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ATC : Split out ATC Controllers

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portree_kid 2022-01-10 20:45:10 +01:00
parent 89b7f8139f
commit b5dd4a8b6b
13 changed files with 1831 additions and 1419 deletions
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src/ATC/ATCController.cxx Normal file
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// Extracted from trafficrecord.cxx - Implementation of AIModels ATC code.
//
// Written by Durk Talsma, started September 2006.
//
// Copyright (C) 2006 Durk Talsma.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#include <config.h>
#include <algorithm>
#include <cstdio>
#include <random>
#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 <simgear/scene/util/OsgMath.hxx>
#include <simgear/timing/sg_time.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 <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Radio/radio.hxx>
#include <signal.h>
#include <ATC/atc_mgr.hxx>
#include <ATC/trafficcontrol.hxx>
#include <ATC/ATCController.hxx>
using std::sort;
using std::string;
/***************************************************************************
* FGATCController
*
**************************************************************************/
FGATCController::FGATCController()
{
dt_count = 0;
available = true;
lastTransmission = 0;
initialized = false;
lastTransmissionDirection = ATC_AIR_TO_GROUND;
group = NULL;
}
FGATCController::~FGATCController()
{
if (initialized) {
auto mgr = globals->get_subsystem<FGATCManager>();
mgr->removeController(this);
}
}
void FGATCController::init()
{
if (!initialized) {
auto mgr = globals->get_subsystem<FGATCManager>();
mgr->addController(this);
initialized = true;
}
}
string FGATCController::getGateName(FGAIAircraft * ref)
{
return ref->atGate();
}
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 rwyClass;
string SID;
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";
}
SG_LOG(SG_ATC, SG_DEBUG, "transmitting for: " << sender << "Leg = " << rec->getLeg());
auto depApt = rec->getAircraft()->getTrafficRef()->getDepartureAirport();
//FIXME Must be transferred to controller and fallback for GROUND -> TOWER if GROUND not set
switch (rec->getLeg()) {
case 1:
case 2:
// avoid crash FLIGHTGEAR-ER
if (!depApt) {
SG_LOG(SG_ATC, SG_DEV_ALERT, "TrafficRec has empty departure airport, can't transmit");
return;
}
freqId = rec->getNextFrequency();
stationFreq = depApt->getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
taxiFreq = depApt->getDynamics()->getGroundFrequency(2);
towerFreq = depApt->getDynamics()->getTowerFrequency(2);
receiver = depApt->getName() + "-Ground";
atisInformation = depApt->getDynamics()->getAtisSequence();
break;
case 3:
if (!depApt) {
SG_LOG(SG_ATC, SG_DEV_ALERT, "TrafficRec has empty departure airport, can't transmit");
return;
}
receiver = depApt->getName() + "-Tower";
break;
}
// Swap sender and receiver value in case of a ground to air transmission
if (msgDir == ATC_GROUND_TO_AIR) {
string tmp = sender;
sender = receiver;
receiver = tmp;
ground_to_air = 1;
}
switch (msgId) {
case MSG_ANNOUNCE_ENGINE_START:
text = sender + ". Ready to Start up.";
break;
case MSG_REQUEST_ENGINE_START:
text =
receiver + ", This is " + sender + ". Position " +
getGateName(rec->getAircraft()) + ". Information " +
atisInformation + ". " +
rec->getAircraft()->getTrafficRef()->getFlightRules() +
" to " +
rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
getName() + ". Request start-up.";
break;
// Acknowledge engine startup permission
// Assign departure runway
// Assign SID, if necessery (TODO)
case MSG_PERMIT_ENGINE_START:
taxiFreqStr = formatATCFrequency3_2(taxiFreq);
heading = rec->getAircraft()->getTrafficRef()->getCourse();
fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
rwyClass =
rec->getAircraft()->GetFlightPlan()->
getRunwayClassFromTrafficType(fltType);
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
fp = NULL;
rec->getAircraft()->GetFlightPlan()->setSID(fp);
if (fp) {
SID = fp->getName() + " departure";
} else {
SID = "fly runway heading ";
}
//snprintf(buffer, 7, "%3.2f", heading);
fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
transponderCode = genTransponderCode(fltRules);
rec->getAircraft()->SetTransponderCode(transponderCode);
text =
receiver + ". Start-up approved. " + atisInformation +
" correct, runway " + activeRunway + ", " + SID + ", squawk " +
transponderCode + ". " +
"For "+ instructionText + " clearance call " + taxiFreqStr + ". " +
sender + " control.";
break;
case MSG_DENY_ENGINE_START:
text = receiver + ". Standby.";
break;
case MSG_ACKNOWLEDGE_ENGINE_START:
fp = rec->getAircraft()->GetFlightPlan()->getSID();
if (fp) {
SID =
rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
" departure";
} else {
SID = "fly runway heading ";
}
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 " + instructionText + " clearance call " + taxiFreqStr + ". " +
sender + ".";
break;
case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
taxiFreqStr = formatATCFrequency3_2(taxiFreq);
text = receiver + ". Switching to " + taxiFreqStr + ". " + sender + ".";
break;
case MSG_INITIATE_CONTACT:
