fly/flightgear
1
0
Fork 0
Code Activity

Adding some more intelligence to the AI system step 2: Added a system to

Browse source 
detect interfering taxi routes and added a "hold position" instruction to
make one of two conflicting aircraft wait until it's route is cleared again
This commit is contained in:
durk 2006-09-19 17:04:22 +00:00
parent 7c445ccb73
commit 8de6a69e3e
4 changed files with 358 additions and 75 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

50
src/AIModel/AIAircraft.cxx
View file

@ -86,6 +86,8 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
holdPos = false;
}
@ -226,7 +228,7 @@ void FGAIAircraft::Run(double dt) {
pos.getLongitudeDeg(),
hdg,
speed,
altitude_ft);
altitude_ft, dt);
//if (controller->hasInstruction(getID()))
// {
processATC(controller->getInstruction(getID()));
@ -979,20 +981,20 @@ void FGAIAircraft::announcePositionToController()
//snprintf (buffer, 10, "%d", node);
switch (leg) {
case 3:
cerr << trafficRef->getRegistration()
<< " taxiing to runway at segment "
<< fp->getCurrentWaypoint()->routeIndex
<< endl;
//cerr << trafficRef->getRegistration()
// << " taxiing to runway at segment "
// << fp->getCurrentWaypoint()->routeIndex
// << endl;
//cerr << "Match check between taxisegment and taxiroute : " << node << " "
// << fp->getCurrentWaypoint()->name << endl;
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
break;
case 9:
cerr << trafficRef->getRegistration()
<< " taxiing to parking at segment "
<< fp->getCurrentWaypoint()->routeIndex
<< endl;
//cerr << trafficRef->getRegistration()
// << " taxiing to parking at segment "
// << fp->getCurrentWaypoint()->routeIndex
// << endl;
if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
break;
@ -1006,8 +1008,8 @@ void FGAIAircraft::announcePositionToController()
}
if ((controller != prevController) && (prevController != 0)) {
prevController->signOff(getID());
cerr << trafficRef->getRegistration()
<< " signing off " << endl;
//cerr << trafficRef->getRegistration()
// << " signing off " << endl;
}
prevController = controller;
if (controller) {
@ -1024,12 +1026,28 @@ void FGAIAircraft::processATC(FGATCInstruction instruction)
//cerr << "Processing ATC instruction (not Implimented yet)" << endl;
if (instruction.getHoldPattern ()) {
}
// Hold Position
if (instruction.getHoldPosition ()) {
}
if (instruction.getChangeSpeed ()) {
AccelTo(instruction.getSpeed());
}else {
if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
if (!holdPos) {
if (trafficRef)
cerr << trafficRef->getCallSign() << "Holding Position " << endl;
holdPos = true;
}
AccelTo(0.25);
} else {
if (holdPos) {
if (trafficRef)
cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
holdPos = false;
}
// Change speed Instruction. This can only be excecuted when there is no
// Hold position instruction.
if (instruction.getChangeSpeed ()) {
AccelTo(instruction.getSpeed());
}else {
if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
}
}
if (instruction.getChangeHeading ()) {
hdg_lock = false;

2
src/AIModel/AIAircraft.hxx
View file

@ -124,6 +124,8 @@ private:
double prevSpeed;
double prev_dist_to_go;
bool holdPos;
bool _getGearDown() const;
bool reachedWaypoint;
string callsign; // The callsign of this tanker.

