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/simple.hxx>
  31 #include <Airports/runways.hxx>
  32 #include <Airports/dynamics.hxx>
  33
  34 #include <Environment/environment_mgr.hxx>
  35 #include <Environment/environment.hxx>
  36
  37 #include "AIFlightPlan.hxx"
  38 #include "AIAircraft.hxx"
  39 #include "performancedata.hxx"
  40
  41
  42 // TODO: Use James Turner's createOnGround functions.
  43 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  44                                     bool firstFlight, FGAirport *dep,
  45                                     double radius,
  46                                     const string& fltType,
  47                                     const string& aircraftType,
  48                                     const string& airline)
  49 {
  50     double vTaxi = ac->getPerformance()->vTaxi();
  51     double vTaxiBackward = vTaxi * (-2.0/3.0);
  52     double vTaxiReduced  = vTaxi * (2.0/3.0);
  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       gate = dep->getDynamics()->getAvailableParking(radius, fltType,
  67                                                        aircraftType, airline);
  68       if (!gate.isValid()) {
  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     }
  77
  78     if (!gate.isValid()) {
  79         createPushBackFallBack(ac, firstFlight, dep,
  80                                radius, fltType, aircraftType, airline);
  81         return true;
  82
  83     }
  84
  85     FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
  86     FGParking *parking = gate.parking();
  87     if (parking && parking->getPushBackPoint() > 0) {
  88         FGTaxiRoute route = groundNet->findShortestRoute(parking->guid(), parking->getPushBackPoint(), false);
  89
  90         int size = route.size();
  91         if (size < 2) {
  92             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
  93             SG_LOG(SG_AI, SG_ALERT, "Using  " << parking->getPushBackPoint());
  94         }
  95
  96         route.first();
  97         PositionedID node, previous= 0;
  98
  99         while (route.next(&node))
 100         {
 101             char buffer[10];
 102             snprintf (buffer, 10, "%lld",  (long long int) node);
 103             FGTaxiNode *tn = groundNet->findNode(node);
 104             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->geod(), dep->getElevation(), vTaxiBackward);
 105
 106             if (previous) {
 107               FGTaxiSegment* segment = groundNet->findSegment(previous, node);
 108               wpt->setRouteIndex(segment->getIndex());
 109             } else {
 110               // not on the route yet, make up a unique segment ID
 111               int x = (int) tn->guid();
 112               wpt->setRouteIndex(x);
 113             }
 114
 115             pushBackWaypoint(wpt);
 116             previous = node;
 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       FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking->guid(), 0);
 127       // there aren't any routes for this parking.
 128       if (!pushForwardSegment) {
 129           SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
 130           return false;
 131       }
 132
 133       lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
 134       double distance = pushForwardSegment->getLength();
 135
 136       double parkingHeading = parking->getHeading();
 137
 138       for (int i = 1; i < 10; i++) {
 139           SGGeod pushForwardPt;
 140           SGGeodesy::direct(parking->geod(), parkingHeading,
 141                             ((i / 10.0) * distance), pushForwardPt, az2);
 142           char buffer[16];
 143           snprintf(buffer, 16, "pushback-%02d", i);
 144           FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 145
 146           wpt->setRouteIndex(pushForwardSegment->getIndex());
 147           pushBackWaypoint(wpt);
 148       }
 149
 150       waypoints.back()->setName(string("PushBackPoint"));
 151       // cerr << "Done assinging new name" << endl;
 152     }
 153
 154     return true;
 155 }
 156 /*******************************************************************
 157 * createPushBackFallBack
 158 * This is the backup function for airports that don't have a
 159 * network yet.
 160 ******************************************************************/
 161 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 162         double radius,
 163         const string& fltType,
 164         const string& aircraftType,
 165         const string& airline)
 166 {
 167     double az2 = 0.0;
 168
 169     double vTaxi = ac->getPerformance()->vTaxi();
 170     double vTaxiBackward = vTaxi * (-2.0/3.0);
 171     double vTaxiReduced  = vTaxi * (2.0/3.0);
 172
 173     double heading = 180.0; // this is a completely arbitrary heading!
 174     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 175
 176     pushBackWaypoint(wpt);
 177
 178     SGGeod coord;
 179     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 180     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 181
 182     pushBackWaypoint(wpt);
 183
 184     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 185     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 186     pushBackWaypoint(wpt);
 187
 188 }