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Undo my last stupid mistakes.
This commit is contained in:
FlightControl
440
Moose Development/Moose/AI/AI_A2G_Engage.lua
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440
Moose Development/Moose/AI/AI_A2G_Engage.lua
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--- **AI** -- Models the process of air to ground engagement for airplanes and helicopters.
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--
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-- This is a class used in the @{AI_A2G_Dispatcher}.
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--
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-- ===
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--
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-- ### Author: **FlightControl**
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--
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-- ===
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--
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-- @module AI.AI_A2G_ENGAGE
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-- @image AI_Ground_Control_Engage.JPG
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--- @type AI_A2G_ENGAGE
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-- @extends AI.AI_A2A#AI_A2A
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--- Implements the core functions to intercept intruders. Use the Engage trigger to intercept intruders.
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--
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-- 
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--
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-- The AI_A2G_ENGAGE is assigned a @{Wrapper.Group} and this must be done before the AI_A2G_ENGAGE process can be started using the **Start** event.
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--
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-- 
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--
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-- The AI will fly towards the random 3D point within the patrol zone, using a random speed within the given altitude and speed limits.
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-- Upon arrival at the 3D point, a new random 3D point will be selected within the patrol zone using the given limits.
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--
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-- 
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--
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-- This cycle will continue.
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--
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-- 
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--
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-- During the patrol, the AI will detect enemy targets, which are reported through the **Detected** event.
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--
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-- 
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--
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-- When enemies are detected, the AI will automatically engage the enemy.
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--
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-- 
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--
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-- Until a fuel or damage treshold has been reached by the AI, or when the AI is commanded to RTB.
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-- When the fuel treshold has been reached, the airplane will fly towards the nearest friendly airbase and will land.
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--
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-- 
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--
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-- ## 1. AI_A2G_ENGAGE constructor
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--
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-- * @{#AI_A2G_ENGAGE.New}(): Creates a new AI_A2G_ENGAGE object.
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--
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-- ## 3. Set the Range of Engagement
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--
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-- 
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--
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-- An optional range can be set in meters,
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-- that will define when the AI will engage with the detected airborne enemy targets.
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-- The range can be beyond or smaller than the range of the Patrol Zone.
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-- The range is applied at the position of the AI.
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-- Use the method @{AI.AI_GCI#AI_A2G_ENGAGE.SetEngageRange}() to define that range.
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--
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-- ## 4. Set the Zone of Engagement
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--
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-- 
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--
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-- An optional @{Zone} can be set,
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-- that will define when the AI will engage with the detected airborne enemy targets.
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-- Use the method @{AI.AI_Cap#AI_A2G_ENGAGE.SetEngageZone}() to define that Zone.
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--
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-- ===
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--
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-- @field #AI_A2G_ENGAGE
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AI_A2G_ENGAGE = {
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ClassName = "AI_A2G_ENGAGE",
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}
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--- Creates a new AI_A2G_ENGAGE object
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup
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-- @return #AI_A2G_ENGAGE
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function AI_A2G_ENGAGE:New( AIGroup, EngageMinSpeed, EngageMaxSpeed )
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-- Inherits from BASE
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local self = BASE:Inherit( self, AI_A2G:New( AIGroup ) ) -- #AI_A2G_ENGAGE
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self.Accomplished = false
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self.Engaging = false
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self.EngageMinSpeed = EngageMinSpeed
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self.EngageMaxSpeed = EngageMaxSpeed
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self.PatrolMinSpeed = EngageMinSpeed
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self.PatrolMaxSpeed = EngageMaxSpeed
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self.PatrolAltType = "RADIO"
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self:AddTransition( { "Started", "Engaging", "Returning", "Airborne" }, "Engage", "Engaging" ) -- FSM_CONTROLLABLE Transition for type #AI_A2G_ENGAGE.
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--- OnBefore Transition Handler for Event Engage.
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-- @function [parent=#AI_A2G_ENGAGE] OnBeforeEngage
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Engage.
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-- @function [parent=#AI_A2G_ENGAGE] OnAfterEngage
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Engage.
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-- @function [parent=#AI_A2G_ENGAGE] Engage
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-- @param #AI_A2G_ENGAGE self
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--- Asynchronous Event Trigger for Event Engage.
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-- @function [parent=#AI_A2G_ENGAGE] __Engage
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-- @param #AI_A2G_ENGAGE self
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-- @param #number Delay The delay in seconds.
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--- OnLeave Transition Handler for State Engaging.
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-- @function [parent=#AI_A2G_ENGAGE] OnLeaveEngaging
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnEnter Transition Handler for State Engaging.
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-- @function [parent=#AI_A2G_ENGAGE] OnEnterEngaging
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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self:AddTransition( "Engaging", "Fired", "Engaging" ) -- FSM_CONTROLLABLE Transition for type #AI_A2G_ENGAGE.
