Optimized landing, messaging, flow

Moose Development/Moose/Core/Cargo.lua

@@ -355,99 +355,115 @@ do -- CARGO_REPRESENTABLE
     ClassName = "CARGO_REPRESENTABLE"
   }
 
---- CARGO_REPRESENTABLE Constructor.
+  --- CARGO_REPRESENTABLE Constructor.
--- @param #CARGO_REPRESENTABLE self
+  -- @param #CARGO_REPRESENTABLE self
--- @param Wrapper.Controllable#Controllable CargoObject
+  -- @param Wrapper.Controllable#Controllable CargoObject
--- @param #string Type
+  -- @param #string Type
--- @param #string Name
+  -- @param #string Name
--- @param #number Weight
+  -- @param #number Weight
--- @param #number ReportRadius (optional)
+  -- @param #number ReportRadius (optional)
--- @param #number NearRadius (optional)
+  -- @param #number NearRadius (optional)
--- @return #CARGO_REPRESENTABLE
+  -- @return #CARGO_REPRESENTABLE
-function CARGO_REPRESENTABLE:New( CargoObject, Type, Name, Weight, ReportRadius, NearRadius )
+  function CARGO_REPRESENTABLE:New( CargoObject, Type, Name, Weight, ReportRadius, NearRadius )
-  local self = BASE:Inherit( self, CARGO:New( Type, Name, Weight, ReportRadius, NearRadius ) ) -- #CARGO
+    local self = BASE:Inherit( self, CARGO:New( Type, Name, Weight, ReportRadius, NearRadius ) ) -- #CARGO
-  self:F( { Type, Name, Weight, ReportRadius, NearRadius } )
+    self:F( { Type, Name, Weight, ReportRadius, NearRadius } )
   
-  return self
+    return self
-end
+  end
   
---- Route a cargo unit to a PointVec2.
+  --- Route a cargo unit to a PointVec2.
--- @param #CARGO_REPRESENTABLE self
+  -- @param #CARGO_REPRESENTABLE self
--- @param Core.Point#POINT_VEC2 ToPointVec2
+  -- @param Core.Point#POINT_VEC2 ToPointVec2
--- @param #number Speed
+  -- @param #number Speed
--- @return #CARGO_REPRESENTABLE
+  -- @return #CARGO_REPRESENTABLE
-function CARGO_REPRESENTABLE:RouteTo( ToPointVec2, Speed )
+  function CARGO_REPRESENTABLE:RouteTo( ToPointVec2, Speed )
-  self:F2( ToPointVec2 )
+    self:F2( ToPointVec2 )
   
-  local Points = {}
+    local Points = {}
   
-  local PointStartVec2 = self.CargoObject:GetPointVec2()
+    local PointStartVec2 = self.CargoObject:GetPointVec2()
   
-  Points[#Points+1] = PointStartVec2:RoutePointGround( Speed )
+    Points[#Points+1] = PointStartVec2:RoutePointGround( Speed )
-  Points[#Points+1] = ToPointVec2:RoutePointGround( Speed )
+    Points[#Points+1] = ToPointVec2:RoutePointGround( Speed )
+  
+    local TaskRoute = self.CargoObject:TaskRoute( Points )
+    self.CargoObject:SetTask( TaskRoute, 2 )
+    return self  
+  end
   
-  local TaskRoute = self.CargoObject:TaskRoute( Points )
-  self.CargoObject:SetTask( TaskRoute, 2 )
-  return self  
-end
   
 end -- CARGO_REPRESENTABLE
 
-do -- CARGO_REPORTABLE
+  do -- CARGO_REPORTABLE
   
-  --- @type CARGO_REPORTABLE
+    --- @type CARGO_REPORTABLE
-  -- @extends #CARGO
+    -- @extends #CARGO
-  CARGO_REPORTABLE = {
+    CARGO_REPORTABLE = {
-    ClassName = "CARGO_REPORTABLE"
+      ClassName = "CARGO_REPORTABLE"
-  }
+    }
   
