From ce10390406bc05082fd2671d304f9b5ae5d6c45c Mon Sep 17 00:00:00 2001
From: Frank <frank@inter-zone.de>
Date: Wed, 7 Oct 2020 23:26:46 +0200
Subject: [PATCH 1/5] ARMYGROUP

---
 Moose Development/Moose/Ops/ArmyGroup.lua | 143 ++++++++++---------
 Moose Development/Moose/Ops/OpsGroup.lua  | 166 +++++++++-------------
 2 files changed, 146 insertions(+), 163 deletions(-)

diff --git a/Moose Development/Moose/Ops/ArmyGroup.lua b/Moose Development/Moose/Ops/ArmyGroup.lua
index c566c5b1c..c063d3c18 100644
--- a/Moose Development/Moose/Ops/ArmyGroup.lua	
+++ b/Moose Development/Moose/Ops/ArmyGroup.lua	
@@ -140,6 +140,18 @@ function ARMYGROUP:GetClosestRoad()
   return self:GetCoordinate():GetClosestPointToRoad()
 end
 
+--- Get 2D distance to the closest road.
+-- @param #ARMYGROUP self
+-- @return #number Distance in meters to the closest road.
+function ARMYGROUP:GetClosestRoadDist()
+  local road=self:GetClosestRoad()
+  if road then
+    local dist=road:Get2DDistance(self:GetCoordinate())
+    return dist
+  end
+  return math.huge
+end
+
 
 --- Add a *scheduled* task to fire at a given coordinate.
 -- @param #ARMYGROUP self
@@ -372,80 +384,75 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
   -- Waypoints.
   local waypoints={}
   
-  -- Total number of waypoints
-  local N=#self.waypoints
-
-  -- Add remaining waypoints to route.
-  for i=n, N do
+  -- Next waypoint.
+  local wp=UTILS.DeepCopy(self.waypoints[n]) --Ops.OpsGroup#OPSGROUP.Waypoint
   
-    -- Copy waypoint.
-    local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
-    
-    if i==n then
-    
-      ---
-      -- Next Waypoint
-      ---
-    
-      if Speed then
-        wp.speed=UTILS.KnotsToMps(Speed)
-      else
-        -- Take default waypoint speed.
-      end
-      
-      if self.formationPerma then
-        --if self.formationPerma==ENUMS.Formation.Vehicle.OnRoad then
-          wp.action=self.formationPerma
-        --end
-      elseif Formation then 
-        wp.action=Formation
-      end
-      
-      -- Current set formation.
-      self.option.Formation=wp.action
-      
-      -- Current set speed in m/s.
-      self.speedWp=wp.speed
-    
-    else
+  -- Do we want to drive on road to the next wp?
+  local onroad=wp.action==ENUMS.Formation.Vehicle.OnRoad  
 
-      ---
-      -- Later Waypoint(s)
-      ---
-    
-      if self.formationPerma then
-        wp.action=self.formationPerma
-      else
-        -- Take default waypoint speed.
-      end
-      
-    end
-    
-    if wp.roaddist>100 and wp.action==ENUMS.Formation.Vehicle.OnRoad then
-    
-      -- Waypoint is actually off road!
-      wp.action=ENUMS.Formation.Vehicle.OffRoad
+  -- Current point.
+  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OffRoad)
+  table.insert(waypoints, current)
+
+  -- Insert a point on road.
+  if onroad then
+    local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
+    table.insert(waypoints, current)
+  end
 
-      -- Add "On Road" waypoint in between.
-      local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad)
-      table.insert(waypoints, wproad)     
-    end    
-     
-    -- Debug info.
-    self:T(string.format("WP %d %s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.type, wp.speed, wp.alt, wp.action))
         
-    -- Add waypoint.
-    table.insert(waypoints, wp)
+  -- Speed.
+  if Speed then
+    wp.speed=UTILS.KnotsToMps(Speed)
+  else
+    -- Take default waypoint speed.
+  end
+  
+  -- Formation.
+  if self.formationPerma then
+    wp.action=self.formationPerma
+  elseif Formation then 
+    wp.action=Formation
+  end
+  
+  -- Current set formation.
+  self.option.Formation=wp.action
+  
+  -- Current set speed in m/s.
+  self.speedWp=wp.speed
+
+  -- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
+  if onroad then
+  
+    -- The real waypoint is actually off road.
+    wp.action=ENUMS.Formation.Vehicle.OffRoad
+
+    -- Add "On Road" waypoint in between.
+    local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad) --Ops.OpsGroup#OPSGROUP.Waypoint
+    
+    -- Insert road waypoint.
+    table.insert(waypoints, wproad)
+  end    
+        
+  -- Add waypoint.
+  table.insert(waypoints, wp)
+  
+  -- Debug output.
+  if false then
+    for i,_wp in pairs(waypoints) do
+      local wp=_wp
+      local text=string.format("WP #%d UID=%d type=%s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.uid and wp.uid or 0, wp.type, wp.speed, wp.alt, wp.action)
+      self:I(text)
+      if wp.coordinate then
+        wp.coordinate:MarkToAll(text)
+      end
+    end
   end
 
