1 // AIMgr.cxx - implementation of FGAIMgr
2 // - a global management class for FlightGear generated AI traffic
4 // Written by David Luff, started March 2002.
6 // Copyright (C) 2002 David C Luff - david.luff@nottingham.ac.uk
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
22 #include <simgear/misc/sg_path.hxx>
24 #include <Main/fg_props.hxx>
25 #include <Main/globals.hxx>
26 #include <simgear/math/sg_random.h>
32 # include <sys/types.h> // for directory reading
33 # include <dirent.h> // for directory reading
36 #include <Environment/environment_mgr.hxx>
37 #include <Environment/environment.hxx>
40 #include "AILocalTraffic.hxx"
41 #include "AIGAVFRTraffic.hxx"
42 #include "ATCutils.hxx"
43 #include "commlist.hxx"
49 ATC = globals->get_ATC_mgr();
51 ai_callsigns_used["CFGFS"] = 1; // so we don't inadvertently use this
52 // TODO - use the proper user callsign when it becomes user settable.
55 _havePiperModel = true;
59 ssgDeRefDelete(_defaultModel);
60 if(_havePiperModel) ssgDeRefDelete(_piperModel);
63 void FGAIMgr::init() {
64 //cout << "AIMgr::init called..." << endl;
66 // Pointers to user's position
67 lon_node = fgGetNode("/position/longitude-deg", true);
68 lat_node = fgGetNode("/position/latitude-deg", true);
69 elev_node = fgGetNode("/position/altitude-ft", true);
71 lon = lon_node->getDoubleValue();
72 lat = lat_node->getDoubleValue();
73 elev = elev_node->getDoubleValue();
75 // Load up models at the start to avoid pausing later
76 // Hack alert - Hardwired paths!!
77 string planepath = "Aircraft/c172p/Models/c172p.xml";
78 bool _loadedDefaultOK = true;
80 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
83 globals->get_sim_time_sec() );
84 } catch(sg_exception&) {
85 _loadedDefaultOK = false;
88 if(!_loadedDefaultOK ) {
89 // Just load the same 3D model as the default user plane - that's *bound* to exist!
90 // TODO - implement robust determination of availability of GA AI aircraft models
91 planepath = "Aircraft/c172p/Models/c172p.ac";
92 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
95 globals->get_sim_time_sec() );
98 planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
100 _piperModel = sgLoad3DModel( globals->get_fg_root(),
102 globals->get_props(),
103 globals->get_sim_time_sec() );
104 } catch(sg_exception&) {
105 _havePiperModel = false;
108 // We need to keep one ref of the models open to stop ssg deleting them behind our back!
109 _defaultModel->ref();
110 if(_havePiperModel) _piperModel->ref();
112 // go through the $FG_ROOT/ATC directory and find all *.taxi files
113 SGPath path(globals->get_fg_root());
115 string dir = path.dir();
117 string file, f_ident;
123 if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
124 SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
126 // load all .taxi files
127 while ( (de = ulReadDir(d)) != NULL ) {
129 pos = file.find(".");
130 ext = file.substr(pos + 1);
132 f_ident = file.substr(0, pos);
133 const FGAirport *a = fgFindAirportID( f_ident);
135 SGBucket sgb(a->getLongitude(), a->getLatitude());
136 int idx = sgb.gen_index();
137 if(facilities.find(idx) != facilities.end()) {
138 facilities[idx]->push_back(f_ident);
140 ID_list_type* apts = new ID_list_type;
141 apts->push_back(f_ident);
142 facilities[idx] = apts;
144 SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
151 // See if are in range at startup and activate if necessary
156 //cout << "AIMgr::init done..." << endl;
160 FGATCAlignedProjection ortho;
161 ortho.Init(fgGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
162 //Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
163 //Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
164 Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
165 ATC->AIRegisterAirport("KEMT");
166 FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
167 p->SetModel(_defaultModel);
168 p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
169 ai_list.push_back(p);
170 traffic[ident].push_back(p);
171 activated["KEMT"] = 1;
175 void FGAIMgr::bind() {
178 void FGAIMgr::unbind() {
181 void FGAIMgr::update(double dt) {
184 SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
187 //cout << activated.size() << '\n';
189 Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
191 // TODO - make these class variables!!
195 // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
196 // Might not need it now we have fade-in though?
205 } else if(j == 200) {
206 // Go through the list of activated airports and remove those out of range
207 //cout << "The following airports have been activated by the AI system:\n";
208 ai_activated_map_iterator apt_itr = activated.begin();
209 while(apt_itr != activated.end()) {
210 //cout << "FIRST IS " << (*apt_itr).first << '\n';
211 if(dclGetHorizontalSeparation(userPos, fgGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
212 // Then get rid of it and make sure the iterator is left pointing to the next one!
