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 latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
 154 {
 155 }
 156
 157 void FGTrafficRecord::setPositionAndIntentions(int pos,
 158                                                FGAIFlightPlan * route)
 159 {
 160
 161     currentPos = pos;
 162     if (intentions.size()) {
 163         intVecIterator i = intentions.begin();
 164         if ((*i) != pos) {
 165             SG_LOG(SG_GENERAL, SG_ALERT,
 166                    "Error in FGTrafficRecord::setPositionAndIntentions");
 167             //cerr << "Pos : " << pos << " Curr " << *(intentions.begin())  << endl;
 168             for (intVecIterator i = intentions.begin();
 169                  i != intentions.end(); i++) {
 170                 //cerr << (*i) << " ";
 171             }
 172             //cerr << endl;
 173         }
 174         intentions.erase(i);
 175     } else {
 176         //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
 177         int size = route->getNrOfWayPoints();
 178         //cerr << "Setting pos" << pos << " ";
 179         //cerr << "setting intentions ";
 180         for (int i = 0; i < size; i++) {
 181             int val = route->getRouteIndex(i);
 182             //cerr << val<< " ";
 183             if ((val) && (val != pos)) {
 184                 intentions.push_back(val);
 185                 //cerr << "[set] ";
 186             }
 187         }
 188         //cerr << endl;
 189         //while (route->next(&legNr, &routeNr)) {
 190         //intentions.push_back(routeNr);
 191         //}
 192         //route->rewind(currentPos);
 193     }
 194     //exit(1);
 195 }
 196 /**
 197  * Check if another aircraft is ahead of the current one, and on the same
 198  * return true / false is the is/isn't the case.
 199  *
 200  ****************************************************************************/
 201
 202 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
 203 {
 204     bool result = false;
 205     //cerr << "Start check 1" << endl;
 206     if (currentPos == other.currentPos) {
 207         //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
 208         result = true;
 209     }
 210     //  else if (other.intentions.size())
 211     //     {
 212     //       cerr << "Start check 2" << endl;
 213     //       intVecIterator i = other.intentions.begin();
 214     //       while (!((i == other.intentions.end()) || ((*i) == currentPos)))
 215     //     i++;
 216     //       if (i != other.intentions.end()) {
 217     //     cerr << "Check Position and intentions: current matches other.intentions" << endl;
 218     //     result = true;
 219     //       }
 220     else if (intentions.size()) {
 221         //cerr << "Start check 3" << endl;
 222         intVecIterator i = intentions.begin();
 223         //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
 224         while (i != intentions.end()) {
 225             if ((*i) == other.currentPos) {
 226                 break;
 227             }
 228             i++;
 229         }
 230         if (i != intentions.end()) {
 231             //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
 232             result = true;
 233         }
 234     }
 235     //cerr << "Done !!" << endl;
 236     return result;
 237 }
 238
 239 void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
 240                                             double hdg, double spd,
 241                                             double alt)
 242 {
 243     latitude = lat;
 244     longitude = lon;
 245     heading = hdg;
 246     speed = spd;
 247     altitude = alt;
 248 }
 249
 250 int FGTrafficRecord::crosses(FGGroundNetwork * net,
 251                              FGTrafficRecord & other)
 252 {
 253     if (checkPositionAndIntentions(other)
 254         || (other.checkPositionAndIntentions(*this)))
 255         return -1;
 256     intVecIterator i, j;
 257     int currentTargetNode = 0, otherTargetNode = 0;
 258     if (currentPos > 0)
 259         currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
 260     if (other.currentPos > 0)
 261         otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex();     // OKAY,...
 262     if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
 263         return currentTargetNode;
 264     if (intentions.size()) {
 265         for (i = intentions.begin(); i != intentions.end(); i++) {
 266             if ((*i) > 0) {
 267                 if ((currentTargetNode ==
 268                      net->findSegment(*i)->getEnd()->getIndex())) {
 269                     //cerr << "Current crosses at " << currentTargetNode <<endl;
 270                     return currentTargetNode;
 271                 }
 272             }
 273         }
 274     }
 275     if (other.intentions.size()) {
 276         for (i = other.intentions.begin(); i != other.intentions.end();
 277              i++) {
 278             if ((*i) > 0) {
 279                 if (otherTargetNode ==
 280                     net->findSegment(*i)->getEnd()->getIndex()) {
 281                     //cerr << "Other crosses at " << currentTargetNode <<endl;
 282                     return otherTargetNode;
 283                 }
 284             }
 285         }
 286     }
 287     if (intentions.size() && other.intentions.size()) {
 288         for (i = intentions.begin(); i != intentions.end(); i++) {
 289             for (j = other.intentions.begin(); j != other.intentions.end();
 290                  j++) {
 291                 //cerr << "finding segment " << *i << " and " << *j << endl;
 292                 if (((*i) > 0) && ((*j) > 0)) {
 293                     currentTargetNode =
 294                         net->findSegment(*i)->getEnd()->getIndex();
 295                     otherTargetNode =
