fly/flightgear
1
0
Fork 0
Code Activity

AI/ATC enhancements:

Browse source 
- Better transistion between taxi and takeoff phases.
 - Skipping the pushback stages when a gate doesn't require push-back.
 - Some test code always chooses the user aircraft as the one that has to hold position.
This commit is contained in:
Durk Talsma 2011-08-07 21:38:50 +02:00
parent 37591d0ac9
commit 5f3804e816
11 changed files with 158 additions and 52 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

17
src/AIModel/AIAircraft.cxx
View file

@ -93,7 +93,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0;
scheduledForTakeoff = false;
takeOffStatus = 0;
}
@ -557,8 +557,8 @@ void FGAIAircraft::announcePositionToController() {
}
}
void FGAIAircraft::scheduleForATCTowerDepartureControl() {
if (!scheduledForTakeoff) {
void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
if (!takeOffStatus) {
int leg = fp->getLeg();
if (trafficRef) {
if (trafficRef->getDepartureAirport()->getDynamics()) {
@ -570,10 +570,11 @@ void FGAIAircraft::scheduleForATCTowerDepartureControl() {
towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
}
}
}
scheduledForTakeoff = true;
takeOffStatus = state;
}
// Process ATC instructions and report back
@ -804,16 +805,18 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
//cerr << "Passing waypoint : " << prev->getName() << endl;
if (prev->contains("PushBackPoint")) {
dep->getDynamics()->releaseParking(fp->getGate());
AccelTo(0.0);
setTaxiClearanceRequest(true);
//setTaxiClearanceRequest(true);
}
if (prev->contains("legend")) {
fp->incrementLeg();
}
if (prev->contains(string("DepartureHold"))) {
scheduleForATCTowerDepartureControl();
cerr << "Passing point DepartureHold" << endl;
scheduleForATCTowerDepartureControl(2);
}
// This is the last taxi waypoint, and marks the the end of the flight plan
@ -824,7 +827,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
if (nextDeparture < (now+1200)) {
nextDeparture = now + 1200;
}
fp->setTime(nextDeparture); // should be "next departure"
fp->setTime(nextDeparture);
}
return true;

10
src/AIModel/AIAircraft.hxx
View file

@ -77,9 +77,11 @@ public:
bool getTaxiClearanceRequest() { return needsTaxiClearance; };
FGAISchedule * getTrafficRef() { return trafficRef; };
void setTrafficRef(FGAISchedule *ref) { trafficRef = ref; };
void scheduleForATCTowerDepartureControl();
void resetTakeOffStatus() { takeOffStatus = 0;};
void setTakeOffStatus(int status) { takeOffStatus = status; };
void scheduleForATCTowerDepartureControl(int state);
inline bool isScheduledForTakeoff() { return scheduledForTakeoff; };
//inline bool isScheduledForTakeoff() { return scheduledForTakeoff; };
virtual const char* getTypeString(void) const { return "aircraft"; }
@ -98,6 +100,8 @@ public:
inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt");};
std::string atGate();
int getTakeOffStatus() { return takeOffStatus; };
void checkTcas();
FGATCController * getATCController() { return controller; };
@ -173,7 +177,7 @@ private:
bool reachedWaypoint;
bool needsTaxiClearance;
bool _needsGroundElevation;
bool scheduledForTakeoff;
int takeOffStatus; // 1 = joined departure cue; 2 = Passed DepartureHold waypoint; handover control to tower; 0 = any other state.
time_t timeElapsed;
PerformanceData* _performance; // the performance data for this aircraft

4
src/AIModel/AIFlightPlan.cxx
View file

@ -226,8 +226,10 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
if ((timeDiff > 60) && (timeDiff < 1200))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500))
else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
leg = 3;
ac->setTakeOffStatus(2);
}
else if ((timeDiff >= 1500) && (timeDiff < 2000))
leg = 4;
else if (timeDiff >= 2000)

