mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2025-10-29 16:58:06 +00:00
Ops
This commit is contained in:
Frank
@@ -290,7 +290,7 @@ function NAVYGROUP:CreateTurnIntoWind(starttime, stoptime, speed, uturn, offset)
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return self
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end
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if Tstop<=Tnow then
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self:I(string.format("WARNING: Into wind stop time %s already over. Tnow=%s! Input rejected.", UTILS.SecondsToClock(Tstop), UTILS.SecondsToClock(Tnow)))
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self:E(string.format("WARNING: Into wind stop time %s already over. Tnow=%s! Input rejected.", UTILS.SecondsToClock(Tstop), UTILS.SecondsToClock(Tnow)))
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return self
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end
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@@ -389,10 +389,10 @@ end
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function NAVYGROUP:onbeforeStatus(From, Event, To)
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if self:IsDead() then
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self:I(self.lid..string.format("Onbefore Status DEAD ==> false"))
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self:T(self.lid..string.format("Onbefore Status DEAD ==> false"))
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return false
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elseif self:IsStopped() then
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self:I(self.lid..string.format("Onbefore Status STOPPED ==> false"))
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self:T(self.lid..string.format("Onbefore Status STOPPED ==> false"))
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return false
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end
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@@ -450,7 +450,7 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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self:_CheckTurnsIntoWind()
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-- Check if group got stuck.
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self:_CheckStuck()
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self:_CheckStuck()
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if self.verbose>=1 then
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@@ -518,19 +518,6 @@ function NAVYGROUP:onafterElementSpawned(From, Event, To, Element)
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end
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--- On after "ElementDead" event.
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-- @param #NAVYGROUP 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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-- @param #NAVYGROUP.Element Element The group element.
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function NAVYGROUP:onafterElementDead(From, Event, To, Element)
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self:T(self.lid..string.format("Element dead %s.", Element.name))
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-- Set element status.
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self:_UpdateStatus(Element, OPSGROUP.ElementStatus.DEAD)
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end
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--- On after "Spawned" event.
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-- @param #NAVYGROUP self
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-- @param #string From From state.
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@@ -539,10 +526,8 @@ end
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function NAVYGROUP:onafterSpawned(From, Event, To)
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self:T(self.lid..string.format("Group spawned!"))
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-- TODO
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self.traveldist=0
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self.traveltime=timer.getAbsTime()
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self.position=self:GetCoordinate()
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-- Update position.
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self:_UpdatePosition()
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if self.ai then
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@@ -571,9 +556,6 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
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end
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-- Get orientation.
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self.Corientlast=self.group:GetUnit(1):GetOrientationX()
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-- Update route.
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self:Cruise()
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@@ -742,7 +724,7 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
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local speed=math.max(IntoWind.Speed-vwind, 2)
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-- Debug info.
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self:I(self.lid..string.format("Steaming into wind: Heading=%03d Speed=%.1f Vwind=%.1f Vtot=%.1f knots, Tstart=%d Tstop=%d", IntoWind.Heading, speed, vwind, speed+vwind, IntoWind.Tstart, IntoWind.Tstop))
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self:T(self.lid..string.format("Steaming into wind: Heading=%03d Speed=%.1f Vwind=%.1f Vtot=%.1f knots, Tstart=%d Tstop=%d", IntoWind.Heading, speed, vwind, speed+vwind, IntoWind.Tstart, IntoWind.Tstop))
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local distance=UTILS.NMToMeters(1000)
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@@ -840,7 +822,7 @@ function NAVYGROUP:onafterDive(From, Event, To, Depth, Speed)
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Depth=Depth or 50
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self:I(self.lid..string.format("Diving to %d meters", Depth))
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self:T(self.lid..string.format("Diving to %d meters", Depth))
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self.depth=Depth
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@@ -888,35 +870,10 @@ end
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-- @param #string To To state.
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-- @param #number Distance Distance in meters where obstacle was detected.
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function NAVYGROUP:onafterCollisionWarning(From, Event, To, Distance)
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self:I(self.lid..string.format("Iceberg ahead in %d meters!", Distance or -1))
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self:T(self.lid..string.format("Iceberg ahead in %d meters!", Distance or -1))
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self.collisionwarning=true
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end
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--- On after "Dead" event.
