*
* 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.
*
**************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/props/props.hxx>
+#include <simgear/props/props_io.hxx>
+
#include <Airports/runways.hxx>
+#include <Airports/dynamics.hxx>
+#include "AIAircraft.hxx"
+#include "performancedata.hxx"
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.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(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)
{
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(ac, 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);
+ createTakeoffTaxi(ac, firstFlight, dep, radius, fltType, aircraftType, airline);
break;
case 3:
- //cerr << "Creating TAkeoff" << endl;
- createTakeOff(firstFlight, dep, speed);
+ createTakeOff(ac, firstFlight, dep, speed, fltType);
break;
case 4:
- //cerr << "Creating Climb" << endl;
- createClimb(firstFlight, dep, speed, alt);
+ createClimb(ac, firstFlight, dep, speed, alt, fltType);
break;
case 5:
- //cerr << "Creating Cruise" << endl;
- createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt);
+ createCruise(ac, firstFlight, dep,arr, latitude, longitude, speed, alt, fltType);
break;
case 6:
- //cerr << "Creating Decent" << endl;
- createDecent(arr);
+ createDecent(ac, arr, fltType);
break;
case 7:
- //cerr << "Creating Landing" << endl;
- createLanding(arr);
+ createLanding(ac, arr, fltType);
break;
case 8:
- //cerr << "Creating Taxi 2" << endl;
- createTaxi(false, 2, arr, latitude, longitude, radius, fltType, aircraftType, airline);
+ createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
break;
- case 9:
- //cerr << "Creating Parking" << endl;
- createParking(arr);
+ case 9:
+ createParking(ac, 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++;
}
-/*******************************************************************
- * createPushBack
- * 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)
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::createOnGround(FGAIAircraft *ac, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
{
- double heading;
- double lat;
- double lon;
- double lat2;
- double lon2;
- double az2;
-
- //int currWpt = wpt_iterator - waypoints.begin();
- // Erase all existing waypoints.
- //resetWaypoints();
-
- // We only need to get a valid parking if this is the first leg.
- // Otherwise use the current aircraft position.
- if (firstFlight)
- {
- if (!(dep->getAvailableParking(&lat, &lon, &heading, &gateId, radius, fltType, aircraftType, airline)))
- {
- cerr << "Could not find parking " << endl;
- }
- }
- else
- {
- dep->getParking(gateId, &lat, &lon, &heading);
- //lat = latitude;
- //lon = longitude;
- //heading = getHeading();
- }
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
- waypoint *wpt = new waypoint;
- wpt->name = "park";
- wpt->latitude = lat;
- wpt->longitude = lon;
- wpt->altitude = dep->getElevation();
- wpt->speed = -10;
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+ wpt->altitude = aElev;
+ wpt->speed = aSpeed;
wpt->crossat = -10000;
wpt->gear_down = true;
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 );
- wpt = new waypoint;
- wpt->name = "park2";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = dep->getElevation();
- wpt->speed = -10;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- radius, // push back one entire aircraft radius
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "taxiStart";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = dep->getElevation();
- wpt->speed = 10;
+ wpt->routeIndex= 0;
+ return wpt;
+}
+
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::createInAir(FGAIAircraft *ac, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
+{
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+ wpt->altitude = aElev;
+ wpt->speed = aSpeed;
wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
+ wpt->gear_down = false;
+ wpt->flaps_down= false;
wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
+ wpt->on_ground = false;
+ wpt->routeIndex= 0;
+ return wpt;
+}
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::cloneWithPos(FGAIAircraft *ac, waypoint* aWpt, const std::string& aName, const SGGeod& aPos)
+{
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+
+ wpt->altitude = aWpt->altitude;
+ wpt->speed = aWpt->speed;
+ wpt->crossat = aWpt->crossat;
+ wpt->gear_down = aWpt->gear_down;
+ wpt->flaps_down= aWpt->flaps_down;
+ wpt->finished = aWpt->finished;
+ wpt->on_ground = aWpt->on_ground;
+ wpt->routeIndex = 0;
+ return 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)
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::clone(waypoint* aWpt)
{
- double wind_speed;
- double wind_heading;
- double heading;
- //FGRunway rwy;
- double lat, lon, az;
- double lat2, lon2, az2;
- //int direction;
- waypoint *wpt;
+ waypoint* wpt = new waypoint;
+ wpt->name = aWpt->name;
+ wpt->longitude = aWpt->longitude;
+ wpt->latitude = aWpt->latitude;
+
+ wpt->altitude = aWpt->altitude;
+ wpt->speed = aWpt->speed;
+ wpt->crossat = aWpt->crossat;
+ wpt->gear_down = aWpt->gear_down;
+ wpt->flaps_down= aWpt->flaps_down;
+ wpt->finished = aWpt->finished;
+ wpt->on_ground = aWpt->on_ground;
+ wpt->routeIndex = 0;
+
+ return wpt;
+}
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //resetWaypoints();
- //int currWpt = wpt_iterator - waypoints.begin();
- if (direction == 1)
- {
- //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, 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);
-
- 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->getGroundNetwork()->exists())
- {
- intVec ids;
- int runwayId = apt->getGroundNetwork()->findNearestNode(lat2, lon2);
- //int currId = apt->getGroundNetwork()->findNearestNode(latitude,longitude);
- //exit(1);
-
- // A negative gateId indicates an overflow parking, use a
- // fallback mechanism for this.
