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 slow 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 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
 198 {
 199     bool result = false;
 200     //cerr << "Start check 1" << endl;
 201     if (currentPos == other.currentPos) {
 202         //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
 203         result = true;
 204     }
 205     //  else if (other.intentions.size())
 206     //     {
 207     //       cerr << "Start check 2" << endl;
 208     //       intVecIterator i = other.intentions.begin();
 209     //       while (!((i == other.intentions.end()) || ((*i) == currentPos)))
 210     //     i++;
 211     //       if (i != other.intentions.end()) {
 212     //     cerr << "Check Position and intentions: current matches other.intentions" << endl;
 213     //     result = true;
 214     //       }
 215     else if (intentions.size()) {
 216         //cerr << "Start check 3" << endl;
 217         intVecIterator i = intentions.begin();
 218         //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
 219         while (i != intentions.end()) {
 220             if ((*i) == other.currentPos) {
 221                 break;
 222             }
 223             i++;
 224         }
 225         if (i != intentions.end()) {
 226             //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
 227             result = true;
 228         }
 229     }
 230     //cerr << "Done !!" << endl;
 231     return result;
 232 }
 233
 234 void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
 235                                             double hdg, double spd,
 236                                             double alt)
 237 {
 238     latitude = lat;
 239     longitude = lon;
 240     heading = hdg;
 241     speed = spd;
 242     altitude = alt;
 243 }
 244
 245 int FGTrafficRecord::crosses(FGGroundNetwork * net,
 246                              FGTrafficRecord & other)
 247 {
 248     if (checkPositionAndIntentions(other)
 249         || (other.checkPositionAndIntentions(*this)))
 250         return -1;
 251     intVecIterator i, j;
 252     int currentTargetNode = 0, otherTargetNode = 0;
 253     if (currentPos > 0)
 254         currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
 255     if (other.currentPos > 0)
 256         otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex();     // OKAY,...
 257     if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
 258         return currentTargetNode;
 259     if (intentions.size()) {
 260         for (i = intentions.begin(); i != intentions.end(); i++) {
 261             if ((*i) > 0) {
 262                 if ((currentTargetNode ==
 263                      net->findSegment(*i)->getEnd()->getIndex())) {
 264                     //cerr << "Current crosses at " << currentTargetNode <<endl;
 265                     return currentTargetNode;
 266                 }
 267             }
 268         }
 269     }
 270     if (other.intentions.size()) {
 271         for (i = other.intentions.begin(); i != other.intentions.end();
 272              i++) {
 273             if ((*i) > 0) {
 274                 if (otherTargetNode ==
 275                     net->findSegment(*i)->getEnd()->getIndex()) {
 276                     //cerr << "Other crosses at " << currentTargetNode <<endl;
 277                     return otherTargetNode;
 278                 }
 279             }
 280         }
 281     }
 282     if (intentions.size() && other.intentions.size()) {
 283         for (i = intentions.begin(); i != intentions.end(); i++) {
 284             for (j = other.intentions.begin(); j != other.intentions.end();
 285                  j++) {
 286                 //cerr << "finding segment " << *i << " and " << *j << endl;
 287                 if (((*i) > 0) && ((*j) > 0)) {
 288                     currentTargetNode =
 289                         net->findSegment(*i)->getEnd()->getIndex();
 290                     otherTargetNode =
 291                         net->findSegment(*j)->getEnd()->getIndex();
 292                     if (currentTargetNode == otherTargetNode) {
 293                         //cerr << "Routes will cross at " << currentTargetNode << endl;
 294                         return currentTargetNode;
 295                     }
 296                 }
 297             }
 298         }
 299     }
 300     return -1;
 301 }
 302
 303 bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
 304                               FGTrafficRecord & other)
 305 {
 306     int node = -1, othernode = -1;
 307     if (currentPos > 0)
 308         node = net->findSegment(currentPos)->getEnd()->getIndex();
 309     if (other.currentPos > 0)
 310         othernode =
 311             net->findSegment(other.currentPos)->getEnd()->getIndex();
 312     if ((node == othernode) && (node != -1))
 313         return true;
 314     if (other.intentions.size()) {
 315         for (intVecIterator i = other.intentions.begin();
 316              i != other.intentions.end(); i++) {
 317             if (*i > 0) {
 318                 othernode = net->findSegment(*i)->getEnd()->getIndex();
 319                 if ((node == othernode) && (node > -1))
 320                     return true;
 321             }
 322         }
 323     }
 324     //if (other.currentPos > 0)
 325     //  othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
 326     //if (intentions.size())
 327     //  {
 328     //    for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
 329     //    {
 330     //      if (*i > 0)
 331     //        {
 332     //          node = net->findSegment(*i)->getEnd()->getIndex();
 333     //          if ((node == othernode) && (node > -1))
 334     //            return true;
 335     //        }
 336     //    }
 337     //  }
 338     return false;
 339 }
 340
 341
 342 bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
 343                                  FGTrafficRecord & other, int node)
 344 {
 345     // Check if current segment is the reverse segment for the other aircraft
 346     FGTaxiSegment *opp;
 347     //cerr << "Current segment " << currentPos << endl;
 348     if ((currentPos > 0) && (other.currentPos > 0)) {
 349         opp = net->findSegment(currentPos)->opposite();
 350         if (opp) {
 351             if (opp->getIndex() == other.currentPos)
