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   ModelVecIterator i = loadedModels.begin();
  63   while (i != loadedModels.end())
  64     {
  65       i->getModelId()->deRef();
  66       ++i;
  67     }
  68 }
  69
  70
  71 void FGAIManager::init() {
  72   root = fgGetNode("sim/ai", true);
  73
  74   enabled = root->getNode("enabled", true)->getBoolValue();
  75   if (!enabled)
  76       return;
  77
  78   wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
  79   wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
  80   wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
  81
  82   user_latitude_node  = fgGetNode("/position/latitude-deg", true);
  83   user_longitude_node = fgGetNode("/position/longitude-deg", true);
  84   user_altitude_node  = fgGetNode("/position/altitude-ft", true);
  85   user_heading_node   = fgGetNode("/orientation/heading-deg", true);
  86   user_pitch_node     = fgGetNode("/orientation/pitch-deg", true);
  87   user_yaw_node       = fgGetNode("/orientation/side-slip-deg", true);
  88   user_speed_node     = fgGetNode("/velocities/uBody-fps", true);
  89
  90   for(int i = 0 ; i < root->nChildren() ; i++) {
  91     SGPropertyNode *aiEntry = root->getChild( i );
  92         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
  93       scenario_filename = aiEntry->getStringValue();
  94       if (scenario_filename != "") processScenario( scenario_filename );
  95         }
  96   }
  97   initDone = true;
  98 }
  99
 100
 101 void FGAIManager::reinit() {
 102    update(0.0);
 103 }
 104
 105
 106 void FGAIManager::bind() {
 107    root = globals->get_props()->getNode("ai/models", true);
 108    root->tie("count", SGRawValuePointer<int>(&numObjects[0]));
 109 }
 110
 111
 112 void FGAIManager::unbind() {
 113     root->untie("count");
 114 }
 115
 116
 117 void FGAIManager::update(double dt) {
 118
 119         // initialize these for finding nearest thermals
 120         range_nearest = 10000.0;
 121         strength = 0.0;
 122         FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
 123
 124         if (!enabled)
 125             return;
 126
 127         _dt = dt;
 128
 129         ai_list_iterator ai_list_itr = ai_list.begin();
 130         while(ai_list_itr != ai_list.end()) {
 131                 if ((*ai_list_itr)->getDie()) {
 132                   tmgr->release((*ai_list_itr)->getID());
 133                    --numObjects[(*ai_list_itr)->getType()];
 134                    --numObjects[0];
 135                    (*ai_list_itr)->unbind();
 136                    delete (*ai_list_itr);
 137                    if ( ai_list_itr == ai_list.begin() ) {
 138                        ai_list.erase(ai_list_itr);
 139                        ai_list_itr = ai_list.begin();
 140                        continue;
 141                    } else {
 142                        ai_list.erase(ai_list_itr--);
 143                    }
 144                 } else {
 145                    fetchUserState();
 146                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 147                        processThermal((FGAIThermal*)*ai_list_itr);
 148                    } else {
 149                       (*ai_list_itr)->update(_dt);
 150                    }
 151                 }
 152                 ++ai_list_itr;
 153         }
 154         wind_from_down_node->setDoubleValue( strength ); // for thermals
 155
 156 }
 157
 158
 159 void*
 160 FGAIManager::createAircraft( FGAIModelEntity *entity,   FGAISchedule *ref) {
 161
 162         FGAIAircraft* ai_plane = new FGAIAircraft(this, ref);
 163         ai_list.push_back(ai_plane);
 164         ++numObjects[0];
 165         ++numObjects[FGAIBase::otAircraft];
 166         if (entity->m_class == "light") {
 167           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 168         } else if (entity->m_class == "ww2_fighter") {
 169           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 170         } else if (entity->m_class ==  "jet_transport") {
 171           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 172         } else if (entity->m_class == "jet_fighter") {
