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 <simgear/math/sg_geodesy.hxx>
  26
  27 #include <Airports/simple.hxx>
  28 #include <Airports/runways.hxx>
  29 #include <Airports/dynamics.hxx>
  30
  31 #include <Environment/environment_mgr.hxx>
  32 #include <Environment/environment.hxx>
  33
  34 #include "AIFlightPlan.hxx"
  35 #include "AIAircraft.hxx"
  36 #include "performancedata.hxx"
  37
  38
  39 // TODO: Use James Turner's createOnGround functions.
  40 void FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  41                                     bool firstFlight, FGAirport *dep,
  42                                     double latitude,
  43                                     double longitude,
  44                                     double radius,
  45                                     const string& fltType,
  46                                     const string& aircraftType,
  47                                     const string& airline)
  48 {
  49     double lat, lon, heading;
  50     double vTaxi = ac->getPerformance()->vTaxi();
  51     double vTaxiBackward = vTaxi * (-2.0/3.0);
  52     double vTaxiReduced  = vTaxi * (2.0/3.0);
  53     FGTaxiRoute *pushBackRoute;
  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, latitude, longitude,
  61                                radius, fltType, aircraftType, airline);
  62     } else {
  63         if (firstFlight) {
  64
  65              if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
  66                                                            &heading, &gateId,
  67                                                            radius, fltType,
  68                                                            aircraftType, airline))) {
  69                     SG_LOG(SG_INPUT, SG_WARN, "Warning: Could not find parking for a " <<
  70                                               aircraftType <<
  71                                               " of flight type " << fltType <<
  72                                               " of airline     " << airline <<
  73                                               " at airport     " << dep->getId());
  74                     char buffer[10];
  75                     snprintf (buffer, 10, "%d", gateId);
  76                     //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
  77                     waypoint *wpt;
  78                     wpt = new waypoint;
  79                     wpt->name      = string(buffer); // fixme: should be the name of the taxiway
  80                     wpt->latitude  = lat;
  81                     wpt->longitude = lon;
  82                     // Elevation is currently disregarded when on_ground is true
  83                     // because the AIModel obtains a periodic ground elevation estimate.
  84                    wpt->altitude  = dep->getElevation();
  85                    wpt->speed = vTaxiBackward;
  86                    wpt->crossat   = -10000;
  87                    wpt->gear_down = true;
  88                    wpt->flaps_down= true;
  89                    wpt->finished  = false;
  90                    wpt->on_ground = true;
  91                    wpt->routeIndex = -1;
  92                    waypoints.push_back(wpt);
  93             }
  94            //cerr << "Success : GateId = " << gateId << endl;
  95            SG_LOG(SG_INPUT, SG_WARN, "Warning: Succesfully found a parking for a " <<
  96                                               aircraftType <<
  97                                               " of flight type " << fltType <<
  98                                               " of airline     " << airline <<
  99                                               " at airport     " << dep->getId());
 100         } else {
 101             //cerr << "Push Back follow-up Flight" << endl;
 102             dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 103         }
 104         if (gateId < 0) {
 105              createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
 106                                     radius, fltType, aircraftType, airline);
 107              return;
 108
 109         }
 110         //cerr << "getting parking " << gateId;
 111         //cerr << " for a " <<
 112         //                                      aircraftType <<
 113         //                                      " of flight type " << fltType <<
 114         //                                      " of airline     " << airline <<
 115         //                                      " at airport     " << dep->getId() << endl;
 116         FGParking *parking = dep->getDynamics()->getParking(gateId);
 117         int pushBackNode = parking->getPushBackPoint();
 118
 119
 120         pushBackRoute = parking->getPushBackRoute();
 121         if ((pushBackNode > 0) && (pushBackRoute == 0)) {
 122             int node, rte;
 123             FGTaxiRoute route;
 124             //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
 125             route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
 126             parking->setPushBackRoute(new FGTaxiRoute(route));
 127
 128
 129             pushBackRoute = parking->getPushBackRoute();
 130             int size = pushBackRoute->size();
 131             if (size < 2) {
 132                 SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
 133                 SG_LOG(SG_GENERAL, SG_WARN, "Using  " << pushBackNode);
 134             }
 135             pushBackRoute->first();
 136             waypoint *wpt;
 137             while(pushBackRoute->next(&node, &rte))
 138               {
 139                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 140                 char buffer[10];
 141                 snprintf (buffer, 10, "%d", node);
 142                 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
 143                 //ids.pop_back();
 144                 wpt = new waypoint;
 145                 wpt->name      = string(buffer); // fixme: should be the name of the taxiway
 146                 wpt->latitude  = tn->getLatitude();
 147                 wpt->longitude = tn->getLongitude();
 148                 // Elevation is currently disregarded when on_ground is true
 149                 // because the AIModel obtains a periodic ground elevation estimate.
