#endif
#include <algorithm>
+#include <math.h>
+#include <stdlib.h>
+#include <deque>
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/MatrixTransform>
+#include <osg/Shape>
+
+#include <simgear/scene/material/EffectGeode.hxx>
+#include <simgear/scene/material/matlib.hxx>
+#include <simgear/scene/material/mat.hxx>
+#include <Scenery/scenery.hxx>
#include "trafficcontrol.hxx"
+#include "atc_mgr.hxx"
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIFlightPlan.hxx>
#include <AIModel/performancedata.hxx>
#include <AIModel/performancedb.hxx>
+#include <ATC/atc_mgr.hxx>
#include <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
-
+#include <Airports/simple.hxx>
+#define WITH_POINT_TO_POINT
+#include "itm.cpp"
using std::sort;
}
} else {
if ((((*j) - (*i)) > (separation * 2))) { // found a potential slot
- // now check whether this slow is usable:
+ // now check whether this slot is usable:
// 1) eta should fall between the two points
// i.e. eta > i AND eta < j
//
}
//exit(1);
}
+/**
+ * Check if another aircraft is ahead of the current one, and on the same
+ * return true / false is the is/isn't the case.
+ *
+ ****************************************************************************/
bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
{
bool FGTrafficRecord::pushBackAllowed()
{
+ // With the user ATC / AI integration, checking whether the user's aircraft is near no longer works, because
+ // this will effectively block the user's aircraft itself from receiving pushback clearance.
+ // So, what can we do?
+ /*
double course, az2, dist;
SGGeod curr(SGGeod::fromDegM(getLongitude(),
getLatitude(), getAltitude()));
SGGeodesy::inverse(curr, user, course, az2, dist);
//cerr << "Distance to user : " << dist << endl;
return (dist > 250);
+ */
+
+ // In essence, we should check whether the pusbback route itself, as well as the associcated
+ // taxiways near the pushback point are free of traffic.
+ // To do so, we need to
+ return true;
}
FGATCController::FGATCController()
{
+ //cerr << "running FGATController constructor" << endl;
dt_count = 0;
available = true;
lastTransmission = 0;
+ initialized = false;
+}
+
+FGATCController::~FGATCController()
+{
+ //cerr << "running FGATController destructor" << endl;
}
string FGATCController::getGateName(FGAIAircraft * ref)
return ref->atGate();
}
-void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
- AtcMsgDir msgDir)
+bool FGATCController::isUserAircraft(FGAIAircraft* ac)
+{
+ return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
+};
+
+void FGATCController::transmit(FGTrafficRecord * rec, FGAirportDynamics *parent, AtcMsgId msgId,
+ AtcMsgDir msgDir, bool audible)
{
string sender, receiver;
int stationFreq = 0;
int taxiFreq = 0;
+ int towerFreq = 0;
int freqId = 0;
string atisInformation;
string text;
string taxiFreqStr;
+ string towerFreqStr;
double heading = 0;
string activeRunway;
string fltType;
string transponderCode;
FGAIFlightPlan *fp;
string fltRules;
+ string instructionText;
+ int ground_to_air=0;
//double commFreqD;
sender = rec->getAircraft()->getTrafficRef()->getCallSign();
+ if (rec->getAircraft()->getTaxiClearanceRequest()) {
+ instructionText = "push-back and taxi";
+ } else {
+ instructionText = "taxi";
+ }
//cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
switch (rec->getLeg()) {
+ case 1:
case 2:
- case 3:
freqId = rec->getNextFrequency();
stationFreq =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
taxiFreq =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
- getDynamics()->getGroundFrequency(3);
+ getDynamics()->getGroundFrequency(2);
+ towerFreq =
+ rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+ getDynamics()->getTowerFrequency(2);
receiver =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getName() + "-Ground";
atisInformation =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
- getDynamics()->getAtisInformation();
+ getDynamics()->getAtisSequence();
break;
- case 4:
+ case 3:
receiver =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getName() + "-Tower";
string tmp = sender;
