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