* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
**************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <cstdlib>
+#include <cstdio>
+
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/props/props.hxx>
+#include <simgear/props/props_io.hxx>
+
+#include <Airports/airport.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>
+#include "AIAircraft.hxx"
+#include "performancedata.hxx"
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
+#include <FDM/LaRCsim/basic_aero.h>
+#include <Navaids/navrecord.hxx>
+using std::string;
/* FGAIFlightPlan::create()
* dynamically create a flight plan for AI traffic, based on data provided by the
*
* 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,
- const string& fltType, const string& aircraftType,
- const string& airline)
-{
- int currWpt = wpt_iterator - waypoints.begin();
- switch(legNr)
- {
- case 1:
- createPushBack(firstFlight,dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
- break;
- case 2:
- createTaxi(firstFlight, 1, dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
- break;
- case 3:
- createTakeOff(firstFlight, dep, speed, fltType);
- break;
- case 4:
- createClimb(firstFlight, dep, speed, alt, fltType);
- break;
- case 5:
- createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt, fltType);
- break;
- case 6:
- createDecent(arr, fltType);
- break;
- case 7:
- createLanding(arr);
- break;
- case 8:
- createTaxi(false, 2, arr, latitude, longitude, radius,
- fltType, aircraftType, airline);
- break;
- case 9:
- createParking(arr, radius);
- break;
+bool FGAIFlightPlan::create(FGAIAircraft * ac, 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, double distance)
+{
+ bool retVal = true;
+ int currWpt = wpt_iterator - waypoints.begin();
+ switch (legNr) {
+ case 1:
+ retVal = createPushBack(ac, firstFlight, dep,
+ radius, fltType, aircraftType, airline);
+ // Pregenerate the taxi leg.
+ //if (retVal) {
+ // waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
+ // retVal = createTakeoffTaxi(ac, false, dep, radius, fltType, aircraftType, airline);
+ //}
+ break;
+ case 2:
+ retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
+ aircraftType, airline);
+ break;
+ case 3:
+ retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
+ break;
+ case 4:
+ retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
+ break;
+ case 5:
+ retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
+ alt, fltType);
+ break;
+ case 6:
+ retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
+ distance);
+ break;
+ case 7:
+ retVal = createLanding(ac, arr, fltType);
+ break;
+ case 8:
+ retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
+ break;
+ case 9:
+ retVal = createParking(ac, arr, radius);
+ break;
default:
- //exit(1);
- SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
- " this is probably an internal program error");
+ //exit(1);
+ SG_LOG(SG_AI, SG_ALERT,
+ "AIFlightPlan::create() attempting to create unknown leg"
+ " this is probably an internal program error");
+ break;
}
- wpt_iterator = waypoints.begin()+currWpt;
- leg++;
+ wpt_iterator = waypoints.begin() + currWpt;
+ //don't increment leg right away, but only once we pass the actual last waypoint that was created.
+ // to do so, mark the last waypoint with a special status flag
+ if (retVal) {
+ waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
+ // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
+ }
+
+
+ //leg++;
+ return retVal;
+}
+
+FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
+ const std::string & aName,
+ const SGGeod & aPos, double aElev,
+ double aSpeed)
+{
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt->setName (aName );
+ wpt->setLongitude (aPos.getLongitudeDeg() );
+ wpt->setLatitude (aPos.getLatitudeDeg() );
+ wpt->setAltitude (aElev );
+ wpt->setSpeed (aSpeed );
+ wpt->setCrossat (-10000.1 );
+ wpt->setGear_down (true );
+ wpt->setFlaps_down (true );
+ wpt->setFinished (false );
+ wpt->setOn_ground (true );
+ wpt->setRouteIndex (0 );
+ return wpt;
}
+FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
+ const std::string & aName,
+ const SGGeod & aPos, double aElev,
+ double aSpeed)
+{
+ FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed);
+ wpt->setGear_down (false );
+ wpt->setFlaps_down (false );
+ wpt->setOn_ground (false );
+ wpt->setCrossat (aElev );
+ return wpt;
+}
+FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
+{
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt->setName ( aWpt->getName () );
+ wpt->setLongitude ( aWpt->getLongitude() );
+ wpt->setLatitude ( aWpt->getLatitude() );
+ wpt->setAltitude ( aWpt->getAltitude() );
+ wpt->setSpeed ( aWpt->getSpeed() );
+ wpt->setCrossat ( aWpt->getCrossat() );
+ wpt->setGear_down ( aWpt->getGear_down() );
+ wpt->setFlaps_down ( aWpt->getFlaps_down() );
+ wpt->setFinished ( aWpt->isFinished() );
+ wpt->setOn_ground ( aWpt->getOn_ground() );
+ wpt->setRouteIndex ( 0 );
+ return wpt;
+}
+FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt,
+ const std::string & aName,
+ const SGGeod & aPos)
+{
+ FGAIWaypoint *wpt = clone(aWpt);
+ wpt->setName ( aName );
+ wpt->setLongitude ( aPos.getLongitudeDeg () );
+ wpt->setLatitude ( aPos.getLatitudeDeg () );
-/*******************************************************************
- * createCreate Taxi.