 173           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 174         } else if (entity->m_class ==  "tanker") {
 175           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 176           ai_plane->SetTanker(true);
 177         } else {
 178           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 179         }
 180         ai_plane->setAcType(entity->acType);
 181         ai_plane->setCompany(entity->company);
 182         ai_plane->setHeading(entity->heading);
 183         ai_plane->setSpeed(entity->speed);
 184         ai_plane->setPath(entity->path.c_str());
 185         ai_plane->setAltitude(entity->altitude);
 186         ai_plane->setLongitude(entity->longitude);
 187         ai_plane->setLatitude(entity->latitude);
 188         ai_plane->setBank(entity->roll);
 189
 190         if ( entity->fp ) {
 191           ai_plane->SetFlightPlan(entity->fp);
 192         }
 193         if (entity->repeat) {
 194           ai_plane->GetFlightPlan()->setRepeat(true);
 195         }
 196         ai_plane->init();
 197         ai_plane->bind();
 198         return ai_plane;
 199 }
 200
 201 void*
 202 FGAIManager::createShip( FGAIModelEntity *entity ) {
 203
 204      // cout << "creating ship" << endl;
 205
 206         FGAIShip* ai_ship = new FGAIShip(this);
 207         ai_list.push_back(ai_ship);
 208         ++numObjects[0];
 209         ++numObjects[FGAIBase::otShip];
 210         ai_ship->setHeading(entity->heading);
 211         ai_ship->setSpeed(entity->speed);
 212         ai_ship->setPath(entity->path.c_str());
 213         ai_ship->setAltitude(entity->altitude);
 214         ai_ship->setLongitude(entity->longitude);
 215         ai_ship->setLatitude(entity->latitude);
 216         ai_ship->setRudder(entity->rudder);
 217         ai_ship->setName(entity->name);
 218
 219         if ( entity->fp ) {
 220            ai_ship->setFlightPlan(entity->fp);
 221         }
 222
 223         ai_ship->init();
 224         ai_ship->bind();
 225         return ai_ship;
 226 }
 227
 228 void*
 229 FGAIManager::createCarrier( FGAIModelEntity *entity ) {
 230
 231     // cout << "creating carrier" << endl;
 232
 233         FGAICarrier* ai_carrier = new FGAICarrier(this);
 234         ai_list.push_back(ai_carrier);
 235         ++numObjects[0];
 236         ++numObjects[FGAIBase::otCarrier];
 237         ai_carrier->setHeading(entity->heading);
 238         ai_carrier->setSpeed(entity->speed);
 239         ai_carrier->setPath(entity->path.c_str());
 240         ai_carrier->setAltitude(entity->altitude);
 241         ai_carrier->setLongitude(entity->longitude);
 242         ai_carrier->setLatitude(entity->latitude);
 243         ai_carrier->setRudder(entity->rudder);
 244         ai_carrier->setSolidObjects(entity->solid_objects);
 245         ai_carrier->setWireObjects(entity->wire_objects);
 246         ai_carrier->setCatapultObjects(entity->catapult_objects);
 247         ai_carrier->setParkingPositions(entity->ppositions);
 248         ai_carrier->setRadius(entity->radius);
 249         ai_carrier->setSign(entity->pennant_number);
 250         ai_carrier->setName(entity->name);
 251         ai_carrier->setFlolsOffset(entity->flols_offset);
 252         ai_carrier->setWind_from_east(entity->wind_from_east);
 253         ai_carrier->setWind_from_north(entity->wind_from_north);
 254         ai_carrier->setTACANChannelID(entity->TACAN_channel_ID);
 255         ai_carrier->setMaxLat(entity->max_lat);
 256         ai_carrier->setMinLat(entity->min_lat);
 257         ai_carrier->setMaxLong(entity->max_long);
 258         ai_carrier->setMinLong(entity->min_long);
 259
 260
 261         if ( entity->fp ) {
 262            ai_carrier->setFlightPlan(entity->fp);
 263         }
 264
 265         ai_carrier->init();
 266         ai_carrier->bind();
 267         return ai_carrier;
 268 }
 269
 270 void*
 271 FGAIManager::createBallistic( FGAIModelEntity *entity ) {
 272
 273         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 274         ai_list.push_back(ai_ballistic);
 275         ++numObjects[0];
 276         ++numObjects[FGAIBase::otBallistic];
