src/ATC/trafficcontrol.cxx

   1 // trafficrecord.cxx - Implementation of AIModels ATC code.
   2 //
   3 // Written by Durk Talsma, started September 2006.
   4 //
   5 // Copyright (C) 2006 Durk Talsma.
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include <config.h>
  25 #endif
  26
  27 #include <algorithm>
  28
  29 #include <osg/Geode>
  30 #include <osg/Geometry>
  31 #include <osg/MatrixTransform>
  32 #include <osg/Shape>
  33
  34 #include <simgear/scene/material/EffectGeode.hxx>
  35 #include <simgear/scene/material/matlib.hxx>
  36 #include <simgear/scene/material/mat.hxx>
  37 #include <simgear/scene/util/OsgMath.hxx>
  38 #include <Scenery/scenery.hxx>
  39
  40 #include "trafficcontrol.hxx"
  41 #include "atc_mgr.hxx"
  42 #include <AIModel/AIAircraft.hxx>
  43 #include <AIModel/AIFlightPlan.hxx>
  44 #include <AIModel/performancedata.hxx>
  45 #include <AIModel/performancedb.hxx>
  46 #include <ATC/atc_mgr.hxx>
  47 #include <Traffic/TrafficMgr.hxx>
  48 #include <Airports/groundnetwork.hxx>
  49 #include <Airports/dynamics.hxx>
  50 #include <Airports/simple.hxx>
  51 #include <Radio/radio.hxx>
  52 #include <signal.h>
  53
  54 using std::sort;
  55 using std::string;
  56 using std::cout;
  57 using std::endl;
  58
  59 /***************************************************************************
  60  * ActiveRunway
  61  **************************************************************************/
  62 time_t ActiveRunway::requestTimeSlot(time_t eta)
  63 {
  64     time_t newEta;
  65     time_t separation = 90;
  66     bool found = false;
  67     if (estimatedArrivalTimes.size() == 0) {
  68         estimatedArrivalTimes.push_back(eta);
  69         return eta;
  70     } else {
  71         TimeVectorIterator i = estimatedArrivalTimes.begin();
  72         //cerr << "Checking eta slots " << eta << ": " << endl;
  73         for (i = estimatedArrivalTimes.begin();
  74                 i != estimatedArrivalTimes.end(); i++) {
  75             //cerr << "Stored time : " << (*i) << endl;
  76         }
  77         i = estimatedArrivalTimes.begin();
  78         if ((eta + separation) < (*i)) {
  79             newEta = eta;
  80             found = true;
  81             //cerr << "Storing at beginning" << endl;
  82         }
  83         while ((i != estimatedArrivalTimes.end()) && (!found)) {
  84             TimeVectorIterator j = i + 1;
  85             if (j == estimatedArrivalTimes.end()) {
  86                 if (((*i) + separation) < eta) {
  87                     //cerr << "Storing at end" << endl;
  88                     newEta = eta;
  89                 } else {
  90                     newEta = (*i) + separation;
  91                     //cerr << "Storing at end + separation" << endl;
  92                 }
  93             } else {
  94                 if ((((*j) - (*i)) > (separation * 2))) {       // found a potential slot
  95                     // now check whether this slot is usable:
  96                     // 1) eta should fall between the two points
  97                     //    i.e. eta > i AND eta < j
  98                     //
  99                     //cerr << "Found potential slot after " << (*i) << endl;
 100                     if (eta > (*i) && (eta < (*j))) {
 101                         found = true;
 102                         if (eta < ((*i) + separation)) {
 103                             newEta = (*i) + separation;
 104                             //cerr << "Using  original" << (*i) << " + separation " << endl;
 105                         } else {
 106                             newEta = eta;
 107                             //cerr << "Using original after " << (*i) << endl;
 108                         }
 109                     } else if (eta < (*i)) {
 110                         found = true;
 111                         newEta = (*i) + separation;
 112                         //cerr << "Using delayed slot after " << (*i) << endl;
 113                     }
 114                     /*
 115                        if (((*j) - separation) < eta) {
 116                        found = true;
 117                        if (((*i) + separation) < eta) {
 118                        newEta = eta;
 119                        cerr << "Using original after " << (*i) << endl;
 120                        } else {
 121                        newEta = (*i) + separation;
 122                        cerr << "Using  " << (*i) << " + separation " << endl;
 123                        }
 124                        } */
 125                 }
 126             }
 127             i++;
 128         }
 129     }
 130     //cerr << ". done. New ETA : " << newEta << endl;
 131
 132     estimatedArrivalTimes.push_back(newEta);
 133     sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
 134     // do some housekeeping : remove any timestamps that are past
 135     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 136     TimeVectorIterator i = estimatedArrivalTimes.begin();
 137     while (i != estimatedArrivalTimes.end()) {
 138         if ((*i) < now) {
 139             //cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
 140             estimatedArrivalTimes.erase(i);
 141             i = estimatedArrivalTimes.begin();
 142         } else {
 143             i++;
 144         }
 145     }
 146     return newEta;
 147 }
 148
 149 void ActiveRunway::printDepartureCue()
 150 {
 151     cout << "Departure cue for " << rwy << ": " << endl;
 152     for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) {
 153         cout << "     " << (*atc)->getCallSign() << " "  << (*atc)->getTakeOffStatus();
 154         cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl;
 155     }
 156
 157 }
 158
 159 FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat)
 160 {
 161     for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) {
 162         if ((*atc)->getTakeOffStatus() == stat)
 163             return (*atc);
 164     }
 165     return 0;
 166 }
 167
 168
 169
 170 /***************************************************************************
 171  * FGTrafficRecord
 172  **************************************************************************/
 173 FGTrafficRecord::FGTrafficRecord():
 174         id(0), waitsForId(0),
 175         currentPos(0),
 176         leg(0),
 177         frequencyId(0),
 178         state(0),
 179         allowTransmission(true),
 180         allowPushback(true),
 181         priority(0),
 182         latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
 183 {
 184 }
 185
 186 void FGTrafficRecord::setPositionAndIntentions(int pos,
 187         FGAIFlightPlan * route)
 188 {
 189
 190     currentPos = pos;
 191     if (intentions.size()) {
 192         intVecIterator i = intentions.begin();
 193         if ((*i) != pos) {
 194             SG_LOG(SG_ATC, SG_ALERT,
 195                    "Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN);
 196         }
 197         intentions.erase(i);
 198     } else {
 199         //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
 200         int size = route->getNrOfWayPoints();
 201         //cerr << "Setting pos" << pos << " ";
 202         //cerr << "setting intentions ";
 203         for (int i = 2; i < size; i++) {
 204             int val = route->getRouteIndex(i);
 205             intentions.push_back(val);
 206         }
 207     }
 208 }
 209 /**
 210  * Check if another aircraft is ahead of the current one, and on the same
 211  * return true / false is the is/isn't the case.
