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Keep revising ATC

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legoboyvdlp R 2019-08-27 20:40:14 +01:00 • committed by James Turner
parent 64aa3927a7
commit 3e1dc4683b
3 changed files with 123 additions and 130 deletions
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250
src/ATC/GroundController.cxx
View file

@ -67,12 +67,6 @@ using std::string;
/***************************************************************************
* FGGroundController()
**************************************************************************/
bool compare_trafficrecords(FGTrafficRecord a, FGTrafficRecord b)
{
return (a.getIntentions().size() < b.getIntentions().size());
}
FGGroundController::FGGroundController() :
parent(NULL)
{
@ -99,6 +93,31 @@ void FGGroundController::init(FGAirportDynamics* aDynamics)
networkInitialized = true;
}
bool compare_trafficrecords(FGTrafficRecord a, FGTrafficRecord b)
{
return (a.getIntentions().size() < b.getIntentions().size());
}
/*
* Search activeTraffic vector to find matching id
* @param id integer to search for in the vector
* @return the matching item OR activeTraffic.end()
*/
TrafficVectorIterator FGGroundController::searchActiveTraffic(int id)
{
// Possible optimization - investigate using map instead of vector
TrafficVectorIterator i = activeTraffic.begin();
if (!activeTraffic.empty()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
return i;
}
void FGGroundController::announcePosition(int id,
FGAIFlightPlan * intendedRoute,
int currentPosition, double lat,
@ -112,19 +131,11 @@ void FGGroundController::announcePosition(int id,
return;
}
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id alread has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (!activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// Add a new TrafficRecord if no one exsists for this aircraft.
// Search the activeTraffic vector to find a traffic vector with our id
TrafficVectorIterator i = searchActiveTraffic(id);
// Add a new TrafficRecord if none exists for this aircraft
// otherwise set the information for the TrafficRecord
if (i == activeTraffic.end() || (activeTraffic.empty())) {
FGTrafficRecord rec;
rec.setId(id);
@ -133,33 +144,27 @@ void FGGroundController::announcePosition(int id,
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRadius(radius); // only need to do this when creating the record.
rec.setAircraft(aircraft);
// add to the front of the list of activeTraffic if the aircraft is already taxiing
if (leg == 2) {
activeTraffic.push_front(rec);
} else {
activeTraffic.push_back(rec);
}
} else {
i->setPositionAndIntentions(currentPosition, intendedRoute);
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
}
/*
Search for and erase an aircraft with a certain id from the activeTraffic vector
*/
void FGGroundController::signOff(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id alread has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (activeTraffic.size()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
{
// Search the activeTraffic vector to find a traffic vector with our id
TrafficVectorIterator i = searchActiveTraffic(id);
// If one is found erase the record, else give an error message
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off at " << SG_ORIGIN);
@ -167,36 +172,37 @@ void FGGroundController::signOff(int id)
i = activeTraffic.erase(i);
}
}
/**
* The ground network can deal with the following states:
* 0 = Normal; no action required
* 1 = "Acknowledge "Hold position
* 2 = "Acknowledge "Resume taxi".
* 3 = "Issue TaxiClearance"
* 4 = Acknowledge Taxi Clearance"
* 5 = Post acknowlegde taxiclearance: Start taxiing
* 6 = Report runway
* 7 = Acknowledge report runway
* 8 = Switch tower frequency
* 9 = Acknowledge switch tower frequency
*************************************************************************************************************************/
/*
* The ground network can deal with the following states:
* 0 = Normal; no action required
* 1 = "Acknowledge "Hold position
* 2 = "Acknowledge "Resume taxi".
* 3 = "Issue TaxiClearance"
* 4 = Acknowledge Taxi Clearance"
* 5 = Post acknowlegde taxiclearance: Start taxiing
* 6 = Report runway
* 7 = Acknowledge report runway
* 8 = Switch tower frequency
* 9 = Acknowledge switch tower frequency
*/
bool FGGroundController::checkTransmissionState(int minState, int maxState, TrafficVectorIterator i, time_t now, AtcMsgId msgId,
AtcMsgDir msgDir)
{
int state = i->getState();
if ((state >= minState) && (state <= maxState) && available) {
if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
SG_LOG(SG_ATC, SG_DEBUG, "Checking state " << state << " for " << i->getAircraft()->getCallSign());
SG_LOG(SG_ATC, SG_DEBUG, "Checking state " << state << " for " << i->getAircraft()->getCallSign());
SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
int n = trans_num->getIntValue();
if (n == 0) {
trans_num->setIntValue(-1);
// PopupCallback(n);
SG_LOG(SG_ATC, SG_DEBUG, "Selected transmission message " << n);
SG_LOG(SG_ATC, SG_DEBUG, "Selected transmission message " << n);
//FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
FGATCDialogNew::instance()->removeEntry(1);
} else {
SG_LOG(SG_ATC, SG_DEBUG, "creating message for " << i->getAircraft()->getCallSign());
SG_LOG(SG_ATC, SG_DEBUG, "creating message for " << i->getAircraft()->getCallSign());
transmit(&(*i), dynamics, msgId, msgDir, false);
return false;
}
@ -220,7 +226,7 @@ void FGGroundController::updateAircraftInformation(int id, double lat, double lo
// Transmit confirmation ...
