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>
33 # include <sys/types.h> // for directory reading
34 # include <dirent.h> // for directory reading
37 #include <Environment/environment_mgr.hxx>
38 #include <Environment/environment.hxx>
41 #include "AILocalTraffic.hxx"
42 #include "AIGAVFRTraffic.hxx"
43 #include "ATCutils.hxx"
44 #include "commlist.hxx"
50 ATC = globals->get_ATC_mgr();
52 ai_callsigns_used["CFGFS"] = 1; // so we don't inadvertently use this
53 // TODO - use the proper user callsign when it becomes user settable.
59 _defaultModel->deRef();
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/c172/Models/c172-dpm.ac";
78 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
81 globals->get_sim_time_sec() );
83 planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
84 _piperModel = sgLoad3DModel( globals->get_fg_root(),
87 globals->get_sim_time_sec() );
89 // We need to keep one ref of the models open to stop ssg deleting them behind our back!
93 // go through the $FG_ROOT/ATC directory and find all *.taxi files
94 SGPath path(globals->get_fg_root());
96 string dir = path.dir();
104 if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
105 SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
107 // load all .taxi files
108 while ( (de = ulReadDir(d)) != NULL ) {
110 pos = file.find(".");
111 ext = file.substr(pos + 1);
113 f_ident = file.substr(0, pos);
115 if(dclFindAirportID(f_ident, &a)) {
116 SGBucket sgb(a.longitude, a.latitude);
117 int idx = sgb.gen_index();
118 if(facilities.find(idx) != facilities.end()) {
119 facilities[idx]->push_back(f_ident);
121 ID_list_type* apts = new ID_list_type;
122 apts->push_back(f_ident);
123 facilities[idx] = apts;
125 SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
132 // See if are in range at startup and activate if necessary
137 //cout << "AIMgr::init done..." << endl;
141 FGATCAlignedProjection ortho;
142 ortho.Init(dclGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
143 //Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
144 //Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
145 Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
146 ATC->AIRegisterAirport("KEMT");
147 FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
148 p->SetModel(_defaultModel);
149 p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
150 ai_list.push_back(p);
151 traffic[ident].push_back(p);
152 activated["KEMT"] = 1;
156 void FGAIMgr::bind() {
159 void FGAIMgr::unbind() {
162 void FGAIMgr::update(double dt) {
165 SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
168 //cout << activated.size() << '\n';
170 Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
172 // TODO - make these class variables!!
176 // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
177 // Might not need it now we have fade-in though?
186 } else if(j == 200) {
187 // Go through the list of activated airports and remove those out of range
188 //cout << "The following airports have been activated by the AI system:\n";
189 ai_activated_map_iterator apt_itr = activated.begin();
190 while(apt_itr != activated.end()) {
191 //cout << "FIRST IS " << (*apt_itr).first << '\n';
192 if(dclGetHorizontalSeparation(userPos, dclGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
193 // Then get rid of it and make sure the iterator is left pointing to the next one!
194 string s = (*apt_itr).first;
195 if(traffic.find(s) != traffic.end()) {
196 //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
197 if(traffic[s].size()) {
200 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
201 activated.erase(apt_itr++);
205 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
206 activated.erase(apt_itr++);
212 } else if(j == 180) {
213 // Go through the list of activated airports and do the random airplane generation
214 ai_traffic_map_iterator it = traffic.begin();
215 while(it != traffic.end()) {
216 string s = (*it).first;
217 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
218 // Only generate extra traffic if within a certain distance of the user,
219 // TODO - maybe take users's tuned freq into account as well.
220 double d = dclGetHorizontalSeparation(userPos, dclGetAirportPos(s));
221 if(d < (15.0 * 1600.0)) {
224 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
225 if((*it).second.size()) {
226 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
227 cd = dclGetHorizontalSeparation(e->GetPos(), dclGetAirportPos(s));
228 if(cd < (d < 5000 ? 10000 : d + 5000)) {
236 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
237 //GenerateSimpleAirportTraffic(s, cd);
238 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
239 // TODO - make the anti-random constant variable depending on the ai-traffic level.
248 //cout << "Size of AI list is " << ai_list.size() << '\n';
250 // TODO - need to add a check of if any activated airports have gone out of range
252 string rs; // plane to be removed, if one.
253 if(removalList.size()) {
254 rs = *(removalList.begin());
255 removalList.pop_front();
260 // Traverse the list of active planes and run all their update methods
261 // TODO - spread the load - not all planes should need updating every frame.
