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Further progress towards intelligent interaction between the AI plane and the user's plane

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This commit is contained in:
daveluff 2003-04-15 22:55:22 +00:00
parent 139f3df761
commit a36bf24252
2 changed files with 239 additions and 105 deletions
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313
src/ATC/tower.cxx
View file

@ -28,6 +28,7 @@
#include "ATCmgr.hxx"
#include "ATCutils.hxx"
#include "commlist.hxx"
#include "AILocalTraffic.hxx"
SG_USING_STD(cout);
@ -42,7 +43,7 @@ longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
opType(TTT_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
@ -57,7 +58,7 @@ longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
opType(TTT_UNKNOWN),
isUser(false)
{
plane = p;
@ -72,7 +73,7 @@ longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
opType(TTT_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
@ -88,7 +89,7 @@ longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
opType(TTT_UNKNOWN),
isUser(false)
{
plane = p;
@ -126,6 +127,7 @@ void FGTower::Init() {
user_lon_node = fgGetNode("/position/longitude-deg", true);
user_lat_node = fgGetNode("/position/latitude-deg", true);
user_elev_node = fgGetNode("/position/altitude-ft", true);
user_hdg_node = fgGetNode("/orientation/heading-deg", true);
// Need some way to initialise rwyOccupied flag correctly if the user is on the runway and to know its the user.
// I'll punt the startup issue for now though!!!
@ -186,7 +188,8 @@ void FGTower::Init() {
// Assume the user is started at the threshold ready to take-off
TowerPlaneRec* t = new TowerPlaneRec;
t->plane.callsign = "Charlie Foxtrot Sierra"; // C-FGFS !!! - fixme - this is a bit hardwired
t->opType = OUTBOUND; // How do we determine if the user actually wants to do circuits?
t->opType = TTT_UNKNOWN; // We don't know if the user wants to do circuits or a departure...
t->leg = TAKEOFF_ROLL;
t->isUser = true;
t->planePtr = NULL;
t->clearedToTakeOff = true;
@ -195,105 +198,234 @@ void FGTower::Init() {
}
void FGTower::Update(double dt) {
static int ii = 0; // Counter for spreading the load
//cout << "T" << flush;
// Each time step, what do we need to do?
// We need to go through the list of outstanding requests and acknowedgements
// and process at least one of them.
// We need to go through the list of planes under our control and check if
// any need to be addressed.
// We need to check for planes not under our control coming within our
// control area and address if necessary.
// Each time step, what do we need to do?
// We need to go through the list of outstanding requests and acknowedgements
// and process at least one of them.
// We need to go through the list of planes under our control and check if
// any need to be addressed.
// We need to check for planes not under our control coming within our
// control area and address if necessary.
// TODO - a lot of the below probably doesn't need to be called every frame and should be staggered.
// Sort the arriving planes
// Calculate the eta of each plane to the threshold.
// For ground traffic this is the fastest they can get there.
// For air traffic this is the middle approximation.
doThresholdETACalc();
if(ii == 1) {
doThresholdETACalc();
}
// Order the list of traffic as per expected threshold use and flag any conflicts
bool conflicts = doThresholdUseOrder();
if(ii == 2) {
bool conflicts = doThresholdUseOrder();
}
// sortConficts() !!!
// Do one plane from the hold list
if(holdList.size()) {
//cout << "A" << endl;
//cout << "*holdListItr = " << *holdListItr << endl;
if(holdListItr == holdList.end()) {
holdListItr = holdList.begin();
}
//cout << "*holdListItr = " << *holdListItr << endl;
//Process(*holdListItr);
TowerPlaneRec* t = *holdListItr;
//cout << "t = " << t << endl;
if(t->holdShortReported) {
//cout << "B" << endl;
double responseTime = 10.0; // seconds - this should get more sophisticated at some point
if(t->clearanceCounter > responseTime) {
//cout << "C" << endl;
if(t->nextOnRwy) {
//cout << "D" << endl;
if(rwyOccupied) {
//cout << "E" << endl;
// Do nothing for now - consider acknowloging hold short eventually
} else {
// Lets Roll !!!!
