#include <vector>
#include <algorithm>
-#include <plib/sg.h>
-
#include <simgear/compiler.h>
-#include <simgear/math/polar3d.hxx>
+#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/props/props.hxx>
#include <simgear/route/waypoint.hxx>
#include "SchedFlight.hxx"
#include "TrafficMgr.hxx"
-SG_USING_STD( sort );
+using std::sort;
/******************************************************************************
* the FGAISchedule class contains data members and code to maintain a
radius = 0;
groundOffset = 0;
distanceToUser = 0;
- score = 0;
+ //score = 0;
}
+/*
FGAISchedule::FGAISchedule(string mdl,
string liv,
string reg,
double rad,
double grnd,
int scre,
- FGScheduledFlightVec flt)
+ FGScheduledFlightVec flt)*/
+FGAISchedule::FGAISchedule(string model,
+ string lvry,
+ string port,
+ string reg,
+ string flightId,
+ bool hvy,
+ string act,
+ string arln,
+ string mclass,
+ string fltpe,
+ double rad,
+ double grnd)
{
- modelPath = mdl;
- livery = liv;
- registration = reg;
- acType = act;
- airline = arln;
- m_class = mclass;
- flightType = fltpe;
- lat = 0;
- lon = 0;
- radius = rad;
- groundOffset = grnd;
- distanceToUser = 0;
- heavy = hvy;
- for (FGScheduledFlightVecIterator i = flt.begin();
+ modelPath = model;
+ livery = lvry;
+ homePort = port;
+ registration = reg;
+ flightIdentifier = flightId;
+ acType = act;
+ airline = arln;
+ m_class = mclass;
+ flightType = fltpe;
+ lat = 0;
+ lon = 0;
+ radius = rad;
+ groundOffset = grnd;
+ distanceToUser = 0;
+ heavy = hvy;
+ /*for (FGScheduledFlightVecIterator i = flt.begin();
i != flt.end();
i++)
- flights.push_back(new FGScheduledFlight((*(*i))));
- AIManagerRef = 0;
- score = scre;
- firstRun = true;
+ flights.push_back(new FGScheduledFlight((*(*i))));*/
+ AIManagerRef = 0;
+ //score = scre;
+ firstRun = true;
}
FGAISchedule::FGAISchedule(const FGAISchedule &other)
{
- modelPath = other.modelPath;
- livery = other.livery;
- registration = other.registration;
- heavy = other.heavy;
- flights = other.flights;
- lat = other.lat;
- lon = other.lon;
- AIManagerRef = other.AIManagerRef;
- acType = other.acType;
- airline = other.airline;
- m_class = other.m_class;
- firstRun = other.firstRun;
- radius = other.radius;
- groundOffset = other.groundOffset;
- flightType = other.flightType;
- score = other.score;
- distanceToUser = other.distanceToUser;
+ modelPath = other.modelPath;
+ homePort = other.homePort;
+ livery = other.livery;
+ registration = other.registration;
+ heavy = other.heavy;
+ flightIdentifier = other.flightIdentifier;
+ flights = other.flights;
+ lat = other.lat;
+ lon = other.lon;
+ AIManagerRef = other.AIManagerRef;
+ acType = other.acType;
+ airline = other.airline;
+ m_class = other.m_class;
+ firstRun = other.firstRun;
+ radius = other.radius;
+ groundOffset = other.groundOffset;
+ flightType = other.flightType;
+ //score = other.score;
+ distanceToUser = other.distanceToUser;
+ currentDestination = other.currentDestination;
+ firstRun = other.firstRun;
}
FGAISchedule::~FGAISchedule()
{
- for (FGScheduledFlightVecIterator flt = flights.begin(); flt != flights.end(); flt++)
+/* for (FGScheduledFlightVecIterator flt = flights.begin(); flt != flights.end(); flt++)
{
delete (*flt);
}
- flights.clear();
+ flights.clear();*/
}
bool FGAISchedule::init()
//sgTimeFormatTime(&targetTimeDate, buffer);
//cout << "Scheduled Time " << buffer << endl;
//cout << "Time :" << time(NULL) << " SGTime : " << sgTimeGetGMT(temp) << endl;
- for (FGScheduledFlightVecIterator i = flights.begin();
+ /*for (FGScheduledFlightVecIterator i = flights.begin();
i != flights.end();
i++)
{
//i->adjustTime(now);
if (!((*i)->initializeAirports()))
return false;
- }
+ } */
//sort(flights.begin(), flights.end());
// Since time isn't initialized yet when this function is called,
// Find the closest possible airport.
