# include <config.h>
#endif
+#include <simgear/scene/model/location.hxx>
+
+#include <Airports/runways.hxx>
#include <Main/globals.hxx>
-#include <Main/location.hxx>
#include <Scenery/scenery.hxx>
+#include <Scenery/tilemgr.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include "ATCutils.hxx"
FGAILocalTraffic::FGAILocalTraffic() {
+ ATC = globals->get_ATC_mgr();
+
+ // TODO - unhardwire this - possibly let the AI manager set the callsign
+ plane.callsign = "Trainer-two-five-charlie";
+ plane.type = GA_SINGLE;
+
+ roll = 0.0;
+ pitch = 0.0;
+ hdg = 270.0;
+
//Hardwire initialisation for now - a lot of this should be read in from config eventually
Vr = 70.0;
best_rate_of_climb_speed = 70.0;
//stall_speed_landing_config;
nominalTaxiSpeed = 8.0;
taxiTurnRadius = 8.0;
+ wheelOffset = 1.45; // Warning - hardwired to the C172 - we need to read this in from file.
+ elevInitGood = false;
// Init the property nodes
wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
circuitsToFly = 0;
+ liningUp = false;
+ taxiRequestPending = false;
+ taxiRequestCleared = false;
+ holdingShort = false;
+ clearedToLineUp = false;
+ clearedToTakeOff = false;
+ reportReadyForDeparture = false;
+ contactTower = false;
+ contactGround = false;
}
FGAILocalTraffic::~FGAILocalTraffic() {
}
-void FGAILocalTraffic::Init() {
+
+// Get details of the active runway
+// It is assumed that by the time this is called the tower control and airport code will have been set up.
+void FGAILocalTraffic::GetRwyDetails() {
+ //cout << "GetRwyDetails called" << endl;
+
+ rwy.rwyID = tower->GetActiveRunway();
+
+ // Now we need to get the threshold position and rwy heading
+
+ SGPath path( globals->get_fg_root() );
+ path.append( "Airports" );
+ path.append( "runways.mk4" );
+ FGRunways runways( path.c_str() );
+
+ FGRunway runway;
+ bool rwyGood = runways.search(airportID, rwy.rwyID, &runway);
+ if(rwyGood) {
+ // Get the threshold position
+ hdg = runway.heading; // TODO - check - is this our heading we are setting here, and if so should we be?
+ //cout << "hdg reset to " << hdg << '\n';
+ double other_way = hdg - 180.0;
+ while(other_way <= 0.0) {
+ other_way += 360.0;
+ }
+
+ // move to the +l end/center of the runway
+ //cout << "Runway center is at " << runway.lon << ", " << runway.lat << '\n';
+ Point3D origin = Point3D(runway.lon, runway.lat, aptElev);
+ Point3D ref = origin;
+ double tshlon, tshlat, tshr;
+ double tolon, tolat, tor;
+ rwy.length = runway.length * SG_FEET_TO_METER;
+ geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), other_way,
+ rwy.length / 2.0 - 25.0, &tshlat, &tshlon, &tshr );
+ geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), hdg,
+ rwy.length / 2.0 - 25.0, &tolat, &tolon, &tor );
+ // Note - 25 meters in from the runway end is a bit of a hack to put the plane ahead of the user.
+ // now copy what we need out of runway into rwy
+ rwy.threshold_pos = Point3D(tshlon, tshlat, aptElev);
+ Point3D takeoff_end = Point3D(tolon, tolat, aptElev);
+ //cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
+ //cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
+ rwy.hdg = hdg;
+ // Set the projection for the local area
+ ortho.Init(rwy.threshold_pos, rwy.hdg);
+ rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
+ rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
+ } else {
+ SG_LOG(SG_ATC, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
+ }
+}
+
+/*
+There are two possible scenarios during initialisation:
+The first is that the user is flying towards the airport, and hence the traffic
+could be initialised anywhere, as long as the AI planes are consistent with
+each other.
+The second is that the user has started the sim at or close to the airport, and
+hence the traffic must be initialised with respect to the user as well as each other.
+To a certain extent it's FGAIMgr that has to worry about this, but we need to provide
+sufficient initialisation functionality within the plane classes to allow the manager
+to initialy position them where and how required.