 352                 return true;
 353         }
 354
 355         for (intVecIterator i = intentions.begin(); i != intentions.end();
 356              i++) {
 357             if ((opp = net->findSegment(other.currentPos)->opposite())) {
 358                 if ((*i) > 0)
 359                     if (opp->getIndex() ==
 360                         net->findSegment(*i)->getIndex()) {
 361                         if (net->findSegment(*i)->getStart()->getIndex() ==
 362                             node) {
 363                             {
 364                                 //cerr << "Found the node " << node << endl;
 365                                 return true;
 366                             }
 367                         }
 368                     }
 369             }
 370             if (other.intentions.size()) {
 371                 for (intVecIterator j = other.intentions.begin();
 372                      j != other.intentions.end(); j++) {
 373                     // cerr << "Current segment 1 " << (*i) << endl;
 374                     if ((*i) > 0) {
 375                         if ((opp = net->findSegment(*i)->opposite())) {
 376                             if (opp->getIndex() ==
 377                                 net->findSegment(*j)->getIndex()) {
 378                                 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
 379                                 //   << " and  " << net->findSegment(*j)->getIndex()
 380                                 //   << " are opposites " << endl;
 381                                 if (net->findSegment(*i)->getStart()->
 382                                     getIndex() == node) {
 383                                     {
 384                                         //cerr << "Found the node " << node << endl;
 385                                         return true;
 386                                     }
 387                                 }
 388                             }
 389                         }
 390                     }
 391                 }
 392             }
 393         }
 394     }
 395     return false;
 396 }
 397
 398 void FGTrafficRecord::setSpeedAdjustment(double spd)
 399 {
 400     instruction.setChangeSpeed(true);
 401     instruction.setSpeed(spd);
 402 }
 403
 404 void FGTrafficRecord::setHeadingAdjustment(double heading)
 405 {
 406     instruction.setChangeHeading(true);
 407     instruction.setHeading(heading);
 408 }
 409
 410 bool FGTrafficRecord::pushBackAllowed()
 411 {
 412     // With the user ATC / AI integration, checking whether the user's aircraft is near no longer works, because
 413     // this will effectively block the user's aircraft itself from receiving pushback clearance.
 414     // So, what can we do?
 415     /*
 416     double course, az2, dist;
 417     SGGeod curr(SGGeod::fromDegM(getLongitude(),
 418                                  getLatitude(), getAltitude()));
 419
 420     double userLatitude = fgGetDouble("/position/latitude-deg");
 421     double userLongitude = fgGetDouble("/position/longitude-deg");
 422     SGGeod user(SGGeod::fromDeg(userLongitude, userLatitude));
 423     SGGeodesy::inverse(curr, user, course, az2, dist);
 424     //cerr << "Distance to user : " << dist << endl;
 425     return (dist > 250);
 426     */
 427
 428
 429     // In essence, we should check whether the pusbback route itself, as well as the associcated
 430     // taxiways near the pushback point are free of traffic.
 431     // To do so, we need to
 432     return true;
 433 }
 434
 435
 436
 437 /***************************************************************************
 438  * FGATCInstruction
 439  *
 440  **************************************************************************/
 441 FGATCInstruction::FGATCInstruction()
 442 {
 443     holdPattern = false;
 444     holdPosition = false;
 445     changeSpeed = false;
 446     changeHeading = false;
 447     changeAltitude = false;
 448     resolveCircularWait = false;
 449
 450     speed = 0;
 451     heading = 0;
 452     alt = 0;
 453 }
 454
 455
 456 bool FGATCInstruction::hasInstruction()
 457 {
 458     return (holdPattern || holdPosition || changeSpeed || changeHeading
 459             || changeAltitude || resolveCircularWait);
 460 }
 461
 462 /***************************************************************************
 463  * FGATCController
 464  *
 465  **************************************************************************/
 466
 467
 468
 469
 470 FGATCController::FGATCController()
 471 {
 472     cerr << "running FGATController constructor" << endl;
 473     dt_count = 0;
 474     available = true;
 475     lastTransmission = 0;
 476     initialized = false;
 477 }
 478
 479 FGATCController::~FGATCController()
 480 {
 481      cerr << "running FGATController destructor" << endl;
 482 }
 483
 484 string FGATCController::getGateName(FGAIAircraft * ref)
 485 {
 486     return ref->atGate();
 487 }
 488
 489 bool FGATCController::isUserAircraft(FGAIAircraft* ac)
 490 {
 491     return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
 492 };
 493
 494 void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
 495                                AtcMsgDir msgDir, bool audible)
 496 {
 497     string sender, receiver;
 498     int stationFreq = 0;
 499     int taxiFreq = 0;
 500     int freqId = 0;
 501     string atisInformation;
 502     string text;
 503     string taxiFreqStr;
 504     double heading = 0;
 505     string activeRunway;
 506     string fltType;
 507     string rwyClass;
 508     string SID;
 509     string transponderCode;
 510     FGAIFlightPlan *fp;
 511     string fltRules;
 512
 513     //double commFreqD;
 514     sender = rec->getAircraft()->getTrafficRef()->getCallSign();
 515     //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
 516     switch (rec->getLeg()) {
 517     case 2:
 518     case 3:
 519         freqId = rec->getNextFrequency();
 520         stationFreq =
 521             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 522             getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
 523         taxiFreq =
 524             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 525             getDynamics()->getGroundFrequency(3);
 526         receiver =
 527             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 528             getName() + "-Ground";