 212  *
 213  ****************************************************************************/
 214
 215 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
 216 {
 217     bool result = false;
 218     //cerr << "Start check 1" << endl;
 219     if (currentPos == other.currentPos) {
 220         //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
 221         result = true;
 222     }
 223     //  else if (other.intentions.size())
 224     //     {
 225     //       cerr << "Start check 2" << endl;
 226     //       intVecIterator i = other.intentions.begin();
 227     //       while (!((i == other.intentions.end()) || ((*i) == currentPos)))
 228     //     i++;
 229     //       if (i != other.intentions.end()) {
 230     //     cerr << "Check Position and intentions: current matches other.intentions" << endl;
 231     //     result = true;
 232     //       }
 233     else if (intentions.size()) {
 234         //cerr << "Start check 3" << endl;
 235         intVecIterator i = intentions.begin();
 236         //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
 237         while (i != intentions.end()) {
 238             if ((*i) == other.currentPos) {
 239                 break;
 240             }
 241             i++;
 242         }
 243         if (i != intentions.end()) {
 244             //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
 245             result = true;
 246         }
 247     }
 248     //cerr << "Done !!" << endl;
 249     return result;
 250 }
 251
 252 void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
 253         double hdg, double spd,
 254         double alt)
 255 {
 256     latitude = lat;
 257     longitude = lon;
 258     heading = hdg;
 259     speed = spd;
 260     altitude = alt;
 261 }
 262
 263 int FGTrafficRecord::crosses(FGGroundNetwork * net,
 264                              FGTrafficRecord & other)
 265 {
 266     if (checkPositionAndIntentions(other)
 267             || (other.checkPositionAndIntentions(*this)))
 268         return -1;
 269     intVecIterator i, j;
 270     int currentTargetNode = 0, otherTargetNode = 0;
 271     if (currentPos > 0)
 272         currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
 273     if (other.currentPos > 0)
 274         otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex();     // OKAY,...
 275     if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
 276         return currentTargetNode;
 277     if (intentions.size()) {
 278         for (i = intentions.begin(); i != intentions.end(); i++) {
 279             if ((*i) > 0) {
 280                 if (currentTargetNode ==
 281                         net->findSegment(*i)->getEnd()->getIndex()) {
 282                     //cerr << "Current crosses at " << currentTargetNode <<endl;
 283                     return currentTargetNode;
 284                 }
 285             }
 286         }
 287     }
 288     if (other.intentions.size()) {
 289         for (i = other.intentions.begin(); i != other.intentions.end();
 290                 i++) {
 291             if ((*i) > 0) {
 292                 if (otherTargetNode ==
 293                         net->findSegment(*i)->getEnd()->getIndex()) {
 294                     //cerr << "Other crosses at " << currentTargetNode <<endl;
 295                     return otherTargetNode;
 296                 }
 297             }
 298         }
 299     }
 300     if (intentions.size() && other.intentions.size()) {
 301         for (i = intentions.begin(); i != intentions.end(); i++) {
 302             for (j = other.intentions.begin(); j != other.intentions.end();
 303                     j++) {
 304                 //cerr << "finding segment " << *i << " and " << *j << endl;
 305                 if (((*i) > 0) && ((*j) > 0)) {
 306                     currentTargetNode =
 307                         net->findSegment(*i)->getEnd()->getIndex();
 308                     otherTargetNode =
 309                         net->findSegment(*j)->getEnd()->getIndex();
 310                     if (currentTargetNode == otherTargetNode) {
 311                         //cerr << "Routes will cross at " << currentTargetNode << endl;
 312                         return currentTargetNode;
 313                     }
 314                 }
 315             }
 316         }
 317     }
 318     return -1;
 319 }
 320
 321 bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
 322                               FGTrafficRecord & other)
 323 {
 324     int node = -1, othernode = -1;
 325     if (currentPos > 0)
 326         node = net->findSegment(currentPos)->getEnd()->getIndex();
 327     if (other.currentPos > 0)
 328         othernode =
 329             net->findSegment(other.currentPos)->getEnd()->getIndex();
 330     if ((node == othernode) && (node != -1))
 331         return true;
 332     if (other.intentions.size()) {
 333         for (intVecIterator i = other.intentions.begin();
 334                 i != other.intentions.end(); i++) {
 335             if (*i > 0) {
 336                 othernode = net->findSegment(*i)->getEnd()->getIndex();
 337                 if ((node == othernode) && (node > -1))
 338                     return true;
 339             }
 340         }
 341     }
 342     //if (other.currentPos > 0)
 343     //  othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
 344     //if (intentions.size())
 345     //  {
 346     //    for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
 347     //    {
 348     //      if (*i > 0)
 349     //        {
 350     //          node = net->findSegment(*i)->getEnd()->getIndex();
 351     //          if ((node == othernode) && (node > -1))
 352     //            return true;
 353     //        }
 354     //    }
 355     //  }
 356     return false;
 357 }
 358
 359
 360 bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
 361                                  FGTrafficRecord & other, int node)
 362 {
 363     // Check if current segment is the reverse segment for the other aircraft
 364     FGTaxiSegment *opp;
 365     //cerr << "Current segment " << currentPos << endl;
 366     if ((currentPos > 0) && (other.currentPos > 0)) {
 367         opp = net->findSegment(currentPos)->opposite();
 368         if (opp) {
 369             if (opp->getIndex() == other.currentPos)
 370                 return true;
 371         }
 372
 373         for (intVecIterator i = intentions.begin(); i != intentions.end();
 374                 i++) {
 375             if ((opp = net->findSegment(other.currentPos)->opposite())) {
 376                 if ((*i) > 0)
 377                     if (opp->getIndex() ==
 378                             net->findSegment(*i)->getIndex()) {
 379                         if (net->findSegment(*i)->getStart()->getIndex() ==
 380                                 node) {
 381                             {
 382                                 //cerr << "Found the node " << node << endl;
 383                                 return true;
 384                             }
 385                         }
 386                     }
 387             }
 388             if (other.intentions.size()) {
 389                 for (intVecIterator j = other.intentions.begin();
 390                         j != other.intentions.end(); j++) {
 391                     // cerr << "Current segment 1 " << (*i) << endl;
 392                     if ((*i) > 0) {
 393                         if ((opp = net->findSegment(*i)->opposite())) {
 394                             if (opp->getIndex() ==
 395                                     net->findSegment(*j)->getIndex()) {
 396                                 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
 397                                 //   << " and  " << net->findSegment(*j)->getIndex()
 398                                 //   << " are opposites " << endl;
 399                                 if (net->findSegment(*i)->getStart()->
 400                                         getIndex() == node) {
 401                                     {
 402                                         //cerr << "Found the node " << node << endl;
