// AIManager.cxx Based on David Luff's AIMgr:
-// - a global management class for AI objects
+// - a global management type for AI objects
//
// Written by David Culp, started October 2003.
// - davidculp2@comcast.net
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/props/props_io.hxx>
+#include <simgear/structure/exception.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
-#include <list>
+#include <Airports/simple.hxx>
+#include <Traffic/TrafficMgr.hxx>
#include "AIManager.hxx"
#include "AIAircraft.hxx"
#include "AIShip.hxx"
#include "AIBallistic.hxx"
-
-SG_USING_STD(list);
-
+#include "AIStorm.hxx"
+#include "AIThermal.hxx"
+#include "AICarrier.hxx"
+#include "AIStatic.hxx"
+#include "AIMultiplayer.hxx"
+#include "AITanker.hxx"
+#include "AIWingman.hxx"
+#include "AIGroundVehicle.hxx"
FGAIManager::FGAIManager() {
- initDone = false;
- numObjects = 0;
- dt_count = 9;
+ _dt = 0.0;
+ mNumAiModels = 0;
+
+ for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
+ mNumAiTypeModels[i] = 0;
}
FGAIManager::~FGAIManager() {
- ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- delete (*ai_list_itr);
- ++ai_list_itr;
+ ai_list_iterator ai_list_itr = ai_list.begin();
+
+ while(ai_list_itr != ai_list.end()) {
+ (*ai_list_itr)->unbind();
+ ++ai_list_itr;
}
- ai_list.clear();
- ids.clear();
}
+void
+FGAIManager::init() {
+ root = fgGetNode("sim/ai", true);
-void FGAIManager::init() {
- int rval;
- root = fgGetNode("sim/ai", true);
+ enabled = root->getNode("enabled", true)->getBoolValue();
- for (int i = 0; i < root->nChildren(); i++) {
- const SGPropertyNode * entry = root->getChild(i);
+ if (!enabled)
+ return;
- if (!strcmp(entry->getName(), "entry")) {
- if (!strcmp(entry->getStringValue("type", ""), "aircraft")) {
+ thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
+ wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
+ wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
+
+ user_latitude_node = fgGetNode("/position/latitude-deg", true);
+ user_longitude_node = fgGetNode("/position/longitude-deg", true);
+ user_altitude_node = fgGetNode("/position/altitude-ft", true);
+ user_heading_node = fgGetNode("/orientation/heading-deg", true);
+ user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
+ user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
+ user_roll_node = fgGetNode("/orientation/roll-deg", true);
+ user_speed_node = fgGetNode("/velocities/uBody-fps", true);
+}
- rval = createAircraft( entry->getStringValue("class", ""),
- entry->getStringValue("path"),
- entry->getDoubleValue("latitude"),
- entry->getDoubleValue("longitude"),
- entry->getDoubleValue("altitude-ft"),
- entry->getDoubleValue("heading"),
- entry->getDoubleValue("speed-KTAS"),
- 0.0,
- entry->getDoubleValue("bank") );
+void
+FGAIManager::postinit() {
+ // postinit, so that it can access the Nasal subsystem
+ map<string, bool> scenarios;
+ for (int i = 0 ; i < root->nChildren() ; i++) {
+ SGPropertyNode *n = root->getChild(i);
+ if (strcmp(n->getName(), "scenario"))
+ continue;
+
+ string name = n->getStringValue();
+ if (name.empty())
+ continue;
+
+ if (scenarios.find(name) != scenarios.end()) {
+ SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
+ continue;
+ }
- } else if (!strcmp(entry->getStringValue("type", ""), "ship")) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
+ processScenario(name);
+ scenarios[name] = true;
+ }
+}
- rval = createShip( entry->getStringValue("path"),
- entry->getDoubleValue("latitude"),