262 // Note that this will require dt to be calculated for each plane though
263 // since they rely on it to calculate distance travelled.
264 ai_list_itr = ai_list.begin();
265 while(ai_list_itr != ai_list.end()) {
266 FGAIEntity *e = *ai_list_itr;
267 if(rs.size() && e->GetCallsign() == rs) {
268 //cout << "Removing " << rs << " from ai_list\n";
269 ai_list_itr = ai_list.erase(ai_list_itr);
271 // This is a hack - we should deref this plane from the airport count!
278 //cout << "Size of AI list is " << ai_list.size() << '\n';
281 void FGAIMgr::ScheduleRemoval(string s) {
282 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
283 removalList.push_back(s);
286 // Activate AI traffic at an airport
287 void FGAIMgr::ActivateAirport(string ident) {
288 ATC->AIRegisterAirport(ident);
289 // TODO - need to start the traffic more randomly
290 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
291 local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
292 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
293 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
294 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
295 ai_list.push_back(local_traffic);
296 traffic[ident].push_back(local_traffic);
297 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
298 activated[ident] = 1;
301 // Hack - Generate AI traffic at an airport with no facilities file
302 void FGAIMgr::GenerateSimpleAirportTraffic(string ident, double min_dist) {
303 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
304 // This will go eventually once airport .xml files specify the traffic profile
305 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
306 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
307 || ident == "KSEA" || ident == "EHAM") {
312 // TODO - check for military airports - this should be in the current data.
313 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
315 if(dclFindAirportID(ident, &a)) {
316 cout << "CODE IS " << a.code << '\n';
318 // UG - can't find the airport!
323 Point3D aptpos = dclGetAirportPos(ident); // TODO - check for elev of -9999
324 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
326 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
327 if(aptpos.elev() > 3000) {
328 //cout << "High alt airports not yet supported - returning\n";
332 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
335 // Get the time and only operate VFR in the (approximate) daytime.
336 //SGTime *t = globals->get_time_params();
337 string time_str = fgGetString("sim/time/gmt-string");
338 int loc_time = atoi((time_str.substr(0,3)).c_str());
339 //cout << "gmt_time = " << loc_time << '\n';
340 loc_time += (int)((aptpos.lon() / 360.0) * 24.0);
341 while(loc_time < 0) loc_time += 24;
342 while(loc_time > 24) loc_time -= 24;
343 //cout << "loc_time = " << loc_time << '\n';
344 if(loc_time < 7 || loc_time > 19) return;
346 // Check that the visibility is OK for IFR operation.
348 FGEnvironment stationweather =
349 ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
350 ->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
351 visibility = stationweather.get_visibility_m();
352 // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
353 //cout << "vis = " << visibility << '\n';
354 if(visibility < 3000) return;
356 ATC->AIRegisterAirport(ident);
358 // Next - get the distance from user to the airport.
359 Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
360 double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
362 int lev = fgGetInt("/sim/ai-traffic/level");
363 if(lev < 1 || lev > 3) lev = 2;
364 if(visibility < 6000) lev = 1;
365 //cout << "level = " << lev << '\n';
367 // Next - generate any local / circuit traffic
370 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
371 // Finally - generate VFR approaching traffic
373 if(ident == "KPOC") {
375 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
376 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
377 for(int i=0; i<8; ++i) {
378 double dd = sg_random() * avd;
379 // put a minimum spacing in for now since I don't think tower will cope otherwise!
380 if(dd < 1500) dd = 1500;
383 double dir = int(sg_random() * 36);
387 if(sg_random() < 0.3) cessna = false;
389 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
390 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
391 t->SetModel(cessna ? _defaultModel : _piperModel);
392 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
393 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
394 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
395 t->Init(tpos, ident, s);
396 ai_list.push_back(t);
399 activated[ident] = 1;
401 //---------------------------------------------------------------------------------------------------
404 double ad; // Minimum distance out of first arriving plane in meters.
405 double mind; // Minimum spacing of traffic in meters
406 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
407 // Finally - generate VFR approaching traffic
414 } else if(lev == 2) {
419 ad = 9000.0; // Start the first aircraft at least 9K out for now.
