1c4656512a
This ensures ground-network is retrieved through the airport only, and hence can be done safely early in init, when ATC/AI/dynamics don’t exist yet.
1110 lines
44 KiB
C++
1110 lines
44 KiB
C++
// GroundController.hxx - forked from groundnetwork.cxx
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// Written by Durk Talsma, started June 2005.
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//
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// Copyright (C) 2004 Durk Talsma.
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <cmath>
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#include <algorithm>
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#include <fstream>
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#include <map>
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#include <boost/foreach.hpp>
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#include <osg/Geode>
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#include <osg/Geometry>
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#include <osg/MatrixTransform>
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#include <osg/Shape>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/scene/material/EffectGeode.hxx>
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#include <simgear/scene/material/matlib.hxx>
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#include <simgear/scene/material/mat.hxx>
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#include <simgear/scene/util/OsgMath.hxx>
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#include <simgear/structure/exception.hxx>
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#include <simgear/timing/timestamp.hxx>
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#include <simgear/timing/sg_time.hxx>
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#include <Airports/airport.hxx>
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#include <Airports/dynamics.hxx>
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#include <Airports/runways.hxx>
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#include <Airports/groundnetwork.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include <AIModel/AIAircraft.hxx>
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#include <AIModel/performancedata.hxx>
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#include <AIModel/AIFlightPlan.hxx>
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#include <Navaids/NavDataCache.hxx>
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#include <ATC/atc_mgr.hxx>
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#include <Scenery/scenery.hxx>
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#include "GroundController.hxx"
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using std::string;
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/***************************************************************************
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* FGGroundController()
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**************************************************************************/
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bool compare_trafficrecords(FGTrafficRecord a, FGTrafficRecord b)
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{
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return (a.getIntentions().size() < b.getIntentions().size());
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}
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FGGroundController::FGGroundController() :
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parent(NULL)
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{
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hasNetwork = false;
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count = 0;
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currTraffic = activeTraffic.begin();
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group = 0;
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version = 0;
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networkInitialized = false;
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}
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FGGroundController::~FGGroundController()
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{
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}
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void FGGroundController::init(FGAirportDynamics* aDynamics)
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{
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FGATCController::init();
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dynamics = aDynamics;
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parent = dynamics->parent();
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hasNetwork = true;
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networkInitialized = true;
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}
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void FGGroundController::announcePosition(int id,
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FGAIFlightPlan * intendedRoute,
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int currentPosition, double lat,
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double lon, double heading,
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double speed, double alt,
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double radius, int leg,
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FGAIAircraft * aircraft)
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{
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if (!aircraft || !aircraft->getPerformance()) {
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SG_LOG(SG_ATC, SG_ALERT, "announcePosition: missing aircraft performance");
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return;
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}
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TrafficVectorIterator i = activeTraffic.begin();
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// Search search if the current id alread has an entry
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// This might be faster using a map instead of a vector, but let's start by taking a safe route
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if (!activeTraffic.empty()) {
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//while ((i->getId() != id) && i != activeTraffic.end()) {
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while (i != activeTraffic.end()) {
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if (i->getId() == id) {
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break;
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}
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i++;
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}
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}
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// Add a new TrafficRecord if no one exsists for this aircraft.
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if (i == activeTraffic.end() || (activeTraffic.empty())) {
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FGTrafficRecord rec;
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rec.setId(id);
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rec.setLeg(leg);
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rec.setPositionAndIntentions(currentPosition, intendedRoute);
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rec.setPositionAndHeading(lat, lon, heading, speed, alt);
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rec.setRadius(radius); // only need to do this when creating the record.
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rec.setAircraft(aircraft);
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if (leg == 2) {
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activeTraffic.push_front(rec);
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} else {
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activeTraffic.push_back(rec);
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}
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} else {
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i->setPositionAndIntentions(currentPosition, intendedRoute);
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i->setPositionAndHeading(lat, lon, heading, speed, alt);
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}
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}
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void FGGroundController::signOff(int id)
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{
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TrafficVectorIterator i = activeTraffic.begin();
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// Search search if the current id alread has an entry
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// This might be faster using a map instead of a vector, but let's start by taking a safe route
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if (activeTraffic.size()) {
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//while ((i->getId() != id) && i != activeTraffic.end()) {
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while (i != activeTraffic.end()) {
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if (i->getId() == id) {
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break;
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}
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i++;
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}
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}
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if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AI error: Aircraft without traffic record is signing off at " << SG_ORIGIN);
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} else {
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i = activeTraffic.erase(i);
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}
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}
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/**
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* The ground network can deal with the following states:
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* 0 = Normal; no action required
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* 1 = "Acknowledge "Hold position
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* 2 = "Acknowledge "Resume taxi".