 
-  -- Current waypoint.
-  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), self.option.Formation)
-  table.insert(waypoints, 1, current)
-  table.insert(waypoints, 1, current)  -- Seems to be better to add this twice. Otherwise, the passing waypoint functions is triggered to early!
-
-  if #waypoints>2 then
+  if #waypoints>=2 then
   
+    -- Debug info.
     self:T(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Formation=%s", 
     self.currentwp, n, #self.waypoints, #waypoints-2, UTILS.MpsToKnots(self.speedWp), tostring(self.option.Formation)))
 
@@ -646,7 +653,7 @@ end
 
 --- 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 Core.Point#COORDINATE Coordinate The coordinate of the waypoint.
 -- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
 -- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
 -- @param #number Formation Formation the group will use.
@@ -683,7 +690,7 @@ function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation
   end
   
   -- Debug info.
-  self:T(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
+  self:I(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
   
   -- Update route.
   if Updateroute==nil or Updateroute==true then
diff --git a/Moose Development/Moose/Ops/OpsGroup.lua b/Moose Development/Moose/Ops/OpsGroup.lua
index 67b6335b1..2d0010b78 100644
--- a/Moose Development/Moose/Ops/OpsGroup.lua	
+++ b/Moose Development/Moose/Ops/OpsGroup.lua	
@@ -1133,18 +1133,21 @@ end
 --- Get next waypoint index.
 -- @param #OPSGROUP self
 -- @param #boolean cyclic If true, return first waypoint if last waypoint was reached. Default is patrol ad infinitum value set.
+-- @param #number i Waypoint index from which the next index is returned. Default is the last waypoint passed.
 -- @return #number Next waypoint index.
-function OPSGROUP:GetWaypointIndexNext(cyclic)
+function OPSGROUP:GetWaypointIndexNext(cyclic, i)
 
   if cyclic==nil then
     cyclic=self.adinfinitum
   end
   
   local N=#self.waypoints
-
-  local n=math.min(self.currentwp+1, N)
   
-  if cyclic and self.currentwp==N then
+  i=i or self.currentwp
+
+  local n=math.min(i+1, N)
+  
+  if cyclic and i==N then
     n=1
   end
   
@@ -2677,18 +2680,18 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
     -- Set switch to true.    
     self.passedfinalwp=true
     
-    -- Check if all tasks/mission are done? If so, RTB or WAIT.
-    -- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
-    if ntasks==0 then
-      self:_CheckGroupDone(1)
-    end
+  end
 
+  -- Check if all tasks/mission are done? If so, RTB or WAIT.
+  -- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
+  if ntasks==0 then
+    self:_CheckGroupDone()
   end
 
   -- Debug info.
   local text=string.format("Group passed waypoint %s/%d ID=%d: final=%s detour=%s astar=%s", 
   tostring(wpindex), #self.waypoints, Waypoint.uid, tostring(self.passedfinalwp), tostring(Waypoint.detour), tostring(Waypoint.astar))
-  self:T(self.lid..text)
+  self:I(self.lid..text)
   
 end
 
@@ -3058,92 +3061,60 @@ function OPSGROUP:_CheckGroupDone(delay)
       self:ScheduleOnce(delay, self._CheckGroupDone, self)
     else
     
-      if self.passedfinalwp then
-      
-        ---
-        -- Passed FINAL waypoint
-        ---
-      
-        if #self.waypoints>1 then
-        
-          if self.adinfinitum then
-          
-            -- Get positive speed to first waypoint.
-            local speed=self:GetSpeedToWaypoint(1)
-          
-            -- Start route at first waypoint.
-            self:__UpdateRoute(-1, 1, speed)
-            
-            self:T(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=TRUE ==> Goto WP 1 at speed>0"))
-                        
-            self.passedfinalwp=false
-            
-          else
-            -- No further waypoints. Command a full stop.
-            self:__FullStop(-1)
-            
-            self:T(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=FALSE ==> Full Stop"))
-          end
-          
-        elseif #self.waypoints==1 then
-        
-          --- Only one WP left
-        
-          -- The last waypoint.
-          local waypoint=self.waypoints[1] --Ops.OpsGroup#OPSGROUP.Waypoint
-          
-          local dist=self:GetCoordinate():Get2DDistance(waypoint.coordinate)          
-          
-          
-          if self.adinfinitum and dist>1000 then  -- Note that dist>100 caused the same wp to be passed a lot of times.
-          
-            self:T(self.lid..string.format("Passed final WP, #WP=1, adinfinitum=TRUE dist>1000 ==> Goto WP 1 at speed>0"))
-
-            -- Get positive speed to first waypoint.
-            local speed=self:GetSpeedToWaypoint(1)
-          
-            -- Start route at first waypoint.
-            self:__UpdateRoute(-1, 1, speed)
-            
-            self.passedfinalwp=false
-            
-          else
-          
-            self:T(self.lid..string.format("Passed final WP, #WP=1, adinfinitum=FALSE or dist<1000 ==> Full Stop"))
-          
-            self:__FullStop(-1)
-            
-          end
-          
-        else
-        
-          --- No waypoints left
-
-          -- No further waypoints. Command a full stop.
-          self:T(self.lid..string.format("No waypoints left ==> Full Stop"))
-          
-          self:__FullStop(-1)
-          
-        end
     
