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Merge branch 'durk/ai-atc'

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This commit is contained in:
Tim Moore 2010-05-06 11:05:59 +02:00
commit 2a9bf393c3
9 changed files with 1237 additions and 1143 deletions
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6
src/AIModel/AIAircraft.cxx
View file

@ -80,6 +80,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
headingError = 0; headingError = 0;
holdPos = false; holdPos = false;
needsTaxiClearance = false;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0; dt = 0;
@ -663,9 +664,8 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl; //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
if (prev->name == "PushBackPoint") { if (prev->name == "PushBackPoint") {
dep->getDynamics()->releaseParking(fp->getGate()); dep->getDynamics()->releaseParking(fp->getGate());
time_t holdUntil = now + 120; AccelTo(0.0);
fp->setTime(holdUntil); setTaxiClearanceRequest(true);
//cerr << _getCallsign() << "Holding at pushback point" << endl;
} }
// This is the last taxi waypoint, and marks the the end of the flight plan // This is the last taxi waypoint, and marks the the end of the flight plan

3
src/AIModel/AIAircraft.hxx
View file

@ -70,6 +70,8 @@ public:
void announcePositionToController(); //TODO have to be public? void announcePositionToController(); //TODO have to be public?
void processATC(FGATCInstruction instruction); void processATC(FGATCInstruction instruction);
void setTaxiClearanceRequest(bool arg) { needsTaxiClearance = arg; };
bool getTaxiClearanceRequest() { return needsTaxiClearance; };
FGAISchedule * getTrafficRef() { return trafficRef; }; FGAISchedule * getTrafficRef() { return trafficRef; };
virtual const char* getTypeString(void) const { return "aircraft"; } virtual const char* getTypeString(void) const { return "aircraft"; }
@ -150,6 +152,7 @@ private:
const char * _getTransponderCode() const; const char * _getTransponderCode() const;
bool reachedWaypoint; bool reachedWaypoint;
bool needsTaxiClearance;
time_t timeElapsed; time_t timeElapsed;
PerformanceData* _performance; // the performance data for this aircraft PerformanceData* _performance; // the performance data for this aircraft

80
src/ATC/trafficcontrol.cxx
View file

@ -340,11 +340,27 @@ FGATCInstruction::FGATCInstruction()
alt = 0; alt = 0;
} }
bool FGATCInstruction::hasInstruction() bool FGATCInstruction::hasInstruction()
{ {
return (holdPattern || holdPosition || changeSpeed || changeHeading || changeAltitude || resolveCircularWait); return (holdPattern || holdPosition || changeSpeed || changeHeading || changeAltitude || resolveCircularWait);
} }
/***************************************************************************
* FGATCController
*
**************************************************************************/
FGATCController::FGATCController()
{
dt_count = 0;
available = true;
lastTransmission = 0;
}
string FGATCController::getGateName(FGAIAircraft *ref) string FGATCController::getGateName(FGAIAircraft *ref)
{ {
return ref->atGate(); return ref->atGate();
@ -370,6 +386,7 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
//double commFreqD; //double commFreqD;
sender = rec->getAircraft()->getTrafficRef()->getCallSign(); sender = rec->getAircraft()->getTrafficRef()->getCallSign();
//cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
switch (rec->getLeg()) { switch (rec->getLeg()) {
case 2: case 2:
case 3: case 3:
@ -449,6 +466,12 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
taxiFreqStr = formatATCFrequency3_2(taxiFreq); taxiFreqStr = formatATCFrequency3_2(taxiFreq);
text = receiver + ". Switching to " + taxiFreqStr + ". " + sender; text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
break; break;
case MSG_INITIATE_CONTACT:
text = receiver + ". With you. " + sender;
break;
case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
text = receiver + ". Roger. " + sender;
break;
case MSG_REQUEST_PUSHBACK_CLEARANCE: case MSG_REQUEST_PUSHBACK_CLEARANCE:
text = receiver + ". Request push-back. " + sender; text = receiver + ". Request push-back. " + sender;
break; break;
@ -458,8 +481,29 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
case MSG_HOLD_PUSHBACK_CLEARANCE: case MSG_HOLD_PUSHBACK_CLEARANCE:
text = receiver + ". Standby. " + sender; text = receiver + ". Standby. " + sender;
break; break;
case MSG_REQUEST_TAXI_CLEARANCE:
text = receiver + ". Ready to Taxi. " + sender;
break;
case MSG_ISSUE_TAXI_CLEARANCE:
text = receiver + ". Cleared to taxi. " + sender;
break;
case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
text = receiver + ". Cleared to taxi. " + sender;
break;
case MSG_HOLD_POSITION:
text = receiver + ". Hold Position. " + sender;
break;
case MSG_ACKNOWLEDGE_HOLD_POSITION:
text = receiver + ". Holding Position. " + sender;
break;
case MSG_RESUME_TAXI:
text = receiver + ". Resume Taxiing. " + sender;
break;
case MSG_ACKNOWLEDGE_RESUME_TAXI:
text = receiver + ". Continuing Taxi. " + sender;
break;
default: default:
text = sender + ". Transmitting unknown Message"; text = text + sender + ". Transmitting unknown Message";
break; break;
} }
double onBoardRadioFreq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz"); double onBoardRadioFreq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
@ -691,8 +735,6 @@ FGATCInstruction FGTowerController::getInstruction(int id)
FGStartupController::FGStartupController() : FGStartupController::FGStartupController() :
FGATCController() FGATCController()
{ {
available = false;
lastTransmission = 0;
} }
void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition, void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
@ -874,7 +916,7 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
available = false; available = false;
} }
} }
// Note: The next two stages are only necessesary when Startup control is // Note: The next four stages are only necessesary when Startup control is
// on a different frequency, compared to ground control // on a different frequency, compared to ground control
if ((state == 4) && available){ if ((state == 4) && available){
if (now > startTime+130) { if (now > startTime+130) {
@ -885,20 +927,36 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
available = false; available = false;
} }
} }
// TODO: Switch to APRON control and request pushback Clearance.
// Get Push back clearance
if ((state == 5) && available){ if ((state == 5) && available){
if (now > startTime+160) { if (now > startTime+140) {
transmit(&(*i), MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND); transmit(&(*i), MSG_INITIATE_CONTACT, ATC_AIR_TO_GROUND);
i->updateState(); i->updateState();
lastTransmission = now; lastTransmission = now;
available = false; available = false;
} }
} }
if ((state == 6) && available){ if ((state == 6) && available){
if (now > startTime+150) {
transmit(&(*i), MSG_ACKNOWLEDGE_INITIATE_CONTACT, ATC_GROUND_TO_AIR);
i->updateState();
lastTransmission = now;
available = false;
}
}
// TODO: Switch to APRON control and request pushback Clearance.
// Get Push back clearance
if ((state == 7) && available){
if (now > startTime+180) { if (now > startTime+180) {
transmit(&(*i), MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND);
i->updateState();
lastTransmission = now;
available = false;
}
}
if ((state == 8) && available){
if (now > startTime+200) {
if (i->pushBackAllowed()) { if (i->pushBackAllowed()) {
i->allowRepeatedTransmissions(); i->allowRepeatedTransmissions();
transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE, ATC_GROUND_TO_AIR); transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE, ATC_GROUND_TO_AIR);
@ -911,7 +969,7 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
available = false; available = false;
} }
} }
if ((state == 6) && available){ if ((state == 9) && available){
i->setHoldPosition(false); i->setHoldPosition(false);
} }
} }

