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");
91 std::string moduleName = "scenario_" + _internalName;
92 if (!_unloadScript.empty()) {
93 nasalSys->createModule(moduleName.c_str(), moduleName.c_str(),
94 _unloadScript.c_str(), _unloadScript.size(),
98 nasalSys->deleteModule(moduleName.c_str());
101 std::vector<FGAIBasePtr> _objects;
102 std::string _internalName;
103 std::string _unloadScript;
106 ///////////////////////////////////////////////////////////////////////////////
108 FGAIManager::FGAIManager() :
109 cb_ai_bare(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
110 fgGetNode("/sim/rendering/static-lod/ai-bare", true))),
111 cb_ai_detailed(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
112 fgGetNode("/sim/rendering/static-lod/ai-detailed", true)))
117 FGAIManager::~FGAIManager()
119 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::unbind));
123 FGAIManager::init() {
124 root = fgGetNode("sim/ai", true);
126 enabled = root->getNode("enabled", true);
128 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
129 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
130 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
132 user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
133 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
135 globals->get_commands()->addCommand("load-scenario", this, &FGAIManager::loadScenarioCommand);
136 globals->get_commands()->addCommand("unload-scenario", this, &FGAIManager::unloadScenarioCommand);
140 FGAIManager::postinit()
142 // postinit, so that it can access the Nasal subsystem
144 // scenarios enabled, AI subsystem required
145 if (!enabled->getBoolValue())
146 enabled->setBoolValue(true);
148 // process all scenarios
149 BOOST_FOREACH(SGPropertyNode* n, root->getChildren("scenario")) {
150 const string& name = n->getStringValue();
154 if (_scenarios.find(name) != _scenarios.end()) {
155 SG_LOG(SG_AI, SG_WARN, "won't load scenario '" << name << "' twice");
159 SG_LOG(SG_AI, SG_INFO, "loading scenario '" << name << '\'');
165 FGAIManager::reinit()
167 // shutdown scenarios
168 unloadAllScenarios();
171 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::reinit));
173 // (re-)load scenarios
178 FGAIManager::shutdown()
180 unloadAllScenarios();
182 BOOST_FOREACH(FGAIBase* ai, ai_list) {
188 globals->get_commands()->removeCommand("load-scenario");
189 globals->get_commands()->removeCommand("unload-scenario");
193 FGAIManager::bind() {
194 root = globals->get_props()->getNode("ai/models", true);
195 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
196 &FGAIManager::getNumAiObjects));
200 FGAIManager::unbind() {
201 root->untie("count");
204 void FGAIManager::removeDeadItem(FGAIBase* base)
206 SGPropertyNode *props = base->_getProps();
208 props->setBoolValue("valid", false);
211 // for backward compatibility reset properties, so that aircraft,
212 // which don't know the <valid> property, keep working
213 // TODO: remove after a while
214 props->setIntValue("id", -1);
215 props->setBoolValue("radar/in-range", false);
216 props->setIntValue("refuel/tanker", false);
220 FGAIManager::update(double dt) {
221 // initialize these for finding nearest thermals
222 range_nearest = 10000.0;
225 if (!enabled->getBoolValue())
230 // partition the list into dead followed by alive
231 ai_list_iterator firstAlive =
232 std::stable_partition(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::getDie));
234 // clean up each item and finally remove from the container
235 for (ai_list_iterator it=ai_list.begin(); it != firstAlive; ++it) {
239 ai_list.erase(ai_list.begin(), firstAlive);
241 // every remaining item is alive. update them in turn, but guard for
242 // exceptions, so a single misbehaving AI object doesn't bring down the
244 BOOST_FOREACH(FGAIBase* base, ai_list) {
246 if (base->isa(FGAIBase::otThermal)) {
247 processThermal(dt, (FGAIThermal*)base);
