54ef3b77d5
efficiently performing "Dijkstra algorithm". Durk Talsma: Added the detection of "circular" wait situations in the AI ground network. A circular wait is a situation where aircraft a waits for b; b waits for c; and c (in turn) waits for a. The checkCircularWaits function detects these situations. The current "solution" to a circular wait is rather crude: Remove the aircraft from the scene. A proper solution needs a lot more work, however, and at least this patch stops the AI system from clogging up. in case of a circular wait.
502 lines
15 KiB
C++
502 lines
15 KiB
C++
// trafficrecord.cxx - Implementation of AIModels ATC code.
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//
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// Written by Durk Talsma, started September 2006.
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//
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// Copyright (C) 2006 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 "trafficcontrol.hxx"
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#include <AIModel/AIFlightPlan.hxx>
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/***************************************************************************
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* FGTrafficRecord
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**************************************************************************/
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void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
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{
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currentPos = pos;
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if (intentions.size()) {
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intVecIterator i = intentions.begin();
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if ((*i) != pos) {
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SG_LOG(SG_GENERAL, SG_ALERT, "Error in FGTrafficRecord::setPositionAndIntentions");
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//cerr << "Pos : " << pos << " Curr " << *(intentions.begin()) << endl;
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for (intVecIterator i = intentions.begin(); i != intentions.end() ; i++) {
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//cerr << (*i) << " ";
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}
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//cerr << endl;
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}
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intentions.erase(i);
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} else {
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//int legNr, routeNr;
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//FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
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int size = route->getNrOfWayPoints();
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//cerr << "Setting pos" << pos << " ";
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//cerr << "setting intentions ";
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for (int i = 0; i < size; i++) {
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int val = route->getRouteIndex(i);
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//cerr << val<< " ";
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if ((val) && (val != pos))
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{
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intentions.push_back(val);
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//cerr << "[set] ";
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}
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}
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//cerr << endl;
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//while (route->next(&legNr, &routeNr)) {
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//intentions.push_back(routeNr);
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//}
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//route->rewind(currentPos);
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}
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//exit(1);
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}
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bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord &other)
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{
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bool result = false;
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//cerr << "Start check 1" << endl;
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if (currentPos == other.currentPos)
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{
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//cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
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result = true;
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}
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// else if (other.intentions.size())
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// {
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// cerr << "Start check 2" << endl;
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// intVecIterator i = other.intentions.begin();
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// while (!((i == other.intentions.end()) || ((*i) == currentPos)))
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// i++;
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// if (i != other.intentions.end()) {
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// cerr << "Check Position and intentions: current matches other.intentions" << endl;
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// result = true;
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// }
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else if (intentions.size()) {
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//cerr << "Start check 3" << endl;
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intVecIterator i = intentions.begin();
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//while (!((i == intentions.end()) || ((*i) == other.currentPos)))
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while (i != intentions.end()) {
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if ((*i) == other.currentPos) {
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break;
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}
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i++;
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}
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if (i != intentions.end()) {
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//cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
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result = true;
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}
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}
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//cerr << "Done !!" << endl;
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return result;
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}
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void FGTrafficRecord::setPositionAndHeading(double lat, double lon, double hdg,
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double spd, double alt)
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{
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latitude = lat;
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longitude = lon;
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heading = hdg;
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speed = spd;
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altitude = alt;
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}
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int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
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{
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if (checkPositionAndIntentions(other) || (other.checkPositionAndIntentions(*this)))
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return -1;
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intVecIterator i, j;
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int currentTargetNode = 0, otherTargetNode = 0;
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if (currentPos > 0)
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currentTargetNode = net->findSegment(currentPos )->getEnd()->getIndex(); // OKAY,...
