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fix: Fixed multiple errors in scenic AAA modes

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This commit is contained in:
Davide Passoni
2025-03-14 16:45:46 +01:00
parent 5acc0e8ac5
commit f0826bbdba
17 changed files with 437 additions and 160 deletions
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27
backend/core/include/unit.h
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@@ -62,6 +62,8 @@ public:
bool hasFreshData(unsigned long long time);
bool checkFreshness(unsigned char datumIndex, unsigned long long time);
unsigned int computeTotalAmmo();
/********** Setters **********/
virtual void setCategory(string newValue) { updateValue(category, newValue, DataIndex::category); }
virtual void setAlive(bool newValue) { updateValue(alive, newValue, DataIndex::alive); }
@@ -240,26 +242,29 @@ protected:
unsigned char shotsIntensity = 2;
unsigned char health = 100;
double timeToNextTasking = 0;
double barrelHeight = 1.0; /* m */
double muzzleVelocity = 860; /* m/s */
double aimTime = 10; /* s */
unsigned int shotsToFire = 10;
double shotsBaseInterval = 15; /* s */
double shotsBaseScatter = 2; /* degs */
double engagementRange = 10000; /* m */
double targetingRange = 0; /* m */
double aimMethodRange = 0; /* m */
double acquisitionRange = 0; /* m */
double barrelHeight = 0;
double muzzleVelocity = 0;
double aimTime = 0;
unsigned int shotsToFire = 0;
double shotsBaseInterval = 0;
double shotsBaseScatter = 0;
double engagementRange = 0;
double targetingRange = 0;
double aimMethodRange = 0;
double acquisitionRange = 0;
/********** Other **********/
unsigned int taskCheckCounter = 0;
unsigned int internalCounter = 0;
Unit* missOnPurposeTarget = nullptr;
bool hasTaskAssigned = false;
double initialFuel = 0;
map<unsigned char, unsigned long long> updateTimeMap;
unsigned long long lastLoopTime = 0;
bool enableTaskFailedCheck = false;
unsigned long nextTaskingMilliseconds = 0;
unsigned int totalShellsFired = 0;
unsigned int shellsFiredAtTasking = 0;
unsigned int oldAmmo = 0;
/********** Private methods **********/
virtual void AIloop() = 0;

6
backend/core/include/weapon.h
View File

@@ -113,4 +113,10 @@ class Bomb : public Weapon
{
public:
Bomb(json::value json, unsigned int ID);
};
class Shell : public Weapon
{
public:
Shell(json::value json, unsigned int ID);
};

