-/******************************************************************************
- * AIFlightPlanCreatePushBack.cxx
- * Written by Durk Talsma, started August 1, 2007.
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- **************************************************************************/
-#include "AIFlightPlan.hxx"
+/****************************************************************************
+* AIFlightPlanCreatePushBack.cxx
+* Written by Durk Talsma, started August 1, 2007.
+*
+* This program is free software; you can redistribute it and/or
+* modify it under the terms of the GNU General Public License as
+* published by the Free Software Foundation; either version 2 of the
+* License, or (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+* General Public License for more details.
+*
+* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+**************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <cstdlib>
+#include <cstdio>
+
#include <simgear/math/sg_geodesy.hxx>
+
+#include <Airports/airport.hxx>
#include <Airports/runways.hxx>
+#include <Airports/dynamics.hxx>
+#include <Airports/groundnetwork.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
-
-void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+#include "AIFlightPlan.hxx"
+#include "AIAircraft.hxx"
+#include "performancedata.hxx"
+
+using std::string;
+
+// TODO: Use James Turner's createOnGround functions.
+bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
+ bool firstFlight, FGAirport *dep,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
- double lat, lon, heading;
- FGTaxiRoute *pushBackRoute;
- if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
- //cerr << "Push Back fallback" << endl;
- createPushBackFallBack(firstFlight, dep, latitude, longitude,
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vTaxiBackward = vTaxi * (-2.0/3.0);
+ double vTaxiReduced = vTaxi * (2.0/3.0);
+
+ // Active runway can be conditionally set by ATC, so at the start of a new flight, this
+ // must be reset.
+ activeRunway.clear();
+
+ if (!(dep->getDynamics()->getGroundController()->exists())) {
+ //cerr << "Push Back fallback" << endl;
+ createPushBackFallBack(ac, firstFlight, dep,
radius, fltType, aircraftType, airline);
- } else {
- if (firstFlight) {
- if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
- &heading, &gateId,
- radius, fltType,
- aircraftType, airline))) {
- SG_LOG(SG_INPUT, SG_WARN, "Warning: Could not find parking for a " <<
- aircraftType <<
- " of flight type " << fltType <<
- " of airline " << airline <<
- " at airport " << dep->getId());
- char buffer[10];
- snprintf (buffer, 10, "%d", gateId);
- //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
- waypoint *wpt;
- wpt = new waypoint;
- wpt->name = string(buffer); // fixme: should be the name of the taxiway
- wpt->latitude = lat;
- wpt->longitude = lon;
- // Elevation is currently disregarded when on_ground is true
- // because the AIModel obtains a periodic ground elevation estimate.
- 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;
- wpt->routeIndex = -1;
- waypoints.push_back(wpt);
- }
- } else {
- //cerr << "Push Back follow-up Flight" << endl;
- dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- }
- if (gateId < 0) {
- createPushBackFallBack(firstFlight, dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
- return;
-
- }
- //cerr << "getting parking " << gateId;
- //cerr << " for a " <<
- // aircraftType <<
- // " of flight type " << fltType <<
- // " of airline " << airline <<
- // " at airport " << dep->getId() << endl;
- FGParking *parking = dep->getDynamics()->getParking(gateId);
- int pushBackNode = parking->getPushBackPoint();
-
- // initialize the pushback route. Note that parts
- // of this procedure should probably be done inside
- // taxidraw. This code is likely to change once this
- // this is fully implemented in taxidraw. Until that time,
- // however, the full initialization procedure looks like this:
- // 1) Build a list of all the nodes that are classified as
- // pushBack hold points
- // 2) For each hold point, use the dykstra algorithm to find a route
- // between the gate and the pushBack hold nodes, however use only
- // segments that are classified as "pushback" routes.
- // 3) return the TaxiRoute class that is non empty.
- // 4) store refer this route in the parking object, for future use
-
- if (pushBackNode < 0) {
- //cerr << "Initializing PushBackRoute " << endl;
- intVec pushBackNodes;
- int nAINodes = dep->getDynamics()->getGroundNetwork()->getNrOfNodes();
- int hits = 0;
- parking->setPushBackPoint(0); // default in case no network was found.
