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https://github.com/FlightControl-Master/MOOSE.git
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AIRBOSS v0.3.0
RESCUEHELO v0.9.2 RECOVERYTANKER v0.9.2
This commit is contained in:
Frank
@@ -5,9 +5,8 @@
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-- Features:
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--
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-- * Regular pattern update with respect to carrier positon.
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-- * Automatic respawning when tanker runs out of fuel.
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-- * Tanker can be spawned cold or hot on the carrier or any other airbase or directly in air.
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-- * Tanker can operate 24/7.
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-- * Automatic respawning when tanker runs out of fuel for 24/7 operations.
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-- * Tanker can be spawned cold or hot on the carrier or at any other airbase or directly in air.
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--
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-- Please not that his class is work in progress and in an **alpha** stage.
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--
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@@ -34,6 +33,9 @@
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-- @field #number Tupdate Last time the pattern was updated.
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-- @field #number takeoff Takeoff type (cold, hot, air).
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-- @field #number lowfuel Low fuel threshold in percent.
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-- @field #boolean respawn If true, tanker be respawned (default). If false, no respawning will happen.
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-- @field #boolean respawninair If true, tanker will always be respawned in air. This has no impact on the initial spawn setting.
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-- @field #boolean uncontrolledac If true, use and uncontrolled tanker group already present in the mission.
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-- @extends Core.Fsm#FSM
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--- Recovery Tanker.
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@@ -62,21 +64,24 @@ RECOVERYTANKER = {
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Tupdate = nil,
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takeoff = nil,
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lowfuel = nil,
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respawn = nil,
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respawninair = nil,
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uncontrolledac = nil,
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}
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--- Class version.
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-- @field #string version
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RECOVERYTANKER.version="0.9.1"
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RECOVERYTANKER.version="0.9.2"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Possibility to add already present/spawned aircraft, e.g. for warehouse.
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-- TODO: Write documenation.
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-- TODO: Smarter pattern update function. E.g. (small) zone around carrier. Only update position when carrier leaves zone or changes heading?
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-- TODO: Maybe rework pattern update implementation altogether to make it smoother.
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-- TODO: Write documenation.
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-- DONE: Add refueling event/state.
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-- DONE: Possibility to add already present/spawned aircraft, e.g. for warehouse.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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@@ -104,7 +109,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- Tanker group name.
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self.tankergroupname=tankergroupname
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-- Default parameters.
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-- Init default parameters.
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self:SetPatternUpdateInterval()
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self:SetAltitude()
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self:SetSpeed()
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@@ -112,6 +117,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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self:SetHomeBase(AIRBASE:FindByName(self.carrier:GetName()))
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self:SetTakeoffAir()
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self:SetLowFuelThreshold()
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self:SetRespawnOnOff()
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-----------------------
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--- FSM Transitions ---
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@@ -123,10 +129,11 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("Stopped", "Start", "Running")
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self:AddTransition("Running", "RTB", "Returning")
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self:AddTransition("Running", "Status", "*")
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self:AddTransition("Returning", "Status", "*")
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self:AddTransition("Running", "Stop", "Stopped")
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self:AddTransition("*", "Refuel", "Refueling")
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self:AddTransition("*", "Run", "Running")
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self:AddTransition("Running", "RTB", "Returning")
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self:AddTransition("*", "Status", "*")
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self:AddTransition("*", "Stop", "Stopped")
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--- Triggers the FSM event "Start" that starts the recovery tanker. Initializes parameters and starts event handlers.
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@@ -138,6 +145,29 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] Refuel
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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-- @param #RECOVERYTANKER self
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--- Triggers delayed the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] __Refuel
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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--- Triggers the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
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-- @function [parent=#RECOVERYTANKER] Run
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-- @param #RECOVERYTANKER self
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--- Triggers delayed the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
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-- @function [parent=#RECOVERYTANKER] __Run
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "RTB" that sends the tanker home.
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-- @function [parent=#RECOVERYTANKER] RTB
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-- @param #RECOVERYTANKER self
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@@ -147,6 +177,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Stop" that stops the recovery tanker. Event handlers are stopped.
