src/ATC/tower.cxx

   1 // FGTower - a class to provide tower control at towered airports.
   2 //
   3 // Written by David Luff, started March 2002.
   4 //
   5 // Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
   6 //
   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.
  11 //
  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.
  16 //
  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.
  20
  21 #include <Main/globals.hxx>
  22 #include <Airports/runways.hxx>
  23 #include <simgear/math/sg_geodesy.hxx>
  24 #include <simgear/debug/logstream.hxx>
  25
  26 #include "tower.hxx"
  27 #include "ATCdisplay.hxx"
  28 #include "ATCmgr.hxx"
  29 #include "ATCutils.hxx"
  30 #include "commlist.hxx"
  31
  32 SG_USING_STD(cout);
  33
  34 // TowerPlaneRec
  35
  36 TowerPlaneRec::TowerPlaneRec() :
  37 clearedToLand(false),
  38 clearedToLineUp(false),
  39 clearedToTakeOff(false),
  40 holdShortReported(false),
  41 longFinalReported(false),
  42 longFinalAcknowledged(false),
  43 finalReported(false),
  44 finalAcknowledged(false),
  45 leg(TWR_UNKNOWN),
  46 isUser(false)
  47 {
  48         plane.callsign = "UNKNOWN";
  49 }
  50
  51 TowerPlaneRec::TowerPlaneRec(PlaneRec p) :
  52 clearedToLand(false),
  53 clearedToLineUp(false),
  54 clearedToTakeOff(false),
  55 holdShortReported(false),
  56 longFinalReported(false),
  57 longFinalAcknowledged(false),
  58 finalReported(false),
  59 finalAcknowledged(false),
  60 leg(TWR_UNKNOWN),
  61 isUser(false)
  62 {
  63         plane = p;
  64 }
  65
  66 TowerPlaneRec::TowerPlaneRec(Point3D pt) :
  67 clearedToLand(false),
  68 clearedToLineUp(false),
  69 clearedToTakeOff(false),
  70 holdShortReported(false),
  71 longFinalReported(false),
  72 longFinalAcknowledged(false),
  73 finalReported(false),
  74 finalAcknowledged(false),
  75 leg(TWR_UNKNOWN),
  76 isUser(false)
  77 {
  78         plane.callsign = "UNKNOWN";
  79         pos = pt;
  80 }
  81
  82 TowerPlaneRec::TowerPlaneRec(PlaneRec p, Point3D pt) :
  83 clearedToLand(false),
  84 clearedToLineUp(false),
  85 clearedToTakeOff(false),
  86 holdShortReported(false),
  87 longFinalReported(false),
  88 longFinalAcknowledged(false),
  89 finalReported(false),
  90 finalAcknowledged(false),
  91 leg(TWR_UNKNOWN),
  92 isUser(false)
  93 {
  94         plane = p;
  95         pos = pt;
  96 }
  97
  98
  99 // FGTower
 100
 101 FGTower::FGTower() {
 102         ATCmgr = globals->get_ATC_mgr();
 103
 104         // Init the property nodes - TODO - need to make sure we're getting surface winds.
 105         wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
 106         wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
 107
 108         holdListItr = holdList.begin();
 109         appListItr = appList.begin();
 110         depListItr = depList.begin();
 111         rwyListItr = rwyList.begin();
 112         circuitListItr = circuitList.begin();
 113         trafficListItr = trafficList.begin();
 114 }
 115
 116 FGTower::~FGTower() {
 117         if(!separateGround) {
 118                 delete ground;
 119         }
 120 }
 121
 122 void FGTower::Init() {
 123     display = false;
 124
 125         // Pointers to user's position
 126         user_lon_node = fgGetNode("/position/longitude-deg", true);
 127         user_lat_node = fgGetNode("/position/latitude-deg", true);
 128         user_elev_node = fgGetNode("/position/altitude-ft", true);
 129
 130         // Need some way to initialise rwyOccupied flag correctly if the user is on the runway and to know its the user.
 131         // I'll punt the startup issue for now though!!!