 529         atisInformation =
 530             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 531             getDynamics()->getAtisSequence();
 532         break;
 533     case 4:
 534         receiver =
 535             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 536             getName() + "-Tower";
 537         break;
 538     }
 539     // Swap sender and receiver value in case of a ground to air transmission
 540     if (msgDir == ATC_GROUND_TO_AIR) {
 541         string tmp = sender;
 542         sender = receiver;
 543         receiver = tmp;
 544     }
 545     switch (msgId) {
 546     case MSG_ANNOUNCE_ENGINE_START:
 547         text = sender + ". Ready to Start up";
 548         break;
 549     case MSG_REQUEST_ENGINE_START:
 550         text =
 551             receiver + ", This is " + sender + ". Position " +
 552             getGateName(rec->getAircraft()) + ". Information " +
 553             atisInformation + ". " +
 554             rec->getAircraft()->getTrafficRef()->getFlightRules() +
 555             " to " +
 556             rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
 557             getName() + ". Request start-up";
 558         break;
 559         // Acknowledge engine startup permission
 560         // Assign departure runway
 561         // Assign SID, if necessery (TODO)
 562     case MSG_PERMIT_ENGINE_START:
 563         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 564
 565         heading = rec->getAircraft()->getTrafficRef()->getCourse();
 566         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
 567         rwyClass =
 568             rec->getAircraft()->GetFlightPlan()->
 569             getRunwayClassFromTrafficType(fltType);
 570
 571         rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 572             getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
 573                                            heading);
 574         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
 575         fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 576             getDynamics()->getSID(activeRunway, heading);
 577         rec->getAircraft()->GetFlightPlan()->setSID(fp);
 578         if (fp) {
 579             SID = fp->getName() + " departure";
 580         } else {
 581             SID = "fly runway heading ";
 582         }
 583         //snprintf(buffer, 7, "%3.2f", heading);
 584         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
 585         transponderCode = genTransponderCode(fltRules);
 586         rec->getAircraft()->SetTransponderCode(transponderCode);
 587         text =
 588             receiver + ". Start-up approved. " + atisInformation +
 589             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 590             transponderCode + ". " +
 591             "For push-back and taxi clearance call " + taxiFreqStr + ". " +
 592             sender + " control.";
 593         break;
 594     case MSG_DENY_ENGINE_START:
 595         text = receiver + ". Standby";
 596         break;
 597     case MSG_ACKNOWLEDGE_ENGINE_START:
 598         fp = rec->getAircraft()->GetFlightPlan()->getSID();
 599         if (fp) {
 600             SID =
 601                 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
 602                 " departure";
 603         } else {
 604             SID = "fly runway heading ";
 605         }
 606         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 607         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 608         transponderCode = rec->getAircraft()->GetTransponderCode();
 609         text =
 610             receiver + ". Start-up approved. " + atisInformation +
 611             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 612             transponderCode + ". " +
 613             "For push-back and taxi clearance call " + taxiFreqStr + ". " +
 614             sender;
 615         break;
 616     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
 617         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 618         text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
 619         break;
 620     case MSG_INITIATE_CONTACT:
 621         text = receiver + ". With you. " + sender;
 622         break;
 623     case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
 624         text = receiver + ". Roger. " + sender;
 625         break;
 626     case MSG_REQUEST_PUSHBACK_CLEARANCE:
 627         text = receiver + ". Request push-back. " + sender;
 628         break;
 629     case MSG_PERMIT_PUSHBACK_CLEARANCE:
 630         text = receiver + ". Push-back approved. " + sender;
 631         break;
 632     case MSG_HOLD_PUSHBACK_CLEARANCE:
 633         text = receiver + ". Standby. " + sender;
 634         break;
 635     case MSG_REQUEST_TAXI_CLEARANCE:
 636         text = receiver + ". Ready to Taxi. " + sender;
 637         break;
 638     case MSG_ISSUE_TAXI_CLEARANCE:
 639         text = receiver + ". Cleared to taxi. " + sender;
 640         break;
 641     case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
 642         text = receiver + ". Cleared to taxi. " + sender;
 643         break;
 644     case MSG_HOLD_POSITION:
 645         text = receiver + ". Hold Position. " + sender;
 646         break;
 647     case MSG_ACKNOWLEDGE_HOLD_POSITION:
 648         text = receiver + ". Holding Position. " + sender;
 649         break;
 650     case MSG_RESUME_TAXI:
 651         text = receiver + ". Resume Taxiing. " + sender;
 652         break;
 653     case MSG_ACKNOWLEDGE_RESUME_TAXI:
 654         text = receiver + ". Continuing Taxi. " + sender;
 655         break;
 656     default:
 657         text = text + sender + ". Transmitting unknown Message";
 658         break;
 659     }
 660     if (audible) {
 661         double onBoardRadioFreq0 =
 662             fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
 663         double onBoardRadioFreq1 =
 664             fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
 665         int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
 666         int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
 667         //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 668
 669         // Display ATC message only when one of the radios is tuned
 670         // the relevant frequency.