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if (other.currentPos > 0)
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otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
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if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
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return currentTargetNode;
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if (intentions.size())
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{
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for (i = intentions.begin(); i != intentions.end(); i++)
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{
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if ((*i) > 0) {
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if ((currentTargetNode == net->findSegment(*i)->getEnd()->getIndex()))
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{
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//cerr << "Current crosses at " << currentTargetNode <<endl;
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return currentTargetNode;
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}
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}
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}
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}
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if (other.intentions.size())
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{
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for (i = other.intentions.begin(); i != other.intentions.end(); i++)
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{
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if ((*i) > 0) {
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if (otherTargetNode == net->findSegment(*i)->getEnd()->getIndex())
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{
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//cerr << "Other crosses at " << currentTargetNode <<endl;
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return otherTargetNode;
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}
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}
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}
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}
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if (intentions.size() && other.intentions.size())
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{
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for (i = intentions.begin(); i != intentions.end(); i++)
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{
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for (j = other.intentions.begin(); j != other.intentions.end(); j++)
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{
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//cerr << "finding segment " << *i << " and " << *j << endl;
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if (((*i) > 0) && ((*j) > 0)) {
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currentTargetNode = net->findSegment(*i)->getEnd()->getIndex();
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otherTargetNode = net->findSegment(*j)->getEnd()->getIndex();
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if (currentTargetNode == otherTargetNode)
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{
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//cerr << "Routes will cross at " << currentTargetNode << endl;
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return currentTargetNode;
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}
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}
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}
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}
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}
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return -1;
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}
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bool FGTrafficRecord::onRoute(FGGroundNetwork *net, FGTrafficRecord &other)
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{
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int node = -1, othernode = -1;
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if (currentPos >0)
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node = net->findSegment(currentPos)->getEnd()->getIndex();
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if (other.currentPos > 0)
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othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
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if ((node == othernode) && (node != -1))
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return true;
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if (other.intentions.size())
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{
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for (intVecIterator i = other.intentions.begin(); i != other.intentions.end(); i++)
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{
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if (*i > 0)
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{
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othernode = net->findSegment(*i)->getEnd()->getIndex();
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if ((node == othernode) && (node > -1))
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return true;
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}
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}
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}
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//if (other.currentPos > 0)
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// othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
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//if (intentions.size())
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// {
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// for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
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// {
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// if (*i > 0)
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// {
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// node = net->findSegment(*i)->getEnd()->getIndex();
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// if ((node == othernode) && (node > -1))
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// return true;
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// }
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// }
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// }
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return false;
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}
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bool FGTrafficRecord::isOpposing (FGGroundNetwork *net, FGTrafficRecord &other, int node)
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{
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// Check if current segment is the reverse segment for the other aircraft
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FGTaxiSegment *opp;
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//cerr << "Current segment " << currentPos << endl;
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if ((currentPos > 0) && (other.currentPos > 0))
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{
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opp = net->findSegment(currentPos)->opposite();
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if (opp) {
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if (opp->getIndex() == other.currentPos)
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return true;
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}
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for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
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{
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if (opp = net->findSegment(other.currentPos)->opposite())
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{
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if ((*i) > 0)
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if (opp->getIndex() == net->findSegment(*i)->getIndex())
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{
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if (net->findSegment(*i)->getStart()->getIndex() == node) {
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{
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//cerr << "Found the node " << node << endl;
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return true;
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}
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}
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}
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}
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if (other.intentions.size())
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{
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for (intVecIterator j = other.intentions.begin(); j != other.intentions.end(); j++)
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{
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// cerr << "Current segment 1 " << (*i) << endl;
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if ((*i) > 0) {
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if (opp = net->findSegment(*i)->opposite())
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{
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if (opp->getIndex() ==
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net->findSegment(*j)->getIndex())
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{
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//cerr << "Nodes " << net->findSegment(*i)->getIndex()
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// << " and " << net->findSegment(*j)->getIndex()
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// << " are opposites " << endl;
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if (net->findSegment(*i)->getStart()->getIndex() == node) {
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{
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//cerr << "Found the node " << node << endl;
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return true;
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}
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}
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}
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}
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}
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}
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}
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}
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}
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return false;
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}
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void FGTrafficRecord::setSpeedAdjustment(double spd)
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{
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instruction.setChangeSpeed(true);
