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flightgear/src/AIModel/AIManager.cxx

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// AIManager.cxx Based on David Luff's AIMgr:
// - a global management type for AI objects
//
// Written by David Culp, started October 2003.
// - davidculp2@comcast.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#include <cstring>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/props/props_io.hxx>
#include <simgear/structure/exception.hxx>
#include <Main/globals.hxx>
#include <Airports/simple.hxx>
#include <Traffic/TrafficMgr.hxx>
#include "AIManager.hxx"
#include "AIAircraft.hxx"
#include "AIShip.hxx"
#include "AIBallistic.hxx"
#include "AIStorm.hxx"
#include "AIThermal.hxx"
#include "AICarrier.hxx"
#include "AIStatic.hxx"
#include "AIMultiplayer.hxx"
#include "AITanker.hxx"
#include "AIWingman.hxx"
#include "AIGroundVehicle.hxx"
#include "AIEscort.hxx"
FGAIManager::FGAIManager() {
_dt = 0.0;
mNumAiModels = 0;
for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
mNumAiTypeModels[i] = 0;
}
FGAIManager::~FGAIManager() {
ai_list_iterator ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
(*ai_list_itr)->unbind();
++ai_list_itr;
}
}
void
FGAIManager::init() {
root = fgGetNode("sim/ai", true);
enabled = root->getNode("enabled", true)->getBoolValue();
if (!enabled)
return;
thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
user_latitude_node = fgGetNode("/position/latitude-deg", true);
user_longitude_node = fgGetNode("/position/longitude-deg", true);
user_altitude_node = fgGetNode("/position/altitude-ft", true);
user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
user_heading_node = fgGetNode("/orientation/heading-deg", true);
user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
user_roll_node = fgGetNode("/orientation/roll-deg", true);
user_speed_node = fgGetNode("/velocities/uBody-fps", true);
}
void
FGAIManager::postinit() {
// postinit, so that it can access the Nasal subsystem
map<string, bool> scenarios;
for (int i = 0 ; i < root->nChildren() ; i++) {
SGPropertyNode *n = root->getChild(i);
if (strcmp(n->getName(), "scenario"))
continue;
string name = n->getStringValue();
if (name.empty())
continue;
if (scenarios.find(name) != scenarios.end()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "won't load scenario '" << name << "' twice");
continue;
}
SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
processScenario(name);
scenarios[name] = true;
}
}
void
FGAIManager::reinit() {
update(0.0);
ai_list_iterator ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
(*ai_list_itr)->reinit();
++ai_list_itr;
}
}
void
FGAIManager::bind() {
root = globals->get_props()->getNode("ai/models", true);
root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
&FGAIManager::getNumAiObjects));
}
void
FGAIManager::unbind() {
root->untie("count");
}
void
FGAIManager::update(double dt) {
// initialize these for finding nearest thermals
range_nearest = 10000.0;
strength = 0.0;
if (!enabled)
return;
FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
_dt = dt;
ai_list_iterator ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
if ((*ai_list_itr)->getDie()) {
tmgr->release((*ai_list_itr)->getID());
--mNumAiModels;
--(mNumAiTypeModels[(*ai_list_itr)->getType()]);
FGAIBase *base = (*ai_list_itr).get();
SGPropertyNode *props = base->_getProps();
props->setBoolValue("valid", false);
base->unbind();
// for backward compatibility reset properties, so that aircraft,
// which don't know the <valid> property, keep working
// TODO: remove after a while
props->setIntValue("id", -1);
props->setBoolValue("radar/in-range", false);
props->setIntValue("refuel/tanker", false);
ai_list_itr = ai_list.erase(ai_list_itr);
} else {
fetchUserState();
if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
FGAIBase *base = (*ai_list_itr).get();
processThermal((FGAIThermal*)base);
} else {
(*ai_list_itr)->update(_dt);
}
++ai_list_itr;
}
}
thermal_lift_node->setDoubleValue( strength ); // for thermals
}
void
FGAIManager::attach(FGAIBase *model)
{
//unsigned idx = mNumAiTypeModels[model->getType()];
const char* typeString = model->getTypeString();
SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
SGPropertyNode* p;
int i;
// find free index in the property tree, if we have
// more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
for (i = 0; i < 10000; i++) {
p = root->getNode(typeString, i, false);
if (!p || !p->getBoolValue("valid", false))
break;
if (p->getIntValue("id",-1)==model->getID()) {
p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
}
}
p = root->getNode(typeString, i, true);
model->setManager(this, p);
ai_list.push_back(model);
++mNumAiModels;
++(mNumAiTypeModels[model->getType()]);
model->init(model->getType()==FGAIBase::otAircraft
|| model->getType()==FGAIBase::otMultiplayer
|| model->getType()==FGAIBase::otStatic);
model->bind();
p->setBoolValue("valid", true);
}
void
FGAIManager::destroyObject( int ID ) {
ai_list_iterator ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
if ((*ai_list_itr)->getID() == ID) {
--mNumAiModels;
--(mNumAiTypeModels[(*ai_list_itr)->getType()]);
(*ai_list_itr)->unbind();
ai_list_itr = ai_list.erase(ai_list_itr);
} else
++ai_list_itr;
}
}
int
FGAIManager::getNumAiObjects(void) const
{
return mNumAiModels;
}
void
FGAIManager::fetchUserState( void ) {
user_latitude = user_latitude_node->getDoubleValue();
user_longitude = user_longitude_node->getDoubleValue();
user_altitude = user_altitude_node->getDoubleValue();
user_heading = user_heading_node->getDoubleValue();
user_pitch = user_pitch_node->getDoubleValue();