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* 3 = "Issue TaxiClearance"
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* 4 = Acknowledge Taxi Clearance"
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* 5 = Post acknowlegde taxiclearance: Start taxiing
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* 6 = Report runway
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* 7 = Acknowledge report runway
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* 8 = Switch tower frequency
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* 9 = Acknowledge switch tower frequency
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*************************************************************************************************************************/
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bool FGGroundController::checkTransmissionState(int minState, int maxState, TrafficVectorIterator i, time_t now, AtcMsgId msgId,
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AtcMsgDir msgDir)
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{
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int state = i->getState();
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if ((state >= minState) && (state <= maxState) && available) {
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if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
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//cerr << "Checking state " << state << " for " << i->getAircraft()->getCallSign() << endl;
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SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
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int n = trans_num->getIntValue();
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if (n == 0) {
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trans_num->setIntValue(-1);
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// PopupCallback(n);
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//cerr << "Selected transmission message " << n << endl;
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//FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
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FGATCDialogNew::instance()->removeEntry(1);
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} else {
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//cerr << "creating message for " << i->getAircraft()->getCallSign() << endl;
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transmit(&(*i), dynamics, msgId, msgDir, false);
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return false;
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}
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}
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transmit(&(*i), dynamics, msgId, msgDir, true);
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i->updateState();
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lastTransmission = now;
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available = false;
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return true;
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}
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return false;
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}
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void FGGroundController::updateAircraftInformation(int id, double lat, double lon,
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double heading, double speed, double alt,
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double dt)
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{
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// Check whether aircraft are on hold due to a preceding pushback. If so, make sure to
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// Transmit air-to-ground "Ready to taxi request:
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// Transmit ground to air approval / hold
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// Transmit confirmation ...
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// Probably use a status mechanism similar to the Engine start procedure in the startup controller.
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TrafficVectorIterator i = activeTraffic.begin();
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// Search search if the current id has an entry
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// This might be faster using a map instead of a vector, but let's start by taking a safe route
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TrafficVectorIterator current, closest;
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if (activeTraffic.size()) {
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//while ((i->getId() != id) && i != activeTraffic.end()) {
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while (i != activeTraffic.end()) {
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if (i->getId() == id) {
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break;
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}
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i++;
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}
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}
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// update position of the current aircraft
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if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
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} else {
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i->setPositionAndHeading(lat, lon, heading, speed, alt);
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current = i;
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}
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setDt(getDt() + dt);
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// Update every three secs, but add some randomness
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// to prevent all IA objects doing this in synchrony
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//if (getDt() < (3.0) + (rand() % 10))
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// return;
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//else
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// setDt(0);
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current->clearResolveCircularWait();
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current->setWaitsForId(0);
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checkSpeedAdjustment(id, lat, lon, heading, speed, alt);
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bool needsTaxiClearance = current->getAircraft()->getTaxiClearanceRequest();
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if (!needsTaxiClearance) {
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checkHoldPosition(id, lat, lon, heading, speed, alt);
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//if (checkForCircularWaits(id)) {
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// i->setResolveCircularWait();
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//}
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} else {
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current->setHoldPosition(true);
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int state = current->getState();
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time_t now = globals->get_time_params()->get_cur_time();
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if ((now - lastTransmission) > 15) {
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available = true;
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}
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if (checkTransmissionState(0,2, current, now, MSG_REQUEST_TAXI_CLEARANCE, ATC_AIR_TO_GROUND)) {
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current->setState(3);
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}
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if (checkTransmissionState(3,3, current, now, MSG_ISSUE_TAXI_CLEARANCE, ATC_GROUND_TO_AIR)) {
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current->setState(4);
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}
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if (checkTransmissionState(4,4, current, now, MSG_ACKNOWLEDGE_TAXI_CLEARANCE, ATC_AIR_TO_GROUND)) {
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current->setState(5);
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}
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if ((state == 5) && available) {
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current->setState(0);
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current->getAircraft()->setTaxiClearanceRequest(false);
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current->setHoldPosition(false);
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available = false;
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}
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}
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}
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/**
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Scan for a speed adjustment change. Find the nearest aircraft that is in front
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and adjust speed when we get too close. Only do this when current position and/or
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intentions of the current aircraft match current taxiroute position of the proximate
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aircraft. For traffic that is on other routes we need to issue a "HOLD Position"
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instruction. See below for the hold position instruction.
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Note that there currently still is one flaw in the logic that needs to be addressed.
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There can be situations where one aircraft is in front of the current aircraft, on a separate
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route, but really close after an intersection coming off the current route. This
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aircraft is still close enough to block the current aircraft. This situation is currently
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not addressed yet, but should be.
