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 #include "AIMultiplayer.hxx"
  41
  42 SG_USING_STD(list);
  43
  44
  45 FGAIManager::FGAIManager() {
  46   initDone = false;
  47   for (int i=0; i < FGAIBase::MAX_OBJECTS; i++)
  48      numObjects[i] = 0;
  49   _dt = 0.0;
  50   dt_count = 9;
  51   scenario_filename = "";
  52   ai_list.clear();
  53 }
  54
  55 FGAIManager::~FGAIManager() {
  56   ai_list_iterator ai_list_itr = ai_list.begin();
  57   while(ai_list_itr != ai_list.end()) {
  58       (*ai_list_itr)->unbind();
  59       delete (*ai_list_itr);
  60       ++ai_list_itr;
  61     }
  62   ai_list.clear();
  63 }
  64
  65
  66 void FGAIManager::init() {
  67   root = fgGetNode("sim/ai", true);
  68
  69   enabled = root->getNode("enabled", true)->getBoolValue();
  70   if (!enabled)
  71       return;
  72
  73   wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
  74   wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
  75   wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
  76
  77   user_latitude_node  = fgGetNode("/position/latitude-deg", true);
  78   user_longitude_node = fgGetNode("/position/longitude-deg", true);
  79   user_altitude_node  = fgGetNode("/position/altitude-ft", true);
  80   user_heading_node   = fgGetNode("/orientation/heading-deg", true);
  81   user_pitch_node     = fgGetNode("/orientation/pitch-deg", true);
  82   user_yaw_node       = fgGetNode("/orientation/side-slip-deg", true);
  83   user_speed_node     = fgGetNode("/velocities/uBody-fps", true);
  84
  85   for(int i = 0 ; i < root->nChildren() ; i++) {
  86     SGPropertyNode *aiEntry = root->getChild( i );
  87         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
  88       scenario_filename = aiEntry->getStringValue();
  89       if (scenario_filename != "") processScenario( scenario_filename );
  90         }
  91   }
  92   initDone = true;
  93 }
  94
  95
  96 void FGAIManager::reinit() {
  97    update(0.0);
  98 }
  99
 100
 101 void FGAIManager::bind() {
 102    root = globals->get_props()->getNode("ai/models", true);
 103    root->tie("count", SGRawValuePointer<int>(&numObjects[0]));
 104 }
 105
 106
 107 void FGAIManager::unbind() {
 108     root->untie("count");
 109 }
 110
 111
 112 void FGAIManager::update(double dt) {
 113
 114         // initialize these for finding nearest thermals
 115         range_nearest = 10000.0;
 116         strength = 0.0;
 117         FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
 118
 119         if (!enabled)
 120             return;
 121
 122         _dt = dt;
 123
 124         ai_list_iterator ai_list_itr = ai_list.begin();
 125         while(ai_list_itr != ai_list.end()) {
 126                 if ((*ai_list_itr)->getDie()) {
 127                   tmgr->release((*ai_list_itr)->getID());
 128                    --numObjects[(*ai_list_itr)->getType()];
 129                    --numObjects[0];
 130                    (*ai_list_itr)->unbind();
 131                    delete (*ai_list_itr);
 132                    if ( ai_list_itr == ai_list.begin() ) {
 133                        ai_list.erase(ai_list_itr);
 134                        ai_list_itr = ai_list.begin();
 135                        continue;
 136                    } else {
 137                        ai_list.erase(ai_list_itr--);
 138                    }
 139                 } else {
 140                    fetchUserState();
 141                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 142                        processThermal((FGAIThermal*)*ai_list_itr);
 143                    } else {
 144                       (*ai_list_itr)->update(_dt);
 145                    }
 146                 }
 147                 ++ai_list_itr;
 148         }
 149         wind_from_down_node->setDoubleValue( strength ); // for thermals
 150
 151 }
 152
 153
 154 void*
 155 FGAIManager::createAircraft( FGAIModelEntity *entity,   FGAISchedule *ref) {
 156
 157         FGAIAircraft* ai_plane = new FGAIAircraft(this, ref);
 158         ai_list.push_back(ai_plane);
 159         ++numObjects[0];
 160         ++numObjects[FGAIBase::otAircraft];
 161         if (entity->m_class == "light") {
 162           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 163         } else if (entity->m_class == "ww2_fighter") {
