#include <math.h>
#include <algorithm>
-//#include <plib/sg.h>
-//#include <plib/ul.h>
-
-//#include <Environment/environment_mgr.hxx>
-//#include <Environment/environment.hxx>
-//#include <simgear/misc/sg_path.hxx>
-//#include <simgear/props/props.hxx>
-//#include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/route/waypoint.hxx>
-//#include <Main/globals.hxx>
-//#include <Main/fg_props.hxx>
-//#include <Airports/runways.hxx>
-#include <AIModel/AIFlightPlan.hxx>
+#include <Airports/dynamics.hxx>
-//#include STL_STRING
+#include <AIModel/AIFlightPlan.hxx>
#include "groundnetwork.hxx"
-SG_USING_STD(sort);
-
-
-
-/**************************************************************************
- * FGTaxiNode
- *************************************************************************/
-FGTaxiNode::FGTaxiNode()
-{
-}
-
-
-bool compare_nodes(FGTaxiNode *a, FGTaxiNode *b) {
-return (*a) < (*b);
-}
-
/***************************************************************************
* FGTaxiSegment
**************************************************************************/
-FGTaxiSegment::FGTaxiSegment()
-{
- oppositeDirection = 0;
-}
void FGTaxiSegment::setStart(FGTaxiNodeVector *nodes)
{
FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end())
{
+ //cerr << "Scanning start node index" << (*i)->getIndex() << endl;
if ((*i)->getIndex() == startNode)
{
start = (*i)->getAddress();
}
i++;
}
+ SG_LOG(SG_GENERAL, SG_ALERT, "Could not find start node " << startNode << endl);
}
void FGTaxiSegment::setEnd(FGTaxiNodeVector *nodes)
FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end())
{
+ //cerr << "Scanning end node index" << (*i)->getIndex() << endl;
if ((*i)->getIndex() == endNode)
{
end = (*i)->getAddress();
}
i++;
}
+ SG_LOG(SG_GENERAL, SG_ALERT, "Could not find end node " << endNode << endl);
}
+
+
// There is probably a computationally cheaper way of
// doing this.
void FGTaxiSegment::setTrackDistance()
{
- double course;
- SGWayPoint first (start->getLongitude(),
- start->getLatitude(),
- 0);
- SGWayPoint second (end->getLongitude(),
- end->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &length);
+ length = SGGeodesy::distanceM(start->getGeod(), end->getGeod());
}
-bool compare_segments(FGTaxiSegment *a, FGTaxiSegment *b) {
-return (*a) < (*b);
+
+void FGTaxiSegment::setCourseDiff(double crse)
+{
+ headingDiff = fabs(course-crse);
+
+ if (headingDiff > 180)
+ headingDiff = fabs(headingDiff - 360);
}
+
/***************************************************************************
* FGTaxiRoute
**************************************************************************/
/***************************************************************************
* FGGroundNetwork()
**************************************************************************/
+bool compare_nodes(FGTaxiNode *a, FGTaxiNode *b) {
+return (*a) < (*b);
+}
+
+bool compare_segments(FGTaxiSegment *a, FGTaxiSegment *b) {
+return (*a) < (*b);
+}
FGGroundNetwork::FGGroundNetwork()
{
foundRoute = false;
totalDistance = 0;
maxDistance = 0;
+ //maxDepth = 1000;
+ count = 0;
currTraffic = activeTraffic.begin();
}
delete (*node);
}
nodes.clear();
+ pushBackNodes.clear();
for (FGTaxiSegmentVectorIterator seg = segments.begin();
seg != segments.end();
seg++)
//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)->setIndex(index);
- //cerr << "Track distance = " << i->getLength() << endl;
- //cerr << "Track ends at" << i->getEnd()->getIndex() << endl;
+ if ((*i)->isPushBack()) {
+ pushBackNodes.push_back((*i)->getEnd());
+ }
+ //SG_LOG(SG_GENERAL, SG_BULK, "initializing segment " << (*i)->getIndex() << endl);
+ //SG_LOG(SG_GENERAL, SG_BULK, "Track distance = " << (*i)->getLength() << endl);
+ //SG_LOG(SG_GENERAL, SG_BULK, "Track runs from " << (*i)->getStart()->getIndex() << " to "
+ // << (*i)->getEnd()->getIndex() << endl);
i++;
index++;
}
+
i = segments.begin();
while(i != segments.end()) {
FGTaxiSegmentVectorIterator j = (*i)->getEnd()->getBeginRoute();
