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https://github.com/FlightControl-Master/MOOSE.git
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Updates
This commit is contained in:
FlightControl
parent
0f9591464a
commit
044b5cba7c
@ -1550,9 +1550,9 @@ do -- DETECTION_BASE
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-- @param Core.Set#SET_UNIT Set (optional) The Set of Units to be added.
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-- @param Core.Zone#ZONE_UNIT Zone (optional) The Zone to be added where the Units are located.
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-- @return #DETECTION_BASE.DetectedItem
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function DETECTION_BASE:AddDetectedItemZone( DetectedItemKey, Set, Zone )
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function DETECTION_BASE:AddDetectedItemZone( ItemPrefix, DetectedItemKey, Set, Zone )
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local DetectedItem = self:AddDetectedItem( "AREA", DetectedItemKey, Set )
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local DetectedItem = self:AddDetectedItem( ItemPrefix, DetectedItemKey, Set )
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DetectedItem.Zone = Zone
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@ -2742,7 +2742,7 @@ do -- DETECTION_AREAS
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if AddedToDetectionArea == false then
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-- New detection area
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local DetectedItem = self:AddDetectedItemZone( nil,
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local DetectedItem = self:AddDetectedItemZone( "AREA", nil,
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SET_UNIT:New():FilterDeads():FilterCrashes(),
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ZONE_UNIT:New( DetectedUnitName, DetectedUnit, self.DetectionZoneRange )
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)
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@ -2867,15 +2867,15 @@ do -- DETECTION_ZONES
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--- DETECTION_ZONES constructor.
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-- @param #DETECTION_ZONES self
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-- @param Core.Set#SET_ZONE_RADIUS DetectionSetZoneRadius The @{Set} of ZONE_RADIUS.
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-- @param Core.Set#SET_ZONE_RADIUS DetectionSetZone The @{Set} of ZONE_RADIUS.
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-- @param DCS#Coalition.side DetectionCoalition The coalition of the detection.
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-- @return #DETECTION_ZONES
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function DETECTION_ZONES:New( DetectionSetZoneRadius, DetectionCoalition )
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function DETECTION_ZONES:New( DetectionSetZone, DetectionCoalition )
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-- Inherits from DETECTION_BASE
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local self = BASE:Inherit( self, DETECTION_BASE:New() )
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self.DetectionSetZoneRadius = DetectionSetZoneRadius
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self.DetectionSetZone = DetectionSetZone
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self.DetectionCoalition = DetectionCoalition
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self._SmokeDetectedUnits = false
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@ -3081,33 +3081,37 @@ do -- DETECTION_ZONES
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self:F( "Checking Detected Items for new Detected Units ..." )
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--self:F( { DetectedObjects = self.DetectedObjects } )
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local DetectedUnits = SET_UNIT:New()
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-- First go through all detected sets, and check if there are new detected units, match all existing detected units and identify undetected units.
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-- Regroup when needed, split groups when needed.
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for DetectedItemID, DetectedItemData in pairs( self.DetectedItems ) do
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for ZoneName, DetectionZone in pairs( self.DetectionSetZones:GetSet() ) do
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local DetectedItem = DetectedItemData -- #DETECTION_BASE.DetectedItem
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local DetectedItem = self:GetDetectedItemByKey( ZoneName )
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if DetectedItem == nil then
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DetectedItem = self:AddDetectedItemZone( "ZONE", ZoneName, nil, DetectionZone )
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end
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local DetectedItemSetUnit = self
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if DetectedItem then
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-- Scan the zone
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DetectionZone:Scan( { Object.Category.UNIT }, { Unit.Category.GROUND_UNIT } )
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self:T2( { "Detected Item ID: ", DetectedItemID } )
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local Zone = DetectedItem.Zone -- Core.Zone#ZONE_RADIUS
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-- Scan the zone
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Zone:Scan( { Object.Category.UNIT }, { Unit.Category.GROUND_UNIT } )
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local ZoneUnits = Zone:GetScannedUnits()
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for DCSUnitID, DCSUnit in pairs( ZoneUnits ) do
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local UnitName = DCSUnit:getName()
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local ZoneUnit = UNIT:FindByName( UnitName )
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local ZoneUnitCoalition = ZoneUnit:GetCoalition()
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if ZoneUnitCoalition == self.DetectionCoalition then
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DetectedItem.Set:AddUnit( ZoneUnit )
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local ZoneUnits = DetectionZone:GetScannedUnits()
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for DCSUnitID, DCSUnit in pairs( ZoneUnits ) do
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local UnitName = DCSUnit:getName()
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local ZoneUnit = UNIT:FindByName( UnitName )
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local ZoneUnitCoalition = ZoneUnit:GetCoalition()
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if ZoneUnitCoalition == self.DetectionCoalition then
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if DetectedUnits:FindUnit( UnitName ) ~= nil then
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DetectedItemSetUnit:AddUnit( ZoneUnit )
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DetectedUnits:AddUnit( ZoneUnit )
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end
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end
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end
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end
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@ -3177,266 +3181,30 @@ do -- DETECTION_ZONES
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end
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--- @param #DETECTION_ZONES self
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @param Detection The element on which the detection is based.