string trns = t->plane.callsign;
//if(departed plane < some threshold in time away) {
if(0) { // FIXME
trns += " line up";
t->clearedToLineUp = true;
t->planePtr->RegisterTransmission(3); // cleared to line-up
//} else if(arriving plane < some threshold away) {
} else if(0) { // FIXME
trns += " cleared immediate take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
if(ii == 4) {
if(holdList.size()) {
//cout << "A" << endl;
//cout << "*holdListItr = " << *holdListItr << endl;
if(holdListItr == holdList.end()) {
holdListItr = holdList.begin();
}
//cout << "*holdListItr = " << *holdListItr << endl;
//Process(*holdListItr);
TowerPlaneRec* t = *holdListItr;
//cout << "t = " << t << endl;
if(t->holdShortReported) {
//cout << "B" << endl;
double responseTime = 10.0; // seconds - this should get more sophisticated at some point
if(t->clearanceCounter > responseTime) {
//cout << "C" << endl;
if(t->nextOnRwy) {
//cout << "D" << endl;
if(rwyOccupied) {
//cout << "E" << endl;
// Do nothing for now - consider acknowloging hold short eventually
} else {
trns += " cleared for take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off
// Lets Roll !!!!
string trns = t->plane.callsign;
//if(departed plane < some threshold in time away) {
if(0) { // FIXME
trns += " line up";
t->clearedToLineUp = true;
t->planePtr->RegisterTransmission(3); // cleared to line-up
t->leg = TAKEOFF_ROLL;
//} else if(arriving plane < some threshold away) {
} else if(0) { // FIXME
trns += " cleared immediate take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
t->leg = TAKEOFF_ROLL;
} else {
trns += " cleared for take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off
t->leg = TAKEOFF_ROLL;
}
if(display) {
globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
}
t->holdShortReported = false;
t->clearanceCounter = 0;
rwyList.push_back(t);
rwyOccupied = true;
holdList.erase(holdListItr);
holdListItr = holdList.begin();
}
if(display) {
globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
}
t->holdShortReported = false;
t->clearanceCounter = 0;
rwyList.push_back(t);
rwyOccupied = true;
holdList.erase(holdListItr);
holdListItr = holdList.begin();
} else {
// possibly tell him to hold and what position he is?
}
} else {
// possibly tell him to hold and what position he is?
t->clearanceCounter += (dt * holdList.size());
}
} else {
t->clearanceCounter += (dt * holdList.size());
}
}
++holdListItr;
}
++holdListItr;
}
}
// Do the runway list - we'll do the whole runway list since it's important and there'll never be many planes on the rwy at once!!
if(rwyOccupied) {
if(!rwyList.size()) {
rwyOccupied = false;
} else {
rwyListItr = rwyList.begin();
TowerPlaneRec* t = *rwyListItr;
if(ii == 5) {
if(rwyOccupied) {
if(!rwyList.size()) {
rwyOccupied = false;
} else {
rwyListItr = rwyList.begin();
TowerPlaneRec* t = *rwyListItr;
if(t->isUser) {
bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
// TODO - how do we find the position when it's not the user?
if(!on_rwy) {
if((t->opType == INBOUND) || (t->opType == STRAIGHT_IN)) {
rwyList.pop_front();
delete t;
// TODO - tell it to taxi / contact ground / don't delete it etc!
} else if(t->opType == OUTBOUND) {
depList.push_back(t);
rwyList.pop_front();
} else if(t->opType == CIRCUIT) {
circuitList.push_back(t);
rwyList.pop_front();
} else if(t->opType == TTT_UNKNOWN) {
depList.push_back(t);
circuitList.push_back(t);
rwyList.pop_front();
} else {
// HELP - we shouldn't ever get here!!!
}
}
} // else TODO figure out what to do when it's not the user
}
}
}
// do the ciruit list
if(ii == 6) {
// Clear the constraints - we recalculate here.
base_leg_pos = 0.0;
downwind_leg_pos = 0.0;
crosswind_leg_pos = 0.0;
if(circuitList.size()) {
circuitListItr = circuitList.begin(); // TODO - at the moment we're constraining plane 2 based on plane 1 - this won't work for 3 planes in the circuit!!
TowerPlaneRec* t = *circuitListItr;
Point3D tortho = ortho.ConvertToLocal(t->pos);
if(t->isUser) {
bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
// TODO - how do we find the position when it's not the user?
if(!on_rwy) {
rwyList.pop_front();
delete t;
// Need to figure out which leg he's on
double ho = GetAngleDiff_deg(user_hdg_node->getDoubleValue(), rwy.hdg);
// TODO FIXME - get the wind and convert this to track, or otherwise use track somehow!!!