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*/
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void FGGroundController::checkSpeedAdjustment(int id, double lat,
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double lon, double heading,
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double speed, double alt)
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{
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TrafficVectorIterator current, closest, closestOnNetwork;
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TrafficVectorIterator i = activeTraffic.begin();
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bool otherReasonToSlowDown = false;
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// bool previousInstruction;
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if (activeTraffic.size()) {
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//while ((i->getId() != id) && (i != activeTraffic.end()))
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while (i != activeTraffic.end()) {
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if (i->getId() == id) {
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break;
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}
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i++;
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}
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} else {
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return;
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}
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if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment at " << SG_ORIGIN);
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}
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current = i;
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//closest = current;
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// previousInstruction = current->getSpeedAdjustment();
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double mindist = HUGE_VAL;
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if (activeTraffic.size()) {
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double course, dist, bearing, az2; // minbearing,
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SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
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//TrafficVector iterator closest;
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closest = current;
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closestOnNetwork = current;
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for (TrafficVectorIterator i = activeTraffic.begin();
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i != activeTraffic.end(); i++) {
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if (i == current) {
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continue;
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}
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SGGeod other(SGGeod::fromDegM(i->getLongitude(),
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i->getLatitude(),
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i->getAltitude()));
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SGGeodesy::inverse(curr, other, course, az2, dist);
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bearing = fabs(heading - course);
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if (bearing > 180)
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bearing = 360 - bearing;
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if ((dist < mindist) && (bearing < 60.0)) {
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mindist = dist;
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closest = i;
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closestOnNetwork = i;
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// minbearing = bearing;
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}
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}
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//Check traffic at the tower controller
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if (towerController->hasActiveTraffic()) {
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for (TrafficVectorIterator i =
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towerController->getActiveTraffic().begin();
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i != towerController->getActiveTraffic().end(); i++) {
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//cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
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SGGeod other(SGGeod::fromDegM(i->getLongitude(),
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i->getLatitude(),
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i->getAltitude()));
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SGGeodesy::inverse(curr, other, course, az2, dist);
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bearing = fabs(heading - course);
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if (bearing > 180)
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bearing = 360 - bearing;
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if ((dist < mindist) && (bearing < 60.0)) {
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//cerr << "Current aircraft " << current->getAircraft()->getTrafficRef()->getCallSign()
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// << " is closest to " << i->getAircraft()->getTrafficRef()->getCallSign()
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// << ", which has status " << i->getAircraft()->isScheduledForTakeoff()
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// << endl;
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mindist = dist;
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closest = i;
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// minbearing = bearing;
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otherReasonToSlowDown = true;
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}
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}
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}
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// Finally, check UserPosition
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// Note, as of 2011-08-01, this should no longer be necessecary.
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/*
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double userLatitude = fgGetDouble("/position/latitude-deg");
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double userLongitude = fgGetDouble("/position/longitude-deg");
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SGGeod user(SGGeod::fromDeg(userLongitude, userLatitude));
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SGGeodesy::inverse(curr, user, course, az2, dist);
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bearing = fabs(heading - course);
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if (bearing > 180)
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bearing = 360 - bearing;
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if ((dist < mindist) && (bearing < 60.0)) {
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mindist = dist;
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//closest = i;
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minbearing = bearing;
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otherReasonToSlowDown = true;
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}
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*/
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current->clearSpeedAdjustment();
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bool needBraking = false;
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if (current->checkPositionAndIntentions(*closest)
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|| otherReasonToSlowDown) {
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double maxAllowableDistance =
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(1.1 * current->getRadius()) +
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(1.1 * closest->getRadius());
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if (mindist < 2 * maxAllowableDistance) {
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if (current->getId() == closest->getWaitsForId())
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return;
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else
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current->setWaitsForId(closest->getId());
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if (closest->getId() != current->getId()) {
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current->setSpeedAdjustment(closest->getSpeed() *
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(mindist / 100));
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needBraking = true;
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// if (
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// closest->getAircraft()->getTakeOffStatus() &&
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// (current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) &&
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// (current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway())
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// )
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// current->getAircraft()->scheduleForATCTowerDepartureControl(1);
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} else {
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current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
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}
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if (mindist < maxAllowableDistance) {
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//double newSpeed = (maxAllowableDistance-mindist);
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//current->setSpeedAdjustment(newSpeed);
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//if (mindist < 0.5* maxAllowableDistance)
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// {
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current->setSpeedAdjustment(0);
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// }
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}
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}
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}
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if ((closest->getId() == closestOnNetwork->getId()) && (current->getPriority() < closest->getPriority()) && needBraking) {
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swap(current, closest);
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}
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}
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}
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/**
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Check for "Hold position instruction".
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The hold position should be issued under the following conditions:
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1) For aircraft entering or crossing a runway with active traffic on it, or landing aircraft near it
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2) For taxiing aircraft that use one taxiway in opposite directions
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3) For crossing or merging taxiroutes.
