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                 //cerr << "Setting radio frequency to in airfrequency: " << stationFreq << endl;
 115                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 116                 leg = 3;
 117                 string fltType = "ga";
 118                 fp->setRunway(runway);
 119                 fp->createTakeOff(&ai_ac, false, apt, 0, fltType);
 120                 ai_ac.setTakeOffStatus(2);
 121             } else {
 122                 // We're on the ground somewhere. Handle this case later.
 123             }
 124         } else {
 125             controller = apt->getDynamics()->getStartupController();
 126             int stationFreq = apt->getDynamics()->getGroundFrequency(1);
 127             //cerr << "Setting radio frequency to : " << stationFreq << endl;
 128             fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
 129             leg = 1;
 130             //double, lat, lon, head; // Unused variables;
 131             //int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head);
 132             FGParking* parking = dcs->getParking(park_index);
 133             aircraftRadius = parking->getRadius();
 134             string fltType = parking->getType(); // gate / ramp, ga, etc etc.
 135             string aircraftType; // Unused.
 136             string airline;      // Currently used for gate selection, but a fallback mechanism will apply when not specified.
 137             fp->setGate(park_index);
 138             if (!(fp->createPushBack(&ai_ac,
 139                                false,
 140                                apt,
 141                                latitude,
 142                                longitude,
 143                                aircraftRadius,
 144                                fltType,
 145                                aircraftType,
 146                                airline))) {
 147                 controller = 0;
 148                 return;
 149             }
 150
 151         }
 152         fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend"));
 153      } else {
 154         controller = 0;
 155      }
 156
 157     // Create an initial flightplan and assign it to the ai_ac. We won't use this flightplan, but it is necessary to
 158     // keep the ATC code happy.
 159     if (fp) {
 160         fp->restart();
 161         fp->setLeg(leg);
 162         ai_ac.SetFlightPlan(fp);
 163     }
 164     if (controller) {
 165         controller->announcePosition(ai_ac.getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
 166                                       ai_ac._getLatitude(), ai_ac._getLongitude(), heading, speed, altitude,
 167                                       aircraftRadius, leg, &ai_ac);
 168
 169     //dialog.init();
 170
 171    //osg::Node* node = apt->getDynamics()->getGroundNetwork()->getRenderNode();
 172    //cerr << "Adding groundnetWork to the scenegraph::init" << endl;
 173    //globals->get_scenery()->get_scene_graph()->addChild(node);
 174    }
 175    initSucceeded = true;
 176 }
 177
 178 void FGATCManager::addController(FGATCController *controller) {
 179     activeStations.push_back(controller);
 180 }
 181
 182 void FGATCManager::update ( double time ) {
 183     //cerr << "ATC update code is running at time: " << time << endl;
 184     // Test code: let my virtual co-pilot handle ATC:
 185
 186
 187
 188     FGAIFlightPlan *fp = ai_ac.GetFlightPlan();
 189
 190     /* test code : find out how the routing develops */
 191     /*if (fp) {
 192         int size = fp->getNrOfWayPoints();
 193         //cerr << "Setting pos" << pos << " ";
 194         //cerr << "setting intentions " ;
 195         cerr << "Size of waypoint cue " << size << " ";
 196         for (int i = 0; i < size; i++) {
 197             int val = fp->getRouteIndex(i);
 198             cerr << fp->getWayPoint(i)->getName() << " ";
 199             //if ((val) && (val != pos)) {
 200                 //intentions.push_back(val);
 201                 //cerr << "[done ] " << endl;
 202             //}
 203         }
 204         cerr << "[done ] " << endl;
 205     }*/
 206     if (fp) {
 207         //cerr << "Currently at leg : " << fp->getLeg() << endl;
 208     }
 209     double longitude = fgGetDouble("/position/longitude-deg");
 210     double latitude  = fgGetDouble("/position/latitude-deg");
 211     double heading   = fgGetDouble("/orientation/heading-deg");
 212     double speed     = fgGetDouble("/velocities/groundspeed-kt");
 213     double altitude  = fgGetDouble("/position/altitude-ft");
 214
 215     SGGeod me(SGGeod::fromDegM(longitude,
 216                                latitude,
 217                                altitude));
 218     SGGeod wpt(SGGeod::fromDegM(fp->getWayPoint(1)->getLongitude(),
 219                                 fp->getWayPoint(1)->getLatitude(),
 220                                 fp->getWayPoint(1)->getAltitude()));
 221
 222     double course, az2, dist;
 223     SGGeodesy::inverse(me, wpt, course, az2, dist);
 224
 225     cerr << "Bearing to nearest waypoint : " << course << endl;
 226
 227     ai_ac.setLatitude(latitude);
 228     ai_ac.setLongitude(longitude);
 229     ai_ac.setAltitude(altitude);
 230     ai_ac.setHeading(heading);
 231     ai_ac.setSpeed(speed);
 232     ai_ac.update(time);
 233     controller = ai_ac.getATCController();
 234     FGATCDialogNew::instance()->update(time);
 235     if (controller) {
 236        //cerr << "name of previous waypoint : " << fp->getPreviousWaypoint()->getName() << endl;
 237
 238         //cerr << "Running FGATCManager::update()" << endl;
 239         //cerr << "Currently under control of " << controller->getName() << endl;
 240         controller->updateAircraftInformation(ai_ac.getID(),
 241                                               latitude,
 242                                               longitude,
 243                                               heading,
 244                                               speed,
 245                                               altitude, time);
 246         //string airport = fgGetString("/sim/presets/airport-id");
 247         //FGAirport *apt = FGAirport::findByIdent(airport);
 248         // AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
 249        static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
 250             int n = trans_num->getIntValue();
 251         if (n == 1) {
 252             //cerr << "Toggling ground network visibility " << networkVisible << endl;
 253             networkVisible = !networkVisible;
 254             trans_num->setIntValue(-1);
 255         }
 256         if ((controller != prevController) && (prevController)) {
 257             prevController->render(false);
 258         }
 259         controller->render(networkVisible);
 260
 261         //cerr << "Adding groundnetWork to the scenegraph::update" << endl;
 262         prevController = controller;
 263    }
 264    for (AtcVecIterator atc = activeStations.begin(); atc != activeStations.end(); atc++) {
 265        (*atc)->update(time);
 266    }
 267 }