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Frank
2020-07-29 01:10:13 +02:00
parent 04923b65b2
commit 2f6d9b640f
7 changed files with 954 additions and 352 deletions
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Moose Development/Moose/Ops/OpsGroup.lua
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@@ -1,5 +1,6 @@
--- **Ops** - Generic group enhancement functions.
--
-- This class is **not** meant to be used itself by the end user.
--
-- ===
--
@@ -48,9 +49,10 @@
-- @field #boolean detectionOn If true, detected units of the group are analyzed.
-- @field Ops.Auftrag#AUFTRAG missionpaused Paused mission.
--
-- @field Core.Point#COORDINATE position Current position of the group.
-- @field Core.Point#COORDINATE position Position of the group at last status check.
-- @field #number traveldist Distance traveled in meters. This is a lower bound!
-- @field #number traveltime Time.
-- @field #boolean ispathfinding If true, group is on pathfinding route.
--
-- @field #number tacanChannelDefault The default TACAN channel.
-- @field #string tacanMorseDefault The default TACAN morse code.
@@ -70,16 +72,22 @@
-- @field #boolean eplrs If true, EPLRS data link is on.
--
-- @field #string roeDefault Default ROE setting.
-- @field #string rotDefault Default ROT setting.
-- @field #string roe Current ROE setting.
--
-- @field #string rotDefault Default ROT setting.
-- @field #string rot Current ROT setting.
--
-- @field #string alarmstateDefault Default Alarm State setting.
-- @field #string alarmstate Current Alarm State setting.
--
-- @field #number formationDefault Default formation setting.
-- @field #number formation Current formation setting.
--
-- @field Core.Astar#ASTAR Astar path finding.
--
-- @extends Core.Fsm#FSM
--- *Something must be left to chance; nothing is sure in a sea fight above all.* --- Horatio Nelson
--- *A small group of determined and like-minded people can change the course of history.* --- Mahatma Gandhi
--
-- ===
--
@@ -87,7 +95,7 @@
--
-- # The OPSGROUP Concept
--
-- The OPSGROUP class contains common functions used by other classes such as FLIGHGROUP and NAVYGROUP.
-- The OPSGROUP class contains common functions used by other classes such as FLIGHGROUP, NAVYGROUP.
--
-- This class is **not** meant to be used itself by the end user.
--
@@ -206,16 +214,18 @@ OPSGROUP.TaskType={
--- Waypoint data.
-- @type OPSGROUP.Waypoint
-- @field #table wp DCS waypoint table.
-- @field Core.Point#COORDINATE coordinate Waypoint coordinate.
-- @field #number speed Speed in m/s.
-- @field #number altitude Altitude in meters. For submaries use negative sign for depth.
-- @field #number index Waypoint index. This might change as waypoints are added and removed.
-- @field #number uid Waypoint's unit id, which is a running number.
-- @field #boolean onroad If true, ground group takes a road.
-- @field #number formation The formation for this waypoint.
-- @field #boolean detour If true, this waypoint is not part of the normal route.
-- @field #number speed Speed in m/s.
-- @field #number alt Altitude in meters. For submaries use negative sign for depth.
-- @field #string action Waypoint action (turning point, etc.). Ground groups have the formation here.
-- @field #table task Waypoint task combo.
-- @field #string type Waypoint type.
-- @field #number x Waypoint x-coordinate.
-- @field #number y Waypoint y-coordinate.
-- @field #boolean detour If true, this waypoint is not part of the normal route.
-- @field #boolean intowind If true, this waypoint is a turn into wind route point.
-- @field #boolean astar If true, this waypint was found by A* pathfinding algorithm.
-- @field Core.Point#COORDINATE coordinate Waypoint coordinate.
--- NavyGroup version.
-- @field #string version
@@ -433,79 +443,7 @@ function OPSGROUP:GetHeading()
return nil
end
--- Get next waypoint index.
-- @param #OPSGROUP self
-- @param #boolean cyclic If true, return first waypoint if last waypoint was reached. Default is patrol ad infinitum value set.
-- @return #number Next waypoint index.
function OPSGROUP:GetWaypointIndexNext(cyclic)
cyclic=cyclic or self.adinfinitum
local N=#self.waypoints
local n=math.min(self.currentwp+1, N)
if cyclic and self.currentwp==N then
n=1
end
return n
end
--- Get current waypoint index. This is the index of the last passed waypoint.
