1 // trafficrecord.cxx - Implementation of AIModels ATC code.
3 // Written by Durk Talsma, started September 2006.
5 // Copyright (C) 2006 Durk Talsma.
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.
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.
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.
33 #include <osg/Geometry>
34 #include <osg/MatrixTransform>
37 #include <simgear/scene/material/EffectGeode.hxx>
38 #include <simgear/scene/material/matlib.hxx>
39 #include <simgear/scene/material/mat.hxx>
40 #include <Scenery/scenery.hxx>
42 #include "trafficcontrol.hxx"
43 #include "atc_mgr.hxx"
44 #include <AIModel/AIAircraft.hxx>
45 #include <AIModel/AIFlightPlan.hxx>
46 #include <AIModel/performancedata.hxx>
47 #include <AIModel/performancedb.hxx>
48 #include <ATC/atc_mgr.hxx>
49 #include <Traffic/TrafficMgr.hxx>
50 #include <Airports/groundnetwork.hxx>
51 #include <Airports/dynamics.hxx>
52 #include <Airports/simple.hxx>
53 #define WITH_POINT_TO_POINT
58 /***************************************************************************
60 **************************************************************************/
61 time_t ActiveRunway::requestTimeSlot(time_t eta)
64 time_t separation = 90;
66 if (estimatedArrivalTimes.size() == 0) {
67 estimatedArrivalTimes.push_back(eta);
70 TimeVectorIterator i = estimatedArrivalTimes.begin();
71 //cerr << "Checking eta slots " << eta << ": " << endl;
72 for (i = estimatedArrivalTimes.begin();
73 i != estimatedArrivalTimes.end(); i++) {
74 //cerr << "Stored time : " << (*i) << endl;
76 i = estimatedArrivalTimes.begin();
77 if ((eta + separation) < (*i)) {
80 //cerr << "Storing at beginning" << endl;
82 while ((i != estimatedArrivalTimes.end()) && (!found)) {
83 TimeVectorIterator j = i + 1;
84 if (j == estimatedArrivalTimes.end()) {
85 if (((*i) + separation) < eta) {
86 //cerr << "Storing at end" << endl;
89 newEta = (*i) + separation;
90 //cerr << "Storing at end + separation" << endl;
93 if ((((*j) - (*i)) > (separation * 2))) { // found a potential slot
94 // now check whether this slot is usable:
95 // 1) eta should fall between the two points
96 // i.e. eta > i AND eta < j
98 //cerr << "Found potential slot after " << (*i) << endl;
99 if (eta > (*i) && (eta < (*j))) {
101 if (eta < ((*i) + separation)) {
102 newEta = (*i) + separation;
103 //cerr << "Using original" << (*i) << " + separation " << endl;
106 //cerr << "Using original after " << (*i) << endl;
108 } else if (eta < (*i)) {
110 newEta = (*i) + separation;
111 //cerr << "Using delayed slot after " << (*i) << endl;
114 if (((*j) - separation) < eta) {
116 if (((*i) + separation) < eta) {
118 cerr << "Using original after " << (*i) << endl;
120 newEta = (*i) + separation;
121 cerr << "Using " << (*i) << " + separation " << endl;
129 //cerr << ". done. New ETA : " << newEta << endl;
131 estimatedArrivalTimes.push_back(newEta);
132 sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
133 // do some housekeeping : remove any timestamps that are past
134 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
135 TimeVectorIterator i = estimatedArrivalTimes.begin();
136 while (i != estimatedArrivalTimes.end()) {
138 //cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
139 estimatedArrivalTimes.erase(i);
140 i = estimatedArrivalTimes.begin();
148 /***************************************************************************
150 **************************************************************************/
151 FGTrafficRecord::FGTrafficRecord():
152 id(0), waitsForId(0),
157 allowTransmission(true),
158 latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
162 void FGTrafficRecord::setPositionAndIntentions(int pos,
163 FGAIFlightPlan * route)
167 if (intentions.size()) {
168 intVecIterator i = intentions.begin();
170 SG_LOG(SG_GENERAL, SG_ALERT,
171 "Error in FGTrafficRecord::setPositionAndIntentions");
172 //cerr << "Pos : " << pos << " Curr " << *(intentions.begin()) << endl;
173 for (intVecIterator i = intentions.begin();
174 i != intentions.end(); i++) {
175 //cerr << (*i) << " ";
181 //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
182 int size = route->getNrOfWayPoints();
183 //cerr << "Setting pos" << pos << " ";
184 //cerr << "setting intentions ";
185 for (int i = 0; i < size; i++) {
186 int val = route->getRouteIndex(i);
188 if ((val) && (val != pos)) {
189 intentions.push_back(val);
194 //while (route->next(&legNr, &routeNr)) {
195 //intentions.push_back(routeNr);
197 //route->rewind(currentPos);
202 * Check if another aircraft is ahead of the current one, and on the same
203 * return true / false is the is/isn't the case.
