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 radius,
  45                                     const string& fltType,
  46                                     const string& aircraftType,
  47                                     const string& airline)
  48 {
  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
  54     // must be reset.
  55     activeRunway.clear();
  56
  57     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  58         //cerr << "Push Back fallback" << endl;
  59         createPushBackFallBack(ac, firstFlight, dep,
  60                                radius, fltType, aircraftType, airline);
  61       return true;
  62     }
  63
  64   // establish the parking position / gate if required
  65     if (firstFlight) {
  66       gateId = dep->getDynamics()->getAvailableParking(radius, fltType,
  67                                                        aircraftType, airline);
  68       if (gateId < 0) {
  69         SG_LOG(SG_AI, 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         return false;
  75       }
  76     } else {
  77       dep->getDynamics()->getParking(gateId);
  78     }
  79
  80     if (gateId < 0) {
  81         createPushBackFallBack(ac, firstFlight, dep,
  82                                radius, fltType, aircraftType, airline);
  83         return true;
  84
  85     }
  86
  87     FGParking *parking = dep->getDynamics()->getParking(gateId);
  88     int pushBackNode = parking->getPushBackPoint();
  89
  90     pushBackRoute = parking->getPushBackRoute();
  91     if ((pushBackNode > 0) && (pushBackRoute == 0)) {  // Load the already established route for this gate
  92         int node, rte;
  93         FGTaxiRoute route;
  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(std::auto_ptr<FGTaxiRoute>(new FGTaxiRoute(route)));
  97
  98         pushBackRoute = parking->getPushBackRoute();
  99         int size = pushBackRoute->size();
 100         if (size < 2) {
 101             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << gateId << " has only " << size << " nodes.");
 102             SG_LOG(SG_AI, SG_ALERT, "Using  " << pushBackNode);
 103         }
 104         pushBackRoute->first();
 105         while (pushBackRoute->next(&node, &rte))
 106         {
 107             //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 108             char buffer[10];
 109             snprintf (buffer, 10, "%d", node);
 110             FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
 111             //ids.pop_back();
 112             //wpt = new waypoint;
 113             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->geod(), dep->getElevation(), vTaxiBackward);
 114
 115             wpt->setRouteIndex(rte);
 116             pushBackWaypoint(wpt);
 117         }
 118         // some special considerations for the last point:
 119         waypoints.back()->setName(string("PushBackPoint"));
 120         waypoints.back()->setSpeed(vTaxi);
 121         ac->setTaxiClearanceRequest(true);
 122     } else {  // In case of a push forward departure...
 123         ac->setTaxiClearanceRequest(false);
 124         double az2 = 0.0;
 125
 126         //cerr << "Creating final push forward point for gate " << gateId << endl;
 127         FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
 128         // there aren't any routes for this parking.
 129         // in cases like these we should flag the gate as being inoperative and return false
 130         if (tn->arcs().empty()) {
 131             SG_LOG(SG_AI, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
 132             parking->setAvailable(false);
 133             return false;
 134         }
 135
 136         FGTaxiSegment* pushForwardSegment = tn->arcs().front();
 137         lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
 138         double distance = pushForwardSegment->getLength();
 139
 140         double parkingHeading = parking->getHeading();
 141
 142         for (int i = 1; i < 10; i++) {
 143             SGGeod pushForwardPt;
 144             SGGeodesy::direct(parking->geod(), parkingHeading,
 145                               ((i / 10.0) * distance), pushForwardPt, az2);
 146             char buffer[16];
 147             snprintf(buffer, 16, "pushback-%02d", i);
 148             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 149
 150             wpt->setRouteIndex(pushForwardSegment->getIndex());
 151             pushBackWaypoint(wpt);
 152         }
 153         // cerr << "Done " << endl;
 154         waypoints.back()->setName(string("PushBackPoint"));
 155         // cerr << "Done assinging new name" << endl;
 156     }
 157
 158     return true;
 159 }
 160 /*******************************************************************
 161 * createPushBackFallBack
 162 * This is the backup function for airports that don't have a
 163 * network yet.
 164 ******************************************************************/
 165 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 166         double radius,
 167         const string& fltType,
 168         const string& aircraftType,
 169         const string& airline)
 170 {
 171     double az2 = 0.0;
 172
 173     double vTaxi = ac->getPerformance()->vTaxi();
 174     double vTaxiBackward = vTaxi * (-2.0/3.0);
 175     double vTaxiReduced  = vTaxi * (2.0/3.0);
 176
 177     double heading = 180.0; // this is a completely arbitrary heading!
 178     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 179
 180     pushBackWaypoint(wpt);
 181
 182     SGGeod coord;
 183     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 184     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 185
 186     pushBackWaypoint(wpt);
 187
 188     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 189     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 190     pushBackWaypoint(wpt);
 191
 192 }