text = receiver + ". With you. " + sender + ".";
break;
case MSG_ACKNOWLEDGE_INITIATE_CONTACT:
text = receiver + ". Roger. " + sender + ".";
break;
case MSG_REQUEST_PUSHBACK_CLEARANCE:
if (rec->getAircraft()->getTaxiClearanceRequest()) {
text = receiver + ". Request push-back. " + sender + ".";
} else {
text = receiver + ". Request Taxi clearance. " + sender + ".";
}
break;
case MSG_PERMIT_PUSHBACK_CLEARANCE:
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 + ".";
break;
case MSG_REQUEST_TAXI_CLEARANCE:
text = receiver + ". Ready to Taxi. " + sender + ".";
break;
case MSG_ISSUE_TAXI_CLEARANCE:
text = receiver + ". Cleared to taxi. " + sender + ".";
break;
case MSG_ACKNOWLEDGE_TAXI_CLEARANCE:
text = receiver + ". Cleared to taxi. " + sender + ".";
break;
case MSG_HOLD_POSITION:
text = receiver + ". Hold Position. " + sender + ".";
break;
case MSG_ACKNOWLEDGE_HOLD_POSITION:
text = receiver + ". Holding Position. " + sender + ".";
break;
case MSG_RESUME_TAXI:
text = receiver + ". Resume Taxiing. " + sender + ".";
break;
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";
SG_LOG(SG_ATC, SG_DEBUG, "1 Currently at leg " << rec->getLeg());
break;
case MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT:
activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
text = receiver + " Roger. Holding short runway "
// + activeRunway
+ ". " + sender + ".";
//text = "test2";
SG_LOG(SG_ATC, SG_DEBUG, "2 Currently at leg " << rec->getLeg());
break;
case MSG_SWITCH_TOWER_FREQUENCY:
towerFreqStr = formatATCFrequency3_2(towerFreq);
text = receiver + " Contact Tower at " + towerFreqStr + ". " + sender + ".";
//text = "test3";
SG_LOG(SG_ATC, SG_DEBUG, "3 Currently at leg " << rec->getLeg());
break;
case MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY:
towerFreqStr = formatATCFrequency3_2(towerFreq);
text = receiver + " Roger, switching to tower at " + towerFreqStr + ". " + sender + ".";
//text = "test4";
SG_LOG(SG_ATC, SG_DEBUG, "4 Currently at leg " << rec->getLeg());
break;
default:
//text = "test3";
text = text + sender + ". Transmitting unknown Message.";
break;
}
const bool atcAudioEnabled = fgGetBool("/sim/sound/atc/enabled", false);
if (audible && atcAudioEnabled) {
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);
SG_LOG(SG_ATC, SG_DEBUG, "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 ((stationFreq > 0)&&
((onBoardRadioFreqI0 == stationFreq)||
(onBoardRadioFreqI1 == stationFreq))) {
if (rec->allowTransmissions()) {
if( fgGetBool( "/sim/radio/use-itm-attenuation", false ) ) {
SG_LOG(SG_ATC, SG_DEBUG, "Using ITM radio propagation");
FGRadioTransmission* radio = new FGRadioTransmission();
SGGeod sender_pos;
double sender_alt_ft, sender_alt;
if(ground_to_air) {
sender_pos = parent->parent()->geod();
}
else {
sender_alt_ft = rec->getAltitude();
sender_alt = sender_alt_ft * SG_FEET_TO_METER;
sender_pos= SGGeod::fromDegM( rec->getLongitude(),
rec->getLatitude(), sender_alt );
}
double frequency = ((double)stationFreq) / 100;
radio->receiveATC(sender_pos, frequency, text, ground_to_air);
delete radio;
}
else {
fgSetString("/sim/messages/atc", text.c_str());
}
}
}
} else {
//FGATCDialogNew::instance()->addEntry(1, text);
}
}
/*
* Format integer frequency xxxyy as xxx.yy
* @param freq - integer value
* @return the formatted string
*/
string FGATCController::formatATCFrequency3_2(int freq)
{
char buffer[7]; // does this ever need to be freed?
snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
return string(buffer);
}
// TODO: Set transponder codes according to real-world routes.
// The current version just returns a random string of four octal numbers.
string FGATCController::genTransponderCode(const string& fltRules)
{
if (fltRules == "VFR")
return string("1200");
std::default_random_engine generator;
std::uniform_int_distribution<unsigned> distribution(0, 7);
unsigned val = (
distribution(generator) * 1000 +
distribution(generator) * 100 +
distribution(generator) * 10 +
distribution(generator));
return std::to_string(val);
}
void FGATCController::eraseDeadTraffic(TrafficVector& vec)
{
auto it = std::remove_if(vec.begin(), vec.end(), [](const FGTrafficRecord& traffic)
{
if (!traffic.getAircraft()) {
return true;
}
return traffic.getAircraft()->getDie();
});
vec.erase(it, vec.end());
}
void FGATCController::clearTrafficControllers(TrafficVector& vec)
{
for (const auto& traffic : vec) {
if (!traffic.getAircraft()) {
continue;
}
traffic.getAircraft()->clearATCController();
}
}
TrafficVectorIterator FGATCController::searchActiveTraffic(TrafficVector& vec, int id)
{
return std::find_if(vec.begin(), vec.end(), [id] (const FGTrafficRecord& rec)
{ return rec.getId() == id; });
}

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// Extracted from trafficcontrol.hxx - classes to manage AIModels based air traffic control
// Written by Durk Talsma, started September 2006.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef ATC_CONTROLLER_HXX
#define ATC_CONTROLLER_HXX
#include <Airports/airports_fwd.hxx>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/MatrixTransform>
#include <osg/Shape>
#include <simgear/compiler.h>
// There is probably a better include than sg_geodesy to get the SG_NM_TO_METER...
