1 /****************************************************************************
2 * AIFlightPlanCreatePushBack.cxx
3 * Written by Durk Talsma, started August 1, 2007.
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.
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.
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.
19 **************************************************************************/
28 #include <simgear/math/sg_geodesy.hxx>
30 #include <Airports/airport.hxx>
31 #include <Airports/runways.hxx>
32 #include <Airports/dynamics.hxx>
34 #include <Environment/environment_mgr.hxx>
35 #include <Environment/environment.hxx>
37 #include "AIFlightPlan.hxx"
38 #include "AIAircraft.hxx"
39 #include "performancedata.hxx"
42 // TODO: Use James Turner's createOnGround functions.
43 bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
44 bool firstFlight, FGAirport *dep,
46 const string& fltType,
47 const string& aircraftType,
48 const string& airline)
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
57 if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
58 //cerr << "Push Back fallback" << endl;
59 createPushBackFallBack(ac, firstFlight, dep,
60 radius, fltType, aircraftType, airline);
64 // establish the parking position / gate if required
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 " <<
71 " of flight type " << fltType <<
72 " of airline " << airline <<
73 " at airport " << dep->getId());
78 if (!gate.isValid()) {
79 createPushBackFallBack(ac, firstFlight, dep,
80 radius, fltType, aircraftType, airline);
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);
90 int size = route.size();
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());
97 PositionedID node, previous= 0;
99 while (route.next(&node))
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);
107 FGTaxiSegment* segment = groundNet->findSegment(previous, node);
108 wpt->setRouteIndex(segment->getIndex());
110 // not on the route yet, make up a unique segment ID
111 int x = (int) tn->guid();
112 wpt->setRouteIndex(x);
115 pushBackWaypoint(wpt);
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);
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.");
133 lastNodeVisited = pushForwardSegment->getEnd()->getIndex();
134 double distance = pushForwardSegment->getLength();
136 double parkingHeading = parking->getHeading();
138 for (int i = 1; i < 10; i++) {
139 SGGeod pushForwardPt;
140 SGGeodesy::direct(parking->geod(), parkingHeading,
141 ((i / 10.0) * distance), pushForwardPt, az2);
143 snprintf(buffer, 16, "pushback-%02d", i);
144 FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
146 wpt->setRouteIndex(pushForwardSegment->getIndex());
147 pushBackWaypoint(wpt);
150 waypoints.back()->setName(string("PushBackPoint"));
151 // cerr << "Done assinging new name" << endl;
156 /*******************************************************************
157 * createPushBackFallBack
158 * This is the backup function for airports that don't have a
160 ******************************************************************/
161 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
163 const string& fltType,
164 const string& aircraftType,
165 const string& airline)
169 double vTaxi = ac->getPerformance()->vTaxi();
170 double vTaxiBackward = vTaxi * (-2.0/3.0);
171 double vTaxiReduced = vTaxi * (2.0/3.0);
173 double heading = 180.0; // this is a completely arbitrary heading!
174 FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
176 pushBackWaypoint(wpt);
179 SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
180 wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
182 pushBackWaypoint(wpt);
184 SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
185 wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
186 pushBackWaypoint(wpt);