// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <algorithm>
#include <cstdio>
#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 <ATC/atc_mgr.hxx>
#include <Traffic/TrafficMgr.hxx>
#include <Airports/groundnetwork.hxx>
#include <Airports/dynamics.hxx>
#include <Airports/airport.hxx>
#include <Radio/radio.hxx>
#include <signal.h>
using std::sort;
using std::string;
using std::cout;
using std::endl;
namespace {
TrafficVectorIterator findTraffic(TrafficVector& vec, int id)
{
TrafficVectorIterator it = vec.begin();
for (; it != vec.end(); ++it) {
if (it->getId() == id) {
return it;
}
}
return it; // vec.end, effectively
}
void clearTrafficControllers(TrafficVector& vec)
{
TrafficVectorIterator it = vec.begin();
for (; it != vec.end(); ++it) {
it->getAircraft()->clearATCController();
}
}
} // of anonymous namespace
/***************************************************************************
* ActiveRunway
**************************************************************************/
time_t ActiveRunway::requestTimeSlot(time_t eta)
{
time_t newEta;
time_t separation = 90;
bool found = false;
if (estimatedArrivalTimes.empty()) {
estimatedArrivalTimes.push_back(eta);
return eta;
} else {
TimeVectorIterator i = estimatedArrivalTimes.begin();
//cerr << "Checking eta slots " << eta << ": " << endl;
for (i = estimatedArrivalTimes.begin();
i != estimatedArrivalTimes.end(); i++) {
//cerr << "Stored time : " << (*i) << endl;
}
i = estimatedArrivalTimes.begin();
if ((eta + separation) < (*i)) {
newEta = eta;
found = true;
//cerr << "Storing at beginning" << endl;
}
while ((i != estimatedArrivalTimes.end()) && (!found)) {
TimeVectorIterator j = i + 1;
if (j == estimatedArrivalTimes.end()) {
if (((*i) + separation) < eta) {
//cerr << "Storing at end" << endl;
newEta = eta;
} else {
newEta = (*i) + separation;
//cerr << "Storing at end + separation" << endl;
}
} else {
if ((((*j) - (*i)) > (separation * 2))) { // found a potential slot
// now check whether this slot is usable:
// 1) eta should fall between the two points
// i.e. eta > i AND eta < j
//
//cerr << "Found potential slot after " << (*i) << endl;
if (eta > (*i) && (eta < (*j))) {
found = true;
if (eta < ((*i) + separation)) {
newEta = (*i) + separation;
//cerr << "Using original" << (*i) << " + separation " << endl;
} else {
newEta = eta;
//cerr << "Using original after " << (*i) << endl;
}
} else if (eta < (*i)) {
found = true;
newEta = (*i) + separation;
//cerr << "Using delayed slot after " << (*i) << endl;
}
/*
if (((*j) - separation) < eta) {
found = true;
if (((*i) + separation) < eta) {
newEta = eta;
cerr << "Using original after " << (*i) << endl;
} else {
newEta = (*i) + separation;
cerr << "Using " << (*i) << " + separation " << endl;
}
} */
}
}
i++;
}
}
//cerr << ". done. New ETA : " << newEta << endl;
estimatedArrivalTimes.push_back(newEta);
sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
// do some housekeeping : remove any timestamps that are past
time_t now = globals->get_time_params()->get_cur_time();
TimeVectorIterator i = estimatedArrivalTimes.begin();
while (i != estimatedArrivalTimes.end()) {
if ((*i) < now) {
//cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
estimatedArrivalTimes.erase(i);
i = estimatedArrivalTimes.begin();
} else {
i++;
}
}
return newEta;
}
void ActiveRunway::printDepartureCue()
{
cout << "Departure cue for " << rwy << ": " << endl;
for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) {
cout << " " << (*atc)->getCallSign() << " " << (*atc)->getTakeOffStatus();
cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl;
}
}
FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat)
{
for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) {
if ((*atc)->getTakeOffStatus() == stat)
return (*atc);
}
return 0;
}
/***************************************************************************
* FGTrafficRecord
**************************************************************************/
FGTrafficRecord::FGTrafficRecord():
id(0), waitsForId(0),
currentPos(0),
leg(0),
frequencyId(0),
state(0),
allowTransmission(true),
allowPushback(true),
priority(0),
timer(0),
latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
{
}
FGTrafficRecord::~FGTrafficRecord()
{
}
void FGTrafficRecord::setPositionAndIntentions(int pos,
FGAIFlightPlan * route)
{
currentPos = pos;
if (! intentions.empty()) {
intVecIterator i = intentions.begin();
if ((*i) != pos) {
SG_LOG(SG_ATC, SG_ALERT,
"Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN);
}
intentions.erase(i);
} else {
//FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
int size = route->getNrOfWayPoints();
//cerr << "Setting pos" << pos << " ";
//cerr << "setting intentions ";
for (int i = 2; i < size; i++) {
int val = route->getRouteIndex(i);
intentions.push_back(val);
}
}
}
void FGTrafficRecord::setAircraft(FGAIAircraft *ref)
{
aircraft = ref;
}
FGAIAircraft* FGTrafficRecord::getAircraft() const
{
return aircraft.ptr();
}
/**
* 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 result = false;
//cerr << "Start check 1" << endl;
if (currentPos == other.currentPos) {
//cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
result = true;
}
// else if (! other.intentions.empty())
// {
