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Enhanced Groups

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This commit is contained in:
Frank
2020-07-30 01:08:25 +02:00
parent 2f6d9b640f
commit 0d42b12658
4 changed files with 352 additions and 274 deletions
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205
Moose Development/Moose/Ops/NavyGroup.lua
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@@ -93,6 +93,7 @@ function NAVYGROUP:New(GroupName)
-- Defaults
self:SetDefaultROE()
self:SetDefaultAlarmstate()
self:SetDetection()
self:SetPatrolAdInfinitum(true)
@@ -418,11 +419,23 @@ function NAVYGROUP:onafterStatus(From, Event, To)
local nTaskTot, nTaskSched, nTaskWP=self:CountRemainingTasks()
local nMissions=self:CountRemainingMissison()
local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"
local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"
local turning=tostring(self:IsTurning())
local alt=pos.y
local speedExpected=UTILS.MpsToKnots(self.speed or 0)
local wpidxCurr=self.currentwp
local wpuidCurr=0
local wpidxNext=self:GetWaypointIndexNext()
local wpuidNext=0
local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint())
local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint(), true)
local roe=self:GetROE() or 0
local als=self:GetAlarmstate() or 0
-- Info text.
local text=string.format("%s (T=%d,M=%d): Wp=%d-->%d (of %d) Speed=%.1f (%.1f) Depth=%.1f Hdg=%03d Turn=%s Collision=%d IntoWind=%s ROE=%d AS=%d",
fsmstate, nTaskTot, nMissions, self.currentwp, self:GetWaypointIndexNext(), #self.waypoints, speed, UTILS.MpsToKnots(self.speed or 0), pos.y, hdg, tostring(self:IsTurning()), freepath, intowind, 0, 0)
local text=string.format("%s [ROE=%d,AS=%d, T/M=%d/%d]: Wp=%d[%d]-->%d[%d] (of %d) Dist=%.1f NM ETA=%s - Speed=%.1f (%.1f) kts, Depth=%.1f m, Hdg=%03d, Turn=%s Collision=%d IntoWind=%s",
fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints, wpDist, wpETA, speed, speedExpected, alt, hdg, turning, freepath, intowind)
self:I(self.lid..text)
else
@@ -536,16 +549,15 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
if self.ai then
-- Set default ROE and ROT options.
self:SetOptionROE(self.roe)
-- Set default ROE and Alarmstate options.
self:SetOptionROE(self.roe)
self:SetOptionAlarmstate(self.alarmstate)
end
-- Get orientation.
self.Corientlast=self.group:GetUnit(1):GetOrientationX()
self.depth=self.group:GetHeight()
-- Update route.
self:Cruise()
@@ -562,7 +574,7 @@ end
function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
-- Update route from this waypoint number onwards.
n=n or self:GetWaypointIndexNext(self.adinfinitum)
n=n or self:GetWaypointIndexNext()
-- Debug info.
self:T(self.lid..string.format("FF Update route n=%d", n))
@@ -607,7 +619,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
else
-- Dive depth is applied to all other waypoints.
-- Dive depth is applied to all other waypoints.
if self.depth then
wp.alt=-self.depth
else
@@ -637,10 +649,11 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
else
---
-- No waypoints left
-- No waypoints left ==> Full Stop
---
self:I(self.lid..string.format("No waypoints left"))
self:E(self.lid..string.format("WARNING: No waypoints left ==> Full Stop!"))
self:FullStop()
end
@@ -656,20 +669,20 @@ end
-- @param #number Depth Depth in meters. Default 0 meters.
-- @param #number ResumeRoute If true, resume route after detour point was reached. If false, the group will stop at the detour point and wait for futher commands.
function NAVYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Depth, ResumeRoute)
-- Waypoints.
local waypoints={}
-- Depth for submarines.
local depth=Depth or 0
Depth=Depth or 0
-- Speed in knots.