 296                         net->findSegment(*j)->getEnd()->getIndex();
 297                     if (currentTargetNode == otherTargetNode) {
 298                         //cerr << "Routes will cross at " << currentTargetNode << endl;
 299                         return currentTargetNode;
 300                     }
 301                 }
 302             }
 303         }
 304     }
 305     return -1;
 306 }
 307
 308 bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
 309                               FGTrafficRecord & other)
 310 {
 311     int node = -1, othernode = -1;
 312     if (currentPos > 0)
 313         node = net->findSegment(currentPos)->getEnd()->getIndex();
 314     if (other.currentPos > 0)
 315         othernode =
 316             net->findSegment(other.currentPos)->getEnd()->getIndex();
 317     if ((node == othernode) && (node != -1))
 318         return true;
 319     if (other.intentions.size()) {
 320         for (intVecIterator i = other.intentions.begin();
 321              i != other.intentions.end(); i++) {
 322             if (*i > 0) {
 323                 othernode = net->findSegment(*i)->getEnd()->getIndex();
 324                 if ((node == othernode) && (node > -1))
 325                     return true;
 326             }
 327         }
 328     }
 329     //if (other.currentPos > 0)
 330     //  othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
 331     //if (intentions.size())
 332     //  {
 333     //    for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
 334     //    {
 335     //      if (*i > 0)
 336     //        {
 337     //          node = net->findSegment(*i)->getEnd()->getIndex();
 338     //          if ((node == othernode) && (node > -1))
 339     //            return true;
 340     //        }
 341     //    }
 342     //  }
 343     return false;
 344 }
 345
 346
 347 bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
 348                                  FGTrafficRecord & other, int node)
 349 {
 350     // Check if current segment is the reverse segment for the other aircraft
 351     FGTaxiSegment *opp;
 352     //cerr << "Current segment " << currentPos << endl;
 353     if ((currentPos > 0) && (other.currentPos > 0)) {
 354         opp = net->findSegment(currentPos)->opposite();
 355         if (opp) {
 356             if (opp->getIndex() == other.currentPos)
 357                 return true;
 358         }
 359
 360         for (intVecIterator i = intentions.begin(); i != intentions.end();
 361              i++) {
 362             if ((opp = net->findSegment(other.currentPos)->opposite())) {
 363                 if ((*i) > 0)
 364                     if (opp->getIndex() ==
 365                         net->findSegment(*i)->getIndex()) {
 366                         if (net->findSegment(*i)->getStart()->getIndex() ==
 367                             node) {
 368                             {
 369                                 //cerr << "Found the node " << node << endl;
 370                                 return true;
 371                             }
 372                         }
 373                     }
 374             }
 375             if (other.intentions.size()) {
 376                 for (intVecIterator j = other.intentions.begin();
 377                      j != other.intentions.end(); j++) {
 378                     // cerr << "Current segment 1 " << (*i) << endl;
 379                     if ((*i) > 0) {
 380                         if ((opp = net->findSegment(*i)->opposite())) {
 381                             if (opp->getIndex() ==
 382                                 net->findSegment(*j)->getIndex()) {
 383                                 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
 384                                 //   << " and  " << net->findSegment(*j)->getIndex()
 385                                 //   << " are opposites " << endl;
 386                                 if (net->findSegment(*i)->getStart()->
 387                                     getIndex() == node) {
 388                                     {
 389                                         //cerr << "Found the node " << node << endl;
 390                                         return true;
 391                                     }
 392                                 }
 393                             }
 394                         }
 395                     }
 396                 }
 397             }
 398         }
 399     }
 400     return false;
 401 }
 402
 403 void FGTrafficRecord::setSpeedAdjustment(double spd)
 404 {
 405     instruction.setChangeSpeed(true);
 406     instruction.setSpeed(spd);
 407 }
 408
 409 void FGTrafficRecord::setHeadingAdjustment(double heading)
 410 {
 411     instruction.setChangeHeading(true);
 412     instruction.setHeading(heading);
 413 }
 414
 415 bool FGTrafficRecord::pushBackAllowed()
 416 {
 417     // With the user ATC / AI integration, checking whether the user's aircraft is near no longer works, because
 418     // this will effectively block the user's aircraft itself from receiving pushback clearance.
 419     // So, what can we do?
 420     /*
 421     double course, az2, dist;
 422     SGGeod curr(SGGeod::fromDegM(getLongitude(),
 423                                  getLatitude(), getAltitude()));
 424
 425     double userLatitude = fgGetDouble("/position/latitude-deg");
 426     double userLongitude = fgGetDouble("/position/longitude-deg");
 427     SGGeod user(SGGeod::fromDeg(userLongitude, userLatitude));
 428     SGGeodesy::inverse(curr, user, course, az2, dist);
 429     //cerr << "Distance to user : " << dist << endl;
 430     return (dist > 250);
 431     */
 432
 433
 434     // In essence, we should check whether the pusbback route itself, as well as the associcated
 435     // taxiways near the pushback point are free of traffic.