 150                 wpt->altitude  = dep->getElevation();
 151                 wpt->speed = vTaxiBackward;
 152                 wpt->crossat   = -10000;
 153                 wpt->gear_down = true;
 154                 wpt->flaps_down= true;
 155                 wpt->finished  = false;
 156                 wpt->on_ground = true;
 157                 wpt->routeIndex = rte;
 158                 waypoints.push_back(wpt);
 159               }
 160               // some special considerations for the last point:
 161               wpt->name = string("PushBackPoint");
 162               wpt->speed = vTaxi;
 163               //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
 164               //    cerr << "Waypoint Name: " << (*i)->name << endl;
 165               //}
 166         } else {
 167            //cerr << "Creating direct forward departure route fragment" << endl;
 168            double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
 169            waypoint *wpt;
 170            geo_direct_wgs_84 ( 0, lat, lon, heading,
 171                                2, &lat2, &lon2, &az2 );
 172            wpt = new waypoint;
 173            wpt->name      = "park2";
 174            wpt->latitude  = lat2;
 175            wpt->longitude = lon2;
 176            wpt->altitude  = dep->getElevation();
 177            wpt->speed     = vTaxiReduced;
 178            wpt->crossat   = -10000;
 179            wpt->gear_down = true;
 180            wpt->flaps_down= true;
 181            wpt->finished  = false;
 182            wpt->on_ground = true;
 183            wpt->routeIndex = 0;
 184            waypoints.push_back(wpt);
 185
 186            geo_direct_wgs_84 ( 0, lat, lon, heading,
 187                                4, &lat2, &lon2, &az2 );
 188            wpt = new waypoint;
 189            wpt->name      = "name";
 190            wpt->latitude  = lat2;
 191            wpt->longitude = lon2;
 192            wpt->altitude  = dep->getElevation();
 193            wpt->speed     = vTaxiReduced;
 194            wpt->crossat   = -10000;
 195            wpt->gear_down = true;
 196            wpt->flaps_down= true;
 197            wpt->finished  = false;
 198            wpt->on_ground = true;
 199            wpt->routeIndex = 0;
 200            waypoints.push_back(wpt);
 201
 202            //cerr << "Creating final push forward point for gate " << gateId << endl;
 203            FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
 204            FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
 205            FGTaxiSegmentVectorIterator te = tn->getEndRoute();
 206            if (ts == te) {
 207                SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
 208                //exit(1);
 209            }
 210            tn = (*ts)->getEnd();
 211            lastNodeVisited = tn->getIndex();
 212            if (tn == NULL) {
 213                SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
 214                exit(1);
 215            }
 216            wpt = new waypoint;
 217            wpt->name      = "PushBackPoint";
 218            wpt->latitude  = tn->getLatitude();
 219            wpt->longitude = tn->getLongitude();
 220            wpt->altitude  = dep->getElevation();
 221            wpt->speed     = vTaxiReduced;
 222            wpt->crossat   = -10000;
 223            wpt->gear_down = true;
 224            wpt->flaps_down= true;
 225            wpt->finished  = false;
 226            wpt->on_ground = true;
 227            wpt->routeIndex = (*ts)->getIndex();
 228            waypoints.push_back(wpt);
 229
 230
 231         }
 232
 233     }
 234 }
 235 /*******************************************************************
 236  * createPushBackFallBack
 237  * This is the backup function for airports that don't have a
 238  * network yet.
 239  ******************************************************************/
 240 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 241                                     double latitude,
 242                                     double longitude,
 243                                     double radius,
 244                                     const string& fltType,
 245                                     const string& aircraftType,
 246                                     const string& airline)
 247 {
 248   double heading;
 249   double lat;
 250   double lon;
 251   double lat2 = 0.0;
 252   double lon2 = 0.0;
 253   double az2 = 0.0;
 254
 255   double vTaxi = ac->getPerformance()->vTaxi();
 256   double vTaxiBackward = vTaxi * (-2.0/3.0);
 257   double vTaxiReduced  = vTaxi * (2.0/3.0);
 258
 259
 260
 261   dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
 262
 263   heading += 180.0;
 264   if (heading > 360)
 265     heading -= 360;
 266   waypoint *wpt = new waypoint;
 267   wpt->name      = "park";
 268   wpt->latitude  = lat;
 269   wpt->longitude = lon;
 270   wpt->altitude  = dep->getElevation();
 271   wpt->speed     = vTaxiBackward;
 272   wpt->crossat   = -10000;
 273   wpt->gear_down = true;
 274   wpt->flaps_down= true;
 275   wpt->finished  = false;
 276   wpt->on_ground = true;
 277
 278   waypoints.push_back(wpt);
 279
 280   geo_direct_wgs_84 ( 0, lat, lon, heading,
 281                       10,
 282                       &lat2, &lon2, &az2 );
 283   wpt = new waypoint;
 284   wpt->name      = "park2";
 285   wpt->latitude  = lat2;
 286   wpt->longitude = lon2;
 287   wpt->altitude  = dep->getElevation();
 288   wpt->speed     = vTaxiBackward;
 289   wpt->crossat   = -10000;
 290   wpt->gear_down = true;
 291   wpt->flaps_down= true;
 292   wpt->finished  = false;
 293   wpt->on_ground = true;
 294   wpt->routeIndex = 0;
 295   waypoints.push_back(wpt);
 296   geo_direct_wgs_84 ( 0, lat, lon, heading,
 297                       2.2*radius,
 298                       &lat2, &lon2, &az2 );
 299   wpt = new waypoint;
 300   wpt->name      = "taxiStart";
 301   wpt->latitude  = lat2;
 302   wpt->longitude = lon2;
 303   wpt->altitude  = dep->getElevation();
 304   wpt->speed     = vTaxiReduced;
 305   wpt->crossat   = -10000;
 306   wpt->gear_down = true;
 307   wpt->flaps_down= true;
 308   wpt->finished  = false;
 309   wpt->on_ground = true;
 310   wpt->routeIndex = 0;
 311   waypoints.push_back(wpt);
 312 }