- entry->getDoubleValue("longitude"),
- entry->getDoubleValue("altitude-ft"),
- entry->getDoubleValue("heading"),
- entry->getDoubleValue("speed-KTAS"),
- entry->getDoubleValue("rudder") );
+void
+FGAIManager::reinit() {
+ update(0.0);
+ ai_list_iterator ai_list_itr = ai_list.begin();
- } else if (!strcmp(entry->getStringValue("type", ""), "ballistic")) {
+ while(ai_list_itr != ai_list.end()) {
+ (*ai_list_itr)->reinit();
+ ++ai_list_itr;
+ }
+}
- rval = createBallistic( entry->getStringValue("path"),
- entry->getDoubleValue("latitude"),
- entry->getDoubleValue("longitude"),
- entry->getDoubleValue("altitude-ft"),
- entry->getDoubleValue("azimuth"),
- entry->getDoubleValue("elevation"),
- entry->getDoubleValue("speed") );
+void
+FGAIManager::bind() {
+ root = globals->get_props()->getNode("ai/models", true);
+ root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
+ &FGAIManager::getNumAiObjects));
+}
- }
+void
+FGAIManager::unbind() {
+ root->untie("count");
+}
+
+void
+FGAIManager::update(double dt) {
+ // initialize these for finding nearest thermals
+ range_nearest = 10000.0;
+ strength = 0.0;
+
+ if (!enabled)
+ return;
+
+ FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
+ _dt = dt;
+
+ ai_list_iterator ai_list_itr = ai_list.begin();
+
+ while(ai_list_itr != ai_list.end()) {
+
+ if ((*ai_list_itr)->getDie()) {
+ tmgr->release((*ai_list_itr)->getID());
+ --mNumAiModels;
+ --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
+ FGAIBase *base = (*ai_list_itr).get();
+ SGPropertyNode *props = base->_getProps();
+
+ props->setBoolValue("valid", false);
+ base->unbind();
+
+ // for backward compatibility reset properties, so that aircraft,
+ // which don't know the <valid> property, keep working
+ // TODO: remove after a while
+ props->setIntValue("id", -1);
+ props->setBoolValue("radar/in-range", false);
+ props->setIntValue("refuel/tanker", false);
+
+ ai_list_itr = ai_list.erase(ai_list_itr);
+ } else {
+ fetchUserState();
+ if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
+ FGAIBase *base = (*ai_list_itr).get();
+ processThermal((FGAIThermal*)base);
+ } else {
+ (*ai_list_itr)->update(_dt);
+ }
+ ++ai_list_itr;
+ }
}
- }
- initDone = true;
+ thermal_lift_node->setDoubleValue( strength ); // for thermals
}
+void
+FGAIManager::attach(FGAIBase *model)
+{
+ //unsigned idx = mNumAiTypeModels[model->getType()];
+ const char* typeString = model->getTypeString();
+ SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
+ SGPropertyNode* p;
+ int i;
+
+ // find free index in the property tree, if we have
+ // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
+ for (i = 0; i < 10000; i++) {
+ p = root->getNode(typeString, i, false);
+
+ if (!p || !p->getBoolValue("valid", false))
+ break;
+
+ if (p->getIntValue("id",-1)==model->getID()) {
+ p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
+ }
+ }
-void FGAIManager::bind() {
- root = globals->get_props()->getNode("ai/models", true);
- root->tie("count", SGRawValuePointer<int>(&numObjects));
+ p = root->getNode(typeString, i, true);
+ model->setManager(this, p);
+ ai_list.push_back(model);
+ ++mNumAiModels;
+ ++(mNumAiTypeModels[model->getType()]);
+ model->init(model->getType()==FGAIBase::otAircraft
+ || model->getType()==FGAIBase::otMultiplayer
+ || model->getType()==FGAIBase::otStatic);
+ model->bind();
+ p->setBoolValue("valid", true);
}
+void
+FGAIManager::destroyObject( int ID ) {
+ ai_list_iterator ai_list_itr = ai_list.begin();
