Infantry boarding python script

First version of working python script to manage units embarking and disembarking more natively than DCS core can handle / do.

scripts/python/API/infantry_boarding.py

@@ -1,28 +1,16 @@
 import asyncio
 from asyncio import Semaphore
-import json
 from random import randrange
 from api import API, Unit, UnitSpawnTable
 from math import pi
 import logging
+import time
 
 #Set some globals up
-alternate_time = 300
+before_can_re_embark_time = 300 # this is the time it takes for the infantry, after disembarking, to become embarkable again
-before_can_re_embark_time = 300
+min_toggle_time_period = 30 # this should typically be however long it takes the longest thing to load or unload, used to prevent accidental re toggling the toggle switch too early by accident
 ####Transport types#####
-transport_ground = {
+transport_ground = {}
-    "M-113": { 
-        "max_capacity": 4,
-        "max_embark_range": 50,
-        "doors": 1,
-        "door_positions": [(3.35,pi),(0,0)],
-        "board_positions": [(15,pi),(0,0)],
-        "door_argument_nos": None,
-        "door_open_thresholds": None,
-        "is_rear_loader": True,
-        "boarding_distance": 5
-      }
-    }
 
 transport_helicopters = {
     "UH-1H":{
@@ -30,11 +18,48 @@ transport_helicopters = {
         "max_embark_range": 100,
         "doors": 2,
         "door_positions": [(2.5,-pi/2),(0.8,0),(2.5,pi/2),(0.8,0)],  #two values here offset and heading offset in radians and second distance offset and heading offset in radians
-        "board_positions": [(15,-pi/2),(0,0),(15,pi/2),(0,0)],
+        "centre_offset_position": [(0,0),(0,0)],  #used for calculating the unit door centre, when the doors aren't in line with the centre
         "door_argument_nos": [43,44], #draw argument numbers for the doors
         "door_open_thresholds": [0.8,0.8], #value above which the door is considered open
         "is_rear_loader": False,
-        "boarding_distance": 5
+        "boarding_distance": 5,
+        "rotor_radius": 15
+      },
+      "CH-47Fbl1":{
+            "max_capacity": 30,
+            "max_embark_range": 100,
+            "doors": 1,
+            "door_positions": [(12,-pi),(0,0)],  #two values here offset and heading offset in radians and second distance offset and heading offset in radians
+            "centre_offset_position": [(11,-pi),(0,0)],  #used for calculating the unit door centre, when the doors aren't in line with the centre
+            "door_argument_nos": [86], #draw argument numbers for the doors
+            "door_open_thresholds": [0.55], #value above which the door is considered open
+            "is_rear_loader": True,
+            "boarding_distance": 10,
+             "rotor_radius": 31
+      },
+      "Mi-8MT":{
+            "max_capacity": 24,
+            "max_embark_range": 100,
+            "doors": 1,
+            "door_positions": [(6,-pi),(0,0)],  #two values here offset and heading offset in radians and second distance offset and heading offset in radians
+            "centre_offset_position": [(5.5,-pi),(0,0)],  #used for calculating the unit door centre, when the doors aren't in line with the centre
+            "door_argument_nos": [86], #draw argument numbers for the doors
+            "door_open_thresholds": [0.8], #value above which the door is considered open
+            "is_rear_loader": True,
+            "boarding_distance": 10,
+            "rotor_radius": 22
+      },
+      "Mi-24P":{           
+            "max_capacity": 8,
+            "max_embark_range": 100,
+            "doors": 2,
+            "door_positions": [(2.5,+pi/2),(1.2,0),(2.5,-pi/2),(1.2,0)],  #two values here offset and heading offset in radians and second distance offset and heading offset in radians
+            "centre_offset_position": [(0,0),(0,0)],  #used for calculating the unit door centre, when the doors aren't in line with the centre
+            "door_argument_nos": [38,86], #draw argument numbers for the doors
+            "door_open_thresholds": [0.8,0.8], #value above which the door is considered open
+            "is_rear_loader": False,
+            "boarding_distance": 5,
+            "rotor_radius": 18
       }
 }
 
@@ -48,36 +73,42 @@ embarker_types = embarker_inf_blue.union(embarker_inf_red)
 #Time it takes after loading or unloading to swap back to the other
 
 # Setup a logger for the module
-logger = logging.getLogger("infantry_transport")
+logger = logging.getLogger("infantry_boarding")
 logger.setLevel(logging.INFO)
 handler = logging.StreamHandler()
 formatter = logging.Formatter('[%(asctime)s] %(name)s - %(levelname)s - %(message)s')
 handler.setFormatter(formatter)
 logger.addHandler(handler)
 
+def cross_product_2d(v1, v2):
+    return v1[0] * v2[1] - v1[1] * v2[0]
+
+def determine_side(self, door):
+    # Calculate relative vectors
+    vector_to_unit = [
+        self.position.lat - self.transport_unit.position.lat,
+        self.position.lng - self.transport_unit.position.lng
+    ]
+    vector_to_door = [
+        door.lat - self.transport_unit.position.lat,
+        door.lng - self.transport_unit.position.lng
+    ]
+
+    # Compute the 2D cross product
+    cross_z = cross_product_2d(vector_to_unit, vector_to_door)
+
+    # Determine the side based on the sign of the cross product
+    if cross_z > 0:
+        return True
+    elif cross_z < 0:
+       return False
+    else:
+        return True
+
 class Transporter(Unit):
     def __init__(self, Unit):
         self.unit = Unit
 
