# include <config.h>
#endif
+#include <cstdlib>
+
#include <simgear/math/sg_geodesy.hxx>
#include <Airports/simple.hxx>
// TODO: Use James Turner's createOnGround functions.
bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
- bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+ bool firstFlight, FGAirport *dep,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
- double lat, lon, heading;
double vTaxi = ac->getPerformance()->vTaxi();
double vTaxiBackward = vTaxi * (-2.0/3.0);
double vTaxiReduced = vTaxi * (2.0/3.0);
- FGTaxiRoute *pushBackRoute;
// 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()->getGroundNetwork()->exists())) {
- //cerr << "Push Back fallback" << endl;
- createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
- 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());
- return false;
- char buffer[10];
- snprintf (buffer, 10, "%d", gateId);
- SGGeod coord = coord.fromDeg(lon, lat);
- //FGTaxiNode *tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
- FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
- wpt->setRouteIndex(-1);
- pushBackWaypoint(wpt);
- }
- //cerr << "Success : GateId = " << gateId << endl;
- SG_LOG(SG_INPUT, SG_WARN, "Warning: Succesfully found a parking for a " <<
- aircraftType <<
- " of flight type " << fltType <<
- " of airline " << airline <<
- " at airport " << dep->getId());
- } else {
- //cerr << "Push Back follow-up Flight" << endl;
- dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- }
- if (gateId < 0) {
- createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
- return true;
-
- }
- //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();
-
-
- pushBackRoute = parking->getPushBackRoute();
- if ((pushBackNode > 0) && (pushBackRoute == 0)) { // Load the already established route for this gate
- int node, rte;
- FGTaxiRoute route;
- //cerr << "Creating push-back for " << gateId << " (" << parking->getName() << ") using push-back point " << pushBackNode << endl;
- route = dep->getDynamics()->getGroundNetwork()->findShortestRoute(gateId, pushBackNode, false);
- parking->setPushBackRoute(new FGTaxiRoute(route));
-
-
- 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.");
- SG_LOG(SG_GENERAL, SG_WARN, "Using " << pushBackNode);
- }
- pushBackRoute->first();
- 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;
- SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude());
- FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
-
- wpt->setRouteIndex(rte);
- pushBackWaypoint(wpt);
- }
- // 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 lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
-
- //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 the starting node equals the ending node, then there aren't any routes for this parking.
- // in cases like these we should flag the gate as being inoperative and return false
- if (ts == te) {
- SG_LOG(SG_GENERAL, SG_ALERT, "Gate " << gateId << "doesn't seem to have routes associated with it.");
- parking->setAvailable(false);
- return false;
- }
- tn = (*ts)->getEnd();
- lastNodeVisited = tn->getIndex();
- if (tn == NULL) {
- SG_LOG(SG_GENERAL, SG_ALERT, "No valid taxinode found");
- exit(1);
- }
- double distance = (*ts)->getLength();
- //cerr << "Length of push forward route = " << distance << " and heading is " << heading << endl;
- lat2 = tn->getLatitude();
- lon2 = tn->getLongitude();
-
- for (int i = 1; i < 10; i++) {
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- ((i / 10.0) * distance), &lat2, &lon2, &az2 );
- char buffer[16];
- snprintf(buffer, 16, "pushback-%02d", i);
- SGGeod coord = coord.fromDeg(lon2, lat2);
- //cerr << i << endl;
- FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiReduced);
-
- wpt->setRouteIndex((*ts)->getIndex());
- pushBackWaypoint(wpt);
- }
- // cerr << "Done " << endl;
- waypoints.back()->setName(string("PushBackPoint"));
- // cerr << "Done assinging new name" << endl;
- }
+ //cerr << "Push Back fallback" << endl;
+ createPushBackFallBack(ac, firstFlight, dep,
+ radius, fltType, aircraftType, airline);
+ 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;
+
}
+
+ FGGroundNetwork* groundNet = dep->getDynamics()->getGroundNetwork();
+ FGParking *parking = gate.parking();
+ if (parking && parking->getPushBackPoint() > 0) {
+ FGTaxiRoute route = groundNet->findShortestRoute(parking->guid(), 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());
+ }
+
+ route.first();
+ PositionedID node, previous= 0;
+
+ while (route.next(&node))
+ {
+ char buffer[10];
+ snprintf (buffer, 10, "%lld", node);
+ FGTaxiNode *tn = groundNet->findNode(node);
+ FGAIWaypoint *wpt = createOnGround(ac, string(buffer), tn->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);
+ }
+
+ 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->guid(), 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()->getIndex();
+ 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.
+* This is the backup function for airports that don't have a
+* network yet.
******************************************************************/
-void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+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 = 0.0;
- double lon2 = 0.0;
- double az2 = 0.0;
-
- double vTaxi = ac->getPerformance()->vTaxi();
- double vTaxiBackward = vTaxi * (-2.0/3.0);
- double vTaxiReduced = vTaxi * (2.0/3.0);
+ 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);
-
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
-
- SGGeod coord = coord.fromDeg(lon, lat);
- FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward);
-
- pushBackWaypoint(wpt);
-
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 10,
- &lat2, &lon2, &az2 );
- coord = coord.fromDeg(lon2, lat2);
- wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
+ pushBackWaypoint(wpt);
- pushBackWaypoint(wpt);
+ SGGeod coord;
+ SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
+ wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2.2*radius,
- &lat2, &lon2, &az2 );
- coord = coord.fromDeg(lon2, lat2);
- wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
- pushBackWaypoint(wpt);
+ pushBackWaypoint(wpt);
+
+ SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
+ wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
+ pushBackWaypoint(wpt);
}
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