355
src/Airports/groundnetwork.cxx
View file

@ -61,6 +61,7 @@ FGTaxiNode::FGTaxiNode()
**************************************************************************/
FGTaxiSegment::FGTaxiSegment()
{
oppositeDirection = 0;
}
void FGTaxiSegment::setStart(FGTaxiNodeVector *nodes)
@ -262,6 +263,102 @@ void FGTrafficRecord::setPositionAndHeading(double lat, double lon, double hdg,
altitude = alt;
}
int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
{
if (checkPositionAndIntentions(other) || (other.checkPositionAndIntentions(*this)))
return -1;
intVecIterator i, j;
int currentTargetNode = 0, otherTargetNode = 0;
if (currentPos > 0)
currentTargetNode = net->findSegment(currentPos )->getEnd()->getIndex(); // OKAY,...
if (other.currentPos > 0)
otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
return currentTargetNode;
if (intentions.size())
{
for (i = intentions.begin(); i != intentions.end(); i++)
{
if (currentTargetNode == net->findSegment(*i)->getEnd()->getIndex())
{
cerr << "Current crosses at " << currentTargetNode <<endl;
return currentTargetNode;
}
}
}
if (other.intentions.size())
{
for (i = other.intentions.begin(); i != other.intentions.end(); i++)
{
if (otherTargetNode == net->findSegment(*i)->getEnd()->getIndex())
{
cerr << "Other crosses at " << currentTargetNode <<endl;
return otherTargetNode;
}
}
}
if (intentions.size() && other.intentions.size())
{
for (i = intentions.begin(); i != intentions.end(); i++)
{
for (j = other.intentions.begin(); j != other.intentions.end(); j++)
{
//cerr << "finding segment " << *i << " and " << *j << endl;
currentTargetNode = net->findSegment(*i)->getEnd()->getIndex();
otherTargetNode = net->findSegment(*j)->getEnd()->getIndex();
if (currentTargetNode == otherTargetNode)
{
//cerr << "Routes will cross at " << currentTargetNode << endl;
return currentTargetNode;
}
}
}
}
return -1;
}
bool FGTrafficRecord::isOpposing (FGGroundNetwork *net, FGTrafficRecord &other, int node)
{
// Check if current segment is the reverse segment for the other aircraft
FGTaxiSegment *opp;
//cerr << "Current segment " << currentPos << endl;
if ((currentPos > 0) && (other.currentPos > 0))
{
opp = net->findSegment(currentPos)->opposite();
if (opp) {
if (opp->getIndex() == other.currentPos)
return true;
}
for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
{
for (intVecIterator j = intentions.begin(); j != intentions.end(); j++)
{
// cerr << "Current segment 1 " << (*i) << endl;
if (opp = net->findSegment(*i)->opposite())
{
if (opp->getIndex() ==
net->findSegment(*j)->getIndex())
{
cerr << "Nodes " << net->findSegment(*i)->getIndex()
<< " and " << net->findSegment(*j)->getIndex()
<< " are opposites " << endl;
if (net->findSegment(*i)->getStart()->getIndex() == node) {
{
cerr << "Found the node" << endl;
return true;
}
}
}
}
}
}
}
return false;
}
/***************************************************************************
* FGGroundNetwork()
**************************************************************************/
@ -273,6 +370,7 @@ FGGroundNetwork::FGGroundNetwork()
totalDistance = 0;
maxDistance = 0;
currTraffic = activeTraffic.begin();
}
void FGGroundNetwork::addSegment(const FGTaxiSegment &seg)
@ -306,16 +404,39 @@ void FGGroundNetwork::init()
{
hasNetwork = true;
int index = 1;
sort(nodes.begin(), nodes.end());
sort(segments.begin(), segments.end());
FGTaxiSegmentVectorIterator i = segments.begin();
while(i != segments.end()) {
//cerr << "initializing node " << i->getIndex() << endl;
i->setStart(&nodes);
i->setEnd (&nodes);
i->setTrackDistance();
i->setIndex(index++);
i->setIndex(index);
//cerr << "Track distance = " << i->getLength() << endl;
//cerr << "Track ends at" << i->getEnd()->getIndex() << endl;
i++;
index++;
}
i = segments.begin();
while(i != segments.end()) {
FGTaxiSegmentPointerVectorIterator j = i->getEnd()->getBeginRoute();
while (j != i->getEnd()->getEndRoute())
{
if ((*j)->getEnd()->getIndex() == i->getStart()->getIndex())
{
int start1 = i->getStart()->getIndex();