-    def to_json(self):
-        return {
-            "is_transport": self.unit.is_transport,
-            "max_capacity": self.unit.max_capacity,
-            "current_capacity": self.unit.current_capacity,
-            "max_embark_range": self.unit.max_embark_range,
-            "boarding_distance": self.unit.boarding_distance,
-            "current_cargo_weight": self.unit.current_cargo_weight,
-            "unit_array": [unit.ID for unit in self.unit.unit_array],
-            "en_boarding_queue": [unit.ID for unit in self.unit.en_boarding_queue],
-            "doors": self.unit.doors,
-            "door_positions": self.unit.door_positions,
-            "board_positions": self.unit.board_positions,
-            "door_argument_nos": self.unit.door_argument_nos,
-            "door_open_thresholds": self.unit.door_open_thresholds,
-            "is_rear_loader": self.unit.is_rear_loader,
-            "will_disembark": self.unit.will_disembark
-        }
-
     def set_as_transport(self):
         self.unit.is_transport = True
         if self.unit.name in transport_helicopters:
@@ -89,65 +120,86 @@ class Transporter(Unit):
                 self.unit.current_cargo_weight = 0
                 self.unit.unit_array = []
                 self.unit.en_boarding_queue = []
+                self.unit.current_max_capacity = 0
                 self.unit.doors = transport_helicopters["UH-1H"]["doors"]
                 self.unit.door_positions = transport_helicopters["UH-1H"]["door_positions"]
-                self.unit.board_positions = transport_helicopters["UH-1H"]["board_positions"]
+                self.unit.centre_offset_position = transport_helicopters["UH-1H"]["centre_offset_position"]
-
                 self.unit.door_argument_nos = transport_helicopters["UH-1H"]["door_argument_nos"]
-                self.unit.will_disembark = False
-                self.unit.register_draw_argument(43) #Register draw argument 43 for UH-1H
-                self.unit.register_draw_argument(44)
                 self.unit.door_open_thresholds = transport_helicopters["UH-1H"]["door_open_thresholds"]
+                self.unit.will_disembark = True
+                self.unit.register_draw_argument(43) #left door
+                self.unit.register_draw_argument(44) #right door
+                self.unit.register_draw_argument(446) #interior light colour switch, we use as a toggle
+                self.unit.loading_toggle_argument = 2 #this is the argument registered in the index on the draw arguments that controls loading state, have to trial and error what it is for each transport type
+                self.unit.disembark_embark_argument_toggle_argument_threshold = 0.7
                 self.unit.is_rear_loader = transport_helicopters["UH-1H"]["is_rear_loader"]
+                self.unit.rotor_radius = transport_helicopters["UH-1H"]["rotor_radius"]
+            elif self.unit.name == "CH-47Fbl1":
+                self.unit.max_capacity = transport_helicopters["CH-47Fbl1"]["max_capacity"]
+                self.unit.max_embark_range = transport_helicopters["CH-47Fbl1"]["max_embark_range"]
+                self.unit.boarding_distance = transport_helicopters["CH-47Fbl1"]["boarding_distance"]
+                self.unit.current_capacity = 0
+                self.unit.current_cargo_weight = 0
+                self.unit.unit_array = []
+                self.unit.en_boarding_queue = []
+                self.unit.current_max_capacity = 0
+                self.unit.doors = transport_helicopters["CH-47Fbl1"]["doors"]
+                self.unit.centre_offset_position = transport_helicopters["CH-47Fbl1"]["centre_offset_position"]
+                self.unit.door_positions = transport_helicopters["CH-47Fbl1"]["door_positions"]
+                self.unit.door_argument_nos = transport_helicopters["CH-47Fbl1"]["door_argument_nos"]
+                self.unit.door_open_thresholds = transport_helicopters["CH-47Fbl1"]["door_open_thresholds"]
+                self.unit.will_disembark = True
+                self.unit.register_draw_argument(86) #rear ramp
+                self.unit.register_draw_argument(606) #interior light colour switch, we use as a toggle
+                self.unit.loading_toggle_argument = 1 #this is the argument registered in the index on the draw arguments that controls loading state, have to trial and error what it is for each transport type
+                self.unit.disembark_embark_argument_toggle_argument_threshold = 0.5
+                self.unit.is_rear_loader = transport_helicopters["CH-47Fbl1"]["is_rear_loader"]
+                self.unit.rotor_radius = transport_helicopters["CH-47Fbl1"]["rotor_radius"]
+            elif self.unit.name == "Mi-8MT":
+                self.unit.max_capacity = transport_helicopters["Mi-8MT"]["max_capacity"]
+                self.unit.max_embark_range = transport_helicopters["Mi-8MT"]["max_embark_range"]
+                self.unit.boarding_distance = transport_helicopters["Mi-8MT"]["boarding_distance"]
+                self.unit.current_capacity = 0
+                self.unit.current_cargo_weight = 0
+                self.unit.unit_array = []
+                self.unit.en_boarding_queue = []
+                self.unit.current_max_capacity = 0
+                self.unit.doors = transport_helicopters["Mi-8MT"]["doors"]
+                self.unit.centre_offset_position = transport_helicopters["Mi-8MT"]["centre_offset_position"]
+                self.unit.door_positions = transport_helicopters["Mi-8MT"]["door_positions"]
