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/simple.hxx>
  31 #include <Scenery/scenery.hxx>
  32 #include "atc_mgr.hxx"
  33
  34
  35 FGATCManager::FGATCManager() {
  36     controller = 0;
  37     prevController = 0;
  38     networkVisible = false;
  39     initSucceeded  = false;
  40 }
  41
  42 FGATCManager::~FGATCManager() {
  43
  44 }
  45
  46 void FGATCManager::init() {
  47     SGSubsystem::init();
  48
  49     int leg = 0;
  50
  51     // find a reasonable controller for our user's aircraft..
  52     // Let's start by working out the following three scenarios:
  53     // Starting on ground at a parking position
  54     // Starting on ground at the runway.
  55     // Starting in the Air
  56     bool onGround  = fgGetBool("/sim/presets/onground");
  57     string runway  = fgGetString("/sim/atc/runway");
  58     string airport = fgGetString("/sim/presets/airport-id");
  59     string parking = fgGetString("/sim/presets/parkpos");
  60
  61
  62     // Create an (invisible) AIAircraft represenation of the current
  63     // Users, aircraft, that mimicks the user aircraft's behavior.
  64     string callsign= fgGetString("/sim/multiplay/callsign");
  65     double longitude = fgGetDouble("/position/longitude-deg");
  66     double latitude  = fgGetDouble("/position/latitude-deg");
  67     double altitude  = fgGetDouble("/position/altitude-ft");
  68     double heading   = fgGetDouble("/orientation/heading-deg");
  69     double speed     = fgGetDouble("/velocities/groundspeed-kt");
  70     double aircraftRadius = 40; // note that this is currently hardcoded to a one-size-fits all JumboJet value. Should change later;
  71
  72
  73     ai_ac.setCallSign ( callsign  );
  74     ai_ac.setLongitude( longitude );
  75     ai_ac.setLatitude ( latitude  );
  76     ai_ac.setAltitude ( altitude  );
  77     ai_ac.setPerformance("", "jet_transport");
  78
  79     // NEXT UP: Create a traffic Schedule and fill that with appropriate information. This we can use to flight planning.
  80     // Note that these are currently only defaults.
  81     FGAISchedule *trafficRef = new FGAISchedule;
  82     trafficRef->setFlightType("gate");
  83
  84     FGScheduledFlight *flight =  new FGScheduledFlight;
  85     flight->setDepartureAirport(airport);
  86     flight->setArrivalAirport(airport);
  87     flight->initializeAirports();
  88     flight->setFlightRules("IFR");
  89     flight->setCallSign(callsign);
  90
  91     trafficRef->assign(flight);
  92     FGAIFlightPlan *fp = 0;
  93     ai_ac.setTrafficRef(trafficRef);
  94
  95     string flightPlanName = airport + "-" + airport + ".xml";
  96     //double cruiseAlt = 100; // Doesn't really matter right now.
  97     //double courseToDest = 180; // Just use something neutral; this value might affect the runway that is used though...
  98     //time_t deptime = 0;        // just make sure how flightplan processing is affected by this...
  99
 100
 101     FGAirport *apt = FGAirport::findByIdent(airport);
 102     if (apt && onGround) {// && !runway.empty()) {
 103         FGAirportDynamics* dcs = apt->getDynamics();
 104         int park_index = dcs->getNrOfParkings() - 1;
 105         //cerr << "found information: " << runway << " " << airport << ": parking = " << parking << endl;
 106         fp = new FGAIFlightPlan;
 107         while (park_index >= 0 && dcs->getParkingName(park_index) != parking) park_index--;
 108         // No valid parking location, so either at the runway or at a random location.
 109         if (parking.empty() || (park_index < 0)) {
 110             if (!runway.empty()) {
 111                 controller = apt->getDynamics()->getTowerController();
 112                 int stationFreq = apt->getDynamics()->getTowerFrequency(2);
 113                 if (stationFreq > 0)
 114                 {
 115                     //cerr << "Setting radio frequency to in airfrequency: " << stationFreq << endl;
 116                     fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 117                 }
 118                 leg = 3;
 119                 string fltType = "ga";
 120                 fp->setRunway(runway);
 121                 fp->createTakeOff(&ai_ac, false, apt, 0, fltType);
 122                 ai_ac.setTakeOffStatus(2);
 123             } else {
 124                 // We're on the ground somewhere. Handle this case later.
 125             }
 126         } else {
 127             controller = apt->getDynamics()->getStartupController();
 128             int stationFreq = apt->getDynamics()->getGroundFrequency(1);
 129             if (stationFreq > 0)
 130             {
 131                 //cerr << "Setting radio frequency to : " << stationFreq << endl;
 132                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 133             }
 134             leg = 1;
 135             //double, lat, lon, head; // Unused variables;
 136             //int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head);
 137             FGParking* parking = dcs->getParking(park_index);
 138             aircraftRadius = parking->getRadius();
 139             string fltType = parking->getType(); // gate / ramp, ga, etc etc.
 140             string aircraftType; // Unused.
 141             string airline;      // Currently used for gate selection, but a fallback mechanism will apply when not specified.
 142             fp->setGate(park_index);
 143             if (!(fp->createPushBack(&ai_ac,
 144                                false,
 145                                apt,
 146                                aircraftRadius,
 147                                fltType,
 148                                aircraftType,
 149                                airline))) {
 150                 controller = 0;
 151                 return;
 152             }
 153
 154         }
 155         fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend"));
 156      } else {
 157         controller = 0;
 158      }
 159
 160     // Create an initial flightplan and assign it to the ai_ac. We won't use this flightplan, but it is necessary to
 161     // keep the ATC code happy.