-- @param #OPSGROUP self
-- @return #number Current waypoint index.
function OPSGROUP:GetWaypointIndexCurrent()
return self.currentwp or 1
end
--- Get waypoint speed.
-- @param #OPSGROUP self
-- @param #number indx Waypoint index.
-- @return #number Speed set at waypoint in knots.
function OPSGROUP:GetWaypointSpeed(indx)
local waypoint=self:GetWaypoint(indx)
if waypoint then
return UTILS.MpsToKnots(waypoint.speed)
end
return nil
end
--- Get waypoint.
-- @param #OPSGROUP self
-- @param #number indx Waypoint index.
-- @return #OPSGROUP.Waypoint Waypoint table.
function OPSGROUP:GetWaypoint(indx)
return self.waypoints[indx]
end
--- Get final waypoint.
-- @param #OPSGROUP self
-- @return #OPSGROUP.Waypoint Final waypoint table.
function OPSGROUP:GetWaypointFinal()
return self.waypoints[#self.waypoints]
end
--- Get next waypoint.
-- @param #OPSGROUP self
-- @param #boolean cyclic If true, return first waypoint if last waypoint was reached.
-- @return #OPSGROUP.Waypoint Next waypoint table.
function OPSGROUP:GetWaypointNext(cyclic)
local n=self:GetWaypointIndexNext(cyclic)
return self.waypoints[n]
end
--- Get current waypoint.
-- @param #OPSGROUP self
-- @return #OPSGROUP.Waypoint Current waypoint table.
function OPSGROUP:GetWaypointCurrent()
return self.waypoints[self.currentwp]
end
--- Check if task description is unique.
-- @param #OPSGROUP self
@@ -524,29 +462,6 @@ function OPSGROUP:CheckTaskDescriptionUnique(description)
return true
end
--- Get coordinate of next waypoint of the group.
-- @param #OPSGROUP self
-- @return Core.Point#COORDINATE Coordinate of the next waypoint.
-- @return #number Number of waypoint.
function OPSGROUP:GetNextWaypointCoordinate()
-- Next waypoint.
local n=self:GetWaypointIndexNext(cyclic)
-- Next waypoint.
local wp=self.waypoints[n]
return self:GetWaypointCoordinate(wp)
end
--- Get next waypoint coordinates.
-- @param #OPSGROUP self
-- @param #table wp Waypoint table.
-- @return Core.Point#COORDINATE Coordinate of the next waypoint.
function OPSGROUP:GetWaypointCoordinate(wp)
-- TODO: move this to COORDINATE class.
return COORDINATE:New(wp.x, wp.alt, wp.y)
end
--- Activate a *late activated* group.
-- @param #OPSGROUP self
@@ -707,6 +622,111 @@ function OPSGROUP:GetWaypointIndex(uid)
return nil
end
--- Get next waypoint index.
-- @param #OPSGROUP self
-- @param #boolean cyclic If true, return first waypoint if last waypoint was reached. Default is patrol ad infinitum value set.
-- @return #number Next waypoint index.
function OPSGROUP:GetWaypointIndexNext(cyclic)
if cyclic==nil then
cyclic=self.adinfinitum
end
--env.info("FF cyclic = "..tostring(cyclic))
local N=#self.waypoints
local n=math.min(self.currentwp+1, N)
--env.info("FF n = "..tostring(n))
if cyclic and self.currentwp==N then
n=1
--env.info("FF cyclic n = "..tostring(n))
end
return n
end
--- Get current waypoint index. This is the index of the last passed waypoint.
-- @param #OPSGROUP self
-- @return #number Current waypoint index.
function OPSGROUP:GetWaypointIndexCurrent()
return self.currentwp or 1
end
--- Get waypoint.
-- @param #OPSGROUP self
-- @param #number indx Waypoint index.
-- @return #OPSGROUP.Waypoint Waypoint table.
function OPSGROUP:GetWaypoint(indx)
return self.waypoints[indx]
end
--- Get final waypoint.
-- @param #OPSGROUP self
-- @return #OPSGROUP.Waypoint Final waypoint table.
function OPSGROUP:GetWaypointFinal()
return self.waypoints[#self.waypoints]
end
--- Get next waypoint.
-- @param #OPSGROUP self
-- @param #boolean cyclic If true, return first waypoint if last waypoint was reached.
-- @return #OPSGROUP.Waypoint Next waypoint table.
function OPSGROUP:GetWaypointNext(cyclic)
local n=self:GetWaypointIndexNext(cyclic)
return self.waypoints[n]
end
--- Get current waypoint.
