#include "ATCmgr.hxx"
#include "ATCutils.hxx"
#include "commlist.hxx"
+#include "AILocalTraffic.hxx"
SG_USING_STD(cout);
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
-leg(TWR_UNKNOWN),
+onRwy(false),
+nextOnRwy(false),
+opType(TTT_UNKNOWN),
+leg(LEG_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
-leg(TWR_UNKNOWN),
+onRwy(false),
+nextOnRwy(false),
+opType(TTT_UNKNOWN),
+leg(LEG_UNKNOWN),
isUser(false)
{
plane = p;
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
-leg(TWR_UNKNOWN),
+onRwy(false),
+nextOnRwy(false),
+opType(TTT_UNKNOWN),
+leg(LEG_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
-leg(TWR_UNKNOWN),
+onRwy(false),
+nextOnRwy(false),
+opType(TTT_UNKNOWN),
+leg(LEG_UNKNOWN),
isUser(false)
{
plane = p;
// Init the property nodes - TODO - need to make sure we're getting surface winds.
wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
- wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
+ wind_speed_knots = fgGetNode("/environment/wind-speed-kt", true);
holdListItr = holdList.begin();
appListItr = appList.begin();
rwyListItr = rwyList.begin();
circuitListItr = circuitList.begin();
trafficListItr = trafficList.begin();
+
+ freqClear = true;
}
FGTower::~FGTower() {
user_lon_node = fgGetNode("/position/longitude-deg", true);
user_lat_node = fgGetNode("/position/latitude-deg", true);
user_elev_node = fgGetNode("/position/altitude-ft", true);
+ user_hdg_node = fgGetNode("/orientation/heading-deg", true);
// Need some way to initialise rwyOccupied flag correctly if the user is on the runway and to know its the user.
// I'll punt the startup issue for now though!!!
// Assume the user is started at the threshold ready to take-off
TowerPlaneRec* t = new TowerPlaneRec;
t->plane.callsign = "Charlie Foxtrot Sierra"; // C-FGFS !!! - fixme - this is a bit hardwired
- t->opType = OUTBOUND; // How do we determine if the user actually wants to do circuits?
+ t->plane.type = GA_SINGLE;
+ t->opType = TTT_UNKNOWN; // We don't know if the user wants to do circuits or a departure...
+ t->leg = TAKEOFF_ROLL;
t->isUser = true;
t->planePtr = NULL;
t->clearedToTakeOff = true;
}
void FGTower::Update(double dt) {
+ static int ii = 0; // Counter for spreading the load
+ int ii_max = 15;
//cout << "T" << flush;
- // Each time step, what do we need to do?
- // We need to go through the list of outstanding requests and acknowedgements
- // and process at least one of them.
- // We need to go through the list of planes under our control and check if
- // any need to be addressed.
- // We need to check for planes not under our control coming within our
- // control area and address if necessary.
-
+ // Each time step, what do we need to do?
+ // We need to go through the list of outstanding requests and acknowedgements
+ // and process at least one of them.
+ // We need to go through the list of planes under our control and check if
+ // any need to be addressed.
+ // We need to check for planes not under our control coming within our
+ // control area and address if necessary.
+
// TODO - a lot of the below probably doesn't need to be called every frame and should be staggered.
// Sort the arriving planes
-
+
// Calculate the eta of each plane to the threshold.
// For ground traffic this is the fastest they can get there.
// For air traffic this is the middle approximation.
- doThresholdETACalc();
+ if(ii == 1) {
+ doThresholdETACalc();
+ }
// Order the list of traffic as per expected threshold use and flag any conflicts
- bool conflicts = doThresholdUseOrder();
+ if(ii == 2) {
+ bool conflicts = doThresholdUseOrder();
+ }
// sortConficts() !!!
// Do one plane from the hold list
- if(holdList.size()) {
- //cout << "A" << endl;
- //cout << "*holdListItr = " << *holdListItr << endl;
- if(holdListItr == holdList.end()) {
- holdListItr = holdList.begin();
- }
- //cout << "*holdListItr = " << *holdListItr << endl;
- //Process(*holdListItr);
- TowerPlaneRec* t = *holdListItr;
- //cout << "t = " << t << endl;
- if(t->holdShortReported) {
- //cout << "B" << endl;
- double responseTime = 10.0; // seconds - this should get more sophisticated at some point
- if(t->clearanceCounter > responseTime) {
- //cout << "C" << endl;
+ if(ii == 4) {
+ if(holdList.size()) {
+ //cout << "*holdListItr = " << *holdListItr << endl;
+ if(holdListItr == holdList.end()) {
+ holdListItr = holdList.begin();
+ }
+ //cout << "*holdListItr = " << *holdListItr << endl;
+ //Process(*holdListItr);
+ TowerPlaneRec* t = *holdListItr;
+ //cout << "t = " << t << endl;
+ if(t->holdShortReported) {
+ double responseTime = 10.0; // seconds - this should get more sophisticated at some point
+ if(t->clearanceCounter > responseTime) {
+ if(t->nextOnRwy) {
+ if(rwyOccupied) {
+ // Do nothing for now - consider acknowloging hold short eventually
+ } else {
+ // Lets Roll !!!!