 436     // To do so, we need to
 437     return true;
 438 }
 439
 440
 441
 442 /***************************************************************************
 443  * FGATCInstruction
 444  *
 445  **************************************************************************/
 446 FGATCInstruction::FGATCInstruction()
 447 {
 448     holdPattern = false;
 449     holdPosition = false;
 450     changeSpeed = false;
 451     changeHeading = false;
 452     changeAltitude = false;
 453     resolveCircularWait = false;
 454
 455     speed = 0;
 456     heading = 0;
 457     alt = 0;
 458 }
 459
 460
 461 bool FGATCInstruction::hasInstruction()
 462 {
 463     return (holdPattern || holdPosition || changeSpeed || changeHeading
 464             || changeAltitude || resolveCircularWait);
 465 }
 466
 467 /***************************************************************************
 468  * FGATCController
 469  *
 470  **************************************************************************/
 471
 472
 473
 474
 475 FGATCController::FGATCController()
 476 {
 477     //cerr << "running FGATController constructor" << endl;
 478     dt_count = 0;
 479     available = true;
 480     lastTransmission = 0;
 481     initialized = false;
 482 }
 483
 484 FGATCController::~FGATCController()
 485 {
 486      //cerr << "running FGATController destructor" << endl;
 487 }
 488
 489 string FGATCController::getGateName(FGAIAircraft * ref)
 490 {
 491     return ref->atGate();
 492 }
 493
 494 bool FGATCController::isUserAircraft(FGAIAircraft* ac)
 495 {
 496     return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
 497 };
 498
 499 void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
 500                                AtcMsgDir msgDir, bool audible)
 501 {
 502     string sender, receiver;
 503     int stationFreq = 0;
 504     int taxiFreq = 0;
 505     int towerFreq = 0;
 506     int freqId = 0;
 507     string atisInformation;
 508     string text;
 509     string taxiFreqStr;
 510     string towerFreqStr;
 511     double heading = 0;
 512     string activeRunway;
 513     string fltType;
 514     string rwyClass;
 515     string SID;
 516     string transponderCode;
 517     FGAIFlightPlan *fp;
 518     string fltRules;
 519     string instructionText;
 520
 521     //double commFreqD;
 522     sender = rec->getAircraft()->getTrafficRef()->getCallSign();
 523     if (rec->getAircraft()->getTaxiClearanceRequest()) {
 524         instructionText = "push-back and taxi";
 525     } else {
 526         instructionText = "taxi";
 527     }
 528     //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
 529     switch (rec->getLeg()) {
 530     case 1:
 531     case 2:
 532         freqId = rec->getNextFrequency();
 533         stationFreq =
 534             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 535             getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
 536         taxiFreq =
 537             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 538             getDynamics()->getGroundFrequency(2);
 539         towerFreq =
 540             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 541             getDynamics()->getTowerFrequency(2);
 542         receiver =
 543             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 544             getName() + "-Ground";
 545         atisInformation =
 546             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 547             getDynamics()->getAtisSequence();
 548         break;
 549     case 3:
 550         receiver =
 551             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 552             getName() + "-Tower";
 553         break;
 554     }
 555     // Swap sender and receiver value in case of a ground to air transmission
 556     if (msgDir == ATC_GROUND_TO_AIR) {
 557         string tmp = sender;
 558         sender = receiver;
 559         receiver = tmp;
 560     }
 561     switch (msgId) {
 562     case MSG_ANNOUNCE_ENGINE_START:
 563         text = sender + ". Ready to Start up";
 564         break;
 565     case MSG_REQUEST_ENGINE_START:
 566         text =
 567             receiver + ", This is " + sender + ". Position " +
 568             getGateName(rec->getAircraft()) + ". Information " +
 569             atisInformation + ". " +
 570             rec->getAircraft()->getTrafficRef()->getFlightRules() +
 571             " to " +
 572             rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
 573             getName() + ". Request start-up";
 574         break;
 575         // Acknowledge engine startup permission
 576         // Assign departure runway
 577         // Assign SID, if necessery (TODO)
 578     case MSG_PERMIT_ENGINE_START:
 579         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 580
 581         heading = rec->getAircraft()->getTrafficRef()->getCourse();
 582         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
 583         rwyClass =
 584             rec->getAircraft()->GetFlightPlan()->
 585             getRunwayClassFromTrafficType(fltType);
 586
 587         rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 588             getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
 589                                            heading);
 590         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
 591         fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 592             getDynamics()->getSID(activeRunway, heading);
 593         rec->getAircraft()->GetFlightPlan()->setSID(fp);
 594         if (fp) {
 595             SID = fp->getName() + " departure";
 596         } else {
 597             SID = "fly runway heading ";
 598         }
 599         //snprintf(buffer, 7, "%3.2f", heading);
 600         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
 601         transponderCode = genTransponderCode(fltRules);
 602         rec->getAircraft()->SetTransponderCode(transponderCode);
 603         text =
 604             receiver + ". Start-up approved. " + atisInformation +
 605             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 606             transponderCode + ". " +
 607             "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
 608             sender + " control.";
 609         break;
 610     case MSG_DENY_ENGINE_START:
 611         text = receiver + ". Standby";
 612         break;
 613     case MSG_ACKNOWLEDGE_ENGINE_START:
 614         fp = rec->getAircraft()->GetFlightPlan()->getSID();
 615         if (fp) {
 616             SID =
 617                 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
 618                 " departure";
 619         } else {
 620             SID = "fly runway heading ";
 621         }
 622         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 623         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 624         transponderCode = rec->getAircraft()->GetTransponderCode();
 625
 626         text =
 627             receiver + ". Start-up approved. " + atisInformation +
 628             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 629             transponderCode + ". " +
 630             "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
