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https://github.com/FlightControl-Master/MOOSE.git
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NAVYGROUP
Improved dead/stop
This commit is contained in:
Frank
parent
9838e1af19
commit
f578fcfdc7
@ -314,12 +314,15 @@ end
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-- Status
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Update status.
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---- Update status.
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-- @param #NAVYGROUP self
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function NAVYGROUP:onbeforeStatus(From, Event, To)
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if self:IsDead() or self:IsStopped() or self:IsAlive()==nil then
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self:I(self.lid..string.format("Onbefore Status ==> false"))
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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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@ -342,38 +345,47 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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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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-- Check if group started or stopped turning.
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self:_CheckTurning()
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-- Check water is ahead.
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local collision=self:_CheckCollisionCoord(pos:Translate(self.collisiondist or 5000, hdg))
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self:_CheckTurnsIntoWind()
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if self.intowind then
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if timer.getAbsTime()>=self.intowind.Tstop 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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self:TurnIntoWindOver()
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-- Check if group started or stopped turning.
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self:_CheckTurning()
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-- Check water is ahead.
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local collision=self:_CheckCollisionCoord(pos:Translate(self.collisiondist or 5000, hdg))
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self:_CheckTurnsIntoWind()
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if self.intowind then
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if timer.getAbsTime()>=self.intowind.Tstop then
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self:TurnIntoWindOver()
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end
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end
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end
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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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-- 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 intowind=%s turning=%s collision=%s Tasks=%d Missions=%d",
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fsmstate, self.currentwp, #self.waypoints, speed, hdg, tostring(self:IsSteamingIntoWind()), tostring(self:IsTurning()), tostring(collision), 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: Wp=%d/%d Speed=%.1f Heading=%03d intowind=%s turning=%s collision=%s Tasks=%d Missions=%d",
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fsmstate, self.currentwp, #self.waypoints, speed, hdg, tostring(self:IsSteamingIntoWind()), tostring(self:IsTurning()), tostring(collision), nTaskTot, nMissions)
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self:I(self.lid..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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@ -434,10 +446,7 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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-- Next check in ~30 seconds.
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if not self:IsStopped() then
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self:__Status(-10)
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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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@ -458,6 +467,19 @@ function NAVYGROUP:onafterElementSpawned(From, Event, To, Element)
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end
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--- On after "ElementDead" event.
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-- @param #NAVYGROUP 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 #NAVYGROUP.Element Element The group element.
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function NAVYGROUP: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 #NAVYGROUP self
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-- @param #string From From state.
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@ -756,6 +778,54 @@ function NAVYGROUP:onafterSurface(From, Event, To)
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end
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--- On after "Dead" event.
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-- @param #NAVYGROUP 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 NAVYGROUP:onafterDead(From, Event, To)
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self:I(self.lid..string.format("Group dead!"))
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-- Delete waypoints so they are re-initialized at the next spawn.
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self.waypoints=nil
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self.groupinitialized=false
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-- Cancel all mission.
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for _,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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self:MissionCancel(mission)
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mission:GroupDead(self)
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end
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-- Stop
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self:Stop()
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end
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--- On after Start event. Starts the NAVYGROUP FSM and event handlers.
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-- @param #NAVYGROUP 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 NAVYGROUP:onafterStop(From, Event, To)
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-- Check if group is still alive.
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if self:IsAlive() then
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-- Destroy group. No event is generated.
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self.group:Destroy(false)
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end
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-- Handle events:
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self:UnHandleEvent(EVENTS.Birth)
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self:UnHandleEvent(EVENTS.Dead)
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self:UnHandleEvent(EVENTS.RemoveUnit)
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self.CallScheduler:Clear()
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self:I(self.lid.."STOPPED! Unhandled events, cleared scheduler and removed from database.")
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Events DCS
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -796,6 +866,54 @@ function NAVYGROUP:OnEventBirth(EventData)
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end
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--- Flightgroup event function handling the crash of a unit.
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-- @param #NAVYGROUP self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function NAVYGROUP:OnEventDead(EventData)
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-- Check that this is the right group.
