def resolve(dbconf):
if not dbconf.swasas:
return
# required change in velocity
dv=np.zeros((dbconf.traf.ntraf,3))
#if possible, solve conflicts once and copy results for symmetrical conflicts,
#if that is not possible, solve each conflict twice, once for each A/C
if not dbconf.traf.ADSBtrunc and not dbconf.traf.ADSBtransnoise:
for conflict in dbconf.conflist_now:
id1,id2=dbconf.ConflictToIndices(conflict)
if id1 != "Fail" and id2!= "Fail":
dv_eby=Eby_straight(dbconf,id1,id2)
dv[id1]-=dv_eby
dv[id2]+=dv_eby
else:
for i in range(dbconf.nconf):
ac1=dbconf.idown[i]
ac2=dbconf.idoth[i]
id1=dbconf.traf.id.index(ac1)
id2=dbconf.traf.id.index(ac2)
dv_eby=Eby_straight(dbconf,id1,id2)
dv[id1]-=dv_eby
# now we have the change in speed vector for each aircraft.
dv=np.transpose(dv)
# the old speed vector, cartesian coordinates
trkrad=np.radians(dbconf.traf.trk)
v=np.array([np.sin(trkrad)*dbconf.traf.tas,\
np.cos(trkrad)*dbconf.traf.tas,\
dbconf.traf.vs])
# the new speed vector
newv=dv+v
# the new speed vector in polar coordinates
newtrack=(np.arctan2(newv[0,:],newv[1,:])*180/np.pi) %360
newgs=np.sqrt(newv[0,:]**2+newv[1,:]**2)
neweas=vtas2eas(newgs,dbconf.traf.alt)
# Cap the velocity
neweascapped=np.maximum(dbconf.vmin,np.minimum(dbconf.vmax,neweas))
# now assign in the traf class
dbconf.traf.asashdg=newtrack
dbconf.traf.asasspd=neweascapped
dbconf.traf.asasvsp=newv[2,:]
dbconf.traf.asasalt=np.sign(dbconf.traf.asasvsp)*1e5
def resolve(dbconf):
if not dbconf.swasas:
return
# required change in velocity
dv = np.zeros((dbconf.traf.ntraf,3))
#if possible, solve conflicts once and copy results for symmetrical conflicts,
#if that is not possible, solve each conflict twice, once for each A/C
if not dbconf.traf.ADSBtrunc and not dbconf.traf.ADSBtransnoise:
for conflict in dbconf.conflist_now:
id1,id2 = dbconf.ConflictToIndices(conflict)
if id1 != "Fail" and id2!= "Fail":
dv_eby = MVP(dbconf,id1,id2)
# If the priority switch is ON (always ON for layers), it has a different meaning for Layers than for Full Mix
# For layers -> Climbing and descending have highest priority
if dbconf.swprio:
# If aircraft 1 is cruising, and aircraft 2 is climbing -> aircraft one solves conflict horizontally
if abs(dbconf.traf.vs[id1])<0.1 and dbconf.traf.vs[id2] > 0.1:#dbconf.traf.alt[id2] < dbconf.traf.aalt[id2]:
dv[id1] = dv[id1] - dv_eby
dv[id1][2] = 0.0
# If aircraft 2 is cruising, and aircraft 1 is climbing -> aircraft two solves conflict horizontally
elif abs(dbconf.traf.vs[id2])<0.1 and dbconf.traf.vs[id1] > 0.1:#dbconf.traf.alt[id1] < dbconf.traf.aalt[id1]:
dv[id2] = dv[id2] + dv_eby
dv[id2][2] = 0.0
# If aircraft 1 is cruising, and aircraft 2 is descending -> aircraft 1 solves conflict horizontally
elif abs(dbconf.traf.vs[id1])<0.1 and dbconf.traf.vs[id2] < -0.1:#dbconf.traf.alt[id2] > dbconf.traf.aalt[id2]:
dv[id1] = dv[id1] - dv_eby
dv[id1][2] = 0.0
# If aircraft 2 is cruising, and aircraft 1 is descending -> aircraft2 solves conflict horizontally
elif abs(dbconf.traf.vs[id2])<0.1 and dbconf.traf.vs[id2] < -0.1: #dbconf.traf.alt[id1] > dbconf.traf.aalt[id1]:
dv[id2] = dv[id2] + dv_eby
dv[id2][2] = 0.0
# cruising - cruising, C/D - C/D -> solved horizontally
else:
dv[id1] = dv[id1] - dv_eby
dv[id2] = dv[id2] + dv_eby
dv[id1][2] = 0.0
dv[id2][2] = 0.0
else:
dv[id1] = dv[id1] - dv_eby
dv[id2] = dv[id2] + dv_eby
else:
for i in range(dbconf.nconf):
ac1 = dbconf.idown[i]
ac2 = dbconf.idoth[i]
id1 = dbconf.traf.id.index(ac1)
id2 = dbconf.traf.id.index(ac2)
dv_eby = MVP(dbconf,id1,id2)
dv[id1]= dv[id1] - dv_eby
# now we have the change in speed vector for each aircraft.
dv = np.transpose(dv)
# the old speed vector, cartesian coordinates
trkrad = np.radians(dbconf.traf.trk)
v = np.array([np.sin(trkrad)*dbconf.traf.tas,\
np.cos(trkrad)*dbconf.traf.tas,\
dbconf.traf.vs])
# Restrict resolution direction based on swresodir
if dbconf.swresodir == "HORIZ":
dv[2,:] = 0.