{
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;
+// 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++;
}
+ //FGTaxiNodeVectorIterator j = nodes.begin();
+ //while (j != nodes.end()) {
+ // if ((*j)->getHoldPointType() == 3) {
+ // pushBackNodes.push_back((*j));
+ // }
+ // j++;
+ //}
+ //cerr << "Done initializing ground network" << endl;
//exit(1);
}
-int FGGroundNetwork::findNearestNode(double lat, double lon)
+int FGGroundNetwork::findNearestNode(const SGGeod& aGeod)
{
double minDist = HUGE_VAL;
- double dist;
- int index;
- SGWayPoint first (lon,
- lat,
- 0);
+ int index = -1;
- for (FGTaxiNodeVectorIterator
- itr = nodes.begin();
- itr != nodes.end(); itr++)
+ for (FGTaxiNodeVectorIterator itr = nodes.begin(); itr != nodes.end(); itr++)
+ {
+ double d = SGGeodesy::distanceM(aGeod, (*itr)->getGeod());
+ if (d < minDist)
{
- double course;
- SGWayPoint second ((*itr)->getLongitude(),
- (*itr)->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &dist);
- if (dist < minDist)
- {
- minDist = dist;
- index = (*itr)->getIndex();
- //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
- }
+ minDist = d;
+ index = (*itr)->getIndex();
+ //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
}
+ }
+
return index;
}
-FGTaxiNode *FGGroundNetwork::findNode(int idx)
+int FGGroundNetwork::findNearestNode(double lat, double lon)
+{
+ return findNearestNode(SGGeod::fromDeg(lon, lat));
+}
+
+FGTaxiNode *FGGroundNetwork::findNode(unsigned idx)
{ /*
for (FGTaxiNodeVectorIterator
itr = nodes.begin();
return 0;
}
-FGTaxiSegment *FGGroundNetwork::findSegment(int idx)
+FGTaxiSegment *FGGroundNetwork::findSegment(unsigned idx)
{/*
for (FGTaxiSegmentVectorIterator
itr = segments.begin();
}
}
-FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end)
-{
- foundRoute = false;
- totalDistance = 0;
- FGTaxiNode *firstNode = findNode(start);
- FGTaxiNode *lastNode = findNode(end);
- //prevNode = prevPrevNode = -1;
- //prevNode = start;
- routes.clear();
- nodesStack.clear();
- routesStack.clear();
- //cerr << "Begin of Trace " << endl;
- trace(firstNode, end, 0, 0);
- //cerr << "End of Trace" << endl;
- FGTaxiRoute empty;
-
- if (!foundRoute)
- {
- SG_LOG( SG_GENERAL, SG_ALERT, "Failed to find route from waypoint " << start << " to " << end );
- exit(1);
- }
- sort(routes.begin(), routes.end());
- //for (intVecIterator i = route.begin(); i != route.end(); i++)
- // {
- // rte->push_back(*i);
- // }
-
- if (routes.begin() != routes.end())
- return *(routes.begin());
- else
- return empty;
-}
-
-void FGGroundNetwork::trace(FGTaxiNode *currNode, int end, int depth, double distance)
+FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSearch)
{
- // 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<< " "
- // << 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 << "" << " " << *(nodesStack.end()-1) << endl;
- routes.push_back(FGTaxiRoute(nodesStack,routesStack,totalDistance));
- 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;
- foundRoute = true;
- totalDistance -= distance;
- return;
+//implements Dijkstra's algorithm to find shortest distance route from start to end
+//taken from http://en.wikipedia.org/wiki/Dijkstra's_algorithm
+
+ //double INFINITE = 100000000000.0;
+ // initialize scoring values
+ int nParkings = parent->getDynamics()->getNrOfParkings();
+ FGTaxiNodeVector *currNodesSet;
+ if (fullSearch) {
+ currNodesSet = &nodes;
+ } else {
+ currNodesSet = &pushBackNodes;
}
-
- // search if the currentNode has been encountered before
- // 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 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 = nodesStack.begin();
- while ((*i) != currNode->getIndex()) {
- //cerr << "Route so far : " << (*i) << endl;
- i++;
- }
- 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 the total distance from start to the current waypoint
- // is longer than that of a route we can also stop this trace
- // and go back one level.
