// That's pretty ugly, but I need fgFindAirportID #include "SchedFlight.hxx" #include "TrafficMgr.hxx" using std::sort; /****************************************************************************** * the FGAISchedule class contains data members and code to maintain a * schedule of Flights for an articically controlled aircraft. *****************************************************************************/ FGAISchedule::FGAISchedule() { firstRun = true; AIManagerRef = 0; heavy = false; lat = 0; lon = 0; radius = 0; groundOffset = 0; distanceToUser = 0; //score = 0; } /* FGAISchedule::FGAISchedule(string mdl, string liv, string reg, bool hvy, string act, string arln, string mclass, string fltpe, double rad, double grnd, int scre, FGScheduledFlightVec flt)*/ FGAISchedule::FGAISchedule(string model, string lvry, string port, string reg, string flightId, bool hvy, string act, string arln, string mclass, string fltpe, double rad, double grnd) { modelPath = model; livery = lvry; homePort = port; registration = reg; flightIdentifier = flightId; acType = act; airline = arln; m_class = mclass; flightType = fltpe; lat = 0; lon = 0; radius = rad; groundOffset = grnd; distanceToUser = 0; heavy = hvy; /*for (FGScheduledFlightVecIterator i = flt.begin(); i != flt.end(); i++) flights.push_back(new FGScheduledFlight((*(*i))));*/ AIManagerRef = 0; //score = scre; firstRun = true; } FGAISchedule::FGAISchedule(const FGAISchedule &other) { modelPath = other.modelPath; homePort = other.homePort; livery = other.livery; registration = other.registration; heavy = other.heavy; flightIdentifier = other.flightIdentifier; flights = other.flights; lat = other.lat; lon = other.lon; AIManagerRef = other.AIManagerRef; acType = other.acType; airline = other.airline; m_class = other.m_class; firstRun = other.firstRun; radius = other.radius; groundOffset = other.groundOffset; flightType = other.flightType; //score = other.score; distanceToUser = other.distanceToUser; currentDestination = other.currentDestination; firstRun = other.firstRun; } FGAISchedule::~FGAISchedule() { /* for (FGScheduledFlightVecIterator flt = flights.begin(); flt != flights.end(); flt++) { delete (*flt); } flights.clear();*/ } bool FGAISchedule::init() { //tm targetTimeDate; //SGTime* currTimeDate = globals->get_time_params(); //tm *temp = currTimeDate->getGmt(); //char buffer[512]; //sgTimeFormatTime(&targetTimeDate, buffer); //cout << "Scheduled Time " << buffer << endl; //cout << "Time :" << time(NULL) << " SGTime : " << sgTimeGetGMT(temp) << endl; /*for (FGScheduledFlightVecIterator i = flights.begin(); i != flights.end(); i++) { //i->adjustTime(now); if (!((*i)->initializeAirports())) return false; } */ //sort(flights.begin(), flights.end()); // Since time isn't initialized yet when this function is called, // Find the closest possible airport. // This should give a reasonable initialization order. //setClosestDistanceToUser(); return true; } bool FGAISchedule::update(time_t now) { FGAirport *dep; FGAirport *arr; double angle; FGAIManager *aimgr; string airport; double speed; time_t totalTimeEnroute, elapsedTimeEnroute, remainingTimeEnroute, deptime = 0; double userLatitude, userLongitude; SGVec3d newPos(0, 0, 0); if (fgGetBool("/sim/traffic-manager/enabled") == false) return true; aimgr = (FGAIManager *) globals-> get_subsystem("ai_model"); // Out-of-work aircraft seeks employment. Willing to work irregular hours ... //cerr << "About to find a flight " << endl; if (flights.empty()) { //execute this loop at least once. SG_LOG(SG_GENERAL, SG_BULK, "Scheduling for : " << modelPath << " " << registration << " " << homePort); FGScheduledFlight *flight = 0; do { flight = findAvailableFlight(currentDestination, flightIdentifier); if (flight) { currentDestination = flight->getArrivalAirport()->getId(); time_t arr, dep; dep = flight->getDepartureTime(); arr = flight->getArrivalTime(); string depT = asctime(gmtime(&dep)); string arrT = asctime(gmtime(&arr)); depT = depT.substr(0,24); arrT = arrT.substr(0,24); SG_LOG(SG_GENERAL, SG_BULK, " " << flight->getCallSign() << ":" << " " << flight->getDepartureAirport()->getId() << ":" << " " << depT << ":" << " \"" << flight->getArrivalAirport()->getId() << "\"" << ":" << " " << arrT << ":"); flights.push_back(flight); } } while ((currentDestination != homePort) && (flight != 0)); SG_LOG(SG_GENERAL, SG_BULK, cerr << " Done " << endl); } //cerr << " Done " << endl; // No flights available for this aircraft if (flights.size() == 0) { return false; } // Sort all the scheduled flights according to scheduled departure time. // Because this is done at every update, we only need to check the status // of the first listed flight. //sort(flights.begin(), flights.end(), compareScheduledFlights); if (firstRun) { if (fgGetBool("/sim/traffic-manager/instantaneous-action") == true) { deptime = now + rand() % 300; // Wait up to 5 minutes until traffic starts moving to prevent too many aircraft // from cluttering the gate areas. cerr << "Scheduling " << registration << " for instantaneous action flight " << endl; } firstRun = false; } if (!deptime) deptime = (*flights.begin())->getDepartureTime(); FGScheduledFlightVecIterator i = flights.begin(); SG_LOG (SG_GENERAL, SG_DEBUG,"Traffic Manager: Processing registration " << registration << " with callsign " << (*i)->getCallSign()); if (AIManagerRef) { // Check if this aircraft has been released. FGTrafficManager *tmgr = (FGTrafficManager *) globals->get_subsystem("Traffic Manager"); if (tmgr->isReleased(AIManagerRef)) AIManagerRef = 0; } if (!AIManagerRef) { userLatitude = fgGetDouble("/position/latitude-deg"); userLongitude = fgGetDouble("/position/longitude-deg"); //cerr << "Estimated minimum distance to user: " << distanceToUser << endl; // This flight entry is entirely in the past, do we need to // push it forward in time to the next scheduled departure. if (((*i)->getDepartureTime() < now) && ((*i)->getArrivalTime() < now)) { SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is in the Past"); //cerr << modelPath << " " << registration << ": Flights from the past belong to the past :-)" << endl; //exit(1); // Don't just update: check whether we need to load a new leg. etc. // This update occurs for distant aircraft, so we can update the current leg // and detach it from the current list of aircraft. (*i)->update(); i = flights.erase(i); return true; } // Departure time in the past and arrival time in the future. // This flight is in progress, so we need to calculate it's // approximate position and -if in range- create an AIAircraft // object for it. //if ((i->getDepartureTime() < now) && (i->getArrivalTime() > now)) // Part of this flight is in the future. if ((*i)->getArrivalTime() > now) { dep = (*i)->getDepartureAirport(); arr = (*i)->getArrivalAirport (); if (!(dep && arr)) return false; if (dep != arr) { SGVec3d a = SGVec3d::fromGeoc(SGGeoc::fromDegM(dep->getLongitude(), dep->getLatitude(), 1)); SGVec3d b = SGVec3d::fromGeoc(SGGeoc::fromDegM(arr->getLongitude(), arr->getLatitude(), 1)); SGVec3d _cross = cross(b, a); angle = sgACos(dot(a, b)); // Okay, at this point we have the angle between departure and // arrival airport, in degrees. From here we can interpolate the // position of the aircraft by calculating the ratio between // total time enroute and elapsed time enroute. totalTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime(); if (now > (*i)->getDepartureTime()) { //err << "Lat = " << lat << ", lon = " << lon << endl; //cerr << "Time diff: " << now-i->getDepartureTime() << endl; elapsedTimeEnroute = now - (*i)->getDepartureTime(); remainingTimeEnroute = (*i)->getArrivalTime() - now; SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is in progress."); } else { lat = dep->getLatitude(); lon = dep->getLongitude(); elapsedTimeEnroute = 0; remainingTimeEnroute = totalTimeEnroute; SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic Manager: Flight is pending."); } angle *= ( (double) elapsedTimeEnroute/ (double) totalTimeEnroute); //cout << "a = " << a[0] << " " << a[1] << " " << a[2] // << "b = " << b[0] << " " << b[1] << " " << b[2] << endl; sgdMat4 matrix; sgdMakeRotMat4(matrix, angle, _cross.data()); for(int j = 0; j < 3; j++) { for (int k = 0; k<3; k++) { newPos[j] += matrix[j][k]*a[k]; } } } SGGeod current; if ((now > (*i)->getDepartureTime() && (dep != arr))) { current = SGGeod::fromCart(newPos); speed = SGGeodesy::distanceNm(current, arr->geod()) / ((double) remainingTimeEnroute/3600.0); } else { current = dep->geod(); speed = 450; } SGGeod user = SGGeod::fromDegM(userLongitude, userLatitude, (*i)->getCruiseAlt()); distanceToUser = SGGeodesy::distanceNm(current, user); // If distance between user and simulated aircaft is less // then 500nm, create this flight. At jet speeds 500 nm is roughly // one hour flight time, so that would be a good approximate point // to start a more detailed simulation of this aircraft. SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic manager: " << registration << " is scheduled for a flight from " << dep->getId() << " to " << arr->getId() << ". Current distance to user: " << distanceToUser); if (distanceToUser < TRAFFICTOAIDISTTOSTART) { string flightPlanName = dep->getId() + string("-") + arr->getId() + string(".xml"); SG_LOG (SG_GENERAL, SG_DEBUG, "Traffic manager: Creating AIModel"); //int alt; //if ((i->getDepartureTime() < now)) //{ // alt = i->getCruiseAlt() *100; // } //else //{ // alt = dep->_elevation+19; // } // Only allow traffic to be created when the model path (or the AI version of mp) exists SGPath mp(globals->get_fg_root()); SGPath mp_ai = mp; mp.append(modelPath); mp_ai.append("AI"); mp_ai.append(modelPath); if (mp.exists() || mp_ai.exists()) { FGAIAircraft *aircraft = new FGAIAircraft(this); aircraft->setPerformance(m_class); //"jet_transport"; aircraft->setCompany(airline); //i->getAirline(); aircraft->setAcType(acType); //i->getAcType(); aircraft->setPath(modelPath.c_str()); //aircraft->setFlightPlan(flightPlanName); aircraft->setLatitude(lat); aircraft->setLongitude(lon); aircraft->setAltitude((*i)->getCruiseAlt()*100); // convert from FL to feet aircraft->setSpeed(speed); aircraft->setBank(0); courseToDest = SGGeodesy::courseDeg(current, arr->geod()); aircraft->SetFlightPlan(new FGAIFlightPlan(aircraft, flightPlanName, courseToDest, deptime, dep, arr,true, radius, (*i)->getCruiseAlt()*100, lat, lon, speed, flightType, acType, airline)); aimgr->attach(aircraft); AIManagerRef = aircraft->getID(); //cerr << "Class: " << m_class << ". acType: " << acType << ". Airline: " << airline << ". Speed = " << speed << ". From " << dep->getId() << " to " << arr->getId() << ". Time Fraction = " << (remainingTimeEnroute/(double) totalTimeEnroute) << endl; //cerr << "Latitude : " << lat << ". Longitude : " << lon << endl; //cerr << "Dep : " << dep->getLatitude()<< ", "<< dep->getLongitude() << endl; //cerr << "Arr : " << arr->getLatitude()<< ", "<< arr->getLongitude() << endl; //cerr << "Time remaining = " << (remainingTimeEnroute/3600.0) << endl; //cerr << "Total time = " << (totalTimeEnroute/3600.0) << endl; //cerr << "Distance remaining = " << distanceToDest*SG_METER_TO_NM << endl; } else { SG_LOG(SG_INPUT, SG_WARN, "TrafficManager: Could not load model " << mp.str()); } } return true; } // Both departure and arrival time are in the future, so this // the aircraft is parked at the departure airport. // Currently this status is mostly ignored, but in future // versions, code should go here that -if within user range- // positions these aircraft at parking locations at the airport. if (((*i)->getDepartureTime() > now) && ((*i)->getArrivalTime() > now)) { dep = (*i)->getDepartureAirport(); return true; } } //cerr << "Traffic schedule got to beyond last clause" << endl; // EMH: prevent a warning, should this be 'true' instead? // DT: YES. Originally, this code couldn't be reached, but // when the "if(!(AIManagerManager))" clause is false we // fall through right to the end. This is a valid flow. // the actual value is pretty innocent, only it triggers // warning in TrafficManager::update(). // (which was added as a sanity check for myself in the first place. :-) return true; } bool FGAISchedule::next() { FGScheduledFlightVecIterator i = flights.begin(); (*i)->release(); //FIXME: remove first entry, // load new flights until back at home airport // Lock loaded flights //sort(flights.begin(), flights.end(), compareScheduledFlights); // until that time i = flights.erase(i); //cerr << "Next: scheduling for : " << modelPath << " " << registration << endl; FGScheduledFlight *flight = findAvailableFlight(currentDestination, flightIdentifier); if (flight) { currentDestination = flight->getArrivalAirport()->getId(); time_t arr, dep; dep = flight->getDepartureTime(); arr = flight->getArrivalTime(); string depT = asctime(gmtime(&dep)); string arrT = asctime(gmtime(&arr)); depT = depT.substr(0,24); arrT = arrT.substr(0,24); //cerr << " " << flight->getCallSign() << ":" // << " " << flight->getDepartureAirport()->getId() << ":" // << " " << depT << ":" // << " \"" << flight->getArrivalAirport()->getId() << "\"" << ":" // << " " << arrT << ":" << endl; flights.push_back(flight); return true; } else { return false; } //cerr << "FGAISchedule :: next needs updating" << endl; //exit(1); } FGScheduledFlight* FGAISchedule::findAvailableFlight (const string ¤tDestination, const string &req) { time_t now = time(NULL) + fgGetLong("/sim/time/warp"); FGTrafficManager *tmgr = (FGTrafficManager *) globals->get_subsystem("Traffic Manager"); FGScheduledFlightVecIterator fltBegin, fltEnd; fltBegin = tmgr->getFirstFlight(req); fltEnd = tmgr->getLastFlight(req); //cerr << "Finding available flight " << endl; // For Now: // Traverse every registered flight if (fltBegin == fltEnd) { //cerr << "No Flights Scheduled for " << req << endl; } int counter = 0; for (FGScheduledFlightVecIterator i = fltBegin; i != fltEnd; i++) { (*i)->adjustTime(now); //sort(fltBegin, fltEnd, compareScheduledFlights); //cerr << counter++ << endl; } sort(fltBegin, fltEnd, compareScheduledFlights); for (FGScheduledFlightVecIterator i = fltBegin; i != fltEnd; i++) { //bool valid = true; counter++; if (!(*i)->isAvailable()) { //cerr << (*i)->getCallSign() << "is no longer available" << endl; continue; } if (!((*i)->getRequirement() == req)) { continue; } if (!(((*i)->getArrivalAirport()) && ((*i)->getDepartureAirport()))) { continue; } if (!(currentDestination.empty())) { if (currentDestination != (*i)->getDepartureAirport()->getId()) { //cerr << (*i)->getCallSign() << "Doesn't match destination" << endl; //cerr << "Current Destination " << currentDestination << "Doesnt match flight's " << // (*i)->getArrivalAirport()->getId() << endl; continue; } } //TODO: check time // So, if we actually get here, we have a winner //cerr << "found flight: " << req << " : " << currentDestination << " : " << // (*i)->getArrivalAirport()->getId() << endl; (*i)->lock(); return (*i); } // matches req? // if currentDestination has a value, does it match departure of next flight? // is departure time later than planned arrival? // is departure port valid? // is arrival port valid? //cerr << "Ack no flight found: " << endl; return 0; } double FGAISchedule::getSpeed() { FGScheduledFlightVecIterator i = flights.begin(); FGAirport* dep = (*i)->getDepartureAirport(), *arr = (*i)->getArrivalAirport(); double dist = SGGeodesy::distanceNm(dep->geod(), arr->geod()); double remainingTimeEnroute = (*i)->getArrivalTime() - (*i)->getDepartureTime(); double speed = dist / (remainingTimeEnroute/3600.0); SG_CLAMP_RANGE(speed, 300.0, 500.0); return speed; } /* bool compareSchedules(FGAISchedule*a, FGAISchedule*b) { //return (*a) < (*b); } */ // void FGAISchedule::setClosestDistanceToUser() // { // double course; // double dist; // Point3D temp; // time_t // totalTimeEnroute, // elapsedTimeEnroute; // double userLatitude = fgGetDouble("/position/latitude-deg"); // double userLongitude = fgGetDouble("/position/longitude-deg"); // FGAirport *dep; // #if defined( __CYGWIN__) || defined( __MINGW32__) // #define HUGE HUGE_VAL // #endif // distanceToUser = HUGE; // FGScheduledFlightVecIterator i = flights.begin(); // while (i != flights.end()) // { // dep = i->getDepartureAirport(); // //if (!(dep)) // //return HUGE; // SGWayPoint user ( userLongitude, // userLatitude, // i->getCruiseAlt()); // SGWayPoint current (dep->getLongitude(), // dep->getLatitude(), // 0); // user.CourseAndDistance(current, &course, &dist); // if (dist < distanceToUser) // { // distanceToUser = dist; // //cerr << "Found closest distance to user for " << registration << " to be " << distanceToUser << " at airport " << dep->getId() << endl; // } // i++; // } // //return distToUser; // }