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flightgear/src/ATC/tower.cxx
daveluff 7fc214fab3 Progress towards interactive ATC...
2003-03-27 15:41:09 +00:00

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// FGTower - a class to provide tower control at towered airports.
//
// Written by David Luff, started March 2002.
//
// Copyright (C) 2002 David C. Luff - david.luff@nottingham.ac.uk
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#include <Main/globals.hxx>
#include <Airports/runways.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/debug/logstream.hxx>
#include "tower.hxx"
#include "ATCdisplay.hxx"
#include "ATCmgr.hxx"
#include "ATCutils.hxx"
#include "commlist.hxx"
SG_USING_STD(cout);
// TowerPlaneRec
TowerPlaneRec::TowerPlaneRec() :
clearedToLand(false),
clearedToLineUp(false),
clearedToTakeOff(false),
holdShortReported(false),
longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
}
TowerPlaneRec::TowerPlaneRec(PlaneRec p) :
clearedToLand(false),
clearedToLineUp(false),
clearedToTakeOff(false),
holdShortReported(false),
longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
isUser(false)
{
plane = p;
}
TowerPlaneRec::TowerPlaneRec(Point3D pt) :
clearedToLand(false),
clearedToLineUp(false),
clearedToTakeOff(false),
holdShortReported(false),
longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
isUser(false)
{
plane.callsign = "UNKNOWN";
pos = pt;
}
TowerPlaneRec::TowerPlaneRec(PlaneRec p, Point3D pt) :
clearedToLand(false),
clearedToLineUp(false),
clearedToTakeOff(false),
holdShortReported(false),
longFinalReported(false),
longFinalAcknowledged(false),
finalReported(false),
finalAcknowledged(false),
leg(TWR_UNKNOWN),
isUser(false)
{
plane = p;
pos = pt;
}
// FGTower
FGTower::FGTower() {
ATCmgr = globals->get_ATC_mgr();
// Init the property nodes - TODO - need to make sure we're getting surface winds.
wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
holdListItr = holdList.begin();
appListItr = appList.begin();
depListItr = depList.begin();
rwyListItr = rwyList.begin();
circuitListItr = circuitList.begin();
trafficListItr = trafficList.begin();
}
FGTower::~FGTower() {
if(!separateGround) {
delete ground;
}
}
void FGTower::Init() {
display = false;
// Pointers to user's position
user_lon_node = fgGetNode("/position/longitude-deg", true);
user_lat_node = fgGetNode("/position/latitude-deg", true);
user_elev_node = fgGetNode("/position/altitude-ft", true);
// Need some way to initialise rwyOccupied flag correctly if the user is on the runway and to know its the user.
// I'll punt the startup issue for now though!!!
rwyOccupied = false;
// Setup the ground control at this airport
AirportATC a;
//cout << "Tower ident = " << ident << '\n';
if(ATCmgr->GetAirportATCDetails(ident, &a)) {
if(a.ground_freq) { // Ground control
ground = (FGGround*)ATCmgr->GetATCPointer(ident, GROUND);
separateGround = true;
if(ground == NULL) {
// Something has gone wrong :-(
SG_LOG(SG_ATC, SG_WARN, "ERROR - ground has frequency but can't get ground pointer :-(");
ground = new FGGround(ident);
separateGround = false;
ground->Init();
if(display) {
ground->SetDisplay();
} else {
ground->SetNoDisplay();
}
}
} else {
// Initialise ground anyway to do the shortest path stuff!
// Note that we're now responsible for updating and deleting this - NOT the ATCMgr.
ground = new FGGround(ident);
separateGround = false;
ground->Init();
if(display) {
ground->SetDisplay();
} else {
ground->SetNoDisplay();
}
}
} else {
SG_LOG(SG_ATC, SG_ALERT, "Unable to find airport details for " << ident << " in FGTower::Init()");
// Initialise ground anyway to avoid segfault later
ground = new FGGround(ident);
separateGround = false;
ground->Init();
if(display) {
ground->SetDisplay();
} else {
ground->SetNoDisplay();
}
}
// Get the airport elevation
aptElev = dclGetAirportElev(ident.c_str()) * SG_FEET_TO_METER;
DoRwyDetails();
// FIXME - this currently assumes use of the active rwy by the user.
rwyOccupied = OnAnyRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
if(rwyOccupied) {
// Assume the user is started at the threshold ready to take-off
TowerPlaneRec* t = new TowerPlaneRec;
t->plane.callsign = "Charlie Foxtrot Sierra"; // C-FGFS !!! - fixme - this is a bit hardwired
t->opType = OUTBOUND; // How do we determine if the user actually wants to do circuits?
t->isUser = true;
t->planePtr = NULL;
t->clearedToTakeOff = true;
rwyList.push_back(t);
}
}
void FGTower::Update(double dt) {
//cout << "T" << flush;
// Each time step, what do we need to do?
