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flightgear/src/ATC/AIMgr.cxx

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// AIMgr.cxx - implementation of FGAIMgr
// - a global management class for FlightGear generated AI traffic
//
// Written by David Luff, started March 2002.
//
// Copyright (C) 2002 David C Luff - david.luff@nottingham.ac.uk
//
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
#include <simgear/misc/sg_path.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <simgear/math/sg_random.h>
#include <list>
#ifdef _MSC_VER
# include <io.h>
#else
# include <sys/types.h> // for directory reading
# include <dirent.h> // for directory reading
#endif
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
#include "AIMgr.hxx"
#include "AILocalTraffic.hxx"
#include "AIGAVFRTraffic.hxx"
#include "ATCutils.hxx"
#include "commlist.hxx"
SG_USING_STD(list);
SG_USING_STD(cout);
FGAIMgr::FGAIMgr() {
ATC = globals->get_ATC_mgr();
initDone = false;
ai_callsigns_used["GFS"] = 1; // so we don't inadvertently use this
// TODO - use the proper user callsign when it becomes user settable.
removalList.clear();
activated.clear();
_havePiperModel = true;
}
FGAIMgr::~FGAIMgr() {
}
void FGAIMgr::init() {
//cout << "AIMgr::init called..." << endl;
// Pointers to user's position
lon_node = fgGetNode("/position/longitude-deg", true);
lat_node = fgGetNode("/position/latitude-deg", true);
elev_node = fgGetNode("/position/altitude-ft", true);
lon = lon_node->getDoubleValue();
lat = lat_node->getDoubleValue();
elev = elev_node->getDoubleValue();
// Load up models at the start to avoid pausing later
// Hack alert - Hardwired paths!!
string planepath = "Aircraft/c172p/Models/c172p.xml";
bool _loadedDefaultOK = true;
try {
_defaultModel = sgLoad3DModel( globals->get_fg_root(),
planepath.c_str(),
globals->get_props(),
globals->get_sim_time_sec() );
} catch(sg_exception&) {
_loadedDefaultOK = false;
}
if(!_loadedDefaultOK ) {
// Just load the same 3D model as the default user plane - that's *bound* to exist!
// TODO - implement robust determination of availability of GA AI aircraft models
planepath = "Aircraft/c172p/Models/c172p.ac";
_defaultModel = sgLoad3DModel( globals->get_fg_root(),
planepath.c_str(),
globals->get_props(),
globals->get_sim_time_sec() );
}
planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
try {
_piperModel = sgLoad3DModel( globals->get_fg_root(),
planepath.c_str(),
globals->get_props(),
globals->get_sim_time_sec() );
} catch(sg_exception&) {
_havePiperModel = false;
}
// go through the $FG_ROOT/ATC directory and find all *.taxi files
SGPath path(globals->get_fg_root());
path.append("ATC/");
string dir = path.dir();
string ext;
string file, f_ident;
int pos;
ulDir *d;
struct ulDirEnt *de;
if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
} else {
// load all .taxi files
while ( (de = ulReadDir(d)) != NULL ) {
file = de->d_name;
pos = file.find(".");
ext = file.substr(pos + 1);
if(ext == "taxi") {
f_ident = file.substr(0, pos);
const FGAirport *a = fgFindAirportID( f_ident);
if(a){
SGBucket sgb(a->getLongitude(), a->getLatitude());
int idx = sgb.gen_index();
if(facilities.find(idx) != facilities.end()) {
facilities[idx]->push_back(f_ident);
} else {
ID_list_type* apts = new ID_list_type;
apts->push_back(f_ident);
facilities[idx] = apts;
}
SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
}
}
}
ulCloseDir(d);
}
// See if are in range at startup and activate if necessary
SearchByPos(15.0);
initDone = true;
//cout << "AIMgr::init done..." << endl;
/*
// TESTING
FGATCAlignedProjection ortho;
ortho.Init(fgGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
//Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
//Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
ATC->AIRegisterAirport("KEMT");
FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
p->SetModel(_defaultModel);
p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
ai_list.push_back(p);
traffic[ident].push_back(p);
activated["KEMT"] = 1;
*/
}
void FGAIMgr::bind() {
}
void FGAIMgr::unbind() {
}
void FGAIMgr::update(double dt) {
if(!initDone) {
init();
SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
}
//cout << activated.size() << '\n';
Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
// TODO - make these class variables!!
