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 string hash_noise = " ";
746 int reps = fabs((int)snr - 11);
747 int t_size = text.size();
748 for (int n=1;n<=reps * 2;n++) {
749 int pos = rand() % t_size -1;
750 text.replace(pos,1, hash_noise);
754 fgSetString("/sim/messages/atc", text.c_str());
758 FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
759 atc->getATCDialog()->addEntry(1, text);
764 double FGATCController::calculate_attenuation(FGTrafficRecord * rec, FGAirportDynamics *parent,
766 //////////////////////////////////////////////////
767 /// Implement radio attenuation //
768 /// based on the Longley-Rice propagation model//
769 //////////////////////////////////////////////////
771 FGScenery * scenery = globals->get_scenery();
772 // player aircraft position
773 double own_lat = fgGetDouble("/position/latitude-deg");
774 double own_lon = fgGetDouble("/position/longitude-deg");
775 double own_alt_ft = fgGetDouble("/position/altitude-ft");
776 double own_alt= own_alt_ft * SG_FEET_TO_METER;
778 cerr << "ITM:: pilot Lat: " << own_lat << ", Lon: " << own_lon << ", Alt: " << own_alt << endl;
780 SGGeod own_pos = SGGeod::fromDegM( own_lon, own_lat, own_alt );
781 SGGeod max_own_pos = SGGeod::fromDegM( own_lon, own_lat, SG_MAX_ELEVATION_M );
782 SGGeoc center = SGGeoc::fromGeod( max_own_pos );
783 SGGeoc own_pos_c = SGGeoc::fromGeod( own_pos );
785 // position of sender radio antenna (HAAT)
786 // sender can be aircraft or ground station
787 double ATC_HAAT = 30.0;
788 double Aircraft_HAAT = 7.0;
789 double sender_alt_ft,sender_alt;
790 double transceiver_height=0.0;
791 double receiver_height=0.0;
794 sender_alt_ft = parent->getElevation();
795 sender_alt = sender_alt_ft * SG_FEET_TO_METER + ATC_HAAT;
796 sender_pos= SGGeod::fromDegM( parent->getLongitude(),
797 parent->getLatitude(), sender_alt );
800 sender_alt_ft = rec->getAltitude();
801 sender_alt = sender_alt_ft * SG_FEET_TO_METER + Aircraft_HAAT;
802 sender_pos= SGGeod::fromDegM( rec->getLongitude(),
803 rec->getLatitude(), sender_alt );
805 SGGeoc sender_pos_c = SGGeoc::fromGeod( sender_pos );
806 cerr << "ITM:: sender Lat: " << parent->getLatitude() << ", Lon: " << parent->getLongitude() << ", Alt: " << sender_alt << endl;
808 double point_distance= 90.0; // regular SRTM is 90 meters
809 double course = SGGeodesy::courseRad(own_pos_c, sender_pos_c);
810 double distance_m = SGGeodesy::distanceM(own_pos, sender_pos);
811 double probe_distance = 0.0;
813 cerr << "ITM:: Distance: " << distance_m << endl;
815 double max_points = distance_m / point_distance;
816 deque<double> _elevations;
818 SGGeod probe_pilot = SGGeod::fromGeoc(center.advanceRadM( course, 0 ));
819 double elevation_under_pilot = 0.0;
820 if (scenery->get_elevation_m( probe_pilot, elevation_under_pilot, NULL )) {
821 receiver_height = own_alt - elevation_under_pilot;
823 _elevations.push_front(receiver_height);
825 SGGeod probe_sender = SGGeod::fromGeoc(center.advanceRadM( course, distance_m ));
826 double elevation_under_sender = 0.0;
827 if (scenery->get_elevation_m( probe_sender, elevation_under_sender, NULL )) {
828 transceiver_height = sender_alt - elevation_under_sender;
831 // If distance larger than this value (400 km), assume reception imposssible
832 // technically 400 km is no problem if LOS conditions exist,
833 // but we do this to spare resources
834 if (distance_m > 400000)
837 int e_size = (deque<unsigned>::size_type)max_points;
839 while (_elevations.size() < e_size) {
840 probe_distance += point_distance;
841 SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, probe_distance ));
843 double elevation_m = 0.0;
845 if (scenery->get_elevation_m( probe, elevation_m, NULL )) {
846 _elevations.push_front(elevation_m);
847 //cerr << "ITM:: Probe elev: " << elevation_m << endl;
851 _elevations.push_front(transceiver_height);
852 double max_alt_between=0.0;
853 for( deque<double>::size_type i = 0; i < _elevations.size(); i++ ) {
854 if (_elevations[i] > max_alt_between) {
855 max_alt_between = _elevations[i];
859 double num_points= (double)_elevations.size();
860 cerr << "ITM:: Max alt between: " << max_alt_between << ", num points:" << num_points << endl;
861 _elevations.push_front(point_distance);
862 _elevations.push_front(num_points -1);
863 int size = _elevations.size();
864 double itm_elev[size];
865 for(int i=0;i<size;i++) {
866 itm_elev[i]=_elevations[i];
867 //cerr << "ITM:: itm_elev: " << _elevations[i] << endl;
870 ////////////// ITM default parameters //////////////
871 // later perhaps take them from tile materials?
