src/AIModel/AIManager.cxx

   1 // AIManager.cxx  Based on David Luff's AIMgr:
   2 // - a global management class 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 <list>
  26
  27 #include "AIManager.hxx"
  28 #include "AIAircraft.hxx"
  29 #include "AIShip.hxx"
  30 #include "AIBallistic.hxx"
  31 #include "AIStorm.hxx"
  32 #include "AIThermal.hxx"
  33
  34 SG_USING_STD(list);
  35
  36
  37 FGAIManager::FGAIManager() {
  38   initDone = false;
  39   numObjects = 0;
  40   _dt = 0.0;
  41   dt_count = 9;
  42   scenario_filename = "";
  43 }
  44
  45 FGAIManager::~FGAIManager() {
  46   ai_list_itr = ai_list.begin();
  47   while(ai_list_itr != ai_list.end()) {
  48       delete (*ai_list_itr);
  49       ++ai_list_itr;
  50     }
  51   ai_list.clear();
  52   ids.clear();
  53 }
  54
  55
  56 void FGAIManager::init() {
  57   root = fgGetNode("sim/ai", true);
  58
  59   enabled = root->getNode("enabled", true)->getBoolValue();
  60   if (!enabled)
  61       return;
  62
  63   wind_from_down = fgGetNode("/environment/wind-from-down-fps", true);
  64
  65   scenario_filename = root->getNode("scenario", true)->getStringValue();
  66
  67   if (scenario_filename != "") processScenario( scenario_filename );
  68   initDone = true;
  69 }
  70
  71
  72 void FGAIManager::bind() {
  73    root = globals->get_props()->getNode("ai/models", true);
  74    root->tie("count", SGRawValuePointer<int>(&numObjects));
  75 }
  76
  77
  78 void FGAIManager::unbind() {
  79     root->untie("count");
  80 }
  81
  82
  83 void FGAIManager::update(double dt) {
  84
  85         // initialize these for finding nearest thermals
  86         range_nearest = 10000.0;
  87         strength = 0.0;
  88
  89         if (!enabled)
  90             return;
  91
  92         _dt = dt;
  93
  94         ai_list_itr = ai_list.begin();
  95         while(ai_list_itr != ai_list.end()) {
  96                 if ((*ai_list_itr)->getDie()) {
  97                    freeID((*ai_list_itr)->getID());
  98                    delete (*ai_list_itr);
  99                    --numObjects;
 100                    if ( ai_list_itr == ai_list.begin() ) {
 101                        ai_list.erase(ai_list_itr);
 102                        ai_list_itr = ai_list.begin();
 103                        continue;
 104                    } else {
 105                        ai_list.erase(ai_list_itr--);
 106                    }
 107                 } else {
 108                    fetchUserState();
 109                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 110                        processThermal((FGAIThermal*)*ai_list_itr);
 111                    } else {
 112                       (*ai_list_itr)->update(_dt);
 113                    }
 114                 }
 115                 ++ai_list_itr;
 116         }
 117         wind_from_down->setDoubleValue( strength );
 118 }
 119
 120
 121 // This function returns the next available ID
 122 int FGAIManager::assignID() {
 123   int maxint = 30000;
 124   int x;
 125   bool used;
 126   for (x=1; x<maxint; x++) {
 127      used = false;
 128      id_itr = ids.begin();
 129      while( id_itr != ids.end() ) {
 130        if ((*id_itr) == x) used = true;
 131        ++id_itr;
 132      }
 133      if (!used) {
 134        ids.push_back(x);
 135        return x;
 136      }
 137   }
 138   return -1;  // no available ID's
 139 }
 140
 141
 142 // This function removes an ID from the ID array, making it
 143 // available for assignment to another AI object
 144 void FGAIManager::freeID( int ID ) {
 145     id_itr = ids.begin();
 146     while( id_itr != ids.end() ) {
 147       if (*id_itr == ID) {
 148         ids.erase( id_itr );
 149         return;
 150       }
 151       ++id_itr;
 152     }
 153 }
 154
 155 int FGAIManager::createAircraft( string model_class, string path,
 156               double latitude, double longitude, double altitude,
 157               double heading, double speed, double roll ) {
 158
 159         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 160         ai_list.push_back(ai_plane);
 161         ai_plane->setID( assignID() );
 162         ++numObjects;
 163         if (model_class == "light") {
 164           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 165         } else if (model_class == "ww2_fighter") {
 166           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 167         } else if (model_class ==  "jet_transport") {
