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 freqId = 0;
 506     string atisInformation;
 507     string text;
 508     string taxiFreqStr;
 509     double heading = 0;
 510     string activeRunway;
 511     string fltType;
 512     string rwyClass;
 513     string SID;
 514     string transponderCode;
 515     FGAIFlightPlan *fp;
 516     string fltRules;
 517     string instructionText;
 518
 519     //double commFreqD;
 520     sender = rec->getAircraft()->getTrafficRef()->getCallSign();
 521     if (rec->getAircraft()->getTaxiClearanceRequest()) {
 522         instructionText = "push-back and taxi";
 523     } else {
 524         instructionText = "taxi";
 525     }
 526     //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
 527     switch (rec->getLeg()) {
 528     case 1:
 529     case 2:
 530         freqId = rec->getNextFrequency();
 531         stationFreq =
 532             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 533             getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
 534         taxiFreq =
 535             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 536             getDynamics()->getGroundFrequency(2);
 537         receiver =
 538             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 539             getName() + "-Ground";
 540         atisInformation =
 541             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 542             getDynamics()->getAtisSequence();
 543         break;
 544     case 3:
 545         receiver =
 546             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 547             getName() + "-Tower";
 548         break;
 549     }
 550     // Swap sender and receiver value in case of a ground to air transmission
 551     if (msgDir == ATC_GROUND_TO_AIR) {
 552         string tmp = sender;
 553         sender = receiver;
 554         receiver = tmp;
 555     }
 556     switch (msgId) {
 557     case MSG_ANNOUNCE_ENGINE_START:
 558         text = sender + ". Ready to Start up";
 559         break;
 560     case MSG_REQUEST_ENGINE_START:
 561         text =
 562             receiver + ", This is " + sender + ". Position " +
 563             getGateName(rec->getAircraft()) + ". Information " +
 564             atisInformation + ". " +
 565             rec->getAircraft()->getTrafficRef()->getFlightRules() +
 566             " to " +
 567             rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
 568             getName() + ". Request start-up";
 569         break;
 570         // Acknowledge engine startup permission
 571         // Assign departure runway
 572         // Assign SID, if necessery (TODO)
 573     case MSG_PERMIT_ENGINE_START:
 574         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 575
 576         heading = rec->getAircraft()->getTrafficRef()->getCourse();
 577         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
 578         rwyClass =
 579             rec->getAircraft()->GetFlightPlan()->
 580             getRunwayClassFromTrafficType(fltType);
 581
 582         rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 583             getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
 584                                            heading);
 585         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
 586         fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 587             getDynamics()->getSID(activeRunway, heading);
 588         rec->getAircraft()->GetFlightPlan()->setSID(fp);
 589         if (fp) {
 590             SID = fp->getName() + " departure";
 591         } else {
 592             SID = "fly runway heading ";
 593         }
 594         //snprintf(buffer, 7, "%3.2f", heading);
 595         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
 596         transponderCode = genTransponderCode(fltRules);
 597         rec->getAircraft()->SetTransponderCode(transponderCode);
 598         text =
 599             receiver + ". Start-up approved. " + atisInformation +
 600             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 601             transponderCode + ". " +
 602             "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
 603             sender + " control.";
 604         break;
 605     case MSG_DENY_ENGINE_START:
 606         text = receiver + ". Standby";
 607         break;
 608     case MSG_ACKNOWLEDGE_ENGINE_START:
 609         fp = rec->getAircraft()->GetFlightPlan()->getSID();
 610         if (fp) {
 611             SID =
 612                 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
 613                 " departure";
 614         } else {
 615             SID = "fly runway heading ";
 616         }
 617         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 618         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 619         transponderCode = rec->getAircraft()->GetTransponderCode();
 620
 621         text =
 622             receiver + ". Start-up approved. " + atisInformation +
 623             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 624             transponderCode + ". " +
 625             "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
 626             sender;
 627         break;
 628     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
 629         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 630         text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