static int i = 0;
static int j = 0;
// Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
// Might not need it now we have fade-in though?
if(i < 50) {
++i;
return;
}
if(j == 215) {
SearchByPos(25.0);
j = 0;
} else if(j == 200) {
// Go through the list of activated airports and remove those out of range
//cout << "The following airports have been activated by the AI system:\n";
ai_activated_map_iterator apt_itr = activated.begin();
while(apt_itr != activated.end()) {
//cout << "FIRST IS " << (*apt_itr).first << '\n';
if(dclGetHorizontalSeparation(userPos, fgGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
// Then get rid of it and make sure the iterator is left pointing to the next one!
string s = (*apt_itr).first;
if(traffic.find(s) != traffic.end()) {
//cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
if(!traffic[s].empty()) {
apt_itr++;
} else {
//cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
activated.erase(apt_itr);
apt_itr = activated.upper_bound(s);
traffic.erase(s);
}
} else {
//cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
activated.erase(apt_itr);
apt_itr = activated.upper_bound(s);
}
} else {
apt_itr++;
}
}
} else if(j == 180) {
// Go through the list of activated airports and do the random airplane generation
ai_traffic_map_iterator it = traffic.begin();
while(it != traffic.end()) {
string s = (*it).first;
//cout << "s = " << s << " size = " << (*it).second.size() << '\n';
// Only generate extra traffic if within a certain distance of the user,
// TODO - maybe take users's tuned freq into account as well.
double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s));
if(d < (15.0 * 1600.0)) {
double cd = 0.0;
bool gen = false;
//cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
if((*it).second.size()) {
FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
cd = dclGetHorizontalSeparation(e->GetPos(), fgGetAirportPos(s));
if(cd < (d < 5000 ? 10000 : d + 5000)) {
gen = true;
}
} else {
gen = true;
cd = 0.0;
}
if(gen) {
//cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
//GenerateSimpleAirportTraffic(s, cd);
GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
// TODO - make the anti-random constant variable depending on the ai-traffic level.
}
}
++it;
}
}
++j;
//cout << "Size of AI list is " << ai_list.size() << '\n';
// TODO - need to add a check of if any activated airports have gone out of range
string rs; // plane to be removed, if one.
if(removalList.size()) {
rs = *(removalList.begin());
removalList.pop_front();
} else {
rs = "";
}
// Traverse the list of active planes and run all their update methods
// TODO - spread the load - not all planes should need updating every frame.
// Note that this will require dt to be calculated for each plane though
// since they rely on it to calculate distance travelled.
ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
FGAIEntity *e = *ai_list_itr;
if(rs.size() && e->GetCallsign() == rs) {
//cout << "Removing " << rs << " from ai_list\n";
ai_list_itr = ai_list.erase(ai_list_itr);
delete e;
// This is a hack - we should deref this plane from the airport count!
} else {
e->Update(dt);
++ai_list_itr;
}
}
//cout << "Size of AI list is " << ai_list.size() << '\n';
}
void FGAIMgr::ScheduleRemoval(const string& s) {
//cout << "Scheduling removal of plane " << s << " from AIMgr\n";
removalList.push_back(s);
}
// Activate AI traffic at an airport
void FGAIMgr::ActivateAirport(const string& ident) {
ATC->AIRegisterAirport(ident);
// TODO - need to start the traffic more randomly
FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
//local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
ai_list.push_back(local_traffic);
traffic[ident].push_back(local_traffic);
//cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
activated[ident] = 1;
}
// Hack - Generate AI traffic at an airport with no facilities file
void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
// Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
// This will go eventually once airport .xml files specify the traffic profile
if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
|| ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
|| ident == "KSEA" || ident == "EHAM") {
return;
}
/*
// TODO - check for military airports - this should be in the current data.
// UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
FGAirport a = fgFindAirportID(ident, &a);
if(a) {
cout << "CODE IS " << a.code << '\n';
} else {
// UG - can't find the airport!
return;
}
*/
Point3D aptpos = fgGetAirportPos(ident); // TODO - check for elev of -9999
//cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
// Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
if(aptpos.elev() > 3000) {
//cout << "High alt airports not yet supported - returning\n";
return;
}
// Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
bool cessna = true;
// Get the time and only operate VFR in the (approximate) daytime.
struct tm *t = globals->get_time_params()->getGmt();
int loc_time = t->tm_hour + int(aptpos.lon() / (360.0 / 24.0));
while (loc_time < 0)
loc_time += 24;
while (loc_time >= 24)
loc_time -= 24;
//cout << "loc_time = " << loc_time << '\n';
if(loc_time < 7 || loc_time > 19) return;
// Check that the visibility is OK for IFR operation.
double visibility;
FGEnvironment stationweather =
((FGEnvironmentMgr *)globals->get_subsystem("environment"))
->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
visibility = stationweather.get_visibility_m();
// Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
//cout << "vis = " << visibility << '\n';
if(visibility < 3000) return;
ATC->AIRegisterAirport(ident);
// Next - get the distance from user to the airport.
Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
int lev = fgGetInt("/sim/ai-traffic/level");
if(lev < 1)
return;
if (lev > 3)
lev = 3;
if(visibility < 6000) lev = 1;
//cout << "level = " << lev << '\n';
// Next - generate any local / circuit traffic
/*
// --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
// Finally - generate VFR approaching traffic
//if(d > 2000) {
if(ident == "KPOC") {
double ad = 2000.0;
double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
//while(ad < (d < 10000 ? 12000 : d + 2000)) {
for(int i=0; i<8; ++i) {
double dd = sg_random() * avd;
// put a minimum spacing in for now since I don't think tower will cope otherwise!
if(dd < 1500) dd = 1500;
//ad += dd;
ad += dd;
double dir = int(sg_random() * 36);
if(dir == 36) dir--;
dir *= 10;
//dir = 180;
if(sg_random() < 0.3) cessna = false;
else cessna = true;
string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
t->SetModel(cessna ? _defaultModel : _piperModel);
//cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
t->Init(tpos, ident, s);
ai_list.push_back(t);
}
}
activated[ident] = 1;
return;
//---------------------------------------------------------------------------------------------------
*/
double ad; // Minimum distance out of first arriving plane in meters.
double mind; // Minimum spacing of traffic in meters
double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
// Finally - generate VFR approaching traffic
//if(d > 2000) {
if(1) {
if(lev == 3) {
ad = 5000.0;
mind = 2000.0;
avd = 6000.0;
} else if(lev == 2) {
ad = 8000.0;
mind = 4000.0;
avd = 10000.0;
} else {
ad = 9000.0; // Start the first aircraft at least 9K out for now.
mind = 6000.0;
avd = 15000.0;
}
/*
// Check if there is already arriving traffic at this airport
cout << "BING A " << ident << '\n';
if(traffic.find(ident) != traffic.end()) {
cout << "BING B " << ident << '\n';
ai_list_type lst = traffic[ident];
cout << "BING C " << ident << '\n';
if(lst.size()) {
cout << "BING D " << ident << '\n';
double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
cout << "ident = " << ident << ", cd = " << cd << '\n';
if(cd > ad) ad = cd;
}
}
*/
if(min_dist != 0) ad = min_dist;
//cout << "ident = " << ident << ", ad = " << ad << '\n';
while(ad < (d < 5000 ? 15000 : d + 10000)) {
double dd = mind + (sg_random() * (avd - mind));
ad += dd;
double dir = int(sg_random() * 36);
if(dir == 36) dir--;
dir *= 10;
if(sg_random() < 0.3) cessna = false;
else cessna = true;
string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
t->SetModel(cessna ? _defaultModel : (_havePiperModel ? _piperModel : _defaultModel));
//cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
t->Init(tpos, ident, s);
ai_list.push_back(t);
traffic[ident].push_back(t);
}
}
}
/*
// Generate a VFR arrival at airport apt, at least distance d (meters) out.
