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 }
  43
  44 FGAIManager::~FGAIManager() {
  45   ai_list_itr = ai_list.begin();
  46   while(ai_list_itr != ai_list.end()) {
  47       delete (*ai_list_itr);
  48       ++ai_list_itr;
  49     }
  50   ai_list.clear();
  51   ids.clear();
  52 }
  53
  54
  55 void FGAIManager::init() {
  56   int rval;
  57   root = fgGetNode("sim/ai", true);
  58   wind_from_down = fgGetNode("/environment/wind-from-down-fps", true);
  59
  60   for (int i = 0; i < root->nChildren(); i++) {
  61     const SGPropertyNode * entry = root->getChild(i);
  62
  63     if (!strcmp(entry->getName(), "entry")) {
  64       if (!strcmp(entry->getStringValue("type", ""), "aircraft")) {
  65
  66         rval = createAircraft( entry->getStringValue("class", ""),
  67                                entry->getStringValue("path"),
  68                                entry->getDoubleValue("latitude"),
  69                                entry->getDoubleValue("longitude"),
  70                                entry->getDoubleValue("altitude-ft"),
  71                                entry->getDoubleValue("heading"),
  72                                entry->getDoubleValue("speed-KTAS"),
  73                                0.0,
  74                                entry->getDoubleValue("bank") );
  75
  76       } else if (!strcmp(entry->getStringValue("type", ""), "ship")) {
  77
  78         rval = createShip( entry->getStringValue("path"),
  79                            entry->getDoubleValue("latitude"),
  80                            entry->getDoubleValue("longitude"),
  81                            entry->getDoubleValue("altitude-ft"),
  82                            entry->getDoubleValue("heading"),
  83                            entry->getDoubleValue("speed-KTAS"),
  84                            entry->getDoubleValue("rudder") );
  85
  86       } else if (!strcmp(entry->getStringValue("type", ""), "ballistic")) {
  87
  88         rval = createBallistic( entry->getStringValue("path"),
  89                                 entry->getDoubleValue("latitude"),
  90                                 entry->getDoubleValue("longitude"),
  91                                 entry->getDoubleValue("altitude-ft"),
  92                                 entry->getDoubleValue("azimuth"),
  93                                 entry->getDoubleValue("elevation"),
  94                                 entry->getDoubleValue("speed") );
  95
  96       } else if (!strcmp(entry->getStringValue("type", ""), "storm")) {
  97
  98         rval = createStorm( entry->getStringValue("path"),
  99                             entry->getDoubleValue("latitude"),
 100                             entry->getDoubleValue("longitude"),
 101                             entry->getDoubleValue("altitude-ft"),
 102                             entry->getDoubleValue("heading"),
 103                             entry->getDoubleValue("speed-KTAS") );
 104
 105       } else if (!strcmp(entry->getStringValue("type", ""), "thermal")) {
 106
 107         rval = createThermal( entry->getDoubleValue("latitude"),
 108                               entry->getDoubleValue("longitude"),
 109                               entry->getDoubleValue("strength-fps"),
 110                               entry->getDoubleValue("diameter-ft") );
 111
 112       }
 113     }
 114   }
 115
 116   //**********  Flight Plan test code !!!! ****************
 117   processScenario( "default_scenario" );
 118   //*******************************************************
 119
 120   initDone = true;
 121 }
 122
 123
 124 void FGAIManager::bind() {
 125    root = globals->get_props()->getNode("ai/models", true);
 126    root->tie("count", SGRawValuePointer<int>(&numObjects));
 127 }
 128
 129
 130 void FGAIManager::unbind() {
 131     root->untie("count");
 132 }
 133
 134
 135 void FGAIManager::update(double dt) {
 136
 137         // initialize these for finding nearest thermals
 138         range_nearest = 10000.0;
 139         strength = 0.0;
 140
 141         _dt = dt;
 142
 143         ai_list_itr = ai_list.begin();
 144         while(ai_list_itr != ai_list.end()) {
 145                 if ((*ai_list_itr)->getDie()) {
 146                    freeID((*ai_list_itr)->getID());
 147                    delete (*ai_list_itr);
 148                    ai_list.erase(ai_list_itr);
 149                    --ai_list_itr;
