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/******************************************************************************
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* atc_mgr.cxx
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* Written by Durk Talsma, started August 1, 2010.
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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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*
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**************************************************************************/
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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 <Airports/dynamics.hxx>
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#include <Airports/airportdynamicsmanager.hxx>
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#include <Airports/airport.hxx>
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#include <Scenery/scenery.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include <AIModel/AIAircraft.hxx>
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#include <AIModel/AIManager.hxx>
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#include <Traffic/Schedule.hxx>
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#include <Traffic/SchedFlight.hxx>
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#include <AIModel/AIFlightPlan.hxx>
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#include "atc_mgr.hxx"
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using std::string;
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/**
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Constructer, initializes values to private boolean and FGATCController instances
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*/
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FGATCManager::FGATCManager() :
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controller(NULL),
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prevController(NULL),
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networkVisible(false),
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initSucceeded(false)
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{
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}
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/**
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Default destructor
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*/
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FGATCManager::~FGATCManager() {
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}
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/**
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Sets up ATC subsystem parts depending on other subsystems
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Override of SGSubsystem::postinit()
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Will set private boolean flag "initSucceeded" to true upon conclusion
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*/
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void FGATCManager::postinit()
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{
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int leg = 0;
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trans_num = globals->get_props()->getNode("/sim/atc/transmission-num", true);
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// Assign a controller to the user's aircraft.
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// Three scenarios are considered:
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// - Starting on ground at a parking position
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// - Starting on ground at the runway.
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// - Starting in the air
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bool onGround = fgGetBool("/sim/presets/onground");
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string runway = fgGetString("/sim/atc/runway");
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string curAirport = fgGetString("/sim/presets/airport-id");
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string parking = fgGetString("/sim/presets/parkpos");
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_routeManagerDestinationAirportNode = globals->get_props()->getNode("/autopilot/route-manager/destination/airport", true);
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destination = _routeManagerDestinationAirportNode->getStringValue();
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FGAIManager* aiManager = globals->get_subsystem<FGAIManager>();
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auto userAircraft = aiManager->getUserAircraft();
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string callsign = userAircraft->getCallSign();
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double aircraftRadius = 40; // note that this is currently hardcoded to a one-size-fits all JumboJet value. Should change later.
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// In case a destination is not set yet, make it equal to the current airport
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if (destination.empty()) {
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destination = curAirport;
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}
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// NEXT UP: Create a traffic schedule and fill that with appropriate information. This we can use for flight planning.
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// Note that these are currently only defaults.
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userAircraftTrafficRef.reset(new FGAISchedule);
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userAircraftTrafficRef->setFlightType("gate");
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userAircraftScheduledFlight.reset(new FGScheduledFlight);
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userAircraftScheduledFlight->setDepartureAirport(curAirport);
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userAircraftScheduledFlight->setArrivalAirport(destination);
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userAircraftScheduledFlight->initializeAirports();
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userAircraftScheduledFlight->setFlightRules("IFR");
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userAircraftScheduledFlight->setCallSign(callsign);
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userAircraftTrafficRef->assign(userAircraftScheduledFlight.get());
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std::unique_ptr<FGAIFlightPlan> fp ;
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userAircraft->setTrafficRef(userAircraftTrafficRef.get());
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string flightPlanName = curAirport + "-" + _routeManagerDestinationAirportNode->getStringValue() + ".xml";
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//double cruiseAlt = 100; // Doesn't really matter right now.
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//double courseToDest = 180; // Just use something neutral; this value might affect the runway that is used though...
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//time_t deptime = 0; // just make sure how flightplan processing is affected by this...
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FGAirportDynamicsRef dcs(flightgear::AirportDynamicsManager::find(curAirport));
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if (dcs && onGround) {// && !runway.empty()) {
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ParkingAssignment pk;
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if (parking == "AVAILABLE") {
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double radius = fgGetDouble("/sim/dimensions/radius-m");
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if (radius > 0) {
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pk = dcs->getAvailableParking(radius, string(), string(), string());
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if (pk.isValid()) {
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fgGetString("/sim/presets/parkpos");
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fgSetString("/sim/presets/parkpos", pk.parking()->getName());
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}
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}
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if (!pk.isValid()) {
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FGParkingList pkl(dcs->getParkings(true, "gate"));
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if (!pkl.empty()) {
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std::sort(pkl.begin(), pkl.end(), [](const FGParkingRef& a, const FGParkingRef& b) {
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return a->getRadius() > b->getRadius();
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});
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pk = ParkingAssignment(pkl.front(), dcs);
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fgSetString("/sim/presets/parkpos", pkl.front()->getName());
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}
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}
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} else if (!parking.empty()) {
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pk = dcs->getAvailableParkingByName(parking);
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}
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if (pk.isValid()) {
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dcs->setParkingAvailable(pk.parking(), false);
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fp.reset(new FGAIFlightPlan);
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controller = dcs->getStartupController();
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int stationFreq = dcs->getGroundFrequency(1);
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if (stationFreq > 0)
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{
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SG_LOG(SG_ATC, SG_DEBUG, "Setting radio frequency to : " << stationFreq);
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fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
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}
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leg = 1;
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//double, lat, lon, head; // Unused variables;
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//int getId = apt->getDynamics()->getParking(gateId, &lat, &lon, &head);
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aircraftRadius = pk.parking()->getRadius();
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string fltType = pk.parking()->getType(); // gate / ramp, ga, etc etc.