-- @param #OPSGROUP self
-- @return #OPSGROUP.Waypoint Current waypoint table.
function OPSGROUP:GetWaypointCurrent()
return self.waypoints[self.currentwp]
end
--- Get coordinate of next waypoint of the group.
-- @param #OPSGROUP self
-- @return Core.Point#COORDINATE Coordinate of the next waypoint.
function OPSGROUP:GetNextWaypointCoordinate()
-- Get next waypoint
local waypoint=self:GetWaypointNext(cyclic)
return waypoint.coordinate
end
--- Get waypoint coordinates.
-- @param #OPSGROUP self
-- @param #number index Waypoint index.
-- @return Core.Point#COORDINATE Coordinate of the next waypoint.
function OPSGROUP:GetWaypointCoordinate(index)
local waypoint=self:GetWaypoint(index)
if waypoint then
return waypoint.coordinate
end
return nil
end
--- Get waypoint speed.
-- @param #OPSGROUP self
-- @param #number indx Waypoint index.
-- @return #number Speed set at waypoint in knots.
function OPSGROUP:GetWaypointSpeed(indx)
local waypoint=self:GetWaypoint(indx)
if waypoint then
return UTILS.MpsToKnots(waypoint.speed)
end
return nil
end
--- Remove a waypoint with a ceratin UID.
-- @param #OPSGROUP self
-- @param #number uid Waypoint UID.
@@ -716,8 +736,7 @@ function OPSGROUP:RemoveWaypointByID(uid)
local index=self:GetWaypointIndex(uid)
if index then
self:RemoveWaypoint(index)
self:RemoveWaypoint(index)
end
return self
@@ -741,24 +760,47 @@ function OPSGROUP:RemoveWaypoint(wpindex)
local n=#self.waypoints
-- Debug info.
self:I(self.lid..string.format("Removing waypoint %d. N %d-->%d", wpindex, N, n))
self:I(self.lid..string.format("Removing waypoint index %d, current wp index %d. N %d-->%d", wpindex, self.currentwp, N, n))
-- Waypoint was not reached yet.
if wpindex > self.currentwp then
-- Could be that we just removed the only remaining waypoint ==> passedfinalwp=true so we RTB or wait.
-- Could be that we just removed the only remaining waypoint ==> passedfinalwp=true.
-- TODO: patrol adinfinitum.
if self.currentwp>=n then
self.passedfinalwp=true
end
self:_CheckGroupDone()
env.info("FF passed final waypoint after remove current wp = "..self.currentwp)
self:_CheckGroupDone(1)
--elseif wpindex==self.currentwp then
-- Removed the waypoint we just passed.
else
-- If an already passed waypoint was deleted, we do not need to update the route.
-- TODO: But what about the self.currentwp number. This is now incorrect!
self.currentwp=self.currentwp-1
-- If current wp = 1 it stays 1. Otherwise decrease current wp.
if self.currentwp==1 then
if self.adinfinitum then
self.currentwp=#self.waypoints
else
self.currentwp=1
end
else
self.currentwp=self.currentwp-1
end
--self.currentwp=math.max(1, self.currentwp-1)
env.info("FF current waypoint after remove "..self.currentwp)
end
@@ -995,9 +1037,9 @@ end
--- Get the unfinished waypoint tasks
-- @param #OPSGROUP self
-- @param #number n Waypoint index. Counting starts at one.
-- @param #number id Unique waypoint ID.
-- @return #table Table of tasks. Table could also be empty {}.
function OPSGROUP:GetTasksWaypoint(n)
function OPSGROUP:GetTasksWaypoint(id)
-- Tasks table.
local tasks={}
@@ -1008,7 +1050,7 @@ function OPSGROUP:GetTasksWaypoint(n)
-- Look for first task that SCHEDULED.
for _,_task in pairs(self.taskqueue) do
local task=_task --#OPSGROUP.Task
if task.type==OPSGROUP.TaskType.WAYPOINT and task.status==OPSGROUP.TaskStatus.SCHEDULED and task.waypoint==n then
if task.type==OPSGROUP.TaskType.WAYPOINT and task.status==OPSGROUP.TaskStatus.SCHEDULED and task.waypoint==id then
table.insert(tasks, task)
end
end
@@ -1913,19 +1955,48 @@ end
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param #number n Waypoint passed.
-- @param #number N Total number of waypoints.