 631             sender;
 632         break;
 633     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
 634         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 635         text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
 636         break;
 637     case MSG_INITIATE_CONTACT:
 638         text = receiver + ". With you. " + sender;
 639         break;
 640     case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
 641         text = receiver + ". Roger. " + sender;
 642         break;
 643     case MSG_REQUEST_PUSHBACK_CLEARANCE:
 644         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 645             text = receiver + ". Request push-back. " + sender;
 646         } else {
 647             text = receiver + ". Request Taxi clearance. " + sender;
 648         }
 649         break;
 650     case MSG_PERMIT_PUSHBACK_CLEARANCE:
 651         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 652             text = receiver + ". Push-back approved. " + sender;
 653         } else {
 654             text = receiver + ". Cleared to Taxi." + sender;
 655         }
 656         break;
 657     case MSG_HOLD_PUSHBACK_CLEARANCE:
 658         text = receiver + ". Standby. " + sender;
 659         break;
 660     case MSG_REQUEST_TAXI_CLEARANCE:
 661         text = receiver + ". Ready to Taxi. " + sender;
 662         break;
 663     case MSG_ISSUE_TAXI_CLEARANCE:
 664         text = receiver + ". Cleared to taxi. " + sender;
 665         break;
 666     case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
 667         text = receiver + ". Cleared to taxi. " + sender;
 668         break;
 669     case MSG_HOLD_POSITION:
 670         text = receiver + ". Hold Position. " + sender;
 671         break;
 672     case MSG_ACKNOWLEDGE_HOLD_POSITION:
 673         text = receiver + ". Holding Position. " + sender;
 674         break;
 675     case MSG_RESUME_TAXI:
 676         text = receiver + ". Resume Taxiing. " + sender;
 677         break;
 678     case MSG_ACKNOWLEDGE_RESUME_TAXI:
 679         text = receiver + ". Continuing Taxi. " + sender;
 680         break;
 681     case MSG_REPORT_RUNWAY_HOLD_SHORT:
 682         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 683         //activeRunway = "test";
 684         text = receiver + ". Holding short runway "
 685                         + activeRunway
 686                         + ". " + sender;
 687         //text = "test1";
 688         //cerr << "1 Currently at leg " << rec->getLeg() << endl;
 689         break;
 690     case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
 691         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 692         text = receiver + "Roger. Holding short runway "
 693         //                + activeRunway
 694                         + ". " + sender;
 695         //text = "test2";
 696         //cerr << "2 Currently at leg " << rec->getLeg() << endl;
 697         break;
 698     case MSG_SWITCH_TOWER_FREQUENCY:
 699         towerFreqStr = formatATCFrequency3_2(towerFreq);
 700         text = receiver + "Contact Tower at " + towerFreqStr + ". " + sender;
 701         //text = "test3";
 702         //cerr << "3 Currently at leg " << rec->getLeg() << endl;
 703         break;
 704     case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
 705         towerFreqStr = formatATCFrequency3_2(towerFreq);
 706         text = receiver + "Roger, switching to tower at " + towerFreqStr + ". " + sender;
 707         //text = "test4";
 708         //cerr << "4 Currently at leg " << rec->getLeg() << endl;
 709         break;
 710     default:
 711         //text = "test3";
 712         text = text + sender + ". Transmitting unknown Message";
 713         break;
 714     }
 715     if (audible) {
 716         double onBoardRadioFreq0 =
 717             fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
 718         double onBoardRadioFreq1 =
 719             fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
 720         int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
 721         int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
 722         //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 723
 724         // Display ATC message only when one of the radios is tuned
 725         // the relevant frequency.
 726         // Note that distance attenuation is currently not yet implemented
 727         if ((onBoardRadioFreqI0 == stationFreq)
 728             || (onBoardRadioFreqI1 == stationFreq)) {
 729             if (rec->allowTransmissions()) {
 730                 fgSetString("/sim/messages/atc", text.c_str());
 731             }
 732         }
 733     } else {
 734         FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
 735         atc->getATCDialog()->addEntry(1, text);
 736
 737     }
 738 }
 739
 740 string FGATCController::formatATCFrequency3_2(int freq)
 741 {
 742     char buffer[7];
 743     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
 744     return string(buffer);
 745 }
 746
 747 // TODO: Set transponder codes according to real-world routes.
 748 // The current version just returns a random string of four octal numbers.
 749 string FGATCController::genTransponderCode(string fltRules)
 750 {
 751     if (fltRules == "VFR") {
 752         return string("1200");
 753     } else {
 754         char buffer[5];
 755         snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
 756                  rand() % 8);
 757         return string(buffer);
 758     }
 759 }
 760
 761 void FGATCController::init()
 762 {
 763    if (!initialized) {
 764        FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
 765        mgr->addController(this);
 766        initialized = true;
 767     }
 768 }
 769
 770 /***************************************************************************
 771  * class FGTowerController
 772  *
 773  **************************************************************************/
 774 FGTowerController::FGTowerController(FGAirportDynamics *par) :
 775 FGATCController()
 776 {
 777     parent = par;
 778 }
 779
 780 //
 781 void FGTowerController::announcePosition(int id,
 782                                          FGAIFlightPlan * intendedRoute,
 783                                          int currentPosition, double lat,
 784                                          double lon, double heading,
 785                                          double speed, double alt,
 786                                          double radius, int leg,
 787                                          FGAIAircraft * ref)
 788 {
 789     init();
 790     TrafficVectorIterator i = activeTraffic.begin();
 791     // Search whether the current id alread has an entry
 792     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 793     if (activeTraffic.size()) {
 794         //while ((i->getId() != id) && i != activeTraffic.end()) {
 795         while (i != activeTraffic.end()) {
 796             if (i->getId() == id) {
 797                 break;
 798             }
 799             i++;
 800         }
 801     }
 802     // Add a new TrafficRecord if no one exsists for this aircraft.
