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;
341 string atisInformation;
344 case ATC_AIR_TO_GROUND:
345 sender = rec->getAircraft()->getTrafficRef()->getCallSign();
346 switch (rec->getLeg()) {
350 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(rec->getLeg());
352 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(3);
353 receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
354 atisInformation = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getAtisInformation();
357 receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Tower";
361 case ATC_GROUND_TO_AIR:
362 receiver = rec->getAircraft()->getTrafficRef()->getCallSign();
363 switch (rec->getLeg()) {
367 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(rec->getLeg());
369 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(3);
370 sender = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
371 atisInformation = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getAtisInformation();
375 sender = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Tower";
384 case MSG_ANNOUNCE_ENGINE_START:
385 text = sender + ". Ready to Start up";
387 case MSG_REQUEST_ENGINE_START:
388 text = receiver + ", This is " + sender + ". Position " +getGateName(rec->getAircraft()) +
389 ". Information " + atisInformation + ". " +
390 rec->getAircraft()->getTrafficRef()->getFlightRules() + " to " +
391 rec->getAircraft()->getTrafficRef()->getArrivalAirport()->getName() + ". Request start-up";
393 case MSG_PERMIT_ENGINE_START:
394 taxiFreqStr = formatATCFrequency3_2(taxiFreq);
395 text = receiver + ". Start-up approved. " + atisInformation + " correct, runway ZZ, AAA departure, squawk BBBB. " +
396 "For push-back and taxi clearance call " + taxiFreqStr + ". " + sender + " control.";
398 case MSG_DENY_ENGINE_START:
399 text = receiver + ". Standby";
401 case MSG_ACKNOWLEDGE_ENGINE_START:
402 taxiFreqStr = formatATCFrequency3_2(taxiFreq);
403 text = receiver + ". Start-up approved. " + atisInformation + " correct, runway ZZ, AAA departure, squawk BBBB. " +
404 "For push-back and taxi clearance call " + taxiFreqStr + ". " + sender;
409 double onBoardRadioFreq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
410 double onBoardRadioFreq1 = fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
411 int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
412 int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
413 //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << endl;
415 // Display ATC message only when one of the radios is tuned
416 // the relevant frequency.
417 // Note that distance attenuation is currently not yet implemented
418 //cerr << "Transmitting " << text << " at " << stationFreq;
419 if ((onBoardRadioFreqI0 == stationFreq) || (onBoardRadioFreqI1 == stationFreq)) {
420 fgSetString("/sim/messages/atc", text.c_str());
421 //cerr << "Printing Message: " << endl;
425 string FGATCController::formatATCFrequency3_2(int freq) {
427 snprintf(buffer, 7, "%3.2f", ( (float) freq / 100.0) );
428 return string(buffer);
431 /***************************************************************************
432 * class FGTowerController
434 **************************************************************************/
435 FGTowerController::FGTowerController() :
441 void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
442 double lat, double lon, double heading,
443 double speed, double alt, double radius, int leg,
446 TrafficVectorIterator i = activeTraffic.begin();
447 // Search whether the current id alread has an entry
448 // This might be faster using a map instead of a vector, but let's start by taking a safe route
449 if (activeTraffic.size()) {
450 //while ((i->getId() != id) && i != activeTraffic.end()) {
451 while (i != activeTraffic.end()) {
452 if (i->getId() == id) {
459 // Add a new TrafficRecord if no one exsists for this aircraft.
460 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
464 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
465 rec.setRunway(intendedRoute->getRunway());
467 //rec.setCallSign(callsign);
468 rec.setAircraft(ref);
469 activeTraffic.push_back(rec);
471 i->setPositionAndHeading(lat, lon, heading, speed, alt);
475 void FGTowerController::update(int id, double lat, double lon, double heading, double speed, double alt,
478 TrafficVectorIterator i = activeTraffic.begin();
479 // Search search if the current id has an entry
480 // This might be faster using a map instead of a vector, but let's start by taking a safe route
481 TrafficVectorIterator current, closest;
482 if (activeTraffic.size()) {
483 //while ((i->getId() != id) && i != activeTraffic.end()) {
484 while (i != activeTraffic.end()) {
485 if (i->getId() == id) {
492 // // update position of the current aircraft
493 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
494 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
496 i->setPositionAndHeading(lat, lon, heading, speed, alt);
501 // // see if we already have a clearance record for the currently active runway
502 ActiveRunwayVecIterator rwy = activeRunways.begin();
503 // again, a map might be more efficient here
504 if (activeRunways.size()) {
505 //while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
506 while (rwy != activeRunways.end()) {
507 if (rwy->getRunwayName() == current->getRunway()) {
513 if (rwy == activeRunways.end()) {
514 ActiveRunway aRwy(current->getRunway(), id);
515 activeRunways.push_back(aRwy); // Since there are no clearance records for this runway yet
516 current->setHoldPosition(false); // Clear the current aircraft to continue
519 // Okay, we have a clearance record for this runway, so check
520 // whether the clearence ID matches that of the current aircraft
521 if (id == rwy->getCleared()) {
522 current->setHoldPosition(false);
524 current->setHoldPosition(true);
530 void FGTowerController::signOff(int id)
532 TrafficVectorIterator i = activeTraffic.begin();
533 // Search search if the current id alread has an entry
534 // This might be faster using a map instead of a vector, but let's start by taking a safe route
535 if (activeTraffic.size()) {
536 //while ((i->getId() != id) && i != activeTraffic.end()) {
537 while (i != activeTraffic.end()) {
538 if (i->getId() == id) {
544 // If this aircraft has left the runway, we can clear the departure record for this runway
545 ActiveRunwayVecIterator rwy = activeRunways.begin();
546 if (activeRunways.size()) {
547 //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
548 while (rwy != activeRunways.end()) {
549 if (rwy->getRunwayName() == i->getRunway()) {
554 if (rwy != activeRunways.end()) {
555 rwy = activeRunways.erase(rwy);
557 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
560 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