// Probably use a status mechanism similar to the Engine start procedure in the startup controller.
// leave this here until I figure out what current, closest is all about
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
@ -287,18 +293,18 @@ void FGGroundController::updateAircraftInformation(int id, double lat, double lo
}
}
/**
Scan for a speed adjustment change. Find the nearest aircraft that is in front
and adjust speed when we get too close. Only do this when current position and/or
intentions of the current aircraft match current taxiroute position of the proximate
aircraft. For traffic that is on other routes we need to issue a "HOLD Position"
instruction. See below for the hold position instruction.
/*
* Scan for a speed adjustment change. Find the nearest aircraft that is in front
* and adjust speed when we get too close. Only do this when current position and/or
* intentions of the current aircraft match current taxiroute position of the proximate
* aircraft. For traffic that is on other routes we need to issue a "HOLD Position"
* instruction. See below for the hold position instruction.
Note that there currently still is one flaw in the logic that needs to be addressed.
There can be situations where one aircraft is in front of the current aircraft, on a separate
route, but really close after an intersection coming off the current route. This
aircraft is still close enough to block the current aircraft. This situation is currently
not addressed yet, but should be.
* Note that there currently still is one flaw in the logic that needs to be addressed.
* There can be situations where one aircraft is in front of the current aircraft, on a separate
* route, but really close after an intersection coming off the current route. This
* aircraft is still close enough to block the current aircraft. This situation is currently
* not addressed yet, but should be.
*/
void FGGroundController::checkSpeedAdjustment(int id, double lat,
@ -309,7 +315,7 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
TrafficVectorIterator current, closest, closestOnNetwork;
TrafficVectorIterator i = activeTraffic.begin();
bool otherReasonToSlowDown = false;
// bool previousInstruction;
// bool previousInstruction;
if (activeTraffic.size()) {
//while ((i->getId() != id) && (i != activeTraffic.end()))
while (i != activeTraffic.end()) {
@ -328,8 +334,10 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
current = i;
//closest = current;
// previousInstruction = current->getSpeedAdjustment();
// previousInstruction = current->getSpeedAdjustment();
double mindist = HUGE_VAL;
// First check all our activeTraffic
if (activeTraffic.size()) {
double course, dist, bearing, az2; // minbearing,
SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
@ -353,16 +361,16 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
mindist = dist;
closest = i;
closestOnNetwork = i;
// minbearing = bearing;
// minbearing = bearing;
}
}
//Check traffic at the tower controller
// Next check with the tower controller
if (towerController->hasActiveTraffic()) {
for (TrafficVectorIterator i =
towerController->getActiveTraffic().begin();
i != towerController->getActiveTraffic().end(); i++) {
SG_LOG(SG_ATC, SG_BULK, "Comparing " << current->getId() << " and " << i->getId());
SG_LOG(SG_ATC, SG_BULK, "Comparing " << current->getId() << " and " << i->getId());
SGGeod other(SGGeod::fromDegM(i->getLongitude(),
i->getLatitude(),
i->getAltitude()));
@ -376,11 +384,12 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
// << ", which has status " << i->getAircraft()->isScheduledForTakeoff());
mindist = dist;
closest = i;
// minbearing = bearing;
// minbearing = bearing;
otherReasonToSlowDown = true;
}
}
}
// Finally, check UserPosition
// Note, as of 2011-08-01, this should no longer be necessecary.
/*
@ -399,8 +408,11 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
otherReasonToSlowDown = true;
}
*/
// Clear any active speed adjustment, check if the aircraft needs to brake
current->clearSpeedAdjustment();
bool needBraking = false;
if (current->checkPositionAndIntentions(*closest)
|| otherReasonToSlowDown) {
double maxAllowableDistance =
@ -411,6 +423,7 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
return;
else
current->setWaitsForId(closest->getId());
if (closest->getId() != current->getId()) {
current->setSpeedAdjustment(closest->getSpeed() *
(mindist / 100));
@ -425,6 +438,7 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
} else {
current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
}
if (mindist < maxAllowableDistance) {
//double newSpeed = (maxAllowableDistance-mindist);
//current->setSpeedAdjustment(newSpeed);
@ -435,18 +449,19 @@ void FGGroundController::checkSpeedAdjustment(int id, double lat,
}
}
}
if ((closest->getId() == closestOnNetwork->getId()) && (current->getPriority() < closest->getPriority()) && needBraking) {
swap(current, closest);
}
}
}
/**
Check for "Hold position instruction".
