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https://github.com/FlightControl-Master/MOOSE.git
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OPSGROUP
- Ad infinitum fixes - Turn into wind fixes
This commit is contained in:
Frank
parent
538864519e
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0b5edfc21f
@ -589,10 +589,11 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onbeforeUpdateRoute(From, Event, To, n, Speed, Formation)
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function ARMYGROUP:onbeforeUpdateRoute(From, Event, To, n, N, Speed, Formation)
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if self:IsWaiting() then
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self:E(self.lid.."Update route denied. Group is WAIRING!")
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return false
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@ -614,20 +615,22 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Formation)
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-- Debug info.
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local text=string.format("Update route state=%s: n=%s, Speed=%s, Formation=%s", self:GetState(), tostring(n), tostring(Speed), tostring(Formation))
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local text=string.format("Update route state=%s: n=%s, N=%s, Speed=%s, Formation=%s", self:GetState(), tostring(n), tostring(N), tostring(Speed), tostring(Formation))
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self:T(self.lid..text)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext(self.adinfinitum)
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table. OBSOLETE!
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--self:_UpdateWaypointTasks(n)
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-- Max index.
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N=N or #self.waypoints
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N=math.min(N, #self.waypoints)
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-- Waypoints.
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local waypoints={}
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@ -740,26 +743,13 @@ function ARMYGROUP:onafterGotoWaypoint(From, Event, To, UID, Speed, Formation)
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local n=self:GetWaypointIndex(UID)
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--env.info(string.format("FF AG Goto waypoint UID=%s Index=%s, Speed=%s, Formation=%s", tostring(UID), tostring(n), tostring(Speed), tostring(Formation)))
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if n then
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-- TODO: switch to re-enable waypoint tasks.
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if false then
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local tasks=self:GetTasksWaypoint(n)
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for _,_task in pairs(tasks) do
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local task=_task --Ops.OpsGroup#OPSGROUP.Task
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task.status=OPSGROUP.TaskStatus.SCHEDULED
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end
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end
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-- Speed to waypoint.
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Speed=Speed or self:GetSpeedToWaypoint(n)
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-- Update the route.
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self:UpdateRoute(n, Speed, Formation)
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self:__UpdateRoute(-0.01, n, nil, Speed, Formation)
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end
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@ -1132,7 +1122,7 @@ function ARMYGROUP:onafterCruise(From, Event, To, Speed, Formation)
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self.Twaiting=nil
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self.dTwait=nil
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self:__UpdateRoute(-1, nil, Speed, Formation)
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self:__UpdateRoute(-1, nil, nil, Speed, Formation)
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end
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@ -1970,9 +1970,10 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number.
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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-- @return #boolean Transision allowed?
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function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
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function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n, N)
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-- Is transition allowed? We assume yes until proven otherwise.
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local allowed=true
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@ -2012,8 +2013,8 @@ function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
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allowed=false
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end
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local N=n or self.currentwp+1
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if not N or N<1 then
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local Nn=n or self.currentwp+1
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if not Nn or Nn<1 then
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self:E(self.lid.."Update route denied because N=nil or N<1")
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trepeat=-5
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allowed=false
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@ -2071,14 +2072,16 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n, N)
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-- Update route from this waypoint number onwards.
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n=n or self.currentwp+1
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks(n)
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-- Max index.
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N=N or #self.waypoints
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N=math.min(N, #self.waypoints)
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-- Waypoints.
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local wp={}
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@ -2100,10 +2103,8 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
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local current=self.group:GetCoordinate():WaypointAir(COORDINATE.WaypointAltType.BARO, waypointType, waypointAction, speed, true, nil, {}, "Current")
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table.insert(wp, current)
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local Nwp=self.waypoints and #self.waypoints or 0
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-- Add remaining waypoints to route.
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for i=n, Nwp do
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for i=n, N do
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table.insert(wp, self.waypoints[i])
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end
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@ -710,12 +710,13 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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-- @param #number Speed Speed in knots to the next waypoint.
