X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIFlightPlanCreatePushBack.cxx;h=976463ccf74867e0396afe658fd41495627a4677;hb=77ca03da4dfbe693f91414dbcd353589881333f5;hp=34f21a1fc196b0faabef515b10a6c18e6b4613fe;hpb=f5c2c630ebe3599f2b72dc4e0bca2ad427767b80;p=flightgear.git diff --git a/src/AIModel/AIFlightPlanCreatePushBack.cxx b/src/AIModel/AIFlightPlanCreatePushBack.cxx index 34f21a1fc..976463ccf 100644 --- a/src/AIModel/AIFlightPlanCreatePushBack.cxx +++ b/src/AIModel/AIFlightPlanCreatePushBack.cxx @@ -1,27 +1,29 @@ -/****************************************************************************** - * 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 #endif +#include + #include #include @@ -37,276 +39,149 @@ // 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 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, + //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 = 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); - } - //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; + 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()); } - //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)) { - 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); + + 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); } - 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 = 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); - 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); - - + + 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. - ******************************************************************/ -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 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); + 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 = vTaxiBackward; - 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 = 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); }