+ string trns = t->plane.callsign;
+ //if(departed plane < some threshold in time away) {
+ if(0) { // FIXME
+ trns += " line up";
+ t->clearedToLineUp = true;
+ t->planePtr->RegisterTransmission(3); // cleared to line-up
+ t->leg = TAKEOFF_ROLL;
+ //} else if(arriving plane < some threshold away) {
+ } else if(GetTrafficETA(2) < 150.0) {
+ trns += " cleared immediate take-off";
+ if(trafficList.size()) {
+ tower_plane_rec_list_iterator trfcItr = trafficList.begin();
+ trfcItr++; // At the moment the holding plane should be first in trafficList.
+ // Note though that this will break if holding planes aren't put in trafficList in the future.
+ TowerPlaneRec* trfc = *trfcItr;
+ trns += "... traffic is";
+ switch(trfc->plane.type) {
+ case UNKNOWN:
+ break;
+ case GA_SINGLE:
+ trns += " a Cessna"; // TODO - add ability to specify actual plane type somewhere
+ break;
+ case GA_HP_SINGLE:
+ trns += " a Piper";
+ break;
+ case GA_TWIN:
+ trns += " a King-air";
+ break;
+ case GA_JET:
+ trns += " a Learjet";
+ break;
+ case MEDIUM:
+ trns += " a Regional";
+ break;
+ case HEAVY:
+ trns += " a Heavy";
+ break;
+ case MIL_JET:
+ trns += " Military";
+ break;
+ }
+ if(trfc->opType == STRAIGHT_IN || trfc->opType == TTT_UNKNOWN) {
+ double miles_out = CalcDistOutMiles(trfc);
+ if(miles_out < 2) {
+ trns += " on final";
+ } else {
+ trns += " on ";
+ trns += ConvertNumToSpokenDigits((int)miles_out);
+ trns += " mile final";
+ }
+ } else if(trfc->opType == CIRCUIT) {
+ switch(trfc->leg) {
+ case FINAL:
+ trns += " on final";
+ break;
+ case TURN4:
+ trns += " turning final";
+ break;
+ case BASE:
+ trns += " on base";
+ break;
+ case TURN3:
+ trns += " turning base";
+ break;
+ case DOWNWIND:
+ trns += " in circuit";
+ break;
+ // And to eliminate compiler warnings...
+ case TAKEOFF_ROLL: break;
+ case CLIMBOUT: break;
+ case TURN1: break;
+ case CROSSWIND: break;
+ case TURN2: break;
+ case LANDING_ROLL: break;
+ case LEG_UNKNOWN: break;
+ }
+ }
+ } else {
+ // By definition there should be some arriving traffic if we're cleared for immediate takeoff
+ SG_LOG(SG_ATC, SG_WARN, "Warning: Departing traffic cleared for *immediate* take-off despite no arriving traffic in FGTower");
+ }
+ t->clearedToTakeOff = true;
+ t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
+ t->leg = TAKEOFF_ROLL;
+ } else {
+ trns += " cleared for take-off";
+ // TODO - add traffic is... ?
+ t->clearedToTakeOff = true;
+ t->planePtr->RegisterTransmission(4); // cleared to take-off
+ t->leg = TAKEOFF_ROLL;
+ }
+ if(display) {
+ globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
+ }
+ t->holdShortReported = false;
+ t->clearanceCounter = 0;
+ rwyList.push_back(t);
+ rwyOccupied = true;
+ holdList.erase(holdListItr);
+ holdListItr = holdList.begin();
+ }
+ } else {
+ // Tell him to hold and what position he is.
+ // Not currently sure under which circumstances we do or don't bother transmitting this.
+ string trns = t->plane.callsign;
+ trns += " hold position";
+ if(display) {
+ globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
+ }
+ t->holdShortReported = false;
+ t->clearanceCounter = 0;
+ // TODO - add some idea of what traffic is blocking him.
+ }
+ } else {
+ t->clearanceCounter += (dt * holdList.size() * ii_max);
+ }
+ } else { // not responding to report, but still need to clear if clear
if(t->nextOnRwy) {
- //cout << "D" << endl;
if(rwyOccupied) {
- //cout << "E" << endl;
// Do nothing for now - consider acknowloging hold short eventually
} else {
// Lets Roll !!!!
string trns = t->plane.callsign;
//if(departed plane < some threshold in time away) {
- if(0) { // FIXME
- trns += " line up";
- t->clearedToLineUp = true;
- t->planePtr->RegisterTransmission(3); // cleared to line-up
+ if(0) { // FIXME
+ trns += " line up";
+ t->clearedToLineUp = true;
+ t->planePtr->RegisterTransmission(3); // cleared to line-up
+ t->leg = TAKEOFF_ROLL;
//} else if(arriving plane < some threshold away) {
- } else if(0) { // FIXME
- trns += " cleared immediate take-off";
- // TODO - add traffic is... ?
