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flightgear/src/AIModel/AIMultiplayer.cxx

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// FGAIMultiplayer - FGAIBase-derived class creates an AI multiplayer aircraft
//
// Based on FGAIAircraft
// Written by David Culp, started October 2003.
// Also by Gregor Richards, started December 2005.
//
// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
// Copyright (C) 2005 Gregor Richards
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
2006-02-21 01:16:04 +00:00
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <string>
#include "AIMultiplayer.hxx"
// #define SG_DEBUG SG_ALERT
FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) {
no_roll = false;
mTimeOffsetSet = false;
mAllowExtrapolation = true;
mLagAdjustSystemSpeed = 10;
}
FGAIMultiplayer::~FGAIMultiplayer() {
}
bool FGAIMultiplayer::init() {
//refuel_node = fgGetNode("systems/refuel/contact", true);
isTanker = false; // do this until this property is
// passed over the net
string str1 = mCallSign;
string str2 = "MOBIL";
string::size_type loc1= str1.find( str2, 0 );
if ( (loc1 != string::npos && str2 != "") ){
// cout << " string found " << str2 << " in " << str1 << endl;
isTanker = true;
// cout << "isTanker " << isTanker << " " << mCallSign <<endl;
}
return FGAIBase::init();
}
void FGAIMultiplayer::bind() {
FGAIBase::bind();
props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
props->setBoolValue("tanker",isTanker);
#define AIMPROProp(type, name) \
SGRawValueMethods<FGAIMultiplayer, type>(*this, &FGAIMultiplayer::get##name)
#define AIMPRWProp(type, name) \
SGRawValueMethods<FGAIMultiplayer, type>(*this, \
&FGAIMultiplayer::get##name, &FGAIMultiplayer::set##name)
props->tie("callsign", AIMPROProp(const char *, CallSign));
props->tie("controls/allow-extrapolation",
AIMPRWProp(bool, AllowExtrapolation));
props->tie("controls/lag-adjust-system-speed",
AIMPRWProp(double, LagAdjustSystemSpeed));
#undef AIMPROProp
#undef AIMPRWProp
}
void FGAIMultiplayer::unbind() {
FGAIBase::unbind();
props->untie("callsign");
props->untie("controls/allow-extrapolation");
props->untie("controls/lag-adjust-system-speed");
props->untie("refuel/contact");
}
void FGAIMultiplayer::update(double dt)
{
if (dt <= 0)
return;
FGAIBase::update(dt);
// Check if we already got data
if (mMotionInfo.empty())
return;
// The current simulation time we need to update for,
// note that the simulation time is updated before calling all the
// update methods. Thus it contains the time intervals *end* time
double curtime = globals->get_sim_time_sec();
// Get the last available time
MotionInfo::reverse_iterator it = mMotionInfo.rbegin();
double curentPkgTime = it->second.time;
// Dynamically optimize the time offset between the feeder and the client
// Well, 'dynamically' means that the dynamic of that update must be very
// slow. You would otherwise notice huge jumps in the multiplayer models.
// The reason is that we want to avoid huge extrapolation times since
// extrapolation is highly error prone. For that we need something
// approaching the average latency of the packets. This first order lag
// component will provide this. We just take the error of the currently
// requested time to the most recent available packet. This is the
// target we want to reach in average.
double lag = it->second.lag;
if (!mTimeOffsetSet) {
mTimeOffsetSet = true;
mTimeOffset = curentPkgTime - curtime - lag;
} else {
double offset = curentPkgTime - curtime - lag;
if (!mAllowExtrapolation && offset + lag < mTimeOffset) {
mTimeOffset = offset;
SG_LOG(SG_GENERAL, SG_DEBUG, "Resetting time offset adjust system to "
"avoid extrapolation: time offset = " << mTimeOffset);
} else {
// the error of the offset, respectively the negative error to avoid
// a minus later ...
double err = offset - mTimeOffset;
// limit errors leading to shorter lag values somehow, that is late
// arriving packets will pessimize the overall lag much more than
// early packets will shorten the overall lag
double sysSpeed;
if (err < 0) {
// Ok, we have some very late packets and nothing newer increase the
// lag by the given speedadjust
sysSpeed = mLagAdjustSystemSpeed*err;
} else {
// We have a too pessimistic display delay shorten that a small bit
sysSpeed = SGMiscd::min(0.1*err*err, 0.5);
}
// simple euler integration for that first order system including some
// overshooting guard to prevent to aggressive system speeds
// (stiff systems) to explode the systems state
double systemIncrement = dt*sysSpeed;
if (fabs(err) < fabs(systemIncrement))
systemIncrement = err;
mTimeOffset += systemIncrement;
SG_LOG(SG_GENERAL, SG_DEBUG, "Offset adjust system: time offset = "
<< mTimeOffset << ", expected longitudinal position error due to "
" current adjustment of the offset: "
<< fabs(norm(it->second.linearVel)*systemIncrement));
}
}
// Compute the time in the feeders time scale which fits the current time
// we need to
double tInterp = curtime + mTimeOffset;
SGVec3d ecPos;
SGQuatf ecOrient;
if (tInterp <= curentPkgTime) {
// Ok, we need a time prevous to the last available packet,
// that is good ...
