Updated the Escort class

- Registering each excort at the client internally. - Each escort known at the client can exchange targets. - Each escort can acquire attack assistance from other escorts known at the client. - Made the MENU class more slick. Now menus are removed recursively for CLIENTS. - Added a few more types and fine tuned the documentation.
2025-10-29 16:58:06 +00:00 · 2016-04-07 17:34:44 +02:00 · 2016-04-07 17:34:44 +02:00 · ab332f22e7
commit ab332f22e7
parent 2812339cc1
8 changed files with 489 additions and 146 deletions
--- a/Dcs/DCSCommand.lua
+++ b/Dcs/DCSCommand.lua
@ -0,0 +1,10 @@
+--- @module DCSCommand
+
+
+--- @type Command
+-- @field #string id
+-- @field #Command.params params
+
+--- @type Command.params
+
+env.info( "Command defined" )
--- a/Dcs/DCSTask.lua
+++ b/Dcs/DCSTask.lua
@ -1,10 +1,10 @@
 --- @module DCSTask


--- @type DCSTask
+--- @type Task
 -- @field #string id
-- @field #DCSTask.param param
+-- @field #Task.param param

--- @type DCSTask.param
+--- @type Task.param

-env.info( "DCSTask defined" )
+env.info( "Task defined" )
--- a/Moose/Escort.lua
+++ b/Moose/Escort.lua
@ -67,6 +67,7 @@ Include.File( "Database" )
 Include.File( "Group" )
 Include.File( "Zone" )

+
 --- ESCORT class
 -- @type ESCORT
 -- @extends Base#BASE
@ -77,6 +78,7 @@ Include.File( "Zone" )
 -- @field #boolean ReportTargets If true, nearby targets are reported.
 -- @Field DCSTypes#AI.Option.Air.val.ROE OptionROE Which ROE is set to the EscortGroup.
 -- @field DCSTypes#AI.Option.Air.val.REACTION_ON_THREAT OptionReactionOnThreat Which REACTION_ON_THREAT is set to the EscortGroup.
+-- @field Menu#MENU_CLIENT EscortMenuResumeMission
 ESCORT = {
  ClassName = "ESCORT",
  EscortName = nil, -- The Escort Name
@ -97,7 +99,7 @@ ESCORT = {
 -- @field #string ParamMessage

 --- ESCORT class constructor for an AI group
-- @param self
+-- @param #ESCORT self
 -- @param Client#CLIENT EscortClient The client escorted by the EscortGroup.
 -- @param Group#GROUP EscortGroup The group AI escorting the EscortClient.
 -- @param #string EscortName Name of the escort.
@ -111,6 +113,20 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName, EscortBriefing )
  self.EscortName = EscortName
  self.EscortBriefing = EscortBriefing
 
+  -- Set EscortGroup known at EscortClient.
+  if not self.EscortClient._EscortGroups then
+     self.EscortClient._EscortGroups = {}
+  end
+
+  if not self.EscortClient._EscortGroups[EscortGroup:GetName()] then
+     self.EscortClient._EscortGroups[EscortGroup:GetName()] = {}
+     self.EscortClient._EscortGroups[EscortGroup:GetName()].EscortGroup = self.EscortGroup
+     self.EscortClient._EscortGroups[EscortGroup:GetName()].EscortName = self.EscortName
+     self.EscortClient._EscortGroups[EscortGroup:GetName()].Targets = {}
+     
+  end
+  
+  
  self.EscortMenu = MENU_CLIENT:New( self.EscortClient, self.EscortName )
  
  self.EscortMenuReportNavigation = MENU_CLIENT:New( self.EscortClient, "Navigation", self.EscortMenu )
@ -155,8 +171,6 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName, EscortBriefing )
  
  -- Attack Targets
  self.EscortMenuAttackNearbyTargets = MENU_CLIENT:New( self.EscortClient, "Attack nearby targets", self.EscortMenu )
-  self.EscortMenuAttackTargets =  {} 
-  self.Targets = {}

  -- Rules of Engagement
  self.EscortMenuROE = MENU_CLIENT:New( self.EscortClient, "ROE", self.EscortMenu )
@ -188,13 +202,11 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName, EscortBriefing )
    self.EscortMenuOptionEvasionVertical = MENU_CLIENT_COMMAND:New( self.EscortClient, "Go below radar and evade fire", self.EscortMenuEvasion, ESCORT._ROT, { ParamSelf = self, ParamFunction = EscortGroup:OptionROTVertical(), ParamMessage = "Evading on enemy fire with vertical manoeuvres!" } )
  end
  
-  -- Cancel current Task
-  self.EscortMenuResumeMission = MENU_CLIENT:New( self.EscortClient, "Resume Mission", self.EscortMenu )
-  self.EscortMenuResumeWayPoints = {}
-  local TaskPoints = self:RegisterRoute()
-  for WayPointID, WayPoint in pairs( TaskPoints ) do
-    self.EscortMenuResumeWayPoints[WayPointID] = MENU_CLIENT_COMMAND:New( self.EscortClient, "Resume from waypoint " .. WayPointID, self.EscortMenuResumeMission, ESCORT._ResumeMission, { ParamSelf = self, ParamWayPoint = WayPointID } )
-  end
+  -- Mission Resume Menu Root
+  self.EscortMenuResumeMission = MENU_CLIENT:New( self.EscortClient, "Resume the escort mission", self.EscortMenu )
+
+  -- Exchange targets with other escorts of the CLIENT. This is very useful to let f.e. an escorting ship attack a target detected by an escorting plane...
+  self.EscortMenuTargetAssistance = MENU_CLIENT:New( self.EscortClient, "Target assistance from other escorts", self.EscortMenu )
  