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string aircraftType; // Unused.
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string airline; // Currently used for gate selection, but a fallback mechanism will apply when not specified.
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fp->setGate(pk);
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if (!(fp->createPushBack(userAircraft,
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false,
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dcs->parent(),
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aircraftRadius,
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fltType,
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aircraftType,
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airline))) {
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controller = 0;
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return;
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}
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} else if (!runway.empty()) {
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// on a runway
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controller = dcs->getTowerController();
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int stationFreq = dcs->getTowerFrequency(2);
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if (stationFreq > 0)
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{
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SG_LOG(SG_ATC, SG_DEBUG, "Setting radio frequency to inair frequency : " << stationFreq);
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fgSetDouble("/instrumentation/comm[0]/frequencies/selected-mhz", ((double) stationFreq / 100.0));
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}
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fp.reset(new FGAIFlightPlan);
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leg = 3;
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string fltType = "ga";
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fp->setRunway(runway);
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fp->createTakeOff(userAircraft, false, dcs->parent(), {}, 0, fltType);
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userAircraft->setTakeOffStatus(2);
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} else {
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// We're on the ground somewhere. Handle this case later.
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// important : we are on the ground, so reset the AIFlightPlan back to
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// a dummy one. Otherwise, in the reposition case, we end up with a
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// stale flight-plan which confuses other code (eg, PositionInit::finalizeForParking)
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// see unit test: PosInitTests::testRepositionAtOccupied
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fp.reset(FGAIFlightPlan::createDummyUserPlan());
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userAircraft->FGAIBase::setFlightPlan(std::move(fp));
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controller = nullptr;
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initSucceeded = true; // should be false?
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return;
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}
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if (fp && !fp->empty()) {
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fp->getLastWaypoint()->setName( fp->getLastWaypoint()->getName() + string("legend"));
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}
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} else {
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controller = 0;
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}
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// Create an initial flightplan and assign it to the ai_ac. We won't use this flightplan, but it is necessary to
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// keep the ATC code happy.
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// note in the reposition case, 'fp' is only the new FlightPlan; if we didn't create one here.
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// we will continue using the existing flight plan (and not restart it, for example)
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if (fp) {
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fp->restart();
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fp->setLeg(leg);
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userAircraft->FGAIBase::setFlightPlan(std::move(fp));
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}
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if (controller) {
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FGAIFlightPlan* plan = userAircraft->GetFlightPlan();
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const int routeIndex = (plan && plan->getCurrentWaypoint()) ? plan->getCurrentWaypoint()->getRouteIndex() : 0;
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controller->announcePosition(userAircraft->getID(), plan,
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routeIndex,
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userAircraft->_getLatitude(),
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userAircraft->_getLongitude(),
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userAircraft->_getHeading(),
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userAircraft->getSpeed(),
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userAircraft->getAltitude(),
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aircraftRadius, leg, userAircraft);
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}
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initSucceeded = true;
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}
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/**
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Shutdown method
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Clears activeStations vector in preparation for clean shutdown
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Override of SGSubsystem::shutdown()
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*/
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void FGATCManager::shutdown()
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{
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activeStations.clear();
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userAircraftTrafficRef.reset();
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userAircraftScheduledFlight.reset();
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_routeManagerDestinationAirportNode.clear();
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}
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void FGATCManager::reposition()
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{
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prevController = controller = nullptr;
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// remove any parking assignment form the user flight-plan, so it's
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// available again. postinit() will recompute a new value if required
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FGAIManager* aiManager = globals->get_subsystem<FGAIManager>();
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auto userAircraft = aiManager->getUserAircraft();
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if (userAircraft) {
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if (userAircraft->GetFlightPlan()) {
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auto userAIFP = userAircraft->GetFlightPlan();
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userAIFP->setGate({}); // clear any assignment
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}
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userAircraft->clearATCController();
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}
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postinit(); // critical for position-init logic
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}
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/**
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Adds FGATCController instance to std::vector activeStations.
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FGATCController is a basic class for every controller
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*/
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void FGATCManager::addController(FGATCController *controller) {
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activeStations.push_back(controller);
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}
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/**
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Searches for and removes FGATCController instance from std::vector activeStations
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*/
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void FGATCManager::removeController(FGATCController *controller)
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{
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AtcVecIterator it;
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it = std::find(activeStations.begin(), activeStations.end(), controller);
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if (it != activeStations.end()) {
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activeStations.erase(it);
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}
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}
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/**
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Update the subsystem.
