def __init__(self):
TrafficArrays.__init__(self)
# Standard self.steepness for descent
self.steepness = 3000. * ft / (10. * nm)
# From here, define object arrays
with RegisterElementParameters(self):
# FMS directions
self.trk = np.array([])
self.spd = np.array([])
self.tas = np.array([])
self.alt = np.array([])
self.vs = np.array([])
# VNAV variables
self.dist2vs = np.array([]) # distance from coming waypoint to TOD
self.swvnavvs = np.array([]) # whether to use given VS or not
self.vnavvs = np.array([]) # vertical speed in VNAV
# LNAV variables
self.qdr2wp = np.array(
[]
) # Direction to waypoint from the last time passing was checked
# to avoid 180 turns due to updated qdr shortly before passing wp
# Traffic navigation information
self.orig = [] # Four letter code of origin airport
self.dest = [] # Four letter code of destination airport
# Route objects
self.route = []
def __init__(self):
TrafficArrays.__init__(self)
# Standard self.steepness for descent
self.steepness = 3000. * ft / (10. * nm)
# From here, define object arrays
with RegisterElementParameters(self):
# FMS directions
self.trk = np.array([])
self.spd = np.array([])
self.tas = np.array([])
self.alt = np.array([])
self.vs = np.array([])
# VNAV variables
self.dist2vs = np.array([]) # distance from coming waypoint to TOD
self.swvnavvs = np.array([]) # whether to use given VS or not
self.vnavvs = np.array([]) # vertical speed in VNAV
# Traffic navigation information
self.orig = [] # Four letter code of origin airport
self.dest = [] # Four letter code of destination airport
# Route objects
self.route = []
def __init__(self):
TrafficArrays.__init__(self)
with RegisterElementParameters(self):
self.lat = np.array([]) # [deg] Active WP latitude
self.lon = np.array([]) # [deg] Active WP longitude
self.nextaltco = np.array(
[]) # [m] Altitude to arrive at after distance xtoalt
self.xtoalt = np.array(
[]) # [m] Distance to next altitude constraint
self.nextspd = np.array(
[]) # [CAS[m/s]/Mach] save speed from next wp for next leg
self.spd = np.array(
[]
) # [CAS[m/s]/Mach]Active WP speed (constraint or calculated)
self.spdcon = np.array(
[]) # [CAS[m/s]/Mach]Active WP speed constraint
self.vs = np.array([]) # [m/s] Active vertical speed to use
self.turndist = np.array(
[]) # [m] Distance when to turn to next waypoint
self.flyby = np.array(
[]) # Flyby switch, when False, flyover (turndist=0.0)
self.torta = np.array(
[]) # [s] NExt req Time of Arrival (RTA) (-999. = None)
self.xtorta = np.array([]) # [m] distance ot next RTA
self.next_qdr = np.array([]) # [deg] track angle of next leg
def __init__(self):
TrafficArrays.__init__(self)
# [m] Horizontal separation minimum for detection
self.rpz = bs.settings.asas_pzr * nm
# [m] Vertical separation minimum for detection
self.hpz = bs.settings.asas_pzh * ft
# [s] lookahead time
self.dtlookahead = bs.settings.asas_dtlookahead
self.dtnolook = 0.0
# Conflicts and LoS detected in the current timestep (used for resolving)
self.confpairs = list()
self.lospairs = list()
self.qdr = np.array([])
self.dist = np.array([])
self.dcpa = np.array([])
self.tcpa = np.array([])
self.tLOS = np.array([])
# Unique conflicts and LoS in the current timestep (a, b) = (b, a)
self.confpairs_unique = set()
self.lospairs_unique = set()
# All conflicts and LoS since simt=0
self.confpairs_all = list()
self.lospairs_all = list()
# Per-aircraft conflict data
with RegisterElementParameters(self):
self.inconf = np.array([], dtype=bool) # In-conflict flag
self.tcpamax = np.array([]) # Maximum time to CPA for aircraft in conflict
def __init__(self):
TrafficArrays.__init__(self)
# From here, define object arrays
with RegisterElementParameters(self):
# Most recent broadcast data
self.lastupdate = np.array([])
self.lat = np.array([])
self.lon = np.array([])
self.alt = np.array([])
self.trk = np.array([])
self.tas = np.array([])
self.gs = np.array([])
self.vs = np.array([])
self.setnoise(False)
def __init__(self):
TrafficArrays.__init__(self)
with RegisterElementParameters(self):
self.lat = np.array([]) # [deg] Active WP latitude
self.lon = np.array([]) # [deg] Active WP longitude
self.nextaltco = np.array(
[]) # [m] Altitude to arrive at after distance xtoalt
self.xtoalt = np.array(
[]) # [m] Distance to next altitude constraint
self.nextspd = np.array(
[]) # [CAS[m/s]/Mach] save speed from next wp for next leg
self.spd = np.array(
[]
) # [CAS[m/s]/Mach]Active WP speed (constraint or calculated)
self.spdcon = np.array(
[]) # [CAS[m/s]/Mach]Active WP speed constraint
self.vs = np.array([]) # [m/s] Active vertical speed to use
self.turndist = np.array(
[]) # [m] Distance when to turn to next waypoint
self.flyby = np.array(
[]) # Flyby switch, when False, flyover (turndist=0.0)
self.flyturn = np.array(
[]
) # Flyturn switch, when False, when Fkase, use flyby/flyover
self.turnrad = np.array(
[]) # Flyturn turn radius (<0 => not specified)
self.turnspd = np.array(
[]