21
src/ATC/trafficcontrol.hxx
View file

@ -129,6 +129,7 @@ public:
void setLeg(int lg) { leg = lg;}; void setLeg(int lg) { leg = lg;};
int getId() { return id;}; int getId() { return id;};
int getState() { return state;}; int getState() { return state;};
void setState(int s) { state = s;}
FGATCInstruction getInstruction() { return instruction;}; FGATCInstruction getInstruction() { return instruction;};
bool hasInstruction() { return instruction.hasInstruction(); }; bool hasInstruction() { return instruction.hasInstruction(); };
void setPositionAndHeading(double lat, double lon, double hdg, double spd, double alt); void setPositionAndHeading(double lat, double lon, double hdg, double spd, double alt);
@ -210,7 +211,10 @@ typedef vector<ActiveRunway>::iterator ActiveRunwayVecIterator;
*************************************************************************************/ *************************************************************************************/
class FGATCController class FGATCController
{ {
private: protected:
bool available;
time_t lastTransmission;
double dt_count; double dt_count;
@ -227,11 +231,20 @@ public:
MSG_REQUEST_PUSHBACK_CLEARANCE, MSG_REQUEST_PUSHBACK_CLEARANCE,
MSG_PERMIT_PUSHBACK_CLEARANCE, MSG_PERMIT_PUSHBACK_CLEARANCE,
MSG_HOLD_PUSHBACK_CLEARANCE, MSG_HOLD_PUSHBACK_CLEARANCE,
MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY } AtcMsgId; MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,
MSG_INITIATE_CONTACT,
MSG_ACKNOWLEDGE_INITIATE_CONTACT,
MSG_REQUEST_TAXI_CLEARANCE,
MSG_ISSUE_TAXI_CLEARANCE,
MSG_ACKNOWLEDGE_TAXI_CLEARANCE,
MSG_HOLD_POSITION,
MSG_ACKNOWLEDGE_HOLD_POSITION,
MSG_RESUME_TAXI,
MSG_ACKNOWLEDGE_RESUME_TAXI } AtcMsgId;
typedef enum { typedef enum {
ATC_AIR_TO_GROUND, ATC_AIR_TO_GROUND,
ATC_GROUND_TO_AIR } AtcMsgDir; ATC_GROUND_TO_AIR } AtcMsgDir;
FGATCController() { dt_count = 0;}; FGATCController();
virtual ~FGATCController() {}; virtual ~FGATCController() {};
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute, virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon, double lat, double lon,
@ -284,8 +297,6 @@ class FGStartupController : public FGATCController
{ {
private: private:
TrafficVector activeTraffic; TrafficVector activeTraffic;
bool available;
time_t lastTransmission;
//ActiveRunwayVec activeRunways; //ActiveRunwayVec activeRunways;
public: public:

1
src/Airports/apt_loader.cxx
View file

@ -237,7 +237,6 @@ private:
SGGeod pos(SGGeod::fromDegFt(lon, lat, last_apt_elev)); SGGeod pos(SGGeod::fromDegFt(lon, lat, last_apt_elev));
FGAirport* apt = new FGAirport(last_apt_id, pos, tower, last_apt_name, false, FGAirport* apt = new FGAirport(last_apt_id, pos, tower, last_apt_name, false,
fptypeFromRobinType(atoi(last_apt_type.c_str()))); fptypeFromRobinType(atoi(last_apt_type.c_str())));
apt->setRunwaysAndTaxiways(runways, taxiways, pavements); apt->setRunwaysAndTaxiways(runways, taxiways, pavements);
} }

