mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2025-10-29 16:58:06 +00:00
OPS
Good version solving a few bugs and adding some new stuff.
This commit is contained in:
Frank
@@ -208,6 +208,9 @@ function FLIGHTGROUP:New(group)
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return og
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end
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-- First set FLIGHTGROUP.
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self.isFlightgroup=true
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-- Inherit everything from FSM class.
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local self=BASE:Inherit(self, OPSGROUP:New(group)) -- #FLIGHTGROUP
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@@ -215,7 +218,6 @@ function FLIGHTGROUP:New(group)
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self.lid=string.format("FLIGHTGROUP %s | ", self.groupname)
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-- Defaults
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self.isFlightgroup=true
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self:SetFuelLowThreshold()
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self:SetFuelLowRTB()
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self:SetFuelCriticalThreshold()
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@@ -1853,6 +1855,9 @@ function FLIGHTGROUP:onafterArrived(From, Event, To)
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-- Check what to do.
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if airwing then
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-- Debug info.
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self:T(self.lid..string.format("Airwing asset group %s arrived ==> Adding asset back to stock of airwing %s", self.groupname, airwing.alias))
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-- Add the asset back to the airwing.
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airwing:AddAsset(self.group, 1)
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@@ -2018,6 +2023,9 @@ function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
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-- For patrol zone, we need to allow the update as we insert new waypoints.
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elseif task.dcstask.id=="ReconMission" then
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-- For recon missions, we need to allow the update as we insert new waypoints.
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elseif task.description and task.description=="Task_Land_At" then
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-- We allow this
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env.info("FF allowing update route for Task_Land_At")
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else
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local taskname=task and task.description or "No description"
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self:E(self.lid..string.format("WARNING: Update route denied because taskcurrent=%d>0! Task description = %s", self.taskcurrent, tostring(taskname)))
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@@ -2075,9 +2083,9 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
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local waypointAction=COORDINATE.WaypointAction.TurningPoint
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if self:IsLanded() or self:IsLandedAt() or self:IsAirborne()==false then
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-- Had some issues with passing waypoint function of the next WP called too ealy when the type is TurningPoint. Setting it to TakeOff solved it!
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waypointType=COORDINATE.WaypointType.TakeOff
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env.info("FF takeoff type waypoint")
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--waypointAction=COORDINATE.WaypointAction.FromParkingArea
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--waypointType=COORDINATE.WaypointType.TakeOff
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waypointType=COORDINATE.WaypointType.TakeOffGroundHot
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waypointAction=COORDINATE.WaypointAction.FromGroundAreaHot
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end
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-- Set current waypoint or we get problem that the _PassingWaypoint function is triggered too early, i.e. right now and not when passing the next WP.
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@@ -2097,10 +2105,12 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
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self:T(self.lid..string.format("Updating route for WP #%d-%d [%s], homebase=%s destination=%s", n, #wp, self:GetState(), hb, db))
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-- Print waypoints.
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--[[
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for i,w in pairs(wp) do
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env.info("FF waypoint index="..i)
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self:I(w)
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end
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]]
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if #wp>1 then
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@@ -2164,15 +2174,21 @@ end
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-- @param #number waittime Time to wait if group is done.
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function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
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-- FSM state.
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local fsmstate=self:GetState()
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if self:IsAlive() and self.isAI then
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if delay and delay>0 then
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-- Debug info.
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self:T(self.lid..string.format("Check FLIGHTGROUP [state=%s] done in %.3f seconds...", fsmstate, delay))
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-- Delayed call.
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self:ScheduleOnce(delay, FLIGHTGROUP._CheckGroupDone, self)
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else
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-- Debug info.
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self:T(self.lid.."Check FLIGHTGROUP done?")
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self:T(self.lid..string.format("Check FLIGHTGROUP [state=%s] done?", fsmstate))
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-- First check if there is a paused mission that
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if self.missionpaused then
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@@ -2188,7 +2204,7 @@ function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
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-- Group is ordered to land at an airbase.
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if self.isLandingAtAirbase then
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self:T(self.lid.."Landing at airbase! Group NOT done...")
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self:T(self.lid..string.format("Landing at airbase %s! Group NOT done...", self.isLandingAtAirbase:GetName()))
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return
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end
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@@ -2211,7 +2227,7 @@ function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
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self:T(self.lid..string.format("Remaining (final=%s): missions=%d, tasks=%d, transports=%d", tostring(self.passedfinalwp), nMissions, nTasks, nTransports))
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-- Final waypoint passed?