 671         // Note that distance attenuation is currently not yet implemented
 672         if ((onBoardRadioFreqI0 == stationFreq)
 673             || (onBoardRadioFreqI1 == stationFreq)) {
 674             if (rec->allowTransmissions()) {
 675                 fgSetString("/sim/messages/atc", text.c_str());
 676             }
 677         }
 678     } else {
 679         FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
 680         atc->getATCDialog()->addEntry(1, text);
 681
 682     }
 683 }
 684
 685 string FGATCController::formatATCFrequency3_2(int freq)
 686 {
 687     char buffer[7];
 688     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
 689     return string(buffer);
 690 }
 691
 692 // TODO: Set transponder codes according to real-world routes.
 693 // The current version just returns a random string of four octal numbers.
 694 string FGATCController::genTransponderCode(string fltRules)
 695 {
 696     if (fltRules == "VFR") {
 697         return string("1200");
 698     } else {
 699         char buffer[5];
 700         snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
 701                  rand() % 8);
 702         return string(buffer);
 703     }
 704 }
 705
 706 void FGATCController::init()
 707 {
 708    if (!initialized) {
 709        FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
 710        mgr->addController(this);
 711        initialized = true;
 712     }
 713 }
 714
 715 /***************************************************************************
 716  * class FGTowerController
 717  *
 718  **************************************************************************/
 719 FGTowerController::FGTowerController():
 720 FGATCController()
 721 {
 722 }
 723
 724 //
 725 void FGTowerController::announcePosition(int id,
 726                                          FGAIFlightPlan * intendedRoute,
 727                                          int currentPosition, double lat,
 728                                          double lon, double heading,
 729                                          double speed, double alt,
 730                                          double radius, int leg,
 731                                          FGAIAircraft * ref)
 732 {
 733     init();
 734     TrafficVectorIterator i = activeTraffic.begin();
 735     // Search whether the current id alread has an entry
 736     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 737     if (activeTraffic.size()) {
 738         //while ((i->getId() != id) && i != activeTraffic.end()) {
 739         while (i != activeTraffic.end()) {
 740             if (i->getId() == id) {
 741                 break;
 742             }
 743             i++;
 744         }
 745     }
 746     // Add a new TrafficRecord if no one exsists for this aircraft.
 747     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 748         FGTrafficRecord rec;
 749         rec.setId(id);
 750
 751         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 752         rec.setRunway(intendedRoute->getRunway());
 753         rec.setLeg(leg);
 754         //rec.setCallSign(callsign);
 755         rec.setAircraft(ref);
 756         activeTraffic.push_back(rec);
 757     } else {
 758         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 759     }
 760 }
 761
 762 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
 763                                                   double heading, double speed, double alt,
 764                                                   double dt)
 765 {
 766     TrafficVectorIterator i = activeTraffic.begin();
 767     // Search whether the current id has an entry
 768     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 769     TrafficVectorIterator current, closest;
 770     if (activeTraffic.size()) {
 771         //while ((i->getId() != id) && i != activeTraffic.end()) {
 772         while (i != activeTraffic.end()) {
 773             if (i->getId() == id) {
 774                 break;
 775             }
 776             i++;
 777         }
 778     }
 779 //    // update position of the current aircraft
 780     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 781         SG_LOG(SG_GENERAL, SG_ALERT,
 782                "AI error: updating aircraft without traffic record");
 783     } else {
 784         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 785         current = i;
 786     }
 787     setDt(getDt() + dt);
 788
 789 //    // see if we already have a clearance record for the currently active runway
 790     ActiveRunwayVecIterator rwy = activeRunways.begin();
 791     // again, a map might be more efficient here
 792     if (activeRunways.size()) {
 793         //while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
 794         while (rwy != activeRunways.end()) {
 795             if (rwy->getRunwayName() == current->getRunway()) {
 796                 break;
 797             }
 798             rwy++;
 799         }
 800     }
 801     if (rwy == activeRunways.end()) {
 802         ActiveRunway aRwy(current->getRunway(), id);
 803         activeRunways.push_back(aRwy);  // Since there are no clearance records for this runway yet
 804         current->setHoldPosition(false);        // Clear the current aircraft to continue
 805     } else {
 806         // Okay, we have a clearance record for this runway, so check