424 // Check if there is already arriving traffic at this airport
425 cout << "BING A " << ident << '\n';
426 if(traffic.find(ident) != traffic.end()) {
427 cout << "BING B " << ident << '\n';
428 ai_list_type lst = traffic[ident];
429 cout << "BING C " << ident << '\n';
431 cout << "BING D " << ident << '\n';
432 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
433 cout << "ident = " << ident << ", cd = " << cd << '\n';
438 if(min_dist != 0) ad = min_dist;
439 //cout << "ident = " << ident << ", ad = " << ad << '\n';
440 while(ad < (d < 5000 ? 15000 : d + 10000)) {
441 double dd = mind + (sg_random() * (avd - mind));
443 double dir = int(sg_random() * 36);
447 if(sg_random() < 0.3) cessna = false;
449 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
450 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
451 t->SetModel(cessna ? _defaultModel : _piperModel);
452 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
453 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
454 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
455 t->Init(tpos, ident, s);
456 ai_list.push_back(t);
457 traffic[ident].push_back(t);
463 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
464 void FGAIMgr::GenerateVFRArrival(string apt, double d) {
468 // Search for valid airports in the vicinity of the user and activate them if necessary
469 void FGAIMgr::SearchByPos(double range) {
470 //cout << "In SearchByPos(...)" << endl;
472 // get bucket number for plane position
473 lon = lon_node->getDoubleValue();
474 lat = lat_node->getDoubleValue();
475 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
476 SGBucket buck(lon, lat);
478 // get neigboring buckets
479 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
480 //cout << "bx = " << bx << endl;
481 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
482 //cout << "by = " << by << endl;
484 // Search for airports with facitities files --------------------------
485 // loop over bucket range
486 for ( int i=-bx; i<=bx; i++) {
487 //cout << "i loop\n";
488 for ( int j=-by; j<=by; j++) {
489 //cout << "j loop\n";
490 buck = sgBucketOffset(lon, lat, i, j);
491 long int bucket = buck.gen_index();
492 //cout << "bucket is " << bucket << endl;
493 if(facilities.find(bucket) != facilities.end()) {
494 ID_list_type* apts = facilities[bucket];
495 ID_list_iterator current = apts->begin();
496 ID_list_iterator last = apts->end();
498 //cout << "Size of apts is " << apts->size() << endl;
500 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
501 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
502 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
504 for(; current != last; ++current) {
505 //cout << "Found " << *current << endl;;
506 if(activated.find(*current) == activated.end()) {
507 //cout << "Activating " << *current << endl;
509 //if(dclFindAirportID(*current, &a)) {
510 // // We can do something here based on distance from the user if we wish.
512 //string s = *current;
513 //cout << "s = " << s << '\n';
514 ActivateAirport(*current);
515 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
516 //cout << "Activation done" << endl;
518 //cout << *current << " already activated" << endl;
524 //-------------------------------------------------------------
526 // Search for any towered airports in the vicinity ------------
527 comm_list_type towered;
528 comm_list_iterator twd_itr;
530 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
532 double closest = 1000000;
534 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
535 // Only activate the closest airport not already activated each time.
536 if(activated.find(twd_itr->ident) == activated.end()) {
537 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), dclGetAirportPos(twd_itr->ident));
546 // TODO - find out why empty strings come through here when all in-range airports done.
547 GenerateSimpleAirportTraffic(s);
548 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
554 string FGAIMgr::GenerateCallsign() {
555 // For now we'll just generate US callsigns until we can regionally identify airports.
557 // Add 3 to 5 numbers and make up to 5 with letters.
559 double d = sg_random();
562 //cout << "First n, n = " << n << '\n';
564 //cout << "j = " << j << '\n';
565 for(int i=0; i<j; ++i) {
566 int n = int(sg_random() * 10);
568 s += (char)('0' + n);
570 for(int i=j; i<5; ++i) {
571 int n = int(sg_random() * 26);
573 //cout << "Alpha, n = " << n << '\n';
574 s += (char)('A' + n);
576 //cout << "s = " << s << '\n';
580 string FGAIMgr::GenerateUniqueCallsign() {
582 string s = GenerateCallsign();
583 if(!ai_callsigns_used[s]) {
584 ai_callsigns_used[s] = 1;
590 // This will be moved somewhere else eventually!!!!
591 string FGAIMgr::GenerateShortForm(string callsign, string plane_str, bool local) {
592 //cout << callsign << '\n';
594 if(local) s = "Trainer-";
596 for(int i=3; i>0; --i) {
597 char c = callsign[callsign.size() - i];
601 if(isalpha(c)) s += GetPhoneticIdent(c);
602 else s += ConvertNumToSpokenDigits(tmp);