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