205 ****************************************************************************/
207 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
210 //cerr << "Start check 1" << endl;
211 if (currentPos == other.currentPos) {
212 //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
215 // else if (other.intentions.size())
217 // cerr << "Start check 2" << endl;
218 // intVecIterator i = other.intentions.begin();
219 // while (!((i == other.intentions.end()) || ((*i) == currentPos)))
221 // if (i != other.intentions.end()) {
222 // cerr << "Check Position and intentions: current matches other.intentions" << endl;
225 else if (intentions.size()) {
226 //cerr << "Start check 3" << endl;
227 intVecIterator i = intentions.begin();
228 //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
229 while (i != intentions.end()) {
230 if ((*i) == other.currentPos) {
235 if (i != intentions.end()) {
236 //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
240 //cerr << "Done !!" << endl;
244 void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
245 double hdg, double spd,
255 int FGTrafficRecord::crosses(FGGroundNetwork * net,
256 FGTrafficRecord & other)
258 if (checkPositionAndIntentions(other)
259 || (other.checkPositionAndIntentions(*this)))
262 int currentTargetNode = 0, otherTargetNode = 0;
264 currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
265 if (other.currentPos > 0)
266 otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
267 if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
268 return currentTargetNode;
269 if (intentions.size()) {
270 for (i = intentions.begin(); i != intentions.end(); i++) {
272 if ((currentTargetNode ==
273 net->findSegment(*i)->getEnd()->getIndex())) {
274 //cerr << "Current crosses at " << currentTargetNode <<endl;
275 return currentTargetNode;
280 if (other.intentions.size()) {
281 for (i = other.intentions.begin(); i != other.intentions.end();
284 if (otherTargetNode ==
285 net->findSegment(*i)->getEnd()->getIndex()) {
286 //cerr << "Other crosses at " << currentTargetNode <<endl;
287 return otherTargetNode;
292 if (intentions.size() && other.intentions.size()) {
293 for (i = intentions.begin(); i != intentions.end(); i++) {
294 for (j = other.intentions.begin(); j != other.intentions.end();
296 //cerr << "finding segment " << *i << " and " << *j << endl;
297 if (((*i) > 0) && ((*j) > 0)) {
299 net->findSegment(*i)->getEnd()->getIndex();
301 net->findSegment(*j)->getEnd()->getIndex();
302 if (currentTargetNode == otherTargetNode) {
303 //cerr << "Routes will cross at " << currentTargetNode << endl;
304 return currentTargetNode;
313 bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
314 FGTrafficRecord & other)
316 int node = -1, othernode = -1;
318 node = net->findSegment(currentPos)->getEnd()->getIndex();
319 if (other.currentPos > 0)
321 net->findSegment(other.currentPos)->getEnd()->getIndex();
322 if ((node == othernode) && (node != -1))
324 if (other.intentions.size()) {
325 for (intVecIterator i = other.intentions.begin();
326 i != other.intentions.end(); i++) {
328 othernode = net->findSegment(*i)->getEnd()->getIndex();
329 if ((node == othernode) && (node > -1))
334 //if (other.currentPos > 0)
335 // othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
336 //if (intentions.size())
338 // for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
342 // node = net->findSegment(*i)->getEnd()->getIndex();
343 // if ((node == othernode) && (node > -1))
352 bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
353 FGTrafficRecord & other, int node)
355 // Check if current segment is the reverse segment for the other aircraft
357 //cerr << "Current segment " << currentPos << endl;
358 if ((currentPos > 0) && (other.currentPos > 0)) {
359 opp = net->findSegment(currentPos)->opposite();
361 if (opp->getIndex() == other.currentPos)
365 for (intVecIterator i = intentions.begin(); i != intentions.end();
367 if ((opp = net->findSegment(other.currentPos)->opposite())) {
369 if (opp->getIndex() ==
370 net->findSegment(*i)->getIndex()) {
371 if (net->findSegment(*i)->getStart()->getIndex() ==
374 //cerr << "Found the node " << node << endl;
380 if (other.intentions.size()) {
381 for (intVecIterator j = other.intentions.begin();
382 j != other.intentions.end(); j++) {
383 // cerr << "Current segment 1 " << (*i) << endl;
385 if ((opp = net->findSegment(*i)->opposite())) {
386 if (opp->getIndex() ==
387 net->findSegment(*j)->getIndex()) {
388 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
389 // << " and " << net->findSegment(*j)->getIndex()
390 // << " are opposites " << endl;
391 if (net->findSegment(*i)->getStart()->
392 getIndex() == node) {
394 //cerr << "Found the node " << node << endl;
408 void FGTrafficRecord::setSpeedAdjustment(double spd)
410 instruction.setChangeSpeed(true);
411 instruction.setSpeed(spd);
414 void FGTrafficRecord::setHeadingAdjustment(double heading)
416 instruction.setChangeHeading(true);
417 instruction.setHeading(heading);
420 bool FGTrafficRecord::pushBackAllowed()
422 // With the user ATC / AI integration, checking whether the user's aircraft is near no longer works, because
423 // this will effectively block the user's aircraft itself from receiving pushback clearance.
424 // So, what can we do?
426 double course, az2, dist;
427 SGGeod curr(SGGeod::fromDegM(getLongitude(),
428 getLatitude(), getAltitude()));
430 double userLatitude = fgGetDouble("/position/latitude-deg");
431 double userLongitude = fgGetDouble("/position/longitude-deg");
432 SGGeod user(SGGeod::fromDeg(userLongitude, userLatitude));
433 SGGeodesy::inverse(curr, user, course, az2, dist);
434 //cerr << "Distance to user : " << dist << endl;
439 // In essence, we should check whether the pusbback route itself, as well as the associcated
440 // taxiways near the pushback point are free of traffic.
