FGFS-4.1/flightgear
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

first commit

Browse Source
This commit is contained in:
Your Name
2022-10-20 20:29:11 +08:00
commit 4d531f8044
3238 changed files with 1387862 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

226
src/AIModel/AIFlightPlanCreatePushBack.cxx Normal file
View File

@@ -0,0 +1,226 @@
/****************************************************************************
* 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>
#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 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;
SG_LOG(SG_AI, SG_DEV_WARN, "No groundcontroller createPushBackFallBack at " << dep->getId());
createPushBackFallBack(ac, firstFlight, dep,
radius, fltType, aircraftType, airline);
return true;
}
if (firstFlight || !dep->getDynamics()->hasParking(gate.parking())) {
// establish the parking position / gate
// if the airport has no parking positions defined, don't log
// the warning below.
if (!dep->getDynamics()->hasParkings()) {
return false;
}
gate = dep->getDynamics()->getAvailableParking(radius, fltType,
aircraftType, airline);
if (!gate.isValid()) {
SG_LOG(SG_AI, SG_DEV_WARN, "Could not find parking for a " <<
aircraftType <<
" of flight type " << fltType <<
" of airline " << airline <<
" at airport " << dep->getId());
return false;
}
}
if (!gate.isValid()) {
SG_LOG(SG_AI, SG_DEV_WARN, "Gate " << gate.parking()->ident() << " not valid createPushBackFallBack at " << dep->getId());
createPushBackFallBack(ac, firstFlight, dep,
radius, fltType, aircraftType, airline);
return true;
}
FGGroundNetwork* groundNet = dep->groundNetwork();
FGParking *parking = gate.parking();
if (parking && parking->getPushBackPoint() != nullptr) {
FGTaxiRoute route = groundNet->findShortestRoute(parking, parking->getPushBackPoint(), false);
SG_LOG(SG_AI, SG_BULK, "Creating Pushback from " << parking->ident() << " to " << parking->getPushBackPoint()->getIndex());
int size = route.size();
if (size < 2) {
SG_LOG(SG_AI, SG_DEV_WARN, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.\n" << "Using " << parking->getPushBackPoint());
}
route.first();
FGTaxiNodeRef node;
int rte;
if (waypoints.size()>0) {
// This will be a parking from a previous leg which still contains the forward speed
waypoints.back()->setSpeed(vTaxiBackward);
}
while (route.next(node, &rte))
{
char buffer[20];
snprintf (buffer, sizeof(buffer), "pushback-%03d", (short)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:
// This will trigger the release of parking
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->groundNetwork()->findSegmentByHeading(parking, parking->getHeading());
if (!pushForwardSegment) {
// there aren't any routes for this parking, so create a simple segment straight ahead for 2 meters based on the parking heading
SG_LOG(SG_AI, SG_DEV_WARN, "Gate " << parking->ident() << " at " << dep->getId()
<< " doesn't seem to have pushforward routes associated with it.");
FGAIWaypoint *wpt = createOnGround(ac, string("park"), parking->geod(), dep->getElevation(), vTaxiReduced);
pushBackWaypoint(wpt);
SGGeod coord;
SGGeodesy::direct(parking->geod(), parking->getHeading(), 2.0, coord, az2);
wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
pushBackWaypoint(wpt);
return true;
}
lastNodeVisited = pushForwardSegment->getEnd();
double distance = pushForwardSegment->getLength();
double parkingHeading = parking->getHeading();
SG_LOG(SG_AI, SG_BULK, "Creating Pushforward from ID " << pushForwardSegment->getEnd()->getIndex() << " Length : \t" << distance);
// Add the parking if on first leg and not repeat
if (waypoints.size() == 0) {
pushBackWaypoint( createOnGround(ac, parking->getName(), parking->geod(), dep->getElevation(), vTaxiReduced));
}
// Make sure we have at least three WPs
int numSegments = distance>15?(distance/5.0):3;
for (int i = 1; i < numSegments; i++) {
SGGeod pushForwardPt;
SGGeodesy::direct(parking->geod(), parkingHeading,
(((double)i / numSegments) * distance), pushForwardPt, az2);
char buffer[20];
snprintf(buffer, sizeof(buffer), "pushforward-%03d", (short)i);
FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
wpt->setRouteIndex(pushForwardSegment->getIndex());
pushBackWaypoint(wpt);
}
// This will trigger the release of parking
waypoints.back()->setName(string("PushBackPoint-pushforward"));
}
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 radius,
const string& fltType,
const string& aircraftType,
const string& airline)
{
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);
pushBackWaypoint(wpt);
SGGeod coord;
SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
pushBackWaypoint(wpt);
SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
pushBackWaypoint(wpt);
}