) # [m/s, CAS] Flyturn turn speed for next turn (<=0 => not specified)
self.oldturnspd = np.array(
[]
) # [TAS, m/s] Flyturn turn speed for previous turn (<=0 => not specified)
self.turnfromlastwp = np.array(
[]
) # Currently in flyturn-mode from last waypoint (old turn, beginning of leg)
self.turntonextwp = np.array(
[]
) # Currently in flyturn-mode to next waypoint (new flyturn mode, end of leg)
self.torta = np.array(
[]) # [s] NExt req Time of Arrival (RTA) (-999. = None)
self.xtorta = np.array([]) # [m] distance ot next RTA
self.next_qdr = np.array([]) # [deg] track angle of next leg
def __init__(self):
TrafficArrays.__init__(self)
# [-] switch to activate priority rules for conflict resolution
self.swprio = False # switch priority on/off
self.priocode = '' # select priority mode
self.resopairs = set() # Resolved conflicts that are still before CPA
# Resolution factors:
# set < 1 to maneuver only a fraction of the resolution
# set > 1 to add a margin to separation values
self.resofach = bs.settings.asas_mar
self.resofacv = bs.settings.asas_mar
with RegisterElementParameters(self):
self.resooffac = np.array([], dtype=np.bool)
self.noresoac = np.array([], dtype=np.bool)
# whether the autopilot follows ASAS or not
self.active = np.array([], dtype=bool)
self.trk = np.array([]) # heading provided by the ASAS [deg]
self.tas = np.array([]) # speed provided by the ASAS (eas) [m/s]
self.alt = np.array([]) # alt provided by the ASAS [m]
self.vs = np.array([]) # vspeed provided by the ASAS [m/s]
def __init__(self):
super(Traffic, self).__init__()
# Traffic is the toplevel trafficarrays object
TrafficArrays.SetRoot(self)
self.ntraf = 0
self.cond = Condition() # Conditional commands list
self.wind = WindSim()
self.turbulence = Turbulence()
self.translvl = 5000. * ft # [m] Default transition level
with RegisterElementParameters(self):
# Aircraft Info
self.id = [] # identifier (string)
self.type = [] # aircaft type (string)
# Positions
self.lat = np.array([]) # latitude [deg]
self.lon = np.array([]) # longitude [deg]
self.distflown = np.array([]) # distance travelled [m]
self.alt = np.array([]) # altitude [m]
self.hdg = np.array([]) # traffic heading [deg]
self.trk = np.array([]) # track angle [deg]
# Velocities
self.tas = np.array([]) # true airspeed [m/s]
self.gs = np.array([]) # ground speed [m/s]
self.gsnorth = np.array([]) # ground speed [m/s]
self.gseast = np.array([]) # ground speed [m/s]
self.cas = np.array([]) # calibrated airspeed [m/s]
self.M = np.array([]) # mach number
self.vs = np.array([]) # vertical speed [m/s]
# Atmosphere
self.p = np.array([]) # air pressure [N/m2]
self.rho = np.array([]) # air density [kg/m3]
self.Temp = np.array([]) # air temperature [K]
self.dtemp = np.array([]) # delta t for non-ISA conditions
# Wind speeds
self.windnorth = np.array(
[]) # wind speed north component a/c pos [m/s]
self.windeast = np.array(
[]) # wind speed east component a/c pos [m/s]
# Traffic autopilot settings
self.selspd = np.array([]) # selected spd(CAS or Mach) [m/s or -]
self.aptas = np.array([]) # just for initializing
self.selalt = np.array([]) # selected alt[m]
self.selvs = np.array([]) # selected vertical speed [m/s]
# Whether to perform LNAV and VNAV
self.swlnav = np.array([], dtype=np.bool)
self.swvnav = np.array([], dtype=np.bool)
self.swvnavspd = np.array([], dtype=np.bool)
# Flight Models
self.asas = ASAS()
self.ap = Autopilot()
self.pilot = Pilot()
self.adsb = ADSB()
self.trails = Trails()
self.actwp = ActiveWaypoint()
self.perf = Perf()
# Group Logic
self.groups = TrafficGroups()
# Traffic performance data
self.apvsdef = np.array(
[]) # [m/s]default vertical speed of autopilot
self.aphi = np.array([]) # [rad] bank angle setting of autopilot
self.ax = np.array(
[]) # [m/s2] absolute value of longitudinal accelleration
self.bank = np.array([]) # nominal bank angle, [radian]
self.swhdgsel = np.array(
[], dtype=np.bool) # determines whether aircraft is turning
# limit settings
self.limspd = np.array([]) # limit speed
self.limspd_flag = np.array(
[], dtype=np.bool
) # flag for limit spd - we have to test for max and min
self.limalt = np.array([]) # limit altitude
self.limalt_flag = np.array(
[]) # A need to limit altitude has been detected
self.limvs = np.array(
[]) # limit vertical speed due to thrust limitation
self.limvs_flag = np.array([]) # A need to limit V/S detected
# Display information on label
self.label = [] # Text and bitmap of traffic label
# Miscallaneous
self.coslat = np.array([]) # Cosine of latitude for computations
self.eps = np.array([]) # Small nonzero numbers
# Default bank angles per flight phase
self.bphase = np.deg2rad(np.array([15, 35, 35, 35, 15, 45]))
self.reset()
def __init__(self):
super(Traffic, self).__init__()
# Traffic is the toplevel trafficarrays object
TrafficArrays.SetRoot(self)
self.ntraf = 0
self.cond = Condition() # Conditional commands list
self.wind = WindSim()
self.turbulence = Turbulence()