441 // To do so, we need to
447 /***************************************************************************
450 **************************************************************************/
451 FGATCInstruction::FGATCInstruction()
454 holdPosition = false;
456 changeHeading = false;
457 changeAltitude = false;
458 resolveCircularWait = false;
466 bool FGATCInstruction::hasInstruction()
468 return (holdPattern || holdPosition || changeSpeed || changeHeading
469 || changeAltitude || resolveCircularWait);
472 /***************************************************************************
475 **************************************************************************/
480 FGATCController::FGATCController()
482 //cerr << "running FGATController constructor" << endl;
485 lastTransmission = 0;
489 FGATCController::~FGATCController()
491 //cerr << "running FGATController destructor" << endl;
494 string FGATCController::getGateName(FGAIAircraft * ref)
496 return ref->atGate();
499 bool FGATCController::isUserAircraft(FGAIAircraft* ac)
501 return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
504 void FGATCController::transmit(FGTrafficRecord * rec, FGAirportDynamics *parent, AtcMsgId msgId,
505 AtcMsgDir msgDir, bool audible)
507 string sender, receiver;
512 string atisInformation;
521 string transponderCode;
524 string instructionText;
528 sender = rec->getAircraft()->getTrafficRef()->getCallSign();
529 if (rec->getAircraft()->getTaxiClearanceRequest()) {
530 instructionText = "push-back and taxi";
532 instructionText = "taxi";
534 //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
535 switch (rec->getLeg()) {
538 freqId = rec->getNextFrequency();
540 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
541 getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
543 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
544 getDynamics()->getGroundFrequency(2);
546 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
547 getDynamics()->getTowerFrequency(2);
549 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
550 getName() + "-Ground";
552 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
553 getDynamics()->getAtisSequence();
557 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
558 getName() + "-Tower";
561 // Swap sender and receiver value in case of a ground to air transmission
562 if (msgDir == ATC_GROUND_TO_AIR) {
569 case MSG_ANNOUNCE_ENGINE_START:
570 text = sender + ". Ready to Start up";
572 case MSG_REQUEST_ENGINE_START:
574 receiver + ", This is " + sender + ". Position " +
575 getGateName(rec->getAircraft()) + ". Information " +
576 atisInformation + ". " +
577 rec->getAircraft()->getTrafficRef()->getFlightRules() +
579 rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
580 getName() + ". Request start-up";
582 // Acknowledge engine startup permission
583 // Assign departure runway
584 // Assign SID, if necessery (TODO)
585 case MSG_PERMIT_ENGINE_START:
586 taxiFreqStr = formatATCFrequency3_2(taxiFreq);
588 heading = rec->getAircraft()->getTrafficRef()->getCourse();
589 fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
591 rec->getAircraft()->GetFlightPlan()->
592 getRunwayClassFromTrafficType(fltType);
594 rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
595 getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
597 rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
598 fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
599 getDynamics()->getSID(activeRunway, heading);
600 rec->getAircraft()->GetFlightPlan()->setSID(fp);
602 SID = fp->getName() + " departure";
604 SID = "fly runway heading ";
606 //snprintf(buffer, 7, "%3.2f", heading);
607 fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
608 transponderCode = genTransponderCode(fltRules);
609 rec->getAircraft()->SetTransponderCode(transponderCode);
611 receiver + ". Start-up approved. " + atisInformation +
612 " correct, runway " + activeRunway + ", " + SID + ", squawk " +
613 transponderCode + ". " +
614 "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
615 sender + " control.";
617 case MSG_DENY_ENGINE_START:
618 text = receiver + ". Standby";
620 case MSG_ACKNOWLEDGE_ENGINE_START:
621 fp = rec->getAircraft()->GetFlightPlan()->getSID();
624 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
627 SID = "fly runway heading ";
629 taxiFreqStr = formatATCFrequency3_2(taxiFreq);
630 activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
631 transponderCode = rec->getAircraft()->GetTransponderCode();
634 receiver + ". Start-up approved. " + atisInformation +
635 " correct, runway " + activeRunway + ", " + SID + ", squawk " +
636 transponderCode + ". " +
637 "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
640 case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
641 taxiFreqStr = formatATCFrequency3_2(taxiFreq);
642 text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
644 case MSG_INITIATE_CONTACT:
645 text = receiver + ". With you. " + sender;
647 case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
648 text = receiver + ". Roger. " + sender;
650 case MSG_REQUEST_PUSHBACK_CLEARANCE:
651 if (rec->getAircraft()->getTaxiClearanceRequest()) {
652 text = receiver + ". Request push-back. " + sender;
654 text = receiver + ". Request Taxi clearance. " + sender;
657 case MSG_PERMIT_PUSHBACK_CLEARANCE:
658 if (rec->getAircraft()->getTaxiClearanceRequest()) {
659 text = receiver + ". Push-back approved. " + sender;
661 text = receiver + ". Cleared to Taxi." + sender;
664 case MSG_HOLD_PUSHBACK_CLEARANCE:
665 text = receiver + ". Standby. " + sender;
667 case MSG_REQUEST_TAXI_CLEARANCE:
668 text = receiver + ". Ready to Taxi. " + sender;
670 case MSG_ISSUE_TAXI_CLEARANCE:
671 text = receiver + ". Cleared to taxi. " + sender;
673 case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
674 text = receiver + ". Cleared to taxi. " + sender;
676 case MSG_HOLD_POSITION:
677 text = receiver + ". Hold Position. " + sender;
679 case MSG_ACKNOWLEDGE_HOLD_POSITION:
680 text = receiver + ". Holding Position. " + sender;
682 case MSG_RESUME_TAXI:
683 text = receiver + ". Resume Taxiing. " + sender;
685 case MSG_ACKNOWLEDGE_RESUME_TAXI:
686 text = receiver + ". Continuing Taxi. " + sender;
688 case MSG_REPORT_RUNWAY_HOLD_SHORT:
689 activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
690 //activeRunway = "test";
691 text = receiver + ". Holding short runway "
695 //cerr << "1 Currently at leg " << rec->getLeg() << endl;
697 case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
698 activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
699 text = receiver + "Roger. Holding short runway "
703 //cerr << "2 Currently at leg " << rec->getLeg() << endl;
705 case MSG_SWITCH_TOWER_FREQUENCY:
706 towerFreqStr = formatATCFrequency3_2(towerFreq);
707 text = receiver + "Contact Tower at " + towerFreqStr + ". " + sender;
709 //cerr << "3 Currently at leg " << rec->getLeg() << endl;
711 case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
712 towerFreqStr = formatATCFrequency3_2(towerFreq);
713 text = receiver + "Roger, switching to tower at " + towerFreqStr + ". " + sender;
715 //cerr << "4 Currently at leg " << rec->getLeg() << endl;
719 text = text + sender + ". Transmitting unknown Message";
723 double onBoardRadioFreq0 =
724 fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
725 double onBoardRadioFreq1 =
726 fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
727 int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
728 int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
729 //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
731 // Display ATC message only when one of the radios is tuned
732 // the relevant frequency.