+                self.unit.door_argument_nos = transport_helicopters["Mi-8MT"]["door_argument_nos"]
+                self.unit.door_open_thresholds = transport_helicopters["Mi-8MT"]["door_open_thresholds"]
+                self.unit.will_disembark = True
+                self.unit.register_draw_argument(86) #rear ramp
+                self.unit.register_draw_argument(133) #interior light colour switch, we use as a toggle
+                self.unit.loading_toggle_argument = 1 #this is the argument registered in the index on the draw arguments that controls loading state, have to trial and error what it is for each transport type
+                self.unit.disembark_embark_argument_toggle_argument_threshold = 0.8
+                self.unit.is_rear_loader = transport_helicopters["Mi-8MT"]["is_rear_loader"]
+                self.unit.rotor_radius = transport_helicopters["Mi-8MT"]["rotor_radius"]
+            elif self.unit.name == "Mi-24P":
+                self.unit.max_capacity = transport_helicopters["Mi-24P"]["max_capacity"]
+                self.unit.max_embark_range = transport_helicopters["Mi-24P"]["max_embark_range"]
+                self.unit.boarding_distance = transport_helicopters["Mi-24P"]["boarding_distance"]
+                self.unit.current_capacity = 0
+                self.unit.current_cargo_weight = 0
+                self.unit.unit_array = []
+                self.unit.en_boarding_queue = []
+                self.unit.current_max_capacity = 0
+                self.unit.doors = transport_helicopters["Mi-24P"]["doors"]
+                self.unit.centre_offset_position = transport_helicopters["Mi-24P"]["centre_offset_position"]
+                self.unit.door_positions = transport_helicopters["Mi-24P"]["door_positions"]
+                self.unit.door_argument_nos = transport_helicopters["Mi-24P"]["door_argument_nos"]
+                self.unit.door_open_thresholds = transport_helicopters["Mi-24P"]["door_open_thresholds"]
+                self.unit.will_disembark = True
+                self.unit.register_draw_argument(38) #left door
+                self.unit.register_draw_argument(86) #right door
+                self.unit.register_draw_argument(47) #interior light colour switch, we use as a toggle
+                self.unit.loading_toggle_argument = 2 #this is the argument registered in the index on the draw arguments that controls loading state, have to trial and error what it is for each transport type
+                self.unit.disembark_embark_argument_toggle_argument_threshold = 0.8
+                self.unit.is_rear_loader = transport_helicopters["Mi-24P"]["is_rear_loader"]
+                self.unit.rotor_radius = transport_helicopters["Mi-24P"]["rotor_radius"]
             else:
-                self.unit.max_capacity = 8
+                pass
-                self.unit.max_embark_range = 100
-                self.unit.boarding_distance = 5
-                self.unit.current_capacity = 0
-                self.unit.current_cargo_weight = 0
-                self.unit.unit_array = []
-                self.unit.en_boarding_queue = []
-                self.unit.doors = 1
-                self.unit.door_positions = [(5,pi),(0,0)]
-                self.unit.board_positions = [(15,pi),(0,0)]
-                self.unit.door_argument_nos = None
-                self.unit.door_open_thresholds = None
-                self.unit.will_disembark = False
-                self.unit.is_rear_loader = True
-            
-        elif self.unit.name in transport_ground:
-            if self.unit.name == "M-113":
-                self.unit.max_capacity = transport_ground["M-113"]["max_capacity"]
-                self.unit.max_embark_range = transport_ground["M-113"]["max_embark_range"]
-                self.unit.boarding_distance = transport_ground["M-113"]["boarding_distance"]
-                self.unit.current_capacity = 0
-                self.unit.current_cargo_weight = 0
-                self.unit.unit_array = []
-                self.unit.en_boarding_queue = []
-                self.unit.doors = transport_ground["M-113"]["doors"]
-                self.unit.door_positions = transport_ground["M-113"]["door_positions"]
-                self.unit.board_positions = transport_ground["M-113"]["board_positions"]
-                self.unit.door_argument_nos = transport_ground["M-113"]["door_argument_nos"]
-                self.unit.door_open_thresholds = transport_ground["M-113"]["door_open_thresholds"]
-                self.unit.will_disembark = False
-                self.unit.is_rear_loader = transport_ground["M-113"]["is_rear_loader"]
-            else:
-                self.unit.max_capacity = 4
-                self.unit.max_embark_range = 50
-                self.unit.boarding_distance = 5
-                self.unit.current_capacity = 0
-                self.unit.current_cargo_weight = 0
-                self.unit.unit_array = []
-                self.unit.en_boarding_queue = []
-                self.unit.doors = 1
-                self.unit.door_positions = [(5,pi),(0,0)]
-                self.unit.board_positions = [(15,pi),(0,0)]
-                self.unit.door_argument_nos = None
-                self.unit.door_open_thresholds = None
-                self.unit.will_disembark = False
-                self.unit.is_rear_loader = True
-
-        logger.info(f"Set unit '{self.unit.name}' as transport, with {self.unit.current_capacity} / {self.unit.max_capacity}.")
 
