-/******************************************************************************
+/****************************************************************************
* AIFlightPlanCreatePushBack.cxx
* Written by Durk Talsma, started August 1, 2007.
*
return false;
char buffer[10];
snprintf (buffer, 10, "%d", gateId);
+ SGGeod coord = coord.fromDeg(lon, lat);
//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 = vTaxiBackward;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = -1;
+ FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
+ wpt->setRouteIndex(-1);
waypoints.push_back(wpt);
}
//cerr << "Success : GateId = " << gateId << endl;
pushBackRoute = parking->getPushBackRoute();
- if ((pushBackNode > 0) && (pushBackRoute == 0)) {
+ 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;
SG_LOG(SG_GENERAL, SG_WARN, "Using " << pushBackNode);
}
pushBackRoute->first();
- waypoint *wpt;
while(pushBackRoute->next(&node, &rte))
{
//FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
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 = vTaxiBackward;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = rte;
+ //wpt = new waypoint;
+ SGGeod coord = coord.fromDeg(tn->getLongitude(), tn->getLatitude());
+ FGAIWaypoint *wpt = createOnGround(ac, string(buffer), coord, dep->getElevation(), vTaxiBackward);
+
+ wpt->setRouteIndex(rte);
waypoints.push_back(wpt);
}
// some special considerations for the last point:
- wpt->name = string("PushBackPoint");
- wpt->speed = vTaxi;
- //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
- // cerr << "Waypoint Name: " << (*i)->name << endl;
- //}
- } else {
- /*
- 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();
- dep->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
- depHeading);
- }
- rwy = dep->getRunwayByIdent(activeRunway);
- SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
-
- FGGroundNetwork *gn = dep->getDynamics()->getGroundNetwork();
- if (!gn->exists()) {
- createDefaultTakeoffTaxi(ac, dep, rwy);
- return true;
- }
- int runwayId = gn->findNearestNode(runwayTakeoff);
- int node = 0;
- // Find out which node to start from
- FGParking *park = dep->getDynamics()->getParking(gateId);
- if (park) {
- node = park->getPushBackPoint();
- }
-
- if (node == -1) {
- node = gateId;
- }
- // HAndle case where parking doens't have a node
- if ((node == 0) && park) {
- if (firstFlight) {
- node = gateId;
- } else {
- node = gateId;
- }
- }
- //delete taxiRoute;
- //taxiRoute = new FGTaxiRoute;
- FGTaxiRoute tr = gn->findShortestRoute(node, runwayId);
- int route;
- FGTaxiNode *tn;
- waypoint *wpt;
- int nr = 0;
- cerr << "Creating taxiroute from gate: " << gateId << " at " << dep->getId() << endl;
- while (tr.next(&node, &route) && (nr++ < 3)) {
- char buffer[10];
- snprintf(buffer, 10, "%d", node);
- tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
- wpt = createOnGround(ac, buffer, tn->getGeod(), dep->getElevation(),
- vTaxiReduced);
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
- }
- wpt->name = "PushBackPoint";
- lastNodeVisited = tn->getIndex();
- //FGTaxiNode *firstNode = findNode(gateId);
- //FGTaxiNode *lastNode = findNode(runwayId);
- //cerr << "Creating direct forward departure route fragment" << endl;
- */
+ 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;
- 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 = vTaxiReduced;
- 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 = vTaxiReduced;
- 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);
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 = vTaxiReduced;
- 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);
+ 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());
+ waypoints.push_back(wpt);
+ }
+ // cerr << "Done " << endl;
+ waypoints.back()->setName(string("PushBackPoint"));
+ // cerr << "Done assinging new name" << endl;
}
-
}
return true;
}
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 = vTaxiBackward;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
+ heading -= 360;
+
+ SGGeod coord = coord.fromDeg(lon, lat);
+ FGAIWaypoint *wpt = createOnGround(ac, string("park"), coord, dep->getElevation(), vTaxiBackward);
waypoints.push_back(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 = vTaxiBackward;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ coord = coord.fromDeg(lon2, lat2);
+ wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
+
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 = vTaxiReduced;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ coord = coord.fromDeg(lon2, lat2);
+ wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
waypoints.push_back(wpt);
+
}
projects / flightgear.git / blobdiff