733 // Note that distance attenuation is currently not yet implemented
735 if ((onBoardRadioFreqI0 == stationFreq)
736 || (onBoardRadioFreqI1 == stationFreq)) {
738 if (rec->allowTransmissions()) {
739 double snr = calculate_attenuation(rec, parent, ground_to_air);
742 if (snr > 0 && snr < 12) {
743 //for low SNR values implement a way to make the conversation
744 //hard to understand but audible
745 //how this works in the real world, is the receiver AGC fails to capture the slope
746 //and the signal, due to being amplitude modulated, decreases volume after demodulation
747 //the implementation below is more akin to what would happen on a FM transmission
748 //therefore the correct way would be to work on the volume
749 string hash_noise = " ";
750 int reps = fabs((int)snr - 11);
751 int t_size = text.size();
752 for (int n=1;n<=reps * 2;n++) {
753 int pos = rand() % t_size -1;
754 text.replace(pos,1, hash_noise);
758 fgSetString("/sim/messages/atc", text.c_str());
762 FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
763 atc->getATCDialog()->addEntry(1, text);
768 double FGATCController::calculate_attenuation(FGTrafficRecord * rec, FGAirportDynamics *parent,
771 /// Implement radio attenuation
772 /// based on the Longley-Rice propagation model
774 FGScenery * scenery = globals->get_scenery();
775 // player aircraft position
776 double own_lat = fgGetDouble("/position/latitude-deg");
777 double own_lon = fgGetDouble("/position/longitude-deg");
778 double own_alt_ft = fgGetDouble("/position/altitude-ft");
779 double own_alt= own_alt_ft * SG_FEET_TO_METER;
781 //cerr << "ITM:: pilot Lat: " << own_lat << ", Lon: " << own_lon << ", Alt: " << own_alt << endl;
783 SGGeod own_pos = SGGeod::fromDegM( own_lon, own_lat, own_alt );
784 SGGeod max_own_pos = SGGeod::fromDegM( own_lon, own_lat, SG_MAX_ELEVATION_M );
785 SGGeoc center = SGGeoc::fromGeod( max_own_pos );
786 SGGeoc own_pos_c = SGGeoc::fromGeod( own_pos );
788 // position of sender radio antenna (HAAT)
789 // sender can be aircraft or ground station
790 double ATC_HAAT = 30.0;
791 double Aircraft_HAAT = 5.0;
792 double sender_alt_ft,sender_alt;
793 double transmitter_height=0.0;
794 double receiver_height=0.0;
796 SGGeod max_sender_pos;
798 sender_alt_ft = parent->getElevation();
799 sender_alt = sender_alt_ft * SG_FEET_TO_METER;
800 sender_pos= SGGeod::fromDegM( parent->getLongitude(),
801 parent->getLatitude(), sender_alt );
802 max_sender_pos = SGGeod::fromDegM( parent->getLongitude(),
803 parent->getLatitude(), SG_MAX_ELEVATION_M );
806 sender_alt_ft = rec->getAltitude();
807 sender_alt = sender_alt_ft * SG_FEET_TO_METER;
808 sender_pos= SGGeod::fromDegM( rec->getLongitude(),
809 rec->getLatitude(), sender_alt );
810 max_sender_pos = SGGeod::fromDegM( rec->getLongitude(),
811 rec->getLatitude(), SG_MAX_ELEVATION_M );
813 SGGeoc sender_pos_c = SGGeoc::fromGeod( sender_pos );
814 //cerr << "ITM:: sender Lat: " << parent->getLatitude() << ", Lon: " << parent->getLongitude() << ", Alt: " << sender_alt << endl;
816 double point_distance= 90.0; // regular SRTM is 90 meters
817 double course = SGGeodesy::courseRad(own_pos_c, sender_pos_c);
818 double distance_m = SGGeodesy::distanceM(own_pos, sender_pos);
819 double probe_distance = 0.0;
820 // If distance larger than this value (300 km), assume reception imposssible
821 // technically 300 km is no problem if LOS conditions exist,
822 // but we do this to spare resources
823 if (distance_m > 300000)
827 double max_points = distance_m / point_distance;
828 deque<double> _elevations;
831 double elevation_under_pilot = 0.0;
832 if (scenery->get_elevation_m( max_own_pos, elevation_under_pilot, NULL )) {
833 receiver_height = own_alt - elevation_under_pilot + 3; //assume antenna located 3 meters above ground
837 double elevation_under_sender = 0.0;
838 if (scenery->get_elevation_m( max_sender_pos, elevation_under_sender, NULL )) {
839 transmitter_height = sender_alt - elevation_under_sender;
842 transmitter_height = sender_alt;
845 transmitter_height += ATC_HAAT;
847 transmitter_height += Aircraft_HAAT;
849 cerr << "ITM:: RX-height: " << receiver_height << ", TX-height: " << transmitter_height << ", Distance: " << distance_m << endl;
852 unsigned int e_size = (deque<unsigned>::size_type)max_points;
854 while (_elevations.size() <= e_size) {
855 probe_distance += point_distance;
856 SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, probe_distance ));
858 double elevation_m = 0.0;
860 if (scenery->get_elevation_m( probe, elevation_m, NULL )) {
861 _elevations.push_front(elevation_m);
862 //cerr << "ITM:: Probe elev: " << elevation_m << endl;
865 _elevations.push_front(0.0);
868 _elevations.push_back(elevation_under_pilot);
869 _elevations.push_front(elevation_under_sender);
870 double max_alt_between=0.0;
871 for( deque<double>::size_type i = 0; i < _elevations.size(); i++ ) {
872 if (_elevations[i] > max_alt_between) {
873 max_alt_between = _elevations[i];
877 double num_points= (double)_elevations.size();
878 //cerr << "ITM:: Max alt between: " << max_alt_between << ", num points:" << num_points << endl;
879 _elevations.push_front(point_distance);
880 _elevations.push_front(num_points -1);
881 int size = _elevations.size();
882 double itm_elev[size];
883 for(int i=0;i<size;i++) {
884 itm_elev[i]=_elevations[i];
885 //cerr << "ITM:: itm_elev: " << _elevations[i] << endl;
888 ////////////// ITM default parameters //////////////
889 // later perhaps take them from tile materials?
