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.
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["GFS"] = 1; // so we don't inadvertently use this
52 // TODO - use the proper user callsign when it becomes user settable.
55 _havePiperModel = true;
61 void FGAIMgr::init() {
62 //cout << "AIMgr::init called..." << endl;
64 // Pointers to user's position
65 lon_node = fgGetNode("/position/longitude-deg", true);
66 lat_node = fgGetNode("/position/latitude-deg", true);
67 elev_node = fgGetNode("/position/altitude-ft", true);
69 lon = lon_node->getDoubleValue();
70 lat = lat_node->getDoubleValue();
71 elev = elev_node->getDoubleValue();
73 // Load up models at the start to avoid pausing later
74 // Hack alert - Hardwired paths!!
75 string planepath = "Aircraft/c172p/Models/c172p.xml";
76 bool _loadedDefaultOK = true;
78 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
81 globals->get_sim_time_sec() );
82 } catch(sg_exception&) {
83 _loadedDefaultOK = false;
86 if(!_loadedDefaultOK ) {
87 // Just load the same 3D model as the default user plane - that's *bound* to exist!
88 // TODO - implement robust determination of availability of GA AI aircraft models
89 planepath = "Aircraft/c172p/Models/c172p.ac";
90 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
93 globals->get_sim_time_sec() );
96 planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
98 _piperModel = sgLoad3DModel( globals->get_fg_root(),
100 globals->get_props(),
101 globals->get_sim_time_sec() );
102 } catch(sg_exception&) {
103 _havePiperModel = false;
106 // go through the $FG_ROOT/ATC directory and find all *.taxi files
107 SGPath path(globals->get_fg_root());
109 string dir = path.dir();
111 string file, f_ident;
117 if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
118 SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
120 // load all .taxi files
121 while ( (de = ulReadDir(d)) != NULL ) {
123 pos = file.find(".");
124 ext = file.substr(pos + 1);
126 f_ident = file.substr(0, pos);
127 const FGAirport *a = fgFindAirportID( f_ident);
129 SGBucket sgb(a->getLongitude(), a->getLatitude());
130 int idx = sgb.gen_index();
131 if(facilities.find(idx) != facilities.end()) {
132 facilities[idx]->push_back(f_ident);
134 ID_list_type* apts = new ID_list_type;
135 apts->push_back(f_ident);
136 facilities[idx] = apts;
138 SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
145 // See if are in range at startup and activate if necessary
150 //cout << "AIMgr::init done..." << endl;
154 FGATCAlignedProjection ortho;
155 ortho.Init(fgGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
156 //Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
157 //Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
158 Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
159 ATC->AIRegisterAirport("KEMT");
160 FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
161 p->SetModel(_defaultModel);
162 p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
163 ai_list.push_back(p);
164 traffic[ident].push_back(p);
165 activated["KEMT"] = 1;
169 void FGAIMgr::bind() {
172 void FGAIMgr::unbind() {
175 void FGAIMgr::update(double dt) {
178 SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
181 //cout << activated.size() << '\n';
183 Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
185 // TODO - make these class variables!!
189 // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
190 // Might not need it now we have fade-in though?
199 } else if(j == 200) {
200 // Go through the list of activated airports and remove those out of range
201 //cout << "The following airports have been activated by the AI system:\n";
202 ai_activated_map_iterator apt_itr = activated.begin();
203 while(apt_itr != activated.end()) {
204 //cout << "FIRST IS " << (*apt_itr).first << '\n';
205 if(dclGetHorizontalSeparation(userPos, fgGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
206 // Then get rid of it and make sure the iterator is left pointing to the next one!
207 string s = (*apt_itr).first;
208 if(traffic.find(s) != traffic.end()) {
209 //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
210 if(!traffic[s].empty()) {
213 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
214 activated.erase(apt_itr);
215 apt_itr = activated.upper_bound(s);
219 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
220 activated.erase(apt_itr);
221 apt_itr = activated.upper_bound(s);
227 } else if(j == 180) {
228 // Go through the list of activated airports and do the random airplane generation
229 ai_traffic_map_iterator it = traffic.begin();
230 while(it != traffic.end()) {
231 string s = (*it).first;
232 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
233 // Only generate extra traffic if within a certain distance of the user,
234 // TODO - maybe take users's tuned freq into account as well.
235 double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s));
236 if(d < (15.0 * 1600.0)) {
239 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
240 if((*it).second.size()) {
241 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
242 cd = dclGetHorizontalSeparation(e->GetPos(), fgGetAirportPos(s));
243 if(cd < (d < 5000 ? 10000 : d + 5000)) {
251 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
252 //GenerateSimpleAirportTraffic(s, cd);
253 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
254 // TODO - make the anti-random constant variable depending on the ai-traffic level.