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*/
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void FGGroundController::checkHoldPosition(int id, double lat,
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double lon, double heading,
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double speed, double alt)
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{
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FGGroundNetwork* network = dynamics->parent()->groundNetwork();
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TrafficVectorIterator current;
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TrafficVectorIterator i = activeTraffic.begin();
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if (activeTraffic.size()) {
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//while ((i->getId() != id) && i != activeTraffic.end())
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while (i != activeTraffic.end()) {
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if (i->getId() == id) {
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break;
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}
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i++;
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}
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} else {
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return;
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}
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time_t now = globals->get_time_params()->get_cur_time();
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if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition at " << SG_ORIGIN);
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}
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current = i;
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//
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if (current->getAircraft()->getTakeOffStatus() == 1) {
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current->setHoldPosition(true);
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return;
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}
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if (current->getAircraft()->getTakeOffStatus() == 2) {
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//cerr << current->getAircraft()->getCallSign() << ". Taxi in position and hold" << endl;
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current->setHoldPosition(false);
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current->clearSpeedAdjustment();
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return;
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}
|
|
bool origStatus = current->hasHoldPosition();
|
|
current->setHoldPosition(false);
|
|
//SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
|
|
int currentRoute = i->getCurrentPosition();
|
|
int nextRoute;
|
|
if (i->getIntentions().size()) {
|
|
nextRoute = (*(i->getIntentions().begin()));
|
|
} else {
|
|
nextRoute = 0;
|
|
}
|
|
if (currentRoute > 0) {
|
|
FGTaxiSegment *tx = network->findSegment(currentRoute);
|
|
FGTaxiSegment *nx;
|
|
if (nextRoute) {
|
|
nx = network->findSegment(nextRoute);
|
|
} else {
|
|
nx = tx;
|
|
}
|
|
//if (tx->hasBlock(now) || nx->hasBlock(now) ) {
|
|
// current->setHoldPosition(true);
|
|
//}
|
|
SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
|
|
SGGeod end (nx->getStart()->geod());
|
|
|
|
double distance = SGGeodesy::distanceM(start, end);
|
|
if (nx->hasBlock(now) && (distance < i->getRadius() * 4)) {
|
|
current->setHoldPosition(true);
|
|
} else {
|
|
intVecIterator ivi = i->getIntentions().begin();
|
|
while (ivi != i->getIntentions().end()) {
|
|
if ((*ivi) > 0) {
|
|
FGTaxiSegment* seg = network->findSegment(*ivi);
|
|
distance += seg->getLength();
|
|
if ((seg->hasBlock(now)) && (distance < i->getRadius() * 4)) {
|
|
current->setHoldPosition(true);
|
|
break;
|
|
}
|
|
}
|
|
ivi++;
|
|
}
|
|
}
|
|
}
|
|
bool currStatus = current->hasHoldPosition();
|
|
current->setHoldPosition(origStatus);
|
|
// Either a Hold Position or a resume taxi transmission has been issued
|
|
if ((now - lastTransmission) > 2) {
|
|
available = true;
|
|
}
|
|
if (current->getState() == 0) {
|
|
if ((origStatus != currStatus) && available) {
|
|
//cerr << "Issueing hold short instrudtion " << currStatus << " " << available << endl;
|
|
if (currStatus == true) { // No has a hold short instruction
|
|
transmit(&(*current), dynamics, MSG_HOLD_POSITION, ATC_GROUND_TO_AIR, true);
|
|
//cerr << "Transmittin hold short instrudtion " << currStatus << " " << available << endl;
|
|
current->setState(1);
|
|
} else {
|
|
transmit(&(*current), dynamics, MSG_RESUME_TAXI, ATC_GROUND_TO_AIR, true);
|
|
//cerr << "Transmittig resume instrudtion " << currStatus << " " << available << endl;
|
|
current->setState(2);
|
|
}
|
|
lastTransmission = now;
|
|
available = false;
|
|
// Don't act on the changed instruction until the transmission is confirmed
|
|
// So set back to original status
|
|
//cerr << "Current state " << current->getState() << endl;
|
|
}
|
|
|
|
}
|
|
// 6 = Report runway
|
|
// 7 = Acknowledge report runway
|
|
// 8 = Switch tower frequency
|
|
//9 = Acknowledge switch tower frequency
|
|
|
|
//int state = current->getState();
|
|
if (checkTransmissionState(1,1, current, now, MSG_ACKNOWLEDGE_HOLD_POSITION, ATC_AIR_TO_GROUND)) {
|
|
current->setState(0);
|
|
current->setHoldPosition(true);
|
|
}
|
|
if (checkTransmissionState(2,2, current, now, MSG_ACKNOWLEDGE_RESUME_TAXI, ATC_AIR_TO_GROUND)) {
|
|
current->setState(0);
|
|
current->setHoldPosition(false);
|
|
}
|
|
if (current->getAircraft()->getTakeOffStatus() && (current->getState() == 0)) {
|
|
//cerr << "Scheduling " << current->getAircraft()->getCallSign() << " for hold short" << endl;
|
|
current->setState(6);
|
|
}
|
|
if (checkTransmissionState(6,6, current, now, MSG_REPORT_RUNWAY_HOLD_SHORT, ATC_AIR_TO_GROUND)) {
|
|
}
|
|
if (checkTransmissionState(7,7, current, now, MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT, ATC_GROUND_TO_AIR)) {
|
|
}
|
|
if (checkTransmissionState(8,8, current, now, MSG_SWITCH_TOWER_FREQUENCY, ATC_GROUND_TO_AIR)) {
|
|
}
|
|
if (checkTransmissionState(9,9, current, now, MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY, ATC_AIR_TO_GROUND)) {
|
|
}
|
|
|
|
|
|
|
|
//current->setState(0);
|
|
}
|
|
|
|
/**
|
|
* Check whether situations occur where the current aircraft is waiting for itself
|
|
* due to higher order interactions.