224
src/Airports/dynamics.cxx
View file

@ -51,7 +51,8 @@ using std::random_shuffle;
#include "dynamics.hxx" #include "dynamics.hxx"
FGAirportDynamics::FGAirportDynamics(FGAirport * ap): FGAirportDynamics::FGAirportDynamics(FGAirport * ap):
_ap(ap), rwyPrefs(ap), SIDs(ap) { _ap(ap), rwyPrefs(ap), SIDs(ap)
{
lastUpdate = 0; lastUpdate = 0;
// For testing only. This needs to be refined when we move ATIS functionality over. // For testing only. This needs to be refined when we move ATIS functionality over.
@ -59,11 +60,13 @@ FGAirportDynamics::FGAirportDynamics(FGAirport* ap) :
} }
// Note that the ground network should also be copied // Note that the ground network should also be copied
FGAirportDynamics::FGAirportDynamics(const FGAirportDynamics& other) : FGAirportDynamics::
rwyPrefs(other.rwyPrefs), FGAirportDynamics(const FGAirportDynamics & other):rwyPrefs(other.
rwyPrefs),
SIDs(other.SIDs) SIDs(other.SIDs)
{ {
for (FGParkingVecConstIterator ip= other.parkings.begin(); ip != other.parkings.end(); ip++) for (FGParkingVecConstIterator ip = other.parkings.begin();
ip != other.parkings.end(); ip++)
parkings.push_back(*(ip)); parkings.push_back(*(ip));
// rwyPrefs = other.rwyPrefs; // rwyPrefs = other.rwyPrefs;
lastUpdate = other.lastUpdate; lastUpdate = other.lastUpdate;
@ -101,84 +104,59 @@ void FGAirportDynamics::init()
groundNetwork.setParent(_ap); groundNetwork.setParent(_ap);
} }
bool FGAirportDynamics::getAvailableParking(double *lat, double *lon, double *heading, int *gateId, double rad, const string &flType, const string &acType, const string &airline) bool FGAirportDynamics::getAvailableParking(double *lat, double *lon,
double *heading, int *gateId,
double rad,
const string & flType,
const string & acType,
const string & airline)
{ {
bool found = false; bool found = false;
bool available = false; bool available = false;
//string gateType;
FGParkingVecIterator i; FGParkingVecIterator i;
// if (flType == "cargo") if (parkings.begin() == parkings.end()) {
// {
// gateType = "RAMP_CARGO";
// }
// else if (flType == "ga")
// {
// gateType = "RAMP_GA";
// }
// else gateType = "GATE";
if (parkings.begin() == parkings.end())
{
//cerr << "Could not find parking spot at " << _ap->getId() << endl; //cerr << "Could not find parking spot at " << _ap->getId() << endl;
*lat = _ap->getLatitude(); *lat = _ap->getLatitude();
*lon = _ap->getLongitude(); *lon = _ap->getLongitude();
*heading = 0; *heading = 0;
found = true; found = true;
} } else {
else
{
// First try finding a parking with a designated airline code // First try finding a parking with a designated airline code
for (i = parkings.begin(); !(i == parkings.end() || found); i++) for (i = parkings.begin(); !(i == parkings.end() || found); i++) {
{
//cerr << "Gate Id: " << i->getIndex()
// << " Type : " << i->getType()
// << " Codes : " << i->getCodes()
// << " Radius: " << i->getRadius()
// << " Name : " << i->getName()
// << " Available: " << i->isAvailable() << endl;
available = true; available = true;
// Taken by another aircraft // Taken by another aircraft
if (!(i->isAvailable())) if (!(i->isAvailable())) {
{
available = false; available = false;
continue; continue;
} }
// No airline codes, so skip // No airline codes, so skip
if (i->getCodes().empty()) if (i->getCodes().empty()) {
{
available = false; available = false;
continue; continue;
} } else { // Airline code doesn't match
else // Airline code doesn't match
{
//cerr << "Code = " << airline << ": Codes " << i->getCodes(); //cerr << "Code = " << airline << ": Codes " << i->getCodes();
if (i->getCodes().find(airline, 0) == string::npos) if (i->getCodes().find(airline, 0) == string::npos) {
{
available = false; available = false;
//cerr << "Unavailable" << endl; //cerr << "Unavailable" << endl;
continue; continue;
} } else {
else
{
//cerr << "Available" << endl; //cerr << "Available" << endl;
} }
} }
// Type doesn't match // Type doesn't match
if (i->getType() != flType) if (i->getType() != flType) {
{
available = false; available = false;
continue; continue;
} }
// too small // too small
if (i->getRadius() < rad) if (i->getRadius() < rad) {
{
available = false; available = false;
continue; continue;
} }
if (available) if (available) {
{
*lat = i->getLatitude(); *lat = i->getLatitude();
*lon = i->getLongitude(); *lon = i->getLongitude();
*heading = i->getHeading(); *heading = i->getHeading();
@ -188,36 +166,29 @@ bool FGAirportDynamics::getAvailableParking(double *lat, double *lon, double *he
} }
} }
// then try again for those without codes. // then try again for those without codes.
for (i = parkings.begin(); !(i == parkings.end() || found); i++) for (i = parkings.begin(); !(i == parkings.end() || found); i++) {
{
available = true; available = true;
if (!(i->isAvailable())) if (!(i->isAvailable())) {
{
available = false; available = false;
continue; continue;
} }
if (!(i->getCodes().empty())) if (!(i->getCodes().empty())) {
{ if ((i->getCodes().find(airline, 0) == string::npos)) {
if ((i->getCodes().find(airline,0) == string::npos))
{
available = false; available = false;
continue; continue;
} }
} }
if (i->getType() != flType) if (i->getType() != flType) {
{
available = false; available = false;
continue; continue;
} }
if (i->getRadius() < rad) if (i->getRadius() < rad) {
{
available = false; available = false;
continue; continue;
} }
if (available) if (available) {
{
*lat = i->getLatitude(); *lat = i->getLatitude();
*lon = i->getLongitude(); *lon = i->getLongitude();
*heading = i->getHeading(); *heading = i->getHeading();
@ -227,28 +198,23 @@ bool FGAirportDynamics::getAvailableParking(double *lat, double *lon, double *he
} }
} }
// And finally once more if that didn't work. Now ignore the airline codes, as a last resort // And finally once more if that didn't work. Now ignore the airline codes, as a last resort
for (i = parkings.begin(); !(i == parkings.end() || found); i++) for (i = parkings.begin(); !(i == parkings.end() || found); i++) {
{
available = true; available = true;
if (!(i->isAvailable())) if (!(i->isAvailable())) {
{
available = false; available = false;
continue; continue;
} }
if (i->getType() != flType) if (i->getType() != flType) {
{
available = false; available = false;
continue; continue;
} }
if (i->getRadius() < rad) if (i->getRadius() < rad) {
{
available = false; available = false;
continue; continue;
} }
if (available) if (available) {
{
*lat = i->getLatitude(); *lat = i->getLatitude();
*lon = i->getLongitude(); *lon = i->getLongitude();
*heading = i->getHeading(); *heading = i->getHeading();
@ -258,8 +224,7 @@ bool FGAirportDynamics::getAvailableParking(double *lat, double *lon, double *he
} }
} }
} }
if (!found) if (!found) {
{
//cerr << "Traffic overflow at" << _ap->getId() //cerr << "Traffic overflow at" << _ap->getId()
// << ". flType = " << flType // << ". flType = " << flType
// << ". airline = " << airline // << ". airline = " << airline
@ -274,21 +239,17 @@ bool FGAirportDynamics::getAvailableParking(double *lat, double *lon, double *he
return found; return found;
} }
void FGAirportDynamics::getParking (int id, double *lat, double* lon, double *heading) void FGAirportDynamics::getParking(int id, double *lat, double *lon,
{ double *heading)
if (id < 0)
{ {
if (id < 0) {
*lat = _ap->getLatitude(); *lat = _ap->getLatitude();
*lon = _ap->getLongitude(); *lon = _ap->getLongitude();
*heading = 0; *heading = 0;
} } else {
else
{
FGParkingVecIterator i = parkings.begin(); FGParkingVecIterator i = parkings.begin();
for (i = parkings.begin(); i != parkings.end(); i++) for (i = parkings.begin(); i != parkings.end(); i++) {
{ if (id == i->getIndex()) {
if (id == i->getIndex())
{
*lat = i->getLatitude(); *lat = i->getLatitude();
*lon = i->getLongitude(); *lon = i->getLongitude();
*heading = i->getHeading(); *heading = i->getHeading();
@ -300,19 +261,18 @@ void FGAirportDynamics::getParking (int id, double *lat, double* lon, double *he
FGParking *FGAirportDynamics::getParking(int id) FGParking *FGAirportDynamics::getParking(int id)
{ {
FGParkingVecIterator i = parkings.begin(); FGParkingVecIterator i = parkings.begin();
for (i = parkings.begin(); i != parkings.end(); i++) for (i = parkings.begin(); i != parkings.end(); i++) {
{
if (id == i->getIndex()) { if (id == i->getIndex()) {
return &(*i); return &(*i);
} }
} }
return 0; return 0;
} }
string FGAirportDynamics::getParkingName(int id) string FGAirportDynamics::getParkingName(int id)
{ {
FGParkingVecIterator i = parkings.begin(); FGParkingVecIterator i = parkings.begin();