- * initialize the Aircraft at the parking location
- ******************************************************************/
-void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
- FGAirport *apt, double latitude, double longitude,
- double radius, const string& fltType,
- const string& acType, const string& airline)
+ return wpt;
+}
+
+
+
+void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
+ FGAirport * aAirport,
+ FGRunway * aRunway)
{
- double heading;
- double lat, lon;
- double lat2, lon2, az2;
- waypoint *wpt;
+ SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
+ double airportElev = aAirport->getElevation();
+
+ FGAIWaypoint *wpt;
+ wpt =
+ createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+ wpt =
+ createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+}
- int nrWaypointsToSkip;
+bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
+ FGAirport * apt,
+ double radius,
+ const string & fltType,
+ const string & acType,
+ const string & airline)
+{
- if (direction == 1)
+ // 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 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);
- }
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
-
- // Determine the beginning of he runway
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() * 0.5 - 5.0,
- &lat2, &lon2, &az2 );
-
- 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;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
-
- // Determine which node to start from.
- int node;
- // Find out which node to start from
- FGParking *park = apt->getDynamics()->getParking(gateId);
- if (park)
- node = park->getPushBackPoint();
- else
- node = 0;
- if (node == -1)
- node = gateId;
-
- // HAndle case where parking doens't have a node
- if ((node == 0) && park) {
- if (firstFlight) {
- node = gateId;
- } else {
- node = lastNodeVisited;
- }
- }
-
- //cerr << "Using node " << node << endl;
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(node, runwayId);
- intVecIterator i;
-
- if (taxiRoute->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;
- wpt->routeIndex = 0;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- } else {
- int node;
- taxiRoute->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 = taxiRoute->size();
- 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;
- taxiRoute->next(&node);
- }
- apt->getDynamics()->releaseParking(gateId);
- } else {
- if (taxiRoute->size() > 1) {
- taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
- }
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
+ acType, airline);
+ if (!gate.isValid()) {
+ SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
+ acType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << apt->getId());
+ }
+ }
+
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
+
+ // Only set this if it hasn't been set by ATC already.
+ if (activeRunway.empty()) {
+ //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
+ double depHeading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+ depHeading);
+ }
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+ SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
+
+ FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
+ if (!gn->exists()) {
+ createDefaultTakeoffTaxi(ac, apt, rwy);
+ return true;
+ }
+
+ intVec ids;
+ PositionedID runwayId = 0;
+ if (gn->getVersion() > 0) {
+ runwayId = gn->findNearestNodeOnRunway(runwayTakeoff);
+ } else {
+ runwayId = gn->findNearestNode(runwayTakeoff);
+ }
+
+ // 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.
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
+
+ // Determine which node to start from.
+ PositionedID node = 0;
+ // Find out which node to start from
+ FGParking *park = gate.parking();
+ if (park) {
+ node = park->getPushBackPoint();
+ if (node == -1) {
+ node = park->guid();
+ } else if (node == 0) {
+ // HAndle case where parking doens't have a node
+ if (firstFlight) {
+ node = park->guid();
+ } else {
+ node = lastNodeVisited;
}
- int route;
- while(taxiRoute->next(&node, &route))
- {
- //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
- char buffer[10];
- snprintf (buffer, 10, "%d", node);
- FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- //ids.pop_back();
- wpt = new waypoint;
- wpt->name = string(buffer); // 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();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
- }
- /*
- //cerr << endl;
- // finally, rewind the taxiRoute object to the point where we started
- // generating the Flightplan, for AI use.
- // This is a bit tricky, because the
- taxiRoute->first();
- if (firstFlight) {
- for (int i = 0; i < nrWaypointsToSkip-1; i++) {
- taxiRoute->next(&node);
- }
- } else {
- int size = taxiRoute->size();
- if (size > 2) {
- //taxiRoute->next(&node);
- //taxiRoute->next(&node);
- //taxiRoute->next(&node);
- }
- }*/
- } // taxiRoute not empty
- }
- 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;
- wpt->routeIndex = 0;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- }
- }
- else // Landing taxi
- {
- 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;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
- if (gateId >= 0)
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
- gateId);
- else
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
- intVecIterator i;
-
- // No route found: go from gate directly to runway
- if (taxiRoute->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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat3;
- wpt->longitude = lon3;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- } else {
- int node;
- taxiRoute->first();
- int size = taxiRoute->size();
- // Omit the last two waypoints, as
- // those are created by createParking()
- int route;
- for (int i = 0; i < size-2; i++)
- {
- taxiRoute->next(&node, &route);
- char buffer[10];
- snprintf (buffer, 10, "%d", node);
- //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- wpt = new waypoint;
- //wpt->name = "taxiway"; // fixme: should be the name of the taxiway
- wpt->name = string(buffer);// 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;
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
- }
- //taxiRoute->first();
- //taxiRoute->next(&node);
- }
- }
- 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;
- wpt->routeIndex = 0;
- 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;
- wpt->routeIndex = 0;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- }
-
+ }
+ }
+
+ FGTaxiRoute taxiRoute = gn->findShortestRoute(node, runwayId);
+ intVecIterator i;
+
+ if (taxiRoute.empty()) {
+ createDefaultTakeoffTaxi(ac, apt, rwy);
+ return true;
+ }
+
+ taxiRoute.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.
