeading,
 142                             ((i / 10.0) * distance), pushForwardPt, az2);
 143           char buffer[16];
 144           snprintf(buffer, 16, "pushback-%02d", i);
 145           FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 146
 147           wpt->setRouteIndex(pushForwardSegment->getIndex());
 148           pushBackWaypoint(wpt);
 149       }
 150
 151       waypoints.back()->setName(string("PushBackPoint"));
 152       // cerr << "Done assinging new name" << endl;
 153     }
 154
 155     return true;
 156 }
 157 /*******************************************************************
 158 * createPushBackFallBack
 159 * This is the backup function for airports that don't have a
 160 * network yet.
 161 ******************************************************************/
 162 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 163         double radius,
 164         const string& fltType,
 165         const string& aircraftType,
 166         const string& airline)
 167 {
 168     double az2 = 0.0;
 169
 170     double vTaxi = ac->getPerformance()->vTaxi();
 171     double vTaxiBackward = vTaxi * (-2.0/3.0);
 172     double vTaxiReduced  = vTaxi * (2.0/3.0);
 173
 174     double heading = 180.0; // this is a completely arbitrary heading!
 175     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 176
 177     pushBackWaypoint(wpt);
 178
 179     SGGeod coord;
 180     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 181     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 182
 183     pushBackWaypoint(wpt);
 184
 185     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 186     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 187     pushBackWaypoint(wpt);
 188
 189 }