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
  27 #include <simgear/math/sg_geodesy.hxx>
  28
  29 #include <Airports/simple.hxx>
  30 #include <Airports/runways.hxx>
  31 #include <Airports/dynamics.hxx>
  32
  33 #include <Environment/environment_mgr.hxx>
  34 #include <Environment/environment.hxx>
  35
  36 #include "AIFlightPlan.hxx"
  37 #include "AIAircraft.hxx"
  38 #include "performancedata.hxx"
  39
  40
  41 // TODO: Use James Turner's createOnGround functions.
  42 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  43                                     bool firstFlight, FGAirport *dep,
  44                                     double latitude,
  45                                     double longitude,
  46                                     double radius,
  47                                     const string& fltType,
  48                                     const string& aircraftType,
  49                                     const string& airline)
  50 {
  51     double lat, lon, heading;
  52     double vTaxi = ac->getPerformance()->vTaxi();
  53     double vTaxiBackward = vTaxi * (-2.0/3.0);
  54     double vTaxiReduced  = vTaxi * (2.0/3.0);
  55     FGTaxiRoute *pushBackRoute;
  56     // Active runway can be conditionally set by ATC, so at the start of a new flight, this
  57     // must be reset.
  58     activeRunway.clear();
  59
  60     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  61         //cerr << "Push Back fallback" << endl;
  62         createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
  63                                radius, fltType, aircraftType, airline);
  64     } else {
  65         if (firstFlight) {
  66
  67             if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
  68                     &heading, &gateId,
  69                     radius, fltType,
  70                     aircraftType, airline))) {
  71                 SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
  72                        aircraftType <<
  73                        " of flight type " << fltType <<
  74                        " of airline     " << airline <<
  75                        " at airport     " << dep->getId());
  76                 return false;
  77                 char buffer[10];
  78                 snprintf (buffer, 10, "%d", gateId);
  79                 SGGeod coord = coord.fromDeg(lon, lat);
  80                 //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
  81                 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
  82                 wpt->setRouteIndex(-1);
  83                 pushBackWaypoint(wpt);
  84             }
  85             //cerr << "Success : GateId = " << gateId << endl;
  86             SG_LOG(SG_AI, SG_WARN, "Warning: Succesfully found a parking for a " <<
  87                    aircraftType <<
  88                    " of flight type " << fltType <<
  89                    " of airline     " << airline <<
  90                    " at airport     " << dep->getId());
  91         } else {
  92             //cerr << "Push Back follow-up Flight" << endl;
  93             dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
  94         }
  95         if (gateId < 0) {
  96             createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
  97                                    radius, fltType, aircraftType, airline);
  98             return true;
  99
 100         }
 101         //cerr << "getting parking " << gateId;
 102         //cerr << " for a " <<
 103         //                                      aircraftType <<
 104         //                                      " of flight type " << fltType <<
 105         //                                      " of airline     " << airline <<
 106         //                                      " at airport     " << dep->getId() << endl;
 107         FGParking *parking = dep->getDynamics()->getParking(gateId);
 108         int pushBackNode = parking->getPushBackPoint();
 109
 110
 111         pushBackRoute = parking->getPushBackRoute();
 112         if ((pushBackNode > 0) && (pushBackRoute == 0)) {  // Load the already established route for this gate
 113             int node, rte;
 114             FGTaxiRoute route;
 115             //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
 116             route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
 117             parking->setPushBackRoute(new FGTaxiRoute(route));
 118
 119
 120             pushBackRoute = parking->getPushBackRoute();
 121             int size = pushBackRoute->size();
 122             if (size < 2) {
 123                 SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << gateId << " has only " << size << " nodes.");
 124                 SG_LOG(SG_AI, SG_ALERT, "Using  " << pushBackNode);
 125             }
 126             pushBackRoute->first();
 127             while (pushBackRoute->next(&node, &rte))
 128             {
 129                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 130                 char buffer[10];
 131                 snprintf (buffer, 10, "%d", node);
 132                 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
 133                 //ids.pop_back();
 134                 //wpt = new waypoint;
 135                 SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude());
 136                 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
 137
 138                 wpt->setRouteIndex(rte);
 139                 pushBackWaypoint(wpt);
 140             }
 141             // some special considerations for the last point:
 142             waypoints.back()->setName(string("PushBackPoint"));
 143             waypoints.back()->setSpeed(vTaxi);
 144             ac->setTaxiClearanceRequest(true);
 145         } else {  // In case of a push forward departure...