for (i = parkings.begin(); i != parkings.end(); i++) for (i = parkings.begin(); i != parkings.end(); i++) {
{
if (id == i->getIndex()) { if (id == i->getIndex()) {
return i->getName(); return i->getName();
} }
@ -320,16 +280,14 @@ string FGAirportDynamics::getParkingName(int id)
return string("overflow"); return string("overflow");
} }
void FGAirportDynamics::releaseParking(int id) void FGAirportDynamics::releaseParking(int id)
{ {
if (id >= 0) if (id >= 0) {
{
FGParkingVecIterator i = parkings.begin(); FGParkingVecIterator i = parkings.begin();
for (i = parkings.begin(); i != parkings.end(); i++) for (i = parkings.begin(); i != parkings.end(); i++) {
{ if (id == i->getIndex()) {
if (id == i->getIndex())
{
i->setAvailable(true); i->setAvailable(true);
} }
} }
@ -343,7 +301,9 @@ void FGAirportDynamics::setRwyUse(const FGRunwayPreference& ref)
//exit(1); //exit(1);
} }
bool FGAirportDynamics::innerGetActiveRunway(const string &trafficType, int action, string &runway, double heading) bool FGAirportDynamics::innerGetActiveRunway(const string & trafficType,
int action, string & runway,
double heading)
{ {
double windSpeed; double windSpeed;
double windHeading; double windHeading;
@ -359,17 +319,17 @@ double windSpeed;
RunwayGroup *currRunwayGroup = 0; RunwayGroup *currRunwayGroup = 0;
int nrActiveRunways = 0; int nrActiveRunways = 0;
time_t dayStart = fgGetLong("/sim/time/utc/day-seconds"); time_t dayStart = fgGetLong("/sim/time/utc/day-seconds");
if ((abs((long)(dayStart - lastUpdate)) > 600) || trafficType != prevTrafficType) if ((abs((long) (dayStart - lastUpdate)) > 600)
{ || trafficType != prevTrafficType) {
landing.clear(); landing.clear();
takeoff.clear(); takeoff.clear();
lastUpdate = dayStart; lastUpdate = dayStart;
prevTrafficType = trafficType; prevTrafficType = trafficType;
FGEnvironment FGEnvironment
stationweather = ((FGEnvironmentMgr *) globals->get_subsystem("environment")) stationweather =
->getEnvironment(getLatitude(), ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
getLongitude(), ->getEnvironment(getLatitude(), getLongitude(),
getElevation()); getElevation());
windSpeed = stationweather.get_wind_speed_kt(); windSpeed = stationweather.get_wind_speed_kt();
@ -410,13 +370,11 @@ double windSpeed;
} else if (trafficType == "ul") { } else if (trafficType == "ul") {
currentlyActive = &ulActive; currentlyActive = &ulActive;
} }
//
currRunwayGroup->setActive(_ap, currRunwayGroup->setActive(_ap,
windSpeed, windSpeed,
windHeading, windHeading,
maxTail, maxTail, maxCross, currentlyActive);
maxCross,
currentlyActive);
// Note that I SHOULD keep multiple lists in memory, one for // Note that I SHOULD keep multiple lists in memory, one for
// general aviation, one for commercial and one for military // general aviation, one for commercial and one for military
@ -424,18 +382,15 @@ double windSpeed;
currentlyActive->clear(); currentlyActive->clear();
nrActiveRunways = currRunwayGroup->getNrActiveRunways(); nrActiveRunways = currRunwayGroup->getNrActiveRunways();
//cerr << "Choosing runway for " << trafficType << endl; //cerr << "Choosing runway for " << trafficType << endl;
for (int i = 0; i < nrActiveRunways; i++) for (int i = 0; i < nrActiveRunways; i++) {
{
type = "unknown"; // initialize to something other than landing or takeoff type = "unknown"; // initialize to something other than landing or takeoff
currRunwayGroup->getActive(i, name, type); currRunwayGroup->getActive(i, name, type);
if (type == "landing") if (type == "landing") {
{
landing.push_back(name); landing.push_back(name);
currentlyActive->push_back(name); currentlyActive->push_back(name);
//cerr << "Landing " << name << endl; //cerr << "Landing " << name << endl;
} }
if (type == "takeoff") if (type == "takeoff") {
{
takeoff.push_back(name); takeoff.push_back(name);
currentlyActive->push_back(name); currentlyActive->push_back(name);
//cerr << "takeoff " << name << endl; //cerr << "takeoff " << name << endl;
@ -447,15 +402,12 @@ double windSpeed;
if (action == 1) // takeoff if (action == 1) // takeoff
{ {
int nr = takeoff.size(); int nr = takeoff.size();
if (nr) if (nr) {
{
// Note that the randomization below, is just a placeholder to choose between // Note that the randomization below, is just a placeholder to choose between
// multiple active runways for this action. This should be // multiple active runways for this action. This should be
// under ATC control. // under ATC control.
runway = chooseRwyByHeading(takeoff, heading); runway = chooseRwyByHeading(takeoff, heading);
} } else { // Fallback
else
{ // Fallback
runway = chooseRunwayFallback(); runway = chooseRunwayFallback();
} }
} }
@ -463,12 +415,9 @@ double windSpeed;
if (action == 2) // landing if (action == 2) // landing
{ {
int nr = landing.size(); int nr = landing.size();
if (nr) if (nr) {
{
runway = chooseRwyByHeading(landing, heading); runway = chooseRwyByHeading(landing, heading);
} } else { //fallback
else
{ //fallback
runway = chooseRunwayFallback(); runway = chooseRunwayFallback();
} }
} }
@ -476,7 +425,9 @@ double windSpeed;
return true; return true;
} }
string FGAirportDynamics::chooseRwyByHeading(stringVec rwys, double heading) { string FGAirportDynamics::chooseRwyByHeading(stringVec rwys,
double heading)
{
double bestError = 360.0; double bestError = 360.0;
double rwyHeading, headingError; double rwyHeading, headingError;
string runway; string runway;
@ -495,7 +446,9 @@ string FGAirportDynamics::chooseRwyByHeading(stringVec rwys, double heading) {
return runway; return runway;
} }
void FGAirportDynamics::getActiveRunway(const string &trafficType, int action, string &runway, double heading) void FGAirportDynamics::getActiveRunway(const string & trafficType,
int action, string & runway,
double heading)
{ {
bool ok = innerGetActiveRunway(trafficType, action, runway, heading); bool ok = innerGetActiveRunway(trafficType, action, runway, heading);
if (!ok) { if (!ok) {
@ -509,23 +462,28 @@ string FGAirportDynamics::chooseRunwayFallback()
return rwy->ident(); return rwy->ident();
} }
void FGAirportDynamics::addParking(FGParking& park) { void FGAirportDynamics::addParking(FGParking & park)
{
parkings.push_back(park); parkings.push_back(park);
} }
double FGAirportDynamics::getLatitude() const { double FGAirportDynamics::getLatitude() const
{
return _ap->getLatitude(); return _ap->getLatitude();
} }
double FGAirportDynamics::getLongitude() const { double FGAirportDynamics::getLongitude() const
{
return _ap->getLongitude(); return _ap->getLongitude();
} }
double FGAirportDynamics::getElevation() const { double FGAirportDynamics::getElevation() const
{
return _ap->getElevation(); return _ap->getElevation();
} }
const string& FGAirportDynamics::getId() const { const string & FGAirportDynamics::getId() const
{
return _ap->getId(); return _ap->getId();
} }
@ -536,11 +494,13 @@ const string& FGAirportDynamics::getId() const {
// so that at least I can start working on assigning different frequencies to different // so that at least I can start working on assigning different frequencies to different
// operations. // operations.
int FGAirportDynamics::getGroundFrequency(unsigned leg) { int FGAirportDynamics::getGroundFrequency(unsigned leg)
{
//return freqGround.size() ? freqGround[0] : 0; }; //return freqGround.size() ? freqGround[0] : 0; };
int groundFreq = 0; int groundFreq = 0;
if (leg < 2) { if (leg < 2) {
SG_LOG(SG_ATC, SG_ALERT, "Leg value is smaller than two at " << SG_ORIGIN); SG_LOG(SG_ATC, SG_ALERT,
"Leg value is smaller than two at " << SG_ORIGIN);
} }
if (freqGround.size() == 0) { if (freqGround.size() == 0) {
return 0; return 0;
@ -549,7 +509,10 @@ int FGAirportDynamics::getGroundFrequency(unsigned leg) {
groundFreq = freqGround[leg - 1]; groundFreq = freqGround[leg - 1];
} }
if ((freqGround.size() < leg - 1) && (leg > 1)) { if ((freqGround.size() < leg - 1) && (leg > 1)) {
groundFreq = (freqGround.size() < (leg-1)) ? freqGround[freqGround.size()-1] : freqGround[leg-2]; groundFreq =
(freqGround.size() <
(leg - 1)) ? freqGround[freqGround.size() -
1] : freqGround[leg - 2];
} }
if ((freqGround.size() >= leg - 1) && (leg > 1)) { if ((freqGround.size() >= leg - 1) && (leg > 1)) {
groundFreq = freqGround[leg - 2]; groundFreq = freqGround[leg - 2];
@ -557,7 +520,8 @@ int FGAirportDynamics::getGroundFrequency(unsigned leg) {
return groundFreq; return groundFreq;
} }
FGAIFlightPlan *FGAirportDynamics::getSID(string activeRunway, double heading) FGAIFlightPlan *FGAirportDynamics::getSID(string activeRunway,
double heading)
{ {
return SIDs.getBest(activeRunway, heading); return SIDs.getBest(activeRunway, heading);
} }