+ int nrWaypointsToSkip = rand() % taxiRoute.size();
+ // but make sure we always keep two active waypoints
+ // to prevent a segmentation fault
+ for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
+ taxiRoute.next(&node);
+ }
+
+ gate.release(); // free up our gate as required
+ } else {
+ if (taxiRoute.size() > 1) {
+ taxiRoute.next(&node); // chop off the first waypoint, because that is already the last of the pushback route
+ }
+ }
+
+ // push each node on the taxi route as a waypoint
+ // int route;
+ //cerr << "Building taxi route" << endl;
+ while (taxiRoute.next(&node)) {
+ char buffer[10];
+ snprintf(buffer, 10, "%lld", (long long int) node);
+ FGTaxiNode *tn =
+ apt->getDynamics()->getGroundNetwork()->findNode(node);
+ FGAIWaypoint *wpt =
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
+ ac->getPerformance()->vTaxi());
+ // wpt->setRouteIndex(route);
+ //cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
+ if (taxiRoute.nodesLeft() == 1) {
+ // Note that we actually have hold points in the ground network, but this is just an initial test.
+ //cerr << "Setting departurehold point: " << endl;
+ wpt->setName( wpt->getName() + string("DepartureHold"));
+ }
+ if (taxiRoute.nodesLeft() == 0) {
+ wpt->setName(wpt->getName() + string("Accel"));
+ }
+ pushBackWaypoint(wpt);
+ }
+ // Acceleration point, 105 meters into the runway,
+ SGGeod accelPoint = rwy->pointOnCenterline(105.0);
+ FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
+ pushBackWaypoint(wpt);
+
+ //cerr << "[done]" << endl;
+ return true;
+}
+
+void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
+ FGAirport * aAirport)
+{
+ SGGeod lastWptPos =
+ SGGeod::fromDeg(waypoints.back()->getLongitude(),
+ waypoints.back()->getLatitude());
+ double airportElev = aAirport->getElevation();
+
+ FGAIWaypoint *wpt;
+ wpt =
+ createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+ wpt =
+ createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+
+ if (gate.isValid()) {
+ wpt = createOnGround(ac, "ENDtaxi", gate.parking()->geod(), airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+ }
+}
+
+bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
+ double radius,
+ const string & fltType,
+ const string & acType,
+ const string & airline)
+{
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
+ acType, airline);
+
+ SGGeod lastWptPos = waypoints.back()->getPos();
+ FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
+
+ // Find a route from runway end to parking/gate.
+ if (!gn->exists()) {
+ createDefaultLandingTaxi(ac, apt);
+ return true;
+ }
+
+ intVec ids;
+ PositionedID runwayId = 0;
+ if (gn->getVersion() == 1) {
+ runwayId = gn->findNearestNodeOnRunway(lastWptPos);
+ } else {
+ runwayId = gn->findNearestNode(lastWptPos);
+ }
+ //cerr << "Using network node " << runwayId << endl;
+ // 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;
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
+ FGTaxiRoute taxiRoute;
+ if (gate.isValid())
+ taxiRoute = gn->findShortestRoute(runwayId, gate.parking()->guid());
+ else
+ taxiRoute = gn->findShortestRoute(runwayId, 0);
+ intVecIterator i;
+
+ if (taxiRoute.empty()) {
+ createDefaultLandingTaxi(ac, apt);
+ return true;
+ }
+
+ PositionedID node;
+ taxiRoute.first();
+ int size = taxiRoute.size();
+ // Omit the last two waypoints, as
+ // those are created by createParking()
+ // int route;
+ for (int i = 0; i < size - 2; i++) {
+ taxiRoute.next(&node);
+ char buffer[10];
+ snprintf(buffer, 10, "%lld", (long long int) node);
+ FGTaxiNode *tn = gn->findNode(node);
+ FGAIWaypoint *wpt =
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
+ ac->getPerformance()->vTaxi());
+ // wpt->setRouteIndex(route);
+ pushBackWaypoint(wpt);
}
+ return true;
+}
+
+static double accelDistance(double v0, double v1, double accel)
+{
+ double t = fabs(v1 - v0) / accel; // time in seconds to change velocity
+ // area under the v/t graph: (t * v0) + (dV / 2t) where (dV = v1 - v0)
+ return t * 0.5 * (v1 + v0);
+}
+
+// find the horizontal distance to gain the specific altiude, holding
+// a constant pitch angle. Used to compute distance based on standard FD/AP
+// PITCH mode prior to VS or CLIMB engaging. Visually, we want to avoid
+// a dip in the nose angle after rotation, during initial climb-out.