---- CARGO_REPORTABLE Constructor.
+  --- CARGO_REPORTABLE Constructor.
--- @param #CARGO_REPORTABLE self
+  -- @param #CARGO_REPORTABLE self
--- @param Wrapper.Controllable#Controllable CargoObject
+  -- @param Wrapper.Controllable#Controllable CargoObject
--- @param #string Type
+  -- @param #string Type
--- @param #string Name
+  -- @param #string Name
--- @param #number Weight
+  -- @param #number Weight
--- @param #number ReportRadius (optional)
+  -- @param #number ReportRadius (optional)
--- @param #number NearRadius (optional)
+  -- @param #number NearRadius (optional)
--- @return #CARGO_REPORTABLE
+  -- @return #CARGO_REPORTABLE
-function CARGO_REPORTABLE:New( CargoObject, Type, Name, Weight, ReportRadius )
+  function CARGO_REPORTABLE:New( CargoObject, Type, Name, Weight, ReportRadius )
-  local self = BASE:Inherit( self, CARGO:New( Type, Name, Weight ) ) -- #CARGO_REPORTABLE
+    local self = BASE:Inherit( self, CARGO:New( Type, Name, Weight ) ) -- #CARGO_REPORTABLE
-  self:F( { Type, Name, Weight, ReportRadius } )
+    self:F( { Type, Name, Weight, ReportRadius } )
   
-  self.ReportRadius = ReportRadius or 1000
+    self.ReportRadius = ReportRadius or 1000
-  self.CargoObject = CargoObject
+    self.CargoObject = CargoObject
   
-  return self
+    return self
-end
-
---- Check if CargoCarrier is in the ReportRadius for the Cargo to be Loaded.
--- @param #CARGO_REPORTABLE self
--- @param Core.Point#POINT_VEC2 PointVec2
--- @return #boolean
-function CARGO_REPORTABLE:IsInRadius( PointVec2 )
-  self:F( { PointVec2 } )
-
-  local Distance = 0
-  if self:IsLoaded() then
-    Distance = PointVec2:DistanceFromPointVec2( self.CargoCarrier:GetPointVec2() )
-  else
-    Distance = PointVec2:DistanceFromPointVec2( self.CargoObject:GetPointVec2() )
   end
-  self:T( Distance )
   
-  if Distance <= self.ReportRadius then
+  --- Check if CargoCarrier is in the ReportRadius for the Cargo to be Loaded.
-    return true
+  -- @param #CARGO_REPORTABLE self
-  else
+  -- @param Core.Point#POINT_VEC2 PointVec2
-    return false
+  -- @return #boolean
+  function CARGO_REPORTABLE:IsInRadius( PointVec2 )
+    self:F( { PointVec2 } )
+  
+    local Distance = 0
+    if self:IsLoaded() then
+      Distance = PointVec2:DistanceFromPointVec2( self.CargoCarrier:GetPointVec2() )
+    else
+      Distance = PointVec2:DistanceFromPointVec2( self.CargoObject:GetPointVec2() )
+    end
+    self:T( Distance )
+    
+    if Distance <= self.ReportRadius then
+      return true
+    else
+      return false
+    end
+  
+  
   end
-end
 
---- Get the range till cargo will board.
+  --- Send a CC message to a GROUP.
--- @param #CARGO self
+  -- @param #COMMANDCENTER self
--- @return #number The range till cargo will board.
+  -- @param #string Message
-function CARGO:GetBoardingRange()
+  -- @param Wrapper.Group#GROUP TaskGroup
-  return self.ReportRadius
+  -- @param #sring Name (optional) The name of the Group used as a prefix for the message to the Group. If not provided, there will be nothing shown.
-end
+  function CARGO_REPORTABLE:MessageToGroup( Message, TaskGroup, Name )
+  
+    local Prefix = Name and "@ " .. Name .. ": " or "@ " .. TaskGroup:GetCallsign() .. ": "
+    Message = Prefix .. Message 
+    MESSAGE:New( Message, 20, "Cargo: " .. self:GetName() ):ToGroup( TaskGroup )
+  
+  end
+
+  --- Get the range till cargo will board.
+  -- @param #CARGO self
+  -- @return #number The range till cargo will board.
+  function CARGO_REPORTABLE:GetBoardingRange()
+    return self.ReportRadius
+  end
 
 end
 
@@ -649,7 +665,7 @@ end
 function CARGO_UNIT:onenterBoarding( From, Event, To, CargoCarrier, NearRadius, ... )
   self:F( { From, Event, To, CargoCarrier.UnitName, NearRadius } )
   
-  local Speed = 10
+  local Speed = 90
   local Angle = 180
   local Distance = 5
   
