// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-/*****************************************************************
-*
-* WARNING - Curt has some ideas about AI traffic so anything in here
-* may get rewritten or scrapped. Contact Curt curt@flightgear.org
-* before spending any time or effort on this code!!!
-*
-******************************************************************/
-
#ifndef _FG_AILocalTraffic_HXX
#define _FG_AILocalTraffic_HXX
-#include <plib/sg.h>
-#include <plib/ssg.h>
#include <simgear/math/point3d.hxx>
+#include <Main/fg_props.hxx>
#include "tower.hxx"
#include "AIPlane.hxx"
#include "ATCProjection.hxx"
+#include "ground.hxx"
+
+#include <string>
+SG_USING_STD(string);
-typedef enum PatternLeg {
- TAKEOFF_ROLL,
- CLIMBOUT,
- TURN1,
- CROSSWIND,
- TURN2,
- DOWNWIND,
- TURN3,
- BASE,
- TURN4,
- FINAL,
- LANDING_ROLL
+enum TaxiState {
+ TD_INBOUND,
+ TD_OUTBOUND,
+ TD_NONE,
+ TD_LINING_UP
};
-// perhaps we could use an FGRunway instead of this
-typedef struct RunwayDetails {
- Point3D threshold_pos;
- Point3D end1ortho; // ortho projection end1 (the threshold ATM)
- Point3D end2ortho; // ortho projection end2 (the take off end in the current hardwired scheme)
- double mag_hdg;
- double mag_var;
- double hdg; // true runway heading
+enum OperatingState {
+ IN_PATTERN,
+ TAXIING,
+ PARKED,
+ EN_ROUTE
};
-typedef struct StartofDescent {
- PatternLeg leg;
- double orthopos_x;
- double orthopos_y;
+struct StartOfDescent {
+ PatternLeg leg;
+ double x; // Runway aligned orthopos
+ double y; // ditto
};
class FGAILocalTraffic : public FGAIPlane {
-
+
public:
-
- FGAILocalTraffic();
- ~FGAILocalTraffic();
-
- // Initialise
- void Init();
-
- // Run the internal calculations
- void Update(double dt);
-
+
+ // At the moment we expect the expanded short form callsign - eventually we will just want the reg + type.
+ FGAILocalTraffic();
+ ~FGAILocalTraffic();
+
+ // Initialise
+ bool Init(const string& callsign, string ICAO, OperatingState initialState = PARKED, PatternLeg initialLeg = DOWNWIND);
+
+ // Run the internal calculations
+ void Update(double dt);
+
+ // Go out and practice circuits
+ void FlyCircuits(int numCircuits, bool tag);
+
+ // Return what type of landing we're doing on this circuit
+ LandingType GetLandingOption();
+
+ // TODO - this will get more complex and moved into the main class
+ // body eventually since the position approved to taxi to will have
+ // to be passed.
+ inline void ApproveTaxiRequest() {taxiRequestCleared = true;}
+
+ inline void DenyTaxiRequest() {taxiRequestCleared = false;}
+
+ void RegisterTransmission(int code);
+
+ // Process callbacks sent by base class
+ // (These codes are not related to the codes above)
+ void ProcessCallback(int code);
+
+ // This is a hack and will probably go eventually
+ inline bool AtHoldShort() {return holdingShort;}
+
protected:
-
- // Attempt to enter the traffic pattern in a reasonably intelligent manner
- void EnterTrafficPattern(double dt);
-
+
+ // Attempt to enter the traffic pattern in a reasonably intelligent manner
+ void EnterTrafficPattern(double dt);
+
+ // Set up the internal state to be consistent for a downwind entry.
+ void DownwindEntry();
+
+ // Ditto for straight-in
+ void StraightInEntry(bool des = false);
+
+ // Do what is necessary to land and parkup at home airport
+ void ReturnToBase(double dt);
+
+ // Airport/runway/pattern details
+ string airportID; // The ICAO code of the airport that we're operating around
+ double aptElev; // Airport elevation
+ FGGround* ground; // A pointer to the ground control.
