From 02712dc1adbcbc5f3e6c91a3881a4f891b9ff2f0 Mon Sep 17 00:00:00 2001 From: Durk Talsma Date: Sun, 9 Oct 2011 00:25:04 +0200 Subject: [PATCH] Several Bugfixes: * Landing AIAircraft now land properly!!! * Fixed problems with takeoff scheduling. * Untangled several vertical speed calculation algorithms. * No more bent-over-backwards and jump-in-the-air AI aircraft initializations. * Fixed intermixed target speed and target altitude during climb phase. * Implemented beginnings of a "line up and wait" procedure. * Tried to use actual runway elevation for calculating the decent profile. --- src/AIModel/AIAircraft.cxx | 132 ++++++++++++++++++++++++----- src/AIModel/AIAircraft.hxx | 3 + src/AIModel/AIFlightPlan.cxx | 10 +-- src/AIModel/AIFlightPlanCreate.cxx | 85 +++++++++++++++---- src/AIModel/performancedata.cxx | 2 +- src/ATC/trafficcontrol.cxx | 92 ++++++++++++++------ src/ATC/trafficcontrol.hxx | 2 + src/Airports/gnnode.cxx | 35 ++++++-- src/Airports/gnnode.hxx | 3 +- src/Airports/groundnetwork.cxx | 50 ++++++----- 10 files changed, 313 insertions(+), 101 deletions(-) diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx index 3791585ec..efb346a6b 100644 --- a/src/AIModel/AIAircraft.cxx +++ b/src/AIModel/AIAircraft.cxx @@ -1,4 +1,4 @@ -// // FGAIAircraft - FGAIBase-derived class creates an AI airplane +// FGAIAircraft - FGAIBase-derived class creates an AI airplane // // Written by David Culp, started October 2003. // @@ -47,11 +47,10 @@ using std::string; #include "AIAircraft.hxx" #include "performancedata.hxx" #include "performancedb.hxx" +#include //#include -static string tempReg; - FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : /* HOT must be disabled for AI Aircraft, * otherwise traffic detection isn't working as expected.*/ @@ -191,6 +190,7 @@ void FGAIAircraft::checkVisibility() void FGAIAircraft::AccelTo(double speed) { tgt_speed = speed; + assertSpeed(speed); if (!isStationary()) _needsGroundElevation = true; } @@ -287,6 +287,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { if (! leadPointReached(curr)) { controlHeading(curr); controlSpeed(curr, next); + /* if (speed < 0) { cerr << getCallSign() @@ -350,13 +351,18 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { fp->setLeadDistance(tgt_speed, tgt_heading, curr, next); } + if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground { tgt_altitude_ft = prev->getAltitude(); if (curr->getCrossat() > -1000.0) { use_perf_vs = false; - tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / speed*60.0); + // Distance to go in meters + double vert_dist_ft = curr->getCrossat() - altitude_ft; + double err_dist = prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); + checkTcas(); tgt_altitude_ft = curr->getCrossat(); } else { @@ -369,6 +375,49 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { } } +double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err) +{ + // err is negative when we passed too high + double vert_m = vert_ft * SG_FEET_TO_METER; + double err_m = err * SG_FEET_TO_METER; + //double angle = atan2(vert_m, dist_m); + double speedMs = (speed * SG_NM_TO_METER) / 3600; + //double vs = cos(angle) * speedMs; // Now in m/s + double vs = 0; + //cerr << "Error term = " << err_m << endl; + if (dist_m) { + vs = ((vert_m) / dist_m) * speedMs; + } + // Convert to feet per minute + vs *= (SG_METER_TO_FEET * 60); + //if (getCallSign() == "LUFTHANSA2002") + //if (fabs(vs) > 100000) { +// if (getCallSign() == "LUFTHANSA2057") { +// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl; +// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) +// // / 6076.0 / speed*60.0); +// //raise(SIGSEGV); +// } + return vs; +} + +void FGAIAircraft::assertSpeed(double speed) +{ + if ((speed < -50) || (speed > 1000)) { + cerr << getCallSign() << " " + << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " " + << "Departure airport " << trafficRef->getDepartureAirport() << " " + << "Leg " << fp->getLeg() << " " + << "target_speed << " << tgt_speed << " " + << "speedFraction << " << speedFraction << " " + << "Currecnt speed << " << speed << " " + << endl; + raise(SIGSEGV); + } +} + + + void FGAIAircraft::checkTcas(void) { if (props->getIntValue("tcas/threat-level",0)==3) @@ -497,12 +546,16 @@ void FGAIAircraft::getGroundElev(double dt) { void FGAIAircraft::doGroundAltitude() { - if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)|| - (isStationary())) - altitude_ft = (tgt_altitude_ft + groundOffset); - else - altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft); - tgt_vs = 0; + if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) { + tgt_vs = -500; + } else { + if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)|| + (isStationary())) + altitude_ft = (tgt_altitude_ft + groundOffset); + else + altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft); + tgt_vs = 0; + } } @@ -527,6 +580,7 @@ void FGAIAircraft::announcePositionToController() { case 3: //Take off tower controller if (trafficRef->getDepartureAirport()->getDynamics()) { controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController(); + towerController = 0; } else { cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl; } @@ -643,7 +697,6 @@ void FGAIAircraft::handleFirstWaypoint() { FGAIWaypoint* next = 0;// the next plus 1 spinCounter = 0; - tempReg = ""; //TODO fp should handle this fp->IncrementWaypoint(eraseWaypoints); @@ -676,9 +729,13 @@ void FGAIAircraft::handleFirstWaypoint() { if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate { use_perf_vs = false; - tgt_vs = (curr->getCrossat() - prev->getAltitude()) - / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / prev->getSpeed()*60.0); + //tgt_vs = (curr->getCrossat() - prev->getAltitude()) + // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) + // / 6076.0 / prev->getSpeed()*60.0); + double vert_dist_ft = curr->getCrossat() - altitude_ft; + double err_dist = prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); checkTcas(); tgt_altitude_ft = curr->getCrossat(); } else { @@ -730,6 +787,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { if (tgt_speed > -0.5) { tgt_speed = -0.5; } + assertSpeed(tgt_speed); if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) { fp->getPreviousWaypoint()->setSpeed(tgt_speed); } @@ -755,7 +813,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { minBearing = 10; } if ((minBearing < 360.0) && (minBearing > 10.0)) { - speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS); + speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5); } else { speedFraction = 1.0; } @@ -770,6 +828,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { } if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) { minBearing = 360; + speedFraction = 1.0; return true; } else { return false; @@ -816,9 +875,22 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { } if (prev->contains(string("DepartureHold"))) { //cerr << "Passing point DepartureHold" << endl; - scheduleForATCTowerDepartureControl(2); + scheduleForATCTowerDepartureControl(1); } - + if (prev->contains(string("Accel"))) { + takeOffStatus = 3; + } + /*if (prev->contains(string("final"))) { + + cerr << getCallSign() << " " + << fp->getPreviousWaypoint()->getName() + << ". Alt = " << altitude_ft + << " vs " << vs + << " horizontal speed " << speed + << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() + << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation() + << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl; + }*/ // This is the last taxi waypoint, and marks the the end of the flight plan // so, the schedule should update and wait for the next departure time. if (prev->contains("END")) { @@ -877,6 +949,7 @@ void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) { if (fabs(speed_diff) > 10) { prevSpeed = speed; + assertSpeed(speed); if (next) { fp->setLeadDistance(speed, tgt_heading, curr, next); } @@ -1005,13 +1078,14 @@ void FGAIAircraft::updateHeading() { // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl; //if (headingDiff > 60) { groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS); + assertSpeed(groundTargetSpeed); //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180); //} else { // groundTargetSpeed = tgt_speed; //} if (sign(groundTargetSpeed) != sign(tgt_speed)) groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode - + assertSpeed(groundTargetSpeed); // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding. if (speed != 0) { if (headingDiff > 30.0) { @@ -1112,7 +1186,12 @@ void FGAIAircraft::updateVerticalSpeedTarget() { tgt_vs = -_performance->descentRate(); } } else { - double max_vs = 4*(tgt_altitude_ft - altitude_ft); + double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft; + double err_dist = 0; //prev->getCrossat() - altitude_ft; + double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint()); + tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist); + //cerr << "Target vs before : " << tgt_vs; +/* double max_vs = 10*(tgt_altitude_ft - altitude_ft); double min_vs = 100; if (tgt_altitude_ft < altitude_ft) min_vs = -100.0; @@ -1121,7 +1200,8 @@ void FGAIAircraft::updateVerticalSpeedTarget() { tgt_vs = max_vs; if (fabs(tgt_vs) < fabs(min_vs)) - tgt_vs = min_vs; + tgt_vs = min_vs;*/ + //cerr << "target vs : after " << tgt_vs << endl; } } //else // tgt_vs = 0.0; @@ -1168,6 +1248,14 @@ void FGAIAircraft::handleATCRequests() { altitude_ft, dt); processATC(controller->getInstruction(getID())); } + if (towerController) { + towerController->updateAircraftInformation(getID(), + pos.getLatitudeDeg(), + pos.getLongitudeDeg(), + hdg, + speed, + altitude_ft, dt); + } } void FGAIAircraft::updateActualState() { @@ -1179,7 +1267,7 @@ void FGAIAircraft::updateActualState() { speed = _performance->actualSpeed(this, groundTargetSpeed, dt); else speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt); - + assertSpeed(speed); updateHeading(); roll = _performance->actualBankAngle(this, tgt_roll, dt); diff --git a/src/AIModel/AIAircraft.hxx b/src/AIModel/AIAircraft.hxx index 7504aaecf..cfadfaf51 100644 --- a/src/AIModel/AIAircraft.hxx +++ b/src/AIModel/AIAircraft.hxx @@ -103,6 +103,7 @@ public: int getTakeOffStatus() { return takeOffStatus; }; void checkTcas(); + double calcVerticalSpeed(double vert_ft, double dist_m, double speed, double error); FGATCController * getATCController() { return controller; }; @@ -181,6 +182,8 @@ private: time_t timeElapsed; PerformanceData* _performance; // the performance data for this aircraft + + void assertSpeed(double speed); }; diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx index 5458b2ce4..fd639f787 100644 --- a/src/AIModel/AIFlightPlan.cxx +++ b/src/AIModel/AIFlightPlan.cxx @@ -223,12 +223,12 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac, time_t timeDiff = now-start; leg = 1; - if ((timeDiff > 60) && (timeDiff < 1200)) + if ((timeDiff > 60) && (timeDiff < 1500)) leg = 2; - else if ((timeDiff >= 1200) && (timeDiff < 1500)) { - leg = 3; - ac->setTakeOffStatus(2); - } + //else if ((timeDiff >= 1200) && (timeDiff < 1500)) { + //leg = 3; + //ac->setTakeOffStatus(2); + //} else if ((timeDiff >= 1500) && (timeDiff < 2000)) leg = 4; else if (timeDiff >= 2000) diff --git a/src/AIModel/AIFlightPlanCreate.cxx b/src/AIModel/AIFlightPlanCreate.cxx index 075337470..edeff639f 100644 --- a/src/AIModel/AIFlightPlanCreate.cxx +++ b/src/AIModel/AIFlightPlanCreate.cxx @@ -316,6 +316,9 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight, //cerr << "Setting departurehold point: " << endl; wpt->setName( wpt->getName() + string("DepartureHold")); } + if (taxiRoute->nodesLeft() == 0) { + wpt->setName(wpt->getName() + string("Accel")); + } waypoints.push_back(wpt); } // Acceleration point, 105 meters into the runway, @@ -530,7 +533,7 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight, assert( rwy != NULL ); SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER); - wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000); + wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb); wpt->setGear_down(true); wpt->setFlaps_down(true); waypoints.push_back(wpt); @@ -607,7 +610,17 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, } - double dAlt = alt - (apt->getElevation() + 2000); + double dAlt = 0; // = alt - (apt->getElevation() + 2000); + FGTaxiNode * tn = 0; + if (apt->getDynamics()->getGroundNetwork()) { + int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint); + tn = apt->getDynamics()->getGroundNetwork()->findNode(node); + } + if (tn) { + dAlt = alt - ((tn->getElevationFt(apt->getElevation())) + 2000); + } else { + dAlt = alt - (apt->getElevation() + 2000); + } double nPoints = 100; @@ -769,10 +782,19 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, } //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl; + //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget); + double currentAltitude = 0; + if (tn) { + currentAltitude = (tn->getElevationFt(apt->getElevation())) + 2000; + } else { + currentAltitude = apt->getElevation() + 2000; + } + double trackLength = (2 * M_PI * initialTurnRadius) / 360.0; for (int i = startval; i != endval; i += increment) { SGGeod result; - double currentAltitude = apt->getElevation() + 2000; + //double currentAltitude = apt->getElevation() + 2000; + SGGeodesy::direct(secondaryTarget, i, initialTurnRadius, result, dummyAz2); snprintf(buffer, 16, "turn%03d", i); @@ -785,18 +807,20 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, } - // The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over. + // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over. //cerr << "Phase 3: Approach" << endl; distanceOut -= distanceCovered; + double touchDownPoint = 0; //(rwy->lengthM() * 0.1); for (int i = 1; i < nPoints; i++) { SGGeod result; double currentDist = i * (distanceOut / nPoints); - double currentAltitude = - apt->getElevation() + 2000 - (i * 2000 / nPoints); + //double currentAltitude = + // apt->getElevation() + 2000 - (i * 2000 / (nPoints-1)); + double alt = currentAltitude - (i * 2000 / (nPoints - 1)); snprintf(buffer, 16, "final%03d", i); - result = rwy->pointOnCenterline((-distanceOut) + currentDist); - wpt = createInAir(ac, buffer, result, currentAltitude, vApproach); - wpt->setCrossat(currentAltitude); + result = rwy->pointOnCenterline((-distanceOut) + currentDist + touchDownPoint); + wpt = createInAir(ac, buffer, result, alt, vApproach); + wpt->setCrossat(alt); wpt->setTrackLength((distanceOut / nPoints)); // account for the extra distance due to an extended downwind leg if (i == 1) { @@ -804,7 +828,9 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, } //cerr << "Track Length : " << wpt->trackLength; waypoints.push_back(wpt); - //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl; + //if (apt->ident() == fgGetString("/sim/presets/airport-id")) { + // cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << " " << apt->getElevation() << " " << distanceOut << endl; + //} } //cerr << "Done" << endl; @@ -837,6 +863,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, ac->resetPositionFromFlightPlan(); } waypoints[1]->setName( (waypoints[1]->getName() + string("legend"))); + waypoints.back()->setName(waypoints.back()->getName() + "LandingThreshold"); return true; } @@ -845,6 +872,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, * Create a flight path from the "permision to land" point (currently hardcoded at 5000 meters from the threshold) to the threshold, at a standard glide slope angle of 3 degrees. + Position : 50.0354 8.52592 384 364 11112 ******************************************************************/ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, const string & fltType) @@ -860,16 +888,41 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, FGAIWaypoint *wpt; double aptElev = apt->getElevation(); + double currElev = 0; + char buffer[12]; + FGRunway * rwy = apt->getRunwayByIdent(activeRunway); + assert( rwy != NULL ); + SGGeod refPoint = rwy->pointOnCenterline(0); + FGTaxiNode *tn = 0; + if (apt->getDynamics()->getGroundNetwork()) { + int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint); + tn = apt->getDynamics()->getGroundNetwork()->findNode(node); + } + if (tn) { + currElev = tn->getElevationFt(apt->getElevation()); + } else { + currElev = apt->getElevation(); + } + SGGeod coord; - char buffer[12]; + + + /*double distanceOut = rwy->lengthM() * .1; + double nPoints = 20; + for (int i = 1; i < nPoints; i++) { + snprintf(buffer, 12, "flare%d", i); + double currentDist = i * (distanceOut / nPoints); + double currentAltitude = apt->getElevation() + 20 - (i * 20 / nPoints); + coord = rwy->pointOnCenterline((currentDist * (i / nPoints))); + wpt = createInAir(ac, buffer, coord, currentAltitude, (vTouchdown)); + }*/ + for (int i = 1; i < 10; i++) { snprintf(buffer, 12, "wpt%d", i); - FGRunway * rwy = apt->getRunwayByIdent(activeRunway); - assert( rwy != NULL ); - - coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0)); - wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i)); + + coord = rwy->pointOnCenterline((rwy->lengthM() * 0.9) * (i / 10.0)); + wpt = createOnGround(ac, buffer, coord, currElev, (vTouchdown / i)); wpt->setCrossat(apt->getElevation()); waypoints.push_back(wpt); } diff --git a/src/AIModel/performancedata.cxx b/src/AIModel/performancedata.cxx index 1a0c5bb0a..2a2919671 100644 --- a/src/AIModel/performancedata.cxx +++ b/src/AIModel/performancedata.cxx @@ -130,7 +130,7 @@ double PerformanceData::actualVerticalSpeed(FGAIAircraft* ac, double tgt_vs, dou double vs = ac->getVerticalSpeed(); double vs_diff = tgt_vs - vs; - if (fabs(vs_diff) > 10.0) { + if (fabs(vs_diff) > .001) { if (vs_diff > 0.0) { vs += _climbRate * dt / 3.0; //TODO avoid hardcoded 3 secs to attain climb rate from level flight diff --git a/src/ATC/trafficcontrol.cxx b/src/ATC/trafficcontrol.cxx index 685df21da..8a1e996e7 100644 --- a/src/ATC/trafficcontrol.cxx +++ b/src/ATC/trafficcontrol.cxx @@ -140,6 +140,27 @@ time_t ActiveRunway::requestTimeSlot(time_t eta) return newEta; } +void ActiveRunway::printDepartureCue() +{ + cout << "Departure cue for " << rwy << ": " << endl; + for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) { + cout << " " << (*atc)->getCallSign() << " " << (*atc)->getTakeOffStatus(); + cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl; + } + +} + +FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat) +{ + for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) { + if ((*atc)->getTakeOffStatus() == stat) + return (*atc); + } + return 0; +} + + + /*************************************************************************** * FGTrafficRecord **************************************************************************/ @@ -165,7 +186,7 @@ void FGTrafficRecord::setPositionAndIntentions(int pos, intVecIterator i = intentions.begin(); if ((*i) != pos) { SG_LOG(SG_GENERAL, SG_ALERT, - "Error in FGTrafficRecord::setPositionAndIntentions"); + "Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN); //cerr << "Pos : " << pos << " Curr " << *(intentions.begin()) << endl; for (intVecIterator i = intentions.begin(); i != intentions.end(); i++) { @@ -845,7 +866,7 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon // // 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"); + "AI error: updating aircraft without traffic record at " << SG_ORIGIN); } else { i->setPositionAndHeading(lat, lon, heading, speed, alt); current = i; @@ -855,7 +876,15 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon // see if we already have a clearance record for the currently active runway // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is // already exists here. So, we can simplify the current code. + ActiveRunwayVecIterator rwy = activeRunways.begin(); + if (parent->getId() == fgGetString("/sim/presets/airport-id")) { + //for (rwy = activeRunways.begin(); rwy != activeRunways.end(); rwy++) { + // rwy->printDepartureCue(); + //} + } + + rwy = activeRunways.begin(); while (rwy != activeRunways.end()) { if (rwy->getRunwayName() == current->getRunway()) { break; @@ -878,22 +907,29 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon } } */ // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control + FGAIAircraft* ac= rwy->getFirstAircraftInDepartureCue(); + if (ac->getTakeOffStatus() == 1) { + ac->setTakeOffStatus(2); + } if (current->getAircraft()->getTakeOffStatus() == 2) { + current -> setHoldPosition(false); + } else { current->setHoldPosition(true); - int clearanceId = rwy->getCleared(); - if (clearanceId) { - if (id == clearanceId) { - current->setHoldPosition(false); - } - } else { - if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) { - rwy->setCleared(id); - } + } + int clearanceId = rwy->getCleared(); + if (clearanceId) { + if (id == clearanceId) { + current->setHoldPosition(false); } } else { - + if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) { + rwy->setCleared(id); + FGAIAircraft *ac = rwy->getFirstOfStatus(1); + if (ac) + ac->setTakeOffStatus(2); + } } -} +} void FGTowerController::signOff(int id) @@ -925,12 +961,12 @@ void FGTowerController::signOff(int id) rwy->updateDepartureCue(); } else { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff"); + "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN); } } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Aircraft without traffic record is signing off from tower"); + "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN); } else { i->getAircraft()->resetTakeOffStatus(); i = activeTraffic.erase(i); @@ -960,7 +996,7 @@ bool FGTowerController::hasInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: checking ATC instruction for aircraft without traffic record"); + "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->hasInstruction(); } @@ -984,7 +1020,7 @@ FGATCInstruction FGTowerController::getInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: requesting ATC instruction for aircraft without traffic record"); + "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->getInstruction(); } @@ -1079,7 +1115,7 @@ bool FGStartupController::hasInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: checking ATC instruction for aircraft without traffic record"); + "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->hasInstruction(); } @@ -1103,7 +1139,7 @@ FGATCInstruction FGStartupController::getInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: requesting ATC instruction for aircraft without traffic record"); + "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->getInstruction(); } @@ -1126,7 +1162,7 @@ void FGStartupController::signOff(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Aircraft without traffic record is signing off from tower"); + "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN); } else { //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl; i = activeTraffic.erase(i); @@ -1187,7 +1223,7 @@ void FGStartupController::updateAircraftInformation(int id, double lat, double l if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: updating aircraft without traffic record"); + "AI error: updating aircraft without traffic record at " << SG_ORIGIN); } else { i->setPositionAndHeading(lat, lon, heading, speed, alt); current = i; @@ -1313,7 +1349,7 @@ void FGStartupController::render(bool visible) } else { elevationStart = ((i)->getAircraft()->_getAltitude() * SG_FEET_TO_METER); } - double elevationEnd = segment->getEnd()->getElevation(); + double elevationEnd = segment->getEnd()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) { SGGeod center2 = end; center2.setElevationM(SG_MAX_ELEVATION_M); @@ -1375,8 +1411,8 @@ void FGStartupController::render(bool visible) obj_trans->setDataVariance(osg::Object::STATIC); FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k); - double elevationStart = segment->getStart()->getElevation(); - double elevationEnd = segment->getEnd ()->getElevation(); + double elevationStart = segment->getStart()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); + double elevationEnd = segment->getEnd ()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); if ((elevationStart == 0) || (elevationStart == parent->getElevation())) { SGGeod center2 = segment->getStart()->getGeod(); center2.setElevationM(SG_MAX_ELEVATION_M); @@ -1529,7 +1565,7 @@ void FGApproachController::updateAircraftInformation(int id, double lat, double // // 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"); + "AI error: updating aircraft without traffic record at " << SG_ORIGIN); } else { i->setPositionAndHeading(lat, lon, heading, speed, alt); current = i; @@ -1577,7 +1613,7 @@ void FGApproachController::signOff(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Aircraft without traffic record is signing off from approach"); + "AI error: Aircraft without traffic record is signing off from approach at " << SG_ORIGIN); } else { i = activeTraffic.erase(i); } @@ -1606,7 +1642,7 @@ bool FGApproachController::hasInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: checking ATC instruction for aircraft without traffic record"); + "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->hasInstruction(); } @@ -1630,7 +1666,7 @@ FGATCInstruction FGApproachController::getInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: requesting ATC instruction for aircraft without traffic record"); + "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->getInstruction(); } diff --git a/src/ATC/trafficcontrol.hxx b/src/ATC/trafficcontrol.hxx index e4ce4c6bb..90c83edb4 100644 --- a/src/ATC/trafficcontrol.hxx +++ b/src/ATC/trafficcontrol.hxx @@ -372,9 +372,11 @@ public: FGAIAircraft* getFirstAircraftInDepartureCue() { return departureCue.size() ? *(departureCue.begin()) : NULL; }; + FGAIAircraft* getFirstOfStatus(int stat); void updateDepartureCue() { departureCue.erase(departureCue.begin()); } + void printDepartureCue(); }; typedef vector ActiveRunwayVec; diff --git a/src/Airports/gnnode.cxx b/src/Airports/gnnode.cxx index cdf29f640..9bde00780 100644 --- a/src/Airports/gnnode.cxx +++ b/src/Airports/gnnode.cxx @@ -3,6 +3,11 @@ #include #include + +#include +#include
+#include + using std::sort; /***************************************************************************** @@ -68,12 +73,26 @@ void FGTaxiNode::setLongitude(const string& val) geod.setLongitudeDeg(processPosition(val)); } -//void FGTaxiNode::sortEndSegments(bool byLength) -//{ -// if (byLength) -// sort(next.begin(), next.end(), sortByLength); -// else -// sort(next.begin(), next.end(), sortByHeadingDiff); -//} - +double FGTaxiNode::getElevationFt(double refelev) +{ + double elevF = geod.getElevationFt(); + double elevationEnd = 0; + if ((elevF == 0) || (elevF == refelev)) { + SGGeod center2 = geod; + FGScenery * local_scenery = globals->get_scenery(); + center2.setElevationM(SG_MAX_ELEVATION_M); + if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) { + geod.setElevationM(elevationEnd); + } + } + //cerr << "Returning elevation : " << geod.getElevationM() << ". Ref elev (feet) = " << refelev << endl; + return geod.getElevationFt(); +} +double FGTaxiNode::getElevationM(double refelev) +{ + double refelevFt = refelev * SG_METER_TO_FEET; + double retval = getElevationFt(refelevFt); + //cerr << "Returning elevation : " << geod.getElevationM() << ". Ref elev (meters) = " << refelev << endl; + return geod.getElevationM(); +} diff --git a/src/Airports/gnnode.hxx b/src/Airports/gnnode.hxx index d7a90038f..aa4e7ed26 100644 --- a/src/Airports/gnnode.hxx +++ b/src/Airports/gnnode.hxx @@ -101,7 +101,8 @@ FGTaxiNode &operator =(const FGTaxiNode &other) double getPathScore() { return pathScore; }; double getLatitude() { return geod.getLatitudeDeg();}; double getLongitude(){ return geod.getLongitudeDeg();}; - double getElevation() { return geod.getElevationM();}; + double getElevationM (double refelev=0); + double getElevationFt(double refelev=0); const SGGeod& getGeod() const { return geod; } diff --git a/src/Airports/groundnetwork.cxx b/src/Airports/groundnetwork.cxx index 47753b288..12faa8515 100644 --- a/src/Airports/groundnetwork.cxx +++ b/src/Airports/groundnetwork.cxx @@ -252,7 +252,7 @@ FGGroundNetwork::~FGGroundNetwork() node != nodes.end(); node++) { if (saveData) { cachefile << (*node)->getIndex () << " " - << (*node)->getElevation () << " " + << (*node)->getElevationM (parent->getElevation()*SG_FEET_TO_METER) << " " << endl; } delete(*node); @@ -296,7 +296,7 @@ void FGGroundNetwork::saveElevationCache() { node != nodes.end(); node++) { if (saveData) { cachefile << (*node)->getIndex () << " " - << (*node)->getElevation () << " " + << (*node)->getElevationM (parent->getElevation()*SG_FEET_TO_METER) << " " << endl; } } @@ -323,7 +323,7 @@ void FGGroundNetwork::addNodes(FGParkingVec * parkings) n.setIndex(i->getIndex()); n.setLatitude(i->getLatitude()); n.setLongitude(i->getLongitude()); - n.setElevation(parent->getElevation()); + n.setElevation(parent->getElevation()*SG_FEET_TO_METER); nodes.push_back(new FGTaxiNode(n)); i++; @@ -653,7 +653,7 @@ void FGGroundNetwork::signOff(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Aircraft without traffic record is signing off"); + "AI error: Aircraft without traffic record is signing off at " << SG_ORIGIN); } else { i = activeTraffic.erase(i); } @@ -733,7 +733,7 @@ void FGGroundNetwork::updateAircraftInformation(int id, double lat, double