#2358 AI Aircraft not taking off

src/AIModel/AIAircraft.cxx

@@ -102,7 +102,7 @@ FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI A
         _performance = PerformanceData::getDefaultData();
     }
 
-    takeOffStatus = 0;
+    takeOffStatus = AITakeOffStatus::NONE;
     timeElapsed = 0;
 
     trackCache.remainingLength = 0;
@@ -195,7 +195,7 @@ void FGAIAircraft::setPerformance(const std::string& acType, const std::string&
     }
 }
 
- void FGAIAircraft::Run(double dt)
+void FGAIAircraft::Run(double dt)
 {
     // We currently have one situation in which an AIAircraft object is used that is not attached to the
     // AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
@@ -213,6 +213,8 @@ void FGAIAircraft::setPerformance(const std::string& acType, const std::string&
         if (outOfSight) {
             return;
         }
+    } else {
+        updateUserFlightPlan(dt);
     }
 
     if (!flightplanActive) {
@@ -1047,7 +1049,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
         scheduleForATCTowerDepartureControl(1);
     }
     if (prev->contains(string("Accel"))) {
-        takeOffStatus = 3;
+        takeOffStatus = AITakeOffStatus::CLEARED_FOR_TAKEOFF;
     }
 
     // This is the last taxi waypoint, and marks the the end of the flight plan
@@ -1405,6 +1407,42 @@ void FGAIAircraft::handleATCRequests(double dt)
     }
 }
 
+void FGAIAircraft::updateUserFlightPlan(double dt)
+{
+    // If the aircraft leaves the airport proximity increase the flightplan leg to sign off
+    // from the tower controller and free the runway #2358 The user doesn't
+    // need to fly out straight
+    if (fp) {
+        switch (fp->getLeg())
+        {
+        case AILeg::TAKEOFF:
+            {
+                auto current = fp->getCurrentWaypoint();
+                auto last = fp->getLastWaypoint();
+                int legDistance = SGGeodesy::distanceM(current->getPos(), last->getPos());
+                int currDist = SGGeodesy::distanceM(getGeodPos(), current->getPos());
+                int lastDist = SGGeodesy::distanceM(getGeodPos(), last->getPos());
+                    SG_LOG(SG_ATC, SG_BULK, "Signing off from Tower "
+                    << "\t currDist\t" << currDist
+                    << "\t legDistance\t" << legDistance
+                    << "\t" << lastDist
+                    << "\t" << getGeodPos().getLatitudeDeg()
+                    << "\t" << getGeodPos().getLongitudeDeg()
+                    << "\t" << current->getPos().getLatitudeDeg()
+                    << "\t" << current->getPos().getLongitudeDeg());
+                if ( currDist>legDistance ) {
+                    // We are definetly beyond the airport
+                    fp->incrementLeg();
+                }
+            }
+            break;
+        default:
+            break;
+        }
+        //TODO
+    }
+}
+
 void FGAIAircraft::updateActualState(double dt)
 {
     //update current state

src/AIModel/AIAircraft.hxx

@@ -50,6 +50,17 @@ namespace AILeg
     };
 }
 
+// 1 = joined departure queue; 2 = Passed DepartureHold waypoint; handover control to tower; 0 = any other state.
+namespace AITakeOffStatus
+{
+    enum Type
+    {
+      NONE = 0,
+      QUEUED = 1, // joined departure queue
+      CLEARED_FOR_TAKEOFF = 2 // Passed DepartureHold waypoint; handover control to tower;
+    };
+}
+
 class FGAIAircraft : public FGAIBaseAircraft {
 
 public:
@@ -106,7 +117,7 @@ public:
     bool getTaxiClearanceRequest() { return needsTaxiClearance; };
     FGAISchedule * getTrafficRef() { return trafficRef; };
     void setTrafficRef(FGAISchedule *ref) { trafficRef = ref; };
-    void resetTakeOffStatus() { takeOffStatus = 0;};
+    void resetTakeOffStatus() { takeOffStatus = AITakeOffStatus::NONE;};
     void setTakeOffStatus(int status) { takeOffStatus = status; };
     int getTakeOffStatus() { return takeOffStatus; };
     void setTakeOffSlot(time_t timeSlot) { takeOffTimeSlot = timeSlot;};
@@ -186,6 +197,8 @@ private:
     void updatePitchAngleTarget();
     void updateActualState(double dt);
     void updateModelProperties(double dt);
+    /**Handle special cases for the User AI shadow*/
+    void updateUserFlightPlan(double dt);
 
     void handleATCRequests(double dt);
 

