#include <math.h>
#include <algorithm>
-#include <simgear/compiler.h>
-
//#include <plib/sg.h>
//#include <plib/ul.h>
//#include <Main/fg_props.hxx>
//#include <Airports/runways.hxx>
+
+#include <AIModel/AIFlightPlan.hxx>
+
//#include STL_STRING
#include "groundnetwork.hxx"
SG_USING_STD(sort);
+
+
/**************************************************************************
* FGTaxiNode
*************************************************************************/
{
}
+void FGTaxiNode::sortEndSegments(bool byLength)
+{
+ if (byLength)
+ sort(next.begin(), next.end(), sortByLength);
+ else
+ sort(next.begin(), next.end(), sortByHeadingDiff);
+}
+
+
+bool compare_nodes(FGTaxiNode *a, FGTaxiNode *b) {
+return (*a) < (*b);
+}
+
/***************************************************************************
* FGTaxiSegment
**************************************************************************/
FGTaxiSegment::FGTaxiSegment()
{
+ oppositeDirection = 0;
+ isActive = true;
}
void FGTaxiSegment::setStart(FGTaxiNodeVector *nodes)
FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end())
{
- if (i->getIndex() == startNode)
+ if ((*i)->getIndex() == startNode)
{
- start = i->getAddress();
- i->addSegment(this);
+ start = (*i)->getAddress();
+ (*i)->addSegment(this);
return;
}
i++;
FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end())
{
- if (i->getIndex() == endNode)
+ if ((*i)->getIndex() == endNode)
{
- end = i->getAddress();
+ end = (*i)->getAddress();
return;
}
i++;
}
}
+
+
// There is probably a computationally cheaper way of
// doing this.
void FGTaxiSegment::setTrackDistance()
{
- double course;
+ //double course;
SGWayPoint first (start->getLongitude(),
start->getLatitude(),
0);
end->getLatitude(),
0);
first.CourseAndDistance(second, &course, &length);
+}
+
+
+void FGTaxiSegment::setCourseDiff(double crse)
+{
+ headingDiff = fabs(course-crse);
+ if (headingDiff > 180)
+ headingDiff = fabs(headingDiff - 360);
}
-bool FGTaxiRoute::next(int *val)
+bool compare_segments(FGTaxiSegment *a, FGTaxiSegment *b) {
+return (*a) < (*b);
+}
+
+bool sortByHeadingDiff(FGTaxiSegment *a, FGTaxiSegment *b) {
+ return a->hasSmallerHeadingDiff(*b);
+}
+
+bool sortByLength(FGTaxiSegment *a, FGTaxiSegment *b) {
+ return a->getLength() > b->getLength();
+}
+/***************************************************************************
+ * FGTaxiRoute
+ **************************************************************************/
+bool FGTaxiRoute::next(int *nde)
{
//for (intVecIterator i = nodes.begin(); i != nodes.end(); i++)
// cerr << "FGTaxiRoute contains : " << *(i) << endl;
// cerr << "true" << endl;
//else
// cerr << "false" << endl;
+ //if (nodes.size() != (routes.size()) +1)
+ // cerr << "ALERT: Misconfigured TaxiRoute : " << nodes.size() << " " << routes.size() << endl;
if (currNode == nodes.end())
return false;
- *val = *(currNode);
+ *nde = *(currNode);
+ if (currNode != nodes.begin()) // make sure route corresponds to the end node
+ currRoute++;
+ currNode++;
+ return true;
+};
+
+bool FGTaxiRoute::next(int *nde, int *rte)
+{
+ //for (intVecIterator i = nodes.begin(); i != nodes.end(); i++)
+ // cerr << "FGTaxiRoute contains : " << *(i) << endl;
+ //cerr << "Offset from end: " << nodes.end() - currNode << endl;
+ //if (currNode != nodes.end())
+ // cerr << "true" << endl;
+ //else
+ // cerr << "false" << endl;
+ if (nodes.size() != (routes.size()) +1) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "ALERT: Misconfigured TaxiRoute : " << nodes.size() << " " << routes.size());
+ exit(1);
+ }
+ if (currNode == nodes.end())
+ return false;
+ *nde = *(currNode);
+ //*rte = *(currRoute);
+ if (currNode != nodes.begin()) // Make sure route corresponds to the end node
+ {
+ *rte = *(currRoute);
+ currRoute++;
+ }
+ else
+ {
+ // If currNode points to the first node, this means the aircraft is not on the taxi node
+ // yet. Make sure to return a unique identifyer in this situation though, because otherwise
+ // the speed adjust AI code may be unable to resolve whether two aircraft are on the same
+ // taxi route or not. the negative of the preceding route seems a logical choice, as it is
+ // unique for any starting location.
