1 // AIManager.cxx Based on David Luff's AIMgr:
2 // - a global management type for AI objects
4 // Written by David Culp, started October 2003.
5 // - davidculp2@comcast.net
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.
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.
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
24 #include <simgear/sg_inlines.h>
25 #include <simgear/math/sg_geodesy.hxx>
26 #include <simgear/props/props_io.hxx>
27 #include <simgear/structure/exception.hxx>
28 #include <simgear/structure/commands.hxx>
29 #include <simgear/structure/SGBinding.hxx>
31 #include <boost/mem_fn.hpp>
32 #include <boost/foreach.hpp>
34 #include <Main/globals.hxx>
35 #include <Airports/airport.hxx>
36 #include <Scripting/NasalSys.hxx>
38 #include "AIManager.hxx"
39 #include "AIAircraft.hxx"
41 #include "AIBallistic.hxx"
42 #include "AIStorm.hxx"
43 #include "AIThermal.hxx"
44 #include "AICarrier.hxx"
45 #include "AIStatic.hxx"
46 #include "AIMultiplayer.hxx"
47 #include "AITanker.hxx"
48 #include "AIWingman.hxx"
49 #include "AIGroundVehicle.hxx"
50 #include "AIEscort.hxx"
52 class FGAIManager::Scenario
55 Scenario(FGAIManager* man, const std::string& nm, SGPropertyNode* scenarios) :
58 BOOST_FOREACH(SGPropertyNode* scEntry, scenarios->getChildren("entry")) {
59 FGAIBasePtr ai = man->addObject(scEntry);
61 _objects.push_back(ai);
63 } // of scenario entry iteration
65 SGPropertyNode* nasalScripts = scenarios->getChild("nasal");
70 _unloadScript = nasalScripts->getStringValue("unload");
71 std::string loadScript = nasalScripts->getStringValue("load");
72 if (!loadScript.empty()) {
73 FGNasalSys* nasalSys = (FGNasalSys*) globals->get_subsystem("nasal");
74 std::string moduleName = "scenario_" + _internalName;
75 nasalSys->createModule(moduleName.c_str(), moduleName.c_str(),
76 loadScript.c_str(), loadScript.size(),
83 BOOST_FOREACH(FGAIBasePtr ai, _objects) {
87 FGNasalSys* nasalSys = (FGNasalSys*) globals->get_subsystem("nasal");
88 std::string moduleName = "scenario_" + _internalName;
89 if (!_unloadScript.empty()) {
90 nasalSys->createModule(moduleName.c_str(), moduleName.c_str(),
91 _unloadScript.c_str(), _unloadScript.size(),
95 nasalSys->deleteModule(moduleName.c_str());
98 std::vector<FGAIBasePtr> _objects;
99 std::string _internalName;
100 std::string _unloadScript;
103 ///////////////////////////////////////////////////////////////////////////////
105 FGAIManager::FGAIManager() :
106 cb_ai_bare(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
107 fgGetNode("/sim/rendering/static-lod/ai-bare", true))),
108 cb_ai_detailed(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
109 fgGetNode("/sim/rendering/static-lod/ai-detailed", true)))
114 FGAIManager::~FGAIManager()
116 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::unbind));
120 FGAIManager::init() {
121 root = fgGetNode("sim/ai", true);
123 enabled = root->getNode("enabled", true);
125 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
126 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
127 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
129 user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
130 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
131 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
133 globals->get_commands()->addCommand("load-scenario", this, &FGAIManager::loadScenarioCommand);
134 globals->get_commands()->addCommand("unload-scenario", this, &FGAIManager::unloadScenarioCommand);
138 FGAIManager::postinit()
140 // postinit, so that it can access the Nasal subsystem
142 // scenarios enabled, AI subsystem required
143 if (!enabled->getBoolValue())
144 enabled->setBoolValue(true);
146 // process all scenarios
147 BOOST_FOREACH(SGPropertyNode* n, root->getChildren("scenario")) {
148 const string& name = n->getStringValue();
152 if (_scenarios.find(name) != _scenarios.end()) {
153 SG_LOG(SG_AI, SG_WARN, "won't load scenario '" << name << "' twice");
157 SG_LOG(SG_AI, SG_INFO, "loading scenario '" << name << '\'');
163 FGAIManager::reinit()
165 // shutdown scenarios