|
|
* A 'circular' wait is a situation where a waits for b, b waits for c, and c waits
|
|
* for a. Ideally each aircraft only waits for one other aircraft, so by tracing
|
|
* through this list of waiting aircraft, we can check if we'd eventually end back
|
|
* at the current aircraft.
|
|
*
|
|
* Note that we should consider the situation where we are actually checking aircraft
|
|
* d, which is waiting for aircraft a. d is not part of the loop, but is held back by
|
|
* the looping aircraft. If we don't check for that, this function will get stuck into
|
|
* endless loop.
|
|
*/
|
|
|
|
bool FGGroundController::checkForCircularWaits(int id)
|
|
{
|
|
//cerr << "Performing Wait check " << id << endl;
|
|
int target = 0;
|
|
TrafficVectorIterator current, other;
|
|
TrafficVectorIterator i = activeTraffic.begin();
|
|
int trafficSize = activeTraffic.size();
|
|
if (trafficSize) {
|
|
while (i != activeTraffic.end()) {
|
|
if (i->getId() == id) {
|
|
break;
|
|
}
|
|
i++;
|
|
}
|
|
} else {
|
|
return false;
|
|
}
|
|
if (i == activeTraffic.end() || (trafficSize == 0)) {
|
|
SG_LOG(SG_GENERAL, SG_ALERT,
|
|
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits at " << SG_ORIGIN);
|
|
}
|
|
|
|
current = i;
|
|
target = current->getWaitsForId();
|
|
//bool printed = false; // Note that this variable is for debugging purposes only.
|
|
int counter = 0;
|
|
|
|
if (id == target) {
|
|
//cerr << "aircraft waits for user" << endl;
|
|
return false;
|
|
}
|
|
|
|
|
|
while ((target > 0) && (target != id) && counter++ < trafficSize) {
|
|
//printed = true;
|
|
TrafficVectorIterator i = activeTraffic.begin();
|
|
if (trafficSize) {
|
|
//while ((i->getId() != id) && i != activeTraffic.end())
|
|
while (i != activeTraffic.end()) {
|
|
if (i->getId() == target) {
|
|
break;
|
|
}
|
|
i++;
|
|
}
|
|
} else {
|
|
return false;
|
|
}
|
|
if (i == activeTraffic.end() || (trafficSize == 0)) {
|
|
//cerr << "[Waiting for traffic at Runway: DONE] " << endl << endl;;
|
|
// The target id is not found on the current network, which means it's at the tower
|
|
//SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
|
|
return false;
|
|
}
|
|
other = i;
|
|
target = other->getWaitsForId();
|
|
|
|
// actually this trap isn't as impossible as it first seemed:
|
|
// the setWaitsForID(id) is set to current when the aircraft
|
|
// is waiting for the user controlled aircraft.
|
|
//if (current->getId() == other->getId()) {
|
|
// cerr << "Caught the impossible trap" << endl;
|
|
// cerr << "Current = " << current->getId() << endl;
|
|
// cerr << "Other = " << other ->getId() << endl;
|
|
// for (TrafficVectorIterator at = activeTraffic.begin();
|
|
// at != activeTraffic.end();
|
|
// at++) {
|
|
// cerr << "currently active aircraft : " << at->getCallSign() << " with Id " << at->getId() << " waits for " << at->getWaitsForId() << endl;
|
|
// }
|
|
// exit(1);
|
|
if (current->getId() == other->getId())
|
|
return false;
|
|
//}
|
|
//cerr << current->getCallSign() << " (" << current->getId() << ") " << " -> " << other->getCallSign()
|
|
// << " (" << other->getId() << "); " << endl;;
|
|
//current = other;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//if (printed)
|
|
// cerr << "[done] " << endl << endl;;
|
|
if (id == target) {
|
|
SG_LOG(SG_GENERAL, SG_WARN,
|
|
"Detected circular wait condition: Id = " << id <<
|
|
"target = " << target);
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// Note that this function is probably obsolete...