 150                    --numObjects;
 151                 } else {
 152                    fetchUserState();
 153                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 154                        processThermal((FGAIThermal*)*ai_list_itr);
 155                    } else {
 156                       (*ai_list_itr)->update(_dt);
 157                    }
 158                 }
 159                 ++ai_list_itr;
 160         }
 161         wind_from_down->setDoubleValue( strength );
 162 }
 163
 164
 165 // This function returns the next available ID
 166 int FGAIManager::assignID() {
 167   int maxint = 30000;
 168   int x;
 169   bool used;
 170   for (x=0; x<maxint; x++) {
 171      used = false;
 172      id_itr = ids.begin();
 173      while( id_itr != ids.end() ) {
 174        if ((*id_itr) == x) used = true;
 175        ++id_itr;
 176      }
 177      if (!used) {
 178        ids.push_back(x);
 179        return x;
 180      }
 181   }
 182   return -1;  // no available ID's
 183 }
 184
 185
 186 // This function removes an ID from the ID array, making it
 187 // available for assignment to another AI object
 188 void FGAIManager::freeID( int ID ) {
 189     id_itr = ids.begin();
 190     while( id_itr != ids.end() ) {
 191       if (*id_itr == ID) {
 192         ids.erase( id_itr );
 193         return;
 194       }
 195       ++id_itr;
 196     }
 197 }
 198
 199 int FGAIManager::createAircraft( string model_class, string path,
 200               double latitude, double longitude, double altitude,
 201               double heading, double speed, double pitch, double roll ) {
 202
 203         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 204         ai_list.push_back(ai_plane);
 205         ai_plane->setID( assignID() );
 206         ++numObjects;
 207         if (model_class == "light") {
 208           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 209         } else if (model_class == "ww2_fighter") {
 210           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 211         } else if (model_class ==  "jet_transport") {
 212           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 213         } else if (model_class == "jet_fighter") {
 214           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 215         } else {
 216           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 217         }
 218         ai_plane->setHeading(heading);
 219         ai_plane->setSpeed(speed);
 220         ai_plane->setPath(path.c_str());
 221         ai_plane->setAltitude(altitude);
 222         ai_plane->setLongitude(longitude);
 223         ai_plane->setLatitude(latitude);
 224         ai_plane->setBank(roll);
 225         ai_plane->init();
 226         ai_plane->bind();
 227         return ai_plane->getID();
 228 }
 229
 230
 231 int FGAIManager::createAircraft( string model_class, string path,
 232               FGAIFlightPlan* flightplan ) {
 233
 234         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 235         ai_list.push_back(ai_plane);
 236         ai_plane->setID( assignID() );
 237         ++numObjects;
 238         if (model_class == "light") {
 239           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 240         } else if (model_class == "ww2_fighter") {
 241           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 242         } else if (model_class ==  "jet_transport") {
 243           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 244         } else if (model_class == "jet_fighter") {
 245           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 246         } else {
 247           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 248         }
 249         ai_plane->setPath(path.c_str());
 250         ai_plane->SetFlightPlan(flightplan);
 251         ai_plane->init();
 252         ai_plane->bind();
 253         return ai_plane->getID();
 254 }
 255
 256
 257 int FGAIManager::createShip( string path, double latitude, double longitude,
 258                              double altitude, double heading, double speed,
 259                              double rudder ) {
 260
 261         FGAIShip* ai_ship = new FGAIShip(this);
 262         ai_list.push_back(ai_ship);
 263         ai_ship->setID( assignID() );
 264         ++numObjects;
 265         ai_ship->setHeading(heading);
 266         ai_ship->setSpeed(speed);
 267         ai_ship->setPath(path.c_str());
 268         ai_ship->setAltitude(altitude);
