src/ATC/trafficcontrol.cxx

   1 // trafficrecord.cxx - Implementation of AIModels ATC code.
   2 //
   3 // Written by Durk Talsma, started September 2006.
   4 //
   5 // Copyright (C) 2006 Durk Talsma.
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include <config.h>
  25 #endif
  26
  27 #include <algorithm>
  28
  29 #include <osg/Geode>
  30 #include <osg/Geometry>
  31 #include <osg/MatrixTransform>
  32 #include <osg/Shape>
  33
  34 #include <simgear/scene/material/EffectGeode.hxx>
  35 #include <simgear/scene/material/matlib.hxx>
  36 #include <simgear/scene/material/mat.hxx>
  37 #include <Scenery/scenery.hxx>
  38
  39 #include "trafficcontrol.hxx"
  40 #include "atc_mgr.hxx"
  41 #include <AIModel/AIAircraft.hxx>
  42 #include <AIModel/AIFlightPlan.hxx>
  43 #include <AIModel/performancedata.hxx>
  44 #include <AIModel/performancedb.hxx>
  45 #include <ATC/atc_mgr.hxx>
  46 #include <Traffic/TrafficMgr.hxx>
  47 #include <Airports/groundnetwork.hxx>
  48 #include <Airports/dynamics.hxx>
  49 #include <Airports/simple.hxx>
  50
  51 using std::sort;
  52
  53 /***************************************************************************
  54  * ActiveRunway
  55  **************************************************************************/
  56 time_t ActiveRunway::requestTimeSlot(time_t eta)
  57 {
  58     time_t newEta;
  59     time_t separation = 90;
  60     bool found = false;
  61     if (estimatedArrivalTimes.size() == 0) {
  62         estimatedArrivalTimes.push_back(eta);
  63         return eta;
  64     } else {
  65         TimeVectorIterator i = estimatedArrivalTimes.begin();
  66         //cerr << "Checking eta slots " << eta << ": " << endl;
  67         for (i = estimatedArrivalTimes.begin();
  68                 i != estimatedArrivalTimes.end(); i++) {
  69             //cerr << "Stored time : " << (*i) << endl;
  70         }
  71         i = estimatedArrivalTimes.begin();
  72         if ((eta + separation) < (*i)) {
  73             newEta = eta;
  74             found = true;
  75             //cerr << "Storing at beginning" << endl;
  76         }
  77         while ((i != estimatedArrivalTimes.end()) && (!found)) {
  78             TimeVectorIterator j = i + 1;
  79             if (j == estimatedArrivalTimes.end()) {
  80                 if (((*i) + separation) < eta) {
  81                     //cerr << "Storing at end" << endl;
  82                     newEta = eta;
  83                 } else {
  84                     newEta = (*i) + separation;
  85                     //cerr << "Storing at end + separation" << endl;
  86                 }
  87             } else {
  88                 if ((((*j) - (*i)) > (separation * 2))) {       // found a potential slot
  89                     // now check whether this slot is usable:
  90                     // 1) eta should fall between the two points
  91                     //    i.e. eta > i AND eta < j
  92                     //
  93                     //cerr << "Found potential slot after " << (*i) << endl;
  94                     if (eta > (*i) && (eta < (*j))) {
  95                         found = true;
  96                         if (eta < ((*i) + separation)) {
  97                             newEta = (*i) + separation;
  98                             //cerr << "Using  original" << (*i) << " + separation " << endl;
  99                         } else {
 100                             newEta = eta;
 101                             //cerr << "Using original after " << (*i) << endl;
 102                         }
 103                     } else if (eta < (*i)) {
 104                         found = true;
 105                         newEta = (*i) + separation;
 106                         //cerr << "Using delayed slot after " << (*i) << endl;
 107                     }
 108                     /*
 109                        if (((*j) - separation) < eta) {
 110                        found = true;
 111                        if (((*i) + separation) < eta) {
 112                        newEta = eta;
 113                        cerr << "Using original after " << (*i) << endl;
 114                        } else {
 115                        newEta = (*i) + separation;
 116                        cerr << "Using  " << (*i) << " + separation " << endl;
 117                        }
 118                        } */
 119                 }
 120             }
 121             i++;
 122         }
 123     }
 124     //cerr << ". done. New ETA : " << newEta << endl;
 125
 126     estimatedArrivalTimes.push_back(newEta);
 127     sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
 128     // do some housekeeping : remove any timestamps that are past
 129     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 130     TimeVectorIterator i = estimatedArrivalTimes.begin();
 131     while (i != estimatedArrivalTimes.end()) {
 132         if ((*i) < now) {
 133             //cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
 134             estimatedArrivalTimes.erase(i);
 135             i = estimatedArrivalTimes.begin();
 136         } else {
 137             i++;
 138         }
 139     }
 140     return newEta;
 141 }
 142
 143 void ActiveRunway::printDepartureCue()
 144 {
 145     cout << "Departure cue for " << rwy << ": " << endl;
 146     for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) {
 147         cout << "     " << (*atc)->getCallSign() << " "  << (*atc)->getTakeOffStatus();
 148         cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl;
 149     }
 150
 151 }
 152
 153 FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat)
 154 {
 155     for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) {
 156         if ((*atc)->getTakeOffStatus() == stat)
 157             return (*atc);
 158     }
 159     return 0;
 160 }
 161
 162
 163
 164 /***************************************************************************
 165  * FGTrafficRecord
 166  **************************************************************************/
 167 FGTrafficRecord::FGTrafficRecord():
 168         id(0), waitsForId(0),
 169         currentPos(0),
 170         leg(0),
 171         frequencyId(0),
 172         state(0),
 173         allowTransmission(true),
 174         allowPushback(true),
 175         priority(0),
 176         latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
 177 {
 178 }
 179
 180 void FGTrafficRecord::setPositionAndIntentions(int pos,
 181         FGAIFlightPlan * route)
 182 {
 183
 184     currentPos = pos;
 185     if (intentions.size()) {
 186         intVecIterator i = intentions.begin();
 187         if ((*i) != pos) {
 188             SG_LOG(SG_GENERAL, SG_ALERT,
 189                    "Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN);
 190             cerr << "Pos : " << pos << " Curr " << *(intentions.begin())  << endl;
 191             for (intVecIterator i = intentions.begin();
 192                     i != intentions.end(); i++) {
 193                 cerr << (*i) << " ";
 194             }
 195             cerr << endl;
 196         }
 197         intentions.erase(i);
 198     } else {
 199         //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
 200         int size = route->getNrOfWayPoints();
 201         //cerr << "Setting pos" << pos << " ";
 202         //cerr << "setting intentions ";
 203         for (int i = 0; i < size; i++) {
 204             int val = route->getRouteIndex(i);
 205             //cerr << val<< " ";
 206             if ((val) && (val != pos)) {
 207                 intentions.push_back(val);
 208                 //cerr << "[set] ";
 209             }
 210         }
 211         //cerr << endl;
 212         //while (route->next(&legNr, &routeNr)) {
 213         //intentions.push_back(routeNr);
 214         //}
 215         //route->rewind(currentPos);
 216     }
 217     //exit(1);
 218 }
 219 /**
 220  * Check if another aircraft is ahead of the current one, and on the same
 221  * return true / false is the is/isn't the case.