sender = receiver;
receiver = tmp;
+ ground_to_air=1;
}
switch (msgId) {
case MSG_ANNOUNCE_ENGINE_START:
receiver + ". Start-up approved. " + atisInformation +
" correct, runway " + activeRunway + ", " + SID + ", squawk " +
transponderCode + ". " +
- "For push-back and taxi clearance call " + taxiFreqStr + ". " +
+ "For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
sender + " control.";
break;
case MSG_DENY_ENGINE_START:
taxiFreqStr = formatATCFrequency3_2(taxiFreq);
activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
transponderCode = rec->getAircraft()->GetTransponderCode();
+
text =
receiver + ". Start-up approved. " + atisInformation +
" correct, runway " + activeRunway + ", " + SID + ", squawk " +
transponderCode + ". " +
- "For push-back and taxi clearance call " + taxiFreqStr + ". " +
+ "For " + instructionText + " clearance call " + taxiFreqStr + ". " +
sender;
break;
case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
text = receiver + ". Roger. " + sender;
break;
case MSG_REQUEST_PUSHBACK_CLEARANCE:
- text = receiver + ". Request push-back. " + sender;
+ if (rec->getAircraft()->getTaxiClearanceRequest()) {
+ text = receiver + ". Request push-back. " + sender;
+ } else {
+ text = receiver + ". Request Taxi clearance. " + sender;
+ }
break;
case MSG_PERMIT_PUSHBACK_CLEARANCE:
- text = receiver + ". Push-back approved. " + sender;
+ if (rec->getAircraft()->getTaxiClearanceRequest()) {
+ text = receiver + ". Push-back approved. " + sender;
+ } else {
+ text = receiver + ". Cleared to Taxi." + sender;
+ }
break;
case MSG_HOLD_PUSHBACK_CLEARANCE:
text = receiver + ". Standby. " + sender;
case MSG_ACKNOWLEDGE_RESUME_TAXI:
text = receiver + ". Continuing Taxi. " + sender;
break;
+ case MSG_REPORT_RUNWAY_HOLD_SHORT:
+ activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
+ //activeRunway = "test";
+ text = receiver + ". Holding short runway "
+ + activeRunway
+ + ". " + sender;
+ //text = "test1";
+ //cerr << "1 Currently at leg " << rec->getLeg() << endl;
+ break;
+ case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
+ activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
+ text = receiver + "Roger. Holding short runway "
+ // + activeRunway
+ + ". " + sender;
+ //text = "test2";
+ //cerr << "2 Currently at leg " << rec->getLeg() << endl;
+ break;
+ case MSG_SWITCH_TOWER_FREQUENCY:
+ towerFreqStr = formatATCFrequency3_2(towerFreq);
+ text = receiver + "Contact Tower at " + towerFreqStr + ". " + sender;
+ //text = "test3";
+ //cerr << "3 Currently at leg " << rec->getLeg() << endl;
+ break;
+ case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
+ towerFreqStr = formatATCFrequency3_2(towerFreq);
+ text = receiver + "Roger, switching to tower at " + towerFreqStr + ". " + sender;
+ //text = "test4";
+ //cerr << "4 Currently at leg " << rec->getLeg() << endl;
+ break;
default:
+ //text = "test3";
text = text + sender + ". Transmitting unknown Message";
break;
}
- double onBoardRadioFreq0 =
- fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
- double onBoardRadioFreq1 =
- fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
- int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
- int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
- //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
-
- // Display ATC message only when one of the radios is tuned
- // the relevant frequency.
- // Note that distance attenuation is currently not yet implemented
- if ((onBoardRadioFreqI0 == stationFreq)
- || (onBoardRadioFreqI1 == stationFreq)) {
- if (rec->allowTransmissions()) {
- fgSetString("/sim/messages/atc", text.c_str());
+ if (audible) {
+ double onBoardRadioFreq0 =
+ fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
+ double onBoardRadioFreq1 =
+ fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
+ int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
+ int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
+ //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
+
+ // Display ATC message only when one of the radios is tuned
+ // the relevant frequency.