 132         rwyOccupied = false;
 133
 134         // Setup the ground control at this airport
 135         AirportATC a;
 136         //cout << "Tower ident = " << ident << '\n';
 137         if(ATCmgr->GetAirportATCDetails(ident, &a)) {
 138                 if(a.ground_freq) {             // Ground control
 139                         ground = (FGGround*)ATCmgr->GetATCPointer(ident, GROUND);
 140                         separateGround = true;
 141                         if(ground == NULL) {
 142                                 // Something has gone wrong :-(
 143                                 SG_LOG(SG_ATC, SG_WARN, "ERROR - ground has frequency but can't get ground pointer :-(");
 144                                 ground = new FGGround(ident);
 145                                 separateGround = false;
 146                                 ground->Init();
 147                                 if(display) {
 148                                         ground->SetDisplay();
 149                                 } else {
 150                                         ground->SetNoDisplay();
 151                                 }
 152                         }
 153                 } else {
 154                         // Initialise ground anyway to do the shortest path stuff!
 155                         // Note that we're now responsible for updating and deleting this - NOT the ATCMgr.
 156                         ground = new FGGround(ident);
 157                         separateGround = false;
 158                         ground->Init();
 159                         if(display) {
 160                                 ground->SetDisplay();
 161                         } else {
 162                                 ground->SetNoDisplay();
 163                         }
 164                 }
 165         } else {
 166                 SG_LOG(SG_ATC, SG_ALERT, "Unable to find airport details for " << ident << " in FGTower::Init()");
 167                 // Initialise ground anyway to avoid segfault later
 168                 ground = new FGGround(ident);
 169                 separateGround = false;
 170                 ground->Init();
 171                 if(display) {
 172                         ground->SetDisplay();
 173                 } else {
 174                         ground->SetNoDisplay();
 175                 }
 176         }
 177
 178         // Get the airport elevation
 179         aptElev = dclGetAirportElev(ident.c_str()) * SG_FEET_TO_METER;
 180
 181         DoRwyDetails();
 182
 183         // FIXME - this currently assumes use of the active rwy by the user.
 184         rwyOccupied = OnAnyRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
 185         if(rwyOccupied) {
 186                 // Assume the user is started at the threshold ready to take-off
 187                 TowerPlaneRec* t = new TowerPlaneRec;
 188                 t->plane.callsign = "Charlie Foxtrot Sierra";   // C-FGFS !!! - fixme - this is a bit hardwired
 189                 t->opType = OUTBOUND;   // How do we determine if the user actually wants to do circuits?
 190                 t->isUser = true;
 191                 t->planePtr = NULL;
 192                 t->clearedToTakeOff = true;
 193                 rwyList.push_back(t);
 194         }
 195 }
 196
 197 void FGTower::Update(double dt) {
 198         //cout << "T" << flush;
 199     // Each time step, what do we need to do?
 200     // We need to go through the list of outstanding requests and acknowedgements
 201     // and process at least one of them.
 202     // We need to go through the list of planes under our control and check if
 203     // any need to be addressed.
 204     // We need to check for planes not under our control coming within our
 205     // control area and address if necessary.
 206
 207         // TODO - a lot of the below probably doesn't need to be called every frame and should be staggered.
 208
 209         // Sort the arriving planes
 210
 211         // Calculate the eta of each plane to the threshold.
 212         // For ground traffic this is the fastest they can get there.
 213         // For air traffic this is the middle approximation.
 214         doThresholdETACalc();
 215
 216         // Order the list of traffic as per expected threshold use and flag any conflicts
 217         bool conflicts = doThresholdUseOrder();
 218
 219         // sortConficts() !!!
 220
 221         // Do one plane from the hold list
 222         if(holdList.size()) {
 223                 //cout << "A" << endl;
 224                 //cout << "*holdListItr = " << *holdListItr << endl;
 225                 if(holdListItr == holdList.end()) {
 226                         holdListItr = holdList.begin();
 227                 }
 228                 //cout << "*holdListItr = " << *holdListItr << endl;
 229                 //Process(*holdListItr);
 230                 TowerPlaneRec* t = *holdListItr;
 231                 //cout << "t = " << t << endl;
 232                 if(t->holdShortReported) {
 233                         //cout << "B" << endl;
 234                         double responseTime = 10.0;             // seconds - this should get more sophisticated at some point
 235                         if(t->clearanceCounter > responseTime) {
 236                                 //cout << "C" << endl;
 237                                 if(t->nextOnRwy) {
 238                                         //cout << "D" << endl;
 239                                         if(rwyOccupied) {
 240                                                 //cout << "E" << endl;
 241                                                 // Do nothing for now - consider acknowloging hold short eventually
 242                                         } else {
 243                                                 // Lets Roll !!!!