// Find the first packet before the target time
MotionInfo::iterator nextIt = mMotionInfo.upper_bound(tInterp);
if (nextIt == mMotionInfo.begin()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "Taking oldest packet!");
// We have no packet before the target time, just use the first one
MotionInfo::iterator firstIt = mMotionInfo.begin();
ecPos = firstIt->second.position;
ecOrient = firstIt->second.orientation;
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speed = norm(firstIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
std::vector<FGPropertyData*>::const_iterator firstPropIt;
std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
firstPropIt = firstIt->second.properties.begin();
firstPropItEnd = firstIt->second.properties.end();
while (firstPropIt != firstPropItEnd) {
//cout << " Setting property..." << (*firstPropIt)->id;
PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id);
if (pIt != mPropertyMap.end())
{
//cout << "Found " << pIt->second->getPath() << ":";
switch ((*firstPropIt)->type) {
case SGPropertyNode::INT:
case SGPropertyNode::BOOL:
case SGPropertyNode::LONG:
pIt->second->setIntValue((*firstPropIt)->int_value);
//cout << "Int: " << (*firstPropIt)->int_value << "\n";
break;
case SGPropertyNode::FLOAT:
case SGPropertyNode::DOUBLE:
pIt->second->setFloatValue((*firstPropIt)->float_value);
//cout << "Flo: " << (*firstPropIt)->float_value << "\n";
break;
case SGPropertyNode::STRING:
case SGPropertyNode::UNSPECIFIED:
pIt->second->setStringValue((*firstPropIt)->string_value);
//cout << "Str: " << (*firstPropIt)->string_value << "\n";
break;
default:
// FIXME - currently defaults to float values
pIt->second->setFloatValue((*firstPropIt)->float_value);
//cout << "Unknown: " << (*firstPropIt)->float_value << "\n";
break;
}
}
else
{
SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
}
++firstPropIt;
}
} else {
// Ok, we have really found something where our target time is in between
// do interpolation here
MotionInfo::iterator prevIt = nextIt;
--prevIt;
// Interpolation coefficient is between 0 and 1
double intervalStart = prevIt->second.time;
double intervalEnd = nextIt->second.time;
double intervalLen = intervalEnd - intervalStart;
double tau = (tInterp - intervalStart)/intervalLen;
SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle interpolation: ["
<< intervalStart << ", " << intervalEnd << "], intervalLen = "
<< intervalLen << ", interpolation parameter = " << tau);
// Here we do just linear interpolation on the position
ecPos = ((1-tau)*prevIt->second.position + tau*nextIt->second.position);
ecOrient = interpolate((float)tau, prevIt->second.orientation,
nextIt->second.orientation);
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speed = norm((1-tau)*prevIt->second.linearVel
+ tau*nextIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
if (prevIt->second.properties.size()
== nextIt->second.properties.size()) {
std::vector<FGPropertyData*>::const_iterator prevPropIt;
std::vector<FGPropertyData*>::const_iterator prevPropItEnd;
std::vector<FGPropertyData*>::const_iterator nextPropIt;
std::vector<FGPropertyData*>::const_iterator nextPropItEnd;
prevPropIt = prevIt->second.properties.begin();
prevPropItEnd = prevIt->second.properties.end();
nextPropIt = nextIt->second.properties.begin();
nextPropItEnd = nextIt->second.properties.end();
while (prevPropIt != prevPropItEnd) {
PropertyMap::iterator pIt = mPropertyMap.find((*prevPropIt)->id);
//cout << " Setting property..." << (*prevPropIt)->id;
if (pIt != mPropertyMap.end())
{
//cout << "Found " << pIt->second->getPath() << ":";
int ival;
float val;
switch ((*prevPropIt)->type) {
case SGPropertyNode::INT:
case SGPropertyNode::BOOL:
case SGPropertyNode::LONG:
ival = (int) (1-tau)*((double) (*prevPropIt)->int_value) +
tau*((double) (*nextPropIt)->int_value);
pIt->second->setIntValue(ival);
//cout << "Int: " << ival << "\n";
break;
case SGPropertyNode::FLOAT:
case SGPropertyNode::DOUBLE:
val = (1-tau)*(*prevPropIt)->float_value +
tau*(*nextPropIt)->float_value;
//cout << "Flo: " << val << "\n";
pIt->second->setFloatValue(val);
break;
case SGPropertyNode::STRING:
case SGPropertyNode::UNSPECIFIED:
//cout << "Str: " << (*nextPropIt)->string_value << "\n";
pIt->second->setStringValue((*nextPropIt)->string_value);
break;
default:
// FIXME - currently defaults to float values
val = (1-tau)*(*prevPropIt)->float_value +
tau*(*nextPropIt)->float_value;
//cout << "Unk: " << val << "\n";
pIt->second->setFloatValue(val);
break;
}
}
else
{
SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
}
++prevPropIt;
++nextPropIt;
}
}
// Now throw away too old data
if (prevIt != mMotionInfo.begin())
{
--prevIt;
MotionInfo::iterator delIt;
delIt = mMotionInfo.begin();
while (delIt != prevIt)
{
std::vector<FGPropertyData*>::const_iterator propIt;
std::vector<FGPropertyData*>::const_iterator propItEnd;
propIt = delIt->second.properties.begin();
propItEnd = delIt->second.properties.end();
//cout << "Deleting data\n";
while (propIt != propItEnd)
{
delete *propIt;
propIt++;
}
delIt++;
}
mMotionInfo.erase(mMotionInfo.begin(), prevIt);
}
}
} else {
// Ok, we need to predict the future, so, take the best data we can have
// and do some eom computation to guess that for now.