 222  *
 223  ****************************************************************************/
 224
 225 bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
 226 {
 227     bool result = false;
 228     //cerr << "Start check 1" << endl;
 229     if (currentPos == other.currentPos) {
 230         //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
 231         result = true;
 232     }
 233     //  else if (other.intentions.size())
 234     //     {
 235     //       cerr << "Start check 2" << endl;
 236     //       intVecIterator i = other.intentions.begin();
 237     //       while (!((i == other.intentions.end()) || ((*i) == currentPos)))
 238     //     i++;
 239     //       if (i != other.intentions.end()) {
 240     //     cerr << "Check Position and intentions: current matches other.intentions" << endl;
 241     //     result = true;
 242     //       }
 243     else if (intentions.size()) {
 244         //cerr << "Start check 3" << endl;
 245         intVecIterator i = intentions.begin();
 246         //while (!((i == intentions.end()) || ((*i) == other.currentPos)))
 247         while (i != intentions.end()) {
 248             if ((*i) == other.currentPos) {
 249                 break;
 250             }
 251             i++;
 252         }
 253         if (i != intentions.end()) {
 254             //cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
 255             result = true;
 256         }
 257     }
 258     //cerr << "Done !!" << endl;
 259     return result;
 260 }
 261
 262 void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
 263         double hdg, double spd,
 264         double alt)
 265 {
 266     latitude = lat;
 267     longitude = lon;
 268     heading = hdg;
 269     speed = spd;
 270     altitude = alt;
 271 }
 272
 273 int FGTrafficRecord::crosses(FGGroundNetwork * net,
 274                              FGTrafficRecord & other)
 275 {
 276     if (checkPositionAndIntentions(other)
 277             || (other.checkPositionAndIntentions(*this)))
 278         return -1;
 279     intVecIterator i, j;
 280     int currentTargetNode = 0, otherTargetNode = 0;
 281     if (currentPos > 0)
 282         currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
 283     if (other.currentPos > 0)
 284         otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex();     // OKAY,...
 285     if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
 286         return currentTargetNode;
 287     if (intentions.size()) {
 288         for (i = intentions.begin(); i != intentions.end(); i++) {
 289             if ((*i) > 0) {
 290                 if ((currentTargetNode ==
 291                         net->findSegment(*i)->getEnd()->getIndex())) {
 292                     //cerr << "Current crosses at " << currentTargetNode <<endl;
 293                     return currentTargetNode;
 294                 }
 295             }
 296         }
 297     }
 298     if (other.intentions.size()) {
 299         for (i = other.intentions.begin(); i != other.intentions.end();
 300                 i++) {
 301             if ((*i) > 0) {
 302                 if (otherTargetNode ==
 303                         net->findSegment(*i)->getEnd()->getIndex()) {
 304                     //cerr << "Other crosses at " << currentTargetNode <<endl;
 305                     return otherTargetNode;
 306                 }
 307             }
 308         }
 309     }
 310     if (intentions.size() && other.intentions.size()) {
 311         for (i = intentions.begin(); i != intentions.end(); i++) {
 312             for (j = other.intentions.begin(); j != other.intentions.end();
 313                     j++) {
 314                 //cerr << "finding segment " << *i << " and " << *j << endl;
 315                 if (((*i) > 0) && ((*j) > 0)) {
 316                     currentTargetNode =
 317                         net->findSegment(*i)->getEnd()->getIndex();
 318                     otherTargetNode =
 319                         net->findSegment(*j)->getEnd()->getIndex();
 320                     if (currentTargetNode == otherTargetNode) {
 321                         //cerr << "Routes will cross at " << currentTargetNode << endl;
 322                         return currentTargetNode;
 323                     }
 324                 }
 325             }
 326         }
 327     }
 328     return -1;
 329 }
 330
 331 bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
 332                               FGTrafficRecord & other)
 333 {
 334     int node = -1, othernode = -1;
 335     if (currentPos > 0)
 336         node = net->findSegment(currentPos)->getEnd()->getIndex();
 337     if (other.currentPos > 0)
 338         othernode =
 339             net->findSegment(other.currentPos)->getEnd()->getIndex();
 340     if ((node == othernode) && (node != -1))
 341         return true;
 342     if (other.intentions.size()) {
 343         for (intVecIterator i = other.intentions.begin();
 344                 i != other.intentions.end(); i++) {
 345             if (*i > 0) {
 346                 othernode = net->findSegment(*i)->getEnd()->getIndex();
 347                 if ((node == othernode) && (node > -1))
 348                     return true;
 349             }
 350         }
 351     }
 352     //if (other.currentPos > 0)
 353     //  othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
 354     //if (intentions.size())
 355     //  {
 356     //    for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
 357     //    {
 358     //      if (*i > 0)
 359     //        {
 360     //          node = net->findSegment(*i)->getEnd()->getIndex();
 361     //          if ((node == othernode) && (node > -1))
 362     //            return true;
 363     //        }
 364     //    }
 365     //  }
 366     return false;
 367 }
 368
 369
 370 bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
 371                                  FGTrafficRecord & other, int node)
 372 {
 373     // Check if current segment is the reverse segment for the other aircraft
 374     FGTaxiSegment *opp;
 375     //cerr << "Current segment " << currentPos << endl;
 376     if ((currentPos > 0) && (other.currentPos > 0)) {
 377         opp = net->findSegment(currentPos)->opposite();
 378         if (opp) {
 379             if (opp->getIndex() == other.currentPos)
 380                 return true;
 381         }
 382
 383         for (intVecIterator i = intentions.begin(); i != intentions.end();
 384                 i++) {
 385             if ((opp = net->findSegment(other.currentPos)->opposite())) {
 386                 if ((*i) > 0)
 387                     if (opp->getIndex() ==
 388                             net->findSegment(*i)->getIndex()) {
 389                         if (net->findSegment(*i)->getStart()->getIndex() ==
 390                                 node) {
 391                             {
 392                                 //cerr << "Found the node " << node << endl;
 393                                 return true;
 394                             }
 395                         }
 396                     }
 397             }
 398             if (other.intentions.size()) {
 399                 for (intVecIterator j = other.intentions.begin();
 400                         j != other.intentions.end(); j++) {
 401                     // cerr << "Current segment 1 " << (*i) << endl;
 402                     if ((*i) > 0) {
 403                         if ((opp = net->findSegment(*i)->opposite())) {
 404                             if (opp->getIndex() ==
 405                                     net->findSegment(*j)->getIndex()) {
 406                                 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
 407                                 //   << " and  " << net->findSegment(*j)->getIndex()
 408                                 //   << " are opposites " << endl;
 409                                 if (net->findSegment(*i)->getStart()->
 410                                         getIndex() == node) {
 411                                     {
 412                                         //cerr << "Found the node " << node << endl;
 413                                         return true;