- // Starting from gate 0 is a bit of a hack...
- FGTaxiRoute route;
- if (gateId >= 0)
- route = apt->getGroundNetwork()->findShortestRoute(gateId, runwayId);
- else
- route = apt->getGroundNetwork()->findShortestRoute(0, runwayId);
- intVecIterator i;
- //cerr << "creating route : ";
- // No route found: go from gate directly to runway
- if (route.empty()) {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = latitude;
- wpt->longitude = longitude;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- } else {
- int node;
- route.first();
- while(route.next(&node))
- {
- //i = ids.end()-1;
- //cerr << "Creating Node: " << node << endl;
- FGTaxiNode *tn = apt->getGroundNetwork()->findNode(node);
- //ids.pop_back();
- wpt = new waypoint;
- wpt->name = "taxiway"; // fixme: should be the name of the taxiway
- wpt->latitude = tn->getLatitude();
- wpt->longitude = tn->getLongitude();
- wpt->altitude = apt->getElevation(); // should maybe be tn->elev too
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- }
- cerr << endl;
- }
- //exit(1);
- }
- else
- {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- //wpt = new waypoint;
- //wpt->finished = false;
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- }
- }
- 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->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 );
- double lat3 = (*(waypoints.end()-1))->latitude;
- double lon3 = (*(waypoints.end()-1))->longitude;
- cerr << (*(waypoints.end()-1))->name << endl;
- if (apt->getGroundNetwork()->exists())
- {
- intVec ids;
- int runwayId = apt->getGroundNetwork()->findNearestNode(lat3, lon3);
- //int currId = apt->getGroundNetwork()->findNearestNode(latitude,longitude);
- //exit(1);
-
- // A negative gateId indicates an overflow parking, use a
- // fallback mechanism for this.
- // Starting from gate 0 is a bit of a hack...
- FGTaxiRoute route;
- if (gateId >= 0)
- route = apt->getGroundNetwork()->findShortestRoute(runwayId, gateId);
- else
- route = apt->getGroundNetwork()->findShortestRoute(runwayId, 0);
- intVecIterator i;
- //cerr << "creating route : ";
- // No route found: go from gate directly to runway
- if (route.empty()) {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = latitude;
- wpt->longitude = longitude;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- } else {
- int node;
- route.first();
- while(route.next(&node))
- {
- //i = ids.end()-1;
- //cerr << "Creating Node: " << node << endl;
- FGTaxiNode *tn = apt->getGroundNetwork()->findNode(node);
- //ids.pop_back();
- wpt = new waypoint;
- wpt->name = "taxiway"; // fixme: should be the name of the taxiway
- wpt->latitude = tn->getLatitude();
- wpt->longitude = tn->getLongitude();
- wpt->altitude = apt->getElevation(); // should maybe be tn->elev too
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
- }
- cerr << endl;
- }
- //exit(1);
- }
- else
- {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- waypoints.push_back(wpt);
-
- }
-
-
-
-
- // Add the 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::createDefaultTakeoffTaxi(FGAIAircraft *ac, FGAirport* aAirport, FGRunway* aRunway)
+{
+ SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
+ double airportElev = aAirport->getElevation();
+
+ waypoint* wpt;
+ wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi());
+ waypoints.push_back(wpt);
+ wpt = createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev, ac->getPerformance()->vTaxi());
+ waypoints.push_back(wpt);
}
-/*******************************************************************
- * CreateTakeOff
- * initialize the Aircraft at the parking location
- ******************************************************************/
-void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
+void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
+ FGAirport *apt,
+ double radius, const string& fltType,
+ const string& acType, const string& airline)
{
- double wind_speed;
- double wind_heading;
- double heading;
- //FGRunway rwy;
- double lat, lon, az;
- double lat2, lon2, az2;
- //int direction;
- waypoint *wpt;
+ double heading, lat, lon;
+ // 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());
+ }
+ }
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
+ 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);
+ }
+ rwy = apt->getRunwayByIdent(activeRunway);
+ SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
+
+ FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
+ if (!gn->exists()) {
+ createDefaultTakeoffTaxi(ac, apt, rwy);
+ return;
+ }
+ intVec ids;
+ int 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.
