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NavyGroup Update
This commit is contained in:
Frank
parent
6c9ce55759
commit
187093fa5a
@ -3,6 +3,15 @@
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-- **Main Features:**
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--
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-- * Dynamically add and remove waypoints.
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-- * Convenient checks when the group enters or leaves a zone.
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-- * Sophisticated task queueing system.
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-- * Compatible with AUFTRAG class.
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-- * Easy change of ROE, alarm state, formation and other settings.
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-- * Many additional events that the mission designer can hook into.
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--
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-- **Example Missions:**
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--
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-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/OPS%20-%20Armygroup).
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--
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-- ===
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--
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@ -15,6 +24,7 @@
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-- @type ARMYGROUP
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-- @field #boolean adinfinitum Resume route at first waypoint when final waypoint is reached.
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-- @field #boolean formationPerma Formation that is used permanently and overrules waypoint formations.
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-- @field #boolean isMobile If true, group is mobile.
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *Your soul may belong to Jesus, but your ass belongs to the marines.* -- Eugene B. Sledge
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@ -46,7 +56,8 @@ ARMYGROUP.version="0.3.0"
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: A lot.
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-- TODO: Check if group is mobile.
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-- TODO: Rearm. Specify a point where to go and wait until ammo is full.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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@ -54,12 +65,12 @@ ARMYGROUP.version="0.3.0"
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--- Create a new ARMYGROUP class object.
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-- @param #ARMYGROUP self
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-- @param #string GroupName Name of the group.
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-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
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-- @return #ARMYGROUP self
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function ARMYGROUP:New(GroupName)
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function ARMYGROUP:New(Group)
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-- Inherit everything from FSM class.
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local self=BASE:Inherit(self, OPSGROUP:New(GroupName)) -- #ARMYGROUP
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local self=BASE:Inherit(self, OPSGROUP:New(Group)) -- #ARMYGROUP
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-- Set some string id for output to DCS.log file.
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self.lid=string.format("ARMYGROUP %s | ", self.groupname)
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@ -73,7 +84,10 @@ function ARMYGROUP:New(GroupName)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("*", "FullStop", "Holding") -- Hold position.
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self:AddTransition("*", "Cruise", "Cruising") -- Hold position.
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self:AddTransition("*", "Cruise", "Cruising") -- Cruise along the given route of waypoints.
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self:AddTransition("*", "Rearm", "Rearming") -- Group is send to a coordinate and waits until ammo is refilled.
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self:AddTransition("Rearming", "Rearmed", "Cruising") -- Group was rearmed.
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self:AddTransition("*", "Detour", "OnDetour") -- Make a detour to a coordinate and resume route afterwards.
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self:AddTransition("OnDetour", "DetourReached", "Cruising") -- Group reached the detour coordinate.
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@ -224,11 +238,18 @@ end
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--- Check if the group is currently on a detour.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group is on a detour
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-- @return #boolean If true, group is on a detour.
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function ARMYGROUP:IsOnDetour()
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return self:Is("OnDetour")
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end
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--- Check if the group is currently rearming.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group is rearming.
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function ARMYGROUP:IsRearming()
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return self:Is("Rearming")
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Status
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -508,6 +529,26 @@ function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation,
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end
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--- On after "Rearm" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to rearm.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterRearm(From, Event, To, Coordinate, Formation)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, nil, uid, Formation, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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wp.detour=0
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end
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--- On after "DetourReached" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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@ -549,7 +590,7 @@ function ARMYGROUP:onafterCruise(From, Event, To, Speed, Formation)
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end
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--- On after Start event. Starts the ARMYGROUP FSM and event handlers.
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--- On after "Stop" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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@ -7,7 +7,7 @@
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-- * Set mission start/stop times.
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-- * Set mission priority and urgency (can cancel running missions).
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-- * Specific mission options for ROE, ROT, formation, etc.
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-- * Interface to FLIGHTGROUP, AIRWING and WINGCOMMANDER classes.
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-- * Interface to FLIGHTGROUP, NAVYGROUP, ARMYGROUP, AIRWING, WINGCOMMANDER and CHIEF classes.
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-- * FSM events when a mission is done, successful or failed.
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--
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-- ===
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@ -50,7 +50,7 @@
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--
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *To invent an airplane is nothing. To build one is something. To fly is everything.* -- Otto Lilienthal
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--- *To invent an airplane is nothing; to build one is something; to fly is everything.* -- Otto Lilienthal
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--
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-- ===
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--
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@ -210,7 +210,7 @@ FLIGHTGROUP.version="0.6.0"
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--- Create a new FLIGHTGROUP object and start the FSM.
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-- @param #FLIGHTGROUP self
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-- @param Wrapper.Group#GROUP group The group object. Can also be given as #string with the name of the group.
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-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:New(group)
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@ -5,7 +5,17 @@
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-- * Dynamically add and remove waypoints.
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-- * Let the group steam into the wind.
