1726 lines
64 KiB
C++
1726 lines
64 KiB
C++
// trafficrecord.cxx - Implementation of AIModels ATC code.
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//
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// Written by Durk Talsma, started September 2006.
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//
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// Copyright (C) 2006 Durk Talsma.
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <algorithm>
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#include <cstdio>
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#include <osg/Geode>
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#include <osg/Geometry>
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#include <osg/MatrixTransform>
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#include <osg/Shape>
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#include <simgear/scene/material/EffectGeode.hxx>
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#include <simgear/scene/material/matlib.hxx>
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#include <simgear/scene/material/mat.hxx>
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#include <simgear/scene/util/OsgMath.hxx>
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#include <Scenery/scenery.hxx>
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#include "trafficcontrol.hxx"
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#include "atc_mgr.hxx"
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#include <AIModel/AIAircraft.hxx>
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#include <AIModel/AIFlightPlan.hxx>
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#include <AIModel/performancedata.hxx>
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#include <AIModel/performancedb.hxx>
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#include <ATC/atc_mgr.hxx>
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#include <Traffic/TrafficMgr.hxx>
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#include <Airports/groundnetwork.hxx>
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#include <Airports/dynamics.hxx>
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#include <Airports/simple.hxx>
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#include <Radio/radio.hxx>
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#include <signal.h>
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using std::sort;
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using std::string;
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using std::cout;
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using std::endl;
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/***************************************************************************
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* ActiveRunway
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**************************************************************************/
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time_t ActiveRunway::requestTimeSlot(time_t eta)
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{
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time_t newEta;
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time_t separation = 90;
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bool found = false;
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if (estimatedArrivalTimes.size() == 0) {
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estimatedArrivalTimes.push_back(eta);
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return eta;
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} else {
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TimeVectorIterator i = estimatedArrivalTimes.begin();
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//cerr << "Checking eta slots " << eta << ": " << endl;
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for (i = estimatedArrivalTimes.begin();
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i != estimatedArrivalTimes.end(); i++) {
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//cerr << "Stored time : " << (*i) << endl;
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}
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i = estimatedArrivalTimes.begin();
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if ((eta + separation) < (*i)) {
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newEta = eta;
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found = true;
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//cerr << "Storing at beginning" << endl;
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}
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while ((i != estimatedArrivalTimes.end()) && (!found)) {
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TimeVectorIterator j = i + 1;
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if (j == estimatedArrivalTimes.end()) {
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if (((*i) + separation) < eta) {
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//cerr << "Storing at end" << endl;
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newEta = eta;
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} else {
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newEta = (*i) + separation;
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//cerr << "Storing at end + separation" << endl;
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}
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} else {
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if ((((*j) - (*i)) > (separation * 2))) { // found a potential slot
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// now check whether this slot is usable:
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// 1) eta should fall between the two points
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// i.e. eta > i AND eta < j
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//
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//cerr << "Found potential slot after " << (*i) << endl;
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if (eta > (*i) && (eta < (*j))) {
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found = true;
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if (eta < ((*i) + separation)) {
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newEta = (*i) + separation;
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//cerr << "Using original" << (*i) << " + separation " << endl;
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} else {
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newEta = eta;
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//cerr << "Using original after " << (*i) << endl;
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}
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} else if (eta < (*i)) {
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found = true;
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newEta = (*i) + separation;
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//cerr << "Using delayed slot after " << (*i) << endl;
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}
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/*
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if (((*j) - separation) < eta) {
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found = true;
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if (((*i) + separation) < eta) {
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newEta = eta;
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cerr << "Using original after " << (*i) << endl;
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} else {
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newEta = (*i) + separation;
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cerr << "Using " << (*i) << " + separation " << endl;
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}
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} */
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}
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}
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i++;
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}
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}
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//cerr << ". done. New ETA : " << newEta << endl;
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estimatedArrivalTimes.push_back(newEta);
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sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
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// do some housekeeping : remove any timestamps that are past
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time_t now = time(NULL) + fgGetLong("/sim/time/warp");
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TimeVectorIterator i = estimatedArrivalTimes.begin();
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while (i != estimatedArrivalTimes.end()) {
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if ((*i) < now) {
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//cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
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estimatedArrivalTimes.erase(i);
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i = estimatedArrivalTimes.begin();
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} else {
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i++;
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}
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}