+ // Note that this is probably just a temporary fix until I get Parking / tower control working.
+ *rte = -1 * *(currRoute);
+ }
currNode++;
return true;
};
+
+void FGTaxiRoute::rewind(int route)
+{
+ int currPoint;
+ int currRoute;
+ first();
+ do {
+ if (!(next(&currPoint, &currRoute))) {
+ SG_LOG(SG_GENERAL,SG_ALERT, "Error in rewinding TaxiRoute: current" << currRoute
+ << " goal " << route);
+ }
+ } while (currRoute != route);
+}
+
+
+
+
/***************************************************************************
* FGGroundNetwork()
**************************************************************************/
foundRoute = false;
totalDistance = 0;
maxDistance = 0;
+ maxDepth = 1000;
+ count = 0;
+ currTraffic = activeTraffic.begin();
+
+}
+
+FGGroundNetwork::~FGGroundNetwork()
+{
+ for (FGTaxiNodeVectorIterator node = nodes.begin();
+ node != nodes.end();
+ node++)
+ {
+ delete (*node);
+ }
+ nodes.clear();
+ for (FGTaxiSegmentVectorIterator seg = segments.begin();
+ seg != segments.end();
+ seg++)
+ {
+ delete (*seg);
+ }
+ segments.clear();
}
void FGGroundNetwork::addSegment(const FGTaxiSegment &seg)
{
- segments.push_back(seg);
+ segments.push_back(new FGTaxiSegment(seg));
}
void FGGroundNetwork::addNode(const FGTaxiNode &node)
{
- nodes.push_back(node);
+ nodes.push_back(new FGTaxiNode(node));
}
void FGGroundNetwork::addNodes(FGParkingVec *parkings)
n.setIndex(i->getIndex());
n.setLatitude(i->getLatitude());
n.setLongitude(i->getLongitude());
- nodes.push_back(n);
+ nodes.push_back(new FGTaxiNode(n));
i++;
}
void FGGroundNetwork::init()
{
hasNetwork = true;
+ int index = 1;
+ sort(nodes.begin(), nodes.end(), compare_nodes);
+ //sort(segments.begin(), segments.end(), compare_segments());
FGTaxiSegmentVectorIterator i = segments.begin();
while(i != segments.end()) {
//cerr << "initializing node " << i->getIndex() << endl;
- i->setStart(&nodes);
- i->setEnd (&nodes);
- i->setTrackDistance();
+ (*i)->setStart(&nodes);
+ (*i)->setEnd (&nodes);
+ (*i)->setTrackDistance();
+ (*i)->setIndex(index);
//cerr << "Track distance = " << i->getLength() << endl;
//cerr << "Track ends at" << i->getEnd()->getIndex() << endl;
i++;
+ index++;
}
+
+ i = segments.begin();
+ while(i != segments.end()) {
+ FGTaxiSegmentVectorIterator j = (*i)->getEnd()->getBeginRoute();
+ while (j != (*i)->getEnd()->getEndRoute())
+ {
+ if ((*j)->getEnd()->getIndex() == (*i)->getStart()->getIndex())
+ {
+ int start1 = (*i)->getStart()->getIndex();
+ int end1 = (*i)->getEnd() ->getIndex();
+ int start2 = (*j)->getStart()->getIndex();
+ int end2 = (*j)->getEnd()->getIndex();
+ int oppIndex = (*j)->getIndex();
+ //cerr << "Opposite of " << (*i)->getIndex() << " (" << start1 << "," << end1 << ") "
+ // << "happens to be " << oppIndex << " (" << start2 << "," << end2 << ") " << endl;
+ (*i)->setOpposite(*j);
+ break;
+ }
+ j++;
+ }
+ i++;
+ }
+ //cerr << "Done initializing ground network" << endl;
//exit(1);
}
+
+
int FGGroundNetwork::findNearestNode(double lat, double lon)
{
double minDist = HUGE_VAL;
- double course, dist;
+ double dist;
int index;
SGWayPoint first (lon,