91
backend/core/src/groundunit.cpp
View File

@@ -168,6 +168,18 @@ void GroundUnit::setState(unsigned char newState)
void GroundUnit::AIloop()
{
srand(static_cast<unsigned int>(time(NULL)) + ID);
unsigned long timeNow = std::chrono::system_clock::now().time_since_epoch() / std::chrono::milliseconds(1);
double currentAmmo = computeTotalAmmo();
/* Out of ammo */
if (currentAmmo <= shotsToFire && state != State::IDLE) {
setState(State::IDLE);
}
/* Account for unit reloading */
if (currentAmmo < oldAmmo)
totalShellsFired += oldAmmo - currentAmmo;
oldAmmo = currentAmmo;
switch (state) {
case State::IDLE: {
@@ -241,7 +253,11 @@ void GroundUnit::AIloop()
case State::SIMULATE_FIRE_FIGHT: {
string taskString = "";
if (internalCounter == 0 && targetPosition != Coords(NULL) && scheduler->getLoad() < 30) {
if (
(totalShellsFired - shellsFiredAtTasking >= shotsToFire || timeNow >= nextTaskingMilliseconds) &&
targetPosition != Coords(NULL) &&
scheduler->getLoad() < 30
) {
/* Get the distance and bearing to the target */
Coords scatteredTargetPosition = targetPosition;
double distance;
@@ -249,9 +265,12 @@ void GroundUnit::AIloop()
double bearing2;
Geodesic::WGS84().Inverse(getPosition().lat, getPosition().lng, scatteredTargetPosition.lat, scatteredTargetPosition.lng, distance, bearing1, bearing2);
/* Apply a scatter to the aim */
bearing1 += RANDOM_MINUS_ONE_TO_ONE * (ShotsScatter::LOW - shotsScatter + 1) * 10;
/* Compute the scattered position applying a random scatter to the shot */
double scatterDistance = distance * tan(10 /* degs */ * (ShotsScatter::LOW - shotsScatter) / 57.29577 + 2 / 57.29577 /* degs */) * RANDOM_MINUS_ONE_TO_ONE;
Geodesic::WGS84().Direct(scatteredTargetPosition.lat, scatteredTargetPosition.lng, bearing1 + 90, scatterDistance, scatteredTargetPosition.lat, scatteredTargetPosition.lng);
Geodesic::WGS84().Direct(scatteredTargetPosition.lat, scatteredTargetPosition.lng, bearing1, scatterDistance, scatteredTargetPosition.lat, scatteredTargetPosition.lng);
/* Recover the data from the database */
bool indirectFire = false;
@@ -267,9 +286,10 @@ void GroundUnit::AIloop()
log(unitName + "(" + name + ")" + " simulating fire fight with indirect fire");
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << scatteredTargetPosition.lat << ", lng = " << scatteredTargetPosition.lng << ", radius = 100}";
taskSS << "{id = 'FireAtPoint', lat = " << scatteredTargetPosition.lat << ", lng = " << scatteredTargetPosition.lng << ", radius = 0.01}";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
}
/* Otherwise use the aim method */
@@ -281,18 +301,17 @@ void GroundUnit::AIloop()
}
/* Wait an amout of time depending on the shots intensity */
internalCounter = static_cast<unsigned int>(((ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + aimTime) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(2 * aimTime * 1000);
}
if (targetPosition == Coords(NULL))
setState(State::IDLE);
/* Fallback if something went wrong */
if (internalCounter == 0)
internalCounter = static_cast<unsigned int>(3 / FRAMERATE_TIME_INTERVAL);
internalCounter--;
if (timeNow >= nextTaskingMilliseconds)
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(3 * 1000);
setTimeToNextTasking(internalCounter * FRAMERATE_TIME_INTERVAL);
setTimeToNextTasking(((nextTaskingMilliseconds - timeNow) / 1000.0));
if (taskString.length() > 0)
setTask(taskString);
@@ -303,7 +322,8 @@ void GroundUnit::AIloop()
string taskString = "";
/* Only perform scenic functions when the scheduler is "free" */
if (((!getHasTask() && scheduler->getLoad() < 30) || internalCounter == 0)) {
if ((totalShellsFired - shellsFiredAtTasking >= shotsToFire || timeNow >= nextTaskingMilliseconds) &&
scheduler->getLoad() < 30) {
double distance = 0;
unsigned char unitCoalition = coalition == 0 ? getOperateAs() : coalition;
unsigned char targetCoalition = unitCoalition == 2 ? 1 : 2;
@@ -341,17 +361,18 @@ void GroundUnit::AIloop()
taskString += "Scenic AAA. Bearing: " + to_string((int)round(randomBearing)) + "deg";
}
taskString += ". Aim point elevation " + to_string((int) round(barrelElevation)) + "m AGL";
taskString += ". Aim point elevation " + to_string((int) round(barrelElevation - position.alt)) + "m AGL";
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << lat << ", lng = " << lng << ", alt = " << barrelElevation << ", radius = 0.001, expendQty = " << shotsToFire << " }";
taskSS << "{id = 'FireAtPoint', lat = " << lat << ", lng = " << lng << ", alt = " << barrelElevation << ", radius = 0.001 }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
/* Wait an amout of time depending on the shots intensity */
internalCounter = static_cast<unsigned int>(((ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + aimTime) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(2 * aimTime * 1000);
}
else {
if (target == nullptr)
@@ -361,11 +382,10 @@ void GroundUnit::AIloop()
}
}
if (internalCounter == 0)
internalCounter = static_cast<unsigned int>(3 / FRAMERATE_TIME_INTERVAL);
internalCounter--;
if (timeNow >= nextTaskingMilliseconds)
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(3 * 1000);
setTimeToNextTasking(internalCounter * FRAMERATE_TIME_INTERVAL);
setTimeToNextTasking((nextTaskingMilliseconds - timeNow) / 1000.0);
if (taskString.length() > 0)
setTask(taskString);
@@ -385,7 +405,8 @@ void GroundUnit::AIloop()
if (canAAA) {
/* Only perform scenic functions when the scheduler is "free" */
/* Only run this when the internal counter reaches 0 to avoid excessive computations when no nearby target */
if (scheduler->getLoad() < 30 && internalCounter == 0) {
if ((totalShellsFired - shellsFiredAtTasking >= shotsToFire || timeNow >= nextTaskingMilliseconds) &&
scheduler->getLoad() < 30) {
double distance = 0;
unsigned char unitCoalition = coalition == 0 ? getOperateAs() : coalition;
unsigned char targetCoalition = unitCoalition == 2 ? 1 : 2;
@@ -422,9 +443,10 @@ void GroundUnit::AIloop()
taskSS << "{id = 'AttackUnit', unitID = " << target->getID() << " }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
internalCounter = static_cast<unsigned int>((correctedAimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(2 * aimTime * 1000);
}
/* Else, do miss on purpose */
else {
@@ -443,14 +465,15 @@ void GroundUnit::AIloop()
/* If the unit is closer than the engagement range, use the fire at point method */
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << aimLat << ", lng = " << aimLng << ", alt = " << aimAlt << ", radius = 0.001, expendQty = " << shotsToFire << " }";
taskSS << "{id = 'FireAtPoint', lat = " << aimLat << ", lng = " << aimLng << ", alt = " << aimAlt << ", radius = 0.001 }";
taskString += ". Aiming altitude " + to_string((int)round((aimAlt - position.alt) / 0.3048)) + "ft AGL";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
internalCounter = static_cast<unsigned int>((correctedAimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(2 * aimTime * 1000);
}
else if (distance < aimMethodRange) {
taskString += ". Range is less than aim method range (" + to_string((int)round(aimMethodRange / 0.3048)) + "ft), using AIM method.";
@@ -460,7 +483,7 @@ void GroundUnit::AIloop()
taskString += aimMethodTask;
setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
internalCounter = static_cast<unsigned int>((correctedAimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(2 * aimTime * 1000);
}
else {
taskString += ". Target is not in range of weapon, waking up unit to get ready for tasking.";
@@ -471,11 +494,12 @@ void GroundUnit::AIloop()
taskSS << "{id = 'FireAtPoint', lat = " << 0 << ", lng = " << 0 << ", alt = " << 0 << ", radius = 0.001, expendQty = " << 0 << " }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
setTargetPosition(Coords(NULL));
/* Don't wait too long before checking again */
internalCounter = static_cast<unsigned int>(5 / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>(5 * 1000);
}
}
missOnPurposeTarget = target;
@@ -488,24 +512,24 @@ void GroundUnit::AIloop()
}
/* If no valid target was detected */
if (internalCounter == 0) {
if (timeNow >= nextTaskingMilliseconds) {
double alertnessTimeConstant = 10; /* s */
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
if (databaseEntry.has_number_field(L"alertnessTimeConstant"))
alertnessTimeConstant = databaseEntry[L"alertnessTimeConstant"].as_number().to_double();
}
internalCounter = static_cast<unsigned int>((5 + RANDOM_ZERO_TO_ONE * alertnessTimeConstant) / FRAMERATE_TIME_INTERVAL);
nextTaskingMilliseconds = timeNow + static_cast<unsigned long>((5 + RANDOM_ZERO_TO_ONE * alertnessTimeConstant) * 1000L);
missOnPurposeTarget = nullptr;
setTargetPosition(Coords(NULL));
}
internalCounter--;
}
else {
setState(State::IDLE);
}
setTimeToNextTasking(internalCounter * FRAMERATE_TIME_INTERVAL);
setTimeToNextTasking((nextTaskingMilliseconds - timeNow) / 1000.0);
if (taskString.length() > 0)
setTask(taskString);
@@ -528,20 +552,6 @@ string GroundUnit::aimAtPoint(Coords aimTarget) {
/* Aim point distance */
double r = 15; /* m */
/* Default gun values */
double barrelHeight = 1.0; /* m */
double muzzleVelocity = 860; /* m/s */
double shotsBaseScatter = 5; /* degs */
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
if (databaseEntry.has_number_field(L"barrelHeight") && databaseEntry.has_number_field(L"muzzleVelocity")) {
barrelHeight = databaseEntry[L"barrelHeight"].as_number().to_double();
muzzleVelocity = databaseEntry[L"muzzleVelocity"].as_number().to_double();
}
if (databaseEntry.has_number_field(L"shotsBaseScatter"))
shotsBaseScatter = databaseEntry[L"shotsBaseScatter"].as_number().to_double();
}
/* Compute the elevation angle of the gun*/
double deltaHeight = (aimTarget.alt - (position.alt + barrelHeight));
double alpha = 9.81 / 2 * dist * dist / (muzzleVelocity * muzzleVelocity);
@@ -564,6 +574,7 @@ string GroundUnit::aimAtPoint(Coords aimTarget) {
taskSS << "{id = 'FireAtPoint', lat = " << lat << ", lng = " << lng << ", alt = " << position.alt + barrelElevation + barrelHeight << ", radius = 0.001}";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
shellsFiredAtTasking = totalShellsFired;
setHasTask(true);
}
else {