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-- @function [parent=#RECOVERYTANKER] Stop
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-- @param #RECOVERYTANKER self
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@@ -254,6 +285,55 @@ function RECOVERYTANKER:SetTakeoffAir()
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end
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--- Enable respawning of tanker. Note that this is the default behaviour.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOn()
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self.respawn=true
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return self
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end
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--- Disable respawning of tanker.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOff()
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self.respawn=false
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return self
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end
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--- Set whether tanker shall be respawned or not.
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-- @param #RECOVERYTANKER self
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-- @param #boolean switch If true (or nil), tanker will be respawned. If false, tanker will not be respawned.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOnOff(switch)
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if switch==nil or switch==true then
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self.respawn=true
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else
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self.respawn=false
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end
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return self
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end
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--- Tanker will be respawned in air, even it was initially spawned on the carrier.
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-- So only the first spawn will be on the carrier while all subsequent spawns will happen in air.
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-- This allows for undisrupted operations and less problems on the carrier deck.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnInAir()
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self.respawninair=true
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return self
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end
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--- Use an uncontrolled aircraft already present in the mission rather than spawning a new tanker as initial recovery thanker.
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-- This can be useful when interfaced with, e.g., a warehouse.
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-- The group name is the one specified in the @{#RECOVERYTANKER.New} function.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetUseUncontrolledAircraft()
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self.uncontrolledac=true
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return self
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end
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--- Check if tanker is returning to base.
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-- @param #RECOVERYTANKER self
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-- @return #boolean If true, tanker is returning to base.
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@@ -284,7 +364,9 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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-- Handle events.
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self:HandleEvent(EVENTS.EngineShutdown)
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--TODO: Handle event crash and respawn.
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self:HandleEvent(EVENTS.Refueling)
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self:HandleEvent(EVENTS.RefuelingStop)
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self:HandleEvent(EVENTS.Crash)
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-- Spawn tanker.
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local Spawn=SPAWN:New(self.tankergroupname):InitUnControlled(false)
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@@ -295,6 +377,7 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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-- Carrier heading
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local hdg=self.carrier:GetHeading()
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-- Spawn distance behind the carrier.
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local dist=UTILS.NMToMeters(20)
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-- Coordinate behind the carrier
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@@ -306,11 +389,32 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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-- Spawn at coordinate.
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self.tanker=Spawn:SpawnFromCoordinate(Carrier)
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-- Initial route.
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self:_InitRoute(15, 1, 2)
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else
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-- Spawn tanker at airbase.
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self.tanker=Spawn:SpawnAtAirbase(self.airbase, self.takeoff)
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-- Check if an uncontrolled tanker group was requested.
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if self.useuncontrolled then
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-- Use an uncontrolled aircraft group.
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self.tanker=GROUP:FindByName(self.tankergroupname)
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if self.tanker:IsAlive() then
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-- Start uncontrolled group.
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self.tanker:StartUncontrolled()
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else
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self:E(string.format("ERROR: No uncontrolled (alive) tanker group with name %s could be found!", self.tankergroupname))
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return
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end
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else
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-- Spawn tanker at airbase.
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self.tanker=Spawn:SpawnAtAirbase(self.airbase, self.takeoff)
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end
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-- Initialize route.
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self:_InitRoute(30, 10, 1)
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end
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@@ -331,10 +435,11 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
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-- Get fuel of tanker.
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local fuel=self.tanker:GetFuel()*100
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local text=string.format("Tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
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local text=string.format("Recovery tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
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self:I(text)
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-- Check if tanker is running and not RTBing.
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if self:IsRunning() then
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-- Check fuel.
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@@ -350,6 +455,7 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
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--Time since last pattern update.
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local dt=time-self.Tupdate
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-- Update pattern.