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return newEta;
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}
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void ActiveRunway::printDepartureCue()
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{
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cout << "Departure cue for " << rwy << ": " << endl;
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for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) {
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cout << " " << (*atc)->getCallSign() << " " << (*atc)->getTakeOffStatus();
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cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl;
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}
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}
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FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat)
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{
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for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) {
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if ((*atc)->getTakeOffStatus() == stat)
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return (*atc);
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}
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return 0;
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}
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/***************************************************************************
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* FGTrafficRecord
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**************************************************************************/
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FGTrafficRecord::FGTrafficRecord():
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id(0), waitsForId(0),
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currentPos(0),
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leg(0),
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frequencyId(0),
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state(0),
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allowTransmission(true),
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allowPushback(true),
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priority(0),
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timer(0),
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latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0),
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aircraft(NULL)
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{
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}
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void FGTrafficRecord::setPositionAndIntentions(int pos,
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FGAIFlightPlan * route)
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{
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currentPos = pos;
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if (intentions.size()) {
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intVecIterator i = intentions.begin();
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if ((*i) != pos) {
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SG_LOG(SG_ATC, SG_ALERT,
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"Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN);
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}
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intentions.erase(i);
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} else {
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//FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
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int size = route->getNrOfWayPoints();
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//cerr << "Setting pos" << pos << " ";
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//cerr << "setting intentions ";
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for (int i = 2; i < size; i++) {
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int val = route->getRouteIndex(i);
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intentions.push_back(val);
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}
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}
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}
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/**
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* Check if another aircraft is ahead of the current one, and on the same
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* return true / false is the is/isn't the case.
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*
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****************************************************************************/
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bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord & other)
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{
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bool result = false;
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//cerr << "Start check 1" << endl;
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if (currentPos == other.currentPos) {
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//cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
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result = true;
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}
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// else if (other.intentions.size())
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// {
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// cerr << "Start check 2" << endl;
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// intVecIterator i = other.intentions.begin();
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// while (!((i == other.intentions.end()) || ((*i) == currentPos)))
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// i++;
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// if (i != other.intentions.end()) {
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// cerr << "Check Position and intentions: current matches other.intentions" << endl;
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// result = true;
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// }
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else if (intentions.size()) {
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//cerr << "Start check 3" << endl;
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intVecIterator i = intentions.begin();
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//while (!((i == intentions.end()) || ((*i) == other.currentPos)))
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while (i != intentions.end()) {
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if ((*i) == other.currentPos) {
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break;
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}
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i++;
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}
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if (i != intentions.end()) {
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//cerr << callsign << ": Check Position and intentions: .other.current matches" << other.callsign << "Index = " << (*i) << endl;
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result = true;
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}
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}
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//cerr << "Done !!" << endl;
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return result;
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}
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void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
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double hdg, double spd,
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double alt)
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{
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latitude = lat;
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longitude = lon;
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heading = hdg;
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speed = spd;
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altitude = alt;
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}
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int FGTrafficRecord::crosses(FGGroundNetwork * net,
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FGTrafficRecord & other)
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{
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if (checkPositionAndIntentions(other)
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|| (other.checkPositionAndIntentions(*this)))
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return -1;
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intVecIterator i, j;
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int currentTargetNode = 0, otherTargetNode = 0;
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if (currentPos > 0)
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currentTargetNode = net->findSegment(currentPos)->getEnd()->getIndex(); // OKAY,...
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if (other.currentPos > 0)
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otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex(); // OKAY,...