213 string s = (*apt_itr).first;
214 if(traffic.find(s) != traffic.end()) {
215 //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
216 if(traffic[s].size()) {
219 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
220 activated.erase(apt_itr++);
224 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
225 activated.erase(apt_itr++);
231 } else if(j == 180) {
232 // Go through the list of activated airports and do the random airplane generation
233 ai_traffic_map_iterator it = traffic.begin();
234 while(it != traffic.end()) {
235 string s = (*it).first;
236 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
237 // Only generate extra traffic if within a certain distance of the user,
238 // TODO - maybe take users's tuned freq into account as well.
239 double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s));
240 if(d < (15.0 * 1600.0)) {
243 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
244 if((*it).second.size()) {
245 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
246 cd = dclGetHorizontalSeparation(e->GetPos(), fgGetAirportPos(s));
247 if(cd < (d < 5000 ? 10000 : d + 5000)) {
255 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
256 //GenerateSimpleAirportTraffic(s, cd);
257 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
258 // TODO - make the anti-random constant variable depending on the ai-traffic level.
267 //cout << "Size of AI list is " << ai_list.size() << '\n';
269 // TODO - need to add a check of if any activated airports have gone out of range
271 string rs; // plane to be removed, if one.
272 if(removalList.size()) {
273 rs = *(removalList.begin());
274 removalList.pop_front();
279 // Traverse the list of active planes and run all their update methods
280 // TODO - spread the load - not all planes should need updating every frame.
281 // Note that this will require dt to be calculated for each plane though
282 // since they rely on it to calculate distance travelled.
283 ai_list_itr = ai_list.begin();
284 while(ai_list_itr != ai_list.end()) {
285 FGAIEntity *e = *ai_list_itr;
286 if(rs.size() && e->GetCallsign() == rs) {
287 //cout << "Removing " << rs << " from ai_list\n";
288 ai_list_itr = ai_list.erase(ai_list_itr);
290 // This is a hack - we should deref this plane from the airport count!
297 //cout << "Size of AI list is " << ai_list.size() << '\n';
300 void FGAIMgr::ScheduleRemoval(const string& s) {
301 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
302 removalList.push_back(s);
305 // Activate AI traffic at an airport
306 void FGAIMgr::ActivateAirport(const string& ident) {
307 ATC->AIRegisterAirport(ident);
308 // TODO - need to start the traffic more randomly
309 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
310 local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
311 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
312 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
313 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
314 ai_list.push_back(local_traffic);
315 traffic[ident].push_back(local_traffic);
316 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
317 activated[ident] = 1;
320 // Hack - Generate AI traffic at an airport with no facilities file
321 void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
322 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
323 // This will go eventually once airport .xml files specify the traffic profile
324 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
325 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
326 || ident == "KSEA" || ident == "EHAM") {
331 // TODO - check for military airports - this should be in the current data.
332 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
333 FGAirport a = fgFindAirportID(ident, &a);
335 cout << "CODE IS " << a.code << '\n';
337 // UG - can't find the airport!
342 Point3D aptpos = fgGetAirportPos(ident); // TODO - check for elev of -9999
343 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
345 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
346 if(aptpos.elev() > 3000) {
347 //cout << "High alt airports not yet supported - returning\n";
351 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
354 // Get the time and only operate VFR in the (approximate) daytime.
355 struct tm *t = globals->get_time_params()->getGmt();
356 int loc_time = t->tm_hour + int(aptpos.lon() / (360.0 / 24.0));
359 while (loc_time >= 24)
362 //cout << "loc_time = " << loc_time << '\n';
363 if(loc_time < 7 || loc_time > 19) return;
365 // Check that the visibility is OK for IFR operation.
367 FGEnvironment stationweather =
368 ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
369 ->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
370 visibility = stationweather.get_visibility_m();
371 // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
372 //cout << "vis = " << visibility << '\n';
373 if(visibility < 3000) return;
375 ATC->AIRegisterAirport(ident);
377 // Next - get the distance from user to the airport.
378 Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
379 double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
381 int lev = fgGetInt("/sim/ai-traffic/level");
382 if(lev < 1 || lev > 3) lev = 2;
383 if(visibility < 6000) lev = 1;
384 //cout << "level = " << lev << '\n';
386 // Next - generate any local / circuit traffic
389 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
390 // Finally - generate VFR approaching traffic
392 if(ident == "KPOC") {
394 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
395 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
396 for(int i=0; i<8; ++i) {
397 double dd = sg_random() * avd;
398 // put a minimum spacing in for now since I don't think tower will cope otherwise!
399 if(dd < 1500) dd = 1500;
402 double dir = int(sg_random() * 36);
406 if(sg_random() < 0.3) cessna = false;
408 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
409 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
410 t->SetModel(cessna ? _defaultModel : _piperModel);
411 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
412 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
413 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
414 t->Init(tpos, ident, s);
415 ai_list.push_back(t);
418 activated[ident] = 1;
420 //---------------------------------------------------------------------------------------------------
423 double ad; // Minimum distance out of first arriving plane in meters.