 class DisembarkedInfantry(Unit):
     def __str__(self):
@@ -165,7 +217,7 @@ class DisembarkedInfantry(Unit):
        if self.check_for_enemy_in_range():
            self.set_speed(10)
        else:
-           self.set_speed(3)
+           self.set_speed(2)
        self.register_on_destination_reached_callback(
             self.on_destination_reached,
             destination,
@@ -178,7 +230,7 @@ class DisembarkedInfantry(Unit):
         for unit in units.values():
             if unit.alive and unit.coalition != self.coalition:
                 distance_to_enemy = self.position.distance_to(unit.position)
-                if distance_to_enemy < 2000: #if an enemy is within 100m
+                if distance_to_enemy < 2000: #if an enemy is within 2000m, approx rifle max range
                     return True
         return False
        
@@ -187,7 +239,14 @@ class DisembarkedInfantry(Unit):
             # logger.info(f"Unit {self} did not reach its destination.")
             self.set_roe(1)
             new_patrol = self.position.project_with_bearing_and_distance(1000, self.transport_spawn_heading)
-            await asyncio.sleep(self.time_delay) #wait a bit before trying again
+            await asyncio.sleep(10) #wait a bit before trying again
+            try:
+                if self.og_transport.is_rear_loader:
+                    side_offset = self.position.project_with_bearing_and_distance(30,self.transport_spawn_heading-pi/2)
+                    self.set_path([side_offset,new_patrol])
+                else:
+                    self.set_path([new_patrol])
+            except AttributeError:
                 self.set_path([new_patrol])
             if self.check_for_enemy_in_range():
                 self.set_speed(10)
@@ -198,9 +257,15 @@ class DisembarkedInfantry(Unit):
             logger.info(f"Unit {self} is now boardable again.")
         else:
             self.set_roe(1)
-            logger.info(f"Unit {self} has reached its destination.")
             new_patrol = self.position.project_with_bearing_and_distance(1000, self.transport_spawn_heading)
-            await asyncio.sleep(self.time_delay) #wait a bit before trying again
+            await asyncio.sleep(10) #wait a bit before trying again
+            try:
+                if self.og_transport.is_rear_loader:
+                    side_offset = self.position.project_with_bearing_and_distance(30,self.transport_spawn_heading-pi/2)
+                    self.set_path([side_offset,new_patrol])
+                else:
+                    self.set_path([new_patrol])
+            except AttributeError:
                 self.set_path([new_patrol])
             if self.check_for_enemy_in_range():
                 self.set_speed(10)
@@ -210,7 +275,6 @@ class DisembarkedInfantry(Unit):
             self.is_loadable = True
             logger.info(f"Unit {self} is now boardable again.")
 
-
 class Embarker(Unit):
     def __str__(self):
         return f"DisembarkedInfrantry(unit_id={self.unit_id}, group_id={self.group_id}, position={self.position}, heading={self.heading})"
@@ -218,21 +282,11 @@ class Embarker(Unit):
     def __init__(self, Unit):
         self.unit = Unit
         
-    def to_json(self):
-        return {
-            "is_embarker": self.unit.is_embarker,
-            "is_moving": self.unit.is_moving,
-            "is_loadable": self.unit.is_loadable,
-            "in_embark_queue": self.unit.in_embark_queue if hasattr(self.unit, 'in_embark_queue') else False,
-            "transport_unit": self.unit.transport_unit.ID if hasattr(self.unit, 'transport_unit') and self.unit.transport_unit else None
-        }
-        
     def set_as_embarker(self):
         self.unit.is_embarker = True
         self.unit.is_moving = False
         self.unit.is_loadable = True
         logger.info(f"Set unit '{self.unit.name}' as embarker.")
-        self.unit.set_custom_string("I am an embarker.")
 
     def can_board(self):
         transport = self.transport_unit
@@ -245,8 +299,10 @@ class Embarker(Unit):
     
     def board_transport(self):
         door, num_doors_open = self.get_closest_door()
-        if num_doors_open > 1: door_bypass = True
+        if num_doors_open > 1:
-        else: door_bypass = False
+            door_bypass = True
+        else:
+            door_bypass = False
 
