1 // FGTower - a class to provide tower control at towered 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.
24 #include <simgear/compiler.h>
25 #include <simgear/math/point3d.hxx>
26 #include <simgear/misc/sgstream.hxx>
27 //#include <simgear/math/sg_geodesy.hxx>
29 //#include <Airports/runways.hxx>
38 //#include "ATCmgr.hxx"
40 #include "ATCProjection.hxx"
41 #include "AIPlane.hxx"
43 //DCL - a complete guess for now.
44 #define FG_TOWER_DEFAULT_RANGE 30
46 enum tower_traffic_type {
48 INBOUND, // CIRCUIT traffic gets changed to INBOUND when on final of the full-stop circuit.
50 TTT_UNKNOWN, // departure, but we don't know if for circuits or leaving properly
54 ostream& operator << (ostream& os, tower_traffic_type ttt);
56 enum tower_callback_type {
57 USER_REQUEST_VFR_DEPARTURE = 1,
58 USER_REQUEST_VFR_ARRIVAL = 2,
59 USER_REQUEST_VFR_ARRIVAL_FULL_STOP = 3,
60 USER_REQUEST_VFR_ARRIVAL_TOUCH_AND_GO = 4,
61 USER_REPORT_3_MILE_FINAL = 5,
62 USER_REPORT_DOWNWIND = 6,
63 USER_REPORT_RWY_VACATED = 7,
64 USER_REPORT_GOING_AROUND = 8
67 // TODO - need some differentiation of IFR and VFR traffic in order to give the former priority.
69 // Structure for holding details of a plane under tower control.
70 // Not fixed yet - may include more stuff later.
76 TowerPlaneRec(const PlaneRec& p);
77 TowerPlaneRec(const Point3D& pt);
78 TowerPlaneRec(const PlaneRec& p, const Point3D& pt);
80 FGAIPlane* planePtr; // This might move to the planeRec eventually
84 double eta; // seconds
85 double dist_out; // meters from theshold
88 bool clearedToTakeOff;
89 // ought to add time cleared to depart so we can nag if necessary
90 bool holdShortReported;
91 bool downwindReported;
92 bool longFinalReported;
93 bool longFinalAcknowledged;
95 bool finalAcknowledged;
96 bool rwyVacatedReported;
97 bool rwyVacatedAcknowledged;
98 bool goAroundReported; // set true if plane informs tower that it's going around.
99 bool instructedToGoAround; // set true if plane told by tower to go around.
100 bool onRwy; // is physically on the runway
101 bool nextOnRwy; // currently projected by tower to be the next on the runway
103 bool vfrArrivalReported;
104 bool vfrArrivalAcknowledged;
106 // Type of operation the plane is doing
107 tower_traffic_type opType;
109 // Whereabouts in circuit if doing circuits
112 LandingType landingType;
113 bool isUser; // true if this plane is the user
117 typedef list < TowerPlaneRec* > tower_plane_rec_list_type;
118 typedef tower_plane_rec_list_type::iterator tower_plane_rec_list_iterator;
119 typedef tower_plane_rec_list_type::const_iterator tower_plane_rec_list_const_iterator;
122 class FGTower : public FGATC {
131 void Update(double dt);
133 void ReceiveUserCallback(int code);
135 // Contact tower for VFR approach
136 // eg "Cessna Charlie Foxtrot Golf Foxtrot Sierra eight miles South of the airport for full stop with Bravo"
137 // This function probably only called via user interaction - AI planes will have an overloaded function taking a planerec.
138 void VFRArrivalContact(const string& ID, const LandingType& opt = AIP_LT_UNKNOWN);
139 // For the AI planes...
140 void VFRArrivalContact(const PlaneRec& plane, FGAIPlane* requestee, const LandingType& lt = AIP_LT_UNKNOWN);
142 void RequestDepartureClearance(const string& ID);
143 void ReportFinal(const string& ID);
144 void ReportLongFinal(const string& ID);
145 void ReportOuterMarker(const string& ID);
146 void ReportMiddleMarker(const string& ID);
147 void ReportInnerMarker(const string& ID);
148 void ReportRunwayVacated(const string& ID);
149 void ReportReadyForDeparture(const string& ID);
150 void ReportDownwind(const string& ID);
151 void ReportGoingAround(const string& ID);
153 // Contact tower when at a hold short for departure - for now we'll assume plane - maybe vehicles might want to cross runway eventually?