 403                                         return true;
 404                                     }
 405                                 }
 406                             }
 407                         }
 408                     }
 409                 }
 410             }
 411         }
 412     }
 413     return false;
 414 }
 415
 416 bool FGTrafficRecord::isActive(int margin)
 417 {
 418     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 419     time_t deptime = aircraft->getTrafficRef()->getDepartureTime();
 420     return ((now + margin) > deptime);
 421 }
 422
 423
 424 void FGTrafficRecord::setSpeedAdjustment(double spd)
 425 {
 426     instruction.setChangeSpeed(true);
 427     instruction.setSpeed(spd);
 428 }
 429
 430 void FGTrafficRecord::setHeadingAdjustment(double heading)
 431 {
 432     instruction.setChangeHeading(true);
 433     instruction.setHeading(heading);
 434 }
 435
 436 bool FGTrafficRecord::pushBackAllowed()
 437 {
 438     return allowPushback;
 439 }
 440
 441
 442
 443
 444 /***************************************************************************
 445  * FGATCInstruction
 446  *
 447  **************************************************************************/
 448 FGATCInstruction::FGATCInstruction()
 449 {
 450     holdPattern = false;
 451     holdPosition = false;
 452     changeSpeed = false;
 453     changeHeading = false;
 454     changeAltitude = false;
 455     resolveCircularWait = false;
 456
 457     speed = 0;
 458     heading = 0;
 459     alt = 0;
 460 }
 461
 462
 463 bool FGATCInstruction::hasInstruction()
 464 {
 465     return (holdPattern || holdPosition || changeSpeed || changeHeading
 466             || changeAltitude || resolveCircularWait);
 467 }
 468
 469 /***************************************************************************
 470  * FGATCController
 471  *
 472  **************************************************************************/
 473
 474
 475
 476
 477 FGATCController::FGATCController()
 478 {
 479     //cerr << "running FGATController constructor" << endl;
 480     dt_count = 0;
 481     available = true;
 482     lastTransmission = 0;
 483     initialized = false;
 484 }
 485
 486 FGATCController::~FGATCController()
 487 {
 488     //cerr << "running FGATController destructor" << endl;
 489 }
 490
 491 string FGATCController::getGateName(FGAIAircraft * ref)
 492 {
 493     return ref->atGate();
 494 }
 495
 496 bool FGATCController::isUserAircraft(FGAIAircraft* ac)
 497 {
 498     return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
 499 };
 500
 501 void FGATCController::transmit(FGTrafficRecord * rec, FGAirportDynamics *parent, AtcMsgId msgId,
 502                                AtcMsgDir msgDir, bool audible)
 503 {
 504     string sender, receiver;
 505     int stationFreq = 0;
 506     int taxiFreq = 0;
 507     int towerFreq = 0;
 508     int freqId = 0;
 509     string atisInformation;
 510     string text;
 511     string taxiFreqStr;
 512     string towerFreqStr;
 513     double heading = 0;
 514     string activeRunway;
 515     string fltType;
 516     string rwyClass;
 517     string SID;
 518     string transponderCode;
 519     FGAIFlightPlan *fp;
 520     string fltRules;
 521     string instructionText;
 522     int ground_to_air=0;
 523
 524     //double commFreqD;
 525     sender = rec->getAircraft()->getTrafficRef()->getCallSign();
 526     if (rec->getAircraft()->getTaxiClearanceRequest()) {
 527         instructionText = "push-back and taxi";
 528     } else {
 529         instructionText = "taxi";
 530     }
 531     //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
 532     switch (rec->getLeg()) {
 533     case 1:
 534     case 2:
 535         freqId = rec->getNextFrequency();
 536         stationFreq =
 537             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 538             getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
 539         taxiFreq =
 540             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 541             getDynamics()->getGroundFrequency(2);
 542         towerFreq =
 543             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 544             getDynamics()->getTowerFrequency(2);
 545         receiver =
 546             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 547             getName() + "-Ground";
 548         atisInformation =
 549             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 550             getDynamics()->getAtisSequence();
 551         break;
 552     case 3:
 553         receiver =
 554             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 555             getName() + "-Tower";
 556         break;
 557     }
 558     // Swap sender and receiver value in case of a ground to air transmission
 559     if (msgDir == ATC_GROUND_TO_AIR) {
 560         string tmp = sender;
 561         sender = receiver;
 562         receiver = tmp;
 563         ground_to_air=1;
 564     }
 565     switch (msgId) {
 566     case MSG_ANNOUNCE_ENGINE_START:
 567         text = sender + ". Ready to Start up";
 568         break;
 569     case MSG_REQUEST_ENGINE_START:
 570         text =
 571             receiver + ", This is " + sender + ". Position " +
 572             getGateName(rec->getAircraft()) + ". Information " +
 573             atisInformation + ". " +
 574             rec->getAircraft()->getTrafficRef()->getFlightRules() +
 575             " to " +
 576             rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
 577             getName() + ". Request start-up";
 578         break;
 579         // Acknowledge engine startup permission
 580         // Assign departure runway
 581         // Assign SID, if necessery (TODO)
 582     case MSG_PERMIT_ENGINE_START:
 583         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 584
 585         heading = rec->getAircraft()->getTrafficRef()->getCourse();
 586         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
 587         rwyClass =
 588             rec->getAircraft()->GetFlightPlan()->
 589             getRunwayClassFromTrafficType(fltType);
 590
 591         rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 592         getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
 593                                        heading);
 594         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
 595         fp = NULL;
 596         rec->getAircraft()->GetFlightPlan()->setSID(fp);
 597         if (fp) {
 598             SID = fp->getName() + " departure";
 599         } else {
 600             SID = "fly runway heading ";
 601         }
 602         //snprintf(buffer, 7, "%3.2f", heading);
 603         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
 604         transponderCode = genTransponderCode(fltRules);
 605         rec->getAircraft()->SetTransponderCode(transponderCode);
 606         text =
 607             receiver + ". Start-up approved. " + atisInformation +
 608             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 609             transponderCode + ". " +
 610             "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
 611             sender + " control.";
 612         break;
 613     case MSG_DENY_ENGINE_START:
 614         text = receiver + ". Standby";
 615         break;
 616     case MSG_ACKNOWLEDGE_ENGINE_START:
 617         fp = rec->getAircraft()->GetFlightPlan()->getSID();
 618         if (fp) {
 619             SID =
 620                 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
 621                 " departure";
 622         } else {
 623             SID = "fly runway heading ";
 624         }
 625         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 626         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 627         transponderCode = rec->getAircraft()->GetTransponderCode();
 628
 629         text =
 630             receiver + ". Start-up approved. " + atisInformation +
 631             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 632             transponderCode + ". " +
 633             "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
 634             sender;
