Ops

Moose Development/Moose/Core/Fsm.lua

@@ -913,7 +913,7 @@ do -- FSM
   --- Check if FSM is in state.
   -- @param #FSM self
   -- @param #string State State name.
-  -- @param #boolean If true, FSM is in this state.
+  -- @return #boolean If true, FSM is in this state.
   function FSM:Is( State )
     return self.current == State
   end
@@ -921,7 +921,7 @@ do -- FSM
   --- Check if FSM is in state.
   -- @param #FSM self
   -- @param #string State State name.
-  -- @param #boolean If true, FSM is in this state.  
+  -- @return #boolean If true, FSM is in this state.  
   function FSM:is(state)
     return self.current == state
   end

Moose Development/Moose/Ops/ArmyGroup.lua

@@ -102,6 +102,10 @@ function ARMYGROUP:New(Group)
   self:AddTransition("*",             "Detour",           "OnDetour")    -- Make a detour to a coordinate and resume route afterwards.
   self:AddTransition("OnDetour",      "DetourReached",    "Cruising")    -- Group reached the detour coordinate.
 
+  self:AddTransition("*",             "Rearm",            "Rearm")       -- Group is send to a coordinate and waits until ammo is refilled.
+  self:AddTransition("Rearm",         "Rearming",         "Rearming")    -- Group has arrived at the rearming coodinate and is waiting to be fully rearmed.
+  self:AddTransition("Rearming",      "Rearmed",          "Cruising")    -- Group was rearmed.
+  
   ------------------------
   --- Pseudo Functions ---
   ------------------------
@@ -294,23 +298,14 @@ function ARMYGROUP:onafterStatus(From, Event, To)
       self:_CheckDetectedUnits()
     end
     
-    if self:IsRearming() then
+    -- Check ammo status.
+    self:_CheckAmmoStatus()
 
-      local rearmed=self:_CheckAmmoFull()
+    -- Update position etc.    
+    self:_UpdatePosition()
       
-      if rearmed then
+    -- Check if group got stuck.
-        self:Rearmed()
+    self:_CheckStuck()
-      end
-    
-    else
-
-      -- Update position etc.    
-      self:_UpdatePosition()
-      
-      -- Check if group got stuck.
-      self:_CheckStuck()
-    
-    end
     
     if self.verbose>=1 then
   
@@ -325,8 +320,8 @@ function ARMYGROUP:onafterStatus(From, Event, To)
       local formation=self.option.Formation or "unknown"
     
       -- Info text.
-      local text=string.format("%s: Wp=%d/%d-->%d Speed=%.1f (%d) Heading=%03d ROE=%d Alarm=%d Formation=%s Tasks=%d Missions=%d", 
+      local text=string.format("%s [ROE-AS=%d-%d T/M=%d/%d]: Wp=%d/%d-->%d (final %s), Speed=%.1f (%d), Heading=%03d", 
-      fsmstate, self.currentwp, #self.waypoints, self:GetWaypointIndexNext(), speed, speedEx, self.heading, roe, alarm, formation, nTaskTot, nMissions)
+      fsmstate, roe, alarm, nTaskTot, nMissions, self.currentwp, #self.waypoints, self:GetWaypointIndexNext(), tostring(self.passedfinalwp), speed, speedEx, self.heading)
       self:I(self.lid..text)
       
     end
@@ -398,6 +393,11 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
       self:SetDefaultRadio(self.radio.Freq, self.radio.Modu, true)
     end
     
+    -- Formation
+    if not self.option.Formation then
+      self.option.Formation=self.optionDefault.Formation
+    end
+    
   end
   
   -- Update route.
@@ -419,6 +419,10 @@ end
 -- @param #number Formation Formation of the group.
 function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
 
+  -- Debug info.
+  local text=string.format("Update route n=%s, Speed=%s, Formation=%s", tostring(n), tostring(Speed), tostring(Formation))
+  self:T(self.lid..text)
+
   -- Update route from this waypoint number onwards.
   n=n or self:GetWaypointIndexNext(self.adinfinitum)
   