+static double pitchDistance(double pitchAngleDeg, double altGainM)
+{
+ return altGainM / tan(pitchAngleDeg * SG_DEGREES_TO_RADIANS);
}
/*******************************************************************
* CreateTakeOff
- * initialize the Aircraft at the parking location
+ * A note on units:
+ * - Speed -> knots -> nm/hour
+ * - distance along runway =-> meters
+ * - accel / decel -> is given as knots/hour, but this is highly questionable:
+ * for a jet_transport performance class, a accel / decel rate of 5 / 2 is
+ * given respectively. According to performance data.cxx, a value of kts / second seems
+ * more likely however.
+ *
******************************************************************/
-void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed, const string &fltType)
+bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
+ FGAirport * apt, double speed,
+ const string & fltType)
{
- double heading;
- double lat, lon, az;
- double lat2, lon2, az2;
- waypoint *wpt;
+ const double ACCEL_POINT = 105.0;
+ // climb-out angle in degrees. could move this to the perf-db but this
+ // value is pretty sane
+ const double INITIAL_PITCH_ANGLE = 10.0;
- // 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;
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
- }
- // Acceleration point, 105 meters into the runway,
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() * 0.5 - 105.0,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "accel";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ double accel = ac->getPerformance()->acceleration();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vRotate = ac->getPerformance()->vRotate();
+ double vTakeoff = ac->getPerformance()->vTakeoff();
+
+ double accelMetric = accel * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double vRotateMetric = vRotate * SG_KT_TO_MPS;
+
+ FGAIWaypoint *wpt;
+ // 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
+ // NOTE: DT (2009-01-18: IIRC, this is currently already the case,
+ // because the getActive runway function takes care of that.
+ if (firstFlight) {
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+ heading);
+ }
- lat = lat2;
- lon = lon2;
- az = az2;
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+ double airportElev = apt->getElevation();
+
+ double d = accelDistance(vTaxiMetric, vRotateMetric, accelMetric) + ACCEL_POINT;
- //Start Climbing to 3000 ft. Let's do this
- // at the center of the runway for now:
- //
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2560 * SG_FEET_TO_METER,
- &lat2, &lon2, &az2 );
+ SGGeod accelPoint = rwy->pointOnCenterline(d);
+ wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
+ pushBackWaypoint(wpt);
+
+ double vRef = vTakeoff + 20; // climb-out at v2 + 20kts
+
+ double gearUpDist = d + pitchDistance(INITIAL_PITCH_ANGLE, 400 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(gearUpDist);
+
+ wpt = cloneWithPos(ac, wpt, "gear-up", accelPoint);
+ wpt->setSpeed(vRef);
+ wpt->setCrossat(airportElev + 400);
+ wpt->setOn_ground(false);
+ wpt->setGear_down(false);
+ pushBackWaypoint(wpt);
+
+ // limit climbout speed to 240kts below 10000'
+ double vClimbBelow10000 = std::min(240.0, ac->getPerformance()->vClimb());
- wpt = new waypoint;
- wpt->name = "SOC";
- wpt->latitude = rwy->latitude();
- wpt->longitude = rwy->longitude();
- wpt->altitude = apt->getElevation()+1000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- rwy->lengthM(),
- &lat2, &lon2, &az2 );
-
- wpt = new waypoint;
- wpt->name = "3000 ft";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation()+3000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
-// Finally, add two more waypoints, so that aircraft will remain under
- // Tower control until they have reached the 3000 ft climb point
-
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 5000,
- &lat2, &lon2, &az2 );
-
-
- wpt = new waypoint;
- wpt->name = "5000 ft";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation()+5000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- //cerr << "Created takeoff plan : " << endl;
- //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
- // cerr << "Waypoint Name: " << (*i)->name << ". Speed = " << (*i)->speed << endl;
- //}
-
-
- // geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
-// 100000,
-// &lat2, &lon2, &az2 );
-// wpt = new waypoint;
-// wpt->name = "5100 ft";
-// wpt->latitude = lat2;
-// wpt->longitude = lon2;
-// wpt->altitude = apt->getElevation()+5100;
-// wpt->speed = speed;
-// wpt->crossat = -10000;
-// wpt->gear_down = true;
-// wpt->flaps_down= true;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// wpt->routeIndex = 0;
-// waypoints.push_back(wpt);
+ // create two climb-out points. This is important becuase the first climb point will
+ // be a (sometimes large) turn towards the destination, and we don't want to
+ // commence that turn below 2000'