 635         break;
 636     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
 637         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 638         text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
 639         break;
 640     case MSG_INITIATE_CONTACT:
 641         text = receiver + ". With you. " + sender;
 642         break;
 643     case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
 644         text = receiver + ". Roger. " + sender;
 645         break;
 646     case MSG_REQUEST_PUSHBACK_CLEARANCE:
 647         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 648             text = receiver + ". Request push-back. " + sender;
 649         } else {
 650             text = receiver + ". Request Taxi clearance. " + sender;
 651         }
 652         break;
 653     case MSG_PERMIT_PUSHBACK_CLEARANCE:
 654         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 655             text = receiver + ". Push-back approved. " + sender;
 656         } else {
 657             text = receiver + ". Cleared to Taxi." + sender;
 658         }
 659         break;
 660     case MSG_HOLD_PUSHBACK_CLEARANCE:
 661         text = receiver + ". Standby. " + sender;
 662         break;
 663     case MSG_REQUEST_TAXI_CLEARANCE:
 664         text = receiver + ". Ready to Taxi. " + sender;
 665         break;
 666     case MSG_ISSUE_TAXI_CLEARANCE:
 667         text = receiver + ". Cleared to taxi. " + sender;
 668         break;
 669     case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
 670         text = receiver + ". Cleared to taxi. " + sender;
 671         break;
 672     case MSG_HOLD_POSITION:
 673         text = receiver + ". Hold Position. " + sender;
 674         break;
 675     case MSG_ACKNOWLEDGE_HOLD_POSITION:
 676         text = receiver + ". Holding Position. " + sender;
 677         break;
 678     case MSG_RESUME_TAXI:
 679         text = receiver + ". Resume Taxiing. " + sender;
 680         break;
 681     case MSG_ACKNOWLEDGE_RESUME_TAXI:
 682         text = receiver + ". Continuing Taxi. " + sender;
 683         break;
 684     case MSG_REPORT_RUNWAY_HOLD_SHORT:
 685         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 686         //activeRunway = "test";
 687         text = receiver + ". Holding short runway "
 688                + activeRunway
 689                + ". " + sender;
 690         //text = "test1";
 691         //cerr << "1 Currently at leg " << rec->getLeg() << endl;
 692         break;
 693     case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
 694         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 695         text = receiver + "Roger. Holding short runway "
 696                //                + activeRunway
 697                + ". " + sender;
 698         //text = "test2";
 699         //cerr << "2 Currently at leg " << rec->getLeg() << endl;
 700         break;
 701     case MSG_SWITCH_TOWER_FREQUENCY:
 702         towerFreqStr = formatATCFrequency3_2(towerFreq);
 703         text = receiver + "Contact Tower at " + towerFreqStr + ". " + sender;
 704         //text = "test3";
 705         //cerr << "3 Currently at leg " << rec->getLeg() << endl;
 706         break;
 707     case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
 708         towerFreqStr = formatATCFrequency3_2(towerFreq);
 709         text = receiver + "Roger, switching to tower at " + towerFreqStr + ". " + sender;
 710         //text = "test4";
 711         //cerr << "4 Currently at leg " << rec->getLeg() << endl;
 712         break;
 713     default:
 714         //text = "test3";
 715         text = text + sender + ". Transmitting unknown Message";
 716         break;
 717     }
 718     if (audible) {
 719         double onBoardRadioFreq0 =
 720             fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
 721         double onBoardRadioFreq1 =
 722             fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
 723         int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
 724         int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
 725         //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 726
 727         // Display ATC message only when one of the radios is tuned
 728         // the relevant frequency.
 729         // Note that distance attenuation is currently not yet implemented
 730
 731         if ((stationFreq > 0)&&
 732             ((onBoardRadioFreqI0 == stationFreq)||
 733              (onBoardRadioFreqI1 == stationFreq))) {
 734             if (rec->allowTransmissions()) {
 735
 736                 if( fgGetBool( "/sim/radio/use-itm-attenuation", false ) ) {
 737                         //cerr << "Using ITM radio propagation" << endl;
 738                         FGRadioTransmission* radio = new FGRadioTransmission();
 739                         SGGeod sender_pos;
 740                         double sender_alt_ft, sender_alt;
 741                         if(ground_to_air) {
 742                   sender_pos = parent->parent()->geod();
 743                                  }
 744                                 else {
 745                                       sender_alt_ft = rec->getAltitude();
 746                                       sender_alt = sender_alt_ft * SG_FEET_TO_METER;
 747                                       sender_pos= SGGeod::fromDegM( rec->getLongitude(),
 748                                              rec->getLatitude(), sender_alt );
 749                                 }
 750                                 double frequency = ((double)stationFreq) / 100;
 751                         radio->receiveATC(sender_pos, frequency, text, ground_to_air);
 752                         delete radio;
 753                 }
 754                 else {
 755                         fgSetString("/sim/messages/atc", text.c_str());
 756                 }
 757             }
 758         }
 759     } else {
 760         FGATCDialogNew::instance()->addEntry(1, text);
 761     }
 762 }
 763
 764
 765 string FGATCController::formatATCFrequency3_2(int freq)
 766 {
 767     char buffer[7];
 768     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
 769     return string(buffer);
 770 }
 771
 772 // TODO: Set transponder codes according to real-world routes.
 773 // The current version just returns a random string of four octal numbers.
 774 string FGATCController::genTransponderCode(const string& fltRules)
 775 {
 776     if (fltRules == "VFR") {
 777         return string("1200");
 778     } else {
 779         char buffer[5];
 780         snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
 781                  rand() % 8);
 782         return string(buffer);
 783     }
 784 }
 785
 786 void FGATCController::init()
 787 {
 788     if (!initialized) {
 789         FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
 790         mgr->addController(this);
 791         initialized = true;
 792     }
 793 }
 794
 795 /***************************************************************************
 796  * class FGTowerController
 797  *
 798  **************************************************************************/
 799 FGTowerController::FGTowerController(FGAirportDynamics *par) :
 800         FGATCController()
 801 {
 802     parent = par;
 803 }
 804
 805 //
 806 void FGTowerController::announcePosition(int id,
 807         FGAIFlightPlan * intendedRoute,
 808         int currentPosition, double lat,
 809         double lon, double heading,
 810         double speed, double alt,
 811         double radius, int leg,
 812         FGAIAircraft * ref)
 813 {
 814     init();
 815     TrafficVectorIterator i = activeTraffic.begin();
 816     // Search whether the current id alread has an entry
 817     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 818     if (activeTraffic.size()) {
 819         //while ((i->getId() != id) && i != activeTraffic.end()) {
 820         while (i != activeTraffic.end()) {
 821             if (i->getId() == id) {
 822                 break;
 823             }
 824             i++;
 825         }
 826     }
 827     // Add a new TrafficRecord if no one exsists for this aircraft.