// cerr << "Start check 2" << endl;
// intVecIterator i = other.intentions.begin();
// while (!((i == other.intentions.end()) || ((*i) == currentPos)))
// i++;
// if (i != other.intentions.end()) {
// cerr << "Check Position and intentions: current matches other.intentions" << endl;
// result = true;
// }
else if (! intentions.empty()) {
//cerr << "Start check 3" << endl;
intVecIterator i = intentions.begin();
//while (!((i == intentions.end()) || ((*i) == other.currentPos)))
while (i != intentions.end()) {
if ((*i) == other.currentPos) {
break;
}
i++;
}
if (i != intentions.end()) {
//cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
result = true;
}
}
//cerr << "Done !!" << endl;
return result;
}
void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
double hdg, double spd,
double alt)
{
latitude = lat;
longitude = lon;
heading = hdg;
speed = spd;
altitude = alt;
}
int FGTrafficRecord::crosses(FGGroundNetwork * net,
FGTrafficRecord & other)
{
if (checkPositionAndIntentions(other)
|| (other.checkPositionAndIntentions(*this)))
return -1;
intVecIterator i, j;
int currentTargetNode = 0, otherTargetNode = 0;
if (currentPos > 0)
currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
if (other.currentPos > 0)
otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
return currentTargetNode;
if (! intentions.empty()) {
for (i = intentions.begin(); i != intentions.end(); i++) {
if ((*i) > 0) {
if (currentTargetNode ==
net->findSegment(*i)->getEnd()->getIndex()) {
//cerr << "Current crosses at " << currentTargetNode <<endl;
return currentTargetNode;
}
}
}
}
if (! other.intentions.empty()) {
for (i = other.intentions.begin(); i != other.intentions.end();
i++) {
if ((*i) > 0) {
if (otherTargetNode ==
net->findSegment(*i)->getEnd()->getIndex()) {
//cerr << "Other crosses at " << currentTargetNode <<endl;
return otherTargetNode;
}
}
}
}
if (! intentions.empty() && ! other.intentions.empty()) {
for (i = intentions.begin(); i != intentions.end(); i++) {
for (j = other.intentions.begin(); j != other.intentions.end();
j++) {
//cerr << "finding segment " << *i << " and " << *j << endl;
if (((*i) > 0) && ((*j) > 0)) {
currentTargetNode =
net->findSegment(*i)->getEnd()->getIndex();
otherTargetNode =
net->findSegment(*j)->getEnd()->getIndex();
if (currentTargetNode == otherTargetNode) {
//cerr << "Routes will cross at " << currentTargetNode << endl;
return currentTargetNode;
}
}
}
}
}
return -1;
}
bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
FGTrafficRecord & other)
{
int node = -1, othernode = -1;
if (currentPos > 0)
node = net->findSegment(currentPos)->getEnd()->getIndex();
if (other.currentPos > 0)
othernode =
net->findSegment(other.currentPos)->getEnd()->getIndex();
if ((node == othernode) && (node != -1))
return true;
if (! other.intentions.empty()) {
for (intVecIterator i = other.intentions.begin();
i != other.intentions.end(); i++) {
if (*i > 0) {
othernode = net->findSegment(*i)->getEnd()->getIndex();
if ((node == othernode) && (node > -1))
return true;
}
}
}
//if (other.currentPos > 0)
// othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
//if (! intentions.empty())
// {
// for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
// {
// if (*i > 0)
// {
// node = net->findSegment(*i)->getEnd()->getIndex();
// if ((node == othernode) && (node > -1))
// return true;
// }
// }
// }
return false;
}
bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
FGTrafficRecord & other, int node)
{
// Check if current segment is the reverse segment for the other aircraft
FGTaxiSegment *opp;
//cerr << "Current segment " << currentPos << endl;
if ((currentPos > 0) && (other.currentPos > 0)) {
opp = net->findSegment(currentPos)->opposite();
if (opp) {
if (opp->getIndex() == other.currentPos)
return true;
}
for (intVecIterator i = intentions.begin(); i != intentions.end();
i++) {
if ((opp = net->findSegment(other.currentPos)->opposite())) {
if ((*i) > 0)
if (opp->getIndex() ==
net->findSegment(*i)->getIndex()) {
if (net->findSegment(*i)->getStart()->getIndex() ==
node) {
{
//cerr << "Found the node " << node << endl;
return true;
}
}
}
}
if (! other.intentions.empty()) {
for (intVecIterator j = other.intentions.begin();
j != other.intentions.end(); j++) {
// cerr << "Current segment 1 " << (*i) << endl;
if ((*i) > 0) {
if ((opp = net->findSegment(*i)->opposite())) {
if (opp->getIndex() ==
net->findSegment(*j)->getIndex()) {
//cerr << "Nodes " << net->findSegment(*i)->getIndex()
// << " and " << net->findSegment(*j)->getIndex()
// << " are opposites " << endl;
if (net->findSegment(*i)->getStart()->
getIndex() == node) {
{
//cerr << "Found the node " << node << endl;
return true;
}
}
}
}
}
}
}
}
}
return false;
}
bool FGTrafficRecord::isActive(int margin) const
{
time_t now = globals->get_time_params()->get_cur_time();
time_t deptime = aircraft->getTrafficRef()->getDepartureTime();
return ((now + margin) > deptime);
}
void FGTrafficRecord::setSpeedAdjustment(double spd)
{
instruction.setChangeSpeed(true);
instruction.setSpeed(spd);
}
void FGTrafficRecord::setHeadingAdjustment(double heading)
{
instruction.setChangeHeading(true);
instruction.setHeading(heading);
}
bool FGTrafficRecord::pushBackAllowed() const
{
return allowPushback;
}