  -- Initialize the EscortGroup
  
@ -207,9 +219,7 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName, EscortBriefing )
  
  EscortGroup:MessageToClient( EscortGroup:GetCategoryName() .. " '" .. EscortName .. "' (" .. EscortGroup:GetCallsign() .. ") reporting! " ..
                               "We're escorting your flight. " .. 
-                               "You can communicate with us through the radio menu. " .. 
-                               "Use the Radio Menu and F10 and use the options under + " .. EscortName .. "\n" ..
-                               "We are continuing our way, but you can request to join-up your flight under the Navigation menu\n", 
+                               "Use the Radio Menu and F10 and use the options under + " .. EscortName .. "\n",
                               60, EscortClient 
                             )
 end
@ -351,16 +361,40 @@ function ESCORT._ScanTargets( MenuParam )
  
  local ScanDuration = MenuParam.ParamScanDuration

-  routines.removeFunction( self.FollowScheduler )
-  self.FollowScheduler = nil
+  if self.FollowScheduler then
+    routines.removeFunction( self.FollowScheduler )
+  end
+  
+  self:T( { "FollowScheduler after removefunction: ", self.FollowScheduler } )
+  
+  if EscortGroup:IsHelicopter() then
+    routines.scheduleFunction( EscortGroup.PushTask,
+                               { EscortGroup,
+                                 EscortGroup:TaskControlled( 
+                                   EscortGroup:TaskOrbitCircle( 200, 20 ), 
+                                   EscortGroup:TaskCondition( nil, nil, nil, nil, ScanDuration, nil )
+                                 ) 
+                               },
+                               timer.getTime() + 1
+                             )
+  elseif EscortGroup:IsAirPlane() then
+    routines.scheduleFunction( EscortGroup.PushTask,
+                               { EscortGroup,
+                                 EscortGroup:TaskControlled( 
+                                   EscortGroup:TaskOrbitCircle( 1000, 500 ), 
+                                   EscortGroup:TaskCondition( nil, nil, nil, nil, ScanDuration, nil )
+                                 ) 
+                               },
+                               timer.getTime() + 1
+                             )
+  end  
  
-  EscortGroup:PushTask( 
-    EscortGroup:TaskControlled( 
-      EscortGroup:TaskOrbitCircle( 200, 20 ), 
-      EscortGroup:TaskCondition( nil, nil, nil, nil, ScanDuration, nil ) 
-      ) 
-  )
  EscortGroup:MessageToClient( "Scanning targets for " .. ScanDuration .. " seconds.", ScanDuration, EscortClient )
+
+  if self.FollowScheduler then
+    self.FollowScheduler = routines.scheduleFunction( self._FollowScheduler, { self, Distance }, timer.getTime() + ScanDuration, 1 )
+  end
+
 end

 --- @param #MENUPARAM MenuParam
@ -369,18 +403,89 @@ function ESCORT._AttackTarget( MenuParam )
  local self = MenuParam.ParamSelf
  local EscortGroup = self.EscortGroup
  local EscortClient = self.EscortClient
-  local AttackUnit = MenuParam.ParamUnit 
+  local AttackUnit = MenuParam.ParamUnit -- Unit#UNIT

-  routines.removeFunction( self.FollowScheduler )
-  self.FollowScheduler = nil
-
-  EscortGroup:OptionROEOpenFire()
-  EscortGroup:OptionROTVertical()
+  if self.FollowScheduler then
+    routines.removeFunction( self.FollowScheduler )
+  end
  
  self:T( AttackUnit )
  