+      if self.adinfinitum then
+      
+        ---
+        -- Parol Ad Infinitum
+        ---
+      
+        -- Next waypoint index.
+        local i=self:GetWaypointIndexNext(true)
+        
+        -- Get positive speed to first waypoint.
+        local speed=self:GetSpeedToWaypoint(i)
+        
+        -- Start route at first waypoint.
+        self:UpdateRoute(i, speed)
+        
+        self:T(self.lid..string.format("Adinfinitum=TRUE ==> Goto WP index=%d at speed=%d knots", i, speed))
+
       else
       
         ---
-        -- Final waypoint NOT passed yet
+        -- Finite Patrol
         ---
-      
-        if #self.waypoints>0 then
-          self:T(self.lid..string.format("NOT Passed final WP, #WP>0 ==> Update Route"))
-          self:__UpdateRoute(-1)
-        else
-          self:E(self.lid..string.format("WARNING: No waypoints left! Commanding a Full Stop"))
+    
+        if self.passedfinalwp then
+        
+          ---
+          -- Passed FINAL waypoint
+          ---
+  
+          -- No further waypoints. Command a full stop.
           self:__FullStop(-1)
+              
+          self:T(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=FALSE ==> Full Stop"))
+  
+        else
+        
+          ---
+          -- Final waypoint NOT passed yet
+          ---
+        
+          if #self.waypoints>0 then
+            self:T(self.lid..string.format("NOT Passed final WP, #WP>0 ==> Update Route"))
+            self:UpdateRoute()
+          else
+            self:E(self.lid..string.format("WARNING: No waypoints left! Commanding a Full Stop"))
+            self:__FullStop(-1)
+          end
+          
         end
         
       end
-    
-    end
-    
+      
+    end    
   end
   
 end
@@ -3368,7 +3339,7 @@ function OPSGROUP:_UpdateWaypointTasks(n)
     if i>=n or nwaypoints==1 then
     
       -- Debug info.
-      self:T(self.lid..string.format("Updating waypoint task for waypoint %d/%d ID=%d. Last waypoint passed %d", i, nwaypoints, wp.uid, self.currentwp))
+      self:T2(self.lid..string.format("Updating waypoint task for waypoint %d/%d ID=%d. Last waypoint passed %d", i, nwaypoints, wp.uid, self.currentwp))
   
       -- Tasks of this waypoint
       local taskswp={}
@@ -3401,12 +3372,12 @@ function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
   
   if waypoint then
   
+    -- Current wp.
+    local currentwp=opsgroup.currentwp
+  
     -- Get the current waypoint index.
     opsgroup.currentwp=opsgroup:GetWaypointIndex(uid)
-    
-    -- Increase passing counter.
-    waypoint.npassed=waypoint.npassed+1
-    
+        
     -- Set expected speed and formation from the next WP.
     local wpnext=opsgroup:GetWaypointNext()  
     if wpnext then
@@ -3450,13 +3421,18 @@ function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
   
     -- Debug message.
     local text=string.format("Group passing waypoint uid=%d", uid)
-    opsgroup:T2(opsgroup.lid..text)
-  
+    opsgroup:T(opsgroup.lid..text)
+    
     -- Trigger PassingWaypoint event.
     if not (waypoint.astar or waypoint.detour) then
+
+      -- Increase passing counter.
+      waypoint.npassed=waypoint.npassed+1    
+      
+      -- Call event function.
       opsgroup:PassingWaypoint(waypoint)
     end
-    
+
   end
 
 end

From 591dd128ce4d00808684196ea0186f390b5b0672 Mon Sep 17 00:00:00 2001
From: Frank <frank@inter-zone.de>
Date: Fri, 9 Oct 2020 00:15:19 +0200
Subject: [PATCH 2/5] Navygroup

---
 Moose Development/Moose/Ops/NavyGroup.lua | 74 ++++++++---------------
 Moose Development/Moose/Ops/OpsGroup.lua  | 35 +++++++----
 2 files changed, 49 insertions(+), 60 deletions(-)

diff --git a/Moose Development/Moose/Ops/NavyGroup.lua b/Moose Development/Moose/Ops/NavyGroup.lua
index 4dcf3f739..fad6bd75a 100644
--- a/Moose Development/Moose/Ops/NavyGroup.lua	
+++ b/Moose Development/Moose/Ops/NavyGroup.lua	
@@ -617,65 +617,43 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   -- Waypoints.
   local waypoints={}
   
-  -- Add remaining waypoints to route.
-  local depth=nil
-  for i=n, #self.waypoints do
-  
-    -- Waypoint.
-    local wp=UTILS.DeepCopy(self.waypoints[i])  --Ops.OpsGroup#OPSGROUP.Waypoint
-
-    -- Check if next wp.
-    if i==n then
+  -- Waypoint.
+  local wp=UTILS.DeepCopy(self.waypoints[n])  --Ops.OpsGroup#OPSGROUP.Waypoint
     