- t->clearedToTakeOff = true;
- t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
+ } else if(GetTrafficETA(2) < 150.0) {
+ trns += " cleared immediate take-off";
+ // TODO - add traffic is... ?
+ t->clearedToTakeOff = true;
+ t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
+ t->leg = TAKEOFF_ROLL;
+ } else {
+ trns += " cleared for take-off";
+ // TODO - add traffic is... ?
+ t->clearedToTakeOff = true;
+ t->planePtr->RegisterTransmission(4); // cleared to take-off
+ t->leg = TAKEOFF_ROLL;
+ }
+ if(display) {
+ globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
+ }
+ rwyList.push_back(t);
+ rwyOccupied = true;
+ holdList.erase(holdListItr);
+ holdListItr = holdList.begin();
+ }
+ }
+ // TODO - remove the considerable code duplication above!
+ }
+ ++holdListItr;
+ }
+ }
+
+ // Do the runway list - we'll do the whole runway list since it's important and there'll never be many planes on the rwy at once!!
+ // FIXME - at the moment it looks like we're only doing the first plane from the rwy list.
+ if(ii == 5) {
+ if(rwyOccupied) {
+ if(!rwyList.size()) {
+ rwyOccupied = false;
+ } else {
+ rwyListItr = rwyList.begin();
+ TowerPlaneRec* t = *rwyListItr;
+ if(t->isUser) {
+ bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
+ // TODO - how do we find the position when it's not the user?
+ if(!on_rwy) {
+ if((t->opType == INBOUND) || (t->opType == STRAIGHT_IN)) {
+ rwyList.pop_front();
+ delete t;
+ // TODO - tell it to taxi / contact ground / don't delete it etc!
+ } else if(t->opType == OUTBOUND) {
+ depList.push_back(t);
+ rwyList.pop_front();
+ } else if(t->opType == CIRCUIT) {
+ circuitList.push_back(t);
+ //cout << "Oggy oggy oggy\n";
+ AddToTrafficList(t);
+ rwyList.pop_front();
+ } else if(t->opType == TTT_UNKNOWN) {
+ depList.push_back(t);
+ circuitList.push_back(t);
+ //cout << "Aggy aggy aggy\n";
+ AddToTrafficList(t);
+ rwyList.pop_front();
} else {
- trns += " cleared for take-off";
- // TODO - add traffic is... ?
- t->clearedToTakeOff = true;
- t->planePtr->RegisterTransmission(4); // cleared to take-off
+ // HELP - we shouldn't ever get here!!!
}
- if(display) {
- globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
+ }
+ } // else TODO figure out what to do when it's not the user
+ }
+ }
+ }
+
+ // do the ciruit list
+ if(ii == 6) {
+ // Clear the constraints - we recalculate here.
+ base_leg_pos = 0.0;
+ downwind_leg_pos = 0.0;
+ crosswind_leg_pos = 0.0;
+ if(circuitList.size()) {
+ circuitListItr = circuitList.begin(); // TODO - at the moment we're constraining plane 2 based on plane 1 - this won't work for 3 planes in the circuit!!
+ TowerPlaneRec* t = *circuitListItr;
+ if(t->isUser) {
+ t->pos.setlon(user_lon_node->getDoubleValue());
+ t->pos.setlat(user_lat_node->getDoubleValue());
+ t->pos.setelev(user_elev_node->getDoubleValue());
+ } else {
+ // TODO - set/update the position if it's an AI plane
+ }
+ Point3D tortho = ortho.ConvertToLocal(t->pos);
+ if(t->isUser) {
+ // Need to figure out which leg he's on
+ //cout << "rwy.hdg = " << rwy.hdg << " user hdg = " << user_hdg_node->getDoubleValue();
+ double ho = GetAngleDiff_deg(user_hdg_node->getDoubleValue(), rwy.hdg);
+ //cout << " ho = " << ho << '\n';
+ // TODO FIXME - get the wind and convert this to track, or otherwise use track somehow!!!
+ // If it's gusty might need to filter the value, although we are leaving 30 degrees each way leeway!
+ if(abs(ho) < 30) {
+ // could be either takeoff, climbout or landing - check orthopos.y
+ //cout << "tortho.y = " << tortho.y() << '\n';
+ if((tortho.y() < 0) || (t->leg == TURN4) || (t->leg == FINAL)) {
+ t->leg = FINAL;
+ //cout << "Final\n";
+ } else {
+ t->leg = CLIMBOUT; // TODO - check elev wrt. apt elev to differentiate takeoff roll and climbout
+ //cout << "Climbout\n";
+ // If it's the user we may be unsure of his/her intentions.
+ // (Hopefully the AI planes won't try confusing the sim!!!)
+ if(t->opType == TTT_UNKNOWN) {
+ if(tortho.y() > 5000) {
+ // 5 km out from threshold - assume it's a departure
+ t->opType = OUTBOUND; // TODO - could check if the user has climbed significantly above circuit altitude as well.
+ // Since we are unknown operation we should be in depList already.
