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 bool 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                     return false;
  75                     char buffer[10];
  76                     snprintf (buffer, 10, "%d", gateId);
  77                     SGGeod coord = coord.fromDeg(lon, lat);
  78                     //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
  79                     FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
  80                    wpt->setRouteIndex(-1);
  81                    waypoints.push_back(wpt);
  82             }
  83            //cerr << "Success : GateId = " << gateId << endl;
  84            SG_LOG(SG_INPUT, SG_WARN, "Warning: Succesfully found a parking for a " <<
  85                                               aircraftType <<
  86                                               " of flight type " << fltType <<
  87                                               " of airline     " << airline <<
  88                                               " at airport     " << dep->getId());
  89         } else {
  90             //cerr << "Push Back follow-up Flight" << endl;
  91             dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
  92         }
  93         if (gateId < 0) {
  94              createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
  95                                     radius, fltType, aircraftType, airline);
  96              return true;
  97
  98         }
  99         //cerr << "getting parking " << gateId;
 100         //cerr << " for a " <<
 101         //                                      aircraftType <<
 102         //                                      " of flight type " << fltType <<
 103         //                                      " of airline     " << airline <<
 104         //                                      " at airport     " << dep->getId() << endl;
 105         FGParking *parking = dep->getDynamics()->getParking(gateId);
 106         int pushBackNode = parking->getPushBackPoint();
 107
 108
 109         pushBackRoute = parking->getPushBackRoute();
 110         if ((pushBackNode > 0) && (pushBackRoute == 0)) {  // Load the already established route for this gate
 111             int node, rte;
 112             FGTaxiRoute route;
 113             //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
 114             route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
 115             parking->setPushBackRoute(new FGTaxiRoute(route));
 116
 117
 118             pushBackRoute = parking->getPushBackRoute();
 119             int size = pushBackRoute->size();
 120             if (size < 2) {
 121                 SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
 122                 SG_LOG(SG_GENERAL, SG_WARN, "Using  " << pushBackNode);
 123             }
 124             pushBackRoute->first();
 125             while(pushBackRoute->next(&node, &rte))
 126               {
 127                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 128                 char buffer[10];
 129                 snprintf (buffer, 10, "%d", node);
 130                 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
 131                 //ids.pop_back();
 132                 //wpt = new waypoint;
 133                 SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude());
 134                 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
 135
 136                 wpt->setRouteIndex(rte);
 137                 waypoints.push_back(wpt);
 138               }
 139               // some special considerations for the last point:
 140               waypoints.back()->setName(string("PushBackPoint"));
 141               waypoints.back()->setSpeed(vTaxi);
 142               ac->setTaxiClearanceRequest(true);
 143         } else {  // In case of a push forward departure...
 144            ac->setTaxiClearanceRequest(false);
 145            double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
 146
 147            //cerr << "Creating final push forward point for gate " << gateId << endl;
 148            FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
 149            FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
 150            FGTaxiSegmentVectorIterator te = tn->getEndRoute();
 151            if (ts == te) {
 152                SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
 153                //exit(1);
 154            }
 155            tn = (*ts)->getEnd();
 156            lastNodeVisited = tn->getIndex();
 157            if (tn == NULL) {
 158                SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
 159                exit(1);
 160            }
 161            double distance = (*ts)->getLength();
 162            //cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl;
 163            lat2 =  tn->getLatitude();
 164            lon2 =  tn->getLongitude();
 165
 166            for (int i = 1; i < 10; i++) {
 167                 geo_direct_wgs_84 ( 0, lat, lon, heading,
 168                                    ((i / 10.0) * distance), &lat2, &lon2, &az2 );
 169                 char buffer[16];
 170                 snprintf(buffer, 16, "pushback-%02d", i);
 171                 SGGeod coord = coord.fromDeg(lon2, lat2);
 172                 //cerr << i << endl;
 173                 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced);
 174
 175                 wpt->setRouteIndex((*ts)->getIndex());
 176                 waypoints.push_back(wpt);
 177            }
 178            // cerr << "Done " << endl;
 179            waypoints.back()->setName(string("PushBackPoint"));
 180            // cerr << "Done assinging new name" << endl;
 181         }
 182     }
 183     return true;
 184 }
 185 /*******************************************************************
 186  * createPushBackFallBack
 187  * This is the backup function for airports that don't have a
 188  * network yet.
 189  ******************************************************************/
 190 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 191                                     double latitude,
 192                                     double longitude,
 193                                     double radius,
 194                                     const string& fltType,
 195                                     const string& aircraftType,
 196                                     const string& airline)
 197 {
 198   double heading;
 199   double lat;
 200   double lon;
 201   double lat2 = 0.0;
 202   double lon2 = 0.0;
 203   double az2 = 0.0;
 204
 205   double vTaxi = ac->getPerformance()->vTaxi();
 206   double vTaxiBackward = vTaxi * (-2.0/3.0);
 207   double vTaxiReduced  = vTaxi * (2.0/3.0);
 208
 209
 210
 211   dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
 212
 213   heading += 180.0;
 214   if (heading > 360)
 215         heading -= 360;
 216
 217   SGGeod coord = coord.fromDeg(lon, lat);
 218   FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward);
 219
 220   waypoints.push_back(wpt);
 221
 222   geo_direct_wgs_84 ( 0, lat, lon, heading,
 223                       10,
 224                       &lat2, &lon2, &az2 );
 225   coord = coord.fromDeg(lon2, lat2);
 226   wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 227
 228   waypoints.push_back(wpt);
 229
 230   geo_direct_wgs_84 ( 0, lat, lon, heading,
 231                       2.2*radius,
 232                       &lat2, &lon2, &az2 );
 233   coord = coord.fromDeg(lon2, lat2);
 234   wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 235   waypoints.push_back(wpt);
 236
 237 }