}
bool FGAISchedule::update(time_t now)
-{
+{
FGAirport *dep;
FGAirport *arr;
- sgdVec3 a, b, cross;
- sgdVec3 newPos;
- sgdMat4 matrix;
double angle;
FGAIManager *aimgr;
string airport;
-
- double courseToUser, courseToDest;
- double distanceToDest;
+
double speed;
- Point3D temp;
time_t
totalTimeEnroute,
elapsedTimeEnroute,
userLatitude,
userLongitude;
+ SGVec3d newPos(0, 0, 0);
+
+
if (fgGetBool("/sim/traffic-manager/enabled") == false)
return true;
aimgr = (FGAIManager *) globals-> get_subsystem("ai_model");
- // Before the flight status of this traffic entity is updated
- // for the first time, we need to roll back it's flight schedule so
- // so that all the flights are centered around this simulated week's time
- // table. This is to avoid the situation where the first scheduled flight is
- // in the future, causing the traffic manager to not generate traffic until
- // simulated time has caught up with the real world time at initialization.
- // This is to counter a more general initialization bug, caused by the fact
- // that warp is not yet set when the schedule is initialized. This is
- // especially a problem when using a negative time offset.
- // i.e let's say we specify FlightGear to run with --time-offset=-24:00:00.
- // Then the schedule will initialize using today, but we will fly yesterday.
- // Thus, it would take a whole day of simulation before the traffic manager
- // finally kicks in.
- if (firstRun)
- {
- if (init() == false)
- AIManagerRef = BOGUS;
-
- for (FGScheduledFlightVecIterator i = flights.begin();
- i != flights.end();
- i++)
- {
- (*i)->adjustTime(now);
- }
- if (fgGetBool("/sim/traffic-manager/instantaneous-action") == true)
- deptime = now + rand() % 300; // Wait up to 5 minutes until traffic starts moving to prevent too many aircraft
- // from cluttering the gate areas.
- firstRun = false;
+ // Out-of-work aircraft seeks employment. Willing to work irregular hours ...
+ //cerr << "About to find a flight " << endl;
+ if (flights.empty()) {
+ //execute this loop at least once.
+ SG_LOG(SG_GENERAL, SG_BULK, "Scheduling for : " << modelPath << " " << registration << " " << homePort);
+ FGScheduledFlight *flight = 0;
+ do {
+ flight = findAvailableFlight(currentDestination, flightIdentifier);
+ if (flight) {
+ currentDestination = flight->getArrivalAirport()->getId();
+ time_t arr, dep;
+ dep = flight->getDepartureTime();
+ arr = flight->getArrivalTime();
+ string depT = asctime(gmtime(&dep));
+ string arrT = asctime(gmtime(&arr));
+
+ depT = depT.substr(0,24);
+ arrT = arrT.substr(0,24);
+ SG_LOG(SG_GENERAL, SG_BULK, " " << flight->getCallSign() << ":"
+ << " " << flight->getDepartureAirport()->getId() << ":"
+ << " " << depT << ":"
+ << " \"" << flight->getArrivalAirport()->getId() << "\"" << ":"
+ << " " << arrT << ":");
+ flights.push_back(flight);
+ }
+ } while ((currentDestination != homePort) && (flight != 0));
+ SG_LOG(SG_GENERAL, SG_BULK, cerr << " Done " << endl);
}
-
+ //cerr << " Done " << endl;
+ // No flights available for this aircraft
+ if (flights.size() == 0) {
+ return false;
+ }
// Sort all the scheduled flights according to scheduled departure time.
// Because this is done at every update, we only need to check the status
// of the first listed flight.
- sort(flights.begin(), flights.end(), compareScheduledFlights);
+ //sort(flights.begin(), flights.end(), compareScheduledFlights);
+ if (firstRun) {
+ if (fgGetBool("/sim/traffic-manager/instantaneous-action") == true) {
+ deptime = now + rand() % 300; // Wait up to 5 minutes until traffic starts moving to prevent too many aircraft
+ // from cluttering the gate areas.
+ cerr << "Scheduling " << registration << " for instantaneous action flight " << endl;
+ }
+ firstRun = false;
+ }
if (!deptime)
deptime = (*flights.begin())->getDepartureTime();
FGScheduledFlightVecIterator i = flights.begin();
+ SG_LOG (SG_GENERAL, SG_DEBUG,"Traffic Manager: Processing registration " << registration << " with callsign " << (*i)->getCallSign());
if (AIManagerRef)
{
// Check if this aircraft has been released.