872 double eps_dielect=15.0;
873 double sgm_conductivity = 0.005;
875 double frq_mhz = 125.0; // middle of bandplan
876 int radio_climate = 5; // continental temperate
877 int pol=1; // assuming vertical polarization
878 double conf = 0.90; // my own tests in Radiomobile have worked best with these values
879 double rel = 0.80; // ^^
884 /////////// radio parameters ///////////
885 double receiver_sensitivity = -112.0; // typical AM receiver sensitivity in dBm
886 // AM transmitter power in dBm.
887 // Note this value is calculated from the typical final transistor stage output
888 // !!! small aircraft have portable transmitters which operate at 36 dBm output (4 Watts)
889 // later store this value in aircraft description
890 // ATC comms usually operate high power equipment, thus making the link asymetrical; this is ignored for now
892 double transmitter_power = 49.0;
894 double transmitter_power = 43.0;
896 double antenna_gain = 5.0; //pilot plane's antenna gain + Controller antenna gain
898 double antenna_gain = 2.0; //pilot plane's antenna gain + AI aircraft antenna gain
899 double link_budget = transmitter_power - receiver_sensitivity + antenna_gain;
902 // first Fresnel zone radius
903 // frequency in the middle of the bandplan, more accuracy is not necessary
904 double fz_clr= 8.657 * sqrt(distance_m / 0.125);
906 // TODO: If we clear the first Fresnel zone, we are into line of sight teritory
908 // else we need to calculate point to point link loss
910 point_to_point(itm_elev, sender_alt, own_alt,
911 eps_dielect, sgm_conductivity, eno, frq_mhz, radio_climate,
912 pol, conf, rel, dbloss, strmode, errnum);
914 cerr << "ITM:: Attenuation: " << dbloss << " dBm, " << strmode << ", Error: " << errnum << endl;
916 //if (errnum !=0 && errnum !=1)
918 double snr = link_budget - dbloss;
923 string FGATCController::formatATCFrequency3_2(int freq)
926 snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
927 return string(buffer);
930 // TODO: Set transponder codes according to real-world routes.
931 // The current version just returns a random string of four octal numbers.
932 string FGATCController::genTransponderCode(string fltRules)
934 if (fltRules == "VFR") {
935 return string("1200");
938 snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
940 return string(buffer);
944 void FGATCController::init()
947 FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
948 mgr->addController(this);
953 /***************************************************************************
954 * class FGTowerController
956 **************************************************************************/
957 FGTowerController::FGTowerController(FGAirportDynamics *par) :
964 void FGTowerController::announcePosition(int id,
965 FGAIFlightPlan * intendedRoute,
966 int currentPosition, double lat,
967 double lon, double heading,
968 double speed, double alt,
969 double radius, int leg,
973 TrafficVectorIterator i = activeTraffic.begin();
974 // Search whether the current id alread has an entry
975 // This might be faster using a map instead of a vector, but let's start by taking a safe route
976 if (activeTraffic.size()) {
977 //while ((i->getId() != id) && i != activeTraffic.end()) {
978 while (i != activeTraffic.end()) {
979 if (i->getId() == id) {
985 // Add a new TrafficRecord if no one exsists for this aircraft.