// We need to go through the list of outstanding requests and acknowedgements
// and process at least one of them.
// We need to go through the list of planes under our control and check if
// any need to be addressed.
// We need to check for planes not under our control coming within our
// control area and address if necessary.
// TODO - a lot of the below probably doesn't need to be called every frame and should be staggered.
// Sort the arriving planes
// Calculate the eta of each plane to the threshold.
// For ground traffic this is the fastest they can get there.
// For air traffic this is the middle approximation.
doThresholdETACalc();
// Order the list of traffic as per expected threshold use and flag any conflicts
bool conflicts = doThresholdUseOrder();
// sortConficts() !!!
// Do one plane from the hold list
if(holdList.size()) {
//cout << "A" << endl;
//cout << "*holdListItr = " << *holdListItr << endl;
if(holdListItr == holdList.end()) {
holdListItr = holdList.begin();
}
//cout << "*holdListItr = " << *holdListItr << endl;
//Process(*holdListItr);
TowerPlaneRec* t = *holdListItr;
//cout << "t = " << t << endl;
if(t->holdShortReported) {
//cout << "B" << endl;
double responseTime = 10.0; // seconds - this should get more sophisticated at some point
if(t->clearanceCounter > responseTime) {
//cout << "C" << endl;
if(t->nextOnRwy) {
//cout << "D" << endl;
if(rwyOccupied) {
//cout << "E" << endl;
// Do nothing for now - consider acknowloging hold short eventually
} else {
// Lets Roll !!!!
string trns = t->plane.callsign;
//if(departed plane < some threshold in time away) {
if(0) { // FIXME
trns += " line up";
t->clearedToLineUp = true;
t->planePtr->RegisterTransmission(3); // cleared to line-up
//} else if(arriving plane < some threshold away) {
} else if(0) { // FIXME
trns += " cleared immediate take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off - TODO differentiate between immediate and normal take-off
} else {
trns += " cleared for take-off";
// TODO - add traffic is... ?
t->clearedToTakeOff = true;
t->planePtr->RegisterTransmission(4); // cleared to take-off
}
if(display) {
globals->get_ATC_display()->RegisterSingleMessage(trns, 0);
}
t->holdShortReported = false;
t->clearanceCounter = 0;
rwyList.push_back(t);
rwyOccupied = true;
holdList.erase(holdListItr);
holdListItr = holdList.begin();
}
} else {
// possibly tell him to hold and what position he is?
}
} else {
t->clearanceCounter += (dt * holdList.size());
}
}
++holdListItr;
}
// Do the runway list - we'll do the whole runway list since it's important and there'll never be many planes on the rwy at once!!
if(rwyOccupied) {
if(!rwyList.size()) {
rwyOccupied = false;
} else {
rwyListItr = rwyList.begin();
TowerPlaneRec* t = *rwyListItr;
if(t->isUser) {
bool on_rwy = OnActiveRunway(Point3D(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0));
// TODO - how do we find the position when it's not the user?
if(!on_rwy) {
rwyList.pop_front();
delete t;
}
} // else TODO figure out what to do when it's not the user
}
}
doCommunication();
if(!separateGround) {
// The display stuff might have to get more clever than this when not separate
// since the tower and ground might try communicating simultaneously even though
// they're mean't to be the same contoller/frequency!!
if(display) {
ground->SetDisplay();
} else {
ground->SetNoDisplay();
}
ground->Update(dt);
}
//cout << "R " << flush;
}
// Figure out which runways are active.