@@ -1103,8 +1119,8 @@ end
 -- @param #string Event
 -- @param #string From
 -- @param #string To
-function CARGO_GROUP:onenterUnBoarding( From, Event, To, ToPointVec2, NearRadius )
+function CARGO_GROUP:onenterUnBoarding( From, Event, To, ToPointVec2, NearRadius, ... )
-  self:F()
+  self:F({From, Event, To, ToPointVec2, NearRadius})
 
   NearRadius = NearRadius or 25
 
@@ -1120,7 +1136,7 @@ function CARGO_GROUP:onenterUnBoarding( From, Event, To, ToPointVec2, NearRadius
       end
     )
     
-    self:__UnBoarding( 1, ToPointVec2, NearRadius )
+    self:__UnBoarding( 1, ToPointVec2, NearRadius, ... )
   end
 
 end
@@ -1131,8 +1147,8 @@ end
 -- @param #string Event
 -- @param #string From
 -- @param #string To
-function CARGO_GROUP:onleaveUnBoarding( From, Event, To, ToPointVec2, NearRadius )
+function CARGO_GROUP:onleaveUnBoarding( From, Event, To, ToPointVec2, NearRadius, ... )
-  self:F( { ToPointVec2, From, Event, To } )
+  self:F( { From, Event, To, ToPointVec2, NearRadius } )
 
   NearRadius = NearRadius or 25
 
@@ -1154,7 +1170,7 @@ function CARGO_GROUP:onleaveUnBoarding( From, Event, To, ToPointVec2, NearRadius
     if UnBoarded then
       return true
     else
-      self:__UnBoarding( 1, ToPointVec2, NearRadius )
+      self:__UnBoarding( 1, ToPointVec2, NearRadius, ... )
     end
     
     return false
@@ -1168,12 +1184,12 @@ end
 -- @param #string Event
 -- @param #string From
 -- @param #string To
-function CARGO_GROUP:onafterUnBoarding( From, Event, To, ToPointVec2, NearRadius )
+function CARGO_GROUP:onafterUnBoarding( From, Event, To, ToPointVec2, NearRadius, ... )
-  self:F( { ToPointVec2, From, Event, To } )
+  self:F( { From, Event, To, ToPointVec2, NearRadius } )
 
   NearRadius = NearRadius or 25
 
-  self:__UnLoad( 1, ToPointVec2 )
+  self:__UnLoad( 1, ToPointVec2, ... )
 end
 
 
@@ -1184,8 +1200,8 @@ end
 -- @param #string Event
 -- @param #string From
 -- @param #string To
-function CARGO_GROUP:onenterUnLoaded( From, Event, To, ToPointVec2 )
+function CARGO_GROUP:onenterUnLoaded( From, Event, To, ToPointVec2, ... )
-  self:F( { ToPointVec2, From, Event, To } )
+  self:F( { From, Event, To, ToPointVec2 } )
 
   if From == "Loaded" then
     

Moose Development/Moose/Tasking/CommandCenter.lua

@@ -274,8 +274,7 @@ end
 -- @param #sring Name (optional) The name of the Group used as a prefix for the message to the Group. If not provided, there will be nothing shown.
 function COMMANDCENTER:MessageToGroup( Message, TaskGroup, Name )
 
-  local Prefix = "@ Group"
+  local Prefix = Name and "@ " .. Name .. ": " or "@ " .. TaskGroup:GetCallsign() .. ": "
-  Prefix = Prefix .. ( Name and " (" .. Name .. "): " or '' )
   Message = Prefix .. Message 
   self:GetPositionable():MessageToGroup( Message , 20, TaskGroup, self:GetName() )
 

Moose Development/Moose/Tasking/Task_CARGO.lua

@@ -36,7 +36,7 @@
 --
 --   * **FlightControl**: Concept, Design & Programming.
 --   
--- @module Task_CARGO
+-- @module Task_Cargo
 
 do -- TASK_CARGO
 
@@ -102,7 +102,7 @@ do -- TASK_CARGO
     Fsm:AddProcess   ( "RoutingToDeploy", "RouteToDeployZone", ACT_ROUTE_ZONE:New(), { Arrived = "ArriveAtDeploy" } )
     Fsm:AddTransition( "Arrived", "ArriveAtDeploy", "ArrivedAtDeploy" )
     