+ int node = 0;
+ // Find out which node to start from
+ FGParking *park = apt->getDynamics()->getParking(gateId);
+ if (park) {
+ node = park->getPushBackPoint();
+ }
- // 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;
- // "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, 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);
+ 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;
}
+ }
+
+ *taxiRoute = gn->findShortestRoute(node, runwayId);
+ intVecIterator i;
+
+ if (taxiRoute->empty()) {
+ createDefaultTakeoffTaxi(ac, apt, rwy);
+ return;
+ }
- 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 - 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;
- waypoints.push_back(wpt);
+ 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-2; i++) {
+ 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
+ }
+ }
- lat = lat2;
- lon = lon2;
- az = az2;
+ // push each node on the taxi route as a waypoint
+ int route;
+ while(taxiRoute->next(&node, &route)) {
+ char buffer[10];
+ snprintf (buffer, 10, "%d", node);
+ FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ waypoint* wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi());
+ wpt->routeIndex = route;
+ waypoints.push_back(wpt);
+ }
+}
+
+void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft *ac, FGAirport* aAirport)
+{
+ SGGeod lastWptPos =
+ SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+ double airportElev = aAirport->getElevation();
- //Next: the Start of Climb
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2560 * SG_FEET_TO_METER,
- &lat2, &lon2, &az2 );
+ waypoint* wpt;
+ wpt = createOnGround(ac, "Runway Exit", lastWptPos, airportElev, ac->getPerformance()->vTaxi());
+ waypoints.push_back(wpt);
+ wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi());
+ waypoints.push_back(wpt);
- wpt = new waypoint;
- wpt->name = "SOC";
- 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;
+ double heading, lat, lon;
+ aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
+ wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev, ac->getPerformance()->vTaxi());
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++;
}
-
-/*******************************************************************
- * CreateClimb
- * initialize the Aircraft at the parking location
- ******************************************************************/
-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();
+void FGAIFlightPlan::createLandingTaxi(FGAIAircraft *ac, FGAirport *apt,
+ double radius, const string& fltType,
+ const string& acType, const string& airline)
+{
+ double heading, lat, lon;
+ apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
+ &gateId, radius, fltType, acType, airline);
+ SGGeod lastWptPos =
+ SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+ FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
- // 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;
- // "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, 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);
- }
+ // Find a route from runway end to parking/gate.
+ if (!gn->exists()) {
+ createDefaultLandingTaxi(ac, apt);
+ return;
+ }
+ intVec ids;
+ int runwayId = gn->findNearestNode(lastWptPos);
+ // 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 = gn->findShortestRoute(runwayId, gateId);
+ else
+ *taxiRoute = gn->findShortestRoute(runwayId, 0);
+ intVecIterator i;
- heading = rwy._heading;
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, 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;
- waypoints.push_back(wpt);
+ if (taxiRoute->empty()) {
+ createDefaultLandingTaxi(ac, apt);
+ return;
+ }
-
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, 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;
- waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- // wpt_iterator = waypoints.begin();
- //if (!firstFlight)
- // wpt_iterator++;
+ int 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 = gn->findNode(node);
+ waypoint* wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi());
+ wpt->routeIndex = route;
+ waypoints.push_back(wpt);
+ }
}
+/*******************************************************************
+ * CreateTakeOff
+ * 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(FGAIAircraft *ac, bool firstFlight, FGAirport *apt, double speed, const string &fltType)
