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https://github.com/FlightControl-Master/MOOSE.git
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NAVY
This commit is contained in:
Frank
@@ -16,7 +16,7 @@
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-- @field #boolean adinfinitum Resume route at first waypoint when final waypoint is reached.
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *Something must be left to chance; nothing is sure in a sea fight above all.* -- Horatio Nelson
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--- *Your soul may belong to Jesus, but your ass belongs to the marines.* -- Eugene B. Sledge
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--
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-- ===
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--
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@@ -64,8 +64,9 @@ function ARMYGROUP:New(GroupName)
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-- Defaults
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self:SetDefaultROE()
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self:SetDefaultAlarmstate()
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self:SetDetection()
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self:SetPatrolAdInfinitum(true)
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self:SetPatrolAdInfinitum(false)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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@@ -134,7 +135,7 @@ function ARMYGROUP:SetPatrolAdInfinitum(switch)
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return self
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end
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--- Group patrols ad inifintum. If the last waypoint is reached, it will go to waypoint one and repeat its route.
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--- Set default cruise speed. This is the speed a group will take by default if no speed is specified explicitly.
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-- @param #ARMYGROUP self
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-- @param #number Speed Speed in knots. Default 70% of max speed.
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-- @return #ARMYGROUP self
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@@ -225,8 +226,8 @@ function ARMYGROUP:onafterStatus(From, Event, To)
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local nMissions=self:CountRemainingMissison()
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-- Info text.
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local text=string.format("State %s: Wp=%d/%d Speed=%.1f Heading=%03d Tasks=%d Missions=%d",
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fsmstate, self.currentwp, #self.waypoints, speed, hdg, nTaskTot, nMissions)
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local text=string.format("State %s: Wp=%d/%d-->%d Speed=%.1f (%d) Heading=%03d ROE=%d Alarm=%d Formation=%s Tasks=%d Missions=%d",
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fsmstate, self.currentwp, #self.waypoints, self:GetWaypointIndexNext(), speed, UTILS.MpsToKnots(self.speed), hdg, self.roe, self.alarmstate, self.formation, nTaskTot, nMissions)
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self:I(self.lid..text)
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else
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@@ -338,9 +339,12 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
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if self.ai then
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-- Set default ROE and ROT options.
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-- Set default ROE option.
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self:SetOptionROE(self.roe)
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-- Set default Alarm State option.
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self:SetOptionAlarmstate(self.alarmstate)
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end
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-- Update route.
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@@ -355,38 +359,33 @@ end
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Depth Depth in meters. Default 0 meters.
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext(self.adinfinitum)
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-- Debug info.
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self:T(self.lid..string.format("FF Update route n=%d", n))
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self:I(self.lid..string.format("FF Update route n=%d", n))
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks(n)
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-- Waypoints.
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local waypoints={}
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-- Depth for submarines.
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local depth=Depth or 0
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-- Get current speed in km/h.
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local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointNaval(speed, depth)
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table.insert(waypoints, current)
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-- Add remaining waypoints to route.
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for i=n, #self.waypoints do
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local wp=self.waypoints[i]
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-- Copy waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Set speed.
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if i==n then
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---
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-- Next Waypoint
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---
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if Speed then
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wp.speed=UTILS.KnotsToMps(Speed)
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elseif self.speedCruise then
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@@ -394,8 +393,22 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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else
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-- Take default waypoint speed.
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end
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if Formation then
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wp.action=Formation
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end
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-- Current set formation.
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self.formation=wp.action
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-- Current set speed in m/s.
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self.speed=wp.speed
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else
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---
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-- Later Waypoint(s)
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---
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if self.speedCruise then
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wp.speed=UTILS.KmphToMps(self.speedCruise)
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@@ -405,17 +418,23 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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end
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-- Set depth.
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wp.alt=-depth --Depth and -Depth or wp.alt
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-- Debug info.
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self:I(string.format("WP %d %s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.type, wp.speed, wp.alt, wp.action))
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-- Add waypoint.
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table.insert(waypoints, wp)
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end
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speed), self.formation)
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table.insert(waypoints, 1, current)
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table.insert(waypoints, 1, current) -- Seems to be better to add this twice. Otherwise, the passing waypoint functions is triggered to early!
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if #waypoints>2 then
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if #waypoints>1 then
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self:I(self.lid..string.format("Updateing route: WP=%d, Speed=%.1f knots, depth=%d meters", #self.waypoints-n+1, UTILS.KmphToKnots(speed), depth))
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self:I(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Formation=%s",
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self.currentwp, n, #self.waypoints, #waypoints-2, UTILS.MpsToKnots(self.speed), tostring(self.formation)))
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-- Route group to all defined waypoints remaining.
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self:Route(waypoints)
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@@ -428,11 +447,6 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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self:I(self.lid..string.format("No waypoints left"))
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if #self.waypoints>1 then
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self:I(self.lid..string.format("Resuming route at first waypoint"))
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self:__UpdateRoute(-1, 1, nil, self.depth)
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end
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end
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end
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@@ -444,27 +458,24 @@ end
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to go.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Depth Depth in meters. Default 0 meters.