+*/
+bool FGAILocalTraffic::Init(string ICAO, OperatingState initialState, PatternLeg initialLeg) {
+ //cout << "FGAILocalTraffic.Init(...) called" << endl;
// Hack alert - Hardwired path!!
string planepath = "Aircraft/c172/Models/c172-dpm.ac";
SGPath path = globals->get_fg_root();
path.append(planepath);
- aip.init(planepath.c_str());
- aip.setVisible(true);
+ ssgBranch *model = sgLoad3DModel( path.str(),
+ planepath.c_str(),
+ globals->get_props(),
+ globals->get_sim_time_sec() );
+ aip.init( model );
+ aip.setVisible(false); // This will be set to true once a valid ground elevation has been determined
globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
- // is it OK to leave it like this until the first time transform is called?
- // Really ought to be started in a parking space unless otherwise specified?
// Find the tower frequency - this is dependent on the ATC system being initialised before the AI system
- // FIXME - ATM this is hardwired.
- airportID = "KEMT";
+ airportID = ICAO;
AirportATC a;
- if(globals->get_ATC_mgr()->GetAirportATCDetails((string)airportID, &a)) {
+ if(ATC->GetAirportATCDetails(airportID, &a)) {
if(a.tower_freq) { // Has a tower
- tower = (FGTower*)globals->get_ATC_mgr()->GetATCPointer((string)airportID, TOWER); // Maybe need some error checking here
+ tower = (FGTower*)ATC->GetATCPointer((string)airportID, TOWER); // Maybe need some error checking here
+ if(tower == NULL) {
+ // Something has gone wrong - abort or carry on with un-towered operation?
+ return(false);
+ }
freq = (double)tower->get_freq() / 100.0;
- //cout << "***********************************AILocalTraffic freq = " << freq << '\n';
+ ground = tower->GetGroundPtr();
+ if(ground == NULL) {
+ // Something has gone wrong :-(
+ SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::Init() :-(");
+ return(false);
+ } else if((initialState == PARKED) || (initialState == TAXIING)) {
+ freq = (double)ground->get_freq() / 100.0;
+ }
+ //cout << "AILocalTraffic freq is " << freq << '\n';
} else {
// Check CTAF, unicom etc
}
//cout << "Unable to find airport details in FGAILocalTraffic::Init()\n";
}
- // Initiallise the FGAirportData structure
- // This needs a complete overhaul soon - what happens if we have 2 AI planes at same airport - they don't both need a structure
- // This needs to be handled by the ATC manager or similar so only one set of physical data per airport is instantiated
- // ie. TODO TODO FIXME FIXME
- airport.Init();
+ // Get the airport elevation
+ aptElev = dclGetAirportElev(airportID.c_str()) * SG_FEET_TO_METER;
+ //cout << "Airport elev in AILocalTraffic = " << aptElev << '\n';
+ // WARNING - we use this elev for the whole airport - some assumptions in the code
+ // might fall down with very slopey airports.
+
+ //cout << "In Init(), initialState = " << initialState << endl;
+ operatingState = initialState;
+ switch(operatingState) {
+ case PARKED:
+ ourGate = ground->GetGateNode();
+ if(ourGate == NULL) {
+ // Implies no available gates - what shall we do?
+ // For now just vanish the plane - possibly we can make this more elegant in the future
+ SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
+ return(false);
+ }
+ pitch = 0.0;
+ roll = 0.0;
+ vel = 0.0;
+ slope = 0.0;
+ pos = ourGate->pos;
+ pos.setelev(aptElev);
+ hdg = ourGate->heading;
+
+ // Now we've set the position we can do the ground elev
+ elevInitGood = false;
+ inAir = false;
+ DoGroundElev();
+
+ Transform();
+ break;
+ case TAXIING:
+ // FIXME - implement this case properly
+ return(false); // remove this line when fixed!
+ break;
+ case IN_PATTERN:
+ // For now we'll always start the in_pattern case on the threshold ready to take-off
+ // since we've got the implementation for this case already.
+ // TODO - implement proper generic in_pattern startup.
