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Waypoints
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Frank
899
Moose Development/Moose/Ops/ArmyGroup.lua
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899
Moose Development/Moose/Ops/ArmyGroup.lua
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--- **Ops** - Enhanced Ground Group.
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--
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-- **Main Features:**
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--
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-- * Dynamically add and remove waypoints.
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--
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-- ===
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--
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-- ### Author: **funkyfranky**
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-- @module Ops.ArmyGroup
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-- @image OPS_ArmyGroup.png
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--- ARMYGROUP class.
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-- @type ARMYGROUP
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-- @field #boolean adinfinitum Resume route at first waypoint when final waypoint is reached.
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *Something must be left to chance; nothing is sure in a sea fight above all.* -- Horatio Nelson
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--
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-- ===
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--
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-- 
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--
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-- # The ARMYGROUP Concept
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--
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-- This class enhances naval groups.
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--
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-- @field #ARMYGROUP
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ARMYGROUP = {
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ClassName = "ARMYGROUP",
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}
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--- Navy group element.
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-- @type ARMYGROUP.Element
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-- @field #string name Name of the element, i.e. the unit.
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-- @field #string typename Type name.
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--- NavyGroup version.
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-- @field #string version
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ARMYGROUP.version="0.0.1"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: A lot.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a new ARMYGROUP class object.
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-- @param #ARMYGROUP self
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-- @param #string GroupName Name of the group.
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-- @return #ARMYGROUP self
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function ARMYGROUP:New(GroupName)
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-- Inherit everything from FSM class.
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local self=BASE:Inherit(self, OPSGROUP:New(GroupName)) -- #ARMYGROUP
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-- Set some string id for output to DCS.log file.
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self.lid=string.format("ARMYGROUP %s | ", self.groupname)
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-- Defaults
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self:SetDefaultROE()
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self:SetDetection()
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self:SetPatrolAdInfinitum(true)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("*", "FullStop", "Holding") -- Hold position.
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self:AddTransition("*", "Detour", "OnDetour") -- Make a detour to a coordinate and resume route afterwards.
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self:AddTransition("OnDetour", "DetourReached", "Cruising") -- Group reached the detour coordinate.
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------------------------
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--- Pseudo Functions ---
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------------------------
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--- Triggers the FSM event "Stop". Stops the ARMYGROUP and all its event handlers.
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-- @param #ARMYGROUP self
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--- Triggers the FSM event "Stop" after a delay. Stops the ARMYGROUP and all its event handlers.
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-- @function [parent=#ARMYGROUP] __Stop
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-- @param #ARMYGROUP self
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-- @param #number delay Delay in seconds.
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-- TODO: Add pseudo functions.
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-- Init waypoints.
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self:InitWaypoints()
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-- Initialize the group.
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self:_InitGroup()
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-- Debug trace.
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if false then
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self.Debug=true
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BASE:TraceOnOff(true)
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BASE:TraceClass(self.ClassName)
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BASE:TraceLevel(1)
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end
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-- Handle events:
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self:HandleEvent(EVENTS.Birth, self.OnEventBirth)
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self:HandleEvent(EVENTS.Dead, self.OnEventDead)
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self:HandleEvent(EVENTS.RemoveUnit, self.OnEventRemoveUnit)
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-- Start the status monitoring.
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self:__CheckZone(-1)
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self:__Status(-2)
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self:__QueueUpdate(-3)
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- User Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Group patrols ad inifintum. If the last waypoint is reached, it will go to waypoint one and repeat its route.
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-- @param #ARMYGROUP self
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-- @param #boolean switch If true or nil, patrol until the end of time. If false, go along the waypoints once and stop.
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-- @return #ARMYGROUP self
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function ARMYGROUP:SetPatrolAdInfinitum(switch)
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if switch==false then
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self.adinfinitum=false
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else
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self.adinfinitum=true
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end
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return self
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end
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--- Group patrols ad inifintum. If the last waypoint is reached, it will go to waypoint one and repeat its route.
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-- @param #ARMYGROUP self
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-- @param #number Speed Speed in knots. Default 70% of max speed.
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-- @return #ARMYGROUP self
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function ARMYGROUP:SetSpeedCruise(Speed)
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self.speedCruise=Speed and UTILS.KnotsToKmph(Speed) or self.speedmax*0.7
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return self
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end
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--- Add a *scheduled* task.
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-- @param #ARMYGROUP self
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-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
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-- @param #number Radius Radius in meters. Default 100 m.