-- @param #OPSGROUP.Waypoint Waypoint Waypoint data passed.
function OPSGROUP:onafterPassingWaypoint(From, Event, To, n, N, Waypoint)
local text=string.format("Group passed waypoint %d/%d", n, N)
self:T(self.lid..text)
MESSAGE:New(text, 30, "DEBUG"):ToAllIf(self.Debug)
function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
-- Apply tasks of this waypoint.
local ntasks=self:_SetWaypointTasks(Waypoint)
-- Get waypoint index.
local wpindex=self:GetWaypointIndex(Waypoint.uid)
-- Final waypoint reached?
if wpindex==nil or wpindex==#self.waypoints then
-- Set switch to true.
self.passedfinalwp=true
-- Check if all tasks/mission are done? If so, RTB or WAIT.
-- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
if ntasks==0 then
self:_CheckGroupDone(1)
end
end
-- Debug info.
local text=string.format("Group passed waypoint %s/%d ID=%d: final=%s detour=%s astar=%s",
tostring(wpindex), #self.waypoints, Waypoint.uid, tostring(self.passedfinalwp), tostring(Waypoint.detour), tostring(Waypoint.astar))
self:I(self.lid..text)
MESSAGE:New(text, 30, "DEBUG"):ToAllIf(self.Debug)
end
--- On after "GotoWaypoint" event. Group will got to the given waypoint and execute its route from there.
-- @param #OPSGROUP self
-- @param #OPSGROUP.Waypoint Waypoint The waypoint.
-- @return #number Number of tasks.
function OPSGROUP:_SetWaypointTasks(Waypoint)
-- Get all waypoint tasks.
local tasks=self:GetTasksWaypoint(Waypoint.uid)
-- Debug info.
local text=string.format("WP %d/%d tasks:", n, N)
local text=string.format("WP uid=%d tasks:", Waypoint.uid)
if #tasks>0 then
for i,_task in pairs(tasks) do
local task=_task --#OPSGROUP.Task
@@ -1963,20 +2034,8 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, n, N, Waypoint)
if #taskswp>0 then
self:SetTask(self.group:TaskCombo(taskswp))
end
-- Final AIR waypoint reached?
if n==N then
-- Set switch to true.
self.passedfinalwp=true
-- Check if all tasks/mission are done? If so, RTB or WAIT.
-- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
if #taskswp==0 then
self:_CheckGroupDone(1)
end
end
return #taskswp
end
--- On after "GotoWaypoint" event. Group will got to the given waypoint and execute its route from there.
@@ -2195,14 +2254,17 @@ end
--- Initialize Mission Editor waypoints.
-- @param #OPSGROUP self
-- @param #table waypoint DCS waypoint data table.
-- @param #OPSGROUP.Waypoint waypoint DCS waypoint data table.
-- @return #OPSGROUP.Waypoint Waypoint data.
function OPSGROUP:_CreateWaypoint(waypoint, detour, onroad, formation)
function OPSGROUP:_CreateWaypoint(waypoint, formation, detour)
waypoint.uid=self.wpcounter
waypoint.coordinate=COORDINATE:New(waypoint.x, waypoint.alt, waypoint.y)
waypoint.detour=detour and detour or false
waypoint.formation=formation
if formation then
waypoint.action=formation
end
waypoint.onroad=onroad and onroad or false
self.wpcounter=self.wpcounter+1
@@ -2218,7 +2280,7 @@ function OPSGROUP:_AddWaypoint(waypoint, wpnumber)
wpnumber=wpnumber or #self.waypoints+1
env.info(string.format("adding waypoint at index=%d", wpnumber))
self:I(self.lid..string.format("Adding waypoint at index=%d id=%d", wpnumber, waypoint.uid))
-- Add waypoint to table.
table.insert(self.waypoints, wpnumber, waypoint)
@@ -2263,7 +2325,7 @@ end
--- Route group along waypoints.
-- @param #OPSGROUP self
-- @param #table waypoints Table of waypoints.
-- @default
-- @param #number delay Delay in seconds.
-- @return #OPSGROUP self
function OPSGROUP:Route(waypoints, delay)
@@ -2314,13 +2376,13 @@ function OPSGROUP:_UpdateWaypointTasks(n)
if i>=n or nwaypoints==1 then
-- Debug info.
self:T(self.lid..string.format("Updating waypoint task for waypoint %d/%d. Last waypoint passed %d", i, nwaypoints, self.currentwp))
self:I(self.lid..string.format("Updating waypoint task for waypoint %d/%d ID=%d. Last waypoint passed %d", i, nwaypoints, wp.uid, self.currentwp))
-- Tasks of this waypoint
local taskswp={}
-- At each waypoint report passing.
local TaskPassingWaypoint=self.group:TaskFunction("OPSGROUP._PassingWaypoint", self, i, wp.uid)
local TaskPassingWaypoint=self.group:TaskFunction("OPSGROUP._PassingWaypoint", self, wp.uid)
table.insert(taskswp, TaskPassingWaypoint)
-- Waypoint task combo.