         if door is None:
             pass
@@ -254,17 +310,15 @@ class Embarker(Unit):
             if self.is_moving:
                 pass
             elif not self.is_moving:
-                distance_to_door = self.position.distance_to(door)
+                distance = self.position.distance_to(door)     
-                distance_to_centre = self.position.distance_to(self.transport_unit.position)
+                distance_centre_offset_position = self.position.distance_to(self.transport_unit.position.project_with_bearing_and_distance(self.transport_unit.centre_offset_position[0][0], self.transport_unit.centre_offset_position[0][1]))
-                if distance_to_door < distance_to_centre:
+
-                    bearing = self.position.bearing_to(door)
+                if distance >= distance_centre_offset_position:                 
-                    if hasattr(self,'nudge'):
+                    if determine_side(self,door): #right side
-                        nudge_factor = self.nudge
+                        if self.transport_unit.is_rear_loader:    # chinook rear loader                      
-                    else:
+                            destination = door.project_with_bearing_and_distance(self.transport_unit.rotor_radius/3, self.transport_unit.heading-pi)
-                        nudge_factor = 0
+                            destination = destination.project_with_bearing_and_distance(self.transport_unit.rotor_radius/2, self.transport_unit.heading+pi/2)
-                    destination = self.position.project_with_bearing_and_distance(distance_to_door+nudge_factor, bearing)
                             destination.threshold = 2
-                    # Set the destination for the unit
                             self.set_path([destination])
                             self.register_on_destination_reached_callback(
                                 self.on_destination_reached,
@@ -273,22 +327,51 @@ class Embarker(Unit):
                                 timeout=10.0 # Timeout after 30 seconds if the destination is not reached
                             )
                             self.is_moving = True
-                else:# distance_to_door >= distance_to_centre:
+                        else: # huey front loader
-                    if self.transport_unit.is_rear_loader:
+                            destination = door.project_with_bearing_and_distance(self.transport_unit.rotor_radius, self.transport_unit.heading)
-                        in_front_of_transport = self.transport_unit.position.project_with_bearing_and_distance(15, self.transport_unit.heading-pi)
+                            destination = destination.project_with_bearing_and_distance(self.transport_unit.rotor_radius/2, self.transport_unit.heading+pi/2)
-                    else:
-                        in_front_of_transport = self.transport_unit.position.project_with_bearing_and_distance(15, self.transport_unit.heading)
-                    bearing = self.position.bearing_to(in_front_of_transport)
-                    destination = self.position.project_with_bearing_and_distance(distance_to_door, bearing)
                             destination.threshold = 2
                             self.set_path([destination])
                             self.register_on_destination_reached_callback(
                                 self.on_destination_reached,
                                 destination,
                                 threshold=2.0,
-                        timeout=10.0
+                                timeout=10.0 # Timeout after 30 seconds if the destination is not reached
                             )
                             self.is_moving = True
+                    else: #left side
+                        if self.transport_unit.is_rear_loader:    # chinook rear loader                      
+                            destination = door.project_with_bearing_and_distance(self.transport_unit.rotor_radius/3, self.transport_unit.heading-pi)
+                            destination = destination.project_with_bearing_and_distance(self.transport_unit.rotor_radius/2, self.transport_unit.heading-pi/2)
+                            destination.threshold = 2
+                            self.set_path([destination])
+                            self.register_on_destination_reached_callback(
+                                self.on_destination_reached,
+                                destination,
+                                threshold=2.0,
+                                timeout=10.0 # Timeout after 30 seconds if the destination is not reached
+                            )
+                            self.is_moving = True
+                        else: # huey front loader
+                            destination = door.project_with_bearing_and_distance(self.transport_unit.rotor_radius, self.transport_unit.heading)
+                            destination = destination.project_with_bearing_and_distance(self.transport_unit.rotor_radius/2, self.transport_unit.heading-pi/2)
+                            destination.threshold = 2
+                            self.set_path([destination])
+                            self.register_on_destination_reached_callback(
+                                self.on_destination_reached,
+                                destination,
+                                threshold=2.0,
+                                timeout=10.0 # Timeout after 30 seconds if the destination is not reached
+                            )
+                            self.is_moving = True
+                else: 
+                    destination = self.position.project_with_bearing_and_distance(distance+2, self.position.bearing_to(door))
+                    #destination = destination.project_with_bearing_and_distance(self.transport_unit.rotor_radius, self.transport_unit.heading+pi/2)
+                    destination.threshold = 2
+                    self.set_path([destination,door])
+                    self.is_moving = True
+
+
 
     def get_closest_door(self):
         return check_closest_open_door(self.transport_unit, self)
@@ -322,31 +405,21 @@ def check_closest_open_door(transport, embarker):
             return closest_door, doors_open
         else:
             return None, 0
-    elif transport.name in transport_ground:
-        if transport.door_argument_nos is None and transport.doors > 0:
-            return transport.position.project_with_bearing_and_distance(2,transport.heading + pi), transport.heading + pi
-        elif transport.door_argument_nos is not None and transport.doors > 0:
-            closest_door = None
-            doors_open = 0
-            distance_to_closest_door = float('inf')
-            for i in range(transport.doors):
-                if transport.draw_arguments[i].value >= transport.door_open_thresholds[i]:
-                     doors_open += 1
-                     distance = embarker.position.distance_to(transport.position.project_with_bearing_and_distance(transport.door_positions[i*2][0], transport.heading + transport.door_positions[i*2][1]).project_with_bearing_and_distance(transport.door_positions[i*2+1][0], transport.heading + transport.door_positions[i*2+1][1]))
-                     if distance < distance_to_closest_door:
-                         distance_to_closest_door = distance
-                         closest_door = transport.position.project_with_bearing_and_distance(transport.door_positions[i*2][0], transport.heading + transport.door_positions[i*2][1]).project_with_bearing_and_distance(transport.door_positions[i*2+1][0], transport.heading + transport.door_positions[i*2+1][1])
-            return closest_door, doors_open
-        else:
-            return None, 0
 