986 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
990 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
991 rec.setRunway(intendedRoute->getRunway());
993 //rec.setCallSign(callsign);
994 rec.setRadius(radius);
995 rec.setAircraft(ref);
996 activeTraffic.push_back(rec);
997 // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
998 ActiveRunwayVecIterator rwy = activeRunways.begin();
999 if (activeRunways.size()) {
1000 while (rwy != activeRunways.end()) {
1001 if (rwy->getRunwayName() == intendedRoute->getRunway()) {
1007 if (rwy == activeRunways.end()) {
1008 ActiveRunway aRwy(intendedRoute->getRunway(), id);
1009 aRwy.addToDepartureCue(ref);
1010 activeRunways.push_back(aRwy);
1011 rwy = (activeRunways.end()-1);
1013 rwy->addToDepartureCue(ref);
1016 //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() << " for takeoff " << endl;
1018 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1022 void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
1023 double heading, double speed, double alt,
1026 TrafficVectorIterator i = activeTraffic.begin();
1027 // Search whether the current id has an entry
1028 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1029 TrafficVectorIterator current, closest;
1030 if (activeTraffic.size()) {
1031 //while ((i->getId() != id) && i != activeTraffic.end()) {
1032 while (i != activeTraffic.end()) {
1033 if (i->getId() == id) {
1039 // // update position of the current aircraft
1040 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1041 SG_LOG(SG_GENERAL, SG_ALERT,
1042 "AI error: updating aircraft without traffic record");
1044 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1047 setDt(getDt() + dt);
1049 // see if we already have a clearance record for the currently active runway
1050 // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
1051 // already exists here. So, we can simplify the current code.
1052 ActiveRunwayVecIterator rwy = activeRunways.begin();
1053 while (rwy != activeRunways.end()) {
1054 if (rwy->getRunwayName() == current->getRunway()) {
1060 // only bother running the following code if the current aircraft is the
1061 // first in line for depature
1062 /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
1063 if (rwy->getCleared()) {
1064 if (id == rwy->getCleared()) {
1065 current->setHoldPosition(false);
1067 current->setHoldPosition(true);
1070 // For now. At later stages, this will probably be the place to check for inbound traffc.
1071 rwy->setCleared(id);
1074 // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
1075 if (current->getAircraft()->getTakeOffStatus() == 2) {
1076 current->setHoldPosition(true);
1077 int clearanceId = rwy->getCleared();
1079 if (id == clearanceId) {
1080 current->setHoldPosition(false);
1083 if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
1084 rwy->setCleared(id);
1091 void FGTowerController::signOff(int id)
1093 TrafficVectorIterator i = activeTraffic.begin();
1094 // Search search if the current id alread has an entry
1095 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1096 if (activeTraffic.size()) {
1097 //while ((i->getId() != id) && i != activeTraffic.end()) {
1098 while (i != activeTraffic.end()) {
1099 if (i->getId() == id) {
1105 // If this aircraft has left the runway, we can clear the departure record for this runway
1106 ActiveRunwayVecIterator rwy = activeRunways.begin();
1107 if (activeRunways.size()) {
1108 //while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
1109 while (rwy != activeRunways.end()) {
1110 if (rwy->getRunwayName() == i->getRunway()) {
1115 if (rwy != activeRunways.end()) {
1117 rwy->updateDepartureCue();
1119 SG_LOG(SG_GENERAL, SG_ALERT,
1120 "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
1123 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1124 SG_LOG(SG_GENERAL, SG_ALERT,
1125 "AI error: Aircraft without traffic record is signing off from tower");
1127 i->getAircraft()->resetTakeOffStatus();
1128 i = activeTraffic.erase(i);
1129 //cerr << "Signing off from tower controller" << endl;
1134 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1135 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1136 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1137 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1138 // Note that this function is probably obsolete
1139 bool FGTowerController::hasInstruction(int id)
1141 TrafficVectorIterator i = activeTraffic.begin();
1142 // Search search if the current id has an entry
1143 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1144 if (activeTraffic.size()) {
1145 //while ((i->getId() != id) && i != activeTraffic.end()) {
1146 while (i != activeTraffic.end()) {
1147 if (i->getId() == id) {
1153 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1154 SG_LOG(SG_GENERAL, SG_ALERT,
1155 "AI error: checking ATC instruction for aircraft without traffic record");
1157 return i->hasInstruction();
1163 FGATCInstruction FGTowerController::getInstruction(int id)
1165 TrafficVectorIterator i = activeTraffic.begin();
1166 // Search search if the current id has an entry
