1 // FGAILocalTraffic - AIEntity derived class with enough logic to
2 // fly and interact with the traffic pattern.
4 // Written by David Luff, started March 2002.
6 // Copyright (C) 2002 David C. Luff - david.luff@nottingham.ac.uk
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.
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.
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., 675 Mass Ave, Cambridge, MA 02139, USA.
26 #include <simgear/scene/model/location.hxx>
28 #include <Airports/runways.hxx>
29 #include <Main/globals.hxx>
30 #include <Scenery/scenery.hxx>
31 #include <Scenery/tilemgr.hxx>
32 #include <simgear/math/point3d.hxx>
33 #include <simgear/math/sg_geodesy.hxx>
34 #include <simgear/misc/sg_path.hxx>
41 #include "AILocalTraffic.hxx"
42 #include "ATCutils.hxx"
44 FGAILocalTraffic::FGAILocalTraffic() {
45 ATC = globals->get_ATC_mgr();
47 // TODO - unhardwire this - possibly let the AI manager set the callsign
48 plane.callsign = "Trainer-two-five-charlie";
49 plane.type = GA_SINGLE;
55 //Hardwire initialisation for now - a lot of this should be read in from config eventually
57 best_rate_of_climb_speed = 70.0;
59 //nominal_climb_speed;
61 //nominal_circuit_speed;
64 nominal_descent_rate = 500.0;
65 nominal_final_speed = 65.0;
66 //nominal_approach_speed;
67 //stall_speed_landing_config;
68 nominalTaxiSpeed = 7.5;
70 wheelOffset = 1.45; // Warning - hardwired to the C172 - we need to read this in from file.
72 // Init the property nodes
73 wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
74 wind_speed_knots = fgGetNode("/environment/wind-speed-kt", true);
77 taxiRequestPending = false;
78 taxiRequestCleared = false;
80 clearedToLineUp = false;
81 clearedToTakeOff = false;
82 reportReadyForDeparture = false;
84 contactGround = false;
87 targetDescentRate = 0.0;
90 FGAILocalTraffic::~FGAILocalTraffic() {
94 // Get details of the active runway
95 // It is assumed that by the time this is called the tower control and airport code will have been set up.
96 void FGAILocalTraffic::GetRwyDetails() {
97 //cout << "GetRwyDetails called" << endl;
99 rwy.rwyID = tower->GetActiveRunway();
101 // Now we need to get the threshold position and rwy heading
104 bool rwyGood = globals->get_runways()->search(airportID, rwy.rwyID,
107 // Get the threshold position
108 hdg = runway.heading; // TODO - check - is this our heading we are setting here, and if so should we be?
109 //cout << "hdg reset to " << hdg << '\n';
110 double other_way = hdg - 180.0;
111 while(other_way <= 0.0) {
115 // move to the +l end/center of the runway
116 //cout << "Runway center is at " << runway.lon << ", " << runway.lat << '\n';
117 Point3D origin = Point3D(runway.lon, runway.lat, aptElev);
118 Point3D ref = origin;
119 double tshlon, tshlat, tshr;
120 double tolon, tolat, tor;
121 rwy.length = runway.length * SG_FEET_TO_METER;
122 geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), other_way,
123 rwy.length / 2.0 - 25.0, &tshlat, &tshlon, &tshr );
124 geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), hdg,
125 rwy.length / 2.0 - 25.0, &tolat, &tolon, &tor );
126 // Note - 25 meters in from the runway end is a bit of a hack to put the plane ahead of the user.
127 // now copy what we need out of runway into rwy
128 rwy.threshold_pos = Point3D(tshlon, tshlat, aptElev);
129 Point3D takeoff_end = Point3D(tolon, tolat, aptElev);
130 //cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
131 //cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
133 // Set the projection for the local area
134 ortho.Init(rwy.threshold_pos, rwy.hdg);
135 rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
136 rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
138 SG_LOG(SG_ATC, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
143 There are two possible scenarios during initialisation:
144 The first is that the user is flying towards the airport, and hence the traffic
145 could be initialised anywhere, as long as the AI planes are consistent with
147 The second is that the user has started the sim at or close to the airport, and
148 hence the traffic must be initialised with respect to the user as well as each other.
149 To a certain extent it's FGAIMgr that has to worry about this, but we need to provide
150 sufficient initialisation functionality within the plane classes to allow the manager
151 to initialy position them where and how required.
153 bool FGAILocalTraffic::Init(string ICAO, OperatingState initialState, PatternLeg initialLeg) {
154 //cout << "FGAILocalTraffic.Init(...) called" << endl;
155 // Hack alert - Hardwired path!!