 def check_for_door_status(transporter):
+    if not hasattr(transporter, 'draw_arguments') or len(transporter.draw_arguments) < transporter.doors:
+        #logger.warning(f"Transporter '{transporter.name}' does not have enough draw arguments registered.")
+        return False
+
     if transporter.name in transport_helicopters:
         if transporter.door_argument_nos is None and transporter.doors > 0:
             return True
         elif transporter.door_argument_nos is not None and transporter.doors > 0:
             a_door_is_open = False
             for i in range(transporter.doors):
+                if i >= len(transporter.draw_arguments):  # Ensure the index is valid
+                    #logger.error(f"Index {i} out of range for draw_arguments in transporter '{transporter.name}'.")
+                    continue
                 if transporter.draw_arguments[i].value >= transporter.door_open_thresholds[i]:
                     a_door_is_open = True
             return a_door_is_open
@@ -358,6 +431,9 @@ def check_for_door_status(transporter):
         elif transporter.door_argument_nos is not None and transporter.doors > 0:
             a_door_is_open = False
             for i in range(transporter.doors):
+                if i >= len(transporter.draw_arguments):  # Ensure the index is valid
+                    #logger.error(f"Index {i} out of range for draw_arguments in transporter '{transporter.name}'.")
+                    continue
                 if transporter.draw_arguments[i].value >= transporter.door_open_thresholds[i]:
                     a_door_is_open = True
             return a_door_is_open
@@ -370,14 +446,6 @@ async def load_loadable_units():
         if embarker.alive and hasattr(embarker, 'is_embarker'):
             if hasattr(embarker, 'in_embark_queue') and hasattr(embarker, 'transport_unit') and hasattr(embarker, 'is_moving'):                
                 if embarker.transport_unit.name in transport_types:
-                    #check the speed and distance, slow down if close
-                    distance_to_transport = embarker.position.distance_to(embarker.transport_unit.position)
-                    if distance_to_transport > 10 and embarker.speed < 1.4:
-                        embarker.set_speed(10)
-                    elif distance_to_transport < 10 and embarker.speed >= 3:
-                        embarker.set_speed(2)
-                    elif distance_to_transport < 5 and embarker.speed >= 1.3:
-                        embarker.set_speed(1.3)
                     if embarker.roe != "hold":
                         embarker.set_roe(4) #set to hold fire to avoid stopping to shoot
                     #check the doors are open                    
@@ -389,14 +457,14 @@ async def load_loadable_units():
                             #check if close enough to board
                             closest_door, _ = embarker.get_closest_door()   
                             door_distance = embarker.position.distance_to(closest_door)
-                            if door_distance < embarker.transport_unit.boarding_distance:
+                            if door_distance < embarker.transport_unit.boarding_distance or embarker.position.distance_to(embarker.transport_unit.position) < embarker.transport_unit.boarding_distance:
                                 transport = embarker.transport_unit
                                 embarker_units = [
                                         (embarker, embarker.position.distance_to(transport.position))
                                         for embarker in units.values()
                                             if embarker.alive 
                                             and hasattr(embarker, 'is_embarker')
-                                            and embarker.position.distance_to(transport.position) < transport.boarding_distance
+                                            and embarker.position.distance_to(closest_door) < transport.boarding_distance
                                     ]
 
                                 embarkers_sorted = sorted(embarker_units, key=lambda x: x[1])
@@ -405,22 +473,18 @@ async def load_loadable_units():
                                 else:                                 
                                     if embarker.ID == embarkers_sorted[0][0].ID:
                                         transport.current_capacity += 1
+                                        transport.current_max_capacity +=1
                                         transport.unit_array.append(embarker)
                                         transport.set_cargo_weight(transport.current_cargo_weight + 100) #assume 100kg per infantry with kit
                                         transport.current_cargo_weight += 100
                                         embarker.delete_unit()
-                                        asyncio.create_task(set_as_disembarking(transport))
+                                        #asyncio.create_task(set_as_disembarking(transport))
                                         break
                             #else run it closer
                             if embarker.is_moving:
                                 if hasattr(embarker, 'last_pos'):
                                     if embarker.position == embarker.last_pos:
                                         embarker.is_moving = False        
-                                        embarker.set_speed(1.3)
-                                        if hasattr(embarker, 'nudge'):
-                                            embarker.nudge = embarker.nudge + 2
-                                        else:
-                                            embarker.nudge = 2   
                                 embarker.last_pos = embarker.position
                                 pass
                             elif not embarker.is_moving:                    
@@ -441,12 +505,12 @@ def generate_transport_units():
             new_emabarquee.set_as_embarker()
 
 async def set_as_disembarking(transport):
-    await asyncio.sleep(alternate_time)
     transport.will_disembark = True
+    transport.en_boarding_queue = []            
 
 async def set_as_not_disembarking(transport):
-    await asyncio.sleep(alternate_time)
     transport.will_disembark = False
+    transport.current_max_capacity = transport.current_capacity
 
 unload_semaphore = Semaphore(1)
 
@@ -458,9 +522,9 @@ async def check_for_unloadable_units():
             for transporter in units.values():
                 if transporter.alive and hasattr(transporter, 'is_transport') and transporter.will_disembark:
                     # Check if the transporter is in a position to disembark units
-                    if transporter.speed < 2 and check_for_door_status(transporter) and not transporter.airborne:  # check speed is less than 2 m/s and doors are open
+                    if transporter.speed < 2 and check_for_door_status(transporter) and not transporter.airborne and transporter.current_capacity > 0:  # check speed is less than 2 m/s and doors are open
-                        first_two_spawns = True  # Track if we are handling the first two spawns
+                        # Transport is ready to disembark
-                        to_remove = [] #sets up variable to hold units to remove from queue
+                        to_remove = []  # Sets up variable to hold units to remove from queue
                         for disembarker in transporter.unit_array:
                             # Get the open doors
                             open_doors = []
@@ -483,8 +547,25 @@ async def check_for_unloadable_units():
                                 transporter.last_door_index = 0  # Initialize the last used door index
 