+
+ while(ai_list_itr != ai_list.end()) {
+
+ if ((*ai_list_itr)->getID() == ID) {
+ --mNumAiModels;
+ --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
+ (*ai_list_itr)->unbind();
+ ai_list_itr = ai_list.erase(ai_list_itr);
+ } else
+ ++ai_list_itr;
+ }
-void FGAIManager::unbind() {
- root->untie("count");
}
+int
+FGAIManager::getNumAiObjects(void) const
+{
+ return mNumAiModels;
+}
-void FGAIManager::update(double dt) {
-
- ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- if ((*ai_list_itr)->getDie()) {
- freeID((*ai_list_itr)->getID());
- delete (*ai_list_itr);
- ai_list.erase(ai_list_itr);
- --ai_list_itr;
- --numObjects;
- } else {
- fetchUserState();
- (*ai_list_itr)->update(dt);
- }
- ++ai_list_itr;
- }
+void
+FGAIManager::fetchUserState( void ) {
+ user_latitude = user_latitude_node->getDoubleValue();
+ user_longitude = user_longitude_node->getDoubleValue();
+ user_altitude = user_altitude_node->getDoubleValue();
+ user_heading = user_heading_node->getDoubleValue();
+ user_pitch = user_pitch_node->getDoubleValue();
+ user_yaw = user_yaw_node->getDoubleValue();
+ user_speed = user_speed_node->getDoubleValue() * 0.592484;
+ user_roll = user_roll_node->getDoubleValue();
+ wind_from_east = wind_from_east_node->getDoubleValue();
+ wind_from_north = wind_from_north_node->getDoubleValue();
}
+// only keep the results from the nearest thermal
+void
+FGAIManager::processThermal( FGAIThermal* thermal ) {
+ thermal->update(_dt);
+
+ if ( thermal->_getRange() < range_nearest ) {
+ range_nearest = thermal->_getRange();
+ strength = thermal->getStrength();
+ }
-// This function returns the next available ID
-int FGAIManager::assignID() {
- int maxint = 30000;
- int x;
- bool used;
- for (x=0; x<maxint; x++) {
- used = false;
- id_itr = ids.begin();
- while( id_itr != ids.end() ) {
- if ((*id_itr) == x) used = true;
- ++id_itr;
- }
- if (!used) {
- ids.push_back(x);
- return x;
- }
- }
- return -1; // no available ID's
}
-// This function removes an ID from the ID array, making it
-// available for assignment to another AI object
-void FGAIManager::freeID( int ID ) {
- id_itr = ids.begin();
- while( id_itr != ids.end() ) {
- if (*id_itr == ID) {
- ids.erase( id_itr );
+
+void
+FGAIManager::processScenario( const string &filename ) {
+
+ SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
+
+ if (!scenarioTop)
return;
- }
- ++id_itr;
- }
-}
-int FGAIManager::createAircraft( string model_class, string path,
- double latitude, double longitude, double altitude,
- double heading, double speed, double pitch, double roll ) {
-
- FGAIAircraft* ai_plane = new FGAIAircraft(this);
- ai_list.push_back(ai_plane);
- ai_plane->setID( assignID() );
- ++numObjects;
- if (model_class == "light") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
- } else if (model_class == "ww2_fighter") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
- } else if (model_class == "jet_transport") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (model_class == "jet_fighter") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
+ SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
+
+ if (!scenarios)
+ return;
+
+ for (int i = 0; i < scenarios->nChildren(); i++) {
+ SGPropertyNode* scEntry = scenarios->getChild(i);
+
+ if (strcmp(scEntry->getName(), "entry"))
+ continue;
+ std::string type = scEntry->getStringValue("type", "aircraft");
+
+ if (type == "tanker") { // refueling scenarios
+ FGAITanker* tanker = new FGAITanker;
