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 #include <cstdio>
  27
  28 #include <simgear/math/sg_geodesy.hxx>
  29
  30 #include <Airports/airport.hxx>
  31 #include <Airports/runways.hxx>
  32 #include <Airports/dynamics.hxx>
  33 #include <Airports/groundnetwork.hxx>
  34
  35 #include <Environment/environment_mgr.hxx>
  36 #include <Environment/environment.hxx>
  37
  38 #include "AIFlightPlan.hxx"
  39 #include "AIAircraft.hxx"
  40 #include "performancedata.hxx"
  41
  42 using std::string;
  43
  44 // TODO: Use James Turner's createOnGround functions.
  45 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  46                                     bool firstFlight, FGAirport *dep,
  47                                     double radius,
  48                                     const string& fltType,
  49                                     const string& aircraftType,
  50                                     const string& airline)
  51 {
  52     double vTaxi = ac->getPerformance()->vTaxi();
  53     double vTaxiBackward = vTaxi * (-2.0/3.0);
  54     double vTaxiReduced  = vTaxi * (2.0/3.0);
  55
  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()->getGroundController()->exists())) {
  61         //cerr << "Push Back fallback" << endl;
  62         createPushBackFallBack(ac, firstFlight, dep,
  63                                radius, fltType, aircraftType, airline);
  64       return true;
  65     }
  66
  67   // establish the parking position / gate if required
  68     if (firstFlight) {
  69         // if the airprot has no parking positions defined, don't log
  70         // the warning below.
  71         if (!dep->getDynamics()->hasParkings()) {
  72             return false;
  73         }
  74
  75       gate = dep->getDynamics()->getAvailableParking(radius, fltType,
  76                                                        aircraftType, airline);
  77       if (!gate.isValid()) {
  78         SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
  79                aircraftType <<
  80                " of flight type " << fltType <<
  81                " of airline     " << airline <<
  82                " at airport     " << dep->getId());
  83         return false;
  84       }
  85     }
  86
  87     if (!gate.isValid()) {
  88         createPushBackFallBack(ac, firstFlight, dep,
  89                                radius, fltType, aircraftType, airline);
  90         return true;
  91
  92     }
  93
  94     FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
  95     FGParking *parking = gate.parking();
  96     if (parking && parking->getPushBackPoint() > 0) {
  97         FGTaxiRoute route = groundNet->findShortestRoute(parking, parking->getPushBackPoint(), false);
  98
  99         int size = route.size();
 100         if (size < 2) {
 101             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
 102             SG_LOG(SG_AI, SG_ALERT, "Using  " << parking->getPushBackPoint());
 103         }
 104
 105         route.first();
 106         FGTaxiNodeRef node;
 107         int rte;
 108
 109         while (route.next(node, &rte))
 110         {
 111             char buffer[10];
 112             snprintf (buffer, 10, "%d",  node->getIndex());
 113             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), node->geod(), dep->getElevation(), vTaxiBackward);
 114
 115             /*
 116             if (previous) {
 117               FGTaxiSegment* segment = groundNet->findSegment(previous, node);
 118               wpt->setRouteIndex(segment->getIndex());
 119             } else {
 120               // not on the route yet, make up a unique segment ID
 121               int x = (int) tn->guid();
 122               wpt->setRouteIndex(x);
 123             }*/
 124
 125             wpt->setRouteIndex(rte);
 126             pushBackWaypoint(wpt);
 127             //previous = node;
 128         }
 129         // some special considerations for the last point:
 130         waypoints.back()->setName(string("PushBackPoint"));
 131         waypoints.back()->setSpeed(vTaxi);
 132         ac->setTaxiClearanceRequest(true);
 133     } else {  // In case of a push forward departure...
 134         ac->setTaxiClearanceRequest(false);
 135         double az2 = 0.0;
 136
 137       FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking, 0);
 138       // there aren't any routes for this parking.
 139       if (!pushForwardSegment) {
 140           SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
 141           return false;
 142       }
 143
 144       lastNodeVisited = pushForwardSegment->getEnd();
 145       double distance = pushForwardSegment->getLength();
 146
 147       double parkingHeading = parking->getHeading();
 148
 149       for (int i = 1; i < 10; i++) {
 150           SGGeod pushForwardPt;
 151           SGGeodesy::direct(parking->geod(), parkingHeading,
 152                             ((i / 10.0) * distance), pushForwardPt, az2);
 153           char buffer[16];
 154           snprintf(buffer, 16, "pushback-%02d", i);
 155           FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 156
 157           wpt->setRouteIndex(pushForwardSegment->getIndex());
 158           pushBackWaypoint(wpt);
 159       }
 160
 161       waypoints.back()->setName(string("PushBackPoint"));
 162       // cerr << "Done assinging new name" << endl;
 163     }
 164
 165     return true;
 166 }
 167 /*******************************************************************
 168 * createPushBackFallBack
 169 * This is the backup function for airports that don't have a
 170 * network yet.
 171 ******************************************************************/
 172 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 173         double radius,
 174         const string& fltType,
 175         const string& aircraftType,
 176         const string& airline)
 177 {
 178     double az2 = 0.0;
 179
 180     double vTaxi = ac->getPerformance()->vTaxi();
 181     double vTaxiBackward = vTaxi * (-2.0/3.0);
 182     double vTaxiReduced  = vTaxi * (2.0/3.0);
 183
 184     double heading = 180.0; // this is a completely arbitrary heading!
 185     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 186
 187     pushBackWaypoint(wpt);
 188
 189     SGGeod coord;
 190     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 191     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 192
 193     pushBackWaypoint(wpt);
 194
 195     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 196     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 197     pushBackWaypoint(wpt);
 198
 199 }