 631         break;
 632     case MSG_INITIATE_CONTACT:
 633         text = receiver + ". With you. " + sender;
 634         break;
 635     case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
 636         text = receiver + ". Roger. " + sender;
 637         break;
 638     case MSG_REQUEST_PUSHBACK_CLEARANCE:
 639         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 640             text = receiver + ". Request push-back. " + sender;
 641         } else {
 642             text = receiver + ". Request Taxi clearance. " + sender;
 643         }
 644         break;
 645     case MSG_PERMIT_PUSHBACK_CLEARANCE:
 646         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 647             text = receiver + ". Push-back approved. " + sender;
 648         } else {
 649             text = receiver + ". Cleared to Taxi." + sender;
 650         }
 651         break;
 652     case MSG_HOLD_PUSHBACK_CLEARANCE:
 653         text = receiver + ". Standby. " + sender;
 654         break;
 655     case MSG_REQUEST_TAXI_CLEARANCE:
 656         text = receiver + ". Ready to Taxi. " + sender;
 657         break;
 658     case MSG_ISSUE_TAXI_CLEARANCE:
 659         text = receiver + ". Cleared to taxi. " + sender;
 660         break;
 661     case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
 662         text = receiver + ". Cleared to taxi. " + sender;
 663         break;
 664     case MSG_HOLD_POSITION:
 665         text = receiver + ". Hold Position. " + sender;
 666         break;
 667     case MSG_ACKNOWLEDGE_HOLD_POSITION:
 668         text = receiver + ". Holding Position. " + sender;
 669         break;
 670     case MSG_RESUME_TAXI:
 671         text = receiver + ". Resume Taxiing. " + sender;
 672         break;
 673     case MSG_ACKNOWLEDGE_RESUME_TAXI:
 674         text = receiver + ". Continuing Taxi. " + sender;
 675         break;
 676     default:
 677         text = text + sender + ". Transmitting unknown Message";
 678         break;
 679     }
 680     if (audible) {
 681         double onBoardRadioFreq0 =
 682             fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
 683         double onBoardRadioFreq1 =
 684             fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
 685         int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
 686         int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
 687         //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 688
 689         // Display ATC message only when one of the radios is tuned
 690         // the relevant frequency.
 691         // Note that distance attenuation is currently not yet implemented
 692         if ((onBoardRadioFreqI0 == stationFreq)
 693             || (onBoardRadioFreqI1 == stationFreq)) {
 694             if (rec->allowTransmissions()) {
 695                 fgSetString("/sim/messages/atc", text.c_str());
 696             }
 697         }
 698     } else {
 699         FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
 700         atc->getATCDialog()->addEntry(1, text);
 701
 702     }
 703 }
 704
 705 string FGATCController::formatATCFrequency3_2(int freq)
 706 {
 707     char buffer[7];
 708     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
 709     return string(buffer);
 710 }
 711
 712 // TODO: Set transponder codes according to real-world routes.
 713 // The current version just returns a random string of four octal numbers.
 714 string FGATCController::genTransponderCode(string fltRules)
 715 {
 716     if (fltRules == "VFR") {
 717         return string("1200");
 718     } else {
 719         char buffer[5];
 720         snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
 721                  rand() % 8);
 722         return string(buffer);
 723     }
 724 }
 725
 726 void FGATCController::init()
 727 {
 728    if (!initialized) {
 729        FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
 730        mgr->addController(this);
 731        initialized = true;
 732     }
 733 }
 734
 735 /***************************************************************************
 736  * class FGTowerController
 737  *
 738  **************************************************************************/
 739 FGTowerController::FGTowerController(FGAirportDynamics *par) :
 740 FGATCController()
 741 {
 742     parent = par;
 743 }
 744
 745 //
 746 void FGTowerController::announcePosition(int id,
 747                                          FGAIFlightPlan * intendedRoute,
 748                                          int currentPosition, double lat,
 749                                          double lon, double heading,
 750                                          double speed, double alt,
 751                                          double radius, int leg,
 752                                          FGAIAircraft * ref)
 753 {
 754     init();
 755     TrafficVectorIterator i = activeTraffic.begin();
 756     // Search whether the current id alread has an entry
 757     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 758     if (activeTraffic.size()) {
 759         //while ((i->getId() != id) && i != activeTraffic.end()) {
 760         while (i != activeTraffic.end()) {
 761             if (i->getId() == id) {
 762                 break;
 763             }
 764             i++;
 765         }
 766     }
 767     // Add a new TrafficRecord if no one exsists for this aircraft.