 414                                     }
 415                                 }
 416                             }
 417                         }
 418                     }
 419                 }
 420             }
 421         }
 422     }
 423     return false;
 424 }
 425
 426 bool FGTrafficRecord::isActive(int margin)
 427 {
 428     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 429     time_t deptime = aircraft->getTrafficRef()->getDepartureTime();
 430     return ((now + margin) > deptime);
 431 }
 432
 433
 434 void FGTrafficRecord::setSpeedAdjustment(double spd)
 435 {
 436     instruction.setChangeSpeed(true);
 437     instruction.setSpeed(spd);
 438 }
 439
 440 void FGTrafficRecord::setHeadingAdjustment(double heading)
 441 {
 442     instruction.setChangeHeading(true);
 443     instruction.setHeading(heading);
 444 }
 445
 446 bool FGTrafficRecord::pushBackAllowed()
 447 {
 448     return allowPushback;
 449 }
 450
 451
 452
 453
 454 /***************************************************************************
 455  * FGATCInstruction
 456  *
 457  **************************************************************************/
 458 FGATCInstruction::FGATCInstruction()
 459 {
 460     holdPattern = false;
 461     holdPosition = false;
 462     changeSpeed = false;
 463     changeHeading = false;
 464     changeAltitude = false;
 465     resolveCircularWait = false;
 466
 467     speed = 0;
 468     heading = 0;
 469     alt = 0;
 470 }
 471
 472
 473 bool FGATCInstruction::hasInstruction()
 474 {
 475     return (holdPattern || holdPosition || changeSpeed || changeHeading
 476             || changeAltitude || resolveCircularWait);
 477 }
 478
 479 /***************************************************************************
 480  * FGATCController
 481  *
 482  **************************************************************************/
 483
 484
 485
 486
 487 FGATCController::FGATCController()
 488 {
 489     //cerr << "running FGATController constructor" << endl;
 490     dt_count = 0;
 491     available = true;
 492     lastTransmission = 0;
 493     initialized = false;
 494 }
 495
 496 FGATCController::~FGATCController()
 497 {
 498     //cerr << "running FGATController destructor" << endl;
 499 }
 500
 501 string FGATCController::getGateName(FGAIAircraft * ref)
 502 {
 503     return ref->atGate();
 504 }
 505
 506 bool FGATCController::isUserAircraft(FGAIAircraft* ac)
 507 {
 508     return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
 509 };
 510
 511 void FGATCController::transmit(FGTrafficRecord * rec, FGAirportDynamics *parent, AtcMsgId msgId,
 512                                AtcMsgDir msgDir, bool audible)
 513 {
 514     string sender, receiver;
 515     int stationFreq = 0;
 516     int taxiFreq = 0;
 517     int towerFreq = 0;
 518     int freqId = 0;
 519     string atisInformation;
 520     string text;
 521     string taxiFreqStr;
 522     string towerFreqStr;
 523     double heading = 0;
 524     string activeRunway;
 525     string fltType;
 526     string rwyClass;
 527     string SID;
 528     string transponderCode;
 529     FGAIFlightPlan *fp;
 530     string fltRules;
 531     string instructionText;
 532     int ground_to_air=0;
 533
 534     //double commFreqD;
 535     sender = rec->getAircraft()->getTrafficRef()->getCallSign();
 536     if (rec->getAircraft()->getTaxiClearanceRequest()) {
 537         instructionText = "push-back and taxi";
 538     } else {
 539         instructionText = "taxi";
 540     }
 541     //cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
 542     switch (rec->getLeg()) {
 543     case 1:
 544     case 2:
 545         freqId = rec->getNextFrequency();
 546         stationFreq =
 547             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 548             getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
 549         taxiFreq =
 550             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 551             getDynamics()->getGroundFrequency(2);
 552         towerFreq =
 553             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 554             getDynamics()->getTowerFrequency(2);
 555         receiver =
 556             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 557             getName() + "-Ground";
 558         atisInformation =
 559             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 560             getDynamics()->getAtisSequence();
 561         break;
 562     case 3:
 563         receiver =
 564             rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 565             getName() + "-Tower";
 566         break;
 567     }
 568     // Swap sender and receiver value in case of a ground to air transmission
 569     if (msgDir == ATC_GROUND_TO_AIR) {
 570         string tmp = sender;
 571         sender = receiver;
 572         receiver = tmp;
 573         ground_to_air=1;
 574     }
 575     switch (msgId) {
 576     case MSG_ANNOUNCE_ENGINE_START:
 577         text = sender + ". Ready to Start up";
 578         break;
 579     case MSG_REQUEST_ENGINE_START:
 580         text =
 581             receiver + ", This is " + sender + ". Position " +
 582             getGateName(rec->getAircraft()) + ". Information " +
 583             atisInformation + ". " +
 584             rec->getAircraft()->getTrafficRef()->getFlightRules() +
 585             " to " +
 586             rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
 587             getName() + ". Request start-up";
 588         break;
 589         // Acknowledge engine startup permission
 590         // Assign departure runway
 591         // Assign SID, if necessery (TODO)
 592     case MSG_PERMIT_ENGINE_START:
 593         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 594
 595         heading = rec->getAircraft()->getTrafficRef()->getCourse();
 596         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
 597         rwyClass =
 598             rec->getAircraft()->GetFlightPlan()->
 599             getRunwayClassFromTrafficType(fltType);
 600
 601         rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 602         getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
 603                                        heading);
 604         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
 605         fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
 606              getDynamics()->getSID(activeRunway, heading);
 607         rec->getAircraft()->GetFlightPlan()->setSID(fp);
 608         if (fp) {
 609             SID = fp->getName() + " departure";
 610         } else {
 611             SID = "fly runway heading ";
 612         }
 613         //snprintf(buffer, 7, "%3.2f", heading);
 614         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
 615         transponderCode = genTransponderCode(fltRules);
 616         rec->getAircraft()->SetTransponderCode(transponderCode);
 617         text =
 618             receiver + ". Start-up approved. " + atisInformation +
 619             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 620             transponderCode + ". " +
 621             "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
 622             sender + " control.";
 623         break;
 624     case MSG_DENY_ENGINE_START:
 625         text = receiver + ". Standby";
 626         break;
 627     case MSG_ACKNOWLEDGE_ENGINE_START:
 628         fp = rec->getAircraft()->GetFlightPlan()->getSID();
 629         if (fp) {
 630             SID =
 631                 rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
 632                 " departure";
 633         } else {
 634             SID = "fly runway heading ";
 635         }
 636         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 637         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 638         transponderCode = rec->getAircraft()->GetTransponderCode();
 639
 640         text =
 641             receiver + ". Start-up approved. " + atisInformation +
 642             " correct, runway " + activeRunway + ", " + SID + ", squawk " +
 643             transponderCode + ". " +
 644             "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