1167 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1168 if (activeTraffic.size()) {
1169 //while ((i->getId() != id) && i != activeTraffic.end()) {
1170 while (i != activeTraffic.end()) {
1171 if (i->getId() == id) {
1177 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1178 SG_LOG(SG_GENERAL, SG_ALERT,
1179 "AI error: requesting ATC instruction for aircraft without traffic record");
1181 return i->getInstruction();
1183 return FGATCInstruction();
1186 void FGTowerController::render(bool visible) {
1187 //cerr << "FGTowerController::render function not yet implemented" << endl;
1190 string FGTowerController::getName() {
1191 return string(parent->getId() + "-tower");
1196 /***************************************************************************
1197 * class FGStartupController
1199 **************************************************************************/
1200 FGStartupController::FGStartupController(FGAirportDynamics *par):
1206 void FGStartupController::announcePosition(int id,
1207 FGAIFlightPlan * intendedRoute,
1208 int currentPosition, double lat,
1209 double lon, double heading,
1210 double speed, double alt,
1211 double radius, int leg,
1215 TrafficVectorIterator i = activeTraffic.begin();
1216 // Search whether the current id alread has an entry
1217 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1218 if (activeTraffic.size()) {
1219 //while ((i->getId() != id) && i != activeTraffic.end()) {
1220 while (i != activeTraffic.end()) {
1221 if (i->getId() == id) {
1227 // Add a new TrafficRecord if no one exsists for this aircraft.
1228 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1229 FGTrafficRecord rec;
1232 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1233 rec.setRunway(intendedRoute->getRunway());
1235 rec.setPositionAndIntentions(currentPosition, intendedRoute);
1236 //rec.setCallSign(callsign);
1237 rec.setAircraft(ref);
1238 rec.setHoldPosition(true);
1239 activeTraffic.push_back(rec);
1241 i->setPositionAndIntentions(currentPosition, intendedRoute);
1242 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1248 // IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
1249 // THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
1250 // BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
1251 // WHICH WOULD SIMPLIFY CODE MAINTENANCE.
1252 // Note that this function is probably obsolete
1253 bool FGStartupController::hasInstruction(int id)
1255 TrafficVectorIterator i = activeTraffic.begin();
1256 // Search search if the current id has an entry
1257 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1258 if (activeTraffic.size()) {
1259 //while ((i->getId() != id) && i != activeTraffic.end()) {
1260 while (i != activeTraffic.end()) {
1261 if (i->getId() == id) {
1267 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1268 SG_LOG(SG_GENERAL, SG_ALERT,
1269 "AI error: checking ATC instruction for aircraft without traffic record");
1271 return i->hasInstruction();
1277 FGATCInstruction FGStartupController::getInstruction(int id)
1279 TrafficVectorIterator i = activeTraffic.begin();
1280 // Search search if the current id has an entry
1281 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1282 if (activeTraffic.size()) {
1283 //while ((i->getId() != id) && i != activeTraffic.end()) {
1284 while (i != activeTraffic.end()) {
1285 if (i->getId() == id) {
1291 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1292 SG_LOG(SG_GENERAL, SG_ALERT,
1293 "AI error: requesting ATC instruction for aircraft without traffic record");
1295 return i->getInstruction();
1297 return FGATCInstruction();
1300 void FGStartupController::signOff(int id)
1302 TrafficVectorIterator i = activeTraffic.begin();
1303 // Search search if the current id alread has an entry
1304 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1305 if (activeTraffic.size()) {
1306 //while ((i->getId() != id) && i != activeTraffic.end()) {
1307 while (i != activeTraffic.end()) {
1308 if (i->getId() == id) {
1314 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1315 SG_LOG(SG_GENERAL, SG_ALERT,
1316 "AI error: Aircraft without traffic record is signing off from tower");
1318 //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
1319 i = activeTraffic.erase(i);
1323 bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
1326 int state = i->getState();
1327 if ((state == st) && available) {
1328 if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
1330 //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
1331 static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
1332 int n = trans_num->getIntValue();
1334 trans_num->setIntValue(-1);
1335 // PopupCallback(n);
1336 //cerr << "Selected transmission message " << n << endl;
1337 FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
1338 atc->getATCDialog()->removeEntry(1);
1340 //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
1341 transmit(&(*i), &(*parent), msgId, msgDir, false);
1345 if (now > startTime) {
1346 //cerr << "Transmitting startup msg" << endl;
1347 transmit(&(*i), &(*parent), msgId, msgDir, true);
