RAT

- Improved respawn/despawn - Added stuck check
2025-10-29 16:58:06 +00:00 · 2024-04-02 17:33:41 +02:00
parent a5632ec3a4
commit 1fdb3b7daa
4 changed files with 332 additions and 364 deletions
--- a/Development/Moose/Ops/FlightGroup.lua
+++ b/Development/Moose/Ops/FlightGroup.lua
@@ -1257,9 +1257,12 @@ function FLIGHTGROUP:Status()
    -- Check ammo status.
    self:_CheckAmmoStatus()
    
-      -- Check damage.
+    -- Check damage.
    self:_CheckDamage()
    
+    -- Check if stuck while taxiing.
+    self:_CheckStuck()
+    
    -- Get current mission (if any).
    local mission=self:GetMissionCurrent()
    
@@ -1627,6 +1630,9 @@ function FLIGHTGROUP:Status()
  if not mission then
    self.Twaiting=nil
    self.dTwait=nil
+    
+    -- Check if group is done.
+    -- TODO: Not sure why I introduced this here.
    self:_CheckGroupDone()
  end

@@ -2139,6 +2145,10 @@ function FLIGHTGROUP:onafterSpawned(From, Event, To)
  self.isDestroyed=false

  if self.isAI then
+  
+    -- TODO: Could be that element is spawned UNCONTROLLED.
+    --       In that case, the commands are not yet used.
+    --       This should be shifted to something like after ACTIVATED

    -- Set ROE.
    self:SwitchROE(self.option.ROE)
@@ -2740,6 +2750,7 @@ function FLIGHTGROUP:onafterOutOfMissilesAA(From, Event, To)
  if self.outofAAMrtb then
    -- Back to destination or home.
    local airbase=self.destbase or self.homebase
+    self:T(self.lid.."Calling RTB in onafterOutOfMissilesAA")
    self:__RTB(-5, airbase)
  end
 end
@@ -2754,6 +2765,7 @@ function FLIGHTGROUP:onafterOutOfMissilesAG(From, Event, To)
  if self.outofAGMrtb then
    -- Back to destination or home.
    local airbase=self.destbase or self.homebase
+    self:T(self.lid.."Calling RTB in onafterOutOfMissilesAG")
    self:__RTB(-5, airbase)
  end
 end
@@ -2843,8 +2855,8 @@ function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
          -- Number of remaining tasks/missions?
          if nTasks==0 and nMissions==0 and nTransports==0 then

-            local destbase=self.destbase or self.homebase
-            local destzone=self.destzone or self.homezone
+            local destbase=self.destbase or self.homebase --Wrapper.Airbase#AIRBASE
+            local destzone=self.destzone or self.homezone --Wrapper.Airbase#AIRBASE

            -- Send flight to destination.
            if waittime then
@@ -2855,8 +2867,11 @@ function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
                self:T(self.lid.."Passed Final WP and No current and/or future missions/tasks/transports AND parking at destination airbase ==> Arrived!")
                self:Arrived()
              else
-                self:T(self.lid.."Passed Final WP and No current and/or future missions/tasks/transports ==> RTB!")
-                self:__RTB(-0.1, destbase)
+                -- Only send RTB if current base is not yet the destination
+                if self.currbase==nil or self.currbase.AirbaseName~=destbase.AirbaseName then
+                  self:T(self.lid.."Passed Final WP and No current and/or future missions/tasks/transports ==> RTB!")
+                  self:__RTB(-0.1, destbase)
+                end
              end
            elseif destzone then
              self:T(self.lid.."Passed Final WP and No current and/or future missions/tasks/transports ==> RTZ!")
@@ -2984,6 +2999,7 @@ function FLIGHTGROUP:onbeforeRTB(From, Event, To, airbase, SpeedTo, SpeedHold)
    end

    if Tsuspend and not allowed then
+      self:T(self.lid.."Calling RTB in onbeforeRTB")
      self:__RTB(Tsuspend, airbase, SpeedTo, SpeedHold)
    end

@@ -3364,8 +3380,8 @@ function FLIGHTGROUP:onafterWait(From, Event, To, Duration, Altitude, Speed)
  -- Set time stamp.
  self.Twaiting=timer.getAbsTime()

-  -- Max waiting
-  self.dTwait=Duration  
+  -- Max waiting time in seconds.
+  self.dTwait=Duration

 end

@@ -3664,6 +3680,7 @@ function FLIGHTGROUP:onafterFuelLow(From, Event, To)

  -- Send back to airbase.
  if airbase and self.fuellowrtb then
+    self:T(self.lid.."Calling RTB in onafterFuelLow")
    self:RTB(airbase)
    --TODO: RTZ
  end
@@ -3688,6 +3705,7 @@ function FLIGHTGROUP:onafterFuelCritical(From, Event, To)
  local airbase=self.destbase or self.homebase

  if airbase and self.fuelcriticalrtb and not self:IsGoing4Fuel() then
+    self:T(self.lid.."Calling RTB in onafterFuelCritical")
    self:RTB(airbase)
    --TODO: RTZ
  end
@@ -4835,6 +4853,87 @@ function FLIGHTGROUP:_GetTerminal(_attribute, _category)
  return _terminal
 end