+ double climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2000 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2000'", accelPoint, airportElev + 2000, vClimbBelow10000);
+ pushBackWaypoint(wpt);
+
+ climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2500 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2500'", accelPoint, airportElev + 2500, vClimbBelow10000);
+ pushBackWaypoint(wpt);
+
+ return true;
}
-
+
/*******************************************************************
* CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt, const string &fltType)
+bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
+ FGAirport * apt, FGAirport* arrival,
+ double speed, double alt,
+ const string & fltType)
{
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- //int direction;
- waypoint *wpt;
-
-
- if (firstFlight)
- {
- //string name;
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
- }
-
-
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 10*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "10000ft climb";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 10000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ FGAIWaypoint *wpt;
+ // string fPLName;
+ double vClimb = ac->getPerformance()->vClimb();
+ if (firstFlight) {
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+ heading);
+ }
+ if (sid) {
+ for (wpt_vector_iterator i = sid->getFirstWayPoint();
+ i != sid->getLastWayPoint(); i++) {
+ pushBackWaypoint(clone(*(i)));
+ //cerr << " Cloning waypoint " << endl;
+ }
+ } else {
+ FGRunway* runway = apt->getRunwayByIdent(activeRunway);
+ SGGeod cur = runway->end();
+ if (!waypoints.empty()) {
+ cur = waypoints.back()->getPos();
+ }
+
+ // compute course towards destination
+ double course = SGGeodesy::courseDeg(cur, arrival->geod());
+
+ SGGeod climb1 = SGGeodesy::direct(cur, course, 10 * SG_NM_TO_METER);
+ wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
+ wpt->setGear_down(true);
+ wpt->setFlaps_down(true);
+ pushBackWaypoint(wpt);
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 20*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "18000ft climb";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 18000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ SGGeod climb2 = SGGeodesy::direct(cur, course, 20 * SG_NM_TO_METER);
+ wpt = createInAir(ac, "18000ft climb", climb2, 18000, vClimb);
+ pushBackWaypoint(wpt);
+ }
+ return true;
}
-// /*******************************************************************
-// * 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)
-// {
-// double wind_speed;
-// double wind_heading;
-// double heading;
-// double lat, lon, az;
-// double lat2, lon2, az2;
-// double azimuth;
-// waypoint *wpt;
-
-// wpt = new waypoint;
-// wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
-// wpt->latitude = latitude;
-// wpt->longitude = longitude;
-// wpt->altitude = alt;
-// wpt->speed = speed;
-// wpt->crossat = -10000;
-// wpt->gear_down = false;
-// wpt->flaps_down= false;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// waypoints.push_back(wpt);
-
-
-// // should be changed dynamically to allow "gen" and "mil"
-// arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
-// if (!(globals->get_runways()->search(arr->getId(),
-// activeRunway,
-// &rwy)))
-// {
-// SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
-// activeRunway <<
-// " at airport " << arr->getId());
-// exit(1);
-// }
-// heading = rwy->headingDeg();
-// azimuth = heading + 180.0;
-// while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
-
-// geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
-// 110000,
-// &lat2, &lon2, &az2 );
-// wpt = new waypoint;
-// wpt->name = "BOD";
-// wpt->latitude = lat2;
-// wpt->longitude = lon2;
-// wpt->altitude = alt;
-// wpt->speed = speed;
-// wpt->crossat = alt;
-// wpt->gear_down = false;
-// wpt->flaps_down= false;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// waypoints.push_back(wpt);
-// }
/*******************************************************************
- * CreateDecent
- * initialize the Aircraft at the parking location
+ * CreateDescent
+ * Generate a flight path from the last waypoint of the cruise to
+ * the permission to land point
******************************************************************/
-void FGAIFlightPlan::createDecent(FGAirport *apt, const string &fltType)
+bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
+ double latitude, double longitude,
+ double speed, double alt,
+ const string & fltType,
+ double requiredDistance)
{
+ bool reposition = false;
+ FGAIWaypoint *wpt;
+ double vDescent = ac->getPerformance()->vDescent();
+ double vApproach = ac->getPerformance()->vApproach();
+
+ //Beginning of Descent
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
+ heading);
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+
+ // Create a slow descent path that ends 250 lateral to the runway.