 162     if (fp) {
 163         fp->restart();
 164         fp->setLeg(leg);
 165         ai_ac.SetFlightPlan(fp);
 166     }
 167     if (controller) {
 168         controller->announcePosition(ai_ac.getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
 169                                       ai_ac._getLatitude(), ai_ac._getLongitude(), heading, speed, altitude,
 170                                       aircraftRadius, leg, &ai_ac);
 171
 172     //dialog.init();
 173
 174    //osg::Node* node = apt->getDynamics()->getGroundNetwork()->getRenderNode();
 175    //cerr << "Adding groundnetWork to the scenegraph::init" << endl;
 176    //globals->get_scenery()->get_scene_graph()->addChild(node);
 177    }
 178    initSucceeded = true;
 179 }
 180
 181 void FGATCManager::addController(FGATCController *controller) {
 182     activeStations.push_back(controller);
 183 }
 184
 185 void FGATCManager::update ( double time ) {
 186     //cerr << "ATC update code is running at time: " << time << endl;
 187     // Test code: let my virtual co-pilot handle ATC:
 188
 189
 190
 191     FGAIFlightPlan *fp = ai_ac.GetFlightPlan();
 192
 193     /* test code : find out how the routing develops */
 194     if (fp) {
 195         int size = fp->getNrOfWayPoints();
 196         //cerr << "Setting pos" << pos << " ";
 197         //cerr << "setting intentions " ;
 198         // This indicates that we have run out of waypoints: Im future versions, the
 199         // user should be able to select a new route, but for now just shut down the
 200         // system.
 201         if (size < 3) {
 202             //cerr << "Shutting down the atc_mgr" << endl;
 203             return;
 204         }
 205         //cerr << "Size of waypoint cue " << size << " ";
 206         //for (int i = 0; i < size; i++) {
 207         //    int val = fp->getRouteIndex(i);
 208             //cerr << fp->getWayPoint(i)->getName() << " ";
 209             //if ((val) && (val != pos)) {
 210                 //intentions.push_back(val);
 211                 //cerr << "[done ] " << endl;
 212             //}
 213         //}
 214         //cerr << "[done ] " << endl;
 215     }
 216     if (fp) {
 217         //cerr << "Currently at leg : " << fp->getLeg() << endl;
 218     }
 219     double longitude = fgGetDouble("/position/longitude-deg");
 220     double latitude  = fgGetDouble("/position/latitude-deg");
 221     double heading   = fgGetDouble("/orientation/heading-deg");
 222     double speed     = fgGetDouble("/velocities/groundspeed-kt");
 223     double altitude  = fgGetDouble("/position/altitude-ft");
 224
 225     /*
 226     SGGeod me(SGGeod::fromDegM(longitude,
 227                                latitude,
 228                                altitude));
 229     SGGeod wpt1(SGGeod::fromDegM(fp->getWayPoint(1)->getLongitude(),
 230                                 fp->getWayPoint(1)->getLatitude(),
 231                                 fp->getWayPoint(1)->getAltitude()));
 232     SGGeod wpt2(SGGeod::fromDegM(fp->getWayPoint(1)->getLongitude(),
 233                                 fp->getWayPoint(1)->getLatitude(),
 234                                 fp->getWayPoint(1)->getAltitude()));
 235
 236     double course1, az1, dist1;
 237     double course2, az2, dist2;
 238     SGGeodesy::inverse(me, wpt1, course1, az1, dist1);
 239
 240     cerr << "Bearing to nearest waypoint : " << course1 << " " << dist1 << ". (course " << course2 << ")." <<  endl;
 241     */
 242     ai_ac.setLatitude(latitude);
 243     ai_ac.setLongitude(longitude);
 244     ai_ac.setAltitude(altitude);
 245     ai_ac.setHeading(heading);
 246     ai_ac.setSpeed(speed);
 247     ai_ac.update(time);
 248     controller = ai_ac.getATCController();
 249     FGATCDialogNew::instance()->update(time);
 250     if (controller) {
 251        //cerr << "name of previous waypoint : " << fp->getPreviousWaypoint()->getName() << endl;
 252
 253         //cerr << "Running FGATCManager::update()" << endl;
 254         //cerr << "Currently under control of " << controller->getName() << endl;
 255         controller->updateAircraftInformation(ai_ac.getID(),
 256                                               latitude,
 257                                               longitude,
 258                                               heading,
 259                                               speed,
 260                                               altitude, time);
 261         //string airport = fgGetString("/sim/presets/airport-id");
 262         //FGAirport *apt = FGAirport::findByIdent(airport);
 263         // AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
 264        static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
 265             int n = trans_num->getIntValue();
 266         if (n == 1) {
 267             //cerr << "Toggling ground network visibility " << networkVisible << endl;
 268             networkVisible = !networkVisible;
 269             trans_num->setIntValue(-1);
 270         }
 271         if ((controller != prevController) && (prevController)) {
 272             prevController->render(false);
 273         }
 274         controller->render(networkVisible);
 275
 276         //cerr << "Adding groundnetWork to the scenegraph::update" << endl;
 277         prevController = controller;
 278    }
 279    for (AtcVecIterator atc = activeStations.begin(); atc != activeStations.end(); atc++) {
 280        (*atc)->update(time);
 281    }
 282 }