156 string planepath = "Aircraft/c172/Models/c172-dpm.ac";
157 ssgBranch *model = sgLoad3DModel( globals->get_fg_root(),
159 globals->get_props(),
160 globals->get_sim_time_sec() );
162 aip.setVisible(false); // This will be set to true once a valid ground elevation has been determined
163 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
165 // Find the tower frequency - this is dependent on the ATC system being initialised before the AI system
168 if(ATC->GetAirportATCDetails(airportID, &a)) {
169 if(a.tower_freq) { // Has a tower
170 tower = (FGTower*)ATC->GetATCPointer((string)airportID, TOWER); // Maybe need some error checking here
172 // Something has gone wrong - abort or carry on with un-towered operation?
175 freq = (double)tower->get_freq() / 100.0;
176 ground = tower->GetGroundPtr();
178 // Something has gone wrong :-(
179 SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::Init() :-(");
181 } else if((initialState == PARKED) || (initialState == TAXIING)) {
182 freq = (double)ground->get_freq() / 100.0;
184 //cout << "AILocalTraffic freq is " << freq << '\n';
186 // TODO - Check CTAF, unicom etc
189 //cout << "Unable to find airport details in FGAILocalTraffic::Init()\n";
192 // Get the airport elevation
193 aptElev = dclGetAirportElev(airportID.c_str()) * SG_FEET_TO_METER;
194 //cout << "Airport elev in AILocalTraffic = " << aptElev << '\n';
195 // WARNING - we use this elev for the whole airport - some assumptions in the code
196 // might fall down with very slopey airports.
198 //cout << "In Init(), initialState = " << initialState << endl;
199 operatingState = initialState;
200 switch(operatingState) {
202 ourGate = ground->GetGateNode();
203 if(ourGate == NULL) {
204 // Implies no available gates - what shall we do?
205 // For now just vanish the plane - possibly we can make this more elegant in the future
206 SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
214 pos.setelev(aptElev);
215 hdg = ourGate->heading;
217 // Now we've set the position we can do the ground elev
218 elevInitGood = false;
225 // FIXME - implement this case properly
226 return(false); // remove this line when fixed!
229 // For now we'll always start the in_pattern case on the threshold ready to take-off
230 // since we've got the implementation for this case already.
231 // TODO - implement proper generic in_pattern startup.
233 // Get the active runway details (and copy them into rwy)
236 // Initial position on threshold for now
237 pos.setlat(rwy.threshold_pos.lat());
238 pos.setlon(rwy.threshold_pos.lon());
239 pos.setelev(rwy.threshold_pos.elev());
242 // Now we've set the position we can do the ground elev
243 // This might not always be necessary if we implement in-air start
244 elevInitGood = false;
254 circuitsToFly = 0; // ie just fly this circuit and then stop
256 // FIXME TODO - pattern direction is still hardwired
257 patternDirection = -1; // Left
258 // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
259 if(rwy.rwyID.size() == 3) {
260 patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
263 operatingState = IN_PATTERN;
268 SG_LOG(SG_ATC, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
276 // Commands to do something from higher level logic
277 void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
278 //cout << "FlyCircuits called" << endl;
280 switch(operatingState) {
282 circuitsToFly += numCircuits;
286 // For now we'll punt this and do nothing
289 circuitsToFly = numCircuits; // Note that one too many circuits gets flown because we only test and decrement circuitsToFly after landing
290 // thus flying one too many circuits. TODO - Need to sort this out better!
293 // Get the active runway details (and copy them into rwy)
296 // Get the takeoff node for the active runway, get a path to it and start taxiing
297 path = ground->GetPath(ourGate, rwy.rwyID);
298 if(path.size() < 2) {
299 // something has gone wrong
300 SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
304 cout << "path returned was:" << endl;
305 for(unsigned int i=0; i<path.size(); ++i) {
306 switch(path[i]->struct_type) {
308 cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
316 // pop the gate - we're here already!
317 path.erase(path.begin());
318 //path.erase(path.begin());
320 cout << "path after popping front is:" << endl;
321 for(unsigned int i=0; i<path.size(); ++i) {
322 switch(path[i]->struct_type) {
324 cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
333 taxiState = TD_OUTBOUND;
336 // Maybe the below should be set when we get to the threshold and prepare for TO?