 164           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 165         } else if (entity->m_class ==  "jet_transport") {
 166           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 167         } else if (entity->m_class == "jet_fighter") {
 168           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 169         } else if (entity->m_class ==  "tanker") {
 170           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 171           ai_plane->SetTanker(true);
 172         } else {
 173           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 174         }
 175         ai_plane->setAcType(entity->acType);
 176         ai_plane->setCompany(entity->company);
 177         ai_plane->setHeading(entity->heading);
 178         ai_plane->setSpeed(entity->speed);
 179         ai_plane->setPath(entity->path.c_str());
 180         ai_plane->setAltitude(entity->altitude);
 181         ai_plane->setLongitude(entity->longitude);
 182         ai_plane->setLatitude(entity->latitude);
 183         ai_plane->setBank(entity->roll);
 184
 185         if ( entity->fp ) {
 186           ai_plane->SetFlightPlan(entity->fp);
 187         }
 188         if (entity->repeat) {
 189           ai_plane->GetFlightPlan()->setRepeat(true);
 190         }
 191         ai_plane->init();
 192         ai_plane->bind();
 193         return ai_plane;
 194 }
 195
 196 void*
 197 FGAIManager::createMultiplayer( FGAIModelEntity *entity ) {
 198
 199     FGAIMultiplayer* ai_plane = new FGAIMultiplayer(this);
 200     ai_list.push_back(ai_plane);
 201     ++numObjects[0];
 202     ++numObjects[FGAIBase::otMultiplayer];
 203     ai_plane->setAcType(entity->acType);
 204     ai_plane->setCompany(entity->company);
 205     ai_plane->setPath(entity->path.c_str());
 206
 207     ai_plane->init();
 208     ai_plane->bind();
 209     return ai_plane;
 210 }
 211
 212
 213 void*
 214 FGAIManager::createShip( FGAIModelEntity *entity ) {
 215
 216      // cout << "creating ship" << endl;
 217
 218         FGAIShip* ai_ship = new FGAIShip(this);
 219         ai_list.push_back(ai_ship);
 220         ++numObjects[0];
 221         ++numObjects[FGAIBase::otShip];
 222         ai_ship->setHeading(entity->heading);
 223         ai_ship->setSpeed(entity->speed);
 224         ai_ship->setPath(entity->path.c_str());
 225         ai_ship->setAltitude(entity->altitude);
 226         ai_ship->setLongitude(entity->longitude);
 227         ai_ship->setLatitude(entity->latitude);
 228         ai_ship->setRudder(entity->rudder);
 229         ai_ship->setName(entity->name);
 230
 231         if ( entity->fp ) {
 232            ai_ship->setFlightPlan(entity->fp);
 233         }
 234
 235         ai_ship->init();
 236         ai_ship->bind();
 237         return ai_ship;
 238 }
 239
 240 void*
 241 FGAIManager::createCarrier( FGAIModelEntity *entity ) {
 242
 243     // cout << "creating carrier" << endl;
 244
 245         FGAICarrier* ai_carrier = new FGAICarrier(this);
 246         ai_list.push_back(ai_carrier);
 247         ++numObjects[0];
 248         ++numObjects[FGAIBase::otCarrier];
 249         ai_carrier->setHeading(entity->heading);
 250         ai_carrier->setSpeed(entity->speed);
 251         ai_carrier->setPath(entity->path.c_str());
 252         ai_carrier->setAltitude(entity->altitude);
 253         ai_carrier->setLongitude(entity->longitude);
 254         ai_carrier->setLatitude(entity->latitude);
 255         ai_carrier->setRudder(entity->rudder);
 256         ai_carrier->setSolidObjects(entity->solid_objects);
 257         ai_carrier->setWireObjects(entity->wire_objects);
 258         ai_carrier->setCatapultObjects(entity->catapult_objects);
 259         ai_carrier->setParkingPositions(entity->ppositions);
 260         ai_carrier->setRadius(entity->radius);
 261         ai_carrier->setSign(entity->pennant_number);
 262         ai_carrier->setName(entity->name);
 263         ai_carrier->setFlolsOffset(entity->flols_offset);
 264         ai_carrier->setWind_from_east(entity->wind_from_east);
 265         ai_carrier->setWind_from_north(entity->wind_from_north);
 266         ai_carrier->setTACANChannelID(entity->TACAN_channel_ID);
 267         ai_carrier->setMaxLat(entity->max_lat);
 268         ai_carrier->setMinLat(entity->min_lat);
 269         ai_carrier->setMaxLong(entity->max_long);
 270         ai_carrier->setMinLong(entity->min_long);
 271
 272
 273         if ( entity->fp ) {