890 double eps_dielect=15.0;
891 double sgm_conductivity = 0.005;
893 double frq_mhz = 125.0; // middle of bandplan
894 int radio_climate = 5; // continental temperate
895 int pol=1; // assuming vertical polarization although this is more complex in reality
896 double conf = 0.90; // my own tests in Radiomobile have worked best with these values
897 double rel = 0.80; // ^^
902 /////////// radio parameters ///////////
903 double receiver_sensitivity = -110.0; // typical AM receiver sensitivity seems to be 0.8 microVolt at 12dB SINAD
904 // AM transmitter power in dBm.
905 // Note this value is calculated from the typical final transistor stage output
906 // !!! small aircraft have portable transmitters which operate at 36 dBm output (4 Watts)
907 // later store this value in aircraft description
908 // ATC comms usually operate high power equipment, thus making the link asymetrical; this is ignored for now
909 double transmitter_power = 43.0;
910 double antenna_gain = 2.0; //real-life gain for conventional monopole/dipole antenna
912 transmitter_power = 49.0;
914 transmitter_power = 43.0;
916 antenna_gain = 5.0; //pilot plane's antenna gain + ground station antenna gain
918 antenna_gain = 2.0; //pilot plane's antenna gain + AI aircraft antenna gain
919 double link_budget = transmitter_power - receiver_sensitivity + antenna_gain;
922 // first Fresnel zone radius
923 // frequency in the middle of the bandplan, more accuracy is not necessary
924 double fz_clr= 8.657 * sqrt(distance_m / 0.125);
926 // TODO: If we clear the first Fresnel zone, we are into line of sight teritory
928 // else we need to calculate point to point link loss
930 point_to_point(itm_elev, transmitter_height, receiver_height,
931 eps_dielect, sgm_conductivity, eno, frq_mhz, radio_climate,
932 pol, conf, rel, dbloss, strmode, errnum);
934 cerr << "ITM:: Link budget: " << link_budget << ", Attenuation: " << dbloss << " dBm, " << strmode << ", Error: " << errnum << endl;
936 //if (errnum !=0 && errnum !=1)
938 double snr = link_budget - dbloss;
943 string FGATCController::formatATCFrequency3_2(int freq)
946 snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
947 return string(buffer);
950 // TODO: Set transponder codes according to real-world routes.
951 // The current version just returns a random string of four octal numbers.
952 string FGATCController::genTransponderCode(string fltRules)
954 if (fltRules == "VFR") {
955 return string("1200");
958 snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
960 return string(buffer);
964 void FGATCController::init()
967 FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
968 mgr->addController(this);
973 /***************************************************************************
974 * class FGTowerController
976 **************************************************************************/
977 FGTowerController::FGTowerController(FGAirportDynamics *par) :
984 void FGTowerController::announcePosition(int id,
985 FGAIFlightPlan * intendedRoute,
986 int currentPosition, double lat,
987 double lon, double heading,
988 double speed, double alt,
989 double radius, int leg,
993 TrafficVectorIterator i = activeTraffic.begin();
994 // Search whether the current id alread has an entry
995 // This might be faster using a map instead of a vector, but let's start by taking a safe route
996 if (activeTraffic.size()) {
997 //while ((i->getId() != id) && i != activeTraffic.end()) {
998 while (i != activeTraffic.end()) {
999 if (i->getId() == id) {
1005 // Add a new TrafficRecord if no one exsists for this aircraft.
1006 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1007 FGTrafficRecord rec;
1010 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1011 rec.setRunway(intendedRoute->getRunway());
1013 //rec.setCallSign(callsign);
1014 rec.setRadius(radius);
1015 rec.setAircraft(ref);
1016 activeTraffic.push_back(rec);
1017 // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
1018 ActiveRunwayVecIterator rwy = activeRunways.begin();
1019 if (activeRunways.size()) {
1020 while (rwy != activeRunways.end()) {
1021 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
1027 if (rwy == activeRunways.end()) {
1028 ActiveRunway aRwy(intendedRoute->getRunway(), id);
1029 aRwy.addToDepartureCue(ref);
1030 activeRunways.push_back(aRwy);
1031 rwy = (activeRunways.end()-1);
1033 rwy->addToDepartureCue(ref);
1036 //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() << " for takeoff " << endl;
1038 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1042 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
1043 double heading, double speed, double alt,
1046 TrafficVectorIterator i = activeTraffic.begin();
1047 // Search whether the current id has an entry
1048 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1049 TrafficVectorIterator current, closest;
1050 if (activeTraffic.size()) {
1051 //while ((i->getId() != id) && i != activeTraffic.end()) {
1052 while (i != activeTraffic.end()) {
1053 if (i->getId() == id) {
1059 // // update position of the current aircraft
1060 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1061 SG_LOG(SG_GENERAL, SG_ALERT,
1062 "AI error: updating aircraft without traffic record");
1064 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1067 setDt(getDt() + dt);
1069 // see if we already have a clearance record for the currently active runway
1070 // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
1071 // already exists here. So, we can simplify the current code.
1072 ActiveRunwayVecIterator rwy = activeRunways.begin();
1073 while (rwy != activeRunways.end()) {
1074 if (rwy->getRunwayName() == current->getRunway()) {
1080 // only bother running the following code if the current aircraft is the
1081 // first in line for depature
1082 /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
1083 if (rwy->getCleared()) {
1084 if (id == rwy->getCleared()) {
1085 current->setHoldPosition(false);
1087 current->setHoldPosition(true);
1090 // For now. At later stages, this will probably be the place to check for inbound traffc.
