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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
24 #include <simgear/compiler.h>
25 #include <simgear/math/SGMath.hxx>
26 #include <simgear/misc/sgstream.hxx>
33 #include "ATCProjection.hxx"
38 //DCL - a complete guess for now.
39 #define FG_TOWER_DEFAULT_RANGE 30
41 enum tower_traffic_type {
43 INBOUND, // CIRCUIT traffic gets changed to INBOUND when on final of the full-stop circuit.
45 TTT_UNKNOWN, // departure, but we don't know if for circuits or leaving properly
49 ostream& operator << (ostream& os, tower_traffic_type ttt);
66 ostream& operator << (ostream& os, PatternLeg pl);
75 ostream& operator << (ostream& os, LandingType lt);
77 enum tower_callback_type {
78 USER_REQUEST_VFR_DEPARTURE = 1,
79 USER_REQUEST_VFR_ARRIVAL = 2,
80 USER_REQUEST_VFR_ARRIVAL_FULL_STOP = 3,
81 USER_REQUEST_VFR_ARRIVAL_TOUCH_AND_GO = 4,
82 USER_REPORT_3_MILE_FINAL = 5,
83 USER_REPORT_DOWNWIND = 6,
84 USER_REPORT_RWY_VACATED = 7,
85 USER_REPORT_GOING_AROUND = 8,
86 USER_REQUEST_TAKE_OFF = 9
89 // TODO - need some differentiation of IFR and VFR traffic in order to give the former priority.
91 // Structure for holding details of a plane under tower control.
92 // Not fixed yet - may include more stuff later.
98 TowerPlaneRec(const PlaneRec& p);
99 TowerPlaneRec(const SGGeod& pt);
100 TowerPlaneRec(const PlaneRec& p, const SGGeod& pt);
105 double eta; // seconds
106 double dist_out; // meters from theshold
108 bool clearedToLineUp;
109 bool clearedToTakeOff;
110 // ought to add time cleared to depart so we can nag if necessary
111 bool holdShortReported;
113 bool downwindReported;
114 bool longFinalReported;
115 bool longFinalAcknowledged;
117 bool finalAcknowledged;
118 bool rwyVacatedReported;
119 bool rwyVacatedAcknowledged;
120 bool goAroundReported; // set true if plane informs tower that it's going around.
121 bool instructedToGoAround; // set true if plane told by tower to go around.
122 bool onRwy; // is physically on the runway
123 bool nextOnRwy; // currently projected by tower to be the next on the runway
124 bool gearWasUp; // Tell to ATC about gear
125 bool gearUpReported; // Tell to pilot about landing gear
127 bool vfrArrivalReported;
128 bool vfrArrivalAcknowledged;
130 // Type of operation the plane is doing
131 tower_traffic_type opType;
133 // Whereabouts in circuit if doing circuits
136 LandingType landingType;
137 bool isUser; // true if this plane is the user
141 typedef std::list < TowerPlaneRec* > tower_plane_rec_list_type;
142 typedef tower_plane_rec_list_type::iterator tower_plane_rec_list_iterator;
143 typedef tower_plane_rec_list_type::const_iterator tower_plane_rec_list_const_iterator;
146 class FGTower : public FGATC {
155 void Update(double dt);
157 void ReceiveUserCallback(int code);
159 // Contact tower for VFR approach
160 // eg "Cessna Charlie Foxtrot Golf Foxtrot Sierra eight miles South of the airport for full stop with Bravo"
161 // This function probably only called via user interaction - AI planes will have an overloaded function taking a planerec.
162 void VFRArrivalContact(const std::string& ID, const LandingType& opt = AIP_LT_UNKNOWN);
164 void RequestDepartureClearance(const std::string& ID);
165 void RequestTakeOffClearance(const std::string& ID);
166 void ReportFinal(const std::string& ID);
167 void ReportLongFinal(const std::string& ID);
168 void ReportOuterMarker(const std::string& ID);
169 void ReportMiddleMarker(const std::string& ID);
170 void ReportInnerMarker(const std::string& ID);
171 void ReportRunwayVacated(const std::string& ID);
172 void ReportReadyForDeparture(const std::string& ID);
173 void ReportDownwind(const std::string& ID);
174 void ReportGoingAround(const std::string& ID);
176 // Public interface to the active runway - this will get more complex
177 // in the future and consider multi-runway use, airplane weight etc.
