NavyGroup Update

Moose Development/Moose/Ops/ArmyGroup.lua

@@ -3,7 +3,16 @@
 -- **Main Features:**
 --
 --    * Dynamically add and remove waypoints.
---     
+--    * Convenient checks when the group enters or leaves a zone.
+--    * Sophisticated task queueing system.
+--    * Compatible with AUFTRAG class.
+--    * Easy change of ROE, alarm state, formation and other settings.
+--    * Many additional events that the mission designer can hook into.
+--
+-- **Example Missions:**
+-- 
+-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/OPS%20-%20Armygroup).
+--    
 -- ===
 --
 -- ### Author: **funkyfranky**
@@ -15,6 +24,7 @@
 -- @type ARMYGROUP
 -- @field #boolean adinfinitum Resume route at first waypoint when final waypoint is reached.
 -- @field #boolean formationPerma Formation that is used permanently and overrules waypoint formations.
+-- @field #boolean isMobile If true, group is mobile.
 -- @extends Ops.OpsGroup#OPSGROUP
 
 --- *Your soul may belong to Jesus, but your ass belongs to the marines.* -- Eugene B. Sledge
@@ -46,7 +56,8 @@ ARMYGROUP.version="0.3.0"
 -- TODO list
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
  
--- TODO: A lot.
+-- TODO: Check if group is mobile.
+-- TODO: Rearm. Specify a point where to go and wait until ammo is full.
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Constructor
@@ -54,12 +65,12 @@ ARMYGROUP.version="0.3.0"
 
 --- Create a new ARMYGROUP class object.
 -- @param #ARMYGROUP self
--- @param #string GroupName Name of the group.
+-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
 -- @return #ARMYGROUP self
-function ARMYGROUP:New(GroupName)
+function ARMYGROUP:New(Group)
 
   -- Inherit everything from FSM class.
-  local self=BASE:Inherit(self, OPSGROUP:New(GroupName)) -- #ARMYGROUP
+  local self=BASE:Inherit(self, OPSGROUP:New(Group)) -- #ARMYGROUP
   
   -- Set some string id for output to DCS.log file.
   self.lid=string.format("ARMYGROUP %s | ", self.groupname)
@@ -73,7 +84,10 @@ function ARMYGROUP:New(GroupName)
   -- Add FSM transitions.
   --                 From State  -->   Event      -->     To State
   self:AddTransition("*",             "FullStop",         "Holding")     -- Hold position.
-  self:AddTransition("*",             "Cruise",           "Cruising")    -- Hold position.
+  self:AddTransition("*",             "Cruise",           "Cruising")    -- Cruise along the given route of waypoints.
+  
+  self:AddTransition("*",             "Rearm",            "Rearming")    -- Group is send to a coordinate and waits until ammo is refilled.
+  self:AddTransition("Rearming",      "Rearmed",          "Cruising")    -- Group was rearmed.
   
   self:AddTransition("*",             "Detour",           "OnDetour")    -- Make a detour to a coordinate and resume route afterwards.
   self:AddTransition("OnDetour",      "DetourReached",    "Cruising")    -- Group reached the detour coordinate.
@@ -224,11 +238,18 @@ end
 
 --- Check if the group is currently on a detour.
 -- @param #ARMYGROUP self
--- @return #boolean If true, group is on a detour
+-- @return #boolean If true, group is on a detour.
 function ARMYGROUP:IsOnDetour()
   return self:Is("OnDetour")
 end
 
+--- Check if the group is currently rearming.
+-- @param #ARMYGROUP self
+-- @return #boolean If true, group is rearming.
+function ARMYGROUP:IsRearming()
+  return self:Is("Rearming")
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Status
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -508,6 +529,26 @@ function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation,
 
 end
 
+--- On after "Rearm" event.
+-- @param #ARMYGROUP self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+-- @param Core.Point#COORDINATE Coordinate Coordinate where to rearm.
+-- @param #number Formation Formation of the group.
+function ARMYGROUP:onafterRearm(From, Event, To, Coordinate, Formation)
+
+  -- ID of current waypoint.
+  local uid=self:GetWaypointCurrent().uid
+  
+  -- Add waypoint after current.
+  local wp=self:AddWaypoint(Coordinate, nil, uid, Formation, true)
+  
+  -- Set if we want to resume route after reaching the detour waypoint.
+  wp.detour=0
+
+end
+
 --- On after "DetourReached" event.
 -- @param #ARMYGROUP self
 -- @param #string From From state.
@@ -549,7 +590,7 @@ function ARMYGROUP:onafterCruise(From, Event, To, Speed, Formation)
 
 end
 
---- On after Start event. Starts the ARMYGROUP FSM and event handlers.
+--- On after "Stop" event.
 -- @param #ARMYGROUP self
 -- @param #string From From state.
 -- @param #string Event Event.

