# 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>
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;
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() {
// Get details of the active runway
-// This is a private internal function and it is assumed that by the
-// time it is called the tower control and airport code will have been set up.
+// 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;
- // Based on the airport-id and wind get the active runway
+ 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() );
-
- //wind
- double hdg = wind_from_hdg->getDoubleValue();
- double speed = wind_speed_knots->getDoubleValue();
- hdg = (speed == 0.0 ? 270.0 : hdg);
- //cout << "Heading = " << hdg << '\n';
-
+
FGRunway runway;
- bool rwyGood = runways.search(airportID, int(hdg), &runway);
+ bool rwyGood = runways.search(airportID, rwy.rwyID, &runway);
if(rwyGood) {
// Get the threshold position
- hdg = runway.heading;
+ 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) {
//cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
//cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
rwy.hdg = hdg;
- rwy.rwyID = runway.rwy_no;
// 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);
- rwy.mag_var = 14.0; // TODO - remove this last hardwired bit!!
- //(Although I don't think we even use the magvar any more?)
- rwy.mag_hdg = rwy.hdg - rwy.mag_var;
- rwy.ID = (int)rwy.mag_hdg / 10;
- //cout << "rwy.ID = " << rwy.ID << '\n';
} else {
- SG_LOG(SG_GENERAL, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
+ SG_LOG(SG_ATC, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
}
}
string planepath = "Aircraft/c172/Models/c172-dpm.ac";
SGPath path = globals->get_fg_root();
path.append(planepath);
- aip.init(planepath.c_str());
+ 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());
ground = tower->GetGroundPtr();
if(ground == NULL) {
// Something has gone wrong :-(
- cout << "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::Init() :-(\n";
+ 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
}
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_GENERAL, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
+ SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
return(false);
}
pitch = 0.0;
Transform();
break;
default:
- SG_LOG(SG_GENERAL, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
+ SG_LOG(SG_ATC, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
return(false);
}
// For now we'll punt this and do nothing
break;
case PARKED:
- circuitsToFly = numCircuits - 1; // Hack (-1) because we only test and decrement circuitsToFly after landing
+ 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();
path = ground->GetPath(ourGate, rwy.rwyID);
if(path.size() < 2) {
// something has gone wrong
- SG_LOG(SG_GENERAL, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
+ SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
return;
}
/*
}
Transform();
+#endif
break;
}
}
// Run the internal calculations
void FGAILocalTraffic::Update(double dt) {
+ //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.getFGLocation()->get_cur_elev_m() > -9990.0) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ 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);
break;
case TAXIING:
//cout << "In TAXIING\n";
+ //cout << "*" << flush;
if(!elevInitGood) {
//DoGroundElev();
- if(aip.getFGLocation()->get_cur_elev_m() > -9990.0) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
//Transform();
aip.setVisible(true);
//Transform();
}
}
DoGroundElev();
- Taxi(dt);
+ //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.getFGLocation()->get_cur_elev_m() > -9990.0) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ if(aip.getSGLocation()->get_cur_elev_m() > -9990.0) {
+ pos.setelev(aip.getSGLocation()->get_cur_elev_m() + wheelOffset);
//Transform();
aip.setVisible(true);
//Transform();
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;
double dveldt = 5.0;
vel += dveldt * dt;
}
- if(aip.getFGLocation()->get_cur_elev_m() > -9990.0) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ 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) {
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;
// for us in update(...) when the inAir flag is false.
}
if(pos.elev() < (rwy.threshold_pos.elev()+10.0+wheelOffset)) {
- if(aip.getFGLocation()->get_cur_elev_m() > -9990.0) {
- if((aip.getFGLocation()->get_cur_elev_m() + wheelOffset) > pos.elev()) {
+ 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;
break;
case LANDING_ROLL:
//inAir = false;
- if(aip.getFGLocation()->get_cur_elev_m() > -9990.0) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ 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;
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 = ground->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) {
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_GENERAL, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
+ SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
aip.setVisible(false);
operatingState = PARKED;
return;
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");
}
}
}
double slope = 0.0;
pos = dclUpdatePosition(pos, track, slope, dist);
//cout << "Updated position...\n";
- if(aip.getFGLocation()->get_cur_elev_m() > -9990) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ 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_OUTBOUND) {
+ if(taxiState == TD_LINING_UP) {
if((!liningUp) && (dist_to_go <= taxiTurnRadius)) {
liningUp = true;
}
double slope = 0.0;
pos = dclUpdatePosition(pos, track, slope, dist);
//cout << "Updated position...\n";
- if(aip.getFGLocation()->get_cur_elev_m() > -9990) {
- pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
+ 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;
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).
// 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.getFGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
+ //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.getFGLocation(), visibility_meters );
- globals->get_tile_mgr()->update( aip.getFGLocation(), visibility_meters, (aip.getFGLocation())->get_absolute_view_pos() );
- // save results of update in FGLocation for fdm...
+ 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->
//}
// The need for this here means that at least 2 consecutive passes are needed :-(
- aip.getFGLocation()->set_tile_center( globals->get_scenery()->get_next_center() );
+ aip.getSGLocation()->set_tile_center( globals->get_scenery()->get_next_center() );
//cout << "Transform Elev is " << globals->get_scenery()->get_cur_elev() << '\n';
- aip.getFGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
+ aip.getSGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
//return(globals->get_scenery()->get_cur_elev());
}
+
projects / flightgear.git / blobdiff