178 inline const std::string& GetActiveRunway() const { return activeRwy; }
179 inline const RunwayDetails& GetActiveRunwayDetails() const { return rwy; }
180 // Get the pattern direction of the active rwy.
181 inline int GetPatternDirection() const { return rwy.patternDirection; }
183 inline const std::string& get_trans_ident() const { return trans_ident; }
185 inline FGGround* const GetGroundPtr() const { return ground; }
187 // Returns true if positions of crosswind/downwind/base leg turns should be constrained by previous traffic
188 // plus the constraint position as a rwy orientated orthopos (meters)
189 bool GetCrosswindConstraint(double& cpos);
190 bool GetDownwindConstraint(double& dpos);
191 bool GetBaseConstraint(double& bpos);
193 std::string GenText(const std::string& m, int c);
194 std::string GetWeather();
195 std::string GetATISID();
199 // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
201 // Respond to a transmission
204 void ProcessRunwayVacatedReport(TowerPlaneRec* t);
205 void ProcessDownwindReport(TowerPlaneRec* t);
207 // Remove all options from the user dialog choice
208 void RemoveAllUserDialogOptions();
210 // Periodic checks on the various traffic.
211 void CheckHoldList(double dt);
212 void CheckCircuitList(double dt);
213 void CheckRunwayList(double dt);
214 void CheckApproachList(double dt);
215 void CheckDepartureList(double dt);
217 // Currently this assumes we *are* next on the runway and doesn't check for planes about to land -
218 // this should be done prior to calling this function.
219 void ClearHoldingPlane(TowerPlaneRec* t);
221 // Find a pointer to plane of callsign ID within the internal data structures
222 TowerPlaneRec* FindPlane(const std::string& ID);
224 // Remove and delete all instances of a plane with a given ID
225 void RemovePlane(const std::string& ID);
227 // Figure out if a given position lies on the active runway
228 // Might have to change when we consider more than one active rwy.
229 bool OnActiveRunway(const SGGeod& pt);
231 // Figure out if a given position lies on a runway or not
232 bool OnAnyRunway(const SGGeod& pt, bool onGround);
234 // Calculate the eta of a plane to the threshold.
235 // For ground traffic this is the fastest they can get there.
236 // For air traffic this is the middle approximation.
237 void CalcETA(TowerPlaneRec* tpr, bool printout = false);
239 // Iterate through all the std::lists and call CalcETA for all the planes.
240 void doThresholdETACalc();
242 // Order the std::list of traffic as per expected threshold use and flag any conflicts
243 bool doThresholdUseOrder();
245 // Calculate the crow-flys distance of a plane to the threshold in meters
246 double CalcDistOutM(TowerPlaneRec* tpr);
248 // Calculate the crow-flys distance of a plane to the threshold in miles
249 double CalcDistOutMiles(TowerPlaneRec* tpr);
252 void doCommunication();
255 void IssueLandingClearance(TowerPlaneRec* tpr);
256 void IssueGoAround(TowerPlaneRec* tpr);
257 void IssueDepartureClearance(TowerPlaneRec* tpr);
259 unsigned int update_count; // Convienince counter for speading computational load over several updates
260 unsigned int update_count_max; // ditto.
262 double timeSinceLastDeparture; // Time in seconds since last departure from active rwy.
263 bool departed; // set true when the above needs incrementing with time, false when it doesn't.
265 // environment - need to make sure we're getting the surface winds and not winds aloft.
266 SGPropertyNode_ptr wind_from_hdg; //degrees
267 SGPropertyNode_ptr wind_speed_knots; //knots
269 double aptElev; // Airport elevation
270 std::string activeRwy; // Active runway number - For now we'll disregard multiple / alternate runway operation.
271 RunwayDetails rwy; // Assumed to be the active one for now.
272 bool rwyOccupied; // Active runway occupied flag. For now we'll disregard land-and-hold-short operations.
273 FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the active runway threshold at the origin
274 FGATCAlignedProjection ortho_temp; // Ortho for any runway (needed to get plane position in airport)
276 // Figure out which runways are active.
277 // For now we'll just be simple and do one active runway - eventually this will get much more complex
278 // This is a private function - public interface to the results of this is through GetActiveRunway
281 // Need a data structure to hold details of the various active planes
282 // or possibly another data structure with the positions of the inactive planes.