337 // FIXME TODO - pattern direction is still hardwired
338 patternDirection = -1; // Left
339 // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
340 if(rwy.rwyID.size() == 3) {
341 patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
350 // Run the internal calculations
351 void FGAILocalTraffic::Update(double dt) {
352 //cout << "A" << flush;
353 double responseTime = 10.0; // seconds - this should get more sophisticated at some point
354 responseCounter += dt;
355 if((contactTower) && (responseCounter >= 8.0)) {
356 // Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
357 string trns = "Tower ";
358 double f = globals->get_ATC_mgr()->GetFrequency(airportID, TOWER) / 100.0;
360 sprintf(buf, "%f", f);
363 trns += plane.callsign;
365 responseCounter = 0.0;
366 contactTower = false;
368 changeFreqType = TOWER;
371 if((changeFreq) && (responseCounter > 8.0)) {
372 switch(changeFreqType) {
374 freq = (double)tower->get_freq() / 100.0;
376 // Contact the tower, even if only virtually
378 tower->ContactAtHoldShort(plane, this, CIRCUIT);
381 freq = (double)ground->get_freq() / 100.0;
383 // And to avoid compiler warnings...
397 //cout << "." << flush;
399 switch(operatingState) {
401 //cout << "In IN_PATTERN\n";
402 if(!inAir) DoGroundElev();
404 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
405 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
406 //cout << "TAKEOFF_ROLL, POS = " << pos.lon() << ", " << pos.lat() << ", " << pos.elev() << '\n';
408 aip.setVisible(true);
409 //cout << "Making plane visible!\n";
413 FlyTrafficPattern(dt);
417 //cout << "In TAXIING\n";
418 //cout << "*" << flush;
421 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
422 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
424 aip.setVisible(true);
426 //cout << "Making plane visible!\n";
431 //cout << "," << flush;
432 if(!((holdingShort) && (!clearedToLineUp))) {
433 //cout << "|" << flush;
436 //cout << ";" << flush;
437 if((clearedToTakeOff) && (responseCounter >= 8.0)) {
438 // possible assumption that we're at the hold short here - may not always hold
439 // TODO - sort out the case where we're cleared to line-up first and then cleared to take-off on the rwy.
440 taxiState = TD_LINING_UP;
441 path = ground->GetPath(holdShortNode, rwy.rwyID);
443 cout << "path returned was:" << endl;
444 for(unsigned int i=0; i<path.size(); ++i) {
445 switch(path[i]->struct_type) {
447 cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
455 clearedToTakeOff = false; // We *are* still cleared - this simply stops the response recurring!!
456 holdingShort = false;
457 string trns = "Cleared for take-off ";
458 trns += plane.callsign;
462 //cout << "^" << flush;
466 //cout << "In PARKED\n";
469 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
470 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
472 aip.setVisible(true);
474 //cout << "Making plane visible!\n";
480 if((taxiRequestPending) && (taxiRequestCleared)) {
481 //cout << "&" << flush;
482 // Get the active runway details (and copy them into rwy)
485 // Get the takeoff node for the active runway, get a path to it and start taxiing
486 path = ground->GetPathToHoldShort(ourGate, rwy.rwyID);
487 if(path.size() < 2) {
488 // something has gone wrong
489 SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
493 cout << "path returned was:\n";
494 for(unsigned int i=0; i<path.size(); ++i) {
495 switch(path[i]->struct_type) {
497 cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
505 path.erase(path.begin()); // pop the gate - we're here already!
506 taxiState = TD_OUTBOUND;
507 taxiRequestPending = false;
508 holdShortNode = (node*)(*(path.begin() + path.size()));
510 } else if(!taxiRequestPending) {
511 //cout << "(" << flush;
512 ground->RequestDeparture(plane, this);
513 // Do some communication
514 // airport name + tower + airplane callsign + location + request taxi for + operation type + ?
516 trns += tower->get_name();
518 trns += plane.callsign;
519 trns += " on apron parking request taxi for traffic pattern";
520 //cout << "trns = " << trns << endl;
522 taxiRequestCleared = false;
523 taxiRequestPending = true;
527 //cout << "!" << flush;
529 // Maybe the below should be set when we get to the threshold and prepare for TO?
530 // FIXME TODO - pattern direction is still hardwired
531 patternDirection = -1; // Left
532 // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
533 if(rwy.rwyID.size() == 3) {
534 patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
538 //cout << ")" << flush;
543 //cout << "I " << flush;
545 // Convienience output for AI debugging user the property logger
546 fgSetDouble("/AI/Local1/ortho-x", (ortho.ConvertToLocal(pos)).x());
547 fgSetDouble("/AI/Local1/ortho-y", (ortho.ConvertToLocal(pos)).y());
548 fgSetDouble("/AI/Local1/elev", pos.elev() * SG_METER_TO_FEET);
551 void FGAILocalTraffic::RegisterTransmission(int code) {
553 case 1: // taxi request cleared
554 taxiRequestCleared = true;
555 SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to taxi...");
557 case 2: // contact tower
560 SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to contact tower...");
562 case 3: // Cleared to line up
564 clearedToLineUp = true;
565 SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to line-up...");
567 case 4: // cleared to take-off
569 clearedToTakeOff = true;
570 SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to take-off...");
577 // Fly a traffic pattern
578 // FIXME - far too much of the mechanics of turning, rolling, accellerating, descending etc is in here.