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-- * Command a full stop.
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-- * Automatic pathfinding, e.g. around islands.
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-- * Collision warning, if group is heading towards a land mass.
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-- * Let a submarine dive and surface.
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-- * Sophisticated task queueing system.
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-- * Compatible with AUFTRAG class.
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-- * Convenient checks when the group enters or leaves a zone.
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-- * Many additional events that the mission designer can hook into.
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--
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-- **Example Missions:**
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--
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-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/OPS%20-%20Navygroup)
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--
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-- ===
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--
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@ -19,6 +29,7 @@
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-- @field #boolean turning If true, group is currently turning.
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-- @field #NAVYGROUP.IntoWind intowind Into wind info.
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-- @field #table Qintowind Queue of "into wind" turns.
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-- @field #number intowindcounter Counter of into wind IDs.
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-- @field #number depth Ordered depth in meters.
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-- @field #boolean collisionwarning If true, collition warning.
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-- @field #boolean pathfindingOn If true, enable pathfining.
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@ -74,7 +85,9 @@ NAVYGROUP.version="0.5.0"
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Collision warning.
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-- TODO: Extend, shorten turn into wind windows
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-- TODO: Skipper menu.
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-- DONE: Collision warning.
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-- DONE: Detour, add temporary waypoint and resume route.
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-- DONE: Stop and resume route.
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-- DONE: Add waypoints.
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@ -109,6 +122,7 @@ function NAVYGROUP:New(GroupName)
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self:AddTransition("*", "Cruise", "Cruising") -- Hold position.
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self:AddTransition("*", "TurnIntoWind", "IntoWind") -- Command the group to turn into the wind.
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self:AddTransition("IntoWind", "TurnedIntoWind", "IntoWind") -- Group turned into wind.
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self:AddTransition("IntoWind", "TurnIntoWindStop", "IntoWind") -- Stop a turn into wind.
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self:AddTransition("IntoWind", "TurnIntoWindOver", "Cruising") -- Turn into wind is over.
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@ -355,7 +369,8 @@ end
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function NAVYGROUP:RemoveTurnIntoWind(IntoWindData)
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-- Check if this is a window currently open.
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if self.intowind and self.intowind.id==IntoWindData.Id then
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if self.intowind and self.intowind.Id==IntoWindData.Id then
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--env.info("FF stop in remove")
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self:TurnIntoWindStop()
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return
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end
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@ -363,6 +378,7 @@ function NAVYGROUP:RemoveTurnIntoWind(IntoWindData)
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for i,_tiw in pairs(self.Qintowind) do
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local tiw=_tiw --#NAVYGROUP.IntoWind
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if tiw.Id==IntoWindData.Id then
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--env.info("FF removing window "..tiw.Id)
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table.remove(self.Qintowind, i)
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break
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end
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@ -543,6 +559,37 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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end
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---
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-- Recovery Windows
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---
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if self.verbose>=2 then
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-- Debug output:
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local text=string.format(self.lid.."Turn into wind time windows:")
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-- Handle case with no recoveries.
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if #self.Qintowind==0 then
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text=text.." none!"
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end
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-- Loop over all slots.
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for i,_recovery in pairs(self.Qintowind) do
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local recovery=_recovery --#NAVYGROUP.IntoWind
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-- Get start/stop clock strings.
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local Cstart=UTILS.SecondsToClock(recovery.Tstart)
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local Cstop=UTILS.SecondsToClock(recovery.Tstop)
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-- Debug text.
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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))
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end
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-- Debug output.
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self:I(self.lid..text)
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end
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---
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-- Tasks & Missions
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@ -794,7 +841,7 @@ end
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-- @param #string Event Event.
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-- @param #string To To state.
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function NAVYGROUP:onafterTurnIntoWindStop(From, Event, To)
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self:TurnIntoWindOver()
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self:TurnIntoWindOver(self.intowind)
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end
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--- On after "TurnIntoWindOver" event.
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@ -802,11 +849,15 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To)
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-- @param #NAVYGROUP.IntoWind IntoWindData Data table.
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function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
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if IntoWindData and self.intowind and IntoWindData.Id==self.intowind.Id then
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-- Debug message.
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self:T2(self.lid.."Turn Into Wind Over!")
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-- Window over and not open anymore.
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self.intowind.Over=true
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self.intowind.Open=false
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@ -814,17 +865,39 @@ function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To)
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self:RemoveWaypointByID(self.intowind.waypoint.uid)
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if self.intowind.Uturn then
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self:T(self.lid.."Turn Into Wind Over ==> Uturn!")
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---
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-- U-turn ==> Go to coordinate where we left the route.
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---
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-- Detour to where we left the route.
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self:I(self.lid.."FF Turn Into Wind Over ==> Uturn!")
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self:Detour(self.intowind.Coordinate, self:GetSpeedCruise(), 0, true)
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else
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self:T(self.lid.."FF Turn Into Wind Over ==> Next WP!")