 803     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 804         FGTrafficRecord rec;
 805         rec.setId(id);
 806
 807         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 808         rec.setRunway(intendedRoute->getRunway());
 809         rec.setLeg(leg);
 810         //rec.setCallSign(callsign);
 811         rec.setRadius(radius);
 812         rec.setAircraft(ref);
 813         activeTraffic.push_back(rec);
 814         // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
 815         ActiveRunwayVecIterator rwy = activeRunways.begin();
 816         if (activeRunways.size()) {
 817             while (rwy != activeRunways.end()) {
 818                 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
 819                     break;
 820                 }
 821                 rwy++;
 822             }
 823         }
 824         if (rwy == activeRunways.end()) {
 825             ActiveRunway aRwy(intendedRoute->getRunway(), id);
 826             aRwy.addToDepartureCue(ref);
 827             activeRunways.push_back(aRwy);
 828             rwy = (activeRunways.end()-1);
 829         } else {
 830             rwy->addToDepartureCue(ref);
 831         }
 832
 833         //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() <<  " for takeoff " << endl;
 834     } else {
 835         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 836     }
 837 }
 838
 839 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
 840                                                   double heading, double speed, double alt,
 841                                                   double dt)
 842 {
 843     TrafficVectorIterator i = activeTraffic.begin();
 844     // Search whether the current id has an entry
 845     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 846     TrafficVectorIterator current, closest;
 847     if (activeTraffic.size()) {
 848         //while ((i->getId() != id) && i != activeTraffic.end()) {
 849         while (i != activeTraffic.end()) {
 850             if (i->getId() == id) {
 851                 break;
 852             }
 853             i++;
 854         }
 855     }
 856 //    // update position of the current aircraft
 857     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 858         SG_LOG(SG_GENERAL, SG_ALERT,
 859                "AI error: updating aircraft without traffic record");
 860     } else {
 861         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 862         current = i;
 863     }
 864     setDt(getDt() + dt);
 865
 866     // see if we already have a clearance record for the currently active runway
 867     // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
 868     // already exists here. So, we can simplify the current code.
 869     ActiveRunwayVecIterator rwy = activeRunways.begin();
 870     while (rwy != activeRunways.end()) {
 871         if (rwy->getRunwayName() == current->getRunway()) {
 872             break;
 873         }
 874         rwy++;
 875     }
 876
 877     // only bother running the following code if the current aircraft is the
 878     // first in line for depature
 879     /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 880         if (rwy->getCleared()) {
 881             if (id == rwy->getCleared()) {
 882                 current->setHoldPosition(false);
 883             } else {
 884                 current->setHoldPosition(true);
 885             }
 886         } else {
 887             // For now. At later stages, this will probably be the place to check for inbound traffc.
 888             rwy->setCleared(id);
 889         }
 890     } */
 891     // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
 892     if (current->getAircraft()->getTakeOffStatus() == 2) {
 893         current->setHoldPosition(true);
 894         int clearanceId = rwy->getCleared();
 895         if (clearanceId) {
 896             if (id == clearanceId) {
 897                 current->setHoldPosition(false);
 898             }
 899         } else {
 900             if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 901                 rwy->setCleared(id);
 902             }
 903         }
 904     }
 905 }
 906
 907
 908 void FGTowerController::signOff(int id)
 909 {
 910     TrafficVectorIterator i = activeTraffic.begin();
 911     // Search search if the current id alread has an entry
 912     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 913     if (activeTraffic.size()) {
 914         //while ((i->getId() != id) && i != activeTraffic.end()) {
 915         while (i != activeTraffic.end()) {
 916             if (i->getId() == id) {
 917                 break;
 918             }
 919             i++;
 920         }
 921     }
 922     // If this aircraft has left the runway, we can clear the departure record for this runway
 923     ActiveRunwayVecIterator rwy = activeRunways.begin();
 924     if (activeRunways.size()) {
 925         //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
 926         while (rwy != activeRunways.end()) {
 927             if (rwy->getRunwayName() == i->getRunway()) {
 928                 break;
 929             }
 930             rwy++;
 931         }
 932         if (rwy != activeRunways.end()) {
 933             rwy->setCleared(0);
 934             rwy->updateDepartureCue();
 935         } else {
 936             SG_LOG(SG_GENERAL, SG_ALERT,
 937                    "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
 938         }
 939     }
 940     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 941         SG_LOG(SG_GENERAL, SG_ALERT,
 942                "AI error: Aircraft without traffic record is signing off from tower");
 943     } else {
 944         i->getAircraft()->resetTakeOffStatus();
 945         i = activeTraffic.erase(i);
 946         //cerr << "Signing off from tower controller" << endl;
 947     }
 948 }
 949
 950 // NOTE:
 951 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
 952 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
 953 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
 954 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
 955 // Note that this function is probably obsolete
 956 bool FGTowerController::hasInstruction(int id)
 957 {
 958     TrafficVectorIterator i = activeTraffic.begin();
 959     // Search search if the current id has an entry
 960     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 961     if (activeTraffic.size()) {
 962         //while ((i->getId() != id) && i != activeTraffic.end()) {
 963         while (i != activeTraffic.end()) {
 964             if (i->getId() == id) {
 965                 break;
 966             }
 967             i++;
 968         }
 969     }
 970     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 971         SG_LOG(SG_GENERAL, SG_ALERT,
 972                "AI error: checking ATC instruction for aircraft without traffic record");
 973     } else {
 974         return i->hasInstruction();
 975     }
 976     return false;
 977 }
 978
 979
 980 FGATCInstruction FGTowerController::getInstruction(int id)
 981 {
 982     TrafficVectorIterator i = activeTraffic.begin();