FGExternalMotionData motionInfo = it->second;
// The time to predict, limit to 5 seconds
double t = tInterp - motionInfo.time;
t = SGMisc<double>::min(t, 5);
SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle extrapolation: "
"extrapolation time = " << t);
// Do a few explicit euler steps with the constant acceleration's
// This must be sufficient ...
ecPos = motionInfo.position;
ecOrient = motionInfo.orientation;
SGVec3f linearVel = motionInfo.linearVel;
SGVec3f angularVel = motionInfo.angularVel;
while (0 < t) {
double h = 1e-1;
if (t < h)
h = t;
SGVec3d ecVel = toVec3d(ecOrient.backTransform(linearVel));
ecPos += h*ecVel;
ecOrient += h*ecOrient.derivative(angularVel);
linearVel += h*(cross(linearVel, angularVel) + motionInfo.linearAccel);
angularVel += h*motionInfo.angularAccel;
t -= h;
}
std::vector<FGPropertyData*>::const_iterator firstPropIt;
std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
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speed = norm(linearVel) * SG_METER_TO_NM * 3600.0;
firstPropIt = it->second.properties.begin();
firstPropItEnd = it->second.properties.end();
while (firstPropIt != firstPropItEnd) {
PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id);
//cout << " Setting property..." << (*firstPropIt)->id;
if (pIt != mPropertyMap.end())
{
switch ((*firstPropIt)->type) {
case SGPropertyNode::INT:
case SGPropertyNode::BOOL:
case SGPropertyNode::LONG:
pIt->second->setIntValue((*firstPropIt)->int_value);
//cout << "Int: " << (*firstPropIt)->int_value << "\n";
break;
case SGPropertyNode::FLOAT:
case SGPropertyNode::DOUBLE:
pIt->second->setFloatValue((*firstPropIt)->float_value);
//cout << "Flo: " << (*firstPropIt)->float_value << "\n";
break;
case SGPropertyNode::STRING:
case SGPropertyNode::UNSPECIFIED:
pIt->second->setStringValue((*firstPropIt)->string_value);
//cout << "Str: " << (*firstPropIt)->string_value << "\n";
break;
default:
// FIXME - currently defaults to float values
pIt->second->setFloatValue((*firstPropIt)->float_value);
//cout << "Unk: " << (*firstPropIt)->float_value << "\n";
break;
}
}
else
{
SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
}
++firstPropIt;
}
}
// extract the position
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pos = SGGeod::fromCart(ecPos);
altitude_ft = pos.getElevationFt();
// The quaternion rotating from the earth centered frame to the
// horizontal local frame
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SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)pos.getLongitudeRad(),
(float)pos.getLatitudeRad());
// The orientation wrt the horizontal local frame
SGQuatf hlOr = conj(qEc2Hl)*ecOrient;
float hDeg, pDeg, rDeg;
hlOr.getEulerDeg(hDeg, pDeg, rDeg);
hdg = hDeg;
roll = rDeg;
pitch = pDeg;
SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer position and orientation: "
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<< ecPos << ", " << hlOr);
//###########################//
// do calculations for radar //
//###########################//
double range_ft2 = UpdateRadar(manager);
//************************************//
// Tanker code //
//************************************//
if ( isTanker) {
if ( (range_ft2 < 250.0 * 250.0) &&
(y_shift > 0.0) &&
(elevation > 0.0) ){
// refuel_node->setBoolValue(true);
contact = true;
} else {
// refuel_node->setBoolValue(false);
contact = false;
}
} else {
contact = false;
}
Transform();
}
void
FGAIMultiplayer::addMotionInfo(const FGExternalMotionData& motionInfo,
long stamp)
{
mLastTimestamp = stamp;
// Drop packets arriving out of order
if (!mMotionInfo.empty() && motionInfo.time < mMotionInfo.rbegin()->first)
return;
mMotionInfo[motionInfo.time] = motionInfo;
}
void
FGAIMultiplayer::setDoubleProperty(const std::string& prop, double val)
{
SGPropertyNode* pNode = props->getChild(prop.c_str(), true);
pNode->setDoubleValue(val);
}