1 // trafficrecord.cxx - Implementation of AIModels ATC code.
3 // Written by Durk Talsma, started September 2006.
5 // Copyright (C) 2006 Durk Talsma.
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
27 #include "trafficcontrol.hxx"
28 #include <AIModel/AIAircraft.hxx>
29 #include <AIModel/AIFlightPlan.hxx>
30 #include <Traffic/TrafficMgr.hxx>
31 #include <Airports/groundnetwork.hxx>
32 #include <Airports/dynamics.hxx>
34 /***************************************************************************
36 **************************************************************************/
37 FGTrafficRecord::FGTrafficRecord() :
50 void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
54 if (intentions.size()) {
55 intVecIterator i = intentions.begin();
57 SG_LOG(SG_GENERAL, SG_ALERT, "Error in FGTrafficRecord::setPositionAndIntentions");
58 //cerr << "Pos : " << pos << " Curr " << *(intentions.begin()) << endl;
59 for (intVecIterator i = intentions.begin(); i != intentions.end() ; i++) {
60 //cerr << (*i) << " ";
67 //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
68 int size = route->getNrOfWayPoints();
69 //cerr << "Setting pos" << pos << " ";
70 //cerr << "setting intentions ";
71 for (int i = 0; i < size; i++) {
72 int val = route->getRouteIndex(i);
74 if ((val) && (val != pos))
76 intentions.push_back(val);
81 //while (route->next(&legNr, &routeNr)) {
82 //intentions.push_back(routeNr);
84 //route->rewind(currentPos);
89 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord &other)
92 //cerr << "Start check 1" << endl;
93 if (currentPos == other.currentPos)
95 //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
98 // else if (other.intentions.size())
100 // cerr << "Start check 2" << endl;
101 // intVecIterator i = other.intentions.begin();
102 // while (!((i == other.intentions.end()) || ((*i) == currentPos)))
104 // if (i != other.intentions.end()) {
105 // cerr << "Check Position and intentions: current matches other.intentions" << endl;
108 else if (intentions.size()) {
109 //cerr << "Start check 3" << endl;
110 intVecIterator i = intentions.begin();
111 //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
112 while (i != intentions.end()) {
113 if ((*i) == other.currentPos) {
118 if (i != intentions.end()) {
119 //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
123 //cerr << "Done !!" << endl;
127 void FGTrafficRecord::setPositionAndHeading(double lat, double lon, double hdg,
128 double spd, double alt)
137 int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
139 if (checkPositionAndIntentions(other) || (other.checkPositionAndIntentions(*this)))
142 int currentTargetNode = 0, otherTargetNode = 0;
144 currentTargetNode = net->findSegment(currentPos )->getEnd()->getIndex(); // OKAY,...
145 if (other.currentPos > 0)
146 otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
147 if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
148 return currentTargetNode;
149 if (intentions.size())
151 for (i = intentions.begin(); i != intentions.end(); i++)
154 if ((currentTargetNode == net->findSegment(*i)->getEnd()->getIndex()))
156 //cerr << "Current crosses at " << currentTargetNode <<endl;
157 return currentTargetNode;
162 if (other.intentions.size())
164 for (i = other.intentions.begin(); i != other.intentions.end(); i++)
167 if (otherTargetNode == net->findSegment(*i)->getEnd()->getIndex())
169 //cerr << "Other crosses at " << currentTargetNode <<endl;
170 return otherTargetNode;
175 if (intentions.size() && other.intentions.size())
177 for (i = intentions.begin(); i != intentions.end(); i++)
179 for (j = other.intentions.begin(); j != other.intentions.end(); j++)
181 //cerr << "finding segment " << *i << " and " << *j << endl;
182 if (((*i) > 0) && ((*j) > 0)) {
183 currentTargetNode = net->findSegment(*i)->getEnd()->getIndex();
184 otherTargetNode = net->findSegment(*j)->getEnd()->getIndex();
185 if (currentTargetNode == otherTargetNode)
187 //cerr << "Routes will cross at " << currentTargetNode << endl;
188 return currentTargetNode;
197 bool FGTrafficRecord::onRoute(FGGroundNetwork *net, FGTrafficRecord &other)
199 int node = -1, othernode = -1;
201 node = net->findSegment(currentPos)->getEnd()->getIndex();
202 if (other.currentPos > 0)
203 othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
204 if ((node == othernode) && (node != -1))
206 if (other.intentions.size())
208 for (intVecIterator i = other.intentions.begin(); i != other.intentions.end(); i++)
212 othernode = net->findSegment(*i)->getEnd()->getIndex();
213 if ((node == othernode) && (node > -1))