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if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
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return currentTargetNode;
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if (intentions.size()) {
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for (i = intentions.begin(); i != intentions.end(); i++) {
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if ((*i) > 0) {
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if (currentTargetNode ==
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net->findSegment(*i)->getEnd()->getIndex()) {
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//cerr << "Current crosses at " << currentTargetNode <<endl;
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return currentTargetNode;
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}
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}
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}
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}
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if (other.intentions.size()) {
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for (i = other.intentions.begin(); i != other.intentions.end();
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i++) {
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if ((*i) > 0) {
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if (otherTargetNode ==
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net->findSegment(*i)->getEnd()->getIndex()) {
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//cerr << "Other crosses at " << currentTargetNode <<endl;
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return otherTargetNode;
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}
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}
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}
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}
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if (intentions.size() && other.intentions.size()) {
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for (i = intentions.begin(); i != intentions.end(); i++) {
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for (j = other.intentions.begin(); j != other.intentions.end();
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j++) {
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//cerr << "finding segment " << *i << " and " << *j << endl;
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if (((*i) > 0) && ((*j) > 0)) {
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currentTargetNode =
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net->findSegment(*i)->getEnd()->getIndex();
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otherTargetNode =
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net->findSegment(*j)->getEnd()->getIndex();
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if (currentTargetNode == otherTargetNode) {
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//cerr << "Routes will cross at " << currentTargetNode << endl;
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return currentTargetNode;
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}
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}
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}
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}
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}
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return -1;
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}
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bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
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FGTrafficRecord & other)
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{
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int node = -1, othernode = -1;
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if (currentPos > 0)
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node = net->findSegment(currentPos)->getEnd()->getIndex();
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if (other.currentPos > 0)
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othernode =
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net->findSegment(other.currentPos)->getEnd()->getIndex();
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if ((node == othernode) && (node != -1))
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return true;
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if (other.intentions.size()) {
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for (intVecIterator i = other.intentions.begin();
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i != other.intentions.end(); i++) {
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if (*i > 0) {
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othernode = net->findSegment(*i)->getEnd()->getIndex();
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if ((node == othernode) && (node > -1))
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return true;
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}
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}
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}
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//if (other.currentPos > 0)
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// othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
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//if (intentions.size())
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// {
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// for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
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// {
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// if (*i > 0)
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// {
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// node = net->findSegment(*i)->getEnd()->getIndex();
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// if ((node == othernode) && (node > -1))
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// return true;
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// }
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// }
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// }
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return false;
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}
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bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
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FGTrafficRecord & other, int node)
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{
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// Check if current segment is the reverse segment for the other aircraft
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FGTaxiSegment *opp;
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//cerr << "Current segment " << currentPos << endl;
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if ((currentPos > 0) && (other.currentPos > 0)) {
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opp = net->findSegment(currentPos)->opposite();
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if (opp) {
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if (opp->getIndex() == other.currentPos)
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return true;
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}
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for (intVecIterator i = intentions.begin(); i != intentions.end();
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i++) {
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if ((opp = net->findSegment(other.currentPos)->opposite())) {
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if ((*i) > 0)
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if (opp->getIndex() ==
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net->findSegment(*i)->getIndex()) {
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if (net->findSegment(*i)->getStart()->getIndex() ==
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node) {
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{
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//cerr << "Found the node " << node << endl;
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return true;
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}
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}
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}
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}
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if (other.intentions.size()) {
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for (intVecIterator j = other.intentions.begin();
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j != other.intentions.end(); j++) {
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// cerr << "Current segment 1 " << (*i) << endl;
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if ((*i) > 0) {
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if ((opp = net->findSegment(*i)->opposite())) {
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if (opp->getIndex() ==
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net->findSegment(*j)->getIndex()) {
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//cerr << "Nodes " << net->findSegment(*i)->getIndex()
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// << " and " << net->findSegment(*j)->getIndex()
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// << " are opposites " << endl;
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if (net->findSegment(*i)->getStart()->
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getIndex() == node) {
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{
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//cerr << "Found the node " << node << endl;
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return true;
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}
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}
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}
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}
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}
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}
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}
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}
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}
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return false;
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}
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bool FGTrafficRecord::isActive(int margin) const
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{