251 } catch (sg_exception& e) {
252 SG_LOG(SG_AI, SG_WARN, "caught exception updating AI model:" << base->_getName()<< ", which will be killed."
253 "\n\tError:" << e.getFormattedMessage());
256 } // of live AI objects iteration
258 thermal_lift_node->setDoubleValue( strength ); // for thermals
261 /** update LOD settings of all AI/MP models */
263 FGAIManager::updateLOD(SGPropertyNode* node)
266 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::updateLOD));
270 FGAIManager::attach(FGAIBase *model)
272 const char* typeString = model->getTypeString();
273 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
277 // find free index in the property tree, if we have
278 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
279 for (i = 0; i < 10000; i++) {
280 p = root->getNode(typeString, i, false);
282 if (!p || !p->getBoolValue("valid", false))
285 if (p->getIntValue("id",-1)==model->getID()) {
286 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
290 p = root->getNode(typeString, i, true);
291 model->setManager(this, p);
292 ai_list.push_back(model);
294 model->init(model->getType()==FGAIBase::otAircraft
295 || model->getType()==FGAIBase::otMultiplayer
296 || model->getType()==FGAIBase::otStatic);
298 p->setBoolValue("valid", true);
302 FGAIManager::getNumAiObjects() const
304 return ai_list.size();
308 FGAIManager::fetchUserState( void ) {
310 globals->get_aircraft_orientation(user_heading, user_pitch, user_roll);
311 user_speed = user_speed_node->getDoubleValue() * 0.592484;
312 wind_from_east = wind_from_east_node->getDoubleValue();
313 wind_from_north = wind_from_north_node->getDoubleValue();
314 user_altitude_agl = user_altitude_agl_node->getDoubleValue();
318 // only keep the results from the nearest thermal
320 FGAIManager::processThermal( double dt, FGAIThermal* thermal ) {
323 if ( thermal->_getRange() < range_nearest ) {
324 range_nearest = thermal->_getRange();
325 strength = thermal->getStrength();
330 bool FGAIManager::loadScenarioCommand(const SGPropertyNode* args)
332 std::string name = args->getStringValue("name");
333 if (args->hasChild("load-property")) {
334 // slightly ugly, to simplify life in the dialogs, make load allow
335 // loading or unloading based on a bool property.
336 bool loadIt = fgGetBool(args->getStringValue("load-property"));
338 // user actually wants to unload, fine.
339 return unloadScenario(name);
343 if (_scenarios.find(name) != _scenarios.end()) {
344 SG_LOG(SG_AI, SG_WARN, "scenario '" << name << "' already loaded");
348 bool ok = loadScenario(name);
350 // create /sim/ai node for consistency
352 for (; root->hasChild("scenario", index); ++index) {}
354 SGPropertyNode* scenarioNode = root->getChild("scenario", index, true);
355 scenarioNode->setStringValue(name);
361 bool FGAIManager::unloadScenarioCommand(const SGPropertyNode* args)
363 std::string name = args->getStringValue("name");
364 return unloadScenario(name);
367 bool FGAIManager::addObjectCommand(const SGPropertyNode* definition)
369 addObject(definition);
373 FGAIBasePtr FGAIManager::addObject(const SGPropertyNode* definition)
375 const std::string& type = definition->getStringValue("type", "aircraft");
378 if (type == "tanker") { // refueling scenarios
380 } else if (type == "wingman") {
381 ai = new FGAIWingman;
382 } else if (type == "aircraft") {
383 ai = new FGAIAircraft;
384 } else if (type == "ship") {
386 } else if (type == "carrier") {
387 ai = new FGAICarrier;
388 } else if (type == "groundvehicle") {
389 ai = new FGAIGroundVehicle;
390 } else if (type == "escort") {
392 } else if (type == "thunderstorm") {
394 } else if (type == "thermal") {
395 ai = new FGAIThermal;
396 } else if (type == "ballistic") {
397 ai = new FGAIBallistic;
398 } else if (type == "static") {
402 ai->readFromScenario(const_cast<SGPropertyNode*>(definition));
407 bool FGAIManager::removeObject(const SGPropertyNode* args)
409 int id = args->getIntValue("id");
410 BOOST_FOREACH(FGAIBase* ai, get_ai_list()) {
411 if (ai->getID() == id) {
420 FGAIBasePtr FGAIManager::getObjectFromProperty(const SGPropertyNode* aProp) const