+ tanker->readFromScenario(scEntry);
+ attach(tanker);
+
+ } else if (type == "wingman") {
+ FGAIWingman* wingman = new FGAIWingman;
+ wingman->readFromScenario(scEntry);
+ attach(wingman);
+
+ } else if (type == "aircraft") {
+ FGAIAircraft* aircraft = new FGAIAircraft;
+ aircraft->readFromScenario(scEntry);
+ attach(aircraft);
+
+ } else if (type == "ship") {
+ FGAIShip* ship = new FGAIShip;
+ ship->readFromScenario(scEntry);
+ attach(ship);
+
+ } else if (type == "carrier") {
+ FGAICarrier* carrier = new FGAICarrier;
+ carrier->readFromScenario(scEntry);
+ attach(carrier);
+
+ } else if (type == "groundvehicle") {
+ FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
+ groundvehicle->readFromScenario(scEntry);
+ attach(groundvehicle);
+
+ } else if (type == "thunderstorm") {
+ FGAIStorm* storm = new FGAIStorm;
+ storm->readFromScenario(scEntry);
+ attach(storm);
+
+ } else if (type == "thermal") {
+ FGAIThermal* thermal = new FGAIThermal;
+ thermal->readFromScenario(scEntry);
+ attach(thermal);
+
+ } else if (type == "ballistic") {
+ FGAIBallistic* ballistic = new FGAIBallistic;
+ ballistic->readFromScenario(scEntry);
+ attach(ballistic);
+
+ } else if (type == "static") {
+ FGAIStatic* aistatic = new FGAIStatic;
+ aistatic->readFromScenario(scEntry);
+ attach(aistatic);
}
- ai_plane->setHeading(heading);
- ai_plane->setSpeed(speed);
- ai_plane->setPath(path.c_str());
- ai_plane->setAltitude(altitude);
- ai_plane->setLongitude(longitude);
- ai_plane->setLatitude(latitude);
- ai_plane->setBank(roll);
- ai_plane->init();
- ai_plane->bind();
- return ai_plane->getID();
-}
+ }
-int FGAIManager::createShip( string path, double latitude, double longitude,
- double altitude, double heading, double speed,
- double rudder ) {
-
- FGAIShip* ai_ship = new FGAIShip(this);
- ai_list.push_back(ai_ship);
- ai_ship->setID( assignID() );
- ++numObjects;
- ai_ship->setHeading(heading);
- ai_ship->setSpeed(speed);
- ai_ship->setPath(path.c_str());
- ai_ship->setAltitude(altitude);
- ai_ship->setLongitude(longitude);
- ai_ship->setLatitude(latitude);
- ai_ship->setBank(rudder);
- ai_ship->init();
- ai_ship->bind();
- return ai_ship->getID();
}
-
-int FGAIManager::createBallistic( string path, double latitude, double longitude,
- double altitude, double azimuth, double elevation,
- double speed ) {
-
- FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
- ai_list.push_back(ai_ballistic);
- ai_ballistic->setID( assignID() );
- ++numObjects;
- ai_ballistic->setAzimuth(azimuth);
- ai_ballistic->setElevation(elevation);
- ai_ballistic->setSpeed(speed);
- ai_ballistic->setPath(path.c_str());
- ai_ballistic->setAltitude(altitude);
- ai_ballistic->setLongitude(longitude);
- ai_ballistic->setLatitude(latitude);
- ai_ballistic->init();
- ai_ballistic->bind();
- return ai_ballistic->getID();
+SGPropertyNode_ptr
+FGAIManager::loadScenarioFile(const std::string& filename)
+{
+ SGPath path(globals->get_fg_root());
+ path.append("AI/" + filename + ".xml");
+ try {
+ SGPropertyNode_ptr root = new SGPropertyNode;
+ readProperties(path.str(), root);
+ return root;
+ } catch (const sg_exception &) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
+ "scenario: \"" << path.str() << "\"");
+ return 0;
+ }
}
-void FGAIManager::destroyObject( int ID ) {
- ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- if ((*ai_list_itr)->getID() == ID) {
- freeID( ID );
- delete (*ai_list_itr);
- ai_list.erase(ai_list_itr);
- --ai_list_itr;