3
src/AIModel/AIFlightPlan.hxx
View file

@ -1,4 +1,4 @@
// // FGAIFlightPlan - class for loading and storing AI flight plans
// FGAIFlightPlan - class for loading and storing AI flight plans
// Written by David Culp, started May 2004
// - davidculp2@comcast.net
//
@ -117,6 +117,7 @@ public:
double getDistanceToGo(double lat, double lon, FGAIWaypoint* wp) const;
int getLeg () const { return leg;};
void setLeadDistance(double speed, double bearing, FGAIWaypoint* current, FGAIWaypoint* next);
void setLeadDistance(double distance_ft);
double getLeadDistance( void ) const {return lead_distance;}

19
src/AIModel/AIFlightPlanCreate.cxx
View file

@ -294,6 +294,7 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
// push each node on the taxi route as a waypoint
int route;
//cerr << "Building taxi route" << endl;
while (taxiRoute->next(&node, &route)) {
char buffer[10];
snprintf(buffer, 10, "%d", node);
@ -303,12 +304,20 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
wpt->setRouteIndex(route);
if (taxiRoute->size() == 1) {
//cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
if (taxiRoute->nodesLeft() == 1) {
// Note that we actually have hold points in the ground network, but this is just an initial test.
//cerr << "Setting departurehold point: " << endl;
wpt->setName( wpt->getName() + string("DepartureHold"));
}
waypoints.push_back(wpt);
}
// Acceleration point, 105 meters into the runway,
SGGeod accelPoint = rwy->pointOnCenterline(105.0);
FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
waypoints.push_back(wpt);
//cerr << "[done]" << endl;
return true;
}
@ -452,17 +461,13 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
double airportElev = apt->getElevation();
// Acceleration point, 105 meters into the runway,
SGGeod accelPoint = rwy->pointOnCenterline(105.0);
wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate);
waypoints.push_back(wpt);
accelDistance =
(vTakeoffMetric * vTakeoffMetric -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
SGGeod accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
waypoints.push_back(wpt);

2
src/AIModel/AIFlightPlanCreatePushBack.cxx
View file

@ -139,7 +139,9 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
// some special considerations for the last point:
waypoints.back()->setName(string("PushBackPoint"));
waypoints.back()->setSpeed(vTaxi);
ac->setTaxiClearanceRequest(true);
} else { // In case of a push forward departure...
ac->setTaxiClearanceRequest(false);
double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
//cerr << "Creating final push forward point for gate " << gateId << endl;

1
src/ATC/atc_mgr.cxx
View file

@ -121,6 +121,7 @@ void FGATCManager::init() {
string fltType = "ga";
fp->setRunway(runway);
fp->createTakeOff(&ai_ac, false, apt, 0, fltType);
ai_ac.setTakeOffStatus(2);
} else {
controller = apt->getDynamics()->getStartupController();
int stationFreq = apt->getDynamics()->getGroundFrequency(1);

