227 lines
8.9 KiB
C++
227 lines
8.9 KiB
C++
/****************************************************************************
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* AIFlightPlanCreatePushBack.cxx
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* Written by Durk Talsma, started August 1, 2007.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as
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* published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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**************************************************************************/
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <cstdlib>
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#include <cstdio>
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#include <simgear/math/sg_geodesy.hxx>
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#include <Airports/airport.hxx>
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#include <Airports/runways.hxx>
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#include <Airports/dynamics.hxx>
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#include <Airports/groundnetwork.hxx>
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#include <Environment/environment_mgr.hxx>
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#include <Environment/environment.hxx>
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#include "AIFlightPlan.hxx"
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#include "AIAircraft.hxx"
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#include "performancedata.hxx"
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using std::string;
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// TODO: Use James Turner's createOnGround functions.
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bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
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bool firstFlight,
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FGAirport *dep,
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double radius,
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const string& fltType,
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const string& aircraftType,
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const string& airline)
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{
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double vTaxi = ac->getPerformance()->vTaxi();
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double vTaxiBackward = vTaxi * (-2.0/3.0);
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double vTaxiReduced = vTaxi * (2.0/3.0);
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// Active runway can be conditionally set by ATC, so at the start of a new flight, this
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// must be reset.
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activeRunway.clear();
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if (!(dep->getDynamics()->getGroundController()->exists())) {
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//cerr << "Push Back fallback" << endl;
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SG_LOG(SG_AI, SG_DEV_WARN, "No groundcontroller createPushBackFallBack at " << dep->getId());
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createPushBackFallBack(ac, firstFlight, dep,
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radius, fltType, aircraftType, airline);
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return true;
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}
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if (firstFlight || !dep->getDynamics()->hasParking(gate.parking())) {
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// establish the parking position / gate
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// if the airport has no parking positions defined, don't log
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// the warning below.
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if (!dep->getDynamics()->hasParkings()) {
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return false;
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}
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gate = dep->getDynamics()->getAvailableParking(radius, fltType,
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aircraftType, airline);
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if (!gate.isValid()) {
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SG_LOG(SG_AI, SG_DEV_WARN, "Could not find parking for a " <<
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aircraftType <<
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" of flight type " << fltType <<
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" of airline " << airline <<
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" at airport " << dep->getId());
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return false;
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}
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}
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if (!gate.isValid()) {
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SG_LOG(SG_AI, SG_DEV_WARN, "Gate " << gate.parking()->ident() << " not valid createPushBackFallBack at " << dep->getId());
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createPushBackFallBack(ac, firstFlight, dep,
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radius, fltType, aircraftType, airline);
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return true;
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}
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FGGroundNetwork* groundNet = dep->groundNetwork();
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FGParking *parking = gate.parking();
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if (parking && parking->getPushBackPoint() != nullptr) {
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FGTaxiRoute route = groundNet->findShortestRoute(parking, parking->getPushBackPoint(), false);
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SG_LOG(SG_AI, SG_BULK, "Creating Pushback from " << parking->ident() << " to " << parking->getPushBackPoint()->getIndex());
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int size = route.size();
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if (size < 2) {
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SG_LOG(SG_AI, SG_DEV_WARN, "Push back route from gate " << parking->ident() << " has only " << size << " nodes.\n" << "Using " << parking->getPushBackPoint());
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}
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route.first();
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FGTaxiNodeRef node;
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int rte;
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if (waypoints.size()>0) {
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// This will be a parking from a previous leg which still contains the forward speed
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waypoints.back()->setSpeed(vTaxiBackward);
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}
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while (route.next(node, &rte))
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{
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char buffer[20];
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snprintf (buffer, sizeof(buffer), "pushback-%03d", (short)node->getIndex());
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FGAIWaypoint *wpt = createOnGround(ac, string(buffer), node->geod(), dep->getElevation(), vTaxiBackward);
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/*
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if (previous) {
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FGTaxiSegment* segment = groundNet->findSegment(previous, node);
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wpt->setRouteIndex(segment->getIndex());
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} else {
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// not on the route yet, make up a unique segment ID
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int x = (int) tn->guid();
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wpt->setRouteIndex(x);
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}*/
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wpt->setRouteIndex(rte);
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pushBackWaypoint(wpt);
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//previous = node;
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}
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// some special considerations for the last point:
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// This will trigger the release of parking
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waypoints.back()->setName(string("PushBackPoint"));
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waypoints.back()->setSpeed(vTaxi);
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ac->setTaxiClearanceRequest(true);
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} else { // In case of a push forward departure...