-    Fsm:AddTransition( { "ArrivedAtPickup", "ArrivedAtDeploy" }, "Land", "Landing" )
+    Fsm:AddTransition( { "ArrivedAtPickup", "ArrivedAtDeploy", "Landing" }, "Land", "Landing" )
     Fsm:AddTransition( "Landing", "Landed", "Landed" )
     
     Fsm:AddTransition( "WaitingForCommand", "PrepareBoarding", "AwaitBoarding" )
@@ -122,7 +122,7 @@ do -- TASK_CARGO
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnEnterWaitingForCommand( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
@@ -165,7 +165,8 @@ do -- TASK_CARGO
                   TaskUnit.Menu,
                   self.MenuUnBoardCargo,
                   self,
-                  Cargo
+                  Cargo,
+                  DeployZone
                 )
               else
                 MENU_GROUP_COMMAND:New(
@@ -187,7 +188,7 @@ do -- TASK_CARGO
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnLeaveWaitingForCommand( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
@@ -198,8 +199,8 @@ do -- TASK_CARGO
       self:__PrepareBoarding( 1.0, Cargo )
     end
     
-    function Fsm:MenuUnBoardCargo( Cargo )
+    function Fsm:MenuUnBoardCargo( Cargo, DeployZone )
-      self:__PrepareUnBoarding( 1.0, Cargo )
+      self:__PrepareUnBoarding( 1.0, Cargo, DeployZone )
     end
     
     function Fsm:MenuRouteToPickup( Cargo )
@@ -213,26 +214,26 @@ do -- TASK_CARGO
     --- Route to Cargo
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:onafterRouteToPickup( TaskUnit, Task, From, Event, To, Cargo )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
 
       
       self.Cargo = Cargo
       Task:SetCargoPickup( self.Cargo, TaskUnit )
-      self:__RouteToPickupPoint( 0.1 )
+      self:__RouteToPickupPoint( -0.1 )
     end
 
 
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:onafterArriveAtPickup( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
       if TaskUnit:IsAir() then
-        self:__Land( -0.1 )
+        self:__Land( -0.1, "Pickup" )
       else
         self:__SelectAction( -0.1 )
       end
@@ -248,19 +249,19 @@ do -- TASK_CARGO
       
       self.DeployZone = DeployZone
       Task:SetDeployZone( self.DeployZone, TaskUnit )
-      self:__RouteToDeployZone( 0.1 )
+      self:__RouteToDeployZone( -0.1 )
     end
 
 
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:onafterArriveAtDeploy( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
       if TaskUnit:IsAir() then
-        self:__Land( -0.1 )
+        self:__Land( -0.1, "Deploy" )
       else
         self:__SelectAction( -0.1 )
       end
@@ -271,65 +272,64 @@ do -- TASK_CARGO
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
-    function Fsm:OnAfterLand( TaskUnit, Task, From, Event, To )
+    function Fsm:OnAfterLand( TaskUnit, Task, From, Event, To, Action )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
       if self.Cargo:IsInRadius( TaskUnit:GetPointVec2() ) then
         if TaskUnit:InAir() then
-          Task:GetMission():GetCommandCenter():MessageToGroup( "Land", TaskUnit:GetGroup(), "Land" )
+          Task:GetMission():GetCommandCenter():MessageToGroup( "Land", TaskUnit:GetGroup() )
-          self:__Land( -10 )
+          self:__Land( -10, Action )
         else
-          Task:GetMission():GetCommandCenter():MessageToGroup( "Landed ...", TaskUnit:GetGroup(), "Land" )
+          Task:GetMission():GetCommandCenter():MessageToGroup( "Landed ...", TaskUnit:GetGroup() )
-          self:__Landed( -0.1 )
+          self:__Landed( -0.1, Action )
         end
       else
-        self:__ArriveAtCargo( -0.1 )
+        if Action == "Pickup" then
+          self:__RouteToPickupZone( -0.1 )
+        else
+          self:__RouteToDeployZone( -0.1 )
+        end
       end
     end
 
