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https://github.com/FlightControl-Master/MOOSE.git
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Ops
- Laser
This commit is contained in:
Frank
parent
567f7cbc29
commit
ac337b8459
@ -27,6 +27,7 @@
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-- @field #number dT Time interval between function calls in seconds.
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-- @field #number ncalls Counter of function calls.
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-- @field #number ncallsMax Max number of function calls. If reached, timer is stopped.
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-- @field #boolean isrunning If `true`, timer is running. Else it was not started yet or was stopped.
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-- @extends Core.Base#BASE
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--- *Better three hours too soon than a minute too late.* - William Shakespeare
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@ -111,7 +112,7 @@ _TIMERID=0
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--- TIMER class version.
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-- @field #string version
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TIMER.version="0.1.0"
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TIMER.version="0.1.1"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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@ -143,6 +144,9 @@ function TIMER:New(Function, ...)
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-- Number of function calls.
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self.ncalls=0
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-- Not running yet.
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self.isrunning=false
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-- Increase counter
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_TIMERID=_TIMERID+1
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@ -186,6 +190,9 @@ function TIMER:Start(Tstart, dT, Duration)
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-- Set log id.
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self.lid=string.format("TIMER UID=%d/%d | ", self.uid, self.tid)
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-- Is now running.
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self.isrunning=true
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-- Debug info.
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self:T(self.lid..string.format("Starting Timer in %.3f sec, dT=%s, Tstop=%s", self.Tstart-Tnow, tostring(self.dT), tostring(self.Tstop)))
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@ -210,6 +217,9 @@ function TIMER:Stop(Delay)
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self:T(self.lid..string.format("Stopping timer by removing timer function after %d calls!", self.ncalls))
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timer.removeFunction(self.tid)
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-- Not running any more.
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self.isrunning=false
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-- Remove DB entry.
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--_TIMERDB[self.uid]=nil
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@ -229,6 +239,13 @@ function TIMER:SetMaxFunctionCalls(Nmax)
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return self
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end
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--- Check if the timer has been started and was not stopped.
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-- @param #TIMER self
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-- @return #boolean If `true`, the timer is running.
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function TIMER:IsRunning()
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return self.isrunning
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end
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--- Call timer function.
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-- @param #TIMER self
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-- @param #number time DCS model time in seconds.
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@ -275,6 +275,8 @@ OPSGROUP.TaskType={
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-- @field Core.Point#COORDINATE Coordinate where the spot is pointing.
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-- @field #number TargetType Type of target: 0=coordinate, 1=static, 2=unit, 3=group.
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-- @field #boolean On If true, the laser is on.
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-- @field #boolean Paused If true, laser is paused.
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-- @field #boolean lostLOS If true, laser lost LOS.
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-- @field #OPSGROUP.Element element The element of the group that is lasing.
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-- @field DCS#Vec3 vec3 The 3D positon vector of the laser (and IR) spot.
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-- @field DCS#Vec3 offset Local offset of the laser source.
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@ -415,6 +417,7 @@ function OPSGROUP:New(Group)
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self:AddTransition("*", "LaserOff", "*") -- Turn laser off.
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self:AddTransition("*", "LaserCode", "*") -- Switch laser code.
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self:AddTransition("*", "LaserPause", "*") -- Turn laser off temporarily.
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self:AddTransition("*", "LaserResume", "*") -- Turn laser back on again if it was paused.
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self:AddTransition("*", "LaserLostLOS", "*") -- Lasing element lost line of sight.
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self:AddTransition("*", "LaserGotLOS", "*") -- Lasing element got line of sight.
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@ -671,6 +674,76 @@ function OPSGROUP:GetThreat(ThreatLevelMin, ThreatLevelMax)
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return threat, level
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end
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--- Get highest threat.
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-- @param #OPSGROUP self
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-- @return Wrapper.Unit#UNIT The highest threat unit.
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-- @return #number Threat level of the unit.