106
src/ATC/trafficcontrol.cxx
View file

@ -193,6 +193,11 @@ void FGTrafficRecord::setPositionAndIntentions(int pos,
}
//exit(1);
}
/**
* Check if another aircraft is ahead of the current one, and on the same
* return true / false is the is/isn't the case.
*
****************************************************************************/
bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
{
@ -509,9 +514,15 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
string transponderCode;
FGAIFlightPlan *fp;
string fltRules;
string instructionText;
//double commFreqD;
sender = rec->getAircraft()->getTrafficRef()->getCallSign();
if (rec->getAircraft()->getTaxiClearanceRequest()) {
instructionText = "push-back and taxi";
} else {
instructionText = "taxi";
}
//cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
switch (rec->getLeg()) {
case 1:
@ -588,7 +599,7 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
receiver + ". Start-up approved. " + atisInformation +
" correct, runway " + activeRunway + ", " + SID + ", squawk " +
transponderCode + ". " +
"For push-back and taxi clearance call " + taxiFreqStr + ". " +
"For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
sender + " control.";
break;
case MSG_DENY_ENGINE_START:
@ -606,11 +617,12 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
taxiFreqStr = formatATCFrequency3_2(taxiFreq);
activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
transponderCode = rec->getAircraft()->GetTransponderCode();
text =
receiver + ". Start-up approved. " + atisInformation +
" correct, runway " + activeRunway + ", " + SID + ", squawk " +
transponderCode + ". " +
"For push-back and taxi clearance call " + taxiFreqStr + ". " +
"For " + instructionText + " clearance call " + taxiFreqStr + ". " +
sender;
break;
case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
@ -624,10 +636,18 @@ void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
text = receiver + ". Roger. " + sender;
break;
case MSG_REQUEST_PUSHBACK_CLEARANCE:
text = receiver + ". Request push-back. " + sender;
if (rec->getAircraft()->getTaxiClearanceRequest()) {
text = receiver + ". Request push-back. " + sender;
} else {
text = receiver + ". Request Taxi clearance. " + sender;
}
break;
case MSG_PERMIT_PUSHBACK_CLEARANCE:
text = receiver + ". Push-back approved. " + sender;
if (rec->getAircraft()->getTaxiClearanceRequest()) {
text = receiver + ". Push-back approved. " + sender;
} else {
text = receiver + ". Cleared to Taxi." + sender;
}
break;
case MSG_HOLD_PUSHBACK_CLEARANCE:
text = receiver + ". Standby. " + sender;
@ -753,9 +773,29 @@ void FGTowerController::announcePosition(int id,
rec.setRunway(intendedRoute->getRunway());
rec.setLeg(leg);
//rec.setCallSign(callsign);
rec.setRadius(radius);
rec.setAircraft(ref);
activeTraffic.push_back(rec);
cerr << ref->getTrafficRef()->getCallSign() << " You are number " << activeTraffic.size() << " for takeoff " << endl;
// Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
ActiveRunwayVecIterator rwy = activeRunways.begin();
if (activeRunways.size()) {
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == intendedRoute->getRunway()) {
break;
}
rwy++;
}
}
if (rwy == activeRunways.end()) {
ActiveRunway aRwy(intendedRoute->getRunway(), id);
aRwy.addToDepartureCue(ref);
activeRunways.push_back(aRwy);
rwy = (activeRunways.end()-1);
} else {
rwy->addToDepartureCue(ref);
}
cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() << " for takeoff " << endl;
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
@ -788,29 +828,43 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon
}
setDt(getDt() + dt);
// // see if we already have a clearance record for the currently active runway
// see if we already have a clearance record for the currently active runway
// NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
// already exists here. So, we can simplify the current code.
ActiveRunwayVecIterator rwy = activeRunways.begin();
// again, a map might be more efficient here
if (activeRunways.size()) {
//while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == current->getRunway()) {
break;
}
rwy++;
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == current->getRunway()) {
break;
}
rwy++;
}
if (rwy == activeRunways.end()) {
ActiveRunway aRwy(current->getRunway(), id);
activeRunways.push_back(aRwy); // Since there are no clearance records for this runway yet
current->setHoldPosition(false); // Clear the current aircraft to continue
} else {
// Okay, we have a clearance record for this runway, so check
// whether the clearence ID matches that of the current aircraft
if (id == rwy->getCleared()) {
current->setHoldPosition(false);
// only bother running the following code if the current aircraft is the
// first in line for depature
/* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
if (rwy->getCleared()) {
if (id == rwy->getCleared()) {
current->setHoldPosition(false);
} else {
current->setHoldPosition(true);
}
} else {
current->setHoldPosition(true);
// For now. At later stages, this will probably be the place to check for inbound traffc.
rwy->setCleared(id);
}
} */
// only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
if (current->getAircraft()->getTakeOffStatus() == 2) {
current->setHoldPosition(true);
int clearanceId = rwy->getCleared();
if (clearanceId) {
if (id == clearanceId) {
current->setHoldPosition(false);
}
} else {
if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
rwy->setCleared(id);
}
}
}
}
@ -841,7 +895,8 @@ void FGTowerController::signOff(int id)
rwy++;
}
if (rwy != activeRunways.end()) {
rwy = activeRunways.erase(rwy);
rwy->setCleared(0);
rwy->updateDepartureCue();
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
@ -851,6 +906,7 @@ void FGTowerController::signOff(int id)
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
} else {
i->getAircraft()->resetTakeOffStatus();
i = activeTraffic.erase(i);
//cerr << "Signing off from tower controller" << endl;
}