 828     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 829         FGTrafficRecord rec;
 830         rec.setId(id);
 831
 832         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 833         rec.setRunway(intendedRoute->getRunway());
 834         rec.setLeg(leg);
 835         //rec.setCallSign(callsign);
 836         rec.setRadius(radius);
 837         rec.setAircraft(ref);
 838         activeTraffic.push_back(rec);
 839         // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
 840         ActiveRunwayVecIterator rwy = activeRunways.begin();
 841         if (activeRunways.size()) {
 842             while (rwy != activeRunways.end()) {
 843                 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
 844                     break;
 845                 }
 846                 rwy++;
 847             }
 848         }
 849         if (rwy == activeRunways.end()) {
 850             ActiveRunway aRwy(intendedRoute->getRunway(), id);
 851             aRwy.addToDepartureCue(ref);
 852             activeRunways.push_back(aRwy);
 853             rwy = (activeRunways.end()-1);
 854         } else {
 855             rwy->addToDepartureCue(ref);
 856         }
 857
 858         //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() <<  " for takeoff " << endl;
 859     } else {
 860         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 861     }
 862 }
 863
 864 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
 865         double heading, double speed, double alt,
 866         double dt)
 867 {
 868     TrafficVectorIterator i = activeTraffic.begin();
 869     // Search whether the current id has an entry
 870     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 871     TrafficVectorIterator current, closest;
 872     if (activeTraffic.size()) {
 873         //while ((i->getId() != id) && i != activeTraffic.end()) {
 874         while (i != activeTraffic.end()) {
 875             if (i->getId() == id) {
 876                 break;
 877             }
 878             i++;
 879         }
 880     }
 881 //    // update position of the current aircraft
 882     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 883         SG_LOG(SG_ATC, SG_ALERT,
 884                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
 885     } else {
 886         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 887         current = i;
 888     }
 889     setDt(getDt() + dt);
 890
 891     // see if we already have a clearance record for the currently active runway
 892     // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
 893     // already exists here. So, we can simplify the current code.
 894
 895     ActiveRunwayVecIterator rwy = activeRunways.begin();
 896     //if (parent->getId() == fgGetString("/sim/presets/airport-id")) {
 897     //    for (rwy = activeRunways.begin(); rwy != activeRunways.end(); rwy++) {
 898     //        rwy->printDepartureCue();
 899     //    }
 900     //}
 901
 902     rwy = activeRunways.begin();
 903     while (rwy != activeRunways.end()) {
 904         if (rwy->getRunwayName() == current->getRunway()) {
 905             break;
 906         }
 907         rwy++;
 908     }
 909
 910     // only bother running the following code if the current aircraft is the
 911     // first in line for depature
 912     /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 913         if (rwy->getCleared()) {
 914             if (id == rwy->getCleared()) {
 915                 current->setHoldPosition(false);
 916             } else {
 917                 current->setHoldPosition(true);
 918             }
 919         } else {
 920             // For now. At later stages, this will probably be the place to check for inbound traffc.
 921             rwy->setCleared(id);
 922         }
 923     } */
 924     // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
 925     FGAIAircraft* ac= rwy->getFirstAircraftInDepartureCue();
 926     if (ac->getTakeOffStatus() == 1) {
 927         ac->setTakeOffStatus(2);
 928     }
 929     if (current->getAircraft()->getTakeOffStatus() == 2) {
 930         current -> setHoldPosition(false);
 931     } else {
 932         current->setHoldPosition(true);
 933     }
 934     int clearanceId = rwy->getCleared();
 935     if (clearanceId) {
 936         if (id == clearanceId) {
 937             current->setHoldPosition(false);
 938         }
 939     } else {
 940         if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 941             rwy->setCleared(id);
 942             FGAIAircraft *ac = rwy->getFirstOfStatus(1);
 943             if (ac)
 944                 ac->setTakeOffStatus(2);
 945         }
 946     }
 947 }
 948
 949
 950 void FGTowerController::signOff(int id)
 951 {
 952     TrafficVectorIterator i = activeTraffic.begin();
 953     // Search search if the current id alread has an entry
 954     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 955     if (activeTraffic.size()) {
 956         //while ((i->getId() != id) && i != activeTraffic.end()) {
 957         while (i != activeTraffic.end()) {
 958             if (i->getId() == id) {
 959                 break;
 960             }
 961             i++;
 962         }
 963     }
 964     // If this aircraft has left the runway, we can clear the departure record for this runway
 965     ActiveRunwayVecIterator rwy = activeRunways.begin();
 966     if (activeRunways.size()) {
 967         //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
 968         while (rwy != activeRunways.end()) {
 969             if (rwy->getRunwayName() == i->getRunway()) {
 970                 break;
 971             }
 972             rwy++;
 973         }
 974         if (rwy != activeRunways.end()) {
 975             rwy->setCleared(0);
 976             rwy->updateDepartureCue();
 977         } else {
 978             SG_LOG(SG_ATC, SG_ALERT,
 979                    "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN);
 980         }
 981     }
 982     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 983         SG_LOG(SG_ATC, SG_ALERT,
 984                "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
 985     } else {
 986         i->getAircraft()->resetTakeOffStatus();
 987         i = activeTraffic.erase(i);
 988         //cerr << "Signing off from tower controller" << endl;
 989     }
 990 }
 991
 992 // NOTE:
 993 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
 994 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
 995 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
 996 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
 997 // Note that this function is probably obsolete
 998 bool FGTowerController::hasInstruction(int id)
 999 {
1000     TrafficVectorIterator i = activeTraffic.begin();
1001     // Search search if the current id has an entry
1002     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1003     if (activeTraffic.size()) {
1004         //while ((i->getId() != id) && i != activeTraffic.end()) {
1005         while (i != activeTraffic.end()) {
1006             if (i->getId() == id) {
1007                 break;
1008             }
1009             i++;
1010         }
1011     }
1012     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1013         SG_LOG(SG_ATC, SG_ALERT,
1014                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1015     } else {
1016         return i->hasInstruction();
1017     }
1018     return false;
1019 }
1020
1021
1022 FGATCInstruction FGTowerController::getInstruction(int id)
1023 {
1024     TrafficVectorIterator i = activeTraffic.begin();
1025     // Search search if the current id has an entry
1026     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1027     if (activeTraffic.size()) {
1028         //while ((i->getId() != id) && i != activeTraffic.end()) {
1029         while (i != activeTraffic.end()) {
1030             if (i->getId() == id) {
1031                 break;
1032             }
1033             i++;
1034         }
1035     }
1036     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1037         SG_LOG(SG_ATC, SG_ALERT,
1038                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1039     } else {
1040         return i->getInstruction();
1041     }
1042     return FGATCInstruction();
1043 }
1044
1045 void FGTowerController::render(bool visible) {
1046     //cerr << "FGTowerController::render function not yet implemented" << endl;
1047 }
1048
1049 string FGTowerController::getName() {
1050     return string(parent->getId() + "-tower");
1051 }
1052
1053 void FGTowerController::update(double dt)
1054 {
1055
1056 }
1057
1058
1059
1060 /***************************************************************************
1061  * class FGStartupController
1062  *
1063  **************************************************************************/
1064 FGStartupController::FGStartupController(FGAirportDynamics *par):
1065         FGATCController()
1066 {
1067     parent = par;
1068 }
1069
1070 void FGStartupController::announcePosition(int id,
1071         FGAIFlightPlan * intendedRoute,
1072         int currentPosition, double lat,
1073         double lon, double heading,
1074         double speed, double alt,
1075         double radius, int leg,
1076         FGAIAircraft * ref)
1077 {
1078     init();
1079     TrafficVectorIterator i = activeTraffic.begin();
1080     // Search whether the current id alread has an entry
1081     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1082     if (activeTraffic.size()) {
1083         //while ((i->getId() != id) && i != activeTraffic.end()) {
1084         while (i != activeTraffic.end()) {
1085             if (i->getId() == id) {
1086                 break;
1087             }
1088             i++;
1089         }
1090     }
1091     // Add a new TrafficRecord if no one exsists for this aircraft.