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---
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-- Go directly to next waypoint.
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---
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-- Next waypoint index and speed.
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local indx=self:GetWaypointIndexNext()
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local speed=self:GetWaypointSpeed(indx)
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-- Update route.
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self:I(self.lid..string.format("FF Turn Into Wind Over ==> Next WP Index=%d at %.1f knots via update route!", indx, speed))
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self:__UpdateRoute(-1, indx, speed)
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end
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-- Set current window to nil.
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self.intowind=nil
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-- Remove window from queue.
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self:RemoveTurnIntoWind(IntoWindData)
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end
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end
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--- On after "FullStop" event.
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@ -911,6 +984,11 @@ end
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function NAVYGROUP:onafterTurningStopped(From, Event, To)
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self.turning=false
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self.collisionwarning=false
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if self:IsSteamingIntoWind() then
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self:TurnedIntoWind()
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end
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end
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--- On after "CollisionWarning" event.
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@ -1343,16 +1421,38 @@ function NAVYGROUP:_CheckTurnsIntoWind()
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-- Get current abs time.
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local time=timer.getAbsTime()
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local Cnow=UTILS.SecondsToClock(time)
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-- Debug output:
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local text=string.format(self.lid.."Recovery time windows:")
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if self.intowind then
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-- Handle case with no recoveries.
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if #self.Qintowind==0 then
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text=text.." none!"
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-- Check if time is over.
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if time>=self.intowind.Tstop then
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self:TurnIntoWindOver(self.intowind)
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end
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else
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-- Get next window.
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local IntoWind=self:GetNextTurnIntoWind()
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-- Start turn into wind.
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if IntoWind then
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self:TurnIntoWind(IntoWind)
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end
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end
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end
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--- Get the next turn into wind window, which is not yet running.
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-- @param #NAVYGROUP self
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-- @return #NAVYGROUP.IntoWind Next into wind data. Could be `nil` if there is not next window.
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function NAVYGROUP:GetTurnIntoWindNext()
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if #self.Qintowind>0 then
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-- Get current abs time.
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local time=timer.getAbsTime()
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-- Sort windows wrt to start time.
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table.sort(self.Qintowind, function(a, b) return a.Tstart<b.Tstart end)
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@ -1360,49 +1460,21 @@ function NAVYGROUP:_CheckTurnsIntoWind()
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for _,_recovery in pairs(self.Qintowind) do
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local recovery=_recovery --#NAVYGROUP.IntoWind
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-- Get start/stop clock strings.
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local Cstart=UTILS.SecondsToClock(recovery.Tstart)
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local Cstop=UTILS.SecondsToClock(recovery.Tstop)
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-- Debug text.
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text=text..string.format("\n- Start=%s Stop=%s Open=%s Closed=%s", Cstart, Cstop, tostring(recovery.Open), tostring(recovery.Over))
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end
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-- Debug output.
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self:T(self.lid..text)
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-- Loop over all slots.
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for _,_recovery in pairs(self.Qintowind) do
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local recovery=_recovery --#NAVYGROUP.IntoWind
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if time>=recovery.Tstart and time<recovery.Tstop and not recovery.Open then
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self:TurnIntoWind(recovery)
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break
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if time>=recovery.Tstart and time<recovery.Tstop and not (recovery.Open or recovery.Over) then
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return recovery
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end
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end
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-- If into wind, check if over.
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if self.intowind then
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if timer.getAbsTime()>=self.intowind.Tstop then
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self:TurnIntoWindOver()
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end
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end
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return nil
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end
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--- Check queued turns into wind.
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--- Get the turn into wind window, which is currently open.
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-- @param #NAVYGROUP self
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-- @return #NAVYGROUP.IntoWind Next into wind data.
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function NAVYGROUP:GetNextTurnIntoWind()
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-- Loop over all windows.
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for _,_recovery in pairs(self.Qintowind) do
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local recovery=_recovery --#NAVYGROUP.IntoWind
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end
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-- @return #NAVYGROUP.IntoWind Current into wind data. Could be `nil` if there is no window currenly open.
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function NAVYGROUP:GetTurnIntoWindCurrent()
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return self.intowind
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end
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--- Get wind direction and speed at current position.
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@ -295,7 +295,7 @@ OPSGROUP.version="0.5.0"
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--- Create a new OPSGROUP class object.
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-- @param #OPSGROUP self
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-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as #string.
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-- @param Wrapper.Group#GROUP Group The group object. Can also be given by its group name as `#string`.
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-- @return #OPSGROUP self
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function OPSGROUP:New(Group)
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@ -3167,6 +3167,17 @@ function OPSGROUP:_CheckGroupDone(delay)
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end
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--- Check ammo is full.
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-- @param #OPSGROUP self
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-- @return #boolean If true, ammo is full.
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function OPSGROUP:_CheckAmmoFull()
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for _,_ammo in pairs(self.ammo) do
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Status Info Common to Air, Land and Sea
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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