+
+ // Get the active runway details (and copy them into rwy)
+ GetRwyDetails();
+
+ // Initial position on threshold for now
+ pos.setlat(rwy.threshold_pos.lat());
+ pos.setlon(rwy.threshold_pos.lon());
+ pos.setelev(rwy.threshold_pos.elev());
+ hdg = rwy.hdg;
+
+ // Now we've set the position we can do the ground elev
+ // This might not always be necessary if we implement in-air start
+ elevInitGood = false;
+ inAir = false;
+ DoGroundElev();
+
+ pitch = 0.0;
+ roll = 0.0;
+ leg = TAKEOFF_ROLL;
+ vel = 0.0;
+ slope = 0.0;
+
+ circuitsToFly = 0; // ie just fly this circuit and then stop
+ touchAndGo = false;
+ // FIXME TODO - pattern direction is still hardwired
+ patternDirection = -1; // Left
+ // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
+ if(rwy.rwyID.size() == 3) {
+ patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
+ }
+
+ operatingState = IN_PATTERN;
+
+ Transform();
+ break;
+ default:
+ SG_LOG(SG_ATC, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
+ return(false);
+ }
+
+ return(true);
}
// Commands to do something from higher level logic
void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
- circuitsToFly += numCircuits - 1; // Hack (-1) because we only test and decrement circuitsToFly after landing
- // thus flying one to many circuits. TODO - Need to sort this out better!
- touchAndGo = tag;
+ //cout << "FlyCircuits called" << endl;
- //At the moment we'll assume that we are always finished previous circuits when called,
- //And just teleport to the threshold to start.
- //This is a hack though, we need to check where we are and taxi out if appropriate.
- operatingState = IN_PATTERN;
-
- // Hardwire to KEMT for now
- // Hardwired points at each end of KEMT runway
- Point3D P010(-118.037483, 34.081358, 296 * SG_FEET_TO_METER);
- Point3D P190(-118.032308, 34.090456, 299.395263 * SG_FEET_TO_METER);
- Point3D takeoff_end;
- bool d010 = true; // use this to change the hardwired runway direction
- if(d010) {
- rwy.threshold_pos = P010;
- takeoff_end = P190;
- rwy.hdg = 25.32; //from default.apt
- rwy.ID = 1;
- patternDirection = -1; // Left
- pos.setelev(rwy.threshold_pos.elev() + (-8.5 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
- } else {
- rwy.threshold_pos = P190;
- takeoff_end = P010;
- rwy.hdg = 205.32;
- rwy.ID = 19;
- patternDirection = 1; // Right
- pos.setelev(rwy.threshold_pos.elev() + (-0.0 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
+ switch(operatingState) {
+ case IN_PATTERN:
+ circuitsToFly += numCircuits;
+ return;
+ break;
+ case TAXIING:
+ // For now we'll punt this and do nothing
+ break;
+ case PARKED:
+ circuitsToFly = numCircuits; // Note that one too many circuits gets flown because we only test and decrement circuitsToFly after landing
+ // thus flying one too many circuits. TODO - Need to sort this out better!
+ touchAndGo = tag;
+#if 0
+ // Get the active runway details (and copy them into rwy)
+ GetRwyDetails();
+
+ // Get the takeoff node for the active runway, get a path to it and start taxiing
+ path = ground->GetPath(ourGate, rwy.rwyID);
+ if(path.size() < 2) {
+ // something has gone wrong
+ SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
+ return;
+ }
+ /*
+ cout << "path returned was:" << endl;
+ for(unsigned int i=0; i<path.size(); ++i) {
+ switch(path[i]->struct_type) {
+ case NODE:
+ cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
+ break;
+ case ARC:
+ cout << "ARC\n";
+ break;
+ }
+ }
+ */
+ // pop the gate - we're here already!
+ path.erase(path.begin());
+ //path.erase(path.begin());
+ /*
+ cout << "path after popping front is:" << endl;
+ for(unsigned int i=0; i<path.size(); ++i) {
+ switch(path[i]->struct_type) {
+ case NODE:
+ cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
+ break;
+ case ARC:
+ cout << "ARC\n";
+ break;
+ }
+ }
+ */
+
+ taxiState = TD_OUTBOUND;
+ StartTaxi();
+
+ // Maybe the below should be set when we get to the threshold and prepare for TO?
