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
 122 // This function returns the next available ID
 123 int FGAIManager::assignID() {
 124   int maxint = 30000;
 125   int x;
 126   bool used;
 127   for (x=1; x<maxint; x++) {
 128      used = false;
 129      id_itr = ids.begin();
 130      while( id_itr != ids.end() ) {
 131        if ((*id_itr) == x) used = true;
 132        ++id_itr;
 133      }
 134      if (!used) {
 135        ids.push_back(x);
 136        return x;
 137      }
 138   }
 139   return -1;  // no available ID's
 140 }
 141
 142
 143 // This function removes an ID from the ID array, making it
 144 // available for assignment to another AI object
 145 void FGAIManager::freeID( int ID ) {
 146     id_itr = ids.begin();
 147     while( id_itr != ids.end() ) {
 148       if (*id_itr == ID) {
 149         ids.erase( id_itr );
 150         return;
 151       }
 152       ++id_itr;
 153     }
 154 }
 155
 156 int FGAIManager::createAircraft( string model_class, string path,
 157               double latitude, double longitude, double altitude,
 158               double heading, double speed, double roll ) {
 159
 160         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 161         ai_list.push_back(ai_plane);
 162         ai_plane->setID( assignID() );
 163         ++numObjects;
 164         if (model_class == "light") {
 165           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 166         } else if (model_class == "ww2_fighter") {
 167           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 168         } else if (model_class ==  "jet_transport") {
 169           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 170         } else if (model_class == "jet_fighter") {
 171           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 172         } else if (model_class ==  "tanker") {
 173           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 174           ai_plane->SetTanker(true);
 175         } else {
 176           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 177         }
 178         ai_plane->setHeading(heading);
 179         ai_plane->setSpeed(speed);
 180         ai_plane->setPath(path.c_str());
 181         ai_plane->setAltitude(altitude);
 182         ai_plane->setLongitude(longitude);
 183         ai_plane->setLatitude(latitude);
 184         ai_plane->setBank(roll);
 185         ai_plane->init();
 186         ai_plane->bind();
 187         return ai_plane->getID();
 188 }
 189
 190
 191 int FGAIManager::createAircraft( string model_class, string path,
 192               FGAIFlightPlan* flightplan ) {
 193
 194         FGAIAircraft* ai_plane = new FGAIAircraft(this);
 195         ai_list.push_back(ai_plane);
 196         ai_plane->setID( assignID() );
 197         ++numObjects;
 198         if (model_class == "light") {
 199           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 200         } else if (model_class == "ww2_fighter") {
 201           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 202         } else if (model_class ==  "jet_transport") {
 203           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 204         } else if (model_class == "jet_fighter") {
 205           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 206         } else if (model_class ==  "tanker") {
 207           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 208           ai_plane->SetTanker(true);
 209         } else {
 210           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 211         }
 212         ai_plane->setPath(path.c_str());
 213         ai_plane->SetFlightPlan(flightplan);
 214         ai_plane->init();
 215         ai_plane->bind();
 216         return ai_plane->getID();
 217 }
 218
 219
 220 int FGAIManager::createShip( string path, double latitude, double longitude,
 221                              double altitude, double heading, double speed,
 222                              double rudder ) {
 223
 224         FGAIShip* ai_ship = new FGAIShip(this);
 225         ai_list.push_back(ai_ship);
 226         ai_ship->setID( assignID() );
 227         ++numObjects;
 228         ai_ship->setHeading(heading);
 229         ai_ship->setSpeed(speed);
 230         ai_ship->setPath(path.c_str());
 231         ai_ship->setAltitude(altitude);
 232         ai_ship->setLongitude(longitude);
 233         ai_ship->setLatitude(latitude);
 234         ai_ship->setBank(rudder);
 235         ai_ship->init();
 236         ai_ship->bind();
 237         return ai_ship->getID();
 238 }
 239
 240 int FGAIManager::createShip( string path, FGAIFlightPlan* flightplan ) {
 241
 242         FGAIShip* ai_ship = new FGAIShip(this);
 243         ai_list.push_back(ai_ship);
 244         ai_ship->setID( assignID() );
 245         ++numObjects;
 246         ai_ship->setPath(path.c_str());
 247         ai_ship->setFlightPlan(flightplan);
 248         ai_ship->init();
 249         ai_ship->bind();
 250         return ai_ship->getID();
 251 }
 252
 253
 254 int FGAIManager::createBallistic( string path, double latitude, double longitude,
 255                                   double altitude, double azimuth, double elevation,
 256                                   double speed, double eda, double life, double buoyancy,
 257                                                                   double wind_from_east, double wind_from_north, bool wind ) {
 258
 259         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 260         ai_list.push_back(ai_ballistic);
 261         ai_ballistic->setID( assignID() );
 262         ++numObjects;
 263         ai_ballistic->setAzimuth(azimuth);
 264         ai_ballistic->setElevation(elevation);
 265         ai_ballistic->setSpeed(speed);
