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;
62 for (ai_list_itr = ai_list.begin(); ai_list_itr != ai_list.end(); ai_list_itr++) {
63 delete (*ai_list_itr);
67 void FGAIMgr::init() {
68 //cout << "AIMgr::init called..." << endl;
70 // Pointers to user's position
71 lon_node = fgGetNode("/position/longitude-deg", true);
72 lat_node = fgGetNode("/position/latitude-deg", true);
73 elev_node = fgGetNode("/position/altitude-ft", true);
75 lon = lon_node->getDoubleValue();
76 lat = lat_node->getDoubleValue();
77 elev = elev_node->getDoubleValue();
79 // Load up models at the start to avoid pausing later
80 // Hack alert - Hardwired paths!!
81 string planepath = "Aircraft/c172p/Models/c172p.xml";
82 bool _loadedDefaultOK = true;
84 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
87 globals->get_sim_time_sec() );
88 } catch(sg_exception&) {
89 _loadedDefaultOK = false;
92 if(!_loadedDefaultOK ) {
93 // Just load the same 3D model as the default user plane - that's *bound* to exist!
94 // TODO - implement robust determination of availability of GA AI aircraft models
95 planepath = "Aircraft/c172p/Models/c172p.ac";
96 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
99 globals->get_sim_time_sec() );
102 planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
104 _piperModel = sgLoad3DModel( globals->get_fg_root(),
106 globals->get_props(),
107 globals->get_sim_time_sec() );
108 } catch(sg_exception&) {
109 _havePiperModel = false;
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].empty()) {
219 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
220 activated.erase(apt_itr);
221 apt_itr = activated.upper_bound(s);
225 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
226 activated.erase(apt_itr);
227 apt_itr = activated.upper_bound(s);
233 } else if(j == 180) {
234 // Go through the list of activated airports and do the random airplane generation
235 ai_traffic_map_iterator it = traffic.begin();
236 while(it != traffic.end()) {
237 string s = (*it).first;
238 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
239 // Only generate extra traffic if within a certain distance of the user,
240 // TODO - maybe take users's tuned freq into account as well.
241 double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s));
242 if(d < (15.0 * 1600.0)) {
245 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
246 if((*it).second.size()) {
247 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
248 cd = dclGetHorizontalSeparation(e->GetPos(), fgGetAirportPos(s));
249 if(cd < (d < 5000 ? 10000 : d + 5000)) {
257 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
258 //GenerateSimpleAirportTraffic(s, cd);
259 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
260 // TODO - make the anti-random constant variable depending on the ai-traffic level.
269 //cout << "Size of AI list is " << ai_list.size() << '\n';
271 // TODO - need to add a check of if any activated airports have gone out of range
273 string rs; // plane to be removed, if one.
274 if(removalList.size()) {
275 rs = *(removalList.begin());
276 removalList.pop_front();
281 // Traverse the list of active planes and run all their update methods
282 // TODO - spread the load - not all planes should need updating every frame.
283 // Note that this will require dt to be calculated for each plane though
284 // since they rely on it to calculate distance travelled.
285 ai_list_itr = ai_list.begin();
286 while(ai_list_itr != ai_list.end()) {
287 FGAIEntity *e = *ai_list_itr;
288 if(rs.size() && e->GetCallsign() == rs) {
289 //cout << "Removing " << rs << " from ai_list\n";
290 ai_list_itr = ai_list.erase(ai_list_itr);
292 // This is a hack - we should deref this plane from the airport count!
299 //cout << "Size of AI list is " << ai_list.size() << '\n';
302 void FGAIMgr::ScheduleRemoval(const string& s) {
303 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
304 removalList.push_back(s);
307 // Activate AI traffic at an airport
308 void FGAIMgr::ActivateAirport(const string& ident) {
309 ATC->AIRegisterAirport(ident);
310 // TODO - need to start the traffic more randomly
311 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
312 local_traffic->SetModel(_defaultModel.get()); // currently hardwired to cessna.
313 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
314 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
315 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
316 ai_list.push_back(local_traffic);
317 traffic[ident].push_back(local_traffic);
318 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
319 activated[ident] = 1;
322 // Hack - Generate AI traffic at an airport with no facilities file
323 void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
324 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
325 // This will go eventually once airport .xml files specify the traffic profile
326 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
327 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
328 || ident == "KSEA" || ident == "EHAM") {
333 // TODO - check for military airports - this should be in the current data.
334 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
335 FGAirport a = fgFindAirportID(ident, &a);
337 cout << "CODE IS " << a.code << '\n';
339 // UG - can't find the airport!
344 Point3D aptpos = fgGetAirportPos(ident); // TODO - check for elev of -9999
345 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
347 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
348 if(aptpos.elev() > 3000) {
349 //cout << "High alt airports not yet supported - returning\n";
353 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
356 // Get the time and only operate VFR in the (approximate) daytime.
357 struct tm *t = globals->get_time_params()->getGmt();
358 int loc_time = t->tm_hour + int(aptpos.lon() / (360.0 / 24.0));
361 while (loc_time >= 24)
364 //cout << "loc_time = " << loc_time << '\n';
365 if(loc_time < 7 || loc_time > 19) return;
367 // Check that the visibility is OK for IFR operation.
369 FGEnvironment stationweather =
370 ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
371 ->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
372 visibility = stationweather.get_visibility_m();
373 // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
374 //cout << "vis = " << visibility << '\n';
375 if(visibility < 3000) return;
377 ATC->AIRegisterAirport(ident);
379 // Next - get the distance from user to the airport.