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FlightGear invokes this method every time the subsystem should
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update its state.
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@param time The delta time, in seconds, since the last
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update. On first update, delta time will be 0.
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*/
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void FGATCManager::update ( double time ) {
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// SG_LOG(SG_ATC, SG_BULK, "ATC update code is running at time: " << time);
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// Test code: let my virtual co-pilot handle ATC
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FGAIManager* aiManager = globals->get_subsystem<FGAIManager>();
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FGAIAircraft* user_ai_ac = aiManager->getUserAircraft();
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FGAIFlightPlan *fp = user_ai_ac->GetFlightPlan();
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// Update destination
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string result = _routeManagerDestinationAirportNode->getStringValue();
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if (destination != result && result != "") {
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destination = result;
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userAircraftScheduledFlight->setArrivalAirport(destination);
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userAircraftScheduledFlight->initializeAirports();
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userAircraftTrafficRef->clearAllFlights();
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userAircraftTrafficRef->assign(userAircraftScheduledFlight.get());
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auto userAircraft = aiManager->getUserAircraft();
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userAircraft->setTrafficRef(userAircraftTrafficRef.get());
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}
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/* test code : find out how the routing develops */
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if (fp) {
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int size = fp->getNrOfWayPoints();
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//SG_LOG(SG_ATC, SG_DEBUG, "Setting pos" << pos << " ");
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//SG_LOG(SG_ATC, SG_DEBUG, "Setting intentions");
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// This indicates that we have run out of waypoints: Im future versions, the
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// user should be able to select a new route, but for now just shut down the
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// system.
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if (size < 3) {
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return;
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}
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#if 0
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// Test code: Print how far we're progressing along the taxi route.
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SG_LOG(SG_ATC, SG_DEBUG, "Size of waypoint queue " << size);
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for (int i = 0; i < size; i++) {
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int val = fp->getRouteIndex(i);
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SG_LOG(SG_ATC, SG_BULK, fp->getWayPoint(i)->getName() << " ");
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//if ((val) && (val != pos)) {
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// intentions.push_back(val);
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SG_LOG(SG_ATC, SG_BULK, "[done ]");
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//}
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}
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SG_LOG(SG_ATC, SG_BULK, "[done ]");
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#endif
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}
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if (fp) {
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SG_LOG(SG_ATC, SG_DEBUG, "User aircraft currently at leg : " << fp->getLeg());
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}
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// Call getATCController method; returns what FGATCController presently controls the user aircraft
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// - e.g. FGStartupController
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controller = user_ai_ac->getATCController();
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// Update the ATC dialog
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//FGATCDialogNew::instance()->update(time);
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// Controller manager - if controller is set, then will update controller
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if (controller) {
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SG_LOG(SG_ATC, SG_DEBUG, "name of previous waypoint : " << fp->getPreviousWaypoint()->getName());
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SG_LOG(SG_ATC, SG_DEBUG, "Currently under control of " << controller->getName());
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// update aircraft information (simulates transponder)
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controller->updateAircraftInformation(user_ai_ac->getID(),
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user_ai_ac->getGeodPos(),
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user_ai_ac->_getHeading(),
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user_ai_ac->getSpeed(),
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user_ai_ac->getAltitude(), time);
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//string airport = fgGetString("/sim/presets/airport-id");
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//FGAirport *apt = FGAirport::findByIdent(airport);
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// AT this stage we should update the flightplan, so that waypoint incrementing is conducted as well as leg loading.
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// Ground network visibility:
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// a) check to see if the message to toggle visibility was called
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// b) if so, toggle network visibility and reset the transmission
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// c) therafter disable rendering for the old controller (TODO: should this be earlier?)
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// d) and render if enabled for the new controller
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int n = trans_num->getIntValue();
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if (n == 1) {
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SG_LOG(SG_ATC, SG_DEBUG, "Toggling ground network visibility " << networkVisible);
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networkVisible = !networkVisible;
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trans_num->setIntValue(-1);
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}
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// stop rendering the old controller's groundnetwork
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if ((controller != prevController) && (prevController)) {
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prevController->render(false);
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}
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// render the path for the present controller if the ground network is set to visible
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controller->render(networkVisible);
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SG_LOG(SG_ATC, SG_BULK, "Adding ground network to the scenegraph::update");
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// reset previous controller for next update() iteration
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prevController = controller;
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}
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// update the active ATC stations
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for (AtcVecIterator atc = activeStations.begin(); atc != activeStations.end(); ++atc) {
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(*atc)->update(time);
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}
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}
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// Register the subsystem.
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SGSubsystemMgr::Registrant<FGATCManager> registrantFGATCManager(
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SGSubsystemMgr::POST_FDM,
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{{"FGAIManager", SGSubsystemMgr::Dependency::HARD}});
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