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Simple FlightPlan generation and execution for the user aircraft: This will allow ATC guided taxiing to the runway.

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This commit is contained in:
Durk Talsma 2011-05-07 10:03:27 +02:00
parent 81c0e0b3df
commit 6ee1d7411b
7 changed files with 104 additions and 19 deletions
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4
src/AIModel/AIAircraft.cxx
View file

@ -997,8 +997,8 @@ void FGAIAircraft::updateHeading() {
}
}
if (trafficRef)
cerr << trafficRef->getCallSign() << " Heading "
<< hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
//cerr << trafficRef->getCallSign() << " Heading "
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
headingError = headingDiff;
} else {

3
src/AIModel/AIAircraft.hxx
View file

@ -1,4 +1,3 @@
// FGAIAircraft - AIBase derived class creates an AI aircraft
//
// Written by David Culp, started October 2003.
@ -97,6 +96,8 @@ public:
std::string atGate();
void checkTcas();
FGATCController * getATCController() { return controller; };
protected:
void Run(double dt);

61
src/AIModel/AIFlightPlanCreatePushBack.cxx
View file

@ -165,7 +165,66 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
// cerr << "Waypoint Name: " << (*i)->name << endl;
//}
} else {
/*
string rwyClass = getRunwayClassFromTrafficType(fltType);
// Only set this if it hasn't been set by ATC already.
if (activeRunway.empty()) {
//cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
double depHeading = ac->getTrafficRef()->getCourse();
dep->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
depHeading);
}
rwy = dep->getRunwayByIdent(activeRunway);
SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
FGGroundNetwork *gn = dep->getDynamics()->getGroundNetwork();
if (!gn->exists()) {
createDefaultTakeoffTaxi(ac, dep, rwy);
return true;
}
int runwayId = gn->findNearestNode(runwayTakeoff);
int node = 0;
// Find out which node to start from
FGParking *park = dep->getDynamics()->getParking(gateId);
if (park) {
node = park->getPushBackPoint();
}
if (node == -1) {
node = gateId;
}
// HAndle case where parking doens't have a node
if ((node == 0) && park) {
if (firstFlight) {
node = gateId;
} else {
node = gateId;
}
}
//delete taxiRoute;
//taxiRoute = new FGTaxiRoute;
FGTaxiRoute tr = gn->findShortestRoute(node, runwayId);
int route;
FGTaxiNode *tn;
waypoint *wpt;
int nr = 0;
cerr << "Creating taxiroute from gate: " << gateId << " at " << dep->getId() << endl;
while (tr.next(&node, &route) && (nr++ < 3)) {
char buffer[10];
snprintf(buffer, 10, "%d", node);
tn = dep->getDynamics()->getGroundNetwork()->findNode(node);
wpt = createOnGround(ac, buffer, tn->getGeod(), dep->getElevation(),
vTaxiReduced);
wpt->routeIndex = route;
waypoints.push_back(wpt);
}
wpt->name = "PushBackPoint";
lastNodeVisited = tn->getIndex();
//FGTaxiNode *firstNode = findNode(gateId);
//FGTaxiNode *lastNode = findNode(runwayId);
//cerr << "Creating direct forward departure route fragment" << endl;
*/
double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
waypoint *wpt;
geo_direct_wgs_84 ( 0, lat, lon, heading,
@ -227,8 +286,6 @@ bool FGAIFlightPlan::createPushBack(FGAIAircraft *ac,
wpt->on_ground = true;
wpt->routeIndex = (*ts)->getIndex();
waypoints.push_back(wpt);
}
}

47
src/ATC/atc_mgr.cxx
View file

@ -170,13 +170,40 @@ void FGATCManager::addController(FGATCController *controller) {
void FGATCManager::update ( double time ) {
//cerr << "ATC update code is running at time: " << time << endl;
// Test code: let my virtual co-pilot handle ATC:
FGAIFlightPlan *fp = ai_ac.GetFlightPlan();
/* test code : find out how the routing develops */
int size = fp->getNrOfWayPoints();
//cerr << "Setting pos" << pos << " ";
cerr << "setting intentions " ;
for (int i = 0; i < size; i++) {
int val = fp->getRouteIndex(i);
cerr << val << " ";
//if ((val) && (val != pos)) {
//intentions.push_back(val);
//cerr << "[done ] " << endl;
//}
}
cerr << "[done ] " << endl;
double longitude = fgGetDouble("/position/longitude-deg");
double latitude = fgGetDouble("/position/latitude-deg");
double heading = fgGetDouble("/orientation/heading-deg");
double speed = fgGetDouble("/velocities/groundspeed-kt");
double altitude = fgGetDouble("/position/altitude-ft");
ai_ac.setLatitude(latitude);
ai_ac.setLongitude(longitude);
ai_ac.setAltitude(altitude);
ai_ac.setHeading(heading);
ai_ac.setSpeed(speed);
ai_ac.update(time);
controller = ai_ac.getATCController();
currentATCDialog->update(time);
if (controller) {
double longitude = fgGetDouble("/position/longitude-deg");
double latitude = fgGetDouble("/position/latitude-deg");
double heading = fgGetDouble("/orientation/heading-deg");
double speed = fgGetDouble("/velocities/groundspeed-kt");
double altitude = fgGetDouble("/position/altitude-ft");
//cerr << "Running FGATCManager::update()" << endl;
controller->updateAircraftInformation(ai_ac.getID(),
@ -188,13 +215,9 @@ void FGATCManager::update ( double time ) {
//string airport = fgGetString("/sim/presets/airport-id");
//FGAirport *apt = FGAirport::findByIdent(airport);
// AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
ai_ac.setLatitude(latitude);
ai_ac.setLongitude(longitude);
ai_ac.setAltitude(altitude);
ai_ac.setHeading(heading);
ai_ac.setSpeed(speed);
ai_ac.update(time);
controller->render();
controller->render();
//cerr << "Adding groundnetWork to the scenegraph::update" << endl;
}
//globals->get_scenery()->get_scene_graph()->addChild(node);

5
src/ATC/trafficcontrol.cxx
View file

@ -1033,6 +1033,7 @@ void FGStartupController::signOff(int id)
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
} else {
cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
i = activeTraffic.erase(i);
}
}
@ -1182,6 +1183,7 @@ void FGStartupController::render()
for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
// Handle start point
int pos = i->getCurrentPosition();
//cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
if (pos > 0) {
FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(pos);
SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
@ -1232,6 +1234,7 @@ void FGStartupController::render()
osg::Matrix obj_pos;
int k = (*j);
if (k > 0) {
//cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
obj_trans->setDataVariance(osg::Object::STATIC);
FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k);
@ -1261,7 +1264,7 @@ void FGStartupController::render()
cerr << "BIG FAT WARNING: k is here : " << pos << endl;
}
}
dx += 0.1;
//dx += 0.1;
}
globals->get_scenery()->get_scene_graph()->addChild(group);
}

2
src/Airports/groundnetwork.cxx
View file

@ -1202,7 +1202,7 @@ void FGGroundNetwork::render()
group->addChild( obj_trans );
}
}
dx += 0.1;
//dx += 0.1;
}
globals->get_scenery()->get_scene_graph()->addChild(group);
}

1
src/Airports/groundnetwork.hxx
View file

@ -181,6 +181,7 @@ public:
routes = rts;
distance = dist;
currNode = nodes.begin();
currRoute = routes.begin();
// depth = dpth;
};