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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
26 #include <Main/fg_props.hxx>
27 #include <Main/globals.hxx>
28 #include <simgear/misc/sg_path.hxx>
29 #include <simgear/math/sg_random.h>
35 # include <sys/types.h> // for directory reading
36 # include <dirent.h> // for directory reading
39 #include <Environment/environment_mgr.hxx>
40 #include <Environment/environment.hxx>
43 #include "AILocalTraffic.hxx"
44 #include "AIGAVFRTraffic.hxx"
45 #include "ATCutils.hxx"
46 #include "commlist.hxx"
52 ATC = globals->get_ATC_mgr();
54 ai_callsigns_used["GFS"] = 1; // so we don't inadvertently use this
55 // TODO - use the proper user callsign when it becomes user settable.
58 _havePiperModel = true;
64 void FGAIMgr::init() {
65 //cout << "AIMgr::init called..." << endl;
67 // Pointers to user's position
68 lon_node = fgGetNode("/position/longitude-deg", true);
69 lat_node = fgGetNode("/position/latitude-deg", true);
70 elev_node = fgGetNode("/position/altitude-ft", true);
72 lon = lon_node->getDoubleValue();
73 lat = lat_node->getDoubleValue();
74 elev = elev_node->getDoubleValue();
76 // Load up models at the start to avoid pausing later
77 // Hack alert - Hardwired paths!!
78 string planepath = "Aircraft/c172p/Models/c172p.xml";
79 bool _loadedDefaultOK = true;
81 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
84 globals->get_sim_time_sec() );
85 } catch(sg_exception&) {
86 _loadedDefaultOK = false;
89 if(!_loadedDefaultOK ) {
90 // Just load the same 3D model as the default user plane - that's *bound* to exist!
91 // TODO - implement robust determination of availability of GA AI aircraft models
92 planepath = "Aircraft/c172p/Models/c172p.ac";
93 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
96 globals->get_sim_time_sec() );
99 planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
101 _piperModel = sgLoad3DModel( globals->get_fg_root(),
103 globals->get_props(),
104 globals->get_sim_time_sec() );
105 } catch(sg_exception&) {
106 _havePiperModel = false;
109 // go through the $FG_ROOT/ATC directory and find all *.taxi files
110 SGPath path(globals->get_fg_root());
112 string dir = path.dir();
114 string file, f_ident;
120 if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
121 SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
123 // load all .taxi files
124 while ( (de = ulReadDir(d)) != NULL ) {
126 pos = file.find(".");
127 ext = file.substr(pos + 1);
129 f_ident = file.substr(0, pos);
130 const FGAirport *a = fgFindAirportID( f_ident);
132 SGBucket sgb(a->getLongitude(), a->getLatitude());
133 int idx = sgb.gen_index();
134 if(facilities.find(idx) != facilities.end()) {
135 facilities[idx]->push_back(f_ident);
137 ID_list_type* apts = new ID_list_type;
138 apts->push_back(f_ident);
139 facilities[idx] = apts;
141 SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
148 // See if are in range at startup and activate if necessary
153 //cout << "AIMgr::init done..." << endl;
157 FGATCAlignedProjection ortho;
158 ortho.Init(fgGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
159 //Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
160 //Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
161 Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
162 ATC->AIRegisterAirport("KEMT");
163 FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
164 p->SetModel(_defaultModel);
165 p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
166 ai_list.push_back(p);
167 traffic[ident].push_back(p);
168 activated["KEMT"] = 1;
172 void FGAIMgr::bind() {
175 void FGAIMgr::unbind() {
178 void FGAIMgr::update(double dt) {
181 SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
184 //cout << activated.size() << '\n';
186 Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
188 // TODO - make these class variables!!
192 // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
193 // Might not need it now we have fade-in though?
202 } else if(j == 200) {
203 // Go through the list of activated airports and remove those out of range
204 //cout << "The following airports have been activated by the AI system:\n";
205 ai_activated_map_iterator apt_itr = activated.begin();
206 while(apt_itr != activated.end()) {
207 //cout << "FIRST IS " << (*apt_itr).first << '\n';
208 if(dclGetHorizontalSeparation(userPos, fgGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
209 // Then get rid of it and make sure the iterator is left pointing to the next one!
210 string s = (*apt_itr).first;
211 if(traffic.find(s) != traffic.end()) {
212 //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
213 if(!traffic[s].empty()) {
216 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
217 activated.erase(apt_itr);
218 apt_itr = activated.upper_bound(s);
222 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
223 activated.erase(apt_itr);
224 apt_itr = activated.upper_bound(s);
230 } else if(j == 180) {
231 // Go through the list of activated airports and do the random airplane generation
232 ai_traffic_map_iterator it = traffic.begin();
233 while(it != traffic.end()) {
234 string s = (*it).first;
235 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
236 // Only generate extra traffic if within a certain distance of the user,
237 // TODO - maybe take users's tuned freq into account as well.