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if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
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self:T(self.lid..string.format("EVENT: Unit %s dead!", EventData.IniUnitName))
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local unit=EventData.IniUnit
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local group=EventData.IniGroup
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local unitname=EventData.IniUnitName
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-- Get element.
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local element=self:GetElementByName(unitname)
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if element then
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self:I(self.lid..string.format("EVENT: Element %s dead ==> dead", element.name))
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self:ElementDead(element)
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end
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end
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end
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--- Flightgroup event function handling the crash of a unit.
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-- @param #NAVYGROUP self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function NAVYGROUP:OnEventRemoveUnit(EventData)
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-- Check that this is the right group.
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if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
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local unit=EventData.IniUnit
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local group=EventData.IniGroup
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local unitname=EventData.IniUnitName
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-- Get element.
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local element=self:GetElementByName(unitname)
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if element then
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self:I(self.lid..string.format("EVENT: Element %s removed ==> dead", element.name))
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self:ElementDead(element)
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end
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Routing
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -935,6 +1053,7 @@ function NAVYGROUP:_InitGroup()
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element.name=unit:GetName()
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element.typename=unit:GetTypeName()
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element.status=OPSGROUP.ElementStatus.INUTERO
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element.unit=unit
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table.insert(self.elements, element)
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self:GetAmmoUnit(unit, false)
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@ -1046,39 +1165,45 @@ end
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-- @param #NAVYGROUP self
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function NAVYGROUP:_CheckTurning()
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-- Current orientation of carrier.
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local vNew=self.group:GetUnit(1):GetOrientationX()
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local unit=self.group:GetUnit(1)
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if unit and unit:IsAlive() then
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-- Last orientation from 30 seconds ago.
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local vLast=self.Corientlast or vNew
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-- We only need the X-Z plane.
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vNew.y=0 ; vLast.y=0
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-- Angle between current heading and last time we checked ~30 seconds ago.
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local deltaLast=math.deg(math.acos(UTILS.VecDot(vNew,vLast)/UTILS.VecNorm(vNew)/UTILS.VecNorm(vLast)))
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-- Last orientation becomes new orientation
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self.Corientlast=vNew
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-- Carrier is turning when its heading changed by at least two degrees since last check.
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local turning=math.abs(deltaLast)>=2
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-- Check if turning stopped.
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if self.turning and not turning then
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-- Carrier was turning but is not any more.
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self:TurningStopped()
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-- Current orientation of carrier.
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local vNew=unit:GetOrientationX()
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-- Last orientation from 30 seconds ago.
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local vLast=self.Corientlast or vNew
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-- We only need the X-Z plane.
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vNew.y=0 ; vLast.y=0
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-- Angle between current heading and last time we checked ~30 seconds ago.
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local deltaLast=math.deg(math.acos(UTILS.VecDot(vNew,vLast)/UTILS.VecNorm(vNew)/UTILS.VecNorm(vLast)))
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-- Last orientation becomes new orientation
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self.Corientlast=vNew
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-- Carrier is turning when its heading changed by at least two degrees since last check.
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local turning=math.abs(deltaLast)>=2
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-- Check if turning stopped.
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if self.turning and not turning then
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-- Carrier was turning but is not any more.
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self:TurningStopped()
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elseif turning and not self.turning then
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-- Carrier was not turning but is now.
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self:TurningStarted()
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end
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-- Update turning.
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self.turning=turning
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elseif turning and not self.turning then
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-- Carrier was not turning but is now.
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self:TurningStarted()
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end
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-- Update turning.
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self.turning=turning
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end
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@ -1039,11 +1039,16 @@ function GROUP:GetHeading()
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local GroupSize = self:GetSize()
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local HeadingAccumulator = 0
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local n=0
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if GroupSize then
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for i = 1, GroupSize do
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HeadingAccumulator = HeadingAccumulator + self:GetUnit(i):GetHeading()
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local unit=self:GetUnit(i)
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if unit and unit:IsAlive() then
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HeadingAccumulator = HeadingAccumulator + unit:GetHeading()
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n=n+1
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end
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end
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return math.floor(HeadingAccumulator / GroupSize)
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return math.floor(HeadingAccumulator / n)
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end
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BASE:E( { "Cannot GetHeading", Group = self, Alive = self:IsAlive() } )
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