 807         // whether the clearence ID matches that of the current aircraft
 808         if (id == rwy->getCleared()) {
 809             current->setHoldPosition(false);
 810         } else {
 811             current->setHoldPosition(true);
 812         }
 813     }
 814 }
 815
 816
 817 void FGTowerController::signOff(int id)
 818 {
 819     TrafficVectorIterator i = activeTraffic.begin();
 820     // Search search if the current id alread has an entry
 821     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 822     if (activeTraffic.size()) {
 823         //while ((i->getId() != id) && i != activeTraffic.end()) {
 824         while (i != activeTraffic.end()) {
 825             if (i->getId() == id) {
 826                 break;
 827             }
 828             i++;
 829         }
 830     }
 831     // If this aircraft has left the runway, we can clear the departure record for this runway
 832     ActiveRunwayVecIterator rwy = activeRunways.begin();
 833     if (activeRunways.size()) {
 834         //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
 835         while (rwy != activeRunways.end()) {
 836             if (rwy->getRunwayName() == i->getRunway()) {
 837                 break;
 838             }
 839             rwy++;
 840         }
 841         if (rwy != activeRunways.end()) {
 842             rwy = activeRunways.erase(rwy);
 843         } else {
 844             SG_LOG(SG_GENERAL, SG_ALERT,
 845                    "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
 846         }
 847     }
 848     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 849         SG_LOG(SG_GENERAL, SG_ALERT,
 850                "AI error: Aircraft without traffic record is signing off from tower");
 851     } else {
 852         i = activeTraffic.erase(i);
 853     }
 854 }
 855
 856 // NOTE:
 857 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
 858 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
 859 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
 860 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
 861 // Note that this function is probably obsolete
 862 bool FGTowerController::hasInstruction(int id)
 863 {
 864     TrafficVectorIterator i = activeTraffic.begin();
 865     // Search search if the current id has an entry
 866     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 867     if (activeTraffic.size()) {
 868         //while ((i->getId() != id) && i != activeTraffic.end()) {
 869         while (i != activeTraffic.end()) {
 870             if (i->getId() == id) {
 871                 break;
 872             }
 873             i++;
 874         }
 875     }
 876     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 877         SG_LOG(SG_GENERAL, SG_ALERT,
 878                "AI error: checking ATC instruction for aircraft without traffic record");
 879     } else {
 880         return i->hasInstruction();
 881     }
 882     return false;
 883 }
 884
 885
 886 FGATCInstruction FGTowerController::getInstruction(int id)
 887 {
 888     TrafficVectorIterator i = activeTraffic.begin();
 889     // Search search if the current id has an entry
 890     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 891     if (activeTraffic.size()) {
 892         //while ((i->getId() != id) && i != activeTraffic.end()) {
 893         while (i != activeTraffic.end()) {
 894             if (i->getId() == id) {
 895                 break;
 896             }
 897             i++;
 898         }
 899     }
 900     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 901         SG_LOG(SG_GENERAL, SG_ALERT,
 902                "AI error: requesting ATC instruction for aircraft without traffic record");
 903     } else {
 904         return i->getInstruction();
 905     }
 906     return FGATCInstruction();
 907 }
 908
 909 void FGTowerController::render() {
 910     cerr << "FGTowerController::render function not yet implemented" << endl;
 911 }
 912
 913
 914 /***************************************************************************
 915  * class FGStartupController
 916  *
 917  **************************************************************************/
 918 FGStartupController::FGStartupController(FGAirportDynamics *par):
 919     FGATCController()
 920 {
 921     parent = par;
 922 }
 923
 924 void FGStartupController::announcePosition(int id,
 925                                            FGAIFlightPlan * intendedRoute,
 926                                            int currentPosition, double lat,
 927                                            double lon, double heading,
 928                                            double speed, double alt,
 929                                            double radius, int leg,
 930                                            FGAIAircraft * ref)
 931 {
 932     init();
 933     TrafficVectorIterator i = activeTraffic.begin();
 934     // Search whether the current id alread has an entry
 935     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 936     if (activeTraffic.size()) {
 937         //while ((i->getId() != id) && i != activeTraffic.end()) {
 938         while (i != activeTraffic.end()) {
 939             if (i->getId() == id) {
 940                 break;
 941             }
 942             i++;
 943         }
 944     }
 945     // Add a new TrafficRecord if no one exsists for this aircraft.