@@ -495,9 +499,6 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
       local wp=_wp
       local text=string.format("WP #%d UID=%d type=%s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.uid and wp.uid or 0, wp.type, wp.speed, wp.alt, wp.action)
       self:T(text)
-      if false and wp.coordinate then
-        wp.coordinate:MarkToAll(text)
-      end
     end
   end
 
@@ -523,6 +524,43 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
 
 end
 
+--- On after "GotoWaypoint" event. Group will got to the given waypoint and execute its route from there.
+-- @param #ARMYGROUP self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+-- @param #number UID The goto waypoint unique ID.
+-- @param #number Speed (Optional) Speed to waypoint in knots.
+-- @param #number Formation (Optional) Formation to waypoint.
+function ARMYGROUP:onafterGotoWaypoint(From, Event, To, UID, Speed, Formation)
+
+  local n=self:GetWaypointIndex(UID)
+  
+  --env.info(string.format("FF AG Goto waypoint UID=%s Index=%s, Speed=%s, Formation=%s", tostring(UID), tostring(n), tostring(Speed), tostring(Formation)))
+  
+  if n then
+  
+    -- TODO: switch to re-enable waypoint tasks.
+    if false then
+      local tasks=self:GetTasksWaypoint(n)
+      
+      for _,_task in pairs(tasks) do
+        local task=_task --#OPSGROUP.Task
+        task.status=OPSGROUP.TaskStatus.SCHEDULED
+      end
+      
+    end
+    
+    -- Speed to waypoint.
+    Speed=Speed or self:GetSpeedToWaypoint(n)
+        
+    -- Update the route.
+    self:UpdateRoute(n, Speed, Formation)
+    
+  end
+  
+end
+
 --- On after "Detour" event.
 -- @param #ARMYGROUP self
 -- @param #string From From state.
@@ -792,7 +830,7 @@ function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation
   end
   
   -- Debug info.
-  self:I(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
+  self:T(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
   
   -- Update route.
   if Updateroute==nil or Updateroute==true then
@@ -876,9 +914,11 @@ function ARMYGROUP:_InitGroup()
     element.ammo0=self:GetAmmoUnit(unit, false)
 
     -- Debug text.
-    local text=string.format("Adding element %s: status=%s, skill=%s, category=%s (%d), size: %.1f (L=%.1f H=%.1f W=%.1f)",
+    if self.verbose>=2 then
-    element.name, element.status, element.skill, element.categoryname, element.category, element.size, element.length, element.height, element.width)
+      local text=string.format("Adding element %s: status=%s, skill=%s, category=%s (%d), size: %.1f (L=%.1f H=%.1f W=%.1f)",
-    self:I(self.lid..text)
+      element.name, element.status, element.skill, element.categoryname, element.category, element.size, element.length, element.height, element.width)
+      self:I(self.lid..text)
+    end
   
     -- Add element to table.
     table.insert(self.elements, element)

Moose Development/Moose/Ops/NavyGroup.lua

@@ -883,7 +883,7 @@ function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
       ---
     
       -- Detour to where we left the route.
-      self:I(self.lid.."FF Turn Into Wind Over ==> Uturn!")
+      self:T(self.lid.."FF Turn Into Wind Over ==> Uturn!")
       self:Detour(self.intowind.Coordinate, self:GetSpeedCruise(), 0, true)
       
     else
@@ -897,7 +897,7 @@ function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
       local speed=self:GetWaypointSpeed(indx)
       
       -- Update route.
-      self:I(self.lid..string.format("FF Turn Into Wind Over ==> Next WP Index=%d at %.1f knots via update route!", indx, speed))
+      self:T(self.lid..string.format("FF Turn Into Wind Over ==> Next WP Index=%d at %.1f knots via update route!", indx, speed))
       self:__UpdateRoute(-1, indx, speed)
       
     end
@@ -1238,51 +1238,64 @@ function NAVYGROUP:_InitGroup()
   for _,_unit in pairs(units) do
     local unit=_unit --Wrapper.Unit#UNIT
     