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if dt>self.dTupdate then
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self:_PatternUpdate()
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end
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@@ -363,16 +469,6 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
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self:__Status(-60)
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end
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--- On after Stop event. Unhandle events and stop status updates.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function RECOVERYTANKER:onafterStop(From, Event, To)
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self:UnHandleEvent(EVENTS.EngineShutdown)
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--self:UnHandleEvent(EVENTS.Land)
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end
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--- On before RTB event. Check if takeoff type is air and if so respawn the tanker and deny RTB transition.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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@@ -381,27 +477,32 @@ end
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-- @return #boolean If true, transition is allowed.
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function RECOVERYTANKER:onbeforeRTB(From, Event, To)
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-- Check if spawn in air is activated.
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if self.takeoff==SPAWN.Takeoff.Air then
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-- Debug message.
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local text=string.format("Respawning tanker %s.", self.tanker:GetName())
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self:I(text)
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-- Respawn tanker.
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self.tanker:InitHeading(self.tanker:GetHeading())
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self.tanker=self.tanker:Respawn(nil, true)
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-- Update Pattern in 2 seconds. Need to give a bit time so that the respawned group is in the game.
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SCHEDULER:New(nil, self._PatternUpdate, {self}, 2)
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-- Deny transition to RTB.
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return false
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-- Check that respawn should happen.
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if self.respawn then
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-- Debug message.
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local text=string.format("Respawning tanker %s.", self.tanker:GetName())
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self:I(text)
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-- Respawn tanker.
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self.tanker:InitHeading(self.tanker:GetHeading())
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self.tanker=self.tanker:Respawn(nil, true)
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-- Update Pattern in 2 seconds. Need to give a bit time so that the respawned group is in the game.
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SCHEDULER:New(nil, self._PatternUpdate, {self}, 2)
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-- Deny transition to RTB.
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return false
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end
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end
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return true
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end
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--- On after RTB event. Send tanker back to carrier.
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--- On after "RTB" event. Send tanker back to carrier.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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-- @param #string Event Event.
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@@ -412,17 +513,28 @@ function RECOVERYTANKER:onafterRTB(From, Event, To)
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local text=string.format("Tanker %s returning to airbase %s.", self.tanker:GetName(), self.airbase:GetName())
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self:I(text)
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local waypoints={}
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-- Waypoint array.
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local wp={}
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-- Set landingwaypoint
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local wp=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing")
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table.insert(waypoints, wp)
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-- Set landing waypoint.
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wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
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wp[2]=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing on Carrier")
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-- Initialize WP and route tanker.
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self.tanker:WayPointInitialize(waypoints)
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self.tanker:WayPointInitialize(wp)
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-- Set task.
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self.tanker:Route(waypoints, 1)
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self.tanker:Route(wp, 1)
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end
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--- On after Stop event. Unhandle events and stop status updates.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function RECOVERYTANKER:onafterStop(From, Event, To)
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self:UnHandleEvent(EVENTS.EngineShutdown)
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--self:UnHandleEvent(EVENTS.Land)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -437,7 +549,8 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
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local group=EventData.IniGroup --Wrapper.Group#GROUP
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if group:IsAlive() then
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-- Check if group is alive and should be respawned.
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if group:IsAlive() and self.respawn then
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-- Group name. When spawning it will have #001 attached.
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local groupname=group:GetName()
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@@ -449,9 +562,7 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
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-- Respawn tanker.
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self.tanker=group:RespawnAtCurrentAirbase()
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--group:StartUncontrolled(60)
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-- Initial route.
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self:_InitRoute()
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end
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@@ -459,6 +570,57 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
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end
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end
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--- Event handler for refueling started.
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-- @param #RECOVERYTANKER self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function RECOVERYTANKER:OnEventRefuel(EventData)
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if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
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-- Unit receiving fuel.
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local unit=EventData.IniUnit
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-- Get distance to tanker to check that unit is receiving fuel from this tanker.
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local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
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-- If distance > 100 meters, this should be another tanker.
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if dist>100 then
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return
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end
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-- Info message.
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self:I(string.format("Recovery tanker %s started refueling unit %s", self.tanker:GetName(), unit:GetName()))
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end
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end
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--- Event handler for refueling stopped.