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-- @param #number DetectionTimeStamp Time stamp of detection event.
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function DETECTION_ZONES:onafterDetection( From, Event, To, Detection, DetectionTimeStamp )
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--self:F( { DetectedObjects = self.DetectedObjects } )
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self.DetectionRun = self.DetectionRun + 1
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local HasDetectedObjects = false
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if Detection:IsAlive() then
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--self:T( { "DetectionGroup is Alive", DetectionGroup:GetName() } )
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local DetectionGroupName = Detection:GetName()
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local DetectionUnit = Detection:GetUnit(1)
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local DetectedUnits = {}
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local DetectedTargets = Detection:GetDetectedTargets(
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self.DetectVisual,
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self.DetectOptical,
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self.DetectRadar,
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self.DetectIRST,
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self.DetectRWR,
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self.DetectDLINK
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)
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self:F( { DetectedTargets = DetectedTargets } )
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for DetectionObjectID, Detection in pairs( DetectedTargets ) do
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local DetectedObject = Detection.object -- DCS#Object
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if DetectedObject and DetectedObject:isExist() and DetectedObject.id_ < 50000000 then -- and ( DetectedObject:getCategory() == Object.Category.UNIT or DetectedObject:getCategory() == Object.Category.STATIC ) then
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local DetectedObjectName = DetectedObject:getName()
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if not self.DetectedObjects[DetectedObjectName] then
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self.DetectedObjects[DetectedObjectName] = self.DetectedObjects[DetectedObjectName] or {}
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self.DetectedObjects[DetectedObjectName].Name = DetectedObjectName
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self.DetectedObjects[DetectedObjectName].Object = DetectedObject
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end
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end
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end
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for DetectionObjectName, DetectedObjectData in pairs( self.DetectedObjects ) do
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local DetectedObject = DetectedObjectData.Object
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if DetectedObject:isExist() then
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local TargetIsDetected, TargetIsVisible, TargetLastTime, TargetKnowType, TargetKnowDistance, TargetLastPos, TargetLastVelocity = DetectionUnit:IsTargetDetected(
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DetectedObject,
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self.DetectVisual,
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self.DetectOptical,
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self.DetectRadar,
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self.DetectIRST,
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self.DetectRWR,
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self.DetectDLINK
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)
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--self:T2( { TargetIsDetected = TargetIsDetected, TargetIsVisible = TargetIsVisible, TargetLastTime = TargetLastTime, TargetKnowType = TargetKnowType, TargetKnowDistance = TargetKnowDistance, TargetLastPos = TargetLastPos, TargetLastVelocity = TargetLastVelocity } )
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-- Only process if the target is visible. Detection also returns invisible units.
