1 // FGGround - a class to provide ground control at larger airports.
3 // Written by David Luff, started March 2002.
5 // Copyright (C) 2002 David C. Luff - david.luff@nottingham.ac.uk
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
21 #include <simgear/misc/sg_path.hxx>
22 #include <simgear/math/sg_random.h>
23 #include <simgear/debug/logstream.hxx>
24 #include <simgear/misc/sgstream.hxx>
25 #include <simgear/constants.h>
26 #include <Main/globals.hxx>
33 FGGround::FGGround() {
35 networkLoadOK = false;
38 FGGround::~FGGround() {
41 void FGGround::ParseRwyExits(node* np, char* es) {
45 const char delimiters[] = "-";
46 token = strtok(estr, delimiters);
47 while(token != NULL) {
49 //cout << "token = " << token << endl;
50 //cout << "rwy number = " << i << endl;
51 //runways[(atoi(token))].exits.push_back(np);
52 runways[i].exits.push_back(np);
53 //cout << "token = " << token << '\n';
54 token = strtok(NULL, delimiters);
59 // Load the ground logical network of the current instances airport
60 // Return true if successfull.
61 // TODO - currently the file is assumed to reside in the base/ATC directory.
62 // This might change to something more thought out in the future.
63 bool FGGround::LoadNetwork() {
69 SGPath path = globals->get_fg_root();
70 //string taxiPath = "ATC/" + ident + ".taxi";
71 string taxiPath = "ATC/KEMT.taxi"; // FIXME - HARDWIRED FOR TESTING
72 path.append(taxiPath);
74 SG_LOG(SG_GENERAL, SG_INFO, "Trying to read taxiway data for " << ident << "...");
75 //cout << "Trying to read taxiway data for " << ident << "..." << endl;
76 fin.open(path.c_str(), ios::in);
78 SG_LOG(SG_GENERAL, SG_ALERT, "Unable to open taxiway data input file " << path.c_str());
79 //cout << "Unable to open taxiway data input file " << path.c_str() << endl;
87 // Node, arc, or [End]?
88 //cout << "Read in ground network element type = " << buf << endl;
89 if(!strcmp(buf, "[End]")) { // TODO - maybe make this more robust to spelling errors by just looking for '['
90 cout << "Done reading " << path.c_str() << endl;
92 } else if(!strcmp(buf, "N")) {
95 np->struct_type = NODE;
97 np->nodeID = atoi(buf);
99 np->pos.setlon(atof(buf));
101 np->pos.setlat(atof(buf));
103 np->pos.setelev(atof(buf));
104 fin >> buf; // node type
105 if(!strcmp(buf, "J")) {
107 } else if(!strcmp(buf, "T")) {
108 np->type = TJUNCTION;
109 } else if(!strcmp(buf, "H")) {
112 cout << "**** ERROR ***** Unknown node type in taxi network...\n";
116 fin >> buf; // rwy exit information - gets parsed later - FRAGILE - will break if buf is reused.