Speed=Speed or self:GetSpeedCruise()
local wpindx=self.currentwp+1
-- ID of current waypoint.
local uid=self:GetWaypointCurrent().uid
local wp=self:AddWaypoint(Coordinate, Speed, wpindx, true)
-- Add waypoint after current.
local wp=self:AddWaypoint(Coordinate, Speed, uid, Depth, true)
-- Set if we want to resume route after reaching the detour waypoint.
if ResumeRoute then
wp.detour=1
else
@@ -687,26 +700,6 @@ function NAVYGROUP:onafterDetourReached(From, Event, To)
self:I(self.lid.."Group reached detour coordinate.")
end
--- Function called when a group is passing a waypoint.
--@param Wrapper.Group#GROUP group Group that passed the waypoint
--@param #NAVYGROUP navygroup Navy group object.
--@param #boolean resume Resume route.
function NAVYGROUP._DetourReached(group, navygroup, resume)
-- Debug message.
local text=string.format("Group reached detour coordinate")
navygroup:I(navygroup.lid..text)
if resume then
local indx=navygroup:GetWaypointIndexNext(true)
local speed=navygroup:GetSpeedToWaypoint(indx)
navygroup:UpdateRoute(indx, speed, navygroup.depth)
end
navygroup:DetourReached()
end
--- On after "TurnIntoWind" event.
-- @param #NAVYGROUP self
-- @param #string From From state.
@@ -739,10 +732,11 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
local coord=self:GetCoordinate()
local Coord=coord:Translate(distance, IntoWind.Heading)
-- ID of current waypoint.
local uid=self:GetWaypointCurrent().uid
local wpindex=self.currentwp+1 --self:GetWaypointIndexNext(false)
local wptiw=self:AddWaypoint(Coord, speed, wpindex, true)
local wptiw=self:AddWaypoint(Coord, speed, uid)
wptiw.intowind=true
IntoWind.waypoint=wptiw
@@ -751,14 +745,6 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
IntoWind.Coordinate:MarkToAll("Return coord")
end
--[[
local wp={}
wp[1]=coord:WaypointNaval(UTILS.KnotsToKmph(speed))
wp[2]=Coord:WaypointNaval(UTILS.KnotsToKmph(speed))
self:Route(wp)
]]
end
--- On after "TurnIntoWindOver" event.
@@ -816,10 +802,10 @@ end
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param #number Speed Speed in knots until next waypoint is reached.
-- @param #number Speed Speed in knots until next waypoint is reached. Default is speed set for waypoint.
function NAVYGROUP:onafterCruise(From, Event, To, Speed)
--
-- No set depth.
self.depth=nil
self:__UpdateRoute(-1, nil, Speed)
@@ -1001,28 +987,36 @@ end
--- Add an a waypoint to the route.
-- @param #NAVYGROUP self
-- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
-- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
-- @param #number wpnumber Waypoint number. Default at the end.
-- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
-- @param #number Depth Depth at waypoint in meters.
-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
function NAVYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
-- Waypoint number. Default is at the end.
wpnumber=wpnumber or #self.waypoints+1
function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Updateroute)
-- Set waypoint index.
local wpnumber=#self.waypoints+1
if wpnumber then
local index=self:GetWaypointIndex(AfterWaypointWithID)
if index then
wpnumber=index+1
end
end
-- Check if final waypoint is still passed.
if wpnumber>self.currentwp then
self.passedfinalwp=false
end
-- Speed in knots.
speed=speed or self:GetSpeedCruise()
Speed=Speed or self:GetSpeedCruise()
-- Speed at waypoint.
local speedkmh=UTILS.KnotsToKmph(speed)
local speedkmh=UTILS.KnotsToKmph(Speed)
-- Create a Naval waypoint.
local wp=coordinate:WaypointNaval(speedkmh)
local wp=Coordinate:WaypointNaval(speedkmh)
-- Create waypoint data table.
local waypoint=self:_CreateWaypoint(wp)
@@ -1031,10 +1025,10 @@ function NAVYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
self:_AddWaypoint(waypoint, wpnumber)
-- Debug info.
self:I(self.lid..string.format("Adding NAVAL waypoint index=%d uid=%d, speed=%.1f knots. Last waypoint passed was #%d. Total waypoints #%d", wpnumber, waypoint.uid, speed, self.currentwp, #self.waypoints))
self:I(self.lid..string.format("Adding NAVAL waypoint index=%d uid=%d, speed=%.1f knots. Last waypoint passed was #%d. Total waypoints #%d", wpnumber, waypoint.uid, Speed, self.currentwp, #self.waypoints))
-- Update route.
if updateroute==nil or updateroute==true then
if Updateroute==nil or Updateroute==true then
self:_CheckGroupDone(1)
end
@@ -1076,8 +1070,8 @@ function NAVYGROUP:_InitGroup()
-- Max speed in km/h.
self.speedmax=self.group:GetSpeedMax()
-- Cruise speed: 70% of max speed but within limit.