lat,
itr != nodes.end(); itr++)
{
double course;
- SGWayPoint second (itr->getLongitude(),
- itr->getLatitude(),
+ SGWayPoint second ((*itr)->getLongitude(),
+ (*itr)->getLatitude(),
0);
first.CourseAndDistance(second, &course, &dist);
if (dist < minDist)
{
minDist = dist;
- index = itr->getIndex();
+ index = (*itr)->getIndex();
//cerr << "Minimum distance of " << minDist << " for index " << index << endl;
}
}
}
FGTaxiNode *FGGroundNetwork::findNode(int idx)
-{
- for (FGTaxiNodeVectorIterator
- itr = nodes.begin();
- itr != nodes.end(); itr++)
+{ /*
+ for (FGTaxiNodeVectorIterator
+ itr = nodes.begin();
+ itr != nodes.end(); itr++)
+ {
+ if (itr->getIndex() == idx)
+ return itr->getAddress();
+ }*/
+
+ if ((idx >= 0) && (idx < nodes.size()))
+ return nodes[idx]->getAddress();
+ else
+ return 0;
+}
+
+FGTaxiSegment *FGGroundNetwork::findSegment(int idx)
+{/*
+ for (FGTaxiSegmentVectorIterator
+ itr = segments.begin();
+ itr != segments.end(); itr++)
{
if (itr->getIndex() == idx)
return itr->getAddress();
+ }
+ */
+ if ((idx > 0) && (idx <= segments.size()))
+ return segments[idx-1]->getAddress();
+ else
+ {
+ //cerr << "Alert: trying to find invalid segment " << idx << endl;
+ return 0;
}
- return 0;
}
FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end)
{
+ double course;
+ double length;
foundRoute = false;
totalDistance = 0;
FGTaxiNode *firstNode = findNode(start);
//prevNode = prevPrevNode = -1;
//prevNode = start;
routes.clear();
- traceStack.clear();
- trace(firstNode, end, 0, 0);
- FGTaxiRoute empty;
+ nodesStack.clear();
+ routesStack.clear();
+ // calculate distance and heading "as the crow flies" between starn and end points"
+ SGWayPoint first(firstNode->getLongitude(),
+ firstNode->getLatitude(),
+ 0);
+ destination = SGWayPoint(lastNode->getLongitude(),
+ lastNode->getLatitude(),
+ 0);
+ first.CourseAndDistance(destination, &course, &length);
+ for (FGTaxiSegmentVectorIterator
+ itr = segments.begin();
+ itr != segments.end(); itr++)
+ {
+ (*itr)->setCourseDiff(course);
+ }
+ //FGTaxiNodeVectorIterator nde = nodes.begin();
+ //while (nde != nodes.end()) {
+ // (*nde)->sortEndSegments();
+ // nde++;
+ //}
+ maxDepth = 1000;
+ //do
+ // {
+ // cerr << "Begin of Trace " << start << " to "<< end << " maximum depth = " << maxDepth << endl;
+ trace(firstNode, end, 0, 0);
+ // maxDepth--;
+ // }
+ //while ((routes.size() != 0) && (maxDepth > 0));
+ //cerr << "End of Trace" << endl;
+ FGTaxiRoute empty;
+
if (!foundRoute)
{
- SG_LOG( SG_GENERAL, SG_INFO, "Failed to find route from waypoint " << start << " to " << end );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Failed to find route from waypoint " << start << " to " << end << " at " <<
+ parent->getId());
exit(1);
}
sort(routes.begin(), routes.end());
// }
if (routes.begin() != routes.end())
- return *(routes.begin());
+ {
+ // if ((routes.begin()->getDepth() < 0.5 * maxDepth) && (maxDepth > 1))
+// {
+// maxDepth--;
+// cerr << "Max search depth decreased to : " << maxDepth;
+// }
+// else
+// {
+// maxDepth++;
+// cerr << "Max search depth increased to : " << maxDepth;
