src/ATC/AIGAVFRTraffic.cxx

   1 // FGAILocalTraffic - AIEntity derived class with enough logic to
   2 // fly and interact with the traffic pattern.
   3 //
   4 // Written by David Luff, started March 2002.
   5 //
   6 // Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
   7 //
   8 // This program is free software; you can redistribute it and/or
   9 // modify it under the terms of the GNU General Public License as
  10 // published by the Free Software Foundation; either version 2 of the
  11 // License, or (at your option) any later version.
  12 //
  13 // This program is distributed in the hope that it will be useful, but
  14 // WITHOUT ANY WARRANTY; without even the implied warranty of
  15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  16 // General Public License for more details.
  17 //
  18 // You should have received a copy of the GNU General Public License
  19 // along with this program; if not, write to the Free Software
  20 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  21
  22 #ifdef HAVE_CONFIG_H
  23 #  include <config.h>
  24 #endif
  25
  26 #include <Airports/runways.hxx>
  27 #include <Main/globals.hxx>
  28 #include <simgear/math/point3d.hxx>
  29 #include <string>
  30 #include <math.h>
  31
  32 SG_USING_STD(string);
  33
  34 #include "ATC.hxx"
  35 #include "ATCmgr.hxx"
  36 #include "AILocalTraffic.hxx"
  37 #include "AIGAVFRTraffic.hxx"
  38 #include "ATCutils.hxx"
  39 #include "tower.hxx"
  40
  41 FGAIGAVFRTraffic::FGAIGAVFRTraffic() {
  42         ATC = globals->get_ATC_mgr();
  43         _towerContactedIncoming = false;
  44         _clearedStraightIn = false;
  45         _clearedDownwindEntry = false;
  46         _incoming = false;
  47         _straightIn = false;
  48         _downwindEntry = false;
  49         _climbout = false;
  50         _local = false;
  51         _established = false;
  52         _e45 = false;
  53         _entering = false;
  54         _turning = false;
  55         _cruise_climb_ias = 90.0;
  56         _cruise_ias = 110.0;
  57         patternDirection = -1.0;
  58
  59         // TESTING - REMOVE OR COMMENT OUT BEFORE COMMIT!!!
  60         //_towerContactPrinted = false;
  61 }
  62
  63 FGAIGAVFRTraffic::~FGAIGAVFRTraffic() {
  64 }
  65
  66 // We should never need to Init FGAIGAVFRTraffic in the pattern since that implies arrivel
  67 // and we can just use an FGAILocalTraffic instance for that instead.
  68
  69 // Init en-route to destID at point pt.
  70 // TODO - no idea what to do if pt is above planes ceiling due mountains!!
  71 bool FGAIGAVFRTraffic::Init(const Point3D& pt, const string& destID, const string& callsign) {
  72         FGAILocalTraffic::Init(callsign, destID, EN_ROUTE);
  73         // TODO FIXME - to get up and running we're going to ignore elev and get FGAIMgr to
  74         // pass in known good values for the test location.  Need to fix this!!! (or at least canonically decide who has responsibility for setting elev).
  75         _enroute = true;
  76         _destID = destID;
  77         _pos = pt;
  78         _destPos = fgGetAirportPos(destID);     // TODO - check if we are within the tower catchment area already.
  79         _cruise_alt = (_destPos.elev() + 2500.0) * SG_FEET_TO_METER;    // TODO look at terrain elevation as well
  80         _pos.setelev(_cruise_alt);
  81         // initially set waypoint as airport location
  82         _wp = _destPos;
  83         // Set the initial track
  84         track = GetHeadingFromTo(_pos, _wp);
  85         // And set the plane to keep following it.
  86         SetTrack(GetHeadingFromTo(_pos, _wp));
  87         _roll = 0.0;
  88         _pitch = 0.0;
  89         slope = 0.0;
  90         // TODO - set climbout if altitude is below normal cruising altitude?