src/AIModel/AIManager.cxx

@@ -467,7 +467,6 @@ FGAIManager::getNumAiObjects() const
 void
 FGAIManager::fetchUserState( double dt )
 {
-
     globals->get_aircraft_orientation(user_heading, user_pitch, user_roll);
     user_speed     = user_speed_node->getDoubleValue() * 0.592484;
     wind_from_east = wind_from_east_node->getDoubleValue();

src/ATC/ATCController.hxx

@@ -35,6 +35,35 @@
 
 #include <ATC/trafficcontrol.hxx>
 
+namespace ATCMessageState
+{
+    enum Type
+    {
+// 0 =  Normal; no action required
+NORMAL = 0,
+// 1 = "Acknowledge "Hold position
+ACK_HOLD = 1,
+// 2 = "Acknowledge "Resume taxi".
+ACK_RESUME_TAXI = 2,
+// 3 = "Issue TaxiClearance"
+TAXI_CLEARED = 3,
+// 4 = Acknowledge Taxi Clearance"
+ACK_TAXI_CLEARED = 4,
+// 5 = Post acknowlegde taxiclearance: Start taxiing
+START_TAXI = 5,
+// 6 = Report runway
+REPORT_RUNWAY = 6,
+// 7 = Acknowledge report runway
+ACK_REPORT_RUNWAY = 7,
+// 8 = Switch tower frequency
+SWITCH_TOWER = 8,
+// 9 = Acknowledge switch tower frequency
+ACK_SWITCH_TOWER = 9,
+// 10 = Cleared for takeoff
+CLEARED_TAKEOFF = 10,
+    };
+}
+
 /**
  * class FGATCController
  * NOTE: this class serves as an abstraction layer for all sorts of ATC controllers.

src/ATC/GroundController.cxx

@@ -222,16 +222,16 @@ void FGGroundController::updateAircraftInformation(int id, SGGeod geod,
             available = true;
         }
         if (checkTransmissionState(0,2, current, now, MSG_REQUEST_TAXI_CLEARANCE, ATC_AIR_TO_GROUND)) {
-            current->setState(3);
+            current->setState(ATCMessageState::TAXI_CLEARED);
         }
         if (checkTransmissionState(3,3, current, now, MSG_ISSUE_TAXI_CLEARANCE, ATC_GROUND_TO_AIR)) {
-            current->setState(4);
+            current->setState(ATCMessageState::ACK_TAXI_CLEARED);
         }
         if (checkTransmissionState(4,4, current, now, MSG_ACKNOWLEDGE_TAXI_CLEARANCE, ATC_AIR_TO_GROUND)) {
-            current->setState(5);
+            current->setState(ATCMessageState::START_TAXI);
         }
         if ((state == 5) && available) {
-            current->setState(0);
+            current->setState(ATCMessageState::NORMAL);
             current->getAircraft()->setTaxiClearanceRequest(false);
             current->setHoldPosition(false);
             available = false;
@@ -491,11 +491,11 @@ void FGGroundController::checkHoldPosition(int id, double lat,
             if (currStatus == true) { // No has a hold short instruction
                 transmit(&(*current), parent, MSG_HOLD_POSITION, ATC_GROUND_TO_AIR, true);
                 SG_LOG(SG_ATC, SG_DEBUG, "Transmitting hold short instruction " << currStatus << " " << available);
-                current->setState(1);
+                current->setState(ATCMessageState::ACK_HOLD);
             } else {
                 transmit(&(*current), parent, MSG_RESUME_TAXI, ATC_GROUND_TO_AIR, true);
                 SG_LOG(SG_ATC, SG_DEBUG, "Transmitting resume instruction " << currStatus << " " << available);
-                current->setState(2);
+                current->setState(ATCMessageState::ACK_RESUME_TAXI);
             }
             lastTransmission = now;
             available = false;
@@ -512,16 +512,16 @@ void FGGroundController::checkHoldPosition(int id, double lat,
 
     //int state = current->getState();
     if (checkTransmissionState(1,1, current, now, MSG_ACKNOWLEDGE_HOLD_POSITION, ATC_AIR_TO_GROUND)) {
-        current->setState(0);
+        current->setState(ATCMessageState::NORMAL);
         current->setHoldPosition(true);
     }
     if (checkTransmissionState(2,2, current, now, MSG_ACKNOWLEDGE_RESUME_TAXI, ATC_AIR_TO_GROUND)) {
-        current->setState(0);
+        current->setState(ATCMessageState::NORMAL);
         current->setHoldPosition(false);
     }
     if (current->getAircraft()->getTakeOffStatus() && (current->getState() == 0)) {
         SG_LOG(SG_ATC, SG_DEBUG, "Scheduling " << current->getAircraft()->getCallSign() << " for hold short");
-        current->setState(6);
+        current->setState(ATCMessageState::REPORT_RUNWAY);
     }
     if (checkTransmissionState(6,6, current, now, MSG_REPORT_RUNWAY_HOLD_SHORT, ATC_AIR_TO_GROUND)) {
     }