579 // Move it out to FGAIPlane and have FlyTrafficPattern just specify what to do, not the implementation.
580 void FGAILocalTraffic::FlyTrafficPattern(double dt) {
581 // Need to differentiate between in-air (IAS governed) and on-ground (vel governed)
582 // Take-off is an interesting case - we are on the ground but takeoff speed is IAS governed.
584 static bool transmitted = false; // FIXME - this is a hack
587 // Wind has two effects - a mechanical one in that IAS translates to a different vel, and the hdg != track,
588 // but also a piloting effect, in that the AI must be able to descend at a different rate in order to hit the threshold.
590 //cout << "dt = " << dt << '\n';
592 // ack - I can't remember how long a rate 1 turn is meant to take.
593 double turn_time = 60.0; // seconds - TODO - check this guess
594 double turn_circumference;
596 Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
597 //cout << "runway elev = " << rwy.threshold_pos.elev() << ' ' << rwy.threshold_pos.elev() * SG_METER_TO_FEET << '\n';
598 //cout << "elev = " << pos.elev() << ' ' << pos.elev() * SG_METER_TO_FEET << '\n';
600 // HACK FOR TESTING - REMOVE
601 //cout << "Calling ExitRunway..." << endl;
602 //ExitRunway(orthopos);
607 double wind_from = wind_from_hdg->getDoubleValue();
608 double wind_speed = wind_speed_knots->getDoubleValue();
620 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
621 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
623 IAS = vel + (cos((hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
627 IAS = best_rate_of_climb_speed;
629 slope = 6.0; // Reduced it slightly since it's climbing a lot steeper than I can in the JSBSim C172.
635 // Turn to crosswind if above 600ft AND if other traffic allows
636 // (decided in FGTower and accessed through GetCrosswindConstraint(...)).
637 if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 600) {
639 if(tower->GetCrosswindConstraint(cc)) {
640 if(orthopos.y() > cc) {
641 cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n';
645 cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n';
649 // Need to check for levelling off in case we can't turn crosswind as soon
650 // as we would like due to other traffic.
651 if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
654 IAS = 80.0; // FIXME - use smooth transistion to new speed and attitude.
658 track += (360.0 / turn_time) * dt * patternDirection;
659 Bank(25.0 * patternDirection);
660 if((track < (rwy.hdg - 89.0)) || (track > (rwy.hdg + 89.0))) {
666 track = rwy.hdg + (90.0 * patternDirection);
667 if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
670 IAS = 80.0; // FIXME - use smooth transistion to new speed
672 // turn 1000m out for now, taking other traffic into accout
673 if(fabs(orthopos.x()) > 980) {
675 if(tower->GetDownwindConstraint(dd)) {
676 if(fabs(orthopos.x()) > fabs(dd)) {
677 cout << "Turning to downwind, distance from centerline = " << fabs(orthopos.x()) << '\n';
681 cout << "Turning to downwind, distance from centerline = " << fabs(orthopos.x()) << '\n';
687 track += (360.0 / turn_time) * dt * patternDirection;
688 Bank(25.0 * patternDirection);
689 // just in case we didn't make height on crosswind
690 if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
693 IAS = 80.0; // FIXME - use smooth transistion to new speed
695 if((track < (rwy.hdg - 179.0)) || (track > (rwy.hdg + 179.0))) {
703 track = rwy.hdg - (180 * patternDirection); //should tend to bring track back into the 0->360 range
704 // just in case we didn't make height on crosswind
705 if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
708 IAS = 90.0; // FIXME - use smooth transistion to new speed
710 if((orthopos.y() < 0) && (!transmitted)) {
711 TransmitPatternPositionReport();
714 if((orthopos.y() < -100) && (!descending)) {
715 // Maybe we should think about when to start descending.
716 // For now we're assuming that we aim to follow the same glidepath regardless of wind.
719 CalculateSoD((tower->GetBaseConstraint(d1) ? d1 : -1000.0), (tower->GetDownwindConstraint(d2) ? d2 : 1000.0 * patternDirection), (patternDirection ? true : false));
720 if(SoD.leg == DOWNWIND) {
721 descending = (orthopos.y() < SoD.y ? true : false);
726 slope = -5.5; // FIXME - calculate to descent at 500fpm and hit the desired point on the runway (taking wind into account as well!!)