+// }
+ return *(routes.begin());
+ }
else
return empty;
}
void FGGroundNetwork::trace(FGTaxiNode *currNode, int end, int depth, double distance)
{
- traceStack.push_back(currNode->getIndex());
+ // Just check some preconditions of the trace algorithm
+ if (nodesStack.size() != routesStack.size())
+ {
+ SG_LOG(SG_GENERAL, SG_ALERT, "size of nodesStack and routesStack is not equal. NodesStack :"
+ << nodesStack.size() << ". RoutesStack : " << routesStack.size());
+ }
+ nodesStack.push_back(currNode->getIndex());
totalDistance += distance;
- //cerr << "Starting trace " << depth << " total distance: " << totalDistance<< endl;
- //<< currNode->getIndex() << endl;
+ //cerr << "Starting trace " << currNode->getIndex() << " " << "total distance: " << totalDistance << endl;
+ // << currNode->getIndex() << endl;
// If the current route matches the required end point we found a valid route
// So we can add this to the routing table
if (currNode->getIndex() == end)
{
- //cerr << "Found route : " << totalDistance << "" << " " << *(traceStack.end()-1) << endl;
- routes.push_back(FGTaxiRoute(traceStack,totalDistance));
- traceStack.pop_back();
- if (!(foundRoute))
+ maxDepth = depth;
+ //cerr << "Found route : " << totalDistance << "" << " " << *(nodesStack.end()-1) << " Depth = " << depth << endl;
+ routes.push_back(FGTaxiRoute(nodesStack,routesStack,totalDistance, depth));
+ if (nodesStack.empty() || routesStack.empty())
+ {
+ printRoutingError(string("while finishing route"));
+ }
+ nodesStack.pop_back();
+ routesStack.pop_back();
+ if (!(foundRoute)) {
maxDistance = totalDistance;
+ }
else
if (totalDistance < maxDistance)
maxDistance = totalDistance;
// if so, we should step back one level, because it is
// rather rediculous to proceed further from here.
// if the current node has not been encountered before,
- // i should point to traceStack.end()-1; and we can continue
- // if i is not traceStack.end, the previous node was found,
+ // i should point to nodesStack.end()-1; and we can continue
+ // if i is not nodesStack.end, the previous node was found,
// and we should return.
// This only works at trace levels of 1 or higher though
if (depth > 0) {
- intVecIterator i = traceStack.begin();
+ intVecIterator i = nodesStack.begin();
while ((*i) != currNode->getIndex()) {
//cerr << "Route so far : " << (*i) << endl;
i++;
}
- if (i != traceStack.end()-1) {
- traceStack.pop_back();
+ if (i != nodesStack.end()-1) {
+ if (nodesStack.empty() || routesStack.empty())
+ {
+ printRoutingError(string("while returning from an already encountered node"));
+ }
+ nodesStack.pop_back();
+ routesStack.pop_back();
+ totalDistance -= distance;
+ return;
+ }
+ if (depth >= maxDepth) {
+ count++;
+ if (!(count % 100000)) {
+ maxDepth--; // Gradually decrease maxdepth, to prevent "eternal searches"
+ //cerr << "Reducing maxdepth to " << maxDepth << endl;
+ }
+ nodesStack.pop_back();
+ routesStack.pop_back();
totalDistance -= distance;
return;
}
// is longer than that of a route we can also stop this trace
// and go back one level.