 244                                                 string trns = t->plane.callsign;
 245                                                 //if(departed plane < some threshold in time away) {
 246                                                 if(0) {         // FIXME
 247                                                         trns += " line up";
 248                                                         t->clearedToLineUp = true;
 249                                                         t->planePtr->RegisterTransmission(3);   // cleared to line-up
 250                                                 //} else if(arriving plane < some threshold away) {
 251                                                 } else if(0) {  // FIXME
 252                                                         trns += " cleared immediate take-off";
 253                                                         // TODO - add traffic is... ?
 254                                                         t->clearedToTakeOff = true;
 255                                                         t->planePtr->RegisterTransmission(4);   // cleared to take-off - TODO differentiate between immediate and normal take-off
 256                                                 } else {
 257                                                         trns += " cleared for take-off";
 258                                                         // TODO - add traffic is... ?
 259                                                         t->clearedToTakeOff = true;
 260                                                         t->planePtr->RegisterTransmission(4);   // cleared to take-off
 261                                                 }
 262                                                 if(display) {
 263                                                         globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
 264                                                 }
 265                                                 t->holdShortReported = false;
 266                                                 t->clearanceCounter = 0;
 267                                                 rwyList.push_back(t);
 268                                                 rwyOccupied = true;
 269                                                 holdList.erase(holdListItr);
 270                                                 holdListItr = holdList.begin();
 271                                         }
 272                                 } else {
 273                                         // possibly tell him to hold and what position he is?
 274                                 }
 275                         } else {
 276                                 t->clearanceCounter += (dt * holdList.size());
 277                         }
 278                 }
 279                 ++holdListItr;
 280         }
 281
 282         // Do the runway list - we'll do the whole runway list since it's important and there'll never be many planes on the rwy at once!!
 283         if(rwyOccupied) {
 284                 if(!rwyList.size()) {
 285                         rwyOccupied = false;
 286                 } else {
 287                         rwyListItr = rwyList.begin();
 288                         TowerPlaneRec* t = *rwyListItr;
 289                         if(t->isUser) {
 290                                 bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
 291                                 // TODO - how do we find the position when it's not the user?
 292                                 if(!on_rwy) {
 293                                         rwyList.pop_front();
 294                                         delete t;
 295                                 }
 296                         } // else TODO figure out what to do when it's not the user
 297                 }
 298         }
 299
 300         doCommunication();
 301
 302         if(!separateGround) {
 303                 // The display stuff might have to get more clever than this when not separate
 304                 // since the tower and ground might try communicating simultaneously even though
 305                 // they're mean't to be the same contoller/frequency!!
 306                 if(display) {
 307                         ground->SetDisplay();
 308                 } else {
 309                         ground->SetNoDisplay();
 310                 }
 311                 ground->Update(dt);
 312         }
 313         //cout << "R " << flush;
 314 }
 315
 316
 317 // Figure out which runways are active.
 318 // For now we'll just be simple and do one active runway - eventually this will get much more complex
 319 // This is a private function - public interface to the results of this is through GetActiveRunway
 320 void FGTower::DoRwyDetails() {
 321         //cout << "GetRwyDetails called" << endl;
 322
 323         // Based on the airport-id and wind get the active runway
 324         SGPath path( globals->get_fg_root() );
 325         path.append( "Airports" );
 326         path.append( "runways.mk4" );
 327         FGRunways runways( path.c_str() );
 328
 329         //wind
 330         double hdg = wind_from_hdg->getDoubleValue();
 331         double speed = wind_speed_knots->getDoubleValue();
 332         hdg = (speed == 0.0 ? 270.0 : hdg);
 333         //cout << "Heading = " << hdg << '\n';
 334
 335         FGRunway runway;
 336         bool rwyGood = runways.search(ident, int(hdg), &runway);
 337         if(rwyGood) {
 338                 activeRwy = runway.rwy_no;
 339                 rwy.rwyID = runway.rwy_no;
 340                 SG_LOG(SG_ATC, SG_INFO, "Active runway for airport " << ident << " is " << activeRwy);
 341
 342                 // Get the threshold position
 343                 double other_way = runway.heading - 180.0;
 344                 while(other_way <= 0.0) {
 345                         other_way += 360.0;
 346                 }
 347         // move to the +l end/center of the runway
 348                 //cout << "Runway center is at " << runway.lon << ", " << runway.lat << '\n';
 349         Point3D origin = Point3D(runway.lon, runway.lat, aptElev);
 350                 Point3D ref = origin;
 351         double tshlon, tshlat, tshr;
 352                 double tolon, tolat, tor;
 353                 rwy.length = runway.length * SG_FEET_TO_METER;
 354         geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), other_way,
 355                                 rwy.length / 2.0 - 25.0, &tshlat, &tshlon, &tshr );
 356         geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), runway.heading,
 357                                 rwy.length / 2.0 - 25.0, &tolat, &tolon, &tor );
 358                 // Note - 25 meters in from the runway end is a bit of a hack to put the plane ahead of the user.