Moose Development/Moose/Ops/Auftrag.lua

@@ -7,7 +7,7 @@
 --    * Set mission start/stop times.
 --    * Set mission priority and urgency (can cancel running missions).
 --    * Specific mission options for ROE, ROT, formation, etc.
---    * Interface to FLIGHTGROUP, AIRWING and WINGCOMMANDER classes.
+--    * Interface to FLIGHTGROUP, NAVYGROUP, ARMYGROUP, AIRWING, WINGCOMMANDER and CHIEF classes.
 --    * FSM events when a mission is done, successful or failed.
 --    
 -- ===

Moose Development/Moose/Ops/FlightGroup.lua

@@ -50,7 +50,7 @@
 --
 -- @extends Ops.OpsGroup#OPSGROUP
 
---- *To invent an airplane is nothing. To build one is something. To fly is everything.* -- Otto Lilienthal
+--- *To invent an airplane is nothing; to build one is something; to fly is everything.* -- Otto Lilienthal
 --
 -- ===
 --
@@ -210,7 +210,7 @@ FLIGHTGROUP.version="0.6.0"
 
 --- Create a new FLIGHTGROUP object and start the FSM.
 -- @param #FLIGHTGROUP self
--- @param Wrapper.Group#GROUP group The group object. Can also be given as #string with the name of the group.
+-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
 -- @return #FLIGHTGROUP self
 function FLIGHTGROUP:New(group)
 

Moose Development/Moose/Ops/NavyGroup.lua

@@ -5,8 +5,18 @@
 --    * Dynamically add and remove waypoints.
 --    * Let the group steam into the wind.
 --    * Command a full stop.
+--    * Automatic pathfinding, e.g. around islands.
+--    * Collision warning, if group is heading towards a land mass.
 --    * Let a submarine dive and surface.
---     
+--    * Sophisticated task queueing system.
+--    * Compatible with AUFTRAG class.
+--    * Convenient checks when the group enters or leaves a zone.
+--    * Many additional events that the mission designer can hook into.
+-- 
+-- **Example Missions:**
+-- 
+-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/OPS%20-%20Navygroup)
+-- 
 -- ===
 --
 -- ### Author: **funkyfranky**
@@ -19,6 +29,7 @@
 -- @field #boolean turning If true, group is currently turning.
 -- @field #NAVYGROUP.IntoWind intowind Into wind info.
 -- @field #table Qintowind Queue of "into wind" turns.
+-- @field #number intowindcounter Counter of into wind IDs.
 -- @field #number depth Ordered depth in meters.
 -- @field #boolean collisionwarning If true, collition warning.
 -- @field #boolean pathfindingOn If true, enable pathfining.
@@ -74,7 +85,9 @@ NAVYGROUP.version="0.5.0"
 -- TODO list
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
--- TODO: Collision warning.
+-- TODO: Extend, shorten turn into wind windows
+-- TODO: Skipper menu.
+-- DONE: Collision warning.
 -- DONE: Detour, add temporary waypoint and resume route.
 -- DONE: Stop and resume route.
 -- DONE: Add waypoints.
@@ -109,6 +122,7 @@ function NAVYGROUP:New(GroupName)
   self:AddTransition("*",             "Cruise",           "Cruising")    -- Hold position.
   
   self:AddTransition("*",             "TurnIntoWind",     "IntoWind")    -- Command the group to turn into the wind.
+  self:AddTransition("IntoWind",      "TurnedIntoWind",   "IntoWind")    -- Group turned into wind.
   self:AddTransition("IntoWind",      "TurnIntoWindStop", "IntoWind")    -- Stop a turn into wind.  
   self:AddTransition("IntoWind",      "TurnIntoWindOver", "Cruising")    -- Turn into wind is over.
   