1091 rwy->setCleared(id);
1094 // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
1095 if (current->getAircraft()->getTakeOffStatus() == 2) {
1096 current->setHoldPosition(true);
1097 int clearanceId = rwy->getCleared();
1099 if (id == clearanceId) {
1100 current->setHoldPosition(false);
1103 if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
1104 rwy->setCleared(id);
1111 void FGTowerController::signOff(int id)
1113 TrafficVectorIterator i = activeTraffic.begin();
1114 // Search search if the current id alread has an entry
1115 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1116 if (activeTraffic.size()) {
1117 //while ((i->getId() != id) && i != activeTraffic.end()) {
1118 while (i != activeTraffic.end()) {
1119 if (i->getId() == id) {
1125 // If this aircraft has left the runway, we can clear the departure record for this runway
1126 ActiveRunwayVecIterator rwy = activeRunways.begin();
1127 if (activeRunways.size()) {
1128 //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
1129 while (rwy != activeRunways.end()) {
1130 if (rwy->getRunwayName() == i->getRunway()) {
1135 if (rwy != activeRunways.end()) {
1137 rwy->updateDepartureCue();
1139 SG_LOG(SG_GENERAL, SG_ALERT,
1140 "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
1143 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1144 SG_LOG(SG_GENERAL, SG_ALERT,
1145 "AI error: Aircraft without traffic record is signing off from tower");
1147 i->getAircraft()->resetTakeOffStatus();
1148 i = activeTraffic.erase(i);
1149 //cerr << "Signing off from tower controller" << endl;
1154 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1155 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1156 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1157 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1158 // Note that this function is probably obsolete
1159 bool FGTowerController::hasInstruction(int id)
1161 TrafficVectorIterator i = activeTraffic.begin();
1162 // Search search if the current id has an entry
1163 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1164 if (activeTraffic.size()) {
1165 //while ((i->getId() != id) && i != activeTraffic.end()) {
1166 while (i != activeTraffic.end()) {
1167 if (i->getId() == id) {
1173 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1174 SG_LOG(SG_GENERAL, SG_ALERT,
1175 "AI error: checking ATC instruction for aircraft without traffic record");
1177 return i->hasInstruction();
1183 FGATCInstruction FGTowerController::getInstruction(int id)
1185 TrafficVectorIterator i = activeTraffic.begin();
1186 // Search search if the current id has an entry
1187 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1188 if (activeTraffic.size()) {
1189 //while ((i->getId() != id) && i != activeTraffic.end()) {
1190 while (i != activeTraffic.end()) {
1191 if (i->getId() == id) {
1197 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1198 SG_LOG(SG_GENERAL, SG_ALERT,
1199 "AI error: requesting ATC instruction for aircraft without traffic record");
1201 return i->getInstruction();
1203 return FGATCInstruction();
1206 void FGTowerController::render(bool visible) {
1207 //cerr << "FGTowerController::render function not yet implemented" << endl;
1210 string FGTowerController::getName() {
1211 return string(parent->getId() + "-tower");
1216 /***************************************************************************
1217 * class FGStartupController
1219 **************************************************************************/
1220 FGStartupController::FGStartupController(FGAirportDynamics *par):
1226 void FGStartupController::announcePosition(int id,
1227 FGAIFlightPlan * intendedRoute,
1228 int currentPosition, double lat,
1229 double lon, double heading,
1230 double speed, double alt,
1231 double radius, int leg,
1235 TrafficVectorIterator i = activeTraffic.begin();
1236 // Search whether the current id alread has an entry
1237 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1238 if (activeTraffic.size()) {
1239 //while ((i->getId() != id) && i != activeTraffic.end()) {
1240 while (i != activeTraffic.end()) {
1241 if (i->getId() == id) {
1247 // Add a new TrafficRecord if no one exsists for this aircraft.
1248 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1249 FGTrafficRecord rec;
1252 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1253 rec.setRunway(intendedRoute->getRunway());
1255 rec.setPositionAndIntentions(currentPosition, intendedRoute);
1256 //rec.setCallSign(callsign);
1257 rec.setAircraft(ref);
1258 rec.setHoldPosition(true);
1259 activeTraffic.push_back(rec);
1261 i->setPositionAndIntentions(currentPosition, intendedRoute);
1262 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1268 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1269 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1270 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1271 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1272 // Note that this function is probably obsolete
1273 bool FGStartupController::hasInstruction(int id)
1275 TrafficVectorIterator i = activeTraffic.begin();
1276 // Search search if the current id has an entry
1277 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1278 if (activeTraffic.size()) {
1279 //while ((i->getId() != id) && i != activeTraffic.end()) {
1280 while (i != activeTraffic.end()) {
1281 if (i->getId() == id) {
1287 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1288 SG_LOG(SG_GENERAL, SG_ALERT,
1289 "AI error: checking ATC instruction for aircraft without traffic record");
1291 return i->hasInstruction();
1297 FGATCInstruction FGStartupController::getInstruction(int id)
1299 TrafficVectorIterator i = activeTraffic.begin();
1300 // Search search if the current id has an entry
1301 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1302 if (activeTraffic.size()) {
1303 //while ((i->getId() != id) && i != activeTraffic.end()) {
1304 while (i != activeTraffic.end()) {
1305 if (i->getId() == id) {
1311 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1312 SG_LOG(SG_GENERAL, SG_ALERT,
1313 "AI error: requesting ATC instruction for aircraft without traffic record");
1315 return i->getInstruction();
1317 return FGATCInstruction();
1320 void FGStartupController::signOff(int id)
1322 TrafficVectorIterator i = activeTraffic.begin();
1323 // Search search if the current id alread has an entry
1324 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1325 if (activeTraffic.size()) {
1326 //while ((i->getId() != id) && i != activeTraffic.end()) {
1327 while (i != activeTraffic.end()) {
1328 if (i->getId() == id) {
1334 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1335 SG_LOG(SG_GENERAL, SG_ALERT,
1336 "AI error: Aircraft without traffic record is signing off from tower");
1338 //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1339 i = activeTraffic.erase(i);
1343 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1346 int state = i->getState();
1347 if ((state == st) && available) {
1348 if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1350 //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1351 static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1352 int n = trans_num->getIntValue();
1354 trans_num->setIntValue(-1);
1355 // PopupCallback(n);
1356 //cerr << "Selected transmission message " << n << endl;
1357 FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
