-/******************************************************************************
- * 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.
- *
- **************************************************************************/
+/****************************************************************************
+* 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 <simgear/math/sg_geodesy.hxx>
+
+#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>
// TODO: Use James Turner's createOnGround functions.
-void FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
- bool firstFlight, FGAirport *dep,
- double latitude,
- double longitude,
- double radius,
- const string& fltType,
- const string& aircraftType,
- const string& airline)
+bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
+ bool firstFlight, FGAirport *dep,
+ double latitude,
+ double longitude,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
double lat, lon, heading;
double vTaxi = ac->getPerformance()->vTaxi();
activeRunway.clear();
if (!(dep->getDynamics()->getGroundNetwork()->exists())) {
- //cerr << "Push Back fallback" << endl;
+ //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());
- 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 = vTaxiBackward;
- 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);
+
+ 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());
+ //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;
+ //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;
+ createPushBackFallBack(ac, firstFlight, dep, latitude, longitude,
+ radius, fltType, aircraftType, airline);
+ return true;
}
- //cerr << "getting parking " << gateId;
- //cerr << " for a " <<
+ //cerr << "getting parking " << gateId;
+ //cerr << " for a " <<
// aircraftType <<
- // " of flight type " << fltType <<
+ // " of flight type " << fltType <<
// " of airline " << airline <<
// " at airport " << dep->getId() << endl;
- FGParking *parking = dep->getDynamics()->getParking(gateId);
+ FGParking *parking = dep->getDynamics()->getParking(gateId);
int pushBackNode = parking->getPushBackPoint();
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;
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, "Push back route from gate " << gateId << " has only " << size << " nodes.");
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();
- 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 = vTaxiBackward;
- 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 = vTaxi;
- //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
- // cerr << "Waypoint Name: " << (*i)->name << endl;
- //}
- } 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 = 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);
- 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 = 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);
-
-
+ 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;
}
-
}
+ return true;
}
/*******************************************************************
- * 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 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 latitude,
+ double longitude,
+ double radius,
+ const string& fltType,
+ const string& aircraftType,
+ const string& airline)
{
- double heading;
- double lat;
- double lon;
- double lat2;
- double lon2;
- double az2;
+ 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);
+
+
+
+ dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
- double vTaxi = ac->getPerformance()->vTaxi();
- double vTaxiBackward = vTaxi * (-2.0/3.0);
- double vTaxiReduced = vTaxi * (2.0/3.0);
+ 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);
- dep->getDynamics()->getParking(-1, &lat, &lon, &heading);
+ 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);
- 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;
+ pushBackWaypoint(wpt);
- waypoints.push_back(wpt);
+ 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);
- 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;
- 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;
- waypoints.push_back(wpt);
}
projects / flightgear.git / blobdiff