424 double mind; // Minimum spacing of traffic in meters
425 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
426 // Finally - generate VFR approaching traffic
433 } else if(lev == 2) {
438 ad = 9000.0; // Start the first aircraft at least 9K out for now.
443 // Check if there is already arriving traffic at this airport
444 cout << "BING A " << ident << '\n';
445 if(traffic.find(ident) != traffic.end()) {
446 cout << "BING B " << ident << '\n';
447 ai_list_type lst = traffic[ident];
448 cout << "BING C " << ident << '\n';
450 cout << "BING D " << ident << '\n';
451 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
452 cout << "ident = " << ident << ", cd = " << cd << '\n';
457 if(min_dist != 0) ad = min_dist;
458 //cout << "ident = " << ident << ", ad = " << ad << '\n';
459 while(ad < (d < 5000 ? 15000 : d + 10000)) {
460 double dd = mind + (sg_random() * (avd - mind));
462 double dir = int(sg_random() * 36);
466 if(sg_random() < 0.3) cessna = false;
468 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
469 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
470 t->SetModel(cessna ? _defaultModel : (_havePiperModel ? _piperModel : _defaultModel));
471 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
472 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
473 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
474 t->Init(tpos, ident, s);
475 ai_list.push_back(t);
476 traffic[ident].push_back(t);
482 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
483 void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
487 // Search for valid airports in the vicinity of the user and activate them if necessary
488 void FGAIMgr::SearchByPos(double range) {
489 //cout << "In SearchByPos(...)" << endl;
491 // get bucket number for plane position
492 lon = lon_node->getDoubleValue();
493 lat = lat_node->getDoubleValue();
494 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
495 SGBucket buck(lon, lat);
497 // get neigboring buckets
498 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
499 //cout << "bx = " << bx << endl;
500 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
501 //cout << "by = " << by << endl;
503 // Search for airports with facitities files --------------------------
504 // loop over bucket range
505 for ( int i=-bx; i<=bx; i++) {
506 //cout << "i loop\n";
507 for ( int j=-by; j<=by; j++) {
508 //cout << "j loop\n";
509 buck = sgBucketOffset(lon, lat, i, j);
510 long int bucket = buck.gen_index();
511 //cout << "bucket is " << bucket << endl;
512 if(facilities.find(bucket) != facilities.end()) {
513 ID_list_type* apts = facilities[bucket];
514 ID_list_iterator current = apts->begin();
515 ID_list_iterator last = apts->end();
517 //cout << "Size of apts is " << apts->size() << endl;
519 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
520 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
521 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
523 for(; current != last; ++current) {
524 //cout << "Found " << *current << endl;;
525 if(activated.find(*current) == activated.end()) {
526 //cout << "Activating " << *current << endl;
528 //if(dclFindAirportID(*current, &a)) {
529 // // We can do something here based on distance from the user if we wish.
531 //string s = *current;
532 //cout << "s = " << s << '\n';
533 ActivateAirport(*current);
534 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
535 //cout << "Activation done" << endl;
537 //cout << *current << " already activated" << endl;
543 //-------------------------------------------------------------
545 // Search for any towered airports in the vicinity ------------
546 comm_list_type towered;
547 comm_list_iterator twd_itr;
549 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
551 double closest = 1000000;
553 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
554 // Only activate the closest airport not already activated each time.
555 if(activated.find(twd_itr->ident) == activated.end()) {
556 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), fgGetAirportPos(twd_itr->ident));
565 // TODO - find out why empty strings come through here when all in-range airports done.
566 GenerateSimpleAirportTraffic(s);
567 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
573 string FGAIMgr::GenerateCallsign() {
574 // For now we'll just generate US callsigns until we can regionally identify airports.
576 // Add 3 to 5 numbers and make up to 5 with letters.
578 double d = sg_random();
581 //cout << "First n, n = " << n << '\n';
583 //cout << "j = " << j << '\n';
584 for(int i=0; i<j; ++i) {
585 int n = int(sg_random() * 10);
587 s += (char)('0' + n);
589 for(int i=j; i<5; ++i) {
590 int n = int(sg_random() * 26);
592 //cout << "Alpha, n = " << n << '\n';
593 s += (char)('A' + n);
595 //cout << "s = " << s << '\n';
599 string FGAIMgr::GenerateUniqueCallsign() {
601 string s = GenerateCallsign();
602 if(!ai_callsigns_used[s]) {
603 ai_callsigns_used[s] = 1;
609 // This will be moved somewhere else eventually!!!!
610 string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
611 //cout << callsign << '\n';
613 if(local) s = "Trainer-";
615 for(int i=3; i>0; --i) {
616 char c = callsign[callsign.size() - i];
620 if(isalpha(c)) s += GetPhoneticIdent(c);
621 else s += ConvertNumToSpokenDigits(tmp);