/***************************************************************************
* FGATCInstruction
*
**************************************************************************/
FGATCInstruction::FGATCInstruction()
{
holdPattern = false;
holdPosition = false;
changeSpeed = false;
changeHeading = false;
changeAltitude = false;
resolveCircularWait = false;
speed = 0;
heading = 0;
alt = 0;
}
bool FGATCInstruction::hasInstruction() const
{
return (holdPattern || holdPosition || changeSpeed || changeHeading
|| changeAltitude || resolveCircularWait);
}
/***************************************************************************
* FGATCController
*
**************************************************************************/
FGATCController::FGATCController()
{
//cerr << "running FGATController constructor" << endl;
dt_count = 0;
available = true;
lastTransmission = 0;
initialized = false;
lastTransmissionDirection = ATC_AIR_TO_GROUND;
group = NULL;
}
FGATCController::~FGATCController()
{
FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
mgr->removeController(this);
}
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";
}
//cerr << "transmitting for: " << sender << "Leg = " << rec->getLeg() << endl;
switch (rec->getLeg()) {
case 1:
case 2:
freqId = rec->getNextFrequency();
stationFreq =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
taxiFreq =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getGroundFrequency(2);
towerFreq =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getTowerFrequency(2);
receiver =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getName() + "-Ground";
atisInformation =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
getDynamics()->getAtisSequence();
break;
case 3:
receiver =
rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
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";
//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;
}
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 ((stationFreq > 0)&&
((onBoardRadioFreqI0 == stationFreq)||
(onBoardRadioFreqI1 == stationFreq))) {
if (rec->allowTransmissions()) {
if( fgGetBool( "/sim/radio/use-itm-attenuation", false ) ) {
//cerr << "Using ITM radio propagation" << endl;
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);
}
}
string FGATCController::formatATCFrequency3_2(int freq)
{
char buffer[7];
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");
} else {
char buffer[5];
snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
rand() % 8);
return string(buffer);
}
}
void FGATCController::init()
{
if (!initialized) {
FGATCManager *mgr = (FGATCManager*) globals->get_subsystem("ATC");
mgr->addController(this);
initialized = true;
}
}
/***************************************************************************
* class FGTowerController
*
**************************************************************************/
FGTowerController::FGTowerController(FGAirportDynamics *par) :
FGATCController()
{
parent = par;
}
FGTowerController::~FGTowerController()
{
// to avoid the exception described in:
// https://sourceforge.net/p/flightgear/codetickets/1864/
// we want to ensure AI aircraft signing-off is a no-op now
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();
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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// 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.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::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
// This might be faster using a map instead of a vector, but let's start by taking a safe route
TrafficVectorIterator current, closest;
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// // 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;
}
setDt(getDt() + dt);
// 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->printDepartureCue();
// }
//}
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->getFirstAircraftInDepartureCue()) {
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
FGAIAircraft* ac= rwy->getFirstAircraftInDepartureCue();
if (ac->getTakeOffStatus() == 1) {
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->getFirstAircraftInDepartureCue()) {
rwy->setCleared(id);
FGAIAircraft *ac = rwy->getFirstOfStatus(1);
if (ac)
ac->setTakeOffStatus(2);
}
}
}
void FGTowerController::signOff(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if 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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// If this aircraft has left the runway, we can clear the departure record for this runway
ActiveRunwayVecIterator rwy = activeRunways.begin();
if (! activeRunways.empty()) {
//while ((rwy->getRunwayName() != i->getRunway()) && (rwy != activeRunways.end())) {
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == i->getRunway()) {
break;
}
rwy++;
}
if (rwy != activeRunways.end()) {
rwy->setCleared(0);
rwy->updateDepartureCue();
} else {
SG_LOG(SG_ATC, SG_ALERT,
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN);
}
}
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 {
i->getAircraft()->resetTakeOffStatus();
i = activeTraffic.erase(i);
//cerr << "Signing off from tower controller" << endl;
}
}