                             # Get the next door in the round-robin sequence
+
+
+                            async def execution_callback(new_group_ID: int):
+                                logger.info(f"New units spawned, groupID: {new_group_ID}")
+                                units = api.get_units()
+                                for new_unit in units.values():
+                                    if new_unit.group_id == new_group_ID:
+                                        logger.info(f"New unit spawned: {new_unit}")
+                                        new_unit.__class__ = DisembarkedInfantry
+                                        new_unit.transport_spawn_heading = transporter.heading
+                                        new_unit.og_transport = transporter
+                                        new_unit.disembark_from_transport()
+                                        new_unit.original_position = new_unit.position
+                                        # The delay is a function of how many units are left to disembark and how long it takes to get to the disembark spot
+
+                            async def delayed_spawn(delay,transporter,open_doors,open_doors_headings,disembarker):
                                 door_index = transporter.last_door_index % len(open_doors)
-                            transporter.last_door_index += 1  # Increment the door index for the next spawn
+                                transporter.last_door_index += 1
+                                # Increment the door index for the next spawn
 
                                     # Spawn the unit at the selected door
                                 door_position = open_doors[door_index]
@@ -497,46 +578,37 @@ async def check_for_unloadable_units():
                                     skill="High",
                                     livery_id=""
                                 )
-
+                                # Add a delay before spawning the unit                                
-                            async def execution_callback(new_group_ID: int):
+                                await asyncio.sleep(delay)  # Delay of 2 seconds (adjust as needed)
-                                logger.info(f"New units spawned, groupID: {new_group_ID}")
-                                units = api.get_units()
-                                for new_unit in units.values():
-                                    if new_unit.group_id == new_group_ID:
-                                        logger.info(f"New unit spawned: {new_unit}")
-                                        new_unit.__class__ = DisembarkedInfantry
-                                        new_unit.transport_spawn_heading = transporter.heading
-                                        new_unit.disembark_from_transport()
-                                        new_unit.original_position = new_unit.position
-                                        #the delay is a function of how many units are left to disembark and how long it takes to get to the disembark spot
-                                        new_unit.time_delay = transporter.max_capacity*2 - transporter.current_capacity  # Random delay between 10 and 30 seconds
-
                                 api.spawn_ground_units([spawn_table], transporter.coalition, "", True, 0, execution_callback)                                
-                            to_remove.append(disembarker)
+
-                            transporter.en_boarding_queue = []
-                            transporter.current_capacity -= 1
                                 transporter.set_cargo_weight(transporter.current_cargo_weight - 100)  # Assume 100kg per infantry with kit
                                 transporter.current_cargo_weight -= 100
+                                logger.info(f"Spawned unit '{disembarker.name}' from open door of transport '{transporter.name}'.")
 
-                            # Add a delay between spawns
+                            if len(open_doors) > 1:                                
-                            if len(open_doors) > 1 and first_two_spawns:
+                                if (transporter.current_max_capacity - transporter.current_capacity) < len(open_doors):
-                                # Shorter delay for the first two spawns if both doors are open
+                                    delay = 0.1
-                                await asyncio.sleep(0.5)
-                                first_two_spawns = False
                                 else:
-                                # Normal delay for subsequent spawns or single-door spawns
+                                    delay = (transporter.current_max_capacity - transporter.current_capacity) * 1.25 - ((len(open_doors)-1) * 2.5) + 2.5
-                                await asyncio.sleep(2.5)
+                            else:
+                                 delay = (transporter.current_max_capacity - transporter.current_capacity) * 2.5  
+                            asyncio.create_task(delayed_spawn(delay,transporter,open_doors,open_doors_headings,disembarker))
+                            
+                            transporter.en_boarding_queue = []                            
+                            transporter.current_capacity -= 1
+                            to_remove.append(disembarker)                            
+
                         for disembarker in to_remove:
                             transporter.unit_array.remove(disembarker)
-                        if transporter.current_capacity == 0:
-                            await set_as_not_disembarking(transporter)
                         
-                        logger.info(f"Spawned unit '{disembarker.name}' from open door of transport '{transporter.name}'.")
         except Exception as e:
-            logger.error(f"Error in check_for_unloadable_units: {e}")
+            #logging.warning(e, exc_info=True)
+            logger.info(f"Error in check_for_unloadable_units: {e}")
 
-def check_for_loadable_units():
+async def check_for_loadable_units():
     units = api.get_units()
+    try:
         for transporter in units.values():        
             if transporter.alive and hasattr(transporter, 'is_transport') and not transporter.will_disembark:
                 if len(transporter.unit_array) < transporter.max_capacity:    
@@ -562,16 +634,69 @@ def check_for_loadable_units():
                             closest_embarkers = embarkers_sorted[:transporter.max_capacity-len(transporter.en_boarding_queue)]
 
                             for embarker, distance in closest_embarkers:                       
-                            if embarker not in transporter.en_boarding_queue and distance < transporter.max_embark_range:
+                                if embarker not in transporter.en_boarding_queue and distance < transporter.max_embark_range and not hasattr(embarker, 'is_in_queue'):
                                     transporter.en_boarding_queue.append(embarker)
                                     embarker.in_embark_queue = True
+                                    embarker.is_in_queue = True
+                                    embarker.transport_unit = transporter
+                                    logger.info(f"Added embarker '{embarker.name}' to '{transporter.name}' s boarding queue.")
+                                elif embarker not in transporter.en_boarding_queue and distance < transporter.max_embark_range and hasattr(embarker, 'is_in_queue'):
+                                    if embarker.is_in_queue:
+                                        await asyncio.sleep(60) #wait a bit and try again next time
+                                        embarker.is_in_queue = False
+                                    else:
+                                        transporter.en_boarding_queue.append(embarker)
+                                        embarker.in_embark_queue = True
+                                        embarker.is_in_queue = True
                                         embarker.transport_unit = transporter
                                         logger.info(f"Added embarker '{embarker.name}' to '{transporter.name}' s boarding queue.") 
                                 elif embarker in transporter.en_boarding_queue:
                                     pass
+                                
                 else:
                     pass #we pass as the transport is full
+    except Exception as e:
+        logger.error(f"Error in check_for_loadable_units: {e}")       
 
