#include #include using std::string; #include "ATC.hxx" #include "ATCmgr.hxx" #include "AILocalTraffic.hxx" #include "AIGAVFRTraffic.hxx" #include "ATCutils.hxx" #include "tower.hxx" // extern from Airports/simple.cxx extern SGGeod fgGetAirportPos( const std::string& id ); FGAIGAVFRTraffic::FGAIGAVFRTraffic() { ATC = globals->get_ATC_mgr(); _towerContactedIncoming = false; _clearedStraightIn = false; _clearedDownwindEntry = false; _incoming = false; _straightIn = false; _downwindEntry = false; _climbout = false; _local = false; _established = false; _e45 = false; _entering = false; _turning = false; _cruise_climb_ias = 90.0; _cruise_ias = 110.0; patternDirection = -1.0; // TESTING - REMOVE OR COMMENT OUT BEFORE COMMIT!!! //_towerContactPrinted = false; } FGAIGAVFRTraffic::~FGAIGAVFRTraffic() { } // We should never need to Init FGAIGAVFRTraffic in the pattern since that implies arrivel // and we can just use an FGAILocalTraffic instance for that instead. // Init en-route to destID at point pt. // TODO - no idea what to do if pt is above planes ceiling due mountains!! bool FGAIGAVFRTraffic::Init(const SGGeod& pt, const string& destID, const string& callsign) { FGAILocalTraffic::Init(callsign, destID, EN_ROUTE); // TODO FIXME - to get up and running we're going to ignore elev and get FGAIMgr to // pass in known good values for the test location. Need to fix this!!! (or at least canonically decide who has responsibility for setting elev). _enroute = true; _destID = destID; _pos = pt; _destPos = fgGetAirportPos(destID); // TODO - check if we are within the tower catchment area already. _cruise_alt = (_destPos.getElevationM() + 2500.0) * SG_FEET_TO_METER; // TODO look at terrain elevation as well _pos.setElevationM(_cruise_alt); // initially set waypoint as airport location _wp = _destPos; // Set the initial track track = GetHeadingFromTo(_pos, _wp); // And set the plane to keep following it. SetTrack(GetHeadingFromTo(_pos, _wp)); _roll = 0.0; _pitch = 0.0; slope = 0.0; // TODO - set climbout if altitude is below normal cruising altitude? //Transform(); // Assume it's OK to set the plane visible _aip.setVisible(true); //cout << "Setting visible true\n"; Transform(); return(true); } // Init at srcID to fly to destID bool FGAIGAVFRTraffic::Init(const string& srcID, const string& destID, const string& callsign, OperatingState state) { _enroute = false; FGAILocalTraffic::Init(callsign, srcID, PARKED); return(true); } void FGAIGAVFRTraffic::Update(double dt) { if(_enroute) { //cout << "_enroute\n"; //cout << "e" << flush; FlyPlane(dt); //cout << "f" << flush; Transform(); //cout << "g" << flush; FGAIPlane::Update(dt); //cout << "h" << flush; responseCounter += dt; // we shouldn't really need this since there's a LOD of 10K on the whole plane anyway I think. // There are two _aip.setVisible statements set when _local = true that can be removed if the below is removed. if(dclGetHorizontalSeparation(_pos, SGGeod::fromDegM(fgGetDouble("/position/longitude-deg"), fgGetDouble("/position/latitude-deg"), 0.0)) > 8000) _aip.setVisible(false); else _aip.setVisible(true); } else if(_local) { //cout << "L"; //cout << "_local\n"; FGAILocalTraffic::Update(dt); } } void FGAIGAVFRTraffic::FlyPlane(double dt) { if(_climbout) { // Check whether to level off if(_pos.getElevationM() >= _cruise_alt) { slope = 0.0; _pitch = 0.0; IAS = _cruise_ias; // FIXME - use smooth transistion to new speed and attitude. _climbout = false; } else { slope = 4.0; _pitch = 5.0; IAS = _cruise_climb_ias; } } else { // TESTING /* if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.1) { if(!