380 Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
381 double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
383 int lev = fgGetInt("/sim/ai-traffic/level");
388 if(visibility < 6000) lev = 1;
389 //cout << "level = " << lev << '\n';
391 // Next - generate any local / circuit traffic
394 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
395 // Finally - generate VFR approaching traffic
397 if(ident == "KPOC") {
399 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
400 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
401 for(int i=0; i<8; ++i) {
402 double dd = sg_random() * avd;
403 // put a minimum spacing in for now since I don't think tower will cope otherwise!
404 if(dd < 1500) dd = 1500;
407 double dir = int(sg_random() * 36);
411 if(sg_random() < 0.3) cessna = false;
413 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
414 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
415 t->SetModel(cessna ? _defaultModel : _piperModel);
416 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
417 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
418 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
419 t->Init(tpos, ident, s);
420 ai_list.push_back(t);
423 activated[ident] = 1;
425 //---------------------------------------------------------------------------------------------------
428 double ad; // Minimum distance out of first arriving plane in meters.
429 double mind; // Minimum spacing of traffic in meters
430 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
431 // Finally - generate VFR approaching traffic
438 } else if(lev == 2) {
443 ad = 9000.0; // Start the first aircraft at least 9K out for now.
448 // Check if there is already arriving traffic at this airport
449 cout << "BING A " << ident << '\n';
450 if(traffic.find(ident) != traffic.end()) {
451 cout << "BING B " << ident << '\n';
452 ai_list_type lst = traffic[ident];
453 cout << "BING C " << ident << '\n';
455 cout << "BING D " << ident << '\n';
456 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
457 cout << "ident = " << ident << ", cd = " << cd << '\n';
462 if(min_dist != 0) ad = min_dist;
463 //cout << "ident = " << ident << ", ad = " << ad << '\n';
464 while(ad < (d < 5000 ? 15000 : d + 10000)) {
465 double dd = mind + (sg_random() * (avd - mind));
467 double dir = int(sg_random() * 36);
471 if(sg_random() < 0.3) cessna = false;
473 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
474 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
475 t->SetModel(cessna ? _defaultModel.get() : (_havePiperModel ? _piperModel.get() : _defaultModel.get()));
476 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
477 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
478 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
479 t->Init(tpos, ident, s);
480 ai_list.push_back(t);
481 traffic[ident].push_back(t);
487 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
488 void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
492 // Search for valid airports in the vicinity of the user and activate them if necessary
493 void FGAIMgr::SearchByPos(double range) {
494 //cout << "In SearchByPos(...)" << endl;
496 // get bucket number for plane position
497 lon = lon_node->getDoubleValue();
498 lat = lat_node->getDoubleValue();
499 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
500 SGBucket buck(lon, lat);
502 // get neigboring buckets
503 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
504 //cout << "bx = " << bx << endl;
505 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
506 //cout << "by = " << by << endl;
508 // Search for airports with facitities files --------------------------
509 // loop over bucket range
510 for ( int i=-bx; i<=bx; i++) {
511 //cout << "i loop\n";
512 for ( int j=-by; j<=by; j++) {
513 //cout << "j loop\n";
514 buck = sgBucketOffset(lon, lat, i, j);
515 long int bucket = buck.gen_index();
516 //cout << "bucket is " << bucket << endl;
517 if(facilities.find(bucket) != facilities.end()) {
518 ID_list_type* apts = facilities[bucket];
519 ID_list_iterator current = apts->begin();
520 ID_list_iterator last = apts->end();
522 //cout << "Size of apts is " << apts->size() << endl;
524 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
525 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
526 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
528 for(; current != last; ++current) {
529 //cout << "Found " << *current << endl;;
530 if(activated.find(*current) == activated.end()) {
531 //cout << "Activating " << *current << endl;
533 //if(dclFindAirportID(*current, &a)) {
534 // // We can do something here based on distance from the user if we wish.
536 //string s = *current;
537 //cout << "s = " << s << '\n';
538 ActivateAirport(*current);
539 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
540 //cout << "Activation done" << endl;
542 //cout << *current << " already activated" << endl;
548 //-------------------------------------------------------------
550 // Search for any towered airports in the vicinity ------------
551 comm_list_type towered;
552 comm_list_iterator twd_itr;
554 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
556 double closest = 1000000;
558 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
559 // Only activate the closest airport not already activated each time.
560 if(activated.find(twd_itr->ident) == activated.end()) {
561 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), fgGetAirportPos(twd_itr->ident));
570 // TODO - find out why empty strings come through here when all in-range airports done.
571 GenerateSimpleAirportTraffic(s);
572 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
578 string FGAIMgr::GenerateCallsign() {
579 // For now we'll just generate US callsigns until we can regionally identify airports.
581 // Add 3 to 5 numbers and make up to 5 with letters.
583 double d = sg_random();
586 //cout << "First n, n = " << n << '\n';
588 //cout << "j = " << j << '\n';
589 for(int i=0; i<j; ++i) {
590 int n = int(sg_random() * 10);
592 s += (char)('0' + n);
594 for(int i=j; i<5; ++i) {
595 int n = int(sg_random() * 26);
597 //cout << "Alpha, n = " << n << '\n';
598 s += (char)('A' + n);
600 //cout << "s = " << s << '\n';
604 string FGAIMgr::GenerateUniqueCallsign() {
606 string s = GenerateCallsign();
607 if(!ai_callsigns_used[s]) {
608 ai_callsigns_used[s] = 1;
614 // This will be moved somewhere else eventually!!!!
615 string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
616 //cout << callsign << '\n';
618 if(local) s = "Trainer-";
620 for(int i=3; i>0; --i) {
621 char c = callsign[callsign.size() - i];
625 if(isalpha(c)) s += GetPhoneticIdent(c);
626 else s += ConvertNumToSpokenDigits(tmp);