+{
+ double accel = ac->getPerformance()->acceleration();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vRotate = ac->getPerformance()->vRotate();
+ double vTakeoff = ac->getPerformance()->vTakeoff();
+ double vClimb = ac->getPerformance()->vClimb();
+
+ double accelMetric = (accel * SG_NM_TO_METER) / 3600;
+ double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
+ double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600;
+ double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600;
+ double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
+ // Acceleration = dV / dT
+ // Acceleration X dT = dV
+ // dT = dT / Acceleration
+ //d = (Vf^2 - Vo^2) / (2*a)
+ //double accelTime = (vRotate - vTaxi) / accel;
+ //cerr << "Using " << accelTime << " as total acceleration time" << endl;
+ double accelDistance = (vRotateMetric*vRotateMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+ cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
+ waypoint *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)
+ {
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading);
+ rwy = apt->getRunwayByIdent(activeRunway);
+ }
+ double airportElev = apt->getElevation();
+ // Acceleration point, 105 meters into the runway,
+ SGGeod accelPoint = rwy->pointOnCenterline(105.0);
+ wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate);
+ waypoints.push_back(wpt);
+
+
+ accelDistance = (vTakeoffMetric*vTakeoffMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+ cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+ accelPoint = rwy->pointOnCenterline(105.0+accelDistance);
+ wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
+ waypoints.push_back(wpt);
+
+ accelDistance = ((vTakeoffMetric*1.1)*(vTakeoffMetric*1.1) - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+ cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+ accelPoint = rwy->pointOnCenterline(105.0+accelDistance);
+ wpt = createOnGround(ac, "rotate", accelPoint, airportElev+1000, vTakeoff*1.1);
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
+
+ wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
+ wpt->altitude = airportElev+3000;
+ 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
+ SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
+ wpt = cloneWithPos(ac, wpt, "5000 ft", pt);
+ wpt->altitude = airportElev+5000;
+ waypoints.push_back(wpt);
+}
+
/*******************************************************************
- * CreateCruise
+ * CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep, FGAirport *arr, double latitude, double longitude, double speed, double alt)
+void FGAIFlightPlan::createClimb(FGAIAircraft *ac, bool firstFlight, FGAirport *apt, double speed, double alt, const string &fltType)
{
- double wind_speed;
- double wind_heading;
- double heading;
- //FGRunway rwy;
- double lat, lon, az;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
waypoint *wpt;
-
- // Erase all existing waypoints.
- // wpt_vector_iterator i= waypoints.begin();
- //while(waypoints.begin() != waypoints.end())
- // {
- // delete *(i);
- // waypoints.erase(i);
- // }
- //resetWaypoints();
-
- wpt = new waypoint;
- wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = latitude;
- wpt->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->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);
+// bool planLoaded = false;
+ string fPLName;
+ double vClimb = ac->getPerformance()->vClimb();
+
+ if (firstFlight) {
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading);
+ rwy = apt->getRunwayByIdent(activeRunway);
+ }
+ if (sid) {
+ for (wpt_vector_iterator i = sid->getFirstWayPoint();
+ i != sid->getLastWayPoint();
+ i++) {
+ waypoints.push_back(clone(*(i)));
+ //cerr << " Cloning waypoint " << endl;
}
- //string test;
- //arr->getActiveRunway(string("com"), 1, test);
- //exit(1);
-
- //cerr << "Altitude = " << alt << endl;
- //cerr << "Done" << endl;
- //if (arr->getId() == "EHAM")
- // {
- // cerr << "Creating cruise to EHAM " << latitude << " " << longitude << endl;
- // }
- heading = rwy._heading;
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
-
- // Note: This places us at the location of the active
- // runway during initial cruise. This needs to be
- // fixed later.