src/ATC/TowerController.cxx

@@ -181,15 +181,15 @@ void FGTowerController::updateAircraftInformation(int id, SGGeod geod,
     // 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) {
+        if (ac->getTakeOffStatus() == AITakeOffStatus::QUEUED) {
             // transmit takeoff clearance
-            ac->setTakeOffStatus(2);
+            ac->setTakeOffStatus(AITakeOffStatus::CLEARED_FOR_TAKEOFF);
             transmit(&(*i), &(*parent), MSG_CLEARED_FOR_TAKEOFF, ATC_GROUND_TO_AIR, true);
-            i->setState(10);
+            i->setState(ATCMessageState::CLEARED_TAKEOFF);
         }
     }
     //FIXME Make it an member of traffic record
-    if (current.getAircraft()->getTakeOffStatus() == 2) {
+    if (current.getAircraft()->getTakeOffStatus() == AITakeOffStatus::CLEARED_FOR_TAKEOFF) {
         current.setHoldPosition(false);
     } else {
         current.setHoldPosition(true);
@@ -200,7 +200,7 @@ void FGTowerController::updateAircraftInformation(int id, SGGeod geod,
             SG_LOG(SG_ATC, SG_BULK, "Unset Hold " << clearanceId << " for " << rwy->getRunwayName());
             current.setHoldPosition(false);
         } else {
-            SG_LOG(SG_ATC, SG_WARN, "Not cleared " << id << " " << clearanceId);
+            SG_LOG(SG_ATC, SG_WARN, "Not cleared " << id << " Currently cleared " << clearanceId);
         }
     } else {
         if (current.getAircraft() == rwy->getFirstAircraftInDepartureQueue()) {
@@ -209,7 +209,7 @@ void FGTowerController::updateAircraftInformation(int id, SGGeod geod,
             rwy->setCleared(id);
             auto ac = rwy->getFirstOfStatus(1);
             if (ac) {
-                ac->setTakeOffStatus(2);
+                ac->setTakeOffStatus(AITakeOffStatus::QUEUED);
                 // transmit takeoff clearacne? But why twice?
             }
         } else {

src/ATC/atc_mgr.cxx

@@ -154,7 +154,7 @@ void FGATCManager::postinit()
                 SG_LOG(SG_ATC, SG_DEBUG, "Setting radio frequency to : " << stationFreq);
                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
             }
-            leg = 1;
+            leg = AILeg::STARTUP_PUSHBACK;
             //double, lat, lon, head; // Unused variables;
             //int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head);
             aircraftRadius = pk.parking()->getRadius();
@@ -186,11 +186,11 @@ void FGATCManager::postinit()
                 fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
             }
             fp.reset(new FGAIFlightPlan);
-            leg = 3;
+            leg = AILeg::TAKEOFF;
             string fltType = "ga";
             fp->setRunway(runway);
-            fp->createTakeOff(userAircraft, false, dcs->parent(), {}, 0, fltType);
+            fp->createTakeOff(userAircraft, false, dcs->parent(), userAircraft->getGeodPos(), 0, fltType);
-            userAircraft->setTakeOffStatus(2);
+            userAircraft->setTakeOffStatus(AITakeOffStatus::QUEUED);
         } else {
             // We're on the ground somewhere. Handle this case later.
 
@@ -210,7 +210,7 @@ void FGATCManager::postinit()
             fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend"));
         }
      } else {
-        controller = 0;
+        controller = nullptr;
      }
 
     // Create an initial flightplan and assign it to the ai_ac. We won't use this flightplan, but it is necessary to
@@ -347,20 +347,21 @@ void FGATCManager::update ( double time ) {
 #endif
     }
     if (fp) {
-        SG_LOG(SG_ATC, SG_DEBUG, "User aircraft currently at leg : " << fp->getLeg());
+        SG_LOG(SG_ATC, SG_BULK, "User aircraft currently at leg : " << fp->getLeg());
     }
 
     // Call getATCController method; returns what FGATCController presently controls the user aircraft
     // - e.g. FGStartupController
-    controller = user_ai_ac->getATCController();
+    // controller = user_ai_ac->getATCController();
+    // FIXME the AIAircraft currently doesn't set this for the user aircraft
 
     // Update the ATC dialog
     //FGATCDialogNew::instance()->update(time);
 
