src/ATC/trafficcontrol.cxx

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