- --numObjects;
- return;
+bool
+FGAIManager::getStartPosition(const string& id, const string& pid,
+ SGGeod& geodPos, double& hdng, SGVec3d& uvw)
+{
+ bool found = false;
+ SGPropertyNode* root = fgGetNode("sim/ai", true);
+ if (!root->getNode("enabled", true)->getBoolValue())
+ return found;
+
+ for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
+ SGPropertyNode *aiEntry = root->getChild( i );
+ if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
+ string filename = aiEntry->getStringValue();
+ SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
+ if (scenarioTop) {
+ SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
+ if (scenarios) {
+ for (int i = 0; i < scenarios->nChildren(); i++) {
+ SGPropertyNode* scEntry = scenarios->getChild(i);
+ std::string type = scEntry->getStringValue("type");
+ std::string pnumber = scEntry->getStringValue("pennant-number");
+ std::string name = scEntry->getStringValue("name");
+ if (type == "carrier" && (pnumber == id || name == id)) {
+ osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
+ carrier->readFromScenario(scEntry);
+
+ if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
+ found = true;
+ break;
+ }
+ }
+ }
+ }
}
- ++ai_list_itr;
}
+ }
+ return found;
+}
+
+const FGAIBase *
+FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
+{
+ // we specify tgt extent (ft) according to the AIObject type
+ double tgt_ht[] = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50, 50};
+ double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 100};
+ ai_list_iterator ai_list_itr = ai_list.begin();
+ ai_list_iterator end = ai_list.end();
+
+ while (ai_list_itr != end) {
+ double tgt_alt = (*ai_list_itr)->_getAltitude();
+ int type = (*ai_list_itr)->getType();
+ tgt_ht[type] += fuse_range;
+
+ if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
+ || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
+ << fabs(tgt_alt - alt)
+ << " "
+ << type
+ );
+ ++ai_list_itr;
+ continue;
+ }
+
+ double tgt_lat = (*ai_list_itr)->_getLatitude();
+ double tgt_lon = (*ai_list_itr)->_getLongitude();
+ int id = (*ai_list_itr)->getID();
+
+ double range = calcRange(lat, lon, tgt_lat, tgt_lon);
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
+ << ai_list.size()
+ << " type " << type
+ << " ID " << id
+ << " range " << range
+ //<< " bearing " << bearing
+ << " alt " << tgt_alt
+ );
+
+ tgt_length[type] += fuse_range;
+
+ if (range < tgt_length[type]){
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
+ << " type " << type
+ << " ID " << id
+ << " range " << range
+ << " alt " << tgt_alt
+ );
+ return (*ai_list_itr).get();
+ }
+ ++ai_list_itr;
+ }
+ return 0;
}
-// fetch the user's state every 10 sim cycles
-void FGAIManager::fetchUserState( void ) {
- ++dt_count;
- if (dt_count == 10) {
- user_latitude = fgGetDouble("/position/latitude-deg");
- user_longitude = fgGetDouble("/position/longitude-deg");
- user_altitude = fgGetDouble("/position/altitude-ft");
- user_heading = fgGetDouble("/orientation/heading-deg");
- user_pitch = fgGetDouble("/orientation/pitch-deg");
- user_yaw = fgGetDouble("/orientation/side-slip-deg");
- user_speed = fgGetDouble("/velocities/uBody-fps") * 0.592484;
- dt_count = 0;
- }
+double
+FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
+{
+ double course, az2, distance;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
+ distance *= SG_METER_TO_FEET;
+ return distance;
}
+
+//end AIManager.cxx
projects / flightgear.git / blobdiff