*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
**************************************************************************/
-#include <AIFlightPlan.hxx>
+#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <Airports/runways.hxx>
* dynamically create a flight plan for AI traffic, based on data provided by the
* Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
*
- * This is the top-level function, and the only one that publicly available.
+ * This is the top-level function, and the only one that is publicly available.
*
*/
// Check lat/lon values during initialization;
-void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr, double alt, double speed,
- double latitude, double longitude, bool firstFlight,
- double radius, string fltType, string aircraftType, string airline)
+void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
+ double alt, double speed, double latitude,
+ double longitude, bool firstFlight,double radius,
+ const string& fltType, const string& aircraftType,
+ const string& airline)
{
int currWpt = wpt_iterator - waypoints.begin();
switch(legNr)
{
case 1:
- //cerr << "Creating Push_Back" << endl;
- createPushBack(firstFlight,dep, latitude, longitude, radius, fltType, aircraftType, airline);
- //cerr << "Done" << endl;
+ createPushBack(firstFlight,dep, latitude, longitude,
+ radius, fltType, aircraftType, airline);
break;
case 2:
- //cerr << "Creating Taxi" << endl;
- createTaxi(firstFlight, 1, dep, radius, fltType, aircraftType, airline);
+ createTaxi(firstFlight, 1, dep, latitude, longitude,
+ radius, fltType, aircraftType, airline);
break;
case 3:
- //cerr << "Creating TAkeoff" << endl;
createTakeOff(firstFlight, dep, speed);
break;
case 4:
- //cerr << "Creating Climb" << endl;
createClimb(firstFlight, dep, speed, alt);
break;
case 5:
- //cerr << "Creating Cruise" << endl;
createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt);
break;
case 6:
- //cerr << "Creating Decent" << endl;
createDecent(arr);
break;
case 7:
- //cerr << "Creating Landing" << endl;
createLanding(arr);
break;
case 8:
- //cerr << "Creating Taxi 2" << endl;
- createTaxi(false, 2, arr, radius, fltType, aircraftType, airline);
+ createTaxi(false, 2, arr, latitude, longitude, radius,
+ fltType, aircraftType, airline);
break;
- case 9:
- //cerr << "Creating Parking" << endl;
- createParking(arr);
+ case 9:
+ createParking(arr, radius);
break;
default:
//exit(1);
- cerr << "Unknown case: " << legNr << endl;
+ SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
+ " this is probably an internal program error");
}
wpt_iterator = waypoints.begin()+currWpt;
leg++;
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- string fltType,
- string aircraftType,
- string airline)
+ double latitude,
+ double longitude,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
double heading;
double lat;
// Otherwise use the current aircraft position.
if (firstFlight)
{
- if (!(dep->getAvailableParking(&lat, &lon, &heading, &gateId, radius, fltType, aircraftType, airline)))
- {
- cerr << "Could not find parking " << endl;
- }
+ if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
+ &heading, &gateId,
+ radius, fltType,
+ aircraftType, airline)))
+ {
+ SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
+ aircraftType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << dep->getId());
+ }
}
else
{
- dep->getParking(gateId, &lat, &lon, &heading);
- //lat = latitude;
- //lon = longitude;
- //heading = getHeading();
+ dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
}
heading += 180.0;
if (heading > 360)
// Add park twice, because it uses park once for initialization and once
// to trigger the departure ATC message
geo_direct_wgs_84 ( 0, lat, lon, heading,
- 10,
- &lat2, &lon2, &az2 );
+ 10,
+ &lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "park2";
wpt->latitude = lat2;
wpt->on_ground = true;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
- 100,
- &lat2, &lon2, &az2 );
+ 2.2*radius,
+ &lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //wpt = new waypoint;
- //wpt->name = "END";
- //wpt->finished = false;
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
- //wpt_iterator = waypoints.begin()+currWpt;
+ waypoints.push_back(wpt);
}
/*******************************************************************
* createCreate Taxi.
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createTaxi(bool firstFlight, int direction, FGAirport *apt, double radius, string fltType, string acType, string airline)
+void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
+ FGAirport *apt, double latitude, double longitude,
+ double radius, const string& fltType,
+ const string& acType, const string& airline)
{
double wind_speed;
double wind_heading;
double heading;
- //FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
- //int direction;
waypoint *wpt;
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //resetWaypoints();
- //int currWpt = wpt_iterator - waypoints.begin();
- if (direction == 1)
+ if (direction == 1)
{
-
-
-
-
- // Get the current active runway, based on code from David Luff
- // This should actually be unified and extended to include
- // Preferential runway use schema's
- //FGEnvironment
- //stationweather = ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
- //->getEnvironment(apt->getLatitude(), apt->getLongitude(), apt->getElevation());
-
- //wind_speed = stationweather.get_wind_speed_kt();
- //wind_heading = stationweather.get_wind_from_heading_deg();
- //if (wind_speed == 0) {
- //wind_heading = 270; // This forces West-facing rwys to be used in no-wind situations
- // which is consistent with Flightgear's initial setup.