-  EscortGroup:PushTask( EscortGroup:TaskAttackUnit( AttackUnit ) )
+  if EscortGroup:IsAir() then
+    EscortGroup:OptionROEOpenFire()
+    EscortGroup:OptionROTVertical()
+    routines.scheduleFunction( 
+      EscortGroup.PushTask, 
+      { EscortGroup, 
+        EscortGroup:TaskCombo(
+          { EscortGroup:TaskAttackUnit( AttackUnit ),
+            EscortGroup:TaskOrbitCircle( 500, 350 )
+          }
+        )
+      }, timer.getTime() + 10
+    )
+  else
+    routines.scheduleFunction( 
+      EscortGroup.PushTask, 
+      { EscortGroup, 
+        EscortGroup:TaskCombo(
+          { EscortGroup:TaskFireAtPoint( AttackUnit:GetPointVec2(), 50 )
+          }
+        )
+      }, timer.getTime() + 10 
+    )
+  end  
  EscortGroup:MessageToClient( "Engaging Designated Unit!", 10, EscortClient )
+
+
+  if self.FollowScheduler then
+    self.FollowScheduler = routines.scheduleFunction( self._FollowScheduler, { self, Distance }, timer.getTime() + ScanDuration, 1 )
+  end
+
+end
+
+--- @param #MENUPARAM MenuParam
+function ESCORT._AssistTarget( MenuParam )
+
+  local self = MenuParam.ParamSelf
+  local EscortGroup = self.EscortGroup
+  local EscortClient = self.EscortClient
+  local EscortGroupAttack = MenuParam.ParamEscortGroup
+  local AttackUnit = MenuParam.ParamUnit -- Unit#UNIT
+
+  if self.FollowScheduler then
+    routines.removeFunction( self.FollowScheduler )
+  end
+  
+  
+  self:T( AttackUnit )
+  
+  if EscortGroupAttack:IsAir() then
+    EscortGroupAttack:OptionROEOpenFire()
+    EscortGroupAttack:OptionROTVertical()
+    routines.scheduleFunction( 
+      EscortGroupAttack.PushTask, 
+      { EscortGroupAttack, 
+        EscortGroupAttack:TaskCombo(
+          { EscortGroupAttack:TaskAttackUnit( AttackUnit ),
+            EscortGroupAttack:TaskOrbitCircle( 500, 350 )
+          }
+        )
+      }, timer.getTime() + 10 
+    )
+  else
+    routines.scheduleFunction( 
+      EscortGroupAttack.PushTask, 
+      { EscortGroupAttack, 
+        EscortGroupAttack:TaskCombo(
+          { EscortGroupAttack:TaskFireAtPoint( AttackUnit:GetPointVec2(), 50 )
+          }
+        )
+      }, timer.getTime() + 10 
+    )
+  end  
+  EscortGroupAttack:MessageToClient( "Assisting with the destroying the enemy unit!", 10, EscortClient )
+
 end

 --- @param #MENUPARAM MenuParam
@ -430,11 +535,15 @@ function ESCORT._ResumeMission( MenuParam )
    table.remove( WayPoints, 1 )
  end
  
-  EscortGroup:SetTask( EscortGroup:TaskRoute( WayPoints ) )
+  routines.scheduleFunction( EscortGroup.SetTask, {EscortGroup, EscortGroup:TaskRoute( WayPoints ) }, timer.getTime() + 1 )
+  
  EscortGroup:MessageToClient( "Resuming mission from waypoint " .. WayPoint .. ".", 10, EscortClient )
 end

+--- Registers the waypoints
+-- @param #ESCORT self
 function ESCORT:RegisterRoute()
+  self:F()

  local EscortGroup = self.EscortGroup -- Group#GROUP
  
@ -442,9 +551,11 @@ function ESCORT:RegisterRoute()
  self:T( TaskPoints )

  for TaskPointID, TaskPoint in pairs( TaskPoints ) do
-    self:T( TaskPointID )
-    TaskPoint.task.params.tasks[#TaskPoint.task.params.tasks+1] = EscortGroup:TaskRegisterWayPoint( TaskPointID )
-    self:T( TaskPoint.task.params.tasks[#TaskPoint.task.params.tasks] )
+    self:T( { "TaskPoint:", TaskPointID, #TaskPoint.task.params.tasks+1, TaskPoint } )
+    if TaskPointID > 1 then
+      TaskPoint.task.params.tasks[#TaskPoint.task.params.tasks+1] = EscortGroup:TaskRegisterWayPoint( TaskPointID )
+    end
+    self:T( TaskPoint )
  end
  
  self:T( TaskPoints )
@ -530,7 +641,7 @@ function ESCORT:_FollowScheduler( FollowDistance )
      
      -- The calculation of the Speed would simulate that the group would take 30 seconds to overcome 
      -- the requested Distance).
-      local Time = 30
+      local Time = 10
      local CatchUpSpeed = ( CatchUpDistance - ( CS * 2 ) ) / Time 
      
      local Speed = CS + CatchUpSpeed
@ -555,112 +666,167 @@ end
 function ESCORT:_ReportTargetsScheduler()
 	self:F()

-  self.Targets = {}
  
  if self.EscortGroup:IsAlive() then
+    local EscortGroupName = self.EscortGroup:GetName()
    local EscortTargets = self.EscortGroup:GetDetectedTargets()
    
+    local ClientEscortTargets = self.EscortClient._EscortGroups[EscortGroupName].Targets
+    
    local EscortTargetMessages = ""
    for EscortTargetID, EscortTarget in pairs( EscortTargets ) do
      local EscortObject = EscortTarget.object
      self:T( EscortObject )
      if EscortObject and EscortObject:isExist() and EscortObject.id_ < 50000000 then
        
-          local EscortTargetMessage = ""
-        
          local EscortTargetUnit = UNIT:New( EscortObject )
-        
-          local EscortTargetCategoryName = EscortTargetUnit:GetCategoryName()
-          local EscortTargetCategoryType = EscortTargetUnit:GetTypeName()
+          local EscortTargetUnitName = EscortTargetUnit:GetName()
        
        
-  --        local EscortTargetIsDetected, 
-  --              EscortTargetIsVisible, 
-  --              EscortTargetLastTime, 
-  --              EscortTargetKnowType, 
-  --              EscortTargetKnowDistance, 
-  --              EscortTargetLastPos, 
-  --              EscortTargetLastVelocity
-  --              = self.EscortGroup:IsTargetDetected( EscortObject )
-  --      
-  --        self:T( { EscortTargetIsDetected, 
-  --              EscortTargetIsVisible, 
-  --              EscortTargetLastTime, 
-  --              EscortTargetKnowType, 
-  --              EscortTargetKnowDistance, 
-  --              EscortTargetLastPos, 
-  --              EscortTargetLastVelocity } )
        