 768     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 769         FGTrafficRecord rec;
 770         rec.setId(id);
 771
 772         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 773         rec.setRunway(intendedRoute->getRunway());
 774         rec.setLeg(leg);
 775         //rec.setCallSign(callsign);
 776         rec.setRadius(radius);
 777         rec.setAircraft(ref);
 778         activeTraffic.push_back(rec);
 779         // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
 780         ActiveRunwayVecIterator rwy = activeRunways.begin();
 781         if (activeRunways.size()) {
 782             while (rwy != activeRunways.end()) {
 783                 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
 784                     break;
 785                 }
 786                 rwy++;
 787             }
 788         }
 789         if (rwy == activeRunways.end()) {
 790             ActiveRunway aRwy(intendedRoute->getRunway(), id);
 791             aRwy.addToDepartureCue(ref);
 792             activeRunways.push_back(aRwy);
 793             rwy = (activeRunways.end()-1);
 794         } else {
 795             rwy->addToDepartureCue(ref);
 796         }
 797
 798         cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() <<  " for takeoff " << endl;
 799     } else {
 800         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 801     }
 802 }
 803
 804 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
 805                                                   double heading, double speed, double alt,
 806                                                   double dt)
 807 {
 808     TrafficVectorIterator i = activeTraffic.begin();
 809     // Search whether the current id has an entry
 810     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 811     TrafficVectorIterator current, closest;
 812     if (activeTraffic.size()) {
 813         //while ((i->getId() != id) && i != activeTraffic.end()) {
 814         while (i != activeTraffic.end()) {
 815             if (i->getId() == id) {
 816                 break;
 817             }
 818             i++;
 819         }
 820     }
 821 //    // update position of the current aircraft
 822     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 823         SG_LOG(SG_GENERAL, SG_ALERT,
 824                "AI error: updating aircraft without traffic record");
 825     } else {
 826         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 827         current = i;
 828     }
 829     setDt(getDt() + dt);
 830
 831     // see if we already have a clearance record for the currently active runway
 832     // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
 833     // already exists here. So, we can simplify the current code.
 834     ActiveRunwayVecIterator rwy = activeRunways.begin();
 835     while (rwy != activeRunways.end()) {
 836         if (rwy->getRunwayName() == current->getRunway()) {
 837             break;
 838         }
 839         rwy++;
 840     }
 841
 842     // only bother running the following code if the current aircraft is the
 843     // first in line for depature
 844     /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 845         if (rwy->getCleared()) {
 846             if (id == rwy->getCleared()) {
 847                 current->setHoldPosition(false);
 848             } else {
 849                 current->setHoldPosition(true);
 850             }
 851         } else {
 852             // For now. At later stages, this will probably be the place to check for inbound traffc.
 853             rwy->setCleared(id);
 854         }
 855     } */
 856     // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
 857     if (current->getAircraft()->getTakeOffStatus() == 2) {
 858         current->setHoldPosition(true);
 859         int clearanceId = rwy->getCleared();
 860         if (clearanceId) {
 861             if (id == clearanceId) {
 862                 current->setHoldPosition(false);
 863             }
 864         } else {
 865             if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 866                 rwy->setCleared(id);
 867             }
 868         }
 869     }
 870 }
 871
 872
 873 void FGTowerController::signOff(int id)
 874 {
 875     TrafficVectorIterator i = activeTraffic.begin();
 876     // Search search if the current id alread has an entry
 877     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 878     if (activeTraffic.size()) {
 879         //while ((i->getId() != id) && i != activeTraffic.end()) {
 880         while (i != activeTraffic.end()) {
 881             if (i->getId() == id) {
 882                 break;
 883             }
 884             i++;
 885         }
 886     }
 887     // If this aircraft has left the runway, we can clear the departure record for this runway
