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     // Active runway can be conditionally set by ATC, so at the start of a new flight, this
  53     // must be reset.
  54     activeRunway.clear();
  55
  56     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  57         //cerr << "Push Back fallback" << endl;
  58         createPushBackFallBack(ac, firstFlight, dep,
  59                                radius, fltType, aircraftType, airline);
  60       return true;
  61     }
  62
  63   // establish the parking position / gate if required
  64     if (firstFlight) {
  65       gate = dep->getDynamics()->getAvailableParking(radius, fltType,
  66                                                        aircraftType, airline);
  67       if (!gate.isValid()) {
  68         SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
  69                aircraftType <<
  70                " of flight type " << fltType <<
  71                " of airline     " << airline <<
  72                " at airport     " << dep->getId());
  73         return false;
  74       }
  75     }
  76
  77     if (!gate.isValid()) {
  78         createPushBackFallBack(ac, firstFlight, dep,
  79                                radius, fltType, aircraftType, airline);
  80         return true;
  81
  82     }
  83
  84     FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
  85     FGParking *parking = gate.parking();
  86     if (parking && parking->getPushBackPoint() > 0) {
  87         FGTaxiRoute route = groundNet->findShortestRoute(parking->guid(), parking->getPushBackPoint(), false);
  88
  89         int size = route.size();
  90         if (size < 2) {
  91             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
  92             SG_LOG(SG_AI, SG_ALERT, "Using  " << parking->getPushBackPoint());
  93         }
  94
  95         route.first();
  96         PositionedID node, previous= 0;
  97
  98         while (route.next(&node))
  99         {
 100             char buffer[10];
 101             snprintf (buffer, 10, "%lld", node);
 102             FGTaxiNode *tn = groundNet->findNode(node);
 103             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->geod(), dep->getElevation(), vTaxiBackward);
 104
 105             if (previous) {
 106               FGTaxiSegment* segment = groundNet->findSegment(previous, node);
 107               wpt->setRouteIndex(segment->getIndex());
 108             } else {
 109               // not on the route yet, make up a unique segment ID
 110               int x = (int) tn->guid();
 111               wpt->setRouteIndex(x);
 112             }
 113
 114             pushBackWaypoint(wpt);
 115             previous = node;
 116         }
 117         // some special considerations for the last point:
 118         waypoints.back()->setName(string("PushBackPoint"));
 119         waypoints.back()->setSpeed(vTaxi);
 120         ac->setTaxiClearanceRequest(true);
 121     } else {  // In case of a push forward departure...
 122         ac->setTaxiClearanceRequest(false);
 123         double az2 = 0.0;
 124
 125       FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking->guid(), 0);
 126       // there aren't any routes for this parking.
 127       if (!pushForwardSegment) {
 128           SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
 129           return false;
 130       }
 131
 132       lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
 133       double distance = pushForwardSegment->getLength();
 134
 135       double parkingHeading = parking->getHeading();
 136
 137       for (int i = 1; i < 10; i++) {
 138           SGGeod pushForwardPt;
 139           SGGeodesy::direct(parking->geod(), parkingHeading,
 140                             ((i / 10.0) * distance), pushForwardPt, az2);
 141           char buffer[16];
 142           snprintf(buffer, 16, "pushback-%02d", i);
 143           FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 144
 145           wpt->setRouteIndex(pushForwardSegment->getIndex());
 146           pushBackWaypoint(wpt);
 147       }
 148
 149       waypoints.back()->setName(string("PushBackPoint"));
 150       // cerr << "Done assinging new name" << endl;
 151     }
 152
 153     return true;
 154 }
 155 /*******************************************************************
 156 * createPushBackFallBack
 157 * This is the backup function for airports that don't have a
 158 * network yet.
 159 ******************************************************************/
 160 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 161         double radius,
 162         const string& fltType,
 163         const string& aircraftType,
 164         const string& airline)
 165 {
 166     double az2 = 0.0;
 167
 168     double vTaxi = ac->getPerformance()->vTaxi();
 169     double vTaxiBackward = vTaxi * (-2.0/3.0);
 170     double vTaxiReduced  = vTaxi * (2.0/3.0);
 171
 172     double heading = 180.0; // this is a completely arbitrary heading!
 173     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 174
 175     pushBackWaypoint(wpt);
 176
 177     SGGeod coord;
 178     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 179     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 180
 181     pushBackWaypoint(wpt);
 182
 183     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 184     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 185     pushBackWaypoint(wpt);
 186
 187 }