 645             sender;
 646         break;
 647     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
 648         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
 649         text = receiver + ". Switching to " + taxiFreqStr + ". " + sender;
 650         break;
 651     case MSG_INITIATE_CONTACT:
 652         text = receiver + ". With you. " + sender;
 653         break;
 654     case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
 655         text = receiver + ". Roger. " + sender;
 656         break;
 657     case MSG_REQUEST_PUSHBACK_CLEARANCE:
 658         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 659             text = receiver + ". Request push-back. " + sender;
 660         } else {
 661             text = receiver + ". Request Taxi clearance. " + sender;
 662         }
 663         break;
 664     case MSG_PERMIT_PUSHBACK_CLEARANCE:
 665         if (rec->getAircraft()->getTaxiClearanceRequest()) {
 666             text = receiver + ". Push-back approved. " + sender;
 667         } else {
 668             text = receiver + ". Cleared to Taxi." + sender;
 669         }
 670         break;
 671     case MSG_HOLD_PUSHBACK_CLEARANCE:
 672         text = receiver + ". Standby. " + sender;
 673         break;
 674     case MSG_REQUEST_TAXI_CLEARANCE:
 675         text = receiver + ". Ready to Taxi. " + sender;
 676         break;
 677     case MSG_ISSUE_TAXI_CLEARANCE:
 678         text = receiver + ". Cleared to taxi. " + sender;
 679         break;
 680     case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
 681         text = receiver + ". Cleared to taxi. " + sender;
 682         break;
 683     case MSG_HOLD_POSITION:
 684         text = receiver + ". Hold Position. " + sender;
 685         break;
 686     case MSG_ACKNOWLEDGE_HOLD_POSITION:
 687         text = receiver + ". Holding Position. " + sender;
 688         break;
 689     case MSG_RESUME_TAXI:
 690         text = receiver + ". Resume Taxiing. " + sender;
 691         break;
 692     case MSG_ACKNOWLEDGE_RESUME_TAXI:
 693         text = receiver + ". Continuing Taxi. " + sender;
 694         break;
 695     case MSG_REPORT_RUNWAY_HOLD_SHORT:
 696         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 697         //activeRunway = "test";
 698         text = receiver + ". Holding short runway "
 699                + activeRunway
 700                + ". " + sender;
 701         //text = "test1";
 702         //cerr << "1 Currently at leg " << rec->getLeg() << endl;
 703         break;
 704     case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
 705         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
 706         text = receiver + "Roger. Holding short runway "
 707                //                + activeRunway
 708                + ". " + sender;
 709         //text = "test2";
 710         //cerr << "2 Currently at leg " << rec->getLeg() << endl;
 711         break;
 712     case MSG_SWITCH_TOWER_FREQUENCY:
 713         towerFreqStr = formatATCFrequency3_2(towerFreq);
 714         text = receiver + "Contact Tower at " + towerFreqStr + ". " + sender;
 715         //text = "test3";
 716         //cerr << "3 Currently at leg " << rec->getLeg() << endl;
 717         break;
 718     case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
 719         towerFreqStr = formatATCFrequency3_2(towerFreq);
 720         text = receiver + "Roger, switching to tower at " + towerFreqStr + ". " + sender;
 721         //text = "test4";
 722         //cerr << "4 Currently at leg " << rec->getLeg() << endl;
 723         break;
 724     default:
 725         //text = "test3";
 726         text = text + sender + ". Transmitting unknown Message";
 727         break;
 728     }
 729     if (audible) {
 730         double onBoardRadioFreq0 =
 731             fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
 732         double onBoardRadioFreq1 =
 733             fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
 734         int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
 735         int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
 736         //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 737
 738         // Display ATC message only when one of the radios is tuned
 739         // the relevant frequency.
 740         // Note that distance attenuation is currently not yet implemented
 741
 742         if ((onBoardRadioFreqI0 == stationFreq)
 743                 || (onBoardRadioFreqI1 == stationFreq)) {
 744             if (rec->allowTransmissions()) {
 745
 746                 if( fgGetBool( "/instrumentation/use-itm-attenuation", false ) ) {
 747                         FGRadio* radio = new FGRadio();
 748                         SGGeod sender_pos;
 749                         double sender_alt_ft, sender_alt;
 750                         if(ground_to_air) {
 751                                       sender_alt_ft = parent->getElevation();
 752                                       sender_alt = sender_alt_ft * SG_FEET_TO_METER;
 753                                       sender_pos= SGGeod::fromDegM( parent->getLongitude(),
 754                                       parent->getLatitude(), sender_alt );
 755                                 }
 756                                 else {
 757                                       sender_alt_ft = rec->getAltitude();
 758                                       sender_alt = sender_alt_ft * SG_FEET_TO_METER;
 759                                       sender_pos= SGGeod::fromDegM( rec->getLongitude(),
 760                                              rec->getLatitude(), sender_alt );
 761                                 }
 762                         radio->receiveText(sender_pos, stationFreq, text, ground_to_air);
 763                 }
 764                 else {
 765                         fgSetString("/sim/messages/atc", text.c_str());
 766                 }
 767             }
 768         }
 769     } else {
 770         FGATCDialogNew::instance()->addEntry(1, text);
 771     }
 772 }
 773
 774
 775 string FGATCController::formatATCFrequency3_2(int freq)
 776 {
 777     char buffer[7];
 778     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
 779     return string(buffer);
 780 }
 781
 782 // TODO: Set transponder codes according to real-world routes.
 783 // The current version just returns a random string of four octal numbers.
 784 string FGATCController::genTransponderCode(string fltRules)
 785 {
 786     if (fltRules == "VFR") {
 787         return string("1200");
 788     } else {
 789         char buffer[5];
 790         snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
 791                  rand() % 8);
 792         return string(buffer);
 793     }
 794 }
 795
 796 void FGATCController::init()
 797 {
 798     if (!initialized) {
 799         FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
 800         mgr->addController(this);
 801         initialized = true;
 802     }
 803 }
 804
 805 /***************************************************************************
 806  * class FGTowerController
 807  *
 808  **************************************************************************/
 809 FGTowerController::FGTowerController(FGAirportDynamics *par) :
 810         FGATCController()
 811 {
 812     parent = par;
 813 }
 814
 815 //
 816 void FGTowerController::announcePosition(int id,
 817         FGAIFlightPlan * intendedRoute,
 818         int currentPosition, double lat,
 819         double lon, double heading,
 820         double speed, double alt,
 821         double radius, int leg,
 822         FGAIAircraft * ref)
 823 {
 824     init();
 825     TrafficVectorIterator i = activeTraffic.begin();
 826     // Search whether the current id alread has an entry
 827     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 828     if (activeTraffic.size()) {
 829         //while ((i->getId() != id) && i != activeTraffic.end()) {
 830         while (i != activeTraffic.end()) {
 831             if (i->getId() == id) {
 832                 break;
 833             }
 834             i++;
 835         }
 836     }
 837     // Add a new TrafficRecord if no one exsists for this aircraft.