|
|
bool FGGroundController::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()) {
|
|
while (i != activeTraffic.end()) {
|
|
if (i->getId() == id) {
|
|
break;
|
|
}
|
|
i++;
|
|
}
|
|
}
|
|
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
|
|
SG_LOG(SG_GENERAL, SG_ALERT,
|
|
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
|
|
} else {
|
|
return i->hasInstruction();
|
|
}
|
|
return false;
|
|
}
|
|
|
|
FGATCInstruction FGGroundController::getInstruction(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()) {
|
|
while (i != activeTraffic.end()) {
|
|
if (i->getId() == id) {
|
|
break;
|
|
}
|
|
i++;
|
|
}
|
|
}
|
|
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
|
|
SG_LOG(SG_GENERAL, SG_ALERT,
|
|
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
|
|
} else {
|
|
return i->getInstruction();
|
|
}
|
|
return FGATCInstruction();
|
|
}
|
|
|
|
// Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
|
|
static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
|
|
double lon, double elev, double hdg, double slope)
|
|
{
|
|
SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
|
|
obj_pos = makeZUpFrame(geod);
|
|
// hdg is not a compass heading, but a counter-clockwise rotation
|
|
// around the Z axis
|
|
obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
|
|
0.0, 0.0, 1.0));
|
|
obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
|
|
0.0, 1.0, 0.0));
|
|
}
|
|
|
|
|
|
|
|
|
|
void FGGroundController::render(bool visible)
|
|
{
|
|
SGMaterialLib *matlib = globals->get_matlib();
|
|
FGGroundNetwork* network = dynamics->parent()->groundNetwork();
|
|
|
|
if (group) {
|
|
//int nr = ;
|
|
globals->get_scenery()->get_scene_graph()->removeChild(group);
|
|
//while (group->getNumChildren()) {
|
|
// cerr << "Number of children: " << group->getNumChildren() << endl;
|
|
//simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
|
|
//osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
|
|
//geode->releaseGLObjects();
|
|
//group->removeChild(geode);
|
|
//delete geode;
|
|
group = 0;
|
|
}
|
|
if (visible) {
|
|
group = new osg::Group;
|
|
FGScenery * local_scenery = globals->get_scenery();
|
|
// double elevation_meters = 0.0;
|
|
// double elevation_feet = 0.0;
|
|
time_t now = globals->get_time_params()->get_cur_time();
|
|
|
|
//for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
|
|
//double dx = 0;
|
|
|
|
for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
|
|
// Handle start point i.e. the segment that is connected to the aircraft itself on the starting end
|
|
// and to the the first "real" taxi segment on the other end.
|
|
const int pos = i->getCurrentPosition();
|
|
if (pos > 0) {
|
|
FGTaxiSegment* segment = network->findSegment(pos);
|
|
SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
|
|
SGGeod end (segment->getEnd()->geod());
|
|
|
|
double length = SGGeodesy::distanceM(start, end);
|
|
//heading = SGGeodesy::headingDeg(start->geod(), end->geod());
|
|
|
|
double az2, heading; //, distanceM;
|
|
SGGeodesy::inverse(start, end, heading, az2, length);
|
|
double coveredDistance = length * 0.5;
|
|
SGGeod center;
|
|
SGGeodesy::direct(start, heading, coveredDistance, center, az2);
|
|
//std::cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << std::endl;
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
// Make a helper function out of this
|
|
osg::Matrix obj_pos;
|
|
osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
|
|
obj_trans->setDataVariance(osg::Object::STATIC);
|
|
// Experimental: Calculate slope here, based on length, and the individual elevations
|
|
double elevationStart;
|
|
if (isUserAircraft((i)->getAircraft())) {
|
|
elevationStart = fgGetDouble("/position/ground-elev-m");
|
|
} else {
|
|
elevationStart = ((i)->getAircraft()->_getAltitude());
|
|
}
|
|
double elevationEnd = segment->getEnd()->getElevationM();
|
|
//cerr << "Using elevation " << elevationEnd << endl;
|
|
|
|
if ((elevationEnd == 0) || (elevationEnd = parent->getElevation())) {
|
|
SGGeod center2 = end;
|
|
center2.setElevationM(SG_MAX_ELEVATION_M);
|
|
if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
|
|
// elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
|
|
//elevation_meters += 0.5;
|
|
}
|
|
else {
|
|
elevationEnd = parent->getElevation();
|
|
}
|
|
segment->getEnd()->setElevation(elevationEnd);
|
|
}
|
|
double elevationMean = (elevationStart + elevationEnd) / 2.0;
|
|
double elevDiff = elevationEnd - elevationStart;
|
|
|
|
double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
|
|
|
|
//cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
|
|
|
|
WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean+ 0.5, -(heading), slope );
|
|
|
|
obj_trans->setMatrix( obj_pos );
|
|
//osg::Vec3 center(0, 0, 0)
|
|
|
|
float width = length /2.0;
|
|
osg::Vec3 corner(-width, 0, 0.25f);
|
|
osg::Vec3 widthVec(2*width + 1, 0, 0);
|
|
osg::Vec3 heightVec(0, 1, 0);
|
|
osg::Geometry* geometry;
|
|
geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
|
|
simgear::EffectGeode* geode = new simgear::EffectGeode;
|
|
geode->setName("test");
|
|
geode->addDrawable(geometry);
|
|
//osg::Node *custom_obj;
|
|
SGMaterial *mat;
|
|
if (segment->hasBlock(now)) {
|
|
mat = matlib->find("UnidirectionalTaperRed", center);
|
|
} else {
|
|
mat = matlib->find("UnidirectionalTaperGreen", center);
|
|
}
|
|
if (mat)
|
|
geode->setEffect(mat->get_effect());
|
|
obj_trans->addChild(geode);
|
|
// wire as much of the scene graph together as we can
|
|
//->addChild( obj_trans );
|
|
group->addChild( obj_trans );
|
|
/////////////////////////////////////////////////////////////////////
|
|
} else {
|
|
//std::cerr << "BIG FAT WARNING: current position is here : " << pos << std::endl;
|
|
}
|
|
// Next: Draw the other taxi segments.