  91         //Transform();
  92         // Assume it's OK to set the plane visible
  93         _aip.setVisible(true);
  94         //cout << "Setting visible true\n";
  95         Transform();
  96         return(true);
  97 }
  98
  99 // Init at srcID to fly to destID
 100 bool FGAIGAVFRTraffic::Init(const string& srcID, const string& destID, const string& callsign, OperatingState state) {
 101         _enroute = false;
 102         FGAILocalTraffic::Init(callsign, srcID, PARKED);
 103         return(true);
 104 }
 105
 106 void FGAIGAVFRTraffic::Update(double dt) {
 107         if(_enroute) {
 108                 //cout << "_enroute\n";
 109                 //cout << "e" << flush;
 110                 FlyPlane(dt);
 111                 //cout << "f" << flush;
 112                 Transform();
 113                 //cout << "g" << flush;
 114                 FGAIPlane::Update(dt);
 115                 //cout << "h" << flush;
 116                 responseCounter += dt;
 117
 118                 // we shouldn't really need this since there's a LOD of 10K on the whole plane anyway I think.
 119                 // There are two _aip.setVisible statements set when _local = true that can be removed if the below is removed.
 120                 if(dclGetHorizontalSeparation(_pos, Point3D(fgGetDouble("/position/longitude-deg"), fgGetDouble("/position/latitude-deg"), 0.0)) > 8000) _aip.setVisible(false);
 121                 else _aip.setVisible(true);
 122
 123         } else if(_local) {
 124                 //cout << "L";
 125                 //cout << "_local\n";
 126                 FGAILocalTraffic::Update(dt);
 127         }
 128 }
 129
 130 void FGAIGAVFRTraffic::FlyPlane(double dt) {
 131         if(_climbout) {
 132                 // Check whether to level off
 133                 if(_pos.elev() >= _cruise_alt) {
 134                         slope = 0.0;
 135                         _pitch = 0.0;
 136                         IAS = _cruise_ias;              // FIXME - use smooth transistion to new speed and attitude.
 137                         _climbout = false;
 138                 } else {
 139                         slope = 4.0;
 140                         _pitch = 5.0;
 141                         IAS = _cruise_climb_ias;
 142                 }
 143         } else {
 144                 // TESTING
 145                 /*
 146                 if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.1) {
 147                         if(!_towerContactPrinted) {
 148                                 if(airportID == "KSQL") {
 149                                         cout << "****************************************************************\n";
 150                                         cout << "++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n";
 151                                         cout << "****************************************************************\n";
 152                                 }
 153                                 _towerContactPrinted = true;
 154                         }
 155                 }
 156                 */
 157
 158                 // if distance to destination is less than 6 - 9 miles contact tower
 159                 // and prepare to become _incoming after response.
 160                 // Possibly check whether to start descent before this?
 161                 //cout << "." << flush;
 162                 //cout << "sep = " << dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 << '\n';
 163                 if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.0) {
 164                         //cout << "-" << flush;
 165                         if(!_towerContactedIncoming) {
 166                                 //cout << "_" << flush;
 167                                 GetAirportDetails(airportID);
 168                                 //cout << "L" << flush;
 169                                 if(_controlled) {
 170                                         freq = (double)tower->get_freq() / 100.0;
 171                                         tuned_station = tower;
 172                                 } else {
 173                                         freq = 122.8;   // TODO - need to get the correct CTAF/Unicom frequency if no tower
 174                                         tuned_station = NULL;
 175                                 }
 176                                 //cout << "freq = " << freq << endl;
 177                                 GetRwyDetails(airportID);
 178                                 //"@AP Tower @CS @MI miles @CD of the airport for full stop with ATIS"
 179                                 // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
 180                                 if(rwy.rwyID.size() == 3) {
 181                                         patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
 182                                 }
 183                                 if(_controlled) {
 184                                         pending_transmission = tower->get_name();
 185                                         pending_transmission += " Tower ";
 186                                 } else {
 187                                         pending_transmission = "Traffic ";
 188                                         // TODO - find some way of getting uncontrolled airport name
 189                                 }
 190                                 pending_transmission += plane.callsign;
 191                                 //char buf[10];
 192                                 int dist_miles = (int)dclGetHorizontalSeparation(_pos, _destPos) / 1600;
 193                                 //sprintf(buf, " %i ", dist_miles);
 194                                 pending_transmission += " ";
 195                                 pending_transmission += ConvertNumToSpokenDigits(dist_miles);
 196                                 if(dist_miles > 1) pending_transmission += " miles ";
 197                                 else pending_transmission += " mile ";
 198                                 pending_transmission += GetCompassDirection(GetHeadingFromTo(_destPos, _pos));
 199                                 pending_transmission += " of the airport for full stop with ATIS";
 200                                 //cout << pending_transmission << endl;
 201                                 Transmit(14);   // 14 is the callback code, NOT the timeout!
 202                                 responseCounter = 0;
 203                                 _towerContactedIncoming = true;
 204                         } else {
 205                                 //cout << "?" << flush;
 206                                 if(_clearedStraightIn && responseCounter > 5.5) {
 207                                         //cout << "5 " << flush;
 208                                         _clearedStraightIn = false;
 209                                         _straightIn = true;
 210                                         _incoming = true;
 211                                         _wp = GetPatternApproachPos();
 212                                         //_hdg = GetHeadingFromTo(_pos, _wp);   // TODO - turn properly!
