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More work on follow and tanking (added combo tasks)

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This commit is contained in:
Pax1601
2023-04-16 20:24:33 +02:00
parent 39698c66a3
commit 77d39c17b8
11 changed files with 158 additions and 114 deletions
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1
src/core/include/airunit.h
View File

@@ -26,5 +26,4 @@ protected:
void createHoldingPattern();
bool updateActivePath(bool looping);
void goToDestination(wstring enrouteTask = L"nil");
void taskWingmen();
};

113
src/core/src/airunit.cpp
View File

@@ -37,11 +37,6 @@ void AirUnit::setState(int newState)
case State::FOLLOW: {
break;
}
case State::WINGMAN: {
if (isWingman)
return;
break;
}
case State::LAND: {
break;
}
@@ -55,6 +50,7 @@ void AirUnit::setState(int newState)
/* Perform any action required when ENTERING a certain state */
switch (newState) {
case State::IDLE: {
clearActivePath();
resetActiveDestination();
break;
}
@@ -73,10 +69,7 @@ void AirUnit::setState(int newState)
break;
}
case State::FOLLOW: {
resetActiveDestination();
break;
}
case State::WINGMAN: {
clearActivePath();
resetActiveDestination();
break;
}
@@ -180,71 +173,40 @@ void AirUnit::goToDestination(wstring enrouteTask)
log(unitName + L" error, no active destination!");
}
void AirUnit::taskWingmen()
{
switch (state) {
case State::IDLE:
case State::REACH_DESTINATION:
case State::ATTACK:{
int idx = 1;
for (auto const& wingman : wingmen)
{
if (!wingman->getIsWingman())
{
wingman->setIsWingman(true);
wingman->setLeader(this);
}
if (wingman->getFormation().compare(formation) != 0)
{
wingman->resetTask();
wingman->setFormation(formation);
if (formation.compare(L"Line abreast") == 0)
wingman->setFormationOffset(Offset(0 * idx, 0 * idx, 1852 * idx));
idx++;
}
}
break;
}
default:
break;
}
}
void AirUnit::AIloop()
{
/* State machine */
switch (state) {
case State::IDLE: {
wstring enrouteTask = L"nil";
currentTask = L"Idle";
if (activeDestination == NULL || !hasTask)
if (!hasTask)
{
createHoldingPattern();
setActiveDestination();
goToDestination(enrouteTask);
std::wostringstream taskSS;
if (isTanker) {
taskSS << "{ [1] = { id = 'Orbit', pattern = 'Race-Track' }, [2] = { id = 'Tanker' } }";
}
else {
taskSS << "{ id = 'Orbit', pattern = 'Circle' }";
}
Command* command = dynamic_cast<Command*>(new SetTask(ID, taskSS.str()));
scheduler->appendCommand(command);
hasTask = true;
}
else {
if (isDestinationReached() && updateActivePath(true) && setActiveDestination())
goToDestination(enrouteTask);
}
if (isLeader)
taskWingmen();
break;
}
case State::REACH_DESTINATION: {
wstring enrouteTask = L"";
bool looping = false;
if (isTanker)
{
enrouteTask = L"{" "id = 'Tanker' }";
enrouteTask = L"{ id = 'Tanker' }";
currentTask = L"Tanker";
}
else if (isAWACS)
{
enrouteTask = L"{" "id = 'AWACS' }";
enrouteTask = L"{ id = 'AWACS' }";
currentTask = L"AWACS";
}
else
@@ -260,21 +222,16 @@ void AirUnit::AIloop()
}
else {
if (isDestinationReached()) {
if (updateActivePath(false) && setActiveDestination())
if (updateActivePath(looping) && setActiveDestination())
goToDestination(enrouteTask);
else {
setState(State::IDLE);
break;
}
}
}
if (isLeader)
taskWingmen();
}
break;
}
case State::LAND: {
wstring enrouteTask = L"{" "id = 'land' }";
currentTask = L"Landing";
@@ -284,10 +241,6 @@ void AirUnit::AIloop()
setActiveDestination();
goToDestination(enrouteTask);
}
if (isLeader)
taskWingmen();
break;
}
case State::ATTACK: {
@@ -322,34 +275,28 @@ void AirUnit::AIloop()
}
}
}
if (isLeader)
taskWingmen();
break;
}
case State::FOLLOW: {
/* TODO */
setState(State::IDLE);
break;
}
case State::WINGMAN: {
/* In the WINGMAN state, the unit relinquishes control to the leader */
clearActivePath();
activeDestination = Coords(NULL);
if (leader == nullptr || !leader->getAlive())
{
this->setFormation(L"");
this->setIsWingman(false);
/* If the target is not alive (either not set or was destroyed) go back to IDLE */
if (!isTargetAlive()) {
setState(State::IDLE);
break;
}
currentTask = L"Following " + getTargetName();
Unit* target = unitsManager->getUnit(targetID);
if (!hasTask) {
if (leader != nullptr && leader->getAlive() && formationOffset != NULL)
if (target != nullptr && target->getAlive() && formationOffset != NULL)
{
std::wostringstream taskSS;
taskSS << "{"
<< "id = 'FollowUnit'" << ", "
<< "leaderID = " << leader->getID() << ","
<< "leaderID = " << target->getID() << ","
<< "offset = {"
<< "x = " << formationOffset.x << ","
<< "y = " << formationOffset.y << ","
@@ -364,6 +311,8 @@ void AirUnit::AIloop()
break;
}
case State::REFUEL: {
currentTask = L"Refueling";
if (!hasTask) {
std::wostringstream taskSS;
taskSS << "{"
@@ -377,4 +326,6 @@ void AirUnit::AIloop()
default:
break;
}
addMeasure(L"currentTask", json::value(currentTask));
addMeasure(L"currentState", json::value(state));
}