self.translvl = 5000.*ft # [m] Default transition level
# Define the periodic loggers
# ToDo: explain what these line sdo in comments (type of logs?)
datalog.definePeriodicLogger('SNAPLOG', 'SNAPLOG logfile.', settings.snapdt)
datalog.definePeriodicLogger('INSTLOG', 'INSTLOG logfile.', settings.instdt)
datalog.definePeriodicLogger('SKYLOG', 'SKYLOG logfile.', settings.skydt)
with RegisterElementParameters(self):
# Register the following parameters for logging
with datalog.registerLogParameters('SNAPLOG', self):
# Aircraft Info
self.id = [] # identifier (string)
self.type = [] # aircaft type (string)
# Positions
self.lat = np.array([]) # latitude [deg]
self.lon = np.array([]) # longitude [deg]
self.alt = np.array([]) # altitude [m]
self.hdg = np.array([]) # traffic heading [deg]
self.trk = np.array([]) # track angle [deg]
# Velocities
self.tas = np.array([]) # true airspeed [m/s]
self.gs = np.array([]) # ground speed [m/s]
self.gsnorth = np.array([]) # ground speed [m/s]
self.gseast = np.array([]) # ground speed [m/s]
self.cas = np.array([]) # calibrated airspeed [m/s]
self.M = np.array([]) # mach number
self.vs = np.array([]) # vertical speed [m/s]
#Creation time
self.cretime = np.array([]) #Creation time [s]
#time in conflict
self.timeinconf = np.array([]) #Time in conflict [s] (this value is updated in area)
# Atmosphere
self.p = np.array([]) # air pressure [N/m2]
self.rho = np.array([]) # air density [kg/m3]
self.Temp = np.array([]) # air temperature [K]
self.dtemp = np.array([]) # delta t for non-ISA conditions
# Traffic autopilot settings
self.selspd = np.array([]) # selected spd(CAS or Mach) [m/s or -]
self.aptas = np.array([]) # just for initializing
self.selalt = np.array([]) # selected alt[m]
self.selvs = np.array([]) # selected vertical speed [m/s]
# Whether to perform LNAV and VNAV
self.swlnav = np.array([], dtype=np.bool)
self.swvnav = np.array([], dtype=np.bool)
# Flight Models
self.asas = ASAS()
self.ap = Autopilot()
self.pilot = Pilot()
self.adsb = ADSB()
self.trails = Trails()
self.actwp = ActiveWaypoint()
self.perf = Perf()
# Traffic performance data
self.apvsdef = np.array([]) # [m/s]default vertical speed of autopilot
self.aphi = np.array([]) # [rad] bank angle setting of autopilot
self.ax = np.array([]) # [m/s2] absolute value of longitudinal accelleration
self.bank = np.array([]) # nominal bank angle, [radian]
self.swhdgsel = np.array([], dtype=np.bool) # determines whether aircraft is turning
# Crossover altitude
self.abco = np.array([])
self.belco = np.array([])
# limit settings
self.limspd = np.array([]) # limit speed
self.limspd_flag = np.array([], dtype=np.bool) # flag for limit spd - we have to test for max and min
self.limalt = np.array([]) # limit altitude
self.limalt_flag = np.array([]) # A need to limit altitude has been detected
self.limvs = np.array([]) # limit vertical speed due to thrust limitation
self.limvs_flag = np.array([]) # A need to limit V/S detected
# Display information on label
self.label = [] # Text and bitmap of traffic label
# Miscallaneous
self.coslat = np.array([]) # Cosine of latitude for computations
self.eps = np.array([]) # Small nonzero numbers
# Default bank angles per flight phase
self.bphase = np.deg2rad(np.array([15, 35, 35, 35, 15, 45]))
self.reset()