_towerContactPrinted) { if(airportID == "KSQL") { cout << "****************************************************************\n"; cout << "++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"; cout << "****************************************************************\n"; } _towerContactPrinted = true; } } */ // if distance to destination is less than 6 - 9 miles contact tower // and prepare to become _incoming after response. // Possibly check whether to start descent before this? //cout << "." << flush; //cout << "sep = " << dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 << '\n'; if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.0) { //cout << "-" << flush; if(!_towerContactedIncoming) { //cout << "_" << flush; GetAirportDetails(airportID); //cout << "L" << flush; if(_controlled) { freq = (double)tower->get_freq() / 100.0; tuned_station = tower; } else { freq = 122.8; // TODO - need to get the correct CTAF/Unicom frequency if no tower tuned_station = NULL; } //cout << "freq = " << freq << endl; GetRwyDetails(airportID); //"@AP Tower @CS @MI miles @CD of the airport for full stop with ATIS" // 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); } if(_controlled) { pending_transmission = tower->get_name(); pending_transmission += " Tower "; } else { pending_transmission = "Traffic "; // TODO - find some way of getting uncontrolled airport name } pending_transmission += plane.callsign; //char buf[10]; int dist_miles = (int)dclGetHorizontalSeparation(_pos, _destPos) / 1600; //sprintf(buf, " %i ", dist_miles); pending_transmission += " "; pending_transmission += ConvertNumToSpokenDigits(dist_miles); if(dist_miles > 1) pending_transmission += " miles "; else pending_transmission += " mile "; pending_transmission += GetCompassDirection(GetHeadingFromTo(_destPos, _pos)); pending_transmission += " of the airport for full stop with ATIS"; //cout << pending_transmission << endl; Transmit(14); // 14 is the callback code, NOT the timeout! responseCounter = 0; _towerContactedIncoming = true; } else { //cout << "?" << flush; if(_clearedStraightIn && responseCounter > 5.5) { //cout << "5 " << flush; _clearedStraightIn = false; _straightIn = true; _incoming = true; _wp = GetPatternApproachPos(); //_hdg = GetHeadingFromTo(_pos, _wp); // TODO - turn properly! SetTrack(GetHeadingFromTo(_pos, _wp)); slope = atan((_wp.getElevationM() - _pos.getElevationM()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES; double thesh_offset = 0.0; SGVec3d opos = ortho.ConvertToLocal(_pos); double angToApt = atan((_pos.getElevationM() - fgGetAirportElev(airportID)) / (opos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES; //cout << "angToApt = " << angToApt << ' '; slope = (angToApt > -5.0 ? 0.0 : angToApt); //cout << "slope = " << slope << '\n'; pending_transmission = "Straight-in "; pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID); pending_transmission += " "; pending_transmission += plane.callsign; //cout << pending_transmission << '\n'; ConditionalTransmit(4); } else if(_clearedDownwindEntry && responseCounter > 5.5) { //cout << "6" << flush; _clearedDownwindEntry = false; _downwindEntry = true; _incoming = true; _wp = GetPatternApproachPos(); SetTrack(GetHeadingFromTo(_pos, _wp)); slope = atan((_wp.getElevationM() - _pos.getElevationM()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES; //cout << "slope = " << slope << '\n'; pending_transmission = "Report "; pending_transmission += (patternDirection == 1 ? "right downwind " : "left downwind "); pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID); pending_transmission += " "; pending_transmission += plane.callsign; //cout << pending_transmission << '\n'; ConditionalTransmit(4); } } if(_pos.getElevationM() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0; } } if(_incoming) { //cout << "i" << '\n'; SGVec3d orthopos = ortho.ConvertToLocal(_pos); // TODO - Check whether to start descent // become _local after the 3 mile report. if(_pos.getElevationM() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0; // TODO - work out why I needed to add the above line to stop the plane going underground!!! // (Although it's worth leaving it in as a robustness check anyway). if(_straightIn) { //cout << "A " << flush; if(fabs(orthopos.x()) < 10.0 && !