The hold position should be issued under the following conditions:
1) For aircraft entering or crossing a runway with active traffic on it, or landing aircraft near it
2) For taxiing aircraft that use one taxiway in opposite directions
3) For crossing or merging taxiroutes.
/*
* Check for "Hold position instruction".
* The hold position should be issued under the following conditions:
* 1) For aircraft entering or crossing a runway with active traffic on it, or landing aircraft near it
* 2) For taxiing aircraft that use one taxiway in opposite directions
* 3) For crossing or merging taxiroutes.
*/
void FGGroundController::checkHoldPosition(int id, double lat,
@ -474,7 +489,6 @@ void FGGroundController::checkHoldPosition(int id, double lat,
"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;
@ -535,7 +549,7 @@ void FGGroundController::checkHoldPosition(int id, double lat,
}
if (current->getState() == 0) {
if ((origStatus != currStatus) && available) {
SG_LOG(SG_ATC, SG_DEBUG, "Issuing hold short instruction " << currStatus << " " << available);
SG_LOG(SG_ATC, SG_DEBUG, "Issuing hold short instruction " << currStatus << " " << available);
if (currStatus == true) { // No has a hold short instruction
transmit(&(*current), dynamics, MSG_HOLD_POSITION, ATC_GROUND_TO_AIR, true);
SG_LOG(SG_ATC, SG_DEBUG, "Transmitting hold short instruction " << currStatus << " " << available);
@ -549,7 +563,7 @@ void FGGroundController::checkHoldPosition(int id, double lat,
available = false;
// Don't act on the changed instruction until the transmission is confirmed
// So set back to original status
SG_LOG(SG_ATC, SG_DEBUG, "Current state " << current->getState());
SG_LOG(SG_ATC, SG_DEBUG, "Current state " << current->getState());
}
}
@ -568,7 +582,7 @@ void FGGroundController::checkHoldPosition(int id, double lat,
current->setHoldPosition(false);
}
if (current->getAircraft()->getTakeOffStatus() && (current->getState() == 0)) {
SG_LOG(SG_ATC, SG_DEBUG, "Scheduling " << current->getAircraft()->getCallSign() << " for hold short");
SG_LOG(SG_ATC, SG_DEBUG, "Scheduling " << current->getAircraft()->getCallSign() << " for hold short");
current->setState(6);
}
if (checkTransmissionState(6,6, current, now, MSG_REPORT_RUNWAY_HOLD_SHORT, ATC_AIR_TO_GROUND)) {
@ -585,23 +599,23 @@ void FGGroundController::checkHoldPosition(int id, double lat,
//current->setState(0);
}
/**
* Check whether situations occur where the current aircraft is waiting for itself
* due to higher order interactions.
* A 'circular' wait is a situation where a waits for b, b waits for c, and c waits
* for a. Ideally each aircraft only waits for one other aircraft, so by tracing
* through this list of waiting aircraft, we can check if we'd eventually end back
* at the current aircraft.
*
* Note that we should consider the situation where we are actually checking aircraft
* d, which is waiting for aircraft a. d is not part of the loop, but is held back by
* the looping aircraft. If we don't check for that, this function will get stuck into
* endless loop.
*/
/*
* Check whether situations occur where the current aircraft is waiting for itself
* due to higher order interactions.
* A 'circular' wait is a situation where a waits for b, b waits for c, and c waits
* for a. Ideally each aircraft only waits for one other aircraft, so by tracing
* through this list of waiting aircraft, we can check if we'd eventually end back
* at the current aircraft.
*
* Note that we should consider the situation where we are actually checking aircraft
* d, which is waiting for aircraft a. d is not part of the loop, but is held back by
* the looping aircraft. If we don't check for that, this function will get stuck into
* endless loop.