 888     ActiveRunwayVecIterator rwy = activeRunways.begin();
 889     if (activeRunways.size()) {
 890         //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
 891         while (rwy != activeRunways.end()) {
 892             if (rwy->getRunwayName() == i->getRunway()) {
 893                 break;
 894             }
 895             rwy++;
 896         }
 897         if (rwy != activeRunways.end()) {
 898             rwy->setCleared(0);
 899             rwy->updateDepartureCue();
 900         } else {
 901             SG_LOG(SG_GENERAL, SG_ALERT,
 902                    "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
 903         }
 904     }
 905     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 906         SG_LOG(SG_GENERAL, SG_ALERT,
 907                "AI error: Aircraft without traffic record is signing off from tower");
 908     } else {
 909         i->getAircraft()->resetTakeOffStatus();
 910         i = activeTraffic.erase(i);
 911         //cerr << "Signing off from tower controller" << endl;
 912     }
 913 }
 914
 915 // NOTE:
 916 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
 917 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
 918 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
 919 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
 920 // Note that this function is probably obsolete
 921 bool FGTowerController::hasInstruction(int id)
 922 {
 923     TrafficVectorIterator i = activeTraffic.begin();
 924     // Search search if the current id has an entry
 925     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 926     if (activeTraffic.size()) {
 927         //while ((i->getId() != id) && i != activeTraffic.end()) {
 928         while (i != activeTraffic.end()) {
 929             if (i->getId() == id) {
 930                 break;
 931             }
 932             i++;
 933         }
 934     }
 935     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 936         SG_LOG(SG_GENERAL, SG_ALERT,
 937                "AI error: checking ATC instruction for aircraft without traffic record");
 938     } else {
 939         return i->hasInstruction();
 940     }
 941     return false;
 942 }
 943
 944
 945 FGATCInstruction FGTowerController::getInstruction(int id)
 946 {
 947     TrafficVectorIterator i = activeTraffic.begin();
 948     // Search search if the current id has an entry
 949     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 950     if (activeTraffic.size()) {
 951         //while ((i->getId() != id) && i != activeTraffic.end()) {
 952         while (i != activeTraffic.end()) {
 953             if (i->getId() == id) {
 954                 break;
 955             }
 956             i++;
 957         }
 958     }
 959     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 960         SG_LOG(SG_GENERAL, SG_ALERT,
 961                "AI error: requesting ATC instruction for aircraft without traffic record");
 962     } else {
 963         return i->getInstruction();
 964     }
 965     return FGATCInstruction();
 966 }
 967
 968 void FGTowerController::render(bool visible) {
 969     //cerr << "FGTowerController::render function not yet implemented" << endl;
 970 }
 971
 972 string FGTowerController::getName() {
 973     return string(parent->getId() + "-tower");
 974 }
 975
 976
 977
 978 /***************************************************************************
 979  * class FGStartupController
 980  *
 981  **************************************************************************/
 982 FGStartupController::FGStartupController(FGAirportDynamics *par):
 983     FGATCController()
 984 {
 985     parent = par;
 986 }
 987
 988 void FGStartupController::announcePosition(int id,
 989                                            FGAIFlightPlan * intendedRoute,
 990                                            int currentPosition, double lat,
 991                                            double lon, double heading,
 992                                            double speed, double alt,
 993                                            double radius, int leg,
 994                                            FGAIAircraft * ref)
 995 {
 996     init();
 997     TrafficVectorIterator i = activeTraffic.begin();
 998     // Search whether the current id alread has an entry
 999     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1000     if (activeTraffic.size()) {
1001         //while ((i->getId() != id) && i != activeTraffic.end()) {
1002         while (i != activeTraffic.end()) {
1003             if (i->getId() == id) {
1004                 break;
1005             }
1006             i++;
1007         }
1008     }
1009     // Add a new TrafficRecord if no one exsists for this aircraft.