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function OPSGROUP:GetHighestThreat()
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local threat=nil
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local levelmax=-1
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for _,_unit in pairs(self.detectedunits:GetSet()) do
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local unit=_unit --Wrapper.Unit#UNIT
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local threatlevel=unit:GetThreatLevel()
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if threatlevel>levelmax then
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threat=unit
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levelmax=threatlevel
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end
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end
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return threat, levelmax
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end
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--- Check if an element of the group has line of sight to a coordinate.
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-- @param #OPSGROUP self
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-- @param Core.Point#COORDINATE Coordinate The position to which we check the LoS.
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-- @param #OPSGROUP.Element Element The (optinal) element. If not given, all elements are checked.
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-- @param DCS#Vec3 OffsetElement Offset vector of the element.
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-- @param DCS#Vec3 OffsetCoordinate Offset vector of the coordinate.
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-- @return #boolean If `true`, there is line of sight to the specified coordinate.
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function OPSGROUP:HasLoS(Coordinate, Element, OffsetElement, OffsetCoordinate)
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-- Target vector.
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local Vec3=Coordinate:GetVec3()
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-- Optional offset.
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if OffsetCoordinate then
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Vec3=UTILS.VecAdd(Vec3, OffsetCoordinate)
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end
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--- Function to check LoS for an element of the group.
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local function checklos(element)
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local vec3=element.unit:GetVec3()
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if OffsetElement then
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vec3=UTILS.VecAdd(vec3, OffsetElement)
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end
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local _los=land.isVisible(vec3, Vec3)
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--self:I({los=_los, source=vec3, target=Vec3})
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return _los
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end
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if Element then
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local los=checklos(Element)
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return los
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else
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for _,element in pairs(self.elements) do
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-- Get LoS of this element.
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local los=checklos(element)
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if los then
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return true
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end
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end
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return false
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end
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return nil
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end
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--- Get MOOSE GROUP object.
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-- @param #OPSGROUP self
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-- @return Wrapper.Group#GROUP Moose group object.
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@ -3085,7 +3158,7 @@ function OPSGROUP:onbeforeLaserOn(From, Event, To, Target)
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else
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-- No target specified.
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--TODO: error message
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self:E(self.lid.."ERROR: No target provided for LASER!")
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return false
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end
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@ -3095,10 +3168,7 @@ function OPSGROUP:onbeforeLaserOn(From, Event, To, Target)
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if element then
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-- Set element.
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self.spot.element=element
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-- Vec3.
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self.spot.vec3=self.spot.Coordinate:GetVec3()
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self.spot.element=element
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-- Height offset. No offset for aircraft. We take the height for ground or naval.
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local offsetY=0
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@ -3113,13 +3183,15 @@ function OPSGROUP:onbeforeLaserOn(From, Event, To, Target)
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if self.spot.CheckLOS then
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-- Check LOS.
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self.spot.LOS=self:HasLoS(self.spot.Coordinate, self.spot.element, self.spot.offset)
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local los=self:HasLoS(self.spot.Coordinate, self.spot.element, self.spot.offset)
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--self:I({los=los, coord=self.spot.Coordinate, offset=self.spot.offset})
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if self.spot.LOS then
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if los then
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self:LaserGotLOS()
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else
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-- Try to switch laser on again in 10 sec.
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self:T(self.lid.."LASER got no LOS currently. Trying to switch the laser on again in 10 sec")
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self:I(self.lid.."LASER got no LOS currently. Trying to switch the laser on again in 10 sec")
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self:__LaserOn(-10, Target)
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return false
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end
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@ -3143,7 +3215,9 @@ end
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function OPSGROUP:onafterLaserOn(From, Event, To, Target)
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-- Start timer that calls the update twice per sec by default.
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self.spot.timer:Start(nil, self.spot.dt)
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if not self.spot.timer:IsRunning() then
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self.spot.timer:Start(nil, self.spot.dt)
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end
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-- Get DCS unit.
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local DCSunit=self.spot.element.unit:GetDCSObject()
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@ -3156,6 +3230,9 @@ function OPSGROUP:onafterLaserOn(From, Event, To, Target)
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-- Laser is on.