- //}
-
- //string rwy_no = globals->get_runways()->search(apt->getId(), int(wind_heading));
- string name;
- apt->getActiveRunway("com", 1, &name);
+ // If this function is called during initialization,
+ // make sure we obtain a valid gate ID first
+ // and place the model at the location of the gate.
+ if (firstFlight)
+ {
+ if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
+ &heading, &gateId,
+ radius, fltType,
+ acType, airline)))
+ {
+ SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
+ acType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << apt->getId());
+ }
+ //waypoint *wpt = new waypoint;
+ //wpt->name = "park";
+ //wpt->latitude = lat;
+ //wpt->longitude = lon;
+ //wpt->altitude = apt->getElevation();
+ //wpt->speed = -10;
+ //wpt->crossat = -10000;
+ //wpt->gear_down = true;
+ //wpt->flaps_down= true;
+ //wpt->finished = false;
+ //wpt->on_ground = true;
+ //waypoints.push_back(wpt);
+ }
+ // "NOTE: this is currently fixed to "com" for commercial traffic
+ // Should be changed to be used dynamically to allow "gen" and "mil"
+ // as well
+ apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
- name,
+ activeRunway,
&rwy)))
{
- cout << "Failed to find runway for " << apt->getId() << endl;
- // Hmm, how do we handle a potential error like this?
- exit(1);
- }
- //string test;
- //apt->getActiveRunway(string("com"), 1, &test);
- //exit(1);
-
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
+ activeRunway <<
+ " at airport " << apt->getId());
+ exit(1);
+ }
+
+ // Determine the beginning of he runway
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
&lat2, &lon2, &az2 );
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- //wpt = new waypoint;
- //wpt->finished = false;
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
+
+ if (apt->getDynamics()->getGroundNetwork()->exists())
+ {
+ intVec ids;
+ int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
+ lon2);
+
+
+ // A negative gateId indicates an overflow parking, use a
+ // fallback mechanism for this.
+ // Starting from gate 0 in this case is a bit of a hack
+ // which requires a more proper solution later on.
+ FGTaxiRoute route;
+ if (gateId >= 0)
+ route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
+ runwayId);
+ else
+ route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
+ intVecIterator i;
+
+ if (route.empty()) {
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Airport Center";
+ wpt->latitude = latitude;
+ wpt->longitude = longitude;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Runway Takeoff";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ } else {
+ int node;
+ route.first();
+ bool isPushBackPoint = false;
+ if (firstFlight) {
+ // If this is called during initialization, randomly
+ // skip a number of waypoints to get a more realistic
+ // taxi situation.
+ isPushBackPoint = true;
+ int nrWaypoints = route.size();
+ int nrWaypointsToSkip = rand() % nrWaypoints;
+ // but make sure we always keep two active waypoints
+ // to prevent a segmentation fault
+ for (int i = 0; i < nrWaypointsToSkip-2; i++) {
+ isPushBackPoint = false;
+ route.next(&node);
+ }
+ }
+ else {
+ //chop off the first two waypoints, because
+ // those have already been created
+ // by create pushback
+ int size = route.size();
+ if (size > 2) {
+ route.next(&node);
+ route.next(&node);
+ }
+ }
+ while(route.next(&node))
+ {
+ FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ //ids.pop_back();
+ wpt = new waypoint;
+ wpt->name = "taxiway"; // fixme: should be the name of the taxiway
+ wpt->latitude = tn->getLatitude();
+ wpt->longitude = tn->getLongitude();
+ // Elevation is currently disregarded when on_ground is true
+ // because the AIModel obtains a periodic ground elevation estimate.
+ wpt->altitude = apt->getElevation();
+ if (isPushBackPoint) {
+ wpt->speed = -10;
+ isPushBackPoint = false;
+ }
+ else {
+ wpt->speed = 15;
+ }
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ }
+ cerr << endl;
+ }
+ }
+ else
+ {
+ // This is the fallback mechanism, in case no ground network is available
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Airport Center";
+ wpt->latitude = apt->getLatitude();
+ wpt->longitude = apt->getLongitude();
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Runway Takeoff";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ }
}
- else
+ else // Landing taxi
{
- //direction = (rand() % 360);
- //geo_direct_wgs_84 ( 0, arr->getLatitude(), arr->getLongitude(), direction,
- //100,
- //&lat2, &lon2, &az2 );
-
- // This next statement really requires the flight plan to be
- // split up into smaller sections, because
- // gate assignments will typically not be known until minutes before
- // landing, and certainly not at the start of a 10 hour flight.