311
src/Airports/groundnetwork.cxx
View file

@ -32,6 +32,7 @@
#include <Airports/dynamics.hxx> #include <Airports/dynamics.hxx>
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIFlightPlan.hxx> #include <AIModel/AIFlightPlan.hxx>
#include "groundnetwork.hxx" #include "groundnetwork.hxx"
@ -43,34 +44,32 @@
void FGTaxiSegment::setStart(FGTaxiNodeVector * nodes) void FGTaxiSegment::setStart(FGTaxiNodeVector * nodes)
{ {
FGTaxiNodeVectorIterator i = nodes->begin(); FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end()) while (i != nodes->end()) {
{
//cerr << "Scanning start node index" << (*i)->getIndex() << endl; //cerr << "Scanning start node index" << (*i)->getIndex() << endl;
if ((*i)->getIndex() == startNode) if ((*i)->getIndex() == startNode) {
{
start = (*i)->getAddress(); start = (*i)->getAddress();
(*i)->addSegment(this); (*i)->addSegment(this);
return; return;
} }
i++; i++;
} }
SG_LOG(SG_GENERAL, SG_ALERT, "Could not find start node " << startNode << endl); SG_LOG(SG_GENERAL, SG_ALERT,
"Could not find start node " << startNode << endl);
} }
void FGTaxiSegment::setEnd(FGTaxiNodeVector * nodes) void FGTaxiSegment::setEnd(FGTaxiNodeVector * nodes)
{ {
FGTaxiNodeVectorIterator i = nodes->begin(); FGTaxiNodeVectorIterator i = nodes->begin();
while (i != nodes->end()) while (i != nodes->end()) {
{
//cerr << "Scanning end node index" << (*i)->getIndex() << endl; //cerr << "Scanning end node index" << (*i)->getIndex() << endl;
if ((*i)->getIndex() == endNode) if ((*i)->getIndex() == endNode) {
{
end = (*i)->getAddress(); end = (*i)->getAddress();
return; return;
} }
i++; i++;
} }
SG_LOG(SG_GENERAL, SG_ALERT, "Could not find end node " << endNode << endl); SG_LOG(SG_GENERAL, SG_ALERT,
"Could not find end node " << endNode << endl);
} }
@ -126,7 +125,9 @@ bool FGTaxiRoute::next(int *nde, int *rte)
//else //else
// cerr << "false" << endl; // cerr << "false" << endl;
if (nodes.size() != (routes.size()) + 1) { if (nodes.size() != (routes.size()) + 1) {
SG_LOG(SG_GENERAL, SG_ALERT, "ALERT: Misconfigured TaxiRoute : " << nodes.size() << " " << routes.size()); SG_LOG(SG_GENERAL, SG_ALERT,
"ALERT: Misconfigured TaxiRoute : " << nodes.
size() << " " << routes.size());
exit(1); exit(1);
} }
if (currNode == nodes.end()) if (currNode == nodes.end())
@ -137,9 +138,7 @@ bool FGTaxiRoute::next(int *nde, int *rte)
{ {
*rte = *(currRoute); *rte = *(currRoute);
currRoute++; currRoute++;
} } else {
else
{
// If currNode points to the first node, this means the aircraft is not on the taxi node // 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 // 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 // the speed adjust AI code may be unable to resolve whether two aircraft are on the same
@ -159,8 +158,9 @@ void FGTaxiRoute::rewind(int route)
first(); first();
do { do {
if (!(next(&currPoint, &currRoute))) { if (!(next(&currPoint, &currRoute))) {
SG_LOG(SG_GENERAL,SG_ALERT, "Error in rewinding TaxiRoute: current" << currRoute SG_LOG(SG_GENERAL, SG_ALERT,
<< " goal " << route); "Error in rewinding TaxiRoute: current" << currRoute <<
" goal " << route);
} }
} while (currRoute != route); } while (currRoute != route);
} }
@ -171,11 +171,13 @@ void FGTaxiRoute::rewind(int route)
/*************************************************************************** /***************************************************************************
* FGGroundNetwork() * FGGroundNetwork()
**************************************************************************/ **************************************************************************/
bool compare_nodes(FGTaxiNode *a, FGTaxiNode *b) { bool compare_nodes(FGTaxiNode * a, FGTaxiNode * b)
{
return (*a) < (*b); return (*a) < (*b);
} }
bool compare_segments(FGTaxiSegment *a, FGTaxiSegment *b) { bool compare_segments(FGTaxiSegment * a, FGTaxiSegment * b)
{
return (*a) < (*b); return (*a) < (*b);
} }
@ -194,17 +196,13 @@ FGGroundNetwork::FGGroundNetwork()
FGGroundNetwork::~FGGroundNetwork() FGGroundNetwork::~FGGroundNetwork()
{ {
for (FGTaxiNodeVectorIterator node = nodes.begin(); for (FGTaxiNodeVectorIterator node = nodes.begin();
node != nodes.end(); node != nodes.end(); node++) {
node++)
{
delete(*node); delete(*node);
} }
nodes.clear(); nodes.clear();
pushBackNodes.clear(); pushBackNodes.clear();
for (FGTaxiSegmentVectorIterator seg = segments.begin(); for (FGTaxiSegmentVectorIterator seg = segments.begin();
seg != segments.end(); seg != segments.end(); seg++) {
seg++)
{
delete(*seg); delete(*seg);
} }
segments.clear(); segments.clear();
@ -224,8 +222,7 @@ void FGGroundNetwork::addNodes(FGParkingVec *parkings)
{ {
FGTaxiNode n; FGTaxiNode n;
FGParkingVecIterator i = parkings->begin(); FGParkingVecIterator i = parkings->begin();
while (i != parkings->end()) while (i != parkings->end()) {
{
n.setIndex(i->getIndex()); n.setIndex(i->getIndex());
n.setLatitude(i->getLatitude()); n.setLatitude(i->getLatitude());
n.setLongitude(i->getLongitude()); n.setLongitude(i->getLongitude());
@ -263,10 +260,8 @@ void FGGroundNetwork::init()
i = segments.begin(); i = segments.begin();
while (i != segments.end()) { while (i != segments.end()) {
FGTaxiSegmentVectorIterator j = (*i)->getEnd()->getBeginRoute(); FGTaxiSegmentVectorIterator j = (*i)->getEnd()->getBeginRoute();
while (j != (*i)->getEnd()->getEndRoute()) while (j != (*i)->getEnd()->getEndRoute()) {
{ if ((*j)->getEnd()->getIndex() == (*i)->getStart()->getIndex()) {
if ((*j)->getEnd()->getIndex() == (*i)->getStart()->getIndex())
{
// int start1 = (*i)->getStart()->getIndex(); // int start1 = (*i)->getStart()->getIndex();
// int end1 = (*i)->getEnd() ->getIndex(); // int end1 = (*i)->getEnd() ->getIndex();
// int start2 = (*j)->getStart()->getIndex(); // int start2 = (*j)->getStart()->getIndex();
@ -297,11 +292,10 @@ int FGGroundNetwork::findNearestNode(const SGGeod& aGeod)
double minDist = HUGE_VAL; double minDist = HUGE_VAL;
int index = -1; 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()); double d = SGGeodesy::distanceM(aGeod, (*itr)->getGeod());
if (d < minDist) if (d < minDist) {
{
minDist = d; minDist = d;
index = (*itr)->getIndex(); index = (*itr)->getIndex();
//cerr << "Minimum distance of " << minDist << " for index " << index << endl; //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
@ -344,15 +338,15 @@ FGTaxiSegment *FGGroundNetwork::findSegment(unsigned idx)
*/ */
if ((idx > 0) && (idx <= segments.size())) if ((idx > 0) && (idx <= segments.size()))
return segments[idx - 1]->getAddress(); return segments[idx - 1]->getAddress();
else else {
{
//cerr << "Alert: trying to find invalid segment " << idx << endl; //cerr << "Alert: trying to find invalid segment " << idx << endl;
return 0; return 0;
} }
} }
FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSearch) FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end,
bool fullSearch)
{ {
//implements Dijkstra's algorithm to find shortest distance route from start to end //implements Dijkstra's algorithm to find shortest distance route from start to end
//taken from http://en.wikipedia.org/wiki/Dijkstra's_algorithm //taken from http://en.wikipedia.org/wiki/Dijkstra's_algorithm