1010     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1011         FGTrafficRecord rec;
1012         rec.setId(id);
1013
1014         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1015         rec.setRunway(intendedRoute->getRunway());
1016         rec.setLeg(leg);
1017         rec.setPositionAndIntentions(currentPosition, intendedRoute);
1018         //rec.setCallSign(callsign);
1019         rec.setAircraft(ref);
1020         rec.setHoldPosition(true);
1021         activeTraffic.push_back(rec);
1022     } else {
1023         i->setPositionAndIntentions(currentPosition, intendedRoute);
1024         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1025
1026     }
1027 }
1028
1029 // NOTE:
1030 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1031 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1032 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1033 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1034 // Note that this function is probably obsolete
1035 bool FGStartupController::hasInstruction(int id)
1036 {
1037     TrafficVectorIterator i = activeTraffic.begin();
1038     // Search search if the current id has an entry
1039     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1040     if (activeTraffic.size()) {
1041         //while ((i->getId() != id) && i != activeTraffic.end()) {
1042         while (i != activeTraffic.end()) {
1043             if (i->getId() == id) {
1044                 break;
1045             }
1046             i++;
1047         }
1048     }
1049     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1050         SG_LOG(SG_GENERAL, SG_ALERT,
1051                "AI error: checking ATC instruction for aircraft without traffic record");
1052     } else {
1053         return i->hasInstruction();
1054     }
1055     return false;
1056 }
1057
1058
1059 FGATCInstruction FGStartupController::getInstruction(int id)
1060 {
1061     TrafficVectorIterator i = activeTraffic.begin();
1062     // Search search if the current id has an entry
1063     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1064     if (activeTraffic.size()) {
1065         //while ((i->getId() != id) && i != activeTraffic.end()) {
1066         while (i != activeTraffic.end()) {
1067             if (i->getId() == id) {
1068                 break;
1069             }
1070             i++;
1071         }
1072     }
1073     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1074         SG_LOG(SG_GENERAL, SG_ALERT,
1075                "AI error: requesting ATC instruction for aircraft without traffic record");
1076     } else {
1077         return i->getInstruction();
1078     }
1079     return FGATCInstruction();
1080 }
1081
1082 void FGStartupController::signOff(int id)
1083 {
1084     TrafficVectorIterator i = activeTraffic.begin();
1085     // Search search if the current id alread has an entry
1086     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1087     if (activeTraffic.size()) {
1088         //while ((i->getId() != id) && i != activeTraffic.end()) {
1089         while (i != activeTraffic.end()) {
1090             if (i->getId() == id) {
1091                 break;
1092             }
1093             i++;
1094         }
1095     }
1096     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1097         SG_LOG(SG_GENERAL, SG_ALERT,
1098                "AI error: Aircraft without traffic record is signing off from tower");
1099     } else {
1100         //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1101         i = activeTraffic.erase(i);
1102     }
1103 }
1104
1105 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1106                                AtcMsgDir msgDir)
1107 {
1108     int state = i->getState();
1109     if ((state == st) && available) {
1110         if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1111
1112             //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1113             static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1114             int n = trans_num->getIntValue();
1115             if (n == 0) {
1116                 trans_num->setIntValue(-1);
1117                  // PopupCallback(n);
1118                  //cerr << "Selected transmission message " << n << endl;
1119                  FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
1120                  atc->getATCDialog()->removeEntry(1);
1121             } else {
1122                 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1123                 transmit(&(*i), msgId, msgDir, false);
1124                 return false;
1125             }
1126         }
1127         if (now > startTime) {
1128             //cerr << "Transmitting startup msg" << endl;
1129             transmit(&(*i), msgId, msgDir, true);
1130             i->updateState();
1131             lastTransmission = now;
1132             available = false;
1133             return true;
1134         }
1135     }
1136     return false;
1137 }
1138
1139 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1140                                                     double heading, double speed, double alt,
1141                                                     double dt)
1142 {
1143     TrafficVectorIterator i = activeTraffic.begin();
1144     // Search search if the current id has an entry
1145     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1146     TrafficVectorIterator current, closest;