+ // FIXME TODO - pattern direction is still hardwired
+ patternDirection = -1; // Left
+ // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
+ if(rwy.rwyID.size() == 3) {
+ patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
+ }
+
+ Transform();
+#endif
+ break;
}
-
- //rwy.threshold_pos.setlat(34.081358);
- //rwy.threshold_pos.setlon(-118.037483);
- //rwy.mag_hdg = 12.0;
- //rwy.mag_var = 14.0;
- //rwy.hdg = rwy.mag_hdg + rwy.mag_var;
- //rwy.threshold_pos.setelev(296 * SG_FEET_TO_METER);
-
- // Initial position on threshold for now
- // TODO - check wind / default runway
- pos.setlat(rwy.threshold_pos.lat());
- pos.setlon(rwy.threshold_pos.lon());
- hdg = rwy.hdg;
-
- pitch = 0.0;
- roll = 0.0;
- leg = TAKEOFF_ROLL;
- vel = 0.0;
- slope = 0.0;
-
- // Now set the position of the plane and then re-get the elevation!! (Didn't work - elev always returned as zero) :-(
- //aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
- //cout << "*********************** elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
-
- // Set the projection for the local area
- ortho.Init(rwy.threshold_pos, rwy.hdg);
- rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
- // Hardwire to KEMT for now
- rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
- //cout << "*********************************************************************************\n";
- //cout << "*********************************************************************************\n";
- //cout << "*********************************************************************************\n";
- //cout << "end1ortho = " << rwy.end1ortho << '\n';
- //cout << "end2ortho = " << rwy.end2ortho << '\n'; // end2ortho.x() should be zero or thereabouts
-
- Transform();
}
// Run the internal calculations
void FGAILocalTraffic::Update(double dt) {
- //std::cout << "In FGAILocalTraffic::Update\n";
- // Hardwire flying traffic pattern for now - eventually also needs to be able to taxi to and from runway and GA parking area.
+ //cout << "A" << flush;
+ double responseTime = 10.0; // seconds - this should get more sophisticated at some point
+ responseCounter += dt;
+ if((contactTower) && (responseCounter >= 8.0)) {
+ // Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
+ string trns = "Tower ";
+ double f = globals->get_ATC_mgr()->GetFrequency(airportID, TOWER) / 100.0;
+ char buf[10];
+ sprintf(buf, "%f", f);
+ trns += buf;
+ trns += " ";
+ trns += plane.callsign;
+ Transmit(trns);
+ responseCounter = 0.0;
+ contactTower = false;
+ changeFreq = true;
+ changeFreqType = TOWER;
+ }
+
+ if((changeFreq) && (responseCounter > 8.0)) {
+ switch(changeFreqType) {
+ case TOWER:
+ freq = (double)tower->get_freq() / 100.0;
+ //Transmit("DING!");
+ // Contact the tower, even if only virtually
+ changeFreq = false;
+ tower->ContactAtHoldShort(plane, this, CIRCUIT);
+ break;
+ case GROUND:
+ freq = (double)ground->get_freq() / 100.0;
+ break;
+ // And to avoid compiler warnings...
+ case APPROACH:
+ break;
+ case ATIS:
+ break;
+ case ENROUTE:
+ break;
+ case DEPARTURE:
+ break;
+ case INVALID:
+ break;
+ }
+ }
+
+ //cout << "." << flush;
+
switch(operatingState) {
case IN_PATTERN:
+ //cout << "In IN_PATTERN\n";
+ if(!inAir) DoGroundElev();
+ if(!elevInitGood) {
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ //cout << "TAKEOFF_ROLL, POS = " << pos.lon() << ", " << pos.lat() << ", " << pos.elev() << '\n';
+ //Transform();
+ aip.setVisible(true);
+ //cout << "Making plane visible!\n";
+ elevInitGood = true;
+ }
+ }
FlyTrafficPattern(dt);
Transform();
break;
case TAXIING:
- Taxi(dt);
+ //cout << "In TAXIING\n";
+ //cout << "*" << flush;
+ if(!elevInitGood) {
+ //DoGroundElev();
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ //Transform();
+ aip.setVisible(true);
+ //Transform();
+ //cout << "Making plane visible!\n";
+ elevInitGood = true;
+ }
+ }
+ DoGroundElev();
+ //cout << "," << flush;
+ if(!((holdingShort) && (!clearedToLineUp))) {
+ //cout << "|" << flush;
+ Taxi(dt);
+ }
+ //cout << ";" << flush;
+ if((clearedToTakeOff) && (responseCounter >= 8.0)) {
+ // possible assumption that we're at the hold short here - may not always hold
+ // TODO - sort out the case where we're cleared to line-up first and then cleared to take-off on the rwy.