# the new speed vector
newv = dv+v
# the new speed vector in polar coordinates
if dbconf.swresodir == "VERT":
newtrack = (np.arctan2(v[0,:],v[1,:])*180/np.pi) %360
else:
newtrack = (np.arctan2(newv[0,:],newv[1,:])*180/np.pi) %360
newgs = np.sqrt(newv[0,:]**2 + newv[1,:]**2)
neweas = vtas2eas(newgs,dbconf.traf.alt)
# Cap the velocity
neweascapped=np.maximum(dbconf.vmin,np.minimum(dbconf.vmax,neweas))
# Cap the vertical speed
vscapped = np.maximum(dbconf.vsmin,np.minimum(dbconf.vsmax,newv[2,:]))
# now assign in the traf class
dbconf.traf.asashdg = newtrack
dbconf.traf.asasspd = veas2tas(neweascapped,dbconf.traf.alt)
dbconf.traf.asasvsp = vscapped
# To update asasalt, tinconf is used. tinconf is a really big value if there is
# no conflict. If there is a conflict, tinconf will be between 0 and the lookahead
# time. Therefore, asasalt should only be updated for those aircraft that have a
# tinconf that is between 0 and the lookahead time. This is what the following code does:
condition = dbconf.tinconf.min(axis=1)<dbconf.dtlookahead*1.2 # dtlookahead == tlook
asasalttemp = dbconf.traf.asasvsp * dbconf.tinconf.min(axis=1) \
+ dbconf.traf.alt
# Condition2 ensures that aircraft do not overshoot their layer altitude
# This is not being used for Full Mix MVP
condition2 = dbconf.traf.alt != dbconf.traf.aalt
dbconf.traf.asasalt[condition] = asasalttemp[condition]
dbconf.traf.asasalt[condition2] = dbconf.traf.aalt[condition2]
def resolve(dbconf):
if not dbconf.swasas:
return
# -------------------------------------------------------------------------
# First, perform special Conflict Detection to find which conflicts to resolve
# Relative horizontal positions: p[a,b] is p from a to b
qdrrel = np.radians(dbconf.qdr-dbconf.traf.trk.reshape((len(dbconf.traf.trk),1)))
xrel= np.sin(qdrrel)*dbconf.dist
yrel= np.cos(qdrrel)*dbconf.dist
# Define the two borders:
b1=np.where( yrel -np.abs(xrel) > -dbconf.dist_a ,True,False)
b2=np.where( xrel**2 + (yrel-dbconf.dist_b)**2 < (dbconf.dist_a+dbconf.dist_b)**2 ,True,False)
# Create conflict matrix
dbconf.swconfl_dg = b1*b2*(1.-np.eye(dbconf.traf.ntraf))
# -------------------------------------------------------------------------
# Second, create a list of conflicts and aircraft indices to iterate over
dgconfidxs = np.where(dbconf.swconfl_dg)
dgnconf = len(dgconfidxs[0])
dgiown = dgconfidxs[0]
dgioth = dgconfidxs[1]
# -------------------------------------------------------------------------
# Third, create control matrix and find controls
# Also, aircraft in DGconflict should follow ASAS
dbconf.traf.asasactive.fill(False)
controls=np.zeros((dbconf.traf.ntraf,3),dtype=np.int)
for i in range(dgnconf):
id1=dgiown[i]
id2=dgioth[i]
dbconf.traf.asasactive[id1]=True
dbconf.traf.asasactive[id2]=True
ctrl=Difgamehor(dbconf,id1,id2)
controls[id1]+=ctrl-np.array([1,1,1])
# Now, write controls as limits in traf class
# First: limit superpositioned controls to maximum values
controls+=np.array([1,1,1])
maxcontrols=np.array([2,2,2])
controls=np.where(controls<0,0,controls)
controls=np.where(controls>maxcontrols,maxcontrols,controls)
# From indices to values
acccontrol=dbconf.a_o[controls[:,0]]
bankcontrol=dbconf.b_o[controls[:,1]]
climbcontrol=dbconf.traf.avsdef*np.sign(controls[:,2])
# Now assign in the traf class --------------------------------------------
# Change autopilot desired speed
dbconf.traf.asasspd=vtas2eas(np.where(acccontrol==0,dbconf.traf.gs,\
np.where(acccontrol>0,dbconf.vmax,dbconf.vmin)),dbconf.traf.alt)
# Set acceleration for aircraft in conflict
dbconf.traf.ax=np.where(dbconf.traf.asasactive,abs(acccontrol),kts)
# Change autopilot desired heading
dbconf.traf.asashdg=np.where(bankcontrol==0,dbconf.traf.trk,\
np.where(bankcontrol>0,dbconf.traf.trk+90,dbconf.traf.trk-90))%360
# Set bank angle for aircraft in conflict
dbconf.traf.aphi=np.radians(np.where(dbconf.traf.asasactive,np.abs(bankcontrol),25.))
# Change autopilot desired altitude
dbconf.traf.aalt=np.where(climbcontrol==0,dbconf.traf.alt,\
np.where(climbcontrol>0,1e9,-1e9))
# Set climb rate for aircraft in conflict
dbconf.traf.asasvsp=np.abs(climbcontrol)