+    -- Get unit template.
+    local unittemplate=unit:GetTemplate()    
+    
     local element={} --#NAVYGROUP.Element
     element.name=unit:GetName()
-    element.typename=unit:GetTypeName()
-    element.status=OPSGROUP.ElementStatus.INUTERO
     element.unit=unit
+    element.status=OPSGROUP.ElementStatus.INUTERO
+    element.typename=unit:GetTypeName()
+    element.skill=unittemplate.skill or "Unknown"
+    element.ai=true
+    element.category=element.unit:GetUnitCategory()
+    element.categoryname=element.unit:GetCategoryName()
+    element.size, element.length, element.height, element.width=unit:GetObjectSize()
+    element.ammo0=self:GetAmmoUnit(unit, false)    
+
+    -- Debug text.
+    if self.verbose>=2 then
+      local text=string.format("Adding element %s: status=%s, skill=%s, category=%s (%d), size: %.1f (L=%.1f H=%.1f W=%.1f)",
+      element.name, element.status, element.skill, element.categoryname, element.category, element.size, element.length, element.height, element.width)
+      self:I(self.lid..text)
+    end
+
+    -- Add element to table.    
     table.insert(self.elements, element)
 
-    self:GetAmmoUnit(unit, false)
+    -- Get Descriptors.
+    self.descriptors=self.descriptors or unit:GetDesc()
+    
+    -- Set type name.
+    self.actype=self.actype or unit:GetTypeName()
     
     if unit:IsAlive() then
+      -- Trigger spawned event. 
       self:ElementSpawned(element)
     end
     
   end
 
-  -- Get first unit. This is used to extract other parameters.
-  local unit=self.group:GetUnit(1)
-  
-  if unit then
-    
-    self.descriptors=unit:GetDesc()
-    
-    self.actype=unit:GetTypeName()
-    
-    -- Debug info.
-    if self.verbose>=1 then
-      local text=string.format("Initialized Navy Group %s:\n", self.groupname)
-      text=text..string.format("Unit type     = %s\n", self.actype)
-      text=text..string.format("Speed max    = %.1f Knots\n", UTILS.KmphToKnots(self.speedMax))
-      text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
-      text=text..string.format("Elements     = %d\n", #self.elements)
-      text=text..string.format("Waypoints    = %d\n", #self.waypoints)
-      text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
-      text=text..string.format("Ammo         = %d (G=%d/R=%d/M=%d/T=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles, self.ammo.Torpedos)
-      text=text..string.format("FSM state    = %s\n", self:GetState())
-      text=text..string.format("Is alive     = %s\n", tostring(self:IsAlive()))
-      text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
-      self:I(self.lid..text)
-    end
-    
-    -- Init done.
-    self.groupinitialized=true
     
+  -- Debug info.
+  if self.verbose>=1 then
+    local text=string.format("Initialized Navy Group %s:\n", self.groupname)
+    text=text..string.format("Unit type     = %s\n", self.actype)
+    text=text..string.format("Speed max    = %.1f Knots\n", UTILS.KmphToKnots(self.speedMax))
+    text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
+    text=text..string.format("Elements     = %d\n", #self.elements)
+    text=text..string.format("Waypoints    = %d\n", #self.waypoints)
+    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
+    text=text..string.format("Ammo         = %d (G=%d/R=%d/M=%d/T=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles, self.ammo.Torpedos)
+    text=text..string.format("FSM state    = %s\n", self:GetState())
+    text=text..string.format("Is alive     = %s\n", tostring(self:IsAlive()))
+    text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
+    self:I(self.lid..text)
   end
   
+  -- Init done.
+  self.groupinitialized=true
+  
   return self
 end
 
@@ -1444,7 +1457,7 @@ function NAVYGROUP:_CheckTurnsIntoWind()
   else
   
     -- Get next window.
-    local IntoWind=self:GetNextTurnIntoWind()
+    local IntoWind=self:GetTurnIntoWindNext()
 