 146             ac->setTaxiClearanceRequest(false);
 147             double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
 148
 149             //cerr << "Creating final push forward point for gate " << gateId << endl;
 150             FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
 151             FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
 152             FGTaxiSegmentVectorIterator te = tn->getEndRoute();
 153             // if the starting node equals the ending node, then there aren't any routes for this parking.
 154             // in cases like these we should flag the gate as being inoperative and return false
 155             if (ts == te) {
 156                 SG_LOG(SG_AI, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
 157                 parking->setAvailable(false);
 158                 return false;
 159             }
 160             tn = (*ts)->getEnd();
 161             lastNodeVisited = tn->getIndex();
 162             if (tn == NULL) {
 163                 SG_LOG(SG_AI, SG_ALERT, "No valid taxinode found");
 164                 exit(1);
 165             }
 166             double distance = (*ts)->getLength();
 167             //cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl;
 168             lat2 =  tn->getLatitude();
 169             lon2 =  tn->getLongitude();
 170
 171             for (int i = 1; i < 10; i++) {
 172                 geo_direct_wgs_84 ( 0, lat, lon, heading,
 173                                     ((i / 10.0) * distance), &lat2, &lon2, &az2 );
 174                 char buffer[16];
 175                 snprintf(buffer, 16, "pushback-%02d", i);
 176                 SGGeod coord = coord.fromDeg(lon2, lat2);
 177                 //cerr << i << endl;
 178                 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced);
 179
 180                 wpt->setRouteIndex((*ts)->getIndex());
 181                 pushBackWaypoint(wpt);
 182             }
 183             // cerr << "Done " << endl;
 184             waypoints.back()->setName(string("PushBackPoint"));
 185             // cerr << "Done assinging new name" << endl;
 186         }
 187     }
 188     return true;
 189 }
 190 /*******************************************************************
 191 * createPushBackFallBack
 192 * This is the backup function for airports that don't have a
 193 * network yet.
 194 ******************************************************************/
 195 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 196         double latitude,
 197         double longitude,
 198         double radius,
 199         const string& fltType,
 200         const string& aircraftType,
 201         const string& airline)
 202 {
 203     double heading;
 204     double lat;
 205     double lon;
 206     double lat2 = 0.0;
 207     double lon2 = 0.0;
 208     double az2 = 0.0;
 209
 210     double vTaxi = ac->getPerformance()->vTaxi();
 211     double vTaxiBackward = vTaxi * (-2.0/3.0);
 212     double vTaxiReduced  = vTaxi * (2.0/3.0);
 213
 214
 215
 216     dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
 217
 218     heading += 180.0;
 219     if (heading > 360)
 220         heading -= 360;
 221
 222     SGGeod coord = coord.fromDeg(lon, lat);
 223     FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward);
 224
 225     pushBackWaypoint(wpt);
 226
 227     geo_direct_wgs_84 ( 0, lat, lon, heading,
 228                         10,
 229                         &lat2, &lon2, &az2 );
 230     coord = coord.fromDeg(lon2, lat2);
 231     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 232
 233     pushBackWaypoint(wpt);
 234
 235     geo_direct_wgs_84 ( 0, lat, lon, heading,
 236                         2.2*radius,
 237                         &lat2, &lon2, &az2 );
 238     coord = coord.fromDeg(lon2, lat2);
 239     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 240     pushBackWaypoint(wpt);
 241
 242 }