// push it forward in time to the next scheduled departure.
if (((*i)->getDepartureTime() < now) && ((*i)->getArrivalTime() < now))
{
+ SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is in the Past");
+ //cerr << modelPath << " " << registration << ": Flights from the past belong to the past :-)" << endl;
+ //exit(1);
+ // Don't just update: check whether we need to load a new leg. etc.
+ // This update occurs for distant aircraft, so we can update the current leg
+ // and detach it from the current list of aircraft.
(*i)->update();
+ i = flights.erase(i);
return true;
}
// object for it.
//if ((i->getDepartureTime() < now) && (i->getArrivalTime() > now))
-
// Part of this flight is in the future.
if ((*i)->getArrivalTime() > now)
{
+
dep = (*i)->getDepartureAirport();
arr = (*i)->getArrivalAirport ();
if (!(dep && arr))
return false;
- temp = sgPolarToCart3d(Point3D(dep->getLongitude() *
- SG_DEGREES_TO_RADIANS,
- dep->getLatitude() *
- SG_DEGREES_TO_RADIANS,
- 1.0));
- a[0] = temp.x();
- a[1] = temp.y();
- a[2] = temp.z();
+ if (dep != arr) {
+ SGVec3d a = SGVec3d::fromGeoc(SGGeoc::fromDegM(dep->getLongitude(),
+ dep->getLatitude(), 1));
+ SGVec3d b = SGVec3d::fromGeoc(SGGeoc::fromDegM(arr->getLongitude(),
+ arr->getLatitude(), 1));
+ SGVec3d _cross = cross(b, a);
- temp = sgPolarToCart3d(Point3D(arr->getLongitude() *
- SG_DEGREES_TO_RADIANS,
- arr->getLatitude() *
- SG_DEGREES_TO_RADIANS,
- 1.0));
- b[0] = temp.x();
- b[1] = temp.y();
- b[2] = temp.z();
- sgdNormaliseVec3(a);
- sgdNormaliseVec3(b);
- sgdVectorProductVec3(cross,b,a);
+ angle = sgACos(dot(a, b));
- angle = sgACos(sgdScalarProductVec3(a,b));
-
- // Okay, at this point we have the angle between departure and
- // arrival airport, in degrees. From here we can interpolate the
- // position of the aircraft by calculating the ratio between
- // total time enroute and elapsed time enroute.
+ // Okay, at this point we have the angle between departure and
+ // arrival airport, in degrees. From here we can interpolate the
+ // position of the aircraft by calculating the ratio between
+ // total time enroute and elapsed time enroute.
- totalTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime();
- if (now > (*i)->getDepartureTime())
- {
- //err << "Lat = " << lat << ", lon = " << lon << endl;
- //cerr << "Time diff: " << now-i->getDepartureTime() << endl;
- elapsedTimeEnroute = now - (*i)->getDepartureTime();
- remainingTimeEnroute = (*i)->getArrivalTime() - now;
- }
- else
- {
- lat = dep->getLatitude();
- lon = dep->getLongitude();
- elapsedTimeEnroute = 0;
- remainingTimeEnroute = totalTimeEnroute;
- }
-
- angle *= ( (double) elapsedTimeEnroute/ (double) totalTimeEnroute);
-
-
- //cout << "a = " << a[0] << " " << a[1] << " " << a[2]
- // << "b = " << b[0] << " " << b[1] << " " << b[2] << endl;
- sgdMakeRotMat4(matrix, angle, cross);
- for(int j = 0; j < 3; j++)
- {
- newPos[j] =0.0;
- for (int k = 0; k<3; k++)
- {
- newPos[j] += matrix[j][k]*a[k];
- }
- }
-
- temp = sgCartToPolar3d(Point3D(newPos[0], newPos[1],newPos[2]));
- if (now > (*i)->getDepartureTime())
- {
- //cerr << "Lat = " << lat << ", lon = " << lon << endl;
- //cerr << "Time diff: " << now-i->getDepartureTime() << endl;
- lat = temp.lat() * SG_RADIANS_TO_DEGREES;
- lon = temp.lon() * SG_RADIANS_TO_DEGREES;
- }
- else
- {
- lat = dep->getLatitude();
- lon = dep->getLongitude();
- }
-
-
- SGWayPoint current (lon,
- lat,
- (*i)->getCruiseAlt());
- SGWayPoint user ( userLongitude,
- userLatitude,
- (*i)->getCruiseAlt());
- SGWayPoint dest ( arr->getLongitude(),
- arr->getLatitude(),
- (*i)->getCruiseAlt());
- // We really only need distance to user
- // and course to destination
- user.CourseAndDistance(current, &courseToUser, &distanceToUser);
- dest.CourseAndDistance(current, &courseToDest, &distanceToDest);