@ -368,8 +362,7 @@ FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSear
} }
for (FGTaxiNodeVectorIterator for (FGTaxiNodeVectorIterator
itr = currNodesSet->begin(); itr = currNodesSet->begin(); itr != currNodesSet->end(); itr++) {
itr != currNodesSet->end(); itr++) {
(*itr)->setPathScore(HUGE_VAL); //infinity by all practical means (*itr)->setPathScore(HUGE_VAL); //infinity by all practical means
(*itr)->setPreviousNode(0); // (*itr)->setPreviousNode(0); //
(*itr)->setPreviousSeg(0); // (*itr)->setPreviousSeg(0); //
@ -385,13 +378,13 @@ FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSear
while (!unvisited.empty()) { while (!unvisited.empty()) {
FGTaxiNode *best = *(unvisited.begin()); FGTaxiNode *best = *(unvisited.begin());
for (FGTaxiNodeVectorIterator for (FGTaxiNodeVectorIterator
itr = unvisited.begin(); itr = unvisited.begin(); itr != unvisited.end(); itr++) {
itr != unvisited.end(); itr++) {
if ((*itr)->getPathScore() < best->getPathScore()) if ((*itr)->getPathScore() < best->getPathScore())
best = (*itr); best = (*itr);
} }
FGTaxiNodeVectorIterator newend = remove(unvisited.begin(), unvisited.end(), best); FGTaxiNodeVectorIterator newend =
remove(unvisited.begin(), unvisited.end(), best);
unvisited.erase(newend, unvisited.end()); unvisited.erase(newend, unvisited.end());
if (best == lastNode) { // found route or best not connected if (best == lastNode) { // found route or best not connected
@ -402,7 +395,9 @@ FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSear
seg != best->getEndRoute(); seg++) { seg != best->getEndRoute(); seg++) {
if (fullSearch || (*seg)->isPushBack()) { if (fullSearch || (*seg)->isPushBack()) {
FGTaxiNode *tgt = (*seg)->getEnd(); FGTaxiNode *tgt = (*seg)->getEnd();
double alt = best->getPathScore() + (*seg)->getLength() + (*seg)->getPenalty(nParkings); double alt =
best->getPathScore() + (*seg)->getLength() +
(*seg)->getPenalty(nParkings);
if (alt < tgt->getPathScore()) { // Relax (u,v) if (alt < tgt->getPathScore()) { // Relax (u,v)
tgt->setPathScore(alt); tgt->setPathScore(alt);
tgt->setPreviousNode(best); tgt->setPreviousNode(best);
@ -418,8 +413,9 @@ FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSear
if (lastNode->getPathScore() == HUGE_VAL) { if (lastNode->getPathScore() == HUGE_VAL) {
// no valid route found // no valid route found
if (fullSearch) { if (fullSearch) {
SG_LOG( SG_GENERAL, SG_ALERT, "Failed to find route from waypoint " << start << " to " << end << " at " << SG_LOG(SG_GENERAL, SG_ALERT,
parent->getId()); "Failed to find route from waypoint " << start << " to "
<< end << " at " << parent->getId());
} }
FGTaxiRoute empty; FGTaxiRoute empty;
return empty; return empty;
@ -441,7 +437,8 @@ FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end, bool fullSear
} }
} }
int FGTaxiSegment::getPenalty(int nGates) { int FGTaxiSegment::getPenalty(int nGates)
{
int penalty = 0; int penalty = 0;
if (end->getIndex() < nGates) { if (end->getIndex() < nGates) {
penalty += 10000; penalty += 10000;
@ -454,9 +451,12 @@ int FGTaxiSegment::getPenalty(int nGates) {
/* ATC Related Functions */ /* ATC Related Functions */
void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition, void FGGroundNetwork::announcePosition(int id,
double lat, double lon, double heading, FGAIFlightPlan * intendedRoute,
double speed, double alt, double radius, int leg, int currentPosition, double lat,
double lon, double heading,
double speed, double alt,
double radius, int leg,
FGAIAircraft * aircraft) FGAIAircraft * aircraft)
{ {
TrafficVectorIterator i = activeTraffic.begin(); TrafficVectorIterator i = activeTraffic.begin();
@ -475,6 +475,7 @@ void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, in
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
FGTrafficRecord rec; FGTrafficRecord rec;
rec.setId(id); rec.setId(id);
rec.setLeg(leg);
rec.setPositionAndIntentions(currentPosition, intendedRoute); rec.setPositionAndIntentions(currentPosition, intendedRoute);
rec.setPositionAndHeading(lat, lon, heading, speed, alt); rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRadius(radius); // only need to do this when creating the record. rec.setRadius(radius); // only need to do this when creating the record.
@ -486,7 +487,8 @@ void FGGroundNetwork::announcePosition(int id, FGAIFlightPlan *intendedRoute, in
} }
} }
void FGGroundNetwork::signOff(int id) { void FGGroundNetwork::signOff(int id)
{
TrafficVectorIterator i = activeTraffic.begin(); TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id alread has an entry // 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 // This might be faster using a map instead of a vector, but let's start by taking a safe route
@ -500,14 +502,17 @@ void FGGroundNetwork::signOff(int id) {
} }
} }
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off");
} else { } else {
i = activeTraffic.erase(i); i = activeTraffic.erase(i);
} }
} }
void FGGroundNetwork::update(int id, double lat, double lon, double heading, double speed, double alt, void FGGroundNetwork::update(int id, double lat, double lon,
double dt) { double heading, double speed, double alt,
double dt)
{
// Check whether aircraft are on hold due to a preceding pushback. If so, make sure to // Check whether aircraft are on hold due to a preceding pushback. If so, make sure to
// Transmit air-to-ground "Ready to taxi request: // Transmit air-to-ground "Ready to taxi request:
// Transmit ground to air approval / hold // Transmit ground to air approval / hold
@ -530,7 +535,8 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
} }
// update position of the current aircraft // update position of the current aircraft
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
} else { } else {
i->setPositionAndHeading(lat, lon, heading, speed, alt); i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i; current = i;
@ -551,6 +557,31 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
if (checkForCircularWaits(id)) { if (checkForCircularWaits(id)) {
i->setResolveCircularWait(); i->setResolveCircularWait();
} }
bool needsTaxiClearance = current->getAircraft()->getTaxiClearanceRequest();
int state = current->getState();
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
if ((now - lastTransmission) > 15) {
available = true;
}
if (needsTaxiClearance && available) {
transmit(&(*current), MSG_REQUEST_TAXI_CLEARANCE, ATC_AIR_TO_GROUND);
current->getAircraft()->setTaxiClearanceRequest(false);
current->setState(3);
lastTransmission = now;
available = false;
}
if ((state == 3) && available) {
transmit(&(*current), MSG_ISSUE_TAXI_CLEARANCE, ATC_GROUND_TO_AIR);
current->setState(4);
lastTransmission = now;
available = false;
}
if ((state == 4) && available) {
transmit(&(*current), MSG_ACKNOWLEDGE_TAXI_CLEARANCE, ATC_AIR_TO_GROUND);
current->setState(0);
lastTransmission = now;
available = false;
}
} }
/** /**
@ -576,8 +607,7 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
TrafficVectorIterator i = activeTraffic.begin(); TrafficVectorIterator i = activeTraffic.begin();
bool otherReasonToSlowDown = false; bool otherReasonToSlowDown = false;