 277         ai_ballistic->setAzimuth(entity->azimuth);
 278         ai_ballistic->setElevation(entity->elevation);
 279         ai_ballistic->setSpeed(entity->speed);
 280         ai_ballistic->setPath(entity->path.c_str());
 281         ai_ballistic->setAltitude(entity->altitude);
 282         ai_ballistic->setLongitude(entity->longitude);
 283         ai_ballistic->setLatitude(entity->latitude);
 284         ai_ballistic->setDragArea(entity->eda);
 285         ai_ballistic->setLife(entity->life);
 286         ai_ballistic->setBuoyancy(entity->buoyancy);
 287         ai_ballistic->setWind_from_east(entity->wind_from_east);
 288         ai_ballistic->setWind_from_north(entity->wind_from_north);
 289         ai_ballistic->setWind(entity->wind);
 290         ai_ballistic->setRoll(entity->roll);
 291         ai_ballistic->setCd(entity->cd);
 292         ai_ballistic->setMass(entity->mass);
 293         ai_ballistic->setStabilisation(entity->aero_stabilised);
 294         ai_ballistic->init();
 295         ai_ballistic->bind();
 296         return ai_ballistic;
 297 }
 298
 299 void*
 300 FGAIManager::createStorm( FGAIModelEntity *entity ) {
 301
 302         FGAIStorm* ai_storm = new FGAIStorm(this);
 303         ++numObjects[0];
 304         ++numObjects[FGAIBase::otStorm];
 305         ai_storm->setHeading(entity->heading);
 306         ai_storm->setSpeed(entity->speed);
 307         ai_storm->setPath(entity->path.c_str());
 308         ai_storm->setAltitude(entity->altitude);
 309         ai_storm->setDiameter(entity->diameter / 6076.11549);
 310         ai_storm->setHeight(entity->height_msl);
 311         ai_storm->setStrengthNorm(entity->turb_strength);
 312         ai_storm->setLongitude(entity->longitude);
 313         ai_storm->setLatitude(entity->latitude);
 314         ai_storm->init();
 315         ai_storm->bind();
 316         ai_list.push_back(ai_storm);
 317         return ai_storm;
 318 }
 319
 320 void*
 321 FGAIManager::createThermal( FGAIModelEntity *entity ) {
 322
 323         FGAIThermal* ai_thermal = new FGAIThermal(this);
 324         ++numObjects[0];
 325         ++numObjects[FGAIBase::otThermal];
 326         ai_thermal->setLongitude(entity->longitude);
 327         ai_thermal->setLatitude(entity->latitude);
 328         ai_thermal->setMaxStrength(entity->strength);
 329         ai_thermal->setDiameter(entity->diameter / 6076.11549);
 330         ai_thermal->setHeight(entity->height_msl);
 331         ai_thermal->init();
 332         ai_thermal->bind();
 333         ai_list.push_back(ai_thermal);
 334         return ai_thermal;
 335 }
 336
 337 void*
 338 FGAIManager::createStatic( FGAIModelEntity *entity ) {
 339
 340      // cout << "creating static object" << endl;
 341
 342         FGAIStatic* ai_static = new FGAIStatic(this);
 343         ai_list.push_back(ai_static);
 344         ++numObjects[0];
 345         ++numObjects[FGAIBase::otStatic];
 346         ai_static->setHeading(entity->heading);
 347         ai_static->setPath(entity->path.c_str());
 348         ai_static->setAltitude(entity->altitude);
 349         ai_static->setLongitude(entity->longitude);
 350         ai_static->setLatitude(entity->latitude);
 351         ai_static->init();
 352         ai_static->bind();
 353         return ai_static;
 354 }
 355
 356 void FGAIManager::destroyObject( int ID ) {
 357         ai_list_iterator ai_list_itr = ai_list.begin();
 358         while(ai_list_itr != ai_list.end()) {
 359             if ((*ai_list_itr)->getID() == ID) {
 360               --numObjects[0];
 361               --numObjects[(*ai_list_itr)->getType()];
 362               (*ai_list_itr)->unbind();
 363               delete (*ai_list_itr);
 364               ai_list.erase(ai_list_itr);
 365
 366               break;
 367             }
 368             ++ai_list_itr;
 369         }
 370 }
 371
 372
 373 void FGAIManager::fetchUserState( void ) {
 374      user_latitude  = user_latitude_node->getDoubleValue();
 375      user_longitude = user_longitude_node->getDoubleValue();
 376      user_altitude  = user_altitude_node->getDoubleValue();
 377      user_heading   = user_heading_node->getDoubleValue();
