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Start interacting with ATC (still somewhat rudimentary)

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This commit is contained in:
daveluff 2003-03-27 15:44:10 +00:00
parent 7fc214fab3
commit 559b134878
4 changed files with 252 additions and 65 deletions
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252
src/ATC/AILocalTraffic.cxx
View file

@ -43,6 +43,10 @@ SG_USING_STD(string);
FGAILocalTraffic::FGAILocalTraffic() {
ATC = globals->get_ATC_mgr();
// TODO - unhardwire this - possibly let the AI manager set the callsign
plane.callsign = "Trainer-two-five-charlie";
plane.type = GA_SINGLE;
roll = 0.0;
pitch = 0.0;
hdg = 270.0;
@ -69,6 +73,14 @@ FGAILocalTraffic::FGAILocalTraffic() {
wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
circuitsToFly = 0;
liningUp = false;
taxiRequestPending = false;
taxiRequestCleared = false;
holdingShort = false;
clearedToLineUp = false;
clearedToTakeOff = false;
reportReadyForDeparture = false;
contactTower = false;
contactGround = false;
}
FGAILocalTraffic::~FGAILocalTraffic() {
@ -76,28 +88,24 @@ FGAILocalTraffic::~FGAILocalTraffic() {
// Get details of the active runway
// This is a private internal function and it is assumed that by the
// time it is called the tower control and airport code will have been set up.
// It is assumed that by the time this is called the tower control and airport code will have been set up.
void FGAILocalTraffic::GetRwyDetails() {
//cout << "GetRwyDetails called" << endl;
// Based on the airport-id and wind get the active runway
rwy.rwyID = tower->GetActiveRunway();
// Now we need to get the threshold position and rwy heading
SGPath path( globals->get_fg_root() );
path.append( "Airports" );
path.append( "runways.mk4" );
FGRunways runways( path.c_str() );
//wind
double hdg = wind_from_hdg->getDoubleValue();
double speed = wind_speed_knots->getDoubleValue();
hdg = (speed == 0.0 ? 270.0 : hdg);
//cout << "Heading = " << hdg << '\n';
FGRunway runway;
bool rwyGood = runways.search(airportID, int(hdg), &runway);
bool rwyGood = runways.search(airportID, rwy.rwyID, &runway);
if(rwyGood) {
// Get the threshold position
hdg = runway.heading;
hdg = runway.heading; // TODO - check - is this our heading we are setting here, and if so should we be?
//cout << "hdg reset to " << hdg << '\n';
double other_way = hdg - 180.0;
while(other_way <= 0.0) {
@ -122,18 +130,12 @@ void FGAILocalTraffic::GetRwyDetails() {
//cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
//cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
rwy.hdg = hdg;
rwy.rwyID = runway.rwy_no;
// Set the projection for the local area
ortho.Init(rwy.threshold_pos, rwy.hdg);
rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
rwy.mag_var = 14.0; // TODO - remove this last hardwired bit!!
//(Although I don't think we even use the magvar any more?)
rwy.mag_hdg = rwy.hdg - rwy.mag_var;
rwy.ID = (int)rwy.mag_hdg / 10;
//cout << "rwy.ID = " << rwy.ID << '\n';
} else {
SG_LOG(SG_GENERAL, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
SG_LOG(SG_ATC, SG_ALERT, "Help - can't get good runway in FGAILocalTraffic!!\n");
}
}
@ -172,9 +174,12 @@ bool FGAILocalTraffic::Init(string ICAO, OperatingState initialState, PatternLeg
ground = tower->GetGroundPtr();
if(ground == NULL) {
// Something has gone wrong :-(
cout << "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::Init() :-(\n";
SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::Init() :-(");
return(false);
} else if((initialState == PARKED) || (initialState == TAXIING)) {
freq = (double)ground->get_freq() / 100.0;
}
//cout << "AILocalTraffic freq is " << freq << '\n';
} else {
// Check CTAF, unicom etc
}
@ -196,7 +201,7 @@ bool FGAILocalTraffic::Init(string ICAO, OperatingState initialState, PatternLeg
if(ourGate == NULL) {
// Implies no available gates - what shall we do?
