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FlightControl
461
Moose Development/Moose/AI/AI_A2A_Gci.lua
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461
Moose Development/Moose/AI/AI_A2A_Gci.lua
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--- **AI** -- **Execute Ground Controlled Interception (GCI).**
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--
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-- 
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--
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-- ===
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--
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-- AI A2A_INTEREPT class makes AI Groups execute an Intercept.
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--
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-- There are the following types of GCI classes defined:
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--
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-- * @{#AI_A2A_GCI}: Perform a GCI in a zone.
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--
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-- ====
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--
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-- ### Author: **Sven Van de Velde (FlightControl)**
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--
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-- ### Contributions:
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--
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-- ====
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--
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-- @module AI_A2A_GCI
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--BASE:TraceClass("AI_A2A_GCI")
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--- @type AI_A2A_GCI
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-- @extends AI.AI_A2A#AI_A2A
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--- # AI_A2A_GCI class, extends @{AI_A2A#AI_A2A}
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--
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-- The AI_A2A_GCI class implements the core functions to intercept intruders. The Engage function will intercept intruders.
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--
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-- 
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--
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-- The AI_A2A_GCI is assigned a @{Group} and this must be done before the AI_A2A_GCI process can be started using the **Start** event.
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--
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-- 
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--
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-- The AI will fly towards the random 3D point within the patrol zone, using a random speed within the given altitude and speed limits.
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-- Upon arrival at the 3D point, a new random 3D point will be selected within the patrol zone using the given limits.
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--
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-- 
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--
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-- This cycle will continue.
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--
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-- 
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--
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-- During the patrol, the AI will detect enemy targets, which are reported through the **Detected** event.
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--
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-- 
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--
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-- When enemies are detected, the AI will automatically engage the enemy.
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--
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-- 
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--
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-- Until a fuel or damage treshold has been reached by the AI, or when the AI is commanded to RTB.
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-- When the fuel treshold has been reached, the airplane will fly towards the nearest friendly airbase and will land.
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--
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-- 
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--
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-- ## 1. AI_A2A_GCI constructor
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--
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-- * @{#AI_A2A_GCI.New}(): Creates a new AI_A2A_GCI object.
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--
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-- ## 2. AI_A2A_GCI is a FSM
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--
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-- 
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--
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-- ### 2.1 AI_A2A_GCI States
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--
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-- * **None** ( Group ): The process is not started yet.
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-- * **Patrolling** ( Group ): The AI is patrolling the Patrol Zone.
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-- * **Engaging** ( Group ): The AI is engaging the bogeys.
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-- * **Returning** ( Group ): The AI is returning to Base..
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--
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-- ### 2.2 AI_A2A_GCI Events
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--
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-- * **@{AI_Patrol#AI_PATROL_ZONE.Start}**: Start the process.
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-- * **@{AI_Patrol#AI_PATROL_ZONE.Route}**: Route the AI to a new random 3D point within the Patrol Zone.
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-- * **@{#AI_A2A_GCI.Engage}**: Let the AI engage the bogeys.
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-- * **@{#AI_A2A_GCI.Abort}**: Aborts the engagement and return patrolling in the patrol zone.
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-- * **@{AI_Patrol#AI_PATROL_ZONE.RTB}**: Route the AI to the home base.
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-- * **@{AI_Patrol#AI_PATROL_ZONE.Detect}**: The AI is detecting targets.
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-- * **@{AI_Patrol#AI_PATROL_ZONE.Detected}**: The AI has detected new targets.
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-- * **@{#AI_A2A_GCI.Destroy}**: The AI has destroyed a bogey @{Unit}.
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-- * **@{#AI_A2A_GCI.Destroyed}**: The AI has destroyed all bogeys @{Unit}s assigned in the CAS task.
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-- * **Status** ( Group ): The AI is checking status (fuel and damage). When the tresholds have been reached, the AI will RTB.
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--
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-- ## 3. Set the Range of Engagement
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--
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-- 
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--
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-- An optional range can be set in meters,
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-- that will define when the AI will engage with the detected airborne enemy targets.
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-- The range can be beyond or smaller than the range of the Patrol Zone.
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-- The range is applied at the position of the AI.
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-- Use the method @{AI_GCI#AI_A2A_GCI.SetEngageRange}() to define that range.
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--
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-- ## 4. Set the Zone of Engagement
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--
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-- 
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--
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-- An optional @{Zone} can be set,
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-- that will define when the AI will engage with the detected airborne enemy targets.
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-- Use the method @{AI_Cap#AI_A2A_GCI.SetEngageZone}() to define that Zone.
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--
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-- ===
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--
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-- @field #AI_A2A_GCI
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AI_A2A_GCI = {
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ClassName = "AI_A2A_GCI",
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}
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--- Creates a new AI_A2A_GCI object
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup
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-- @return #AI_A2A_GCI
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function AI_A2A_GCI:New( AIGroup, EngageMinSpeed, EngageMaxSpeed )
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-- Inherits from BASE
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local self = BASE:Inherit( self, AI_A2A:New( AIGroup ) ) -- #AI_A2A_GCI
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self.Accomplished = false
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self.Engaging = false
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self.EngageMinSpeed = EngageMinSpeed
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self.EngageMaxSpeed = EngageMaxSpeed
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self.PatrolMinSpeed = EngageMinSpeed
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self.PatrolMaxSpeed = EngageMaxSpeed
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self.PatrolAltType = "RADIO"
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self:AddTransition( { "Started", "Engaging", "Returning" }, "Engage", "Engaging" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_GCI.
