flightgear/src/AIModel/AIMultiplayer.hxx

// FGAIMultiplayer - AIBase derived class creates an AI multiplayer aircraft
//
// Written by David Culp, started October 2003.
//
// Copyright (C) 2003  David P. Culp - davidculp2@comcast.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

#pragma once

#include <map>
#include <string>
#include <string_view>

#include <MultiPlayer/mpmessages.hxx>

#include "AIBase.hxx"

class FGAIMultiplayer : public FGAIBase {
public:
  FGAIMultiplayer();
  virtual ~FGAIMultiplayer() = default;

  string_view getTypeString(void) const override { return "multiplayer"; }
  bool init(ModelSearchOrder searchOrder) override;
  void bind() override;
  void update(double dt) override;

  void addMotionInfo(FGExternalMotionData& motionInfo, long stamp);

#if 0
  void setDoubleProperty(const std::string& prop, double val);
#endif

  long getLastTimestamp(void) const
  {
    return mLastTimestamp;
  }

  void setAllowExtrapolation(bool allowExtrapolation)
  {
    mAllowExtrapolation = allowExtrapolation;
  
  }
  bool getAllowExtrapolation(void) const
  {
    return mAllowExtrapolation;
  }
  
  void setLagAdjustSystemSpeed(double lagAdjustSystemSpeed)
  {
    if (lagAdjustSystemSpeed < 0)
      lagAdjustSystemSpeed = 0;
    mLagAdjustSystemSpeed = lagAdjustSystemSpeed;
  }
  
  double getLagAdjustSystemSpeed(void) const
  {
    return mLagAdjustSystemSpeed;
  }

  void addPropertyId(unsigned id, const char* name)
  {
    mPropertyMap[id] = props->getNode(name, true);
  }

  double getplayerLag(void) const
  {
    return playerLag;
  }

  void setplayerLag(double mplayerLag)
  {
    playerLag = mplayerLag;
  }

  int getcompensateLag(void) const
  {
    return compensateLag;
  }

  void setcompensateLag(int mcompensateLag)
  {
    compensateLag = mcompensateLag;
  }

  SGPropertyNode* getPropertyRoot()
  {
    return props;
  }
  
  void clearMotionInfo();

private:

  // Automatic sorting of motion data according to its timestamp
  typedef std::map<double,FGExternalMotionData> MotionInfo;
  MotionInfo mMotionInfo;

  // Map between the property id's from the multiplayers network packets
  // and the property nodes
  typedef std::map<unsigned, SGSharedPtr<SGPropertyNode> > PropertyMap;
  PropertyMap mPropertyMap;
  
  // Calculates position, orientation and velocity using interpolation between
  // *prevIt and *nextIt, specifically (1-tau)*(*prevIt) + tau*(*nextIt).
  //
  // Cannot call this method 'interpolate' because that would hide the name in
  // OSG.
  //
  void FGAIMultiplayerInterpolate(
        MotionInfo::iterator prevIt,
        MotionInfo::iterator nextIt,
        double tau,
        SGVec3d& ecPos,
        SGQuatf& ecOrient,
        SGVec3f& ecLinearVel
        );

  // Calculates position, orientation and velocity using extrapolation from
  // *nextIt.
  //
  void FGAIMultiplayerExtrapolate(
        MotionInfo::iterator nextIt,
        double tInterp,
        bool motion_logging,
        SGVec3d& ecPos,
        SGQuatf& ecOrient,
        SGVec3f& ecLinearVel
        );

  bool mTimeOffsetSet = false;
  bool realTime = false;
  int compensateLag = 1;
  double playerLag = 0.03;
  double mTimeOffset = 0.0;
  double lastUpdateTime = 0.0;
  double lastTime = 0.0;
  double lagPpsAveraged = 1.0;
  double rawLag = 0.0;
  double rawLagMod = 0.0;
  double lagModAveraged = 0.0;

  /// Properties which are for now exposed for testing
  bool mAllowExtrapolation = true;
  double mLagAdjustSystemSpeed = 10.0;

  long mLastTimestamp = 0;

  // Properties for tankers
  SGPropertyNode_ptr refuel_node;
  bool isTanker = false;
  bool contact = false;     // set if this tanker is within fuelling range
  
  // velocities/u,v,wbody-fps 
  SGPropertyNode_ptr _uBodyNode;
  SGPropertyNode_ptr _vBodyNode;
  SGPropertyNode_ptr _wBodyNode;
  
  // Things for simple-time.
  //
  SGPropertyNode_ptr m_simple_time_enabled;
  
  SGPropertyNode_ptr m_sim_replay_replay_state;
  SGPropertyNode_ptr m_sim_replay_time;
  
  bool      m_simple_time_first_time = true;
  double    m_simple_time_offset = 0.0;
  double    m_simple_time_offset_smoothed = 0.0;
  double    m_simple_time_compensation = 0.0;
  double    m_simple_time_recent_packet_time = 0.0;
  
  SGPropertyNode_ptr m_lagPPSAveragedNode;
  SGPropertyNode_ptr m_lagModAveragedNode;

  SGPropertyNode_ptr    m_node_simple_time_latest;
  SGPropertyNode_ptr    m_node_simple_time_offset;
  SGPropertyNode_ptr    m_node_simple_time_offset_smoothed;
  SGPropertyNode_ptr    m_node_simple_time_compensation;
  
  // For use with scripts/python/recordreplay.py --test-motion-mp.
  SGPropertyNode_ptr mLogRawSpeedMultiplayer;
  
  SGPropertyNode_ptr    m_node_ai_latch;
  std::string           m_ai_latch;
  SGPropertyNode_ptr    m_node_ai_latch_latitude;
  SGPropertyNode_ptr    m_node_ai_latch_longitude;
  SGPropertyNode_ptr    m_node_ai_latch_altitude;
  SGPropertyNode_ptr    m_node_ai_latch_heading;
  SGPropertyNode_ptr    m_node_ai_latch_pitch;
  SGPropertyNode_ptr    m_node_ai_latch_roll;
  SGPropertyNode_ptr    m_node_ai_latch_ubody_fps;
  SGPropertyNode_ptr    m_node_ai_latch_vbody_fps;
  SGPropertyNode_ptr    m_node_ai_latch_wbody_fps;
  SGPropertyNode_ptr    m_node_ai_latch_speed_kts;
  
  SGPropertyNode_ptr    m_node_log_multiplayer;
};