+ double initialTurnRadius = getTurnRadius(vDescent, true);
+ //double finalTurnRadius = getTurnRadius(vApproach, true);
+
+// get length of the downwind leg for the intended runway
+ double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER;
+ //time_t previousArrivalTime= apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime();
+
+
+ SGGeod current = SGGeod::fromDegM(longitude, latitude, 0);
+ SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
+ SGGeod refPoint = rwy->pointOnCenterline(0);
+ double distance = SGGeodesy::distanceM(current, initialTarget);
+ double azimuth = SGGeodesy::courseDeg(current, initialTarget);
+ double dummyAz2;
+
+ // To prevent absurdly steep approaches, compute the origin from where the approach should have started
+ SGGeod origin;
+
+ if (ac->getTrafficRef()->getCallSign() ==
+ fgGetString("/ai/track-callsign")) {
+ //cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl;
+ //exit(1);
+ }
+
+ if (distance < requiredDistance * 0.8) {
+ reposition = true;
+ SGGeodesy::direct(initialTarget, azimuth,
+ -requiredDistance, origin, dummyAz2);
+
+ distance = SGGeodesy::distanceM(current, initialTarget);
+ azimuth = SGGeodesy::courseDeg(current, initialTarget);
+ } else {
+ origin = current;
+ }
+
+ double dAlt = 0; // = alt - (apt->getElevation() + 2000);
+ FGTaxiNode * tn = 0;
+ if (apt->getDynamics()->getGroundNetwork()) {
+ int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
+ tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ }
+
+ if (tn) {
+ dAlt = alt - ((tn->getElevationFt()) + 2000);
+ } else {
+ dAlt = alt - (apt->getElevation() + 2000);
+ }
+
+ double nPoints = 100;
+ char buffer[16];
+
+ // The descent path contains the following phases:
+ // 1) a linear glide path from the initial position to
+ // 2) a semi circle turn to final
+ // 3) approach
+
+ //cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
+ // Create an initial destination point on a semicircle
+ //cerr << "lateral offset : " << lateralOffset << endl;
+ //cerr << "Distance : " << distance << endl;
+ //cerr << "Azimuth : " << azimuth << endl;
+ //cerr << "Initial Lateral point: " << lateralOffset << endl;
+// double lat = refPoint.getLatitudeDeg();
+// double lon = refPoint.getLongitudeDeg();
+ //cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
+// lat = initialTarget.getLatitudeDeg();
+// lon = initialTarget.getLongitudeDeg();
+ //cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
+
+ double ratio = initialTurnRadius / distance;
+ if (ratio > 1.0)
+ ratio = 1.0;
+ if (ratio < -1.0)
+ ratio = -1.0;
+
+ double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
+ double newDistance =
+ cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
+ //cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
+ double side = azimuth - rwy->headingDeg();
+ double lateralOffset = initialTurnRadius;
+ if (side < 0)
+ side += 360;
+ if (side < 180) {
+ lateralOffset *= -1;
+ }
+ // Calculate the ETA at final, based on remaining distance, and approach speed.
+ // distance should really consist of flying time to terniary target, plus circle
+ // but the distance to secondary target should work as a reasonable approximation
+ // aditionally add the amount of distance covered by making a turn of "side"
+ double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
+ time_t remaining =
+ (turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
+ // cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
+ // //exit(1);
+ //}
+
+ time_t eta = now + remaining;
+ //choose a distance to the runway such that it will take at least 60 seconds more
+ // time to get there than the previous aircraft.
+ // Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
+
+ time_t newEta;
+
+ if (reposition == false) {
+ newEta =
+ apt->getDynamics()->getApproachController()->getRunway(rwy->
+ name
+ ())->
+ requestTimeSlot(eta);
+ } else {
+ newEta = eta;
+ }
+ //if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
+ arrivalTime = newEta;
+ time_t additionalTimeNeeded = newEta - eta;
+ double distanceCovered =
+ ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
+ distanceOut += distanceCovered;
+ //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
+ //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
+ //} else {
+ //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
+ //}
+ //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
+
+ SGGeod secondaryTarget =
+ rwy->pointOffCenterline(-distanceOut, lateralOffset);
+ initialTarget = rwy->pointOnCenterline(-distanceOut);
+ distance = SGGeodesy::distanceM(origin, secondaryTarget);
+ azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
+
+
+// lat = secondaryTarget.getLatitudeDeg();
+// lon = secondaryTarget.getLongitudeDeg();
+ //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
+ //cerr << "Distance : " << distance << endl;
+ //cerr << "Azimuth : " << azimuth << endl;
+
+
+ ratio = initialTurnRadius / distance;
+ if (ratio > 1.0)
+ ratio = 1.0;
+ if (ratio < -1.0)
+ ratio = -1.0;
+ newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
+ newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
+ //cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
+ if (side < 180) {
+ azimuth += newHeading;
+ } else {
+ azimuth -= newHeading;
