/// <summary>
/// Helper method that will scan the route for a specific node.
/// Used to see if a generated route crosses the runway before returning back to the same point on the runway.
/// </summary>
/// <param name="nodeToFind"></param>
/// <returns></returns>
internal bool HasNode(TaxiNode nodeToFind)
{
LinkedNode currentNode = RouteStart;
if (currentNode == null || currentNode.Node == null || nodeToFind == null)
{
return(false);
}
do
{
if (currentNode.Node.Id == nodeToFind.Id)
{
return(true);
}
currentNode = currentNode.Next;
}while (currentNode != null && currentNode.Node != null);
return(false);
}
private IEnumerable <SteerPoint> BuildSteerPoints(Parking currentParking, ResultRoute route)
{
LinkedNode link = route.RouteStart;
TaxiNode nodeToWrite = route.StartNode;
EntryPoint entryPoint = route.RunwayEntryPoint;
List <SteerPoint> steerPoints = new List <SteerPoint>
{
new ParkingPoint(currentParking.Latitude, currentParking.Longitude, 3, $"{currentParking.Name}", currentParking.Bearing, false)
};
// Write Pushback node, allowing room for turn
double addLat = 0;
double addLon = 0;
// See if we need to skip the first route node
if (currentParking.AlternateAfterPushBack != null && currentParking.AlternateAfterPushBack == route.RouteStart.Node)
{
// Our pushback point is better than the first point of the route
nodeToWrite = currentParking.AlternateAfterPushBack;
}
// insert one more point here where the plane is pushed a little bit away from the next point
if (currentParking.LocationType == StartUpLocationType.Gate)
{
if (nodeToWrite != null)
{
double nextPushBearing;
if (VortexMath.DistanceKM(nodeToWrite.Latitude, nodeToWrite.Longitude, currentParking.PushBackLatitude, currentParking.PushBackLongitude) > 0.010)
{
// Push target is a virtual node
nextPushBearing = VortexMath.BearingRadians(nodeToWrite.Latitude, nodeToWrite.Longitude, currentParking.PushBackLatitude, currentParking.PushBackLongitude);
}
else
{
// Push target is very close to the actual first node of the route
nextPushBearing = (nodeToWrite.BearingToTarget + VortexMath.PI) % VortexMath.PI2;
}
double turn = VortexMath.TurnAngle(currentParking.Bearing + VortexMath.PI, nextPushBearing);
double turnAbs = Math.Abs(turn);
double factor = ((turnAbs) / VortexMath.PI); // 0...0.5.....1
factor = (factor * factor) + factor / 4; // 0...0.375...1.25
double distance = 0.040 * factor; // 0m...15m ...50m
if (turnAbs < VortexMath.Deg135Rad)
{
// Try to trun the aircraft to the bearing it will need to go in after pushback
// First point is on the pushback heading, but away from the actual target to allow the AC to turn
VortexMath.PointFrom(currentParking.PushBackLatitude, currentParking.PushBackLongitude, currentParking.Bearing, distance, ref addLat, ref addLon);
steerPoints.Add(new PushbackPoint(addLat, addLon, 2, $"{currentParking.Name}"));
// Second point is on the (extended) line of the first link of the actual route
VortexMath.PointFrom(currentParking.PushBackLatitude, currentParking.PushBackLongitude, nextPushBearing, distance, ref addLat, ref addLon);
steerPoints.Add(new PushbackPoint(addLat, addLon, 2, $"{link.Edge.LinkName}"));
// Third point is on the same line but a little bit extra backwards to get the nose in the intended heading
VortexMath.PointFrom(currentParking.PushBackLatitude, currentParking.PushBackLongitude, nextPushBearing, distance + 0.015, ref addLat, ref addLon);
steerPoints.Add(new SteerPoint(addLat, addLon, 8, $"{link.Edge.LinkName}", true));
}
else
{
// Let's just turn it to a 90 degree angle with the first edge
// First point is on the pushback heading, but away from the actual target to allow the AC to turn
VortexMath.PointFrom(currentParking.PushBackLatitude, currentParking.PushBackLongitude, currentParking.Bearing, distance, ref addLat, ref addLon);
steerPoints.Add(new PushbackPoint(addLat, addLon, 2, $"{currentParking.Name}"));
// Second point is on the (extended) line of the first link of the actual route, but much closer then for the full turn
VortexMath.PointFrom(currentParking.PushBackLatitude, currentParking.PushBackLongitude, nextPushBearing, distance / 2.0, ref addLat, ref addLon);
steerPoints.Add(new PushbackPoint(addLat, addLon, 2, $"{link.Edge.LinkName}"));
// Third point is on +/-90 degree angle from the first link
VortexMath.PointFrom(addLat, addLon, (turn > 0) ? nextPushBearing + VortexMath.PI05 : nextPushBearing - VortexMath.PI05, 0.015, ref addLat, ref addLon);
