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");
88 std::string moduleName = "scenario_" + _internalName;
89 if (!_unloadScript.empty()) {
90 nasalSys->createModule(moduleName.c_str(), moduleName.c_str(),
91 _unloadScript.c_str(), _unloadScript.size(),
95 nasalSys->deleteModule(moduleName.c_str());
98 std::vector<FGAIBasePtr> _objects;
99 std::string _internalName;
100 std::string _unloadScript;
103 ///////////////////////////////////////////////////////////////////////////////
105 FGAIManager::FGAIManager() :
106 cb_ai_bare(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
107 fgGetNode("/sim/rendering/static-lod/ai-bare", true))),
108 cb_ai_detailed(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
109 fgGetNode("/sim/rendering/static-lod/ai-detailed", true)))
114 FGAIManager::~FGAIManager()
116 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::unbind));
120 FGAIManager::init() {
121 root = fgGetNode("sim/ai", true);
123 enabled = root->getNode("enabled", true);
125 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
126 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
127 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
129 user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
130 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
131 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
133 globals->get_commands()->addCommand("load-scenario", this, &FGAIManager::loadScenarioCommand);
134 globals->get_commands()->addCommand("unload-scenario", this, &FGAIManager::unloadScenarioCommand);
138 FGAIManager::postinit() {
139 // postinit, so that it can access the Nasal subsystem
141 if (!root->getBoolValue("scenarios-enabled", true))
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()
168 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::reinit));
172 FGAIManager::bind() {
173 root = globals->get_props()->getNode("ai/models", true);
174 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
175 &FGAIManager::getNumAiObjects));
179 FGAIManager::unbind() {
180 root->untie("count");
183 void FGAIManager::removeDeadItem(FGAIBase* base)
185 SGPropertyNode *props = base->_getProps();
187 props->setBoolValue("valid", false);
190 // for backward compatibility reset properties, so that aircraft,
191 // which don't know the <valid> property, keep working
192 // TODO: remove after a while
193 props->setIntValue("id", -1);
194 props->setBoolValue("radar/in-range", false);
195 props->setIntValue("refuel/tanker", false);
199 FGAIManager::update(double dt) {
200 // initialize these for finding nearest thermals
201 range_nearest = 10000.0;
204 if (!enabled->getBoolValue())
209 // partition the list into dead followed by alive
210 ai_list_iterator firstAlive =
211 std::stable_partition(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::getDie));
213 // clean up each item and finally remove from the container
214 for (ai_list_iterator it=ai_list.begin(); it != firstAlive; ++it) {
218 ai_list.erase(ai_list.begin(), firstAlive);
220 // every remaining item is alive
221 BOOST_FOREACH(FGAIBase* base, ai_list) {
222 if (base->isa(FGAIBase::otThermal)) {
223 processThermal(dt, (FGAIThermal*)base);
227 } // of live AI objects iteration
229 thermal_lift_node->setDoubleValue( strength ); // for thermals
232 /** update LOD settings of all AI/MP models */
234 FGAIManager::updateLOD(SGPropertyNode* node)
237 std::for_each(ai_list.begin(), ai_list.end(), boost::mem_fn(&FGAIBase::updateLOD));
241 FGAIManager::attach(FGAIBase *model)
243 const char* typeString = model->getTypeString();
244 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
248 // find free index in the property tree, if we have
249 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
250 for (i = 0; i < 10000; i++) {
251 p = root->getNode(typeString, i, false);
253 if (!p || !p->getBoolValue("valid", false))
256 if (p->getIntValue("id",-1)==model->getID()) {
257 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
261 p = root->getNode(typeString, i, true);
262 model->setManager(this, p);
263 ai_list.push_back(model);
265 model->init(model->getType()==FGAIBase::otAircraft
266 || model->getType()==FGAIBase::otMultiplayer
267 || model->getType()==FGAIBase::otStatic);
269 p->setBoolValue("valid", true);
273 FGAIManager::getNumAiObjects(void) const
275 return ai_list.size();
279 FGAIManager::fetchUserState( void ) {
281 user_yaw = user_yaw_node->getDoubleValue();
282 globals->get_aircraft_orientation(user_heading, user_pitch, user_roll);
284 user_speed = user_speed_node->getDoubleValue() * 0.592484;
285 wind_from_east = wind_from_east_node->getDoubleValue();
286 wind_from_north = wind_from_north_node->getDoubleValue();
287 user_altitude_agl = user_altitude_agl_node->getDoubleValue();
291 // only keep the results from the nearest thermal
293 FGAIManager::processThermal( double dt, FGAIThermal* thermal ) {
296 if ( thermal->_getRange() < range_nearest ) {
297 range_nearest = thermal->_getRange();
298 strength = thermal->getStrength();
303 bool FGAIManager::loadScenarioCommand(const SGPropertyNode* args)
305 std::string name = args->getStringValue("name");
306 if (_scenarios.find(name) != _scenarios.end()) {