int end1 = i->getEnd() ->getIndex();
int start2 = (*j)->getStart()->getIndex();
int end2 = (*j)->getEnd()->getIndex();
int oppIndex = (*j)->getIndex();
cerr << "Oppossite of " << i->getIndex() << " (" << start1 << "," << end1 << ") "
<< "happens to be " << oppIndex << " (" << start2 << "," << end2 << ") " << endl;
break;
}
j++;
}
i++;
}
//exit(1);
}
@ -349,27 +470,38 @@ int FGGroundNetwork::findNearestNode(double lat, double lon)
}
FGTaxiNode *FGGroundNetwork::findNode(int idx)
{
for (FGTaxiNodeVectorIterator
itr = nodes.begin();
itr != nodes.end(); itr++)
{ /*
for (FGTaxiNodeVectorIterator
itr = nodes.begin();
itr != nodes.end(); itr++)
{
if (itr->getIndex() == idx)
return itr->getAddress();
}
return 0;
if (itr->getIndex() == idx)
return itr->getAddress();
}*/
if ((idx >= 0) && (idx < nodes.size()))
return nodes[idx].getAddress();
else
return 0;
}
FGTaxiSegment *FGGroundNetwork::findSegment(int idx)
{
{/*
for (FGTaxiSegmentVectorIterator
itr = segments.begin();
itr != segments.end(); itr++)
{
if (itr->getIndex() == idx)
return itr->getAddress();
}
*/
if ((idx > 0) && (idx <= segments.size()))
return segments[idx-1].getAddress();
else
{
cerr << "Alert: trying to find invalid segment " << idx << endl;
return 0;
}
return 0;
}
FGTaxiRoute FGGroundNetwork::findShortestRoute(int start, int end)
@ -583,7 +715,8 @@ void FGGroundNetwork::signOff(int id) {
}
}
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 heading, double speed, double alt,
double dt) {
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
@ -600,16 +733,48 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
}
setDt(getDt() + dt);
// Update every three secs, but add some randomness
// to prevent all IA objects doing this in synchrony
//if (getDt() < (3.0) + (rand() % 10))
// return;
//else
// setDt(0);
checkSpeedAdjustment(id, lat, lon, heading, speed, alt);
checkHoldPosition (id, lat, lon, heading, speed, alt);
}
void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
double lon, double heading,
double speed, double alt)
{
// 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.
// aircraft. For traffic that is on other routes we need to issue a "HOLD Position"
// instruction. See below for the hold position instruction.
TrafficVectorIterator current, closest;
TrafficVectorIterator i = activeTraffic.begin();
if (activeTraffic.size())
{
while ((i->getId() != id) && (i != activeTraffic.end()))
{
i++;
}
}
else
{
return;
}
current = i;
double mindist = HUGE;
if (activeTraffic.size())
{
double course, dist, bearing, minbearing;
//TrafficVector iterator closest;
for (TrafficVectorIterator i = activeTraffic.begin();
i != activeTraffic.end(); i++)
@ -622,19 +787,19 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
i->getLatitude (),
i->getAltitude ());
other.CourseAndDistance(curr, &course, &dist);
bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
{
mindist = dist;
closest = i;
minbearing = bearing;
}
bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
{
mindist = dist;
closest = i;
minbearing = bearing;
}
}
}
//cerr << "Distance : " << dist << " bearing : " << bearing << " heading : " << heading
// << " course : " << course << endl;
//cerr << "Distance : " << dist << " bearing : " << bearing << " heading : " << heading
// << " course : " << course << endl;
current->clearSpeedAdjustment();
// Only clear the heading adjustment at positive speeds, otherwise the waypoint following
// code wreaks havoc
@ -655,7 +820,7 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
// Getting close: Slow down to a bit less than the other aircraft
double maxAllowableDistance = (1.1*current->getRadius()) + (1.1*closest->getRadius());
if (mindist > maxAllowableDistance)
if (mindist > maxAllowableDistance)
{
if (current->checkPositionAndIntentions(*closest))
{
@ -673,8 +838,8 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
}
else
{
double newSpeed = (maxAllowableDistance-mindist);
current->setSpeedAdjustment(newSpeed);