+ circuitList.erase(circuitListItr);
+ RemoveFromTrafficList(t->plane.callsign);
+ circuitListItr = circuitList.begin();
+ }
+ } else if(t->opType == CIRCUIT) {
+ if(tortho.y() > 10000) {
+ // 10 km out - assume the user has abandoned the circuit!!
+ t->opType = OUTBOUND;
+ depList.push_back(t);
+ circuitList.erase(circuitListItr);
+ circuitListItr = circuitList.begin();
+ }
}
- t->holdShortReported = false;
- t->clearanceCounter = 0;
- rwyList.push_back(t);
- rwyOccupied = true;
- holdList.erase(holdListItr);
- holdListItr = holdList.begin();
+ }
+ } else if(abs(ho) < 60) {
+ // turn1 or turn 4
+ // TODO - either fix or doublecheck this hack by looking at heading and pattern direction
+ if((t->leg == CLIMBOUT) || (t->leg == TURN1)) {
+ t->leg = TURN1;
+ //cout << "Turn1\n";
+ } else {
+ t->leg = TURN4;
+ //cout << "Turn4\n";
+ }
+ } else if(abs(ho) < 120) {
+ // crosswind or base
+ // TODO - either fix or doublecheck this hack by looking at heading and pattern direction
+ if((t->leg == TURN1) || (t->leg == CROSSWIND)) {
+ t->leg = CROSSWIND;
+ //cout << "Crosswind\n";
+ } else {
+ t->leg = BASE;
+ //cout << "Base\n";
+ }
+ } else if(abs(ho) < 150) {
+ // turn2 or turn 3
+ // TODO - either fix or doublecheck this hack by looking at heading and pattern direction
+ if((t->leg == CROSSWIND) || (t->leg == TURN2)) {
+ t->leg = TURN2;
+ //cout << "Turn2\n";
+ } else {
+ t->leg = TURN3;
+ // Probably safe now to assume the user is flying a circuit
+ t->opType = CIRCUIT;
+ //cout << "Turn3\n";
}
} else {
- // possibly tell him to hold and what position he is?
+ // downwind
+ t->leg = DOWNWIND;
+ //cout << "Downwind\n";
}
} else {
- t->clearanceCounter += (dt * holdList.size());
+ t->leg = t->planePtr->GetLeg();
}
- }
- ++holdListItr;
+ switch(t->leg) {
+ case FINAL:
+ // Base leg must be at least as far out as the plane is - actually possibly not necessary for separation, but we'll use that for now.
+ base_leg_pos = tortho.y();
+ //cout << "base_leg_pos = " << base_leg_pos << '\n';
+ break;
+ case TURN4:
+ // Fall through to base
+ case BASE:
+ base_leg_pos = tortho.y();
+ //cout << "base_leg_pos = " << base_leg_pos << '\n';
+ break;
+ case TURN3:
+ // Fall through to downwind
+ case DOWNWIND:
+ // Only have the downwind leg pos as turn-to-base constraint if more negative than we already have.
+ base_leg_pos = (tortho.y() < base_leg_pos ? tortho.y() : base_leg_pos);
+ //cout << "base_leg_pos = " << base_leg_pos;
+ downwind_leg_pos = tortho.x(); // Assume that a following plane can simply be constrained by the immediately in front downwind plane
+ //cout << " downwind_leg_pos = " << downwind_leg_pos << '\n';
+ break;
+ case TURN2:
+ // Fall through to crosswind
+ case CROSSWIND:
+ crosswind_leg_pos = tortho.y();
+ //cout << "crosswind_leg_pos = " << crosswind_leg_pos << '\n';
+ break;
+ case TURN1:
+ // Fall through to climbout
+ case CLIMBOUT:
+ // Only use current by constraint as largest
+ crosswind_leg_pos = (tortho.y() > crosswind_leg_pos ? tortho.y() : crosswind_leg_pos);
+ //cout << "crosswind_leg_pos = " << crosswind_leg_pos << '\n';
+ break;
+ case TAKEOFF_ROLL:
+ break;
+ case LEG_UNKNOWN:
+ break;
+ case LANDING_ROLL:
+ break;
+ default:
+ break;
+ }
+ }
}
- // Do the runway list - we'll do the whole runway list since it's important and there'll never be many planes on the rwy at once!!
- if(rwyOccupied) {
- if(!rwyList.size()) {
- rwyOccupied = false;
- } else {
- rwyListItr = rwyList.begin();
- TowerPlaneRec* t = *rwyListItr;
+ // Do one plane from the approach list
+ if(ii == 7) {
+ if(appList.size()) {
+ if(appListItr == appList.end()) {
+ appListItr = appList.begin();
+ }
+ TowerPlaneRec* t = *appListItr;
+ //cout << "t = " << t << endl;
if(t->isUser) {
- bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
- // TODO - how do we find the position when it's not the user?