 359                 // now copy what we need out of runway into rwy
 360         rwy.threshold_pos = Point3D(tshlon, tshlat, aptElev);
 361                 Point3D takeoff_end = Point3D(tolon, tolat, aptElev);
 362                 //cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
 363                 //cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
 364                 rwy.hdg = runway.heading;
 365                 // Set the projection for the local area based on this active runway
 366                 ortho.Init(rwy.threshold_pos, rwy.hdg);
 367                 rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos);        // should come out as zero
 368                 rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
 369         } else {
 370                 SG_LOG(SG_ATC, SG_ALERT, "Help  - can't get good runway in FGTower!!");
 371                 activeRwy = "NN";
 372         }
 373 }
 374
 375
 376 // Figure out if a given position lies on the active runway
 377 // Might have to change when we consider more than one active rwy.
 378 bool FGTower::OnActiveRunway(Point3D pt) {
 379         SGPath path( globals->get_fg_root() );
 380         path.append( "Airports" );
 381         path.append( "runways.mk4" );
 382         FGRunways runways( path.c_str() );
 383
 384         FGRunway runway;
 385         bool rwyGood = runways.search(ident, activeRwy, &runway);
 386         if(!rwyGood) {
 387                 SG_LOG(SG_ATC, SG_WARN, "Unable to find runway " << activeRwy << " for airport ID " << ident << " in FGTower");
 388         }
 389         return(OnRunway(pt, &runway) ? true : false);
 390 }
 391
 392
 393 // Figure out if a given position lies on any runway or not
 394 bool FGTower::OnAnyRunway(Point3D pt) {
 395         ATCData ad;
 396         double dist = current_commlist->FindClosest(lon, lat, elev, ad, TOWER, 10.0);
 397         if(dist < 0.0) {
 398                 return(false);
 399         }
 400         // Based on the airport-id, go through all the runways and check for a point in them
 401         SGPath spath( globals->get_fg_root() );
 402         spath.append( "Airports" );
 403         spath.append( "runways.mk4" );
 404         FGRunways runways( spath.c_str() );
 405
 406         // TODO - do we actually need to search for the airport - surely we already know our ident and
 407         // can just search runways of our airport???
 408         //cout << "Airport ident is " << ad.ident << '\n';
 409         FGRunway runway;
 410         bool rwyGood = runways.search(ad.ident, &runway);
 411         if(!rwyGood) {
 412                 SG_LOG(SG_ATC, SG_WARN, "Unable to find any runways for airport ID " << ad.ident << " in FGTower");
 413         }
 414         bool on = false;
 415         while(runway.id == ad.ident) {
 416                 on = OnRunway(pt, &runway);
 417                 //cout << "Runway " << runway.rwy_no << ": On = " << (on ? "true\n" : "false\n");
 418                 if(on) return(true);
 419                 runways.next(&runway);
 420         }
 421         return(on);
 422 }
 423
 424
 425 // Calculate the eta of each plane to the threshold.
 426 // For ground traffic this is the fastest they can get there.
 427 // For air traffic this is the middle approximation.