-
- // Collect all the nodes that are classified as having pushBack hold status
- for (int i = 0; i < nAINodes; i++) {
- if (dep->getDynamics()->getGroundNetwork()->findNode(i)->getHoldPointType() == 3) {
- pushBackNodes.push_back(i);
- }
- }
+ return true;
+ }
+
+ // establish the parking position / gate if required
+ if (firstFlight) {
+ gate = dep->getDynamics()->getAvailableParking(radius, fltType,
+ aircraftType, airline);
+ if (!gate.isValid()) {
+ SG_LOG(SG_AI, SG_WARN, "Warning: Could not find parking for a " <<
+ aircraftType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << dep->getId());
+ return false;
+ }
+ }
+
+ if (!gate.isValid()) {
+ createPushBackFallBack(ac, firstFlight, dep,
+ radius, fltType, aircraftType, airline);
+ return true;
- // For each node found in step 1, check if it can be reached
- FGTaxiRoute route;
- for (intVecIterator nodes = pushBackNodes.begin();
- nodes != pushBackNodes.end();
- nodes++) {
- route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, *nodes, false);
- if (!(route.empty())) {
- //cerr << "Found Pushback route of size " << route.size() << endl;
- hits++;
- parking->setPushBackRoute(new FGTaxiRoute(route));
- parking->setPushBackPoint(*nodes);
- pushBackNode = *nodes;
- }
- }
- if (hits == 0) {
- SG_LOG(SG_GENERAL, SG_INFO, "No pushback route found for gate " << gateId << " at " << dep->getId());
- }
- if (hits > 1) {
- SG_LOG(SG_GENERAL, SG_WARN, hits << " pushback routes found for gate " << gateId << " at " << dep->getId());
- }
+ }
+
+ FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
+ FGParking *parking = gate.parking();
+ if (parking && parking->getPushBackPoint() > 0) {
+ FGTaxiRoute route = groundNet->findShortestRoute(parking, parking->getPushBackPoint(), false);
+
+ int size = route.size();
+ if (size < 2) {
+ SG_LOG(SG_AI, SG_ALERT, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.");
+ SG_LOG(SG_AI, SG_ALERT, "Using " << parking->getPushBackPoint());
}
- if (pushBackNode > 0) {
- int node, rte;
- //cerr << "Found valid pusback node " << pushBackNode << "for gate " << gateId << endl;
- pushBackRoute = parking->getPushBackRoute();
- int size = pushBackRoute->size();
- if (size < 2) {
- SG_LOG(SG_GENERAL, SG_WARN, "Push back route from gate " << gateId << " has only " << size << " nodes.");
- }
- pushBackRoute->first();
- waypoint *wpt;
- while(pushBackRoute->next(&node, &rte))
- {
- //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
- char buffer[10];
- snprintf (buffer, 10, "%d", node);
- FGTaxiNode *tn = dep->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 = dep->getElevation();
- wpt->speed = -10;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = rte;
- waypoints.push_back(wpt);
- }
- // some special considerations for the last point:
- wpt->name = string("PushBackPoint");
- wpt->speed = 15;
- } else {
- //cerr << "Creating direct forward departure route fragment" << endl;
- double lat2, lon2, az2;
- waypoint *wpt;
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2, &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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 4, &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "name";
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //cerr << "Creating final push forward point for gate " << gateId << endl;
- FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(gateId);
- FGTaxiSegmentVectorIterator ts = tn->getBeginRoute();
- FGTaxiSegmentVectorIterator te = tn->getEndRoute();
- if (ts == te) {
- SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
- //exit(1);
- }
- tn = (*ts)->getEnd();
- lastNodeVisited = tn->getIndex();
- if (tn == NULL) {
- SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
- exit(1);
- }
- wpt = new waypoint;
- wpt->name = "PushBackPoint";
- wpt->latitude = tn->getLatitude();
- wpt->longitude = tn->getLongitude();
- 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;
- wpt->routeIndex = (*ts)->getIndex();
- waypoints.push_back(wpt);
-
-
+
+ route.first();
+ FGTaxiNodeRef node;
+ int rte;
+
+ while (route.next(node, &rte))
+ {
+ char buffer[10];
+ snprintf (buffer, 10, "%d", node->getIndex());
+ FGAIWaypoint *wpt = createOnGround(ac, string(buffer), node->geod(), dep->getElevation(), vTaxiBackward);
+
+ /*
+ if (previous) {
+ FGTaxiSegment* segment = groundNet->findSegment(previous, node);
+ wpt->setRouteIndex(segment->getIndex());
+ } else {
+ // not on the route yet, make up a unique segment ID
+ int x = (int) tn->guid();
+ wpt->setRouteIndex(x);
+ }*/
+
+ wpt->setRouteIndex(rte);
+ pushBackWaypoint(wpt);
+ //previous = node;
}
-
+ // some special considerations for the last point:
+ waypoints.back()->setName(string("PushBackPoint"));
+ waypoints.back()->setSpeed(vTaxi);
+ ac->setTaxiClearanceRequest(true);
+ } else { // In case of a push forward departure...
+ ac->setTaxiClearanceRequest(false);
+ double az2 = 0.0;
+
+ FGTaxiSegment* pushForwardSegment = dep->getDynamics()->getGroundNetwork()->findSegment(parking, 0);
+ // there aren't any routes for this parking.
+ if (!pushForwardSegment) {
+ SG_LOG(SG_AI, SG_ALERT, "Gate " << parking->ident() << "doesn't seem to have routes associated with it.");
+ return false;
+ }
+
+ lastNodeVisited = pushForwardSegment->getEnd();
+ double distance = pushForwardSegment->getLength();
+
+ double parkingHeading = parking->getHeading();
+
+ for (int i = 1; i < 10; i++) {
+ SGGeod pushForwardPt;
+ SGGeodesy::direct(parking->geod(), parkingHeading,
+ ((i / 10.0) * distance), pushForwardPt, az2);
+ char buffer[16];
+ snprintf(buffer, 16, "pushback-%02d", i);
+ FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
+
+ wpt->setRouteIndex(pushForwardSegment->getIndex());
+ pushBackWaypoint(wpt);
+ }
+
+ waypoints.back()->setName(string("PushBackPoint"));
+ // cerr << "Done assinging new name" << endl;
}
+
+ return true;
}
/*******************************************************************
- * createPushBackFallBack
- * This is the backup function for airports that don't have a
- * network yet.
- ******************************************************************/
-void FGAIFlightPlan::createPushBackFallBack(bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+* createPushBackFallBack
+* This is the backup function for airports that don't have a
+* network yet.
+******************************************************************/
+void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
- double heading;
- double lat;
- double lon;
- double lat2;
- double lon2;
- double az2;
+ double az2 = 0.0;
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double vTaxiBackward = vTaxi * (-2.0/3.0);
+ double vTaxiReduced = vTaxi * (2.0/3.0);
+ double heading = 180.0; // this is a completely arbitrary heading!
+ FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
- dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
+ pushBackWaypoint(wpt);
- 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;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
+ SGGeod coord;
+ SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
+ wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
+
+ SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
+ wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
+ pushBackWaypoint(wpt);
- 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;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- 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 = dep->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);
}
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