_established) { SetTrack(rwy.hdg); _established = true; //cout << "Established at " << orthopos << '\n'; } double thesh_offset = 30.0; //cout << "orthopos.y = " << orthopos.y() << " alt = " << _pos.getElevationM() - fgGetAirportElev(airportID) << '\n'; if(_established && (orthopos.y() > -5400.0)) { slope = atan((_pos.getElevationM() - fgGetAirportElev(airportID)) / (orthopos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES; //cout << "slope0 = " << slope << '\n'; } //cout << "slope1 = " << slope << '\n'; if(slope > -5.5) slope = 0.0; // ie we're too low. //cout << "slope2 = " << slope << '\n'; slope += 0.001; // To avoid yo-yoing with the above. //if(_established && (orthopos.y() > -5400.0)) slope = -5.5; if(_established && (orthopos.y() > -4800.0)) { pending_transmission = "3 mile final Runway "; pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID); pending_transmission += " "; pending_transmission += plane.callsign; //cout << pending_transmission << '\n'; ConditionalTransmit(35); _local = true; _aip.setVisible(true); // HACK _enroute = false; StraightInEntry(true); } } else if(_downwindEntry) { //cout << "B" << flush; if(_entering) { //cout << "C" << flush; if(_turning) { if(fabs(_hdg - (rwy.hdg + 180)) < 2.0) { // TODO - use track instead of _hdg? //cout << "Going Local...\n"; leg = DOWNWIND; _local = true; _aip.setVisible(true); // HACK _enroute = false; _entering = false; _turning = false; DownwindEntry(); } } if(fabs(orthopos.x() - (patternDirection == 1 ? 1000 : -1000)) < (_e45 ? 175 : 550)) { // Caution - hardwired turn clearances. //cout << "_turning...\n"; _turning = true; SetTrack(rwy.hdg + 180.0); } // TODO - need to check for other traffic in the pattern and enter much more integilently than that!!! } else { //cout << "D" << flush; //cout << '\n' << dclGetHorizontalSeparation(_wp, _pos) << '\n'; //cout << ortho.ConvertToLocal(GetPos()); //cout << ortho.ConvertToLocal(_wp); if(dclGetHorizontalSeparation(_wp, _pos) < 100.0) { pending_transmission = "2 miles out for "; pending_transmission += (patternDirection == 1 ? "right " : "left "); pending_transmission += "downwind Runway "; pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID); pending_transmission += " "; pending_transmission += plane.callsign; //cout << pending_transmission << '\n'; // TODO - are we at pattern altitude?? slope = 0.0; ConditionalTransmit(30); if(_e45) { SetTrack(patternDirection == 1 ? rwy.hdg - 135.0 : rwy.hdg + 135.0); } else { SetTrack(patternDirection == 1 ? rwy.hdg + 90.0 : rwy.hdg - 90.0); } //if(_hdg < 0.0) _hdg += 360.0; _entering = true; } else { SetTrack(GetHeadingFromTo(_pos, _wp)); } } } } else { // !