1 /******************************************************************************
3 * Written by Durk Talsma, started May 5, 2004.
5 * This program is free software; you can redistribute it and/or
6 * modify it under the terms of the GNU General Public License as
7 * published by the Free Software Foundation; either version 2 of the
8 * License, or (at your option) any later version.
10 * This program is distributed in the hope that it will be useful, but
11 * WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 * General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
20 ****************************************************************************
22 *****************************************************************************/
42 #include <simgear/compiler.h>
43 #include <simgear/math/polar3d.hxx>
44 #include <simgear/math/sg_geodesy.hxx>
45 #include <simgear/props/props.hxx>
46 #include <simgear/route/waypoint.hxx>
47 #include <simgear/structure/subsystem_mgr.hxx>
48 #include <simgear/xml/easyxml.hxx>
50 #include <AIModel/AIFlightPlan.hxx>
51 #include <AIModel/AIManager.hxx>
52 #include <AIModel/AIAircraft.hxx>
53 #include <Airports/simple.hxx>
54 #include <Main/fg_init.hxx> // That's pretty ugly, but I need fgFindAirportID
57 #include "SchedFlight.hxx"
58 #include "TrafficMgr.hxx"
62 /******************************************************************************
63 * the FGAISchedule class contains data members and code to maintain a
64 * schedule of Flights for an articically controlled aircraft.
65 *****************************************************************************/
66 FGAISchedule::FGAISchedule()
80 FGAISchedule::FGAISchedule(string mdl,
91 FGScheduledFlightVec flt)
106 for (FGScheduledFlightVecIterator i = flt.begin();
109 flights.push_back(FGScheduledFlight((*i)));
115 FGAISchedule::FGAISchedule(const FGAISchedule &other)
117 modelPath = other.modelPath;
118 livery = other.livery;
119 registration = other.registration;
121 flights = other.flights;
124 AIManagerRef = other.AIManagerRef;
125 acType = other.acType;
126 airline = other.airline;
127 m_class = other.m_class;
128 firstRun = other.firstRun;
129 radius = other.radius;
130 groundOffset = other.groundOffset;
131 flightType = other.flightType;
133 distanceToUser = other.distanceToUser;
137 FGAISchedule::~FGAISchedule()
142 bool FGAISchedule::init()
145 //SGTime* currTimeDate = globals->get_time_params();
147 //tm *temp = currTimeDate->getGmt();
149 //sgTimeFormatTime(&targetTimeDate, buffer);
150 //cout << "Scheduled Time " << buffer << endl;
151 //cout << "Time :" << time(NULL) << " SGTime : " << sgTimeGetGMT(temp) << endl;
152 for (FGScheduledFlightVecIterator i = flights.begin();
156 //i->adjustTime(now);
157 if (!(i->initializeAirports()))
160 //sort(flights.begin(), flights.end());
161 // Since time isn't initialized yet when this function is called,
162 // Find the closest possible airport.
163 // This should give a reasonable initialization order.
164 //setClosestDistanceToUser();
168 bool FGAISchedule::update(time_t now)
180 double courseToUser, courseToDest;
181 double distanceToDest;
188 remainingTimeEnroute, deptime = 0;
193 if (fgGetBool("/sim/traffic-manager/enabled") == false)
196 aimgr = (FGAIManager *) globals-> get_subsystem("ai_model");
197 // Before the flight status of this traffic entity is updated
198 // for the first time, we need to roll back it's flight schedule so
199 // so that all the flights are centered around this simulated week's time
200 // table. This is to avoid the situation where the first scheduled flight is
201 // in the future, causing the traffic manager to not generate traffic until
202 // simulated time has caught up with the real world time at initialization.
203 // This is to counter a more general initialization bug, caused by the fact
204 // that warp is not yet set when the schedule is initialized. This is
205 // especially a problem when using a negative time offset.
206 // i.e let's say we specify FlightGear to run with --time-offset=-24:00:00.
207 // Then the schedule will initialize using today, but we will fly yesterday.
208 // Thus, it would take a whole day of simulation before the traffic manager
213 AIManagerRef = BOGUS;
215 for (FGScheduledFlightVecIterator i = flights.begin();
221 if (fgGetBool("/sim/traffic-manager/instantaneous-action") == true)
226 // Sort all the scheduled flights according to scheduled departure time.
227 // Because this is done at every update, we only need to check the status
228 // of the first listed flight.
229 sort(flights.begin(), flights.end());
231 deptime = flights.begin()->getDepartureTime();
232 FGScheduledFlightVecIterator i = flights.begin();
235 // Check if this aircraft has been released.