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self.spot.On=true
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-- No paused in case it was.
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self.spot.Paused=false
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-- Debug message.
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self:T(self.lid.."Switching LASER on")
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@ -3168,7 +3245,7 @@ end
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-- @param #string Event Event.
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-- @param #string To To state.
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function OPSGROUP:onbeforeLaserOff(From, Event, To)
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return self.spot.On
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return self.spot.On or self.spot.Paused
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end
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--- On after "LaserOff" event.
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@ -3182,20 +3259,26 @@ function OPSGROUP:onafterLaserOff(From, Event, To)
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self:T(self.lid.."Switching LASER off")
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-- "Destroy" the laser beam.
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self.spot.Laser:destroy()
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self.spot.IR:destroy()
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if self.spot.On then
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self.spot.Laser:destroy()
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self.spot.IR:destroy()
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-- Set to nil.
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self.spot.Laser=nil
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self.spot.IR=nil
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end
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-- Stop update timer.
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self.spot.timer:Stop()
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-- Set to nil.
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self.spot.Laser=nil
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self.spot.IR=nil
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-- No target unit.
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self.spot.TargetUnit=nil
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-- Laser is off.
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self.spot.On=false
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-- Not paused if it was.
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self.spot.Paused=false
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end
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--- On after "LaserPause" event.
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@ -3219,6 +3302,52 @@ function OPSGROUP:onafterLaserPause(From, Event, To)
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-- Laser is off.
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self.spot.On=false
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-- Laser is paused.
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self.spot.Paused=true
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end
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--- On before "LaserResume" event.
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-- @param #OPSGROUP 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 OPSGROUP:onbeforeLaserResume(From, Event, To)
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return self.spot.Paused
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end
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--- On after "LaserResume" event.
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-- @param #OPSGROUP 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 OPSGROUP:onafterLaserResume(From, Event, To)
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-- Debug info.
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self:I(self.lid.."Resuming LASER")
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-- Unset paused.
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self.spot.Paused=false
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-- Set target.
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local target=nil
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if self.spot.TargetType==0 then
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target=self.spot.Coordinate
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elseif self.spot.TargetType==1 or self.spot.TargetType==2 then
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target=self.spot.TargetUnit
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elseif self.spot.TargetType==3 then
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target=self.spot.TargetGroup
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end
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-- Switch laser back on.
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if target then
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-- Debug message.
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self:I(self.lid.."Switching LASER on again at target ".. target:GetName())
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self:LaserOn(target)
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end
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end
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--- On after "LaserCode" event. Changes the LASER code.
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@ -3253,8 +3382,11 @@ end
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-- @param #string To To state.
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function OPSGROUP:onafterLaserLostLOS(From, Event, To)
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-- Lost line of sight.
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-- No of sight.
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self.spot.LOS=false
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-- Lost line of sight.
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self.spot.lostLOS=true
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if self.spot.On then
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@ -3272,25 +3404,24 @@ end
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-- @param #string To To state.
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function OPSGROUP:onafterLaserGotLOS(From, Event, To)
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-- Lost line of sight.
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-- Has line of sight.
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self.spot.LOS=true
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if not self.spot.On then
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local target=nil
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env.info("FF Laser Got LOS")
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if self.spot.lostLOS then
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-- Did not loose LOS anymore.
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self.spot.lostLOS=false
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if self.spot.TargetType==0 then
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target=self.spot.Coordinate
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elseif self.spot.TargetType==1 or self.spot.TargetType==2 then
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target=self.spot.TargetUnit
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elseif self.spot.TargetType==3 then
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target=self.spot.TargetGroup
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env.info("FF had lost LOS and regained it")
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-- Resume laser if currently paused.
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if self.spot.Paused then
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env.info("FF laser was paused ==> resume")
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self:LaserResume()
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end
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-- Switch laser back on.