*/
bool FGGroundController::checkForCircularWaits(int id)
{
SG_LOG(SG_ATC, SG_DEBUG, "Performing Wait check " << id);
SG_LOG(SG_ATC, SG_DEBUG, "Performing circular check for " << id);
int target = 0;
TrafficVectorIterator current, other;
TrafficVectorIterator i = activeTraffic.begin();
@ -627,7 +641,7 @@ bool FGGroundController::checkForCircularWaits(int id)
int counter = 0;
if (id == target) {
SG_LOG(SG_ATC, SG_DEBUG, "aircraft waits for user");
SG_LOG(SG_ATC, SG_DEBUG, "aircraft waits for user");
return false;
}
@ -647,7 +661,7 @@ bool FGGroundController::checkForCircularWaits(int id)
return false;
}
if (i == activeTraffic.end() || (trafficSize == 0)) {
SG_LOG(SG_ATC, SG_DEBUG, "[Waiting for traffic at Runway: DONE] ");
SG_LOG(SG_ATC, SG_DEBUG, "[Waiting for traffic at Runway: DONE] ");
// The target id is not found on the current network, which means it's at the tower
SG_LOG(SG_ATC, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
return false;
@ -682,7 +696,7 @@ bool FGGroundController::checkForCircularWaits(int id)
//if (printed)
SG_LOG(SG_ATC, SG_DEBUG, "[done] ");
SG_LOG(SG_ATC, SG_DEBUG, "[done] ");
if (id == target) {
SG_LOG(SG_GENERAL, SG_WARN,
"Detected circular wait condition: Id = " << id <<
@ -696,18 +710,9 @@ bool FGGroundController::checkForCircularWaits(int id)
// Note that this function is probably obsolete...
bool FGGroundController::hasInstruction(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (activeTraffic.size()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// Search the activeTraffic vector to find a traffic vector with our id
TrafficVectorIterator i = searchActiveTraffic(id);
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
@ -719,18 +724,9 @@ bool FGGroundController::hasInstruction(int id)
FGATCInstruction FGGroundController::getInstruction(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (activeTraffic.size()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// Search the activeTraffic vector to find a traffic vector with our id
TrafficVectorIterator i = searchActiveTraffic(id);
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
@ -754,9 +750,7 @@ static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
0.0, 1.0, 0.0));
}
/* Draw visible taxi routes */
void FGGroundController::render(bool visible)
{
SGMaterialLib *matlib = globals->get_matlib();
@ -801,7 +795,7 @@ void FGGroundController::render(bool visible)
double coveredDistance = length * 0.5;
SGGeod center;
SGGeodesy::direct(start, heading, coveredDistance, center, az2);
SG_LOG(SG_ATC, SG_BULK, "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading);
SG_LOG(SG_ATC, SG_BULK, "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading);
///////////////////////////////////////////////////////////////////////////////
// Make a helper function out of this
osg::Matrix obj_pos;
@ -815,7 +809,7 @@ void FGGroundController::render(bool visible)
elevationStart = ((i)->getAircraft()->_getAltitude());
}
double elevationEnd = segment->getEnd()->getElevationM();
SG_LOG(SG_ATC, SG_DEBUG, "Using elevation " << elevationEnd);
SG_LOG(SG_ATC, SG_DEBUG, "Using elevation " << elevationEnd);
if ((elevationEnd == 0) || (elevationEnd = parent->getElevation())) {
SGGeod center2 = end;
@ -834,7 +828,7 @@ void FGGroundController::render(bool visible)
double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
SG_LOG(SG_ATC, SG_DEBUG, "1. Using mean elevation : " << elevationMean << " and " << slope);
SG_LOG(SG_ATC, SG_DEBUG, "1. Using mean elevation : " << elevationMean << " and " << slope);
WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean+ 0.5, -(heading), slope );
@ -865,7 +859,7 @@ void FGGroundController::render(bool visible)
group->addChild( obj_trans );
/////////////////////////////////////////////////////////////////////
} else {
SG_LOG(SG_ATC, SG_INFO, "BIG FAT WARNING: current position is here : " << pos);
SG_LOG(SG_ATC, SG_INFO, "BIG FAT WARNING: current position is here : " << pos);
}
// Next: Draw the other taxi segments.
for (intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
@ -908,7 +902,7 @@ void FGGroundController::render(bool visible)
double length = segmentK->getLength();
double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
SG_LOG(SG_ATC, SG_DEBUG, "2. Using mean elevation : " << elevationMean << " and " << slope);
SG_LOG(SG_ATC, SG_DEBUG, "2. Using mean elevation : " << elevationMean << " and " << slope);
SGGeod segCenter = segmentK->getCenter();
WorldCoordinate( obj_pos, segCenter.getLatitudeDeg(), segCenter.getLongitudeDeg(),

2
src/ATC/GroundController.hxx
View file

@ -76,7 +76,7 @@ public:
};
virtual TrafficVectorIterator searchActiveTraffic(int id);
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon, double hdg, double spd, double alt,
double radius, int leg, FGAIAircraft *aircraft);

1
src/ATC/trafficcontrol.cxx
View file

@ -532,7 +532,6 @@ FGATCInstruction::FGATCInstruction()
alt = 0;
}
bool FGATCInstruction::hasInstruction() const
{
return (holdPattern || holdPosition || changeSpeed || changeHeading