154 void ContactAtHoldShort(const PlaneRec& plane, FGAIPlane* requestee, tower_traffic_type operation);
156 // Register the presence of an AI plane at a point where contact would already have been made in real life
157 // CAUTION - currently it is assumed that this plane's callsign is unique - it is up to AIMgr to generate unique callsigns.
158 void RegisterAIPlane(const PlaneRec& plane, FGAIPlane* ai, const tower_traffic_type& op, const PatternLeg& lg = LEG_UNKNOWN);
160 // Deregister and remove an AI plane.
161 void DeregisterAIPlane(const string& id);
163 // Public interface to the active runway - this will get more complex
164 // in the future and consider multi-runway use, airplane weight etc.
165 inline const string& GetActiveRunway() const { return activeRwy; }
166 inline const RunwayDetails& GetActiveRunwayDetails() const { return rwy; }
167 // Get the pattern direction of the active rwy.
168 inline int GetPatternDirection() const { return rwy.patternDirection; }
170 inline const string& get_trans_ident() const { return trans_ident; }
172 inline FGGround* const GetGroundPtr() const { return ground; }
174 // Returns true if positions of crosswind/downwind/base leg turns should be constrained by previous traffic
175 // plus the constraint position as a rwy orientated orthopos (meters)
176 bool GetCrosswindConstraint(double& cpos);
177 bool GetDownwindConstraint(double& dpos);
178 bool GetBaseConstraint(double& bpos);
180 string GenText(const string& m, int c);
184 // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
186 // Respond to a transmission
189 void ProcessRunwayVacatedReport(TowerPlaneRec* t);
190 void ProcessDownwindReport(TowerPlaneRec* t);
192 // Remove all options from the user dialog choice
193 void RemoveAllUserDialogOptions();
195 // Periodic checks on the various traffic.
196 void CheckHoldList(double dt);
197 void CheckCircuitList(double dt);
198 void CheckRunwayList(double dt);
199 void CheckApproachList(double dt);
200 void CheckDepartureList(double dt);
202 // Currently this assumes we *are* next on the runway and doesn't check for planes about to land -
203 // this should be done prior to calling this function.
204 void ClearHoldingPlane(TowerPlaneRec* t);
206 // Find a pointer to plane of callsign ID within the internal data structures
207 TowerPlaneRec* FindPlane(const string& ID);
209 // Remove and delete all instances of a plane with a given ID
210 void RemovePlane(const string& ID);
212 // Figure out if a given position lies on the active runway
213 // Might have to change when we consider more than one active rwy.
214 bool OnActiveRunway(const Point3D& pt);
216 // Figure out if a given position lies on a runway or not
217 bool OnAnyRunway(const Point3D& pt);
219 // Calculate the eta of a plane to the threshold.
220 // For ground traffic this is the fastest they can get there.
221 // For air traffic this is the middle approximation.
222 void CalcETA(TowerPlaneRec* tpr, bool printout = false);
224 // Iterate through all the lists and call CalcETA for all the planes.
225 void doThresholdETACalc();
227 // Order the list of traffic as per expected threshold use and flag any conflicts
228 bool doThresholdUseOrder();
230 // Calculate the crow-flys distance of a plane to the threshold in meters
231 double CalcDistOutM(TowerPlaneRec* tpr);
233 // Calculate the crow-flys distance of a plane to the threshold in miles
234 double CalcDistOutMiles(TowerPlaneRec* tpr);
237 void doCommunication();
240 void IssueLandingClearance(TowerPlaneRec* tpr);
241 void IssueGoAround(TowerPlaneRec* tpr);
242 void IssueDepartureClearance(TowerPlaneRec* tpr);
244 unsigned int update_count; // Convienince counter for speading computational load over several updates
245 unsigned int update_count_max; // ditto.
247 double timeSinceLastDeparture; // Time in seconds since last departure from active rwy.
248 bool departed; // set true when the above needs incrementing with time, false when it doesn't.
250 // environment - need to make sure we're getting the surface winds and not winds aloft.
251 SGPropertyNode* wind_from_hdg; //degrees
252 SGPropertyNode* wind_speed_knots; //knots
254 double aptElev; // Airport elevation
255 string activeRwy; // Active runway number - For now we'll disregard multiple / alternate runway operation.
256 RunwayDetails rwy; // Assumed to be the active one for now.
257 bool rwyOccupied; // Active runway occupied flag. For now we'll disregard land-and-hold-short operations.
258 FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the active runway threshold at the origin
260 // Figure out which runways are active.