 838     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 839         FGTrafficRecord rec;
 840         rec.setId(id);
 841
 842         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
 843         rec.setRunway(intendedRoute->getRunway());
 844         rec.setLeg(leg);
 845         //rec.setCallSign(callsign);
 846         rec.setRadius(radius);
 847         rec.setAircraft(ref);
 848         activeTraffic.push_back(rec);
 849         // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
 850         ActiveRunwayVecIterator rwy = activeRunways.begin();
 851         if (activeRunways.size()) {
 852             while (rwy != activeRunways.end()) {
 853                 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
 854                     break;
 855                 }
 856                 rwy++;
 857             }
 858         }
 859         if (rwy == activeRunways.end()) {
 860             ActiveRunway aRwy(intendedRoute->getRunway(), id);
 861             aRwy.addToDepartureCue(ref);
 862             activeRunways.push_back(aRwy);
 863             rwy = (activeRunways.end()-1);
 864         } else {
 865             rwy->addToDepartureCue(ref);
 866         }
 867
 868         //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() <<  " for takeoff " << endl;
 869     } else {
 870         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 871     }
 872 }
 873
 874 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
 875         double heading, double speed, double alt,
 876         double dt)
 877 {
 878     TrafficVectorIterator i = activeTraffic.begin();
 879     // Search whether the current id has an entry
 880     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 881     TrafficVectorIterator current, closest;
 882     if (activeTraffic.size()) {
 883         //while ((i->getId() != id) && i != activeTraffic.end()) {
 884         while (i != activeTraffic.end()) {
 885             if (i->getId() == id) {
 886                 break;
 887             }
 888             i++;
 889         }
 890     }
 891 //    // update position of the current aircraft
 892     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 893         SG_LOG(SG_GENERAL, SG_ALERT,
 894                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
 895     } else {
 896         i->setPositionAndHeading(lat, lon, heading, speed, alt);
 897         current = i;
 898     }
 899     setDt(getDt() + dt);
 900
 901     // see if we already have a clearance record for the currently active runway
 902     // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
 903     // already exists here. So, we can simplify the current code.
 904
 905     ActiveRunwayVecIterator rwy = activeRunways.begin();
 906     //if (parent->getId() == fgGetString("/sim/presets/airport-id")) {
 907     //    for (rwy = activeRunways.begin(); rwy != activeRunways.end(); rwy++) {
 908     //        rwy->printDepartureCue();
 909     //    }
 910     //}
 911
 912     rwy = activeRunways.begin();
 913     while (rwy != activeRunways.end()) {
 914         if (rwy->getRunwayName() == current->getRunway()) {
 915             break;
 916         }
 917         rwy++;
 918     }
 919
 920     // only bother running the following code if the current aircraft is the
 921     // first in line for depature
 922     /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 923         if (rwy->getCleared()) {
 924             if (id == rwy->getCleared()) {
 925                 current->setHoldPosition(false);
 926             } else {
 927                 current->setHoldPosition(true);
 928             }
 929         } else {
 930             // For now. At later stages, this will probably be the place to check for inbound traffc.
 931             rwy->setCleared(id);
 932         }
 933     } */
 934     // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
 935     FGAIAircraft* ac= rwy->getFirstAircraftInDepartureCue();
 936     if (ac->getTakeOffStatus() == 1) {
 937         ac->setTakeOffStatus(2);
 938     }
 939     if (current->getAircraft()->getTakeOffStatus() == 2) {
 940         current -> setHoldPosition(false);
 941     } else {
 942         current->setHoldPosition(true);
 943     }
 944     int clearanceId = rwy->getCleared();
 945     if (clearanceId) {
 946         if (id == clearanceId) {
 947             current->setHoldPosition(false);
 948         }
 949     } else {
 950         if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
 951             rwy->setCleared(id);
 952             FGAIAircraft *ac = rwy->getFirstOfStatus(1);
 953             if (ac)
 954                 ac->setTakeOffStatus(2);
 955         }
 956     }
 957 }
 958
 959
 960 void FGTowerController::signOff(int id)
 961 {
 962     TrafficVectorIterator i = activeTraffic.begin();
 963     // Search search if the current id alread has an entry
 964     // This might be faster using a map instead of a vector, but let's start by taking a safe route
 965     if (activeTraffic.size()) {
 966         //while ((i->getId() != id) && i != activeTraffic.end()) {
 967         while (i != activeTraffic.end()) {
 968             if (i->getId() == id) {
 969                 break;
 970             }
 971             i++;
 972         }
 973     }
 974     // If this aircraft has left the runway, we can clear the departure record for this runway
 975     ActiveRunwayVecIterator rwy = activeRunways.begin();
 976     if (activeRunways.size()) {
 977         //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
 978         while (rwy != activeRunways.end()) {
 979             if (rwy->getRunwayName() == i->getRunway()) {
 980                 break;
 981             }
 982             rwy++;
 983         }
 984         if (rwy != activeRunways.end()) {
 985             rwy->setCleared(0);
 986             rwy->updateDepartureCue();
 987         } else {
 988             SG_LOG(SG_GENERAL, SG_ALERT,
 989                    "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN);
 990         }
 991     }
 992     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
 993         SG_LOG(SG_GENERAL, SG_ALERT,
 994                "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
 995     } else {
 996         i->getAircraft()->resetTakeOffStatus();
 997         i = activeTraffic.erase(i);
 998         //cerr << "Signing off from tower controller" << endl;
 999     }
1000 }
1001
1002 // NOTE:
1003 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1004 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1005 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1006 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1007 // Note that this function is probably obsolete
1008 bool FGTowerController::hasInstruction(int id)
1009 {
1010     TrafficVectorIterator i = activeTraffic.begin();
1011     // Search search if the current id has an entry
1012     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1013     if (activeTraffic.size()) {
1014         //while ((i->getId() != id) && i != activeTraffic.end()) {
1015         while (i != activeTraffic.end()) {
1016             if (i->getId() == id) {
1017                 break;
1018             }
1019             i++;
1020         }
1021     }
1022     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1023         SG_LOG(SG_GENERAL, SG_ALERT,
1024                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1025     } else {
1026         return i->hasInstruction();
1027     }
1028     return false;
1029 }
1030
1031
1032 FGATCInstruction FGTowerController::getInstruction(int id)
1033 {
1034     TrafficVectorIterator i = activeTraffic.begin();
1035     // Search search if the current id has an entry
1036     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1037     if (activeTraffic.size()) {
1038         //while ((i->getId() != id) && i != activeTraffic.end()) {
1039         while (i != activeTraffic.end()) {
1040             if (i->getId() == id) {
1041                 break;
1042             }
1043             i++;
1044         }
1045     }
1046     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1047         SG_LOG(SG_GENERAL, SG_ALERT,
1048                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1049     } else {
1050         return i->getInstruction();
1051     }
1052     return FGATCInstruction();
1053 }
1054
1055 void FGTowerController::render(bool visible) {
1056     //cerr << "FGTowerController::render function not yet implemented" << endl;
1057 }
1058
1059 string FGTowerController::getName() {
1060     return string(parent->getId() + "-tower");
1061 }
1062
1063 void FGTowerController::update(double dt)
1064 {
1065
1066 }
1067
1068
1069
1070 /***************************************************************************
1071  * class FGStartupController
1072  *
1073  **************************************************************************/
1074 FGStartupController::FGStartupController(FGAirportDynamics *par):
1075         FGATCController()
1076 {
1077     parent = par;
1078 }
1079
1080 void FGStartupController::announcePosition(int id,
1081         FGAIFlightPlan * intendedRoute,
1082         int currentPosition, double lat,
1083         double lon, double heading,
1084         double speed, double alt,
1085         double radius, int leg,
1086         FGAIAircraft * ref)
1087 {
1088     init();
1089     TrafficVectorIterator i = activeTraffic.begin();
1090     // Search whether the current id alread has an entry
1091     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1092     if (activeTraffic.size()) {
1093         //while ((i->getId() != id) && i != activeTraffic.end()) {
1094         while (i != activeTraffic.end()) {
1095             if (i->getId() == id) {
1096                 break;
1097             }
1098             i++;
1099         }
1100     }
1101     // Add a new TrafficRecord if no one exsists for this aircraft.