 168           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 169         } else if (model_class == "jet_fighter") {
 170           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 171         } else {
 172           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 173         }
 174         ai_plane->setHeading(heading);
 175         ai_plane->setSpeed(speed);
 176         ai_plane->setPath(path.c_str());
 177         ai_plane->setAltitude(altitude);
 178         ai_plane->setLongitude(longitude);
 179         ai_plane->setLatitude(latitude);
 180         ai_plane->setBank(roll);
 181         ai_plane->init();
 182         ai_plane->bind();
 183         return ai_plane->getID();
 184 }
 185
 186
 187 int FGAIManager::createAircraft( string model_class, string path,
 188               FGAIFlightPlan* flightplan ) {
 189
 190         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 191         ai_list.push_back(ai_plane);
 192         ai_plane->setID( assignID() );
 193         ++numObjects;
 194         if (model_class == "light") {
 195           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 196         } else if (model_class == "ww2_fighter") {
 197           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 198         } else if (model_class ==  "jet_transport") {
 199           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 200         } else if (model_class == "jet_fighter") {
 201           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 202         } else {
 203           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 204         }
 205         ai_plane->setPath(path.c_str());
 206         ai_plane->SetFlightPlan(flightplan);
 207         ai_plane->init();
 208         ai_plane->bind();
 209         return ai_plane->getID();
 210 }
 211
 212
 213 int FGAIManager::createShip( string path, double latitude, double longitude,
 214                              double altitude, double heading, double speed,
 215                              double rudder ) {
 216
 217         FGAIShip* ai_ship = new FGAIShip(this);
 218         ai_list.push_back(ai_ship);
 219         ai_ship->setID( assignID() );
 220         ++numObjects;
 221         ai_ship->setHeading(heading);
 222         ai_ship->setSpeed(speed);
 223         ai_ship->setPath(path.c_str());
 224         ai_ship->setAltitude(altitude);
 225         ai_ship->setLongitude(longitude);
 226         ai_ship->setLatitude(latitude);
 227         ai_ship->setBank(rudder);
 228         ai_ship->init();
 229         ai_ship->bind();
 230         return ai_ship->getID();
 231 }
 232
 233 int FGAIManager::createShip( string path, FGAIFlightPlan* flightplan ) {
 234
 235         FGAIShip* ai_ship = new FGAIShip(this);
 236         ai_list.push_back(ai_ship);
 237         ai_ship->setID( assignID() );
 238         ++numObjects;
 239         ai_ship->setPath(path.c_str());
 240         ai_ship->setFlightPlan(flightplan);
 241         ai_ship->init();
 242         ai_ship->bind();
 243         return ai_ship->getID();
 244 }
 245
 246
 247 int FGAIManager::createBallistic( string path, double latitude, double longitude,
 248                                   double altitude, double azimuth, double elevation,
 249                                   double speed ) {
 250
 251         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 252         ai_list.push_back(ai_ballistic);
 253         ai_ballistic->setID( assignID() );
 254         ++numObjects;
 255         ai_ballistic->setAzimuth(azimuth);
 256         ai_ballistic->setElevation(elevation);
 257         ai_ballistic->setSpeed(speed);
 258         ai_ballistic->setPath(path.c_str());
 259         ai_ballistic->setAltitude(altitude);
 260         ai_ballistic->setLongitude(longitude);
 261         ai_ballistic->setLatitude(latitude);
 262         ai_ballistic->init();
 263         ai_ballistic->bind();
 264         return ai_ballistic->getID();
 265 }
 266
 267 int FGAIManager::createStorm( string path, double latitude, double longitude,
 268                              double altitude, double heading, double speed ) {
 269
 270         FGAIStorm* ai_storm = new FGAIStorm(this);
 271         ai_list.push_back(ai_storm);
 272         ai_storm->setID( assignID() );
 273         ++numObjects;
 274         ai_storm->setHeading(heading);
 275         ai_storm->setSpeed(speed);
 276         ai_storm->setPath(path.c_str());