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-- @param #number Nshots Number of shots to fire. Default 3.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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function ARMYGROUP:AddTaskFireAtPoint(Coordinate, Radius, Nshots, WeaponType, Clock, Prio)
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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self:AddTask(DCStask, Clock, nil, Prio)
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end
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--- Add a *scheduled* task.
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-- @param #ARMYGROUP self
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-- @param Wrapper.Group#GROUP TargetGroup Target group.
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-- @param #number WeaponExpend How much weapons does are used.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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function ARMYGROUP:AddTaskAttackGroup(TargetGroup, WeaponExpend, WeaponType, Clock, Prio)
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local DCStask=CONTROLLABLE.TaskAttackGroup(nil, TargetGroup, WeaponType, WeaponExpend, AttackQty, Direction, Altitude, AttackQtyLimit, GroupAttack)
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self:AddTask(DCStask, Clock, nil, Prio)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Status
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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---- Update status.
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-- @param #ARMYGROUP self
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function ARMYGROUP:onbeforeStatus(From, Event, To)
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if self:IsDead() then
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self:I(self.lid..string.format("Onbefore Status DEAD ==> false"))
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return false
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elseif self:IsStopped() then
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self:I(self.lid..string.format("Onbefore Status STOPPED ==> false"))
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return false
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end
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return true
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end
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--- Update status.
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-- @param #ARMYGROUP self
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function ARMYGROUP:onafterStatus(From, Event, To)
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-- FSM state.
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local fsmstate=self:GetState()
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---
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-- Detection
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---
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-- Check if group has detected any units.
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if self.detectionOn then
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self:_CheckDetectedUnits()
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end
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if self:IsAlive() and not self:IsDead() then
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-- Current heading and position of the carrier.
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local hdg=self:GetHeading()
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local pos=self:GetCoordinate()
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local speed=self.group:GetVelocityKNOTS()
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-- Get number of tasks and missions.
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local nTaskTot, nTaskSched, nTaskWP=self:CountRemainingTasks()
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local nMissions=self:CountRemainingMissison()
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-- Info text.
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local text=string.format("State %s: Wp=%d/%d Speed=%.1f Heading=%03d Tasks=%d Missions=%d",
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fsmstate, self.currentwp, #self.waypoints, speed, hdg, nTaskTot, nMissions)
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self:I(self.lid..text)
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else
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-- Info text.
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local text=string.format("State %s: Alive=%s", fsmstate, tostring(self:IsAlive()))
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self:I(self.lid..text)
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end
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---
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-- Tasks
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---
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-- Task queue.
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if #self.taskqueue>0 and self.verbose>1 then
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local text=string.format("Tasks #%d", #self.taskqueue)
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for i,_task in pairs(self.taskqueue) do
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local task=_task --Ops.OpsGroup#OPSGROUP.Task
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local name=task.description
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local taskid=task.dcstask.id or "unknown"
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local status=task.status
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local clock=UTILS.SecondsToClock(task.time, true)
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local eta=task.time-timer.getAbsTime()
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local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
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local duration=-1
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if task.duration then
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duration=task.duration
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if task.timestamp then
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-- Time the task is running.
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duration=task.duration-(timer.getAbsTime()-task.timestamp)
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else
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-- Time the task is supposed to run.
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duration=task.duration
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end
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end
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-- Output text for element.
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if task.type==OPSGROUP.TaskType.SCHEDULED then
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text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
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elseif task.type==OPSGROUP.TaskType.WAYPOINT then
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text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
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end
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end
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self:I(self.lid..text)
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end
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---
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-- Missions
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---
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-- Current mission name.
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if self.verbose>0 then
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local Mission=self:GetMissionByID(self.currentmission)
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-- Current status.
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local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
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for i,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
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local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
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text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d wp=%s targets=%d",
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i, tostring(mission.name), mission.type, mission:GetGroupStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetGroupWaypointIndex(self)), mission:CountMissionTargets())
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end
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self:I(self.lid..text)
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end
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self:__Status(-10)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- FSM Events
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- On after "ElementSpawned" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #ARMYGROUP.Element Element The group element.
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function ARMYGROUP:onafterElementSpawned(From, Event, To, Element)
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self:I(self.lid..string.format("Element spawned %s", Element.name))
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-- Set element status.
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self:_UpdateStatus(Element, OPSGROUP.ElementStatus.SPAWNED)
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end
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--- On after "ElementDead" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #ARMYGROUP.Element Element The group element.