-          if EscortTarget.distance then
-            local EscortTargetUnitPositionVec3 = EscortTargetUnit:GetPositionVec3()
-            local EscortPositionVec3 = self.EscortGroup:GetPositionVec3()
-            local Distance = routines.utils.get3DDist( EscortTargetUnitPositionVec3, EscortPositionVec3 ) / 1000
-            self:T( { self.EscortGroup:GetName(), EscortTargetUnit:GetName(), Distance, EscortTarget.visible } )
+--          local EscortTargetIsDetected, 
+--                EscortTargetIsVisible, 
+--                EscortTargetLastTime, 
+--                EscortTargetKnowType, 
+--                EscortTargetKnowDistance, 
+--                EscortTargetLastPos, 
+--                EscortTargetLastVelocity
+--                = self.EscortGroup:IsTargetDetected( EscortObject )
+--        
+--          self:T( { EscortTargetIsDetected, 
+--                EscortTargetIsVisible, 
+--                EscortTargetLastTime, 
+--                EscortTargetKnowType, 
+--                EscortTargetKnowDistance, 
+--                EscortTargetLastPos, 
+--                EscortTargetLastVelocity } )
        
-            if Distance <= 8 then

-              if EscortTarget.type then
-                EscortTargetMessage = EscortTargetMessage .. " - " .. EscortTargetCategoryName .. " (" .. EscortTargetCategoryType .. ") at "
-              else
-                EscortTargetMessage = EscortTargetMessage .. " - Unknown target at "
-              end
+          local EscortTargetUnitPositionVec3 = EscortTargetUnit:GetPositionVec3()
+          local EscortPositionVec3 = self.EscortGroup:GetPositionVec3()
+          local Distance = ( ( EscortTargetUnitPositionVec3.x - EscortPositionVec3.x )^2 + 
+                             ( EscortTargetUnitPositionVec3.y - EscortPositionVec3.y )^2 + 
+                             ( EscortTargetUnitPositionVec3.z - EscortPositionVec3.z )^2 
+                           ) ^ 0.5 / 1000

-              EscortTargetMessage = EscortTargetMessage .. string.format( "%.2f", Distance ) .. " km"
+          self:T( { self.EscortGroup:GetName(), EscortTargetUnit:GetName(), Distance, EscortTarget } )

-              if EscortTarget.visible then
-                EscortTargetMessage = EscortTargetMessage .. ", visual"
-              end
+          if Distance <= 15 then

-              local TargetIndex = Distance*1000
-              self.Targets[TargetIndex] = {}           
-              self.Targets[TargetIndex].AttackMessage = EscortTargetMessage
-              self.Targets[TargetIndex].AttackUnit = EscortTargetUnit        
+            if not ClientEscortTargets[EscortTargetUnitName] then
+              ClientEscortTargets[EscortTargetUnitName] = {}
            end 
-          end
+            ClientEscortTargets[EscortTargetUnitName].AttackUnit = EscortTargetUnit        
+            ClientEscortTargets[EscortTargetUnitName].visible = EscortTarget.visible
+            ClientEscortTargets[EscortTargetUnitName].type = EscortTarget.type
+            ClientEscortTargets[EscortTargetUnitName].distance = EscortTarget.distance

-          if EscortTargetMessage ~= "" then
-            EscortTargetMessages = EscortTargetMessages .. EscortTargetMessage .. "\n"
          end
      end
    end
    
-    if EscortTargetMessages ~= "" and self.ReportTargets == true then
-      self.EscortGroup:MessageToClient( EscortTargetMessages:gsub("\n$",""), 20, self.EscortClient )
-    else
-      self.EscortGroup:MessageToClient( "No targets detected!", 20, self.EscortClient )
-    end
+    self:T( { "Sorting Targets Table:", ClientEscortTargets } )
+    table.sort( ClientEscortTargets, function( a, b ) return a.Distance < b.Distance end )
+    self:T( { "Sorted Targets Table:", ClientEscortTargets } )

-    self:T()
+    -- Remove the sub menus of the Attack menu of the Escort for the EscortGroup.
+    self.EscortMenuAttackNearbyTargets:RemoveSubMenus()
+    self.EscortMenuTargetAssistance:RemoveSubMenus()
    
-    self:T( { "Sorting Targets Table:", self.Targets } )
-    table.sort( self.Targets )
-    self:T( { "Sorted Targets Table:", self.Targets } )
+    --for MenuIndex = 1, #self.EscortMenuAttackTargets do
+    --  self:T( { "Remove Menu:", self.EscortMenuAttackTargets[MenuIndex] } )
+    --  self.EscortMenuAttackTargets[MenuIndex] = self.EscortMenuAttackTargets[MenuIndex]:Remove()
+    --end

-    for MenuIndex = 1, #self.EscortMenuAttackTargets do
-      self:T( { "Remove Menu:", self.EscortMenuAttackTargets[MenuIndex] } )
-      self.EscortMenuAttackTargets[MenuIndex] = self.EscortMenuAttackTargets[MenuIndex]:Remove()
-    end
  