1349 lastTransmission = now;
1357 void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
1358 double heading, double speed, double alt,
1361 TrafficVectorIterator i = activeTraffic.begin();
1362 // Search search if the current id has an entry
1363 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1364 TrafficVectorIterator current, closest;
1365 if (activeTraffic.size()) {
1366 //while ((i->getId() != id) && i != activeTraffic.end()) {
1367 while (i != activeTraffic.end()) {
1368 if (i->getId() == id) {
1374 // // update position of the current aircraft
1376 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1377 SG_LOG(SG_GENERAL, SG_ALERT,
1378 "AI error: updating aircraft without traffic record");
1380 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1383 setDt(getDt() + dt);
1385 int state = i->getState();
1387 // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
1388 // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
1389 time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
1390 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1391 //cerr << i->getAircraft()->getTrafficRef()->getCallSign()
1392 // << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
1393 // << " at parking " << getGateName(i->getAircraft()) << endl;
1395 if ((now - lastTransmission) > 3 + (rand() % 15)) {
1399 checkTransmissionState(0, now, (startTime + 0 ), i, MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
1400 checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
1401 checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
1402 checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
1403 if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY, ATC_AIR_TO_GROUND)) {
1406 checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT, ATC_AIR_TO_GROUND);
1407 checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT, ATC_GROUND_TO_AIR);
1408 checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND);
1412 if ((state == 8) && available) {
1413 if (now > startTime + 200) {
1414 if (i->pushBackAllowed()) {
1415 i->allowRepeatedTransmissions();
1416 transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
1417 ATC_GROUND_TO_AIR, true);
1420 transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
1421 ATC_GROUND_TO_AIR, true);
1422 i->suppressRepeatedTransmissions();
1424 lastTransmission = now;
1428 if ((state == 9) && available) {
1429 i->setHoldPosition(false);
1433 // Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
1434 static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
1435 double lon, double elev, double hdg, double slope)
1437 SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
1438 obj_pos = geod.makeZUpFrame();
1439 // hdg is not a compass heading, but a counter-clockwise rotation
1440 // around the Z axis
1441 obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
1443 obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
1448 void FGStartupController::render(bool visible)
1451 SGMaterialLib *matlib = globals->get_matlib();
1454 globals->get_scenery()->get_scene_graph()->removeChild(group);
1455 //while (group->getNumChildren()) {
1456 // cerr << "Number of children: " << group->getNumChildren() << endl;
1457 //simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
1458 //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
1459 //geode->releaseGLObjects();
1460 //group->removeChild(geode);
1465 group = new osg::Group;
1466 FGScenery * local_scenery = globals->get_scenery();
1467 double elevation_meters = 0.0;
1468 double elevation_feet = 0.0;
1471 //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
1473 for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
1474 // Handle start point
1475 int pos = i->getCurrentPosition();
1476 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
1478 FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(pos);
1479 SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
1480 SGGeod end (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
1482 double length = SGGeodesy::distanceM(start, end);
1483 //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
1485 double az2, heading; //, distanceM;
1486 SGGeodesy::inverse(start, end, heading, az2, length);
1487 double coveredDistance = length * 0.5;
1489 SGGeodesy::direct(start, heading, coveredDistance, center, az2);
1490 //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
1491 ///////////////////////////////////////////////////////////////////////////////
1492 // Make a helper function out of this
1493 osg::Matrix obj_pos;
1494 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1495 obj_trans->setDataVariance(osg::Object::STATIC);
1496 // Experimental: Calculate slope here, based on length, and the individual elevations
1497 double elevationStart;
1498 if (isUserAircraft((i)->getAircraft())) {
1499 elevationStart = fgGetDouble("/position/ground-elev-m");
1501 elevationStart = ((i)->getAircraft()->_getAltitude());
1503 double elevationEnd = segment->getEnd()->getElevation();
1504 if (elevationEnd == 0) {
1505 SGGeod center2 = end;