10
src/ATC/trafficcontrol.hxx
View file

@ -197,6 +197,8 @@ typedef vector<FGTrafficRecord>::iterator TrafficVectorIterator;
typedef vector<time_t> TimeVector;
typedef vector<time_t>::iterator TimeVectorIterator;
typedef vector<FGAIAircraft*> AircraftVec;
typedef vector<FGAIAircraft*>::iterator AircraftVecIterator;
/***********************************************************************
* Active runway, a utility class to keep track of which aircraft has
@ -209,6 +211,8 @@ private:
int currentlyCleared;
double distanceToFinal;
TimeVector estimatedArrivalTimes;
AircraftVec departureCue;
public:
ActiveRunway(string r, int cc) { rwy = r; currentlyCleared = cc; distanceToFinal = 6.0 * SG_NM_TO_METER; };
@ -218,7 +222,13 @@ public:
//time_t getEstApproachTime() { return estimatedArrival; };
//void setEstApproachTime(time_t time) { estimatedArrival = time; };
void addToDepartureCue(FGAIAircraft *ac) { departureCue.push_back(ac); };
void setCleared(int number) { currentlyCleared = number; };
time_t requestTimeSlot(time_t eta);
int getDepartureCueSize() { return departureCue.size(); };
FGAIAircraft* getFirstAircraftInDepartureCue() { return departureCue.size() ? *(departureCue.begin()) : NULL; };
void updateDepartureCue() { departureCue.erase(departureCue.begin()); }
};
typedef vector<ActiveRunway> ActiveRunwayVec;

36
src/Airports/groundnetwork.cxx
View file

@ -173,6 +173,7 @@ bool FGTaxiRoute::next(int *nde, int *rte)
return true;
};
void FGTaxiRoute::rewind(int route)
{
int currPoint;
@ -534,7 +535,15 @@ void FGGroundNetwork::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"
*
*************************************************************************************************************************/
bool FGGroundNetwork::checkTransmissionState(int minState, int maxState, TrafficVectorIterator i, time_t now, AtcMsgId msgId,
AtcMsgDir msgDir)
{
@ -634,7 +643,7 @@ void FGGroundNetwork::updateAircraftInformation(int id, double lat, double lon,
if ((state == 5) && available) {
current->setState(0);
current->getAircraft()->setTaxiClearanceRequest(false);
current->setHoldPosition(true);
current->setHoldPosition(false);
available = false;
}
@ -723,6 +732,10 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
if (bearing > 180)
bearing = 360 - bearing;
if ((dist < mindist) && (bearing < 60.0)) {
//cerr << "Current aircraft " << current->getAircraft()->getTrafficRef()->getCallSign()
// << " is closest to " << i->getAircraft()->getTrafficRef()->getCallSign()
// << ", which has status " << i->getAircraft()->isScheduledForTakeoff()
// << endl;
mindist = dist;
closest = i;
minbearing = bearing;
@ -760,13 +773,18 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
return;
else
current->setWaitsForId(closest->getId());
if (closest->getId() != current->getId())
if (closest->getId() != current->getId()) {
current->setSpeedAdjustment(closest->getSpeed() *
(mindist / 100));
if (closest->getAircraft()->isScheduledForTakeoff())
current->getAircraft()->scheduleForATCTowerDepartureControl();
else
if (
closest->getAircraft()->getTakeOffStatus() &&
(current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) &&
(current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway())
)
current->getAircraft()->scheduleForATCTowerDepartureControl(1);
} else {
current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
}
if (mindist < maxAllowableDistance) {
//double newSpeed = (maxAllowableDistance-mindist);
//current->setSpeedAdjustment(newSpeed);
@ -867,8 +885,10 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
//(!(current->getSpeedAdjustment())))
{
current->setHoldPosition(true);
current->setWaitsForId(i->getId());
if (!(isUserAircraft(i->getAircraft()))) { // test code. Don't wait for the user, let the user wait for you.
current->setHoldPosition(true);
current->setWaitsForId(i->getId());
}
//cerr << "Hold check 5: " << current->getCallSign() <<" Setting Hold Position: distance to node (" << node << ") "
// << dist << " meters. Waiting for " << i->getCallSign();
//if (opposing)

2
src/Airports/groundnetwork.hxx
View file

@ -212,6 +212,8 @@ public:
void first() { currNode = nodes.begin(); currRoute = routes.begin(); };
int size() { return nodes.size(); };
int nodesLeft() { return nodes.end() - currNode; };
// int getDepth() { return depth; };
};