- if(!on_rwy) {
- rwyList.pop_front();
- delete t;
- }
- } // else TODO figure out what to do when it's not the user
+ t->pos.setlon(user_lon_node->getDoubleValue());
+ t->pos.setlat(user_lat_node->getDoubleValue());
+ t->pos.setelev(user_elev_node->getDoubleValue());
+ } else {
+ // TODO - set/update the position if it's an AI plane
+ }
+ if(t->nextOnRwy && !(t->clearedToLand)) {
+ // check distance away and whether runway occupied
+ // and schedule transmission if necessary
+ }
+ ++appListItr;
}
}
}
ground->Update(dt);
}
- //cout << "R " << flush;
+
+ ++ii;
+ // How big should ii get - ie how long should the update cycle interval stretch?
+ if(ii >= ii_max) {
+ ii = 0;
+ }
+
+ if(ident == "KEMT") {
+ // For AI debugging convienience - may be removed
+ Point3D user_pos;
+ user_pos.setlon(user_lon_node->getDoubleValue());
+ user_pos.setlat(user_lat_node->getDoubleValue());
+ user_pos.setelev(user_elev_node->getDoubleValue());
+ Point3D user_ortho_pos = ortho.ConvertToLocal(user_pos);
+ fgSetDouble("/AI/user/ortho-x", user_ortho_pos.x());
+ fgSetDouble("/AI/user/ortho-y", user_ortho_pos.y());
+ fgSetDouble("/AI/user/elev", user_elev_node->getDoubleValue());
+ }
+}
+
+
+// Returns true if positions of crosswind/downwind/base leg turns should be constrained by previous traffic
+// plus the constraint position as a rwy orientated orthopos (meters)
+bool FGTower::GetCrosswindConstraint(double& cpos) {
+ if(crosswind_leg_pos != 0.0) {
+ cpos = crosswind_leg_pos;
+ return(true);
+ } else {
+ cpos = 0.0;
+ return(false);
+ }
+}
+bool FGTower::GetDownwindConstraint(double& dpos) {
+ if(downwind_leg_pos != 0.0) {
+ dpos = downwind_leg_pos;
+ return(true);
+ } else {
+ dpos = 0.0;
+ return(false);
+ }
+}
+bool FGTower::GetBaseConstraint(double& bpos) {
+ if(base_leg_pos != 0.0) {
+ bpos = base_leg_pos;
+ return(true);
+ } else {
+ bpos = 0.0;
+ return(false);
+ }
}
//cout << "GetRwyDetails called" << endl;
// Based on the airport-id and wind get the active runway
- 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();
//cout << "Heading = " << hdg << '\n';
FGRunway runway;
- bool rwyGood = runways.search(ident, int(hdg), &runway);
+ bool rwyGood = globals->get_runways()->search(ident, int(hdg), &runway);
if(rwyGood) {
activeRwy = runway.rwy_no;
rwy.rwyID = runway.rwy_no;
double tshlon, tshlat, tshr;
double tolon, tolat, tor;
rwy.length = runway.length * SG_FEET_TO_METER;
+ rwy.width = runway.width * 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(), runway.heading,
// Figure out if a given position lies on the active runway
// Might have to change when we consider more than one active rwy.
bool FGTower::OnActiveRunway(Point3D pt) {
- SGPath path( globals->get_fg_root() );
- path.append( "Airports" );
- path.append( "runways.mk4" );
- FGRunways runways( path.c_str() );
+ // TODO - check that the centre calculation below isn't confused by displaced thesholds etc.
+ Point3D xyc((rwy.end1ortho.x() + rwy.end2ortho.x())/2.0, (rwy.end1ortho.y() + rwy.end2ortho.y())/2.0, 0.0);
+ Point3D xyp = ortho.ConvertToLocal(pt);
- FGRunway runway;
- bool rwyGood = runways.search(ident, activeRwy, &runway);
- if(!rwyGood) {
- SG_LOG(SG_ATC, SG_WARN, "Unable to find runway " << activeRwy << " for airport ID " << ident << " in FGTower");
- }
- return false; // TODO - this is an emergency patch to correct a framerate problem - FIXME properly!!!
- //return(OnRunway(pt, &runway) ? true : false);
+ //cout << "Length offset = " << fabs(xyp.y() - xyc.y()) << '\n';
+ //cout << "Width offset = " << fabs(xyp.x() - xyc.x()) << '\n';
+
+ double rlen = rwy.length/2.0 + 5.0;
+ double rwidth = rwy.width/2.0;
+ double ldiff = fabs(xyp.y() - xyc.y());
+ double wdiff = fabs(xyp.x() - xyc.x());
+
+ return((ldiff < rlen) && (wdiff < rwidth));
}
// Figure out if a given position lies on any runway or not
+// Only call this at startup - reading the runways database is expensive and needs to be fixed!
bool FGTower::OnAnyRunway(Point3D pt) {
ATCData ad;
double dist = current_commlist->FindClosest(lon, lat, elev, ad, TOWER, 10.0);
return(false);
}
// Based on the airport-id, go through all the runways and check for a point in them
- SGPath spath( globals->get_fg_root() );
- spath.append( "Airports" );
- spath.append( "runways.mk4" );
- FGRunways runways( spath.c_str() );
// TODO - do we actually need to search for the airport - surely we already know our ident and
// can just search runways of our airport???
