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 #include <Airports/runways.hxx>
  27 #include <Airports/dynamics.hxx>
  28
  29 #include <Environment/environment_mgr.hxx>
  30 #include <Environment/environment.hxx>
  31
  32 #include "AIFlightPlan.hxx"
  33 #include "AIAircraft.hxx"
  34 #include "performancedata.hxx"
  35
  36
  37 // TODO: Use James Turner's createOnGround functions.
  38 void FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
  39                                     bool firstFlight, FGAirport *dep,
  40                                     double latitude,
  41                                     double longitude,
  42                                     double radius,
  43                                     const string& fltType,
  44                                     const string& aircraftType,
  45                                     const string& airline)
  46 {
  47     double lat, lon, heading;
  48     double vTaxi = ac->getPerformance()->vTaxi();
  49     double vTaxiBackward = vTaxi * (-2.0/3.0);
  50     double vTaxiReduced  = vTaxi * (2.0/3.0);
  51     FGTaxiRoute *pushBackRoute;
  52     // Active runway can be conditionally set by ATC, so at the start of a new flight, this
  53     // must be reset.
  54     activeRunway.clear();
  55
  56     if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
  57         //cerr << "Push Back fallback" << endl;
  58         createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
  59                                radius, fltType, aircraftType, airline);
  60     } else {
  61         if (firstFlight) {
  62
  63              if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
  64                                                            &heading, &gateId,
  65                                                            radius, fltType,
  66                                                            aircraftType, airline))) {
  67                     SG_LOG(SG_INPUT, SG_WARN, "Warning: Could not find parking for a " <<
  68                                               aircraftType <<
  69                                               " of flight type " << fltType <<
  70                                               " of airline     " << airline <<
  71                                               " at airport     " << dep->getId());
  72                     char buffer[10];
  73                     snprintf (buffer, 10, "%d", gateId);
  74                     //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
  75                     waypoint *wpt;
  76                     wpt = new waypoint;
  77                     wpt->name      = string(buffer); // fixme: should be the name of the taxiway
  78                     wpt->latitude  = lat;
  79                     wpt->longitude = lon;
  80                     // Elevation is currently disregarded when on_ground is true
  81                     // because the AIModel obtains a periodic ground elevation estimate.
  82                    wpt->altitude  = dep->getElevation();
  83                    wpt->speed = vTaxiBackward;
  84                    wpt->crossat   = -10000;
  85                    wpt->gear_down = true;
  86                    wpt->flaps_down= true;
  87                    wpt->finished  = false;
  88                    wpt->on_ground = true;
  89                    wpt->routeIndex = -1;
  90                    waypoints.push_back(wpt);
  91             }
  92            //cerr << "Success : GateId = " << gateId << endl;
  93            SG_LOG(SG_INPUT, SG_WARN, "Warning: Succesfully found a parking for a " <<
  94                                               aircraftType <<
  95                                               " of flight type " << fltType <<
  96                                               " of airline     " << airline <<
  97                                               " at airport     " << dep->getId());
  98         } else {
  99             //cerr << "Push Back follow-up Flight" << endl;
 100             dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 101         }
 102         if (gateId < 0) {
 103              createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
 104                                     radius, fltType, aircraftType, airline);
 105              return;
 106
 107         }
 108         //cerr << "getting parking " << gateId;
 109         //cerr << " for a " <<
 110         //                                      aircraftType <<
 111         //                                      " of flight type " << fltType <<
 112         //                                      " of airline     " << airline <<
 113         //                                      " at airport     " << dep->getId() << endl;
 114         FGParking *parking = dep->getDynamics()->getParking(gateId);
 115         int pushBackNode = parking->getPushBackPoint();
 116
 117
 118         pushBackRoute = parking->getPushBackRoute();
 119         if ((pushBackNode > 0) && (pushBackRoute == 0)) {
 120             int node, rte;
 121             FGTaxiRoute route;
 122             //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
 123             route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
 124             parking->setPushBackRoute(new FGTaxiRoute(route));
 125
 126
 127             pushBackRoute = parking->getPushBackRoute();
 128             int size = pushBackRoute->size();
 129             if (size < 2) {
 130                 SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
 131                 SG_LOG(SG_GENERAL, SG_WARN, "Using  " << pushBackNode);
 132             }
 133             pushBackRoute->first();
 134             waypoint *wpt;
 135             while(pushBackRoute->next(&node, &rte))
 136               {
 137                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 138                 char buffer[10];
 139                 snprintf (buffer, 10, "%d", node);
 140                 FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
 141                 //ids.pop_back();
 142                 wpt = new waypoint;
 143                 wpt->name      = string(buffer); // fixme: should be the name of the taxiway
 144                 wpt->latitude  = tn->getLatitude();
 145                 wpt->longitude = tn->getLongitude();
 146                 // Elevation is currently disregarded when on_ground is true
 147                 // because the AIModel obtains a periodic ground elevation estimate.