bool previousInstruction; bool previousInstruction;
if (activeTraffic.size()) if (activeTraffic.size()) {
{
//while ((i->getId() != id) && (i != activeTraffic.end())) //while ((i->getId() != id) && (i != activeTraffic.end()))
while (i != activeTraffic.end()) { while (i != activeTraffic.end()) {
if (i->getId() == id) { if (i->getId() == id) {
@ -585,51 +615,47 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
} }
i++; i++;
} }
} } else {
else
{
return; return;
} }
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment");
} }
current = i; current = i;
//closest = current; //closest = current;
previousInstruction = current->getSpeedAdjustment(); previousInstruction = current->getSpeedAdjustment();
double mindist = HUGE_VAL; double mindist = HUGE_VAL;
if (activeTraffic.size()) if (activeTraffic.size()) {
{
double course, dist, bearing, minbearing, az2; double course, dist, bearing, minbearing, az2;
SGGeod curr(SGGeod::fromDegM(lon, lat, alt)); SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
//TrafficVector iterator closest; //TrafficVector iterator closest;
closest = current; closest = current;
for (TrafficVectorIterator i = activeTraffic.begin(); for (TrafficVectorIterator i = activeTraffic.begin();
i != activeTraffic.end(); i++) i != activeTraffic.end(); i++) {
{
if (i == current) { if (i == current) {
continue; continue;
} }
SGGeod other(SGGeod::fromDegM(i->getLongitude(), SGGeod other(SGGeod::fromDegM(i->getLongitude(),
i->getLatitude(), i->getAltitude())); i->getLatitude(),
i->getAltitude()));
SGGeodesy::inverse(curr, other, course, az2, dist); SGGeodesy::inverse(curr, other, course, az2, dist);
bearing = fabs(heading - course); bearing = fabs(heading - course);
if (bearing > 180) if (bearing > 180)
bearing = 360 - bearing; bearing = 360 - bearing;
if ((dist < mindist) && (bearing < 60.0)) if ((dist < mindist) && (bearing < 60.0)) {
{
mindist = dist; mindist = dist;
closest = i; closest = i;
minbearing = bearing; minbearing = bearing;
} }
} }
//Check traffic at the tower controller //Check traffic at the tower controller
if (towerController->hasActiveTraffic()) if (towerController->hasActiveTraffic()) {
{ for (TrafficVectorIterator i =
for (TrafficVectorIterator i = towerController->getActiveTraffic().begin(); towerController->getActiveTraffic().begin();
i != towerController->getActiveTraffic().end(); i++) i != towerController->getActiveTraffic().end(); i++) {
{
//cerr << "Comparing " << current->getId() << " and " << i->getId() << endl; //cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
SGGeod other(SGGeod::fromDegM(i->getLongitude(), SGGeod other(SGGeod::fromDegM(i->getLongitude(),
i->getLatitude(), i->getLatitude(),
@ -638,8 +664,7 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
bearing = fabs(heading - course); bearing = fabs(heading - course);
if (bearing > 180) if (bearing > 180)
bearing = 360 - bearing; bearing = 360 - bearing;
if ((dist < mindist) && (bearing < 60.0)) if ((dist < mindist) && (bearing < 60.0)) {
{
mindist = dist; mindist = dist;
closest = i; closest = i;
minbearing = bearing; minbearing = bearing;
@ -656,8 +681,7 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
bearing = fabs(heading - course); bearing = fabs(heading - course);
if (bearing > 180) if (bearing > 180)
bearing = 360 - bearing; bearing = 360 - bearing;
if ((dist < mindist) && (bearing < 60.0)) if ((dist < mindist) && (bearing < 60.0)) {
{
mindist = dist; mindist = dist;
//closest = i; //closest = i;
minbearing = bearing; minbearing = bearing;
@ -666,21 +690,22 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
current->clearSpeedAdjustment(); current->clearSpeedAdjustment();
if (current->checkPositionAndIntentions(*closest) || otherReasonToSlowDown) if (current->checkPositionAndIntentions(*closest)
{ || otherReasonToSlowDown) {
double maxAllowableDistance = (1.1*current->getRadius()) + (1.1*closest->getRadius()); double maxAllowableDistance =
if (mindist < 2*maxAllowableDistance) (1.1 * current->getRadius()) +
{ (1.1 * closest->getRadius());
if (mindist < 2 * maxAllowableDistance) {
if (current->getId() == closest->getWaitsForId()) if (current->getId() == closest->getWaitsForId())
return; return;
else else
current->setWaitsForId(closest->getId()); current->setWaitsForId(closest->getId());
if (closest->getId() != current->getId()) if (closest->getId() != current->getId())
current->setSpeedAdjustment(closest->getSpeed()* (mindist/100)); current->setSpeedAdjustment(closest->getSpeed() *
(mindist / 100));
else else
current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
if (mindist < maxAllowableDistance) if (mindist < maxAllowableDistance) {
{
//double newSpeed = (maxAllowableDistance-mindist); //double newSpeed = (maxAllowableDistance-mindist);
//current->setSpeedAdjustment(newSpeed); //current->setSpeedAdjustment(newSpeed);
//if (mindist < 0.5* maxAllowableDistance) //if (mindist < 0.5* maxAllowableDistance)
@ -705,11 +730,9 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
double lon, double heading, double lon, double heading,
double speed, double alt) double speed, double alt)
{ {
TrafficVectorIterator current; TrafficVectorIterator current;
TrafficVectorIterator i = activeTraffic.begin(); TrafficVectorIterator i = activeTraffic.begin();
if (activeTraffic.size()) if (activeTraffic.size()) {
{
//while ((i->getId() != id) && i != activeTraffic.end()) //while ((i->getId() != id) && i != activeTraffic.end())
while (i != activeTraffic.end()) { while (i != activeTraffic.end()) {
if (i->getId() == id) { if (i->getId() == id) {
@ -717,26 +740,22 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
} }
i++; i++;
} }
} } else {
else
{
return; return;
} }
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition");
} }
current = i; current = i;
bool origStatus = current->hasHoldPosition();
current->setHoldPosition(false); current->setHoldPosition(false);
SGGeod curr(SGGeod::fromDegM(lon, lat, alt)); SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
for (i = activeTraffic.begin(); for (i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
i != activeTraffic.end(); i++) if (i->getId() != current->getId()) {
{
if (i->getId() != current->getId())
{
int node = current->crosses(this, *i); int node = current->crosses(this, *i);
if (node != -1) if (node != -1) {
{
FGTaxiNode *taxiNode = findNode(node); FGTaxiNode *taxiNode = findNode(node);
// Determine whether it's save to continue or not. // Determine whether it's save to continue or not.
@ -745,11 +764,12 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
// 2) This is oncoming two-way traffic, using the same taxiway. // 2) This is oncoming two-way traffic, using the same taxiway.
//cerr << "Hold check 1 : " << id << " has common node " << node << endl; //cerr << "Hold check 1 : " << id << " has common node " << node << endl;
SGGeod other(SGGeod::fromDegM(i->getLongitude(), i->getLatitude(), i->getAltitude())); SGGeod other(SGGeod::
fromDegM(i->getLongitude(), i->getLatitude(),
i->getAltitude()));
bool needsToWait; bool needsToWait;
bool opposing; bool opposing;
if (current->isOpposing(this, *i, node)) if (current->isOpposing(this, *i, node)) {
{