+ FGTower* tower; // A pointer to the tower control.
+ bool _controlled; // Set true if we find tower control working for the airport, false otherwise.
+ RunwayDetails rwy;
+ double patternDirection; // 1 for right, -1 for left (This is double because we multiply/divide turn rates
+ // with it to get RH/LH turns - DON'T convert it to int under ANY circumstances!!
+ double glideAngle; // Assumed to be visual glidepath angle for FGAILocalTraffic - can be found at www.airnav.com
+ // Its conceivable that patternDirection and glidePath could be moved into the RunwayDetails structure.
+
+ // Its possible that this might be moved out to the ground/airport class at some point.
+ FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the threshold at the origin
+ // and the runway aligned with the y axis.
+
+ void GetAirportDetails(string id);
+
+ void GetRwyDetails(string id);
+
+ double responseCounter; // timer in seconds to allow response to requests to be a little while after them
+ // Will almost certainly get moved to FGAIPlane.
+
private:
- FGATCAlignedProjection ortho; // Orthogonal mapping of the local area with the threshold at the origin
- // and the runway aligned with the y axis.
-
- // Airport/runway/pattern details
- char* airport; // The ICAO code of the airport that we're operating around
- FGTower* tower; // A pointer to the tower control.
- RunwayDetails rwy;
- double patternDirection; // 1 for right, -1 for left (This is double because we multiply/divide turn rates
- // with it to get RH/LH turns - DON'T convert it to int under ANY circumstances!!
- double glideAngle; // Assumed to be visual glidepath angle for FGAILocalTraffic - can be found at www.airnav.com
- // Its conceivable that patternDirection and glidePath could be moved into the RunwayDetails structure.
-
- // Performance characteristics of the plane in knots and ft/min - some of this might get moved out into FGAIPlane
- double Vr;
- double best_rate_of_climb_speed;
- double best_rate_of_climb;
- double nominal_climb_speed;
- double nominal_climb_rate;
- double nominal_circuit_speed;
- double min_circuit_speed;
- double max_circuit_speed;
- double nominal_descent_rate;
- double nominal_approach_speed;
- double nominal_final_speed;
- double stall_speed_landing_config;
-
- // environment - some of this might get moved into FGAIPlane
- double wind_from_hdg; // degrees
- double wind_speed_knots; // knots
-
- // Pattern details that (may) change
- int numInPattern; // Number of planes in the pattern (this might get more complicated if high performance GA aircraft fly a higher pattern eventually)
- int numAhead; // More importantly - how many of them are ahead of us?
- double distToNext; // And even more importantly, how near are we getting to the one immediately ahead?
- PatternLeg leg; // Out current position in the pattern
- StartofDescent SoD; // Start of descent calculated wrt wind, pattern size & altitude, glideslope etc
-
- void FlyTrafficPattern(double dt);
-
- // TODO - need to add something to define what option we are flying - Touch and go / Stop and go / Landing properly / others?
-
- void TransmitPatternPositionReport();
-
- void CalculateStartofDescent();
+ FGATCMgr* ATC;
+ // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
+
+ // High-level stuff
+ OperatingState operatingState;
+ int circuitsToFly; //Number of circuits still to do in this session NOT INCLUDING THE CURRENT ONE
+ bool touchAndGo; //True if circuits should be flown touch and go, false for full stop
+ bool transmitted; // Set true when a position report for the current leg has been transmitted.
