This innocuous looking typo was crashing the sim whenever an AI plane was asked to...

[flightgear.git] / src / ATC / ground.hxx

// FGGround - a class to provide ground control at larger airports.
//
// Written by David Luff, started March 2002.
//
// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

#ifndef _FG_GROUND_HXX
#define _FG_GROUND_HXX

#include STL_IOSTREAM
#include STL_STRING

SG_USING_STD(string);
SG_USING_STD(ios);

#include <map>
#include <vector>
#include <list>
#include <simgear/math/point3d.hxx>
#include <simgear/misc/sgstream.hxx>
#include <simgear/math/sg_geodesy.hxx>

#include "ATC.hxx"
//#include "ATCmgr.hxx"
#include "ATCProjection.hxx"
#include "AIEntity.hxx"
//#include "AILocalTraffic.hxx" // RunwayDetails - this is a temporary hack

SG_USING_STD(map);
SG_USING_STD(vector);
SG_USING_STD(list);

//////////////////////////////////////////////////////
// Types for the logical network data structure
enum arc_type {
        RUNWAY,
        TAXIWAY
};

enum node_type {
        GATE,
        APRON,
        HOLD,
        JUNCTION,
        TJUNCTION
};

enum GateType {
        TRANSPORT_PASSENGER,
        TRANSPORT_PASSENGER_NARROWBODY,
        TRANSPORT_PASSENGER_WIDEBODY,
        TRANSPORT_CARGO,
        GA_LOCAL,
        GA_LOCAL_SINGLE,
        GA_LOCAL_TWIN,
        GA_TRANSIENT,
        GA_TRANSIENT_SINGLE,
        GA_TRANSIENT_TWIN,
        OTHER   // ie. anything goes!!
};

enum network_element_type {
        NODE,
        ARC
};

struct ground_network_element {
        network_element_type struct_type;
};

struct arc : public ground_network_element {
        int distance;
        string name;
        arc_type type;
        bool directed;  //false if 2-way, true if 1-way.  
        //This is a can of worms since arcs might be one way in different directions under different circumstances
        unsigned int n1;        // The nodeID of the first node
        unsigned int n2;        // The nodeID of the second node
        // If the arc is directed then flow is normally from n1 to n2.  See the above can of worms comment though.
};

typedef vector <arc*> arc_array_type;   // This was and may become again a list instead of vector
typedef arc_array_type::iterator arc_array_iterator;
typedef arc_array_type::const_iterator arc_array_const_iterator; 

struct node : public ground_network_element {
        node();
        ~node();
        
        unsigned int nodeID;    //each node in an airport needs a unique ID number - this is ZERO-BASED to match array position
        Point3D pos;
        Point3D orthoPos;
        string name;
        node_type type;
        arc_array_type arcs;
        double max_turn_radius;
};

typedef vector <node*> node_array_type;
typedef node_array_type::iterator node_array_iterator;
typedef node_array_type::const_iterator node_array_const_iterator;

struct Gate : public node {
        GateType gateType;
        int max_weight; //units??
        //airline_code airline; //For the future - we don't have any airline codes ATM
        int id; // The gate number in the logical scheme of things
        string name;    // The real-world gate letter/number
        //node* pNode;
        bool used;
        double heading; // The direction the parked-up plane should point in degrees
};

typedef vector < Gate* > gate_vec_type;
typedef gate_vec_type::iterator gate_vec_iterator;
typedef gate_vec_type::const_iterator gate_vec_const_iterator;

// A map of gate vs. the logical (internal FGFS) gate ID
typedef map < int, Gate* > gate_map_type;
typedef gate_map_type::iterator gate_map_iterator;
typedef gate_map_type::const_iterator gate_map_const_iterator;

// Runways - all the runway stuff is likely to change in the future
struct Rwy {
        int id; //note this is a very simplified scheme for now - R & L are not differentiated
        //It should work for simple one rwy airports
        node_array_type exits;  //Array of available exits from runway
        // should probably add an FGRunway structure here as well eventually
        // Eventually we will also want some encoding of real-life preferred runways
        // This will get us up and running for single runway airports though.
};

typedef vector < Rwy > runway_array_type;
typedef runway_array_type::iterator runway_array_iterator;
typedef runway_array_type::const_iterator runway_array_const_iterator;

// end logical network types
///////////////////////////////////////////////////////

///////////////////////////////////////////////////////
// Structures to use the network

// A path through the network 
typedef vector < ground_network_element* > ground_network_path_type;
typedef ground_network_path_type::iterator ground_network_path_iterator;
typedef ground_network_path_type::const_iterator ground_network_path_const_iterator;

//////////////////////////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////
//
// Stuff for the shortest-path algorithms
struct a_path {
        a_path();
        
        ground_network_path_type path;
        int cost;
};

// Paths mapped by nodeID reached so-far
typedef map < unsigned int, a_path* > shortest_path_map_type;
typedef shortest_path_map_type::iterator shortest_path_map_iterator;

// Nodes mapped by their ID
//typedef map < unsigned int, node* > node_map_type;
//typedef node_map_type::iterator node_map_iterator;
////////////////////////////////////////////////

// Planes active within the ground network.