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/structure/SGReferenced.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
#include <ATC/trafficcontrol.hxx>
/**
* class FGATCController
* NOTE: this class serves as an abstraction layer for all sorts of ATC controllers.
*************************************************************************************/
class FGATCController
{
private:
protected:
bool initialized;
bool available;
time_t lastTransmission;
double dt_count;
osg::Group* group;
std::string formatATCFrequency3_2(int );
std::string genTransponderCode(const std::string& fltRules);
bool isUserAircraft(FGAIAircraft*);
void clearTrafficControllers(TrafficVector& vec);
TrafficVectorIterator searchActiveTraffic(TrafficVector& vec, int id);
void eraseDeadTraffic(TrafficVector& vec);
public:
typedef enum {
MSG_ANNOUNCE_ENGINE_START,
MSG_REQUEST_ENGINE_START,
MSG_PERMIT_ENGINE_START,
MSG_DENY_ENGINE_START,
MSG_ACKNOWLEDGE_ENGINE_START,
MSG_REQUEST_PUSHBACK_CLEARANCE,
MSG_PERMIT_PUSHBACK_CLEARANCE,
MSG_HOLD_PUSHBACK_CLEARANCE,
MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,
MSG_INITIATE_CONTACT,
MSG_ACKNOWLEDGE_INITIATE_CONTACT,
MSG_REQUEST_TAXI_CLEARANCE,
MSG_ISSUE_TAXI_CLEARANCE,
MSG_ACKNOWLEDGE_TAXI_CLEARANCE,
MSG_HOLD_POSITION,
MSG_ACKNOWLEDGE_HOLD_POSITION,
MSG_RESUME_TAXI,
MSG_ACKNOWLEDGE_RESUME_TAXI,
MSG_REPORT_RUNWAY_HOLD_SHORT,
MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT,
MSG_SWITCH_TOWER_FREQUENCY,
MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY
} AtcMsgId;
typedef enum {
ATC_AIR_TO_GROUND,
ATC_GROUND_TO_AIR
} AtcMsgDir;
FGATCController();
virtual ~FGATCController();
void init();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft) = 0;
virtual void signOff(int id) = 0;
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt) = 0;
virtual bool hasInstruction(int id) = 0;
virtual FGATCInstruction getInstruction(int id) = 0;
double getDt() {
return dt_count;
};
void setDt(double dt) {
dt_count = dt;
};
void transmit(FGTrafficRecord *rec, FGAirportDynamics *parent, AtcMsgId msgId, AtcMsgDir msgDir, bool audible);
std::string getGateName(FGAIAircraft *aircraft);
virtual void render(bool) = 0;
virtual std::string getName() = 0;
virtual void update(double) = 0;
protected:
// guard variable to avoid modifying state during destruction
bool _isDestroying = false;
private:
AtcMsgDir lastTransmissionDirection;
};
#endif

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// Extracted from trafficrecord.cxx - Implementation of AIModels ATC code.
//
// Written by Durk Talsma, started September 2006.
//
// Copyright (C) 2006 Durk Talsma.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#include <config.h>
#include <algorithm>
#include <cstdio>
#include <random>
#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 <simgear/scene/util/OsgMath.hxx>
#include <simgear/timing/sg_time.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 <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Radio/radio.hxx>
#include <signal.h>
#include <ATC/atc_mgr.hxx>
#include <ATC/trafficcontrol.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/ApproachController.hxx>
using std::sort;
using std::string;
/***************************************************************************
* class FGApproachController
* subclass of FGATCController
**************************************************************************/
FGApproachController::FGApproachController(FGAirportDynamics *par):
FGATCController()
{
parent = par;
}
FGApproachController::~FGApproachController()
{
_isDestroying = true;
clearTrafficControllers(activeTraffic);
}
void FGApproachController::announcePosition(int id,
FGAIFlightPlan * intendedRoute,
int currentPosition,
double lat, double lon,
double heading, double speed,
double alt, double radius,
int leg, FGAIAircraft * ref)
{
init();
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
// Add a new TrafficRecord if no one exsists for this aircraft.