8
backend/core/src/unit.cpp
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@@ -825,3 +825,11 @@ void Unit::setHasTaskAssigned(bool newHasTaskAssigned) {
void Unit::triggerUpdate(unsigned char datumIndex) {
updateTimeMap[datumIndex] = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
}
unsigned int Unit::computeTotalAmmo()
{
unsigned int totalShells = 0;
for (auto const& ammoItem : ammo)
totalShells += ammoItem.quantity;
return totalShells;
}

7
backend/core/src/weapon.cpp
View File

@@ -113,4 +113,11 @@ Bomb::Bomb(json::value json, unsigned int ID) : Weapon(json, ID)
{
log("New Bomb created with ID: " + to_string(ID));
setCategory("Bomb");
};
/* Shell */
Shell::Shell(json::value json, unsigned int ID) : Weapon(json, ID)
{
log("New Shell created with ID: " + to_string(ID));
setCategory("Shell");
};

2
backend/core/src/weaponsmanager.cpp
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@@ -41,6 +41,8 @@ void WeaponsManager::update(json::value& json, double dt)
weapons[ID] = dynamic_cast<Weapon*>(new Missile(p.second, ID));
else if (category.compare("Bomb") == 0)
weapons[ID] = dynamic_cast<Weapon*>(new Bomb(p.second, ID));
else if (category.compare("Shell") == 0)
weapons[ID] = dynamic_cast<Weapon*>(new Shell(p.second, ID));
/* Initialize the weapon if creation was successfull */
if (weapons.count(ID) != 0) {