731 // Try and arrange to turn nicely onto base
732 turn_circumference = IAS * 0.514444 * turn_time;
733 //Hmmm - this is an interesting one - ground vs airspeed in relation to turn radius
734 //We'll leave it as a hack with IAS for now but it needs revisiting.
735 turn_radius = turn_circumference / (2.0 * DCL_PI);
736 if(orthopos.y() < -1000.0 + turn_radius) {
737 //if(orthopos.y() < -980) {
739 if(tower->GetBaseConstraint(bb)) {
740 if(fabs(orthopos.y()) > fabs(bb)) {
741 cout << "Turning to base, distance from threshold = " << fabs(orthopos.y()) << '\n';
747 cout << "Turning to base, distance from threshold = " << fabs(orthopos.y()) << '\n';
755 track += (360.0 / turn_time) * dt * patternDirection;
756 Bank(25.0 * patternDirection);
757 if(fabs(rwy.hdg - track) < 91.0) {
764 TransmitPatternPositionReport();
770 // Make downwind leg position artifically large to avoid any chance of SoD being returned as
771 // on downwind when we are already on base.
772 CalculateSoD((tower->GetBaseConstraint(d1) ? d1 : -1000.0), (10000.0 * patternDirection), (patternDirection ? true : false));
773 if(SoD.leg == BASE) {
774 descending = (fabs(orthopos.y()) < fabs(SoD.y) ? true : false);
779 slope = -5.5; // FIXME - calculate to descent at 500fpm and hit the threshold (taking wind into account as well!!)
784 track = rwy.hdg - (90 * patternDirection);
786 // Try and arrange to turn nicely onto final
787 turn_circumference = IAS * 0.514444 * turn_time;
788 //Hmmm - this is an interesting one - ground vs airspeed in relation to turn radius
789 //We'll leave it as a hack with IAS for now but it needs revisiting.
790 turn_radius = turn_circumference / (2.0 * DCL_PI);
791 if(fabs(orthopos.x()) < (turn_radius + 50)) {
798 track += (360.0 / turn_time) * dt * patternDirection;
799 Bank(25.0 * patternDirection);
800 if(fabs(track - rwy.hdg) < 0.6) {
802 vel = nominal_final_speed;
808 TransmitPatternPositionReport();
812 // Make base leg position artifically large to avoid any chance of SoD being returned as
813 // on base or downwind when we are already on final.
814 CalculateSoD(-10000.0, (1000.0 * patternDirection), (patternDirection ? true : false));
815 if(SoD.leg == FINAL) {
816 descending = (fabs(orthopos.y()) < fabs(SoD.y) ? true : false);
821 slope = -5.5; // FIXME - calculate to descent at 500fpm and hit the threshold (taking wind into account as well!!)
825 // Try and track the extended centreline
826 track = rwy.hdg - (0.2 * orthopos.x());
827 //cout << "orthopos.x() = " << orthopos.x() << " hdg = " << hdg << '\n';
828 if(pos.elev() < (rwy.threshold_pos.elev()+20.0+wheelOffset)) {
829 DoGroundElev(); // Need to call it here expicitly on final since it's only called
830 // for us in update(...) when the inAir flag is false.
832 if(pos.elev() < (rwy.threshold_pos.elev()+10.0+wheelOffset)) {
833 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
834 if((aip.getSGLocation()->get_cur_elev_m() + wheelOffset) > pos.elev()) {
840 } // else need a fallback position based on arpt elev in case ground elev determination fails?
845 if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
846 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
851 // FIXME - differentiate between touch and go and full stops
853 //cout << "Vel <= 15.0, circuitsToFly = " << circuitsToFly << endl;
854 if(circuitsToFly <= 0) {
855 //cout << "Calling ExitRunway..." << endl;
856 ExitRunway(orthopos);
859 //cout << "Taking off again..." << endl;
870 // FIXME - at the moment this is a bit screwy
871 // The velocity correction is applied based on the relative headings.
872 // Then the heading is changed based on the velocity.
873 // Which comes first, the chicken or the egg?
874 // Does it really matter?
876 // Apply wind to ground-relative velocity if in the air
877 vel = IAS - (cos((hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
878 //crab = f(track, wind, vel);
879 // The vector we need to fly is our desired vector minus the wind vector
880 // TODO - we probably ought to use plib's built in vector types and operations for this
881 // ie. There's almost *certainly* a better way to do this!