-      -- Speed.
-      if Speed then
-        -- Take speed specified.
-        wp.speed=UTILS.KnotsToMps(Speed)
-      else
-        -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
-        if self.adinfinitum and wp.speed<0.1 then
-          wp.speed=UTILS.KmphToMps(self.speedCruise)
-        end
-      end
-      
-      if Depth then
-        wp.alt=-Depth
-      elseif self.depth then
-        wp.alt=-self.depth
-      else
-        -- Take default waypoint alt.
-      end
-      
-      -- Current set speed in m/s.
-      self.speedWp=wp.speed
-      
-      -- Current set depth.
-      depth=wp.alt
-    
-    else
-      
-      -- Dive depth is applied to all other waypoints.
-      if self.depth then
-        wp.alt=-self.depth
-      else        
-        -- Take default waypoint depth.
-      end      
-      
+  -- Speed.
+  if Speed then
+    -- Take speed specified.
+    wp.speed=UTILS.KnotsToMps(Speed)
+  else
+    -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
+    if self.adinfinitum and wp.speed<0.1 then
+      wp.speed=UTILS.KmphToMps(self.speedCruise)
     end
-
-    -- Add waypoint.
-    table.insert(waypoints, wp)
   end
   
+  if Depth then
+    wp.alt=-Depth
+  elseif self.depth then
+    wp.alt=-self.depth
+  else
+    -- Take default waypoint alt.
+  end
+  
+  -- Current set speed in m/s.
+  self.speedWp=wp.speed
+
+  -- Add waypoint.
+  table.insert(waypoints, wp)
+  
   -- Current waypoint.
-  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), depth)
+  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), wp.alt)
   table.insert(waypoints, 1, current)  
 
   
   if #waypoints>1 then
 
     self:T(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Depth=%d m", 
-    self.currentwp, n, #self.waypoints, #waypoints-1, UTILS.MpsToKnots(self.speedWp), depth))
+    self.currentwp, n, #self.waypoints, #waypoints-1, UTILS.MpsToKnots(self.speedWp), wp.alt))
 
 
     -- Route group to all defined waypoints remaining.
diff --git a/Moose Development/Moose/Ops/OpsGroup.lua b/Moose Development/Moose/Ops/OpsGroup.lua
index 2d0010b78..6d10ae8e1 100644
--- a/Moose Development/Moose/Ops/OpsGroup.lua	
+++ b/Moose Development/Moose/Ops/OpsGroup.lua	
@@ -2682,10 +2682,10 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
     
   end
 
-  -- Check if all tasks/mission are done? If so, RTB or WAIT.
+  -- Check if all tasks/mission are done?
   -- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
   if ntasks==0 then
-    self:_CheckGroupDone()
+    self:_CheckGroupDone(0.1)
   end
 
   -- Debug info.
@@ -3061,23 +3061,34 @@ function OPSGROUP:_CheckGroupDone(delay)
       self:ScheduleOnce(delay, self._CheckGroupDone, self)
     else
     
+      local waypoint=self:GetWaypoint(self.currentwp)
+    
+      local n=self:GetTasksWaypoint(id)
+    
     
       if self.adinfinitum then
       
         ---
         -- Parol Ad Infinitum
         ---
+
+        if #self.waypoints>0 then
       
-        -- Next waypoint index.
-        local i=self:GetWaypointIndexNext(true)
-        
-        -- Get positive speed to first waypoint.
-        local speed=self:GetSpeedToWaypoint(i)
-        
-        -- Start route at first waypoint.
-        self:UpdateRoute(i, speed)
-        
-        self:T(self.lid..string.format("Adinfinitum=TRUE ==> Goto WP index=%d at speed=%d knots", i, speed))
+          -- Next waypoint index.
+          local i=self:GetWaypointIndexNext(true)
+          
+          -- Get positive speed to first waypoint.
+          local speed=self:GetSpeedToWaypoint(i)
+          
+          -- Start route at first waypoint.
+          self:UpdateRoute(i, speed)
+          
+          self:T(self.lid..string.format("Adinfinitum=TRUE ==> Goto WP index=%d at speed=%d knots", i, speed))
+          
+        else
+          self:E(self.lid..string.format("WARNING: No waypoints left! Commanding a Full Stop"))
+          self:__FullStop(-1)        
+        end
 
       else
       

From 7792381c36d64cb6e8b969e5a9703b0c7fb7af1f Mon Sep 17 00:00:00 2001
From: Frank <frank@inter-zone.de>
Date: Fri, 9 Oct 2020 17:10:24 +0200
Subject: [PATCH 3/5] OPS

---
 Moose Development/Moose/Ops/ArmyGroup.lua | 24 +++++++--------
 Moose Development/Moose/Ops/OpsGroup.lua  | 36 +++++++++++++++++++++--
 2 files changed, 45 insertions(+), 15 deletions(-)

diff --git a/Moose Development/Moose/Ops/ArmyGroup.lua b/Moose Development/Moose/Ops/ArmyGroup.lua
index c063d3c18..f655563f0 100644
--- a/Moose Development/Moose/Ops/ArmyGroup.lua	
+++ b/Moose Development/Moose/Ops/ArmyGroup.lua	
@@ -388,18 +388,7 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
   local wp=UTILS.DeepCopy(self.waypoints[n]) --Ops.OpsGroup#OPSGROUP.Waypoint
   
