*
* 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"
* 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, const string& fltType, const string& aircraftType, const 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;
+ case 1:
+ createPushBack(firstFlight,dep, latitude, longitude,
+ radius, fltType, aircraftType, airline);
break;
case 2:
- //cerr << "Creating Taxi" << endl;
- createTaxi(firstFlight, 1, dep, latitude, longitude, 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, latitude, longitude, 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,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+ double latitude,
+ double longitude,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
double heading;
double lat;
if (firstFlight)
{
if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
- &heading, &gateId,
- radius, fltType,
- aircraftType, airline)))
- {
- cerr << "Could not find parking " << endl;
- }
+ &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->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- //lat = latitude;
- //lon = longitude;
- //heading = getHeading();
}
heading += 180.0;
if (heading > 360)
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+
waypoints.push_back(wpt);
- // 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->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,
- radius, // push back one entire aircraft radius
- &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->routeIndex = 0;
+ waypoints.push_back(wpt);
}
/*******************************************************************
* 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)
+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 lat, lon;
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)
+ int nrWaypointsToSkip;
+
+ if (direction == 1)
{
- //string 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
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 );
+
if (apt->getDynamics()->getGroundNetwork()->exists())
{
intVec ids;
- int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2, lon2);
- //int currId = apt->getGroundNetwork()->findNearestNode(latitude,longitude);
- //exit(1);
+ 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 is a bit of a hack...
- FGTaxiRoute route;
+ // Starting from gate 0 in this case is a bit of a hack
+ // which requires a more proper solution later on.
+ //FGTaxiRoute route;
+ if (taxiRoute)
+ delete taxiRoute;
+ taxiRoute = new FGTaxiRoute;
if (gateId >= 0)
- route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, runwayId);
+ *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
+ runwayId);
else
- route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
+ *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
intVecIterator i;
- //cerr << "creating route : ";
- // No route found: go from gate directly to runway
- if (route.empty()) {
+
+ if (taxiRoute->empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
} else {
int node;
- route.first();
- while(route.next(&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);
+ }
+ } else {
+ //chop off the first two waypoints, because
+ // those have already been created
+ // by create pushback
+ int size = taxiRoute->size();
+ if (size > 2) {
+ taxiRoute->next(&node);
+ taxiRoute->next(&node);
+ }
+ }
+ int route;
+ while(taxiRoute->next(&node, &route))
{
- //i = ids.end()-1;
- //cerr << "Creating Node: " << node << endl;
+ //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 = "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(); // should maybe be tn->elev too
- wpt->speed = 15;
+ // 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;
+ wpt->routeIndex = route;
waypoints.push_back(wpt);
}
- cerr << endl;
- }
- //exit(1);
+ //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->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
- //wpt = new waypoint;
- //wpt->finished = false;
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
}
}
else // Landing taxi
{
- //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->getActiveRunway("com", 1, 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);
-
- //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 );
- apt->getDynamics()->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 );
+ 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;
+ //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);
- //int currId = apt->getGroundNetwork()->findNearestNode(latitude,longitude);
- //exit(1);
-
+ 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;
+ //FGTaxiRoute route;
+ if (taxiRoute)
+ delete taxiRoute;
+ taxiRoute = new FGTaxiRoute;
if (gateId >= 0)
- route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, gateId);
+ *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
+ gateId);
else
- route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
+ *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
intVecIterator i;
- //cerr << "creating route : ";
+
// No route found: go from gate directly to runway
- if (route.empty()) {
+ if (taxiRoute->empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
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->latitude = lat3;
+ wpt->longitude = lon3;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
} else {
int node;
- route.first();
- while(route.next(&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++)
{
- //i = ids.end()-1;
- //cerr << "Creating Node: " << node << endl;
+ 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);
- //ids.pop_back();
wpt = new waypoint;
- wpt->name = "taxiway"; // fixme: should be the name of the taxiway
+ //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(); // should maybe be tn->elev too
+ 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;
+ //taxiRoute->first();
+ //taxiRoute->next(&node);
}
- //exit(1);
}
else
{
- //Add the runway startpoint;
+ // 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->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);
}
-
-
-
-
- // Add the final destination waypoint
- 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);
-
-
+
}
- // wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
- //wpt_iterator = waypoints.begin()+currWpt;
}
/*******************************************************************
******************************************************************/
void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
{
- 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
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);
}
-
+ // Acceleration point, 105 meters into the runway,
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
lat = lat2;
lon = lon2;
az = az2;
- //Next: the Start of Climb
+ //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 );
wpt = new waypoint;
wpt->name = "SOC";
+ wpt->latitude = rwy._lat;
+ wpt->longitude = rwy._lon;
+ 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._lat, rwy._lon, heading,
+ rwy._length * SG_FEET_TO_METER,
+ &lat2, &lon2, &az2 );
+
+ wpt = new waypoint;
+ wpt->name = "3000 ft";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation()+3000;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
+ wpt->routeIndex = 0;
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++;
+
+// 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._lat, rwy._lon, 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);
+
+ // geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, 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);
}
/*******************************************************************
******************************************************************/
void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
{
- 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;
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; }
+ //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
10*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
+ wpt->routeIndex = 0;
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)
-{
- double wind_speed;
- double wind_heading;
- double heading;
- //FGRunway rwy;
- double lat, lon, az;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
- waypoint *wpt;
+// /*******************************************************************
+// * 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;
- // 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->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);
- //Beginning of Decent
-
- //string name;
- // should be changed dynamically to allow "gen" and "mil"
- arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
- if (!(globals->get_runways()->search(arr->getId(),
- activeRunway,
- &rwy)))
- {
- cout << "Failed to find runway for " << arr->getId() << endl;
- // Hmm, how do we handle a potential error like this?
- exit(1);
- }
- //string test;
- //arr->getActiveRunway(string("com"), 1, test);
- //exit(1);
+// 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);
- //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; }
+
+// // 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._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->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);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
-}
+// geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, 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
{
// Ten thousand ft. Slowing down to 240 kts
- 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();
-
//Beginning of Decent
//string name;
// allow "mil" and "gen" as well
apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
- if (!(globals->get_runways()->search(apt->getId(),
- 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);
-
- //cerr << "Done" << endl;
+ 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->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
+ wpt->routeIndex = 0;
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->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
+ wpt->routeIndex = 0;
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
- double wind_speed;
- double wind_heading;
+ // Ten thousand ft. Slowing down to 150 kts
double heading;
//FGRunway rwy;
- double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
//int direction;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
//Full stop at the runway centerpoint
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
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->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);
- // 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->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
+ wpt->routeIndex = 0;
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