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if self.passedfinalwp then
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if self:HasPassedFinalWaypoint() then
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---
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-- Final Waypoint PASSED
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@@ -2445,6 +2461,7 @@ function FLIGHTGROUP:_LandAtAirbase(airbase, SpeedTo, SpeedHold, SpeedLand)
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local text=string.format("Flight group set to hold at airbase %s. SpeedTo=%d, SpeedHold=%d, SpeedLand=%d", airbase:GetName(), SpeedTo, SpeedHold, SpeedLand)
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self:T(self.lid..text)
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-- Holding altitude.
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local althold=self.isHelo and 1000+math.random(10)*100 or math.random(4,10)*1000
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-- Holding points.
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@@ -2481,11 +2498,13 @@ function FLIGHTGROUP:_LandAtAirbase(airbase, SpeedTo, SpeedHold, SpeedLand)
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local h1=x1*math.tan(alpha)
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local h2=x2*math.tan(alpha)
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-- Get active runway.
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local runway=airbase:GetActiveRunway()
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-- Set holding flag to 0=false.
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self.flaghold:Set(0)
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-- Set holding time.
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local holdtime=2*60
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if fc or self.airboss then
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holdtime=nil
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@@ -2557,14 +2576,14 @@ function FLIGHTGROUP:onbeforeWait(From, Event, To, Duration, Altitude, Speed)
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local Tsuspend=nil
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-- Check for a current task.
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if self.taskcurrent>0 then
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if self.taskcurrent>0 and not self:IsLandedAt() then
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self:I(self.lid..string.format("WARNING: Got current task ==> WAIT event is suspended for 30 sec!"))
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Tsuspend=-30
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allowed=false
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end
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-- Check for a current transport assignment.
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if self.cargoTransport then
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if self.cargoTransport and not self:IsLandedAt() then
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self:I(self.lid..string.format("WARNING: Got current TRANSPORT assignment ==> WAIT event is suspended for 30 sec!"))
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Tsuspend=-30
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allowed=false
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@@ -2604,14 +2623,6 @@ function FLIGHTGROUP:onafterWait(From, Event, To, Duration, Altitude, Speed)
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--TODO: set ROE passive. introduce roe event/state/variable.
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-- Orbit task.
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local TaskOrbit=self.group:TaskOrbit(Coord, UTILS.FeetToMeters(Altitude), UTILS.KnotsToMps(Speed))
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-- Orbit task.
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local TaskFunction=self.group:TaskFunction("FLIGHTGROUP._FinishedWaiting", self)
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local DCSTasks=self.group:TaskCombo({TaskOrbit, TaskFunction})
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-- Orbit until flaghold=1 (true) but max 5 min if no FC is giving the landing clearance.
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local TaskOrbit = self.group:TaskOrbit(Coord, UTILS.FeetToMeters(Altitude), UTILS.KnotsToMps(Speed))
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local TaskStop = self.group:TaskCondition(nil, nil, nil, nil, Duration)
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@@ -2842,11 +2853,11 @@ end
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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 The coordinate where to land. Default is current position.
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-- @param #number Duration The duration in seconds to remain on ground. Default 600 sec (10 min).
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-- @param #number Duration The duration in seconds to remain on ground. Default `nil` = forever.
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function FLIGHTGROUP:onafterLandAt(From, Event, To, Coordinate, Duration)
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-- Duration.
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Duration=Duration or 600
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--Duration=Duration or 600
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Coordinate=Coordinate or self:GetCoordinate()
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@@ -2855,7 +2866,7 @@ function FLIGHTGROUP:onafterLandAt(From, Event, To, Coordinate, Duration)
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local Task=self:NewTaskScheduled(DCStask, 1, "Task_Land_At", 0)
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self:TaskExecute(Task)
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end
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--- On after "FuelLow" event.
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@@ -3012,7 +3023,7 @@ function FLIGHTGROUP._FinishedWaiting(group, flightgroup)
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flightgroup.dTwait=nil
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-- Trigger Holding event.
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flightgroup:_CheckGroupDone(1)
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flightgroup:_CheckGroupDone(0.1)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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