if (i == activeTraffic.end() || activeTraffic.empty()) {
FGTrafficRecord rec;
rec.setId(id);
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
rec.setRunway(intendedRoute->getRunway());
rec.setLeg(leg);
//rec.setCallSign(callsign);
rec.setAircraft(ref);
activeTraffic.push_back(rec);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
}
void FGApproachController::updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt,
double dt)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
TrafficVectorIterator current;
// update position of the current aircraft
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
SG_LOG(SG_ATC, SG_BULK, "ApproachController: checking for speed");
time_t time_diff =
current->getAircraft()->
checkForArrivalTime(string("final001"));
if (time_diff > 15) {
current->setSpeedAdjustment(current->getAircraft()->
getPerformance()->vDescent() *
1.35);
} else if (time_diff > 5) {
current->setSpeedAdjustment(current->getAircraft()->
getPerformance()->vDescent() *
1.2);
} else if (time_diff < -15) {
current->setSpeedAdjustment(current->getAircraft()->
getPerformance()->vDescent() *
0.65);
} else if (time_diff < -5) {
current->setSpeedAdjustment(current->getAircraft()->
getPerformance()->vDescent() *
0.8);
} else {
current->clearSpeedAdjustment();
}
//current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
}
setDt(getDt() + dt);
}
/* Search for and erase traffic record with a specific id */
void FGApproachController::signOff(int id)
{
// ensure we don't modify activeTraffic during destruction
if (_isDestroying)
return;
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from approach at " << SG_ORIGIN);
} else {
i = activeTraffic.erase(i);
}
}
/* Periodically check for and remove dead traffic records */
void FGApproachController::update(double dt)
{
FGATCController::eraseDeadTraffic(activeTraffic);
}
bool FGApproachController::hasInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
return false;
}
FGATCInstruction FGApproachController::getInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
return FGATCInstruction();
}
ActiveRunway *FGApproachController::getRunway(const string& name)
{
ActiveRunwayVecIterator rwy = activeRunways.begin();
if (activeRunways.size()) {
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == name) {
break;
}
rwy++;
}
}
if (rwy == activeRunways.end()) {
ActiveRunway aRwy(name, 0);
activeRunways.push_back(aRwy);
rwy = activeRunways.end() - 1;
}
return &(*rwy);
}
void FGApproachController::render(bool visible) {
// Must be BULK in order to prevent it being called each frame
SG_LOG(SG_ATC, SG_BULK, "FGApproachController::render function not yet implemented");
}
string FGApproachController::getName() {
return string(parent->getId() + "-approach");
}

78
src/ATC/ApproachController.hxx Normal file
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@ -0,0 +1,78 @@
// Extracted from trafficcontrol.hxx - classes to manage AIModels based air traffic control
// Written by Durk Talsma, started September 2006.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef APPROACH_CONTROLLER_HXX
#define APPROACH_CONTROLLER_HXX
#include <Airports/airports_fwd.hxx>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/MatrixTransform>
#include <osg/Shape>
#include <simgear/compiler.h>
// There is probably a better include than sg_geodesy to get the SG_NM_TO_METER...
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/structure/SGReferenced.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/trafficcontrol.hxx>
/******************************************************************************
* class FGTowerControl
*****************************************************************************/
class FGApproachController : public FGATCController
{
private:
TrafficVector activeTraffic;
ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGApproachController(FGAirportDynamics * parent);
virtual ~FGApproachController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
ActiveRunway* getRunway(const std::string& name);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
};
#endif

8
src/ATC/CMakeLists.txt
View file

@ -7,7 +7,11 @@ set(SOURCES
ATISEncoder.cxx
MetarPropertiesATISInformationProvider.cxx
CurrentWeatherATISInformationProvider.cxx
ATCController.cxx
ApproachController.cxx
GroundController.cxx
StartupController.cxx
TowerController.cxx
)
set(HEADERS
@ -17,7 +21,11 @@ set(HEADERS
ATISEncoder.hxx
MetarPropertiesATISInformationProvider.hxx
CurrentWeatherATISInformationProvider.hxx
ATCController.hxx
ApproachController.hxx
GroundController.hxx
StartupController.hxx
TowerController.hxx
)
flightgear_component(ATC "${SOURCES}" "${HEADERS}")

7
src/ATC/GroundController.cxx
View file

@ -58,7 +58,8 @@
#include <Scenery/scenery.hxx>
#include "GroundController.hxx"
#include <ATC/ATCController.hxx>
#include <ATC/GroundController.hxx>
using std::string;
@ -926,8 +927,8 @@ void FGGroundController::update(double dt)
updateActiveTraffic(i, priority, now);
}
eraseDeadTraffic(startupTraffic);
eraseDeadTraffic(activeTraffic);
FGATCController::eraseDeadTraffic(startupTraffic);
FGATCController::eraseDeadTraffic(activeTraffic);
}
void FGGroundController::updateStartupTraffic(TrafficVectorIterator i,

490
src/ATC/StartupController.cxx Normal file
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@ -0,0 +1,490 @@
// Extracted from trafficrecord.cxx - Implementation of AIModels ATC code.
//
// Written by Durk Talsma, started September 2006.