261 // For now we'll just be simple and do one active runway - eventually this will get much more complex
262 // This is a private function - public interface to the results of this is through GetActiveRunway
265 // Need a data structure to hold details of the various active planes
266 // or possibly another data structure with the positions of the inactive planes.
267 // Need a data structure to hold outstanding communications from aircraft.
269 // Linked-list of planes on approach to active rwy ordered with nearest first (timewise).
270 // Includes planes that have landed but not yet vacated runway.
271 // Somewhat analagous to the paper strips used (used to be used?) in real life.
272 // Doesn't include planes in circuit until they turn onto base/final?
273 // TODO - may need to alter this for operation to more than one active rwy.
274 tower_plane_rec_list_type appList;
275 tower_plane_rec_list_iterator appListItr;
277 // What should we do with planes approaching the airport to join the circuit somewhere
278 // but not on straight-in though? - put them in here for now.
279 tower_plane_rec_list_type circuitAppList;
280 tower_plane_rec_list_iterator circuitAppListItr;
282 // List of departed planes (planes doing circuits go into circuitList not depList after departure)
283 tower_plane_rec_list_type depList;
284 tower_plane_rec_list_iterator depListItr;
286 // List of planes in the circuit (ordered by nearest to landing first)
287 tower_plane_rec_list_type circuitList;
288 tower_plane_rec_list_iterator circuitListItr;
290 // List of planes waiting to depart
291 tower_plane_rec_list_type holdList;
292 tower_plane_rec_list_iterator holdListItr;
294 // List of planes on rwy
295 tower_plane_rec_list_type rwyList;
296 tower_plane_rec_list_iterator rwyListItr;
298 // List of all planes due to use a given rwy arranged in projected order of rwy use
299 tower_plane_rec_list_type trafficList; // TODO - needs to be expandable to more than one rwy
300 tower_plane_rec_list_iterator trafficListItr;
302 // List of planes that have vacated the runway inbound but not yet handed off to ground
303 tower_plane_rec_list_type vacatedList;
304 tower_plane_rec_list_iterator vacatedListItr;
306 // Returns true if successful
307 bool RemoveFromTrafficList(const string& id);
308 bool RemoveFromAppList(const string& id);
309 bool RemoveFromRwyList(const string& id);
311 // Return the ETA of plane no. list_pos (1-based) in the traffic list.
312 // i.e. list_pos = 1 implies next to use runway.
313 double GetTrafficETA(unsigned int list_pos, bool printout = false);
315 // Add a tower plane rec with ETA to the traffic list in the correct position ETA-wise.
316 // Returns true if this could cause a threshold ETA conflict with other traffic, false otherwise.
317 bool AddToTrafficList(TowerPlaneRec* t, bool holding = false);
319 bool AddToCircuitList(TowerPlaneRec* t);
321 // Add to vacated list only if not already present
322 void AddToVacatedList(TowerPlaneRec* t);
324 // Ground can be separate or handled by tower in real life.
325 // In the program we will always use a separate FGGround class, but we need to know
326 // whether it is supposed to be separate or not to give the correct instructions.
327 bool separateGround; // true if ground control is separate
328 FGGround* ground; // The ground control associated with this airport.
330 bool _departureControlled; // true if we need to hand off departing traffic to departure control
331 //FGDeparture* _departure; // The relevant departure control (once we've actually written it!)
333 // for failure modeling
334 string trans_ident; // transmitted ident
335 bool tower_failed; // tower failed?
337 // Pointers to current users position and orientation
338 SGPropertyNode* user_lon_node;
339 SGPropertyNode* user_lat_node;
340 SGPropertyNode* user_elev_node;
341 SGPropertyNode* user_hdg_node;
343 // Details of the general traffic flow etc in the circuit
344 double crosswind_leg_pos; // Distance from threshold crosswind leg is being turned to in meters (actual operation - *not* ideal circuit)
345 double downwind_leg_pos; // Actual offset distance in meters from the runway that planes are flying the downwind leg
346 // Currently not sure whether the above should be always +ve or just take the natural orthopos sign (+ve for RH circuit, -ve for LH).
347 double base_leg_pos; // Actual offset distance from the threshold (-ve) that planes are turning to base leg.
349 double nominal_crosswind_leg_pos;
350 double nominal_downwind_leg_pos;
351 double nominal_base_leg_pos;
353 friend istream& operator>> ( istream&, FGTower& );
356 #endif //_FG_TOWER_HXX