263 //cout << "Size of AI list is " << ai_list.size() << '\n';
265 // TODO - need to add a check of if any activated airports have gone out of range
267 string rs; // plane to be removed, if one.
268 if(removalList.size()) {
269 rs = *(removalList.begin());
270 removalList.pop_front();
275 // Traverse the list of active planes and run all their update methods
276 // TODO - spread the load - not all planes should need updating every frame.
277 // Note that this will require dt to be calculated for each plane though
278 // since they rely on it to calculate distance travelled.
279 ai_list_itr = ai_list.begin();
280 while(ai_list_itr != ai_list.end()) {
281 FGAIEntity *e = *ai_list_itr;
282 if(rs.size() && e->GetCallsign() == rs) {
283 //cout << "Removing " << rs << " from ai_list\n";
284 ai_list_itr = ai_list.erase(ai_list_itr);
286 // This is a hack - we should deref this plane from the airport count!
293 //cout << "Size of AI list is " << ai_list.size() << '\n';
296 void FGAIMgr::ScheduleRemoval(const string& s) {
297 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
298 removalList.push_back(s);
301 // Activate AI traffic at an airport
302 void FGAIMgr::ActivateAirport(const string& ident) {
303 ATC->AIRegisterAirport(ident);
304 // TODO - need to start the traffic more randomly
305 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
306 local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
307 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
308 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
309 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
310 ai_list.push_back(local_traffic);
311 traffic[ident].push_back(local_traffic);
312 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
313 activated[ident] = 1;
316 // Hack - Generate AI traffic at an airport with no facilities file
317 void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
318 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
319 // This will go eventually once airport .xml files specify the traffic profile
320 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
321 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
322 || ident == "KSEA" || ident == "EHAM") {
327 // TODO - check for military airports - this should be in the current data.
328 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
329 FGAirport a = fgFindAirportID(ident, &a);
331 cout << "CODE IS " << a.code << '\n';
333 // UG - can't find the airport!
338 Point3D aptpos = fgGetAirportPos(ident); // TODO - check for elev of -9999
339 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
341 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
342 if(aptpos.elev() > 3000) {
343 //cout << "High alt airports not yet supported - returning\n";
347 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
350 // Get the time and only operate VFR in the (approximate) daytime.
351 struct tm *t = globals->get_time_params()->getGmt();
352 int loc_time = t->tm_hour + int(aptpos.lon() / (360.0 / 24.0));
355 while (loc_time >= 24)
358 //cout << "loc_time = " << loc_time << '\n';
359 if(loc_time < 7 || loc_time > 19) return;
361 // Check that the visibility is OK for IFR operation.
363 FGEnvironment stationweather =
364 ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
365 ->getEnvironment(aptpos.lat(), aptpos.lon(), aptpos.elev()); // TODO - check whether this should take ft or m for elev.
366 visibility = stationweather.get_visibility_m();
367 // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
368 //cout << "vis = " << visibility << '\n';
369 if(visibility < 3000) return;
371 ATC->AIRegisterAirport(ident);
373 // Next - get the distance from user to the airport.
374 Point3D userpos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
375 double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
377 int lev = fgGetInt("/sim/ai-traffic/level");
382 if(visibility < 6000) lev = 1;
383 //cout << "level = " << lev << '\n';
385 // Next - generate any local / circuit traffic
388 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
389 // Finally - generate VFR approaching traffic
391 if(ident == "KPOC") {
393 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
394 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
395 for(int i=0; i<8; ++i) {
396 double dd = sg_random() * avd;
397 // put a minimum spacing in for now since I don't think tower will cope otherwise!
398 if(dd < 1500) dd = 1500;
401 double dir = int(sg_random() * 36);
405 if(sg_random() < 0.3) cessna = false;
407 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
408 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
409 t->SetModel(cessna ? _defaultModel : _piperModel);
410 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
411 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
412 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
413 t->Init(tpos, ident, s);
414 ai_list.push_back(t);
417 activated[ident] = 1;
419 //---------------------------------------------------------------------------------------------------
422 double ad; // Minimum distance out of first arriving plane in meters.
423 double mind; // Minimum spacing of traffic in meters
424 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
425 // Finally - generate VFR approaching traffic
432 } else if(lev == 2) {
437 ad = 9000.0; // Start the first aircraft at least 9K out for now.