 269         ai_ship->setLongitude(longitude);
 270         ai_ship->setLatitude(latitude);
 271         ai_ship->setBank(rudder);
 272         ai_ship->init();
 273         ai_ship->bind();
 274         return ai_ship->getID();
 275 }
 276
 277
 278 int FGAIManager::createBallistic( string path, double latitude, double longitude,
 279                                   double altitude, double azimuth, double elevation,
 280                                   double speed ) {
 281
 282         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 283         ai_list.push_back(ai_ballistic);
 284         ai_ballistic->setID( assignID() );
 285         ++numObjects;
 286         ai_ballistic->setAzimuth(azimuth);
 287         ai_ballistic->setElevation(elevation);
 288         ai_ballistic->setSpeed(speed);
 289         ai_ballistic->setPath(path.c_str());
 290         ai_ballistic->setAltitude(altitude);
 291         ai_ballistic->setLongitude(longitude);
 292         ai_ballistic->setLatitude(latitude);
 293         ai_ballistic->init();
 294         ai_ballistic->bind();
 295         return ai_ballistic->getID();
 296 }
 297
 298 int FGAIManager::createStorm( string path, double latitude, double longitude,
 299                              double altitude, double heading, double speed ) {
 300
 301         FGAIStorm* ai_storm = new FGAIStorm(this);
 302         ai_list.push_back(ai_storm);
 303         ai_storm->setID( assignID() );
 304         ++numObjects;
 305         ai_storm->setHeading(heading);
 306         ai_storm->setSpeed(speed);
 307         ai_storm->setPath(path.c_str());
 308         ai_storm->setAltitude(altitude);
 309         ai_storm->setLongitude(longitude);
 310         ai_storm->setLatitude(latitude);
 311         ai_storm->init();
 312         ai_storm->bind();
 313         return ai_storm->getID();
 314 }
 315
 316 int FGAIManager::createThermal( double latitude, double longitude,
 317                                 double strength, double diameter ) {
 318
 319         FGAIThermal* ai_thermal = new FGAIThermal(this);
 320         ai_list.push_back(ai_thermal);
 321         ai_thermal->setID( assignID() );
 322         ++numObjects;
 323         ai_thermal->setLongitude(longitude);
 324         ai_thermal->setLatitude(latitude);
 325         ai_thermal->setMaxStrength(strength);
 326         ai_thermal->setDiameter(diameter / 6076.11549);
 327         ai_thermal->init();
 328         ai_thermal->bind();
 329         return ai_thermal->getID();
 330 }
 331
 332 void FGAIManager::destroyObject( int ID ) {
 333         ai_list_itr = ai_list.begin();
 334         while(ai_list_itr != ai_list.end()) {
 335             if ((*ai_list_itr)->getID() == ID) {
 336               freeID( ID );
 337               delete (*ai_list_itr);
 338               ai_list.erase(ai_list_itr);
 339               --ai_list_itr;
 340               --numObjects;
 341               return;
 342             }
 343             ++ai_list_itr;
 344         }
 345 }
 346
 347 // fetch the user's state every 10 sim cycles
 348 void FGAIManager::fetchUserState( void ) {
 349    ++dt_count;
 350    if (dt_count == 10) {
 351      user_latitude  = fgGetDouble("/position/latitude-deg");
 352      user_longitude = fgGetDouble("/position/longitude-deg");
 353      user_altitude  = fgGetDouble("/position/altitude-ft");
 354      user_heading   = fgGetDouble("/orientation/heading-deg");
 355      user_pitch     = fgGetDouble("/orientation/pitch-deg");
 356      user_yaw       = fgGetDouble("/orientation/side-slip-deg");
 357      user_speed     = fgGetDouble("/velocities/uBody-fps") * 0.592484;
 358      dt_count = 0;
 359    }
 360 }
 361
 362
 363 // only keep the results from the nearest thermal
 364 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 365   thermal->update(_dt);
 366   if ( thermal->_getRange() < range_nearest ) {
 367      range_nearest = thermal->_getRange();
 368      strength = thermal->getStrength();
 369   }
 370 }
 371
 372
 373 void FGAIManager::processScenario( string filename ) {
 374   //cout << "AIManager: creating a scenario." << endl;
 375   FGAIScenario* s = new FGAIScenario( filename );
 376   FGAIScenario::entry* en = s->getNextEntry();
 377   if (en) {
 378     FGAIFlightPlan* f = new FGAIFlightPlan( en->flightplan );
 379     createAircraft("jet_transport", "Aircraft/737/Models/boeing733.xml", f);
 380   }
 381   delete s;
 382 }
 383