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if target then
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self:__LaserOn(-1, target)
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end
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end
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end
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@ -3327,7 +3458,7 @@ function OPSGROUP:SetLaserTarget(Target)
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local size,x,y,z=self.spot.TargetUnit:GetObjectSize()
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if y then
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self.spot.offsetTarget={x=0, y=y/2, z=0}
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self.spot.offsetTarget={x=0, y=y*0.75, z=0}
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else
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self.spot.offsetTarget={x=0, 2, z=0}
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end
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@ -3347,161 +3478,85 @@ function OPSGROUP:SetLaserTarget(Target)
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self:E(self.lid.."ERROR: LASER target should be a POSITIONABLE (GROUP, UNIT or STATIC) or a COORDINATE object!")
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return
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end
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-- Set vec3 and account for target offset.
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self.spot.vec3=UTILS.VecAdd(Target:GetVec3(), self.spot.offsetTarget)
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-- Set coordinate.
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self.spot.Coordinate:UpdateFromVec3(self.spot.vec3)
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self.spot.Coordinate:UpdateFromVec3(self.spot.vec3)
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end
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end
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--- Get highest threat.
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-- @param #OPSGROUP self
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-- @return Wrapper.Unit#UNIT The highest threat unit.
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-- @return #number Threat level of the unit.
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function OPSGROUP:GetHighestThreat()
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local threat=nil
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local levelmax=-1
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for _,_unit in pairs(self.detectedunits:GetSet()) do
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local unit=_unit --Wrapper.Unit#UNIT
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local threatlevel=unit:GetThreatLevel()
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if threatlevel>levelmax then
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threat=unit
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levelmax=threatlevel
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end
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end
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return threat, levelmax
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end
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--- Check if an element of the group has line of sight to a coordinate.
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-- @param #OPSGROUP self
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-- @param Core.Point#COORDINATE Coordinate The position to which we check the LoS.
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-- @param #OPSGROUP.Element Element The (optinal) element. If not given, all elements are checked.
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-- @param DCS#Vec3 OffsetElement Offset vector of the element.
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-- @param DCS#Vec3 OffsetCoordinate Offset vector of the coordinate.
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-- @return #boolean If `true`, there is line of sight to the specified coordinate.
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function OPSGROUP:HasLoS(Coordinate, Element, OffsetElement, OffsetCoordinate)
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-- Target vector.
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local Vec3=Coordinate:GetVec3()
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-- Optional offset.
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if OffsetCoordinate then
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Vec3=UTILS.VecAdd(vec3, OffsetCoordinate)
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end
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--- Function to check LoS for an element of the group.
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local function checklos(element)
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local vec3=element.unit:GetVec3()
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if OffsetElement then
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vec3=UTILS.VecAdd(vec3, OffsetElement)
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end
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local _los=land.isVisible(vec3, Vec3)
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--self:I({los=_los, source=vec3, target=Vec3})
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return _los
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end
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if Element then
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local los=checklos(Element)
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return los
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else
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for _,element in pairs(self.elements) do
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-- Get LoS of this element.
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local los=checklos(element)
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if los then
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return true
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end
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end
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return false
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end
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return nil
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end
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--- Update laser point.
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-- @param #OPSGROUP self
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function OPSGROUP:_UpdateLaser()
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-- Firstly, check if laser is on.
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if self.spot.On then
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-- Check if we have a POSITIONABLE to lase.
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if self.spot.TargetUnit then
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---
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-- LASER is ON
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-- Lasing a possibly moving target
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---
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-- Check if we have a POSITIONABLE to lase.
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if self.spot.TargetUnit then
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---
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-- Lasing a possibly moving target
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---
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if self.spot.TargetUnit:IsAlive() then
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if self.spot.TargetUnit:IsAlive() then
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-- Get current target position.
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local vec3=self.spot.TargetUnit:GetVec3()
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-- Add target offset.
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vec3=UTILS.VecAdd(vec3, self.spot.offsetTarget)
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-- Calculate distance
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local dist=UTILS.VecDist3D(vec3, self.spot.vec3)
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-- Update laser if target moved more than one meter.
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if dist>1 then
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-- Store current position.