 983     // Search search if the current id has an entry
 984     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 985     if (activeTraffic.size()) {
 986         //while ((i->getId() != id) && i != activeTraffic.end()) {
 987         while (i != activeTraffic.end()) {
 988             if (i->getId() == id) {
 989                 break;
 990             }
 991             i++;
 992         }
 993     }
 994     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 995         SG_LOG(SG_GENERAL, SG_ALERT,
 996                "AI error: requesting ATC instruction for aircraft without traffic record");
 997     } else {
 998         return i->getInstruction();
 999     }
1000     return FGATCInstruction();
1001 }
1002
1003 void FGTowerController::render(bool visible) {
1004     //cerr << "FGTowerController::render function not yet implemented" << endl;
1005 }
1006
1007 string FGTowerController::getName() {
1008     return string(parent->getId() + "-tower");
1009 }
1010
1011
1012
1013 /***************************************************************************
1014  * class FGStartupController
1015  *
1016  **************************************************************************/
1017 FGStartupController::FGStartupController(FGAirportDynamics *par):
1018     FGATCController()
1019 {
1020     parent = par;
1021 }
1022
1023 void FGStartupController::announcePosition(int id,
1024                                            FGAIFlightPlan * intendedRoute,
1025                                            int currentPosition, double lat,
1026                                            double lon, double heading,
1027                                            double speed, double alt,
1028                                            double radius, int leg,
1029                                            FGAIAircraft * ref)
1030 {
1031     init();
1032     TrafficVectorIterator i = activeTraffic.begin();
1033     // Search whether the current id alread has an entry
1034     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1035     if (activeTraffic.size()) {
1036         //while ((i->getId() != id) && i != activeTraffic.end()) {
1037         while (i != activeTraffic.end()) {
1038             if (i->getId() == id) {
1039                 break;
1040             }
1041             i++;
1042         }
1043     }
1044     // Add a new TrafficRecord if no one exsists for this aircraft.
1045     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1046         FGTrafficRecord rec;
1047         rec.setId(id);
1048
1049         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1050         rec.setRunway(intendedRoute->getRunway());
1051         rec.setLeg(leg);
1052         rec.setPositionAndIntentions(currentPosition, intendedRoute);
1053         //rec.setCallSign(callsign);
1054         rec.setAircraft(ref);
1055         rec.setHoldPosition(true);
1056         activeTraffic.push_back(rec);
1057     } else {
1058         i->setPositionAndIntentions(currentPosition, intendedRoute);
1059         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1060
1061     }
1062 }
1063
1064 // NOTE:
1065 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1066 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1067 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1068 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1069 // Note that this function is probably obsolete
1070 bool FGStartupController::hasInstruction(int id)
1071 {
1072     TrafficVectorIterator i = activeTraffic.begin();
1073     // Search search if the current id has an entry
1074     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1075     if (activeTraffic.size()) {
1076         //while ((i->getId() != id) && i != activeTraffic.end()) {
1077         while (i != activeTraffic.end()) {
1078             if (i->getId() == id) {
1079                 break;
1080             }
1081             i++;
1082         }
1083     }
1084     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1085         SG_LOG(SG_GENERAL, SG_ALERT,
1086                "AI error: checking ATC instruction for aircraft without traffic record");
1087     } else {
1088         return i->hasInstruction();
1089     }
1090     return false;
1091 }
1092
1093
1094 FGATCInstruction FGStartupController::getInstruction(int id)
1095 {
1096     TrafficVectorIterator i = activeTraffic.begin();
1097     // Search search if the current id has an entry
1098     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1099     if (activeTraffic.size()) {
1100         //while ((i->getId() != id) && i != activeTraffic.end()) {
1101         while (i != activeTraffic.end()) {
1102             if (i->getId() == id) {
1103                 break;
1104             }
1105             i++;
1106         }
1107     }
1108     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1109         SG_LOG(SG_GENERAL, SG_ALERT,
1110                "AI error: requesting ATC instruction for aircraft without traffic record");
1111     } else {
1112         return i->getInstruction();
1113     }
1114     return FGATCInstruction();
1115 }
1116
1117 void FGStartupController::signOff(int id)
1118 {
1119     TrafficVectorIterator i = activeTraffic.begin();
1120     // Search search if the current id alread 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_GENERAL, SG_ALERT,
1133                "AI error: Aircraft without traffic record is signing off from tower");
1134     } else {
1135         //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1136         i = activeTraffic.erase(i);
1137     }
1138 }
1139
1140 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1141                                AtcMsgDir msgDir)
1142 {
1143     int state = i->getState();
1144     if ((state == st) && available) {
1145         if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1146
1147             //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1148             static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1149             int n = trans_num->getIntValue();
1150             if (n == 0) {
1151                 trans_num->setIntValue(-1);
1152                  // PopupCallback(n);
1153                  //cerr << "Selected transmission message " << n << endl;
1154                  FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
1155                  atc->getATCDialog()->removeEntry(1);
1156             } else {
1157                 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1158                 transmit(&(*i), msgId, msgDir, false);
1159                 return false;
1160             }
1161         }
1162         if (now > startTime) {
1163             //cerr << "Transmitting startup msg" << endl;
1164             transmit(&(*i), 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), MSG_PERMIT_PUSHBACK_CLEARANCE,
1234                          ATC_GROUND_TO_AIR, true);
1235                 i->updateState();
1236             } else {
1237                 transmit(&(*i), 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)
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 }
1261
1262
1263 void FGStartupController::render(bool visible)