steerPoints.Add(new SteerPoint(addLat, addLon, 5, $"{link.Edge.LinkName}", true));
// Add a fourth point back on the intended line
steerPoints.Add(new SteerPoint(currentParking.PushBackLatitude, currentParking.PushBackLongitude, 8, $"{link.Edge.LinkName}"));
}
}
}
else
{
// Tie down, hangar, misc: just add the 'pushback' point as first target, smoothing should take care of the rest
steerPoints.Add(new SteerPoint(currentParking.PushBackLatitude, currentParking.PushBackLongitude, 8, $"{link.Edge.LinkName}"));
}
if (nodeToWrite != link.Node)
{
steerPoints.Add(new SteerPoint(nodeToWrite.Latitude, nodeToWrite.Longitude, 8, $"{link.Edge.LinkName}"));
}
while (link.Node != null)
{
bool activeZone = false;
string activeFor = "";
if (link.Edge.ActiveZone)
{
activeZone = true;
activeFor = link.Edge.ActiveForRunway(Runway.Designator);
}
else if (link.Next.Edge != null && link.Next.Edge.ActiveZone)
{
activeZone = true;
activeFor = link.Next.Edge.ActiveForRunway(Runway.Designator);
}
else if (link.Next.Edge == null)
{
activeZone = true;
activeFor = Runway.Designator;
}
if (activeZone)
{
steerPoints.Add(new RunwayPoint(link.Node.Latitude, link.Node.Longitude, 15, $"{link.Edge.LinkName}", activeFor));
}
else
{
steerPoints.Add(new SteerPoint(link.Node.Latitude, link.Node.Longitude, 15, $"{link.Edge.LinkName}"));
}
link = link.Next;
}
steerPoints.Add(new RunwayPoint(entryPoint.OnRunwayNode, 8, Runway.Designator, Runway.Designator));
VortexMath.PointFrom(entryPoint.OnRunwayNode, Runway.Bearing, 0.022, ref addLat, ref addLon);
steerPoints.Add(new RunwayPoint(addLat, addLon, 6, Runway.Designator, Runway.Designator));
RouteProcessor.Smooth(steerPoints);
RouteProcessor.ProcessRunwayOperations(steerPoints);
if (MaxOutPoints < steerPoints.Count)
{
MaxOutPoints = steerPoints.Count;
}
return(steerPoints);
}
/// <summary>
/// Extract the route that starts at TaxiNode 'startNode'
/// </summary>
/// <param name="edges">A list of all available edges</param>
/// <param name="startNode">The first node of the route</param>
/// <param name="size">The maximum size for which this route is valid</param>
/// <returns>The route as a linked list of nodes with additional informationthat will be needed when writing the route to a file</returns>
public static ResultRoute ExtractRoute(IEnumerable <TaxiEdge> edges, TaxiNode startNode, XPlaneAircraftCategory size)
{
ResultRoute extracted = new ResultRoute(size);
extracted.Runway = null;
extracted.StartNode = startNode;
ulong node1 = extracted.StartNode.Id;
extracted.Distance = startNode.DistanceToTarget;
TaxiNode pathNode;
pathNode = startNode.NextNodeToTarget;
TaxiEdge sneakEdge = null;
if (pathNode != null)
{
sneakEdge = edges.SingleOrDefault(e => e.StartNode.Id == node1 && e.EndNode.Id == pathNode.Id);
}
// Set up the first link
extracted.RouteStart = new LinkedNode()
{
Node = startNode.NextNodeToTarget,
Next = null,
Edge = sneakEdge
};
LinkedNode currentLink = extracted.RouteStart;
// And follow the path...
while (pathNode != null)
{
double currentBearing = currentLink.Node.BearingToTarget;
ulong node2 = pathNode.Id;
TaxiEdge edge = edges.Single(e => e.StartNode.Id == node1 && e.EndNode.Id == node2);
if (pathNode.NextNodeToTarget != null && pathNode.NextNodeToTarget.DistanceToTarget > 0)
{
double nextBearing = pathNode.NextNodeToTarget.BearingToTarget;
double turn = VortexMath.AbsTurnAngle(currentBearing, nextBearing);
// This filters out very sharp turns if an alternate exists in exchange for a longer route:
// todo: parameters. Now => if more than 120 degrees and alternate < 45 exists use alternate
if (turn > VortexMath.Deg120Rad)
{
IEnumerable <TaxiEdge> altEdges = edges.Where(e => e.StartNode.Id == pathNode.NextNodeToTarget.Id &&
e.EndNode.Id != pathNode.NextNodeToTarget.NextNodeToTarget.Id &&
e.EndNode.Id != pathNode.Id);
foreach (TaxiEdge te in altEdges)
{
if (te.EndNode.DistanceToTarget < double.MaxValue)
{
double newTurn = VortexMath.AbsTurnAngle(currentBearing, te.EndNode.BearingToTarget);
if (newTurn < VortexMath.Deg100Rad)
{
// Fiddling with Dijkstra results like this may generate a loop in the route
// So scan it before actually using the reroute
if (!hasLoop(te.EndNode, pathNode))
{
pathNode.NextNodeToTarget.OverrideToTarget = te.EndNode;
break;
}
}
}
}
}
else if (turn > VortexMath.Deg005Rad) // Any turn larger than 5 degrees: if going straight does not lead to more than 250m extra distance... go straight.