if ((totalDistance > maxDistance) && foundRoute)
+ //if (foundRoute)
{
//cerr << "Stopping rediculously long trace: " << totalDistance << endl;
- traceStack.pop_back();
+ if (nodesStack.empty() || routesStack.empty())
+ {
+ printRoutingError(string("while returning from finding a rediculously long route"));
+ }
+ nodesStack.pop_back();
+ routesStack.pop_back();
totalDistance -= distance;
return;
}
//cerr << "2" << endl;
if (currNode->getBeginRoute() != currNode->getEndRoute())
{
+ double course, length;
//cerr << "3" << endl;
- for (FGTaxiSegmentPointerVectorIterator
+ // calculate distance and heading "as the crow flies" between starn and end points"
+ SGWayPoint first(currNode->getLongitude(),
+ currNode->getLatitude(),
+ 0);
+ //SGWayPoint second (lastNode->getLongitude(),
+ // lastNode->getLatitude(),
+ // 0);
+
+ first.CourseAndDistance(destination, &course, &length);
+ //for (FGTaxiSegmentVectorIterator
+ // itr = segments.begin();
+ // itr != segments.end(); itr++)
+ // {
+ // (*itr)->setCourseDiff(course);
+ // }
+ //FGTaxiNodeVectorIterator nde = nodes.begin();
+ //while (nde != nodes.end()) {
+ //(*nde)->sortEndSegments();
+ //nde++;
+
+ for (FGTaxiSegmentVectorIterator
i = currNode->getBeginRoute();
i != currNode->getEndRoute();
i++)
{
- //cerr << (*i)->getLenght() << endl;
+ (*i)->setCourseDiff(course);
+ }
+ currNode->sortEndSegments(foundRoute);
+ for (FGTaxiSegmentVectorIterator
+ i = currNode->getBeginRoute();
+ i != currNode->getEndRoute();
+ i++)
+ {
+ //cerr << (*i)->getLength() << endl;
+ //cerr << (*i)->getIndex() << endl;
+ int idx = (*i)->getIndex();
+ routesStack.push_back((*i)->getIndex());
trace((*i)->getEnd(), end, depth+1, (*i)->getLength());
// {
// // cerr << currNode -> getIndex() << " ";
}
else
{
- SG_LOG( SG_GENERAL, SG_DEBUG, "4" );
+ //SG_LOG( SG_GENERAL, SG_DEBUG, "4" );
+ }
+ if (nodesStack.empty())
+ {
+ printRoutingError(string("while finishing trace"));
+ }
+ nodesStack.pop_back();
+ // Make sure not to dump the level-zero routesStack entry, because that was never created.
+ if (depth)
+ {
+ routesStack.pop_back();
+ //cerr << "leaving trace " << routesStack.size() << endl;
}
- traceStack.pop_back();
totalDistance -= distance;
return;
}
+void FGGroundNetwork::printRoutingError(string mess)
+{
+ SG_LOG(SG_GENERAL, SG_ALERT, "Error in ground network trace algorithm " << mess);
+ if (nodesStack.empty())
+ {
+ SG_LOG(SG_GENERAL, SG_ALERT, " nodesStack is empty. Dumping routesStack");
+ for (intVecIterator i = routesStack.begin() ; i != routesStack.end(); i++)
+ SG_LOG(SG_GENERAL, SG_ALERT, "Route " << (*i));
+ }
+ if (routesStack.empty())
+ {
+ SG_LOG(SG_GENERAL, SG_ALERT, " routesStack is empty. Dumping nodesStack");
+ for (intVecIterator i = nodesStack.begin() ; i != nodesStack.end(); i++)
+ SG_LOG(SG_GENERAL, SG_ALERT, "Node " << (*i));
+ }
+ //exit(1);
+}
+
+
+void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
+ double lat, double lon, double heading,
+ double speed, double alt, double radius, int leg,
+ string callsign)
+{
+ TrafficVectorIterator i = activeTraffic.begin();
+ // Search search if the current id alread has an entry
+ // This might be faster using a map instead of a vector, but let's start by taking a safe route
+ if (activeTraffic.size()) {
+ //while ((i->getId() != id) && i != activeTraffic.end()) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ // Add a new TrafficRecord if no one exsists for this aircraft.
