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https://github.com/FlightControl-Master/MOOSE.git
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INTEL
Improved clusters
This commit is contained in:
Frank
@@ -281,7 +281,6 @@ end
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--- On after Start event. Starts the FLIGHTGROUP FSM and event handlers.
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-- @param #INTEL self
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-- @param Wrapper.Group#GROUP Group Flight group.
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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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@@ -297,7 +296,6 @@ end
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--- On after "Status" event.
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-- @param #INTEL self
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-- @param Wrapper.Group#GROUP Group Flight group.
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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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@@ -619,15 +617,55 @@ end
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-- Cluster Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create detected items.
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--- Paint picture of the battle field.
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-- @param #INTEL self
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function INTEL:PaintPicture()
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-- First remove all lost contacts from clusters.
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for _,_contact in pairs(self.ContactsLost) do
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local contact=_contact --#INTEL.Contact
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local cluster=self:GetClustersOfContact(contact)
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if cluster then
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self:RemoveContactFromCluster(contact, cluster)
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end
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end
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for _,_contact in pairs(self.Contacts) do
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local contact=_contact --#INTEL.Contact
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if not self:CheckContactInClusters(contact) then
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local cluster=self:IsContactPartOfAnyClusters(contact)
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if cluster then
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self:AddContactToCluster(contact, cluster)
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else
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local newcluster=self:CreateCluster(contact.position)
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self:AddContactToCluster(contact, newcluster)
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end
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end
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end
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if false then
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local contacts={}
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for _,_contact in pairs(self.Contacts) do
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local contact=_contact --#INTEL.Contact
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if not self:CheckContactInClusters(contact) then
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table.insert(contacts, contact.groupname)
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-- Check if contact is part of known clusters.
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local cluster=self:IsContactPartOfAnyCluster(contact)
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if cluster then
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self:AddContactToCluster(contact, cluster)
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else
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table.insert(contacts, contact.groupname)
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end
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end
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end
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@@ -674,17 +712,9 @@ function INTEL:PaintPicture()
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end
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end
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end
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--[[
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env.info("FF before removing neighbours")
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for _,contact in pairs(contacts) do
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env.info(string.format("Group %s has %d neighbours", contact.name, contact.n))
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end
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]]
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local function checkcontact(contact)
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--- Check if a contact is in the list.
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local function checkcontact(contact)
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for _,c in pairs(contacts) do
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if c.name==contact.name then
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return true
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@@ -696,53 +726,126 @@ function INTEL:PaintPicture()
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for _,contact in pairs(UTILS.DeepCopy(contacts)) do
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if checkcontact(contact) then
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local cluster={} --#INTEL.Cluster
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cluster.index=self.clustercounter
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cluster.groups={}
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table.insert(cluster.groups, contact.name)
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cluster.Contacts={}
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table.insert(cluster.groups, self:GetContactByName(contact.name))
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local Contact=self:GetContactByName(contact.name)
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cluster.coordinate=Contact.position
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local cluster=self:CreateCluster(Contact.position)
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self:AddContactToCluster(Contact, cluster)
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cluster.size=1
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for _,neighbour in pairs(contact.neighbours) do
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-- Remove contact from table as this is now part of a cluster.
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removecontact(neighbour.name)
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table.insert(cluster.groups, neighbour.name)
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cluster.size=cluster.size+1
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table.insert(cluster.groups, self:GetContactByName(neighbour.name))
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local Neighbour=self:GetContactByName(neighbour.name)
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self:AddContactToCluster(Neighbour, cluster)
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end
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local text=string.format("Cluster #%d. Size %d", cluster.index, cluster.size)
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cluster.maker=MARKER:New(cluster.coordinate, text):ToAll()
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-- Add cluster.
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table.insert(self.Clusters, cluster)
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-- Increase couter.
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self.clustercounter=self.clustercounter+1
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end
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end
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--[[
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table.sort(contacts, sort)
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env.info("FF after removing neighbours")
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for i,cluster in pairs(clusters) do
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env.info(string.format("Cluster %d has %d groups", i, cluster.n))
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end -- if false then
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-- Update F10 marker text if cluster has changed.
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for _,cluster in pairs(self.Clusters) do
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-- Update F10 marker.
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self:UpdateClusterMarker(cluster)
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end
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]]
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end
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--- Create a new cluster.