double newSpeed = (maxAllowableDistance-mindist);
current->setSpeedAdjustment(newSpeed);
}
}
}
@ -685,36 +850,11 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
double newSpeed;
if (mindist > 10) {
newSpeed = 0.01;
current->setSpeedAdjustment(newSpeed);
current->setSpeedAdjustment(newSpeed);
} else {
newSpeed = -1 * (maxAllowableDistance-mindist);
current->setSpeedAdjustment(newSpeed);
current->setHeadingAdjustment(heading);
// if (mindist < 5) {
// double bank_sense = 0;
// current->setSpeedAdjustment(-0.1);
// // Do a heading adjustment
// double diff = fabs(heading - bearing);
// if (diff > 180)
// diff = fabs(diff - 360);
// double sum = heading + diff;
// if (sum > 360.0)
// sum -= 360.0;
// if (fabs(sum - bearing) < 1.0) {
// bank_sense = -1.0; // turn left for evasive action
// } else {
// bank_sense = 1.0; // turn right for evasive action
// }
// double newHeading = heading + bank_sense;
// if (newHeading < 0) newHeading += 360;
// if (newHeading > 360) newHeading -= 360;
// current->setHeadingAdjustment(newHeading);
// //cerr << "Yikes: TOOOO close. backing up and turning to heading " << newHeading
// // << endl;
// cerr << "Troubleshooting: " << current->getId() << " Closest : " << closest->getId()
// << endl;
// }
}
}
}
@ -722,13 +862,116 @@ void FGGroundNetwork::update(int id, double lat, double lon, double heading, dou
}
}
void FGGroundNetwork::checkHoldPosition(int id, double lat,
double lon, double heading,
double speed, double alt)
{
// 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.
TrafficVectorIterator current, closest;
TrafficVectorIterator i = activeTraffic.begin();
if (activeTraffic.size())
{
while ((i->getId() != id) && i != activeTraffic.end())
{
i++;
}
}
else
{
return ;
}
current = i;
current->setHoldPosition(false);
double course, dist, bearing, minbearing;
for (i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
if (i != current)
{
int node = current->crosses(this, *i);
if (node != -1)
{
// Determine whether it's save to continue or not.
// If we have a crossing route, there are two possibilities:
// 1) This is an interestion
// 2) This is oncoming two-way traffic, using the same taxiway.
//cerr << "Hold check 1 : " << id << " has common node " << node << endl;
SGWayPoint nodePos(findNode(node)->getLongitude (),
findNode(node)->getLatitude (),
alt);
SGWayPoint curr (lon,
lat,
alt);
SGWayPoint other (i->getLongitude (),
i->getLatitude (),
i->getAltitude ());
//other.CourseAndDistance(curr, &course, &dist);
bool needsToWait;
if (current->isOpposing(this, *i, node))
{
needsToWait = true;
//cerr << "Hold check 2 : " << id << " has opposing segment " << endl;
// issue a "Hold Position" as soon as we're close to the offending node
// For now, I'm doing this as long as the other aircraft doesn't
// have a hold instruction as soon as we're within a reasonable
// distance from the offending node.
// This may be a bit of a conservative estimate though, as it may
// be well possible that both aircraft can both continue to taxi
// without crashing into each other.
}
else
{
other.CourseAndDistance(nodePos, &course, &dist);
if (dist > 2.0*i->getRadius())
{
needsToWait = false;
//cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue "
// << endl;
}
else
{
needsToWait = true;
//cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " nm" << endl;
}
}
curr.CourseAndDistance(nodePos, &course, &dist);
if (!(i->hasHoldPosition()))
{
if ((dist < 2.5*current->getRadius()) &&
(needsToWait) &&
(!(current->getId() == i->getWaitsForId())) &&
(!(current->getSpeedAdjustment())))
{
current->setHoldPosition(true);
//cerr << "Hold check 5: " << id <<" Setting Hold Position: distance to node : " << dist << " nm"<< endl;
}
else
{
//cerr << "Hold check 6: " << id << " No need to hold yet: Distance to node : " << dist << " nm"<< endl;
}
}
}
}
}
}
bool FGGroundNetwork::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()) {
if (activeTraffic.size())
{
while ((i->getId() != id) && i != activeTraffic.end()) {
i++;
}
}