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function ARMYGROUP:onafterElementDead(From, Event, To, Element)
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self:T(self.lid..string.format("Element dead %s.", Element.name))
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-- Set element status.
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self:_UpdateStatus(Element, OPSGROUP.ElementStatus.DEAD)
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end
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--- On after "Spawned" event.
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-- @param #ARMYGROUP 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 ARMYGROUP:onafterSpawned(From, Event, To)
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self:I(self.lid..string.format("Group spawned!"))
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if self.ai then
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-- Set default ROE and ROT options.
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self:SetOptionROE(self.roe)
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end
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-- Get orientation.
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self.Corientlast=self.group:GetUnit(1):GetOrientationX()
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self.depth=self.group:GetHeight()
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-- Update route.
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self:Cruise()
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end
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--- On after "UpdateRoute" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Depth Depth in meters. Default 0 meters.
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext(self.adinfinitum)
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-- Debug info.
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self:T(self.lid..string.format("FF Update route n=%d", n))
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks(n)
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-- Waypoints.
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local waypoints={}
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-- Depth for submarines.
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local depth=Depth or 0
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-- Get current speed in km/h.
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local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointNaval(speed, depth)
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table.insert(waypoints, current)
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-- Add remaining waypoints to route.
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for i=n, #self.waypoints do
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local wp=self.waypoints[i]
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-- Set speed.
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if i==n then
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if Speed then
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wp.speed=UTILS.KnotsToMps(Speed)
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elseif self.speedCruise then
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wp.speed=UTILS.KmphToMps(self.speedCruise)
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else
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-- Take default waypoint speed.
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end
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else
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if self.speedCruise then
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wp.speed=UTILS.KmphToMps(self.speedCruise)
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else
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-- Take default waypoint speed.
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end
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end
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-- Set depth.
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wp.alt=-depth --Depth and -Depth or wp.alt
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-- Add waypoint.
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table.insert(waypoints, wp)
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end
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if #waypoints>1 then
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self:I(self.lid..string.format("Updateing route: WP=%d, Speed=%.1f knots, depth=%d meters", #self.waypoints-n+1, UTILS.KmphToKnots(speed), depth))
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-- Route group to all defined waypoints remaining.
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self:Route(waypoints)
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||||
else
|
||||
|
||||
---
|
||||
-- No waypoints left
|
||||
---
|
||||
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self:I(self.lid..string.format("No waypoints left"))
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if #self.waypoints>1 then
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self:I(self.lid..string.format("Resuming route at first waypoint"))
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self:__UpdateRoute(-1, 1, nil, self.depth)
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end
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||||
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||||
end
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||||
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||||
end
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||||
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||||
--- On after "Detour" event.
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||||
-- @param #ARMYGROUP self
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||||
-- @param #string From From state.
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||||
-- @param #string Event Event.
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||||
-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to go.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Depth Depth in meters. Default 0 meters.
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-- @param #number ResumeRoute If true, resume route after detour point was reached.
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function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Depth, ResumeRoute)
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||||
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||||
-- Waypoints.
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local waypoints={}
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||||
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||||
-- Depth for submarines.
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||||
local depth=Depth or 0
|
||||
|
||||
-- Get current speed in km/h.
|
||||
local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
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||||
|
||||
-- Current waypoint.
|
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local current=self:GetCoordinate():WaypointGround(Speed,Formation,DCSTasks)
|
||||
table.insert(waypoints, current)
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||||
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||||
-- At each waypoint report passing.
|
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local Task=self.group:TaskFunction("ARMYGROUP._DetourReached", self, ResumeRoute)
|
||||
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||||
local detour=Coordinate:WaypointNaval(speed, depth, {Task})
|
||||
table.insert(waypoints, detour)
|
||||
|
||||
self:Route(waypoints)
|
||||
|
||||
end
|
||||
|
||||
--- On after "DetourReached" event.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function ARMYGROUP:onafterDetourReached(From, Event, To)
|
||||
self:I(self.lid.."Group reached detour coordinate.")
|
||||
end
|
||||
|
||||
--- Function called when a group is passing a waypoint.
|
||||
--@param Wrapper.Group#GROUP group Group that passed the waypoint
|
||||
--@param #ARMYGROUP navygroup Navy group object.
|
||||
--@param #boolean resume Resume route.
|
||||
function ARMYGROUP._DetourReached(group, navygroup, resume)
|
||||
|
||||
-- Debug message.