//
// Copyright (C) 2006 Durk Talsma.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#include <config.h>
#include <algorithm>
#include <cstdio>
#include <random>
#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 <simgear/scene/util/OsgMath.hxx>
#include <simgear/timing/sg_time.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 <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Radio/radio.hxx>
#include <signal.h>
#include <ATC/atc_mgr.hxx>
#include <ATC/trafficcontrol.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/StartupController.hxx>
using std::sort;
using std::string;
/***************************************************************************
* class FGStartupController
* subclass of FGATCController
**************************************************************************/
FGStartupController::FGStartupController(FGAirportDynamics *par):
FGATCController()
{
parent = par;
}
FGStartupController::~FGStartupController()
{
_isDestroying = true;
clearTrafficControllers(activeTraffic);
}
void FGStartupController::announcePosition(int id,
FGAIFlightPlan * intendedRoute,
int currentPosition, double lat,
double lon, double heading,
double speed, double alt,
double radius, int leg,
FGAIAircraft * ref)
{
init();
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
// Add a new TrafficRecord if no one exsists for this aircraft.
if (i == activeTraffic.end() || activeTraffic.empty()) {
FGTrafficRecord rec;
rec.setId(id);
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);
}
}
// NOTE:
// IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
// THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
// BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
// WHICH WOULD SIMPLIFY CODE MAINTENANCE.
// Note that this function is probably obsolete
bool FGStartupController::hasInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
return false;
}
FGATCInstruction FGStartupController::getInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
return FGATCInstruction();
}
void FGStartupController::signOff(int id)
{
// ensure we don't modify activeTraffic during destruction
if (_isDestroying)
return;
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
} else {
SG_LOG(SG_ATC, SG_DEBUG, i->getAircraft()->getCallSign() << " signing off from startupcontroller");
i = activeTraffic.erase(i);
}
}
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())) {
SG_LOG(SG_ATC, SG_BULK, "Checking state " << st << " for " << i->getAircraft()->getCallSign());
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);
SG_LOG(SG_ATC, SG_BULK, "Selected transmission message " << n);
//FGATCDialogNew::instance()->removeEntry(1);
} else {
SG_LOG(SG_ATC, SG_BULK, "Creating message for " << i->getAircraft()->getCallSign());
transmit(&(*i), &(*parent), msgId, msgDir, false);
return false;
}
}
if (now > startTime) {
SG_LOG(SG_ATC, SG_BULK, "Transmitting startup msg");
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)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
TrafficVectorIterator current, closest;
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
return;
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
}
setDt(getDt() + dt);
int state = i->getState();
// Sentry FLIGHTGEAR-2Q : don't crash on null TrafficRef
// Sentry FLIGHTGEAR-129: don't crash on null aircraft
if (!i->getAircraft() || !i->getAircraft()->getTrafficRef()) {
SG_LOG(SG_ATC, SG_ALERT, "AI traffic: updating aircraft without traffic ref");
return;
}
// 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 = globals->get_time_params()->get_cur_time();
SG_LOG(SG_ATC, SG_BULK, i->getAircraft()->getTrafficRef()->getCallSign()
<< " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
<< " at parking " << getGateName(i->getAircraft()));
if ((now - lastTransmission) > 3 + (rand() % 15)) {
available = true;
}
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);
if ((state == 8) && available) {
if (now > startTime + 200) {
if (i->pushBackAllowed()) {
i->allowRepeatedTransmissions();
transmit(&(*i), &(*parent), MSG_PERMIT_PUSHBACK_CLEARANCE,
ATC_GROUND_TO_AIR, true);
i->updateState();
} else {
transmit(&(*i), &(*parent), MSG_HOLD_PUSHBACK_CLEARANCE,
ATC_GROUND_TO_AIR, true);
i->suppressRepeatedTransmissions();
}
lastTransmission = now;
available = false;
}
}
if ((state == 9) && available) {
i->setHoldPosition(false);
}
}
// 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 = makeZUpFrame(geod);
// 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)
{
SG_LOG(SG_ATC, SG_DEBUG, "Rendering startup controller");
SGMaterialLib *matlib = globals->get_matlib();
if (group) {
//int nr = ;
globals->get_scenery()->get_scene_graph()->removeChild(group);
//while (group->getNumChildren()) {
// SG_LOG(SG_ATC, SG_BULK, "Number of children: " << group->getNumChildren());
//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;
FGGroundNetwork* groundNet = parent->parent()->groundNetwork();
//for ( FGTaxiSegmentVectorIterator i = segments.begin(); i != segments.end(); i++) {
double dx = 0;
time_t now = globals->get_time_params()->get_cur_time();
for (TrafficVectorIterator i = activeTraffic.begin(); i != activeTraffic.end(); i++) {
if (i->isActive(300)) {
// Handle start point
int pos = i->getCurrentPosition();
SG_LOG(SG_ATC, SG_BULK, "rendering for " << i->getAircraft()->getCallSign() << "pos = " << pos);
if (pos > 0) {
FGTaxiSegment *segment = groundNet->findSegment(pos);
SGGeod start(SGGeod::fromDeg((i->getLongitude()), (i->getLatitude())));
SGGeod end (segment->getEnd()->geod());
double length = SGGeodesy::distanceM(start, end);
//heading = SGGeodesy::headingDeg(start->geod(), end->geod());
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);
SG_LOG(SG_ATC, SG_BULK, "Active Aircraft : Centerpoint = (" << center.getLatitudeDeg() << ", " << center.getLongitudeDeg() << "). Heading = " << heading);
///////////////////////////////////////////////////////////////////////////////