void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
}
*/
// Search for valid airports in the vicinity of the user and activate them if necessary
void FGAIMgr::SearchByPos(double range) {
//cout << "In SearchByPos(...)" << endl;
// get bucket number for plane position
lon = lon_node->getDoubleValue();
lat = lat_node->getDoubleValue();
elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
SGBucket buck(lon, lat);
// get neigboring buckets
int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
//cout << "bx = " << bx << endl;
int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
//cout << "by = " << by << endl;
// Search for airports with facitities files --------------------------
// loop over bucket range
for ( int i=-bx; i<=bx; i++) {
//cout << "i loop\n";
for ( int j=-by; j<=by; j++) {
//cout << "j loop\n";
buck = sgBucketOffset(lon, lat, i, j);
long int bucket = buck.gen_index();
//cout << "bucket is " << bucket << endl;
if(facilities.find(bucket) != facilities.end()) {
ID_list_type* apts = facilities[bucket];
ID_list_iterator current = apts->begin();
ID_list_iterator last = apts->end();
//cout << "Size of apts is " << apts->size() << endl;
//double rlon = lon * SGD_DEGREES_TO_RADIANS;
//double rlat = lat * SGD_DEGREES_TO_RADIANS;
//Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
//Point3D airport;
for(; current != last; ++current) {
//cout << "Found " << *current << endl;;
if(activated.find(*current) == activated.end()) {
//cout << "Activating " << *current << endl;
//FGAirport a;
//if(dclFindAirportID(*current, &a)) {
// // We can do something here based on distance from the user if we wish.
//}
//string s = *current;
//cout << "s = " << s << '\n';
ActivateAirport(*current);
//ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
//cout << "Activation done" << endl;
} else {
//cout << *current << " already activated" << endl;
}
}
}
}
}
//-------------------------------------------------------------
// Search for any towered airports in the vicinity ------------
comm_list_type towered;
comm_list_iterator twd_itr;
int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
if (num_twd != 0) {
double closest = 1000000;
string s = "";
for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
// Only activate the closest airport not already activated each time.
if(activated.find(twd_itr->ident) == activated.end()) {
double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), fgGetAirportPos(twd_itr->ident));
if(sep < closest) {
closest = sep;
s = twd_itr->ident;
}
}
}
if(s.size()) {
// TODO - find out why empty strings come through here when all in-range airports done.
GenerateSimpleAirportTraffic(s);
//cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
activated[s] = 1;
}
}
}
string FGAIMgr::GenerateCallsign() {
// For now we'll just generate US callsigns until we can regionally identify airports.
string s = "N";
// Add 3 to 5 numbers and make up to 5 with letters.
//sg_srandom_time();
double d = sg_random();
int n = int(d * 3);
if(n == 3) --n;
//cout << "First n, n = " << n << '\n';
int j = 3 + n;
//cout << "j = " << j << '\n';
for(int i=0; i<j; ++i) {
int n = int(sg_random() * 10);
if(n == 10) --n;
s += (char)('0' + n);
}
for(int i=j; i<5; ++i) {
int n = int(sg_random() * 26);
if(n == 26) --n;
//cout << "Alpha, n = " << n << '\n';
s += (char)('A' + n);
}
//cout << "s = " << s << '\n';
return(s);
}
string FGAIMgr::GenerateUniqueCallsign() {
while(1) {
string s = GenerateCallsign();
if(!ai_callsigns_used[s]) {
ai_callsigns_used[s] = 1;
return(s);
}
}
}
// This will be moved somewhere else eventually!!!!
string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
//cout << callsign << '\n';
string s;
if(local) s = "Trainer-";
else s = plane_str;
for(int i=3; i>0; --i) {
char c = callsign[callsign.size() - i];
//cout << c << '\n';
string tmp = "";
tmp += c;
if(isalpha(c)) s += GetPhoneticIdent(c);
else s += ConvertNumToSpokenDigits(tmp);
if(i > 1) s += '-';
}
return(s);
}
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