1147     if (activeTraffic.size()) {
1148         //while ((i->getId() != id) && i != activeTraffic.end()) {
1149         while (i != activeTraffic.end()) {
1150             if (i->getId() == id) {
1151                 break;
1152             }
1153             i++;
1154         }
1155     }
1156 //    // update position of the current aircraft
1157
1158     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1159         SG_LOG(SG_GENERAL, SG_ALERT,
1160                "AI error: updating aircraft without traffic record");
1161     } else {
1162         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1163         current = i;
1164     }
1165     setDt(getDt() + dt);
1166
1167     int state = i->getState();
1168
1169     // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1170     // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1171     time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1172     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1173     //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1174     //     << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1175     //     << " at parking " << getGateName(i->getAircraft()) << endl;
1176
1177     if ((now - lastTransmission) > 3 + (rand() % 15)) {
1178         available = true;
1179     }
1180
1181     checkTransmissionState(0, now, (startTime + 0  ), i, MSG_ANNOUNCE_ENGINE_START,                     ATC_AIR_TO_GROUND);
1182     checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START,                      ATC_AIR_TO_GROUND);
1183     checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START,                       ATC_GROUND_TO_AIR);
1184     checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START,                  ATC_AIR_TO_GROUND);
1185     if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,       ATC_AIR_TO_GROUND)) {
1186         i->nextFrequency();
1187     }
1188     checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT,                          ATC_AIR_TO_GROUND);
1189     checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT,              ATC_GROUND_TO_AIR);
1190     checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE,                ATC_AIR_TO_GROUND);
1191
1192
1193
1194     if ((state == 8) && available) {
1195         if (now > startTime + 200) {
1196             if (i->pushBackAllowed()) {
1197                 i->allowRepeatedTransmissions();
1198                 transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE,
1199                          ATC_GROUND_TO_AIR, true);
1200                 i->updateState();
1201             } else {
1202                 transmit(&(*i), MSG_HOLD_PUSHBACK_CLEARANCE,
1203                          ATC_GROUND_TO_AIR, true);
1204                 i->suppressRepeatedTransmissions();
1205             }
1206             lastTransmission = now;
1207             available = false;
1208         }
1209     }
1210     if ((state == 9) && available) {
1211         i->setHoldPosition(false);
1212     }
1213 }
1214
1215 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1216 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1217                             double lon, double elev, double hdg)
1218 {
1219     SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1220     obj_pos = geod.makeZUpFrame();
1221     // hdg is not a compass heading, but a counter-clockwise rotation
1222     // around the Z axis
1223     obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1224                                         0.0, 0.0, 1.0));
1225 }
1226
1227
1228 void FGStartupController::render(bool visible)
1229 {
1230
1231     SGMaterialLib *matlib = globals->get_matlib();
1232     if (group) {
1233         //int nr = ;
1234         globals->get_scenery()->get_scene_graph()->removeChild(group);
1235         //while (group->getNumChildren()) {
1236         //  cerr << "Number of children: " << group->getNumChildren() << endl;
1237         simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1238           //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1239            //geode->releaseGLObjects();
1240            //group->removeChild(geode);
1241            //delete geode;
1242         group = 0;
1243     }
1244     if (visible) {
1245         group = new osg::Group;
1246
1247         //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1248         double dx = 0;
1249         for   (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1250             // Handle start point
1251             int pos = i->getCurrentPosition();
1252             //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1253             if (pos > 0) {
1254                 FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(pos);
1255                 SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1256                 SGGeod end  (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1257
1258                 double length = SGGeodesy::distanceM(start, end);
1259                 //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1260
1261                 double az2, heading; //, distanceM;
1262                 SGGeodesy::inverse(start, end, heading, az2, length);
1263                 double coveredDistance = length * 0.5;
1264                 SGGeod center;