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-- @param #number Depth Depth in meters to the next waypoint.
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function NAVYGROUP:onbeforeUpdateRoute(From, Event, To, n, Speed, Depth)
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if self:IsWaiting() then
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self:E(self.lid.."Update route denied. Group is WAIRING!")
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self:E(self.lid.."Update route denied. Group is WAITING!")
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return false
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elseif self:IsInUtero() then
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self:E(self.lid.."Update route denied. Group is INUTERO!")
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@ -735,21 +736,24 @@ end
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number n Next waypoint index. Default is the one coming after that one that has been passed last.
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-- @param #number N Waypoint Max waypoint index to be included in the route. Default is the final waypoint.
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-- @param #number Speed Speed in knots to the next waypoint.
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-- @param #number Depth Depth in meters to the next waypoint.
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function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Depth)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext()
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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--self:_UpdateWaypointTasks(n)
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-- Max index.
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N=N or #self.waypoints
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N=math.min(N, #self.waypoints)
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-- Waypoints.
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local waypoints={}
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for i=n, #self.waypoints do
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for i=n, N do
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-- Waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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@ -956,7 +960,8 @@ function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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self:AddWaypoint(self.intowind.Coordinate, self:GetSpeedCruise(), uid)
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-- Add temp waypoint.
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local wp=self:AddWaypoint(self.intowind.Coordinate, self:GetSpeedCruise(), uid) ; wp.temp=true
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else
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@ -966,11 +971,11 @@ function NAVYGROUP:onafterTurnIntoWindOver(From, Event, To, IntoWindData)
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-- Next waypoint index and speed.
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local indx=self:GetWaypointIndexNext()
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local speed=self:GetWaypointSpeed(indx)
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local speed=self:GetSpeedToWaypoint(indx)
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-- Update route.
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self:T(self.lid..string.format("FF Turn Into Wind Over ==> Next WP Index=%d at %.1f knots via update route!", indx, speed))
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self:__UpdateRoute(-1, indx, speed)
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self:__UpdateRoute(-1, indx, nil, speed)
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end
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@ -1018,7 +1023,7 @@ function NAVYGROUP:onafterCruise(From, Event, To, Speed)
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-- No set depth.
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self.depth=nil
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self:__UpdateRoute(-1, nil, Speed)
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self:__UpdateRoute(-1, nil, nil, Speed)
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end
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@ -1037,7 +1042,7 @@ function NAVYGROUP:onafterDive(From, Event, To, Depth, Speed)
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self.depth=Depth
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self:__UpdateRoute(-1, nil, Speed)
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self:__UpdateRoute(-1, nil, nil, Speed)
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end
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@ -1051,7 +1056,7 @@ function NAVYGROUP:onafterSurface(From, Event, To, Speed)
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self.depth=0
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self:__UpdateRoute(-1, nil, Speed)
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self:__UpdateRoute(-1, nil, nil, Speed)
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end
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@ -2411,7 +2411,7 @@ function OPSGROUP:GetSpeedToWaypoint(indx)
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local speed=self:GetWaypointSpeed(indx)
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if speed<=0.1 then
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if speed<=0.01 then
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speed=self:GetSpeedCruise()
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end
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@ -4333,6 +4333,10 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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end
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if task and task.dcstask.id=="PatrolZone" then
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---
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-- SPECIAL TASK: Patrol Zone
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---
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-- Remove old waypoint.
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self:RemoveWaypointByID(Waypoint.uid)
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@ -4360,6 +4364,10 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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wp.missionUID=mission and mission.auftragsnummer or nil
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elseif task and task.dcstask.id=="ReconMission" then
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---
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-- SPECIAL TASK: Recon Mission
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---
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local target=task.dcstask.params.target --Ops.Target#TARGET
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@ -4412,7 +4420,7 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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end
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-- Final zone reached ==> task done.
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self:TaskDone(task)
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self:TaskDone(task)
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end
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@ -4431,24 +4439,41 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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-- Final waypoint reached?