     -- Start turn into wind.
     if IntoWind then

Moose Development/Moose/Ops/OpsGroup.lua

@@ -87,6 +87,8 @@
 -- 
 -- @field #OPSGROUP.Spot spot Laser and IR spot.
 -- 
+-- @field #OPSGROUP.Ammo ammo Initial ammuont of ammo.
+-- 
 -- @extends Core.Fsm#FSM
 
 --- *A small group of determined and like-minded people can change the course of history.* --- Mahatma Gandhi
@@ -312,6 +314,8 @@ OPSGROUP.version="0.6.0"
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
  
 -- TODO: Suppression of fire.
+-- TODO: AI on/off.
+-- TODO: Invisible/immortal.
 -- TODO: Add pseudo function.
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -387,10 +391,6 @@ function OPSGROUP:New(Group)
   self:AddTransition("*",             "EnterZone",        "*")           -- Group entered a certain zone.
   self:AddTransition("*",             "LeaveZone",        "*")           -- Group leaves a certain zone.
 
-  self:AddTransition("*",             "Rearm",            "Rearming")    -- Group is send to a coordinate and waits until ammo is refilled.
-  self:AddTransition("Rearming",      "Rearming",         "Rearming")    -- Group has arrived at the rearming coodinate and is waiting to be fully rearmed.
-  self:AddTransition("Rearming",      "Rearmed",          "Cruising")    -- Group was rearmed.
-
   self:AddTransition("*",             "LaserOn",          "*")            -- Turn laser on.
   self:AddTransition("*",             "LaserOff",         "*")            -- Turn laser off.
   self:AddTransition("*",             "LaserCode",        "*")            -- Switch laser code.
@@ -577,6 +577,13 @@ function OPSGROUP:GetDetectedUnits()
   return self.detectedunits
 end
 
+--- Get inital amount of ammunition.
+-- @param #OPSGROUP self
+-- @return #OPSGROUP.Ammo Initial ammo table.
+function OPSGROUP:GetAmmo0()
+  return self.ammo
+end
+
 --- Get highest detected threat. Detection must be turned on. The threat level is a number between 0 and 10, where 0 is the lowest, e.g. unarmed units.
 -- @param #OPSGROUP self
 -- @param #number ThreatLevelMin Only consider threats with level greater or equal to this number. Default 1 (so unarmed units wont be considered).
@@ -611,7 +618,6 @@ function OPSGROUP:GetThreat(ThreatLevelMin, ThreatLevelMax)
   return threat, level
 end
 
-
 --- Get MOOSE GROUP object.
 -- @param #OPSGROUP self
 -- @return Wrapper.Group#GROUP Moose group object.
@@ -1089,7 +1095,8 @@ end
 -- @param #OPSGROUP self
 -- @return #boolean If true, group is rearming.
 function OPSGROUP:IsRearming()
-  return self:Is("Rearming")
+  local rearming=self:Is("Rearming") or self:Is("Rearm")
+  return rearming
 end
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -2814,7 +2821,7 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
   
 end
 
---- On after "GotoWaypoint" event. Group will got to the given waypoint and execute its route from there.
+--- Set tasks at this waypoint
 -- @param #OPSGROUP self
 -- @param #OPSGROUP.Waypoint Waypoint The waypoint.
 -- @return #number Number of tasks.
@@ -3363,6 +3370,8 @@ function OPSGROUP:_CheckGroupDone(delay)
       -- Get current waypoint.
       local waypoint=self:GetWaypoint(self.currentwp)
       
+      --env.info("FF CheckGroupDone")
+
       if waypoint then
       
         -- Number of tasks remaining for this waypoint.
@@ -3439,6 +3448,56 @@ function OPSGROUP:_CheckGroupDone(delay)
   