- apt->getAvailableParking(&lat, &lon, &heading, &gateId, radius, fltType, acType, airline);
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 100,
- &lat2, &lon2, &az2 );
- //Add the runway center
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- // Add the final destination waypoint
- wpt = new waypoint;
- wpt->name = "Begin Parkingg"; //apt->getId(); //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
+ apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
+ &gateId, radius, fltType,
+ acType, airline);
+ double lat3 = (*(waypoints.end()-1))->latitude;
+ double lon3 = (*(waypoints.end()-1))->longitude;
+ //cerr << (*(waypoints.end()-1))->name << endl;
+
+ // Find a route from runway end to parking/gate.
+ if (apt->getDynamics()->getGroundNetwork()->exists())
+ {
+ intVec ids;
+ int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
+ lon3);
+ // A negative gateId indicates an overflow parking, use a
+ // fallback mechanism for this.
+ // Starting from gate 0 is a bit of a hack...
+ FGTaxiRoute route;
+ if (gateId >= 0)
+ route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
+ gateId);
+ else
+ route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
+ intVecIterator i;
+
+ // No route found: go from gate directly to runway
+ if (route.empty()) {
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Airport Center";
+ wpt->latitude = latitude;
+ wpt->longitude = longitude;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //Add the runway startpoint;
+ wpt = new waypoint;
+ wpt->name = "Runway Takeoff";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ } else {
+ int node;
+ route.first();
+ int size = route.size();
+ // Omit the last two waypoints, as
+ // those are created by createParking()
+ for (int i = 0; i < size-2; i++)
+ {
+ route.next(&node);
+ FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ wpt = new waypoint;
+ wpt->name = "taxiway"; // fixme: should be the name of the taxiway
+ wpt->latitude = tn->getLatitude();
+ wpt->longitude = tn->getLongitude();
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ }
+ }
+ }
+ else
+ {
+ // Use a fallback mechanism in case no ground network is available
+ // obtain the location of the gate entrance point
+ heading += 180.0;
+ if (heading > 360)
+ heading -= 360;
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 100,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "Airport Center";
+ wpt->latitude = apt->getLatitude();
+ wpt->longitude = apt->getLongitude();
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ wpt = new waypoint;
+ wpt->name = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+
+ //waypoint* wpt;
+ //double lat;
+ //double lon;
+ //double heading;
+ apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
+ heading += 180.0;
+ if (heading > 360)
+ heading -= 360;
+
+ wpt = new waypoint;
+ wpt->name = "END"; //wpt_node->getStringValue("name", "END");
+ wpt->latitude = lat;
+ wpt->longitude = lon;
+ wpt->altitude = 19;
+ wpt->speed = 15;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ }
+
}
- // wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
- //wpt_iterator = waypoints.begin()+currWpt;
}
/*******************************************************************
double wind_speed;
double wind_heading;
double heading;
- //FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
- //int direction;
waypoint *wpt;
-
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
-
-
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// Preferential runway use schema's
if (firstFlight)
{
- string name;
- apt->getActiveRunway("com", 1, &name);
+ //string name;
+ // "NOTE: this is currently fixed to "com" for commercial traffic
+ // Should be changed to be used dynamically to allow "gen" and "mil"
+ // as well
+ apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
- name,
+ activeRunway,
&rwy)))
{
- cout << "Failed to find runway for " << apt->getId() << endl;
- // Hmm, how do we handle a potential error like this?
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
+ activeRunway <<
+ " at airport " << apt->getId());
exit(1);
}
- //string test;
- //apt->getActiveRunway(string("com"), 1, &test);
- //exit(1);
}
-
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
- // waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- // wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
}
/*******************************************************************
//int direction;
waypoint *wpt;
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
-
-
- // Get the current active runway, based on code from David Luff
- // This should actually be unified and extended to include
- // Preferential runway use schema's
+
if (firstFlight)
{
- string name;
- apt->getActiveRunway("com", 1, &name);
+ //string name;
+ // "NOTE: this is currently fixed to "com" for commercial traffic
+ // Should be changed to be used dynamically to allow "gen" and "mil"
+ // as well
+ apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
- name,
+ activeRunway,
&rwy)))
{
- cout << "Failed to find runway for " << apt->getId() << endl;
- // Hmm, how do we handle a potential error like this?