 274            ai_carrier->setFlightPlan(entity->fp);
 275         }
 276
 277         ai_carrier->init();
 278         ai_carrier->bind();
 279         return ai_carrier;
 280 }
 281
 282 void*
 283 FGAIManager::createBallistic( FGAIModelEntity *entity ) {
 284
 285         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 286         ai_list.push_back(ai_ballistic);
 287         ++numObjects[0];
 288         ++numObjects[FGAIBase::otBallistic];
 289         ai_ballistic->setAzimuth(entity->azimuth);
 290         ai_ballistic->setElevation(entity->elevation);
 291         ai_ballistic->setSpeed(entity->speed);
 292         ai_ballistic->setPath(entity->path.c_str());
 293         ai_ballistic->setAltitude(entity->altitude);
 294         ai_ballistic->setLongitude(entity->longitude);
 295         ai_ballistic->setLatitude(entity->latitude);
 296         ai_ballistic->setDragArea(entity->eda);
 297         ai_ballistic->setLife(entity->life);
 298         ai_ballistic->setBuoyancy(entity->buoyancy);
 299         ai_ballistic->setWind_from_east(entity->wind_from_east);
 300         ai_ballistic->setWind_from_north(entity->wind_from_north);
 301         ai_ballistic->setWind(entity->wind);
 302         ai_ballistic->setRoll(entity->roll);
 303         ai_ballistic->setCd(entity->cd);
 304         ai_ballistic->setMass(entity->mass);
 305         ai_ballistic->setStabilisation(entity->aero_stabilised);
 306         ai_ballistic->init();
 307         ai_ballistic->bind();
 308         return ai_ballistic;
 309 }
 310
 311 void*
 312 FGAIManager::createStorm( FGAIModelEntity *entity ) {
 313
 314         FGAIStorm* ai_storm = new FGAIStorm(this);
 315         ++numObjects[0];
 316         ++numObjects[FGAIBase::otStorm];
 317         ai_storm->setHeading(entity->heading);
 318         ai_storm->setSpeed(entity->speed);
 319         ai_storm->setPath(entity->path.c_str());
 320         ai_storm->setAltitude(entity->altitude);
 321         ai_storm->setDiameter(entity->diameter / 6076.11549);
 322         ai_storm->setHeight(entity->height_msl);
 323         ai_storm->setStrengthNorm(entity->turb_strength);
 324         ai_storm->setLongitude(entity->longitude);
 325         ai_storm->setLatitude(entity->latitude);
 326         ai_storm->init();
 327         ai_storm->bind();
 328         ai_list.push_back(ai_storm);
 329         return ai_storm;
 330 }
 331
 332 void*
 333 FGAIManager::createThermal( FGAIModelEntity *entity ) {
 334
 335         FGAIThermal* ai_thermal = new FGAIThermal(this);
 336         ++numObjects[0];
 337         ++numObjects[FGAIBase::otThermal];
 338         ai_thermal->setLongitude(entity->longitude);
 339         ai_thermal->setLatitude(entity->latitude);
 340         ai_thermal->setMaxStrength(entity->strength);
 341         ai_thermal->setDiameter(entity->diameter / 6076.11549);
 342         ai_thermal->setHeight(entity->height_msl);
 343         ai_thermal->init();
 344         ai_thermal->bind();
 345         ai_list.push_back(ai_thermal);
 346         return ai_thermal;
 347 }
 348
 349 void*
 350 FGAIManager::createStatic( FGAIModelEntity *entity ) {
 351
 352      // cout << "creating static object" << endl;
 353
 354         FGAIStatic* ai_static = new FGAIStatic(this);
 355         ai_list.push_back(ai_static);
 356         ++numObjects[0];
 357         ++numObjects[FGAIBase::otStatic];
 358         ai_static->setHeading(entity->heading);
 359         ai_static->setPath(entity->path.c_str());
 360         ai_static->setAltitude(entity->altitude);
 361         ai_static->setLongitude(entity->longitude);
 362         ai_static->setLatitude(entity->latitude);
 363         ai_static->init();
 364         ai_static->bind();
 365         return ai_static;
 366 }
 367
 368 void FGAIManager::destroyObject( int ID ) {
 369         ai_list_iterator ai_list_itr = ai_list.begin();
 370         while(ai_list_itr != ai_list.end()) {
 371             if ((*ai_list_itr)->getID() == ID) {
 372               --numObjects[0];
 373               --numObjects[(*ai_list_itr)->getType()];
 374               (*ai_list_itr)->unbind();
 375               delete (*ai_list_itr);
 376               ai_list.erase(ai_list_itr);
 377
 378               break;
 379             }
 380             ++ai_list_itr;
 381         }
 382 }
 383
 384
 385 void FGAIManager::fetchUserState( void ) {
