src/ATC/atc_mgr.cxx

   1 /******************************************************************************
   2  * atc_mgr.cxx
   3  * Written by Durk Talsma, started August 1, 2010.
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License as
   7  * published by the Free Software Foundation; either version 2 of the
   8  * License, or (at your option) any later version.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  13  * General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this program; if not, write to the Free Software
  17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  18  *
  19  *
  20  **************************************************************************/
  21
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include "config.h"
  25 #endif
  26
  27 #include <iostream>
  28
  29 #include <Airports/dynamics.hxx>
  30 #include <Airports/airportdynamicsmanager.hxx>
  31 #include <Airports/airport.hxx>
  32 #include <Scenery/scenery.hxx>
  33 #include <Main/globals.hxx>
  34 #include <Main/fg_props.hxx>
  35 #include <AIModel/AIAircraft.hxx>
  36 #include <Traffic/Schedule.hxx>
  37 #include <Traffic/SchedFlight.hxx>
  38 #include <AIModel/AIFlightPlan.hxx>
  39
  40 #include "atc_mgr.hxx"
  41
  42
  43 using std::string;
  44
  45 FGATCManager::FGATCManager() :
  46     controller(NULL),
  47     prevController(NULL),
  48     networkVisible(false),
  49     initSucceeded(false)
  50 {
  51 }
  52
  53 FGATCManager::~FGATCManager() {
  54 }
  55
  56 void FGATCManager::init() {
  57     SGSubsystem::init();
  58
  59     int leg = 0;
  60
  61     trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
  62
  63     // find a reasonable controller for our user's aircraft..
  64     // Let's start by working out the following three scenarios:
  65     // Starting on ground at a parking position
  66     // Starting on ground at the runway.
  67     // Starting in the Air
  68     bool onGround  = fgGetBool("/sim/presets/onground");
  69     string runway  = fgGetString("/sim/atc/runway");
  70     string airport = fgGetString("/sim/presets/airport-id");
  71     string parking = fgGetString("/sim/presets/parkpos");
  72
  73
  74     // Create an (invisible) AIAircraft represenation of the current
  75     // Users, aircraft, that mimicks the user aircraft's behavior.
  76     string callsign= fgGetString("/sim/multiplay/callsign");
  77     double longitude = fgGetDouble("/position/longitude-deg");
  78     double latitude  = fgGetDouble("/position/latitude-deg");
  79     double altitude  = fgGetDouble("/position/altitude-ft");
  80     double heading   = fgGetDouble("/orientation/heading-deg");
  81     double speed     = fgGetDouble("/velocities/groundspeed-kt");
  82     double aircraftRadius = 40; // note that this is currently hardcoded to a one-size-fits all JumboJet value. Should change later;
  83
  84     ai_ac = new FGAIAircraft;
  85     ai_ac->setCallSign ( callsign  );
  86     ai_ac->setLongitude( longitude );
  87     ai_ac->setLatitude ( latitude  );
  88     ai_ac->setAltitude ( altitude  );
  89     ai_ac->setPerformance("", "jet_transport");
  90
  91     // NEXT UP: Create a traffic Schedule and fill that with appropriate information. This we can use to flight planning.
  92     // Note that these are currently only defaults.
  93     FGAISchedule *trafficRef = new FGAISchedule;
  94     trafficRef->setFlightType("gate");
  95
  96     FGScheduledFlight *flight =  new FGScheduledFlight;
  97     flight->setDepartureAirport(airport);
  98     flight->setArrivalAirport(airport);
  99     flight->initializeAirports();
 100     flight->setFlightRules("IFR");
 101     flight->setCallSign(callsign);
 102
 103     trafficRef->assign(flight);
 104     FGAIFlightPlan *fp = 0;
 105     ai_ac->setTrafficRef(trafficRef);
 106
 107     string flightPlanName = airport + "-" + airport + ".xml";
 108     //double cruiseAlt = 100; // Doesn't really matter right now.
 109     //double courseToDest = 180; // Just use something neutral; this value might affect the runway that is used though...
 110     //time_t deptime = 0;        // just make sure how flightplan processing is affected by this...