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--- OnBefore Transition Handler for Event Engage.
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-- @function [parent=#AI_A2A_GCI] OnBeforeEngage
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Engage.
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-- @function [parent=#AI_A2A_GCI] OnAfterEngage
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Engage.
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-- @function [parent=#AI_A2A_GCI] Engage
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-- @param #AI_A2A_GCI self
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--- Asynchronous Event Trigger for Event Engage.
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-- @function [parent=#AI_A2A_GCI] __Engage
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-- @param #AI_A2A_GCI self
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-- @param #number Delay The delay in seconds.
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--- OnLeave Transition Handler for State Engaging.
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-- @function [parent=#AI_A2A_GCI] OnLeaveEngaging
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnEnter Transition Handler for State Engaging.
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-- @function [parent=#AI_A2A_GCI] OnEnterEngaging
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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self:AddTransition( "Engaging", "Fired", "Engaging" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_GCI.
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--- OnBefore Transition Handler for Event Fired.
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-- @function [parent=#AI_A2A_GCI] OnBeforeFired
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Fired.
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-- @function [parent=#AI_A2A_GCI] OnAfterFired
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Fired.
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-- @function [parent=#AI_A2A_GCI] Fired
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-- @param #AI_A2A_GCI self
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--- Asynchronous Event Trigger for Event Fired.
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-- @function [parent=#AI_A2A_GCI] __Fired
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-- @param #AI_A2A_GCI self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "*", "Destroy", "*" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_GCI.
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--- OnBefore Transition Handler for Event Destroy.
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-- @function [parent=#AI_A2A_GCI] OnBeforeDestroy
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Destroy.
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-- @function [parent=#AI_A2A_GCI] OnAfterDestroy
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Destroy.
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-- @function [parent=#AI_A2A_GCI] Destroy
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-- @param #AI_A2A_GCI self
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--- Asynchronous Event Trigger for Event Destroy.
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-- @function [parent=#AI_A2A_GCI] __Destroy
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-- @param #AI_A2A_GCI self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "Engaging", "Abort", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_GCI.
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--- OnBefore Transition Handler for Event Abort.
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-- @function [parent=#AI_A2A_GCI] OnBeforeAbort
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Abort.
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-- @function [parent=#AI_A2A_GCI] OnAfterAbort
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Abort.
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-- @function [parent=#AI_A2A_GCI] Abort
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-- @param #AI_A2A_GCI self
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--- Asynchronous Event Trigger for Event Abort.
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-- @function [parent=#AI_A2A_GCI] __Abort
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-- @param #AI_A2A_GCI self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "Engaging", "Accomplish", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_GCI.
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--- OnBefore Transition Handler for Event Accomplish.
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-- @function [parent=#AI_A2A_GCI] OnBeforeAccomplish
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Accomplish.
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-- @function [parent=#AI_A2A_GCI] OnAfterAccomplish
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Accomplish.
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-- @function [parent=#AI_A2A_GCI] Accomplish
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-- @param #AI_A2A_GCI self
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--- Asynchronous Event Trigger for Event Accomplish.
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-- @function [parent=#AI_A2A_GCI] __Accomplish
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-- @param #AI_A2A_GCI self
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-- @param #number Delay The delay in seconds.
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return self
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end
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--- onafter State Transition for Event Patrol.
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-- @param #AI_A2A_GCI self
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-- @param Wrapper.Group#GROUP AIGroup The AI Group managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2A_GCI:onafterEngage( AIGroup, From, Event, To )
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self:HandleEvent( EVENTS.Dead )
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end
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-- todo: need to fix this global function
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--- @param Wrapper.Group#GROUP AIControllable
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function AI_A2A_GCI.InterceptRoute( AIControllable )
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AIControllable:T( "NewEngageRoute" )
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local EngageZone = AIControllable:GetState( AIControllable, "EngageZone" ) -- AI.AI_Cap#AI_A2A_GCI
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EngageZone:Engage()
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end
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|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
function AI_A2A_GCI:onbeforeEngage( AIGroup, From, Event, To )
|
||||
|
||||
if self.Accomplished == true then
|
||||
return false
|
||||
end
|
||||
end
|
||||
|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AI Group managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
function AI_A2A_GCI:onafterAbort( AIGroup, From, Event, To )
|
||||
AIGroup:ClearTasks()
|
||||
self:Return()
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||||
self:RTB()
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||||
end
|
||||
|
||||
|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
function AI_A2A_GCI:onafterEngage( AIGroup, From, Event, To, AttackSetUnit )
|
||||
|
||||
self:F( { AIGroup, From, Event, To, AttackSetUnit} )
|
||||
|
||||
self.AttackSetUnit = AttackSetUnit or self.AttackSetUnit -- Core.Set#SET_UNIT
|
||||
|
||||
local FirstAttackUnit = self.AttackSetUnit:GetFirst()
|
||||
|
||||
if FirstAttackUnit then
|
||||
|
||||
if AIGroup:IsAlive() then
|
||||
|
||||
local EngageRoute = {}
|
||||
|
||||
--- Calculate the target route point.