1506 center2.setElevationM(SG_MAX_ELEVATION_M);
1507 if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1508 elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1509 //elevation_meters += 0.5;
1512 elevationEnd = parent->getElevation()+8+dx;
1514 segment->getEnd()->setElevation(elevationEnd);
1517 double elevationMean = (elevationStart + elevationEnd) / 2.0;
1518 double elevDiff = elevationEnd - elevationStart;
1520 double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1522 //cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
1524 WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5, -(heading), slope );
1527 obj_trans->setMatrix( obj_pos );
1528 //osg::Vec3 center(0, 0, 0)
1530 float width = length /2.0;
1531 osg::Vec3 corner(-width, 0, 0.25f);
1532 osg::Vec3 widthVec(2*width + 1, 0, 0);
1533 osg::Vec3 heightVec(0, 1, 0);
1534 osg::Geometry* geometry;
1535 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1536 simgear::EffectGeode* geode = new simgear::EffectGeode;
1537 geode->setName("test");
1538 geode->addDrawable(geometry);
1539 //osg::Node *custom_obj;
1540 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1542 geode->setEffect(mat->get_effect());
1543 obj_trans->addChild(geode);
1544 // wire as much of the scene graph together as we can
1545 //->addChild( obj_trans );
1546 group->addChild( obj_trans );
1547 /////////////////////////////////////////////////////////////////////
1549 //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
1551 for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
1552 osg::Matrix obj_pos;
1555 //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
1556 osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
1557 obj_trans->setDataVariance(osg::Object::STATIC);
1558 FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k);
1560 double elevationStart = segment->getStart()->getElevation();
1561 double elevationEnd = segment->getEnd ()->getElevation();
1562 if (elevationStart == 0) {
1563 SGGeod center2 = segment->getStart()->getGeod();
1564 center2.setElevationM(SG_MAX_ELEVATION_M);
1565 if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
1566 elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
1567 //elevation_meters += 0.5;
1570 elevationStart = parent->getElevation()+8+dx;
1572 segment->getStart()->setElevation(elevationStart);
1574 if (elevationEnd == 0) {
1575 SGGeod center2 = segment->getEnd()->getGeod();
1576 center2.setElevationM(SG_MAX_ELEVATION_M);
1577 if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
1578 elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
1579 //elevation_meters += 0.5;
1582 elevationEnd = parent->getElevation()+8+dx;
1584 segment->getEnd()->setElevation(elevationEnd);
1587 double elevationMean = (elevationStart + elevationEnd) / 2.0;
1588 double elevDiff = elevationEnd - elevationStart;
1589 double length = segment->getLength();
1590 double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
1592 //cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
1595 WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), elevationMean + 0.5, -(segment->getHeading()), slope );
1597 //WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
1599 obj_trans->setMatrix( obj_pos );
1600 //osg::Vec3 center(0, 0, 0)
1602 float width = segment->getLength() /2.0;
1603 osg::Vec3 corner(-width, 0, 0.25f);
1604 osg::Vec3 widthVec(2*width + 1, 0, 0);
1605 osg::Vec3 heightVec(0, 1, 0);
1606 osg::Geometry* geometry;
1607 geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
1608 simgear::EffectGeode* geode = new simgear::EffectGeode;
1609 geode->setName("test");
1610 geode->addDrawable(geometry);
1611 //osg::Node *custom_obj;
1612 SGMaterial *mat = matlib->find("UnidirectionalTaper");
1614 geode->setEffect(mat->get_effect());
1615 obj_trans->addChild(geode);
1616 // wire as much of the scene graph together as we can
1617 //->addChild( obj_trans );
1618 group->addChild( obj_trans );
1620 //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
1625 globals->get_scenery()->get_scene_graph()->addChild(group);
1629 string FGStartupController::getName() {
1630 return string(parent->getId() + "-startup");
1634 /***************************************************************************
1635 * class FGApproachController
1637 **************************************************************************/
1638 FGApproachController::FGApproachController(FGAirportDynamics *par):
1645 void FGApproachController::announcePosition(int id,
1646 FGAIFlightPlan * intendedRoute,
1647 int currentPosition,
1648 double lat, double lon,
1649 double heading, double speed,
1650 double alt, double radius,
1651 int leg, FGAIAircraft * ref)
1654 TrafficVectorIterator i = activeTraffic.begin();
1655 // Search whether the current id alread has an entry
1656 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1657 if (activeTraffic.size()) {
1658 //while ((i->getId() != id) && i != activeTraffic.end()) {
1659 while (i != activeTraffic.end()) {
1660 if (i->getId() == id) {
1666 // Add a new TrafficRecord if no one exsists for this aircraft.