   -- Do we want to drive on road to the next wp?
-  local onroad=wp.action==ENUMS.Formation.Vehicle.OnRoad  
-
-  -- Current point.
-  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OffRoad)
-  table.insert(waypoints, current)
-
-  -- Insert a point on road.
-  if onroad then
-    local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
-    table.insert(waypoints, current)
-  end
-
+  local onroad=wp.action==ENUMS.Formation.Vehicle.OnRoad
         
   -- Speed.
   if Speed then
@@ -436,6 +425,17 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
         
   -- Add waypoint.
   table.insert(waypoints, wp)
+
+
+  -- Current point.
+  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OffRoad)
+  table.insert(waypoints, 1, current)
+
+  -- Insert a point on road.
+  if onroad then
+    local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
+    table.insert(waypoints, 2, current)
+  end
   
   -- Debug output.
   if false then
diff --git a/Moose Development/Moose/Ops/OpsGroup.lua b/Moose Development/Moose/Ops/OpsGroup.lua
index 6d10ae8e1..9281907e0 100644
--- a/Moose Development/Moose/Ops/OpsGroup.lua	
+++ b/Moose Development/Moose/Ops/OpsGroup.lua	
@@ -1677,6 +1677,26 @@ function OPSGROUP:GetTasksWaypoint(id)
   return tasks
 end
 
+--- Count remaining waypoint tasks.
+-- @param #OPSGROUP self
+-- @param #number uid Unique waypoint ID.
+-- @return #number Number of waypoint tasks.
+function OPSGROUP:CountTasksWaypoint(id)
+
+  -- Tasks table.    
+  local n=0
+
+  -- Look for first task that SCHEDULED.
+  for _,_task in pairs(self.taskqueue) do
+    local task=_task --#OPSGROUP.Task
+    if task.type==OPSGROUP.TaskType.WAYPOINT and task.status==OPSGROUP.TaskStatus.SCHEDULED and task.waypoint==id then
+      n=n+1
+    end
+  end
+  
+  return n
+end
+
 --- Sort task queue.
 -- @param #OPSGROUP self
 function OPSGROUP:_SortTaskQueue()
@@ -3061,10 +3081,20 @@ function OPSGROUP:_CheckGroupDone(delay)
       self:ScheduleOnce(delay, self._CheckGroupDone, self)
     else
     
+      -- Get current waypoint.
       local waypoint=self:GetWaypoint(self.currentwp)
-    
-      local n=self:GetTasksWaypoint(id)
-    
+
+      if waypoint then
+      
+        -- Number of tasks remaining for this waypoint.
+        local ntasks=self:CountTasksWaypoint(waypoint.uid)
+        
+        -- We only want to update the route if there are no more tasks to be done.
+        if ntasks>0 then
+          self:T(self.lid..string.format("Still got %d tasks for the current waypoint UID=%d", ntasks, waypoint.uid))
+          return
+        end
+      end  
     
       if self.adinfinitum then
       

From 2ad81ca49934fe09847114aeec026ea10993ee04 Mon Sep 17 00:00:00 2001
From: Frank <frank@inter-zone.de>
Date: Mon, 12 Oct 2020 00:09:02 +0200
Subject: [PATCH 4/5] Ops

---
 Moose Development/Moose/Ops/Airboss.lua   | 10 ++--
 Moose Development/Moose/Ops/ArmyGroup.lua | 68 ++++++++++++++---------
 Moose Development/Moose/Ops/Auftrag.lua   |  2 +
 Moose Development/Moose/Ops/NavyGroup.lua | 19 +++----
 Moose Development/Moose/Ops/OpsGroup.lua  | 38 ++++++++-----
 5 files changed, 81 insertions(+), 56 deletions(-)

diff --git a/Moose Development/Moose/Ops/Airboss.lua b/Moose Development/Moose/Ops/Airboss.lua
index c5fa5ce49..4b7c3fe3f 100644
--- a/Moose Development/Moose/Ops/Airboss.lua	
+++ b/Moose Development/Moose/Ops/Airboss.lua	
@@ -1273,17 +1273,19 @@ AIRBOSS.AircraftCarrier={
 
 --- Carrier types.
 -- @type AIRBOSS.CarrierType
--- @field #string ROOSEVELT USS Theodore Roosevelt (CVN-71)
--- @field #string LINCOLN USS Abraham Lincoln (CVN-72)
--- @field #string WASHINGTON USS George Washington (CVN-73)
+-- @field #string ROOSEVELT USS Theodore Roosevelt (CVN-71) [Super Carrier Module]
+-- @field #string LINCOLN USS Abraham Lincoln (CVN-72) [Super Carrier Module]
+-- @field #string WASHINGTON USS George Washington (CVN-73) [Super Carrier Module]
 -- @field #string STENNIS USS John C. Stennis (CVN-74)
--- @field #string VINSON USS Carl Vinson (CVN-70)
+-- @field #string TRUMAN USS Harry S. Trueman (CVN-75) [Super Carrier Module]
+-- @field #string VINSON USS Carl Vinson (CVN-70) [Obsolete]
 -- @field #string TARAWA USS Tarawa (LHA-1)
 -- @field #string KUZNETSOV Admiral Kuznetsov (CV 1143.5)
 AIRBOSS.CarrierType={
   ROOSEVELT="CVN_71",
   LINCOLN="CVN_72",
   WASHINGTON="CVN_73",
+  TRUMAN="CVN_75",
   STENNIS="Stennis",
   VINSON="VINSON",
   TARAWA="LHA_Tarawa",
diff --git a/Moose Development/Moose/Ops/ArmyGroup.lua b/Moose Development/Moose/Ops/ArmyGroup.lua
index f655563f0..115607b46 100644
--- a/Moose Development/Moose/Ops/ArmyGroup.lua	
+++ b/Moose Development/Moose/Ops/ArmyGroup.lua	
@@ -40,7 +40,7 @@ ARMYGROUP = {
 