 378      user_pitch     = user_pitch_node->getDoubleValue();
 379      user_yaw       = user_yaw_node->getDoubleValue();
 380      user_speed     = user_speed_node->getDoubleValue() * 0.592484;
 381      wind_from_east = wind_from_east_node->getDoubleValue();
 382      wind_from_north = wind_from_north_node->getDoubleValue();
 383
 384
 385 }
 386
 387
 388 // only keep the results from the nearest thermal
 389 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 390   thermal->update(_dt);
 391   if ( thermal->_getRange() < range_nearest ) {
 392      range_nearest = thermal->_getRange();
 393      strength = thermal->getStrength();
 394   }
 395 }
 396
 397
 398 void FGAIManager::processScenario( const string &filename ) {
 399   FGAIScenario* s = new FGAIScenario( filename );
 400   for (int i=0;i<s->nEntries();i++) {
 401    FGAIModelEntity* const en = s->getNextEntry();
 402
 403     if (en) {
 404       if ( en->m_type == "aircraft") {
 405         createAircraft( en );
 406
 407       } else if ( en->m_type == "ship") {
 408         createShip( en );
 409
 410       } else if ( en->m_type == "carrier") {
 411         createCarrier( en );
 412
 413       } else if ( en->m_type == "thunderstorm") {
 414         createStorm( en );
 415
 416       } else if ( en->m_type == "thermal") {
 417         createThermal( en );
 418
 419       } else if ( en->m_type == "ballistic") {
 420         createBallistic( en );
 421
 422       } else if ( en->m_type == "static") {
 423         createStatic( en );
 424       }
 425     }
 426   }
 427
 428   delete s;
 429 }
 430
 431 // This code keeps track of models that have already been loaded
 432 // Eventually we'd prbably need to find a way to keep track of models
 433 // that are unloaded again
 434 ssgBranch * FGAIManager::getModel(const string& path) const
 435 {
 436   ModelVecIterator i = loadedModels.begin();
 437   while (i != loadedModels.end())
 438     {
 439       if (i->getPath() == path)
 440         return i->getModelId();
 441       i++;
 442     }
 443   return 0;
 444 }
 445
 446 void FGAIManager::setModel(const string& path, ssgBranch *model)
 447 {
 448   if (model)
 449     model->ref();
 450   loadedModels.push_back(FGModelID(path,model));
 451 }
 452
 453 bool FGAIManager::getStartPosition(const string& id, const string& pid,
 454                                    Point3D& geodPos, double& heading,
 455                                    sgdVec3 uvw)
 456 {
 457   SGPropertyNode* root = fgGetNode("sim/ai", true);
 458   if (!root->getNode("enabled", true)->getBoolValue())
 459       return 0;
 460
 461   bool found = false;
 462   for(int i = 0 ; (!found) && i < root->nChildren() ; i++) {
 463     SGPropertyNode *aiEntry = root->getChild( i );
 464         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
 465         string filename = aiEntry->getStringValue();
 466         FGAIScenario* s = new FGAIScenario( filename );
 467         for (int i=0; i<s->nEntries(); i++) {
 468             FGAIModelEntity* en = s->getNextEntry();
 469             if (en && en->m_type == "carrier" &&
 470                 (en->pennant_number == id || en->name == id)) {
 471             FGAICarrier* ai_carrier = new FGAICarrier(0);
 472             ai_carrier->setHeading(en->heading);
 473             ai_carrier->setSpeed(en->speed);
 474             ai_carrier->setAltitude(en->altitude);
 475             ai_carrier->setLongitude(en->longitude);
 476             ai_carrier->setLatitude(en->latitude);
 477             ai_carrier->setBank(en->rudder);
 478             ai_carrier->setParkingPositions(en->ppositions);
 479       ai_carrier->setWind_from_east(en->wind_from_east);
 480       ai_carrier->setWind_from_north(en->wind_from_north);
 481       //ai_carrier->setTACANFreq(en->TACAN_freq);
 482
 483             if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
 484                 delete ai_carrier;
 485                 found = true;
 486                 break;
 487             }
 488
 489             delete ai_carrier;
 490         }
 491       }
 492       delete s;
 493     }
 494   }
 495   return found;
 496 }
 497
 498 //end AIManager.cxx