src/AIModel/AIManager.cxx

   1 // AIManager.cxx  Based on David Luff's AIMgr:
   2 // - a global management type for AI objects
   3 //
   4 // Written by David Culp, started October 2003.
   5 // - davidculp2@comcast.net
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20
  21 #include <simgear/misc/sg_path.hxx>
  22 #include <Main/fg_props.hxx>
  23 #include <Main/globals.hxx>
  24
  25 #include <Airports/simple.hxx>
  26 #include <Traffic/SchedFlight.hxx>
  27 #include <Traffic/Schedule.hxx>
  28 #include <Traffic/TrafficMgr.hxx>
  29
  30 #include <list>
  31
  32 #include "AIManager.hxx"
  33 #include "AIAircraft.hxx"
  34 #include "AIShip.hxx"
  35 #include "AIBallistic.hxx"
  36 #include "AIStorm.hxx"
  37 #include "AIThermal.hxx"
  38 #include "AICarrier.hxx"
  39 #include "AIStatic.hxx"
  40
  41 SG_USING_STD(list);
  42
  43
  44 FGAIManager::FGAIManager() {
  45   initDone = false;
  46   for (int i=0; i < FGAIBase::MAX_OBJECTS; i++)
  47      numObjects[i] = 0;
  48   _dt = 0.0;
  49   dt_count = 9;
  50   scenario_filename = "";
  51   ai_list.clear();
  52 }
  53
  54 FGAIManager::~FGAIManager() {
  55   ai_list_iterator ai_list_itr = ai_list.begin();
  56   while(ai_list_itr != ai_list.end()) {
  57       (*ai_list_itr)->unbind();
  58       delete (*ai_list_itr);
  59       ++ai_list_itr;
  60     }
  61   ai_list.clear();
  62 }
  63
  64
  65 void FGAIManager::init() {
  66   root = fgGetNode("sim/ai", true);
  67
  68   enabled = root->getNode("enabled", true)->getBoolValue();
  69   if (!enabled)
  70       return;
  71
  72   wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
  73   wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
  74   wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
  75
  76   user_latitude_node  = fgGetNode("/position/latitude-deg", true);
  77   user_longitude_node = fgGetNode("/position/longitude-deg", true);
  78   user_altitude_node  = fgGetNode("/position/altitude-ft", true);
  79   user_heading_node   = fgGetNode("/orientation/heading-deg", true);
  80   user_pitch_node     = fgGetNode("/orientation/pitch-deg", true);
  81   user_yaw_node       = fgGetNode("/orientation/side-slip-deg", true);
  82   user_speed_node     = fgGetNode("/velocities/uBody-fps", true);
  83
  84   for(int i = 0 ; i < root->nChildren() ; i++) {
  85     SGPropertyNode *aiEntry = root->getChild( i );
  86         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
  87       scenario_filename = aiEntry->getStringValue();
  88       if (scenario_filename != "") processScenario( scenario_filename );
  89         }
  90   }
  91   initDone = true;
  92 }
  93
  94
  95 void FGAIManager::reinit() {
  96    update(0.0);
  97 }
  98
  99
 100 void FGAIManager::bind() {
 101    root = globals->get_props()->getNode("ai/models", true);
 102    root->tie("count", SGRawValuePointer<int>(&numObjects[0]));
 103 }
 104
 105
 106 void FGAIManager::unbind() {
 107     root->untie("count");
 108 }
 109
 110
 111 void FGAIManager::update(double dt) {
 112
 113         // initialize these for finding nearest thermals
 114         range_nearest = 10000.0;
 115         strength = 0.0;
 116         FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
 117
 118         if (!enabled)
 119             return;
 120
 121         _dt = dt;
 122
 123         ai_list_iterator ai_list_itr = ai_list.begin();
 124         while(ai_list_itr != ai_list.end()) {
 125                 if ((*ai_list_itr)->getDie()) {
 126                   tmgr->release((*ai_list_itr)->getID());
 127                    --numObjects[(*ai_list_itr)->getType()];
 128                    --numObjects[0];
 129                    (*ai_list_itr)->unbind();
 130                    delete (*ai_list_itr);
 131                    if ( ai_list_itr == ai_list.begin() ) {
 132                        ai_list.erase(ai_list_itr);
 133                        ai_list_itr = ai_list.begin();
 134                        continue;
 135                    } else {
 136                        ai_list.erase(ai_list_itr--);
 137                    }
 138                 } else {
 139                    fetchUserState();
 140                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 141                        processThermal((FGAIThermal*)*ai_list_itr);
 142                    } else {
 143                       (*ai_list_itr)->update(_dt);
 144                    }
 145                 }