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-- @param #NAVYGROUP 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 NAVYGROUP:onafterDead(From, Event, To)
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self:I(self.lid..string.format("Group dead!"))
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-- Delete waypoints so they are re-initialized at the next spawn.
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self.waypoints=nil
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self.groupinitialized=false
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-- Cancel all mission.
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for _,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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self:MissionCancel(mission)
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mission:GroupDead(self)
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end
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-- Stop
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self:Stop()
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end
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--- On after Start event. Starts the NAVYGROUP FSM and event handlers.
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-- @param #NAVYGROUP self
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-- @param #string From From state.
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@@ -924,25 +881,14 @@ end
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-- @param #string To To state.
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function NAVYGROUP:onafterStop(From, Event, To)
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-- Check if group is still alive.
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if self:IsAlive() then
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-- Destroy group. No event is generated.
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self.group:Destroy(false)
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end
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-- Handle events:
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self:UnHandleEvent(EVENTS.Birth)
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self:UnHandleEvent(EVENTS.Dead)
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self:UnHandleEvent(EVENTS.RemoveUnit)
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-- Stop check timers.
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self.timerCheckZone:Stop()
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self.timerQueueUpdate:Stop()
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-- Stop FSM scheduler.
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self.CallScheduler:Clear()
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self:I(self.lid.."STOPPED! Unhandled events, cleared scheduler and removed from database.")
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-- Call OPSGROUP function.
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self:GetParent(self).onafterStop(self, From, Event, To)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -1002,8 +948,8 @@ function NAVYGROUP:OnEventDead(EventData)
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local element=self:GetElementByName(unitname)
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if element then
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self:I(self.lid..string.format("EVENT: Element %s dead ==> dead", element.name))
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self:ElementDead(element)
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self:T(self.lid..string.format("EVENT: Element %s dead ==> destroyed", element.name))
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self:ElementDestroyed(element)
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end
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end
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@@ -1025,7 +971,7 @@ function NAVYGROUP:OnEventRemoveUnit(EventData)
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local element=self:GetElementByName(unitname)
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if element then
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self:I(self.lid..string.format("EVENT: Element %s removed ==> dead", element.name))
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self:T(self.lid..string.format("EVENT: Element %s removed ==> dead", element.name))
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self:ElementDead(element)
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end
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@@ -1173,18 +1119,20 @@ function NAVYGROUP:_InitGroup()
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self.actype=unit:GetTypeName()
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-- Debug info.
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local text=string.format("Initialized Navy Group %s:\n", self.groupname)
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text=text..string.format("Unit type = %s\n", self.actype)
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text=text..string.format("Speed max = %.1f Knots\n", UTILS.KmphToKnots(self.speedMax))
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text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
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text=text..string.format("Elements = %d\n", #self.elements)
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text=text..string.format("Waypoints = %d\n", #self.waypoints)
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text=text..string.format("Radio = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
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text=text..string.format("Ammo = %d (G=%d/R=%d/M=%d/T=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles, self.ammo.Torpedos)
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text=text..string.format("FSM state = %s\n", self:GetState())
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text=text..string.format("Is alive = %s\n", tostring(self:IsAlive()))
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text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
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self:I(self.lid..text)
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if self.verbose>=1 then
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local text=string.format("Initialized Navy Group %s:\n", self.groupname)
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text=text..string.format("Unit type = %s\n", self.actype)
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text=text..string.format("Speed max = %.1f Knots\n", UTILS.KmphToKnots(self.speedMax))
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text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
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text=text..string.format("Elements = %d\n", #self.elements)
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text=text..string.format("Waypoints = %d\n", #self.waypoints)
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text=text..string.format("Radio = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
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text=text..string.format("Ammo = %d (G=%d/R=%d/M=%d/T=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles, self.ammo.Torpedos)
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text=text..string.format("FSM state = %s\n", self:GetState())
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text=text..string.format("Is alive = %s\n", tostring(self:IsAlive()))
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text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
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self:I(self.lid..text)
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end
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-- Init done.
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self.groupinitialized=true
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@@ -1269,7 +1217,7 @@ function NAVYGROUP:_CheckFreePath(DistanceMax, dx)
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local los=LoS(x)
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-- Debug message.