// For now just vanish the plane - possibly we can make this more elegant in the future
SG_LOG(SG_GENERAL, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
return(false);
}
pitch = 0.0;
@ -258,7 +263,7 @@ bool FGAILocalTraffic::Init(string ICAO, OperatingState initialState, PatternLeg
Transform();
break;
default:
SG_LOG(SG_GENERAL, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
SG_LOG(SG_ATC, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
return(false);
}
@ -279,10 +284,10 @@ void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
// For now we'll punt this and do nothing
break;
case PARKED:
circuitsToFly = numCircuits - 1; // Hack (-1) because we only test and decrement circuitsToFly after landing
circuitsToFly = numCircuits; // Note that one too many circuits gets flown because we only test and decrement circuitsToFly after landing
// thus flying one too many circuits. TODO - Need to sort this out better!
touchAndGo = tag;
#if 0
// Get the active runway details (and copy them into rwy)
GetRwyDetails();
@ -290,7 +295,7 @@ void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
path = ground->GetPath(ourGate, rwy.rwyID);
if(path.size() < 2) {
// something has gone wrong
SG_LOG(SG_GENERAL, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
return;
}
/*
@ -335,12 +340,60 @@ void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
}
Transform();
#endif
break;
}
}
// Run the internal calculations
void FGAILocalTraffic::Update(double dt) {
//cout << "A" << flush;
double responseTime = 10.0; // seconds - this should get more sophisticated at some point
responseCounter += dt;
if((contactTower) && (responseCounter >= 8.0)) {
// Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
string trns = "Tower ";
double f = globals->get_ATC_mgr()->GetFrequency(airportID, TOWER) / 100.0;
char buf[10];
sprintf(buf, "%f", f);
trns += buf;
trns += " ";
trns += plane.callsign;
Transmit(trns);
responseCounter = 0.0;
contactTower = false;
changeFreq = true;
changeFreqType = TOWER;
}
if((changeFreq) && (responseCounter > 8.0)) {
switch(changeFreqType) {
case TOWER:
freq = (double)tower->get_freq() / 100.0;
//Transmit("DING!");
// Contact the tower, even if only virtually
changeFreq = false;
tower->ContactAtHoldShort(plane, this, CIRCUIT);
break;
case GROUND:
freq = (double)ground->get_freq() / 100.0;
break;
// And to avoid compiler warnings...
case APPROACH:
break;
case ATIS:
break;
case ENROUTE:
break;
case DEPARTURE:
break;
case INVALID:
break;
}
}
//cout << "." << flush;
switch(operatingState) {
case IN_PATTERN:
//cout << "In IN_PATTERN\n";
@ -360,6 +413,7 @@ void FGAILocalTraffic::Update(double dt) {
break;
case TAXIING:
//cout << "In TAXIING\n";
//cout << "*" << flush;
if(!elevInitGood) {
//DoGroundElev();
if(aip.getFGLocation()->get_cur_elev_m() > -9990.0) {
@ -372,10 +426,41 @@ void FGAILocalTraffic::Update(double dt) {
}
}
DoGroundElev();
Taxi(dt);
//cout << "," << flush;
if(!((holdingShort) && (!clearedToLineUp))) {
//cout << "|" << flush;
Taxi(dt);
}
//cout << ";" << flush;
if((clearedToTakeOff) && (responseCounter >= 8.0)) {
// possible assumption that we're at the hold short here - may not always hold
// TODO - sort out the case where we're cleared to line-up first and then cleared to take-off on the rwy.