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ FGTrafficRecord rec;
+ rec.setId(id);
+ rec.setPositionAndIntentions(currentPosition, intendedRoute);
+ rec.setPositionAndHeading(lat, lon, heading, speed, alt);
+ rec.setRadius(radius); // only need to do this when creating the record.
+ rec.setCallSign(callsign);
+ activeTraffic.push_back(rec);
+ } else {
+ i->setPositionAndIntentions(currentPosition, intendedRoute);
+ i->setPositionAndHeading(lat, lon, heading, speed, alt);
+ }
+}
+
+void FGGroundNetwork::signOff(int id) {
+ TrafficVectorIterator i = activeTraffic.begin();
+ // Search search if the current id alread has an entry
+ // This might be faster using a map instead of a vector, but let's start by taking a safe route
+ if (activeTraffic.size()) {
+ //while ((i->getId() != id) && i != activeTraffic.end()) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off");
+ } else {
+ i = activeTraffic.erase(i);
+ }
+}
+
+void FGGroundNetwork::update(int id, double lat, double lon, double heading, double speed, double alt,
+ double dt) {
+ TrafficVectorIterator i = activeTraffic.begin();
+ // Search search if the current id has an entry
+ // This might be faster using a map instead of a vector, but let's start by taking a safe route
+ TrafficVectorIterator current, closest;
+ if (activeTraffic.size()) {
+ //while ((i->getId() != id) && i != activeTraffic.end()) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ // update position of the current aircraft
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
+ } else {
+ i->setPositionAndHeading(lat, lon, heading, speed, alt);
+ current = i;
+ }
+
+ setDt(getDt() + dt);
+
+ // Update every three secs, but add some randomness
+ // to prevent all IA objects doing this in synchrony
+ //if (getDt() < (3.0) + (rand() % 10))
+ // return;
+ //else
+ // setDt(0);
+ checkSpeedAdjustment(id, lat, lon, heading, speed, alt);
+ checkHoldPosition (id, lat, lon, heading, speed, alt);
+}
+
+void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
+ double lon, double heading,
+ double speed, double alt)
+{
+
+ // Scan for a speed adjustment change. Find the nearest aircraft that is in front
+ // and adjust speed when we get too close. Only do this when current position and/or
+ // intentions of the current aircraft match current taxiroute position of the proximate
+ // aircraft. For traffic that is on other routes we need to issue a "HOLD Position"
+ // instruction. See below for the hold position instruction.