24
src/core/src/scheduler.cpp
View File

@@ -142,14 +142,34 @@ void Scheduler::handleRequest(wstring key, json::value value)
unit->setTargetID(targetID);
unit->setState(State::ATTACK);
}
else if (key.compare(L"stopAttack") == 0)
else if (key.compare(L"followUnit") == 0)
{
int ID = value[L"ID"].as_integer();
int targetID = value[L"targetID"].as_integer();
int offsetX = value[L"offsetX"].as_integer();
int offsetY = value[L"offsetY"].as_integer();
int offsetZ = value[L"offsetZ"].as_integer();
Unit* unit = unitsManager->getUnit(ID);
Unit* target = unitsManager->getUnit(targetID);
wstring unitName;
wstring targetName;
if (unit != nullptr)
unit->setState(State::REACH_DESTINATION);
unitName = unit->getUnitName();
else
return;
if (target != nullptr)
targetName = target->getUnitName();
else
return;
log(L"Unit " + unitName + L" following unit " + targetName);
unit->setFormationOffset(Offset(offsetX, offsetY, offsetZ));
unit->setTargetID(targetID);
unit->setState(State::FOLLOW);
}
else if (key.compare(L"changeSpeed") == 0)
{

2
src/core/src/unit.cpp
View File

@@ -134,7 +134,7 @@ json::value Unit::getData(long long time)
/********** Task data **********/
json[L"taskData"] = json::value::object();
for (auto key : { L"currentTask", L"targetSpeed", L"targetAltitude", L"activePath" })
for (auto key : { L"currentTask", L"targetSpeed", L"targetAltitude", L"activePath", L"isTanker", L"isAWACS", L"TACANChannel", L"TACANXY", L"TACANCallsign", L"radioFrequency", L"radioCallsign", L"radioCallsignNumber"})
{
if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
json[L"taskData"][key] = measures[key]->getValue();

4
src/dcstools/src/dcstools.cpp
View File

@@ -105,6 +105,6 @@ int dostring_in(lua_State* L, string target, string command)
int TACANChannelToFrequency(int channel, wstring XY)
{
int basef = (XY == L"X" && channel > 63) || (XY == L"Y" && channel < 64) ? 1087000000 : 961000000;
return basef + 1000000 * channel;
int basef = (XY == L"X" && channel > 63) || (XY == L"Y" && channel < 64) ? 1087: 961;
return (basef + channel) * 1000000;
}