// 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() * SG_FEET_TO_METER);
}
double elevationEnd = segment->getEnd()->getElevationM();
if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
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();
}
segment->getEnd()->setElevation(elevationEnd);
}
double elevationMean = (elevationStart + elevationEnd) / 2.0;
double elevDiff = elevationEnd - elevationStart;
double slope = atan2(elevDiff, length) * SGD_RADIANS_TO_DEGREES;
SG_LOG(SG_ATC, SG_BULK, "1. Using mean elevation : " << elevationMean << " and " << slope);
WorldCoordinate( obj_pos, center.getLatitudeDeg(), center.getLongitudeDeg(), elevationMean + 0.5 + dx, -(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;
if (segment->hasBlock(now)) {
mat = matlib->find("UnidirectionalTaperRed", center);
} else {
mat = matlib->find("UnidirectionalTaperGreen", center);
}
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 {
SG_LOG(SG_ATC, SG_DEBUG, "BIG FAT WARNING: current position is here : " << pos);
}
for (intVecIterator j = (i)->getIntentions().begin(); j != (i)->getIntentions().end(); j++) {
osg::Matrix obj_pos;
int k = (*j);
if (k > 0) {
SG_LOG(SG_ATC, SG_BULK, "rendering for " << i->getAircraft()->getCallSign() << "intention = " << k);
osg::MatrixTransform *obj_trans = new osg::MatrixTransform;
obj_trans->setDataVariance(osg::Object::STATIC);
FGTaxiSegment *segment = groundNet->findSegment(k);
double elevationStart = segment->getStart()->getElevationM();
double elevationEnd = segment->getEnd ()->getElevationM();
if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
SGGeod center2 = segment->getStart()->geod();
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();
}
segment->getStart()->setElevation(elevationStart);
}
if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
SGGeod center2 = segment->getEnd()->geod();
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();
}
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;
SG_LOG(SG_ATC, SG_BULK, "2. Using mean elevation : " << elevationMean << " and " << slope);
SGGeod segCenter(segment->getCenter());
WorldCoordinate( obj_pos, segCenter.getLatitudeDeg(),
segCenter.getLongitudeDeg(), elevationMean + 0.5 + dx, -(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;
if (segment->hasBlock(now)) {
mat = matlib->find("UnidirectionalTaperRed", segCenter);
} else {
mat = matlib->find("UnidirectionalTaperGreen", segCenter);
}
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 {
SG_LOG(SG_ATC, SG_DEBUG, "BIG FAT WARNING: k is here : " << pos);
}
}
dx += 0.2;
}
}
globals->get_scenery()->get_scene_graph()->addChild(group);
}
}
string FGStartupController::getName() {
return string(parent->getId() + "-startup");
}
void FGStartupController::update(double dt)
{
FGATCController::eraseDeadTraffic(activeTraffic);
}

83
src/ATC/StartupController.hxx Normal file
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@ -0,0 +1,83 @@
// Extracted from trafficcontrol.hxx - classes to manage AIModels based air traffic control
// Written by Durk Talsma, started September 2006.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef STARTUP_CONTROLLER_HXX
#define STARTUP_CONTROLLER_HXX
#include <Airports/airports_fwd.hxx>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/MatrixTransform>
#include <osg/Shape>
#include <simgear/compiler.h>
// There is probably a better include than sg_geodesy to get the SG_NM_TO_METER...
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/structure/SGReferenced.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/trafficcontrol.hxx>
/******************************************************************************
* class FGStartupController
* handle
*****************************************************************************/
class FGStartupController : public FGATCController
{
private:
TrafficVector activeTraffic;
//ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGStartupController(FGAirportDynamics *parent);
virtual ~FGStartupController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
// Hpoefully, we can move this function to the base class, but I need to verify what is needed for the other controllers before doing so.
bool checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
AtcMsgDir msgDir);
};
#endif

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src/ATC/TowerController.cxx Normal file
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@ -0,0 +1,294 @@
// Extracted from trafficrecord.cxx - Implementation of AIModels ATC code.
//
// Written by Durk Talsma, started September 2006.
//
// Copyright (C) 2006 Durk Talsma.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#include <config.h>
#include <algorithm>
#include <cstdio>
#include <random>
#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 <simgear/scene/util/OsgMath.hxx>
#include <simgear/timing/sg_time.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 <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Radio/radio.hxx>
#include <signal.h>
#include <ATC/atc_mgr.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/trafficcontrol.hxx>
#include <ATC/TowerController.hxx>
using std::sort;
using std::string;
/***************************************************************************
* class FGTowerController
s * subclass of FGATCController
**************************************************************************/
FGTowerController::FGTowerController(FGAirportDynamics *par) :
FGATCController()
{
parent = par;
}
FGTowerController::~FGTowerController()
{
_isDestroying = true;
clearTrafficControllers(activeTraffic);
}
//
void FGTowerController::announcePosition(int id,
FGAIFlightPlan * intendedRoute,
int currentPosition, double lat,
double lon, double heading,
double speed, double alt,
double radius, int leg,
FGAIAircraft * ref)
{
init();
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
// Add a new TrafficRecord if no one exsists for this aircraft.