// If it's gusty might need to filter the value, although we are leaving 30 degrees each way leeway!
if(abs(ho) < 30) {
// could be either takeoff, climbout or landing - check orthopos.y
if((tortho.y() < 0) || (t->leg == TURN4) || (t->leg == LANDING_ROLL)) {
t->leg = LANDING_ROLL;
//cout << "Landing_roll\n";
} else {
t->leg = CLIMBOUT; // TODO - check elev wrt. apt elev to differentiate takeoff roll and climbout
//cout << "Climbout\n";
}
} else if(abs(ho) < 60) {
// turn1 or turn 4
// TODO - either fix or doublecheck this hack by looking at heading and pattern direction
if((t->leg == CLIMBOUT) || (t->leg == TURN1)) {
t->leg = TURN1;
//cout << "Turn1\n";
} else {
t->leg = TURN4;
//cout << "Turn4\n";
}
} else if(abs(ho) < 120) {
// crosswind or base
// TODO - either fix or doublecheck this hack by looking at heading and pattern direction
if((t->leg == TURN1) || (t->leg == CROSSWIND)) {
t->leg = CROSSWIND;
//cout << "Crosswind\n";
} else {
t->leg = BASE;
//cout << "Base\n";
}
} else if(abs(ho) < 150) {
// turn2 or turn 3
// TODO - either fix or doublecheck this hack by looking at heading and pattern direction
if((t->leg == CROSSWIND) || (t->leg == TURN2)) {
t->leg = TURN2;
//cout << "Turn2\n";
} else {
t->leg = TURN3;
//cout << "Turn3\n";
}
} else {
// downwind
t->leg = DOWNWIND;
//cout << "Downwind\n";
}
} // else TODO figure out what to do when it's not the user
} else {
t->leg = t->planePtr->GetLeg();
}
switch(t->leg) {
case FINAL:
// Base leg must be at least as far out as the plane is - actually possibly not necessary for separation, but we'll use that for now.
base_leg_pos = tortho.y();
break;
case TURN4:
// Fall through to base
case BASE:
base_leg_pos = tortho.y();
break;
case TURN3:
// Fall through to downwind
case DOWNWIND:
// Only have the downwind leg pos as turn-to-base constraint if more negative than we already have.
base_leg_pos = (tortho.y() < base_leg_pos ? tortho.y() : base_leg_pos);
downwind_leg_pos = tortho.x(); // Assume that a following plane can simply be constrained by the immediately in front downwind plane
break;
case TURN2:
// Fall through to crosswind
case CROSSWIND:
crosswind_leg_pos = tortho.y();
break;
case TURN1:
// Fall through to climbout
case CLIMBOUT:
// Only use current by constraint as largest
crosswind_leg_pos = (tortho.y() > crosswind_leg_pos ? tortho.x() : crosswind_leg_pos);
break;
case TAKEOFF_ROLL:
break;
case LEG_UNKNOWN:
break;
case LANDING_ROLL:
break;
default:
break;
}
}
}
@ -310,7 +442,12 @@ void FGTower::Update(double dt) {
}
ground->Update(dt);
}
//cout << "R " << flush;
++ii;
// How big should ii get - ie how long should the update cycle interval stretch?
if(ii >= 15) {
ii = 0;
}
}
@ -448,11 +585,11 @@ void FGTower::doThresholdETACalc() {
//cout << "Doing ETA calc for " << tpr->plane.callsign << '\n';
if(tpr->opType == CIRCUIT) {
// It's complicated - depends on if base leg is delayed or not
if(tpr->leg == TWR_LANDING_ROLL) {
if(tpr->leg == LANDING_ROLL) {
tpr->eta = 0;
} else if(tpr->leg == TWR_FINAL) {
} else if((tpr->leg == FINAL) || (tpr->leg == TURN4)) {
tpr->eta = fabs(dist_out_m) / final_ias;
} else if(tpr->leg == TWR_BASE) {
} else if((tpr->leg == BASE) || (tpr->leg == TURN3)) {
tpr->eta = (fabs(dist_out_m) / final_ias) + (dist_across_m / circuit_ias);
} else {
// Need to calculate where base leg is likely to be
@ -463,10 +600,10 @@ void FGTower::doThresholdETACalc() {
double nominal_dist_across_m = 1000; // Hardwired value from AILocalTraffic
double nominal_cross_dist_out_m = 1000; // Bit of a guess - AI plane turns to crosswind at 600ft agl.
