mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2025-10-29 16:58:06 +00:00
OPS
- NAVYGROUP added engage target - Barrage improvments
This commit is contained in:
Frank
@@ -43,6 +43,7 @@
|
||||
-- @field #boolean pathfindingOn If true, enable pathfining.
|
||||
-- @field #number pathCorridor Path corrdidor width in meters.
|
||||
-- @field #boolean ispathfinding If true, group is currently path finding.
|
||||
-- @field #NAVYGROUP.Target engage Engage target.
|
||||
-- @extends Ops.OpsGroup#OPSGROUP
|
||||
|
||||
--- *Something must be left to chance; nothing is sure in a sea fight above all.* -- Horatio Nelson
|
||||
@@ -61,6 +62,7 @@ NAVYGROUP = {
|
||||
intowindcounter = 0,
|
||||
Qintowind = {},
|
||||
pathCorridor = 400,
|
||||
engage = {},
|
||||
}
|
||||
|
||||
--- Turn into wind parameters.
|
||||
@@ -77,6 +79,13 @@ NAVYGROUP = {
|
||||
-- @field #boolean Open Currently active.
|
||||
-- @field #boolean Over This turn is over.
|
||||
|
||||
--- Engage Target.
|
||||
-- @type NAVYGROUP.Target
|
||||
-- @field Ops.Target#TARGET Target The target.
|
||||
-- @field Core.Point#COORDINATE Coordinate Last known coordinate of the target.
|
||||
-- @field Ops.OpsGroup#OPSGROUP.Waypoint Waypoint the waypoint created to go to the target.
|
||||
-- @field #number roe ROE backup.
|
||||
-- @field #number alarmstate Alarm state backup.
|
||||
|
||||
--- NavyGroup version.
|
||||
-- @field #string version
|
||||
@@ -160,7 +169,9 @@ function NAVYGROUP:New(group)
|
||||
self:AddTransition("*", "ClearAhead", "*") -- Clear ahead.
|
||||
|
||||
self:AddTransition("Cruising", "Dive", "Cruising") -- Command a submarine to dive.
|
||||
self:AddTransition("Engaging", "Dive", "Engaging") -- Command a submarine to dive.
|
||||
self:AddTransition("Cruising", "Surface", "Cruising") -- Command a submarine to go to the surface.
|
||||
self:AddTransition("Engaging", "Surface", "Engaging") -- Command a submarine to go to the surface.
|
||||
|
||||
------------------------
|
||||
--- Pseudo Functions ---
|
||||
@@ -745,8 +756,8 @@ function NAVYGROUP:Status(From, Event, To)
|
||||
|
||||
local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"
|
||||
local turning=tostring(self:IsTurning())
|
||||
local alt=self.position.y
|
||||
local speed=UTILS.MpsToKnots(self.velocity)
|
||||
local alt=self.position and self.position.y or 0
|
||||
local speed=UTILS.MpsToKnots(self.velocity or 0)
|
||||
local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed())
|
||||
|
||||
-- Waypoint stuff.
|
||||
@@ -765,7 +776,7 @@ function NAVYGROUP:Status(From, Event, To)
|
||||
|
||||
-- Info text.
|
||||
local text=string.format("%s [ROE=%d,AS=%d, T/M=%d/%d]: Wp=%d[%d]-->%d[%d] /%d [%s] Dist=%.1f NM ETA=%s - Speed=%.1f (%.1f) kts, Depth=%.1f m, Hdg=%03d, Turn=%s Collision=%d IntoWind=%s",
|
||||
fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, wpN, wpF, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
|
||||
fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, wpN, wpF, wpDist, wpETA, speed, speedExpected, alt, self.heading or 0, turning, freepath, intowind)
|
||||
self:I(self.lid..text)
|
||||
|
||||
end
|
||||
@@ -809,6 +820,21 @@ function NAVYGROUP:Status(From, Event, To)
|
||||
|
||||
end
|
||||
|
||||
---
|
||||
-- Engage Detected Targets
|
||||
---
|
||||
if self:IsCruising() and self.detectionOn and self.engagedetectedOn then
|
||||
|
||||
local targetgroup, targetdist=self:_GetDetectedTarget()
|
||||
|
||||
-- If we found a group, we engage it.
|
||||
if targetgroup then
|
||||
self:I(self.lid..string.format("Engaging target group %s at distance %d meters", targetgroup:GetName(), targetdist))
|
||||
self:EngageTarget(targetgroup)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
---
|
||||
-- Cargo
|
||||
---
|
||||
@@ -973,6 +999,8 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Depth)
|
||||
|
||||
-- Waypoint.
|
||||
local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
|
||||
|
||||
--env.info(string.format("FF i=%d UID=%d n=%d, N=%d", i, wp.uid, n, N))
|
||||
|
||||
-- Speed.