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--- OnBefore Transition Handler for Event Fired.
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-- @function [parent=#AI_A2G_ENGAGE] OnBeforeFired
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Fired.
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-- @function [parent=#AI_A2G_ENGAGE] OnAfterFired
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Fired.
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-- @function [parent=#AI_A2G_ENGAGE] Fired
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-- @param #AI_A2G_ENGAGE self
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--- Asynchronous Event Trigger for Event Fired.
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-- @function [parent=#AI_A2G_ENGAGE] __Fired
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-- @param #AI_A2G_ENGAGE self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "*", "Destroy", "*" ) -- FSM_CONTROLLABLE Transition for type #AI_A2G_ENGAGE.
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--- OnBefore Transition Handler for Event Destroy.
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-- @function [parent=#AI_A2G_ENGAGE] OnBeforeDestroy
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Destroy.
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-- @function [parent=#AI_A2G_ENGAGE] OnAfterDestroy
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Destroy.
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-- @function [parent=#AI_A2G_ENGAGE] Destroy
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-- @param #AI_A2G_ENGAGE self
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--- Asynchronous Event Trigger for Event Destroy.
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-- @function [parent=#AI_A2G_ENGAGE] __Destroy
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-- @param #AI_A2G_ENGAGE self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "Engaging", "Abort", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2G_ENGAGE.
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--- OnBefore Transition Handler for Event Abort.
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-- @function [parent=#AI_A2G_ENGAGE] OnBeforeAbort
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Abort.
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-- @function [parent=#AI_A2G_ENGAGE] OnAfterAbort
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Abort.
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-- @function [parent=#AI_A2G_ENGAGE] Abort
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-- @param #AI_A2G_ENGAGE self
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--- Asynchronous Event Trigger for Event Abort.
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-- @function [parent=#AI_A2G_ENGAGE] __Abort
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-- @param #AI_A2G_ENGAGE self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "Engaging", "Accomplish", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2G_ENGAGE.
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--- OnBefore Transition Handler for Event Accomplish.
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-- @function [parent=#AI_A2G_ENGAGE] OnBeforeAccomplish
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Accomplish.
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-- @function [parent=#AI_A2G_ENGAGE] OnAfterAccomplish
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Accomplish.
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-- @function [parent=#AI_A2G_ENGAGE] Accomplish
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-- @param #AI_A2G_ENGAGE self
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--- Asynchronous Event Trigger for Event Accomplish.
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-- @function [parent=#AI_A2G_ENGAGE] __Accomplish
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-- @param #AI_A2G_ENGAGE self
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-- @param #number Delay The delay in seconds.
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return self
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end
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--- onafter event handler for Start event.
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The AI group managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2G_ENGAGE:onafterStart( AIGroup, From, Event, To )
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self:GetParent( self ).onafterStart( self, AIGroup, From, Event, To )
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AIGroup:HandleEvent( EVENTS.Takeoff, nil, self )
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end
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--- onafter event handler for Engage event.
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The AI Group managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2G_ENGAGE:onafterEngage( AIGroup, From, Event, To )
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self:HandleEvent( EVENTS.Dead )
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end
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-- todo: need to fix this global function
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--- @param Wrapper.Group#GROUP AIControllable
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function AI_A2G_ENGAGE.EngageRoute( AIGroup, Fsm )
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AIGroup:F( { "AI_A2G_ENGAGE.EngageRoute:", AIGroup:GetName() } )
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if AIGroup:IsAlive() then
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Fsm:__Engage( 0.5 )
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--local Task = AIGroup:TaskOrbitCircle( 4000, 400 )
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--AIGroup:SetTask( Task )
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end
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end
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--- onbefore event handler for Engage event.
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-- @param #AI_A2G_ENGAGE self
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-- @param Wrapper.Group#GROUP AIGroup The group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2G_ENGAGE:onbeforeEngage( AIGroup, From, Event, To )
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if self.Accomplished == true then
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return false
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||||
end
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||||
end
|
||||
|
||||
--- onafter event handler for Abort event.
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||||
-- @param #AI_A2G_ENGAGE self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AI Group managed by the FSM.