1265                 SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1266                 //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1267                 ///////////////////////////////////////////////////////////////////////////////
1268                 // Make a helper function out of this
1269                 osg::Matrix obj_pos;
1270                 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1271                 obj_trans->setDataVariance(osg::Object::STATIC);
1272
1273                 WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), parent->getElevation()+8+dx, -(heading) );
1274
1275                 obj_trans->setMatrix( obj_pos );
1276                 //osg::Vec3 center(0, 0, 0)
1277
1278                 float width = length /2.0;
1279                 osg::Vec3 corner(-width, 0, 0.25f);
1280                 osg::Vec3 widthVec(2*width + 1, 0, 0);
1281                 osg::Vec3 heightVec(0, 1, 0);
1282                 osg::Geometry* geometry;
1283                 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1284                 simgear::EffectGeode* geode = new simgear::EffectGeode;
1285                 geode->setName("test");
1286                 geode->addDrawable(geometry);
1287                 //osg::Node *custom_obj;
1288                 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1289                 if (mat)
1290                     geode->setEffect(mat->get_effect());
1291                 obj_trans->addChild(geode);
1292                 // wire as much of the scene graph together as we can
1293                 //->addChild( obj_trans );
1294                 group->addChild( obj_trans );
1295                 /////////////////////////////////////////////////////////////////////
1296             } else {
1297                 //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1298             }
1299             for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1300                 osg::Matrix obj_pos;
1301                 int k = (*j);
1302                 if (k > 0) {
1303                     //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1304                     osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1305                     obj_trans->setDataVariance(osg::Object::STATIC);
1306                     FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(k);
1307                     WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1308
1309                     obj_trans->setMatrix( obj_pos );
1310                     //osg::Vec3 center(0, 0, 0)
1311
1312                     float width = segment->getLength() /2.0;
1313                     osg::Vec3 corner(-width, 0, 0.25f);
1314                     osg::Vec3 widthVec(2*width + 1, 0, 0);
1315                     osg::Vec3 heightVec(0, 1, 0);
1316                     osg::Geometry* geometry;
1317                     geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1318                     simgear::EffectGeode* geode = new simgear::EffectGeode;
1319                     geode->setName("test");
1320                     geode->addDrawable(geometry);
1321                     //osg::Node *custom_obj;
1322                     SGMaterial *mat = matlib->find("UnidirectionalTaper");
1323                     if (mat)
1324                         geode->setEffect(mat->get_effect());
1325                     obj_trans->addChild(geode);
1326                     // wire as much of the scene graph together as we can
1327                     //->addChild( obj_trans );
1328                     group->addChild( obj_trans );
1329                 } else {
1330                     //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1331                 }
1332             }
1333             //dx += 0.1;
1334         }
1335         globals->get_scenery()->get_scene_graph()->addChild(group);
1336     }
1337 }
1338
1339 string FGStartupController::getName() {
1340     return string(parent->getId() + "-startup");
1341 }
1342
1343
1344 /***************************************************************************
1345  * class FGApproachController
1346  *
1347  **************************************************************************/
1348 FGApproachController::FGApproachController(FGAirportDynamics *par):
1349 FGATCController()
1350 {
1351     parent = par;
1352 }
1353
1354 //
1355 void FGApproachController::announcePosition(int id,
1356                                             FGAIFlightPlan * intendedRoute,
1357                                             int currentPosition,
1358                                             double lat, double lon,
1359                                             double heading, double speed,
1360                                             double alt, double radius,
1361                                             int leg, FGAIAircraft * ref)
1362 {
1363     init();
1364     TrafficVectorIterator i = activeTraffic.begin();
1365     // Search whether the current id alread has an entry
1366     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1367     if (activeTraffic.size()) {
1368         //while ((i->getId() != id) && i != activeTraffic.end()) {
1369         while (i != activeTraffic.end()) {
1370             if (i->getId() == id) {
1371                 break;
1372             }
1373             i++;
1374         }
1375     }
1376     // Add a new TrafficRecord if no one exsists for this aircraft.
