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