//cout << "Airport ident is " << ad.ident << '\n';
FGRunway runway;
- bool rwyGood = runways.search(ad.ident, &runway);
+ bool rwyGood = globals->get_runways()->search(ad.ident, &runway);
if(!rwyGood) {
SG_LOG(SG_ATC, SG_WARN, "Unable to find any runways for airport ID " << ad.ident << " in FGTower");
}
bool on = false;
while(runway.id == ad.ident) {
- on = OnRunway(pt, &runway);
+ on = OnRunway(pt, runway);
//cout << "Runway " << runway.rwy_no << ": On = " << (on ? "true\n" : "false\n");
if(on) return(true);
- runways.next(&runway);
+ globals->get_runways()->next(&runway);
}
return(on);
}
-// Calculate the eta of each plane to the threshold.
+// Returns true if successful
+bool FGTower::RemoveFromTrafficList(string id) {
+ tower_plane_rec_list_iterator twrItr;
+ for(twrItr = trafficList.begin(); twrItr != trafficList.end(); twrItr++) {
+ TowerPlaneRec* tpr = *twrItr;
+ if(tpr->plane.callsign == id) {
+ trafficList.erase(twrItr);
+ return(true);
+ }
+ }
+ SG_LOG(SG_ATC, SG_WARN, "Warning - unable to remove aircraft " << id << " from trafficList in FGTower");
+ return(false);
+}
+
+
+// Add a tower plane rec with ETA to the traffic list in the correct position ETA-wise
+// and set nextOnRwy if so.
+// Returns true if this could cause a threshold ETA conflict with other traffic, false otherwise.
+// For planes holding they are put in the first position with time to go, and the return value is
+// true if in the first position (nextOnRwy) and false otherwise.
+bool FGTower::AddToTrafficList(TowerPlaneRec* t, bool holding) {
+ //cout << "AddToTrafficList called, currently size = " << trafficList.size() << ", holding = " << holding << '\n';
+ double separation_time = 90.0; // seconds - this is currently a guess for light plane separation, and includes a few seconds for a holding plane to taxi onto the rwy.
+ bool conflict = false;
+ double lastETA = 0.0;
+ bool firstTime = true;
+ // FIXME - make this more robust for different plane types eg. light following heavy.
+ tower_plane_rec_list_iterator twrItr;
+ for(twrItr = trafficList.begin(); twrItr != trafficList.end(); twrItr++) {
+ TowerPlaneRec* tpr = *twrItr;
+ if(holding) {
+ //cout << (tpr->isUser ? "USER!\n" : "NOT user\n");
+ //cout << "tpr->eta - lastETA = " << tpr->eta - lastETA << '\n';
+ if(tpr->eta - lastETA > separation_time) {
+ t->nextOnRwy = firstTime;
+ trafficList.insert(twrItr, t);
+ return(firstTime);
+ }
+ firstTime = false;
+ } else {
+ if(t->eta < tpr->eta) {
+ // Ugg - this one's tricky.
+ // It depends on what the two planes are doing and whether there's a conflict what we do.
+ if(tpr->eta - t->eta > separation_time) { // No probs, plane 2 can squeeze in before plane 1 with no apparent conflict
+ if(tpr->nextOnRwy) {
+ tpr->nextOnRwy = false;
+ t->nextOnRwy = true;
+ }
+ trafficList.insert(twrItr, t);
+ } else { // Ooops - this ones tricky - we have a potential conflict!
+ conflict = true;
+ }
+ return(conflict);
+ }
+ }
+ }
+ // If we get here we must be at the end of the list, or maybe the list is empty.
+ if(!trafficList.size()) {
+ t->nextOnRwy = true;
+ // conflict and firstTime should be false and true respectively in this case anyway.
+ }
+ trafficList.push_back(t);
+ return(holding ? firstTime : conflict);
+}
+
+
+// Calculate the eta of a plane to the threshold.
// For ground traffic this is the fastest they can get there.
// For air traffic this is the middle approximation.