-    local MenuIndex = 1
-    for TargetID, TargetData in pairs( self.Targets ) do
-      self:T( { "Adding menu:", TargetID, "for Unit", self.Targets[TargetID].AttackUnit } )
-      if MenuIndex <= 10 then
-        self.EscortMenuAttackTargets[MenuIndex] = 
-          MENU_CLIENT_COMMAND:New( self.EscortClient,
-                                  self.Targets[TargetID].AttackMessage,
-                                  self.EscortMenuAttackNearbyTargets,
-                                  ESCORT._AttackTarget,
-                                  { ParamSelf = self,
-                                    ParamUnit = self.Targets[TargetID].AttackUnit 
-                                  }
-                                )
-          self:T( { "New Menu:", self.EscortMenuAttackTargets[TargetID] } )
-          MenuIndex = MenuIndex + 1
+    if ClientEscortTargets then
+      for ClientEscortTargetUnitName, ClientEscortTargetData in pairs( ClientEscortTargets ) do
+  
+        for ClientEscortGroupName, EscortGroupData in pairs( self.EscortClient._EscortGroups ) do
+  
+          if ClientEscortTargetData and ClientEscortTargetData.AttackUnit:IsAlive() then
+  
+            local EscortTargetMessage = ""
+            local EscortTargetCategoryName = ClientEscortTargetData.AttackUnit:GetCategoryName()
+            local EscortTargetCategoryType = ClientEscortTargetData.AttackUnit:GetTypeName()
+            if ClientEscortTargetData.type then
+              EscortTargetMessage = EscortTargetMessage .. EscortTargetCategoryName .. " (" .. EscortTargetCategoryType .. ") at "
+            else
+              EscortTargetMessage = EscortTargetMessage .. "Unknown target at "
+            end
+              
+            local EscortTargetUnitPositionVec3 = ClientEscortTargetData.AttackUnit:GetPositionVec3()
+            local EscortPositionVec3 = self.EscortGroup:GetPositionVec3()
+            local Distance = ( ( EscortTargetUnitPositionVec3.x - EscortPositionVec3.x )^2 + 
+                               ( EscortTargetUnitPositionVec3.y - EscortPositionVec3.y )^2 + 
+                               ( EscortTargetUnitPositionVec3.z - EscortPositionVec3.z )^2 
+                             ) ^ 0.5 / 1000
+  
+            self:T( { self.EscortGroup:GetName(), ClientEscortTargetData.AttackUnit:GetName(), Distance, ClientEscortTargetData.AttackUnit } )
+            if ClientEscortTargetData.visible == false then
+              EscortTargetMessage = EscortTargetMessage .. string.format( "%.2f", Distance ) .. " estimated km"
+            else
+              EscortTargetMessage = EscortTargetMessage .. string.format( "%.2f", Distance ) .. " km"
+            end
+  
+            if ClientEscortTargetData.visible then
+              EscortTargetMessage = EscortTargetMessage .. ", visual"
+            end
+            
+            if ClientEscortGroupName == EscortGroupName then
+  
+              MENU_CLIENT_COMMAND:New( self.EscortClient,
+                                       EscortTargetMessage,
+                                       self.EscortMenuAttackNearbyTargets,
+                                       ESCORT._AttackTarget,
+                                       { ParamSelf = self,
+                                         ParamUnit = ClientEscortTargetData.AttackUnit 
+                                       }
+                                     )
+              EscortTargetMessages = EscortTargetMessages .. "\n - " .. EscortTargetMessage 
+            else
+              local MenuTargetAssistance = MENU_CLIENT:New( self.EscortClient, EscortGroupData.EscortName, self.EscortMenuTargetAssistance )
+              MENU_CLIENT_COMMAND:New( self.EscortClient,
+                                       EscortTargetMessage,
+                                       MenuTargetAssistance,
+                                       ESCORT._AssistTarget,
+                                       { ParamSelf = self,
+                                         ParamEscortGroup = EscortGroupData.EscortGroup,
+                                         ParamUnit = ClientEscortTargetData.AttackUnit 
+                                       }
+                                     )
+            end
+          else
+            ClientEscortTargetData = nil
+          end
+        end
+      end
+  
+      if EscortTargetMessages ~= "" and self.ReportTargets == true then
+        self.EscortGroup:MessageToClient( "Detected targets within 15 km range:" .. EscortTargetMessages:gsub("\n$",""), 20, self.EscortClient )
      else
-        break
+        self.EscortGroup:MessageToClient( "No targets detected!", 20, self.EscortClient )
      end
    end