 213                                         SetTrack(GetHeadingFromTo(_pos, _wp));
 214                                         slope = atan((_wp.elev() - _pos.elev()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES;
 215                                         double thesh_offset = 0.0;
 216                                         Point3D opos = ortho.ConvertToLocal(_pos);
 217                                         double angToApt = atan((_pos.elev() - fgGetAirportElev(airportID)) / (opos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES;
 218                                         //cout << "angToApt = " << angToApt << ' ';
 219                                         slope = (angToApt > -5.0 ? 0.0 : angToApt);
 220                                         //cout << "slope = " << slope << '\n';
 221                                         pending_transmission = "Straight-in ";
 222                                         pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
 223                                         pending_transmission += " ";
 224                                         pending_transmission += plane.callsign;
 225                                         //cout << pending_transmission << '\n';
 226                                         ConditionalTransmit(4);
 227                                 } else if(_clearedDownwindEntry && responseCounter > 5.5) {
 228                                         //cout << "6" << flush;
 229                                         _clearedDownwindEntry = false;
 230                                         _downwindEntry = true;
 231                                         _incoming = true;
 232                                         _wp = GetPatternApproachPos();
 233                                         SetTrack(GetHeadingFromTo(_pos, _wp));
 234                                         slope = atan((_wp.elev() - _pos.elev()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES;
 235                                         //cout << "slope = " << slope << '\n';
 236                                         pending_transmission = "Report ";
 237                                         pending_transmission += (patternDirection == 1 ? "right downwind " : "left downwind ");
 238                                         pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
 239                                         pending_transmission += " ";
 240                                         pending_transmission += plane.callsign;
 241                                         //cout << pending_transmission << '\n';
 242                                         ConditionalTransmit(4);
 243                                 }
 244                         }
 245                         if(_pos.elev() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0;
 246                 }
 247         }
 248         if(_incoming) {
 249                 //cout << "i" << '\n';
 250                 Point3D orthopos = ortho.ConvertToLocal(_pos);
 251                 // TODO - Check whether to start descent
 252                 // become _local after the 3 mile report.
 253                 if(_pos.elev() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0;
 254                 // TODO - work out why I needed to add the above line to stop the plane going underground!!!
 255                 // (Although it's worth leaving it in as a robustness check anyway).
 256                 if(_straightIn) {
 257                         //cout << "A " << flush;
 258                         if(fabs(orthopos.x()) < 10.0 && !_established) {
 259                                 SetTrack(rwy.hdg);
 260                                 _established = true;
 261                                 //cout << "Established at " << orthopos << '\n';
 262                         }
 263                         double thesh_offset = 30.0;
 264                         //cout << "orthopos.y = " << orthopos.y() << " alt = " << _pos.elev() - fgGetAirportElev(airportID) << '\n';
 265                         if(_established && (orthopos.y() > -5400.0)) {
 266                                 slope = atan((_pos.elev() - fgGetAirportElev(airportID)) / (orthopos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES;
 267                                 //cout << "slope0 = " << slope << '\n';
 268                         }
 269                         //cout << "slope1 = " << slope << '\n';
 270                         if(slope > -5.5) slope = 0.0;   // ie we're too low.
 271                         //cout << "slope2 = " << slope << '\n';
 272                         slope += 0.001;         // To avoid yo-yoing with the above.