tpr->eta = fabs(current_base_dist_out_m) / final_ias; // final
if(tpr->leg == TWR_DOWNWIND) {
if((tpr->leg == DOWNWIND) || (tpr->leg == TURN2)) {
tpr->eta += dist_across_m / circuit_ias;
tpr->eta += fabs(current_base_dist_out_m - dist_out_m) / circuit_ias;
} else if(tpr->leg == TWR_CROSSWIND) {
} else if((tpr->leg == CROSSWIND) || (tpr->leg == TURN1)) {
tpr->eta += nominal_dist_across_m / circuit_ias; // should we use the dist across of the previous plane if there is previous still on downwind?
tpr->eta += fabs(current_base_dist_out_m - nominal_cross_dist_out_m) / circuit_ias;
tpr->eta += (nominal_dist_across_m - dist_across_m) / circuit_ias;
@ -491,7 +628,7 @@ bool FGTower::doThresholdUseOrder() {
void FGTower::doCommunication() {
}
void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIEntity* requestee, tower_traffic_type operation) {
void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIPlane* requestee, tower_traffic_type operation) {
// HACK - assume that anything contacting at hold short is new for now - FIXME LATER
TowerPlaneRec* t = new TowerPlaneRec;
t->plane = plane;

31
src/ATC/tower.hxx
View file

@ -38,6 +38,7 @@ SG_USING_STD(ios);
//#include "ATCmgr.hxx"
#include "ground.hxx"
#include "ATCProjection.hxx"
#include "AIPlane.hxx"
//DCL - a complete guess for now.
#define FG_TOWER_DEFAULT_RANGE 30
@ -46,22 +47,11 @@ enum tower_traffic_type {
CIRCUIT,
INBOUND,
OUTBOUND,
TTT_UNKNOWN, // departure, but we don't know if for circuits or leaving properly
STRAIGHT_IN
// Umm - what's the difference between INBOUND and STRAIGHT_IN ?
};
// Much simplified compared to AILocalTraffic
enum TwrPatternLeg {
TWR_LANDING_ROLL,
TWR_FINAL,
TWR_BASE,
TWR_DOWNWIND,
TWR_CROSSWIND,
TWR_CLIMBOUT,
TWR_TAKEOFF_ROLL,
TWR_UNKNOWN
};
// Structure for holding details of a plane under tower control.
// Not fixed yet - may include more stuff later.
class TowerPlaneRec {
@ -73,7 +63,7 @@ public:
TowerPlaneRec(Point3D pt);
TowerPlaneRec(PlaneRec p, Point3D pt);
FGAIEntity* planePtr; // This might move to the planeRec eventually
FGAIPlane* planePtr; // This might move to the planeRec eventually
PlaneRec plane;
Point3D pos;
@ -97,7 +87,7 @@ public:
tower_traffic_type opType;
// Whereabouts in circuit if doing circuits
TwrPatternLeg leg;
PatternLeg leg;
bool isUser; // true if this plane is the user
};
@ -130,8 +120,8 @@ public:
void ReportRunwayVacated(string ID);
void ReportReadyForDeparture(string ID);
// Contact tower when at a hold short for departure
void ContactAtHoldShort(PlaneRec plane, FGAIEntity* requestee, tower_traffic_type operation);
// Contact tower when at a hold short for departure - for now we'll assume plane - maybe vehicles might want to cross runway eventually?
void ContactAtHoldShort(PlaneRec plane, FGAIPlane* requestee, tower_traffic_type operation);
// Public interface to the active runway - this will get more complex
// in the future and consider multi-runway use, airplane weight etc.
@ -230,10 +220,17 @@ private:
string trans_ident; // transmitted ident
bool tower_failed; // tower failed?
// Pointers to current users position
// Pointers to current users position and orientation
SGPropertyNode* user_lon_node;
SGPropertyNode* user_lat_node;
SGPropertyNode* user_elev_node;
SGPropertyNode* user_hdg_node;
// Details of the general traffic flow etc in the circuit
double crosswind_leg_pos; // Distance from threshold crosswind leg is being turned to in meters (actual operation - *not* ideal circuit)
double downwind_leg_pos; // Actual offset distance in meters from the runway that planes are flying the downwind leg
// Currently not sure whether the above should be always +ve or just take the natural orthopos sign (+ve for RH circuit, -ve for LH).
double base_leg_pos; // Actual offset distance from the threshold (-ve) that planes are turning to base leg.
friend istream& operator>> ( istream&, FGTower& );
};