+ taxiState = TD_LINING_UP;
+ path = ground->GetPath(holdShortNode, rwy.rwyID);
+ /*
+ cout << "path returned was:" << endl;
+ for(unsigned int i=0; i<path.size(); ++i) {
+ switch(path[i]->struct_type) {
+ case NODE:
+ cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
+ break;
+ case ARC:
+ cout << "ARC\n";
+ break;
+ }
+ }
+ */
+ clearedToTakeOff = false; // We *are* still cleared - this simply stops the response recurring!!
+ holdingShort = false;
+ string trns = "Cleared for take-off ";
+ trns += plane.callsign;
+ Transmit(trns);
+ StartTaxi();
+ }
+ //cout << "^" << flush;
Transform();
break;
- case PARKED:
+ case PARKED:
+ //cout << "In PARKED\n";
+ if(!elevInitGood) {
+ DoGroundElev();
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ //Transform();
+ aip.setVisible(true);
+ //Transform();
+ //cout << "Making plane visible!\n";
+ elevInitGood = true;
+ }
+ }
+
+ if(circuitsToFly) {
+ if((taxiRequestPending) && (taxiRequestCleared)) {
+ //cout << "&" << flush;
+ // Get the active runway details (and copy them into rwy)
+ GetRwyDetails();
+
+ // Get the takeoff node for the active runway, get a path to it and start taxiing
+ path = ground->GetPathToHoldShort(ourGate, rwy.rwyID);
+ if(path.size() < 2) {
+ // something has gone wrong
+ SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
+ return;
+ }
+ /*
+ cout << "path returned was:\n";
+ for(unsigned int i=0; i<path.size(); ++i) {
+ switch(path[i]->struct_type) {
+ case NODE:
+ cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
+ break;
+ case ARC:
+ cout << "ARC\n";
+ break;
+ }
+ }
+ */
+ path.erase(path.begin()); // pop the gate - we're here already!
+ taxiState = TD_OUTBOUND;
+ taxiRequestPending = false;
+ holdShortNode = (node*)(*(path.begin() + path.size()));
+ StartTaxi();
+ } else if(!taxiRequestPending) {
+ //cout << "(" << flush;
+ ground->RequestDeparture(plane, this);
+ // Do some communication
+ // airport name + tower + airplane callsign + location + request taxi for + operation type + ?
+ string trns = "";
+ trns += tower->get_name();
+ trns += " tower ";
+ trns += plane.callsign;
+ trns += " on apron parking request taxi for traffic pattern";
+ //cout << "trns = " << trns << endl;
+ Transmit(trns);
+ taxiRequestCleared = false;
+ taxiRequestPending = true;
+ }
+ }
+
+ //cout << "!" << flush;
+
+ // Maybe the below should be set when we get to the threshold and prepare for TO?
+ // FIXME TODO - pattern direction is still hardwired
+ patternDirection = -1; // Left
+ // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
+ if(rwy.rwyID.size() == 3) {
+ patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
+ }
// Do nothing
+ Transform();
+ //cout << ")" << flush;
+ break;
+ default:
+ break;
+ }
+ //cout << "I " << flush;
+}
+
+void FGAILocalTraffic::RegisterTransmission(int code) {
+ switch(code) {
+ case 1: // taxi request cleared
+ taxiRequestCleared = true;
+ SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to taxi...");
+ break;
+ case 2: // contact tower
+ responseCounter = 0;
+ contactTower = true;
+ SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to contact tower...");
+ break;
+ case 3: // Cleared to line up
+ responseCounter = 0;
+ clearedToLineUp = true;
+ SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to line-up...");
+ break;
+ case 4: // cleared to take-off
+ responseCounter = 0;
+ clearedToTakeOff = true;
+ SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to take-off...");
break;
default:
break;
}
- //cout << "elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
- // This should become if(the plane has moved) then Transform()
}
// Fly a traffic pattern
void FGAILocalTraffic::FlyTrafficPattern(double dt) {
// Need to differentiate between in-air (IAS governed) and on-ground (vel governed)
// Take-off is an interesting case - we are on the ground but takeoff speed is IAS governed.