|
|
for (intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
|
|
osg::Matrix obj_pos;
|
|
const int k = (*j);
|
|
if (k > 0) {
|
|
osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
|
|
obj_trans->setDataVariance(osg::Object::STATIC);
|
|
FGTaxiSegment* segmentK = network->findSegment(k);
|
|
// Experimental: Calculate slope here, based on length, and the individual elevations
|
|
double elevationStart = segmentK->getStart()->getElevationM();
|
|
double elevationEnd = segmentK->getEnd ()->getElevationM();
|
|
if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
|
|
SGGeod center2 = segmentK->getStart()->geod();
|
|
center2.setElevationM(SG_MAX_ELEVATION_M);
|
|
if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
|
|
// elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
|
|
//elevation_meters += 0.5;
|
|
}
|
|
else {
|
|
elevationStart = parent->getElevation();
|
|
}
|
|
segmentK->getStart()->setElevation(elevationStart);
|
|
}
|
|
if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
|
|
SGGeod center2 = segmentK->getEnd()->geod();
|
|
center2.setElevationM(SG_MAX_ELEVATION_M);
|
|
if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
|
|
// elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
|
|
//elevation_meters += 0.5;
|
|
}
|
|
else {
|
|
elevationEnd = parent->getElevation();
|
|
}
|
|
segmentK->getEnd()->setElevation(elevationEnd);
|
|
}
|
|
|
|
double elevationMean = (elevationStart + elevationEnd) / 2.0;
|
|
double elevDiff = elevationEnd - elevationStart;
|
|
double length = segmentK->getLength();
|
|
double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
|
|
|
|
// cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
|
|
|
|
SGGeod segCenter = segmentK->getCenter();
|
|
WorldCoordinate( obj_pos, segCenter.getLatitudeDeg(), segCenter.getLongitudeDeg(),
|
|
elevationMean+ 0.5, -(segmentK->getHeading()), slope );
|
|
|
|
obj_trans->setMatrix( obj_pos );
|
|
//osg::Vec3 center(0, 0, 0)
|
|
|
|
float width = segmentK->getLength() /2.0;
|
|
osg::Vec3 corner(-width, 0, 0.25f);
|
|
osg::Vec3 widthVec(2*width + 1, 0, 0);
|
|
osg::Vec3 heightVec(0, 1, 0);
|
|
osg::Geometry* geometry;
|
|
geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
|
|
simgear::EffectGeode* geode = new simgear::EffectGeode;
|
|
geode->setName("test");
|
|
geode->addDrawable(geometry);
|
|
//osg::Node *custom_obj;
|
|
SGMaterial *mat;
|
|
if (segmentK->hasBlock(now)) {
|
|
mat = matlib->find("UnidirectionalTaperRed", segCenter);
|
|
} else {
|
|
mat = matlib->find("UnidirectionalTaperGreen", segCenter);
|
|
}
|
|
if (mat)
|
|
geode->setEffect(mat->get_effect());
|
|
obj_trans->addChild(geode);
|
|
// wire as much of the scene graph together as we can
|
|
//->addChild( obj_trans );
|
|
group->addChild( obj_trans );
|
|
}
|
|
}
|
|
//dx += 0.1;
|
|
}
|
|
globals->get_scenery()->get_scene_graph()->addChild(group);
|
|
}
|
|
}
|
|
|
|
string FGGroundController::getName() {
|
|
return string(parent->getId() + "-ground");
|
|
}
|
|
|
|
void FGGroundController::update(double dt)
|
|
{
|
|
time_t now = globals->get_time_params()->get_cur_time();
|
|
FGGroundNetwork* network = dynamics->parent()->groundNetwork();
|
|
network->unblockAllSegments(now);
|
|
int priority = 1;
|
|
|
|
TrafficVector& startupTraffic(dynamics->getStartupController()->getActiveTraffic());
|
|
TrafficVectorIterator i;
|
|
|
|
//sort(activeTraffic.begin(), activeTraffic.end(), compare_trafficrecords);
|
|
// Handle traffic that is under ground control first; this way we'll prevent clutter at the gate areas.
|
|
// Don't allow an aircraft to pushback when a taxiing aircraft is currently using part of the intended route.