 266         ai_ballistic->setPath(path.c_str());
 267         ai_ballistic->setAltitude(altitude);
 268         ai_ballistic->setLongitude(longitude);
 269         ai_ballistic->setLatitude(latitude);
 270         ai_ballistic->setDragArea(eda);
 271         ai_ballistic->setLife(life);
 272         ai_ballistic->setBuoyancy(buoyancy);
 273                 ai_ballistic->setWind_from_east(wind_from_east);
 274                 ai_ballistic->setWind_from_north(wind_from_north);
 275                 ai_ballistic->setWind(wind);
 276         ai_ballistic->init();
 277         ai_ballistic->bind();
 278         return ai_ballistic->getID();
 279 }
 280
 281 int FGAIManager::createStorm( string path, double latitude, double longitude,
 282                              double altitude, double heading, double speed ) {
 283
 284         FGAIStorm* ai_storm = new FGAIStorm(this);
 285         ai_list.push_back(ai_storm);
 286         ai_storm->setID( assignID() );
 287         ++numObjects;
 288         ai_storm->setHeading(heading);
 289         ai_storm->setSpeed(speed);
 290         ai_storm->setPath(path.c_str());
 291         ai_storm->setAltitude(altitude);
 292         ai_storm->setLongitude(longitude);
 293         ai_storm->setLatitude(latitude);
 294         ai_storm->init();
 295         ai_storm->bind();
 296         return ai_storm->getID();
 297 }
 298
 299 int FGAIManager::createThermal( double latitude, double longitude,
 300                                 double strength, double diameter ) {
 301
 302         FGAIThermal* ai_thermal = new FGAIThermal(this);
 303         ai_list.push_back(ai_thermal);
 304         ai_thermal->setID( assignID() );
 305         ++numObjects;
 306         ai_thermal->setLongitude(longitude);
 307         ai_thermal->setLatitude(latitude);
 308         ai_thermal->setMaxStrength(strength);
 309         ai_thermal->setDiameter(diameter / 6076.11549);
 310         ai_thermal->init();
 311         ai_thermal->bind();
 312         return ai_thermal->getID();
 313 }
 314
 315 void FGAIManager::destroyObject( int ID ) {
 316         ai_list_itr = ai_list.begin();
 317         while(ai_list_itr != ai_list.end()) {
 318             if ((*ai_list_itr)->getID() == ID) {
 319               freeID( ID );
 320               delete (*ai_list_itr);
 321               ai_list.erase(ai_list_itr);
 322               --ai_list_itr;
 323               --numObjects;
 324               return;
 325             }
 326             ++ai_list_itr;
 327         }
 328 }
 329
 330 // fetch the user's state every 10 sim cycles
 331 void FGAIManager::fetchUserState( void ) {
 332    ++dt_count;
 333    if (dt_count == 10) {
 334      user_latitude  = fgGetDouble("/position/latitude-deg");
 335      user_longitude = fgGetDouble("/position/longitude-deg");
 336      user_altitude  = fgGetDouble("/position/altitude-ft");
 337      user_heading   = fgGetDouble("/orientation/heading-deg");
 338      user_pitch     = fgGetDouble("/orientation/pitch-deg");
 339      user_yaw       = fgGetDouble("/orientation/side-slip-deg");
 340      user_speed     = fgGetDouble("/velocities/uBody-fps") * 0.592484;
 341      dt_count = 0;
 342    }
 343 }
 344
 345
 346 // only keep the results from the nearest thermal
 347 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 348   thermal->update(_dt);
 349   if ( thermal->_getRange() < range_nearest ) {
 350      range_nearest = thermal->_getRange();
 351      strength = thermal->getStrength();
 352   }
 353 }
 354
 355
 356 void FGAIManager::processScenario( string filename ) {
 357   FGAIScenario* s = new FGAIScenario( filename );
 358   FGAIFlightPlan* f;
 359
 360   for (int i=0;i<s->nEntries();i++) {
 361     FGAIScenario::entry* en = s->getNextEntry();
 362     f = 0;
 363     if (en) {
 364       if (en->flightplan != ""){
 365         f = new FGAIFlightPlan( en->flightplan );
 366       }
 367       if (en->aitype == "aircraft"){
 368          if (f){
 369            createAircraft( en->aircraft_class, en->model_path, f );
 370          } else {
 371            createAircraft( en->aircraft_class, en->model_path, en->latitude,
 372                            en->longitude, en->altitude, en->heading,
 373                            en->speed, en->roll );
 374          }
 375       } else if (en->aitype == "ship"){
 376          if (f){
 377            createShip( en->model_path, f );
 378          } else {
 379            createShip( en->model_path, en->latitude,
 380                            en->longitude, en->altitude, en->heading,
 381                            en->speed, en->rudder );
 382          }
 383
 384       } else if (en->aitype == "storm"){
 385         createStorm( en->model_path, en->latitude, en->longitude,
 386                      en->altitude, en->heading, en->speed );
 387       } else if (en->aitype == "thermal"){
 388         createThermal( en->latitude, en->longitude, en->strength,
 389                        en->diameter );
 390       } else if (en->aitype == "ballistic"){
 391         createBallistic( en->model_path, en->latitude, en->longitude,
 392                          en->altitude, en->azimuth, en->elevation, en->speed,
 393                          en->eda, en->life, en->buoyancy, en->wind_from_east,
 394                                                  en-> wind_from_north, en->wind);
 395       }
 396     }
 397   }
 398
 399   delete s;
 400 }
 401
 402 int FGAIManager::getNum( FGAIBase::object_type ot ) {
 403   ai_list_iterator itr = ai_list.begin();
 404   int count = 0;
 405   while(itr != ai_list.end()) {
 406       if ((*itr)->getType() == ot) {
 407          ++count;
 408       }
 409       ++itr;
 410   }
 411   return count;
 412 }
 413