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
63 // TODO - need some differentiation of IFR and VFR traffic in order to give the former priority.
65 // Structure for holding details of a plane under tower control.
66 // Not fixed yet - may include more stuff later.
72 TowerPlaneRec(PlaneRec p);
73 TowerPlaneRec(Point3D pt);
74 TowerPlaneRec(PlaneRec p, Point3D pt);
76 FGAIPlane* planePtr; // This might move to the planeRec eventually
80 double eta; // seconds
81 double dist_out; // meters from theshold
84 bool clearedToTakeOff;
85 // ought to add time cleared to depart so we can nag if necessary
86 bool holdShortReported;
87 bool downwindReported;
88 bool longFinalReported;
89 bool longFinalAcknowledged;
91 bool finalAcknowledged;
92 bool instructedToGoAround; // set true if told by tower to go around
93 bool onRwy; // is physically on the runway
94 bool nextOnRwy; // currently projected by tower to be the next on the runway
96 bool vfrArrivalReported;
97 bool vfrArrivalAcknowledged;
99 // Type of operation the plane is doing
100 tower_traffic_type opType;
102 // Whereabouts in circuit if doing circuits
105 LandingType landingType;
107 bool isUser; // true if this plane is the user
111 typedef list < TowerPlaneRec* > tower_plane_rec_list_type;
112 typedef tower_plane_rec_list_type::iterator tower_plane_rec_list_iterator;
113 typedef tower_plane_rec_list_type::const_iterator tower_plane_rec_list_const_iterator;
116 class FGTower : public FGATC {
125 void Update(double dt);
127 void ReceiveUserCallback(int code);
129 // Contact tower for VFR approach
130 // eg "Cessna Charlie Foxtrot Golf Foxtrot Sierra eight miles South of the airport for full stop with Bravo"
131 // This function probably only called via user interaction - AI planes will have an overloaded function taking a planerec.
132 void VFRArrivalContact(string ID, LandingType opt = AIP_LT_UNKNOWN);
134 void RequestDepartureClearance(string ID);
135 void ReportFinal(string ID);
136 void ReportLongFinal(string ID);
137 void ReportOuterMarker(string ID);
138 void ReportMiddleMarker(string ID);
139 void ReportInnerMarker(string ID);
140 void ReportGoingAround(string ID);
141 void ReportRunwayVacated(string ID);
142 void ReportReadyForDeparture(string ID);
143 void ReportDownwind(string ID);
145 // Contact tower when at a hold short for departure - for now we'll assume plane - maybe vehicles might want to cross runway eventually?
146 void ContactAtHoldShort(PlaneRec plane, FGAIPlane* requestee, tower_traffic_type operation);
148 // Register the presence of an AI plane at a point where contact would already have been made in real life
149 // CAUTION - currently it is assumed that this plane's callsign is unique - it is up to AIMgr to generate unique callsigns.
150 void RegisterAIPlane(PlaneRec plane, FGAIPlane* ai, tower_traffic_type op, PatternLeg lg = LEG_UNKNOWN);
152 // Public interface to the active runway - this will get more complex
153 // in the future and consider multi-runway use, airplane weight etc.
154 inline string GetActiveRunway() { return activeRwy; }
155 inline RunwayDetails GetActiveRunwayDetails() { return rwy; }
157 inline void SetDisplay() { display = true; }
158 inline void SetNoDisplay() { display = false; }
160 inline string get_trans_ident() { return trans_ident; }
161 inline atc_type GetType() { return TOWER; }
163 inline FGGround* GetGroundPtr() { return ground; }
165 // Returns true if positions of crosswind/downwind/base leg turns should be constrained by previous traffic
166 // plus the constraint position as a rwy orientated orthopos (meters)
167 bool GetCrosswindConstraint(double& cpos);
168 bool GetDownwindConstraint(double& dpos);
169 bool GetBaseConstraint(double& bpos);
171 string GenText(const string& m, int c);
175 // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
177 // Respond to a transmission
180 void CheckHoldList(double dt);
182 void CheckCircuitList(double dt);
184 void CheckRunwayList(double dt);
186 void CheckApproachList(double dt);
188 // Currently this assumes we *are* next on the runway and doesn't check for planes about to land -
189 // this should be done prior to calling this function.
190 void ClearHoldingPlane(TowerPlaneRec* t);
192 // Find a pointer to plane of callsign ID within the internal data structures
193 TowerPlaneRec* FindPlane(string ID);
195 // Figure out if a given position lies on the active runway
196 // Might have to change when we consider more than one active rwy.
197 bool OnActiveRunway(Point3D pt);
199 // Figure out if a given position lies on a runway or not
200 bool OnAnyRunway(Point3D pt);
202 // Calculate the eta of a plane to the threshold.
203 // For ground traffic this is the fastest they can get there.
204 // For air traffic this is the middle approximation.
205 void CalcETA(TowerPlaneRec* tpr, bool printout = false);
207 // Iterate through all the lists and call CalcETA for all the planes.