1264 {
1265
1266     SGMaterialLib *matlib = globals->get_matlib();
1267     if (group) {
1268         //int nr = ;
1269         globals->get_scenery()->get_scene_graph()->removeChild(group);
1270         //while (group->getNumChildren()) {
1271         //  cerr << "Number of children: " << group->getNumChildren() << endl;
1272         simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1273           //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1274            //geode->releaseGLObjects();
1275            //group->removeChild(geode);
1276            //delete geode;
1277         group = 0;
1278     }
1279     if (visible) {
1280         group = new osg::Group;
1281
1282         //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1283         double dx = 0;
1284         for   (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1285             // Handle start point
1286             int pos = i->getCurrentPosition();
1287             //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1288             if (pos > 0) {
1289                 FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(pos);
1290                 SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1291                 SGGeod end  (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1292
1293                 double length = SGGeodesy::distanceM(start, end);
1294                 //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1295
1296                 double az2, heading; //, distanceM;
1297                 SGGeodesy::inverse(start, end, heading, az2, length);
1298                 double coveredDistance = length * 0.5;
1299                 SGGeod center;
1300                 SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1301                 //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1302                 ///////////////////////////////////////////////////////////////////////////////
1303                 // Make a helper function out of this
1304                 osg::Matrix obj_pos;
1305                 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1306                 obj_trans->setDataVariance(osg::Object::STATIC);
1307
1308                 WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), parent->getElevation()+8+dx, -(heading) );
1309
1310                 obj_trans->setMatrix( obj_pos );
1311                 //osg::Vec3 center(0, 0, 0)
1312
1313                 float width = length /2.0;
1314                 osg::Vec3 corner(-width, 0, 0.25f);
1315                 osg::Vec3 widthVec(2*width + 1, 0, 0);
1316                 osg::Vec3 heightVec(0, 1, 0);
1317                 osg::Geometry* geometry;
1318                 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1319                 simgear::EffectGeode* geode = new simgear::EffectGeode;
1320                 geode->setName("test");
1321                 geode->addDrawable(geometry);
1322                 //osg::Node *custom_obj;
1323                 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1324                 if (mat)
1325                     geode->setEffect(mat->get_effect());
1326                 obj_trans->addChild(geode);
1327                 // wire as much of the scene graph together as we can
1328                 //->addChild( obj_trans );
1329                 group->addChild( obj_trans );
1330                 /////////////////////////////////////////////////////////////////////
1331             } else {
1332                 //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1333             }
1334             for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1335                 osg::Matrix obj_pos;
1336                 int k = (*j);
1337                 if (k > 0) {
1338                     //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1339                     osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1340                     obj_trans->setDataVariance(osg::Object::STATIC);
1341                     FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(k);
1342                     WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1343
1344                     obj_trans->setMatrix( obj_pos );
1345                     //osg::Vec3 center(0, 0, 0)
1346
1347                     float width = segment->getLength() /2.0;
1348                     osg::Vec3 corner(-width, 0, 0.25f);
1349                     osg::Vec3 widthVec(2*width + 1, 0, 0);
1350                     osg::Vec3 heightVec(0, 1, 0);
1351                     osg::Geometry* geometry;
1352                     geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1353                     simgear::EffectGeode* geode = new simgear::EffectGeode;
1354                     geode->setName("test");
1355                     geode->addDrawable(geometry);
1356                     //osg::Node *custom_obj;
1357                     SGMaterial *mat = matlib->find("UnidirectionalTaper");
1358                     if (mat)
1359                         geode->setEffect(mat->get_effect());
1360                     obj_trans->addChild(geode);
1361                     // wire as much of the scene graph together as we can
1362                     //->addChild( obj_trans );
1363                     group->addChild( obj_trans );
1364                 } else {
1365                     //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1366                 }
1367             }
1368             //dx += 0.1;
1369         }
1370         globals->get_scenery()->get_scene_graph()->addChild(group);
1371     }
1372 }
1373
1374 string FGStartupController::getName() {
1375     return string(parent->getId() + "-startup");
1376 }
1377
1378
1379 /***************************************************************************
1380  * class FGApproachController
1381  *
1382  **************************************************************************/
1383 FGApproachController::FGApproachController(FGAirportDynamics *par):
1384 FGATCController()
1385 {
1386     parent = par;
1387 }
1388
1389 //
1390 void FGApproachController::announcePosition(int id,
1391                                             FGAIFlightPlan * intendedRoute,
1392                                             int currentPosition,
1393                                             double lat, double lon,
1394                                             double heading, double speed,
1395                                             double alt, double radius,
1396                                             int leg, FGAIAircraft * ref)
1397 {
1398     init();
1399     TrafficVectorIterator i = activeTraffic.begin();
1400     // Search whether the current id alread has an entry
1401     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1402     if (activeTraffic.size()) {
1403         //while ((i->getId() != id) && i != activeTraffic.end()) {
1404         while (i != activeTraffic.end()) {
1405             if (i->getId() == id) {
1406                 break;
1407             }
1408             i++;
1409         }
1410     }
1411     // Add a new TrafficRecord if no one exsists for this aircraft.