// A more specialist plane rec to include ground information
struct GroundRec {
        FGAIEntity* planePtr;   // This might move to the planeRec eventually
        
    PlaneRec plane;
    Point3D current_pos;
    node* destination;
    node* last_clearance;
        bool taxiRequestOutstanding;    // Plane has requested taxi and we haven't responded yet
        double clearanceCounter;                // Hack for communication timing - counter since clearance requested in seconds 
        
    bool cleared;  // set true when the plane has been cleared to somewhere
    bool incoming; //true for arrivals, false for departures
    // status?
    // Almost certainly need to add more here
};

typedef list < GroundRec* > ground_rec_list;
typedef ground_rec_list::iterator ground_rec_list_itr;
typedef ground_rec_list::const_iterator ground_rec_list_const_itr;

//////////////////////////////////////////////////////////////////////////////////////////

// Hack
// perhaps we could use an FGRunway instead of this
struct GRunwayDetails {
        Point3D threshold_pos;
        Point3D end1ortho;      // ortho projection end1 (the threshold ATM)
        Point3D end2ortho;      // ortho projection end2 (the take off end in the current hardwired scheme)
        double hdg;             // true runway heading
        double length;  // In *METERS*
        string rwyID;
};

///////////////////////////////////////////////////////////////////////////////
//
// FGGround
//
///////////////////////////////////////////////////////////////////////////////
class FGGround : public FGATC {

public:
        FGGround();
        FGGround(const string& id);
        ~FGGround();
    void Init();

    void Update(double dt);
        
        inline const string& get_trans_ident() { return trans_ident; }

    // Contact ground control on arrival, assumed to request any gate
    //void NewArrival(plane_rec plane);

    // Contact ground control on departure, assumed to request currently active runway.
    void RequestDeparture(const PlaneRec& plane, FGAIEntity* requestee);

    // Contact ground control when the calling routine doesn't know if arrival
    // or departure is appropriate.
    //void NewContact(plane_rec plane);

    // Make a request of ground control.
    //void Request(ground_request request);
        
        // Randomly fill some of the available gates and GA parking spots with planes
        void PopulateGates();
        
        // Return a suitable gate (maybe this should be a list of suitable gates so the plane or controller can choose the closest one)
        void ReturnGate(Gate &gate, GateType type);
        
        // Return a pointer to an unused gate
        Gate* GetGateNode();
        
        // Return a pointer to a hold short node
        node* GetHoldShortNode(const string& rwyID);
        
        // Runway stuff - this might change in the future.
        // Get a list of exits from a given runway
        // It is up to the calling function to check for non-zero size of returned array before use
        node_array_type GetExits(const string& rwyID);
        
        // Get a path from one node to another
        ground_network_path_type GetPath(node* A, node* B);
        
        // Get a path from a node to a runway threshold
        ground_network_path_type GetPath(node* A, const string& rwyID);
        
        // Get a path from a node to a runway hold short point
        // Bit of a hack this at the moment!
        ground_network_path_type GetPathToHoldShort(node* A, const string& rwyID);

private:
        FGATCMgr* ATCmgr;       
        // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
        
    // Need a data structure to hold details of the various active planes
    // Need a data structure to hold details of the logical network
    // including which gates are filled - or possibly another data structure
    // with the positions of the inactive planes.
    // Need a data structure to hold outstanding communications from aircraft.
    // Possibly need a data structure to hold outstanding communications to aircraft.

        // The logical network
        // NODES WILL BE STORED IN THE NETWORK IN ORDER OF nodeID NUMBER
        // ie. NODE 5 WILL BE AT network[5]
    node_array_type network;
        
        // A map of all the gates indexed against internal (FGFS) ID
        gate_map_type gates;
        gate_map_iterator gatesItr;

        FGATCAlignedProjection ortho;
        
        // Planes currently active
    //ground_rec_list ground_traffic;

    // Find the shortest route through the logical network between two points.
    //FindShortestRoute(point a, point b);

    // Assign a gate or parking location to a new arrival
    //AssignGate(ground_rec &g);

    // Generate the next clearance for an airplane
    //NextClearance(ground_rec &g);
        
        // environment - need to make sure we're getting the surface winds and not winds aloft.
        SGPropertyNode* wind_from_hdg;  //degrees
        SGPropertyNode* wind_speed_knots;               //knots
        
        // for failure modeling
        string trans_ident;             // transmitted ident
        bool ground_failed;             // ground failed?
        bool networkLoadOK;             // Indicates whether LoadNetwork returned true or false at last attempt
        
        // Tower control
        bool untowered;         // True if this is an untowered airport (we still need the ground class for shortest path implementation etc
        //FGATC* tower;         // Pointer to the tower control

        // Logical runway details - this might change in the future.
        //runway_array_type runways;    // STL way
        Rwy runways[37];        // quick hack!
        
        // Physical runway details
        double aptElev;         // Airport elevation
        string activeRwy;       // Active runway number - For now we'll disregard multiple / alternate runway operation.
        RunwayDetails rwy;      // Assumed to be the active one for now.// Figure out which runways are active.
        
        // For now we'll just be simple and do one active runway - eventually this will get much more complex
        // Copied from FGTower - TODO - it would be better to implement this just once, and have ground call tower
        // for runway operation details, but at the moment we can't guarantee that tower control at a given airport
        // will be initialised before ground so we can't do that.
        void DoRwyDetails();    
        
        // Load the logical ground network for this airport from file.
        // Return true if successfull.
        bool LoadNetwork();
        
        // Parse a runway exit string and push the supplied node pointer onto the runway exit list
        void ParseRwyExits(node* np, char* es);
        
        // Return a random gate ID of an unused gate.
        // Two error values may be returned and must be checked for by the calling function:
        // -2 signifies that no gates exist at this airport.
        // -1 signifies that all gates are currently full.
        // TODO - modify to return a suitable gate based on aircraft size/weight.
        int GetRandomGateID();
        
        // Return a pointer to the node at a runway threshold
        // Returns NULL if unsuccessful.
        node* GetThresholdNode(const string& rwyID);
        
        // A shortest path algorithm from memory (I can't find the bl&*dy book again!)
        ground_network_path_type GetShortestPath(node* A, node* B); 
        
        // Planes
        ground_rec_list ground_traffic;
        ground_rec_list_itr ground_traffic_itr;
};

#endif  // _FG_GROUND_HXX