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ac->setTaxiClearanceRequest(false);
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double az2 = 0.0;
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FGTaxiSegment* pushForwardSegment = dep->groundNetwork()->findSegmentByHeading(parking, parking->getHeading());
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if (!pushForwardSegment) {
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// there aren't any routes for this parking, so create a simple segment straight ahead for 2 meters based on the parking heading
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SG_LOG(SG_AI, SG_DEV_WARN, "Gate " << parking->ident() << " at " << dep->getId()
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<< " doesn't seem to have pushforward routes associated with it.");
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FGAIWaypoint *wpt = createOnGround(ac, string("park"), parking->geod(), dep->getElevation(), vTaxiReduced);
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pushBackWaypoint(wpt);
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SGGeod coord;
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SGGeodesy::direct(parking->geod(), parking->getHeading(), 2.0, coord, az2);
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wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
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pushBackWaypoint(wpt);
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return true;
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}
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lastNodeVisited = pushForwardSegment->getEnd();
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double distance = pushForwardSegment->getLength();
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double parkingHeading = parking->getHeading();
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SG_LOG(SG_AI, SG_BULK, "Creating Pushforward from ID " << pushForwardSegment->getEnd()->getIndex() << " Length : \t" << distance);
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// Add the parking if on first leg and not repeat
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if (waypoints.size() == 0) {
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pushBackWaypoint( createOnGround(ac, parking->getName(), parking->geod(), dep->getElevation(), vTaxiReduced));
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}
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// Make sure we have at least three WPs
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int numSegments = distance>15?(distance/5.0):3;
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for (int i = 1; i < numSegments; i++) {
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SGGeod pushForwardPt;
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SGGeodesy::direct(parking->geod(), parkingHeading,
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(((double)i / numSegments) * distance), pushForwardPt, az2);
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char buffer[20];
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snprintf(buffer, sizeof(buffer), "pushforward-%03d", (short)i);
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FGAIWaypoint *wpt = createOnGround(ac, string(buffer), pushForwardPt, dep->getElevation(), vTaxiReduced);
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wpt->setRouteIndex(pushForwardSegment->getIndex());
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pushBackWaypoint(wpt);
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}
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// This will trigger the release of parking
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waypoints.back()->setName(string("PushBackPoint-pushforward"));
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}
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return true;
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}
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/*******************************************************************
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* createPushBackFallBack
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* This is the backup function for airports that don't have a
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* network yet.
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******************************************************************/
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void FGAIFlightPlan::createPushBackFallBack(FGAIAircraft *ac, bool firstFlight, FGAirport *dep,
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double radius,
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const string& fltType,
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const string& aircraftType,
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const string& airline)
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{
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double az2 = 0.0;
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double vTaxi = ac->getPerformance()->vTaxi();
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double vTaxiBackward = vTaxi * (-2.0/3.0);
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double vTaxiReduced = vTaxi * (2.0/3.0);
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double heading = 180.0; // this is a completely arbitrary heading!
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FGAIWaypoint *wpt = createOnGround(ac, string("park"), dep->geod(), dep->getElevation(), vTaxiBackward);
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pushBackWaypoint(wpt);
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SGGeod coord;
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SGGeodesy::direct(dep->geod(), heading, 10, coord, az2);
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wpt = createOnGround(ac, string("park2"), coord, dep->getElevation(), vTaxiBackward);
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pushBackWaypoint(wpt);
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SGGeodesy::direct(dep->geod(), heading, 2.2 * radius, coord, az2);
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wpt = createOnGround(ac, string("taxiStart"), coord, dep->getElevation(), vTaxiReduced);
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pushBackWaypoint(wpt);
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}
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