 146                 ++ai_list_itr;
 147         }
 148         wind_from_down_node->setDoubleValue( strength ); // for thermals
 149
 150 }
 151
 152
 153 void*
 154 FGAIManager::createAircraft( FGAIModelEntity *entity,   FGAISchedule *ref) {
 155
 156         FGAIAircraft* ai_plane = new FGAIAircraft(this, ref);
 157         ai_list.push_back(ai_plane);
 158         ++numObjects[0];
 159         ++numObjects[FGAIBase::otAircraft];
 160         if (entity->m_class == "light") {
 161           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 162         } else if (entity->m_class == "ww2_fighter") {
 163           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 164         } else if (entity->m_class ==  "jet_transport") {
 165           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 166         } else if (entity->m_class == "jet_fighter") {
 167           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 168         } else if (entity->m_class ==  "tanker") {
 169           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 170           ai_plane->SetTanker(true);
 171         } else {
 172           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 173         }
 174         ai_plane->setAcType(entity->acType);
 175         ai_plane->setCompany(entity->company);
 176         ai_plane->setHeading(entity->heading);
 177         ai_plane->setSpeed(entity->speed);
 178         ai_plane->setPath(entity->path.c_str());
 179         ai_plane->setAltitude(entity->altitude);
 180         ai_plane->setLongitude(entity->longitude);
 181         ai_plane->setLatitude(entity->latitude);
 182         ai_plane->setBank(entity->roll);
 183
 184         if ( entity->fp ) {
 185           ai_plane->SetFlightPlan(entity->fp);
 186         }
 187         if (entity->repeat) {
 188           ai_plane->GetFlightPlan()->setRepeat(true);
 189         }
 190         ai_plane->init();
 191         ai_plane->bind();
 192         return ai_plane;
 193 }
 194
 195 void*
 196 FGAIManager::createShip( FGAIModelEntity *entity ) {
 197
 198      // cout << "creating ship" << endl;
 199
 200         FGAIShip* ai_ship = new FGAIShip(this);
 201         ai_list.push_back(ai_ship);
 202         ++numObjects[0];
 203         ++numObjects[FGAIBase::otShip];
 204         ai_ship->setHeading(entity->heading);
 205         ai_ship->setSpeed(entity->speed);
 206         ai_ship->setPath(entity->path.c_str());
 207         ai_ship->setAltitude(entity->altitude);
 208         ai_ship->setLongitude(entity->longitude);
 209         ai_ship->setLatitude(entity->latitude);
 210         ai_ship->setRudder(entity->rudder);
 211         ai_ship->setName(entity->name);
 212
 213         if ( entity->fp ) {
 214            ai_ship->setFlightPlan(entity->fp);
 215         }
 216
 217         ai_ship->init();
 218         ai_ship->bind();
 219         return ai_ship;
 220 }
 221
 222 void*
 223 FGAIManager::createCarrier( FGAIModelEntity *entity ) {
 224
 225     // cout << "creating carrier" << endl;
 226
 227         FGAICarrier* ai_carrier = new FGAICarrier(this);
 228         ai_list.push_back(ai_carrier);
 229         ++numObjects[0];
 230         ++numObjects[FGAIBase::otCarrier];
 231         ai_carrier->setHeading(entity->heading);
 232         ai_carrier->setSpeed(entity->speed);
 233         ai_carrier->setPath(entity->path.c_str());
 234         ai_carrier->setAltitude(entity->altitude);
 235         ai_carrier->setLongitude(entity->longitude);
 236         ai_carrier->setLatitude(entity->latitude);
 237         ai_carrier->setRudder(entity->rudder);
 238         ai_carrier->setSolidObjects(entity->solid_objects);
 239         ai_carrier->setWireObjects(entity->wire_objects);
 240         ai_carrier->setCatapultObjects(entity->catapult_objects);
 241         ai_carrier->setParkingPositions(entity->ppositions);
 242         ai_carrier->setRadius(entity->radius);
 243         ai_carrier->setSign(entity->pennant_number);
 244         ai_carrier->setName(entity->name);
 245         ai_carrier->setFlolsOffset(entity->flols_offset);
 246         ai_carrier->setWind_from_east(entity->wind_from_east);
 247         ai_carrier->setWind_from_north(entity->wind_from_north);
 248         ai_carrier->setTACANChannelID(entity->TACAN_channel_ID);
 249         ai_carrier->setMaxLat(entity->max_lat);
 250         ai_carrier->setMinLat(entity->min_lat);
 251         ai_carrier->setMaxLong(entity->max_long);