+ }
+
+ SGGeod tertiaryTarget;
+ SGGeodesy::direct(origin, azimuth,
+ newDistance, tertiaryTarget, dummyAz2);
+
+// lat = tertiaryTarget.getLatitudeDeg();
+// lon = tertiaryTarget.getLongitudeDeg();
+ //cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
+
+
+ for (int i = 1; i < nPoints; i++) {
+ SGGeod result;
+ double currentDist = i * (newDistance / nPoints);
+ double currentAltitude = alt - (i * (dAlt / nPoints));
+ SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
+ snprintf(buffer, 16, "descent%03d", i);
+ wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
+ wpt->setCrossat(currentAltitude);
+ wpt->setTrackLength((newDistance / nPoints));
+ pushBackWaypoint(wpt);
+ //cerr << "Track Length : " << wpt->trackLength;
+ //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+ }
+
+ //cerr << "Phase 2: Circle " << endl;
+ double initialAzimuth =
+ SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
+ double finalAzimuth =
+ SGGeodesy::courseDeg(secondaryTarget, initialTarget);
- // Ten thousand ft. Slowing down to 240 kts
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
- waypoint *wpt;
-
- //Beginning of Decent
- //string name;
- // allow "mil" and "gen" as well
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
-
- heading = rwy->headingDeg();
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- 100000,
- &lat2, &lon2, &az2 );
+ //cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
+ int increment, startval, endval;
+ // circle right around secondary target if orig of position is to the right of the runway
+ // i.e. use negative angles; else circle leftward and use postivi
+ if (side < 180) {
+ increment = -1;
+ startval = floor(initialAzimuth);
+ endval = ceil(finalAzimuth);
+ if (endval > startval) {
+ endval -= 360;
+ }
+ } else {
+ increment = 1;
+ startval = ceil(initialAzimuth);
+ endval = floor(finalAzimuth);
+ if (endval < startval) {
+ endval += 360;
+ }
+
+ }
+
+ //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
+ //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
+ double currentAltitude = 0;
+ if (tn) {
+ currentAltitude = (tn->getElevationFt()) + 2000;
+ } else {
+ currentAltitude = apt->getElevation() + 2000;
+ }
+
+ double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
+ for (int i = startval; i != endval; i += increment) {
+ SGGeod result;
+ //double currentAltitude = apt->getElevation() + 2000;
+
+ SGGeodesy::direct(secondaryTarget, i,
+ initialTurnRadius, result, dummyAz2);
+ snprintf(buffer, 16, "turn%03d", i);
+ wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
+ wpt->setCrossat(currentAltitude);
+ wpt->setTrackLength(trackLength);
+ //cerr << "Track Length : " << wpt->trackLength;
+ pushBackWaypoint(wpt);
+ //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+ }
+
+
+ // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
+ //cerr << "Phase 3: Approach" << endl;
+
+ //cerr << "Done" << endl;
+
+ // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
+ IncrementWaypoint(true);
+ IncrementWaypoint(true);
+
+ if (reposition) {
+ double tempDistance;
+ //double minDistance = HUGE_VAL;
+ //string wptName;
+ tempDistance = SGGeodesy::distanceM(current, initialTarget);
+ time_t eta =
+ tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
+ time_t newEta =
+ apt->getDynamics()->getApproachController()->getRunway(rwy->
+ name
+ ())->
+ requestTimeSlot(eta);
+ arrivalTime = newEta;
+ double newDistance =
+ ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
+ //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
+ IncrementWaypoint(true); // remove waypoint BOD2
+ while (checkTrackLength("final001") > newDistance) {
+ IncrementWaypoint(true);
+ }
+ //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
+ ac->resetPositionFromFlightPlan();
+ }
+ waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
+ return true;
+}
+
+/**
+ * compute the distance along the centerline, to the ILS glideslope
+ * transmitter. Return -1 if there's no GS for the runway
+ */
+static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
+{
+ FGNavRecord* gs = rwy->glideslope();
+ if (!gs) {
+ return -1;
+ }
- wpt = new waypoint;
- wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 240;
- wpt->crossat = 10000;
- wpt->gear_down = false;
- wpt->flaps_down= false;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
+ // compute a unit vector in ECF cartesian space, from the runway beginning to the end
+ SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
+ SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
- // Three thousand ft. Slowing down to 160 kts
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- 8*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 160;
- wpt->crossat = 3000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+// project the gsTransmitterVec along the runwayDirctionVec to get out
+// final value (in metres)
+ double dist = dot(runwayDirectionVec, gsTransmitterVec);
+ return dist;
}
+
/*******************************************************************
* CreateLanding
- * initialize the Aircraft at the parking location
+ * Create a flight path from the "permision to land" point (currently
+ hardcoded at 5000 meters from the threshold) to the threshold, at
+ a standard glide slope angle of 3 degrees.