if (i == activeTraffic.end() || (activeTraffic.empty())) {
FGTrafficRecord rec;
rec.setId(id);
rec.setPositionAndHeading(lat, lon, heading, speed, alt);
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.empty()) {
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == intendedRoute->getRunway()) {
break;
}
rwy++;
}
}
if (rwy == activeRunways.end()) {
ActiveRunway aRwy(intendedRoute->getRunway(), id);
aRwy.addToDepartureQueue(ref);
activeRunways.push_back(aRwy);
rwy = (activeRunways.end()-1);
} else {
rwy->addToDepartureQueue(ref);
}
SG_LOG(SG_ATC, SG_DEBUG, ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getdepartureQueueSize() << " for takeoff ");
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
}
}
void FGTowerController::updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt,
double dt)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
setDt(getDt() + dt);
if (i == activeTraffic.end() || (activeTraffic.empty())) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: updating aircraft without traffic record at " <<
SG_ORIGIN);
return;
}
// Update the position of the current aircraft
FGTrafficRecord& current = *i;
current.setPositionAndHeading(lat, lon, heading, speed, alt);
// 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();
//if (parent->getId() == fgGetString("/sim/presets/airport-id")) {
// for (rwy = activeRunways.begin(); rwy != activeRunways.end(); rwy++) {
// rwy->printdepartureQueue();
// }
//}
rwy = activeRunways.begin();
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == current.getRunway()) {
break;
}
rwy++;
}
// only bother running the following code if the current aircraft is the
// first in line for depature
/* if (current.getAircraft() == rwy->getFirstAircraftIndepartureQueue()) {
if (rwy->getCleared()) {
if (id == rwy->getCleared()) {
current.setHoldPosition(false);
} else {
current.setHoldPosition(true);
}
} else {
// 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
auto ac = rwy->getFirstAircraftInDepartureQueue();
if (ac) {
if (ac->getTakeOffStatus() == 1) {
// transmit takeoff clearance
ac->setTakeOffStatus(2);
}
}
if (current.getAircraft()->getTakeOffStatus() == 2) {
current.setHoldPosition(false);
} else {
current.setHoldPosition(true);
}
int clearanceId = rwy->getCleared();
if (clearanceId) {
if (id == clearanceId) {
current.setHoldPosition(false);
}
} else {
if (current.getAircraft() == rwy->getFirstAircraftInDepartureQueue()) {
rwy->setCleared(id);
auto ac = rwy->getFirstOfStatus(1);
if (ac)
ac->setTakeOffStatus(2);
// transmit takeoff clearacne? But why twice?
}
}
}
void FGTowerController::signOff(int id)
{
// ensure we don't modify activeTraffic during destruction
if (_isDestroying)
return;
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || (activeTraffic.empty())) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
return;
}
const auto trafficRunway = i->getRunway();
auto runwayIt = std::find_if(activeRunways.begin(), activeRunways.end(),
[&trafficRunway](const ActiveRunway& ar) {
return ar.getRunwayName() == trafficRunway;
});
if (runwayIt != activeRunways.end()) {
runwayIt->setCleared(0);
runwayIt->updateDepartureQueue();
} else {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN);
}
i->getAircraft()->resetTakeOffStatus();
activeTraffic.erase(i);
SG_LOG(SG_ATC, SG_DEBUG, "Signing off from tower controller");
}
// NOTE:
// IF WE MAKE TRAFFICRECORD A MEMBER OF THE BASE CLASS
// THE FOLLOWING THREE FUNCTIONS: SIGNOFF, HAS INSTRUCTION AND GETINSTRUCTION CAN
// BECOME DEVIRTUALIZED AND BE A MEMBER OF THE BASE ATCCONTROLLER CLASS
// WHICH WOULD SIMPLIFY CODE MAINTENANCE.
// Note that this function is probably obsolete
bool FGTowerController::hasInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
return false;
}
FGATCInstruction FGTowerController::getInstruction(int id)
{
// Search activeTraffic for a record matching our id
TrafficVectorIterator i = searchActiveTraffic(activeTraffic, id);
if (i == activeTraffic.end() || activeTraffic.empty()) {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
return FGATCInstruction();
}
void FGTowerController::render(bool visible) {
// this should be bulk, since its called quite often
SG_LOG(SG_ATC, SG_BULK, "FGTowerController::render function not yet implemented");
}
string FGTowerController::getName() {
return string(parent->getId() + "-tower");
}
void FGTowerController::update(double dt)
{
FGATCController::eraseDeadTraffic(activeTraffic);
}

75
src/ATC/TowerController.hxx Normal file
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@ -0,0 +1,75 @@
// Extracted from trafficcontrol.hxx - classes to manage AIModels based air traffic control
// Written by Durk Talsma, started September 2006.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef TOWER_CONTROLLER_HXX
#define TOWER_CONTROLLER_HXX
#include <Airports/airports_fwd.hxx>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/MatrixTransform>
#include <osg/Shape>
#include <simgear/compiler.h>
// There is probably a better include than sg_geodesy to get the SG_NM_TO_METER...
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/structure/SGReferenced.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
#include <ATC/ATCController.hxx>
#include <ATC/trafficcontrol.hxx>
/******************************************************************************
* class FGTowerControl
*****************************************************************************/
class FGTowerController : public FGATCController
{
private:
TrafficVector activeTraffic;
ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGTowerController(FGAirportDynamics *parent);
virtual ~FGTowerController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
};
#endif

1210
src/ATC/trafficcontrol.cxx
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208
src/ATC/trafficcontrol.hxx
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@ -146,7 +146,8 @@ public:
class FGTrafficRecord
{
private:
int id, waitsForId;
int id;
int waitsForId;
int currentPos;
int leg;
int frequencyId;
@ -365,210 +366,5 @@ public:
void printDepartureQueue();
};
/**
* class FGATCController
* NOTE: this class serves as an abstraction layer for all sorts of ATC controllers.