 386      user_latitude  = user_latitude_node->getDoubleValue();
 387      user_longitude = user_longitude_node->getDoubleValue();
 388      user_altitude  = user_altitude_node->getDoubleValue();
 389      user_heading   = user_heading_node->getDoubleValue();
 390      user_pitch     = user_pitch_node->getDoubleValue();
 391      user_yaw       = user_yaw_node->getDoubleValue();
 392      user_speed     = user_speed_node->getDoubleValue() * 0.592484;
 393      wind_from_east = wind_from_east_node->getDoubleValue();
 394      wind_from_north = wind_from_north_node->getDoubleValue();
 395
 396
 397 }
 398
 399
 400 // only keep the results from the nearest thermal
 401 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 402   thermal->update(_dt);
 403   if ( thermal->_getRange() < range_nearest ) {
 404      range_nearest = thermal->_getRange();
 405      strength = thermal->getStrength();
 406   }
 407 }
 408
 409
 410 void FGAIManager::processScenario( const string &filename ) {
 411   FGAIScenario* s = new FGAIScenario( filename );
 412   for (int i=0;i<s->nEntries();i++) {
 413    FGAIModelEntity* const en = s->getNextEntry();
 414
 415     if (en) {
 416       if ( en->m_type == "aircraft") {
 417         createAircraft( en );
 418
 419       } else if ( en->m_type == "ship") {
 420         createShip( en );
 421
 422       } else if ( en->m_type == "carrier") {
 423         createCarrier( en );
 424
 425       } else if ( en->m_type == "thunderstorm") {
 426         createStorm( en );
 427
 428       } else if ( en->m_type == "thermal") {
 429         createThermal( en );
 430
 431       } else if ( en->m_type == "ballistic") {
 432         createBallistic( en );
 433
 434       } else if ( en->m_type == "static") {
 435         createStatic( en );
 436       }
 437     }
 438   }
 439
 440   delete s;
 441 }
 442
 443 // This code keeps track of models that have already been loaded
 444 // Eventually we'd prbably need to find a way to keep track of models
 445 // that are unloaded again
 446 ssgBranch * FGAIManager::getModel(const string& path) const
 447 {
 448   ModelVecIterator i = loadedModels.begin();
 449   while (i != loadedModels.end())
 450     {
 451       if (i->getPath() == path)
 452         return i->getModelId();
 453       i++;
 454     }
 455   return 0;
 456 }
 457
 458 void FGAIManager::setModel(const string& path, ssgBranch *model)
 459 {
 460   loadedModels.push_back(FGModelID(path,model));
 461 }
 462
 463 bool FGAIManager::getStartPosition(const string& id, const string& pid,
 464                                    Point3D& geodPos, double& heading,
 465                                    sgdVec3 uvw)
 466 {
 467   SGPropertyNode* root = fgGetNode("sim/ai", true);
 468   if (!root->getNode("enabled", true)->getBoolValue())
 469       return 0;
 470
 471   bool found = false;
 472   for(int i = 0 ; (!found) && i < root->nChildren() ; i++) {
 473     SGPropertyNode *aiEntry = root->getChild( i );
 474         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
 475         string filename = aiEntry->getStringValue();
 476         FGAIScenario* s = new FGAIScenario( filename );
 477         for (int i=0; i<s->nEntries(); i++) {
 478             FGAIModelEntity* en = s->getNextEntry();
 479             if (en && en->m_type == "carrier" &&
 480                 (en->pennant_number == id || en->name == id)) {
 481             FGAICarrier* ai_carrier = new FGAICarrier(0);
 482             ai_carrier->setHeading(en->heading);
 483             ai_carrier->setSpeed(en->speed);
 484             ai_carrier->setAltitude(en->altitude);
 485             ai_carrier->setLongitude(en->longitude);
 486             ai_carrier->setLatitude(en->latitude);
 487             ai_carrier->setBank(en->rudder);
 488             ai_carrier->setParkingPositions(en->ppositions);
 489       ai_carrier->setWind_from_east(en->wind_from_east);
 490       ai_carrier->setWind_from_north(en->wind_from_north);
 491       //ai_carrier->setTACANFreq(en->TACAN_freq);
 492
 493             if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
 494                 delete ai_carrier;
 495                 found = true;
 496                 break;
 497             }
 498
 499             delete ai_carrier;
 500         }
 501       }
 502       delete s;
 503     }
 504   }
 505   return found;
 506 }
 507
 508 //end AIManager.cxx