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 // TODO - need some differentiation of IFR and VFR traffic in order to give the former priority.
58 // Structure for holding details of a plane under tower control.
59 // Not fixed yet - may include more stuff later.
65 TowerPlaneRec(PlaneRec p);
66 TowerPlaneRec(Point3D pt);
67 TowerPlaneRec(PlaneRec p, Point3D pt);
69 FGAIPlane* planePtr; // This might move to the planeRec eventually
73 double eta; // seconds
74 double dist_out; // meters from theshold
77 bool clearedToTakeOff;
78 // ought to add time cleared to depart so we can nag if necessary
79 bool holdShortReported;
80 bool longFinalReported;
81 bool longFinalAcknowledged;
83 bool finalAcknowledged;
84 bool onRwy; // is physically on the runway
85 bool nextOnRwy; // currently projected by tower to be the next on the runway
87 double clearanceCounter; // Hack for communication timing - counter since clearance requested in seconds
89 // Type of operation the plane is doing
90 tower_traffic_type opType;
92 // Whereabouts in circuit if doing circuits
95 LandingType landingType;
97 bool isUser; // true if this plane is the user
101 typedef list < TowerPlaneRec* > tower_plane_rec_list_type;
102 typedef tower_plane_rec_list_type::iterator tower_plane_rec_list_iterator;
103 typedef tower_plane_rec_list_type::const_iterator tower_plane_rec_list_const_iterator;
106 class FGTower : public FGATC {
115 void Update(double dt);
117 void RequestLandingClearance(string ID);
118 void RequestDepartureClearance(string ID);
119 void ReportFinal(string ID);
120 void ReportLongFinal(string ID);
121 void ReportOuterMarker(string ID);
122 void ReportMiddleMarker(string ID);
123 void ReportInnerMarker(string ID);
124 void ReportGoingAround(string ID);
125 void ReportRunwayVacated(string ID);
126 void ReportReadyForDeparture(string ID);
127 void ReportDownwind(string ID);
129 // Contact tower when at a hold short for departure - for now we'll assume plane - maybe vehicles might want to cross runway eventually?
130 void ContactAtHoldShort(PlaneRec plane, FGAIPlane* requestee, tower_traffic_type operation);
132 // Public interface to the active runway - this will get more complex
133 // in the future and consider multi-runway use, airplane weight etc.
134 inline string GetActiveRunway() { return activeRwy; }
135 inline RunwayDetails GetActiveRunwayDetails() { return rwy; }
137 inline void SetDisplay() { display = true; }
138 inline void SetNoDisplay() { display = false; }
140 inline string get_trans_ident() { return trans_ident; }
141 inline atc_type GetType() { return TOWER; }
143 inline FGGround* GetGroundPtr() { return ground; }
145 // Returns true if positions of crosswind/downwind/base leg turns should be constrained by previous traffic
146 // plus the constraint position as a rwy orientated orthopos (meters)
147 bool GetCrosswindConstraint(double& cpos);
148 bool GetDownwindConstraint(double& dpos);
149 bool GetBaseConstraint(double& bpos);
153 // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
155 // Figure out if a given position lies on the active runway
156 // Might have to change when we consider more than one active rwy.
157 bool OnActiveRunway(Point3D pt);
159 // Figure out if a given position lies on a runway or not
160 bool OnAnyRunway(Point3D pt);
162 // Calculate the eta of a plane to the threshold.
163 // For ground traffic this is the fastest they can get there.
164 // For air traffic this is the middle approximation.
165 void CalcETA(TowerPlaneRec* tpr, bool printout = false);
167 // Iterate through all the lists and call CalcETA for all the planes.
168 void doThresholdETACalc();
170 // Order the list of traffic as per expected threshold use and flag any conflicts
171 bool doThresholdUseOrder();
173 // Calculate the crow-flys distance of a plane to the threshold in meters
174 double CalcDistOutM(TowerPlaneRec* tpr);
176 // Calculate the crow-flys distance of a plane to the threshold in miles
177 double CalcDistOutMiles(TowerPlaneRec* tpr);
180 void doCommunication();
183 void IssueLandingClearance(TowerPlaneRec* tpr);
184 void IssueGoAround(TowerPlaneRec* tpr);
185 void IssueDepartureClearance(TowerPlaneRec* tpr);
187 unsigned int update_count; // Convienince counter for speading computational load over several updates
188 unsigned int update_count_max; // ditto.
190 bool display; // Flag to indicate whether we should be outputting to the ATC display.