- speed = (distanceToDest*SG_METER_TO_NM) /
- ((double) remainingTimeEnroute/3600.0);
-
+ totalTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime();
+ if (now > (*i)->getDepartureTime())
+ {
+ //err << "Lat = " << lat << ", lon = " << lon << endl;
+ //cerr << "Time diff: " << now-i->getDepartureTime() << endl;
+ elapsedTimeEnroute = now - (*i)->getDepartureTime();
+ remainingTimeEnroute = (*i)->getArrivalTime() - now;
+ SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is in progress.");
+ }
+ else
+ {
+ lat = dep->getLatitude();
+ lon = dep->getLongitude();
+ elapsedTimeEnroute = 0;
+ remainingTimeEnroute = totalTimeEnroute;
+ SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is pending.");
+ }
+ angle *= ( (double) elapsedTimeEnroute/ (double) totalTimeEnroute);
+ //cout << "a = " << a[0] << " " << a[1] << " " << a[2]
+ // << "b = " << b[0] << " " << b[1] << " " << b[2] << endl;
+ sgdMat4 matrix;
+ sgdMakeRotMat4(matrix, angle, _cross.data());
+ for(int j = 0; j < 3; j++) {
+ for (int k = 0; k<3; k++) {
+ newPos[j] += matrix[j][k]*a[k];
+ }
+ }
+ }
+ SGGeod current;
+ if ((now > (*i)->getDepartureTime() && (dep != arr))) {
+ current = SGGeod::fromCart(newPos);
+ speed = SGGeodesy::distanceNm(current, arr->geod()) /
+ ((double) remainingTimeEnroute/3600.0);
+ } else {
+ current = dep->geod();
+ speed = 450;
+ }
+ SGGeod user = SGGeod::fromDegM(userLongitude, userLatitude, (*i)->getCruiseAlt());
+
+ distanceToUser = SGGeodesy::distanceNm(current, user);
// If distance between user and simulated aircaft is less
// then 500nm, create this flight. At jet speeds 500 nm is roughly
// one hour flight time, so that would be a good approximate point
// to start a more detailed simulation of this aircraft.
- //cerr << registration << " is currently enroute from "
- // << dep->_id << " to " << arr->_id << "distance : "
- // << distanceToUser*SG_METER_TO_NM << endl;
- if ((distanceToUser*SG_METER_TO_NM) < TRAFFICTOAIDIST)
+ SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic manager: " << registration << " is scheduled for a flight from "
+ << dep->getId() << " to " << arr->getId() << ". Current distance to user: "
+ << distanceToUser);
+ if (distanceToUser < TRAFFICTOAIDISTTOSTART)
{
string flightPlanName = dep->getId() + string("-") + arr->getId() +
string(".xml");
+ SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic manager: Creating AIModel");
//int alt;
//if ((i->getDepartureTime() < now))
//{
aircraft->setAltitude((*i)->getCruiseAlt()*100); // convert from FL to feet
aircraft->setSpeed(speed);
aircraft->setBank(0);
- aircraft->SetFlightPlan(new FGAIFlightPlan(flightPlanName, courseToDest, deptime,
+
+ courseToDest = SGGeodesy::courseDeg(current, arr->geod());
+ aircraft->SetFlightPlan(new FGAIFlightPlan(aircraft, flightPlanName, courseToDest, deptime,
dep, arr,true, radius,
(*i)->getCruiseAlt()*100,
lat, lon, speed, flightType, acType,
}
-void FGAISchedule::next()
+bool FGAISchedule::next()
{
- (*flights.begin())->update();
- sort(flights.begin(), flights.end(), compareScheduledFlights);
+ FGScheduledFlightVecIterator i = flights.begin();
+ (*i)->release();
+ //FIXME: remove first entry,
+ // load new flights until back at home airport
+ // Lock loaded flights
+ //sort(flights.begin(), flights.end(), compareScheduledFlights);
+ // until that time
+ i = flights.erase(i);
+ //cerr << "Next: scheduling for : " << modelPath << " " << registration << endl;
+ FGScheduledFlight *flight = findAvailableFlight(currentDestination, flightIdentifier);
+ if (flight) {
+ currentDestination = flight->getArrivalAirport()->getId();
+ time_t arr, dep;
+ dep = flight->getDepartureTime();
+ arr = flight->getArrivalTime();
+ string depT = asctime(gmtime(&dep));
+ string arrT = asctime(gmtime(&arr));
