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.
56 _havePiperModel = true;
60 _defaultModel->deRef();
61 if(_havePiperModel) _piperModel->deRef();
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/c172r/Models/c172-dpm.ac";
79 bool _loadedDefaultOK = true;
81 _defaultModel = sgLoad3DModel( globals->get_fg_root(),
84 globals->get_sim_time_sec() );
85 } catch(sg_exception& e) {
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& e) {
106 _havePiperModel = false;
109 // We need to keep one ref of the models open to stop ssg deleting them behind our back!
110 _defaultModel->ref();
111 if(_havePiperModel) _piperModel->ref();
113 // go through the $FG_ROOT/ATC directory and find all *.taxi files
114 SGPath path(globals->get_fg_root());
116 string dir = path.dir();
118 string file, f_ident;
124 if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
125 SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
127 // load all .taxi files
128 while ( (de = ulReadDir(d)) != NULL ) {
130 pos = file.find(".");
131 ext = file.substr(pos + 1);
133 f_ident = file.substr(0, pos);
135 if(dclFindAirportID(f_ident, &a)) {
136 SGBucket sgb(a.getLongitude(), a.getLatitude());
137 int idx = sgb.gen_index();
138 if(facilities.find(idx) != facilities.end()) {
139 facilities[idx]->push_back(f_ident);
141 ID_list_type* apts = new ID_list_type;
142 apts->push_back(f_ident);
143 facilities[idx] = apts;
145 SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
152 // See if are in range at startup and activate if necessary
157 //cout << "AIMgr::init done..." << endl;
161 FGATCAlignedProjection ortho;
162 ortho.Init(dclGetAirportPos("KEMT"), 205.0); // Guess of rwy19 heading
163 //Point3D ip = ortho.ConvertFromLocal(Point3D(6000, 1000, 1000)); // 90 deg entry
164 //Point3D ip = ortho.ConvertFromLocal(Point3D(-7000, 3000, 1000)); // 45 deg entry
165 Point3D ip = ortho.ConvertFromLocal(Point3D(1000, -7000, 1000)); // straight-in
166 ATC->AIRegisterAirport("KEMT");
167 FGAIGAVFRTraffic* p = new FGAIGAVFRTraffic();
168 p->SetModel(_defaultModel);
169 p->Init(ip, "KEMT", GenerateShortForm(GenerateUniqueCallsign()));
170 ai_list.push_back(p);
171 traffic[ident].push_back(p);
172 activated["KEMT"] = 1;
176 void FGAIMgr::bind() {
179 void FGAIMgr::unbind() {
182 void FGAIMgr::update(double dt) {
185 SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
188 //cout << activated.size() << '\n';
190 Point3D userPos = Point3D(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
192 // TODO - make these class variables!!
196 // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
197 // Might not need it now we have fade-in though?
206 } else if(j == 200) {
207 // Go through the list of activated airports and remove those out of range
208 //cout << "The following airports have been activated by the AI system:\n";
209 ai_activated_map_iterator apt_itr = activated.begin();
210 while(apt_itr != activated.end()) {
211 //cout << "FIRST IS " << (*apt_itr).first << '\n';
212 if(dclGetHorizontalSeparation(userPos, dclGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
213 // Then get rid of it and make sure the iterator is left pointing to the next one!
214 string s = (*apt_itr).first;
215 if(traffic.find(s) != traffic.end()) {
216 //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
217 if(traffic[s].size()) {
220 //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
221 activated.erase(apt_itr++);
225 //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
226 activated.erase(apt_itr++);
232 } else if(j == 180) {
233 // Go through the list of activated airports and do the random airplane generation
234 ai_traffic_map_iterator it = traffic.begin();
235 while(it != traffic.end()) {
236 string s = (*it).first;
237 //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
238 // Only generate extra traffic if within a certain distance of the user,
239 // TODO - maybe take users's tuned freq into account as well.
240 double d = dclGetHorizontalSeparation(userPos, dclGetAirportPos(s));
241 if(d < (15.0 * 1600.0)) {
244 //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
245 if((*it).second.size()) {
246 FGAIEntity* e = *((*it).second.rbegin()); // Get the last airplane currently scheduled to arrive at this airport.
247 cd = dclGetHorizontalSeparation(e->GetPos(), dclGetAirportPos(s));
248 if(cd < (d < 5000 ? 10000 : d + 5000)) {
256 //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
257 //GenerateSimpleAirportTraffic(s, cd);
258 GenerateSimpleAirportTraffic(s, cd + 3000.0); // The random seems a bit wierd - traffic could get far too bunched without the +3000.
259 // TODO - make the anti-random constant variable depending on the ai-traffic level.
268 //cout << "Size of AI list is " << ai_list.size() << '\n';
270 // TODO - need to add a check of if any activated airports have gone out of range
272 string rs; // plane to be removed, if one.