 277         ai_storm->setAltitude(altitude);
 278         ai_storm->setLongitude(longitude);
 279         ai_storm->setLatitude(latitude);
 280         ai_storm->init();
 281         ai_storm->bind();
 282         return ai_storm->getID();
 283 }
 284
 285 int FGAIManager::createThermal( double latitude, double longitude,
 286                                 double strength, double diameter ) {
 287
 288         FGAIThermal* ai_thermal = new FGAIThermal(this);
 289         ai_list.push_back(ai_thermal);
 290         ai_thermal->setID( assignID() );
 291         ++numObjects;
 292         ai_thermal->setLongitude(longitude);
 293         ai_thermal->setLatitude(latitude);
 294         ai_thermal->setMaxStrength(strength);
 295         ai_thermal->setDiameter(diameter / 6076.11549);
 296         ai_thermal->init();
 297         ai_thermal->bind();
 298         return ai_thermal->getID();
 299 }
 300
 301 void FGAIManager::destroyObject( int ID ) {
 302         ai_list_itr = ai_list.begin();
 303         while(ai_list_itr != ai_list.end()) {
 304             if ((*ai_list_itr)->getID() == ID) {
 305               freeID( ID );
 306               delete (*ai_list_itr);
 307               ai_list.erase(ai_list_itr);
 308               --ai_list_itr;
 309               --numObjects;
 310               return;
 311             }
 312             ++ai_list_itr;
 313         }
 314 }
 315
 316 // fetch the user's state every 10 sim cycles
 317 void FGAIManager::fetchUserState( void ) {
 318    ++dt_count;
 319    if (dt_count == 10) {
 320      user_latitude  = fgGetDouble("/position/latitude-deg");
 321      user_longitude = fgGetDouble("/position/longitude-deg");
 322      user_altitude  = fgGetDouble("/position/altitude-ft");
 323      user_heading   = fgGetDouble("/orientation/heading-deg");
 324      user_pitch     = fgGetDouble("/orientation/pitch-deg");
 325      user_yaw       = fgGetDouble("/orientation/side-slip-deg");
 326      user_speed     = fgGetDouble("/velocities/uBody-fps") * 0.592484;
 327      dt_count = 0;
 328    }
 329 }
 330
 331
 332 // only keep the results from the nearest thermal
 333 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 334   thermal->update(_dt);
 335   if ( thermal->_getRange() < range_nearest ) {
 336      range_nearest = thermal->_getRange();
 337      strength = thermal->getStrength();
 338   }
 339 }
 340
 341
 342 void FGAIManager::processScenario( string filename ) {
 343   FGAIScenario* s = new FGAIScenario( filename );
 344   FGAIFlightPlan* f;
 345
 346   for (int i=0;i<s->nEntries();i++) {
 347     FGAIScenario::entry* en = s->getNextEntry();
 348     f = 0;
 349     if (en) {
 350       if (en->flightplan != ""){
 351         f = new FGAIFlightPlan( en->flightplan );
 352       }
 353       if (en->aitype == "aircraft"){
 354          if (f){
 355            createAircraft( en->aircraft_class, en->model_path, f );
 356          } else {
 357            createAircraft( en->aircraft_class, en->model_path, en->latitude,
 358                            en->longitude, en->altitude, en->heading,
 359                            en->speed, en->roll );
 360          }
 361       } else if (en->aitype == "ship"){
 362          if (f){
 363            createShip( en->model_path, f );
 364          } else {
 365            createShip( en->model_path, en->latitude,
 366                            en->longitude, en->altitude, en->heading,
 367                            en->speed, en->rudder );
 368          }
 369
 370       } else if (en->aitype == "storm"){
 371         createStorm( en->model_path, en->latitude, en->longitude,
 372                      en->altitude, en->heading, en->speed );
 373       } else if (en->aitype == "thermal"){
 374         createThermal( en->latitude, en->longitude, en->strength,
 375                        en->diameter );
 376       } else if (en->aitype == "ballistic"){
 377         createBallistic( en->model_path, en->latitude, en->longitude,
 378                          en->altitude, en->azimuth, en->elevation, en->speed );
 379       }
 380     }
 381   }
 382
 383   delete s;
 384 }
 385
 386 int FGAIManager::getNum( FGAIBase::object_type ot ) {
 387   ai_list_iterator itr = ai_list.begin();
 388   int count = 0;
 389   while(itr != ai_list.end()) {
 390       if ((*itr)->getType() == ot) {
 391          ++count;
 392       }
 393       ++itr;
 394   }
 395   return count;
 396 }
 397