+ // Note that distance attenuation is currently not yet implemented
+
+ if ((onBoardRadioFreqI0 == stationFreq)
+ || (onBoardRadioFreqI1 == stationFreq)) {
+ double snr = calculate_attenuation(rec, parent, ground_to_air);
+ if (snr <= 0)
+ return;
+ if (snr > 0 && snr < 12) {
+ //for low SNR values implement a way to make the conversation
+ //hard to understand but audible
+ string hash_noise = " ";
+ int reps = fabs((int)snr - 11);
+ int t_size = text.size();
+ for (int n=1;n<=reps * 2;n++) {
+ int pos = rand() % t_size -1;
+ text.replace(pos,1, hash_noise);
+ }
+
+ }
+
+ if (rec->allowTransmissions()) {
+ fgSetString("/sim/messages/atc", text.c_str());
+ }
}
+ } else {
+ FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
+ atc->getATCDialog()->addEntry(1, text);
+
}
}
+double FGATCController::calculate_attenuation(FGTrafficRecord * rec, FGAirportDynamics *parent,
+ int ground_to_air) {
+ //////////////////////////////////////////////////
+ /// Implement radio attenuation //
+ /// based on the Longley-Rice propagation model//
+ //////////////////////////////////////////////////
+
+ FGScenery * scenery = globals->get_scenery();
+ // player aircraft position
+ double own_lat = fgGetDouble("/position/latitude-deg");
+ double own_lon = fgGetDouble("/position/longitude-deg");
+ double own_alt_ft = fgGetDouble("/position/altitude-ft");
+ double own_alt= own_alt_ft * SG_FEET_TO_METER;
+
+ cerr << "ITM:: pilot Lat: " << own_lat << ", Lon: " << own_lon << ", Alt: " << own_alt << endl;
+
+ SGGeod own_pos = SGGeod::fromDegM( own_lon, own_lat, own_alt );
+ SGGeod max_own_pos = SGGeod::fromDegM( own_lon, own_lat, SG_MAX_ELEVATION_M );
+ SGGeoc center = SGGeoc::fromGeod( max_own_pos );
+ SGGeoc own_pos_c = SGGeoc::fromGeod( own_pos );
+
+ // position of sender radio antenna (HAAT)
+ // sender can be aircraft or ground station
+ double ATC_HAAT = 30.0;
+ double Aircraft_HAAT = 7.0;
+ double sender_alt_ft,sender_alt;
+ double transceiver_height=0.0;
+ double receiver_height=0.0;
+ SGGeod sender_pos;
+ if(ground_to_air) {
+ sender_alt_ft = parent->getElevation();
+ sender_alt = sender_alt_ft * SG_FEET_TO_METER + ATC_HAAT;
+ sender_pos= SGGeod::fromDegM( parent->getLongitude(),
+ parent->getLatitude(), sender_alt );
+ }
+ else {
+ sender_alt_ft = rec->getAltitude();
+ sender_alt = sender_alt_ft * SG_FEET_TO_METER + Aircraft_HAAT;
+ sender_pos= SGGeod::fromDegM( rec->getLongitude(),
+ rec->getLatitude(), sender_alt );
+ }
+ SGGeoc sender_pos_c = SGGeoc::fromGeod( sender_pos );
+ cerr << "ITM:: sender Lat: " << parent->getLatitude() << ", Lon: " << parent->getLongitude() << ", Alt: " << sender_alt << endl;
+
+ double point_distance= 90.0; // regular SRTM is 90 meters
+ double course = SGGeodesy::courseRad(own_pos_c, sender_pos_c);
+ double distance_m = SGGeodesy::distanceM(own_pos, sender_pos);
+ double probe_distance = 0.0;
+
+ cerr << "ITM:: Distance: " << distance_m << endl;
+
+ double max_points = distance_m / point_distance;
+ deque<double> _elevations;
+
+ SGGeod probe_pilot = SGGeod::fromGeoc(center.advanceRadM( course, 0 ));
+ double elevation_under_pilot = 0.0;
+ if (scenery->get_elevation_m( probe_pilot, elevation_under_pilot, NULL )) {
+ receiver_height = own_alt - elevation_under_pilot;
+ }
+ _elevations.push_front(receiver_height);
+
+ SGGeod probe_sender = SGGeod::fromGeoc(center.advanceRadM( course, distance_m ));
+ double elevation_under_sender = 0.0;
+ if (scenery->get_elevation_m( probe_sender, elevation_under_sender, NULL )) {
+ transceiver_height = sender_alt - elevation_under_sender;
+ }
+
+ // If distance larger than this value (400 km), assume reception imposssible
+ // technically 400 km is no problem if LOS conditions exist,
+ // but we do this to spare resources
+ if (distance_m > 400000)
+ return -1.0;
+
+ int e_size = (deque<unsigned>::size_type)max_points;
+
+ while (_elevations.size() < e_size) {
+ probe_distance += point_distance;
+ SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, probe_distance ));
+
+ double elevation_m = 0.0;
+
+ if (scenery->get_elevation_m( probe, elevation_m, NULL )) {
+ _elevations.push_front(elevation_m);
+ //cerr << "ITM:: Probe elev: " << elevation_m << endl;
+ }
+ }
+
+ _elevations.push_front(transceiver_height);
+ double max_alt_between=0.0;
+ for( deque<double>::size_type i = 0; i < _elevations.size(); i++ ) {
+ if (_elevations[i] > max_alt_between) {
+ max_alt_between = _elevations[i];
+ }
+ }
+
+ double num_points= (double)_elevations.size();
+ cerr << "ITM:: Max alt between: " << max_alt_between << ", num points:" << num_points << endl;
+ _elevations.push_front(point_distance);
+ _elevations.push_front(num_points -1);
+ int size = _elevations.size();
+ double itm_elev[size];
+ for(int i=0;i<size;i++) {
+ itm_elev[i]=_elevations[i];
+ //cerr << "ITM:: itm_elev: " << _elevations[i] << endl;
+ }
+
+ ////////////// ITM default parameters //////////////
+ // later perhaps take them from tile materials?