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-- @param #INTEL self
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-- @param Core.Point#COORDINATE coordinate The coordinate of the cluster.
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-- @return #INTEL.Cluster cluster The cluster.
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function INTEL:CreateCluster(coordinate)
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-- Create new cluster
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local cluster={} --#INTEL.Cluster
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cluster.index=self.clustercounter
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cluster.coordinate=coordinate
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cluster.threatlevelSum=0
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cluster.threatlevelMax=0
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cluster.size=0
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cluster.Contacts={}
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-- Add cluster.
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table.insert(self.Clusters, cluster)
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-- Increase counter.
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self.clustercounter=self.clustercounter+1
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return cluster
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end
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--- Add a contact to the cluster.
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-- @param #INTEL self
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-- @param #INTEL.Contact contact The contact.
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-- @param #INTEL.Cluster cluster The cluster.
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function INTEL:AddContactToCluster(contact, cluster)
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if contact and cluster then
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-- Add neighbour to cluster contacts.
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table.insert(cluster.Contacts, contact)
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cluster.threatlevelSum=cluster.threatlevelSum+contact.threatlevel
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cluster.size=cluster.size+1
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end
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end
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--- Remove a contact from a cluster.
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-- @param #INTEL self
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-- @param #INTEL.Contact contact The contact.
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-- @param #INTEL.Cluster cluster The cluster.
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function INTEL:RemoveContactFromCluster(contact, cluster)
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if contact and cluster then
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for i,_contact in pairs(cluster.Contacts) do
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local Contact=_contact --#INTEL.Contact
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if Contact.groupname==contact.groupname then
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cluster.threatlevelSum=cluster.threatlevelSum-contact.threatlevel
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cluster.size=cluster.size-1
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table.remove(cluster.Contacts, i)
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return
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end
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end
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end
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end
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--- Calculate cluster threatlevel sum.
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-- @param #INTEL self
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-- @param #INTEL.Cluster cluster The cluster of contacts.
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-- @return #number Sum of all threat levels of all groups in the cluster.
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function INTEL:CalcClusterThreatlevelSum(cluster)
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local threatlevel=0
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for _,_contact in pairs(cluster.Contacts) do
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local contact=_contact --#INTEL.Contact
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threatlevel=threatlevel+contact.threatlevel
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end
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return threatlevel
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end
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--- Check if contact is in any known cluster.
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-- @param #INTEL self
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-- @param #INTEL.Contact contact The contact.
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@@ -764,6 +867,71 @@ function INTEL:CheckContactInClusters(contact)
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return false
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end
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--- Check if contact is close to any contact of known clusters.
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-- @param #INTEL self
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-- @param #INTEL.Contact contact The contact.
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-- @return #INTEL.Cluster The cluster this contact is part of or nil otherwise.
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function INTEL:IsContactPartOfAnyClusters(contact)
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for _,_cluster in pairs(self.Clusters) do
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local cluster=_cluster --#INTEL.Cluster
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for _,_contact in pairs(cluster.Contacts) do
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local Contact=_contact --#INTEL.Contact
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local dist=Contact.position:Get2DDistance(contact.position)
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if dist<10*1000 then
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return cluster
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end
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end
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end
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return nil
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end
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--- Check if contact is in any known cluster.
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-- @param #INTEL self
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-- @param #INTEL.Contact contact The contact.
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-- @return #INTEL.Cluster The cluster this contact belongs to or nil.
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function INTEL:GetClustersOfContact(contact)
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for _,_cluster in pairs(self.Clusters) do
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local cluster=_cluster --#INTEL.Cluster
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for _,_contact in pairs(cluster.Contacts) do
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local Contact=_contact --#INTEL.Contact
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if Contact.groupname==contact.groupname then
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return cluster
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end
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end
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end
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return nil
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end
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--- Update cluster F10 marker.
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-- @param #INTEL self
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-- @param #INTEL.Cluster cluster The cluster.
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function INTEL:UpdateClusterMarker(cluster)
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-- Create a marker.
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local text=string.format("Cluster #%d. Size %d, TLsum=%d", cluster.index, cluster.size, cluster.threatlevelSum)
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if not cluster.marker then
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cluster.marker=MARKER:New(cluster.coordinate, text):ToAll()
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else
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if cluster.marker.text~=text then
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cluster.marker:UpdateText(text)
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end
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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