166 unloadAllScenarios();
169 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::reinit));
171 // (re-)load scenarios
176 FGAIManager::shutdown()
178 unloadAllScenarios();
182 FGAIManager::bind() {
183 root = globals->get_props()->getNode("ai/models", true);
184 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
185 &FGAIManager::getNumAiObjects));
189 FGAIManager::unbind() {
190 root->untie("count");
193 void FGAIManager::removeDeadItem(FGAIBase* base)
195 SGPropertyNode *props = base->_getProps();
197 props->setBoolValue("valid", false);
200 // for backward compatibility reset properties, so that aircraft,
201 // which don't know the <valid> property, keep working
202 // TODO: remove after a while
203 props->setIntValue("id", -1);
204 props->setBoolValue("radar/in-range", false);
205 props->setIntValue("refuel/tanker", false);
209 FGAIManager::update(double dt) {
210 // initialize these for finding nearest thermals
211 range_nearest = 10000.0;
214 if (!enabled->getBoolValue())
219 // partition the list into dead followed by alive
220 ai_list_iterator firstAlive =
221 std::stable_partition(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::getDie));
223 // clean up each item and finally remove from the container
224 for (ai_list_iterator it=ai_list.begin(); it != firstAlive; ++it) {
228 ai_list.erase(ai_list.begin(), firstAlive);
230 // every remaining item is alive. update them in turn, but guard for
231 // exceptions, so a single misbehaving AI object doesn't bring down the
233 BOOST_FOREACH(FGAIBase* base, ai_list) {
235 if (base->isa(FGAIBase::otThermal)) {
236 processThermal(dt, (FGAIThermal*)base);
240 } catch (sg_exception& e) {
241 SG_LOG(SG_AI, SG_WARN, "caught exception updating AI model:" << base->_getName()<< ", which will be killed."
242 "\n\tError:" << e.getFormattedMessage());
245 } // of live AI objects iteration
247 thermal_lift_node->setDoubleValue( strength ); // for thermals
250 /** update LOD settings of all AI/MP models */
252 FGAIManager::updateLOD(SGPropertyNode* node)
255 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::updateLOD));
259 FGAIManager::attach(FGAIBase *model)
261 const char* typeString = model->getTypeString();
262 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
266 // find free index in the property tree, if we have
267 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
268 for (i = 0; i < 10000; i++) {
269 p = root->getNode(typeString, i, false);
271 if (!p || !p->getBoolValue("valid", false))
274 if (p->getIntValue("id",-1)==model->getID()) {
275 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
279 p = root->getNode(typeString, i, true);
280 model->setManager(this, p);
281 ai_list.push_back(model);
283 model->init(model->getType()==FGAIBase::otAircraft
284 || model->getType()==FGAIBase::otMultiplayer
285 || model->getType()==FGAIBase::otStatic);
287 p->setBoolValue("valid", true);
291 FGAIManager::getNumAiObjects(void) const
293 return ai_list.size();
297 FGAIManager::fetchUserState( void ) {
299 user_yaw = user_yaw_node->getDoubleValue();
300 globals->get_aircraft_orientation(user_heading, user_pitch, user_roll);
302 user_speed = user_speed_node->getDoubleValue() * 0.592484;
303 wind_from_east = wind_from_east_node->getDoubleValue();
304 wind_from_north = wind_from_north_node->getDoubleValue();
305 user_altitude_agl = user_altitude_agl_node->getDoubleValue();
309 // only keep the results from the nearest thermal
311 FGAIManager::processThermal( double dt, FGAIThermal* thermal ) {
314 if ( thermal->_getRange() < range_nearest ) {
315 range_nearest = thermal->_getRange();
316 strength = thermal->getStrength();
321 bool FGAIManager::loadScenarioCommand(const SGPropertyNode* args)
323 std::string name = args->getStringValue("name");
324 if (args->hasChild("load-property")) {
325 // slightly ugly, to simplify life in the dialogs, make load allow
326 // loading or unloading based on a bool property.
327 bool loadIt = fgGetBool(args->getStringValue("load-property"));
329 // user actually wants to unload, fine.