|
||||
|
||||
local CurrentCoord = AIGroup:GetCoordinate()
|
||||
|
||||
local ToTargetCoord = self.AttackSetUnit:GetFirst():GetCoordinate()
|
||||
self:SetTargetDistance( ToTargetCoord ) -- For RTB status check
|
||||
|
||||
local ToTargetSpeed = math.random( self.EngageMinSpeed, self.EngageMaxSpeed )
|
||||
local ToInterceptAngle = CurrentCoord:GetAngleDegrees( CurrentCoord:GetDirectionVec3( ToTargetCoord ) )
|
||||
|
||||
--- Create a route point of type air.
|
||||
local ToPatrolRoutePoint = CurrentCoord:Translate( 5000, ToInterceptAngle ):RoutePointAir(
|
||||
self.PatrolAltType,
|
||||
POINT_VEC3.RoutePointType.TurningPoint,
|
||||
POINT_VEC3.RoutePointAction.TurningPoint,
|
||||
ToTargetSpeed,
|
||||
true
|
||||
)
|
||||
|
||||
self:F( { Angle = ToInterceptAngle, ToTargetSpeed = ToTargetSpeed } )
|
||||
self:T2( { self.EngageMinSpeed, self.EngageMaxSpeed, ToTargetSpeed } )
|
||||
|
||||
EngageRoute[#EngageRoute+1] = ToPatrolRoutePoint
|
||||
|
||||
AIGroup:OptionROEOpenFire()
|
||||
AIGroup:OptionROTPassiveDefense()
|
||||
|
||||
local AttackTasks = {}
|
||||
|
||||
for AttackUnitID, AttackUnit in pairs( self.AttackSetUnit:GetSet() ) do
|
||||
local AttackUnit = AttackUnit -- Wrapper.Unit#UNIT
|
||||
self:T( { "Intercepting Unit:", AttackUnit:GetName(), AttackUnit:IsAlive(), AttackUnit:IsAir() } )
|
||||
if AttackUnit:IsAlive() and AttackUnit:IsAir() then
|
||||
AttackTasks[#AttackTasks+1] = AIGroup:TaskAttackUnit( AttackUnit )
|
||||
end
|
||||
end
|
||||
|
||||
--- Now we're going to do something special, we're going to call a function from a waypoint action at the AIControllable...
|
||||
AIGroup:WayPointInitialize( EngageRoute )
|
||||
|
||||
|
||||
if #AttackTasks == 0 then
|
||||
self:E("No targets found -> Going RTB")
|
||||
self:Return()
|
||||
self:RTB()
|
||||
else
|
||||
AttackTasks[#AttackTasks+1] = AIGroup:TaskFunction( 1, #AttackTasks, "AI_A2A_GCI.InterceptRoute" )
|
||||
EngageRoute[1].task = AIGroup:TaskCombo( AttackTasks )
|
||||
|
||||
--- Do a trick, link the NewEngageRoute function of the object to the AIControllable in a temporary variable ...
|
||||
AIGroup:SetState( AIGroup, "EngageZone", self )
|
||||
end
|
||||
|
||||
--- NOW ROUTE THE GROUP!
|
||||
AIGroup:WayPointExecute( 1, 2 )
|
||||
|
||||
end
|
||||
else
|
||||
self:E("No targets found -> Going RTB")
|
||||
self:Return()
|
||||
self:RTB()
|
||||
end
|
||||
end
|
||||
|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
function AI_A2A_GCI:onafterAccomplish( AIGroup, From, Event, To )
|
||||
self.Accomplished = true
|
||||
self:SetDetectionOff()
|
||||
end
|
||||
|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Wrapper.Group#GROUP AIGroup The AIGroup Object managed by the FSM.
|
||||
-- @param #string From The From State string.
|
||||
-- @param #string Event The Event string.
|
||||
-- @param #string To The To State string.
|
||||
-- @param Core.Event#EVENTDATA EventData
|
||||
function AI_A2A_GCI:onafterDestroy( AIGroup, From, Event, To, EventData )
|
||||
|
||||
if EventData.IniUnit then
|
||||
self.AttackUnits[EventData.IniUnit] = nil
|
||||
end
|
||||
end
|
||||
|
||||
--- @param #AI_A2A_GCI self
|
||||
-- @param Core.Event#EVENTDATA EventData
|
||||
function AI_A2A_GCI:OnEventDead( EventData )
|
||||
self:F( { "EventDead", EventData } )
|
||||
|
||||
if EventData.IniDCSUnit then
|
||||
if self.AttackUnits and self.AttackUnits[EventData.IniUnit] then
|
||||
self:__Destroy( 1, EventData )
|
||||
end
|
||||
end
|
||||
end
|
||||
Reference in New Issue
Block a user