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||||
self.spot.vec3=vec3
|
||||
|
||||
-- Update beam coordinate.
|
||||
self.spot.Coordinate:UpdateFromVec3(vec3)
|
||||
|
||||
-- Set the new laser target point.
|
||||
-- Get current target position.
|
||||
local vec3=self.spot.TargetUnit:GetVec3()
|
||||
|
||||
-- Add target offset.
|
||||
vec3=UTILS.VecAdd(vec3, self.spot.offsetTarget)
|
||||
|
||||
-- Calculate distance
|
||||
local dist=UTILS.VecDist3D(vec3, self.spot.vec3)
|
||||
|
||||
-- Store current position.
|
||||
self.spot.vec3=vec3
|
||||
|
||||
-- Update beam coordinate.
|
||||
self.spot.Coordinate:UpdateFromVec3(vec3)
|
||||
|
||||
-- Update laser if target moved more than one meter.
|
||||
if dist>1 then
|
||||
|
||||
-- If the laser is ON, set the new laser target point.
|
||||
if self.spot.On then
|
||||
self.spot.Laser:setPoint(vec3)
|
||||
if self.spot.IRon then
|
||||
self.spot.IR:setPoint(vec3)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
end
|
||||
|
||||
if self.spot.TargetGroup and self.spot.TargetGroup:IsAlive() then
|
||||
|
||||
-- Get first alive unit in the group.
|
||||
local unit=self.spot.TargetGroup:GetHighestThreat()
|
||||
|
||||
if unit then
|
||||
self:I(self.lid..string.format("Switching to target unit %s in the group", unit:GetName()))
|
||||
self.spot.TargetUnit=unit
|
||||
else
|
||||
-- Switch laser off.
|
||||
self:I(self.lid.."Target is not alive any more ==> switching LASER off")
|
||||
self:LaserOff()
|
||||
return
|
||||
end
|
||||
else
|
||||
|
||||
if self.spot.TargetGroup and self.spot.TargetGroup:IsAlive() then
|
||||
|
||||
-- Get first alive unit in the group.
|
||||
local unit=self.spot.TargetGroup:GetHighestThreat()
|
||||
|
||||
if unit then
|
||||
self:I(self.lid..string.format("Switching to target unit %s in the group", unit:GetName()))
|
||||
self.spot.TargetUnit=unit
|
||||
-- We update the laser position in the next update cycle and then check the LOS.
|
||||
return
|
||||
else
|
||||
|
||||
-- Switch laser off.
|
||||
self:I(self.lid.."Target is not alive any more ==> switching LASER off")
|
||||
self:LaserOff()
|
||||
return
|
||||
return
|
||||
end
|
||||
|
||||
end
|
||||
end
|
||||
else
|
||||
|
||||
-- Switch laser off.
|
||||
self:I(self.lid.."Target is not alive any more ==> switching LASER off")
|
||||
self:LaserOff()
|
||||
return
|
||||
end
|
||||
|
||||
end
|
||||
end
|
||||
|
||||
-- Check LOS.
|
||||
@ -3510,17 +3565,18 @@ function OPSGROUP:_UpdateLaser()
|
||||
-- Check current LOS.
|
||||
local los=self:HasLoS(self.spot.Coordinate, self.spot.element, self.spot.offset)
|
||||
|
||||
--env.info(string.format("FF check LOS=%s", tostring(los)))
|
||||
env.info(string.format("FF check LOS current=%s previous=%s", tostring(los), tostring(self.spot.LOS)))
|
||||
|
||||
if los then
|
||||
-- Got LOS
|
||||
if not self.spot.LOS then
|
||||
if self.spot.lostLOS then
|
||||
--self:I({los=self.spot.LOS, coord=self.spot.Coordinate, offset=self.spot.offset})
|
||||
self:LaserGotLOS()
|
||||
end
|
||||
|
||||
else
|
||||
-- No LOS currently
|
||||
if self.spot.LOS then
|
||||
if not self.spot.lostLOS then
|
||||
self:LaserLostLOS()
|
||||
end
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user