+ double eps_dielect=15.0;
+ double sgm_conductivity = 0.005;
+ double eno = 301.0;
+ double frq_mhz = 125.0; // middle of bandplan
+ int radio_climate = 5; // continental temperate
+ int pol=1; // assuming vertical polarization
+ double conf = 0.90; // my own tests in Radiomobile have worked best with these values
+ double rel = 0.80; // ^^
+ double dbloss;
+ char strmode[150];
+ int errnum;
+
+ /////////// radio parameters ///////////
+ double receiver_sensitivity = -112.0; // typical AM receiver sensitivity in dBm
+ // AM transmitter power in dBm.
+ // Note this value is calculated from the typical final transistor stage output
+ // !!! small aircraft have portable transmitters which operate at 36 dBm output (4 Watts)
+ // later store this value in aircraft description
+ // ATC comms usually operate high power equipment, thus making the link asymetrical; this is ignored for now
+ if(ground_to_air)
+ double transmitter_power = 49.0;
+ else
+ double transmitter_power = 43.0;
+ if(ground_to_air)
+ double antenna_gain = 5.0; //pilot plane's antenna gain + Controller antenna gain
+ else
+ double antenna_gain = 2.0; //pilot plane's antenna gain + AI aircraft antenna gain
+ double link_budget = transmitter_power - receiver_sensitivity + antenna_gain;
+
+
+ // first Fresnel zone radius
+ // frequency in the middle of the bandplan, more accuracy is not necessary
+ double fz_clr= 8.657 * sqrt(distance_m / 0.125);
+
+ // TODO: If we clear the first Fresnel zone, we are into line of sight teritory
+
+ // else we need to calculate point to point link loss
+
+ point_to_point(itm_elev, sender_alt, own_alt,
+ eps_dielect, sgm_conductivity, eno, frq_mhz, radio_climate,
+ pol, conf, rel, dbloss, strmode, errnum);
+
+ cerr << "ITM:: Attenuation: " << dbloss << " dBm, " << strmode << ", Error: " << errnum << endl;
+
+ //if (errnum !=0 && errnum !=1)
+ // return -1;
+ double snr = link_budget - dbloss;
+ return snr;
+
+}
+
string FGATCController::formatATCFrequency3_2(int freq)
{
char buffer[7];
}
}
+void FGATCController::init()
+{
+ if (!initialized) {
+ FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
+ mgr->addController(this);
+ initialized = true;
+ }
+}
+
/***************************************************************************
* class FGTowerController
*
**************************************************************************/
-FGTowerController::FGTowerController():
+FGTowerController::FGTowerController(FGAirportDynamics *par) :
FGATCController()
{
+ parent = par;
}
//
double radius, int leg,
FGAIAircraft * ref)
{
+ init();
TrafficVectorIterator i = activeTraffic.begin();
// Search whether the current id alread has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
rec.setRunway(intendedRoute->getRunway());
rec.setLeg(leg);
//rec.setCallSign(callsign);
+ rec.setRadius(radius);
rec.setAircraft(ref);
activeTraffic.push_back(rec);
+ // Don't just schedule the aircraft for the tower controller, also assign if to the correct active runway.
+ ActiveRunwayVecIterator rwy = activeRunways.begin();
+ if (activeRunways.size()) {
+ while (rwy != activeRunways.end()) {
+ if (rwy->getRunwayName() == intendedRoute->getRunway()) {
+ break;
+ }
+ rwy++;
+ }
+ }
+ if (rwy == activeRunways.end()) {
+ ActiveRunway aRwy(intendedRoute->getRunway(), id);
+ aRwy.addToDepartureCue(ref);
+ activeRunways.push_back(aRwy);
+ rwy = (activeRunways.end()-1);
+ } else {
+ rwy->addToDepartureCue(ref);
+ }
+
+ //cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() << " for takeoff " << endl;
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
}
-void FGTowerController::update(int id, double lat, double lon,
- double heading, double speed, double alt,
- double dt)
+void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
+ double heading, double speed, double alt,
+ double dt)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search whether the current id has an entry
}
setDt(getDt() + dt);
-// // see if we already have a clearance record for the currently active runway
+ // see if we already have a clearance record for the currently active runway
+ // NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
+ // already exists here. So, we can simplify the current code.