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
-    function Fsm:OnAfterLanded( TaskUnit, Task )
+    function Fsm:OnAfterLanded( TaskUnit, Task, From, Event, To, Action )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
       if self.Cargo:IsInRadius( TaskUnit:GetPointVec2() ) then
         if TaskUnit:InAir() then
-          self:__Land( -0.1 )
+          self:__Land( -0.1, Action )
         else
-          Task:GetMission():GetCommandCenter():MessageToGroup( "Preparing to board in 10 seconds ...", TaskUnit:GetGroup(), "Boarding" )
+          self:__SelectAction( -0.1 )
-          self:__PrepareBoarding( -10 )
         end
       else
-        self:__ArriveAtCargo( -0.1 )
+        if Action == "Pickup" then
+          self:__RouteToPickupZone( -0.1 )
+        else
+          self:__RouteToDeployZone( -0.1 )
+        end
       end
     end
     
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterPrepareBoarding( TaskUnit, Task, From, Event, To, Cargo )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
-      self.Cargo = Cargo
+      self.Cargo = Cargo -- Core.Cargo#CARGO_GROUP
-      if self.Cargo:IsInRadius( TaskUnit:GetPointVec2() ) then
+      self:__Board( -0.1 )
-        if TaskUnit:InAir() then
-          self:__Land( -0.1 )
-        else
-          self:__Board( -0.1 )
-        end
-      else
-        self:__ArriveAtCargo( -0.1 )
-      end
     end
     
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterBoard( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
 
@@ -344,13 +344,13 @@ do -- TASK_CARGO
       
       if self.Cargo:IsInRadius( TaskUnit:GetPointVec2() ) then
         if TaskUnit:InAir() then
-          self:__Land( -0.1 )
+          --- ABORT the boarding. Split group if any and go back to select action.
         else
-          Task:GetMission():GetCommandCenter():MessageToGroup( "Boarding ...", TaskUnit:GetGroup(), "Boarding" )
+          self.Cargo:MessageToGroup( "Boarding ...", TaskUnit:GetGroup() ) 
           self.Cargo:Board( TaskUnit, 20, self )
         end
       else
-        self:__ArriveAtCargo( -0.1 )
+        --self:__ArriveAtCargo( -0.1 )
       end
     end
 
@@ -358,11 +358,11 @@ do -- TASK_CARGO
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterBoarded( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
-      Task:GetMission():GetCommandCenter():MessageToGroup( "Boarded ...", TaskUnit:GetGroup(), "Boarding" )
+      self.Cargo:MessageToGroup( "Boarded ...", TaskUnit:GetGroup() )
       self:__SelectAction( 1 )
     end
     
@@ -370,42 +370,43 @@ do -- TASK_CARGO
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterPrepareUnBoarding( TaskUnit, Task, From, Event, To, Cargo, DeployZone )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
 
+      self.Cargo = Cargo
       self.DeployZone = DeployZone      
-      self.Cargo:__UnBoard( -0.1, DeployZone, 20 )
+      self:__UnBoard( -0.1 )
     end
     
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterUnBoard( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
 
-      function self.Cargo:OnEnterUnLoaded( From, Event, To, TaskUnit, TaskProcess )
+      function self.Cargo:OnEnterUnLoaded( From, Event, To, DeployZone, TaskProcess )
       
         self:E({From, Event, To, TaskUnit, TaskProcess })
         
-        TaskProcess:__UnBoarded( 0.1 )
+        TaskProcess:__UnBoarded( -0.1 )
       
       end
 
-      Task:GetMission():GetCommandCenter():MessageToGroup( "UnBoarding ...", TaskUnit:GetGroup(), "UnBoarding" )
+      self.Cargo:MessageToGroup( "UnBoarding ...", TaskUnit:GetGroup() )
-      self.Cargo:__UnBoard( -0.1, self.DeployZone, 20 )
+      self.Cargo:UnBoard( self.DeployZone:GetPointVec2(), 20, self )
     end
 
 
     --- 
     -- @param #FSM_PROCESS self
     -- @param Wrapper.Unit#UNIT TaskUnit
-    -- @param Tasking.Task_CARGO#TASK_CARGO Task
+    -- @param Tasking.Task_Cargo#TASK_CARGO Task
     function Fsm:OnAfterUnBoarded( TaskUnit, Task )
       self:E( { TaskUnit = TaskUnit, Task = Task and Task:GetClassNameAndID() } )
       
-      Task:GetMission():GetCommandCenter():MessageToGroup( "UnBoarded ...", TaskUnit:GetGroup(), "UnBoarding" )
+      self.Cargo:MessageToGroup( "UnBoarded ...", TaskUnit:GetGroup() )
       self:__SelectAction( 1 )
     end