236 FGTrafficManager *tmgr = (FGTrafficManager *) globals->get_subsystem("Traffic Manager");
237 if (tmgr->isReleased(AIManagerRef))
243 userLatitude = fgGetDouble("/position/latitude-deg");
244 userLongitude = fgGetDouble("/position/longitude-deg");
246 //cerr << "Estimated minimum distance to user: " << distanceToUser << endl;
247 // This flight entry is entirely in the past, do we need to
248 // push it forward in time to the next scheduled departure.
249 if ((i->getDepartureTime() < now) && (i->getArrivalTime() < now))
255 // Departure time in the past and arrival time in the future.
256 // This flight is in progress, so we need to calculate it's
257 // approximate position and -if in range- create an AIAircraft
259 //if ((i->getDepartureTime() < now) && (i->getArrivalTime() > now))
262 // Part of this flight is in the future.
263 if (i->getArrivalTime() > now)
265 dep = i->getDepartureAirport();
266 arr = i->getArrivalAirport ();
270 temp = sgPolarToCart3d(Point3D(dep->getLongitude() *
271 SG_DEGREES_TO_RADIANS,
273 SG_DEGREES_TO_RADIANS,
279 temp = sgPolarToCart3d(Point3D(arr->getLongitude() *
280 SG_DEGREES_TO_RADIANS,
282 SG_DEGREES_TO_RADIANS,
289 sgdVectorProductVec3(cross,b,a);
291 angle = sgACos(sgdScalarProductVec3(a,b));
293 // Okay, at this point we have the angle between departure and
294 // arrival airport, in degrees. From here we can interpolate the
295 // position of the aircraft by calculating the ratio between
296 // total time enroute and elapsed time enroute.
298 totalTimeEnroute = i->getArrivalTime() - i->getDepartureTime();
299 if (now > i->getDepartureTime())
301 //err << "Lat = " << lat << ", lon = " << lon << endl;
302 //cerr << "Time diff: " << now-i->getDepartureTime() << endl;
303 elapsedTimeEnroute = now - i->getDepartureTime();
304 remainingTimeEnroute = i->getArrivalTime() - now;
308 lat = dep->getLatitude();
309 lon = dep->getLongitude();
310 elapsedTimeEnroute = 0;
311 remainingTimeEnroute = totalTimeEnroute;
314 angle *= ( (double) elapsedTimeEnroute/ (double) totalTimeEnroute);
317 //cout << "a = " << a[0] << " " << a[1] << " " << a[2]
318 // << "b = " << b[0] << " " << b[1] << " " << b[2] << endl;
319 sgdMakeRotMat4(matrix, angle, cross);
320 for(int j = 0; j < 3; j++)
323 for (int k = 0; k<3; k++)
325 newPos[j] += matrix[j][k]*a[k];
329 temp = sgCartToPolar3d(Point3D(newPos[0], newPos[1],newPos[2]));
330 if (now > i->getDepartureTime())
332 //cerr << "Lat = " << lat << ", lon = " << lon << endl;
333 //cerr << "Time diff: " << now-i->getDepartureTime() << endl;
334 lat = temp.lat() * SG_RADIANS_TO_DEGREES;
335 lon = temp.lon() * SG_RADIANS_TO_DEGREES;
339 lat = dep->getLatitude();
340 lon = dep->getLongitude();
344 SGWayPoint current (lon,
347 SGWayPoint user ( userLongitude,
350 SGWayPoint dest ( arr->getLongitude(),
353 // We really only need distance to user
354 // and course to destination
355 user.CourseAndDistance(current, &courseToUser, &distanceToUser);
356 dest.CourseAndDistance(current, &courseToDest, &distanceToDest);
357 speed = (distanceToDest*SG_METER_TO_NM) /
358 ((double) remainingTimeEnroute/3600.0);
361 // If distance between user and simulated aircaft is less
362 // then 500nm, create this flight. At jet speeds 500 nm is roughly
363 // one hour flight time, so that would be a good approximate point
364 // to start a more detailed simulation of this aircraft.