|
|
for (i = startupTraffic.begin(); i != startupTraffic.end(); ++i) {
|
|
updateStartupTraffic(i, priority, now);
|
|
}
|
|
|
|
for (i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
|
|
updateActiveTraffic(i, priority, now);
|
|
}
|
|
|
|
eraseDeadTraffic(startupTraffic);
|
|
eraseDeadTraffic(activeTraffic);
|
|
}
|
|
|
|
void FGGroundController::updateStartupTraffic(TrafficVectorIterator i,
|
|
int& priority,
|
|
time_t now)
|
|
{
|
|
if (!i->getAircraft()) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateStartupTraffic: missing aircraft");
|
|
return;
|
|
}
|
|
|
|
if (!i->getAircraft()->getPerformance()) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateStartupTraffic: missing aircraft performance");
|
|
return;
|
|
}
|
|
|
|
i->allowPushBack();
|
|
i->setPriority(priority++);
|
|
// in meters per second;
|
|
double vTaxi = (i->getAircraft()->getPerformance()->vTaxi() * SG_NM_TO_METER) / 3600;
|
|
if (!i->isActive(0)) {
|
|
return;
|
|
}
|
|
|
|
FGGroundNetwork* network = dynamics->parent()->groundNetwork();
|
|
|
|
if (!network) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateStartupTraffic: missing ground network");
|
|
return;
|
|
}
|
|
|
|
// Check for all active aircraft whether it's current pos segment is
|
|
// an opposite of one of the departing aircraft's intentions
|
|
for (TrafficVectorIterator j = activeTraffic.begin(); j != activeTraffic.end(); j++) {
|
|
int pos = j->getCurrentPosition();
|
|
if (pos > 0) {
|
|
FGTaxiSegment *seg = network->findOppositeSegment(pos-1);
|
|
if (seg) {
|
|
int posReverse = seg->getIndex();
|
|
for (intVecIterator k = i->getIntentions().begin(); k != i->getIntentions().end(); k++) {
|
|
if ((*k) == posReverse) {
|
|
i->denyPushBack();
|
|
network->findSegment(posReverse)->block(i->getId(), now, now);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// if the current aircraft is still allowed to pushback, we can start reserving a route for if by blocking all the entry taxiways.
|
|
if (!i->pushBackAllowed()) {
|
|
return;
|
|
}
|
|
|
|
double length = 0;
|
|
int pos = i->getCurrentPosition();
|
|
if (pos > 0) {
|
|
FGTaxiSegment *seg = network->findSegment(pos);
|
|
length = seg->getLength();
|
|
network->blockSegmentsEndingAt(seg, i->getId(), now, now);
|
|
}
|
|
for (intVecIterator j = i->getIntentions().begin(); j != i->getIntentions().end(); j++) {
|
|
int pos = (*j);
|
|
if (pos > 0) {
|
|
FGTaxiSegment *seg = network->findSegment(pos);
|
|
length += seg->getLength();
|
|
time_t blockTime = now + (length / vTaxi);
|
|
network->blockSegmentsEndingAt(seg, i->getId(), blockTime - 30, now);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool FGGroundController::updateActiveTraffic(TrafficVectorIterator i,
|
|
int& priority,
|
|
time_t now)
|
|
{
|
|
if (!i->getAircraft()) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateActiveTraffic: missing aircraft");
|
|
return false;
|
|
}
|
|
|
|
if (i->getAircraft()->getDie()) {
|
|
// aircraft has died
|
|
return false;
|
|
}
|
|
|
|
if (!i->getAircraft()->getPerformance()) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateActiveTraffic: missing aircraft performance");
|
|
return false;
|
|
}
|
|
|
|
double length = 0;
|
|
double vTaxi = (i->getAircraft()->getPerformance()->vTaxi() * SG_NM_TO_METER) / 3600;
|
|
FGGroundNetwork* network = dynamics->parent()->groundNetwork();
|
|
|
|
if (!network) {
|
|
SG_LOG(SG_ATC, SG_ALERT, "updateActiveTraffic: missing ground network");
|
|
return false;
|
|
}
|
|
|
|
i->setPriority(priority++);
|
|
int pos = i->getCurrentPosition();
|
|
if (pos > 0) {
|
|
FGTaxiSegment* segment = network->findSegment(pos);
|
|
length = segment->getLength();
|
|
if (segment->hasBlock(now)) {
|
|
//SG_LOG(SG_GENERAL, SG_ALERT, "Taxiway incursion for AI aircraft" << i->getAircraft()->getCallSign());
|
|
}
|
|
|
|
}
|
|
intVecIterator ivi;
|
|
for (ivi = i->getIntentions().begin(); ivi != i->getIntentions().end(); ivi++) {
|
|
int segIndex = (*ivi);
|
|
if (segIndex > 0) {
|
|
FGTaxiSegment* seg = network->findSegment(segIndex);
|
|
if (seg->hasBlock(now)) {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
//after this, ivi points just behind the last valid unblocked taxi segment.
|
|
for (intVecIterator j = i->getIntentions().begin(); j != ivi; j++) {
|
|
int pos = (*j);
|
|
if (pos > 0) {
|
|
FGTaxiSegment *seg = network->findSegment(pos);
|
|
length += seg->getLength();
|
|
time_t blockTime = now + (length / vTaxi);
|
|
network->blockSegmentsEndingAt(seg, i->getId(), blockTime - 30, now);
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|