 273                         //if(_established && (orthopos.y() > -5400.0)) slope = -5.5;
 274                         if(_established && (orthopos.y() > -4800.0)) {
 275                                 pending_transmission = "3 mile final Runway ";
 276                                 pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
 277                                 pending_transmission += " ";
 278                                 pending_transmission += plane.callsign;
 279                                 //cout << pending_transmission << '\n';
 280                                 ConditionalTransmit(35);
 281                                 _local = true;
 282                                 _aip.setVisible(true);  // HACK
 283                                 _enroute = false;
 284                                 StraightInEntry(true);
 285                         }
 286                 } else if(_downwindEntry) {
 287                         //cout << "B" << flush;
 288                         if(_entering) {
 289                                 //cout << "C" << flush;
 290                                 if(_turning) {
 291                                         if(fabs(_hdg - (rwy.hdg + 180)) < 2.0) {        // TODO - use track instead of _hdg?
 292                                                 //cout << "Going Local...\n";
 293                                                 leg = DOWNWIND;
 294                                                 _local = true;
 295                                                 _aip.setVisible(true);  // HACK
 296                                                 _enroute = false;
 297                                                 _entering = false;
 298                                                 _turning = false;
 299                                                 DownwindEntry();
 300                                         }
 301                                 }
 302                                 if(fabs(orthopos.x() - (patternDirection == 1 ? 1000 : -1000)) < (_e45 ? 175 : 550)) {  // Caution - hardwired turn clearances.
 303                                         //cout << "_turning...\n";
 304                                         _turning = true;
 305                                         SetTrack(rwy.hdg + 180.0);
 306                                 }       // TODO - need to check for other traffic in the pattern and enter much more integilently than that!!!
 307                         } else {
 308                                 //cout << "D" << flush;
 309                                 //cout << '\n' << dclGetHorizontalSeparation(_wp, _pos) << '\n';
 310                                 //cout << ortho.ConvertToLocal(_pos);
 311                                 //cout << ortho.ConvertToLocal(_wp);
 312                                 if(dclGetHorizontalSeparation(_wp, _pos) < 100.0) {
 313                                         pending_transmission = "2 miles out for ";
 314                                         pending_transmission += (patternDirection == 1 ? "right " : "left ");
 315                                         pending_transmission += "downwind Runway ";
 316                                         pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
 317                                         pending_transmission += " ";
 318                                         pending_transmission += plane.callsign;
 319                                         //cout << pending_transmission << '\n';
 320                                         // TODO - are we at pattern altitude??
 321                                         slope = 0.0;
 322                                         ConditionalTransmit(30);
 323                                         if(_e45) {
 324                                                 SetTrack(patternDirection == 1 ? rwy.hdg - 135.0 : rwy.hdg + 135.0);
 325                                         } else {
 326                                                 SetTrack(patternDirection == 1 ? rwy.hdg + 90.0 : rwy.hdg - 90.0);
 327                                         }
 328                                         //if(_hdg < 0.0) _hdg += 360.0;
 329                                         _entering = true;
 330                                 } else {
 331                                         SetTrack(GetHeadingFromTo(_pos, _wp));
 332                                 }
 333                         }
 334                 }
 335         } else {
 336                 // !_incoming
 337                 slope = 0.0;
 338         }
 339         // FIXME - lots of hackery in the next six lines!!!!
 340         //double track = _hdg;
 341         double crab = 0.0;      // This is a placeholder for when we take wind into account.
 342         _hdg = track + crab;
 343         double vel = _cruise_ias;
 344         double dist = vel * 0.514444 * dt;
 345         _pos = dclUpdatePosition(_pos, track, slope, dist);
 346 }
 347
 348 void FGAIGAVFRTraffic::RegisterTransmission(int code) {
 349         switch(code) {
 350         case 1: // taxi request cleared
 351                 FGAILocalTraffic::RegisterTransmission(code);
 352                 break;
 353         case 2: // contact tower
 354                 FGAILocalTraffic::RegisterTransmission(code);
 355                 break;
 356         case 3: // Cleared to line up
 357                 FGAILocalTraffic::RegisterTransmission(code);
 358                 break;
 359         case 4: // cleared to take-off
 360                 FGAILocalTraffic::RegisterTransmission(code);
 361                 break;
 362         case 5: // contact ground
 363                 FGAILocalTraffic::RegisterTransmission(code);
 364                 break;
 365         case 6: // taxi to the GA parking
 366                 FGAILocalTraffic::RegisterTransmission(code);
 367                 break;
 368         case 7: // Cleared to land
 369                 FGAILocalTraffic::RegisterTransmission(code);
 370                 break;
 371         case 13: // Go around!