 111
 112
 113     FGAirportDynamicsRef dcs(flightgear::AirportDynamicsManager::find(airport));
 114     if (dcs && onGround) {// && !runway.empty()) {
 115
 116         ParkingAssignment pk(dcs->getParkingByName(parking));
 117
 118         // No valid parking location, so either at the runway or at a random location.
 119         if (pk.isValid()) {
 120             dcs->setParkingAvailable(pk.parking(), false);
 121             fp = new FGAIFlightPlan;
 122             controller = dcs->getStartupController();
 123             int stationFreq = dcs->getGroundFrequency(1);
 124             if (stationFreq > 0)
 125             {
 126                 //cerr << "Setting radio frequency to : " << stationFreq << endl;
 127                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 128             }
 129             leg = 1;
 130             //double, lat, lon, head; // Unused variables;
 131             //int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head);
 132             aircraftRadius = pk.parking()->getRadius();
 133             string fltType = pk.parking()->getType(); // gate / ramp, ga, etc etc.
 134             string aircraftType; // Unused.
 135             string airline;      // Currently used for gate selection, but a fallback mechanism will apply when not specified.
 136             fp->setGate(pk);
 137             if (!(fp->createPushBack(ai_ac,
 138                                      false,
 139                                      dcs->parent(),
 140                                      aircraftRadius,
 141                                      fltType,
 142                                      aircraftType,
 143                                      airline))) {
 144                 controller = 0;
 145                 return;
 146             }
 147
 148
 149
 150         } else if (!runway.empty()) {
 151             controller = dcs->getTowerController();
 152             int stationFreq = dcs->getTowerFrequency(2);
 153             if (stationFreq > 0)
 154             {
 155                 //cerr << "Setting radio frequency to in airfrequency: " << stationFreq << endl;
 156                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 157             }
 158             fp = new FGAIFlightPlan;
 159             leg = 3;
 160             string fltType = "ga";
 161             fp->setRunway(runway);
 162             fp->createTakeOff(ai_ac, false, dcs->parent(), 0, fltType);
 163             ai_ac->setTakeOffStatus(2);
 164         } else {
 165                 // We're on the ground somewhere. Handle this case later.
 166         }
 167
 168         if (fp) {
 169             fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend"));
 170         }
 171      } else {
 172         controller = 0;
 173      }
 174
 175     // Create an initial flightplan and assign it to the ai_ac. We won't use this flightplan, but it is necessary to
 176     // keep the ATC code happy.
 177     if (fp) {
 178         fp->restart();
 179         fp->setLeg(leg);
 180         ai_ac->SetFlightPlan(fp);
 181     }
 182     if (controller) {
 183         controller->announcePosition(ai_ac->getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
 184                                       ai_ac->_getLatitude(), ai_ac->_getLongitude(), heading, speed, altitude,
 185                                       aircraftRadius, leg, ai_ac);
 186
 187     //dialog.init();
 188
 189    //osg::Node* node = apt->getDynamics()->getGroundNetwork()->getRenderNode();
 190    //cerr << "Adding groundnetWork to the scenegraph::init" << endl;
 191    //globals->get_scenery()->get_scene_graph()->addChild(node);
 192    }
 193     initSucceeded = true;
 194 }
 195
 196 void FGATCManager::shutdown()
 197 {
 198     ai_ac.clear();
 199     activeStations.clear();
 200 }
 201
 202 void FGATCManager::addController(FGATCController *controller) {
 203     activeStations.push_back(controller);
 204 }
 205
 206 void FGATCManager::removeController(FGATCController *controller)
 207 {
 208     AtcVecIterator it;
 209     it = std::find(activeStations.begin(), activeStations.end(), controller);
 210     if (it != activeStations.end()) {
 211         activeStations.erase(it);
 212     }
 213 }
 214
 215 void FGATCManager::update ( double time ) {
 216     //cerr << "ATC update code is running at time: " << time << endl;
 217     // Test code: let my virtual co-pilot handle ATC:
 218
 219
 220
 221     FGAIFlightPlan *fp = ai_ac->GetFlightPlan();
 222
 223     /* test code : find out how the routing develops */
 224     if (fp) {
 225         int size = fp->getNrOfWayPoints();
 226         //cerr << "Setting pos" << pos << " ";
 227         //cerr << "setting intentions " ;
 228         // This indicates that we have run out of waypoints: Im future versions, the
 229         // user should be able to select a new route, but for now just shut down the
 230         // system.