@@ -2337,26 +2399,72 @@ end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- Function called when a group is passing a waypoint.
--@param Wrapper.Group#GROUP group Group that passed the waypoint
--@param Wrapper.Group#GROUP group Group that passed the waypoint.
--@param #OPSGROUP opsgroup Ops group object.
--@param #number i Waypoint number that has been reached.
--@param #number uid Waypoint UID.
function OPSGROUP._PassingWaypoint(group, opsgroup, i, uid)
local final=#opsgroup.waypoints or 1
-- Debug message.
local text=string.format("Group passing waypoint %d of %d, uid=%d", i, final, uid)
opsgroup:I(opsgroup.lid..text)
-- Set current waypoint.
opsgroup.currentwp=i
function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
-- Get waypoint data.
local waypoint=opsgroup:GetWaypointByID(uid)
-- Trigger PassingWaypoint event.
opsgroup:PassingWaypoint(i, final, waypoint)
if waypoint then
-- Get the current waypoint index.
opsgroup.currentwp=opsgroup:GetWaypointIndex(uid)
-- Set expected speed and formation from the next WP.
local wpnext=opsgroup:GetWaypointNext()
if wpnext then
-- Set formation.
if opsgroup.isGround then
opsgroup.formation=wpnext.action
end
-- Set speed.
opsgroup.speed=wpnext.speed
end
-- Check if the group is still pathfinding.
if opsgroup.ispathfinding and not waypoint.astar then
opsgroup.ispathfinding=false
end
-- Check special waypoints.
if waypoint.astar then
env.info("FF removing Astar waypoint "..uid)
opsgroup:RemoveWaypointByID(uid)
elseif waypoint.detour then
env.info("FF removing Detour waypoint "..uid)
opsgroup:RemoveWaypointByID(uid)
-- Trigger event.
opsgroup:DetourReached()
if waypoint.detour==0 then
opsgroup:FullStop()
elseif waypoint.detour==1 then
opsgroup:Cruise()
else
opsgroup:E("ERROR: waypoint.detour should be 0 or 1")
end
end
-- Debug message.
local text=string.format("Group passing waypoint uid=%d", uid)
opsgroup:I(opsgroup.lid..text)
-- Trigger PassingWaypoint event.
if not (waypoint.astar or waypoint.detour) then
opsgroup:PassingWaypoint(waypoint)
end
end
end
@@ -2461,6 +2569,52 @@ function OPSGROUP:SetOptionROT(rot)
return self
end
--- Set the default Alarm State for the group. This is the state gets when the group is spawned or to which it defaults back after a mission.
-- @param #OPSGROUP self
-- @param #number alarmstate Alarm state of group. Default is `AI.Option.Ground.val.ALARM_STATE.AUTO` (0).
-- @return #OPSGROUP self
function OPSGROUP:SetDefaultAlarmstate(alarmstate)
self.alarmstateDefault=alarmstate or 0
return self
end
--- Set current Alarm State of the group.
-- @param #OPSGROUP self
-- @param #string alarmstate Alarm state of group. Default is the value defined by :SetDefaultAlarmstate().
-- @return #OPSGROUP self
function OPSGROUP:SetOptionAlarmstate(alarmstate)
self.alarmstate=alarmstate or self.alarmstateDefault
if self:IsAlive() then
if self.alarmstate==0 then
self.group:OptionAlarmStateAuto()
elseif self.alarmstate==1 then
self.group:OptionAlarmStateGreen()
elseif self.alarmstate==2 then
self.group:OptionAlarmStateRed()
else
self:E("ERROR: Unknown Alarm State! Setting to AUTO.")
self.group:OptionAlarmStateAuto()
end
self:I(self.lid..string.format("Setting current Alarm State=%d (0=Auto, 1=Green, 2=Red)", self.alarmstate))
else
-- TODO WARNING
end
return self
end
--- Get current Alarm State of the group.
-- @param #OPSGROUP self
-- @return #number Current Alarm State.
function OPSGROUP:GetAlarmstate()
return self.alarmstate
end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Element and Group Status Functions
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------