+ Position : 50.0354 8.52592 384 364 11112
******************************************************************/
-void FGAIFlightPlan::createLanding(FGAirport *apt)
+bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
+ const string & fltType)
{
- // Ten thousand ft. Slowing down to 150 kts
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
- waypoint *wpt;
+ double vTouchdown = ac->getPerformance()->vTouchdown();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double decel = ac->getPerformance()->decelerationOnGround();
+ double vApproach = ac->getPerformance()->vApproach();
+
+ double vTouchdownMetric = vTouchdown * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double decelMetric = decel * SG_KT_TO_MPS;
+
+ char buffer[12];
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+ SGGeod threshold = rwy->threshold();
+ double currElev = threshold.getElevationFt();
+
+ double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
+ if (touchdownDistance < 0.0) {
+ double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
+ // touchdown 25% of the way along the landing area
+ touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
+ }
+
+ SGGeod coord;
+ // find glideslope entry point, 2000' above touchdown elevation
+ double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ FGAIWaypoint *wpt = createInAir(ac, "Glideslope begin", rwy->pointOnCenterline(glideslopeEntry),
+ currElev + 2000, vApproach);
+ pushBackWaypoint(wpt);
+
+ // deceleration point, 500' above touchdown elevation - slow from approach speed
+ // to touchdown speed
+ double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ wpt = createInAir(ac, "500' decel", rwy->pointOnCenterline(decelPoint),
+ currElev + 2000, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ // compute elevation above the runway start, based on a 3-degree glideslope
+ double heightAboveRunwayStart = touchdownDistance *
+ tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
+ wpt = createInAir(ac, "CrossThreshold", rwy->begin(),
+ heightAboveRunwayStart + currElev, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
+
+ int nPoints = 50;
+ for (int i = 1; i < nPoints; i++) {
+ snprintf(buffer, 12, "landing03%d", i);
+ double t = ((double) i) / nPoints;
+ coord = rwy->pointOnCenterline(touchdownDistance + (rolloutDistance * t));
+ double vel = (vTouchdownMetric * (1.0 - t)) + (vTaxiMetric * t);
+ wpt = createOnGround(ac, buffer, coord, currElev, vel);
+ wpt->setCrossat(currElev);
+ pushBackWaypoint(wpt);
+ }
+
+ wpt->setSpeed(vTaxi);
+ double mindist = (1.1 * rolloutDistance) + touchdownDistance;
+ FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
+ if (!gn) {
+ return true;
+ }
- heading = rwy->headingDeg();
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
- //Runway Threshold
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 150;
- wpt->crossat = apt->getElevation();
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //Full stop at the runway centerpoint
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthFt() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = rwy->latitude();
- wpt->longitude = rwy->longitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 30;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- rwy->lengthM() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = apt->getElevation();
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ coord = rwy->pointOnCenterline(mindist);
+ int nodeId = 0;
+ if (gn->getVersion() > 0) {
+ nodeId = gn->findNearestNodeOnRunway(coord, rwy);
+ } else {
+ nodeId = gn->findNearestNode(coord);
+ }
+
+ FGTaxiNode* tn = gn->findNode(nodeId);
+ if (tn) {
+ wpt = createOnGround(ac, buffer, tn->geod(), currElev, vTaxi);
+ pushBackWaypoint(wpt);
+ }
+
+ return true;
}
/*******************************************************************
* CreateParking
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
+bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
+ double radius)
{
- waypoint* wpt;
- double lat, lat2;
- double lon, lon2;
- double az2;
- double 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;
- wpt->routeIndex = 0;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- wpt = new waypoint;
- wpt->name = "END"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat;
- wpt->longitude = lon;
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ FGAIWaypoint *wpt;
+ double aptElev = apt->getElevation();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vTaxiReduced = vTaxi * (2.0 / 3.0);
+ if (!gate.isValid()) {
+ wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
+ vTaxiReduced);
+ pushBackWaypoint(wpt);
+ return true;
+ }
+
+ FGParking* parking = gate.parking();
+ double heading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
+ double az; // unused
+ SGGeod pos;
+
+ SGGeodesy::direct(parking->geod(), heading, 2.2 * parking->getRadius(),
+ pos, az);
+
+ wpt = createOnGround(ac, "taxiStart", pos, aptElev, vTaxiReduced);
+ pushBackWaypoint(wpt);
+
+ SGGeodesy::direct(parking->geod(), heading, 0.1 * parking->getRadius(),
+ pos, az);
+ wpt = createOnGround(ac, "taxiStart2", pos, aptElev, vTaxiReduced);
+ pushBackWaypoint(wpt);
+
+ wpt = createOnGround(ac, "END-Parking", parking->geod(), aptElev,
+ vTaxiReduced);
+ pushBackWaypoint(wpt);
+ return true;
}
/**
* - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
* - mil (all military traffic)
*/
-string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
+const char* FGAIFlightPlan::getRunwayClassFromTrafficType(const string& fltType)
{
- if ((fltType == "gate") || (fltType == "cargo")) {
- return string("com");
+ if ((fltType == "gate") || (fltType == "cargo")) {
+ return "com";
}
if (fltType == "ga") {
- return string ("gen");
+ return "gen";
}
if (fltType == "ul") {
- return string("ul");
+ return "ul";
}
- if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
- return string("mil");
+ if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
+ return "mil";
+ }
+ return "com";
+}
+
+
+double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
+{
+ double turn_radius;
+ if (inAir == false) {
+ turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
+ } else {
+ turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
}
- return string("com");
+ return turn_radius;
}
projects / flightgear.git / blobdiff