 148                 wpt->altitude  = dep->getElevation();
 149                 wpt->speed = vTaxiBackward;
 150                 wpt->crossat   = -10000;
 151                 wpt->gear_down = true;
 152                 wpt->flaps_down= true;
 153                 wpt->finished  = false;
 154                 wpt->on_ground = true;
 155                 wpt->routeIndex = rte;
 156                 waypoints.push_back(wpt);
 157               }
 158               // some special considerations for the last point:
 159               wpt->name = string("PushBackPoint");
 160               wpt->speed = vTaxi;
 161               //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
 162               //    cerr << "Waypoint Name: " << (*i)->name << endl;
 163               //}
 164         } else {
 165            //cerr << "Creating direct forward departure route fragment" << endl;
 166            double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
 167            waypoint *wpt;
 168            geo_direct_wgs_84 ( 0, lat, lon, heading,
 169                                2, &lat2, &lon2, &az2 );
 170            wpt = new waypoint;
 171            wpt->name      = "park2";
 172            wpt->latitude  = lat2;
 173            wpt->longitude = lon2;
 174            wpt->altitude  = dep->getElevation();
 175            wpt->speed     = vTaxiReduced;
 176            wpt->crossat   = -10000;
 177            wpt->gear_down = true;
 178            wpt->flaps_down= true;
 179            wpt->finished  = false;
 180            wpt->on_ground = true;
 181            wpt->routeIndex = 0;
 182            waypoints.push_back(wpt);
 183
 184            geo_direct_wgs_84 ( 0, lat, lon, heading,
 185                                4, &lat2, &lon2, &az2 );
 186            wpt = new waypoint;
 187            wpt->name      = "name";
 188            wpt->latitude  = lat2;
 189            wpt->longitude = lon2;
 190            wpt->altitude  = dep->getElevation();
 191            wpt->speed     = vTaxiReduced;
 192            wpt->crossat   = -10000;
 193            wpt->gear_down = true;
 194            wpt->flaps_down= true;
 195            wpt->finished  = false;
 196            wpt->on_ground = true;
 197            wpt->routeIndex = 0;
 198            waypoints.push_back(wpt);
 199
 200            //cerr << "Creating final push forward point for gate " << gateId << endl;
 201            FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
 202            FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
 203            FGTaxiSegmentVectorIterator te = tn->getEndRoute();
 204            if (ts == te) {
 205                SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
 206                //exit(1);
 207            }
 208            tn = (*ts)->getEnd();
 209            lastNodeVisited = tn->getIndex();
 210            if (tn == NULL) {
 211                SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
 212                exit(1);
 213            }
 214            wpt = new waypoint;
 215            wpt->name      = "PushBackPoint";
 216            wpt->latitude  = tn->getLatitude();
 217            wpt->longitude = tn->getLongitude();
 218            wpt->altitude  = dep->getElevation();
 219            wpt->speed     = vTaxiReduced;
 220            wpt->crossat   = -10000;
 221            wpt->gear_down = true;
 222            wpt->flaps_down= true;
 223            wpt->finished  = false;
 224            wpt->on_ground = true;
 225            wpt->routeIndex = (*ts)->getIndex();
 226            waypoints.push_back(wpt);
 227
 228
 229         }
 230
 231     }
 232 }
 233 /*******************************************************************
 234  * createPushBackFallBack
 235  * This is the backup function for airports that don't have a
 236  * network yet.
 237  ******************************************************************/
 238 void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
 239                                     double latitude,
 240                                     double longitude,
 241                                     double radius,
 242                                     const string& fltType,
 243                                     const string& aircraftType,
 244                                     const string& airline)
 245 {
 246   double heading;
 247   double lat;
 248   double lon;
 249   double lat2 = 0.0;
 250   double lon2 = 0.0;
 251   double az2 = 0.0;
 252
 253   double vTaxi = ac->getPerformance()->vTaxi();
 254   double vTaxiBackward = vTaxi * (-2.0/3.0);
 255   double vTaxiReduced  = vTaxi * (2.0/3.0);
 256
 257
 258
 259   dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
 260
 261   heading += 180.0;
 262   if (heading > 360)
 263     heading -= 360;
 264   waypoint *wpt = new waypoint;
 265   wpt->name      = "park";
 266   wpt->latitude  = lat;
 267   wpt->longitude = lon;
 268   wpt->altitude  = dep->getElevation();
 269   wpt->speed     = vTaxiBackward;
 270   wpt->crossat   = -10000;
 271   wpt->gear_down = true;
 272   wpt->flaps_down= true;
 273   wpt->finished  = false;
 274   wpt->on_ground = true;
 275
 276   waypoints.push_back(wpt);
 277
 278   geo_direct_wgs_84 ( 0, lat, lon, heading,
 279                       10,
 280                       &lat2, &lon2, &az2 );
 281   wpt = new waypoint;
 282   wpt->name      = "park2";
 283   wpt->latitude  = lat2;
 284   wpt->longitude = lon2;
 285   wpt->altitude  = dep->getElevation();
 286   wpt->speed     = vTaxiBackward;
 287   wpt->crossat   = -10000;
 288   wpt->gear_down = true;
 289   wpt->flaps_down= true;
 290   wpt->finished  = false;
 291   wpt->on_ground = true;
 292   wpt->routeIndex = 0;
 293   waypoints.push_back(wpt);
 294   geo_direct_wgs_84 ( 0, lat, lon, heading,
 295                       2.2*radius,
 296                       &lat2, &lon2, &az2 );
 297   wpt = new waypoint;
 298   wpt->name      = "taxiStart";
 299   wpt->latitude  = lat2;
 300   wpt->longitude = lon2;
 301   wpt->altitude  = dep->getElevation();
 302   wpt->speed     = vTaxiReduced;
 303   wpt->crossat   = -10000;
 304   wpt->gear_down = true;
 305   wpt->flaps_down= true;
 306   wpt->finished  = false;
 307   wpt->on_ground = true;
 308   wpt->routeIndex = 0;
 309   waypoints.push_back(wpt);
 310 }