-void FGTower::doThresholdETACalc() {
+void FGTower::CalcETA(TowerPlaneRec* tpr) {
// For now we'll be very crude and hardwire expected speeds to C172-like values
// The speeds below are specified in knots IAS and then converted to m/s
double app_ias = 100.0 * 0.514444; // Speed during straight-in approach
double circuit_ias = 80.0 * 0.514444; // Speed around circuit
double final_ias = 70.0 * 0.514444; // Speed during final approach
-
- tower_plane_rec_list_iterator twrItr;
-
+
// Sign convention - dist_out is -ve for approaching planes and +ve for departing planes
// dist_across is +ve in the pattern direction - ie a plane correctly on downwind will have a +ve dist_across
- for(twrItr = trafficList.begin(); twrItr != trafficList.end(); twrItr++) {
- TowerPlaneRec* tpr = *twrItr;
- Point3D op = ortho.ConvertToLocal(tpr->pos);
- double dist_out_m = op.y();
- double dist_across_m = fabs(op.x()); // FIXME = the fabs is a hack to cope with the fact that we don't know the circuit direction yet
- //cout << "Doing ETA calc for " << tpr->plane.callsign << '\n';
- if(tpr->opType == CIRCUIT) {
- // It's complicated - depends on if base leg is delayed or not
- if(tpr->leg == TWR_LANDING_ROLL) {
- tpr->eta = 0;
- } else if(tpr->leg == TWR_FINAL) {
- tpr->eta = fabs(dist_out_m) / final_ias;
- } else if(tpr->leg == TWR_BASE) {
- tpr->eta = (fabs(dist_out_m) / final_ias) + (dist_across_m / circuit_ias);
+
+ Point3D op = ortho.ConvertToLocal(tpr->pos);
+ double dist_out_m = op.y();
+ double dist_across_m = fabs(op.x()); // FIXME = the fabs is a hack to cope with the fact that we don't know the circuit direction yet
+ //cout << "Doing ETA calc for " << tpr->plane.callsign << '\n';
+
+ if(tpr->opType == STRAIGHT_IN) {
+ double dist_to_go_m = sqrt((dist_out_m * dist_out_m) + (dist_across_m * dist_across_m));
+ if(dist_to_go_m < 1000) {
+ tpr->eta = dist_to_go_m / final_ias;
+ } else {
+ tpr->eta = (1000.0 / final_ias) + ((dist_to_go_m - 1000.0) / app_ias);
+ }
+ } else if(tpr->opType == CIRCUIT || tpr->opType == TTT_UNKNOWN) { // Hack alert - UNKNOWN has sort of been added here as a temporary hack.
+ // It's complicated - depends on if base leg is delayed or not
+ if(tpr->leg == LANDING_ROLL) {
+ tpr->eta = 0;
+ } else if((tpr->leg == FINAL) || (tpr->leg == TURN4)) {
+ tpr->eta = fabs(dist_out_m) / final_ias;
+ } else if((tpr->leg == BASE) || (tpr->leg == TURN3)) {
+ tpr->eta = (fabs(dist_out_m) / final_ias) + (dist_across_m / circuit_ias);
+ } else {
+ // Need to calculate where base leg is likely to be
+ // FIXME - for now I'll hardwire it to 1000m which is what AILocalTraffic uses!!!
+ // TODO - as a matter of design - AILocalTraffic should get the nominal no-traffic base turn distance from Tower, since in real life the published pattern might differ from airport to airport
+ double nominal_base_dist_out_m = -1000;
+ double current_base_dist_out_m;
+ if(!GetBaseConstraint(current_base_dist_out_m)) {
+ current_base_dist_out_m = nominal_base_dist_out_m;
+ }
+ double nominal_dist_across_m = 1000; // Hardwired value from AILocalTraffic
+ double current_dist_across_m;
+ if(!GetDownwindConstraint(current_dist_across_m)) {
+ current_dist_across_m = nominal_dist_across_m;
+ }
+ double nominal_cross_dist_out_m = 1000; // Bit of a guess - AI plane turns to crosswind at 600ft agl.
+ tpr->eta = fabs(current_base_dist_out_m) / final_ias; // final
+ if((tpr->leg == DOWNWIND) || (tpr->leg == TURN2)) {
+ tpr->eta += dist_across_m / circuit_ias;
+ tpr->eta += fabs(current_base_dist_out_m - dist_out_m) / circuit_ias;
+ } else if((tpr->leg == CROSSWIND) || (tpr->leg == TURN1)) {
+ tpr->eta += nominal_dist_across_m / circuit_ias; // should we use the dist across of the previous plane if there is previous still on downwind?
+ tpr->eta += fabs(current_base_dist_out_m - nominal_cross_dist_out_m) / circuit_ias;
+ tpr->eta += (nominal_dist_across_m - dist_across_m) / circuit_ias;
} else {
- // Need to calculate where base leg is likely to be
- // FIXME - for now I'll hardwire it to 1000m which is what AILocalTraffic uses!!!
- // TODO - as a matter of design - AILocalTraffic should get the nominal no-traffic base turn distance from Tower, since in real life the published pattern might differ from airport to airport
- double nominal_base_dist_out_m = -1000;
- double current_base_dist_out_m = nominal_base_dist_out_m;
- double nominal_dist_across_m = 1000; // Hardwired value from AILocalTraffic
- double nominal_cross_dist_out_m = 1000; // Bit of a guess - AI plane turns to crosswind at 600ft agl.
- tpr->eta = fabs(current_base_dist_out_m) / final_ias; // final
- if(tpr->leg == TWR_DOWNWIND) {
- tpr->eta += dist_across_m / circuit_ias;
- tpr->eta += fabs(current_base_dist_out_m - dist_out_m) / circuit_ias;
- } else if(tpr->leg == TWR_CROSSWIND) {
- tpr->eta += nominal_dist_across_m / circuit_ias; // should we use the dist across of the previous plane if there is previous still on downwind?
- tpr->eta += fabs(current_base_dist_out_m - nominal_cross_dist_out_m) / circuit_ias;
- tpr->eta += (nominal_dist_across_m - dist_across_m) / circuit_ias;
- } else {
- // We've only just started - why not use a generic estimate?