273 if(removalList.size()) {
274 rs = *(removalList.begin());
275 removalList.pop_front();
280 // Traverse the list of active planes and run all their update methods
281 // TODO - spread the load - not all planes should need updating every frame.
282 // Note that this will require dt to be calculated for each plane though
283 // since they rely on it to calculate distance travelled.
284 ai_list_itr = ai_list.begin();
285 while(ai_list_itr != ai_list.end()) {
286 FGAIEntity *e = *ai_list_itr;
287 if(rs.size() && e->GetCallsign() == rs) {
288 //cout << "Removing " << rs << " from ai_list\n";
289 ai_list_itr = ai_list.erase(ai_list_itr);
291 // This is a hack - we should deref this plane from the airport count!
298 //cout << "Size of AI list is " << ai_list.size() << '\n';
301 void FGAIMgr::ScheduleRemoval(string s) {
302 //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
303 removalList.push_back(s);
306 // Activate AI traffic at an airport
307 void FGAIMgr::ActivateAirport(string ident) {
308 ATC->AIRegisterAirport(ident);
309 // TODO - need to start the traffic more randomly
310 FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
311 local_traffic->SetModel(_defaultModel); // currently hardwired to cessna.
312 //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
313 local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
314 local_traffic->FlyCircuits(1, true); // Fly 2 circuits with touch & go in between
315 ai_list.push_back(local_traffic);
316 traffic[ident].push_back(local_traffic);
317 //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
318 activated[ident] = 1;
321 // Hack - Generate AI traffic at an airport with no facilities file
322 void FGAIMgr::GenerateSimpleAirportTraffic(string ident, double min_dist) {
323 // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
324 // This will go eventually once airport .xml files specify the traffic profile
325 if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK"
326 || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
327 || ident == "KSEA" || ident == "EHAM") {
332 // TODO - check for military airports - this should be in the current data.
333 // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
335 if(dclFindAirportID(ident, &a)) {
336 cout << "CODE IS " << a.code << '\n';
338 // UG - can't find the airport!
343 Point3D aptpos = dclGetAirportPos(ident); // TODO - check for elev of -9999
344 //cout << "ident = " << ident << ", elev = " << aptpos.elev() << '\n';
346 // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
347 if(aptpos.elev() > 3000) {
348 //cout << "High alt airports not yet supported - returning\n";
352 // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
355 // Get the time and only operate VFR in the (approximate) daytime.
356 time_t now = globals->get_time_params()->get_cur_time() + time_t(aptpos.lon() * 240.0);
357 int loc_time = gmtime(&now)->tm_hour;
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");
378 if(lev < 1 || lev > 3) lev = 2;
379 if(visibility < 6000) lev = 1;
380 //cout << "level = " << lev << '\n';
382 // Next - generate any local / circuit traffic
385 // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
386 // Finally - generate VFR approaching traffic
388 if(ident == "KPOC") {
390 double avd = 3000.0; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
391 //while(ad < (d < 10000 ? 12000 : d + 2000)) {
392 for(int i=0; i<8; ++i) {
393 double dd = sg_random() * avd;
394 // put a minimum spacing in for now since I don't think tower will cope otherwise!
395 if(dd < 1500) dd = 1500;
398 double dir = int(sg_random() * 36);
402 if(sg_random() < 0.3) cessna = false;
404 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
405 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
406 t->SetModel(cessna ? _defaultModel : _piperModel);
407 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
408 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
409 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0);
410 t->Init(tpos, ident, s);
411 ai_list.push_back(t);
414 activated[ident] = 1;
416 //---------------------------------------------------------------------------------------------------
419 double ad; // Minimum distance out of first arriving plane in meters.
420 double mind; // Minimum spacing of traffic in meters
421 double avd; // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
422 // Finally - generate VFR approaching traffic
429 } else if(lev == 2) {
434 ad = 9000.0; // Start the first aircraft at least 9K out for now.
439 // Check if there is already arriving traffic at this airport
440 cout << "BING A " << ident << '\n';
441 if(traffic.find(ident) != traffic.end()) {
442 cout << "BING B " << ident << '\n';
443 ai_list_type lst = traffic[ident];
444 cout << "BING C " << ident << '\n';
446 cout << "BING D " << ident << '\n';
447 double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
448 cout << "ident = " << ident << ", cd = " << cd << '\n';
453 if(min_dist != 0) ad = min_dist;
454 //cout << "ident = " << ident << ", ad = " << ad << '\n';
455 while(ad < (d < 5000 ? 15000 : d + 10000)) {
456 double dd = mind + (sg_random() * (avd - mind));
458 double dir = int(sg_random() * 36);
462 if(sg_random() < 0.3) cessna = false;
464 string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
465 FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
466 t->SetModel(cessna ? _defaultModel : (_havePiperModel ? _piperModel : _defaultModel));
467 //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
468 Point3D tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
469 if(tpos.elev() > (aptpos.elev() + 3000.0)) tpos.setelev(aptpos.elev() + 3000.0); // FEET yuk :-(
470 t->Init(tpos, ident, s);
471 ai_list.push_back(t);
472 traffic[ident].push_back(t);
478 // Generate a VFR arrival at airport apt, at least distance d (meters) out.