 252         ai_carrier->setMinLong(entity->min_long);
 253
 254
 255         if ( entity->fp ) {
 256            ai_carrier->setFlightPlan(entity->fp);
 257         }
 258
 259         ai_carrier->init();
 260         ai_carrier->bind();
 261         return ai_carrier;
 262 }
 263
 264 void*
 265 FGAIManager::createBallistic( FGAIModelEntity *entity ) {
 266
 267         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 268         ai_list.push_back(ai_ballistic);
 269         ++numObjects[0];
 270         ++numObjects[FGAIBase::otBallistic];
 271         ai_ballistic->setAzimuth(entity->azimuth);
 272         ai_ballistic->setElevation(entity->elevation);
 273         ai_ballistic->setSpeed(entity->speed);
 274         ai_ballistic->setPath(entity->path.c_str());
 275         ai_ballistic->setAltitude(entity->altitude);
 276         ai_ballistic->setLongitude(entity->longitude);
 277         ai_ballistic->setLatitude(entity->latitude);
 278         ai_ballistic->setDragArea(entity->eda);
 279         ai_ballistic->setLife(entity->life);
 280         ai_ballistic->setBuoyancy(entity->buoyancy);
 281         ai_ballistic->setWind_from_east(entity->wind_from_east);
 282         ai_ballistic->setWind_from_north(entity->wind_from_north);
 283         ai_ballistic->setWind(entity->wind);
 284         ai_ballistic->setRoll(entity->roll);
 285         ai_ballistic->setCd(entity->cd);
 286         ai_ballistic->setMass(entity->mass);
 287         ai_ballistic->setStabilisation(entity->aero_stabilised);
 288         ai_ballistic->init();
 289         ai_ballistic->bind();
 290         return ai_ballistic;
 291 }
 292
 293 void*
 294 FGAIManager::createStorm( FGAIModelEntity *entity ) {
 295
 296         FGAIStorm* ai_storm = new FGAIStorm(this);
 297         ++numObjects[0];
 298         ++numObjects[FGAIBase::otStorm];
 299         ai_storm->setHeading(entity->heading);
 300         ai_storm->setSpeed(entity->speed);
 301         ai_storm->setPath(entity->path.c_str());
 302         ai_storm->setAltitude(entity->altitude);
 303         ai_storm->setDiameter(entity->diameter / 6076.11549);
 304         ai_storm->setHeight(entity->height_msl);
 305         ai_storm->setStrengthNorm(entity->turb_strength);
 306         ai_storm->setLongitude(entity->longitude);
 307         ai_storm->setLatitude(entity->latitude);
 308         ai_storm->init();
 309         ai_storm->bind();
 310         ai_list.push_back(ai_storm);
 311         return ai_storm;
 312 }
 313
 314 void*
 315 FGAIManager::createThermal( FGAIModelEntity *entity ) {
 316
 317         FGAIThermal* ai_thermal = new FGAIThermal(this);
 318         ++numObjects[0];
 319         ++numObjects[FGAIBase::otThermal];
 320         ai_thermal->setLongitude(entity->longitude);
 321         ai_thermal->setLatitude(entity->latitude);
 322         ai_thermal->setMaxStrength(entity->strength);
 323         ai_thermal->setDiameter(entity->diameter / 6076.11549);
 324         ai_thermal->setHeight(entity->height_msl);
 325         ai_thermal->init();
 326         ai_thermal->bind();
 327         ai_list.push_back(ai_thermal);
 328         return ai_thermal;
 329 }
 330
 331 void*
 332 FGAIManager::createStatic( FGAIModelEntity *entity ) {
 333
 334      // cout << "creating static object" << endl;
 335
 336         FGAIStatic* ai_static = new FGAIStatic(this);
 337         ai_list.push_back(ai_static);
 338         ++numObjects[0];
 339         ++numObjects[FGAIBase::otStatic];
 340         ai_static->setHeading(entity->heading);
 341         ai_static->setPath(entity->path.c_str());
 342         ai_static->setAltitude(entity->altitude);
 343         ai_static->setLongitude(entity->longitude);
 344         ai_static->setLatitude(entity->latitude);
 345         ai_static->init();
 346         ai_static->bind();
 347         return ai_static;
 348 }
 349
 350 void FGAIManager::destroyObject( int ID ) {
 351         ai_list_iterator ai_list_itr = ai_list.begin();
 352         while(ai_list_itr != ai_list.end()) {
 353             if ((*ai_list_itr)->getID() == ID) {
 354               --numObjects[0];
 355               --numObjects[(*ai_list_itr)->getType()];
 356               (*ai_list_itr)->unbind();
 357               delete (*ai_list_itr);
 358               ai_list.erase(ai_list_itr);
 359
 360               break;
 361             }
 362             ++ai_list_itr;
 363         }
 364 }
 365
 366