*************************************************************************************/
class FGATCController
{
private:
protected:
bool initialized;
bool available;
time_t lastTransmission;
double dt_count;
osg::Group* group;
std::string formatATCFrequency3_2(int );
std::string genTransponderCode(const std::string& fltRules);
bool isUserAircraft(FGAIAircraft*);
void eraseDeadTraffic(TrafficVector& vec);
public:
typedef enum {
MSG_ANNOUNCE_ENGINE_START,
MSG_REQUEST_ENGINE_START,
MSG_PERMIT_ENGINE_START,
MSG_DENY_ENGINE_START,
MSG_ACKNOWLEDGE_ENGINE_START,
MSG_REQUEST_PUSHBACK_CLEARANCE,
MSG_PERMIT_PUSHBACK_CLEARANCE,
MSG_HOLD_PUSHBACK_CLEARANCE,
MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,
MSG_INITIATE_CONTACT,
MSG_ACKNOWLEDGE_INITIATE_CONTACT,
MSG_REQUEST_TAXI_CLEARANCE,
MSG_ISSUE_TAXI_CLEARANCE,
MSG_ACKNOWLEDGE_TAXI_CLEARANCE,
MSG_HOLD_POSITION,
MSG_ACKNOWLEDGE_HOLD_POSITION,
MSG_RESUME_TAXI,
MSG_ACKNOWLEDGE_RESUME_TAXI,
MSG_REPORT_RUNWAY_HOLD_SHORT,
MSG_ACKNOWLEDGE_REPORT_RUNWAY_HOLD_SHORT,
MSG_SWITCH_TOWER_FREQUENCY,
MSG_ACKNOWLEDGE_SWITCH_TOWER_FREQUENCY
} AtcMsgId;
typedef enum {
ATC_AIR_TO_GROUND,
ATC_GROUND_TO_AIR
} AtcMsgDir;
FGATCController();
virtual ~FGATCController();
void init();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft) = 0;
virtual void signOff(int id) = 0;
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt) = 0;
virtual bool hasInstruction(int id) = 0;
virtual FGATCInstruction getInstruction(int id) = 0;
double getDt() {
return dt_count;
};
void setDt(double dt) {
dt_count = dt;
};
void transmit(FGTrafficRecord *rec, FGAirportDynamics *parent, AtcMsgId msgId, AtcMsgDir msgDir, bool audible);
std::string getGateName(FGAIAircraft *aircraft);
virtual void render(bool) = 0;
virtual std::string getName() = 0;
virtual void update(double) = 0;
protected:
// guard variable to avoid modifying state during destruction
bool _isDestroying = false;
private:
AtcMsgDir lastTransmissionDirection;
};
/******************************************************************************
* class FGTowerControl
*****************************************************************************/
class FGTowerController : public FGATCController
{
private:
TrafficVector activeTraffic;
ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGTowerController(FGAirportDynamics *parent);
virtual ~FGTowerController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
};
/******************************************************************************
* class FGStartupController
* handle
*****************************************************************************/
class FGStartupController : public FGATCController
{
private:
TrafficVector activeTraffic;
//ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGStartupController(FGAirportDynamics *parent);
virtual ~FGStartupController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
// Hpoefully, we can move this function to the base class, but I need to verify what is needed for the other controllers before doing so.
bool checkTransmissionState(int st, time_t now, time_t startTime, TrafficVectorIterator i, AtcMsgId msgId,
AtcMsgDir msgDir);
};
/******************************************************************************
* class FGTowerControl
*****************************************************************************/
class FGApproachController : public FGATCController
{
private:
TrafficVector activeTraffic;
ActiveRunwayVec activeRunways;
FGAirportDynamics *parent;
public:
FGApproachController(FGAirportDynamics * parent);
virtual ~FGApproachController();
virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
double lat, double lon,
double hdg, double spd, double alt, double radius, int leg,
FGAIAircraft *aircraft);
virtual void signOff(int id);
virtual void updateAircraftInformation(int id, double lat, double lon,
double heading, double speed, double alt, double dt);
virtual bool hasInstruction(int id);
virtual FGATCInstruction getInstruction(int id);
virtual void render(bool);
virtual std::string getName();
virtual void update(double dt);
ActiveRunway* getRunway(const std::string& name);
bool hasActiveTraffic() {
return ! activeTraffic.empty();
};
TrafficVector &getActiveTraffic() {
return activeTraffic;
};
};
#endif // _TRAFFIC_CONTROL_HXX

3
src/Airports/dynamics.hxx
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@ -28,7 +28,10 @@
#include <simgear/timing/timestamp.hxx>
#include <ATC/trafficcontrol.hxx>
#include <ATC/ApproachController.hxx>
#include <ATC/TowerController.hxx>
#include <ATC/GroundController.hxx>
#include <ATC/StartupController.hxx>
#include "airports_fwd.hxx"
#include "parking.hxx"