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--if Detection.visible == true then
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local DetectionAccepted = true
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local DetectedObjectName = DetectedObject:getName()
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local DetectedObjectType = DetectedObject:getTypeName()
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local DetectedObjectVec3 = DetectedObject:getPoint()
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local DetectedObjectVec2 = { x = DetectedObjectVec3.x, y = DetectedObjectVec3.z }
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local DetectionGroupVec3 = Detection:GetVec3()
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local DetectionGroupVec2 = { x = DetectionGroupVec3.x, y = DetectionGroupVec3.z }
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local Distance = ( ( DetectedObjectVec3.x - DetectionGroupVec3.x )^2 +
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( DetectedObjectVec3.y - DetectionGroupVec3.y )^2 +
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( DetectedObjectVec3.z - DetectionGroupVec3.z )^2
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) ^ 0.5 / 1000
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local DetectedUnitCategory = DetectedObject:getDesc().category
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--self:F( { "Detected Target:", DetectionGroupName, DetectedObjectName, DetectedObjectType, Distance, DetectedUnitCategory } )
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-- Calculate Acceptance
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DetectionAccepted = self._.FilterCategories[DetectedUnitCategory] ~= nil and DetectionAccepted or false
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-- if Distance > 15000 then
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-- if DetectedUnitCategory == Unit.Category.GROUND_UNIT or DetectedUnitCategory == Unit.Category.SHIP then
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-- if DetectedObject:hasSensors( Unit.SensorType.RADAR, Unit.RadarType.AS ) == false then
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-- DetectionAccepted = false
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-- end
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-- end
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-- end
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if self.AcceptRange and Distance * 1000 > self.AcceptRange then
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DetectionAccepted = false
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end
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if self.AcceptZones then
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local AnyZoneDetection = false
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for AcceptZoneID, AcceptZone in pairs( self.AcceptZones ) do
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local AcceptZone = AcceptZone -- Core.Zone#ZONE_BASE
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if AcceptZone:IsVec2InZone( DetectedObjectVec2 ) then
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AnyZoneDetection = true
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end
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end
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if not AnyZoneDetection then
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DetectionAccepted = false
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end
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end
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if self.RejectZones then
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for RejectZoneID, RejectZone in pairs( self.RejectZones ) do
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local RejectZone = RejectZone -- Core.Zone#ZONE_BASE
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if RejectZone:IsPointVec2InZone( DetectedObjectVec2 ) == true then
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DetectionAccepted = false
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end
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end
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end
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-- Calculate additional probabilities
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if not self.DetectedObjects[DetectedObjectName] and TargetIsVisible and self.DistanceProbability then
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local DistanceFactor = Distance / 4
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local DistanceProbabilityReversed = ( 1 - self.DistanceProbability ) * DistanceFactor
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local DistanceProbability = 1 - DistanceProbabilityReversed
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DistanceProbability = DistanceProbability * 30 / 300
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local Probability = math.random() -- Selects a number between 0 and 1
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--self:T( { Probability, DistanceProbability } )
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if Probability > DistanceProbability then
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DetectionAccepted = false
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end
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end
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if not self.DetectedObjects[DetectedObjectName] and TargetIsVisible and self.AlphaAngleProbability then
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local NormalVec2 = { x = DetectedObjectVec2.x - DetectionGroupVec2.x, y = DetectedObjectVec2.y - DetectionGroupVec2.y }
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local AlphaAngle = math.atan2( NormalVec2.y, NormalVec2.x )
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local Sinus = math.sin( AlphaAngle )
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local AlphaAngleProbabilityReversed = ( 1 - self.AlphaAngleProbability ) * ( 1 - Sinus )
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local AlphaAngleProbability = 1 - AlphaAngleProbabilityReversed
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AlphaAngleProbability = AlphaAngleProbability * 30 / 300
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local Probability = math.random() -- Selects a number between 0 and 1
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--self:T( { Probability, AlphaAngleProbability } )
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if Probability > AlphaAngleProbability then
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DetectionAccepted = false
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end
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end
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if not self.DetectedObjects[DetectedObjectName] and TargetIsVisible and self.ZoneProbability then
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for ZoneDataID, ZoneData in pairs( self.ZoneProbability ) do
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self:F({ZoneData})
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local ZoneObject = ZoneData[1] -- Core.Zone#ZONE_BASE
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local ZoneProbability = ZoneData[2] -- #number
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ZoneProbability = ZoneProbability * 30 / 300
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if ZoneObject:IsPointVec2InZone( DetectedObjectVec2 ) == true then
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local Probability = math.random() -- Selects a number between 0 and 1
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--self:T( { Probability, ZoneProbability } )
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if Probability > ZoneProbability then
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DetectionAccepted = false
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break
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end
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end
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end
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end