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-- @param #RECOVERYTANKER self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function RECOVERYTANKER:OnEventRefuelStop(EventData)
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if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
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-- Unit receiving fuel.
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local unit=EventData.IniUnit
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-- Get distance to tanker to check that unit is receiving fuel from this tanker.
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local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
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-- If distance > 100 meters, this should be another tanker.
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if dist>100 then
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return
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end
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-- Info message.
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self:I(string.format("Recovery tanker %s stopped refueling unit %s", self.tanker:GetName(), unit:GetName()))
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- ROUTE functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -476,7 +638,7 @@ function RECOVERYTANKER:_InitRoute(dist, Tstart, delay)
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delay=delay or 1
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-- Debug message.
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self:I(string.format("Initializing route for tanker %s.", self.tanker:GetName()))
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self:I(string.format("Initializing route for recovery tanker %s.", self.tanker:GetName()))
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-- Carrier position.
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local Carrier=self.carrier:GetCoordinate()
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@@ -509,6 +671,9 @@ end
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--- Function to update the race-track pattern of the tanker wrt to the carrier position.
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-- @param #RECOVERYTANKER self
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function RECOVERYTANKER:_PatternUpdate()
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-- Debug message.
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self:I(string.format("Updating recovery tanker %s orbit.", self.tanker:GetName()))
|
||||
|
||||
-- Carrier heading.
|
||||
local hdg=self.carrier:GetHeading()
|
||||
@@ -517,38 +682,34 @@ function RECOVERYTANKER:_PatternUpdate()
|
||||
local Carrier=self.carrier:GetCoordinate()
|
||||
|
||||
-- Define race-track pattern.
|
||||
local p0=self.tanker:GetCoordinate():Translate(1000, self.tanker:GetHeading())
|
||||
local p1=Carrier:SetAltitude(self.altitude):Translate(self.distStern, hdg)
|
||||
local p2=Carrier:SetAltitude(self.altitude):Translate(self.distBow, hdg)
|
||||
|
||||
-- Set orbit task.
|
||||
local taskorbit=self.tanker:TaskOrbit(p1, self.altitude, self.speed, p2)
|
||||
|
||||
-- New waypoint.
|
||||
local p0=self.tanker:GetCoordinate():Translate(1000, self.tanker:GetHeading())
|
||||
|
||||
-- Debug markers.
|
||||
if self.Debug then
|
||||
p0:MarkToAll("p0")
|
||||
p1:MarkToAll("p1")
|
||||
p2:MarkToAll("p2")
|
||||
p0:MarkToAll("Waypoint P0 " ..self.tanker:GetName())
|
||||
p1:MarkToAll("Racetrack P1 "..self.tanker:GetName())
|
||||
p2:MarkToAll("Racetrack P2 "..self.tanker:GetName())
|
||||
end
|
||||
|
||||
-- Debug message.
|
||||
self:I(string.format("Updating tanker %s orbit.", self.tanker:GetName()))
|
||||
|
||||
|
||||
-- Waypoints array.
|
||||
local waypoints={}
|
||||
local wp={}
|
||||
|
||||
-- New waypoint with orbit pattern task.
|
||||
local wp=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
|
||||
waypoints[1]=wp
|
||||
wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil , self.speed, {}, "Current Position")
|
||||
wp[2]=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
|
||||
|
||||
-- Initialize WP and route tanker.
|
||||
self.tanker:WayPointInitialize(waypoints)
|
||||
self.tanker:WayPointInitialize(wp)
|
||||
|
||||
-- Task combo.
|
||||
local tasktanker = self.tanker:EnRouteTaskTanker()
|
||||
local taskroute = self.tanker:TaskRoute(waypoints)
|
||||
local taskroute = self.tanker:TaskRoute(wp)
|
||||
-- Note that tasktanker has to come first. Otherwise it does not work!
|
||||
local taskcombo = self.tanker:TaskCombo({tasktanker, taskroute})
|
||||
|
||||
-- Set task.
|
||||
|
||||
Reference in New Issue
Block a user