 367 void FGAIManager::fetchUserState( void ) {
 368      user_latitude  = user_latitude_node->getDoubleValue();
 369      user_longitude = user_longitude_node->getDoubleValue();
 370      user_altitude  = user_altitude_node->getDoubleValue();
 371      user_heading   = user_heading_node->getDoubleValue();
 372      user_pitch     = user_pitch_node->getDoubleValue();
 373      user_yaw       = user_yaw_node->getDoubleValue();
 374      user_speed     = user_speed_node->getDoubleValue() * 0.592484;
 375      wind_from_east = wind_from_east_node->getDoubleValue();
 376      wind_from_north = wind_from_north_node->getDoubleValue();
 377
 378
 379 }
 380
 381
 382 // only keep the results from the nearest thermal
 383 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 384   thermal->update(_dt);
 385   if ( thermal->_getRange() < range_nearest ) {
 386      range_nearest = thermal->_getRange();
 387      strength = thermal->getStrength();
 388   }
 389 }
 390
 391
 392 void FGAIManager::processScenario( const string &filename ) {
 393   FGAIScenario* s = new FGAIScenario( filename );
 394   for (int i=0;i<s->nEntries();i++) {
 395    FGAIModelEntity* const en = s->getNextEntry();
 396
 397     if (en) {
 398       if ( en->m_type == "aircraft") {
 399         createAircraft( en );
 400
 401       } else if ( en->m_type == "ship") {
 402         createShip( en );
 403
 404       } else if ( en->m_type == "carrier") {
 405         createCarrier( en );
 406
 407       } else if ( en->m_type == "thunderstorm") {
 408         createStorm( en );
 409
 410       } else if ( en->m_type == "thermal") {
 411         createThermal( en );
 412
 413       } else if ( en->m_type == "ballistic") {
 414         createBallistic( en );
 415
 416       } else if ( en->m_type == "static") {
 417         createStatic( en );
 418       }
 419     }
 420   }
 421
 422   delete s;
 423 }
 424
 425 // This code keeps track of models that have already been loaded
 426 // Eventually we'd prbably need to find a way to keep track of models
 427 // that are unloaded again
 428 ssgBranch * FGAIManager::getModel(const string& path) const
 429 {
 430   ModelVecIterator i = loadedModels.begin();
 431   while (i != loadedModels.end())
 432     {
 433       if (i->getPath() == path)
 434         return i->getModelId();
 435       i++;
 436     }
 437   return 0;
 438 }
 439
 440 void FGAIManager::setModel(const string& path, ssgBranch *model)
 441 {
 442   loadedModels.push_back(FGModelID(path,model));
 443 }
 444
 445 bool FGAIManager::getStartPosition(const string& id, const string& pid,
 446                                    Point3D& geodPos, double& heading,
 447                                    sgdVec3 uvw)
 448 {
 449   SGPropertyNode* root = fgGetNode("sim/ai", true);
 450   if (!root->getNode("enabled", true)->getBoolValue())
 451       return 0;
 452
 453   bool found = false;
 454   for(int i = 0 ; (!found) && i < root->nChildren() ; i++) {
 455     SGPropertyNode *aiEntry = root->getChild( i );
 456         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
 457         string filename = aiEntry->getStringValue();
 458         FGAIScenario* s = new FGAIScenario( filename );
 459         for (int i=0; i<s->nEntries(); i++) {
 460             FGAIModelEntity* en = s->getNextEntry();
 461             if (en && en->m_type == "carrier" &&
 462                 (en->pennant_number == id || en->name == id)) {
 463             FGAICarrier* ai_carrier = new FGAICarrier(0);
 464             ai_carrier->setHeading(en->heading);
 465             ai_carrier->setSpeed(en->speed);
 466             ai_carrier->setAltitude(en->altitude);
 467             ai_carrier->setLongitude(en->longitude);
 468             ai_carrier->setLatitude(en->latitude);
 469             ai_carrier->setBank(en->rudder);
 470             ai_carrier->setParkingPositions(en->ppositions);
 471       ai_carrier->setWind_from_east(en->wind_from_east);
 472       ai_carrier->setWind_from_north(en->wind_from_north);
 473       //ai_carrier->setTACANFreq(en->TACAN_freq);
 474
 475             if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
 476                 delete ai_carrier;
 477                 found = true;
 478                 break;
 479             }
 480
 481             delete ai_carrier;
 482         }
 483       }
 484       delete s;
 485     }
 486   }
 487   return found;
 488 }
 489
 490 //end AIManager.cxx