882 double gxx = vel * sin(track * DCL_DEGREES_TO_RADIANS); // Plane desired velocity x component wrt ground
883 double gyy = vel * cos(track * DCL_DEGREES_TO_RADIANS); // Plane desired velocity y component wrt ground
884 double wxx = wind_speed * sin((wind_from + 180.0) * DCL_DEGREES_TO_RADIANS); // Wind velocity x component
885 double wyy = wind_speed * cos((wind_from + 180.0) * DCL_DEGREES_TO_RADIANS); // Wind velocity y component
886 double axx = gxx - wxx; // Plane in-air velocity x component
887 double ayy = gyy - wyy; // Plane in-air velocity y component
888 // Now we want the angle between gxx and axx (which is the crab)
889 double maga = sqrt(axx*axx + ayy*ayy);
890 double magg = sqrt(gxx*gxx + gyy*gyy);
891 crab = acos((axx*gxx + ayy*gyy) / (maga * magg));
892 // At this point this works except we're getting the modulus of the angle
893 //cout << "crab = " << crab << '\n';
895 // Make sure both headings are in the 0->360 circle in order to get sane differences
896 dclBoundHeading(wind_from);
897 dclBoundHeading(track);
898 if(track > wind_from) {
899 if((track - wind_from) <= 180) {
903 if((wind_from - track) >= 180) {
907 } else { // on the ground - crab dosen't apply
912 dist = vel * 0.514444 * dt;
913 pos = dclUpdatePosition(pos, track, slope, dist);
916 // Pattern direction is true for right, false for left
917 void FGAILocalTraffic::CalculateSoD(double base_leg_pos, double downwind_leg_pos, bool pattern_direction) {
918 // For now we'll ignore wind and hardwire the glide angle.
919 double ga = 5.5; //degrees
920 double pa = 1000.0 * SG_FEET_TO_METER; // pattern altitude in meters
921 // FIXME - get glideslope angle and pattern altitude agl from airport details if available
923 // For convienience, we'll have +ve versions of the input distances
924 double blp = fabs(base_leg_pos);
925 double dlp = fabs(downwind_leg_pos);
927 //double turn_allowance = 150.0; // Approximate distance in meters that a 90deg corner is shortened by turned in a light plane.
929 double stod = pa / tan(ga * DCL_DEGREES_TO_RADIANS); // distance in meters from touchdown point to start descent
930 cout << "Descent to start = " << stod << " meters out\n";
931 if(stod < blp) { // Start descending on final
935 } else if(stod < (blp + dlp)) { // Start descending on base leg
938 SoD.x = (pattern_direction ? (stod - dlp) : (stod - dlp) * -1.0);
939 } else { // Start descending on downwind leg
941 SoD.x = (pattern_direction ? dlp : dlp * -1.0);
942 SoD.y = (blp - (stod - (blp + dlp))) * -1.0;
946 void FGAILocalTraffic::TransmitPatternPositionReport(void) {
947 // airport name + "traffic" + airplane callsign + pattern direction + pattern leg + rwy + ?
950 trns += tower->get_name();
952 trns += plane.callsign;
953 if(patternDirection == 1) {
959 // We could probably get rid of this whole switch statement and just pass a string containing the leg from the FlyPattern function.
960 switch(leg) { // We'll assume that transmissions in turns are intended for next leg - do pilots ever call out that they are in the turn?
962 // Fall through to CROSSWIND
963 case CROSSWIND: // I don't think this case will be used here but it can't hurt to leave it in
964 trns += "crosswind ";
967 // Fall through to DOWNWIND
972 // Fall through to BASE
977 // Fall through to FINAL
978 case FINAL: // maybe this should include long/short final if appropriate?
981 default: // Hopefully this won't be used
985 // FIXME - I've hardwired the runway call as well!! (We could work this out from rwy heading and mag deviation)
986 trns += ConvertRwyNumToSpokenString(1);
988 // And add the airport name again
989 trns += tower->get_name();
994 void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
995 //cout << "In ExitRunway" << endl;
996 //cout << "Runway ID is " << rwy.ID << endl;
997 node_array_type exitNodes = ground->GetExits(rwy.rwyID); //I suppose we ought to have some fallback for rwy with no defined exits?
999 cout << "Node ID's of exits are ";
1000 for(unsigned int i=0; i<exitNodes.size(); ++i) {
1001 cout << exitNodes[i]->nodeID << ' ';
1005 if(exitNodes.size()) {
1006 //Find the next exit from orthopos.y
1008 double dist = 100000; //ie. longer than any runway in existance
1009 double backdist = 100000;
1010 node_array_iterator nItr = exitNodes.begin();
1011 node* rwyExit = *(exitNodes.begin());
1012 //int gateID; //This might want to be more persistant at some point
1013 while(nItr != exitNodes.end()) {
1014 d = ortho.ConvertToLocal((*nItr)->pos).y() - ortho.ConvertToLocal(pos).y(); //FIXME - consider making orthopos a class variable
1021 if(fabs(d) < backdist) {
1023 //TODO - need some logic here that if we don't get a forward exit we turn round and store the backwards one
1028 ourGate = ground->GetGateNode();
1029 if(ourGate == NULL) {
1030 // Implies no available gates - what shall we do?