|
||||
local text=string.format("Group reached detour coordinate")
|
||||
navygroup:I(navygroup.lid..text)
|
||||
|
||||
if resume then
|
||||
local indx=navygroup:GetWaypointIndexNext(true)
|
||||
local speed=navygroup:GetSpeedToWaypoint(indx)
|
||||
navygroup:UpdateRoute(indx, speed, navygroup.depth)
|
||||
end
|
||||
|
||||
navygroup:DetourReached()
|
||||
|
||||
end
|
||||
|
||||
--- On after "FullStop" event.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function ARMYGROUP:onafterFullStop(From, Event, To)
|
||||
|
||||
-- Get current position.
|
||||
local pos=self:GetCoordinate()
|
||||
|
||||
-- Create a new waypoint.
|
||||
local wp=pos:WaypointNaval(0)
|
||||
|
||||
-- Create new route consisting of only this position ==> Stop!
|
||||
self:Route({wp})
|
||||
|
||||
end
|
||||
|
||||
--- On after "Cruise" event.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
-- @param #number Speed Speed in knots.
|
||||
function ARMYGROUP:onafterCruise(From, Event, To, Speed)
|
||||
|
||||
self:UpdateRoute(nil, Speed, self.depth)
|
||||
|
||||
end
|
||||
|
||||
|
||||
|
||||
--- On after "Dead" event.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function ARMYGROUP:onafterDead(From, Event, To)
|
||||
self:I(self.lid..string.format("Group dead!"))
|
||||
|
||||
-- Delete waypoints so they are re-initialized at the next spawn.
|
||||
self.waypoints=nil
|
||||
self.groupinitialized=false
|
||||
|
||||
-- Cancel all mission.
|
||||
for _,_mission in pairs(self.missionqueue) do
|
||||
local mission=_mission --Ops.Auftrag#AUFTRAG
|
||||
|
||||
self:MissionCancel(mission)
|
||||
mission:GroupDead(self)
|
||||
|
||||
end
|
||||
|
||||
-- Stop
|
||||
self:Stop()
|
||||
end
|
||||
|
||||
--- On after Start event. Starts the ARMYGROUP FSM and event handlers.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function ARMYGROUP:onafterStop(From, Event, To)
|
||||
|
||||
-- Check if group is still alive.
|
||||
if self:IsAlive() then
|
||||
-- Destroy group. No event is generated.
|
||||
self.group:Destroy(false)
|
||||
end
|
||||
|
||||
-- Handle events:
|
||||
self:UnHandleEvent(EVENTS.Birth)
|
||||
self:UnHandleEvent(EVENTS.Dead)
|
||||
self:UnHandleEvent(EVENTS.RemoveUnit)
|
||||
|
||||
self.CallScheduler:Clear()
|
||||
|
||||
self:I(self.lid.."STOPPED! Unhandled events, cleared scheduler and removed from database.")
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Events DCS
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
--- Event function handling the birth of a unit.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param Core.Event#EVENTDATA EventData Event data.
|
||||
function ARMYGROUP:OnEventBirth(EventData)
|
||||
|
||||
-- Check that this is the right group.
|
||||
if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
|
||||
local unit=EventData.IniUnit
|
||||
local group=EventData.IniGroup
|
||||
local unitname=EventData.IniUnitName
|
||||
|
||||
if self.respawning then
|
||||
|
||||
local function reset()
|
||||
self.respawning=nil
|
||||
end
|
||||
|
||||
-- Reset switch in 1 sec. This should allow all birth events of n>1 groups to have passed.
|
||||
-- TODO: Can I do this more rigorously?
|
||||
self:ScheduleOnce(1, reset)
|
||||
|
||||
else
|
||||
|
||||
-- Get element.
|
||||
local element=self:GetElementByName(unitname)
|
||||
|
||||
-- Set element to spawned state.
|
||||
self:T3(self.lid..string.format("EVENT: Element %s born ==> spawned", element.name))
|
||||
self:ElementSpawned(element)
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Flightgroup event function handling the crash of a unit.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param Core.Event#EVENTDATA EventData Event data.
|
||||
function ARMYGROUP:OnEventDead(EventData)
|
||||
|
||||
-- Check that this is the right group.
|
||||
if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
|
||||
self:T(self.lid..string.format("EVENT: Unit %s dead!", EventData.IniUnitName))
|
||||
|
||||
local unit=EventData.IniUnit
|
||||
local group=EventData.IniGroup
|
||||
local unitname=EventData.IniUnitName
|
||||
|
||||
-- Get element.