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time_t now = time(NULL) + fgGetLong("/sim/time/warp");
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time_t deptime = aircraft->getTrafficRef()->getDepartureTime();
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return ((now + margin) > deptime);
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}
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void FGTrafficRecord::setSpeedAdjustment(double spd)
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{
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instruction.setChangeSpeed(true);
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instruction.setSpeed(spd);
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}
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void FGTrafficRecord::setHeadingAdjustment(double heading)
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{
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instruction.setChangeHeading(true);
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instruction.setHeading(heading);
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}
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bool FGTrafficRecord::pushBackAllowed() const
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{
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return allowPushback;
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}
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/***************************************************************************
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* FGATCInstruction
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*
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**************************************************************************/
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FGATCInstruction::FGATCInstruction()
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{
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holdPattern = false;
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holdPosition = false;
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changeSpeed = false;
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changeHeading = false;
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changeAltitude = false;
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resolveCircularWait = false;
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speed = 0;
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heading = 0;
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alt = 0;
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}
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bool FGATCInstruction::hasInstruction() const
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{
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return (holdPattern || holdPosition || changeSpeed || changeHeading
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|| changeAltitude || resolveCircularWait);
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}
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/***************************************************************************
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* FGATCController
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*
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**************************************************************************/
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FGATCController::FGATCController()
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{
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//cerr << "running FGATController constructor" << endl;
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dt_count = 0;
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available = true;
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lastTransmission = 0;
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initialized = false;
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lastTransmissionDirection = ATC_AIR_TO_GROUND;
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group = NULL;
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}
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FGATCController::~FGATCController()
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{
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//cerr << "running FGATController destructor" << endl;
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}
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string FGATCController::getGateName(FGAIAircraft * ref)
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{
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return ref->atGate();
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}
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bool FGATCController::isUserAircraft(FGAIAircraft* ac)
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{
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return (ac->getCallSign() == fgGetString("/sim/multiplay/callsign")) ? true : false;
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};
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void FGATCController::transmit(FGTrafficRecord * rec, FGAirportDynamics *parent, AtcMsgId msgId,
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AtcMsgDir msgDir, bool audible)
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{
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string sender, receiver;
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int stationFreq = 0;
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int taxiFreq = 0;
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int towerFreq = 0;
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int freqId = 0;
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string atisInformation;
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string text;
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string taxiFreqStr;
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string towerFreqStr;
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double heading = 0;
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string activeRunway;
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string fltType;
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string rwyClass;
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string SID;
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string transponderCode;
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FGAIFlightPlan *fp;
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string fltRules;
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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;
|
|
}
|
|
|
|
//
|
|
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.size()) {
|
|
//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.size() == 0)) {
|
|
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.size()) {
|
|
while (rwy != activeRunways.end()) {
|
|
if (rwy->getRunwayName() == intendedRoute->getRunway()) {
|
|
break;
|
|
}
|
|
rwy++;
|
|
}
|
|
}
|
|
if (rwy == activeRunways.end()) {
|
|
ActiveRunway aRwy(intendedRoute->getRunway(), id);
|
|
aRwy.addToDepartureCue(ref);
|
|
activeRunways.push_back(aRwy);
|
|
rwy = (activeRunways.end()-1);
|
|
} else {
|
|
rwy->addToDepartureCue(ref);
|
|
}
|
|
|
|
//cerr << ref->getTrafficRef()->getCallSign() << " You are number " << rwy->getDepartureCueSize() << " for takeoff " << endl;
|
|
} else {
|
|
i->setPositionAndHeading(lat, lon, heading, speed, alt);
|
|
}
|
|
}
|
|
|
|
void FGTowerController::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.size()) {
|
|
//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);
|
|
|
|
// 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.size()) {
|
|
//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.size()) {
|
|
//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.size() == 0)) {
|
|
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.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: 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.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();
|
|
}
|
|
|
|
void FGTowerController::render(bool visible) {
|
|
//cerr << "FGTowerController::render function not yet implemented" << endl;
|
|
}
|
|
|
|
string FGTowerController::getName() {
|
|
return string(parent->getId() + "-tower");
|
|
}
|
|
|
|
void FGTowerController::update(double dt)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
/***************************************************************************
|
|
* class FGStartupController
|
|
*
|
|
**************************************************************************/
|
|
FGStartupController::FGStartupController(FGAirportDynamics *par):
|
|
FGATCController()
|
|
{
|
|
parent = par;
|
|
}
|
|
|
|
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.size()) {
|
|
//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.size() == 0)) {
|
|
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.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: 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.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();
|
|
}
|
|
|
|
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.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: 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.size()) {
|
|
//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 = time(NULL) + fgGetLong("/sim/time/warp");
|
|
//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)
|
|
{
|
|
|
|
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 = time(NULL) + fgGetLong("/sim/time/warp");
|
|
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");
|
|
} else {
|
|
mat = matlib->find("UnidirectionalTaperGreen");
|
|
}
|
|
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");
|
|
} else {
|
|
mat = matlib->find("UnidirectionalTaperGreen");
|
|
}
|
|
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;
|
|
}
|
|
|
|
//
|
|
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.size()) {
|
|
//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.size() == 0)) {
|
|
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.size()) {
|
|
//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;
|
|
//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.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: 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.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: 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) {
|
|
//cerr << "FGApproachController::render function not yet implemented" << endl;
|
|
}
|
|
|
|
|
|
|
|
string FGApproachController::getName() {
|
|
return string(parent->getId() + "-approach");
|
|
}
|