 946     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 947         FGTrafficRecord rec;
 948         rec.setId(id);
 949
 950         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 951         rec.setRunway(intendedRoute->getRunway());
 952         rec.setLeg(leg);
 953         rec.setPositionAndIntentions(currentPosition, intendedRoute);
 954         //rec.setCallSign(callsign);
 955         rec.setAircraft(ref);
 956         rec.setHoldPosition(true);
 957         activeTraffic.push_back(rec);
 958     } else {
 959         i->setPositionAndIntentions(currentPosition, intendedRoute);
 960         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 961
 962     }
 963 }
 964
 965 // NOTE:
 966 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
 967 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
 968 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
 969 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
 970 // Note that this function is probably obsolete
 971 bool FGStartupController::hasInstruction(int id)
 972 {
 973     TrafficVectorIterator i = activeTraffic.begin();
 974     // Search search if the current id has an entry
 975     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 976     if (activeTraffic.size()) {
 977         //while ((i->getId() != id) && i != activeTraffic.end()) {
 978         while (i != activeTraffic.end()) {
 979             if (i->getId() == id) {
 980                 break;
 981             }
 982             i++;
 983         }
 984     }
 985     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 986         SG_LOG(SG_GENERAL, SG_ALERT,
 987                "AI error: checking ATC instruction for aircraft without traffic record");
 988     } else {
 989         return i->hasInstruction();
 990     }
 991     return false;
 992 }
 993
 994
 995 FGATCInstruction FGStartupController::getInstruction(int id)
 996 {
 997     TrafficVectorIterator i = activeTraffic.begin();
 998     // Search search if the current id 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     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1010         SG_LOG(SG_GENERAL, SG_ALERT,
1011                "AI error: requesting ATC instruction for aircraft without traffic record");
1012     } else {
1013         return i->getInstruction();
1014     }
1015     return FGATCInstruction();
1016 }
1017
1018 void FGStartupController::signOff(int id)
1019 {
1020     TrafficVectorIterator i = activeTraffic.begin();
1021     // Search search if the current id alread has an entry
1022     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1023     if (activeTraffic.size()) {
1024         //while ((i->getId() != id) && i != activeTraffic.end()) {
1025         while (i != activeTraffic.end()) {
1026             if (i->getId() == id) {
1027                 break;
1028             }
1029             i++;
1030         }
1031     }
1032     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1033         SG_LOG(SG_GENERAL, SG_ALERT,
1034                "AI error: Aircraft without traffic record is signing off from tower");
1035     } else {
1036         cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1037         i = activeTraffic.erase(i);
1038     }
1039 }
1040
1041 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1042                                AtcMsgDir msgDir)
1043 {
1044     int state = i->getState();
1045     if ((state == st) && available) {
1046         if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1047
1048             cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1049             static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1050             int n = trans_num->getIntValue();
1051             if (n >= 0) {
1052                 trans_num->setIntValue(-1);
1053                  // PopupCallback(n);
1054                  cerr << "Selected transmission message" << n << endl;
1055                  FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
1056                  atc->getATCDialog()->removeEntry(1);
1057             } else {
1058                 cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1059                 transmit(&(*i), msgId, msgDir, false);
1060                 return false;
1061             }
1062         }
1063         if (now > startTime) {
1064             //cerr << "Transmitting startup msg" << endl;
1065             transmit(&(*i), msgId, msgDir, true);
1066             i->updateState();
1067             lastTransmission = now;
1068             available = false;
1069             return true;
1070         }
1071     }
1072     return false;
1073 }
1074
1075 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1076                                                     double heading, double speed, double alt,
1077                                                     double dt)
1078 {
1079     TrafficVectorIterator i = activeTraffic.begin();
1080     // Search search if the current id has an entry
1081     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1082     TrafficVectorIterator current, closest;
1083     if (activeTraffic.size()) {
1084         //while ((i->getId() != id) && i != activeTraffic.end()) {
1085         while (i != activeTraffic.end()) {
1086             if (i->getId() == id) {
1087                 break;
1088             }
1089             i++;
1090         }
1091     }
1092 //    // update position of the current aircraft
1093
1094     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1095         SG_LOG(SG_GENERAL, SG_ALERT,
1096                "AI error: updating aircraft without traffic record");
1097     } else {
1098         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1099         current = i;
1100     }
1101     setDt(getDt() + dt);
1102
1103     int state = i->getState();
1104
1105     // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1106     // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1107     time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1108     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1109     //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1110     //     << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1111     //     << " at parking " << getGateName(i->getAircraft()) << endl;
1112
1113     if ((now - lastTransmission) > 3 + (rand() % 15)) {
1114         available = true;
1115     }
1116
1117     checkTransmissionState(0, now, (startTime + 0  ), i, MSG_ANNOUNCE_ENGINE_START,                     ATC_AIR_TO_GROUND);
1118     checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START,                      ATC_AIR_TO_GROUND);
1119     checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START,                       ATC_GROUND_TO_AIR);
1120     checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START,                  ATC_AIR_TO_GROUND);
1121     if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,       ATC_AIR_TO_GROUND)) {
1122         i->nextFrequency();
1123     }
1124     checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT,                          ATC_AIR_TO_GROUND);
1125     checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT,              ATC_GROUND_TO_AIR);
1126     checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE,                ATC_AIR_TO_GROUND);
1127
1128
1129
1130     if ((state == 8) && available) {
1131         if (now > startTime + 200) {
1132             if (i->pushBackAllowed()) {
1133                 i->allowRepeatedTransmissions();
1134                 transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE,
1135                          ATC_GROUND_TO_AIR, true);
1136                 i->updateState();