|
||||
local element=self:GetElementByName(unitname)
|
||||
|
||||
if element then
|
||||
self:I(self.lid..string.format("EVENT: Element %s dead ==> dead", element.name))
|
||||
self:ElementDead(element)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Flightgroup event function handling the crash of a unit.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param Core.Event#EVENTDATA EventData Event data.
|
||||
function ARMYGROUP:OnEventRemoveUnit(EventData)
|
||||
|
||||
-- Check that this is the right group.
|
||||
if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
|
||||
local unit=EventData.IniUnit
|
||||
local group=EventData.IniGroup
|
||||
local unitname=EventData.IniUnitName
|
||||
|
||||
-- Get element.
|
||||
local element=self:GetElementByName(unitname)
|
||||
|
||||
if element then
|
||||
self:I(self.lid..string.format("EVENT: Element %s removed ==> dead", element.name))
|
||||
self:ElementDead(element)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Routing
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
--- Add an a waypoint to the route.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
|
||||
-- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
|
||||
-- @param #number wpnumber Waypoint number. Default at the end.
|
||||
-- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
|
||||
-- @return #number Waypoint index.
|
||||
function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
|
||||
|
||||
-- Waypoint number. Default is at the end.
|
||||
wpnumber=wpnumber or #self.waypoints+1
|
||||
|
||||
if wpnumber>self.currentwp then
|
||||
self.passedfinalwp=false
|
||||
end
|
||||
|
||||
-- Speed in knots.
|
||||
speed=speed or self:GetSpeedCruise()
|
||||
|
||||
-- Speed at waypoint.
|
||||
local speedkmh=UTILS.KnotsToKmph(speed)
|
||||
|
||||
-- Create a Naval waypoint.
|
||||
local wp=coordinate:WaypointNaval(speedkmh)
|
||||
|
||||
-- Add to table.
|
||||
table.insert(self.waypoints, wpnumber, wp)
|
||||
|
||||
-- Debug info.
|
||||
self:T(self.lid..string.format("Adding NAVAL waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, speed, self.currentwp, #self.waypoints))
|
||||
|
||||
|
||||
-- Update route.
|
||||
if updateroute==nil or updateroute==true then
|
||||
self:_CheckGroupDone(1)
|
||||
end
|
||||
|
||||
return wpnumber
|
||||
end
|
||||
|
||||
--- Initialize group parameters. Also initializes waypoints if self.waypoints is nil.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @return #ARMYGROUP self
|
||||
function ARMYGROUP:_InitGroup()
|
||||
|
||||
-- First check if group was already initialized.
|
||||
if self.groupinitialized then
|
||||
self:E(self.lid.."WARNING: Group was already initialized!")
|
||||
return
|
||||
end
|
||||
|
||||
-- Get template of group.
|
||||
self.template=self.group:GetTemplate()
|
||||
|
||||
-- Define category.
|
||||
self.isAircraft=false
|
||||
self.isNaval=false
|
||||
self.isGround=true
|
||||
|
||||
-- Ships are always AI.
|
||||
self.ai=true
|
||||
|
||||
-- Is (template) group late activated.
|
||||
self.isLateActivated=self.template.lateActivation
|
||||
|
||||
-- Naval groups cannot be uncontrolled.
|
||||
self.isUncontrolled=false
|
||||
|
||||
-- Max speed in km/h.
|
||||
self.speedmax=self.group:GetSpeedMax()
|
||||
|
||||
-- Group ammo.
|
||||
--self.ammo=self:GetAmmoTot()
|
||||
|
||||
self.traveldist=0
|
||||
self.traveltime=timer.getAbsTime()
|
||||
self.position=self:GetCoordinate()
|
||||
|
||||
-- Radio parameters from template.
|
||||
self.radioOn=true -- Radio is always on for ships.
|
||||
self.radioFreq=tonumber(self.template.units[1].frequency)/1000000
|
||||
self.radioModu=tonumber(self.template.units[1].modulation)/1000000
|
||||
|
||||
-- If not set by the use explicitly yet, we take the template values as defaults.
|
||||
if not self.radioFreqDefault then
|
||||
self.radioFreqDefault=self.radioFreq
|
||||
self.radioModuDefault=self.radioModu
|
||||
end
|
||||
|
||||
-- Set default formation.