1102     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1103         FGTrafficRecord rec;
1104         rec.setId(id);
1105
1106         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1107         rec.setRunway(intendedRoute->getRunway());
1108         rec.setLeg(leg);
1109         rec.setPositionAndIntentions(currentPosition, intendedRoute);
1110         //rec.setCallSign(callsign);
1111         rec.setAircraft(ref);
1112         rec.setHoldPosition(true);
1113         activeTraffic.push_back(rec);
1114     } else {
1115         i->setPositionAndIntentions(currentPosition, intendedRoute);
1116         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1117
1118     }
1119 }
1120
1121 // NOTE:
1122 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1123 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1124 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1125 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1126 // Note that this function is probably obsolete
1127 bool FGStartupController::hasInstruction(int id)
1128 {
1129     TrafficVectorIterator i = activeTraffic.begin();
1130     // Search search if the current id has an entry
1131     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1132     if (activeTraffic.size()) {
1133         //while ((i->getId() != id) && i != activeTraffic.end()) {
1134         while (i != activeTraffic.end()) {
1135             if (i->getId() == id) {
1136                 break;
1137             }
1138             i++;
1139         }
1140     }
1141     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1142         SG_LOG(SG_GENERAL, SG_ALERT,
1143                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1144     } else {
1145         return i->hasInstruction();
1146     }
1147     return false;
1148 }
1149
1150
1151 FGATCInstruction FGStartupController::getInstruction(int id)
1152 {
1153     TrafficVectorIterator i = activeTraffic.begin();
1154     // Search search if the current id has an entry
1155     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1156     if (activeTraffic.size()) {
1157         //while ((i->getId() != id) && i != activeTraffic.end()) {
1158         while (i != activeTraffic.end()) {
1159             if (i->getId() == id) {
1160                 break;
1161             }
1162             i++;
1163         }
1164     }
1165     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1166         SG_LOG(SG_GENERAL, SG_ALERT,
1167                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1168     } else {
1169         return i->getInstruction();
1170     }
1171     return FGATCInstruction();
1172 }
1173
1174 void FGStartupController::signOff(int id)
1175 {
1176     TrafficVectorIterator i = activeTraffic.begin();
1177     // Search search if the current id alread has an entry
1178     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1179     if (activeTraffic.size()) {
1180         //while ((i->getId() != id) && i != activeTraffic.end()) {
1181         while (i != activeTraffic.end()) {
1182             if (i->getId() == id) {
1183                 break;
1184             }
1185             i++;
1186         }
1187     }
1188     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1189         SG_LOG(SG_GENERAL, SG_ALERT,
1190                "AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
1191     } else {
1192         //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1193         i = activeTraffic.erase(i);
1194     }
1195 }
1196
1197 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1198         AtcMsgDir msgDir)
1199 {
1200     int state = i->getState();
1201     if ((state == st) && available) {
1202         if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1203
1204             //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1205             static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1206             int n = trans_num->getIntValue();
1207             if (n == 0) {
1208                 trans_num->setIntValue(-1);
1209                 // PopupCallback(n);
1210                 //cerr << "Selected transmission message " << n << endl;
1211                 FGATCDialogNew::instance()->removeEntry(1);
1212             } else {
1213                 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1214                 transmit(&(*i), &(*parent), msgId, msgDir, false);
1215                 return false;
1216             }
1217         }
1218         if (now > startTime) {
1219             //cerr << "Transmitting startup msg" << endl;
1220             transmit(&(*i), &(*parent), msgId, msgDir, true);
1221             i->updateState();
1222             lastTransmission = now;
1223             available = false;
1224             return true;
1225         }
1226     }
1227     return false;
1228 }
1229
1230 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1231         double heading, double speed, double alt,
1232         double dt)
1233 {
1234     TrafficVectorIterator i = activeTraffic.begin();
1235     // Search search if the current id has an entry
1236     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1237     TrafficVectorIterator current, closest;
1238     if (activeTraffic.size()) {
1239         //while ((i->getId() != id) && i != activeTraffic.end()) {
1240         while (i != activeTraffic.end()) {
1241             if (i->getId() == id) {
1242                 break;
1243             }
1244             i++;
1245         }
1246     }
1247 //    // update position of the current aircraft
1248
1249     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1250         SG_LOG(SG_GENERAL, SG_ALERT,
1251                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
1252     } else {
1253         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1254         current = i;
1255     }
1256     setDt(getDt() + dt);
1257
1258     int state = i->getState();
1259
1260     // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1261     // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1262     time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1263     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1264     //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1265     //     << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1266     //     << " at parking " << getGateName(i->getAircraft()) << endl;
1267
1268     if ((now - lastTransmission) > 3 + (rand() % 15)) {
1269         available = true;
1270     }
1271
1272     checkTransmissionState(0, now, (startTime + 0  ), i, MSG_ANNOUNCE_ENGINE_START,                     ATC_AIR_TO_GROUND);
1273     checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START,                      ATC_AIR_TO_GROUND);
1274     checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START,                       ATC_GROUND_TO_AIR);
1275     checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START,                  ATC_AIR_TO_GROUND);
1276     if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,       ATC_AIR_TO_GROUND)) {
1277         i->nextFrequency();
1278     }
1279     checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT,                          ATC_AIR_TO_GROUND);
1280     checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT,              ATC_GROUND_TO_AIR);
1281     checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE,                ATC_AIR_TO_GROUND);
1282
1283
1284
1285     if ((state == 8) && available) {
1286         if (now > startTime + 200) {
1287             if (i->pushBackAllowed()) {
1288                 i->allowRepeatedTransmissions();
1289                 transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
1290                          ATC_GROUND_TO_AIR, true);
1291                 i->updateState();
1292             } else {
1293                 transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
1294                          ATC_GROUND_TO_AIR, true);
1295                 i->suppressRepeatedTransmissions();
1296             }
1297             lastTransmission = now;
1298             available = false;
1299         }
1300     }
1301     if ((state == 9) && available) {
1302         i->setHoldPosition(false);
1303     }
1304 }
1305
1306 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1307 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1308                             double lon, double elev, double hdg, double slope)
1309 {
1310     SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1311     obj_pos = geod.makeZUpFrame();
1312     // hdg is not a compass heading, but a counter-clockwise rotation
1313     // around the Z axis
1314     obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1315                                         0.0, 0.0, 1.0));
1316     obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
1317                                         0.0, 1.0, 0.0));
1318 }
1319
1320
1321 void FGStartupController::render(bool visible)
1322 {
1323
1324     SGMaterialLib *matlib = globals->get_matlib();
1325     if (group) {
1326         //int nr = ;
1327         globals->get_scenery()->get_scene_graph()->removeChild(group);
1328         //while (group->getNumChildren()) {
1329         //  cerr << "Number of children: " << group->getNumChildren() << endl;
1330         //simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1331         //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1332         //geode->releaseGLObjects();
1333         //group->removeChild(geode);
1334         //delete geode;
1335         group = 0;
1336     }
1337     if (visible) {
1338         group = new osg::Group;
1339         FGScenery * local_scenery = globals->get_scenery();
1340         double elevation_meters = 0.0;
1341         double elevation_feet = 0.0;
1342
1343
1344         //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1345         double dx = 0;
1346         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1347         for   (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1348             if (i->isActive(300)) {
1349                 // Handle start point
1350                 int pos = i->getCurrentPosition();
1351                 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1352                 if (pos > 0) {
1353                     FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(pos);
1354                     SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1355                     SGGeod end  (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1356