{
IEnumerable <TaxiEdge> altEdges = edges.Where(e => e.StartNode.Id == pathNode.NextNodeToTarget.Id &&
e.EndNode.Id != pathNode.NextNodeToTarget.NextNodeToTarget.Id &&
e.EndNode.Id != pathNode.Id);
foreach (TaxiEdge te in altEdges)
{
if (te.EndNode.DistanceToTarget < (pathNode.NextNodeToTarget.NextNodeToTarget.DistanceToTarget + 0.250))
{
double newTurn = VortexMath.AbsTurnAngle(currentBearing, te.EndNode.BearingToTarget);
if (newTurn < VortexMath.Deg005Rad)
{
// Fiddling with Dijkstra results like this may generate a loop in the route
// So scan it before actually using the reroute
if (!hasLoop(te.EndNode, pathNode))
{
pathNode.NextNodeToTarget.OverrideToTarget = te.EndNode;
break;
}
}
}
}
}
}
TaxiNode nextNode = (pathNode.OverrideToTarget != null) ? pathNode.OverrideToTarget : pathNode.NextNodeToTarget;
currentLink.Next = new LinkedNode()
{
Node = nextNode,
Next = null,
};
node1 = node2;
currentLink.Edge = edge;
currentLink = currentLink.Next;
extracted.TargetNode = pathNode;
pathNode.OverrideToTarget = null;
pathNode = nextNode;
}
return(extracted);
}
private IEnumerable <SteerPoint> BuildSteerPoints(ResultRoute route, TaxiNode runwayExitNode)
{
List <SteerPoint> steerPoints = new List <SteerPoint>();
// Route should start at the (displaced) threshold
RunwayPoint threshold = new RunwayPoint(route.Runway.DisplacedNode, 55, $"{route.Runway.Designator} Threshold", route.RouteStart.Edge.ActiveForRunway(route.Runway.Designator))
{
OnRunway = true,
IsExiting = true
};
steerPoints.Add(threshold);
foreach (TaxiNode node in route.Runway.RunwayNodes)
{
int speed = (node == runwayExitNode) ? 35 : 55;
steerPoints.Add(new RunwayPoint(node.Latitude, node.Longitude, speed, $"{route.Runway.Designator}", route.RouteStart.Edge.ActiveForRunway(route.Runway.Designator)));
if (node == runwayExitNode) // Key of the dictionary is the last node on the runway centerline for this route
{
break;
}
}
// This is the first node off the runway centerline
steerPoints.Add(new RunwayPoint(route.StartNode, 30, route.RouteStart.Edge.LinkName, route.RouteStart.Edge.ActiveForRunway(route.Runway.Designator)));
LinkedNode link = route.RouteStart;
while (link.Node != null)
{
bool activeZone = false;
string activeFor = "";
if (link.Edge.ActiveZone)
{
activeZone = true;
activeFor = link.Edge.ActiveForRunway("");
}
else if (link.Next.Edge != null && link.Next.Edge.ActiveZone)
{
activeZone = true;
activeFor = link.Next.Edge.ActiveForRunway("");
}
if (activeZone)
{
steerPoints.Add(new RunwayPoint(link.Node.Latitude, link.Node.Longitude, 15, $"{link.Edge.LinkName}", activeFor));
}
else
{
steerPoints.Add(new SteerPoint(link.Node.Latitude, link.Node.Longitude, 15, $"{link.Edge.LinkName}"));
}
link = link.Next;
}
// remove last point if it takes us past the 'pushback point'
if (steerPoints.Count > 1)
{
SteerPoint oneButLast = steerPoints.ElementAt(steerPoints.Count - 2);
SteerPoint last = steerPoints.ElementAt(steerPoints.Count - 1);
double lastBearing = VortexMath.BearingRadians(oneButLast, last);
double bearingToPush = VortexMath.BearingRadians(last.Latitude, last.Longitude, Parking.PushBackLatitude, Parking.PushBackLongitude);
double turnToPush = VortexMath.AbsTurnAngle(lastBearing, bearingToPush);
if (turnToPush > VortexMath.Deg100Rad)
{
steerPoints.RemoveAt(steerPoints.Count - 1);
}
}
// todo: how does this all work with freaky pushback points?
// todo: tie downs
steerPoints.Add(new SteerPoint(Parking.PushBackLatitude, Parking.PushBackLongitude, 5, Parking.Name));
steerPoints.Add(new ParkingPoint(Parking.Latitude, Parking.Longitude, 5, Parking.Name, Parking.Bearing, true));
//RouteProcessor.Smooth(steerPoints);
RouteProcessor.ProcessRunwayOperations(steerPoints);
if (MaxInPoints < steerPoints.Count)
{
MaxInPoints = steerPoints.Count;
}
return(steerPoints);
}