422 BOOST_FOREACH(FGAIBase* ai, get_ai_list()) {
423 if (ai->_getProps() == aProp) {
426 } // of AI objects iteration
432 FGAIManager::loadScenario( const string &filename )
434 SGPropertyNode_ptr file = loadScenarioFile(filename);
439 SGPropertyNode_ptr scNode = file->getChild("scenario");
444 _scenarios[filename] = new Scenario(this, filename, scNode);
450 FGAIManager::unloadScenario( const string &filename)
452 ScenarioDict::iterator it = _scenarios.find(filename);
453 if (it == _scenarios.end()) {
454 SG_LOG(SG_AI, SG_WARN, "unload scenario: not found:" << filename);
458 // remove /sim/ai node
459 unsigned int index = 0;
460 for (SGPropertyNode* n = NULL; (n = root->getChild("scenario", index)) != NULL; ++index) {
461 if (n->getStringValue() == filename) {
462 root->removeChild("scenario", index);
468 _scenarios.erase(it);
473 FGAIManager::unloadAllScenarios()
475 ScenarioDict::iterator it = _scenarios.begin();
476 for (; it != _scenarios.end(); ++it) {
478 } // of scenarios iteration
481 // remove /sim/ai node
482 root->removeChildren("scenario");
488 FGAIManager::loadScenarioFile(const std::string& filename)
490 SGPath path(globals->get_fg_root());
491 path.append("AI/" + filename + ".xml");
493 SGPropertyNode_ptr root = new SGPropertyNode;
494 readProperties(path.str(), root);
496 } catch (const sg_exception &t) {
497 SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
498 << path.str() << "': " << t.getFormattedMessage());
504 FGAIManager::getStartPosition(const string& id, const string& pid,
505 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
508 SGPropertyNode* root = fgGetNode("sim/ai", true);
509 if (!root->getNode("enabled", true)->getBoolValue())
512 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
513 SGPropertyNode *aiEntry = root->getChild( i );
514 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
515 const string& filename = aiEntry->getStringValue();
516 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
518 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
520 for (int i = 0; i < scenarios->nChildren(); i++) {
521 SGPropertyNode* scEntry = scenarios->getChild(i);
522 const std::string& type = scEntry->getStringValue("type");
523 const std::string& pnumber = scEntry->getStringValue("pennant-number");
524 const std::string& name = scEntry->getStringValue("name");
525 if (type == "carrier" && (pnumber == id || name == id)) {
526 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
527 carrier->readFromScenario(scEntry);
529 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
543 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
545 // we specify tgt extent (ft) according to the AIObject type
546 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
547 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
548 ai_list_iterator ai_list_itr = ai_list.begin();
549 ai_list_iterator end = ai_list.end();
551 SGGeod pos(SGGeod::fromDegFt(lon, lat, alt));
552 SGVec3d cartPos(SGVec3d::fromGeod(pos));
554 while (ai_list_itr != end) {
555 double tgt_alt = (*ai_list_itr)->_getAltitude();
556 int type = (*ai_list_itr)->getType();
557 tgt_ht[type] += fuse_range;
559 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
560 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
561 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
562 // << fabs(tgt_alt - alt)
570 int id = (*ai_list_itr)->getID();
572 double range = calcRangeFt(cartPos, (*ai_list_itr));
574 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: AI list size "
576 // << " type " << type
578 // << " range " << range
579 // //<< " bearing " << bearing
580 // << " alt " << tgt_alt
583 tgt_length[type] += fuse_range;
585 if (range < tgt_length[type]){
586 SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
589 << " range " << range
590 << " alt " << tgt_alt
592 return (*ai_list_itr).get();
600 FGAIManager::calcRangeFt(const SGVec3d& aCartPos, FGAIBase* aObject) const
602 double distM = dist(aCartPos, aObject->getCartPos());
603 return distM * SG_METER_TO_FEET;