needsToWait = true; needsToWait = true;
opposing = true; opposing = true;
//cerr << "Hold check 2 : " << node << " has opposing segment " << endl; //cerr << "Hold check 2 : " << node << " has opposing segment " << endl;
@ -760,30 +780,25 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
// This may be a bit of a conservative estimate though, as it may // This may be a bit of a conservative estimate though, as it may
// be well possible that both aircraft can both continue to taxi // be well possible that both aircraft can both continue to taxi
// without crashing into each other. // without crashing into each other.
} } else {
else
{
opposing = false; opposing = false;
if (SGGeodesy::distanceM(other, taxiNode->getGeod()) > 200) // 2.0*i->getRadius()) if (SGGeodesy::distanceM(other, taxiNode->getGeod()) > 200) // 2.0*i->getRadius())
{ {
needsToWait = false; needsToWait = false;
//cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue " //cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue "
// << endl; // << endl;
} } else {
else
{
needsToWait = true; needsToWait = true;
//cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl; //cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl;
} }
} }
double dist = SGGeodesy::distanceM(curr, taxiNode->getGeod()); double dist =
if (!(i->hasHoldPosition())) SGGeodesy::distanceM(curr, taxiNode->getGeod());
{ if (!(i->hasHoldPosition())) {
if ((dist < 200) && //2.5*current->getRadius()) && if ((dist < 200) && //2.5*current->getRadius()) &&
(needsToWait) && (needsToWait) && (i->onRoute(this, *current)) &&
(i->onRoute(this, *current)) &&
//((i->onRoute(this, *current)) || ((!(i->getSpeedAdjustment())))) && //((i->onRoute(this, *current)) || ((!(i->getSpeedAdjustment())))) &&
(!(current->getId() == i->getWaitsForId()))) (!(current->getId() == i->getWaitsForId())))
//(!(i->getSpeedAdjustment()))) // && //(!(i->getSpeedAdjustment()))) // &&
@ -801,15 +816,57 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
//if (i->hasSpeefAdjustment()) //if (i->hasSpeefAdjustment())
// { // {
// cerr << " (which in turn waits for ) " << i-> // cerr << " (which in turn waits for ) " << i->
} } else {
else
{
//cerr << "Hold check 6: " << id << " No need to hold yet: Distance to node : " << dist << " nm"<< endl; //cerr << "Hold check 6: " << id << " No need to hold yet: Distance to node : " << dist << " nm"<< endl;
} }
} }
} }
} }
} }
bool currStatus = current->hasHoldPosition();
// Either a Hold Position or a resume taxi transmission has been issued
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
if ((now - lastTransmission) > 2) {
available = true;
}
if ((origStatus != currStatus) && available) {
//cerr << "Issueing hold short instrudtion " << currStatus << " " << available << endl;
if (currStatus == true) { // No has a hold short instruction
transmit(&(*current), MSG_HOLD_POSITION, ATC_GROUND_TO_AIR);
//cerr << "Transmittin hold short instrudtion " << currStatus << " " << available << endl;
current->setState(1);
} else {
transmit(&(*current), MSG_RESUME_TAXI, ATC_GROUND_TO_AIR);
//cerr << "Transmittig resume instrudtion " << currStatus << " " << available << endl;
current->setState(2);
}
lastTransmission = now;
available = false;
// Don't act on the changed instruction until the transmission is confirmed
// So set back to original status
current->setHoldPosition(origStatus);
//cerr << "Current state " << current->getState() << endl;
} else {
}
int state = current->getState();
if ((state == 1) && (available)) {
//cerr << "ACKNOWLEDGE HOLD" << endl;
transmit(&(*current), MSG_ACKNOWLEDGE_HOLD_POSITION, ATC_AIR_TO_GROUND);
current->setState(0);
current->setHoldPosition(true);
lastTransmission = now;
available = false;
}
if ((state == 2) && (available)) {
//cerr << "ACKNOWLEDGE RESUME" << endl;
transmit(&(*current), MSG_ACKNOWLEDGE_RESUME_TAXI, ATC_AIR_TO_GROUND);
current->setState(0);
current->setHoldPosition(false);
lastTransmission = now;
available = false;
}
} }
/** /**
@ -840,12 +897,12 @@ bool FGGroundNetwork::checkForCircularWaits(int id)
} }
i++; i++;
} }
} } else {
else {
return false; return false;
} }
if (i == activeTraffic.end() || (trafficSize == 0)) { if (i == activeTraffic.end() || (trafficSize == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
} }
current = i; current = i;
@ -870,8 +927,7 @@ bool FGGroundNetwork::checkForCircularWaits(int id)
} }
i++; i++;
} }
} } else {
else {
return false; return false;
} }
if (i == activeTraffic.end() || (trafficSize == 0)) { if (i == activeTraffic.end() || (trafficSize == 0)) {
@ -912,7 +968,9 @@ bool FGGroundNetwork::checkForCircularWaits(int id)
//if (printed) //if (printed)
// cerr << "[done] " << endl << endl;; // cerr << "[done] " << endl << endl;;
if (id == target) { if (id == target) {
SG_LOG(SG_GENERAL, SG_WARN, "Detected circular wait condition: Id = " << id << "target = " << target); SG_LOG(SG_GENERAL, SG_WARN,
"Detected circular wait condition: Id = " << id <<
"target = " << target);
return true; return true;
} else { } else {
return false; return false;
@ -925,8 +983,7 @@ bool FGGroundNetwork::hasInstruction(int id)
TrafficVectorIterator i = activeTraffic.begin(); TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry // 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 // This might be faster using a map instead of a vector, but let's start by taking a safe route
if (activeTraffic.size()) if (activeTraffic.size()) {
{
//while ((i->getId() != id) && i != activeTraffic.end()) { //while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) { while (i != activeTraffic.end()) {
if (i->getId() == id) { if (i->getId() == id) {
@ -936,7 +993,8 @@ bool FGGroundNetwork::hasInstruction(int id)
} }
} }
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record");
} else { } else {
return i->hasInstruction(); return i->hasInstruction();
} }
@ -958,11 +1016,10 @@ FGATCInstruction FGGroundNetwork::getInstruction(int id)
} }
} }
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) { if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record"); SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record");
} else { } else {
return i->getInstruction(); return i->getInstruction();
} }
return FGATCInstruction(); return FGATCInstruction();
} }

6
src/Traffic/Schedule.cxx
View file

@ -201,15 +201,17 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
if (firstRun) { if (firstRun) {
if (fgGetBool("/sim/traffic-manager/instantaneous-action") == true) { 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 deptime = now; // + rand() % 300; // Wait up to 5 minutes until traffic starts moving to prevent too many aircraft
// from cluttering the gate areas. // from cluttering the gate areas.
} }
firstRun = false; firstRun = false;
} }
FGScheduledFlight* flight = flights.front(); FGScheduledFlight* flight = flights.front();
if (!deptime) if (!deptime) {
deptime = flight->getDepartureTime(); deptime = flight->getDepartureTime();
//cerr << "Settiing departure time " << deptime << endl;
}
if (AIManagerRef) { if (AIManagerRef) {
// Check if this aircraft has been released. // Check if this aircraft has been released.