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||||
-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2G_ENGAGE:onafterAbort( AIGroup, From, Event, To )
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AIGroup:ClearTasks()
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self:Return()
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self:__RTB( 0.5 )
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||||
end
|
||||
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||||
|
||||
--- @param #AI_A2G_ENGAGE self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The GroupGroup managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
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||||
function AI_A2G_ENGAGE:onafterEngage( AIGroup, From, Event, To, AttackSetUnit )
|
||||
|
||||
self:F( { AIGroup, From, Event, To, AttackSetUnit} )
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||||
|
||||
self.AttackSetUnit = AttackSetUnit or self.AttackSetUnit -- Core.Set#SET_UNIT
|
||||
|
||||
local FirstAttackUnit = self.AttackSetUnit:GetFirst()
|
||||
|
||||
if FirstAttackUnit and FirstAttackUnit:IsAlive() then
|
||||
|
||||
if AIGroup:IsAlive() then
|
||||
|
||||
local EngageRoute = {}
|
||||
|
||||
local CurrentCoord = AIGroup:GetCoordinate()
|
||||
|
||||
--- Calculate the target route point.
|
||||
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||||
local CurrentCoord = AIGroup:GetCoordinate()
|
||||
|
||||
local ToTargetCoord = self.AttackSetUnit:GetFirst():GetCoordinate()
|
||||
self:SetTargetDistance( ToTargetCoord ) -- For RTB status check
|
||||
|
||||
local ToTargetSpeed = math.random( self.EngageMinSpeed, self.EngageMaxSpeed )
|
||||
local ToEngageAngle = CurrentCoord:GetAngleDegrees( CurrentCoord:GetDirectionVec3( ToTargetCoord ) )
|
||||
|
||||
--- Create a route point of type air.
|
||||
local ToPatrolRoutePoint = CurrentCoord:Translate( 15000, ToEngageAngle ):WaypointAir(
|
||||
self.PatrolAltType,
|
||||
POINT_VEC3.RoutePointType.TurningPoint,
|
||||
POINT_VEC3.RoutePointAction.TurningPoint,
|
||||
ToTargetSpeed,
|
||||
true
|
||||
)
|
||||
|
||||
self:F( { Angle = ToEngageAngle, ToTargetSpeed = ToTargetSpeed } )
|
||||
self:F( { self.EngageMinSpeed, self.EngageMaxSpeed, ToTargetSpeed } )
|
||||
|
||||
EngageRoute[#EngageRoute+1] = ToPatrolRoutePoint
|
||||
EngageRoute[#EngageRoute+1] = ToPatrolRoutePoint
|
||||
|
||||
local AttackTasks = {}
|
||||
|
||||
for AttackUnitID, AttackUnit in pairs( self.AttackSetUnit:GetSet() ) do
|
||||
local AttackUnit = AttackUnit -- Wrapper.Unit#UNIT
|
||||
if AttackUnit:IsAlive() and AttackUnit:IsGround() then
|
||||
self:T( { "Eliminating Unit:", AttackUnit:GetName(), AttackUnit:IsAlive(), AttackUnit:IsGround() } )
|
||||
AttackTasks[#AttackTasks+1] = AIGroup:TaskAttackUnit( AttackUnit )
|
||||
end
|
||||
end
|
||||
|
||||
if #AttackTasks == 0 then
|
||||
self:E("No targets found -> Going RTB")
|
||||
self:Return()
|
||||
self:__RTB( 0.5 )
|
||||
else
|
||||
AIGroup:OptionROEOpenFire()
|
||||
AIGroup:OptionROTEvadeFire()
|
||||
|
||||
AttackTasks[#AttackTasks+1] = AIGroup:TaskFunction( "AI_A2G_ENGAGE.EngageRoute", self )
|
||||
EngageRoute[#EngageRoute].task = AIGroup:TaskCombo( AttackTasks )
|
||||
end
|
||||
|
||||
AIGroup:Route( EngageRoute, 0.5 )
|
||||
|
||||
end
|
||||
else
|
||||
self:E("No targets found -> Going RTB")
|
||||
self:Return()
|
||||
self:__RTB( 0.5 )
|
||||
end
|
||||
end
|
||||
|
||||
--- @param #AI_A2G_ENGAGE self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
function AI_A2G_ENGAGE:onafterAccomplish( AIGroup, From, Event, To )
|
||||
self.Accomplished = true
|
||||
self:SetDetectionOff()
|
||||
end
|
||||
|
||||
--- @param #AI_A2G_ENGAGE self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The Group Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
-- @param Core.Event#EVENTDATA EventData
|
||||
function AI_A2G_ENGAGE:onafterDestroy( AIGroup, From, Event, To, EventData )
|
||||
|
||||
if EventData.IniUnit then
|
||||
self.AttackUnits[EventData.IniUnit] = nil
|
||||
end
|
||||
end
|
||||
|
||||
--- @param #AI_A2G_ENGAGE self
|
||||
-- @param Core.Event#EVENTDATA EventData
|
||||
function AI_A2G_ENGAGE:OnEventDead( EventData )
|
||||
self:F( { "EventDead", EventData } )
|
||||
|
||||
if EventData.IniDCSUnit then
|
||||
if self.AttackUnits and self.AttackUnits[EventData.IniUnit] then
|
||||
self:__Destroy( 1, EventData )
|
||||
end
|
||||
end
|
||||
end
|
||||
Reference in New Issue
Block a user