 --- Army Group version.
 -- @field #string version
-ARMYGROUP.version="0.1.0"
+ARMYGROUP.version="0.3.0"
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- TODO list
@@ -350,7 +350,7 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
     
     -- Set TACAN to default.
     self:_SwitchTACAN()
-
+    
     -- Turn on the radio.
     if self.radioDefault then
       self:SwitchRadio(self.radioDefault.Freq, self.radioDefault.Modu)
@@ -361,7 +361,7 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
   end
   
   -- Update route.
-  self:Cruise()
+  self:Cruise(nil, self.option.Formation or self.optionDefault.Formation)
   
 end
 
@@ -394,7 +394,10 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
   if Speed then
     wp.speed=UTILS.KnotsToMps(Speed)
   else
-    -- Take default waypoint speed.
+    -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
+    if self.adinfinitum and wp.speed<0.1 then
+      wp.speed=UTILS.KmphToMps(self.speedCruise)
+    end
   end
   
   -- Formation.
@@ -425,10 +428,15 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
         
   -- Add waypoint.
   table.insert(waypoints, wp)
-
+  
+  -- Apply formation at the current position or it will only be changed when reaching the next waypoint.
+  local formation=ENUMS.Formation.Vehicle.OffRoad
+  if wp.action~=ENUMS.Formation.Vehicle.OnRoad then
+    formation=wp.action
+  end
 
   -- Current point.
-  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OffRoad)
+  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation)
   table.insert(waypoints, 1, current)
 
   -- Insert a point on road.
@@ -442,32 +450,31 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
     for i,_wp in pairs(waypoints) do
       local wp=_wp
       local text=string.format("WP #%d UID=%d type=%s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.uid and wp.uid or 0, wp.type, wp.speed, wp.alt, wp.action)
-      self:I(text)
-      if wp.coordinate then
+      self:T(text)
+      if false and wp.coordinate then
         wp.coordinate:MarkToAll(text)
       end
     end
   end
 
-
-  if #waypoints>=2 then
+  if not self.passedfinalwp then
   
     -- Debug info.
-    self:T(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Formation=%s", 
-    self.currentwp, n, #self.waypoints, #waypoints-2, UTILS.MpsToKnots(self.speedWp), tostring(self.option.Formation)))
-
+    self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Formation=%s", 
+    self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), tostring(self.option.Formation)))
+  
     -- Route group to all defined waypoints remaining.
     self:Route(waypoints)
     
   else
-  
+
     ---
-    -- No waypoints left
+    -- Passed final WP ==> Full Stop
     ---
   
-    self:E(self.lid..string.format("WARNING: No waypoints left ==> Full Stop!"))    
-    self:FullStop()
-        
+    self:E(self.lid..string.format("WARNING: Passed final WP ==> Full Stop!"))
+    self:FullStop()  
+  
   end
 
 end
@@ -746,8 +753,7 @@ function ARMYGROUP:_InitGroup()
   self:SetDefaultRadio(self.radio.Freq, self.radio.Modu, self.radio.On)
   
   -- Set default formation from first waypoint.
-  self.option.Formation=self:GetWaypoint(1).action
-  self.optionDefault.Formation=self.option.Formation
+  self.optionDefault.Formation=self:GetWaypoint(1).action
 
   -- Default TACAN off.
   self:SetDefaultTACAN(nil, nil, nil, nil, true)
@@ -815,10 +821,11 @@ end
 -- @param #ARMYGROUP self
 -- @param #number Formation New formation the group will fly in. Default is the setting of `SetDefaultFormation()`.
 -- @param #boolean Permanently If true, formation always used from now on.
+-- @param #boolean NoRouteUpdate If true, route is not updated.
 -- @return #ARMYGROUP self
-function ARMYGROUP:SwitchFormation(Formation, Permanently)
+function ARMYGROUP:SwitchFormation(Formation, Permanently, NoRouteUpdate)
 
-  if self:IsAlive() then
+  if self:IsAlive() or self:IsInUtero() then
   
     Formation=Formation or self.optionDefault.Formation
 
@@ -831,11 +838,20 @@ function ARMYGROUP:SwitchFormation(Formation, Permanently)
     -- Set current formation.
     self.option.Formation=Formation
     