taxiState = TD_LINING_UP;
path = ground->GetPath(holdShortNode, rwy.rwyID);
/*
cout << "path returned was:" << endl;
for(unsigned int i=0; i<path.size(); ++i) {
switch(path[i]->struct_type) {
case NODE:
cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
break;
case ARC:
cout << "ARC\n";
break;
}
}
*/
clearedToTakeOff = false; // We *are* still cleared - this simply stops the response recurring!!
holdingShort = false;
string trns = "Cleared for take-off ";
trns += plane.callsign;
Transmit(trns);
StartTaxi();
}
//cout << "^" << flush;
Transform();
break;
case PARKED:
case PARKED:
//cout << "In PARKED\n";
if(!elevInitGood) {
DoGroundElev();
@ -388,8 +473,94 @@ void FGAILocalTraffic::Update(double dt) {
elevInitGood = true;
}
}
if(circuitsToFly) {
if((taxiRequestPending) && (taxiRequestCleared)) {
//cout << "&" << flush;
// Get the active runway details (and copy them into rwy)
GetRwyDetails();
// Get the takeoff node for the active runway, get a path to it and start taxiing
path = ground->GetPathToHoldShort(ourGate, rwy.rwyID);
if(path.size() < 2) {
// something has gone wrong
SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
return;
}
/*
cout << "path returned was:\n";
for(unsigned int i=0; i<path.size(); ++i) {
switch(path[i]->struct_type) {
case NODE:
cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
break;
case ARC:
cout << "ARC\n";
break;
}
}
*/
path.erase(path.begin()); // pop the gate - we're here already!
taxiState = TD_OUTBOUND;
taxiRequestPending = false;
holdShortNode = (node*)(*(path.begin() + path.size()));
StartTaxi();
} else if(!taxiRequestPending) {
//cout << "(" << flush;
ground->RequestDeparture(plane, this);
// Do some communication
// airport name + tower + airplane callsign + location + request taxi for + operation type + ?
string trns = "";
trns += tower->get_name();
trns += " tower ";
trns += plane.callsign;
trns += " on apron parking request taxi for traffic pattern";
//cout << "trns = " << trns << endl;
Transmit(trns);
taxiRequestCleared = false;
taxiRequestPending = true;
}
}
//cout << "!" << flush;
// Maybe the below should be set when we get to the threshold and prepare for TO?
// FIXME TODO - pattern direction is still hardwired
patternDirection = -1; // Left
// At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
if(rwy.rwyID.size() == 3) {
patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
}
// Do nothing
Transform();
//cout << ")" << flush;
break;
default:
break;
}
//cout << "I " << flush;
}
void FGAILocalTraffic::RegisterTransmission(int code) {
switch(code) {
case 1: // taxi request cleared
taxiRequestCleared = true;
SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to taxi...");
break;
case 2: // contact tower
responseCounter = 0;
contactTower = true;
SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to contact tower...");
break;
case 3: // Cleared to line up
responseCounter = 0;
clearedToLineUp = true;
SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to line-up...");
break;
case 4: // cleared to take-off
responseCounter = 0;
clearedToTakeOff = true;
SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to take-off...");
break;
default:
break;
@ -452,6 +623,7 @@ void FGAILocalTraffic::FlyTrafficPattern(double dt) {
case CLIMBOUT:
track = rwy.hdg;
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 600) {
cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n';
leg = TURN1;
}
break;
@ -653,12 +825,11 @@ void FGAILocalTraffic::TransmitPatternPositionReport(void) {
trns += tower->get_name();
trns += " Traffic ";
// FIXME - add the callsign to the class variables
trns += "Trainer-two-five-charlie ";
trns += plane.callsign;
if(patternDirection == 1) {
trns += "right ";
trns += " right ";
} else {
trns += "left ";
trns += " left ";
}
// We could probably get rid of this whole switch statement and just pass a string containing the leg from the FlyPattern function.