+--- Check if group got stuck. This overwrites the OPSGROUP function.
+-- Here we only check if stuck whilst taxiing.
+-- @param #FLIGHTGROUP self
+-- @param #boolean Despawn If `true`, despawn group if stuck.
+-- @return #number Time in seconds the group got stuck or nil if not stuck.
+function FLIGHTGROUP:_CheckStuck(Despawn)
+
+  -- Cases we are not stuck.
+  if not self:IsTaxiing() then
+    return nil
+  end
+
+  -- Current time.
+  local Tnow=timer.getTime()
+
+  -- Expected speed in m/s.
+  local ExpectedSpeed=5
+
+  -- Current speed in m/s.
+  local speed=self:GetVelocity()
+
+  -- Check speed.
+  if speed<0.1 then
+
+    if ExpectedSpeed>0 and not self.stuckTimestamp then
+      self:T2(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected", speed, ExpectedSpeed))
+      self.stuckTimestamp=Tnow
+      self.stuckVec3=self:GetVec3()
+    end
+
+  else
+    -- Moving (again).
+    self.stuckTimestamp=nil
+  end
+  
+  local holdtime=nil
+
+  -- Somehow we are not moving...
+  if self.stuckTimestamp then
+
+    -- Time we are holding.
+    holdtime=Tnow-self.stuckTimestamp
+    
+    -- Trigger stuck event.
+    self:Stuck(holdtime)
+
+    if holdtime>=5*60 and holdtime<15*60 then
+
+      -- Debug warning.
+      self:T(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected for %d sec", speed, ExpectedSpeed, holdtime))
+
+    elseif holdtime>=15*60 then
+
+      -- Debug warning.
+      self:T(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected for %d sec", speed, ExpectedSpeed, holdtime))
+
+      -- Look for a current mission and cancel it as we do not seem to be able to perform it.
+      local mission=self:GetMissionCurrent()
+      
+      if mission then
+        self:T(self.lid..string.format("WARNING: Cancelling mission %s [%s] due to being stuck", mission:GetName(), mission:GetType()))
+        self:MissionCancel(mission)
+      end
+
+      if self.stuckDespawn then
+        if self.legion then
+          self:T(self.lid..string.format("Asset is returned to its legion after being stuck!"))
+          self:ReturnToLegion()
+        else
+          self:T(self.lid..string.format("Despawning group after being stuck!"))
+          self:Despawn()
+        end
+      end
+
+    end
+
+  end
+
+  return holdtime
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- OPTION FUNCTIONS
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- a/Development/Moose/Ops/OpsGroup.lua
+++ b/Development/Moose/Ops/OpsGroup.lua
@@ -117,6 +117,10 @@
 -- @field #string callsignAlias Callsign alias.
 --
 -- @field #OPSGROUP.Spot spot Laser and IR spot.
+-- 
+-- @field DCS#Vec3 stuckVec3 Position where the group got stuck.
+-- @field #number stuckTimestamp Time stamp [sec], when the group got stuck.
+-- @field #boolean stuckDespawn If `true`, group gets despawned after beeing stuck for a certain time.
 --
 -- @field #OPSGROUP.Ammo ammo Initial ammount of ammo.
 -- @field #OPSGROUP.WeaponData weaponData Weapon data table with key=BitType.
@@ -676,10 +680,11 @@ function OPSGROUP:New(group)
  self:AddTransition("*",             "UpdateRoute",      "*")           -- Update route of group.

  self:AddTransition("*",             "PassingWaypoint",   "*")           -- Group passed a waypoint.
-  self:AddTransition("*",             "PassedFinalWaypoint", "*")           -- Group passed the waypoint.
+  self:AddTransition("*",             "PassedFinalWaypoint", "*")         -- Group passed the waypoint.
  self:AddTransition("*",             "GotoWaypoint",      "*")           -- Group switches to a specific waypoint.

  self:AddTransition("*",             "Wait",              "*")           -- Group will wait for further orders.
+  self:AddTransition("*",             "Stuck",             "*")           -- Group got stuck.

  self:AddTransition("*",             "DetectedUnit",      "*")           -- Unit was detected (again) in this detection cycle.
  self:AddTransition("*",             "DetectedUnitNew",   "*")           -- Add a newly detected unit to the detected units set.
@@ -1889,7 +1894,7 @@ end

 --- Get current velocity of the group.
 -- @param #OPSGROUP self
-- @param #string UnitName (Optional) Get heading of a specific unit of the group. Default is from the first existing unit in the group.
+-- @param #string UnitName (Optional) Get velocity of a specific unit of the group. Default is from the first existing unit in the group.
 -- @return #number Velocity in m/s.
 function OPSGROUP:GetVelocity(UnitName)