1412     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1413         FGTrafficRecord rec;
1414         rec.setId(id);
1415
1416         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1417         rec.setRunway(intendedRoute->getRunway());
1418         rec.setLeg(leg);
1419         //rec.setCallSign(callsign);
1420         rec.setAircraft(ref);
1421         activeTraffic.push_back(rec);
1422     } else {
1423         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1424     }
1425 }
1426
1427 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1428                                                      double heading, double speed, double alt,
1429                                                      double dt)
1430 {
1431     TrafficVectorIterator i = activeTraffic.begin();
1432     // Search search if the current id has an entry
1433     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1434     TrafficVectorIterator current, closest;
1435     if (activeTraffic.size()) {
1436         //while ((i->getId() != id) && i != activeTraffic.end()) {
1437         while (i != activeTraffic.end()) {
1438             if (i->getId() == id) {
1439                 break;
1440             }
1441             i++;
1442         }
1443     }
1444 //    // update position of the current aircraft
1445     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1446         SG_LOG(SG_GENERAL, SG_ALERT,
1447                "AI error: updating aircraft without traffic record");
1448     } else {
1449         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1450         current = i;
1451         //cerr << "ApproachController: checking for speed" << endl;
1452         time_t time_diff =
1453             current->getAircraft()->
1454             checkForArrivalTime(string("final001"));
1455         if (time_diff > 15) {
1456             current->setSpeedAdjustment(current->getAircraft()->
1457                                         getPerformance()->vDescent() *
1458                                         1.35);
1459         } else if (time_diff > 5) {
1460             current->setSpeedAdjustment(current->getAircraft()->
1461                                         getPerformance()->vDescent() *
1462                                         1.2);
1463         } else if (time_diff < -15) {
1464             current->setSpeedAdjustment(current->getAircraft()->
1465                                         getPerformance()->vDescent() *
1466                                         0.65);
1467         } else if (time_diff < -5) {
1468             current->setSpeedAdjustment(current->getAircraft()->
1469                                         getPerformance()->vDescent() *
1470                                         0.8);
1471         } else {
1472             current->clearSpeedAdjustment();
1473         }
1474         //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1475     }
1476     setDt(getDt() + dt);
1477 }
1478
1479 void FGApproachController::signOff(int id)
1480 {
1481     TrafficVectorIterator i = activeTraffic.begin();
1482     // Search search if the current id alread has an entry
1483     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1484     if (activeTraffic.size()) {
1485         //while ((i->getId() != id) && i != activeTraffic.end()) {
1486         while (i != activeTraffic.end()) {
1487             if (i->getId() == id) {
1488                 break;
1489             }
1490             i++;
1491         }
1492     }
1493     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1494         SG_LOG(SG_GENERAL, SG_ALERT,
1495                "AI error: Aircraft without traffic record is signing off from approach");
1496     } else {
1497         i = activeTraffic.erase(i);
1498     }
1499 }
1500
1501
1502
1503
1504 bool FGApproachController::hasInstruction(int id)
1505 {
1506     TrafficVectorIterator i = activeTraffic.begin();
1507     // Search search if the current id has an entry
1508     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1509     if (activeTraffic.size()) {
1510         //while ((i->getId() != id) && i != activeTraffic.end()) {
1511         while (i != activeTraffic.end()) {
1512             if (i->getId() == id) {
1513                 break;
1514             }
1515             i++;
1516         }
1517     }
1518     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1519         SG_LOG(SG_GENERAL, SG_ALERT,
1520                "AI error: checking ATC instruction for aircraft without traffic record");
1521     } else {
1522         return i->hasInstruction();
1523     }
1524     return false;
1525 }
1526
1527
1528 FGATCInstruction FGApproachController::getInstruction(int id)
1529 {
1530     TrafficVectorIterator i = activeTraffic.begin();
1531     // Search search if the current id has an entry
1532     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1533     if (activeTraffic.size()) {
1534         //while ((i->getId() != id) && i != activeTraffic.end()) {
1535         while (i != activeTraffic.end()) {
1536             if (i->getId() == id) {
1537                 break;
1538             }
1539             i++;
1540         }
1541     }
1542     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1543         SG_LOG(SG_GENERAL, SG_ALERT,
1544                "AI error: requesting ATC instruction for aircraft without traffic record");
1545     } else {
1546         return i->getInstruction();
1547     }
1548     return FGATCInstruction();
1549 }
1550
1551
1552 ActiveRunway *FGApproachController::getRunway(string name)
1553 {
1554     ActiveRunwayVecIterator rwy = activeRunways.begin();
1555     if (activeRunways.size()) {
1556         while (rwy != activeRunways.end()) {
1557             if (rwy->getRunwayName() == name) {
1558                 break;
1559             }
1560             rwy++;
1561         }
1562     }
1563     if (rwy == activeRunways.end()) {
1564         ActiveRunway aRwy(name, 0);
1565         activeRunways.push_back(aRwy);
1566         rwy = activeRunways.end() - 1;
1567     }
1568     return &(*rwy);
1569 }
1570
1571 void FGApproachController::render(bool visible) {
1572     //cerr << "FGApproachController::render function not yet implemented" << endl;
1573 }
1574
1575
1576
1577 string FGApproachController::getName() {
1578     return string(parent->getId() + "-approach");
1579 }