26
src/Airports/groundnetwork.hxx
View file

@ -76,6 +76,7 @@ public:
FGTaxiNode *getAddress() { return this;};
FGTaxiSegmentPointerVectorIterator getBeginRoute() { return next.begin(); };
FGTaxiSegmentPointerVectorIterator getEndRoute() { return next.end(); };
bool operator<(const FGTaxiNode &other) const { return index < other.index; };
};
typedef vector<FGTaxiNode> FGTaxiNodeVector;
@ -93,25 +94,32 @@ private:
FGTaxiNode *start;
FGTaxiNode *end;
int index;
FGTaxiSegment *oppositeDirection;
public:
FGTaxiSegment();
FGTaxiSegment(FGTaxiNode *, FGTaxiNode *, int);
//FGTaxiSegment(FGTaxiNode *, FGTaxiNode *, int);
void setIndex (int val) { index = val; };
void setStartNodeRef (int val) { startNode = val; };
void setEndNodeRef (int val) { endNode = val; };
void setOpposite(FGTaxiSegment *opp) { oppositeDirection = opp; };
void setStart(FGTaxiNodeVector *nodes);
void setEnd (FGTaxiNodeVector *nodes);
void setTrackDistance();
FGTaxiNode * getEnd() { return end;};
FGTaxiNode * getStart() { return start; };
double getLength() { return length; };
int getIndex() { return index; };
FGTaxiSegment *getAddress() { return this;};
bool operator<(const FGTaxiSegment &other) const { return index < other.index; };
FGTaxiSegment *opposite() { return oppositeDirection; };
};
@ -194,6 +202,7 @@ public:
void setAlt (double val) { alt = val; };
};
class FGGroundNetwork;
/**************************************************************************************
* class FGTrafficRecord
@ -219,6 +228,10 @@ public:
bool hasInstruction() { return instruction.hasInstruction(); };
void setPositionAndHeading(double lat, double lon, double hdg, double spd, double alt);
bool checkPositionAndIntentions(FGTrafficRecord &other);
int crosses (FGGroundNetwork *, FGTrafficRecord &other);
bool isOpposing (FGGroundNetwork *, FGTrafficRecord &other, int node);
bool getSpeedAdjustment() { return instruction.getChangeSpeed(); };
double getLatitude () { return latitude ; };
double getLongitude() { return longitude; };
@ -237,6 +250,8 @@ public:
void clearHeadingAdjustment() { instruction.setChangeHeading(false); };
bool hasHeadingAdjustment() { return instruction.getChangeHeading(); };
bool hasHoldPosition() { return instruction.getHoldPosition(); };
void setHoldPosition (bool inst) { instruction.setHoldPosition(inst); };
void setWaitsForId(int id) { waitsForId = id; };
@ -265,7 +280,7 @@ public:
double hdg, double spd, double alt, double radius) = 0;
virtual void signOff(int id) = 0;
virtual void update(int id, double lat, double lon,
double heading, double speed, double alt) = 0;
double heading, double speed, double alt, double dt) = 0;
virtual bool hasInstruction(int id) = 0;
virtual FGATCInstruction getInstruction(int id) = 0;
@ -295,6 +310,11 @@ private:
double totalDistance, maxDistance;
void printRoutingError(string);
void checkSpeedAdjustment(int id, double lat, double lon,
double heading, double speed, double alt);
void checkHoldPosition(int id, double lat, double lon,
double heading, double speed, double alt);
public:
FGGroundNetwork();
@ -314,7 +334,7 @@ public:
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon, double hdg, double spd, double alt, double radius);
virtual void signOff(int id);
virtual void update(int id, double lat, double lon, double heading, double speed, double alt);
virtual void update(int id, double lat, double lon, double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
};