@@ -355,7 +369,8 @@ end
 function NAVYGROUP:RemoveTurnIntoWind(IntoWindData)
 
   -- Check if this is a window currently open.
-  if self.intowind and self.intowind.id==IntoWindData.Id then
+  if self.intowind and self.intowind.Id==IntoWindData.Id then
+    --env.info("FF stop in remove")
     self:TurnIntoWindStop()
     return
   end  
@@ -363,6 +378,7 @@ function NAVYGROUP:RemoveTurnIntoWind(IntoWindData)
   for i,_tiw in pairs(self.Qintowind) do
     local tiw=_tiw --#NAVYGROUP.IntoWind
     if tiw.Id==IntoWindData.Id then
+      --env.info("FF removing window "..tiw.Id)
       table.remove(self.Qintowind, i)
       break
     end
@@ -543,6 +559,37 @@ function NAVYGROUP:onafterStatus(From, Event, To)
   
   end
 
+  ---
+  -- Recovery Windows
+  ---
+
+  if self.verbose>=2 then
+  
+    -- Debug output:
+    local text=string.format(self.lid.."Turn into wind time windows:")
+  
+    -- Handle case with no recoveries.
+    if #self.Qintowind==0 then
+      text=text.." none!"
+    end  
+  
+    -- Loop over all slots.
+    for i,_recovery in pairs(self.Qintowind) do
+      local recovery=_recovery --#NAVYGROUP.IntoWind
+  
+      -- Get start/stop clock strings.
+      local Cstart=UTILS.SecondsToClock(recovery.Tstart)
+      local Cstop=UTILS.SecondsToClock(recovery.Tstop)
+  
+      -- Debug text.
+      text=text..string.format("\n[%d] ID=%d Start=%s Stop=%s Open=%s Over=%s", i, recovery.Id, Cstart, Cstop, tostring(recovery.Open), tostring(recovery.Over))
+    end
+  
+    -- Debug output.
+    self:I(self.lid..text)
+  
+  end
+
 
   ---
   -- Tasks & Missions
@@ -794,7 +841,7 @@ end
 -- @param #string Event Event.
 -- @param #string To To state.
 function NAVYGROUP:onafterTurnIntoWindStop(From, Event, To)
-  self:TurnIntoWindOver()
+  self:TurnIntoWindOver(self.intowind)
 end
 
 --- On after "TurnIntoWindOver" event.
@@ -802,28 +849,54 @@ end
 -- @param #string From From state.
 -- @param #string Event Event.
 -- @param #string To To state.
-function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To)
+-- @param #NAVYGROUP.IntoWind IntoWindData Data table.
+function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
 
-  -- Debug message.
+  if IntoWindData and self.intowind and IntoWindData.Id==self.intowind.Id then
-  self:T2(self.lid.."Turn Into Wind Over!")
 
-  self.intowind.Over=true
+    -- Debug message.
-  self.intowind.Open=false
+    self:T2(self.lid.."Turn Into Wind Over!")
   
-  -- Remove additional waypoint.
+    -- Window over and not open anymore.
-  self:RemoveWaypointByID(self.intowind.waypoint.uid)
+    self.intowind.Over=true
+    self.intowind.Open=false
+    
+    -- Remove additional waypoint.
+    self:RemoveWaypointByID(self.intowind.waypoint.uid)
+  
+    if self.intowind.Uturn then
+
+      ---
+      -- U-turn ==> Go to coordinate where we left the route.
+      ---
+    
+      -- Detour to where we left the route.
+      self:I(self.lid.."FF Turn Into Wind Over ==> Uturn!")
+      self:Detour(self.intowind.Coordinate, self:GetSpeedCruise(), 0, true)
+      
+    else
+    
+      ---
+      -- Go directly to next waypoint.
+      ---
+    
+      -- Next waypoint index and speed.
+      local indx=self:GetWaypointIndexNext()
+      local speed=self:GetWaypointSpeed(indx)
+      
+      -- Update route.
+      self:I(self.lid..string.format("FF Turn Into Wind Over ==> Next WP Index=%d at %.1f knots via update route!", indx, speed))
+      self:__UpdateRoute(-1, indx, speed)
+      
+    end
+    
+    -- Set current window to nil.
+    self.intowind=nil
+    
+    -- Remove window from queue.
+    self:RemoveTurnIntoWind(IntoWindData)
 
-  if self.intowind.Uturn then
-    self:T(self.lid.."Turn Into Wind Over ==> Uturn!")
-    self:Detour(self.intowind.Coordinate, self:GetSpeedCruise(), 0, true)
-  else
-    self:T(self.lid.."FF Turn Into Wind Over ==> Next WP!")
-    local indx=self:GetWaypointIndexNext()
-    local speed=self:GetWaypointSpeed(indx)
-    self:__UpdateRoute(-1, indx, speed)
   end
-  
-  self.intowind=nil
 
 end
 
@@ -911,6 +984,11 @@ end
 function NAVYGROUP:onafterTurningStopped(From, Event, To)
   self.turning=false
   self.collisionwarning=false
+  
+  if self:IsSteamingIntoWind() then
+    self:TurnedIntoWind()
+  end
+  
 end
 