1357                     double length = SGGeodesy::distanceM(start, end);
1358                     //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1359
1360                     double az2, heading; //, distanceM;
1361                     SGGeodesy::inverse(start, end, heading, az2, length);
1362                     double coveredDistance = length * 0.5;
1363                     SGGeod center;
1364                     SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1365                     //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1366                     ///////////////////////////////////////////////////////////////////////////////
1367                     // Make a helper function out of this
1368                     osg::Matrix obj_pos;
1369                     osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1370                     obj_trans->setDataVariance(osg::Object::STATIC);
1371                     // Experimental: Calculate slope here, based on length, and the individual elevations
1372                     double elevationStart;
1373                     if (isUserAircraft((i)->getAircraft())) {
1374                         elevationStart = fgGetDouble("/position/ground-elev-m");
1375                     } else {
1376                         elevationStart = ((i)->getAircraft()->_getAltitude() * SG_FEET_TO_METER);
1377                     }
1378                     double elevationEnd   = segment->getEnd()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
1379                     if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1380                         SGGeod center2 = end;
1381                         center2.setElevationM(SG_MAX_ELEVATION_M);
1382                         if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1383                             elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1384                             //elevation_meters += 0.5;
1385                         }
1386                         else {
1387                             elevationEnd = parent->getElevation();
1388                         }
1389                         segment->getEnd()->setElevation(elevationEnd);
1390                     }
1391
1392                     double elevationMean  = (elevationStart + elevationEnd) / 2.0;
1393                     double elevDiff       = elevationEnd - elevationStart;
1394
1395                     double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1396
1397                     //cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
1398
1399                     WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5 + dx, -(heading), slope );
1400                     ;
1401
1402                     obj_trans->setMatrix( obj_pos );
1403                     //osg::Vec3 center(0, 0, 0)
1404
1405                     float width = length /2.0;
1406                     osg::Vec3 corner(-width, 0, 0.25f);
1407                     osg::Vec3 widthVec(2*width + 1, 0, 0);
1408                     osg::Vec3 heightVec(0, 1, 0);
1409                     osg::Geometry* geometry;
1410                     geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1411                     simgear::EffectGeode* geode = new simgear::EffectGeode;
1412                     geode->setName("test");
1413                     geode->addDrawable(geometry);
1414                     //osg::Node *custom_obj;
1415                     SGMaterial *mat;
1416                     if (segment->hasBlock(now)) {
1417                         mat = matlib->find("UnidirectionalTaperRed");
1418                     } else {
1419                         mat = matlib->find("UnidirectionalTaperGreen");
1420                     }
1421                     if (mat)
1422                         geode->setEffect(mat->get_effect());
1423                     obj_trans->addChild(geode);
1424                     // wire as much of the scene graph together as we can
1425                     //->addChild( obj_trans );
1426                     group->addChild( obj_trans );
1427                     /////////////////////////////////////////////////////////////////////
1428                 } else {
1429                     //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1430                 }
1431                 for (intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1432                     osg::Matrix obj_pos;
1433                     int k = (*j);
1434                     if (k > 0) {
1435                         //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1436                         osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1437                         obj_trans->setDataVariance(osg::Object::STATIC);
1438                         FGTaxiSegment *segment  = parent->getGroundNetwork()->findSegment(k);
1439
1440                         double elevationStart = segment->getStart()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
1441                         double elevationEnd   = segment->getEnd  ()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
1442                         if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
1443                             SGGeod center2 = segment->getStart()->getGeod();
1444                             center2.setElevationM(SG_MAX_ELEVATION_M);
1445                             if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
1446                                 elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
1447                                 //elevation_meters += 0.5;
1448                             }
1449                             else {
1450                                 elevationStart = parent->getElevation();
1451                             }
1452                             segment->getStart()->setElevation(elevationStart);
1453                         }
1454                         if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
1455                             SGGeod center2 = segment->getEnd()->getGeod();
1456                             center2.setElevationM(SG_MAX_ELEVATION_M);
1457                             if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1458                                 elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1459                                 //elevation_meters += 0.5;
1460                             }
1461                             else {
1462                                 elevationEnd = parent->getElevation();
1463                             }
1464                             segment->getEnd()->setElevation(elevationEnd);
1465                         }
1466
1467                         double elevationMean  = (elevationStart + elevationEnd) / 2.0;
1468                         double elevDiff       = elevationEnd - elevationStart;
1469                         double length         = segment->getLength();
1470                         double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1471
1472                         //cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
1473
1474
1475                         WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), elevationMean + 0.5 + dx, -(segment->getHeading()), slope );
1476
1477                         //WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1478
1479                         obj_trans->setMatrix( obj_pos );
1480                         //osg::Vec3 center(0, 0, 0)
1481
1482                         float width = segment->getLength() /2.0;
1483                         osg::Vec3 corner(-width, 0, 0.25f);
1484                         osg::Vec3 widthVec(2*width + 1, 0, 0);
1485                         osg::Vec3 heightVec(0, 1, 0);
1486                         osg::Geometry* geometry;
1487                         geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1488                         simgear::EffectGeode* geode = new simgear::EffectGeode;
1489                         geode->setName("test");
1490                         geode->addDrawable(geometry);
1491                         //osg::Node *custom_obj;
1492                         SGMaterial *mat;
1493                         if (segment->hasBlock(now)) {
1494                             mat = matlib->find("UnidirectionalTaperRed");
1495                         } else {
1496                             mat = matlib->find("UnidirectionalTaperGreen");
1497                         }
1498                         if (mat)
1499                             geode->setEffect(mat->get_effect());
1500                         obj_trans->addChild(geode);
1501                         // wire as much of the scene graph together as we can
1502                         //->addChild( obj_trans );
1503                         group->addChild( obj_trans );
1504                     } else {
1505                         //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1506                     }
1507                 }
1508                 dx += 0.2;
1509             }
1510         }
1511         globals->get_scenery()->get_scene_graph()->addChild(group);
1512     }
1513 }
1514
1515 string FGStartupController::getName() {
1516     return string(parent->getId() + "-startup");
1517 }
1518
1519 void FGStartupController::update(double dt)
1520 {
1521
1522 }
1523
1524
1525
1526 /***************************************************************************
1527  * class FGApproachController
1528  *
1529  **************************************************************************/
1530 FGApproachController::FGApproachController(FGAirportDynamics *par):
1531         FGATCController()
1532 {
1533     parent = par;
1534 }
1535
1536 //
1537 void FGApproachController::announcePosition(int id,
1538         FGAIFlightPlan * intendedRoute,
1539         int currentPosition,
1540         double lat, double lon,
1541         double heading, double speed,
1542         double alt, double radius,
1543         int leg, FGAIAircraft * ref)
1544 {
1545     init();
1546     TrafficVectorIterator i = activeTraffic.begin();
1547     // Search whether the current id alread has an entry
1548     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1549     if (activeTraffic.size()) {
1550         //while ((i->getId() != id) && i != activeTraffic.end()) {
1551         while (i != activeTraffic.end()) {
1552             if (i->getId() == id) {
1553                 break;
1554             }
1555             i++;
1556         }
1557     }
1558     // Add a new TrafficRecord if no one exsists for this aircraft.