- }
+ // We've only just started - why not use a generic estimate?
}
- } else if((tpr->opType == INBOUND) || (tpr->opType == STRAIGHT_IN)) {
- // It's simpler!
- } else {
- // Must be outbound - ignore it!
}
//cout << "ETA = " << tpr->eta << '\n';
+ } else {
+ tpr->eta = 99999;
+ }
+}
+
+
+// Calculate the distance of a plane to the threshold in meters
+// TODO - Modify to calculate flying distance of a plane in the circuit
+double FGTower::CalcDistOutM(TowerPlaneRec* tpr) {
+ return(dclGetHorizontalSeparation(rwy.threshold_pos, tpr->pos));
+}
+
+
+// Calculate the distance of a plane to the threshold in miles
+// TODO - Modify to calculate flying distance of a plane in the circuit
+double FGTower::CalcDistOutMiles(TowerPlaneRec* tpr) {
+ return(CalcDistOutM(tpr) / 1600.0); // FIXME - use a proper constant if possible.
+}
+
+
+// Iterate through all the lists and call CalcETA for all the planes.
+void FGTower::doThresholdETACalc() {
+ tower_plane_rec_list_iterator twrItr;
+ // Do the approach list first
+ for(twrItr = appList.begin(); twrItr != appList.end(); twrItr++) {
+ TowerPlaneRec* tpr = *twrItr;
+ CalcETA(tpr);
+ }
+ // Then the circuit list
+ for(twrItr = circuitList.begin(); twrItr != circuitList.end(); twrItr++) {
+ TowerPlaneRec* tpr = *twrItr;
+ CalcETA(tpr);
}
}
+// Check that the planes in traffic list are correctly ordered,
+// that the nearest (timewise) is flagged next on rwy, and return
+// true if any threshold use conflicts are detected, false otherwise.
bool FGTower::doThresholdUseOrder() {
- return(true);
+ bool conflict = false;
+
+ // TODO - write some code here!
+
+ return(conflict);
}
void FGTower::doCommunication() {
}
-void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIEntity* requestee, tower_traffic_type operation) {
+// Return the ETA of plane no. list_pos (1-based) in the traffic list.
+// i.e. list_pos = 1 implies next to use runway.
+double FGTower::GetTrafficETA(unsigned int list_pos) {
+ if(trafficList.size() < list_pos) {
+ return(99999);
+ }
+
+ tower_plane_rec_list_iterator twrItr;
+ twrItr = trafficList.begin();
+ for(unsigned int i = 1; i < list_pos; i++, twrItr++);
+ //cout << "ETA returned = " << (*twrItr)->eta << '\n';
+ return((*twrItr)->eta);
+}
+
+
+void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIPlane* requestee, tower_traffic_type operation) {
// HACK - assume that anything contacting at hold short is new for now - FIXME LATER
TowerPlaneRec* t = new TowerPlaneRec;
t->plane = plane;
t->clearedToTakeOff = false;
t->opType = operation;
- // HACK ALERT - THIS IS HARDWIRED FOR TESTING - FIXME TODO ETC
- t->nextOnRwy = true;
+ //cout << "Hold Short reported by " << plane.callsign << '\n';
+
+ bool next = AddToTrafficList(t, true);
+
+ if(next) {
+ //cout << "Next to take off - respond with clearance\n";
+ double teta = GetTrafficETA(2);
+ if(teta < 150.0) {
+ t->clearanceCounter = 7.0; // This reduces the delay before response to 3 secs if an immediate takeoff is reqd
+ //cout << "Reducing response time to request due imminent traffic\n";
+ }
+ } else {
+ //cout << "Not next to take off - respond with hold\n";
+ }
//cout << "t = " << t << '\n';
void FGTower::RequestLandingClearance(string ID) {
//cout << "Request Landing Clearance called...\n";
+
+ // Assume this comes from the user - have another function taking a pointer to the AIplane for the AI traffic.
+ // For now we'll also assume that the user is a light plane and can get him/her to join the circuit if necessary.
+
+ TowerPlaneRec* t = new TowerPlaneRec;
+ t->isUser = true;
+ t->clearedToLand = false;
+ t->pos.setlon(user_lon_node->getDoubleValue());
+ t->pos.setlat(user_lat_node->getDoubleValue());
+ t->pos.setelev(user_elev_node->getDoubleValue());
+
+ // TODO
+ // Calculate where the user is in relation to the active runway and it's circuit
+ // and set the op-type as appropriate.
+
+ // HACK - to get up and running I'm going to assume that the user contacts tower on a staight-in final for now.
+ t->opType = STRAIGHT_IN;
+
+ t->plane.type = GA_SINGLE; // FIXME - Another assumption!
+ t->plane.callsign = ID;
+
+ appList.push_back(t); // Not necessarily permanent
+ AddToTrafficList(t);
}
+
void FGTower::RequestDepartureClearance(string ID) {
//cout << "Request Departure Clearance called...\n";
}
projects / flightgear.git / blobdiff