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if DetectionAccepted then
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HasDetectedObjects = true
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self.DetectedObjects[DetectedObjectName] = self.DetectedObjects[DetectedObjectName] or {}
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self.DetectedObjects[DetectedObjectName].Name = DetectedObjectName
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if TargetIsDetected and TargetIsDetected == true then
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self.DetectedObjects[DetectedObjectName].IsDetected = TargetIsDetected
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end
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if TargetIsDetected and TargetIsVisible and TargetIsVisible == true then
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self.DetectedObjects[DetectedObjectName].IsVisible = TargetIsDetected and TargetIsVisible
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end
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if TargetIsDetected and not self.DetectedObjects[DetectedObjectName].KnowType then
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self.DetectedObjects[DetectedObjectName].KnowType = TargetIsDetected and TargetKnowType
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end
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self.DetectedObjects[DetectedObjectName].KnowDistance = TargetKnowDistance -- Detection.distance -- TargetKnowDistance
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self.DetectedObjects[DetectedObjectName].LastTime = ( TargetIsDetected and TargetIsVisible == false ) and TargetLastTime
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self.DetectedObjects[DetectedObjectName].LastPos = ( TargetIsDetected and TargetIsVisible == false ) and TargetLastPos
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self.DetectedObjects[DetectedObjectName].LastVelocity = ( TargetIsDetected and TargetIsVisible == false ) and TargetLastVelocity
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if not self.DetectedObjects[DetectedObjectName].Distance or ( Distance and self.DetectedObjects[DetectedObjectName].Distance > Distance ) then
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self.DetectedObjects[DetectedObjectName].Distance = Distance
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end
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self.DetectedObjects[DetectedObjectName].DetectionTimeStamp = DetectionTimeStamp
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self:F( { DetectedObject = self.DetectedObjects[DetectedObjectName] } )
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local DetectedUnit = UNIT:FindByName( DetectedObjectName )
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DetectedUnits[DetectedObjectName] = DetectedUnit
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else
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-- if beyond the DetectionRange then nullify...
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self:F( { DetectedObject = "No more detection for " .. DetectedObjectName } )
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if self.DetectedObjects[DetectedObjectName] then
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self.DetectedObjects[DetectedObjectName] = nil
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end
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end
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--self:T2( self.DetectedObjects )
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else
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-- The previously detected object does not exist anymore, delete from the cache.
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self:F( "Removing from DetectedObjects: " .. DetectionObjectName )
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self.DetectedObjects[DetectionObjectName] = nil
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end
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end
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if HasDetectedObjects then
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self:__Detected( 0.1, DetectedUnits )
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end
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end
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if self.DetectionCount > 0 and self.DetectionRun == self.DetectionCount then
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-- First check if all DetectedObjects were detected.
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-- This is important. When there are DetectedObjects in the list, but were not detected,
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-- And these remain undetected for more than 60 seconds, then these DetectedObjects will be flagged as not Detected.
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-- IsDetected = false!
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-- This is used in A2A_TASK_DISPATCHER to initiate fighter sweeping! The TASK_A2A_INTERCEPT tasks will be replaced with TASK_A2A_SWEEP tasks.
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for DetectedObjectName, DetectedObject in pairs( self.DetectedObjects ) do
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if self.DetectedObjects[DetectedObjectName].IsDetected == true and self.DetectedObjects[DetectedObjectName].DetectionTimeStamp + 300 <= DetectionTimeStamp then
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self.DetectedObjects[DetectedObjectName].IsDetected = false
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end
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end
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--- @param #DETECTION_ZONES self
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @param Detection The element on which the detection is based.
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-- @param #number DetectionTimeStamp Time stamp of detection event.
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function DETECTION_ZONES:onafterDetection( From, Event, To, Detection, DetectionTimeStamp )
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self:CreateDetectionItems() -- Polymorphic call to Create/Update the DetectionItems list for the DETECTION_ class grouping method.
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for DetectedItemID, DetectedItem in pairs( self.DetectedItems ) do
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self:UpdateDetectedItemDetection( DetectedItem )
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self:CleanDetectionItem( DetectedItem, DetectedItemID ) -- Any DetectionItem that has a Set with zero elements in it, must be removed from the DetectionItems list.
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if DetectedItem then
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self:__DetectedItem( 0.1, DetectedItem )
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end
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self:CreateDetectionItems() -- Polymorphic call to Create/Update the DetectionItems list for the DETECTION_ class grouping method.
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for DetectedItemID, DetectedItem in pairs( self.DetectedItems ) do
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self:UpdateDetectedItemDetection( DetectedItem )
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self:CleanDetectionItem( DetectedItem, DetectedItemID ) -- Any DetectionItem that has a Set with zero elements in it, must be removed from the DetectionItems list.
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if DetectedItem then
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self:__DetectedItem( 0.1, DetectedItem )
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end
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self:__Detect( self.RefreshTimeInterval )
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end
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self:__Detect( self.RefreshTimeInterval )
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end
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end
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end
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