218 //if (other.currentPos > 0)
219 // othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
220 //if (intentions.size())
222 // for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
226 // node = net->findSegment(*i)->getEnd()->getIndex();
227 // if ((node == othernode) && (node > -1))
236 bool FGTrafficRecord::isOpposing (FGGroundNetwork *net, FGTrafficRecord &other, int node)
238 // Check if current segment is the reverse segment for the other aircraft
240 //cerr << "Current segment " << currentPos << endl;
241 if ((currentPos > 0) && (other.currentPos > 0))
243 opp = net->findSegment(currentPos)->opposite();
245 if (opp->getIndex() == other.currentPos)
249 for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
251 if (opp = net->findSegment(other.currentPos)->opposite())
254 if (opp->getIndex() == net->findSegment(*i)->getIndex())
256 if (net->findSegment(*i)->getStart()->getIndex() == node) {
258 //cerr << "Found the node " << node << endl;
264 if (other.intentions.size())
266 for (intVecIterator j = other.intentions.begin(); j != other.intentions.end(); j++)
268 // cerr << "Current segment 1 " << (*i) << endl;
270 if (opp = net->findSegment(*i)->opposite())
272 if (opp->getIndex() ==
273 net->findSegment(*j)->getIndex())
275 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
276 // << " and " << net->findSegment(*j)->getIndex()
277 // << " are opposites " << endl;
278 if (net->findSegment(*i)->getStart()->getIndex() == node) {
280 //cerr << "Found the node " << node << endl;
294 void FGTrafficRecord::setSpeedAdjustment(double spd)
296 instruction.setChangeSpeed(true);
297 instruction.setSpeed(spd);
300 void FGTrafficRecord::setHeadingAdjustment(double heading)
302 instruction.setChangeHeading(true);
303 instruction.setHeading(heading);
308 /***************************************************************************
311 **************************************************************************/
312 FGATCInstruction::FGATCInstruction()
315 holdPosition = false;
317 changeHeading = false;
318 changeAltitude = false;
319 resolveCircularWait = false;
326 bool FGATCInstruction::hasInstruction()
328 return (holdPattern || holdPosition || changeSpeed || changeHeading || changeAltitude || resolveCircularWait);
331 string FGATCController::getGateName(FGAIAircraft *ref)
333 return ref->atGate();
336 void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir msgDir)
338 string sender, receiver;
342 case ATC_AIR_TO_GROUND:
343 sender = rec->getAircraft()->getTrafficRef()->getCallSign();
344 switch (rec->getLeg()) {
347 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency();
348 receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
351 receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
354 receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Tower";
358 case ATC_GROUND_TO_AIR:
359 receiver = rec->getAircraft()->getTrafficRef()->getCallSign();
360 switch (rec->getLeg()) {
363 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency();
364 sender = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
367 sender = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
370 sender = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Tower";
377 case MSG_ANNOUNCE_ENGINE_START:
378 text = sender + ". Ready to Start up";
380 case MSG_REQUEST_ENGINE_START:
381 text = receiver + ", This is " + sender + ". Position " +getGateName(rec->getAircraft()) +
382 ". Information YY." +
383 rec->getAircraft()->getTrafficRef()->getFlightRules() + " to " +
384 rec->getAircraft()->getTrafficRef()->getArrivalAirport()->getName() + ". Request start-up";
386 case MSG_PERMIT_ENGINE_START:
387 text = receiver + ". Start-up approved. YY correct, runway ZZ, AAA departure, squawk BBBB. " +
388 "For push-back and taxi clearance call CCC.CCC. " + sender + " control.";
390 case MSG_DENY_ENGINE_START:
391 text = receiver + ". Standby";
393 case MSG_ACKNOWLEDGE_ENGINE_START:
394 text = receiver + ". Start-up approved. YY correct, runway ZZ, AAA departure, squawk BBBB. " +
395 "For push-back and taxi clearance call CCC.CCC. " + sender;
400 double onBoardRadioFreq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
401 double onBoardRadioFreq1 = fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
402 int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
403 int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
404 //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << endl;
406 // Display ATC message only when one of the radios is tuned
407 // the relevant frequency.