user_yaw = user_yaw_node->getDoubleValue();
user_speed = user_speed_node->getDoubleValue() * 0.592484;
user_roll = user_roll_node->getDoubleValue();
wind_from_east = wind_from_east_node->getDoubleValue();
wind_from_north = wind_from_north_node->getDoubleValue();
user_altitude_agl = user_altitude_agl_node->getDoubleValue();
}
// only keep the results from the nearest thermal
void
FGAIManager::processThermal( FGAIThermal* thermal ) {
thermal->update(_dt);
if ( thermal->_getRange() < range_nearest ) {
range_nearest = thermal->_getRange();
strength = thermal->getStrength();
}
}
void
FGAIManager::processScenario( const string &filename ) {
SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
if (!scenarioTop)
return;
SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
if (!scenarios)
return;
for (int i = 0; i < scenarios->nChildren(); i++) {
SGPropertyNode* scEntry = scenarios->getChild(i);
if (strcmp(scEntry->getName(), "entry"))
continue;
std::string type = scEntry->getStringValue("type", "aircraft");
if (type == "tanker") { // refueling scenarios
FGAITanker* tanker = new FGAITanker;
tanker->readFromScenario(scEntry);
attach(tanker);
} else if (type == "wingman") {
FGAIWingman* wingman = new FGAIWingman;
wingman->readFromScenario(scEntry);
attach(wingman);
} else if (type == "aircraft") {
FGAIAircraft* aircraft = new FGAIAircraft;
aircraft->readFromScenario(scEntry);
attach(aircraft);
} else if (type == "ship") {
FGAIShip* ship = new FGAIShip;
ship->readFromScenario(scEntry);
attach(ship);
} else if (type == "carrier") {
FGAICarrier* carrier = new FGAICarrier;
carrier->readFromScenario(scEntry);
attach(carrier);
} else if (type == "groundvehicle") {
FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
groundvehicle->readFromScenario(scEntry);
attach(groundvehicle);
} else if (type == "escort") {
FGAIEscort* escort = new FGAIEscort;
escort->readFromScenario(scEntry);
attach(escort);
} else if (type == "thunderstorm") {
FGAIStorm* storm = new FGAIStorm;
storm->readFromScenario(scEntry);
attach(storm);
} else if (type == "thermal") {
FGAIThermal* thermal = new FGAIThermal;
thermal->readFromScenario(scEntry);
attach(thermal);
} else if (type == "ballistic") {
FGAIBallistic* ballistic = new FGAIBallistic;
ballistic->readFromScenario(scEntry);
attach(ballistic);
} else if (type == "static") {
FGAIStatic* aistatic = new FGAIStatic;
aistatic->readFromScenario(scEntry);
attach(aistatic);
}
}
}
SGPropertyNode_ptr
FGAIManager::loadScenarioFile(const std::string& filename)
{
SGPath path(globals->get_fg_root());
path.append("AI/" + filename + ".xml");
try {
SGPropertyNode_ptr root = new SGPropertyNode;
readProperties(path.str(), root);
return root;
} catch (const sg_exception &) {
SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
"scenario: \"" << path.str() << "\"");
return 0;
}
}
bool
FGAIManager::getStartPosition(const string& id, const string& pid,
SGGeod& geodPos, double& hdng, SGVec3d& uvw)
{
bool found = false;
SGPropertyNode* root = fgGetNode("sim/ai", true);
if (!root->getNode("enabled", true)->getBoolValue())
return found;
for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
SGPropertyNode *aiEntry = root->getChild( i );
if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
string filename = aiEntry->getStringValue();
SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
if (scenarioTop) {
SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
if (scenarios) {
for (int i = 0; i < scenarios->nChildren(); i++) {
SGPropertyNode* scEntry = scenarios->getChild(i);
std::string type = scEntry->getStringValue("type");
std::string pnumber = scEntry->getStringValue("pennant-number");
std::string name = scEntry->getStringValue("name");
if (type == "carrier" && (pnumber == id || name == id)) {
SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
carrier->readFromScenario(scEntry);
if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
found = true;
break;
}
}
}
}
}
}
}
return found;
}
const FGAIBase *
FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
{
// we specify tgt extent (ft) according to the AIObject type
double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
ai_list_iterator ai_list_itr = ai_list.begin();
ai_list_iterator end = ai_list.end();
while (ai_list_itr != end) {
double tgt_alt = (*ai_list_itr)->_getAltitude();
int type = (*ai_list_itr)->getType();
tgt_ht[type] += fuse_range;
if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
|| type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
//SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
// << fabs(tgt_alt - alt)
// << " "
// << type
// );
++ai_list_itr;
continue;
}
double tgt_lat = (*ai_list_itr)->_getLatitude();
double tgt_lon = (*ai_list_itr)->_getLongitude();
int id = (*ai_list_itr)->getID();
double range = calcRange(lat, lon, tgt_lat, tgt_lon);
//SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
// << ai_list.size()
// << " type " << type
// << " ID " << id
// << " range " << range
// //<< " bearing " << bearing
// << " alt " << tgt_alt
// );
tgt_length[type] += fuse_range;
if (range < tgt_length[type]){
SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
<< " type " << type
<< " ID " << id
<< " range " << range
<< " alt " << tgt_alt
);
return (*ai_list_itr).get();
}
++ai_list_itr;
}
return 0;
}
double
FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
{
double course, az2, distance;
//calculate the bearing and range of the second pos from the first
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
distance *= SG_METER_TO_FEET;
return distance;
}
//end AIManager.cxx
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