208 void doThresholdETACalc();
210 // Order the list of traffic as per expected threshold use and flag any conflicts
211 bool doThresholdUseOrder();
213 // Calculate the crow-flys distance of a plane to the threshold in meters
214 double CalcDistOutM(TowerPlaneRec* tpr);
216 // Calculate the crow-flys distance of a plane to the threshold in miles
217 double CalcDistOutMiles(TowerPlaneRec* tpr);
220 void doCommunication();
223 void IssueLandingClearance(TowerPlaneRec* tpr);
224 void IssueGoAround(TowerPlaneRec* tpr);
225 void IssueDepartureClearance(TowerPlaneRec* tpr);
227 unsigned int update_count; // Convienince counter for speading computational load over several updates
228 unsigned int update_count_max; // ditto.
230 bool display; // Flag to indicate whether we should be outputting to the ATC display.
231 bool displaying; // Flag to indicate whether we are outputting to the ATC display.
233 double timeSinceLastDeparture; // Time in seconds since last departure from active rwy.
234 bool departed; // set true when the above needs incrementing with time, false when it doesn't.
236 // environment - need to make sure we're getting the surface winds and not winds aloft.
237 SGPropertyNode* wind_from_hdg; //degrees
238 SGPropertyNode* wind_speed_knots; //knots
240 double aptElev; // Airport elevation
241 string activeRwy; // Active runway number - For now we'll disregard multiple / alternate runway operation.
242 RunwayDetails rwy; // Assumed to be the active one for now.
243 bool rwyOccupied; // Active runway occupied flag. For now we'll disregard land-and-hold-short operations.
244 FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the active runway threshold at the origin
246 // Figure out which runways are active.
247 // For now we'll just be simple and do one active runway - eventually this will get much more complex
248 // This is a private function - public interface to the results of this is through GetActiveRunway
251 // Need a data structure to hold details of the various active planes
252 // or possibly another data structure with the positions of the inactive planes.
253 // Need a data structure to hold outstanding communications from aircraft.
255 // Linked-list of planes on approach to active rwy ordered with nearest first (timewise).
256 // Includes planes that have landed but not yet vacated runway.
257 // Somewhat analagous to the paper strips used (used to be used?) in real life.
258 // Doesn't include planes in circuit until they turn onto base/final?
259 // TODO - may need to alter this for operation to more than one active rwy.
260 tower_plane_rec_list_type appList;
261 tower_plane_rec_list_iterator appListItr;
263 // What should we do with planes approaching the airport to join the circuit somewhere
264 // but not on straight-in though? - put them in here for now.
265 tower_plane_rec_list_type circuitAppList;
266 tower_plane_rec_list_iterator circuitAppListItr;
268 // List of departed planes (planes doing circuits go into circuitList not depList after departure)
269 tower_plane_rec_list_type depList;
270 tower_plane_rec_list_iterator depListItr;
272 // List of planes in the circuit (ordered by nearest to landing first)
273 tower_plane_rec_list_type circuitList;
274 tower_plane_rec_list_iterator circuitListItr;
276 // List of planes waiting to depart
277 tower_plane_rec_list_type holdList;
278 tower_plane_rec_list_iterator holdListItr;
280 // List of planes on rwy
281 tower_plane_rec_list_type rwyList;
282 tower_plane_rec_list_iterator rwyListItr;
284 // List of all planes due to use a given rwy arranged in projected order of rwy use
285 tower_plane_rec_list_type trafficList; // TODO - needs to be expandable to more than one rwy
286 tower_plane_rec_list_iterator trafficListItr;
288 // Returns true if successful
289 bool RemoveFromTrafficList(string id);
291 // Return the ETA of plane no. list_pos (1-based) in the traffic list.
292 // i.e. list_pos = 1 implies next to use runway.
293 double GetTrafficETA(unsigned int list_pos, bool printout = false);
295 // Add a tower plane rec with ETA to the traffic list in the correct position ETA-wise.
296 // Returns true if this could cause a threshold ETA conflict with other traffic, false otherwise.
297 bool AddToTrafficList(TowerPlaneRec* t, bool holding = false);
299 bool AddToCircuitList(TowerPlaneRec* t);
301 // Ground can be separate or handled by tower in real life.
302 // In the program we will always use a separate FGGround class, but we need to know
303 // whether it is supposed to be separate or not to give the correct instructions.
304 bool separateGround; // true if ground control is separate
305 FGGround* ground; // The ground control associated with this airport.
307 // for failure modeling
308 string trans_ident; // transmitted ident
309 bool tower_failed; // tower failed?
311 // Pointers to current users position and orientation
312 SGPropertyNode* user_lon_node;
313 SGPropertyNode* user_lat_node;
314 SGPropertyNode* user_elev_node;
315 SGPropertyNode* user_hdg_node;
317 // Details of the general traffic flow etc in the circuit
318 double crosswind_leg_pos; // Distance from threshold crosswind leg is being turned to in meters (actual operation - *not* ideal circuit)
319 double downwind_leg_pos; // Actual offset distance in meters from the runway that planes are flying the downwind leg
320 // Currently not sure whether the above should be always +ve or just take the natural orthopos sign (+ve for RH circuit, -ve for LH).
321 double base_leg_pos; // Actual offset distance from the threshold (-ve) that planes are turning to base leg.
323 double nominal_crosswind_leg_pos;
324 double nominal_downwind_leg_pos;
325 double nominal_base_leg_pos;
327 friend istream& operator>> ( istream&, FGTower& );
330 #endif //_FG_TOWER_HXX