--self.speedCruise=self.speedmax*0.7
-- Cruise speed: 70% of max speed.
self.speedCruise=self.speedmax*0.7
-- Group ammo.
--self.ammo=self:GetAmmoTot()
@@ -1106,6 +1100,7 @@ function NAVYGROUP:_InitGroup()
end
end
-- Get all units of the group.
local units=self.group:GetUnits()
for _,_unit in pairs(units) do
@@ -1351,58 +1346,18 @@ function NAVYGROUP:_CheckStuck()
local ExpectedSpeed=self:GetExpectedSpeed()
local speed=self.group:GetVelocityMPS()
local speed=self:GetVelocity()
if speed<0.5 and ExpectedSpeed>0 then
if not self.holdtimestamp then
self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f expected=%.1f knots", speed, ExpectedSpeed))
self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected", speed, ExpectedSpeed))
self.holdtimestamp=timer.getTime()
end
end
end
--- Check if group is done, i.e.
--
-- * passed the final waypoint,
-- * no current task
-- * no current mission
-- * number of remaining tasks is zero
-- * number of remaining missions is zero
--
-- @param #NAVYGROUP self
-- @param #number delay Delay in seconds.
function NAVYGROUP:_CheckGroupDone(delay)
if self:IsAlive() and self.ai then
if delay and delay>0 then
-- Delayed call.
self:ScheduleOnce(delay, NAVYGROUP._CheckGroupDone, self)
else
if self.passedfinalwp then
if #self.waypoints>1 and self.adinfinitum then
local speed=self:GetSpeedToWaypoint(1)
-- Start route at first waypoint.
self:__UpdateRoute(-1, 1, speed, self.depth)
end
else
self:__UpdateRoute(-1, nil, nil, self.depth)
end
end
end
end
--- Check queued turns into wind.
-- @param #NAVYGROUP self
@@ -1466,33 +1421,7 @@ function NAVYGROUP:GetSpeedCruise()
return UTILS.KmphToKnots(self.speedCruise or self.speedmax*0.7)
end
--- Returns a non-zero speed to the next waypoint (even if the waypoint speed is zero).
-- @param #NAVYGROUP self
-- @param #number indx Waypoint index.
-- @return #number Speed to next waypoint (>0) in knots.
function NAVYGROUP:GetSpeedToWaypoint(indx)
local speed=self:GetWaypointSpeed(indx)
if speed<=0.1 then
speed=self:GetSpeedCruise()
end
return speed
end
--- Returns the currently expected speed.
-- @param #NAVYGROUP self
-- @return #number Expected speed in m/s.
function NAVYGROUP:GetExpectedSpeed()
if self:IsHolding() then
return 0
else
return self.speed or 0
end
end
--- Check queued turns into wind.
-- @param #NAVYGROUP self
@@ -1602,15 +1531,23 @@ function NAVYGROUP:_FindPathToNextWaypoint()
if path then
-- Loop over nodes in found path.
local uid=self:GetWaypointCurrent().uid -- ID of current waypoint.
for i,_node in ipairs(path) do
local node=_node --Core.Astar#ASTAR.Node
-- Waypoint index.
local wpindex=self:GetWaypointIndexCurrent()+i
-- ID of current waypoint.
local uid=self:GetWaypointCurrent().uid
-- Add waypoints along detour path to next waypoint.
local wp=self:AddWaypoint(node.coordinate, speed, wpindex)
local wp=self:AddWaypoint(node.coordinate, speed, uid)
wp.astar=true
-- Update id so the next wp is added after this one.
uid=wp.uid
-- Debug: smoke and mark path.
node.coordinate:MarkToAll(string.format("Path node #%d", i))