 --- On after "CollisionWarning" event.
@@ -1343,66 +1421,60 @@ function NAVYGROUP:_CheckTurnsIntoWind()
 
   -- Get current abs time.
   local time=timer.getAbsTime()
-  local Cnow=UTILS.SecondsToClock(time)
 
-  -- Debug output:
+  if self.intowind then
-  local text=string.format(self.lid.."Recovery time windows:")
 
-  -- Handle case with no recoveries.
+    -- Check if time is over.
-  if #self.Qintowind==0 then
+    if time>=self.intowind.Tstop then    
-    text=text.." none!"
+      self:TurnIntoWindOver(self.intowind)
-  end
+    end
+  
+  else
+  
+    -- Get next window.
+    local IntoWind=self:GetNextTurnIntoWind()
 
-  -- Sort windows wrt to start time.
+    -- Start turn into wind.
-  table.sort(self.Qintowind, function(a, b) return a.Tstart<b.Tstart end)
+    if IntoWind then
-
+      self:TurnIntoWind(IntoWind)
-  -- Loop over all slots.
-  for _,_recovery in pairs(self.Qintowind) do
-    local recovery=_recovery --#NAVYGROUP.IntoWind
-
-    -- Get start/stop clock strings.
-    local Cstart=UTILS.SecondsToClock(recovery.Tstart)
-    local Cstop=UTILS.SecondsToClock(recovery.Tstop)
-
-    -- Debug text.
-    text=text..string.format("\n- Start=%s Stop=%s Open=%s Closed=%s", Cstart, Cstop, tostring(recovery.Open), tostring(recovery.Over))
-  end
-
-  -- Debug output.
-  self:T(self.lid..text)
-
-
-  -- Loop over all slots.
-  for _,_recovery in pairs(self.Qintowind) do
-    local recovery=_recovery --#NAVYGROUP.IntoWind
-
-    if time>=recovery.Tstart and time<recovery.Tstop and not recovery.Open then
-      self:TurnIntoWind(recovery)
-      break
     end
     
   end
-
-  -- If into wind, check if over.
-  if self.intowind then  
-    if timer.getAbsTime()>=self.intowind.Tstop then    
-      self:TurnIntoWindOver()      
-    end  
-  end  
   
 end
 
---- Check queued turns into wind.
+--- Get the next turn into wind window, which is not yet running.
 -- @param #NAVYGROUP self
--- @return #NAVYGROUP.IntoWind Next into wind data.
+-- @return #NAVYGROUP.IntoWind Next into wind data. Could be `nil` if there is not next window.
-function NAVYGROUP:GetNextTurnIntoWind()
+function NAVYGROUP:GetTurnIntoWindNext()
 
-  -- Loop over all windows.
+  if #self.Qintowind>0 then
-  for _,_recovery in pairs(self.Qintowind) do
+
-    local recovery=_recovery --#NAVYGROUP.IntoWind
+    -- Get current abs time.
-    
+    local time=timer.getAbsTime()
+  
+    -- Sort windows wrt to start time.
+    table.sort(self.Qintowind, function(a, b) return a.Tstart<b.Tstart end)
+  
+    -- Loop over all slots.
+    for _,_recovery in pairs(self.Qintowind) do
+      local recovery=_recovery --#NAVYGROUP.IntoWind
+  
+      if time>=recovery.Tstart and time<recovery.Tstop and not (recovery.Open or recovery.Over) then
+        return recovery
+      end
+      
+    end    
   end
 
+  return nil
+end
+
+--- Get the turn into wind window, which is currently open. 
+-- @param #NAVYGROUP self
+-- @return #NAVYGROUP.IntoWind Current into wind data. Could be `nil` if there is no window currenly open.
+function NAVYGROUP:GetTurnIntoWindCurrent()
+  return self.intowind
 end
 
 --- Get wind direction and speed at current position.

Moose Development/Moose/Ops/OpsGroup.lua

@@ -295,7 +295,7 @@ OPSGROUP.version="0.5.0"
 
 --- Create a new OPSGROUP class object.
 -- @param #OPSGROUP self
--- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as #string.
+-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
 -- @return #OPSGROUP self
 function OPSGROUP:New(Group)
 
@@ -3167,6 +3167,17 @@ function OPSGROUP:_CheckGroupDone(delay)
   
 end
 
+--- Check ammo is full.
+-- @param #OPSGROUP self
+-- @return #boolean If true, ammo is full.
+function OPSGROUP:_CheckAmmoFull()
+
+  for _,_ammo in pairs(self.ammo) do
+  
+  end
+  
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Status Info Common to Air, Land and Sea
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------