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 **************************************************************************/
28 #include <simgear/math/sg_geodesy.hxx>
30 #include <Airports/airport.hxx>
31 #include <Airports/runways.hxx>
32 #include <Airports/dynamics.hxx>
34 #include <Environment/environment_mgr.hxx>
35 #include <Environment/environment.hxx>
37 #include "AIFlightPlan.hxx"
38 #include "AIAircraft.hxx"
39 #include "performancedata.hxx"
43 // TODO: Use James Turner's createOnGround functions.
44 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
45 bool firstFlight, FGAirport *dep,
47 const string& fltType,
48 const string& aircraftType,
49 const string& airline)
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
58 if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
59 //cerr << "Push Back fallback" << endl;
60 createPushBackFallBack(ac, firstFlight, dep,
61 radius, fltType, aircraftType, airline);
65 // establish the parking position / gate if required
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 " <<
72 " of flight type " << fltType <<
73 " of airline " << airline <<
74 " at airport " << dep->getId());
79 if (!gate.isValid()) {
80 createPushBackFallBack(ac, firstFlight, dep,
81 radius, fltType, aircraftType, airline);
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);
91 int size = route.size();
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());
98 PositionedID node, previous= 0;
100 while (route.next(&node))
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);
108 FGTaxiSegment* segment = groundNet->findSegment(previous, node);
109 wpt->setRouteIndex(segment->getIndex());
111 // not on the route yet, make up a unique segment ID
112 int x = (int) tn->guid();
113 wpt->setRouteIndex(x);
116 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 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.");
134 lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
135 double distance = pushForwardSegment->getLength();
137 double parkingHeading = parking->getHeading();
139 for (int i = 1; i < 10; i++) {
140 SGGeod pushForwardPt;
141 SGGeodesy::direct(parking->geod(), parkingHeading,
142 ((i / 10.0) * distance), pushForwardPt, az2);
144 snprintf(buffer, 16, "pushback-%02d", i);
145 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
147 wpt->setRouteIndex(pushForwardSegment->getIndex());
148 pushBackWaypoint(wpt);
151 waypoints.back()->setName(string("PushBackPoint"));
152 // cerr << "Done assinging new name" << endl;
157 /*******************************************************************
158 * createPushBackFallBack
159 * This is the backup function for airports that don't have a
161 ******************************************************************/
162 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
164 const string& fltType,
165 const string& aircraftType,
166 const string& airline)
170 double vTaxi = ac->getPerformance()->vTaxi();
171 double vTaxiBackward = vTaxi * (-2.0/3.0);
172 double vTaxiReduced = vTaxi * (2.0/3.0);
174 double heading = 180.0; // this is a completely arbitrary heading!
175 FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
177 pushBackWaypoint(wpt);
180 SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
181 wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
183 pushBackWaypoint(wpt);
185 SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
186 wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
187 pushBackWaypoint(wpt);