191 bool displaying; // Flag to indicate whether we are outputting to the ATC display.
193 double timeSinceLastDeparture; // Time in seconds since last departure from active rwy.
194 bool departed; // set true when the above needs incrementing with time, false when it doesn't.
196 // environment - need to make sure we're getting the surface winds and not winds aloft.
197 SGPropertyNode* wind_from_hdg; //degrees
198 SGPropertyNode* wind_speed_knots; //knots
200 double aptElev; // Airport elevation
201 string activeRwy; // Active runway number - For now we'll disregard multiple / alternate runway operation.
202 RunwayDetails rwy; // Assumed to be the active one for now.
203 bool rwyOccupied; // Active runway occupied flag. For now we'll disregard land-and-hold-short operations.
204 FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the active runway threshold at the origin
206 // Figure out which runways are active.
207 // For now we'll just be simple and do one active runway - eventually this will get much more complex
208 // This is a private function - public interface to the results of this is through GetActiveRunway
211 // Need a data structure to hold details of the various active planes
212 // or possibly another data structure with the positions of the inactive planes.
213 // Need a data structure to hold outstanding communications from aircraft.
215 // Linked-list of planes on approach to active rwy ordered with nearest first (timewise).
216 // Includes planes that have landed but not yet vacated runway.
217 // Somewhat analagous to the paper strips used (used to be used?) in real life.
218 // Doesn't include planes in circuit until they turn onto base/final?
219 // TODO - may need to alter this for operation to more than one active rwy.
220 tower_plane_rec_list_type appList;
221 tower_plane_rec_list_iterator appListItr;
223 // What should we do with planes approaching the airport to join the circuit somewhere
224 // but not on straight-in though? - put them in here for now.
225 tower_plane_rec_list_type circuitAppList;
226 tower_plane_rec_list_iterator circuitAppListItr;
228 // List of departed planes (planes doing circuits go into circuitList not depList after departure)
229 tower_plane_rec_list_type depList;
230 tower_plane_rec_list_iterator depListItr;
232 // List of planes in the circuit (ordered by nearest to landing first)
233 tower_plane_rec_list_type circuitList;
234 tower_plane_rec_list_iterator circuitListItr;
236 // List of planes waiting to depart
237 tower_plane_rec_list_type holdList;
238 tower_plane_rec_list_iterator holdListItr;
240 // List of planes on rwy
241 tower_plane_rec_list_type rwyList;
242 tower_plane_rec_list_iterator rwyListItr;
244 // List of all planes due to use a given rwy arranged in projected order of rwy use
245 tower_plane_rec_list_type trafficList; // TODO - needs to be expandable to more than one rwy
246 tower_plane_rec_list_iterator trafficListItr;
248 // Returns true if successful
249 bool RemoveFromTrafficList(string id);
251 // Return the ETA of plane no. list_pos (1-based) in the traffic list.
252 // i.e. list_pos = 1 implies next to use runway.
253 double GetTrafficETA(unsigned int list_pos, bool printout = false);
255 // Add a tower plane rec with ETA to the traffic list in the correct position ETA-wise.
256 // Returns true if this could cause a threshold ETA conflict with other traffic, false otherwise.
257 bool AddToTrafficList(TowerPlaneRec* t, bool holding = false);
259 // Ground can be separate or handled by tower in real life.
260 // In the program we will always use a separate FGGround class, but we need to know
261 // whether it is supposed to be separate or not to give the correct instructions.
262 bool separateGround; // true if ground control is separate
263 FGGround* ground; // The ground control associated with this airport.
265 // for failure modeling
266 string trans_ident; // transmitted ident
267 bool tower_failed; // tower failed?
269 // Pointers to current users position and orientation
270 SGPropertyNode* user_lon_node;
271 SGPropertyNode* user_lat_node;
272 SGPropertyNode* user_elev_node;
273 SGPropertyNode* user_hdg_node;
275 // Details of the general traffic flow etc in the circuit
276 double crosswind_leg_pos; // Distance from threshold crosswind leg is being turned to in meters (actual operation - *not* ideal circuit)
277 double downwind_leg_pos; // Actual offset distance in meters from the runway that planes are flying the downwind leg
278 // Currently not sure whether the above should be always +ve or just take the natural orthopos sign (+ve for RH circuit, -ve for LH).
279 double base_leg_pos; // Actual offset distance from the threshold (-ve) that planes are turning to base leg.
281 friend istream& operator>> ( istream&, FGTower& );
284 #endif //_FG_TOWER_HXX