+
+ // Performance characteristics of the plane in knots and ft/min - some of this might get moved out into FGAIPlane
+ double Vr;
+ double best_rate_of_climb_speed;
+ double best_rate_of_climb;
+ double nominal_climb_speed;
+ double nominal_climb_rate;
+ double nominal_circuit_speed;
+ double min_circuit_speed;
+ double max_circuit_speed;
+ double nominal_descent_rate;
+ double nominal_approach_speed;
+ double nominal_final_speed;
+ double stall_speed_landing_config;
+ double nominal_taxi_speed;
+
+ // Physical/rendering stuff
+ double wheelOffset; // Height above ground at which we need to render the plane whilst taxiing
+ bool elevInitGood; // We have had at least one good elev reading
+ bool inAir; // True when off the ground
+
+ // environment - some of this might get moved into FGAIPlane
+ SGPropertyNode* wind_from_hdg; //degrees
+ SGPropertyNode* wind_speed_knots; //knots
+
+ // Pattern details that (may) change
+ int numInPattern; // Number of planes in the pattern (this might get more complicated if high performance GA aircraft fly a higher pattern eventually)
+ int numAhead; // More importantly - how many of them are ahead of us?
+ double distToNext; // And even more importantly, how near are we getting to the one immediately ahead?
+ //PatternLeg leg; // Our current position in the pattern - now moved to FGAIPlane
+ StartOfDescent SoD; // Start of descent calculated wrt wind, pattern size & altitude, glideslope etc
+ bool descending; // We're in the coming down phase of the pattern
+ double targetDescentRate; // m/s
+
+ // Taxiing details
+ // At the moment this assumes that all taxiing in is to gates (a loose term that includes
+ // any permitted parking spot) and that all taxiing out is to runways.
+ bool parked;
+ bool taxiing;
+ bool taxiRequestPending;
+ bool taxiRequestCleared;
+ TaxiState taxiState;
+ double desiredTaxiHeading;
+ double taxiTurnRadius;
+ double nominalTaxiSpeed;
+ Gate* ourGate;
+ ground_network_path_type path; // a path through the ground network for the plane to taxi
+ unsigned int taxiPathPos; // position of iterator in taxi path when applicable
+ node* nextTaxiNode; // next node in taxi path
+ node* holdShortNode;
+ //Runway out_dest; //FIXME - implement this
+ bool holdingShort;
+ bool reportReadyForDeparture; // set true when ATC has requested that the plane report when ready for departure
+ bool clearedToLineUp;
+ bool clearedToTakeOff;
+ bool _clearedToLand; // also implies cleared for the option.
+ bool liningUp; // Set true when the turn onto the runway heading is commenced when taxiing out
+ bool goAround; // Set true if need to go-around
+ bool goAroundCalled; // Set true during go-around only after we have called our go-around on the radio
+ bool contactTower; // we have been told to contact tower
+ bool contactGround; // we have been told to contact ground
+ bool changeFreq; // true when we need to change frequency
+ bool _taxiToGA; // Temporary mega-hack indicating we are to taxi to the GA parking and disconnect from tower control.
+ bool _removeSelf; // Indicates that we wish to remove this instance. The use of a variable is a hack to allow time for messages to purge before removal, due to the fagility of the current dialog system.
+ atc_type changeFreqType; // the service we need to change to
+ bool freeTaxi; // False if the airport has a facilities file with a logical taxi network defined, true if we need to calculate our own taxiing points.
+
+ // Hack for getting close to the runway when atan can go pear-shaped
+ double _savedSlope;
+
+ void FlyTrafficPattern(double dt);
+
+ // TODO - need to add something to define what option we are flying - Touch and go / Stop and go / Landing properly / others?
+
+ void TransmitPatternPositionReport();
+
+ void CalculateSoD(double base_leg_pos, double downwind_leg_pos, bool pattern_direction);
+
+ void ExitRunway(Point3D orthopos);
+
+ void StartTaxi();
+
+ void Taxi(double dt);
+
+ void GetNextTaxiNode();
+
+ void DoGroundElev();
+
+ // Set when the plane should be invisible *regardless of distance from user*.
+ bool _invisible;
};
#endif // _FG_AILocalTraffic_HXX
projects / flightgear.git / blobdiff