-    -- Update route with the new formation.
-    self:__UpdateRoute(-1, nil, nil, Formation)
+    if self:IsInUtero() then
+        self:T(self.lid..string.format("Will switch formation to %s (permanently=%s) when group is spawned", self.option.Formation, tostring(Permanently)))
+    else
     
-    -- Debug info.
-    self:T(self.lid..string.format("Switching formation to %s (permanently=%s)", self.option.Formation, tostring(Permanently)))
+      -- Update route with the new formation.
+      if NoRouteUpdate then
+      else
+        self:__UpdateRoute(-1, nil, nil, Formation)
+      end
+      
+      -- Debug info.
+      self:T(self.lid..string.format("Switching formation to %s (permanently=%s)", self.option.Formation, tostring(Permanently)))
+      
+    end
 
   end
 
diff --git a/Moose Development/Moose/Ops/Auftrag.lua b/Moose Development/Moose/Ops/Auftrag.lua
index affd7e1b3..002509c7d 100644
--- a/Moose Development/Moose/Ops/Auftrag.lua	
+++ b/Moose Development/Moose/Ops/Auftrag.lua	
@@ -1166,6 +1166,8 @@ function AUFTRAG:NewARTY(Target, Nshots, Radius)
   mission.artyShots=Nshots or 3
   mission.artyRadius=Radius or 100
   
+  mission.engageWeaponType=ENUMS.WeaponFlag.Auto
+  
   mission.optionROE=ENUMS.ROE.OpenFire   -- Ground/naval need open fire!
   mission.optionAlarm=0
   
diff --git a/Moose Development/Moose/Ops/NavyGroup.lua b/Moose Development/Moose/Ops/NavyGroup.lua
index fad6bd75a..1ef4a3473 100644
--- a/Moose Development/Moose/Ops/NavyGroup.lua	
+++ b/Moose Development/Moose/Ops/NavyGroup.lua	
@@ -241,14 +241,15 @@ end
 -- @param #number Nshots Number of shots to fire. Default 3.
 -- @param #number WeaponType Type of weapon. Default auto.
 -- @param #number Prio Priority of the task.
+-- @param #number Duration Duration in seconds after which the task is cancelled. Default *never*.
 -- @return Ops.OpsGroup#OPSGROUP.Task The task table.
-function NAVYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio)
+function NAVYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio, Duration)
 
   Waypoint=Waypoint or self:GetWaypointNext()
 
   local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
 
-  local task=self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
+  local task=self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio, Duration)
 
   return task
 end
@@ -608,9 +609,6 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   -- Update route from this waypoint number onwards.
   n=n or self:GetWaypointIndexNext()
   
-  -- Debug info.
-  self:T(self.lid..string.format("Update route n=%d", n))
-  
   -- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
   self:_UpdateWaypointTasks(n)
 
@@ -650,11 +648,10 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   table.insert(waypoints, 1, current)  
 
   
-  if #waypoints>1 then
-
-    self:T(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Depth=%d m", 
-    self.currentwp, n, #self.waypoints, #waypoints-1, UTILS.MpsToKnots(self.speedWp), wp.alt))
+  if not self.passedfinalwp then
 
+    -- Debug info.
+    self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Depth=%d m", self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), wp.alt))
 
     -- Route group to all defined waypoints remaining.
     self:Route(waypoints)
@@ -662,10 +659,10 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   else
   
     ---
-    -- No waypoints left ==> Full Stop
+    -- Passed final WP ==> Full Stop
     ---
   
-    self:E(self.lid..string.format("WARNING: No waypoints left ==> Full Stop!"))    
+    self:E(self.lid..string.format("WARNING: Passed final WP ==> Full Stop!"))
     self:FullStop()
     
   end
diff --git a/Moose Development/Moose/Ops/OpsGroup.lua b/Moose Development/Moose/Ops/OpsGroup.lua
index 9281907e0..733cdd056 100644
--- a/Moose Development/Moose/Ops/OpsGroup.lua	
+++ b/Moose Development/Moose/Ops/OpsGroup.lua	
@@ -479,11 +479,11 @@ function OPSGROUP:AddCheckZone(CheckZone)
 end
 
 
---- Add a zone that triggers and event if the group enters or leaves any of the zones.
+--- Add a weapon range for ARTY auftrag. 
 -- @param #OPSGROUP self
--- @param #number RangeMin
--- @param #number RangeMax
--- @param #number BitType
+-- @param #number RangeMin Minimum range in kilometers. Default 0 km.
+-- @param #number RangeMax Maximum range in kilometers. Default 10 km.
+-- @param #number BitType Bit mask of weapon type for which the given min/max ranges apply. Default is `ENUMS.WeaponFlag.Auto`, i.e. for all weapon types.
 -- @return #OPSGROUP self
 function OPSGROUP:AddWeaponRange(RangeMin, RangeMax, BitType)
 
@@ -2565,9 +2565,14 @@ function OPSGROUP:RouteToMission(mission, delay)
       end
     
     end
+    
+    local formation=nil
+    if self.isGround and mission.optionFormation then
+      formation=mission.optionFormation
+    end
 
     -- Add waypoint.
-    local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, nil, false)
+    local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, formation, false)
     