561 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
563 i = activeTraffic.erase(i);
568 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
569 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
570 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
571 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
572 // Note that this function is probably obsolete
573 bool FGTowerController::hasInstruction(int id)
575 TrafficVectorIterator i = activeTraffic.begin();
576 // Search search if the current id has an entry
577 // This might be faster using a map instead of a vector, but let's start by taking a safe route
578 if (activeTraffic.size())
580 //while ((i->getId() != id) && i != activeTraffic.end()) {
581 while (i != activeTraffic.end()) {
582 if (i->getId() == id) {
588 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
589 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
591 return i->hasInstruction();
597 FGATCInstruction FGTowerController::getInstruction(int id)
599 TrafficVectorIterator i = activeTraffic.begin();
600 // Search search if the current id has an entry
601 // This might be faster using a map instead of a vector, but let's start by taking a safe route
602 if (activeTraffic.size()) {
603 //while ((i->getId() != id) && i != activeTraffic.end()) {
604 while (i != activeTraffic.end()) {
605 if (i->getId() == id) {
611 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
612 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
614 return i->getInstruction();
616 return FGATCInstruction();
619 /***************************************************************************
620 * class FGStartupController
622 **************************************************************************/
623 FGStartupController::FGStartupController() :
627 lastTransmission = 0;
630 void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
631 double lat, double lon, double heading,
632 double speed, double alt, double radius, int leg,
635 TrafficVectorIterator i = activeTraffic.begin();
636 // Search whether the current id alread has an entry
637 // This might be faster using a map instead of a vector, but let's start by taking a safe route
638 if (activeTraffic.size()) {
639 //while ((i->getId() != id) && i != activeTraffic.end()) {
640 while (i != activeTraffic.end()) {
641 if (i->getId() == id) {
648 // Add a new TrafficRecord if no one exsists for this aircraft.
649 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
653 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
654 rec.setRunway(intendedRoute->getRunway());
656 //rec.setCallSign(callsign);
657 rec.setAircraft(ref);
658 rec.setHoldPosition(true);
659 activeTraffic.push_back(rec);
661 i->setPositionAndHeading(lat, lon, heading, speed, alt);
667 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
668 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
669 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
670 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
671 // Note that this function is probably obsolete
672 bool FGStartupController::hasInstruction(int id)
674 TrafficVectorIterator i = activeTraffic.begin();
675 // Search search if the current id has an entry
676 // This might be faster using a map instead of a vector, but let's start by taking a safe route
677 if (activeTraffic.size())
679 //while ((i->getId() != id) && i != activeTraffic.end()) {
680 while (i != activeTraffic.end()) {
681 if (i->getId() == id) {
687 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
688 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
690 return i->hasInstruction();
696 FGATCInstruction FGStartupController::getInstruction(int id)
698 TrafficVectorIterator i = activeTraffic.begin();
699 // Search search if the current id has an entry
700 // This might be faster using a map instead of a vector, but let's start by taking a safe route
701 if (activeTraffic.size()) {
702 //while ((i->getId() != id) && i != activeTraffic.end()) {
703 while (i != activeTraffic.end()) {
704 if (i->getId() == id) {
710 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
711 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
713 return i->getInstruction();
715 return FGATCInstruction();
718 void FGStartupController::signOff(int id)
720 TrafficVectorIterator i = activeTraffic.begin();
721 // Search search if the current id alread has an entry
722 // This might be faster using a map instead of a vector, but let's start by taking a safe route
723 if (activeTraffic.size()) {
724 //while ((i->getId() != id) && i != activeTraffic.end()) {
725 while (i != activeTraffic.end()) {
726 if (i->getId() == id) {
732 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
733 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
735 i = activeTraffic.erase(i);
739 void FGStartupController::update(int id, double lat, double lon, double heading, double speed, double alt,
742 TrafficVectorIterator i = activeTraffic.begin();
743 // Search search if the current id has an entry
744 // This might be faster using a map instead of a vector, but let's start by taking a safe route
745 TrafficVectorIterator current, closest;
746 if (activeTraffic.size()) {
747 //while ((i->getId() != id) && i != activeTraffic.end()) {
748 while (i != activeTraffic.end()) {
749 if (i->getId() == id) {
756 // // update position of the current aircraft
757 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
758 SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
760 i->setPositionAndHeading(lat, lon, heading, speed, alt);
765 int state = i->getState();
766 time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
767 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
768 //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
769 // << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
770 // << " at parking " << getGateName(i->getAircraft()) << endl;
772 if ((now - lastTransmission) > 3 + (rand() % 15)) {
776 if ((state == 0) && available) {
777 if (now > startTime) {
778 //cerr << "Transmitting startup msg" << endl;
779 transmit(&(*i), MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
781 lastTransmission = now;
785 if ((state == 1) && available) {
786 if (now > startTime+60) {
787 transmit(&(*i), MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
789 lastTransmission = now;
793 if ((state == 2) && available) {
794 if (now > startTime+80) {
795 transmit(&(*i), MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
797 lastTransmission = now;
801 if ((state == 3) && available){
802 if (now > startTime+100) {
803 transmit(&(*i), MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
805 lastTransmission = now;
809 // TODO: Switch to APRON control and request pushback Clearance.
810 // Get Push back clearance
811 if ((state == 4) && available){
812 i->setHoldPosition(false);