- if ((totalDistance > maxDistance) && foundRoute)
- {
- //cerr << "Stopping rediculously long trace: " << totalDistance << endl;
- 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())
- {
- //cerr << "3" << endl;
- 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() << " ";
- // route.push_back(currNode->getIndex());
- // return true;
- // }
- }
+ for (FGTaxiNodeVectorIterator
+ itr = currNodesSet->begin();
+ itr != currNodesSet->end(); itr++) {
+ (*itr)->setPathScore(HUGE_VAL); //infinity by all practical means
+ (*itr)->setPreviousNode(0); //
+ (*itr)->setPreviousSeg (0); //
+ }
+
+ FGTaxiNode *firstNode = findNode(start);
+ firstNode->setPathScore(0);
+
+ FGTaxiNode *lastNode = findNode(end);
+
+ FGTaxiNodeVector unvisited(*currNodesSet); // working copy
+
+ while (!unvisited.empty()) {
+ FGTaxiNode* best = *(unvisited.begin());
+ for (FGTaxiNodeVectorIterator
+ itr = unvisited.begin();
+ itr != unvisited.end(); itr++) {
+ if ((*itr)->getPathScore() < best->getPathScore())
+ best = (*itr);
+ }
+
+ FGTaxiNodeVectorIterator newend = remove(unvisited.begin(), unvisited.end(), best);
+ unvisited.erase(newend, unvisited.end());
+
+ if (best == lastNode) { // found route or best not connected
+ break;
+ } else {
+ for (FGTaxiSegmentVectorIterator
+ seg = best->getBeginRoute();
+ seg != best->getEndRoute(); seg++) {
+ if (fullSearch || (*seg)->isPushBack()) {
+ FGTaxiNode* tgt = (*seg)->getEnd();
+ double alt = best->getPathScore() + (*seg)->getLength() + (*seg)->getPenalty(nParkings);
+ if (alt < tgt->getPathScore()) { // Relax (u,v)
+ tgt->setPathScore(alt);
+ tgt->setPreviousNode(best);
+ tgt->setPreviousSeg(*seg); //
+ }
+ } else {
+ // // cerr << "Skipping TaxiSegment " << (*seg)->getIndex() << endl;
+ }
+ }
+ }
}
- else
- {
- //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;
+
+ if (lastNode->getPathScore() == HUGE_VAL) {
+ // no valid route found
+ if (fullSearch) {
+ SG_LOG( SG_GENERAL, SG_ALERT, "Failed to find route from waypoint " << start << " to " << end << " at " <<
+ parent->getId());
+ }
+ FGTaxiRoute empty;
+ return empty;
+ //exit(1); //TODO exit more gracefully, no need to stall the whole sim with broken GN's
+ } else {
+ // assemble route from backtrace information
+ intVec nodes, routes;
+ FGTaxiNode* bt = lastNode;
+ while (bt->getPreviousNode() != 0) {
+ nodes.push_back(bt->getIndex());
+ routes.push_back(bt->getPreviousSegment()->getIndex());
+ bt = bt->getPreviousNode();
+ }
+ nodes.push_back(start);
+ reverse(nodes.begin(), nodes.end());
+ reverse(routes.begin(), routes.end());
+
+ return FGTaxiRoute(nodes, routes, lastNode->getPathScore(), 0);
}
- 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);
+int FGTaxiSegment::getPenalty(int nGates) {
+ int penalty = 0;
+ if (end->getIndex() < nGates) {
+ penalty += 10000;
+ }
+ if (end->getIsOnRunway()) { // For now. In future versions, need to find out whether runway is active.
+ penalty += 1000;
+ }
+ return penalty;
}
+/* ATC Related Functions */
void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
double lat, double lon, double heading,
- double speed, double alt, double radius, int leg)
+ double speed, double alt, double radius, int leg,
+ FGAIAircraft *aircraft)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id alread has an entry
rec.setPositionAndIntentions(currentPosition, intendedRoute);
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRadius(radius); // only need to do this when creating the record.
+ rec.setAircraft(aircraft);
activeTraffic.push_back(rec);
} else {
i->setPositionAndIntentions(currentPosition, intendedRoute);
// return;
//else
// setDt(0);
+ current->clearResolveCircularWait();
+ current->setWaitsForId(0);
checkSpeedAdjustment(id, lat, lon, heading, speed, alt);
checkHoldPosition (id, lat, lon, heading, speed, alt);
+ if (checkForCircularWaits(id)) {
+ i->setResolveCircularWait();
+ }
}
+/**
+ 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.
+
+ Note that there currently still is one flaw in the logic that needs to be addressed.
+ can be situations where one aircraft is in front of the current aircraft, on a separate
+ route, but really close after an intersection coming off the current route. This
+ aircraft is still close enough to block the current aircraft. This situation is currently
+ not addressed yet, but should be.