 428 void FGTower::doThresholdETACalc() {
 429         // For now we'll be very crude and hardwire expected speeds to C172-like values
 430         // The speeds below are specified in knots IAS and then converted to m/s
 431         double app_ias = 100.0 * 0.514444;                      // Speed during straight-in approach
 432         double circuit_ias = 80.0 * 0.514444;           // Speed around circuit
 433         double final_ias = 70.0 * 0.514444;             // Speed during final approach
 434
 435         tower_plane_rec_list_iterator twrItr;
 436
 437         // Sign convention - dist_out is -ve for approaching planes and +ve for departing planes
 438         // dist_across is +ve in the pattern direction - ie a plane correctly on downwind will have a +ve dist_across
 439         for(twrItr = trafficList.begin(); twrItr != trafficList.end(); twrItr++) {
 440                 TowerPlaneRec* tpr = *twrItr;
 441                 Point3D op = ortho.ConvertToLocal(tpr->pos);
 442                 double dist_out_m = op.y();
 443                 double dist_across_m = fabs(op.x());    // FIXME = the fabs is a hack to cope with the fact that we don't know the circuit direction yet
 444                 //cout << "Doing ETA calc for " << tpr->plane.callsign << '\n';
 445                 if(tpr->opType == CIRCUIT) {
 446                         // It's complicated - depends on if base leg is delayed or not
 447                         if(tpr->leg == TWR_LANDING_ROLL) {
 448                                 tpr->eta = 0;
 449                         } else if(tpr->leg == TWR_FINAL) {
 450                                 tpr->eta = fabs(dist_out_m) / final_ias;
 451                         } else if(tpr->leg == TWR_BASE) {
 452                                 tpr->eta = (fabs(dist_out_m) / final_ias) + (dist_across_m / circuit_ias);
 453                         } else {
 454                                 // Need to calculate where base leg is likely to be
 455                                 // FIXME - for now I'll hardwire it to 1000m which is what AILocalTraffic uses!!!
 456                                 // TODO - as a matter of design - AILocalTraffic should get the nominal no-traffic base turn distance from Tower, since in real life the published pattern might differ from airport to airport
 457                                 double nominal_base_dist_out_m = -1000;
 458                                 double current_base_dist_out_m = nominal_base_dist_out_m;
 459                                 double nominal_dist_across_m = 1000;    // Hardwired value from AILocalTraffic
 460                                 double nominal_cross_dist_out_m = 1000; // Bit of a guess - AI plane turns to crosswind at 600ft agl.
 461                                 tpr->eta = fabs(current_base_dist_out_m) / final_ias;   // final
 462                                 if(tpr->leg == TWR_DOWNWIND) {
 463                                         tpr->eta += dist_across_m / circuit_ias;
 464                                         tpr->eta += fabs(current_base_dist_out_m - dist_out_m) / circuit_ias;
 465                                 } else if(tpr->leg == TWR_CROSSWIND) {
 466                                         tpr->eta += nominal_dist_across_m / circuit_ias;        // should we use the dist across of the previous plane if there is previous still on downwind?
 467                                         tpr->eta += fabs(current_base_dist_out_m - nominal_cross_dist_out_m) / circuit_ias;
 468                                         tpr->eta += (nominal_dist_across_m - dist_across_m) / circuit_ias;
 469                                 } else {
 470                                         // We've only just started - why not use a generic estimate?
 471                                 }
 472                         }
 473                 } else if((tpr->opType == INBOUND) || (tpr->opType == STRAIGHT_IN)) {
 474                         // It's simpler!
 475                 } else {
 476                         // Must be outbound - ignore it!
 477                 }
 478                 //cout << "ETA = " << tpr->eta << '\n';
 479         }
 480 }
 481
 482
 483 bool FGTower::doThresholdUseOrder() {
 484         return(true);
 485 }
 486
 487 void FGTower::doCommunication() {
 488 }
 489
 490 void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIEntity* requestee, tower_traffic_type operation) {
 491         // HACK - assume that anything contacting at hold short is new for now - FIXME LATER
 492         TowerPlaneRec* t = new TowerPlaneRec;
 493         t->plane = plane;
 494         t->planePtr = requestee;
 495         t->holdShortReported = true;
 496         t->clearanceCounter = 0;
 497         t->clearedToLineUp = false;
 498         t->clearedToTakeOff = false;
 499         t->opType = operation;
 500
 501         // HACK ALERT - THIS IS HARDWIRED FOR TESTING - FIXME TODO ETC
 502         t->nextOnRwy = true;
 503
 504         //cout << "t = " << t << '\n';
 505
 506         holdList.push_back(t);
 507 }
 508
 509 void FGTower::RequestLandingClearance(string ID) {
 510         //cout << "Request Landing Clearance called...\n";
 511 }
 512 void FGTower::RequestDepartureClearance(string ID) {
 513         //cout << "Request Departure Clearance called...\n";
 514 }
 515 //void FGTower::ReportFinal(string ID);
 516 //void FGTower::ReportLongFinal(string ID);
 517 //void FGTower::ReportOuterMarker(string ID);
 518 //void FGTower::ReportMiddleMarker(string ID);
 519 //void FGTower::ReportInnerMarker(string ID);
 520 //void FGTower::ReportGoingAround(string ID);
 521 void FGTower::ReportRunwayVacated(string ID) {
 522         //cout << "Report Runway Vacated Called...\n";
 523 }