238 double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s));
239 if(d < (15.0 * 1600.0)) {
242 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
243 if((*it).second.size()) {
244 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
245 cd = dclGetHorizontalSeparation(e->GetPos(), fgGetAirportPos(s));
246 if(cd < (d < 5000 ? 10000 : d + 5000)) {
254 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
255 //GenerateSimpleAirportTraffic(s, cd);
256 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
257 // TODO - make the anti-random constant variable depending on the ai-traffic level.
266 //cout << "Size of AI list is " << ai_list.size() << '\n';
268 // TODO - need to add a check of if any activated airports have gone out of range
270 string rs; // plane to be removed, if one.
271 if(removalList.size()) {
272 rs = *(removalList.begin());
273 removalList.pop_front();
278 // Traverse the list of active planes and run all their update methods
279 // TODO - spread the load - not all planes should need updating every frame.
280 // Note that this will require dt to be calculated for each plane though
281 // since they rely on it to calculate distance travelled.
282 ai_list_itr = ai_list.begin();
283 while(ai_list_itr != ai_list.end()) {
284 FGAIEntity *e = *ai_list_itr;
285 if(rs.size() && e->GetCallsign() == rs) {
286 //cout << "Removing " << rs << " from ai_list\n";
287 ai_list_itr = ai_list.erase(ai_list_itr);
289 // This is a hack - we should deref this plane from the airport count!
296 //cout << "Size of AI list is " << ai_list.size() << '\n';
299 void FGAIMgr::ScheduleRemoval(const string& s) {
300 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
301 removalList.push_back(s);
304 // Activate AI traffic at an airport
305 void FGAIMgr::ActivateAirport(const string& ident) {
306 ATC->AIRegisterAirport(ident);
307 // TODO - need to start the traffic more randomly
308 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
309 local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
310 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
311 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
312 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
313 ai_list.push_back(local_traffic);
314 traffic[ident].push_back(local_traffic);
315 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
316 activated[ident] = 1;
319 // Hack - Generate AI traffic at an airport with no facilities file
320 void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
321 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
322 // This will go eventually once airport .xml files specify the traffic profile
323 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
324 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
325 || ident == "KSEA" || ident == "EHAM") {
330 // TODO - check for military airports - this should be in the current data.
331 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
332 FGAirport a = fgFindAirportID(ident, &a);
334 cout << "CODE IS " << a.code << '\n';
336 // UG - can't find the airport!
341 Point3D aptpos = fgGetAirportPos(ident); // TODO - check for elev of -9999
342 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
344 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
345 if(aptpos.elev() > 3000) {
346 //cout << "High alt airports not yet supported - returning\n";
350 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
353 // Get the time and only operate VFR in the (approximate) daytime.
354 struct tm *t = globals->get_time_params()->getGmt();
355 int loc_time = t->tm_hour + int(aptpos.lon() / (360.0 / 24.0));
358 while (loc_time >= 24)
361 //cout << "loc_time = " << loc_time << '\n';
362 if(loc_time < 7 || loc_time > 19) return;
364 // Check that the visibility is OK for IFR operation.
366 FGEnvironment stationweather =
367 ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
368 ->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
369 visibility = stationweather.get_visibility_m();
370 // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
371 //cout << "vis = " << visibility << '\n';
372 if(visibility < 3000) return;
374 ATC->AIRegisterAirport(ident);
376 // Next - get the distance from user to the airport.
377 Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
378 double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
380 int lev = fgGetInt("/sim/ai-traffic/level");
385 if(visibility < 6000) lev = 1;
386 //cout << "level = " << lev << '\n';
388 // Next - generate any local / circuit traffic
391 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
392 // Finally - generate VFR approaching traffic
394 if(ident == "KPOC") {
396 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
397 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
398 for(int i=0; i<8; ++i) {
399 double dd = sg_random() * avd;
400 // put a minimum spacing in for now since I don't think tower will cope otherwise!
401 if(dd < 1500) dd = 1500;
404 double dir = int(sg_random() * 36);
408 if(sg_random() < 0.3) cessna = false;
410 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
411 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
412 t->SetModel(cessna ? _defaultModel : _piperModel);
413 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
414 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
415 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
416 t->Init(tpos, ident, s);
417 ai_list.push_back(t);
420 activated[ident] = 1;
422 //---------------------------------------------------------------------------------------------------
425 double ad; // Minimum distance out of first arriving plane in meters.