+*/
+
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()))
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment");
}
current = i;
- double mindist = HUGE;
+ //closest = current;
+
+ previousInstruction = current->getSpeedAdjustment();
+ double mindist = HUGE_VAL;
if (activeTraffic.size())
{
- double course, dist, bearing, minbearing;
- SGWayPoint curr (lon,
- lat,
- alt);
+ double course, dist, bearing, minbearing, az2;
+ SGGeod curr(SGGeod::fromDegM(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 (i == current) {
+ continue;
+ }
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(), i->getAltitude()));
+ SGGeodesy::inverse(other, curr, course, az2, dist);
+ bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
closest = i;
minbearing = bearing;
}
- }
}
//Check traffic at the tower controller
if (towerController->hasActiveTraffic())
for (TrafficVectorIterator i = towerController->getActiveTraffic().begin();
i != towerController->getActiveTraffic().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;
- otherReasonToSlowDown = true;
- }
- }
+ //cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(), i->getAltitude()));
+ SGGeodesy::inverse(other, curr, course, az2, 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);
+ SGGeod user(SGGeod::fromDeg(userLatitude,userLongitude));
+ SGGeodesy::inverse(user, curr, course, az2, dist);
+
bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
//cerr << "Distance : " << dist << " bearing : " << bearing << " heading : " << heading
// << " course : " << course << endl;
current->clearSpeedAdjustment();
- // Only clear the heading adjustment at positive speeds, otherwise the waypoint following
- // code wreaks havoc
- if (speed > 0.2)
- current->clearHeadingAdjustment();
- // All clear
- if (mindist > 100)
- {
- //current->clearSpeedAdjustment();
- //current->clearHeadingAdjustment();
- }
- else
+
+ if (current->checkPositionAndIntentions(*closest) || otherReasonToSlowDown)
{
-
- if (current->getId() == closest->getWaitsForId())
- return;
- else
- current->setWaitsForId(closest->getId());
-
-
- // Getting close: Slow down to a bit less than the other aircraft
- double maxAllowableDistance = (1.1*current->getRadius()) + (1.1*closest->getRadius());
- if (mindist > maxAllowableDistance)
- {
- if (current->checkPositionAndIntentions(*closest) || otherReasonToSlowDown)
- {
- // Adjust speed, but don't let it drop to below 1 knots
- //if (fabs(speed) > 1)
- if (!(current->hasHeadingAdjustment()))
- {
- 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
- //cerr << "Adjusting speed to " << closest->getSpeed() * (mindist / 100) << " "
- // << "Bearing = " << minbearing << " Distance = " << mindist
- // << " Latitude = " <<lat << " longitude = " << lon << endl;
- //<< " Latitude = " <<closest->getLatitude()
- //<< " longitude = " << closest->getLongitude()
- // << endl;
- }
- else
- {
- double newSpeed = (maxAllowableDistance-mindist);
- current->setSpeedAdjustment(newSpeed);
- }
- }
- }
- else
- {
- if (!(current->hasHeadingAdjustment()))
- {
- double newSpeed;
- if (mindist > 10) {
- // newSpeed = 0.01;
- // current->setSpeedAdjustment(newSpeed);
- } else {
- newSpeed = -1 * (maxAllowableDistance-mindist);
- current->setSpeedAdjustment(newSpeed);
- current->setHeadingAdjustment(heading);
- }
- }
- }
+ 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->getId() != current->getId())
+ 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);
+ // }
+ }
+ }
}
}
}
+/**
+ 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.
+*/
+
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();
}
current = i;
current->setHoldPosition(false);
- SGWayPoint curr (lon,
- lat,
- alt);
- double course, dist, bearing, minbearing;
+ SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
+
for (i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
- if (i != current)
+ if (i->getId() != current->getId())
{
int node = current->crosses(this, *i);
if (node != -1)
{
+ FGTaxiNode* taxiNode = findNode(node);
+
// 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;
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(), i->getLatitude(), i->getAltitude()));
+ bool needsToWait;
+ bool opposing;
if (current->isOpposing(this, *i, node))
{
needsToWait = true;
- //cerr << "Hold check 2 : " << id << " has opposing segment " << endl;
+ 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
}
else
{
- other.CourseAndDistance(nodePos, &course, &dist);
- if (dist > 2.0*i->getRadius())
+ opposing = false;
+ if (SGGeodesy::distanceM(other, taxiNode->getGeod()) > 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 "
else
{
needsToWait = true;
- //cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " nm" << endl;
+ //cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl;
}
}
- curr.CourseAndDistance(nodePos, &course, &dist);
- if (!(i->hasHoldPosition()))
+
+ double dist = SGGeodesy::distanceM(curr, taxiNode->getGeod());
+ if (!(i->hasHoldPosition()))
{
- if ((dist < 2.5*current->getRadius()) &&
- (needsToWait) &&
- (!(current->getId() == i->getWaitsForId())) &&
- (!(current->getSpeedAdjustment())))
+ 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: " << id <<" Setting Hold Position: distance to node : " << dist << " nm"<< endl;
+ current->setWaitsForId(i->getId());
+ //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
{
}
}
+/**
+ * Check whether situations occur where the current aircraft is waiting for itself
+ * due to higher order interactions.