@ -699,7 +870,7 @@ void FGAILocalTraffic::TransmitPatternPositionReport(void) {
void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
//cout << "In ExitRunway" << endl;
//cout << "Runway ID is " << rwy.ID << endl;
node_array_type exitNodes = ground->GetExits(rwy.ID); //I suppose we ought to have some fallback for rwy with no defined exits?
node_array_type exitNodes = ground->GetExits(rwy.rwyID); //I suppose we ought to have some fallback for rwy with no defined exits?
/*
cout << "Node ID's of exits are ";
for(unsigned int i=0; i<exitNodes.size(); ++i) {
@ -734,7 +905,7 @@ void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
if(ourGate == NULL) {
// Implies no available gates - what shall we do?
// For now just vanish the plane - possibly we can make this more elegant in the future
SG_LOG(SG_GENERAL, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
aip.setVisible(false);
operatingState = PARKED;
return;
@ -757,7 +928,7 @@ void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
StartTaxi();
} else {
// Something must have gone wrong with the ground network file - or there is only a rwy here and no exits defined
SG_LOG(SG_GENERAL, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.ID << " at " << airportID << '\n');
SG_LOG(SG_ATC, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.rwyID << " at " << airportID << '\n');
// What shall we do - just remove the plane from sight?
aip.setVisible(false);
operatingState = PARKED;
@ -772,7 +943,7 @@ void FGAILocalTraffic::GetNextTaxiNode() {
//cout << "taxiPathPos = " << taxiPathPos << endl;
ground_network_path_iterator pathItr = path.begin() + taxiPathPos;
if(pathItr == path.end()) {
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
} else {
if((*pathItr)->struct_type == NODE) {
//cout << "ITS A NODE" << endl;
@ -787,13 +958,13 @@ void FGAILocalTraffic::GetNextTaxiNode() {
pathItr++;
taxiPathPos++;
if(pathItr == path.end()) {
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
} else if((*pathItr)->struct_type == NODE) {
nextTaxiNode = (node*)*pathItr;
++taxiPathPos;
} else {
//OOPS - two non-nodes in a row - that shouldn't happen ATM
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
}
}
}
@ -891,7 +1062,7 @@ void FGAILocalTraffic::Taxi(double dt) {
pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
} // else don't change the elev until we get a valid ground elev again!
} else if(lastNode) {
if(taxiState == TD_OUTBOUND) {
if(taxiState == TD_LINING_UP) {
if((!liningUp) && (dist_to_go <= taxiTurnRadius)) {
liningUp = true;
}
@ -916,6 +1087,10 @@ void FGAILocalTraffic::Taxi(double dt) {
liningUp = false;
}
}
} else if(taxiState == TD_OUTBOUND) {
// Pause awaiting further instructions
// and for now assume we've reached the hold-short node
holdingShort = true;
} // else at the moment assume TD_INBOUND always ends in a gate in which case we can ignore it
} else {
// Time to turn (we've already checked it's not the end we're heading for).
@ -957,3 +1132,4 @@ void FGAILocalTraffic::DoGroundElev() {
aip.getFGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
//return(globals->get_scenery()->get_cur_elev());
}

40
src/ATC/AILocalTraffic.hxx
View file

@ -52,7 +52,8 @@ enum PatternLeg {
enum TaxiState {
TD_INBOUND,
TD_OUTBOUND,
TD_NONE
TD_NONE,
TD_LINING_UP
};
enum OperatingState {
@ -61,19 +62,6 @@ enum OperatingState {
PARKED
};
// perhaps we could use an FGRunway instead of this
struct RunwayDetails {
Point3D threshold_pos;
Point3D end1ortho; // ortho projection end1 (the threshold ATM)
Point3D end2ortho; // ortho projection end2 (the take off end in the current hardwired scheme)
double mag_hdg;
double mag_var;
double hdg; // true runway heading
double length; // In *METERS*
int ID; // 1 -> 36
string rwyID;
};
struct StartofDescent {
PatternLeg leg;
double orthopos_x;
@ -96,6 +84,18 @@ public:
// Go out and practice circuits
void FlyCircuits(int numCircuits, bool tag);
// TODO - this will get more complex and moved into the main class
// body eventually since the position approved to taxi to will have
// to be passed.