1031 // For now just vanish the plane - possibly we can make this more elegant in the future
1032 SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
1033 aip.setVisible(false);
1034 operatingState = PARKED;
1037 path = ground->GetPath(rwyExit, ourGate);
1039 cout << "path returned was:" << endl;
1040 for(unsigned int i=0; i<path.size(); ++i) {
1041 switch(path[i]->struct_type) {
1043 cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
1051 taxiState = TD_INBOUND;
1054 // Something must have gone wrong with the ground network file - or there is only a rwy here and no exits defined
1055 SG_LOG(SG_ATC, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.rwyID << " at " << airportID << '\n');
1056 // What shall we do - just remove the plane from sight?
1057 aip.setVisible(false);
1058 operatingState = PARKED;
1062 // Set the class variable nextTaxiNode to the next node in the path
1063 // and update taxiPathPos, the class variable path iterator position
1064 // TODO - maybe should return error codes to the calling function if we fail here
1065 void FGAILocalTraffic::GetNextTaxiNode() {
1066 //cout << "GetNextTaxiNode called " << endl;
1067 //cout << "taxiPathPos = " << taxiPathPos << endl;
1068 ground_network_path_iterator pathItr = path.begin() + taxiPathPos;
1069 if(pathItr == path.end()) {
1070 SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
1072 if((*pathItr)->struct_type == NODE) {
1073 //cout << "ITS A NODE" << endl;
1074 //*pathItr = new node;
1075 nextTaxiNode = (node*)*pathItr;
1079 //cout << "ITS NOT A NODE" << endl;
1080 //The first item in found must have been an arc
1081 //Assume for now that it was straight
1084 if(pathItr == path.end()) {
1085 SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
1086 } else if((*pathItr)->struct_type == NODE) {
1087 nextTaxiNode = (node*)*pathItr;
1090 //OOPS - two non-nodes in a row - that shouldn't happen ATM
1091 SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
1097 // StartTaxi - set up the taxiing state - call only at the start of taxiing
1098 void FGAILocalTraffic::StartTaxi() {
1099 //cout << "StartTaxi called" << endl;
1100 operatingState = TAXIING;
1103 //Set the desired heading
1104 //Assume we are aiming for first node on path
1105 //Eventually we may need to consider the fact that we might start on a curved arc and
1106 //not be able to head directly for the first node.
1107 GetNextTaxiNode(); // sets the class variable nextTaxiNode to the next taxi node!
1108 desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
1109 //cout << "First taxi heading is " << desiredTaxiHeading << endl;
1112 // speed in knots, headings in degrees, radius in meters.
1113 static double TaxiTurnTowardsHeading(double current_hdg, double desired_hdg, double speed, double radius, double dt) {
1114 // wrap heading - this prevents a logic bug where the plane would just go round in circles!!
1115 while(current_hdg < 0.0) {
1116 current_hdg += 360.0;
1118 while(current_hdg > 360.0) {
1119 current_hdg -= 360.0;
1121 if(fabs(current_hdg - desired_hdg) > 0.1) {
1122 // Which is the quickest direction to turn onto heading?
1123 if(desired_hdg > current_hdg) {
1124 if((desired_hdg - current_hdg) <= 180) {
1126 current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
1127 // TODO - check that increments are less than the delta that we check for the right direction
1128 // Probably need to reduce convergence speed as convergence is reached
1130 current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
1133 if((current_hdg - desired_hdg) <= 180) {
1135 current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
1136 // TODO - check that increments are less than the delta that we check for the right direction
1137 // Probably need to reduce convergence speed as convergence is reached
1139 current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
1143 return(current_hdg);
1146 void FGAILocalTraffic::Taxi(double dt) {
1147 //cout << "Taxi called" << endl;
1148 // Logic - if we are further away from next point than turn radius then head for it
1149 // If we have reached turning point then get next point and turn onto that heading
1150 // Look out for the finish!!