+    self.EscortMenuResumeMission:RemoveSubMenus()
+    
+--    if self.EscortMenuResumeWayPoints then
+--      for MenuIndex = 1, #self.EscortMenuResumeWayPoints do
+--        self:T( { "Remove Menu:", self.EscortMenuResumeWayPoints[MenuIndex] } )
+--        self.EscortMenuResumeWayPoints[MenuIndex] = self.EscortMenuResumeWayPoints[MenuIndex]:Remove()
+--      end
+--    end
+
+    local TaskPoints = self:RegisterRoute()
+    for WayPointID, WayPoint in pairs( TaskPoints ) do
+      local EscortPositionVec3 = self.EscortGroup:GetPositionVec3()
+      local Distance = ( ( WayPoint.x - EscortPositionVec3.x )^2 + 
+                         ( WayPoint.y - EscortPositionVec3.z )^2
+                       ) ^ 0.5 / 1000
+      MENU_CLIENT_COMMAND:New( self.EscortClient, "Waypoint " .. WayPointID .. " at " .. string.format( "%.2f", Distance ).. "km", self.EscortMenuResumeMission, ESCORT._ResumeMission, { ParamSelf = self, ParamWayPoint = WayPointID } )
+    end
+
  else
    routines.removeFunction( self.ReportTargetsScheduler )
    self.ReportTargetsScheduler = nil
--- a/Moose/Group.lua
+++ b/Moose/Group.lua
@ -399,7 +399,7 @@ end
 -- @param #GROUP self
 -- @return Group#GROUP self
 function GROUP:SetTask( DCSTask )
-  self:F()
+  self:F( { DCSTask } )

  local Controller = self:_GetController()
  
@ -417,7 +417,7 @@ end
 -- @param #string condition
 -- @param #Time duration 
 -- @param #number lastWayPoint 
-- return #DCSTask
+-- return DCSTask#Task
 function GROUP:TaskCondition( time, userFlag, userFlagValue, condition, duration, lastWayPoint )
 	self:F( { time, userFlag, userFlagValue, condition, duration, lastWayPoint } )
  
@ -435,9 +435,9 @@ end

 --- Return a Controlled Task taking a Task and a TaskCondition
 -- @param #GROUP self
-- @param #DCSTask DCSTask
+-- @param DCSTask#Task DCSTask
 -- @param #DCSStopCondition DCSStopCondition
-- @return #DCSTask
+-- @return DCSTask#Task
 function GROUP:TaskControlled( DCSTask, DCSStopCondition )
 	self:F( { DCSTask, DCSStopCondition } )

@ -447,7 +447,7 @@ function GROUP:TaskControlled( DCSTask, DCSStopCondition )
    id = 'ControlledTask', 
    params = { 
      task = DCSTask, 
-      stopCondition = DCSStopCondition, 
+      stopCondition = DCSStopCondition 
    } 
  }
  
@ -455,6 +455,47 @@ function GROUP:TaskControlled( DCSTask, DCSStopCondition )
  return DCSTaskControlled
 end

+--- Return a Combo Task taking an array of Tasks
+-- @param #GROUP self
+-- @param #list<DCSTask#Task> DCSTasks
+-- @return DCSTask#Task
+function GROUP:TaskCombo( DCSTasks )
+  self:F( { DCSTasks } )
+
+  local DCSTaskCombo
+  
+  DCSTaskCombo = { 
+    id = 'ComboTask', 
+    params = { 
+      tasks = DCSTasks
+    } 
+  }
+  
+  self:T( { DCSTaskCombo } )
+  return DCSTaskCombo
+end
+
+--- Return a WrappedAction Task taking a Command 
+-- @param #GROUP self
+-- @param DCSCommand#Command DCSCommand
+-- @return DCSTask#Task
+function GROUP:TaskWrappedAction( DCSCommand )
+  self:F( { DCSCommand } )
+
+  local DCSTaskWrappedAction
+  
+  DCSTaskWrappedAction = { 
+    id = "WrappedAction",
+    enabled = true,
+    params = {
+      action = DCSCommand
+    }
+  }
+
+  self:T( { DCSTaskWrappedAction } )
+  return DCSTaskWrappedAction
+end
+
 --- Orbit at a specified position at a specified alititude during a specified duration with a specified speed.
 -- @param #GROUP self
 -- @param #Vec2 Point The point to hold the position.
@ -566,7 +607,7 @@ end
 --- Attack the Unit.
 -- @param #GROUP self
 -- @param Unit#UNIT The unit.
-- @return #DCSTask The DCS task structure.
+-- @return DCSTask#Task The DCS task structure.
 function GROUP:TaskAttackUnit( AttackUnit )
 	self:F( { self.GroupName, AttackUnit } )

@ -595,6 +636,33 @@ function GROUP:TaskAttackUnit( AttackUnit )
  return DCSTask
 end

+--- Fires at a VEC2 point.
+-- @param #GROUP self
+-- @param DCSTypes#Vec2 The point to fire at.
+-- @param DCSTypes#Distance Radius The radius of the zone to deploy the fire at.
+-- @return DCSTask#Task The DCS task structure.
+function GROUP:TaskFireAtPoint( PointVec2, Radius )
+  self:F( { self.GroupName, PointVec2, Radius } )
+
+-- FireAtPoint = { 
+--   id = 'FireAtPoint', 
+--   params = { 
+--     point = Vec2,
+--     radius = Distance, 
+--   } 
+-- }
+   
+  local DCSTask    
+  DCSTask = { id = 'FireAtPoint', 
+              params = { point = PointVec2, 
+                         radius = Radius, 
+                       } 
+            } 
+  
+  self:T( { DCSTask } )
+  return DCSTask
+end
+


 --- Move the group to a Vec2 Point, wait for a defined duration and embark a group.
@ -602,7 +670,7 @@ end
 -- @param #Vec2 Point The point where to wait.
 -- @param #number Duration The duration in seconds to wait.
 -- @param #GROUP EmbarkingGroup The group to be embarked.
-- @return #DCSTask The DCS task structure
+-- @return DCSTask#Task The DCS task structure
 function GROUP:TaskEmbarkingAtVec2( Point, Duration, EmbarkingGroup )
 	self:F( { self.GroupName, Point, Duration, EmbarkingGroup.DCSGroup } )