 372                 FGAILocalTraffic::RegisterTransmission(code);
 373                 break;
 374         case 14: // VFR approach for straight-in
 375                 responseCounter = 0;
 376                 _clearedStraightIn = true;
 377                 break;
 378         case 15: // VFR approach for downwind entry
 379                 responseCounter = 0;
 380                 _clearedDownwindEntry = true;
 381                 break;
 382         default:
 383                 SG_LOG(SG_ATC, SG_WARN, "FGAIGAVFRTraffic::RegisterTransmission(...) called with unknown code " << code);
 384                 FGAILocalTraffic::RegisterTransmission(code);
 385                 break;
 386         }
 387 }
 388
 389 // Callback handler
 390 // TODO - Really should enumerate these coded values.
 391 void FGAIGAVFRTraffic::ProcessCallback(int code) {
 392         // 1 - Request Departure from ground
 393         // 2 - Report at hold short
 394         // 10 - report crosswind
 395         // 11 - report downwind
 396         // 12 - report base
 397         // 13 - report final
 398         // 14 - Contact Tower for VFR arrival
 399         // 99 - Remove self
 400         if(code < 14) {
 401                 FGAILocalTraffic::ProcessCallback(code);
 402         } else if(code == 14) {
 403                 if(_controlled) {
 404                         tower->VFRArrivalContact(plane, this, FULL_STOP);
 405                 }
 406                 // TODO else possibly announce arrival intentions at uncontrolled airport?
 407         } else if(code == 99) {
 408                 // Might handle this different in future - hence separated from the other codes to pass to AILocalTraffic.
 409                 FGAILocalTraffic::ProcessCallback(code);
 410         }
 411 }
 412
 413 // Return an appropriate altitude to fly at based on the desired altitude and direction
 414 // whilst respecting the quadrangle rule.
 415 int FGAIGAVFRTraffic::GetQuadrangleAltitude(int dir, int des_alt) {
 416         return(8888);
 417         // TODO - implement me!
 418 }
 419
 420 // Calculates the position needed to set up for either pattern entry or straight in approach.
 421 // Currently returns one of three positions dependent on initial position wrt threshold of active rwy.
 422 // 1/ A few miles out on extended centreline for straight-in.
 423 // 2/ At an appropriate point on circuit side of rwy for a 45deg entry to downwind.
 424 // 3/ At and appropriate point on non-circuit side of rwy at take-off end for perpendicular entry to circuit overflying end-of-rwy.
 425 Point3D FGAIGAVFRTraffic::GetPatternApproachPos() {
 426         //cout << "\n\n";
 427         //cout << "Calculating pattern approach pos for " << plane.callsign << '\n';
 428         Point3D orthopos = ortho.ConvertToLocal(_pos);
 429         Point3D tmp;
 430         //cout << "patternDirection = " << patternDirection << '\n';
 431         if(orthopos.y() >= -1000.0) {   // Note that this has to be set the same as the calculation in tower.cxx - at the moment approach type is not transmitted properly between the two.
 432                 //cout << "orthopos.x = " << orthopos.x() << '\n';
 433                 if((orthopos.x() * patternDirection) > 0.0) {   // 45 deg entry
 434                         tmp.setx(2000 * patternDirection);
 435                         tmp.sety((rwy.end2ortho.y() / 2.0) + 2000);
 436                         tmp.setelev(fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER));
 437                         _e45 = true;
 438                         //cout << "45 deg entry... ";
 439                 } else {
 440                         tmp.setx(1000 * patternDirection * -1);
 441                         tmp.sety(rwy.end2ortho.y());
 442                         tmp.setelev(fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER));
 443                         _e45 = false;
 444                         //cout << "90 deg entry... ";
 445                 }
 446         } else {
 447                 tmp.setx(0);
 448                 tmp.sety(-5400);
 449                 tmp.setelev((5400.0 / 6.0) + fgGetAirportElev(airportID) + 10.0);
 450                 //cout << "Straight in... ";
 451         }
 452         //cout << "Waypoint is " << tmp << '\n';
 453         //cout << ortho.ConvertFromLocal(tmp) << '\n';
 454         //cout << '\n';
 455         //exit(-1);
 456         return ortho.ConvertFromLocal(tmp);
 457 }
 458
 459 //FGAIGAVFRTraffic::
 460
 461 //FGAIGAVFRTraffic::
 462
 463 //FGAIGAVFRTraffic::