408 // Note that distance attenuation is currently not yet implemented
409 if ((onBoardRadioFreqI0 == stationFreq) || (onBoardRadioFreqI1 == stationFreq)) {
410 fgSetString("/sim/messages/atc", text.c_str());
411 //cerr << "Printing Message: " << endl;
416 /***************************************************************************
417 * class FGTowerController
419 **************************************************************************/
420 FGTowerController::FGTowerController() :
426 void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
427 double lat, double lon, double heading,
428 double speed, double alt, double radius, int leg,
431 TrafficVectorIterator i = activeTraffic.begin();
432 // Search whether the current id alread has an entry
433 // This might be faster using a map instead of a vector, but let's start by taking a safe route
434 if (activeTraffic.size()) {
435 //while ((i->getId() != id) && i != activeTraffic.end()) {
436 while (i != activeTraffic.end()) {
437 if (i->getId() == id) {
444 // Add a new TrafficRecord if no one exsists for this aircraft.
445 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
449 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
450 rec.setRunway(intendedRoute->getRunway());
452 //rec.setCallSign(callsign);
453 rec.setAircraft(ref);
454 activeTraffic.push_back(rec);
456 i->setPositionAndHeading(lat, lon, heading, speed, alt);
460 void FGTowerController::update(int id, double lat, double lon, double heading, double speed, double alt,
463 TrafficVectorIterator i = activeTraffic.begin();
464 // Search search if the current id has an entry
465 // This might be faster using a map instead of a vector, but let's start by taking a safe route
466 TrafficVectorIterator current, closest;
467 if (activeTraffic.size()) {
468 //while ((i->getId() != id) && i != activeTraffic.end()) {
469 while (i != activeTraffic.end()) {
470 if (i->getId() == id) {
477 // // update position of the current aircraft
478 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
479 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
481 i->setPositionAndHeading(lat, lon, heading, speed, alt);
486 // // see if we already have a clearance record for the currently active runway
487 ActiveRunwayVecIterator rwy = activeRunways.begin();
488 // again, a map might be more efficient here
489 if (activeRunways.size()) {
490 //while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
491 while (rwy != activeRunways.end()) {
492 if (rwy->getRunwayName() == current->getRunway()) {
498 if (rwy == activeRunways.end()) {
499 ActiveRunway aRwy(current->getRunway(), id);
500 activeRunways.push_back(aRwy); // Since there are no clearance records for this runway yet
501 current->setHoldPosition(false); // Clear the current aircraft to continue
504 // Okay, we have a clearance record for this runway, so check
505 // whether the clearence ID matches that of the current aircraft
506 if (id == rwy->getCleared()) {
507 current->setHoldPosition(false);
509 current->setHoldPosition(true);
515 void FGTowerController::signOff(int id)
517 TrafficVectorIterator i = activeTraffic.begin();
518 // Search search if the current id alread has an entry
519 // This might be faster using a map instead of a vector, but let's start by taking a safe route
520 if (activeTraffic.size()) {
521 //while ((i->getId() != id) && i != activeTraffic.end()) {
522 while (i != activeTraffic.end()) {
523 if (i->getId() == id) {
529 // If this aircraft has left the runway, we can clear the departure record for this runway
530 ActiveRunwayVecIterator rwy = activeRunways.begin();
531 if (activeRunways.size()) {
532 //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
533 while (rwy != activeRunways.end()) {
534 if (rwy->getRunwayName() == i->getRunway()) {
539 if (rwy != activeRunways.end()) {
540 rwy = activeRunways.erase(rwy);
542 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
545 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
546 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
548 i = activeTraffic.erase(i);
553 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
554 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
555 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
556 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
557 // Note that this function is probably obsolete
558 bool FGTowerController::hasInstruction(int id)
560 TrafficVectorIterator i = activeTraffic.begin();
561 // Search search if the current id has an entry
562 // This might be faster using a map instead of a vector, but let's start by taking a safe route
563 if (activeTraffic.size())
565 //while ((i->getId() != id) && i != activeTraffic.end()) {
566 while (i != activeTraffic.end()) {
567 if (i->getId() == id) {
573 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
574 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
576 return i->hasInstruction();
582 FGATCInstruction FGTowerController::getInstruction(int id)
584 TrafficVectorIterator i = activeTraffic.begin();
585 // Search search if the current id has an entry
586 // This might be faster using a map instead of a vector, but let's start by taking a safe route
587 if (activeTraffic.size()) {
588 //while ((i->getId() != id) && i != activeTraffic.end()) {
589 while (i != activeTraffic.end()) {
590 if (i->getId() == id) {
596 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
597 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
599 return i->getInstruction();
601 return FGATCInstruction();
604 /***************************************************************************
605 * class FGStartupController
607 **************************************************************************/
608 FGStartupController::FGStartupController() :
612 lastTransmission = 0;
615 void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
616 double lat, double lon, double heading,
617 double speed, double alt, double radius, int leg,
620 TrafficVectorIterator i = activeTraffic.begin();
621 // Search whether the current id alread has an entry
622 // This might be faster using a map instead of a vector, but let's start by taking a safe route
623 if (activeTraffic.size()) {
624 //while ((i->getId() != id) && i != activeTraffic.end()) {
625 while (i != activeTraffic.end()) {
626 if (i->getId() == id) {
633 // Add a new TrafficRecord if no one exsists for this aircraft.