1137             } else {
1138                 transmit(&(*i), MSG_HOLD_PUSHBACK_CLEARANCE,
1139                          ATC_GROUND_TO_AIR, true);
1140                 i->suppressRepeatedTransmissions();
1141             }
1142             lastTransmission = now;
1143             available = false;
1144         }
1145     }
1146     if ((state == 9) && available) {
1147         i->setHoldPosition(false);
1148     }
1149 }
1150
1151 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1152 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1153                             double lon, double elev, double hdg)
1154 {
1155     SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1156     obj_pos = geod.makeZUpFrame();
1157     // hdg is not a compass heading, but a counter-clockwise rotation
1158     // around the Z axis
1159     obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1160                                         0.0, 0.0, 1.0));
1161 }
1162
1163
1164 void FGStartupController::render()
1165 {
1166
1167     SGMaterialLib *matlib = globals->get_matlib();
1168     if (group) {
1169         //int nr = ;
1170         globals->get_scenery()->get_scene_graph()->removeChild(group);
1171         //while (group->getNumChildren()) {
1172         //  cerr << "Number of children: " << group->getNumChildren() << endl;
1173         simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1174           //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1175            //geode->releaseGLObjects();
1176            //group->removeChild(geode);
1177            //delete geode;
1178     }
1179     group = new osg::Group;
1180
1181     //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1182     double dx = 0;
1183     for   (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1184         // Handle start point
1185         int pos = i->getCurrentPosition();
1186         //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1187         if (pos > 0) {
1188             FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(pos);
1189             SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1190             SGGeod end  (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1191
1192             double length = SGGeodesy::distanceM(start, end);
1193             //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1194
1195             double az2, heading; //, distanceM;
1196             SGGeodesy::inverse(start, end, heading, az2, length);
1197             double coveredDistance = length * 0.5;
1198             SGGeod center;
1199             SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1200             //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1201             ///////////////////////////////////////////////////////////////////////////////
1202             // Make a helper function out of this
1203             osg::Matrix obj_pos;
1204                 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1205                 obj_trans->setDataVariance(osg::Object::STATIC);
1206
1207                 WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), parent->getElevation()+8+dx, -(heading) );
1208
1209                 obj_trans->setMatrix( obj_pos );
1210                 //osg::Vec3 center(0, 0, 0)
1211
1212                 float width = length /2.0;
1213                 osg::Vec3 corner(-width, 0, 0.25f);
1214                 osg::Vec3 widthVec(2*width + 1, 0, 0);
1215                 osg::Vec3 heightVec(0, 1, 0);
1216                 osg::Geometry* geometry;
1217                 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1218                 simgear::EffectGeode* geode = new simgear::EffectGeode;
1219                 geode->setName("test");
1220                 geode->addDrawable(geometry);
1221                 //osg::Node *custom_obj;
1222                 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1223                 if (mat)
1224                     geode->setEffect(mat->get_effect());
1225                 obj_trans->addChild(geode);
1226                 // wire as much of the scene graph together as we can
1227                 //->addChild( obj_trans );
1228                 group->addChild( obj_trans );
1229         /////////////////////////////////////////////////////////////////////
1230         } else {
1231              cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1232         }
1233         for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1234              osg::Matrix obj_pos;
1235             int k = (*j);
1236             if (k > 0) {
1237                 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1238                 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1239                 obj_trans->setDataVariance(osg::Object::STATIC);
1240                 FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(k);
1241                 WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1242
1243                 obj_trans->setMatrix( obj_pos );
1244                 //osg::Vec3 center(0, 0, 0)
1245
1246                 float width = segment->getLength() /2.0;
1247                 osg::Vec3 corner(-width, 0, 0.25f);
1248                 osg::Vec3 widthVec(2*width + 1, 0, 0);
1249                 osg::Vec3 heightVec(0, 1, 0);
1250                 osg::Geometry* geometry;
1251                 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1252                 simgear::EffectGeode* geode = new simgear::EffectGeode;
1253                 geode->setName("test");
1254                 geode->addDrawable(geometry);
1255                 //osg::Node *custom_obj;
1256                 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1257                 if (mat)
1258                     geode->setEffect(mat->get_effect());
1259                 obj_trans->addChild(geode);
1260                 // wire as much of the scene graph together as we can
1261                 //->addChild( obj_trans );
1262                 group->addChild( obj_trans );
1263             } else {
1264                 cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1265             }
1266         }
1267         //dx += 0.1;
1268     }
1269     globals->get_scenery()->get_scene_graph()->addChild(group);
1270 }
1271
1272
1273 /***************************************************************************
1274  * class FGApproachController
1275  *
1276  **************************************************************************/
1277 FGApproachController::FGApproachController():
1278 FGATCController()
1279 {
1280 }
1281
1282 //
1283 void FGApproachController::announcePosition(int id,
1284                                             FGAIFlightPlan * intendedRoute,
1285                                             int currentPosition,
1286                                             double lat, double lon,
1287                                             double heading, double speed,
1288                                             double alt, double radius,
1289                                             int leg, FGAIAircraft * ref)
1290 {
1291     init();
1292     TrafficVectorIterator i = activeTraffic.begin();
1293     // Search whether the current id alread has an entry
1294     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1295     if (activeTraffic.size()) {
1296         //while ((i->getId() != id) && i != activeTraffic.end()) {
1297         while (i != activeTraffic.end()) {
1298             if (i->getId() == id) {
1299                 break;
1300             }
1301             i++;
1302         }
1303     }
1304     // Add a new TrafficRecord if no one exsists for this aircraft.