- bool inAir = true; // FIXME - possibly make into a class variable
static bool transmitted = false; // FIXME - this is a hack
switch(leg) {
case TAKEOFF_ROLL:
- inAir = false;
+ //inAir = false;
track = rwy.hdg;
if(vel < 80.0) {
double dveldt = 5.0;
vel += dveldt * dt;
}
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ }
IAS = vel + (cos((hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
if(IAS >= 70) {
leg = CLIMBOUT;
pitch = 10.0;
IAS = best_rate_of_climb_speed;
slope = 7.0;
+ inAir = true;
}
break;
case CLIMBOUT:
track = rwy.hdg;
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 600) {
+ cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n';
leg = TURN1;
}
break;
// Try and track the extended centreline
track = rwy.hdg - (0.2 * orthopos.x());
//cout << "orthopos.x() = " << orthopos.x() << " hdg = " << hdg << '\n';
- if(pos.elev() <= rwy.threshold_pos.elev()) {
- pos.setelev(rwy.threshold_pos.elev());// + (-8.5 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
- slope = 0.0;
- pitch = 0.0;
- leg = LANDING_ROLL;
+ if(pos.elev() < (rwy.threshold_pos.elev()+20.0+wheelOffset)) {
+ DoGroundElev(); // Need to call it here expicitly on final since it's only called
+ // for us in update(...) when the inAir flag is false.
+ }
+ if(pos.elev() < (rwy.threshold_pos.elev()+10.0+wheelOffset)) {
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ if((aip.getSGLocation()->get_cur_elev_m() + wheelOffset) > pos.elev()) {
+ slope = 0.0;
+ pitch = 0.0;
+ leg = LANDING_ROLL;
+ inAir = false;
+ }
+ } // else need a fallback position based on arpt elev in case ground elev determination fails?
}
break;
case LANDING_ROLL:
- inAir = false;
+ //inAir = false;
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ }
track = rwy.hdg;
double dveldt = -5.0;
vel += dveldt * dt;
trns += tower->get_name();
trns += " Traffic ";
- // FIXME - add the callsign to the class variables
- trns += "Trainer-two-five-charlie ";
+ trns += plane.callsign;
if(patternDirection == 1) {
- trns += "right ";
+ trns += " right ";
} else {
- trns += "left ";
+ trns += " left ";
}
// We could probably get rid of this whole switch statement and just pass a string containing the leg from the FlyPattern function.
void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
//cout << "In ExitRunway" << endl;
//cout << "Runway ID is " << rwy.ID << endl;
- node_array_type exitNodes = airport.GetExits(rwy.ID); //I suppose we ought to have some fallback for rwy with no defined exits?
+ node_array_type exitNodes = ground->GetExits(rwy.rwyID); //I suppose we ought to have some fallback for rwy with no defined exits?
/*
cout << "Node ID's of exits are ";
for(unsigned int i=0; i<exitNodes.size(); ++i) {
}
++nItr;
}
- in_dest = airport.GetGateNode();
- // TODO - add a NULL pointer (no available gates) check for in_dest and have a fallback position
- // (possibly taxi off runway and disappear?)
- path = airport.GetPath(rwyExit, in_dest);
- //cout << "path returned was:" << endl;
+ ourGate = ground->GetGateNode();
+ if(ourGate == NULL) {
+ // Implies no available gates - what shall we do?