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
+ activeRunway <<
+ " at airport " << apt->getId());
exit(1);
}
- //string test;
- //apt->getActiveRunway(string("com"), 1, &test);
- //exit(1);
}
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- // wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
}
* CreateCruise
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep, FGAirport *arr, double latitude, double longitude, double speed, double alt)
+void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
+ FGAirport *arr, double latitude,
+ double longitude, double speed,
+ double alt)
{
double wind_speed;
double wind_heading;
double heading;
- //FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
- //int direction;
waypoint *wpt;
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
-
wpt = new waypoint;
wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
wpt->latitude = latitude;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
- //Beginning of Decent
+
- string name;
- arr->getActiveRunway("com", 2, &name);
+ // should be changed dynamically to allow "gen" and "mil"
+ arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
if (!(globals->get_runways()->search(arr->getId(),
- name,
+ activeRunway,
&rwy)))
{
- cout << "Failed to find runway for " << arr->getId() << endl;
- // Hmm, how do we handle a potential error like this?
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
+ activeRunway <<
+ " at airport " << arr->getId());
exit(1);
}
- //string test;
- //arr->getActiveRunway(string("com"), 1, &test);
- //exit(1);
-
- //cerr << "Altitude = " << alt << endl;
- //cerr << "Done" << endl;
- //if (arr->getId() == "EHAM")
- // {
- // cerr << "Creating cruise to EHAM " << latitude << " " << longitude << endl;
- // }
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- // Note: This places us at the location of the active
- // runway during initial cruise. This needs to be
- // fixed later.
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
110000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
- wpt->name = "BOD"; //wpt_node->getStringValue("name", "END");
+ wpt->name = "BOD";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = alt;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
}
/*******************************************************************
//int direction;
waypoint *wpt;
- //// Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
-
//Beginning of Decent
- string name;
- apt->getActiveRunway("com", 2, &name);
- if (!(globals->get_runways()->search(apt->getId(),
- name,
- &rwy)))
- {
- cout << "Failed to find runway for " << apt->getId() << endl;
- // Hmm, how do we handle a potential error like this?
- exit(1);
- }
- //string test;
- //apt->getActiveRunway(string("com"), 1, &test);
- //exit(1);
-
- //cerr << "Done" << endl;
+ //string name;
+ // allow "mil" and "gen" as well
+ apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
+ if (!(globals->get_runways()->search(apt->getId(),
+ activeRunway,
+ &rwy)))
+ {
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
+ activeRunway <<
+ " at airport " << apt->getId());
+ exit(1);
+ }
+
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
-
-
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
100000,
&lat2, &lon2, &az2 );
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
-
+
// Three thousand ft. Slowing down to 160 kts
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
- 8*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
+ 8*SG_NM_TO_METER,
+ &lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //wpt_iterator++;
- //if (apt->getId() == "EHAM")
- // {
- // cerr << "Created Decend to EHAM " << lat2 << " " << lon2 << ": Runway = " << rwy._rwy_no
- // << "heading " << heading << endl;
- // }
}
/*******************************************************************
* CreateLanding
******************************************************************/
void FGAIFlightPlan::createLanding(FGAirport *apt)
{
- // Ten thousand ft. Slowing down to 240 kts
+ // Ten thousand ft. Slowing down to 150 kts
double wind_speed;
double wind_heading;
double heading;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //wpt_iterator++;
-
- //if (apt->getId() == "EHAM")
- //{
- // cerr << "Created Landing to EHAM " << lat2 << " " << lon2 << ": Runway = " << rwy._rwy_no
- // << "heading " << heading << endl;
- //}
}
/*******************************************************************
* CreateParking
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createParking(FGAirport *apt)
+void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
{
waypoint* wpt;
- double lat;
- double lon;
+ double lat, lat2;
+ double lon, lon2;
+ double az2;
double heading;
- apt->getParking(gateId, &lat, &lon, &heading);
+ apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 2.2*radius,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "taxiStart";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 10;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 0.1 *radius,
+ &lat2, &lon2, &az2 );
+ wpt = new waypoint;
+ wpt->name = "taxiStart";
+ wpt->latitude = lat2;
+ wpt->longitude = lon2;
+ wpt->altitude = apt->getElevation();
+ wpt->speed = 10;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ waypoints.push_back(wpt);
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
- // And finally one more named "END"
wpt = new waypoint;
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat;
wpt->longitude = lon;
- wpt->altitude = 19;
+ wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //wpt_iterator++;
}
projects / flightgear.git / blobdiff