1358 atc->getATCDialog()->removeEntry(1);
1360 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1361 transmit(&(*i), &(*parent), msgId, msgDir, false);
1365 if (now > startTime) {
1366 //cerr << "Transmitting startup msg" << endl;
1367 transmit(&(*i), &(*parent), msgId, msgDir, true);
1369 lastTransmission = now;
1377 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1378 double heading, double speed, double alt,
1381 TrafficVectorIterator i = activeTraffic.begin();
1382 // Search search if the current id has an entry
1383 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1384 TrafficVectorIterator current, closest;
1385 if (activeTraffic.size()) {
1386 //while ((i->getId() != id) && i != activeTraffic.end()) {
1387 while (i != activeTraffic.end()) {
1388 if (i->getId() == id) {
1394 // // update position of the current aircraft
1396 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1397 SG_LOG(SG_GENERAL, SG_ALERT,
1398 "AI error: updating aircraft without traffic record");
1400 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1403 setDt(getDt() + dt);
1405 int state = i->getState();
1407 // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1408 // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1409 time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1410 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1411 //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1412 // << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1413 // << " at parking " << getGateName(i->getAircraft()) << endl;
1415 if ((now - lastTransmission) > 3 + (rand() % 15)) {
1419 checkTransmissionState(0, now, (startTime + 0 ), i, MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
1420 checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
1421 checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
1422 checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
1423 if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY, ATC_AIR_TO_GROUND)) {
1426 checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT, ATC_AIR_TO_GROUND);
1427 checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT, ATC_GROUND_TO_AIR);
1428 checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND);
1432 if ((state == 8) && available) {
1433 if (now > startTime + 200) {
1434 if (i->pushBackAllowed()) {
1435 i->allowRepeatedTransmissions();
1436 transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
1437 ATC_GROUND_TO_AIR, true);
1440 transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
1441 ATC_GROUND_TO_AIR, true);
1442 i->suppressRepeatedTransmissions();
1444 lastTransmission = now;
1448 if ((state == 9) && available) {
1449 i->setHoldPosition(false);
1453 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1454 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1455 double lon, double elev, double hdg, double slope)
1457 SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1458 obj_pos = geod.makeZUpFrame();
1459 // hdg is not a compass heading, but a counter-clockwise rotation
1460 // around the Z axis
1461 obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1463 obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
1468 void FGStartupController::render(bool visible)
1471 SGMaterialLib *matlib = globals->get_matlib();
1474 globals->get_scenery()->get_scene_graph()->removeChild(group);
1475 //while (group->getNumChildren()) {
1476 // cerr << "Number of children: " << group->getNumChildren() << endl;
1477 //simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1478 //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1479 //geode->releaseGLObjects();
1480 //group->removeChild(geode);
1485 group = new osg::Group;
1486 FGScenery * local_scenery = globals->get_scenery();
1487 double elevation_meters = 0.0;
1488 double elevation_feet = 0.0;
1491 //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1493 for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1494 // Handle start point
1495 int pos = i->getCurrentPosition();
1496 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1498 FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(pos);
1499 SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1500 SGGeod end (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1502 double length = SGGeodesy::distanceM(start, end);
1503 //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1505 double az2, heading; //, distanceM;
1506 SGGeodesy::inverse(start, end, heading, az2, length);
1507 double coveredDistance = length * 0.5;
1509 SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1510 //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1511 ///////////////////////////////////////////////////////////////////////////////
1512 // Make a helper function out of this
1513 osg::Matrix obj_pos;
1514 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1515 obj_trans->setDataVariance(osg::Object::STATIC);
1516 // Experimental: Calculate slope here, based on length, and the individual elevations
1517 double elevationStart;
1518 if (isUserAircraft((i)->getAircraft())) {
1519 elevationStart = fgGetDouble("/position/ground-elev-m");
1521 elevationStart = ((i)->getAircraft()->_getAltitude());
1523 double elevationEnd = segment->getEnd()->getElevation();
1524 if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1525 SGGeod center2 = end;
1526 center2.setElevationM(SG_MAX_ELEVATION_M);
1527 if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1528 elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1529 //elevation_meters += 0.5;
1532 elevationEnd = parent->getElevation();
1534 segment->getEnd()->setElevation(elevationEnd);
1537 double elevationMean = (elevationStart + elevationEnd) / 2.0;
1538 double elevDiff = elevationEnd - elevationStart;
1540 double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1542 //cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
1544 WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5, -(heading), slope );
1547 obj_trans->setMatrix( obj_pos );
1548 //osg::Vec3 center(0, 0, 0)
1550 float width = length /2.0;
1551 osg::Vec3 corner(-width, 0, 0.25f);
1552 osg::Vec3 widthVec(2*width + 1, 0, 0);
1553 osg::Vec3 heightVec(0, 1, 0);
1554 osg::Geometry* geometry;
1555 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1556 simgear::EffectGeode* geode = new simgear::EffectGeode;
1557 geode->setName("test");
1558 geode->addDrawable(geometry);
1559 //osg::Node *custom_obj;
1560 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1562 geode->setEffect(mat->get_effect());
1563 obj_trans->addChild(geode);
1564 // wire as much of the scene graph together as we can
1565 //->addChild( obj_trans );
1566 group->addChild( obj_trans );
1567 /////////////////////////////////////////////////////////////////////
1569 //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1571 for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1572 osg::Matrix obj_pos;
1575 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1576 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1577 obj_trans->setDataVariance(osg::Object::STATIC);
1578 FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k);
1580 double elevationStart = segment->getStart()->getElevation();
1581 double elevationEnd = segment->getEnd ()->getElevation();
1582 if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