+ // For now just vanish the plane - possibly we can make this more elegant in the future
+ SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
+ aip.setVisible(false);
+ operatingState = PARKED;
+ return;
+ }
+ path = ground->GetPath(rwyExit, ourGate);
/*
+ cout << "path returned was:" << endl;
for(unsigned int i=0; i<path.size(); ++i) {
switch(path[i]->struct_type) {
case NODE:
StartTaxi();
} else {
// Something must have gone wrong with the ground network file - or there is only a rwy here and no exits defined
- SG_LOG(SG_GENERAL, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.ID << " at " << airportID << '\n');
+ SG_LOG(SG_ATC, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.rwyID << " at " << airportID << '\n');
// What shall we do - just remove the plane from sight?
aip.setVisible(false);
operatingState = PARKED;
//cout << "taxiPathPos = " << taxiPathPos << endl;
ground_network_path_iterator pathItr = path.begin() + taxiPathPos;
if(pathItr == path.end()) {
- SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
+ SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
} else {
if((*pathItr)->struct_type == NODE) {
//cout << "ITS A NODE" << endl;
pathItr++;
taxiPathPos++;
if(pathItr == path.end()) {
- SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
+ SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
} else if((*pathItr)->struct_type == NODE) {
nextTaxiNode = (node*)*pathItr;
++taxiPathPos;
} else {
//OOPS - two non-nodes in a row - that shouldn't happen ATM
- SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
+ SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
}
}
}
//cout << "First taxi heading is " << desiredTaxiHeading << endl;
}
+// speed in knots, headings in degrees, radius in meters.
+static double TaxiTurnTowardsHeading(double current_hdg, double desired_hdg, double speed, double radius, double dt) {
+ // wrap heading - this prevents a logic bug where the plane would just go round in circles!!
+ while(current_hdg < 0.0) {
+ current_hdg += 360.0;
+ }
+ while(current_hdg > 360.0) {
+ current_hdg -= 360.0;
+ }
+ if(fabs(current_hdg - desired_hdg) > 0.1) {
+ // Which is the quickest direction to turn onto heading?
+ if(desired_hdg > current_hdg) {
+ if((desired_hdg - current_hdg) <= 180) {
+ // turn right
+ current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
+ // TODO - check that increments are less than the delta that we check for the right direction
+ // Probably need to reduce convergence speed as convergence is reached
+ } else {
+ current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
+ }
+ } else {
+ if((current_hdg - desired_hdg) <= 180) {
+ // turn left
+ current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
+ // TODO - check that increments are less than the delta that we check for the right direction
+ // Probably need to reduce convergence speed as convergence is reached
+ } else {
+ current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
+ }
+ }
+ }
+ return(current_hdg);
+}
+
void FGAILocalTraffic::Taxi(double dt) {
//cout << "Taxi called" << endl;
// Logic - if we are further away from next point than turn radius then head for it
// If we have reached turning point then get next point and turn onto that heading
// Look out for the finish!!
- Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
+ //Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
+
+ bool lastNode = (taxiPathPos == path.size() ? true : false);
+ if(lastNode) {
+ //cout << "LAST NODE\n";
+ }
// HACK ALERT! - for now we will taxi at constant speed for straights and turns
double dist_to_go = dclGetHorizontalSeparation(pos, nextTaxiNode->pos); // we may be able to do this more cheaply using orthopos
//cout << "dist_to_go = " << dist_to_go << endl;
if((nextTaxiNode->type == GATE) && (dist_to_go <= 0.1)) {
+ // This might be more robust to outward paths starting with a gate if we check for either
+ // last node or TD_INBOUND ?
// park up
- //taxiing = false;
- //parked = true;
operatingState = PARKED;
- } else if((dist_to_go > taxiTurnRadius) || (nextTaxiNode->type == GATE)) {
+ } else if(((dist_to_go > taxiTurnRadius) || (nextTaxiNode->type == GATE)) && (!liningUp)){
// if the turn radius is r, and speed is s, then in a time dt we turn through
// ((s.dt)/(PI.r)) x 180 degrees
// or alternatively (s.dt)/r radians
//cout << "hdg = " << hdg << " desired taxi heading = " << desiredTaxiHeading << '\n';
- if(fabs(hdg - desiredTaxiHeading) > 0.1) {
- // Which is the quickest direction to turn onto heading?