// For now we'll just be simple and do one active runway - eventually this will get much more complex
// This is a private function - public interface to the results of this is through GetActiveRunway
void FGTower::DoRwyDetails() {
//cout << "GetRwyDetails called" << endl;
// Based on the airport-id and wind get the active runway
SGPath path( globals->get_fg_root() );
path.append( "Airports" );
path.append( "runways.mk4" );
FGRunways runways( path.c_str() );
//wind
double hdg = wind_from_hdg->getDoubleValue();
double speed = wind_speed_knots->getDoubleValue();
hdg = (speed == 0.0 ? 270.0 : hdg);
//cout << "Heading = " << hdg << '\n';
FGRunway runway;
bool rwyGood = runways.search(ident, int(hdg), &runway);
if(rwyGood) {
activeRwy = runway.rwy_no;
SG_LOG(SG_ATC, SG_INFO, "Active runway for airport " << ident << " is " << activeRwy);
// Get the threshold position
double other_way = runway.heading - 180.0;
while(other_way <= 0.0) {
other_way += 360.0;
}
// move to the +l end/center of the runway
//cout << "Runway center is at " << runway.lon << ", " << runway.lat << '\n';
Point3D origin = Point3D(runway.lon, runway.lat, aptElev);
Point3D ref = origin;
double tshlon, tshlat, tshr;
double tolon, tolat, tor;
rwy.length = runway.length * SG_FEET_TO_METER;
geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), other_way,
rwy.length / 2.0 - 25.0, &tshlat, &tshlon, &tshr );
geo_direct_wgs_84 ( aptElev, ref.lat(), ref.lon(), runway.heading,
rwy.length / 2.0 - 25.0, &tolat, &tolon, &tor );
// Note - 25 meters in from the runway end is a bit of a hack to put the plane ahead of the user.
// now copy what we need out of runway into rwy
rwy.threshold_pos = Point3D(tshlon, tshlat, aptElev);
Point3D takeoff_end = Point3D(tolon, tolat, aptElev);
//cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
//cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
rwy.hdg = runway.heading;
// Set the projection for the local area based on this active runway
ortho.Init(rwy.threshold_pos, rwy.hdg);
rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
} else {
SG_LOG(SG_ATC, SG_ALERT, "Help - can't get good runway in FGTower!!");
activeRwy = "NN";
}
}
// Figure out if a given position lies on the active runway
// Might have to change when we consider more than one active rwy.
bool FGTower::OnActiveRunway(Point3D pt) {
SGPath path( globals->get_fg_root() );
path.append( "Airports" );
path.append( "runways.mk4" );
FGRunways runways( path.c_str() );
FGRunway runway;
bool rwyGood = runways.search(ident, activeRwy, &runway);
if(!rwyGood) {
SG_LOG(SG_ATC, SG_WARN, "Unable to find runway " << activeRwy << " for airport ID " << ident << " in FGTower");
}
return(OnRunway(pt, &runway) ? true : false);
}
// Figure out if a given position lies on any runway or not
bool FGTower::OnAnyRunway(Point3D pt) {
ATCData ad;
double dist = current_commlist->FindClosest(lon, lat, elev, ad, TOWER, 10.0);
if(dist < 0.0) {
return(false);
}
// Based on the airport-id, go through all the runways and check for a point in them
SGPath spath( globals->get_fg_root() );
spath.append( "Airports" );
spath.append( "runways.mk4" );
FGRunways runways( spath.c_str() );
// TODO - do we actually need to search for the airport - surely we already know our ident and
// can just search runways of our airport???
//cout << "Airport ident is " << ad.ident << '\n';
FGRunway runway;
bool rwyGood = runways.search(ad.ident, &runway);
if(!rwyGood) {
SG_LOG(SG_ATC, SG_WARN, "Unable to find any runways for airport ID " << ad.ident << " in FGTower");
}
bool on = false;
while(runway.id == ad.ident) {
on = OnRunway(pt, &runway);
//cout << "Runway " << runway.rwy_no << ": On = " << (on ? "true\n" : "false\n");
if(on) return(true);
runways.next(&runway);
}
return(on);
}
// Calculate the eta of each plane to the threshold.
// For ground traffic this is the fastest they can get there.