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
- 110000,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "BOD"; //wpt_node->getStringValue("name", "END");
- wpt->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++;
+ } else {
+ SGGeod climb1 = rwy->pointOnCenterline(10*SG_NM_TO_METER);
+ wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000);
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ waypoints.push_back(wpt);
+
+ SGGeod climb2 = rwy->pointOnCenterline(20*SG_NM_TO_METER);
+ wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
+ wpt->altitude = 18000;
+ waypoints.push_back(wpt);
+ }
}
+
+
/*******************************************************************
* CreateDecent
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createDecent(FGAirport *apt)
+void FGAIFlightPlan::createDecent(FGAIAircraft *ac, FGAirport *apt, const string &fltType)
{
-
// 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();
+ double vDecent = ac->getPerformance()->vDescent();
+ double vApproach = ac->getPerformance()->vApproach();
//Beginning of Decent
//string name;
// allow "mil" and "gen" as well
- apt->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;
- 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 = new waypoint;
- wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 240;
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
+ rwy = apt->getRunwayByIdent(activeRunway);
+
+ SGGeod descent1 = rwy->pointOnCenterline(-100000); // 100km out
+ wpt = createInAir(ac, "Dec 10000ft", descent1, apt->getElevation(), vDecent);
wpt->crossat = 10000;
- wpt->gear_down = false;
- wpt->flaps_down= false;
- wpt->finished = false;
- wpt->on_ground = false;
waypoints.push_back(wpt);
-
+
// Three thousand ft. Slowing down to 160 kts
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
- 8*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- 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;
+ SGGeod descent2 = rwy->pointOnCenterline(-8*SG_NM_TO_METER); // 8nm out
+ wpt = createInAir(ac, "DEC 3000ft", descent2, apt->getElevation(), vApproach);
wpt->crossat = 3000;
wpt->gear_down = true;
wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //wpt_iterator++;
- //if (apt->getId() == "EHAM")
- // {
- // cerr << "Created Decend to EHAM " << lat2 << " " << lon2 << ": Runway = " << rwy._rwy_no
- // << "heading " << heading << endl;
- // }
}
/*******************************************************************
* CreateLanding
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createLanding(FGAirport *apt)
+void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt, const string &fltType)
{
- // 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;
+ double vTouchdown = ac->getPerformance()->vTouchdown();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ double heading = ac->getTrafficRef()->getCourse();
+ apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
+ rwy = apt->getRunwayByIdent(activeRunway);
- heading = rwy._heading;
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
+ waypoint *wpt;
+ double aptElev = apt->getElevation();
+
+ SGGeod coord;
+ char buffer[12];
+ for (int i = 1; i < 10; i++) {
+ snprintf(buffer, 12, "wpt%d", i);
+ coord = rwy->pointOnCenterline(rwy->lengthM() * (i/10.0));
+ wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown/i));
+ wpt->crossat = apt->getElevation();
+ waypoints.push_back(wpt);
+ }
+
+ /*
//Runway Threshold
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
- rwy._length*0.45 * SG_FEET_TO_METER,
- &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 = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
+ wpt->crossat = apt->getElevation();
waypoints.push_back(wpt);
- //Full stop at the runway centerpoint
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
- rwy._length*0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = rwy._lat;
- wpt->longitude = rwy._lon;
- 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;
+ // Roll-out
+ wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
waypoints.push_back(wpt);
- geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
- rwy._length*0.45 * SG_FEET_TO_METER,
- &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;
+ SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
+ wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
wpt->crossat = apt->getElevation();
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
waypoints.push_back(wpt);
- //waypoints.push_back(wpt);
- //waypoints.push_back(wpt); // add one more to prevent a segfault.
- //wpt_iterator = waypoints.begin();
- //wpt_iterator++;
-
- //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(FGAIAircraft *ac, FGAirport *apt, double radius)
{
waypoint* wpt;
- double lat;
- double lon;
- double heading;
- apt->getParking(gateId, &lat, &lon, &heading);
+ double aptElev = apt->getElevation();
+ double lat = 0.0, lat2 = 0.0;
+ double lon = 0.0, lon2 = 0.0;
+ double az2 = 0.0;
+ double heading = 0.0;
+
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vTaxiReduced = vTaxi * (2.0/3.0);
+ 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 = createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced);
+ waypoints.push_back(wpt);
+
+ geo_direct_wgs_84 ( 0, lat, lon, heading,
+ 0.1 *radius,
+ &lat2, &lon2, &az2 );
+
+ wpt = createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced);
+ 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->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
+ wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev, vTaxiReduced);
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++;
+}
+
+/**
+ *
+ * @param fltType a string describing the type of
+ * traffic, normally used for gate assignments
+ * @return a converted string that gives the runway
+ * preference schedule to be used at aircraft having
+ * a preferential runway schedule implemented (i.e.
+ * having a rwyprefs.xml file
+ *
+ * Currently valid traffic types for gate assignment:
+ * - gate (commercial gate)
+ * - cargo (commercial gargo),
+ * - ga (general aviation) ,
+ * - ul (ultralight),
+ * - mil-fighter (military - fighter),
+ * - mil-transport (military - transport)
+ *
+ * Valid runway classes:
+ * - com (commercial traffic: jetliners, passenger and cargo)
+ * - gen (general aviation)
+ * - 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)
+{
+ if ((fltType == "gate") || (fltType == "cargo")) {
+ return string("com");
+ }
+ if (fltType == "ga") {
+ return string ("gen");
+ }
+ if (fltType == "ul") {
+ return string("ul");
+ }
+ if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
+ return string("mil");
+ }
+ return string("com");
}
projects / flightgear.git / blobdiff