330 return unloadScenario(name);
334 if (_scenarios.find(name) != _scenarios.end()) {
335 SG_LOG(SG_AI, SG_WARN, "scenario '" << name << "' already loaded");
339 bool ok = loadScenario(name);
341 // create /sim/ai node for consistency
343 for (; root->hasChild("scenario", index); ++index) {}
345 SGPropertyNode* scenarioNode = root->getChild("scenario", index, true);
346 scenarioNode->setStringValue(name);
352 bool FGAIManager::unloadScenarioCommand(const SGPropertyNode* args)
354 std::string name = args->getStringValue("name");
355 return unloadScenario(name);
358 bool FGAIManager::addObjectCommand(const SGPropertyNode* definition)
360 addObject(definition);
364 FGAIBasePtr FGAIManager::addObject(const SGPropertyNode* definition)
366 const std::string& type = definition->getStringValue("type", "aircraft");
369 if (type == "tanker") { // refueling scenarios
371 } else if (type == "wingman") {
372 ai = new FGAIWingman;
373 } else if (type == "aircraft") {
374 ai = new FGAIAircraft;
375 } else if (type == "ship") {
377 } else if (type == "carrier") {
378 ai = new FGAICarrier;
379 } else if (type == "groundvehicle") {
380 ai = new FGAIGroundVehicle;
381 } else if (type == "escort") {
383 } else if (type == "thunderstorm") {
385 } else if (type == "thermal") {
386 ai = new FGAIThermal;
387 } else if (type == "ballistic") {
388 ai = new FGAIBallistic;
389 } else if (type == "static") {
393 ai->readFromScenario(const_cast<SGPropertyNode*>(definition));
398 bool FGAIManager::removeObject(const SGPropertyNode* args)
400 int id = args->getIntValue("id");
401 BOOST_FOREACH(FGAIBase* ai, get_ai_list()) {
402 if (ai->getID() == id) {
412 FGAIManager::loadScenario( const string &filename )
414 SGPropertyNode_ptr file = loadScenarioFile(filename);
419 SGPropertyNode_ptr scNode = file->getChild("scenario");
424 _scenarios[filename] = new Scenario(this, filename, scNode);
430 FGAIManager::unloadScenario( const string &filename)
432 ScenarioDict::iterator it = _scenarios.find(filename);
433 if (it == _scenarios.end()) {
434 SG_LOG(SG_AI, SG_WARN, "unload scenario: not found:" << filename);
438 // remove /sim/ai node
439 unsigned int index = 0;
440 for (SGPropertyNode* n = NULL; (n = root->getChild("scenario", index)) != NULL; ++index) {
441 if (n->getStringValue() == filename) {
442 root->removeChild("scenario", index);
448 _scenarios.erase(it);
453 FGAIManager::unloadAllScenarios()
455 ScenarioDict::iterator it = _scenarios.begin();
456 for (; it != _scenarios.end(); ++it) {
458 } // of scenarios iteration
461 // remove /sim/ai node
462 root->removeChildren("scenario");
468 FGAIManager::loadScenarioFile(const std::string& filename)
470 SGPath path(globals->get_fg_root());
471 path.append("AI/" + filename + ".xml");
473 SGPropertyNode_ptr root = new SGPropertyNode;
474 readProperties(path.str(), root);
476 } catch (const sg_exception &t) {
477 SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
478 << path.str() << "': " << t.getFormattedMessage());
484 FGAIManager::getStartPosition(const string& id, const string& pid,
485 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
488 SGPropertyNode* root = fgGetNode("sim/ai", true);
489 if (!root->getNode("enabled", true)->getBoolValue())
492 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
493 SGPropertyNode *aiEntry = root->getChild( i );
494 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
495 const string& filename = aiEntry->getStringValue();
496 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
498 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
500 for (int i = 0; i < scenarios->nChildren(); i++) {
501 SGPropertyNode* scEntry = scenarios->getChild(i);
502 const std::string& type = scEntry->getStringValue("type");
503 const std::string& pnumber = scEntry->getStringValue("pennant-number");
504 const std::string& name = scEntry->getStringValue("name");
505 if (type == "carrier" && (pnumber == id || name == id)) {
506 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
507 carrier->readFromScenario(scEntry);
509 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
523 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
525 // we specify tgt extent (ft) according to the AIObject type
526 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
527 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
528 ai_list_iterator ai_list_itr = ai_list.begin();
529 ai_list_iterator end = ai_list.end();
531 SGGeod pos(SGGeod::fromDegFt(lon, lat, alt));
532 SGVec3d cartPos(SGVec3d::fromGeod(pos));
534 while (ai_list_itr != end) {
535 double tgt_alt = (*ai_list_itr)->_getAltitude();
536 int type = (*ai_list_itr)->getType();
537 tgt_ht[type] += fuse_range;
539 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
540 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
541 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
542 // << fabs(tgt_alt - alt)
550 int id = (*ai_list_itr)->getID();
552 double range = calcRangeFt(cartPos, (*ai_list_itr));
554 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: AI list size "
556 // << " type " << type
558 // << " range " << range
559 // //<< " bearing " << bearing
560 // << " alt " << tgt_alt
563 tgt_length[type] += fuse_range;
565 if (range < tgt_length[type]){
566 SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
569 << " range " << range
570 << " alt " << tgt_alt
572 return (*ai_list_itr).get();
580 FGAIManager::calcRangeFt(const SGVec3d& aCartPos, FGAIBase* aObject) const
582 double distM = dist(aCartPos, aObject->getCartPos());
583 return distM * SG_METER_TO_FEET;