// For air traffic this is the middle approximation.
void FGTower::doThresholdETACalc() {
// For now we'll be very crude and hardwire expected speeds to C172-like values
// The speeds below are specified in knots IAS and then converted to m/s
double app_ias = 100.0 * 0.514444; // Speed during straight-in approach
double circuit_ias = 80.0 * 0.514444; // Speed around circuit
double final_ias = 70.0 * 0.514444; // Speed during final approach
tower_plane_rec_list_iterator twrItr;
// Sign convention - dist_out is -ve for approaching planes and +ve for departing planes
// dist_across is +ve in the pattern direction - ie a plane correctly on downwind will have a +ve dist_across
for(twrItr = trafficList.begin(); twrItr != trafficList.end(); twrItr++) {
TowerPlaneRec* tpr = *twrItr;
Point3D op = ortho.ConvertToLocal(tpr->pos);
double dist_out_m = op.y();
double dist_across_m = fabs(op.x()); // FIXME = the fabs is a hack to cope with the fact that we don't know the circuit direction yet
//cout << "Doing ETA calc for " << tpr->plane.callsign << '\n';
if(tpr->opType == CIRCUIT) {
// It's complicated - depends on if base leg is delayed or not
if(tpr->leg == TWR_LANDING_ROLL) {
tpr->eta = 0;
} else if(tpr->leg == TWR_FINAL) {
tpr->eta = fabs(dist_out_m) / final_ias;
} else if(tpr->leg == TWR_BASE) {
tpr->eta = (fabs(dist_out_m) / final_ias) + (dist_across_m / circuit_ias);
} else {
// Need to calculate where base leg is likely to be
// FIXME - for now I'll hardwire it to 1000m which is what AILocalTraffic uses!!!
// TODO - as a matter of design - AILocalTraffic should get the nominal no-traffic base turn distance from Tower, since in real life the published pattern might differ from airport to airport
double nominal_base_dist_out_m = -1000;
double current_base_dist_out_m = nominal_base_dist_out_m;
double nominal_dist_across_m = 1000; // Hardwired value from AILocalTraffic
double nominal_cross_dist_out_m = 1000; // Bit of a guess - AI plane turns to crosswind at 600ft agl.
tpr->eta = fabs(current_base_dist_out_m) / final_ias; // final
if(tpr->leg == TWR_DOWNWIND) {
tpr->eta += dist_across_m / circuit_ias;
tpr->eta += fabs(current_base_dist_out_m - dist_out_m) / circuit_ias;
} else if(tpr->leg == TWR_CROSSWIND) {
tpr->eta += nominal_dist_across_m / circuit_ias; // should we use the dist across of the previous plane if there is previous still on downwind?
tpr->eta += fabs(current_base_dist_out_m - nominal_cross_dist_out_m) / circuit_ias;
tpr->eta += (nominal_dist_across_m - dist_across_m) / circuit_ias;
} else {
// We've only just started - why not use a generic estimate?
}
}
} else if((tpr->opType == INBOUND) || (tpr->opType == STRAIGHT_IN)) {
// It's simpler!
} else {
// Must be outbound - ignore it!
}
//cout << "ETA = " << tpr->eta << '\n';
}
}
bool FGTower::doThresholdUseOrder() {
return(true);
}
void FGTower::doCommunication() {
}
void FGTower::ContactAtHoldShort(PlaneRec plane, FGAIEntity* requestee, tower_traffic_type operation) {
// HACK - assume that anything contacting at hold short is new for now - FIXME LATER
TowerPlaneRec* t = new TowerPlaneRec;
t->plane = plane;
t->planePtr = requestee;
t->holdShortReported = true;
t->clearanceCounter = 0;
t->clearedToLineUp = false;
t->clearedToTakeOff = false;
t->opType = operation;
// HACK ALERT - THIS IS HARDWIRED FOR TESTING - FIXME TODO ETC
t->nextOnRwy = true;
//cout << "t = " << t << '\n';
holdList.push_back(t);
}
void FGTower::RequestLandingClearance(string ID) {
//cout << "Request Landing Clearance called...\n";
}
void FGTower::RequestDepartureClearance(string ID) {
//cout << "Request Departure Clearance called...\n";
}
//void FGTower::ReportFinal(string ID);
//void FGTower::ReportLongFinal(string ID);
//void FGTower::ReportOuterMarker(string ID);
//void FGTower::ReportMiddleMarker(string ID);
//void FGTower::ReportInnerMarker(string ID);
//void FGTower::ReportGoingAround(string ID);
void FGTower::ReportRunwayVacated(string ID) {
//cout << "Report Runway Vacated Called...\n";
}
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