1667 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1668 FGTrafficRecord rec;
1671 rec.setPositionAndHeading(lat, lon, heading, speed, alt);
1672 rec.setRunway(intendedRoute->getRunway());
1674 //rec.setCallSign(callsign);
1675 rec.setAircraft(ref);
1676 activeTraffic.push_back(rec);
1678 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1682 void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
1683 double heading, double speed, double alt,
1686 TrafficVectorIterator i = activeTraffic.begin();
1687 // Search search if the current id has an entry
1688 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1689 TrafficVectorIterator current, closest;
1690 if (activeTraffic.size()) {
1691 //while ((i->getId() != id) && i != activeTraffic.end()) {
1692 while (i != activeTraffic.end()) {
1693 if (i->getId() == id) {
1699 // // update position of the current aircraft
1700 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1701 SG_LOG(SG_GENERAL, SG_ALERT,
1702 "AI error: updating aircraft without traffic record");
1704 i->setPositionAndHeading(lat, lon, heading, speed, alt);
1706 //cerr << "ApproachController: checking for speed" << endl;
1708 current->getAircraft()->
1709 checkForArrivalTime(string("final001"));
1710 if (time_diff > 15) {
1711 current->setSpeedAdjustment(current->getAircraft()->
1712 getPerformance()->vDescent() *
1714 } else if (time_diff > 5) {
1715 current->setSpeedAdjustment(current->getAircraft()->
1716 getPerformance()->vDescent() *
1718 } else if (time_diff < -15) {
1719 current->setSpeedAdjustment(current->getAircraft()->
1720 getPerformance()->vDescent() *
1722 } else if (time_diff < -5) {
1723 current->setSpeedAdjustment(current->getAircraft()->
1724 getPerformance()->vDescent() *
1727 current->clearSpeedAdjustment();
1729 //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
1731 setDt(getDt() + dt);
1734 void FGApproachController::signOff(int id)
1736 TrafficVectorIterator i = activeTraffic.begin();
1737 // Search search if the current id alread has an entry
1738 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1739 if (activeTraffic.size()) {
1740 //while ((i->getId() != id) && i != activeTraffic.end()) {
1741 while (i != activeTraffic.end()) {
1742 if (i->getId() == id) {
1748 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1749 SG_LOG(SG_GENERAL, SG_ALERT,
1750 "AI error: Aircraft without traffic record is signing off from approach");
1752 i = activeTraffic.erase(i);
1759 bool FGApproachController::hasInstruction(int id)
1761 TrafficVectorIterator i = activeTraffic.begin();
1762 // Search search if the current id has an entry
1763 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1764 if (activeTraffic.size()) {
1765 //while ((i->getId() != id) && i != activeTraffic.end()) {
1766 while (i != activeTraffic.end()) {
1767 if (i->getId() == id) {
1773 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1774 SG_LOG(SG_GENERAL, SG_ALERT,
1775 "AI error: checking ATC instruction for aircraft without traffic record");
1777 return i->hasInstruction();
1783 FGATCInstruction FGApproachController::getInstruction(int id)
1785 TrafficVectorIterator i = activeTraffic.begin();
1786 // Search search if the current id has an entry
1787 // This might be faster using a map instead of a vector, but let's start by taking a safe route
1788 if (activeTraffic.size()) {
1789 //while ((i->getId() != id) && i != activeTraffic.end()) {
1790 while (i != activeTraffic.end()) {
1791 if (i->getId() == id) {
1797 if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
1798 SG_LOG(SG_GENERAL, SG_ALERT,
1799 "AI error: requesting ATC instruction for aircraft without traffic record");
1801 return i->getInstruction();
1803 return FGATCInstruction();
1807 ActiveRunway *FGApproachController::getRunway(string name)
1809 ActiveRunwayVecIterator rwy = activeRunways.begin();
1810 if (activeRunways.size()) {
1811 while (rwy != activeRunways.end()) {
1812 if (rwy->getRunwayName() == name) {
1818 if (rwy == activeRunways.end()) {
1819 ActiveRunway aRwy(name, 0);
1820 activeRunways.push_back(aRwy);
1821 rwy = activeRunways.end() - 1;
1826 void FGApproachController::render(bool visible) {
1827 //cerr << "FGApproachController::render function not yet implemented" << endl;
1832 string FGApproachController::getName() {
1833 return string(parent->getId() + "-approach");