+ TrafficVectorIterator current, closest;
+ TrafficVectorIterator i = activeTraffic.begin();
+ bool otherReasonToSlowDown = false;
+ bool previousInstruction;
+ if (activeTraffic.size())
+ {
+ //while ((i->getId() != id) && (i != activeTraffic.end()))
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ else
+ {
+ return;
+ }
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment");
+ }
+ current = i;
+ //closest = current;
+ previousInstruction = current->getSpeedAdjustment();
+ double mindist = HUGE;
+ if (activeTraffic.size())
+ {
+ double course, dist, bearing, minbearing;
+ SGWayPoint curr (lon,
+ lat,
+ alt);
+ //TrafficVector iterator closest;
+ closest = current;
+ for (TrafficVectorIterator i = activeTraffic.begin();
+ i != activeTraffic.end(); i++)
+ {
+ if (i != current) {
+ //SGWayPoint curr (lon,
+ // lat,
+ // alt);
+ SGWayPoint other (i->getLongitude (),
+ i->getLatitude (),
+ i->getAltitude ());
+ other.CourseAndDistance(curr, &course, &dist);
+ bearing = fabs(heading-course);
+ if (bearing > 180)
+ bearing = 360-bearing;
+ if ((dist < mindist) && (bearing < 60.0))
+ {
+ mindist = dist;
+ closest = i;
+ minbearing = bearing;
+ }
+ }
+ }
+ //Check traffic at the tower controller
+ if (towerController->hasActiveTraffic())
+ {
+ for (TrafficVectorIterator i = towerController->getActiveTraffic().begin();
+ i != towerController->getActiveTraffic().end(); i++)
+ {
+ //cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
+ //SGWayPoint curr (lon,
+ // lat,
+ // alt);
+ SGWayPoint other (i->getLongitude (),
+ i->getLatitude (),
+ i->getAltitude ());
+ other.CourseAndDistance(curr, &course, &dist);
+ bearing = fabs(heading-course);
+ if (bearing > 180)
+ bearing = 360-bearing;
+ if ((dist < mindist) && (bearing < 60.0))
+ {
+ mindist = dist;
+ closest = i;
+ minbearing = bearing;
+ otherReasonToSlowDown = true;
+ }
+ }
+ }
+ // Finally, check UserPosition
+ double userLatitude = fgGetDouble("/position/latitude-deg");
+ double userLongitude = fgGetDouble("/position/longitude-deg");
+ SGWayPoint user (userLongitude,
+ userLatitude,
+ alt); // Alt is not really important here.
+ user.CourseAndDistance(curr, &course, &dist);
+ bearing = fabs(heading-course);
+ if (bearing > 180)
+ bearing = 360-bearing;
+ if ((dist < mindist) && (bearing < 60.0))
+ {
+ mindist = dist;
+ //closest = i;
+ minbearing = bearing;
+ otherReasonToSlowDown = true;
+ }
+
+ // if (closest == current) {
+ // //SG_LOG(SG_GENERAL, SG_ALERT, "AI error: closest and current match");
+ // //return;
+ // }
+ //cerr << "Distance : " << dist << " bearing : " << bearing << " heading : " << heading
+ // << " course : " << course << endl;
+ current->clearSpeedAdjustment();
+
+ if (current->checkPositionAndIntentions(*closest) || otherReasonToSlowDown)
+ {
+ double maxAllowableDistance = (1.1*current->getRadius()) + (1.1*closest->getRadius());
+ if (mindist < 2*maxAllowableDistance)
+ {
+ if (current->getId() == closest->getWaitsForId())
+ return;
+ else
+ current->setWaitsForId(closest->getId());
+ if (closest != current)
+ current->setSpeedAdjustment(closest->getSpeed()* (mindist/100));
+ else
+ current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
+ if (mindist < maxAllowableDistance)
+ {
+ //double newSpeed = (maxAllowableDistance-mindist);
+ //current->setSpeedAdjustment(newSpeed);
+ //if (mindist < 0.5* maxAllowableDistance)
+ // {
+ current->setSpeedAdjustment(0);
+ // }
+ }
+ }
+ }
+ }
+}
+
+void FGGroundNetwork::checkHoldPosition(int id, double lat,
+ double lon, double heading,
+ double speed, double alt)
+{
+ // Check for "Hold position instruction".
+ // The hold position should be issued under the following conditions:
+ // 1) For aircraft entering or crossing a runway with active traffic on it, or landing aircraft near it
+ // 2) For taxiing aircraft that use one taxiway in opposite directions
+ // 3) For crossing or merging taxiroutes.
+
+ TrafficVectorIterator current;
+ TrafficVectorIterator i = activeTraffic.begin();
+ if (activeTraffic.size())
+ {
+ //while ((i->getId() != id) && i != activeTraffic.end())
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ else
+ {
+ return ;
+ }
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition");
+ }
+ current = i;
+ current->setHoldPosition(false);
+ SGWayPoint curr (lon,
+ lat,
+ alt);
+ double course, dist, bearing, minbearing;
+ for (i = activeTraffic.begin();
+ i != activeTraffic.end(); i++)
+ {
+ if (i != current)
+ {
+ int node = current->crosses(this, *i);
+ if (node != -1)
+ {
+ // Determine whether it's save to continue or not.