120 fin.unsetf(ios::skipws);
123 if((ch == '"') || (ch == 0x0A)) {
125 } // we shouldn't need the 0x0A but it makes a nice safely in case someone leaves off the "
127 fin.setf(ios::skipws);
128 network.push_back(np);
129 // FIXME - fragile - replies on buf not getting modified from exits read to here
130 // see if we also need to push it onto the runway exit list
131 cout << "strlen(buf) = " << strlen(buf) << endl;
132 if(strlen(buf) > 2) {
133 cout << "Calling ParseRwyExits for " << buf << endl;
134 ParseRwyExits(np, buf);
136 } else if(!strcmp(buf, "A")) {
138 ap->struct_type = ARC;
144 if(!strcmp(buf, "R")) {
146 } else if(!strcmp(buf, "T")) {
149 cout << "**** ERROR ***** Unknown arc type in taxi network...\n";
155 if(!strcmp(buf, "Y")) {
157 } else if(!strcmp(buf, "N")) {
158 ap->directed = false;
160 cout << "**** ERROR ***** Unknown arc directed value in taxi network - should be Y/N !!!\n";
167 fin.unsetf(ios::skipws);
170 if((ch == '"') || (ch == 0x0A)) {
172 } // we shouldn't need the 0x0A but it makes a nice safely in case someone leaves off the "
174 fin.setf(ios::skipws);
175 network[ap->n1]->arcs.push_back(ap);
176 network[ap->n2]->arcs.push_back(ap);
177 } else if(!strcmp(buf, "G")) {
179 gp->struct_type = NODE;
182 gp->nodeID = atoi(buf);
184 gp->pos.setlon(atof(buf));
186 gp->pos.setlat(atof(buf));
188 gp->pos.setelev(atof(buf));
189 fin >> buf; // gate type - ignore this for now
190 fin >> buf; // gate heading
191 gp->heading = atoi(buf);
195 fin.unsetf(ios::skipws);
198 if((ch == '"') || (ch == 0x0A)) {
200 } // we shouldn't need the 0x0A but it makes a nice safely in case someone leaves off the "
202 fin.setf(ios::skipws);
203 network.push_back(gp);
205 // Something has gone seriously pear-shaped
206 cout << "********* ERROR - unknown ground network element type... aborting read of " << path.c_str() << '\n';
215 void FGGround::Init() {
218 // For now we'll hardwire the threshold end
219 Point3D P010(-118.037483, 34.081358, 296 * SG_FEET_TO_METER);
221 ortho.Init(P010, hdg);
223 networkLoadOK = LoadNetwork();
226 void FGGround::Update() {
227 // Each time step, what do we need to do?
228 // We need to go through the list of outstanding requests and acknowedgements
229 // and process at least one of them.
230 // We need to go through the list of planes under our control and check if
231 // any need to be addressed.
232 // We need to check for planes not under our control coming within our
233 // control area and address if necessary.
235 // Lets take the example of a plane which has just contacted ground
236 // following landing - presumably requesting where to go?
237 // First we need to establish the position of the plane within the logical network.
238 // Next we need to decide where its going.
241 // FIXME - at the moment this assumes there is at least one gate and crashes if none
242 // FIXME - In fact, at the moment this routine doesn't work at all and hence is munged to always return Gate 1 !!!!
243 int FGGround::GetRandomGateID() {
244 //cout << "GetRandomGateID called" << endl;
247 gate_vec_type gateVec;
248 //gate_vec_iterator gateVecItr;
253 gatesItr = gates.begin();
254 while(gatesItr != gates.end()) {
255 if(gatesItr->second.used == false) {
256 gateVec.push_back(gatesItr->second);
262 // Randomly select one from the list
263 thenum = (int)(sg_random() * gateVec.size());
264 ID = gateVec[thenum].id;
265 //cout << "Returning gate ID " << ID << " from GetRandomGateID" << endl;
269 // Return a pointer to a gate node based on the gate ID
270 Gate* FGGround::GetGateNode(int gateID) {
271 //TODO - ought to add some sanity checking here - ie does a gate of this ID exist?!
272 return(&(gates[gateID]));
275 // Get a path from a point on a runway to a gate
277 // Get a path from a node to another node
278 // Eventually we will need complex algorithms for this taking other traffic,
279 // shortest path and suitable paths into accout. For now we're going to hardwire for KEMT!!!!
280 ground_network_path_type FGGround::GetPath(node* A, node* B) {
281 ground_network_path_type path;
282 //arc_array_iterator arcItr;
285 // VERY HARDWIRED - this hardwires a path from the far end of R01 to Gate 1.
286 // In fact in real life the area between R01/19 and Taxiway Alpha at KEMT is tarmaced and planes
287 // are supposed to exit the rwy asap.
288 // OK - for now very hardwire this for testing
289 path.push_back(network[1]);
290 path.push_back(network[1]->arcs[1]); // ONLY BECAUSE WE KNOW THIS IS THE ONE !!!!!