 end
 
+--- Check if group got stuck.
+-- @param #OPSGROUP self
+function OPSGROUP:_CheckStuck()
+
+  -- Holding means we are not stuck.
+  if self:IsHolding() or self:Is("Rearming") then
+    return
+  end
+  
+  -- Current time.
+  local Tnow=timer.getTime()
+  
+  -- Expected speed in m/s.
+  local ExpectedSpeed=self:GetExpectedSpeed()
+  
+  -- Current speed in m/s.
+  local speed=self:GetVelocity()
+  
+  -- Check speed.
+  if speed<0.5 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
+
+  -- Somehow we are not moving...
+  if self.stuckTimestamp then
+  
+    -- Time we are holding.
+    local holdtime=Tnow-self.stuckTimestamp
+    
+    if holdtime>=10*60 then
+    
+      self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected for %d sec", speed, ExpectedSpeed, holdtime))
+      
+      --TODO: Stuck event!
+          
+    end
+    
+  end
+  
+end
+
 --- Check ammo is full.
 -- @param #OPSGROUP self
 -- @return #boolean If true, ammo is full.
@@ -3459,6 +3518,72 @@ function OPSGROUP:_CheckAmmoFull()
   return true
 end
 
+--- Check ammo status.
+-- @param #OPSGROUP self
+function OPSGROUP:_CheckAmmoStatus()
+
+  -- First check if there was ammo initially.
+  if self.ammo.Total>0 then
+  
+    -- Get current ammo.
+    local ammo=self:GetAmmoTot()
+    
+    -- Check if rearming is completed.
+    if self:IsRearming() then
+      if ammo.Total==self.ammo.Total then
+        self:Rearmed()
+      end
+    end    
+    
+    -- Total.
+    if self.outofAmmo and ammo.Total>0 then
+      self.outofAmmo=false
+    end
+    if ammo.Total==0 and not self.outofAmmo then
+      self.outofAmmo=true
+      self:OutOfAmmo()
+    end
+
+    -- Guns.
+    if self.outofGuns and ammo.Guns>0 then
+      self.outoffGuns=false
+    end
+    if ammo.Guns==0 and self.ammo.Guns>0 and not self.outofGuns then
+      self.outofGuns=true
+      self:OutOfGuns()
+    end
+
+    -- Rockets.
+    if self.outofRockets and ammo.Rockets>0 then
+      self.outoffRockets=false
+    end
+    if ammo.Rockets==0 and self.ammo.Rockets>0 and not self.outofRockets then
+      self.outofRockets=true
+      self:OutOfRockets()
+    end
+
+    -- Bombs.
+    if self.outofBombs and ammo.Bombs>0 then
+      self.outoffBombs=false
+    end
+    if ammo.Bombs==0 and self.ammo.Bombs>0 and not self.outofBombs then
+      self.outofBombs=true
+      self:OutOfBombs()
+    end
+
+    -- Missiles.
+    if self.outofMissiles and ammo.Missiles>0 then
+      self.outoffMissiles=false
+    end
+    if ammo.Missiles==0 and self.ammo.Missiles>0 and not self.outofMissiles then
+      self.outofMissiles=true
+      self:OutOfMissiles()
+    end        
+  
+  end
+  
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Status Info Common to Air, Land and Sea
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -5070,56 +5195,6 @@ function OPSGROUP:_MissileCategoryName(categorynumber)
   return cat
 end
 
---- Check if group got stuck.
--- @param #OPSGROUP self
-function OPSGROUP:_CheckStuck()
-
-  -- Holding means we are not stuck.
-  if self:IsHolding() then
-    return
-  end
-  
-  -- Current time.
-  local Tnow=timer.getTime()
-  
-  -- Expected speed in m/s.
-  local ExpectedSpeed=self:GetExpectedSpeed()
-  
-  -- Current speed in m/s.
-  local speed=self:GetVelocity()
-  
-  -- Check speed.
-  if speed<0.5 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
-
-  -- Somehow we are not moving...
-  if self.stuckTimestamp then
-  
-    -- Time we are holding.
-    local holdtime=Tnow-self.stuckTimestamp
-    
-    if holdtime>=10*60 then
-    
-      self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected for %d sec", speed, ExpectedSpeed, holdtime))
-      
-      --TODO: Stuck event!
-          
-    end
-    
-  end
-  
-end
-
 --- Get coordinate from an object.
 -- @param #OPSGROUP self
 -- @param Wrapper.Object#OBJECT Object The object.