ActiveRunwayVecIterator rwy = activeRunways.begin();
- // again, a map might be more efficient here
- if (activeRunways.size()) {
- //while ((rwy->getRunwayName() != current->getRunway()) && (rwy != activeRunways.end())) {
- while (rwy != activeRunways.end()) {
- if (rwy->getRunwayName() == current->getRunway()) {
- break;
- }
- rwy++;
+ while (rwy != activeRunways.end()) {
+ if (rwy->getRunwayName() == current->getRunway()) {
+ break;
}
+ rwy++;
}
- if (rwy == activeRunways.end()) {
- ActiveRunway aRwy(current->getRunway(), id);
- activeRunways.push_back(aRwy); // Since there are no clearance records for this runway yet
- current->setHoldPosition(false); // Clear the current aircraft to continue
- } else {
- // Okay, we have a clearance record for this runway, so check
- // whether the clearence ID matches that of the current aircraft
- if (id == rwy->getCleared()) {
- current->setHoldPosition(false);
+
+ // only bother running the following code if the current aircraft is the
+ // first in line for depature
+ /* if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
+ if (rwy->getCleared()) {
+ if (id == rwy->getCleared()) {
+ current->setHoldPosition(false);
+ } else {
+ current->setHoldPosition(true);
+ }
} else {
- current->setHoldPosition(true);
+ // For now. At later stages, this will probably be the place to check for inbound traffc.
+ rwy->setCleared(id);
+ }
+ } */
+ // only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
+ if (current->getAircraft()->getTakeOffStatus() == 2) {
+ current->setHoldPosition(true);
+ int clearanceId = rwy->getCleared();
+ if (clearanceId) {
+ if (id == clearanceId) {
+ current->setHoldPosition(false);
+ }
+ } else {
+ if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
+ rwy->setCleared(id);
+ }
}
}
}
rwy++;
}
if (rwy != activeRunways.end()) {
- rwy = activeRunways.erase(rwy);
+ rwy->setCleared(0);
+ rwy->updateDepartureCue();
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
} else {
+ i->getAircraft()->resetTakeOffStatus();
i = activeTraffic.erase(i);
+ //cerr << "Signing off from tower controller" << endl;
}
}
return FGATCInstruction();
}
+void FGTowerController::render(bool visible) {
+ //cerr << "FGTowerController::render function not yet implemented" << endl;
+}
+
+string FGTowerController::getName() {
+ return string(parent->getId() + "-tower");
+}
+
+
+
/***************************************************************************
* class FGStartupController
*
**************************************************************************/
-FGStartupController::FGStartupController():
-FGATCController()
+FGStartupController::FGStartupController(FGAirportDynamics *par):
+ FGATCController()
{
+ parent = par;
}
void FGStartupController::announcePosition(int id,
double radius, int leg,
FGAIAircraft * ref)
{
+ init();
TrafficVectorIterator i = activeTraffic.begin();
// Search whether the current id alread has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRunway(intendedRoute->getRunway());
rec.setLeg(leg);
+ rec.setPositionAndIntentions(currentPosition, intendedRoute);
//rec.setCallSign(callsign);
rec.setAircraft(ref);
rec.setHoldPosition(true);
activeTraffic.push_back(rec);
} else {
+ i->setPositionAndIntentions(currentPosition, intendedRoute);
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
} else {
+ //cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
i = activeTraffic.erase(i);
}
}
-void FGStartupController::update(int id, double lat, double lon,
- double heading, double speed, double alt,
- double dt)
+bool FGStartupController::checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
+ AtcMsgDir msgDir)
+{
+ int state = i->getState();
+ if ((state == st) && available) {
+ if ((msgDir == ATC_AIR_TO_GROUND) && isUserAircraft(i->getAircraft())) {
+
+ //cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
+ static SGPropertyNode_ptr trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
+ int n = trans_num->getIntValue();
+ if (n == 0) {
+ trans_num->setIntValue(-1);
+ // PopupCallback(n);
+ //cerr << "Selected transmission message " << n << endl;
+ FGATCManager *atc = (FGATCManager*) globals->get_subsystem("atc");
+ atc->getATCDialog()->removeEntry(1);
+ } else {
+ //cerr << "creading message for " << i->getAircraft()->getCallSign() << endl;
+ transmit(&(*i), &(*parent), msgId, msgDir, false);
+ return false;
+ }
+ }
+ if (now > startTime) {
+ //cerr << "Transmitting startup msg" << endl;
+ transmit(&(*i), &(*parent), msgId, msgDir, true);
+ i->updateState();
+ lastTransmission = now;
+ available = false;
+ return true;
+ }
+ }
+ return false;
+}
+
+void FGStartupController::updateAircraftInformation(int id, double lat, double lon,
+ double heading, double speed, double alt,
+ double dt)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
}
}
// // update position of the current aircraft
+
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
setDt(getDt() + dt);
int state = i->getState();
- time_t startTime =
- i->getAircraft()->getTrafficRef()->getDepartureTime();
+
+ // The user controlled aircraft should have crased here, because it doesn't have a traffic reference.