291 path.push_back(network[3]);
292 path.push_back(network[3]->arcs[1]);
293 path.push_back(network[5]);
294 path.push_back(network[5]->arcs[0]);
295 path.push_back(network[4]);
296 path.push_back(network[4]->arcs[2]);
297 path.push_back(network[6]);
298 path.push_back(network[6]->arcs[2]);
299 path.push_back(network[7]); // THE GATE!! Note that for now we're not even looking at the requested exit and gate passed in !!!!!
302 // In this hardwired scheme there are two possibilities - taxiing from rwy to gate or gate to rwy.
303 if(B->type == GATE) {
304 //return an inward path
306 // In this hardwired scheme we know A is a rwy exit and should have one taxiway arc only
307 // THIS WILL NOT HOLD TRUE IN THE GENERAL CASE
308 arcItr = A->arcs.begin();
310 while(arcItr != A->arcs.end()) {
311 if(arcItr->type == TAXIWAY) {
312 path.push_back(&(*arcItr));
318 //cout << "AI/ATC SUBSYSTEM ERROR - no taxiway from runway exit in airport.cxx" << endl;
320 // Then push back the start of taxiway node
321 // Then push back the taxiway arc
322 arcItr = A->arcs.begin();
324 while(arcItr != A->arcs.end()) {
325 if(arcItr->type == TAXIWAY) { // FIXME - OOPS - two taxiways go off this node
326 // How are we going to differentiate, apart from one called Alpha.
327 // I suppose eventually the traversal algorithms will select.
328 path.push_back(&(*arcItr));
334 //cout << "AI/ATC SUBSYSTEM ERROR - no taxiway from runway exit in airport.cxx" << endl;
336 // Then push back the junction node
337 // Planes always face one way in the parking, so depending on which parking exit we have either take it or push back another taxiway node
338 // Repeat if necessary
339 // Then push back the gate B
342 //return an outward path
345 // WARNING TODO FIXME - this is VERY FRAGILE - eg taxi to apron!!! but should be enough to
346 // see an AI plane physically taxi.
353 // Randomly or otherwise populate some of the gates with parked planes
354 // (might eventually be done by the AIMgr if and when lots of AI traffic is generated)
356 // Return a list of exits from a given runway
357 // It is up to the calling function to check for non-zero size of returned array before use
358 node_array_type FGGround::GetExits(int rwyID) {
359 return(runways[rwyID].exits);
363 void FGGround::NewArrival(plane_rec plane) {
364 // What are we going to do here?
365 // We need to start a new ground_rec and add the plane_rec to it
366 // We need to decide what gate we are going to clear it to.
367 // Then we need to add clearing it to that gate to the pending transmissions queue? - or simply transmit?
368 // Probably simply transmit for now and think about a transmission queue later if we need one.
369 // We might need one though in order to add a little delay for response time.
370 ground_rec* g = new ground_rec;
371 g->plane_rec = plane;
372 g->current_pos = ConvertWGS84ToXY(plane.pos);
373 g->node = GetNode(g->current_pos); // TODO - might need to sort out node/arc here
376 ground_traffic.push_back(g);
380 void FGGround::NewContact(plane_rec plane) {
381 // This is a bit of a convienience function at the moment and is likely to change.
382 if(at a gate or apron)
388 void FGGround::NextClearance(ground_rec &g) {
389 // Need to work out where we can clear g to.
390 // Assume the pilot doesn't need progressive instructions
391 // We *should* already have a gate or holding point assigned by the time we get here
392 // but it wouldn't do any harm to check.
394 // For now though we will hardwire it to clear to the final destination.
397 void FGGround::AssignGate(ground_rec &g) {
398 // We'll cheat for now - since we only have the user's aircraft and a couple of airports implemented
399 // we'll hardwire the gate!
400 // In the long run the logic of which gate or area to send the plane to could be somewhat non-trivial.