     // Controller manager - if controller is set, then will update controller
     if (controller) {
-        SG_LOG(SG_ATC, SG_DEBUG, "name of previous waypoint : " << fp->getPreviousWaypoint()->getName());
+//        SG_LOG(SG_ATC, SG_DEBUG, "name of previous waypoint : " << fp->getPreviousWaypoint()->getName());
-        SG_LOG(SG_ATC, SG_DEBUG, "Currently under control of " << controller->getName());
+        SG_LOG(SG_ATC, SG_BULK, "Currently under control of " << controller->getName());
 
         // update aircraft information (simulates transponder)
 
@@ -370,6 +371,49 @@ void FGATCManager::update ( double time ) {
                                               user_ai_ac->getSpeed(),
                                               user_ai_ac->getAltitude(), time);
 
+        if (fp) {
+            switch (fp->getLeg()) {
+            case AILeg::STARTUP_PUSHBACK:              // Startup and Push back
+                if (userAircraftTrafficRef->getDepartureAirport()->getDynamics())
+                    controller = userAircraftTrafficRef->getDepartureAirport()->getDynamics()->getStartupController();
+                break;
+            case AILeg::TAXI:              // Taxiing to runway
+                if (userAircraftTrafficRef->getDepartureAirport()->getDynamics()->getGroundController()->exists())
+                    controller = userAircraftTrafficRef->getDepartureAirport()->getDynamics()->getGroundController();
+                break;
+            case AILeg::TAKEOFF:              //Take off tower controller
+                if (userAircraftTrafficRef->getDepartureAirport()->getDynamics()) {
+                    controller = userAircraftTrafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+                } else {
+                    SG_LOG(SG_AI, SG_BULK, "Error: Could not find Dynamics at airport : " << userAircraftTrafficRef->getDepartureAirport()->getId());
+                }
+                break;
+                /* TODO link up with state system?
+            case AILeg::APPROACH:
+                if (userAircraftTrafficRef->getArrivalAirport()->getDynamics()) {
+                    controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
+                }
+                break;
+            case AILeg::PARKING_TAXI:              // Taxiing for parking
+                if (trafficRef->getArrivalAirport()->getDynamics()->getGroundController()->exists())
+                    controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundController();
+                break;
+                */
+            default:
+                if(prevController) {
+                    SG_LOG(SG_AI, SG_BULK, "Will be signing off user ai " << user_ai_ac->getID() << " from " << prevController->getName());
+                }
+                controller = nullptr;
+                break;
+            }
+
+            if ((controller != prevController) && prevController && !user_ai_ac->getDie()) {
+                //If we are dead we are automatically erased
+                prevController->signOff(user_ai_ac->getID());
+            }
+            prevController = controller;
+        }
+
         //string airport = fgGetString("/sim/presets/airport-id");
         //FGAirport *apt = FGAirport::findByIdent(airport);
         // AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
@@ -392,10 +436,11 @@ void FGATCManager::update ( double time ) {
             prevController->render(false);
         }
 
+        if (controller) {
             // render the path for the present controller if the ground network is set to visible
             controller->render(networkVisible);
-
             SG_LOG(SG_ATC, SG_BULK, "Adding ground network to the scenegraph::update");
+        }
 
         // reset previous controller for next update() iteration
         prevController = controller;

src/ATC/atc_mgr.hxx

@@ -68,8 +68,6 @@ public:
     void shutdown() override;
     void update(double time) override;
 
-    
-    
     // Subsystem identification.
     static const char* staticSubsystemClassId() { return "ATC"; }
 

src/ATC/trafficcontrol.cxx

@@ -264,7 +264,7 @@ FGTrafficRecord::~FGTrafficRecord()
 void FGTrafficRecord::setPositionAndIntentions(int pos,
         FGAIFlightPlan * route)
 {
-    SG_LOG(SG_ATC, SG_DEBUG, "Position: " << pos);
+    SG_LOG(SG_AI, SG_DEBUG, "Traffic record position: " << pos);
     currentPos = pos;
     if (!intentions.empty()) {
         intVecIterator i = intentions.begin();
@@ -276,8 +276,7 @@ void FGTrafficRecord::setPositionAndIntentions(int pos,
     } else {
         //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
         int size = route->getNrOfWayPoints();
-        SG_LOG(SG_ATC, SG_DEBUG, "Setting pos" << currentPos);
+        SG_LOG(SG_ATC, SG_DEBUG, "Setting pos to " << currentPos << " and intentions");
-        SG_LOG(SG_ATC, SG_DEBUG, "Setting intentions");
         for (int i = 2; i < size; i++) {
             int val = route->getRouteIndex(i);
             intentions.push_back(val);