442 // Check if there is already arriving traffic at this airport
443 cout << "BING A " << ident << '\n';
444 if(traffic.find(ident) != traffic.end()) {
445 cout << "BING B " << ident << '\n';
446 ai_list_type lst = traffic[ident];
447 cout << "BING C " << ident << '\n';
449 cout << "BING D " << ident << '\n';
450 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
451 cout << "ident = " << ident << ", cd = " << cd << '\n';
456 if(min_dist != 0) ad = min_dist;
457 //cout << "ident = " << ident << ", ad = " << ad << '\n';
458 while(ad < (d < 5000 ? 15000 : d + 10000)) {
459 double dd = mind + (sg_random() * (avd - mind));
461 double dir = int(sg_random() * 36);
465 if(sg_random() < 0.3) cessna = false;
467 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
468 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
469 t->SetModel(cessna ? _defaultModel : (_havePiperModel ? _piperModel : _defaultModel));
470 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
471 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
472 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
473 t->Init(tpos, ident, s);
474 ai_list.push_back(t);
475 traffic[ident].push_back(t);
481 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
482 void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
486 // Search for valid airports in the vicinity of the user and activate them if necessary
487 void FGAIMgr::SearchByPos(double range) {
488 //cout << "In SearchByPos(...)" << endl;
490 // get bucket number for plane position
491 lon = lon_node->getDoubleValue();
492 lat = lat_node->getDoubleValue();
493 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
494 SGBucket buck(lon, lat);
496 // get neigboring buckets
497 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
498 //cout << "bx = " << bx << endl;
499 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
500 //cout << "by = " << by << endl;
502 // Search for airports with facitities files --------------------------
503 // loop over bucket range
504 for ( int i=-bx; i<=bx; i++) {
505 //cout << "i loop\n";
506 for ( int j=-by; j<=by; j++) {
507 //cout << "j loop\n";
508 buck = sgBucketOffset(lon, lat, i, j);
509 long int bucket = buck.gen_index();
510 //cout << "bucket is " << bucket << endl;
511 if(facilities.find(bucket) != facilities.end()) {
512 ID_list_type* apts = facilities[bucket];
513 ID_list_iterator current = apts->begin();
514 ID_list_iterator last = apts->end();
516 //cout << "Size of apts is " << apts->size() << endl;
518 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
519 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
520 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
522 for(; current != last; ++current) {
523 //cout << "Found " << *current << endl;;
524 if(activated.find(*current) == activated.end()) {
525 //cout << "Activating " << *current << endl;
527 //if(dclFindAirportID(*current, &a)) {
528 // // We can do something here based on distance from the user if we wish.
530 //string s = *current;
531 //cout << "s = " << s << '\n';
532 ActivateAirport(*current);
533 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
534 //cout << "Activation done" << endl;
536 //cout << *current << " already activated" << endl;
542 //-------------------------------------------------------------
544 // Search for any towered airports in the vicinity ------------
545 comm_list_type towered;
546 comm_list_iterator twd_itr;
548 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
550 double closest = 1000000;
552 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
553 // Only activate the closest airport not already activated each time.
554 if(activated.find(twd_itr->ident) == activated.end()) {
555 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), fgGetAirportPos(twd_itr->ident));
564 // TODO - find out why empty strings come through here when all in-range airports done.
565 GenerateSimpleAirportTraffic(s);
566 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
572 string FGAIMgr::GenerateCallsign() {
573 // For now we'll just generate US callsigns until we can regionally identify airports.
575 // Add 3 to 5 numbers and make up to 5 with letters.
577 double d = sg_random();
580 //cout << "First n, n = " << n << '\n';
582 //cout << "j = " << j << '\n';
583 for(int i=0; i<j; ++i) {
584 int n = int(sg_random() * 10);
586 s += (char)('0' + n);
588 for(int i=j; i<5; ++i) {
589 int n = int(sg_random() * 26);
591 //cout << "Alpha, n = " << n << '\n';
592 s += (char)('A' + n);
594 //cout << "s = " << s << '\n';
598 string FGAIMgr::GenerateUniqueCallsign() {
600 string s = GenerateCallsign();
601 if(!ai_callsigns_used[s]) {
602 ai_callsigns_used[s] = 1;
608 // This will be moved somewhere else eventually!!!!
609 string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
610 //cout << callsign << '\n';
612 if(local) s = "Trainer-";
614 for(int i=3; i>0; --i) {
615 char c = callsign[callsign.size() - i];
619 if(isalpha(c)) s += GetPhoneticIdent(c);
620 else s += ConvertNumToSpokenDigits(tmp);