inline void ApproveTaxiRequest() {taxiRequestCleared = true;}
inline void DenyTaxiRequest() {taxiRequestCleared = false;}
void RegisterTransmission(int code);
// This is a hack and will probably go eventually
inline bool AtHoldShort() {return(holdingShort);}
protected:
// Attempt to enter the traffic pattern in a reasonably intelligent manner
@ -164,6 +164,8 @@ private:
// any permitted parking spot) and that all taxiing out is to runways.
bool parked;
bool taxiing;
bool taxiRequestPending;
bool taxiRequestCleared;
TaxiState taxiState;
double desiredTaxiHeading;
double taxiTurnRadius;
@ -172,8 +174,18 @@ private:
ground_network_path_type path; // a path through the ground network for the plane to taxi
unsigned int taxiPathPos; // position of iterator in taxi path when applicable
node* nextTaxiNode; // next node in taxi path
node* holdShortNode;
//Runway out_dest; //FIXME - implement this
bool holdingShort;
bool reportReadyForDeparture; // set true when ATC has requested that the plane report when ready for departure
bool clearedToLineUp;
bool clearedToTakeOff;
bool liningUp; // Set true when the turn onto the runway heading is commenced when taxiing out
bool contactTower; // we have been told to contact tower
bool contactGround; // we have been told to contact ground
bool changeFreq; // true when we need to change frequency
atc_type changeFreqType; // the service we need to change to
double responseCounter; // timer in seconds to allow response to requests to be a little while after them
void FlyTrafficPattern(double dt);

18
src/ATC/AIPlane.cxx
View file

@ -18,21 +18,10 @@
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
/*****************************************************************
*
* WARNING - Curt has some ideas about AI traffic so anything in here
* may get rewritten or scrapped. Contact Curt curt@flightgear.org
* before spending any time or effort on this code!!!
*
******************************************************************/
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
//#include <Scenery/scenery.hxx>
//#include <simgear/constants.h>
#include <simgear/math/point3d.hxx>
//#include <simgear/math/sg_geodesy.hxx>
//#include <simgear/misc/sg_path.hxx>
#include <simgear/debug/logstream.hxx>
#include <math.h>
#include <string>
SG_USING_STD(string);
@ -63,11 +52,13 @@ void FGAIPlane::LevelWings(void) {
}
void FGAIPlane::Transmit(string msg) {
SG_LOG(SG_ATC, SG_INFO, "Transmit called, msg = " << msg);
double user_freq0 = fgGetDouble("/radios/comm[0]/frequencies/selected-mhz");
//double user_freq0 = ("/radios/comm[0]/frequencies/selected-mhz");
//comm1 is not used yet.
if(freq == user_freq0) {
//cout << "Transmitting..." << endl;
// we are on the same frequency, so check distance to the user plane
if(1) {
// For now (testing) assume in range !!!
@ -76,3 +67,6 @@ void FGAIPlane::Transmit(string msg) {
}
}
}
void FGAIPlane::RegisterTransmission(int code) {
}

7
src/ATC/AIPlane.hxx
View file

@ -35,6 +35,7 @@
#include <simgear/math/point3d.hxx>
#include "AIEntity.hxx"
#include "ATC.hxx"
/*****************************************************************
@ -54,8 +55,13 @@ public:
// Run the internal calculations
virtual void Update(double dt);
// Send a transmission *TO* the AIPlane.
// FIXME int code is a hack - eventually this will receive Alexander's coded messages.
virtual void RegisterTransmission(int code);
protected:
PlaneRec plane;
double mag_hdg; // degrees - the heading that the physical aircraft is *pointing*
double track; // track that the physical aircraft is *following* - degrees relative to *true* north
@ -80,7 +86,6 @@ protected:
void Bank(double angle);
void LevelWings(void);
};
#endif // _FG_AI_PLANE_HXX