+ // If we have a crossing route, there are two possibilities:
+ // 1) This is an interestion
+ // 2) This is oncoming two-way traffic, using the same taxiway.
+ //cerr << "Hold check 1 : " << id << " has common node " << node << endl;
+ SGWayPoint nodePos(findNode(node)->getLongitude (),
+ findNode(node)->getLatitude (),
+ alt);
+
+
+ SGWayPoint other (i->getLongitude (),
+ i->getLatitude (),
+ i->getAltitude ());
+ //other.CourseAndDistance(curr, &course, &dist);
+ bool needsToWait;
+ bool opposing;
+ if (current->isOpposing(this, *i, node))
+ {
+ needsToWait = true;
+ opposing = true;
+ //cerr << "Hold check 2 : " << node << " has opposing segment " << endl;
+ // issue a "Hold Position" as soon as we're close to the offending node
+ // For now, I'm doing this as long as the other aircraft doesn't
+ // have a hold instruction as soon as we're within a reasonable
+ // distance from the offending node.
+ // This may be a bit of a conservative estimate though, as it may
+ // be well possible that both aircraft can both continue to taxi
+ // without crashing into each other.
+ }
+ else
+ {
+ opposing = false;
+ other.CourseAndDistance(nodePos, &course, &dist);
+ if (dist > 200) // 2.0*i->getRadius())
+ {
+ needsToWait = false;
+ //cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue "
+ // << endl;
+ }
+ else
+ {
+ needsToWait = true;
+ //cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl;
+ }
+ }
+ curr.CourseAndDistance(nodePos, &course, &dist);
+ if (!(i->hasHoldPosition()))
+ {
+
+ if ((dist < 200) && //2.5*current->getRadius()) &&
+ (needsToWait) &&
+ (i->onRoute(this, *current)) &&
+ //((i->onRoute(this, *current)) || ((!(i->getSpeedAdjustment())))) &&
+ (!(current->getId() == i->getWaitsForId())))
+ //(!(i->getSpeedAdjustment()))) // &&
+ //(!(current->getSpeedAdjustment())))
+
+ {
+ current->setHoldPosition(true);
+ //cerr << "Hold check 5: " << current->getCallSign() <<" Setting Hold Position: distance to node (" << node << ") "
+ // << dist << " meters. Waiting for " << i->getCallSign();
+ //if (opposing)
+ //cerr <<" [opposing] " << endl;
+ //else
+ // cerr << "[non-opposing] " << endl;
+ //if (i->hasSpeefAdjustment())
+ // {
+ // cerr << " (which in turn waits for ) " << i->
+ }
+ else
+ {
+ //cerr << "Hold check 6: " << id << " No need to hold yet: Distance to node : " << dist << " nm"<< endl;
+ }
+ }
+ }
+ }
+ }
+}
+
+// Note that this function is probably obsolete...
+bool FGGroundNetwork::hasInstruction(int id)
+{
+ TrafficVectorIterator i = activeTraffic.begin();
+ // Search search if the current id has an entry
+ // This might be faster using a map instead of a vector, but let's start by taking a safe route
+ if (activeTraffic.size())
+ {
+ //while ((i->getId() != id) && i != activeTraffic.end()) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
+ } else {
+ return i->hasInstruction();
+ }
+ return false;
+}
+
+FGATCInstruction FGGroundNetwork::getInstruction(int id)
+{
+ TrafficVectorIterator i = activeTraffic.begin();
+ // Search search if the current id has an entry
+ // This might be faster using a map instead of a vector, but let's start by taking a safe route
+ if (activeTraffic.size()) {
+ //while ((i->getId() != id) && i != activeTraffic.end()) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
+ } else {
+ return i->getInstruction();
+ }
+ return FGATCInstruction();
+}
+
projects / flightgear.git / blobdiff