@ -626,11 +694,11 @@ end
 -- @param #GROUP self
 -- @param #Vec2 Point The point where to wait.
 -- @param #number Radius The radius of the embarking zone around the Point.
-- @return #DCSTask The DCS task structure.
+-- @return DCSTask#Task The DCS task structure.
 function GROUP:TaskEmbarkToTransportAtVec2( Point, Radius )
 	self:F( { self.GroupName, Point, Radius } )

-  local DCSTask --#DCSTask
+  local DCSTask --DCSTask#Task
 	DCSTask = { id = 'EmbarkToTransport', 
 	            params = { x = Point.x, 
 				  	             y = Point.y, 
@ -645,7 +713,7 @@ end
 --- Return a Misson task from a mission template.
 -- @param #GROUP self
 -- @param #table TaskMission A table containing the mission task.
-- @return #DCSTask 
+-- @return DCSTask#Task 
 function GROUP:TaskMission( TaskMission )
 	self:F( Points )
  
@ -659,7 +727,7 @@ end
 --- Return a Misson task to follow a given route defined by Points.
 -- @param #GROUP self
 -- @param #table Points A table of route points.
-- @return #DCSTask 
+-- @return DCSTask#Task 
 function GROUP:TaskRoute( Points )
  self:F( Points )
  
@ -722,28 +790,22 @@ function GROUP:Route( GoPoints )
 	return self
 end

+--- Registers a Task to be executed at a waypoint.
+-- @param #GROUP self
+-- @param #number WayPoint The waypoint where to execute the task.
+-- @return #string The task.
 function GROUP:TaskRegisterWayPoint( WayPoint )

  local DCSTask
  
-  DCSTask = { id = "WrappedAction",
-              enabled = true,
-              auto = false,
-              number = 1,
-              params = 
-              {
-                  action = 
-                  {
-                      id = "Script",
-                      params = 
-                      {
-                          command = "local MissionGroup = GROUP.FindGroup( ... ) " ..
-                                    "env.info( MissionGroup:GetName() ) " ..
-                                    "MissionGroup:RegisterWayPoint ( " .. WayPoint .. " )",
-                      }, -- end of ["params"]
-                  }, -- end of ["action"]
-              }, -- end of ["params"]
-          }
+  DCSTask = self:TaskWrappedAction( 
+    self:CommandDoScript(
+      "local MissionGroup = GROUP:New( ... ) " ..
+      "env.info( MissionGroup:GetName() ) " ..
+      "MissionGroup:RegisterWayPoint ( " .. WayPoint .. " )"
+    ) 
+  )
+  
  self:T( DCSTask )
  
  return DCSTask
@ -805,6 +867,26 @@ function GROUP:TaskRouteToZone( Zone, Randomize, Speed, Formation )
 	return self
 end

+-- Commands
+
+--- Do Script command
+-- @param #GROUP self
+-- @param #string DoScript
+-- @return #DCSCommand
+function GROUP:CommandDoScript( DoScript )
+
+  local DCSDoScript = {
+    id = "Script",
+    params = {
+      command = DoScript
+    }
+  }
+
+  self:T( DCSDoScript )
+  return DCSDoScript
+end
+
+
 --- Return the mission template of the group.
 -- @param #GROUP self
 -- @return #table The MissionTemplate
@ -891,7 +973,14 @@ end
 function GROUP:IsTargetDetected( DCSObject )

  local TargetIsDetected, TargetIsVisible, TargetLastTime, TargetKnowType, TargetKnowDistance, TargetLastPos, TargetLastVelocity
-        = self:_GetController():isTargetDetected( DCSObject )
+        = self:_GetController().isTargetDetected( self:_GetController(), DCSObject, 
+                                                  Controller.Detection.VISUAL,
+                                                  Controller.Detection.OPTIC,
+                                                  Controller.Detection.RADAR,
+                                                  Controller.Detection.IRST,
+                                                  Controller.Detection.RWR,
+                                                  Controller.Detection.DLINK
+                                                )

  return TargetIsDetected, TargetIsVisible, TargetLastTime, TargetKnowType, TargetKnowDistance, TargetLastPos, TargetLastVelocity

--- a/Moose/Menu.lua
+++ b/Moose/Menu.lua
@ -108,6 +108,9 @@ function MENU_CLIENT:New( MenuClient, MenuText, ParentMenu )
  self.MenuClientGroupID = MenuClient:GetClientGroupID()
  self.MenuParentPath = MenuParentPath
  self.MenuText = MenuText
+  self.ParentMenu = ParentMenu
+  
+  self.Menus = {}

  if not _MENUCLIENTS[self.MenuClientGroupID] then
    _MENUCLIENTS[self.MenuClientGroupID] = {}
@ -124,9 +127,49 @@ function MENU_CLIENT:New( MenuClient, MenuText, ParentMenu )
    self.MenuPath = MenuPath[table.concat(MenuParentPath) .. "/" .. MenuText] 
  end