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self:I(self.lid..string.format("N=%d: xmin=%.1f xmax=%.1f x=%.1f d=%.3f los=%s", N, xmin, xmax, x, d, tostring(los)))
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self:T2(self.lid..string.format("N=%d: xmin=%.1f xmax=%.1f x=%.1f d=%.3f los=%s", N, xmin, xmax, x, d, tostring(los)))
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if los and d<=eps then
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return x
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@@ -1291,68 +1239,6 @@ function NAVYGROUP:_CheckFreePath(DistanceMax, dx)
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return check()
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end
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--- Check for possible collisions between two coordinates.
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-- @param #NAVYGROUP self
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-- @param Core.Point#COORDINATE coordto Coordinate to which the collision is check.
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-- @param Core.Point#COORDINATE coordfrom Coordinate from which the collision is check.
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-- @return #boolean If true, surface type ahead is not deep water.
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-- @return #number Max free distance in meters.
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function NAVYGROUP:_CheckCollisionCoord(coordto, coordfrom)
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-- Increment in meters.
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local dx=100
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-- From coordinate. Default 500 in front of the carrier.
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local d=0
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if coordfrom then
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d=0
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else
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d=250
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coordfrom=self:GetCoordinate():Translate(d, self:GetHeading())
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end
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-- Distance between the two coordinates.
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local dmax=coordfrom:Get2DDistance(coordto)
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-- Direction.
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local direction=coordfrom:HeadingTo(coordto)
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-- Scan path between the two coordinates.
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local clear=true
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while d<=dmax do
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-- Check point.
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local cp=coordfrom:Translate(d, direction)
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-- Check if surface type is water.
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if not cp:IsSurfaceTypeWater() then
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-- Debug mark points.
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if self.Debug or true then
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local st=cp:GetSurfaceType()
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cp:MarkToAll(string.format("Collision check surface type %d", st))
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end
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-- Collision WARNING!
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clear=false
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break
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end
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-- Increase distance.
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d=d+dx
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end
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local text=""
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if clear then
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text=string.format("Path into direction %03d° is clear for the next %.1f NM.", direction, UTILS.MetersToNM(d))
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else
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text=string.format("Detected obstacle at distance %.1f NM into direction %03d°.", UTILS.MetersToNM(d), direction)
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end
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self:T(self.lid..text)
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return not clear, d
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end
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--- Check if group is turning.
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-- @param #NAVYGROUP self
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function NAVYGROUP:_CheckTurning()
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@@ -1365,7 +1251,7 @@ function NAVYGROUP:_CheckTurning()
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local vNew=self.orientX --unit:GetOrientationX()
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-- Last orientation from 30 seconds ago.
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local vLast=self.orientXLast --self.Corientlast or vNew
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local vLast=self.orientXLast
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-- We only need the X-Z plane.
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vNew.y=0 ; vLast.y=0
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@@ -1373,9 +1259,6 @@ function NAVYGROUP:_CheckTurning()
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-- Angle between current heading and last time we checked ~30 seconds ago.
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local deltaLast=math.deg(math.acos(UTILS.VecDot(vNew,vLast)/UTILS.VecNorm(vNew)/UTILS.VecNorm(vLast)))
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-- Last orientation becomes new orientation
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--self.Corientlast=vNew
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-- Carrier is turning when its heading changed by at least two degrees since last check.
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local turning=math.abs(deltaLast)>=2
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@@ -1399,33 +1282,6 @@ function NAVYGROUP:_CheckTurning()
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end
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--- Check if group got stuck.
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-- @param #NAVYGROUP self
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function NAVYGROUP:_CheckStuck()
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if self:IsHolding() then
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return
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end
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local holdtime=0
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if self.holdtimestamp then
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holdtime=timer.getTime()-self.holdtimestamp
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end
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local ExpectedSpeed=self:GetExpectedSpeed()
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local speed=self:GetVelocity()
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if speed<0.5 and ExpectedSpeed>0 then
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if not self.holdtimestamp then
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self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected", speed, ExpectedSpeed))
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self.holdtimestamp=timer.getTime()
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end
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end
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end
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--- Check queued turns into wind.
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-- @param #NAVYGROUP self
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