+async def check_for_transport_embarker_or_disembark():
+    units = api.get_units()
+    try:
+        for transporter in units.values():
+            if transporter.alive and hasattr(transporter, 'is_transport'):
+                # Ensure the transporter has a `last_toggle_time` attribute
+                if not hasattr(transporter, 'last_toggle_time'):
+                    transporter.last_toggle_time = 0  # Initialize it to 0
+
+                # Get the current time
+                current_time = time.time()
+
+                # Check if the toggle is allowed (min_toggle_time_period seconds since the last toggle)
+                if current_time - transporter.last_toggle_time < min_toggle_time_period:
+                    continue  # Skip toggling if the cooldown hasn't passed
+
+                # Check the loading toggle argument and toggle the state
+                if transporter.loading_toggle_argument is None or not hasattr(transporter, 'draw_arguments') or len(transporter.draw_arguments) <= transporter.loading_toggle_argument:
+                    pass
+                else:
+                    if transporter.will_disembark:
+                        if transporter.draw_arguments[transporter.loading_toggle_argument].value <= transporter.disembark_embark_argument_toggle_argument_threshold:
+                            continue
+                        elif transporter.draw_arguments[transporter.loading_toggle_argument].value > transporter.disembark_embark_argument_toggle_argument_threshold:
+                            # Set to embark
+                            await set_as_not_disembarking(transporter)
+                            transporter.last_toggle_time = current_time  # Update the last toggle time
+                            logger.info(f"Transporter '{transporter.name}' set to embark.")
+                    else:
+                        if transporter.draw_arguments[transporter.loading_toggle_argument].value <= transporter.disembark_embark_argument_toggle_argument_threshold:
+                            # Set to disembark
+                            await set_as_disembarking(transporter)
+                            transporter.last_toggle_time = current_time  # Update the last toggle time
+                            logger.info(f"Transporter '{transporter.name}' set to disembark.")
+                        elif transporter.draw_arguments[transporter.loading_toggle_argument].value > transporter.disembark_embark_argument_toggle_argument_threshold:
+                            continue
+
+    except Exception as e:
+        logger.error(f"Error in check_for_transport_embarker_or_disembark: {e}")
 
 #############
 #API SECTION#
@@ -585,6 +710,8 @@ def on_api_startup(api: API):
     
     # Initialize the list to hold units to delete
     units_to_delete = []
+    generate_transport_units() #comment this if doing draw Args testing
+    #new_test_unit() # comment this if running normally, this is used only for getting draw args
 
 def on_unit_alive_change(unit: Unit, value: bool):
     global units_to_delete
@@ -600,26 +727,50 @@ def on_unit_alive_change(unit: Unit, value: bool):
         else:
             pass
 
-async def update_data():
+# unit_args = []
-    units = api.get_units()
+# exclusions_array = [1,102,103,11,12,17,278,279,280,281,282,283,284,286,287,288,289,290,337,37,39,393,399,4,40,41,42,448,487,488,6,77,99]
-    for unit in units.values():
+# async def check_args_changed():
-        if unit.alive and hasattr(unit, 'is_transport'):   
+#     global unit_args
-            stringified_json = json.dumps(Transporter(unit).to_json())
+#     units = api.get_units()
-            unit.set_custom_string(stringified_json)
+#     for unit in units.values():
-        elif unit.alive and hasattr(unit, 'is_embarker'):
+#         for argument in unit.draw_arguments:
-            stringified_json = json.dumps(Embarker(unit).to_json())
+#             if argument in unit_args:
-            unit.set_custom_string(stringified_json)
+#                 pass
-    await asyncio.sleep(1)
+#             else:
+#                 if argument.argument in exclusions_array:
+#                     pass
+#                 else:
+#                   print(argument.argument, end=",")
+#     unit_args = unit.draw_arguments
+#     print("New loop")
+
+# def new_test_unit():
+#     units = api.get_units()
+#     for unit in units.values():
+#         if unit.alive and unit.name in transport_types and not hasattr(unit, 'is_transport'):
+#             for i in range(500): #191
+#                 unit.register_draw_argument(i)
+
+# def check_arg_value():
+#     units = api.get_units()
+#     for unit in units.values():
+#         if unit.alive and unit.name in transport_types:
+#             unit.register_draw_argument(47) #191
+#             print(f"{unit.draw_arguments[0].argument} value is {unit.draw_arguments[0].value}")
 
 async def on_api_update(api: API):
-    generate_transport_units()
+    asyncio.create_task(check_for_loadable_units())
-    check_for_loadable_units()
     asyncio.create_task(load_loadable_units())
     asyncio.create_task(check_for_unloadable_units())
-    asyncio.create_task(update_data())
+    asyncio.create_task(check_for_transport_embarker_or_disembark())
+    generate_transport_units()
+    #asyncio.create_task(check_args_changed())
+    #check_arg_value()
+
+
 
 if __name__ == "__main__":
     api = API()
-    api.register_on_update_callback(on_api_update)
     api.register_on_startup_callback(on_api_startup)
+    api.register_on_update_callback(on_api_update)
     api.run()