365 //cerr << registration << " is currently enroute from "
366 // << dep->_id << " to " << arr->_id << "distance : "
367 // << distanceToUser*SG_METER_TO_NM << endl;
368 if ((distanceToUser*SG_METER_TO_NM) < TRAFFICTOAIDIST)
370 string flightPlanName = dep->getId() + string("-") + arr->getId() +
373 //if ((i->getDepartureTime() < now))
375 // alt = i->getCruiseAlt() *100;
379 // alt = dep->_elevation+19;
382 // Only allow traffic to be created when the model path exists
383 SGPath mp(globals->get_fg_root());
384 mp.append(modelPath);
387 FGAIAircraft *aircraft = new FGAIAircraft(this);
388 aircraft->setPerformance(m_class); //"jet_transport";
389 aircraft->setCompany(airline); //i->getAirline();
390 aircraft->setAcType(acType); //i->getAcType();
391 aircraft->setPath(modelPath.c_str());
392 //aircraft->setFlightPlan(flightPlanName);
393 aircraft->setLatitude(lat);
394 aircraft->setLongitude(lon);
395 aircraft->setAltitude(i->getCruiseAlt()*100); // convert from FL to feet
396 aircraft->setSpeed(speed);
397 aircraft->setBank(0);
398 aircraft->SetFlightPlan(new FGAIFlightPlan(flightPlanName, courseToDest, deptime,
399 dep, arr,true, radius,
400 i->getCruiseAlt()*100,
401 lat, lon, speed, flightType, acType,
403 aimgr->attach(aircraft);
406 AIManagerRef = aircraft->getID();
407 //cerr << "Class: " << m_class << ". acType: " << acType << ". Airline: " << airline << ". Speed = " << speed << ". From " << dep->getId() << " to " << arr->getId() << ". Time Fraction = " << (remainingTimeEnroute/(double) totalTimeEnroute) << endl;
408 //cerr << "Latitude : " << lat << ". Longitude : " << lon << endl;
409 //cerr << "Dep : " << dep->getLatitude()<< ", "<< dep->getLongitude() << endl;
410 //cerr << "Arr : " << arr->getLatitude()<< ", "<< arr->getLongitude() << endl;
411 //cerr << "Time remaining = " << (remainingTimeEnroute/3600.0) << endl;
412 //cerr << "Total time = " << (totalTimeEnroute/3600.0) << endl;
413 //cerr << "Distance remaining = " << distanceToDest*SG_METER_TO_NM << endl;
417 SG_LOG(SG_INPUT, SG_WARN, "TrafficManager: Could not load model " << mp.str());
423 // Both departure and arrival time are in the future, so this
424 // the aircraft is parked at the departure airport.
425 // Currently this status is mostly ignored, but in future
426 // versions, code should go here that -if within user range-
427 // positions these aircraft at parking locations at the airport.
428 if ((i->getDepartureTime() > now) && (i->getArrivalTime() > now))
430 dep = i->getDepartureAirport();
434 //cerr << "Traffic schedule got to beyond last clause" << endl;
435 // EMH: prevent a warning, should this be 'true' instead?
436 // DT: YES. Originally, this code couldn't be reached, but
437 // when the "if(!(AIManagerManager))" clause is false we
438 // fall through right to the end. This is a valid flow.
439 // the actual value is pretty innocent, only it triggers
440 // warning in TrafficManager::update().
441 // (which was added as a sanity check for myself in the first place. :-)
446 void FGAISchedule::next()
448 flights.begin()->update();
449 sort(flights.begin(), flights.end());
452 double FGAISchedule::getSpeed()
454 double courseToUser, courseToDest;
455 double distanceToUser, distanceToDest;
456 double speed, remainingTimeEnroute;
457 FGAirport *dep, *arr;
459 FGScheduledFlightVecIterator i = flights.begin();
460 dep = i->getDepartureAirport();
461 arr = i->getArrivalAirport ();
465 SGWayPoint dest ( dep->getLongitude(),
468 SGWayPoint curr ( arr->getLongitude(),
471 remainingTimeEnroute = i->getArrivalTime() - i->getDepartureTime();
472 dest.CourseAndDistance(curr, &courseToDest, &distanceToDest);
473 speed = (distanceToDest*SG_METER_TO_NM) /
474 ((double) remainingTimeEnroute/3600.0);
479 // void FGAISchedule::setClosestDistanceToUser()
489 // elapsedTimeEnroute;
491 // double userLatitude = fgGetDouble("/position/latitude-deg");
492 // double userLongitude = fgGetDouble("/position/longitude-deg");
496 // #if defined( __CYGWIN__) || defined( __MINGW32__)
497 // #define HUGE HUGE_VAL
499 // distanceToUser = HUGE;
500 // FGScheduledFlightVecIterator i = flights.begin();
501 // while (i != flights.end())
503 // dep = i->getDepartureAirport();
507 // SGWayPoint user ( userLongitude,
509 // i->getCruiseAlt());
510 // SGWayPoint current (dep->getLongitude(),
511 // dep->getLatitude(),
513 // user.CourseAndDistance(current, &course, &dist);
514 // if (dist < distanceToUser)
516 // distanceToUser = dist;
517 // //cerr << "Found closest distance to user for " << registration << " to be " << distanceToUser << " at airport " << dep->getId() << endl;
521 // //return distToUser;