426 double mind; // Minimum spacing of traffic in meters
427 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
428 // Finally - generate VFR approaching traffic
435 } else if(lev == 2) {
440 ad = 9000.0; // Start the first aircraft at least 9K out for now.
445 // Check if there is already arriving traffic at this airport
446 cout << "BING A " << ident << '\n';
447 if(traffic.find(ident) != traffic.end()) {
448 cout << "BING B " << ident << '\n';
449 ai_list_type lst = traffic[ident];
450 cout << "BING C " << ident << '\n';
452 cout << "BING D " << ident << '\n';
453 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
454 cout << "ident = " << ident << ", cd = " << cd << '\n';
459 if(min_dist != 0) ad = min_dist;
460 //cout << "ident = " << ident << ", ad = " << ad << '\n';
461 while(ad < (d < 5000 ? 15000 : d + 10000)) {
462 double dd = mind + (sg_random() * (avd - mind));
464 double dir = int(sg_random() * 36);
468 if(sg_random() < 0.3) cessna = false;
470 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
471 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
472 t->SetModel(cessna ? _defaultModel : (_havePiperModel ? _piperModel : _defaultModel));
473 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
474 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
475 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
476 t->Init(tpos, ident, s);
477 ai_list.push_back(t);
478 traffic[ident].push_back(t);
484 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
485 void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
489 // Search for valid airports in the vicinity of the user and activate them if necessary
490 void FGAIMgr::SearchByPos(double range) {
491 //cout << "In SearchByPos(...)" << endl;
493 // get bucket number for plane position
494 lon = lon_node->getDoubleValue();
495 lat = lat_node->getDoubleValue();
496 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
497 SGBucket buck(lon, lat);
499 // get neigboring buckets
500 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
501 //cout << "bx = " << bx << endl;
502 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
503 //cout << "by = " << by << endl;
505 // Search for airports with facitities files --------------------------
506 // loop over bucket range
507 for ( int i=-bx; i<=bx; i++) {
508 //cout << "i loop\n";
509 for ( int j=-by; j<=by; j++) {
510 //cout << "j loop\n";
511 buck = sgBucketOffset(lon, lat, i, j);
512 long int bucket = buck.gen_index();
513 //cout << "bucket is " << bucket << endl;
514 if(facilities.find(bucket) != facilities.end()) {
515 ID_list_type* apts = facilities[bucket];
516 ID_list_iterator current = apts->begin();
517 ID_list_iterator last = apts->end();
519 //cout << "Size of apts is " << apts->size() << endl;
521 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
522 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
523 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
525 for(; current != last; ++current) {
526 //cout << "Found " << *current << endl;;
527 if(activated.find(*current) == activated.end()) {
528 //cout << "Activating " << *current << endl;
530 //if(dclFindAirportID(*current, &a)) {
531 // // We can do something here based on distance from the user if we wish.
533 //string s = *current;
534 //cout << "s = " << s << '\n';
535 ActivateAirport(*current);
536 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
537 //cout << "Activation done" << endl;
539 //cout << *current << " already activated" << endl;
545 //-------------------------------------------------------------
547 // Search for any towered airports in the vicinity ------------
548 comm_list_type towered;
549 comm_list_iterator twd_itr;
551 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
553 double closest = 1000000;
555 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
556 // Only activate the closest airport not already activated each time.
557 if(activated.find(twd_itr->ident) == activated.end()) {
558 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), fgGetAirportPos(twd_itr->ident));
567 // TODO - find out why empty strings come through here when all in-range airports done.
568 GenerateSimpleAirportTraffic(s);
569 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
575 string FGAIMgr::GenerateCallsign() {
576 // For now we'll just generate US callsigns until we can regionally identify airports.
578 // Add 3 to 5 numbers and make up to 5 with letters.
580 double d = sg_random();
583 //cout << "First n, n = " << n << '\n';
585 //cout << "j = " << j << '\n';
586 for(int i=0; i<j; ++i) {
587 int n = int(sg_random() * 10);
589 s += (char)('0' + n);
591 for(int i=j; i<5; ++i) {
592 int n = int(sg_random() * 26);
594 //cout << "Alpha, n = " << n << '\n';
595 s += (char)('A' + n);
597 //cout << "s = " << s << '\n';
601 string FGAIMgr::GenerateUniqueCallsign() {
603 string s = GenerateCallsign();
604 if(!ai_callsigns_used[s]) {
605 ai_callsigns_used[s] = 1;
611 // This will be moved somewhere else eventually!!!!
612 string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
613 //cout << callsign << '\n';
615 if(local) s = "Trainer-";
617 for(int i=3; i>0; --i) {
618 char c = callsign[callsign.size() - i];
622 if(isalpha(c)) s += GetPhoneticIdent(c);
623 else s += ConvertNumToSpokenDigits(tmp);