|
||||
if not self.formationDefault then
|
||||
if self.ishelo then
|
||||
self.formationDefault=ENUMS.Formation.RotaryWing.EchelonLeft.D300
|
||||
else
|
||||
self.formationDefault=ENUMS.Formation.FixedWing.EchelonLeft.Group
|
||||
end
|
||||
end
|
||||
|
||||
local units=self.group:GetUnits()
|
||||
|
||||
for _,_unit in pairs(units) do
|
||||
local unit=_unit --Wrapper.Unit#UNIT
|
||||
|
||||
local element={} --#ARMYGROUP.Element
|
||||
element.name=unit:GetName()
|
||||
element.typename=unit:GetTypeName()
|
||||
element.status=OPSGROUP.ElementStatus.INUTERO
|
||||
element.unit=unit
|
||||
table.insert(self.elements, element)
|
||||
|
||||
self:GetAmmoUnit(unit, false)
|
||||
|
||||
if unit:IsAlive() then
|
||||
self:ElementSpawned(element)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
-- Get first unit. This is used to extract other parameters.
|
||||
local unit=self.group:GetUnit(1)
|
||||
|
||||
if unit then
|
||||
|
||||
self.descriptors=unit:GetDesc()
|
||||
|
||||
self.actype=unit:GetTypeName()
|
||||
|
||||
-- Debug info.
|
||||
local text=string.format("Initialized Navy Group %s:\n", self.groupname)
|
||||
text=text..string.format("AC type = %s\n", self.actype)
|
||||
text=text..string.format("Speed max = %.1f Knots\n", UTILS.KmphToKnots(self.speedmax))
|
||||
--text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
|
||||
text=text..string.format("Elements = %d\n", #self.elements)
|
||||
text=text..string.format("Waypoints = %d\n", #self.waypoints)
|
||||
text=text..string.format("Radio = %.1f MHz %s %s\n", self.radioFreq, UTILS.GetModulationName(self.radioModu), tostring(self.radioOn))
|
||||
--text=text..string.format("Ammo = %d (G=%d/R=%d/B=%d/M=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Bombs, self.ammo.Missiles)
|
||||
text=text..string.format("FSM state = %s\n", self:GetState())
|
||||
text=text..string.format("Is alive = %s\n", tostring(self.group:IsAlive()))
|
||||
text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
|
||||
self:I(self.lid..text)
|
||||
|
||||
-- Init done.
|
||||
self.groupinitialized=true
|
||||
|
||||
end
|
||||
|
||||
return self
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Misc Functions
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
--- Check if group is done, i.e.
|
||||
--
|
||||
-- * passed the final waypoint,
|
||||
-- * no current task
|
||||
-- * no current mission
|
||||
-- * number of remaining tasks is zero
|
||||
-- * number of remaining missions is zero
|
||||
--
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #number delay Delay in seconds.
|
||||
function ARMYGROUP:_CheckGroupDone(delay)
|
||||
|
||||
if self:IsAlive() and self.ai then
|
||||
|
||||
if delay and delay>0 then
|
||||
-- Delayed call.
|
||||
self:ScheduleOnce(delay, ARMYGROUP._CheckGroupDone, self)
|
||||
else
|
||||
|
||||
if self.passedfinalwp then
|
||||
|
||||
if #self.waypoints>1 and self.adinfinitum then
|
||||
|
||||
local speed=self:GetSpeedToWaypoint(1)
|
||||
|
||||
-- Start route at first waypoint.
|
||||
self:__UpdateRoute(-1, 1, speed, self.depth)
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
|
||||
self:UpdateRoute(nil, nil, self.depth)
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
|
||||
--- Get default cruise speed.
|
||||
-- @param #ARMYGROUP self
|
||||
-- @return #number Cruise speed (>0) in knots.
|
||||
function ARMYGROUP:GetSpeedCruise()
|
||||
return UTILS.KmphToKnots(self.speedCruise or self.speedmax*0.7)
|
||||
end
|
||||
|
||||
--- Returns a non-zero speed to the next waypoint (even if the waypoint speed is zero).
|
||||
-- @param #ARMYGROUP self
|
||||
-- @param #number indx Waypoint index.
|
||||
-- @return #number Speed to next waypoint (>0) in knots.
|
||||
function ARMYGROUP:GetSpeedToWaypoint(indx)
|
||||
|
||||
local speed=self:GetWaypointSpeed(indx)
|
||||
|
||||
if speed<=0.1 then
|
||||
speed=self:GetSpeedCruise()
|
||||
end
|
||||
|
||||
return speed
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
Reference in New Issue
Block a user