|
||||
if Speed then
|
||||
@@ -1012,9 +1040,17 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Depth)
|
||||
|
||||
|
||||
if self:IsEngaging() or not self.passedfinalwp then
|
||||
|
||||
--[[
|
||||
env.info("FF:")
|
||||
for i=2,#waypoints do
|
||||
local wp=waypoints[i] --Ops.OpsGroup#OPSGROUP.Waypoint
|
||||
self:I(self.lid..string.format("[%d] UID=%d", i-1, wp.uid))
|
||||
end
|
||||
]]
|
||||
|
||||
-- Debug info.
|
||||
self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Depth=%d m", self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), self.altWp))
|
||||
self:I(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Depth=%d m", self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), self.altWp))
|
||||
|
||||
-- Route group to all defined waypoints remaining.
|
||||
self:Route(waypoints)
|
||||
@@ -1311,6 +1347,114 @@ function NAVYGROUP:onafterCollisionWarning(From, Event, To, Distance)
|
||||
self.collisionwarning=true
|
||||
end
|
||||
|
||||
--- On after "EngageTarget" event.
|
||||
-- @param #NAVYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
-- @param Wrapper.Group#GROUP Group the group to be engaged.
|
||||
function NAVYGROUP:onafterEngageTarget(From, Event, To, Target)
|
||||
self:T(self.lid.."Engaging Target")
|
||||
|
||||
if Target:IsInstanceOf("TARGET") then
|
||||
self.engage.Target=Target
|
||||
else
|
||||
self.engage.Target=TARGET:New(Target)
|
||||
end
|
||||
|
||||
-- Target coordinate.
|
||||
self.engage.Coordinate=UTILS.DeepCopy(self.engage.Target:GetCoordinate())
|
||||
|
||||
|
||||
local intercoord=self:GetCoordinate():GetIntermediateCoordinate(self.engage.Coordinate, 0.9)
|
||||
|
||||
|
||||
|
||||
-- Backup ROE and alarm state.
|
||||
self.engage.roe=self:GetROE()
|
||||
self.engage.alarmstate=self:GetAlarmstate()
|
||||
|
||||
-- Switch ROE and alarm state.
|
||||
self:SwitchAlarmstate(ENUMS.AlarmState.Auto)
|
||||
self:SwitchROE(ENUMS.ROE.OpenFire)
|
||||
|
||||
-- ID of current waypoint.
|
||||
local uid=self:GetWaypointCurrent().uid
|
||||
|
||||
-- Add waypoint after current.
|
||||
self.engage.Waypoint=self:AddWaypoint(intercoord, nil, uid, Formation, true)
|
||||
|
||||
-- Set if we want to resume route after reaching the detour waypoint.
|
||||
self.engage.Waypoint.detour=1
|
||||
|
||||
end
|
||||
|
||||
--- Update engage target.
|
||||
-- @param #NAVYGROUP self
|
||||
function NAVYGROUP:_UpdateEngageTarget()
|
||||
|
||||
if self.engage.Target and self.engage.Target:IsAlive() then
|
||||
|
||||
-- Get current position vector.
|
||||
local vec3=self.engage.Target:GetVec3()
|
||||
|
||||
-- Distance to last known position of target.
|
||||
local dist=UTILS.VecDist3D(vec3, self.engage.Coordinate:GetVec3())
|
||||
|
||||
-- Check if target moved more than 100 meters.
|
||||
if dist>100 then
|
||||
|
||||
--env.info("FF Update Engage Target Moved "..self.engage.Target:GetName())
|
||||
|
||||
-- Update new position.
|
||||
self.engage.Coordinate:UpdateFromVec3(vec3)
|
||||
|
||||
-- ID of current waypoint.
|
||||
local uid=self:GetWaypointCurrent().uid
|
||||
|
||||
-- Remove current waypoint
|
||||
self:RemoveWaypointByID(self.engage.Waypoint.uid)
|
||||
|
||||
local intercoord=self:GetCoordinate():GetIntermediateCoordinate(self.engage.Coordinate, 0.9)
|
||||
|
||||
-- Add waypoint after current.
|
||||
self.engage.Waypoint=self:AddWaypoint(intercoord, nil, uid, Formation, true)
|
||||
|
||||
-- Set if we want to resume route after reaching the detour waypoint.
|
||||
self.engage.Waypoint.detour=0
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
|
||||
-- Target not alive any more == Disengage.
|
||||
self:Disengage()
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- On after "Disengage" event.
|
||||
-- @param #NAVYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function NAVYGROUP:onafterDisengage(From, Event, To)
|
||||
self:T(self.lid.."Disengage Target")
|
||||
|
||||
-- Restore previous ROE and alarm state.
|
||||
self:SwitchROE(self.engage.roe)
|
||||
self:SwitchAlarmstate(self.engage.alarmstate)
|
||||
|
||||
-- Remove current waypoint
|
||||
if self.engage.Waypoint then
|
||||
self:RemoveWaypointByID(self.engage.Waypoint.uid)
|
||||
end
|
||||
|
||||
-- Check group is done
|
||||
self:_CheckGroupDone(1)
|
||||
end
|
||||
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Routing
|
||||
|
||||
Reference in New Issue
Block a user