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if wpindex==nil or wpindex==#self.waypoints then
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-- Set switch to true.
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-- Ad infinitum?
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if self.adinfinitum then
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---
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-- Ad Infinitum and last waypoint reached.
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---
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if #self.waypoints<=1 then
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-- Only one waypoint. Ad infinitum does not really make sense. However, another waypoint could be added later...
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self:_PassedFinalWaypoint(true, "PassingWaypoint: adinfinitum but only ONE WAYPOINT left")
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else
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local uid=self:GetWaypointID(1)
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self:GotoWaypoint(uid)
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end
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else
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self:_PassedFinalWaypoint(true, "PassingWaypoint: wpindex=nil or wpindex=#self.waypoints")
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end
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-- Looks like the passing waypoint function is triggered over and over again if the group is near the final waypoint.
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-- So the only good solution is to guide the group away from that waypoint and then update the route.
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-- Get first waypoint.
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local wp1=self:GetWaypointByIndex(1)
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-- Get a waypoint
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local Coordinate=Waypoint.coordinate:GetIntermediateCoordinate(wp1.coordinate, 0.1)
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-- Detour to the temp waypoint. When reached, the normal route is resumed.
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self:Detour(Coordinate, self.speedCruise, nil, true)
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end
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else
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-- Final waypoint reached.
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self:_PassedFinalWaypoint(true, "PassingWaypoint: wpindex=#self.waypoints (or wpindex=nil)")
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end
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end
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-- Passing mission waypoint?
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if Waypoint.missionUID then
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self:T(self.lid.."FF passing mission waypoint")
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--self:RemoveWaypointByID(Waypoint.uid)
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end
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-- Check if all tasks/mission are done?
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@ -4537,7 +4562,7 @@ function OPSGROUP:onafterPassedFinalWaypoint(From, Event, To)
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self:T(self.lid..string.format("Group passed final waypoint"))
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-- Check if group is done? No tasks mission running.
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self:_CheckGroupDone()
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--self:_CheckGroupDone()
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end
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@ -4547,28 +4572,22 @@ end
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number UID The goto waypoint unique ID.
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function OPSGROUP:onafterGotoWaypoint(From, Event, To, UID)
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-- @param #number Speed (Optional) Speed to waypoint in knots.
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function OPSGROUP:onafterGotoWaypoint(From, Event, To, UID, Speed)
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local n=self:GetWaypointIndex(UID)
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if n then
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-- TODO: Switch to re-enable waypoint tasks?
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if false then
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local tasks=self:GetTasksWaypoint(n)
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for _,_task in pairs(tasks) do
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local task=_task --#OPSGROUP.Task
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task.status=OPSGROUP.TaskStatus.SCHEDULED
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end
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end
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local Speed=self:GetSpeedToWaypoint(n)
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-- Speed to waypoint.
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Speed=Speed or self:GetSpeedToWaypoint(n)
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-- Debug message
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self:T(self.lid..string.format("Goto Waypoint UID=%d index=%d from %d at speed %.1f knots", UID, n, self.currentwp, Speed))
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-- Update the route.
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self:__UpdateRoute(-1, n, Speed)
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self:__UpdateRoute(-0.01, n, nil, Speed)
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end
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end
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@ -6826,16 +6845,7 @@ function OPSGROUP:onafterTransport(From, Event, To)
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else
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-- Coord where the carrier goes to unload.
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local Coordinate=nil --Core.Point#COORDINATE
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if self.cargoTransport.carrierGroup and self.cargoTransport.carrierGroup:IsLoading() then
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--TODO: What the heck is self.cargoTransport.carrierGroup and where is this set?!
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-- Coordinate of the new carrier.
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Coordinate=self.cargoTransport.carrierGroup:GetCoordinate()
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else
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-- Get a random coordinate in the deploy zone and let the carrier go there.
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Coordinate=Zone:GetRandomCoordinate()
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end
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local Coordinate=Zone:GetRandomCoordinate() --Core.Point#COORDINATE
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-- Add waypoint.
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if self:IsFlightgroup() then
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