1377     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1378         FGTrafficRecord rec;
1379         rec.setId(id);
1380
1381         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1382         rec.setRunway(intendedRoute->getRunway());
1383         rec.setLeg(leg);
1384         //rec.setCallSign(callsign);
1385         rec.setAircraft(ref);
1386         activeTraffic.push_back(rec);
1387     } else {
1388         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1389     }
1390 }
1391
1392 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1393                                                      double heading, double speed, double alt,
1394                                                      double dt)
1395 {
1396     TrafficVectorIterator i = activeTraffic.begin();
1397     // Search search if the current id has an entry
1398     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1399     TrafficVectorIterator current, closest;
1400     if (activeTraffic.size()) {
1401         //while ((i->getId() != id) && i != activeTraffic.end()) {
1402         while (i != activeTraffic.end()) {
1403             if (i->getId() == id) {
1404                 break;
1405             }
1406             i++;
1407         }
1408     }
1409 //    // update position of the current aircraft
1410     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1411         SG_LOG(SG_GENERAL, SG_ALERT,
1412                "AI error: updating aircraft without traffic record");
1413     } else {
1414         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1415         current = i;
1416         //cerr << "ApproachController: checking for speed" << endl;
1417         time_t time_diff =
1418             current->getAircraft()->
1419             checkForArrivalTime(string("final001"));
1420         if (time_diff > 15) {
1421             current->setSpeedAdjustment(current->getAircraft()->
1422                                         getPerformance()->vDescent() *
1423                                         1.35);
1424         } else if (time_diff > 5) {
1425             current->setSpeedAdjustment(current->getAircraft()->
1426                                         getPerformance()->vDescent() *
1427                                         1.2);
1428         } else if (time_diff < -15) {
1429             current->setSpeedAdjustment(current->getAircraft()->
1430                                         getPerformance()->vDescent() *
1431                                         0.65);
1432         } else if (time_diff < -5) {
1433             current->setSpeedAdjustment(current->getAircraft()->
1434                                         getPerformance()->vDescent() *
1435                                         0.8);
1436         } else {
1437             current->clearSpeedAdjustment();
1438         }
1439         //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1440     }
1441     setDt(getDt() + dt);
1442 }
1443
1444 void FGApproachController::signOff(int id)
1445 {
1446     TrafficVectorIterator i = activeTraffic.begin();
1447     // Search search if the current id alread has an entry
1448     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1449     if (activeTraffic.size()) {
1450         //while ((i->getId() != id) && i != activeTraffic.end()) {
1451         while (i != activeTraffic.end()) {
1452             if (i->getId() == id) {
1453                 break;
1454             }
1455             i++;
1456         }
1457     }
1458     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1459         SG_LOG(SG_GENERAL, SG_ALERT,
1460                "AI error: Aircraft without traffic record is signing off from approach");
1461     } else {
1462         i = activeTraffic.erase(i);
1463     }
1464 }
1465
1466
1467
1468
1469 bool FGApproachController::hasInstruction(int id)
1470 {
1471     TrafficVectorIterator i = activeTraffic.begin();
1472     // Search search if the current id has an entry
1473     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1474     if (activeTraffic.size()) {
1475         //while ((i->getId() != id) && i != activeTraffic.end()) {
1476         while (i != activeTraffic.end()) {
1477             if (i->getId() == id) {
1478                 break;
1479             }
1480             i++;
1481         }
1482     }
1483     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1484         SG_LOG(SG_GENERAL, SG_ALERT,
1485                "AI error: checking ATC instruction for aircraft without traffic record");
1486     } else {
1487         return i->hasInstruction();
1488     }
1489     return false;
1490 }
1491
1492
1493 FGATCInstruction FGApproachController::getInstruction(int id)
1494 {
1495     TrafficVectorIterator i = activeTraffic.begin();
1496     // Search search if the current id has an entry
1497     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1498     if (activeTraffic.size()) {
1499         //while ((i->getId() != id) && i != activeTraffic.end()) {
1500         while (i != activeTraffic.end()) {
1501             if (i->getId() == id) {
1502                 break;
1503             }
1504             i++;
1505         }
1506     }
1507     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1508         SG_LOG(SG_GENERAL, SG_ALERT,
1509                "AI error: requesting ATC instruction for aircraft without traffic record");
1510     } else {
1511         return i->getInstruction();
1512     }
1513     return FGATCInstruction();
1514 }
1515
1516
1517 ActiveRunway *FGApproachController::getRunway(string name)
1518 {
1519     ActiveRunwayVecIterator rwy = activeRunways.begin();
1520     if (activeRunways.size()) {
1521         while (rwy != activeRunways.end()) {
1522             if (rwy->getRunwayName() == name) {
1523                 break;
1524             }
1525             rwy++;
1526         }
1527     }
1528     if (rwy == activeRunways.end()) {
1529         ActiveRunway aRwy(name, 0);
1530         activeRunways.push_back(aRwy);
1531         rwy = activeRunways.end() - 1;
1532     }
1533     return &(*rwy);
1534 }
1535
1536 void FGApproachController::render(bool visible) {
1537     //cerr << "FGApproachController::render function not yet implemented" << endl;
1538 }
1539
1540
1541
1542 string FGApproachController::getName() {
1543     return string(parent->getId() + "-approach");
1544 }