+ // NOTE: if we create a traffic schedule for the user aircraft, we can use this to plan a flight.
+ time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//cerr << i->getAircraft()->getTrafficRef()->getCallSign()
// << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
available = true;
}
- if ((state == 0) && available) {
- if (now > startTime) {
- //cerr << "Transmitting startup msg" << endl;
- transmit(&(*i), MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
- if ((state == 1) && available) {
- if (now > startTime + 60) {
- transmit(&(*i), MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
- if ((state == 2) && available) {
- if (now > startTime + 80) {
- transmit(&(*i), MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
- if ((state == 3) && available) {
- if (now > startTime + 100) {
- transmit(&(*i), MSG_ACKNOWLEDGE_ENGINE_START,
- ATC_AIR_TO_GROUND);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
- // Note: The next four stages are only necessesary when Startup control is
- // on a different frequency, compared to ground control
- if ((state == 4) && available) {
- if (now > startTime + 130) {
- transmit(&(*i), MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,
- ATC_AIR_TO_GROUND);
- i->updateState();
- i->nextFrequency();
- lastTransmission = now;
- available = false;
- }
- }
- if ((state == 5) && available) {
- if (now > startTime + 140) {
- transmit(&(*i), MSG_INITIATE_CONTACT, ATC_AIR_TO_GROUND);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
- if ((state == 6) && available) {
- if (now > startTime + 150) {
- transmit(&(*i), MSG_ACKNOWLEDGE_INITIATE_CONTACT,
- ATC_GROUND_TO_AIR);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
+ checkTransmissionState(0, now, (startTime + 0 ), i, MSG_ANNOUNCE_ENGINE_START, ATC_AIR_TO_GROUND);
+ checkTransmissionState(1, now, (startTime + 60 ), i, MSG_REQUEST_ENGINE_START, ATC_AIR_TO_GROUND);
+ checkTransmissionState(2, now, (startTime + 80 ), i, MSG_PERMIT_ENGINE_START, ATC_GROUND_TO_AIR);
+ checkTransmissionState(3, now, (startTime + 100), i, MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
+ if (checkTransmissionState(4, now, (startTime + 130), i, MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY, ATC_AIR_TO_GROUND)) {
+ i->nextFrequency();
}
+ checkTransmissionState(5, now, (startTime + 140), i, MSG_INITIATE_CONTACT, ATC_AIR_TO_GROUND);
+ checkTransmissionState(6, now, (startTime + 150), i, MSG_ACKNOWLEDGE_INITIATE_CONTACT, ATC_GROUND_TO_AIR);
+ checkTransmissionState(7, now, (startTime + 180), i, MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND);
- // TODO: Switch to APRON control and request pushback Clearance.
- // Get Push back clearance
- if ((state == 7) && available) {
- if (now > startTime + 180) {
- transmit(&(*i), MSG_REQUEST_PUSHBACK_CLEARANCE,
- ATC_AIR_TO_GROUND);
- i->updateState();
- lastTransmission = now;
- available = false;
- }
- }
+
+
if ((state == 8) && available) {
if (now > startTime + 200) {
if (i->pushBackAllowed()) {
i->allowRepeatedTransmissions();
- transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE,
- ATC_GROUND_TO_AIR);
+ transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
+ ATC_GROUND_TO_AIR, true);
i->updateState();
} else {
- transmit(&(*i), MSG_HOLD_PUSHBACK_CLEARANCE,
- ATC_GROUND_TO_AIR);
+ transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
+ ATC_GROUND_TO_AIR, true);
i->suppressRepeatedTransmissions();
}
lastTransmission = now;
}
}
+// Note that this function is copied from simgear. for maintanance purposes, it's probabtl better to make a general function out of that.