_incoming slope = 0.0; } // FIXME - lots of hackery in the next six lines!!!! double crab = 0.0; // This is a placeholder for when we take wind into account. _hdg = track + crab; double vel = _cruise_ias; double dist = vel * 0.514444 * dt; _pos = dclUpdatePosition(_pos, track, slope, dist); } void FGAIGAVFRTraffic::RegisterTransmission(int code) { switch(code) { case 1: // taxi request cleared FGAILocalTraffic::RegisterTransmission(code); break; case 2: // contact tower FGAILocalTraffic::RegisterTransmission(code); break; case 3: // Cleared to line up FGAILocalTraffic::RegisterTransmission(code); break; case 4: // cleared to take-off FGAILocalTraffic::RegisterTransmission(code); break; case 5: // contact ground FGAILocalTraffic::RegisterTransmission(code); break; case 6: // taxi to the GA parking FGAILocalTraffic::RegisterTransmission(code); break; case 7: // Cleared to land FGAILocalTraffic::RegisterTransmission(code); break; case 13: // Go around! FGAILocalTraffic::RegisterTransmission(code); break; case 14: // VFR approach for straight-in responseCounter = 0; _clearedStraightIn = true; break; case 15: // VFR approach for downwind entry responseCounter = 0; _clearedDownwindEntry = true; break; default: SG_LOG(SG_ATC, SG_WARN, "FGAIGAVFRTraffic::RegisterTransmission(...) called with unknown code " << code); FGAILocalTraffic::RegisterTransmission(code); break; } } // Callback handler // TODO - Really should enumerate these coded values. void FGAIGAVFRTraffic::ProcessCallback(int code) { // 1 - Request Departure from ground // 2 - Report at hold short // 10 - report crosswind // 11 - report downwind // 12 - report base // 13 - report final // 14 - Contact Tower for VFR arrival // 99 - Remove self if(code < 14) { FGAILocalTraffic::ProcessCallback(code); } else if(code == 14) { if(_controlled) { tower->VFRArrivalContact(plane, this, FULL_STOP); } // TODO else possibly announce arrival intentions at uncontrolled airport? } else if(code == 99) { // Might handle this different in future - hence separated from the other codes to pass to AILocalTraffic. FGAILocalTraffic::ProcessCallback(code); } } // Return an appropriate altitude to fly at based on the desired altitude and direction // whilst respecting the quadrangle rule. int FGAIGAVFRTraffic::GetQuadrangleAltitude(int dir, int des_alt) { return(8888); // TODO - implement me! } // Calculates the position needed to set up for either pattern entry or straight in approach. // Currently returns one of three positions dependent on initial position wrt threshold of active rwy. // 1/ A few miles out on extended centreline for straight-in. // 2/ At an appropriate point on circuit side of rwy for a 45deg entry to downwind. // 3/ At and appropriate point on non-circuit side of rwy at take-off end for perpendicular entry to circuit overflying end-of-rwy. SGGeod FGAIGAVFRTraffic::GetPatternApproachPos() { //cout << "\n\n"; //cout << "Calculating pattern approach pos for " << plane.callsign << '\n'; SGVec3d orthopos = ortho.ConvertToLocal(_pos); SGVec3d tmp; //cout << "patternDirection = " << patternDirection << '\n'; if(orthopos.y() >= -1000.0) { // Note that this has to be set the same as the calculation in tower.cxx - at the moment approach type is not transmitted properly between the two. //cout << "orthopos.x = " << orthopos.x() << '\n'; if((orthopos.x() * patternDirection) > 0.0) { // 45 deg entry tmp.x() = 2000 * patternDirection; tmp.y() = (rwy.end2ortho.y() / 2.0) + 2000; tmp.z() = (fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER)); _e45 = true; //cout << "45 deg entry... "; } else { tmp.x() = (1000 * patternDirection * -1); tmp.y() = (rwy.end2ortho.y()); tmp.z() = (fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER)); _e45 = false; //cout << "90 deg entry... "; } } else { tmp.x() = 0; tmp.y() = -5400; tmp.z() = ((5400.0 / 6.0) + fgGetAirportElev(airportID) + 10.0); //cout << "Straight in... "; } //cout << "Waypoint is " << tmp << '\n'; //cout << ortho.ConvertFromLocal(tmp) << '\n'; //cout << '\n'; //exit(-1); return ortho.ConvertFromLocal(tmp); } //FGAIGAVFRTraffic:: //FGAIGAVFRTraffic:: //FGAIGAVFRTraffic::