1583 SGGeod center2 = segment->getStart()->getGeod();
1584 center2.setElevationM(SG_MAX_ELEVATION_M);
1585 if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
1586 elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
1587 //elevation_meters += 0.5;
1590 elevationStart = parent->getElevation();
1592 segment->getStart()->setElevation(elevationStart);
1594 if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1595 SGGeod center2 = segment->getEnd()->getGeod();
1596 center2.setElevationM(SG_MAX_ELEVATION_M);
1597 if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1598 elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1599 //elevation_meters += 0.5;
1602 elevationEnd = parent->getElevation();
1604 segment->getEnd()->setElevation(elevationEnd);
1607 double elevationMean = (elevationStart + elevationEnd) / 2.0;
1608 double elevDiff = elevationEnd - elevationStart;
1609 double length = segment->getLength();
1610 double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1612 //cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
1615 WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), elevationMean + 0.5, -(segment->getHeading()), slope );
1617 //WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1619 obj_trans->setMatrix( obj_pos );
1620 //osg::Vec3 center(0, 0, 0)
1622 float width = segment->getLength() /2.0;
1623 osg::Vec3 corner(-width, 0, 0.25f);
1624 osg::Vec3 widthVec(2*width + 1, 0, 0);
1625 osg::Vec3 heightVec(0, 1, 0);
1626 osg::Geometry* geometry;
1627 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1628 simgear::EffectGeode* geode = new simgear::EffectGeode;
1629 geode->setName("test");
1630 geode->addDrawable(geometry);
1631 //osg::Node *custom_obj;
1632 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1634 geode->setEffect(mat->get_effect());
1635 obj_trans->addChild(geode);
1636 // wire as much of the scene graph together as we can
1637 //->addChild( obj_trans );
1638 group->addChild( obj_trans );
1640 //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1645 globals->get_scenery()->get_scene_graph()->addChild(group);
1649 string FGStartupController::getName() {
1650 return string(parent->getId() + "-startup");
1654 /***************************************************************************
1655 * class FGApproachController
1657 **************************************************************************/
1658 FGApproachController::FGApproachController(FGAirportDynamics *par):
1665 void FGApproachController::announcePosition(int id,
1666 FGAIFlightPlan * intendedRoute,
1667 int currentPosition,
1668 double lat, double lon,
1669 double heading, double speed,
1670 double alt, double radius,
1671 int leg, FGAIAircraft * ref)
1674 TrafficVectorIterator i = activeTraffic.begin();
1675 // Search whether the current id alread has an entry
1676 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1677 if (activeTraffic.size()) {
1678 //while ((i->getId() != id) && i != activeTraffic.end()) {
1679 while (i != activeTraffic.end()) {
1680 if (i->getId() == id) {
1686 // Add a new TrafficRecord if no one exsists for this aircraft.
1687 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1688 FGTrafficRecord rec;
1691 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1692 rec.setRunway(intendedRoute->getRunway());
1694 //rec.setCallSign(callsign);
1695 rec.setAircraft(ref);
1696 activeTraffic.push_back(rec);
1698 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1702 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1703 double heading, double speed, double alt,
1706 TrafficVectorIterator i = activeTraffic.begin();
1707 // Search search if the current id has an entry
1708 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1709 TrafficVectorIterator current, closest;
1710 if (activeTraffic.size()) {
1711 //while ((i->getId() != id) && i != activeTraffic.end()) {
1712 while (i != activeTraffic.end()) {
1713 if (i->getId() == id) {
1719 // // update position of the current aircraft
1720 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1721 SG_LOG(SG_GENERAL, SG_ALERT,
1722 "AI error: updating aircraft without traffic record");
1724 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1726 //cerr << "ApproachController: checking for speed" << endl;
1728 current->getAircraft()->
1729 checkForArrivalTime(string("final001"));
1730 if (time_diff > 15) {
1731 current->setSpeedAdjustment(current->getAircraft()->
1732 getPerformance()->vDescent() *
1734 } else if (time_diff > 5) {
1735 current->setSpeedAdjustment(current->getAircraft()->
1736 getPerformance()->vDescent() *
1738 } else if (time_diff < -15) {
1739 current->setSpeedAdjustment(current->getAircraft()->
1740 getPerformance()->vDescent() *
1742 } else if (time_diff < -5) {
1743 current->setSpeedAdjustment(current->getAircraft()->
1744 getPerformance()->vDescent() *
1747 current->clearSpeedAdjustment();
1749 //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1751 setDt(getDt() + dt);
1754 void FGApproachController::signOff(int id)
1756 TrafficVectorIterator i = activeTraffic.begin();
1757 // Search search if the current id alread has an entry
1758 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1759 if (activeTraffic.size()) {
1760 //while ((i->getId() != id) && i != activeTraffic.end()) {
1761 while (i != activeTraffic.end()) {
1762 if (i->getId() == id) {
1768 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1769 SG_LOG(SG_GENERAL, SG_ALERT,
1770 "AI error: Aircraft without traffic record is signing off from approach");
1772 i = activeTraffic.erase(i);
1779 bool FGApproachController::hasInstruction(int id)
1781 TrafficVectorIterator i = activeTraffic.begin();
1782 // Search search if the current id has an entry
1783 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1784 if (activeTraffic.size()) {
1785 //while ((i->getId() != id) && i != activeTraffic.end()) {
1786 while (i != activeTraffic.end()) {
1787 if (i->getId() == id) {
1793 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1794 SG_LOG(SG_GENERAL, SG_ALERT,
1795 "AI error: checking ATC instruction for aircraft without traffic record");
1797 return i->hasInstruction();
1803 FGATCInstruction FGApproachController::getInstruction(int id)
1805 TrafficVectorIterator i = activeTraffic.begin();
1806 // Search search if the current id has an entry
1807 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1808 if (activeTraffic.size()) {
1809 //while ((i->getId() != id) && i != activeTraffic.end()) {
1810 while (i != activeTraffic.end()) {
1811 if (i->getId() == id) {
1817 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1818 SG_LOG(SG_GENERAL, SG_ALERT,
1819 "AI error: requesting ATC instruction for aircraft without traffic record");
1821 return i->getInstruction();
1823 return FGATCInstruction();
1827 ActiveRunway *FGApproachController::getRunway(string name)
1829 ActiveRunwayVecIterator rwy = activeRunways.begin();
1830 if (activeRunways.size()) {
1831 while (rwy != activeRunways.end()) {
1832 if (rwy->getRunwayName() == name) {
1838 if (rwy == activeRunways.end()) {
1839 ActiveRunway aRwy(name, 0);
1840 activeRunways.push_back(aRwy);
1841 rwy = activeRunways.end() - 1;
1846 void FGApproachController::render(bool visible) {
1847 //cerr << "FGApproachController::render function not yet implemented" << endl;
1852 string FGApproachController::getName() {
1853 return string(parent->getId() + "-approach");