1559     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1560         FGTrafficRecord rec;
1561         rec.setId(id);
1562
1563         rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1564         rec.setRunway(intendedRoute->getRunway());
1565         rec.setLeg(leg);
1566         //rec.setCallSign(callsign);
1567         rec.setAircraft(ref);
1568         activeTraffic.push_back(rec);
1569     } else {
1570         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1571     }
1572 }
1573
1574 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1575         double heading, double speed, double alt,
1576         double dt)
1577 {
1578     TrafficVectorIterator i = activeTraffic.begin();
1579     // Search search if the current id has an entry
1580     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1581     TrafficVectorIterator current, closest;
1582     if (activeTraffic.size()) {
1583         //while ((i->getId() != id) && i != activeTraffic.end()) {
1584         while (i != activeTraffic.end()) {
1585             if (i->getId() == id) {
1586                 break;
1587             }
1588             i++;
1589         }
1590     }
1591 //    // update position of the current aircraft
1592     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1593         SG_LOG(SG_GENERAL, SG_ALERT,
1594                "AI error: updating aircraft without traffic record at " << SG_ORIGIN);
1595     } else {
1596         i->setPositionAndHeading(lat, lon, heading, speed, alt);
1597         current = i;
1598         //cerr << "ApproachController: checking for speed" << endl;
1599         time_t time_diff =
1600             current->getAircraft()->
1601             checkForArrivalTime(string("final001"));
1602         if (time_diff > 15) {
1603             current->setSpeedAdjustment(current->getAircraft()->
1604                                         getPerformance()->vDescent() *
1605                                         1.35);
1606         } else if (time_diff > 5) {
1607             current->setSpeedAdjustment(current->getAircraft()->
1608                                         getPerformance()->vDescent() *
1609                                         1.2);
1610         } else if (time_diff < -15) {
1611             current->setSpeedAdjustment(current->getAircraft()->
1612                                         getPerformance()->vDescent() *
1613                                         0.65);
1614         } else if (time_diff < -5) {
1615             current->setSpeedAdjustment(current->getAircraft()->
1616                                         getPerformance()->vDescent() *
1617                                         0.8);
1618         } else {
1619             current->clearSpeedAdjustment();
1620         }
1621         //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1622     }
1623     setDt(getDt() + dt);
1624 }
1625
1626 void FGApproachController::signOff(int id)
1627 {
1628     TrafficVectorIterator i = activeTraffic.begin();
1629     // Search search if the current id alread has an entry
1630     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1631     if (activeTraffic.size()) {
1632         //while ((i->getId() != id) && i != activeTraffic.end()) {
1633         while (i != activeTraffic.end()) {
1634             if (i->getId() == id) {
1635                 break;
1636             }
1637             i++;
1638         }
1639     }
1640     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1641         SG_LOG(SG_GENERAL, SG_ALERT,
1642                "AI error: Aircraft without traffic record is signing off from approach at " << SG_ORIGIN);
1643     } else {
1644         i = activeTraffic.erase(i);
1645     }
1646 }
1647
1648 void FGApproachController::update(double dt)
1649 {
1650
1651 }
1652
1653
1654
1655 bool FGApproachController::hasInstruction(int id)
1656 {
1657     TrafficVectorIterator i = activeTraffic.begin();
1658     // Search search if the current id has an entry
1659     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1660     if (activeTraffic.size()) {
1661         //while ((i->getId() != id) && i != activeTraffic.end()) {
1662         while (i != activeTraffic.end()) {
1663             if (i->getId() == id) {
1664                 break;
1665             }
1666             i++;
1667         }
1668     }
1669     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1670         SG_LOG(SG_GENERAL, SG_ALERT,
1671                "AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1672     } else {
1673         return i->hasInstruction();
1674     }
1675     return false;
1676 }
1677
1678
1679 FGATCInstruction FGApproachController::getInstruction(int id)
1680 {
1681     TrafficVectorIterator i = activeTraffic.begin();
1682     // Search search if the current id has an entry
1683     // This might be faster using a map instead of a vector, but let's start by taking a safe route
1684     if (activeTraffic.size()) {
1685         //while ((i->getId() != id) && i != activeTraffic.end()) {
1686         while (i != activeTraffic.end()) {
1687             if (i->getId() == id) {
1688                 break;
1689             }
1690             i++;
1691         }
1692     }
1693     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1694         SG_LOG(SG_GENERAL, SG_ALERT,
1695                "AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
1696     } else {
1697         return i->getInstruction();
1698     }
1699     return FGATCInstruction();
1700 }
1701
1702
1703 ActiveRunway *FGApproachController::getRunway(string name)
1704 {
1705     ActiveRunwayVecIterator rwy = activeRunways.begin();
1706     if (activeRunways.size()) {
1707         while (rwy != activeRunways.end()) {
1708             if (rwy->getRunwayName() == name) {
1709                 break;
1710             }
1711             rwy++;
1712         }
1713     }
1714     if (rwy == activeRunways.end()) {
1715         ActiveRunway aRwy(name, 0);
1716         activeRunways.push_back(aRwy);
1717         rwy = activeRunways.end() - 1;
1718     }
1719     return &(*rwy);
1720 }
1721
1722 void FGApproachController::render(bool visible) {
1723     //cerr << "FGApproachController::render function not yet implemented" << endl;
1724 }
1725
1726
1727
1728 string FGApproachController::getName() {
1729     return string(parent->getId() + "-approach");
1730 }