+static void WorldCoordinate(osg::Matrix& obj_pos, double lat,
+ double lon, double elev, double hdg, double slope)
+{
+ SGGeod geod = SGGeod::fromDegM(lon, lat, elev);
+ obj_pos = geod.makeZUpFrame();
+ // hdg is not a compass heading, but a counter-clockwise rotation
+ // around the Z axis
+ obj_pos.preMult(osg::Matrix::rotate(hdg * SGD_DEGREES_TO_RADIANS,
+ 0.0, 0.0, 1.0));
+ obj_pos.preMult(osg::Matrix::rotate(slope * SGD_DEGREES_TO_RADIANS,
+ 0.0, 1.0, 0.0));
+}
+
+
+void FGStartupController::render(bool visible)
+{
+
+ SGMaterialLib *matlib = globals->get_matlib();
+ if (group) {
+ //int nr = ;
+ globals->get_scenery()->get_scene_graph()->removeChild(group);
+ //while (group->getNumChildren()) {
+ // cerr << "Number of children: " << group->getNumChildren() << endl;
+ //simgear::EffectGeode* geode = (simgear::EffectGeode*) group->getChild(0);
+ //osg::MatrixTransform *obj_trans = (osg::MatrixTransform*) group->getChild(0);
+ //geode->releaseGLObjects();
+ //group->removeChild(geode);
+ //delete geode;
+ group = 0;
+ }
+ if (visible) {
+ group = new osg::Group;
+ FGScenery * local_scenery = globals->get_scenery();
+ double elevation_meters = 0.0;
+ double elevation_feet = 0.0;
+
+
+ //for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
+ double dx = 0;
+ for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
+ // Handle start point
+ int pos = i->getCurrentPosition();
+ //cerr << "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos << endl;
+ if (pos > 0) {
+ FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(pos);
+ SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
+ SGGeod end (SGGeod::fromDeg(segment->getEnd()->getLongitude(), segment->getEnd()->getLatitude()));
+
+ double length = SGGeodesy::distanceM(start, end);
+ //heading = SGGeodesy::headingDeg(start->getGeod(), end->getGeod());
+
+ double az2, heading; //, distanceM;
+ SGGeodesy::inverse(start, end, heading, az2, length);
+ double coveredDistance = length * 0.5;
+ SGGeod center;
+ SGGeodesy::direct(start, heading, coveredDistance, center, az2);
+ //cerr << "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading << endl;
+ ///////////////////////////////////////////////////////////////////////////////
+ // Make a helper function out of this
+ osg::Matrix obj_pos;
+ osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
+ obj_trans->setDataVariance(osg::Object::STATIC);
+ // Experimental: Calculate slope here, based on length, and the individual elevations
+ double elevationStart;
+ if (isUserAircraft((i)->getAircraft())) {
+ elevationStart = fgGetDouble("/position/ground-elev-m");
+ } else {
+ elevationStart = ((i)->getAircraft()->_getAltitude());
+ }
+ double elevationEnd = segment->getEnd()->getElevation();
+ if (elevationEnd == 0) {
+ SGGeod center2 = end;
+ center2.setElevationM(SG_MAX_ELEVATION_M);
+ if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
+ elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
+ //elevation_meters += 0.5;
+ }
+ else {
+ elevationEnd = parent->getElevation()+8+dx;
+ }
+ segment->getEnd()->setElevation(elevationEnd);
+ }
+
+ double elevationMean = (elevationStart + elevationEnd) / 2.0;
+ double elevDiff = elevationEnd - elevationStart;
+
+ double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
+
+ //cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
+
+ WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5, -(heading), slope );
+;
+
+ obj_trans->setMatrix( obj_pos );
+ //osg::Vec3 center(0, 0, 0)
+
+ float width = length /2.0;
+ osg::Vec3 corner(-width, 0, 0.25f);
+ osg::Vec3 widthVec(2*width + 1, 0, 0);
+ osg::Vec3 heightVec(0, 1, 0);
+ osg::Geometry* geometry;
+ geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
+ simgear::EffectGeode* geode = new simgear::EffectGeode;
+ geode->setName("test");
+ geode->addDrawable(geometry);
+ //osg::Node *custom_obj;
+ SGMaterial *mat = matlib->find("UnidirectionalTaper");
+ if (mat)
+ geode->setEffect(mat->get_effect());
+ obj_trans->addChild(geode);
+ // wire as much of the scene graph together as we can
+ //->addChild( obj_trans );
+ group->addChild( obj_trans );