+ * A 'circular' wait is a situation where a waits for b, b waits for c, and c waits
+ * for a. Ideally each aircraft only waits for one other aircraft, so by tracing
+ * through this list of waiting aircraft, we can check if we'd eventually end back
+ * at the current aircraft.
+ *
+ * Note that we should consider the situation where we are actually checking aircraft
+ * d, which is waiting for aircraft a. d is not part of the loop, but is held back by
+ * the looping aircraft. If we don't check for that, this function will get stuck into
+ * endless loop.
+ */
+
+bool FGGroundNetwork::checkForCircularWaits(int id)
+{
+ //cerr << "Performing Wait check " << id << endl;
+ int target = 0;
+ TrafficVectorIterator current, other;
+ TrafficVectorIterator i = activeTraffic.begin();
+ int trafficSize = activeTraffic.size();
+ if (trafficSize) {
+ while (i != activeTraffic.end()) {
+ if (i->getId() == id) {
+ break;
+ }
+ i++;
+ }
+ }
+ else {
+ return false;
+ }
+ if (i == activeTraffic.end() || (trafficSize == 0)) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
+ }
+
+ current = i;
+ target = current->getWaitsForId();
+ //bool printed = false; // Note that this variable is for debugging purposes only.
+ int counter = 0;
+
+ if (id == target) {
+ //cerr << "aircraft waits for user" << endl;
+ return false;
+ }
+
+
+ while ((target > 0) && (target != id) && counter++ < trafficSize) {
+ //printed = true;
+ TrafficVectorIterator i = activeTraffic.begin();
+ if (trafficSize) {
+ //while ((i->getId() != id) && i != activeTraffic.end())
+ while (i != activeTraffic.end()) {
+ if (i->getId() == target) {
+ break;
+ }
+ i++;
+ }
+ }
+ else {
+ return false;
+ }
+ if (i == activeTraffic.end() || (trafficSize == 0)) {
+ //cerr << "[Waiting for traffic at Runway: DONE] " << endl << endl;;
+ // The target id is not found on the current network, which means it's at the tower
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
+ return false;
+ }
+ other = i;
+ target = other->getWaitsForId();
+
+ // actually this trap isn't as impossible as it first seemed:
+ // the setWaitsForID(id) is set to current when the aircraft
+ // is waiting for the user controlled aircraft.
+ //if (current->getId() == other->getId()) {
+ // cerr << "Caught the impossible trap" << endl;
+ // cerr << "Current = " << current->getId() << endl;
+ // cerr << "Other = " << other ->getId() << endl;
+ // for (TrafficVectorIterator at = activeTraffic.begin();
+ // at != activeTraffic.end();
+ // at++) {
+ // cerr << "currently active aircraft : " << at->getCallSign() << " with Id " << at->getId() << " waits for " << at->getWaitsForId() << endl;
+ // }
+ // exit(1);
+ if (current->getId() == other->getId())
+ return false;
+ //}
+ //cerr << current->getCallSign() << " (" << current->getId() << ") " << " -> " << other->getCallSign()
+ // << " (" << other->getId() << "); " << endl;;
+ //current = other;
+ }
+
+
+
+
+
+
+ //if (printed)
+ // cerr << "[done] " << endl << endl;;
+ if (id == target) {
+ SG_LOG(SG_GENERAL, SG_WARN, "Detected circular wait condition: Id = " << id << "target = " << target);
+ return true;
+ } else {
+ return false;
+ }
+}
+
// Note that this function is probably obsolete...
bool FGGroundNetwork::hasInstruction(int id)
{
return FGATCInstruction();
}
+
projects / flightgear.git / blobdiff