- if(desiredTaxiHeading > hdg) {
- if((desiredTaxiHeading - hdg) <= 180) {
- // turn right
- hdg += ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
- // TODO - check that increments are less than the delta that we check for the right direction
- // Probably need to reduce convergence speed as convergence is reached
- } else {
- hdg -= ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
- }
- } else {
- if((hdg - desiredTaxiHeading) <= 180) {
- // turn left
- hdg -= ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
- // TODO - check that increments are less than the delta that we check for the right direction
- // Probably need to reduce convergence speed as convergence is reached
- } else {
- hdg += ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
- }
- }
- }
+ hdg = TaxiTurnTowardsHeading(hdg, desiredTaxiHeading, nominalTaxiSpeed, taxiTurnRadius, dt);
double vel = nominalTaxiSpeed;
//cout << "vel = " << vel << endl;
double dist = vel * 0.514444 * dt;
double slope = 0.0;
pos = dclUpdatePosition(pos, track, slope, dist);
//cout << "Updated position...\n";
- // FIXME - HACK in absense of proper ground elevation determination
- // Linearly interpolate altitude when taxiing between N and S extremes of orthopos
- pos.setelev((287.5 + ((299.3 - 287.5) * fabs(orthopos.y() / 1000.0))) * SG_FEET_TO_METER);
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ } // else don't change the elev until we get a valid ground elev again!
+ } else if(lastNode) {
+ if(taxiState == TD_LINING_UP) {
+ if((!liningUp) && (dist_to_go <= taxiTurnRadius)) {
+ liningUp = true;
+ }
+ if(liningUp) {
+ hdg = TaxiTurnTowardsHeading(hdg, rwy.hdg, nominalTaxiSpeed, taxiTurnRadius, dt);
+ double vel = nominalTaxiSpeed;
+ //cout << "vel = " << vel << endl;
+ double dist = vel * 0.514444 * dt;
+ //cout << "dist = " << dist << endl;
+ double track = hdg;
+ //cout << "track = " << track << endl;
+ double slope = 0.0;
+ pos = dclUpdatePosition(pos, track, slope, dist);
+ //cout << "Updated position...\n";
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
+ } // else don't change the elev until we get a valid ground elev again!
+ if(fabs(hdg - rwy.hdg) <= 1.0) {
+ operatingState = IN_PATTERN;
+ leg = TAKEOFF_ROLL;
+ inAir = false;
+ liningUp = false;
+ }
+ }
+ } else if(taxiState == TD_OUTBOUND) {
+ // Pause awaiting further instructions
+ // and for now assume we've reached the hold-short node
+ holdingShort = true;
+ } // else at the moment assume TD_INBOUND always ends in a gate in which case we can ignore it
} else {
// Time to turn (we've already checked it's not the end we're heading for).
// set the target node to be the next node which will prompt automatically turning onto
}
}
+
+// Warning - ground elev determination is CPU intensive
+// Either this function or the logic of how often it is called
+// will almost certainly change.
+void FGAILocalTraffic::DoGroundElev() {
+
+ // It would be nice if we could set the correct tile center here in order to get a correct
+ // answer with one call to the function, but what I tried in the two commented-out lines
+ // below only intermittently worked, and I haven't quite groked why yet.
+ //SGBucket buck(pos.lon(), pos.lat());
+ //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
+
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ //globals->get_tile_mgr()->prep_ssg_nodes( acmodel_location,
+ globals->get_tile_mgr()->prep_ssg_nodes( aip.getSGLocation(), visibility_meters );
+ Point3D scenery_center = globals->get_scenery()->get_center();
+ globals->get_tile_mgr()->update( aip.getSGLocation(), visibility_meters, (aip.getSGLocation())->get_absolute_view_pos( scenery_center ) );
+ // save results of update in SGLocation for fdm...
+
+ //if ( globals->get_scenery()->get_cur_elev() > -9990 ) {
+ // acmodel_location->
+ // set_cur_elev_m( globals->get_scenery()->get_cur_elev() );
+ //}
+
+ // The need for this here means that at least 2 consecutive passes are needed :-(
+ aip.getSGLocation()->set_tile_center( globals->get_scenery()->get_next_center() );
+
+ //cout << "Transform Elev is " << globals->get_scenery()->get_cur_elev() << '\n';
+ aip.getSGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
+ //return(globals->get_scenery()->get_cur_elev());
+}
+
projects / flightgear.git / blobdiff