// 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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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) {
//std::cerr << "FGTowerController::render function not yet implemented" << std::endl;
}
string FGTowerController::getName() {
return string(parent->getId() + "-tower");
}
void FGTowerController::update(double dt)
{
}
/***************************************************************************
* class FGStartupController
*
**************************************************************************/
FGStartupController::FGStartupController(FGAirportDynamics *par):
FGATCController()
{
parent = par;
}
FGStartupController::~FGStartupController()
{
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();
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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// 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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if 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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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 {
//cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
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())) {
//cerr << "Checking state " << st << " for " << i->getAircraft()->getCallSign() << endl;
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;
FGATCDialogNew::instance()->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
// This might be faster using a map instead of a vector, but let's start by taking a safe route
TrafficVectorIterator current, closest;
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// // update position of the current aircraft
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
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;
}
setDt(getDt() + dt);
int state = i->getState();
// 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();
//cerr << i->getAircraft()->getTrafficRef()->getCallSign()
// << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
// << " at parking " << getGateName(i->getAircraft()) << endl;
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)
{
//std::cerr << "Rendering startup controller" << std::endl;
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;
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();
//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 (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);
//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() * 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;
//cerr << "1. Using mean elevation : " << elevationMean << " and " << slope << endl;
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 {
//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()->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;
//cerr << "2. Using mean elevation : " << elevationMean << " and " << slope << endl;
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 {
//cerr << "BIG FAT WARNING: k is here : " << pos << endl;
}
}
dx += 0.2;
}
}
globals->get_scenery()->get_scene_graph()->addChild(group);
}
}
string FGStartupController::getName() {
return string(parent->getId() + "-startup");
}
void FGStartupController::update(double dt)
{
}
/***************************************************************************
* class FGApproachController
*
**************************************************************************/
FGApproachController::FGApproachController(FGAirportDynamics *par):
FGATCController()
{
parent = par;
}
FGApproachController::~FGApproachController()
{
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();
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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// 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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
TrafficVectorIterator current, closest;
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
// // 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;
//cerr << "ApproachController: checking for speed" << endl;
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);
}
void FGApproachController::signOff(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if 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
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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);
}
}
void FGApproachController::update(double dt)
{
}
bool FGApproachController::hasInstruction(int id)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (! activeTraffic.empty()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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)
{
TrafficVectorIterator i = activeTraffic.begin();
// Search search if the current id has an entry
// This might be faster using a map instead of a vector, but let's start by taking a safe route
if (activeTraffic.size()) {
//while ((i->getId() != id) && i != activeTraffic.end()) {
while (i != activeTraffic.end()) {
if (i->getId() == id) {
break;
}
i++;
}
}
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) {
//std::cerr << "FGApproachController::render function not yet implemented" << std::endl;
}
string FGApproachController::getName() {
return string(parent->getId() + "-approach");
}