1305     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1306         FGTrafficRecord rec;
1307         rec.setId(id);
1308
1309         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1310         rec.setRunway(intendedRoute->getRunway());
1311         rec.setLeg(leg);
1312         //rec.setCallSign(callsign);
1313         rec.setAircraft(ref);
1314         activeTraffic.push_back(rec);
1315     } else {
1316         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1317     }
1318 }
1319
1320 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1321                                                      double heading, double speed, double alt,
1322                                                      double dt)
1323 {
1324     TrafficVectorIterator i = activeTraffic.begin();
1325     // Search search if the current id has an entry
1326     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1327     TrafficVectorIterator current, closest;
1328     if (activeTraffic.size()) {
1329         //while ((i->getId() != id) && i != activeTraffic.end()) {
1330         while (i != activeTraffic.end()) {
1331             if (i->getId() == id) {
1332                 break;
1333             }
1334             i++;
1335         }
1336     }
1337 //    // update position of the current aircraft
1338     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1339         SG_LOG(SG_GENERAL, SG_ALERT,
1340                "AI error: updating aircraft without traffic record");
1341     } else {
1342         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1343         current = i;
1344         //cerr << "ApproachController: checking for speed" << endl;
1345         time_t time_diff =
1346             current->getAircraft()->
1347             checkForArrivalTime(string("final001"));
1348         if (time_diff > 15) {
1349             current->setSpeedAdjustment(current->getAircraft()->
1350                                         getPerformance()->vDescent() *
1351                                         1.35);
1352         } else if (time_diff > 5) {
1353             current->setSpeedAdjustment(current->getAircraft()->
1354                                         getPerformance()->vDescent() *
1355                                         1.2);
1356         } else if (time_diff < -15) {
1357             current->setSpeedAdjustment(current->getAircraft()->
1358                                         getPerformance()->vDescent() *
1359                                         0.65);
1360         } else if (time_diff < -5) {
1361             current->setSpeedAdjustment(current->getAircraft()->
1362                                         getPerformance()->vDescent() *
1363                                         0.8);
1364         } else {
1365             current->clearSpeedAdjustment();
1366         }
1367         //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1368     }
1369     setDt(getDt() + dt);
1370 }
1371
1372 void FGApproachController::signOff(int id)
1373 {
1374     TrafficVectorIterator i = activeTraffic.begin();
1375     // Search search if the current id alread has an entry
1376     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1377     if (activeTraffic.size()) {
1378         //while ((i->getId() != id) && i != activeTraffic.end()) {
1379         while (i != activeTraffic.end()) {
1380             if (i->getId() == id) {
1381                 break;
1382             }
1383             i++;
1384         }
1385     }
1386     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1387         SG_LOG(SG_GENERAL, SG_ALERT,
1388                "AI error: Aircraft without traffic record is signing off from approach");
1389     } else {
1390         i = activeTraffic.erase(i);
1391     }
1392 }
1393
1394
1395
1396
1397 bool FGApproachController::hasInstruction(int id)
1398 {
1399     TrafficVectorIterator i = activeTraffic.begin();
1400     // Search search if the current id 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     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1412         SG_LOG(SG_GENERAL, SG_ALERT,
1413                "AI error: checking ATC instruction for aircraft without traffic record");
1414     } else {
1415         return i->hasInstruction();
1416     }
1417     return false;
1418 }
1419
1420
1421 FGATCInstruction FGApproachController::getInstruction(int id)
1422 {
1423     TrafficVectorIterator i = activeTraffic.begin();
1424     // Search search if the current id has an entry
1425     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1426     if (activeTraffic.size()) {
1427         //while ((i->getId() != id) && i != activeTraffic.end()) {
1428         while (i != activeTraffic.end()) {
1429             if (i->getId() == id) {
1430                 break;
1431             }
1432             i++;
1433         }
1434     }
1435     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1436         SG_LOG(SG_GENERAL, SG_ALERT,
1437                "AI error: requesting ATC instruction for aircraft without traffic record");
1438     } else {
1439         return i->getInstruction();
1440     }
1441     return FGATCInstruction();
1442 }
1443
1444
1445 ActiveRunway *FGApproachController::getRunway(string name)
1446 {
1447     ActiveRunwayVecIterator rwy = activeRunways.begin();
1448     if (activeRunways.size()) {
1449         while (rwy != activeRunways.end()) {
1450             if (rwy->getRunwayName() == name) {
1451                 break;
1452             }
1453             rwy++;
1454         }
1455     }
1456     if (rwy == activeRunways.end()) {
1457         ActiveRunway aRwy(name, 0);
1458         activeRunways.push_back(aRwy);
1459         rwy = activeRunways.end() - 1;
1460     }
1461     return &(*rwy);
1462 }
1463
1464 void FGApproachController::render() {
1465     cerr << "FGApproachController::render function not yet implemented" << endl;
1466 }