479 void FGAIMgr::GenerateVFRArrival(string apt, double d) {
483 // Search for valid airports in the vicinity of the user and activate them if necessary
484 void FGAIMgr::SearchByPos(double range) {
485 //cout << "In SearchByPos(...)" << endl;
487 // get bucket number for plane position
488 lon = lon_node->getDoubleValue();
489 lat = lat_node->getDoubleValue();
490 elev = elev_node->getDoubleValue() * SG_FEET_TO_METER;
491 SGBucket buck(lon, lat);
493 // get neigboring buckets
494 int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
495 //cout << "bx = " << bx << endl;
496 int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
497 //cout << "by = " << by << endl;
499 // Search for airports with facitities files --------------------------
500 // loop over bucket range
501 for ( int i=-bx; i<=bx; i++) {
502 //cout << "i loop\n";
503 for ( int j=-by; j<=by; j++) {
504 //cout << "j loop\n";
505 buck = sgBucketOffset(lon, lat, i, j);
506 long int bucket = buck.gen_index();
507 //cout << "bucket is " << bucket << endl;
508 if(facilities.find(bucket) != facilities.end()) {
509 ID_list_type* apts = facilities[bucket];
510 ID_list_iterator current = apts->begin();
511 ID_list_iterator last = apts->end();
513 //cout << "Size of apts is " << apts->size() << endl;
515 //double rlon = lon * SGD_DEGREES_TO_RADIANS;
516 //double rlat = lat * SGD_DEGREES_TO_RADIANS;
517 //Point3D aircraft = sgGeodToCart( Point3D(rlon, rlat, elev) );
519 for(; current != last; ++current) {
520 //cout << "Found " << *current << endl;;
521 if(activated.find(*current) == activated.end()) {
522 //cout << "Activating " << *current << endl;
524 //if(dclFindAirportID(*current, &a)) {
525 // // We can do something here based on distance from the user if we wish.
527 //string s = *current;
528 //cout << "s = " << s << '\n';
529 ActivateAirport(*current);
530 //ActivateSimpleAirport(*current); // TODO - put this back to ActivateAirport when that code is done.
531 //cout << "Activation done" << endl;
533 //cout << *current << " already activated" << endl;
539 //-------------------------------------------------------------
541 // Search for any towered airports in the vicinity ------------
542 comm_list_type towered;
543 comm_list_iterator twd_itr;
545 int num_twd = current_commlist->FindByPos(lon, lat, elev, range, &towered, TOWER);
547 double closest = 1000000;
549 for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
550 // Only activate the closest airport not already activated each time.
551 if(activated.find(twd_itr->ident) == activated.end()) {
552 double sep = dclGetHorizontalSeparation(Point3D(lon, lat, elev), dclGetAirportPos(twd_itr->ident));
561 // TODO - find out why empty strings come through here when all in-range airports done.
562 GenerateSimpleAirportTraffic(s);
563 //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
569 string FGAIMgr::GenerateCallsign() {
570 // For now we'll just generate US callsigns until we can regionally identify airports.
572 // Add 3 to 5 numbers and make up to 5 with letters.
574 double d = sg_random();
577 //cout << "First n, n = " << n << '\n';
579 //cout << "j = " << j << '\n';
580 for(int i=0; i<j; ++i) {
581 int n = int(sg_random() * 10);
583 s += (char)('0' + n);
585 for(int i=j; i<5; ++i) {
586 int n = int(sg_random() * 26);
588 //cout << "Alpha, n = " << n << '\n';
589 s += (char)('A' + n);
591 //cout << "s = " << s << '\n';
595 string FGAIMgr::GenerateUniqueCallsign() {
597 string s = GenerateCallsign();
598 if(!ai_callsigns_used[s]) {
599 ai_callsigns_used[s] = 1;
605 // This will be moved somewhere else eventually!!!!
606 string FGAIMgr::GenerateShortForm(string callsign, string plane_str, bool local) {
607 //cout << callsign << '\n';
609 if(local) s = "Trainer-";
611 for(int i=3; i>0; --i) {
612 char c = callsign[callsign.size() - i];
616 if(isalpha(c)) s += GetPhoneticIdent(c);
617 else s += ConvertNumToSpokenDigits(tmp);