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