307 SG_LOG(SG_AI, SG_WARN, "scenario '" << name << "' already loaded");
311 bool ok = loadScenario(name);
313 // create /sim/ai node for consistency
315 for (; root->hasChild("scenario", index); ++index) {}
317 SGPropertyNode* scenarioNode = root->getChild("scenario", index, true);
318 scenarioNode->setStringValue(name);
324 bool FGAIManager::unloadScenarioCommand(const SGPropertyNode* args)
326 std::string name = args->getStringValue("name");
327 return unloadScenario(name);
330 bool FGAIManager::addObjectCommand(const SGPropertyNode* definition)
332 addObject(definition);
336 FGAIBasePtr FGAIManager::addObject(const SGPropertyNode* definition)
338 const std::string& type = definition->getStringValue("type", "aircraft");
341 if (type == "tanker") { // refueling scenarios
343 } else if (type == "wingman") {
344 ai = new FGAIWingman;
345 } else if (type == "aircraft") {
346 ai = new FGAIAircraft;
347 } else if (type == "ship") {
349 } else if (type == "carrier") {
350 ai = new FGAICarrier;
351 } else if (type == "groundvehicle") {
352 ai = new FGAIGroundVehicle;
353 } else if (type == "escort") {
355 } else if (type == "thunderstorm") {
357 } else if (type == "thermal") {
358 ai = new FGAIThermal;
359 } else if (type == "ballistic") {
360 ai = new FGAIBallistic;
361 } else if (type == "static") {
365 ai->readFromScenario(const_cast<SGPropertyNode*>(definition));
370 bool FGAIManager::removeObject(const SGPropertyNode* args)
372 int id = args->getIntValue("id");
373 BOOST_FOREACH(FGAIBase* ai, get_ai_list()) {
374 if (ai->getID() == id) {
384 FGAIManager::loadScenario( const string &filename )
386 SGPropertyNode_ptr file = loadScenarioFile(filename);
391 SGPropertyNode_ptr scNode = file->getChild("scenario");
396 _scenarios[filename] = new Scenario(this, filename, scNode);
402 FGAIManager::unloadScenario( const string &filename)
404 ScenarioDict::iterator it = _scenarios.find(filename);
405 if (it == _scenarios.end()) {
406 SG_LOG(SG_AI, SG_WARN, "unload scenario: not found:" << filename);
410 // remove /sim/ai node
411 unsigned int index = 0;
412 for (SGPropertyNode* n = NULL; (n = root->getChild("scenario", index)) != NULL; ++index) {
413 if (n->getStringValue() == filename) {
414 root->removeChild("scenario", index);
420 _scenarios.erase(it);
425 FGAIManager::loadScenarioFile(const std::string& filename)
427 SGPath path(globals->get_fg_root());
428 path.append("AI/" + filename + ".xml");
430 SGPropertyNode_ptr root = new SGPropertyNode;
431 readProperties(path.str(), root);
433 } catch (const sg_exception &t) {
434 SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
435 << path.str() << "': " << t.getFormattedMessage());
441 FGAIManager::getStartPosition(const string& id, const string& pid,
442 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
445 SGPropertyNode* root = fgGetNode("sim/ai", true);
446 if (!root->getNode("enabled", true)->getBoolValue())
449 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
450 SGPropertyNode *aiEntry = root->getChild( i );
451 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
452 const string& filename = aiEntry->getStringValue();
453 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
455 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
457 for (int i = 0; i < scenarios->nChildren(); i++) {
458 SGPropertyNode* scEntry = scenarios->getChild(i);
459 const std::string& type = scEntry->getStringValue("type");
460 const std::string& pnumber = scEntry->getStringValue("pennant-number");
461 const std::string& name = scEntry->getStringValue("name");
462 if (type == "carrier" && (pnumber == id || name == id)) {
463 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
464 carrier->readFromScenario(scEntry);
466 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
480 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
482 // we specify tgt extent (ft) according to the AIObject type
483 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
484 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
485 ai_list_iterator ai_list_itr = ai_list.begin();
486 ai_list_iterator end = ai_list.end();
488 SGGeod pos(SGGeod::fromDegFt(lon, lat, alt));
489 SGVec3d cartPos(SGVec3d::fromGeod(pos));
491 while (ai_list_itr != end) {
492 double tgt_alt = (*ai_list_itr)->_getAltitude();
493 int type = (*ai_list_itr)->getType();
494 tgt_ht[type] += fuse_range;
496 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
497 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
498 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
499 // << fabs(tgt_alt - alt)
507 int id = (*ai_list_itr)->getID();
509 double range = calcRangeFt(cartPos, (*ai_list_itr));
511 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: AI list size "
513 // << " type " << type
515 // << " range " << range
516 // //<< " bearing " << bearing
517 // << " alt " << tgt_alt
520 tgt_length[type] += fuse_range;
522 if (range < tgt_length[type]){
523 SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
526 << " range " << range
527 << " alt " << tgt_alt
529 return (*ai_list_itr).get();
537 FGAIManager::calcRangeFt(const SGVec3d& aCartPos, FGAIBase* aObject) const
539 double distM = dist(aCartPos, aObject->getCartPos());
540 return distM * SG_METER_TO_FEET;