1092     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1093         FGTrafficRecord rec;
1094         rec.setId(id);
1095
1096         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1097         rec.setRunway(intendedRoute->getRunway());
1098         rec.setLeg(leg);
1099         rec.setPositionAndIntentions(currentPosition, intendedRoute);
1100         //rec.setCallSign(callsign);
1101         rec.setAircraft(ref);
1102         rec.setHoldPosition(true);
1103         activeTraffic.push_back(rec);
1104     } else {
1105         i->setPositionAndIntentions(currentPosition, intendedRoute);
1106         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1107
1108     }
1109 }
1110
1111 // NOTE:
1112 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1113 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1114 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1115 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1116 // Note that this function is probably obsolete
1117 bool FGStartupController::hasInstruction(int id)
1118 {
1119     TrafficVectorIterator i = activeTraffic.begin();
1120     // Search search if the current id has an entry
1121     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1122     if (activeTraffic.size()) {
1123         //while ((i->getId() != id) && i != activeTraffic.end()) {
1124         while (i != activeTraffic.end()) {
1125             if (i->getId() == id) {
1126                 break;
1127             }
1128             i++;
1129         }
1130     }
1131     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1132         SG_LOG(SG_ATC, SG_ALERT,
1133                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1134     } else {
1135         return i->hasInstruction();
1136     }
1137     return false;
1138 }
1139
1140
1141 FGATCInstruction FGStartupController::getInstruction(int id)
1142 {
1143     TrafficVectorIterator i = activeTraffic.begin();
1144     // Search search if the current id has an entry
1145     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1146     if (activeTraffic.size()) {
1147         //while ((i->getId() != id) && i != activeTraffic.end()) {
1148         while (i != activeTraffic.end()) {
1149             if (i->getId() == id) {
1150                 break;
1151             }
1152             i++;
1153         }
1154     }
1155     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1156         SG_LOG(SG_ATC, SG_ALERT,
1157                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1158     } else {
1159         return i->getInstruction();
1160     }
1161     return FGATCInstruction();
1162 }
1163
1164 void FGStartupController::signOff(int id)
1165 {
1166     TrafficVectorIterator i = activeTraffic.begin();
1167     // Search search if the current id alread has an entry
1168     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1169     if (activeTraffic.size()) {
1170         //while ((i->getId() != id) && i != activeTraffic.end()) {
1171         while (i != activeTraffic.end()) {
1172             if (i->getId() == id) {
1173                 break;
1174             }
1175             i++;
1176         }
1177     }
1178     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1179         SG_LOG(SG_ATC, SG_ALERT,
1180                "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
1181     } else {
1182         //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1183         i = activeTraffic.erase(i);
1184     }
1185 }
1186
1187 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1188         AtcMsgDir msgDir)
1189 {
1190     int state = i->getState();
1191     if ((state == st) && available) {
1192         if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1193
1194             //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1195             SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1196             int n = trans_num->getIntValue();
1197             if (n == 0) {
1198                 trans_num->setIntValue(-1);
1199                 // PopupCallback(n);
1200                 //cerr << "Selected transmission message " << n << endl;
1201                 FGATCDialogNew::instance()->removeEntry(1);
1202             } else {
1203                 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1204                 transmit(&(*i), &(*parent), msgId, msgDir, false);
1205                 return false;
1206             }
1207         }
1208         if (now > startTime) {
1209             //cerr << "Transmitting startup msg" << endl;
1210             transmit(&(*i), &(*parent), msgId, msgDir, true);
1211             i->updateState();
1212             lastTransmission = now;
1213             available = false;
1214             return true;
1215         }
1216     }
1217     return false;
1218 }
1219
1220 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1221         double heading, double speed, double alt,
1222         double dt)
1223 {
1224     TrafficVectorIterator i = activeTraffic.begin();
1225     // Search search if the current id has an entry
1226     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1227     TrafficVectorIterator current, closest;
1228     if (activeTraffic.size()) {
1229         //while ((i->getId() != id) && i != activeTraffic.end()) {
1230         while (i != activeTraffic.end()) {
1231             if (i->getId() == id) {
1232                 break;
1233             }
1234             i++;
1235         }
1236     }
1237 //    // update position of the current aircraft
1238
1239     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1240         SG_LOG(SG_ATC, SG_ALERT,
1241                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
1242     } else {
1243         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1244         current = i;
1245     }
1246     setDt(getDt() + dt);
1247
1248     int state = i->getState();
1249
1250     // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1251     // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1252     time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1253     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1254     //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1255     //     << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1256     //     << " at parking " << getGateName(i->getAircraft()) << endl;
1257
1258     if ((now - lastTransmission) > 3 + (rand() % 15)) {
1259         available = true;
1260     }
1261
1262     checkTransmissionState(0, now, (startTime + 0  ), i, MSG_ANNOUNCE_ENGINE_START,                     ATC_AIR_TO_GROUND);
1263     checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START,                      ATC_AIR_TO_GROUND);
1264     checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START,                       ATC_GROUND_TO_AIR);
1265     checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START,                  ATC_AIR_TO_GROUND);
1266     if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,       ATC_AIR_TO_GROUND)) {
1267         i->nextFrequency();
1268     }
1269     checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT,                          ATC_AIR_TO_GROUND);
1270     checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT,              ATC_GROUND_TO_AIR);
1271     checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE,                ATC_AIR_TO_GROUND);
1272
1273
1274
1275     if ((state == 8) && available) {
1276         if (now > startTime + 200) {
1277             if (i->pushBackAllowed()) {
1278                 i->allowRepeatedTransmissions();
1279                 transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
1280                          ATC_GROUND_TO_AIR, true);
1281                 i->updateState();
1282             } else {
1283                 transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
1284                          ATC_GROUND_TO_AIR, true);
1285                 i->suppressRepeatedTransmissions();
1286             }
1287             lastTransmission = now;
1288             available = false;
1289         }
1290     }
1291     if ((state == 9) && available) {
1292         i->setHoldPosition(false);
1293     }
1294 }
1295
1296 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1297 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1298                             double lon, double elev, double hdg, double slope)
1299 {
1300     SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1301     obj_pos = makeZUpFrame(geod);
1302     // hdg is not a compass heading, but a counter-clockwise rotation
1303     // around the Z axis
1304     obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1305                                         0.0, 0.0, 1.0));
1306     obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
1307                                         0.0, 1.0, 0.0));
1308 }
1309
1310
1311 void FGStartupController::render(bool visible)
1312 {
1313
1314     SGMaterialLib *matlib = globals->get_matlib();
1315     if (group) {
1316         //int nr = ;
1317         globals->get_scenery()->get_scene_graph()->removeChild(group);
1318         //while (group->getNumChildren()) {
1319         //  cerr << "Number of children: " << group->getNumChildren() << endl;
1320         //simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1321         //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1322         //geode->releaseGLObjects();
1323         //group->removeChild(geode);
1324         //delete geode;
1325         group = 0;
1326     }
1327     if (visible) {
1328         group = new osg::Group;
1329         FGScenery * local_scenery = globals->get_scenery();
1330         //double elevation_meters = 0.0;
1331         //double elevation_feet = 0.0;
1332
1333
1334         //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1335         double dx = 0;
1336         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1337         for   (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1338             if (i->isActive(300)) {
1339                 // Handle start point
1340                 int pos = i->getCurrentPosition();
1341                 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1342                 if (pos > 0) {
1343                     FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(pos);
1344                     SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1345                     SGGeod end  (segment->getEnd()->geod());
1346
1347                     double length = SGGeodesy::distanceM(start, end);