lon, // 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"); + "AI error: updating aircraft without traffic record at " << SG_ORIGIN); } else { i->setPositionAndHeading(lat, lon, heading, speed, alt); current = i; @@ -818,7 +818,7 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat, } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment"); + "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment at " << SG_ORIGIN); } current = i; //closest = current; @@ -910,12 +910,13 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat, current->setSpeedAdjustment(closest->getSpeed() * (mindist / 100)); needBraking = true; - if ( - closest->getAircraft()->getTakeOffStatus() && - (current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) && - (current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway()) - ) - current->getAircraft()->scheduleForATCTowerDepartureControl(1); + +// if ( +// closest->getAircraft()->getTakeOffStatus() && +// (current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) && +// (current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway()) +// ) +// current->getAircraft()->scheduleForATCTowerDepartureControl(1); } else { current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest } @@ -962,9 +963,18 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat, } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition"); + "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition at " << SG_ORIGIN); } current = i; + // + if (current->getAircraft()->getTakeOffStatus() == 1) { + current->setHoldPosition(true); + return; + } + if (current->getAircraft()->getTakeOffStatus() == 2) { + current->setHoldPosition(false); + return; + } bool origStatus = current->hasHoldPosition(); current->setHoldPosition(false); SGGeod curr(SGGeod::fromDegM(lon, lat, alt)); @@ -1154,7 +1164,7 @@ bool FGGroundNetwork::checkForCircularWaits(int id) } if (i == activeTraffic.end() || (trafficSize == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits"); + "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits at " << SG_ORIGIN); } current = i; @@ -1246,7 +1256,7 @@ bool FGGroundNetwork::hasInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: checking ATC instruction for aircraft without traffic record"); + "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->hasInstruction(); } @@ -1269,7 +1279,7 @@ FGATCInstruction FGGroundNetwork::getInstruction(int id) } if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { SG_LOG(SG_GENERAL, SG_ALERT, - "AI error: requesting ATC instruction for aircraft without traffic record"); + "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN); } else { return i->getInstruction(); } @@ -1345,7 +1355,7 @@ void FGGroundNetwork::render(bool visible) } else { elevationStart = ((i)->getAircraft()->_getAltitude()); } - double elevationEnd = segments[pos]->getEnd()->getElevation(); + double elevationEnd = segments[pos]->getEnd()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); //cerr << "Using elevation " << elevationEnd << endl; if ((elevationEnd == 0) || (elevationEnd = parent->getElevation())) { @@ -1406,8 +1416,8 @@ void FGGroundNetwork::render(bool visible) obj_trans->setDataVariance(osg::Object::STATIC); // Experimental: Calculate slope here, based on length, and the individual elevations - double elevationStart = segments[k]->getStart()->getElevation(); - double elevationEnd = segments[k]->getEnd ()->getElevation(); + double elevationStart = segments[k]->getStart()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); + double elevationEnd = segments[k]->getEnd ()->getElevationM(parent->getElevation()*SG_FEET_TO_METER); if ((elevationStart == 0) || (elevationStart == parent->getElevation())) { SGGeod center2 = segments[k]->getStart()->getGeod(); center2.setElevationM(SG_MAX_ELEVATION_M); @@ -1544,7 +1554,7 @@ void FGGroundNetwork::update(double dt) int pos = i->getCurrentPosition(); if (pos > 0) { if (segments[pos-1]->hasBlock()) { - SG_LOG(SG_GENERAL, SG_ALERT, "Taxiway incursion for AI aircraft" << i->getAircraft()->getCallSign()); + //SG_LOG(SG_GENERAL, SG_ALERT, "Taxiway incursion for AI aircraft" << i->getAircraft()->getCallSign()); } }