283 // Need a data structure to hold outstanding communications from aircraft.
285 // Linked-list of planes on approach to active rwy ordered with nearest first (timewise).
286 // Includes planes that have landed but not yet vacated runway.
287 // Somewhat analagous to the paper strips used (used to be used?) in real life.
288 // Doesn't include planes in circuit until they turn onto base/final?
289 // TODO - may need to alter this for operation to more than one active rwy.
290 tower_plane_rec_list_type appList;
291 tower_plane_rec_list_iterator appListItr;
293 // What should we do with planes approaching the airport to join the circuit somewhere
294 // but not on straight-in though? - put them in here for now.
295 tower_plane_rec_list_type circuitAppList;
296 tower_plane_rec_list_iterator circuitAppListItr;
298 // List of departed planes (planes doing circuits go into circuitList not depList after departure)
299 tower_plane_rec_list_type depList;
300 tower_plane_rec_list_iterator depListItr;
302 // List of planes in the circuit (ordered by nearest to landing first)
303 tower_plane_rec_list_type circuitList;
304 tower_plane_rec_list_iterator circuitListItr;
306 // List of planes waiting to depart
307 tower_plane_rec_list_type holdList;
308 tower_plane_rec_list_iterator holdListItr;
310 // List of planes on rwy
311 tower_plane_rec_list_type rwyList;
312 tower_plane_rec_list_iterator rwyListItr;
314 // List of all planes due to use a given rwy arranged in projected order of rwy use
315 tower_plane_rec_list_type trafficList; // TODO - needs to be expandable to more than one rwy
316 tower_plane_rec_list_iterator trafficListItr;
318 // List of planes that have vacated the runway inbound but not yet handed off to ground
319 tower_plane_rec_list_type vacatedList;
320 tower_plane_rec_list_iterator vacatedListItr;
322 // Returns true if successful
323 bool RemoveFromTrafficList(const std::string& id);
324 bool RemoveFromAppList(const std::string& id);
325 bool RemoveFromRwyList(const std::string& id);
327 // Return the ETA of plane no. list_pos (1-based) in the traffic list.
328 // i.e. list_pos = 1 implies next to use runway.
329 double GetTrafficETA(unsigned int list_pos, bool printout = false);
331 // Add a tower plane rec with ETA to the traffic list in the correct position ETA-wise.
332 // Returns true if this could cause a threshold ETA conflict with other traffic, false otherwise.
333 bool AddToTrafficList(TowerPlaneRec* t, bool holding = false);
335 bool AddToCircuitList(TowerPlaneRec* t);
337 // Add to vacated list only if not already present
338 void AddToVacatedList(TowerPlaneRec* t);
340 void AddToHoldingList(TowerPlaneRec* t);
342 // Ground can be separate or handled by tower in real life.
343 // In the program we will always use a separate FGGround class, but we need to know
344 // whether it is supposed to be separate or not to give the correct instructions.
345 bool separateGround; // true if ground control is separate
346 FGGround* ground; // The ground control associated with this airport.
348 bool _departureControlled; // true if we need to hand off departing traffic to departure control
349 //FGDeparture* _departure; // The relevant departure control (once we've actually written it!)
351 // for failure modeling
352 std::string trans_ident; // transmitted ident
353 bool tower_failed; // tower failed?
355 // Pointers to current users position and orientation
356 SGPropertyNode_ptr user_lon_node;
357 SGPropertyNode_ptr user_lat_node;
358 SGPropertyNode_ptr user_elev_node;
359 SGPropertyNode_ptr user_hdg_node;
361 // Details of the general traffic flow etc in the circuit
362 double crosswind_leg_pos; // Distance from threshold crosswind leg is being turned to in meters (actual operation - *not* ideal circuit)
363 double downwind_leg_pos; // Actual offset distance in meters from the runway that planes are flying the downwind leg
364 // Currently not sure whether the above should be always +ve or just take the natural orthopos sign (+ve for RH circuit, -ve for LH).
365 double base_leg_pos; // Actual offset distance from the threshold (-ve) that planes are turning to base leg.
367 double nominal_crosswind_leg_pos;
368 double nominal_downwind_leg_pos;
369 double nominal_base_leg_pos;
371 friend std::istream& operator>> ( std::istream&, FGTower& );
374 #endif //_FG_TOWER_HXX