+
+ depT = depT.substr(0,24);
+ arrT = arrT.substr(0,24);
+ //cerr << " " << flight->getCallSign() << ":"
+ // << " " << flight->getDepartureAirport()->getId() << ":"
+ // << " " << depT << ":"
+ // << " \"" << flight->getArrivalAirport()->getId() << "\"" << ":"
+ // << " " << arrT << ":" << endl;
+
+ flights.push_back(flight);
+ return true;
+ } else {
+ return false;
+ }
+ //cerr << "FGAISchedule :: next needs updating" << endl;
+ //exit(1);
}
-double FGAISchedule::getSpeed()
+FGScheduledFlight* FGAISchedule::findAvailableFlight (const string ¤tDestination,
+ const string &req)
{
- double courseToDest;
- double distanceToDest;
- double speed, remainingTimeEnroute;
- FGAirport *dep, *arr;
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+
+ FGTrafficManager *tmgr = (FGTrafficManager *) globals->get_subsystem("Traffic Manager");
+ FGScheduledFlightVecIterator fltBegin, fltEnd;
+ fltBegin = tmgr->getFirstFlight(req);
+ fltEnd = tmgr->getLastFlight(req);
+
+
+ //cerr << "Finding available flight " << endl;
+ // For Now:
+ // Traverse every registered flight
+ if (fltBegin == fltEnd) {
+ //cerr << "No Flights Scheduled for " << req << endl;
+ }
+ int counter = 0;
+ for (FGScheduledFlightVecIterator i = fltBegin; i != fltEnd; i++) {
+ (*i)->adjustTime(now);
+ //sort(fltBegin, fltEnd, compareScheduledFlights);
+ //cerr << counter++ << endl;
+ }
+ sort(fltBegin, fltEnd, compareScheduledFlights);
+ for (FGScheduledFlightVecIterator i = fltBegin; i != fltEnd; i++) {
+ //bool valid = true;
+ counter++;
+ if (!(*i)->isAvailable()) {
+ //cerr << (*i)->getCallSign() << "is no longer available" << endl;
+ continue;
+ }
+ if (!((*i)->getRequirement() == req)) {
+ continue;
+ }
+ if (!(((*i)->getArrivalAirport()) && ((*i)->getDepartureAirport()))) {
+ continue;
+ }
+ if (!(currentDestination.empty())) {
+ if (currentDestination != (*i)->getDepartureAirport()->getId()) {
+ //cerr << (*i)->getCallSign() << "Doesn't match destination" << endl;
+ //cerr << "Current Destination " << currentDestination << "Doesnt match flight's " <<
+ // (*i)->getArrivalAirport()->getId() << endl;
+ continue;
+ }
+ }
+ //TODO: check time
+ // So, if we actually get here, we have a winner
+ //cerr << "found flight: " << req << " : " << currentDestination << " : " <<
+ // (*i)->getArrivalAirport()->getId() << endl;
+ (*i)->lock();
+ return (*i);
+ }
+ // matches req?
+ // if currentDestination has a value, does it match departure of next flight?
+ // is departure time later than planned arrival?
+ // is departure port valid?
+ // is arrival port valid?
+ //cerr << "Ack no flight found: " << endl;
+ return 0;
+}
+double FGAISchedule::getSpeed()
+{
FGScheduledFlightVecIterator i = flights.begin();
- dep = (*i)->getDepartureAirport();
- arr = (*i)->getArrivalAirport ();
- if (!(dep && arr))
- return 0;
- SGWayPoint dest ( dep->getLongitude(),
- dep->getLatitude(),
- (*i)->getCruiseAlt());
- SGWayPoint curr ( arr->getLongitude(),
- arr->getLatitude(),
- (*i)->getCruiseAlt());
- remainingTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime();
- dest.CourseAndDistance(curr, &courseToDest, &distanceToDest);
- speed = (distanceToDest*SG_METER_TO_NM) /
- ((double) remainingTimeEnroute/3600.0);
+ FGAirport* dep = (*i)->getDepartureAirport(),
+ *arr = (*i)->getArrivalAirport();
+ double dist = SGGeodesy::distanceNm(dep->geod(), arr->geod());
+ double remainingTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime();
+
+ double speed = dist / (remainingTimeEnroute/3600.0);
+ SG_CLAMP_RANGE(speed, 300.0, 500.0);
return speed;
}
-
+/*
bool compareSchedules(FGAISchedule*a, FGAISchedule*b)
{
- return (*a) < (*b);
+ //return (*a) < (*b);
}
-
+*/
// void FGAISchedule::setClosestDistanceToUser()
// {
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