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-- @param #number Formation Formation the group will use.
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-- @param #number ResumeRoute If true, resume route after detour point was reached.
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function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Depth, ResumeRoute)
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function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation, ResumeRoute)
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-- Waypoints.
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local waypoints={}
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-- Depth for submarines.
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local depth=Depth or 0
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-- Get current speed in km/h.
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local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointGround(Speed, Formation, DCSTasks)
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local current=self:GetCoordinate():WaypointGround(Speed, Formation)
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table.insert(waypoints, current)
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-- At each waypoint report passing.
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local Task=self.group:TaskFunction("ARMYGROUP._DetourReached", self, ResumeRoute)
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local detour=Coordinate:WaypointNaval(speed, depth, {Task})
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local detour=Coordinate:WaypointGround(Speed, Formation, {Task})
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table.insert(waypoints, detour)
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self:Route(waypoints)
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@@ -482,21 +493,21 @@ end
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--- Function called when a group is passing a waypoint.
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--@param Wrapper.Group#GROUP group Group that passed the waypoint
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--@param #ARMYGROUP navygroup Navy group object.
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--@param #ARMYGROUP armygroup Army group object.
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--@param #boolean resume Resume route.
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function ARMYGROUP._DetourReached(group, navygroup, resume)
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function ARMYGROUP._DetourReached(group, armygroup, resume)
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-- Debug message.
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local text=string.format("Group reached detour coordinate")
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navygroup:I(navygroup.lid..text)
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armygroup:I(armygroup.lid..text)
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if resume then
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local indx=navygroup:GetWaypointIndexNext(true)
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local speed=navygroup:GetSpeedToWaypoint(indx)
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navygroup:UpdateRoute(indx, speed, navygroup.depth)
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local indx=armygroup:GetWaypointIndexNext(true)
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local speed=armygroup:GetSpeedToWaypoint(indx)
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armygroup:__UpdateRoute(-1, indx, speed, armygroup.formation)
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end
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navygroup:DetourReached()
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armygroup:DetourReached()
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end
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@@ -511,7 +522,7 @@ function ARMYGROUP:onafterFullStop(From, Event, To)
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local pos=self:GetCoordinate()
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-- Create a new waypoint.
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local wp=pos:WaypointNaval(0)
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local wp=pos:WaypointGround(0)
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-- Create new route consisting of only this position ==> Stop!
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self:Route({wp})
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@@ -524,9 +535,10 @@ end
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number Speed Speed in knots.
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function ARMYGROUP:onafterCruise(From, Event, To, Speed)
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-- @param #number Formation Formation.
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function ARMYGROUP:onafterCruise(From, Event, To, Speed, Formation)
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self:UpdateRoute(nil, Speed, self.depth)
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self:__UpdateRoute(-1, nil, Speed, Formation)
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end
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@@ -675,9 +687,10 @@ end
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-- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
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-- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
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-- @param #number wpnumber Waypoint number. Default at the end.
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-- @param #number formation Formation the group will use.
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-- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
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-- @return #number Waypoint index.
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function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
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function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, formation, updateroute)
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-- Waypoint number. Default is at the end.
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wpnumber=wpnumber or #self.waypoints+1
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@@ -693,13 +706,16 @@ function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
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local speedkmh=UTILS.KnotsToKmph(speed)
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-- Create a Naval waypoint.
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local wp=coordinate:WaypointNaval(speedkmh)
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local wp=coordinate:WaypointGround(speedkmh, formation)
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-- Add to table.
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table.insert(self.waypoints, wpnumber, wp)
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-- Create waypoint data table.
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local waypoint=self:_CreateWaypoint(wp)
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-- Add waypoint to table.
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self:_AddWaypoint(waypoint, wpnumber)
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-- Debug info.
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self:T(self.lid..string.format("Adding NAVAL waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, speed, self.currentwp, #self.waypoints))
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self:T(self.lid..string.format("Adding GROUND waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, speed, self.currentwp, #self.waypoints))
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-- Update route.
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@@ -735,7 +751,7 @@ function ARMYGROUP:_InitGroup()
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-- Is (template) group late activated.
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self.isLateActivated=self.template.lateActivation
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-- Naval groups cannot be uncontrolled.
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-- Ground groups cannot be uncontrolled.
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self.isUncontrolled=false
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-- Max speed in km/h.
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@@ -766,6 +782,7 @@ function ARMYGROUP:_InitGroup()
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end
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end
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-- Units of the group.
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local units=self.group:GetUnits()
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for _,_unit in pairs(units) do
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@@ -847,13 +864,13 @@ function ARMYGROUP:_CheckGroupDone(delay)
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local speed=self:GetSpeedToWaypoint(1)
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-- Start route at first waypoint.
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self:__UpdateRoute(-1, 1, speed, self.depth)
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self:__UpdateRoute(-1, 1, speed, self.formation)
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end
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else
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self:UpdateRoute(nil, nil, self.depth)
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self:UpdateRoute(nil, nil, self.formation)
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end
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