1348                     //heading = SGGeodesy::headingDeg(start->geod(), end->geod());
1349
1350                     double az2, heading; //, distanceM;
1351                     SGGeodesy::inverse(start, end, heading, az2, length);
1352                     double coveredDistance = length * 0.5;
1353                     SGGeod center;
1354                     SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1355                     //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1356                     ///////////////////////////////////////////////////////////////////////////////
1357                     // Make a helper function out of this
1358                     osg::Matrix obj_pos;
1359                     osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1360                     obj_trans->setDataVariance(osg::Object::STATIC);
1361                     // Experimental: Calculate slope here, based on length, and the individual elevations
1362                     double elevationStart;
1363                     if (isUserAircraft((i)->getAircraft())) {
1364                         elevationStart = fgGetDouble("/position/ground-elev-m");
1365                     } else {
1366                         elevationStart = ((i)->getAircraft()->_getAltitude() * SG_FEET_TO_METER);
1367                     }
1368                     double elevationEnd   = segment->getEnd()->getElevationM();
1369                     if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1370                         SGGeod center2 = end;
1371                         center2.setElevationM(SG_MAX_ELEVATION_M);
1372                         if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1373                             //elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1374                             //elevation_meters += 0.5;
1375                         }
1376                         else {
1377                             elevationEnd = parent->getElevation();
1378                         }
1379                         segment->getEnd()->setElevation(elevationEnd);
1380                     }
1381
1382                     double elevationMean  = (elevationStart + elevationEnd) / 2.0;
1383                     double elevDiff       = elevationEnd - elevationStart;
1384
1385                     double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1386
1387                     //cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
1388
1389                     WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5 + dx, -(heading), slope );
1390                     ;
1391
1392                     obj_trans->setMatrix( obj_pos );
1393                     //osg::Vec3 center(0, 0, 0)
1394
1395                     float width = length /2.0;
1396                     osg::Vec3 corner(-width, 0, 0.25f);
1397                     osg::Vec3 widthVec(2*width + 1, 0, 0);
1398                     osg::Vec3 heightVec(0, 1, 0);
1399                     osg::Geometry* geometry;
1400                     geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1401                     simgear::EffectGeode* geode = new simgear::EffectGeode;
1402                     geode->setName("test");
1403                     geode->addDrawable(geometry);
1404                     //osg::Node *custom_obj;
1405                     SGMaterial *mat;
1406                     if (segment->hasBlock(now)) {
1407                         mat = matlib->find("UnidirectionalTaperRed");
1408                     } else {
1409                         mat = matlib->find("UnidirectionalTaperGreen");
1410                     }
1411                     if (mat)
1412                         geode->setEffect(mat->get_effect());
1413                     obj_trans->addChild(geode);
1414                     // wire as much of the scene graph together as we can
1415                     //->addChild( obj_trans );
1416                     group->addChild( obj_trans );
1417                     /////////////////////////////////////////////////////////////////////
1418                 } else {
1419                     //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1420                 }
1421                 for (intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1422                     osg::Matrix obj_pos;
1423                     int k = (*j);
1424                     if (k > 0) {
1425                         //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1426                         osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1427                         obj_trans->setDataVariance(osg::Object::STATIC);
1428                         FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(k);
1429
1430                         double elevationStart = segment->getStart()->getElevationM();
1431                         double elevationEnd   = segment->getEnd  ()->getElevationM();
1432                         if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
1433                             SGGeod center2 = segment->getStart()->geod();
1434                             center2.setElevationM(SG_MAX_ELEVATION_M);
1435                             if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
1436                                 //elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
1437                                 //elevation_meters += 0.5;
1438                             }
1439                             else {
1440                                 elevationStart = parent->getElevation();
1441                             }
1442                             segment->getStart()->setElevation(elevationStart);
1443                         }
1444                         if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1445                             SGGeod center2 = segment->getEnd()->geod();
1446                             center2.setElevationM(SG_MAX_ELEVATION_M);
1447                             if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1448                                 //elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1449                                 //elevation_meters += 0.5;
1450                             }
1451                             else {
1452                                 elevationEnd = parent->getElevation();
1453                             }
1454                             segment->getEnd()->setElevation(elevationEnd);
1455                         }
1456
1457                         double elevationMean  = (elevationStart + elevationEnd) / 2.0;
1458                         double elevDiff       = elevationEnd - elevationStart;
1459                         double length         = segment->getLength();
1460                         double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1461
1462                         //cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
1463
1464                         SGGeod segCenter(segment->getCenter());
1465                         WorldCoordinate( obj_pos, segCenter.getLatitudeDeg(),
1466                                         segCenter.getLongitudeDeg(), elevationMean + 0.5 + dx, -(segment->getHeading()), slope );
1467
1468                         //WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1469
1470                         obj_trans->setMatrix( obj_pos );
1471                         //osg::Vec3 center(0, 0, 0)
1472
1473                         float width = segment->getLength() /2.0;
1474                         osg::Vec3 corner(-width, 0, 0.25f);
1475                         osg::Vec3 widthVec(2*width + 1, 0, 0);
1476                         osg::Vec3 heightVec(0, 1, 0);
1477                         osg::Geometry* geometry;
1478                         geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1479                         simgear::EffectGeode* geode = new simgear::EffectGeode;
1480                         geode->setName("test");
1481                         geode->addDrawable(geometry);
1482                         //osg::Node *custom_obj;
1483                         SGMaterial *mat;
1484                         if (segment->hasBlock(now)) {
1485                             mat = matlib->find("UnidirectionalTaperRed");
1486                         } else {
1487                             mat = matlib->find("UnidirectionalTaperGreen");
1488                         }
1489                         if (mat)
1490                             geode->setEffect(mat->get_effect());
1491                         obj_trans->addChild(geode);
1492                         // wire as much of the scene graph together as we can
1493                         //->addChild( obj_trans );
1494                         group->addChild( obj_trans );
1495                     } else {
1496                         //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1497                     }
1498                 }
1499                 dx += 0.2;
1500             }
1501         }
1502         globals->get_scenery()->get_scene_graph()->addChild(group);
1503     }
1504 }
1505
1506 string FGStartupController::getName() {
1507     return string(parent->getId() + "-startup");
1508 }
1509
1510 void FGStartupController::update(double dt)
1511 {
1512
1513 }
1514
1515
1516
1517 /***************************************************************************
1518  * class FGApproachController
1519  *
1520  **************************************************************************/
1521 FGApproachController::FGApproachController(FGAirportDynamics *par):
1522         FGATCController()
1523 {
1524     parent = par;
1525 }
1526
1527 //
1528 void FGApproachController::announcePosition(int id,
1529         FGAIFlightPlan * intendedRoute,
1530         int currentPosition,
1531         double lat, double lon,
1532         double heading, double speed,
1533         double alt, double radius,
1534         int leg, FGAIAircraft * ref)
1535 {
1536     init();
1537     TrafficVectorIterator i = activeTraffic.begin();
1538     // Search whether the current id alread has an entry
1539     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1540     if (activeTraffic.size()) {
1541         //while ((i->getId() != id) && i != activeTraffic.end()) {
1542         while (i != activeTraffic.end()) {
1543             if (i->getId() == id) {
1544                 break;
1545             }
1546             i++;
1547         }
1548     }
1549     // Add a new TrafficRecord if no one exsists for this aircraft.