+ /////////////////////////////////////////////////////////////////////
+ } else {
+ //cerr << "BIG FAT WARNING: current position is here : " << pos << endl;
+ }
+ for(intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
+ osg::Matrix obj_pos;
+ int k = (*j);
+ if (k > 0) {
+ //cerr << "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k << endl;
+ osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
+ obj_trans->setDataVariance(osg::Object::STATIC);
+ FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k);
+
+ double elevationStart = segment->getStart()->getElevation();
+ double elevationEnd = segment->getEnd ()->getElevation();
+ if (elevationStart == 0) {
+ SGGeod center2 = segment->getStart()->getGeod();
+ center2.setElevationM(SG_MAX_ELEVATION_M);
+ if (local_scenery->get_elevation_m( center2, elevationStart, NULL )) {
+ elevation_feet = elevationStart * SG_METER_TO_FEET + 0.5;
+ //elevation_meters += 0.5;
+ }
+ else {
+ elevationStart = parent->getElevation()+8+dx;
+ }
+ segment->getStart()->setElevation(elevationStart);
+ }
+ if (elevationEnd == 0) {
+ SGGeod center2 = segment->getEnd()->getGeod();
+ center2.setElevationM(SG_MAX_ELEVATION_M);
+ if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
+ elevation_feet = elevationEnd * SG_METER_TO_FEET + 0.5;
+ //elevation_meters += 0.5;
+ }
+ else {
+ elevationEnd = parent->getElevation()+8+dx;
+ }
+ segment->getEnd()->setElevation(elevationEnd);
+ }
+
+ double elevationMean = (elevationStart + elevationEnd) / 2.0;
+ double elevDiff = elevationEnd - elevationStart;
+ double length = segment->getLength();
+ double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
+
+ //cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
+
+
+ WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), elevationMean + 0.5, -(segment->getHeading()), slope );
+
+ //WorldCoordinate( obj_pos, segment->getLatitude(), segment->getLongitude(), parent->getElevation()+8+dx, -(segment->getHeading()) );
+
+ obj_trans->setMatrix( obj_pos );
+ //osg::Vec3 center(0, 0, 0)
+
+ float width = segment->getLength() /2.0;
+ osg::Vec3 corner(-width, 0, 0.25f);
+ osg::Vec3 widthVec(2*width + 1, 0, 0);
+ osg::Vec3 heightVec(0, 1, 0);
+ osg::Geometry* geometry;
+ geometry = osg::createTexturedQuadGeometry(corner, widthVec, heightVec);
+ simgear::EffectGeode* geode = new simgear::EffectGeode;
+ geode->setName("test");
+ geode->addDrawable(geometry);
+ //osg::Node *custom_obj;
+ SGMaterial *mat = matlib->find("UnidirectionalTaper");
+ if (mat)
+ geode->setEffect(mat->get_effect());
+ obj_trans->addChild(geode);
+ // wire as much of the scene graph together as we can
+ //->addChild( obj_trans );
+ group->addChild( obj_trans );
+ } else {
+ //cerr << "BIG FAT WARNING: k is here : " << pos << endl;
+ }
+ }
+ //dx += 0.1;
+ }
+ globals->get_scenery()->get_scene_graph()->addChild(group);
+ }
+}
+
+string FGStartupController::getName() {
+ return string(parent->getId() + "-startup");
+}
+
/***************************************************************************
* class FGApproachController
*
**************************************************************************/
-FGApproachController::FGApproachController():
+FGApproachController::FGApproachController(FGAirportDynamics *par):
FGATCController()
{
+ parent = par;
}
//
double alt, double radius,
int leg, FGAIAircraft * ref)
{
+ init();
TrafficVectorIterator i = activeTraffic.begin();
// Search whether the current id alread has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
}
}
-void FGApproachController::update(int id, double lat, double lon,
- double heading, double speed, double alt,
- double dt)
+void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
+ double heading, double speed, double alt,
+ double dt)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
}
return &(*rwy);
}
+
+void FGApproachController::render(bool visible) {
+ //cerr << "FGApproachController::render function not yet implemented" << endl;
+}
+
+
+
+string FGApproachController::getName() {
+ return string(parent->getId() + "-approach");
+}
projects / flightgear.git / blobdiff