1152 //Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
1153 desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
1155 bool lastNode = (taxiPathPos == path.size() ? true : false);
1157 //cout << "LAST NODE\n";
1160 // HACK ALERT! - for now we will taxi at constant speed for straights and turns
1162 // Remember that hdg is always equal to track when taxiing so we don't have to consider them both
1163 double dist_to_go = dclGetHorizontalSeparation(pos, nextTaxiNode->pos); // we may be able to do this more cheaply using orthopos
1164 //cout << "dist_to_go = " << dist_to_go << endl;
1165 if((nextTaxiNode->type == GATE) && (dist_to_go <= 0.1)) {
1166 // This might be more robust to outward paths starting with a gate if we check for either
1167 // last node or TD_INBOUND ?
1169 operatingState = PARKED;
1170 } else if(((dist_to_go > taxiTurnRadius) || (nextTaxiNode->type == GATE)) && (!liningUp)){
1171 // if the turn radius is r, and speed is s, then in a time dt we turn through
1172 // ((s.dt)/(PI.r)) x 180 degrees
1173 // or alternatively (s.dt)/r radians
1174 //cout << "hdg = " << hdg << " desired taxi heading = " << desiredTaxiHeading << '\n';
1175 hdg = TaxiTurnTowardsHeading(hdg, desiredTaxiHeading, nominalTaxiSpeed, taxiTurnRadius, dt);
1176 double vel = nominalTaxiSpeed;
1177 //cout << "vel = " << vel << endl;
1178 double dist = vel * 0.514444 * dt;
1179 //cout << "dist = " << dist << endl;
1181 //cout << "track = " << track << endl;
1183 pos = dclUpdatePosition(pos, track, slope, dist);
1184 //cout << "Updated position...\n";
1185 if(aip.getSGLocation()->get_cur_elev_m() > -9990) {
1186 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
1187 } // else don't change the elev until we get a valid ground elev again!
1188 } else if(lastNode) {
1189 if(taxiState == TD_LINING_UP) {
1190 if((!liningUp) && (dist_to_go <= taxiTurnRadius)) {
1194 hdg = TaxiTurnTowardsHeading(hdg, rwy.hdg, nominalTaxiSpeed, taxiTurnRadius, dt);
1195 double vel = nominalTaxiSpeed;
1196 //cout << "vel = " << vel << endl;
1197 double dist = vel * 0.514444 * dt;
1198 //cout << "dist = " << dist << endl;
1200 //cout << "track = " << track << endl;
1202 pos = dclUpdatePosition(pos, track, slope, dist);
1203 //cout << "Updated position...\n";
1204 if(aip.getSGLocation()->get_cur_elev_m() > -9990) {
1205 pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
1206 } // else don't change the elev until we get a valid ground elev again!
1207 if(fabs(hdg - rwy.hdg) <= 1.0) {
1208 operatingState = IN_PATTERN;
1214 } else if(taxiState == TD_OUTBOUND) {
1215 // Pause awaiting further instructions
1216 // and for now assume we've reached the hold-short node
1217 holdingShort = true;
1218 } // else at the moment assume TD_INBOUND always ends in a gate in which case we can ignore it
1220 // Time to turn (we've already checked it's not the end we're heading for).
1221 // set the target node to be the next node which will prompt automatically turning onto
1222 // the right heading in the stuff above, with the usual provisos applied.
1224 // For now why not just recursively call this function?
1230 // Warning - ground elev determination is CPU intensive
1231 // Either this function or the logic of how often it is called
1232 // will almost certainly change.
1233 void FGAILocalTraffic::DoGroundElev() {
1235 // It would be nice if we could set the correct tile center here in order to get a correct
1236 // answer with one call to the function, but what I tried in the two commented-out lines
1237 // below only intermittently worked, and I haven't quite groked why yet.
1238 //SGBucket buck(pos.lon(), pos.lat());
1239 //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
1241 double visibility_meters = fgGetDouble("/environment/visibility-m");
1242 //globals->get_tile_mgr()->prep_ssg_nodes( acmodel_location,
1243 globals->get_tile_mgr()->prep_ssg_nodes( aip.getSGLocation(), visibility_meters );
1244 Point3D scenery_center = globals->get_scenery()->get_center();
1245 globals->get_tile_mgr()->update( aip.getSGLocation(), visibility_meters, (aip.getSGLocation())->get_absolute_view_pos( scenery_center ) );
1246 // save results of update in SGLocation for fdm...
1248 //if ( globals->get_scenery()->get_cur_elev() > -9990 ) {
1249 // acmodel_location->
1250 // set_cur_elev_m( globals->get_scenery()->get_cur_elev() );
1253 // The need for this here means that at least 2 consecutive passes are needed :-(
1254 aip.getSGLocation()->set_tile_center( globals->get_scenery()->get_next_center() );
1256 //cout << "Transform Elev is " << globals->get_scenery()->get_cur_elev() << '\n';
1257 aip.getSGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
1258 //return(globals->get_scenery()->get_cur_elev());