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
  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 using std::string;
  42
  43 // TODO: Use James Turner's createOnGround functions.
  44 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  45                                     bool firstFlight, FGAirport *dep,
  46                                     double radius,
  47                                     const string& fltType,
  48                                     const string& aircraftType,
  49                                     const string& airline)
  50 {
  51     double vTaxi = ac->getPerformance()->vTaxi();
  52     double vTaxiBackward = vTaxi * (-2.0/3.0);
  53     double vTaxiReduced  = vTaxi * (2.0/3.0);
  54
  55     // Active runway can be conditionally set by ATC, so at the start of a new flight, this
  56     // must be reset.
  57     activeRunway.clear();
  58
  59     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  60         //cerr << "Push Back fallback" << endl;
  61         createPushBackFallBack(ac, firstFlight, dep,
  62                                radius, fltType, aircraftType, airline);
  63       return true;
  64     }
  65
  66   // establish the parking position / gate if required
  67     if (firstFlight) {
  68       gate = dep->getDynamics()->getAvailableParking(radius, fltType,
  69                                                        aircraftType, airline);
  70       if (!gate.isValid()) {
  71         SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
  72                aircraftType <<
  73                " of flight type " << fltType <<
  74                " of airline     " << airline <<
  75                " at airport     " << dep->getId());
  76         return false;
  77       }
  78     }
  79
  80     if (!gate.isValid()) {
  81         createPushBackFallBack(ac, firstFlight, dep,
  82                                radius, fltType, aircraftType, airline);
  83         return true;
  84
  85     }
  86
  87     FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
  88     FGParking *parking = gate.parking();
  89     if (parking && parking->getPushBackPoint() > 0) {
  90         FGTaxiRoute route = groundNet->findShortestRoute(parking->guid(), parking->getPushBackPoint(), false);
  91
  92         int size = route.size();
  93         if (size < 2) {
  94             SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
  95             SG_LOG(SG_AI, SG_ALERT, "Using  " << parking->getPushBackPoint());
  96         }
  97
  98         route.first();
  99         PositionedID node;
 100         int rte;
 101
 102         while (route.next(&node, &rte))
 103         {
 104             char buffer[10];
 105             snprintf (buffer, 10, "%lld",  (long long int) node);
 106             FGTaxiNode *tn = groundNet->findNode(node);
 107             FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->geod(), dep->getElevation(), vTaxiBackward);
 108
 109             /*
 110             if (previous) {
 111               FGTaxiSegment* segment = groundNet->findSegment(previous, node);
 112               wpt->setRouteIndex(segment->getIndex());
 113             } else {
 114               // not on the route yet, make up a unique segment ID
 115               int x = (int) tn->guid();
 116               wpt->setRouteIndex(x);
 117             }*/
 118
 119             wpt->setRouteIndex(rte);
 120             pushBackWaypoint(wpt);
 121             //previous = node;
 122         }
 123         // some special considerations for the last point:
 124         waypoints.back()->setName(string("PushBackPoint"));
 125         waypoints.back()->setSpeed(vTaxi);
 126         ac->setTaxiClearanceRequest(true);
 127     } else {  // In case of a push forward departure...
 128         ac->setTaxiClearanceRequest(false);
 129         double az2 = 0.0;
 130
 131       FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking->guid(), 0);
 132       // there aren't any routes for this parking.
 133       if (!pushForwardSegment) {
 134           SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
 135           return false;
 136       }
 137
 138       lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
 139       double distance = pushForwardSegment->getLength();
 140
 141       double parkingHeading = parking->getHeading();
 142
 143       for (int i = 1; i < 10; i++) {
 144           SGGeod pushForwardPt;
 145           SGGeodesy::direct(parking->geod(), parkingHeading,
 146                             ((i / 10.0) * distance), pushForwardPt, az2);
 147           char buffer[16];
 148           snprintf(buffer, 16, "pushback-%02d", i);
 149           FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
 150
 151           wpt->setRouteIndex(pushForwardSegment->getIndex());
 152           pushBackWaypoint(wpt);
 153       }
 154
 155       waypoints.back()->setName(string("PushBackPoint"));
 156       // cerr << "Done assinging new name" << endl;
 157     }
 158
 159     return true;
 160 }
 161 /*******************************************************************
 162 * createPushBackFallBack
 163 * This is the backup function for airports that don't have a
 164 * network yet.
 165 ******************************************************************/
 166 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 167         double radius,
 168         const string& fltType,
 169         const string& aircraftType,
 170         const string& airline)
 171 {
 172     double az2 = 0.0;
 173
 174     double vTaxi = ac->getPerformance()->vTaxi();
 175     double vTaxiBackward = vTaxi * (-2.0/3.0);
 176     double vTaxiReduced  = vTaxi * (2.0/3.0);
 177
 178     double heading = 180.0; // this is a completely arbitrary heading!
 179     FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
 180
 181     pushBackWaypoint(wpt);
 182
 183     SGGeod coord;
 184     SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
 185     wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
 186
 187     pushBackWaypoint(wpt);
 188
 189     SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
 190     wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
 191     pushBackWaypoint(wpt);
 192
 193 }