     -- Add waypoint task. UpdateRoute is called inside.
     local waypointtask=self:AddTaskWaypoint(mission.DCStask, waypoint, mission.name, mission.prio, mission.duration)
@@ -2595,7 +2600,7 @@ function OPSGROUP:RouteToMission(mission, delay)
       self:SwitchAlarmstate(mission.optionAlarm)
     end
     -- Formation
-    if mission.optionFormation then
+    if mission.optionFormation and self.isAircraft then
       self:SwitchFormation(mission.optionFormation)
     end      
     -- Radio frequency and modulation.
@@ -2697,8 +2702,10 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
   -- Final waypoint reached?
   if wpindex==nil or wpindex==#self.waypoints then
 
-    -- Set switch to true.    
-    self.passedfinalwp=true
+    -- Set switch to true.
+    if not self.adinfinitum or #self.waypoints<=1 then
+      self.passedfinalwp=true
+    end
     
   end
 
@@ -2711,7 +2718,7 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
   -- Debug info.
   local text=string.format("Group passed waypoint %s/%d ID=%d: final=%s detour=%s astar=%s", 
   tostring(wpindex), #self.waypoints, Waypoint.uid, tostring(self.passedfinalwp), tostring(Waypoint.detour), tostring(Waypoint.astar))
-  self:I(self.lid..text)
+  self:T(self.lid..text)
   
 end
 
@@ -3091,7 +3098,7 @@ function OPSGROUP:_CheckGroupDone(delay)
         
         -- We only want to update the route if there are no more tasks to be done.
         if ntasks>0 then
-          self:T(self.lid..string.format("Still got %d tasks for the current waypoint UID=%d", ntasks, waypoint.uid))
+          self:T(self.lid..string.format("Still got %d tasks for the current waypoint UID=%d ==> RETURN (no action)", ntasks, waypoint.uid))
           return
         end
       end  
@@ -3135,7 +3142,7 @@ function OPSGROUP:_CheckGroupDone(delay)
           -- No further waypoints. Command a full stop.
           self:__FullStop(-1)
               
-          self:T(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=FALSE ==> Full Stop"))
+          self:T(self.lid..string.format("Passed final WP, adinfinitum=FALSE ==> Full Stop"))
   
         else
         
@@ -3295,17 +3302,18 @@ function OPSGROUP:InitWaypoints()
   self.waypoints={}
   
   for index,wp in pairs(self.waypoints0) do
-  
-    --local waypoint=self:_CreateWaypoint(wp)    
-    --self:_AddWaypoint(waypoint)
-    
+
+    -- Coordinate of the waypoint.    
     local coordinate=COORDINATE:New(wp.x, wp.alt, wp.y)
+    
+    -- Speed at the waypoint.
     local speedknots=UTILS.MpsToKnots(wp.speed)
     
     if index==1 then
       self.speedWp=wp.speed
     end
     
+    -- Add waypoint.
     self:AddWaypoint(coordinate, speedknots, index-1, nil, false)
      
   end

From 23c22651be30de6b33c5764db7fbced43de2bfca Mon Sep 17 00:00:00 2001
From: Frank <frank@inter-zone.de>
Date: Mon, 12 Oct 2020 00:21:47 +0200
Subject: [PATCH 5/5] Update Airboss.lua

- Added USS Harry S. Truman (CVN-75) as SC type.
---
 Moose Development/Moose/Ops/Airboss.lua | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Moose Development/Moose/Ops/Airboss.lua b/Moose Development/Moose/Ops/Airboss.lua
index 4b7c3fe3f..b40da4fbb 100644
--- a/Moose Development/Moose/Ops/Airboss.lua	
+++ b/Moose Development/Moose/Ops/Airboss.lua	
@@ -1277,7 +1277,7 @@ AIRBOSS.AircraftCarrier={
 -- @field #string LINCOLN USS Abraham Lincoln (CVN-72) [Super Carrier Module]
 -- @field #string WASHINGTON USS George Washington (CVN-73) [Super Carrier Module]
 -- @field #string STENNIS USS John C. Stennis (CVN-74)
--- @field #string TRUMAN USS Harry S. Trueman (CVN-75) [Super Carrier Module]
+-- @field #string TRUMAN USS Harry S. Truman (CVN-75) [Super Carrier Module]
 -- @field #string VINSON USS Carl Vinson (CVN-70) [Obsolete]
 -- @field #string TARAWA USS Tarawa (LHA-1)
 -- @field #string KUZNETSOV Admiral Kuznetsov (CV 1143.5)
@@ -1946,8 +1946,10 @@ function AIRBOSS:New(carriername, alias)
     self:_InitNimitz()
   elseif self.carriertype==AIRBOSS.CarrierType.LINCOLN then
     self:_InitNimitz()    
-  elseif self.carriertype==AIRBOSS.CarrierType.WASHINGTON then
+  elseif self.carriertype==AIRBOSS.CarrierType.WASHINGTON then  
     self:_InitNimitz()
+  elseif self.carriertype==AIRBOSS.CarrierType.TRUMAN then  
+    self:_InitNimitz()    
   elseif self.carriertype==AIRBOSS.CarrierType.VINSON then
     -- TODO: Carl Vinson parameters.
     self:_InitStennis()