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instruction.setSpeed(spd);
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}
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void FGTrafficRecord::setHeadingAdjustment(double heading)
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{
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instruction.setChangeHeading(true);
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instruction.setHeading(heading);
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}
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/***************************************************************************
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* FGATCInstruction
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*
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**************************************************************************/
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FGATCInstruction::FGATCInstruction()
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{
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holdPattern = false;
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holdPosition = false;
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changeSpeed = false;
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changeHeading = false;
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changeAltitude = false;
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resolveCircularWait = false;
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double speed = 0;
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double heading = 0;
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double alt = 0;
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}
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bool FGATCInstruction::hasInstruction()
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{
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return (holdPattern || holdPosition || changeSpeed || changeHeading || changeAltitude || resolveCircularWait);
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}
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/***************************************************************************
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* class FGTowerController
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*
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**************************************************************************/
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FGTowerController::FGTowerController() :
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FGATCController()
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{
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}
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//
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void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
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double lat, double lon, double heading,
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double speed, double alt, double radius, int leg,
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string callsign)
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{
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TrafficVectorIterator i = activeTraffic.begin();
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// Search whether 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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// Add a new TrafficRecord if no one exsists for this aircraft.
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if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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FGTrafficRecord rec;
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rec.setId(id);
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rec.setPositionAndHeading(lat, lon, heading, speed, alt);
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rec.setRunway(intendedRoute->getRunway());
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rec.setLeg(leg);
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rec.setCallSign(callsign);
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activeTraffic.push_back(rec);
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} else {
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i->setPositionAndHeading(lat, lon, heading, speed, alt);
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}
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}
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void FGTowerController::update(int id, double lat, double lon, double heading, double speed, double alt,
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double dt)
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{
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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, "AI error: updating aircraft without traffic record");
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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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// // see if we already have a clearance record for the currently active runway
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ActiveRunwayVecIterator rwy = activeRunways.begin();
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// again, a map might be more efficient here
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if (activeRunways.size()) {
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//while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
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while (rwy != activeRunways.end()) {
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if (rwy->getRunwayName() == current->getRunway()) {
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break;
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}
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rwy++;
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}
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}
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if (rwy == activeRunways.end()) {
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ActiveRunway aRwy(current->getRunway(), id);
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activeRunways.push_back(aRwy); // Since there are no clearance records for this runway yet
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current->setHoldPosition(false); // Clear the current aircraft to continue
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}
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else {
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// Okay, we have a clearance record for this runway, so check
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// whether the clearence ID matches that of the current aircraft
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if (id == rwy->getCleared()) {
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current->setHoldPosition(false);
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} else {
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current->setHoldPosition(true);
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}
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}
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}
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void FGTowerController::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 this aircraft has left the runway, we can clear the departure record for this runway
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ActiveRunwayVecIterator rwy = activeRunways.begin();
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if (activeRunways.size()) {
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//while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
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while (rwy != activeRunways.end()) {
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if (rwy->getRunwayName() == i->getRunway()) {
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break;
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}
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rwy++;
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}
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if (rwy != activeRunways.end()) {
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rwy = activeRunways.erase(rwy);
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} else {
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SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
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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, "AI error: Aircraft without traffic record is signing off from tower");
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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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// NOTE:
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// IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
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// THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
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// BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
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// WHICH WOULD SIMPLIFY CODE MAINTENANCE.
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// Note that this function is probably obsolete
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bool FGTowerController::hasInstruction(int id)
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{
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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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if (activeTraffic.size())
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{
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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, "AI error: checking ATC instruction for aircraft without traffic record");
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} else {
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return i->hasInstruction();
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}
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return false;
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}
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FGATCInstruction FGTowerController::getInstruction(int id)
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{
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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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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, "AI error: requesting ATC instruction for aircraft without traffic record");
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} else {
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return i->getInstruction();
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}
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return FGATCInstruction();
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}
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