634 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
638 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
639 rec.setRunway(intendedRoute->getRunway());
641 //rec.setCallSign(callsign);
642 rec.setAircraft(ref);
643 rec.setHoldPosition(true);
644 activeTraffic.push_back(rec);
646 i->setPositionAndHeading(lat, lon, heading, speed, alt);
652 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
653 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
654 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
655 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
656 // Note that this function is probably obsolete
657 bool FGStartupController::hasInstruction(int id)
659 TrafficVectorIterator i = activeTraffic.begin();
660 // Search search if the current id has an entry
661 // This might be faster using a map instead of a vector, but let's start by taking a safe route
662 if (activeTraffic.size())
664 //while ((i->getId() != id) && i != activeTraffic.end()) {
665 while (i != activeTraffic.end()) {
666 if (i->getId() == id) {
672 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
673 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
675 return i->hasInstruction();
681 FGATCInstruction FGStartupController::getInstruction(int id)
683 TrafficVectorIterator i = activeTraffic.begin();
684 // Search search if the current id has an entry
685 // This might be faster using a map instead of a vector, but let's start by taking a safe route
686 if (activeTraffic.size()) {
687 //while ((i->getId() != id) && i != activeTraffic.end()) {
688 while (i != activeTraffic.end()) {
689 if (i->getId() == id) {
695 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
696 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
698 return i->getInstruction();
700 return FGATCInstruction();
703 void FGStartupController::signOff(int id)
705 TrafficVectorIterator i = activeTraffic.begin();
706 // Search search if the current id alread has an entry
707 // This might be faster using a map instead of a vector, but let's start by taking a safe route
708 if (activeTraffic.size()) {
709 //while ((i->getId() != id) && i != activeTraffic.end()) {
710 while (i != activeTraffic.end()) {
711 if (i->getId() == id) {
717 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
718 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
720 i = activeTraffic.erase(i);
724 void FGStartupController::update(int id, double lat, double lon, double heading, double speed, double alt,
727 TrafficVectorIterator i = activeTraffic.begin();
728 // Search search if the current id has an entry
729 // This might be faster using a map instead of a vector, but let's start by taking a safe route
730 TrafficVectorIterator current, closest;
731 if (activeTraffic.size()) {
732 //while ((i->getId() != id) && i != activeTraffic.end()) {
733 while (i != activeTraffic.end()) {
734 if (i->getId() == id) {
741 // // update position of the current aircraft
742 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
743 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
745 i->setPositionAndHeading(lat, lon, heading, speed, alt);
750 int state = i->getState();
751 time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
752 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
753 //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
754 // << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
755 // << " at parking " << getGateName(i->getAircraft()) << endl;
757 if ((now - lastTransmission) > 3 + (rand() % 15)) {
761 if ((state == 0) && available) {
762 if (now > startTime) {
763 //cerr << "Transmitting startup msg" << endl;
764 transmit(&(*i), MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
766 lastTransmission = now;
770 if ((state == 1) && available) {
771 if (now > startTime+60) {
772 transmit(&(*i), MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
774 lastTransmission = now;
778 if ((state == 2) && available) {
779 if (now > startTime+80) {
780 transmit(&(*i), MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
782 lastTransmission = now;
786 if ((state == 3) && available){
787 if (now > startTime+100) {
788 transmit(&(*i), MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
790 lastTransmission = now;
794 // TODO: Switch to APRON control and request pushback Clearance.
795 // Get Push back clearance
796 if ((state == 4) && available){
797 i->setHoldPosition(false);