 231         if (size < 3) {
 232             //cerr << "Shutting down the atc_mgr" << endl;
 233             return;
 234         }
 235 #if 0
 236         // Test code: Print how far we're progressing along the taxi route.
 237         //std::cerr << "Size of waypoint cue " << size << " ";
 238         for (int i = 0; i < size; i++) {
 239             int val = fp->getRouteIndex(i);
 240             //std::cerr << fp->getWayPoint(i)->getName() << " ";
 241             //if ((val) && (val != pos)) {
 242             //    intentions.push_back(val);
 243             //    std::cerr << "[done ] " << std::endl;
 244             //}
 245         }
 246         //std::cerr << "[done ] " << std::endl;
 247 #endif
 248     }
 249     if (fp) {
 250         //cerr << "Currently at leg : " << fp->getLeg() << endl;
 251     }
 252     double longitude = fgGetDouble("/position/longitude-deg");
 253     double latitude  = fgGetDouble("/position/latitude-deg");
 254     double heading   = fgGetDouble("/orientation/heading-deg");
 255     double speed     = fgGetDouble("/velocities/groundspeed-kt");
 256     double altitude  = fgGetDouble("/position/altitude-ft");
 257
 258     /*
 259     SGGeod me(SGGeod::fromDegM(longitude,
 260                                latitude,
 261                                altitude));
 262     SGGeod wpt1(SGGeod::fromDegM(fp->getWayPoint(1)->getLongitude(),
 263                                 fp->getWayPoint(1)->getLatitude(),
 264                                 fp->getWayPoint(1)->getAltitude()));
 265     SGGeod wpt2(SGGeod::fromDegM(fp->getWayPoint(1)->getLongitude(),
 266                                 fp->getWayPoint(1)->getLatitude(),
 267                                 fp->getWayPoint(1)->getAltitude()));
 268
 269     double course1, az1, dist1;
 270     double course2, az2, dist2;
 271     SGGeodesy::inverse(me, wpt1, course1, az1, dist1);
 272
 273     cerr << "Bearing to nearest waypoint : " << course1 << " " << dist1 << ". (course " << course2 << ")." <<  endl;
 274     */
 275     ai_ac->setLatitude(latitude);
 276     ai_ac->setLongitude(longitude);
 277     ai_ac->setAltitude(altitude);
 278     ai_ac->setHeading(heading);
 279     ai_ac->setSpeed(speed);
 280     ai_ac->update(time);
 281     controller = ai_ac->getATCController();
 282     FGATCDialogNew::instance()->update(time);
 283     if (controller) {
 284        //cerr << "name of previous waypoint : " << fp->getPreviousWaypoint()->getName() << endl;
 285
 286         //cerr << "Running FGATCManager::update()" << endl;
 287         //cerr << "Currently under control of " << controller->getName() << endl;
 288         controller->updateAircraftInformation(ai_ac->getID(),
 289                                               latitude,
 290                                               longitude,
 291                                               heading,
 292                                               speed,
 293                                               altitude, time);
 294         //string airport = fgGetString("/sim/presets/airport-id");
 295         //FGAirport *apt = FGAirport::findByIdent(airport);
 296         // AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
 297         int n = trans_num->getIntValue();
 298         if (n == 1) {
 299             //cerr << "Toggling ground network visibility " << networkVisible << endl;
 300             networkVisible = !networkVisible;
 301             trans_num->setIntValue(-1);
 302         }
 303         if ((controller != prevController) && (prevController)) {
 304             prevController->render(false);
 305         }
 306         controller->render(networkVisible);
 307
 308         //cerr << "Adding groundnetWork to the scenegraph::update" << endl;
 309         prevController = controller;
 310    }
 311    for (AtcVecIterator atc = activeStations.begin(); atc != activeStations.end(); atc++) {
 312        (*atc)->update(time);
 313    }
 314 }