+  self:T( { MenuClient:GetClientGroupName(), self.MenuPath } )
+
+  if ParentMenu and ParentMenu.Menus then
+    ParentMenu.Menus[self.MenuPath] = self
+  end
 	return self
 end

+--- Removes the sub menus recursively of this MENU_CLIENT.
+-- @param #MENU_CLIENT self
+-- @return #MENU_CLIENT self
+function MENU_CLIENT:RemoveSubMenus()
+  self:F( self.MenuPath )
+
+  for MenuID, Menu in pairs( self.Menus ) do
+    Menu:Remove()
+  end
+
+end
+
+--- Removes the sub menus recursively of this MENU_CLIENT.
+-- @param #MENU_CLIENT self
+-- @return #MENU_CLIENT self
+function MENU_CLIENT:Remove()
+  self:F( self.MenuPath )
+
+  self:RemoveSubMenus()
+
+  if not _MENUCLIENTS[self.MenuClientGroupID] then
+    _MENUCLIENTS[self.MenuClientGroupID] = {}
+  end
+  
+  local MenuPath = _MENUCLIENTS[self.MenuClientGroupID]
+
+  if MenuPath[table.concat(self.MenuParentPath) .. "/" .. self.MenuText] then
+    MenuPath[table.concat(self.MenuParentPath) .. "/" .. self.MenuText] = nil
+  end
+  
+  missionCommands.removeItemForGroup( self.MenuClient:GetClientGroupID(), self.MenuPath )
+  self.ParentMenu.Menus[self.MenuPath] = nil
+  return nil
+end
+

 --- The MENU_CLIENT_COMMAND class
 -- @type MENU_CLIENT_COMMAND
@ -158,6 +201,7 @@ function MENU_CLIENT_COMMAND:New( MenuClient, MenuText, ParentMenu, CommandMenuF
  self.MenuClientGroupID = MenuClient:GetClientGroupID()
  self.MenuParentPath = MenuParentPath
  self.MenuText = MenuText
+  self.ParentMenu = ParentMenu

  if not _MENUCLIENTS[self.MenuClientGroupID] then
    _MENUCLIENTS[self.MenuClientGroupID] = {}
@ -176,10 +220,14 @@ function MENU_CLIENT_COMMAND:New( MenuClient, MenuText, ParentMenu, CommandMenuF

 	self.CommandMenuFunction = CommandMenuFunction
 	self.CommandMenuArgument = CommandMenuArgument
+	
+	ParentMenu.Menus[self.MenuPath] = self
+	
 	return self
 end

 function MENU_CLIENT_COMMAND:Remove()
+  self:F( self.MenuPath )

  if not _MENUCLIENTS[self.MenuClientGroupID] then
    _MENUCLIENTS[self.MenuClientGroupID] = {}
@ -191,5 +239,6 @@ function MENU_CLIENT_COMMAND:Remove()
    MenuPath[table.concat(self.MenuParentPath) .. "/" .. self.MenuText] = nil
  end
  missionCommands.removeItemForGroup( self.MenuClient:GetClientGroupID(), self.MenuPath )
+  self.ParentMenu.Menus[self.MenuPath] = nil
  return nil
 end
--- a/Moose/Routines.lua
+++ b/Moose/Routines.lua
@ -473,6 +473,13 @@ do
 	rep - time between repetitions of this function (OPTIONAL)
 	st - time when repetitions of this function will stop automatically (OPTIONAL)
 	]]
+	
+	--- Schedule a function
+	-- @param #function f
+	-- @param #table parameters
+	-- @param #Time t
+	-- @param #Time rep seconds
+	-- @param #Time st
 	routines.scheduleFunction = function(f, vars, t, rep, st)
 	--verify correct types
 		assert(type(f) == 'function', 'variable 1, expected function, got ' .. type(f))
--- a/Moose/Unit.lua
+++ b/Moose/Unit.lua
@ -49,6 +49,11 @@ UNIT = {
 -- @field Orange
 -- @field Blue
 	
+
+--- Create a new UNIT from DCSUnit.
+-- @param #UNIT self
+-- @param DCSUnit#Unit DCSUnit
+-- @return Unit#UNIT
 function UNIT:New( DCSUnit )
 	local self = BASE:Inherit( self, BASE:New() )
 	self:F( DCSUnit:getName() )
@ -231,4 +236,21 @@ function UNIT:SmokeBlue()
  trigger.action.smoke( self:GetPositionVec3(), trigger.smokeColor.Blue )
 end

+-- Is methods
+
+--- Returns if the unit is of an air category.
+-- If the unit is a helicopter or a plane, then this method will return true, otherwise false.
+-- @param #UNIT self
+-- @return #boolean Air category evaluation result.
+function UNIT:IsAir()
+  self:F()
+  
+  local UnitDescriptor = self.DCSUnit:getDesc()
+  self:T( { UnitDescriptor.category, Unit.Category.AIRPLANE, Unit.Category.HELICOPTER } )
+  
+  local IsAirResult = ( UnitDescriptor.category == Unit.Category.AIRPLANE ) or ( UnitDescriptor.category == Unit.Category.HELICOPTER )
+
+  self:T( IsAirResult )
+  return IsAirResult
+end

--- a/Missions/Moose_Test_ESCORT/MOOSE_Test_ESCORT.miz
+++ b/Missions/Moose_Test_ESCORT/MOOSE_Test_ESCORT.miz