1550     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1551         FGTrafficRecord rec;
1552         rec.setId(id);
1553
1554         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1555         rec.setRunway(intendedRoute->getRunway());
1556         rec.setLeg(leg);
1557         //rec.setCallSign(callsign);
1558         rec.setAircraft(ref);
1559         activeTraffic.push_back(rec);
1560     } else {
1561         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1562     }
1563 }
1564
1565 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1566         double heading, double speed, double alt,
1567         double dt)
1568 {
1569     TrafficVectorIterator i = activeTraffic.begin();
1570     // Search search if the current id has an entry
1571     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1572     TrafficVectorIterator current, closest;
1573     if (activeTraffic.size()) {
1574         //while ((i->getId() != id) && i != activeTraffic.end()) {
1575         while (i != activeTraffic.end()) {
1576             if (i->getId() == id) {
1577                 break;
1578             }
1579             i++;
1580         }
1581     }
1582 //    // update position of the current aircraft
1583     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1584         SG_LOG(SG_ATC, SG_ALERT,
1585                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
1586     } else {
1587         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1588         current = i;
1589         //cerr << "ApproachController: checking for speed" << endl;
1590         time_t time_diff =
1591             current->getAircraft()->
1592             checkForArrivalTime(string("final001"));
1593         if (time_diff > 15) {
1594             current->setSpeedAdjustment(current->getAircraft()->
1595                                         getPerformance()->vDescent() *
1596                                         1.35);
1597         } else if (time_diff > 5) {
1598             current->setSpeedAdjustment(current->getAircraft()->
1599                                         getPerformance()->vDescent() *
1600                                         1.2);
1601         } else if (time_diff < -15) {
1602             current->setSpeedAdjustment(current->getAircraft()->
1603                                         getPerformance()->vDescent() *
1604                                         0.65);
1605         } else if (time_diff < -5) {
1606             current->setSpeedAdjustment(current->getAircraft()->
1607                                         getPerformance()->vDescent() *
1608                                         0.8);
1609         } else {
1610             current->clearSpeedAdjustment();
1611         }
1612         //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1613     }
1614     setDt(getDt() + dt);
1615 }
1616
1617 void FGApproachController::signOff(int id)
1618 {
1619     TrafficVectorIterator i = activeTraffic.begin();
1620     // Search search if the current id alread has an entry
1621     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1622     if (activeTraffic.size()) {
1623         //while ((i->getId() != id) && i != activeTraffic.end()) {
1624         while (i != activeTraffic.end()) {
1625             if (i->getId() == id) {
1626                 break;
1627             }
1628             i++;
1629         }
1630     }
1631     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1632         SG_LOG(SG_ATC, SG_ALERT,
1633                "AI error: Aircraft without traffic record is signing off from approach at " << SG_ORIGIN);
1634     } else {
1635         i = activeTraffic.erase(i);
1636     }
1637 }
1638
1639 void FGApproachController::update(double dt)
1640 {
1641
1642 }
1643
1644
1645
1646 bool FGApproachController::hasInstruction(int id)
1647 {
1648     TrafficVectorIterator i = activeTraffic.begin();
1649     // Search search if the current id has an entry
1650     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1651     if (activeTraffic.size()) {
1652         //while ((i->getId() != id) && i != activeTraffic.end()) {
1653         while (i != activeTraffic.end()) {
1654             if (i->getId() == id) {
1655                 break;
1656             }
1657             i++;
1658         }
1659     }
1660     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1661         SG_LOG(SG_ATC, SG_ALERT,
1662                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1663     } else {
1664         return i->hasInstruction();
1665     }
1666     return false;
1667 }
1668
1669
1670 FGATCInstruction FGApproachController::getInstruction(int id)
1671 {
1672     TrafficVectorIterator i = activeTraffic.begin();
1673     // Search search if the current id has an entry
1674     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1675     if (activeTraffic.size()) {
1676         //while ((i->getId() != id) && i != activeTraffic.end()) {
1677         while (i != activeTraffic.end()) {
1678             if (i->getId() == id) {
1679                 break;
1680             }
1681             i++;
1682         }
1683     }
1684     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1685         SG_LOG(SG_ATC, SG_ALERT,
1686                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1687     } else {
1688         return i->getInstruction();
1689     }
1690     return FGATCInstruction();
1691 }
1692
1693
1694 ActiveRunway *FGApproachController::getRunway(const string& name)
1695 {
1696     ActiveRunwayVecIterator rwy = activeRunways.begin();
1697     if (activeRunways.size()) {
1698         while (rwy != activeRunways.end()) {
1699             if (rwy->getRunwayName() == name) {
1700                 break;
1701             }
1702             rwy++;
1703         }
1704     }
1705     if (rwy == activeRunways.end()) {
1706         ActiveRunway aRwy(name, 0);
1707         activeRunways.push_back(aRwy);
1708         rwy = activeRunways.end() - 1;
1709     }
1710     return &(*rwy);
1711 }
1712
1713 void FGApproachController::render(bool visible) {
1714     //cerr << "FGApproachController::render function not yet implemented" << endl;
1715 }
1716
1717
1718
1719 string FGApproachController::getName() {
1720     return string(parent->getId() + "-approach");
1721 }