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Enhanced Groups
This commit is contained in:
Frank
parent
2f6d9b640f
commit
0d42b12658
@ -458,27 +458,25 @@ end
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to go.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation the group will use.
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-- @param #number ResumeRoute If true, resume route after detour point was reached.
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-- @param #number Formation Formation of the group.
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-- @param #number ResumeRoute If true, resume route after detour point was reached. If false, the group will stop at the detour point and wait for futher commands.
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function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation, ResumeRoute)
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-- Waypoints.
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local waypoints={}
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-- Get current speed in km/h.
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local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
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-- Speed in knots.
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Speed=Speed or self:GetSpeedCruise()
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointGround(Speed, Formation)
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table.insert(waypoints, current)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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-- At each waypoint report passing.
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local Task=self.group:TaskFunction("ARMYGROUP._DetourReached", self, ResumeRoute)
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, Speed, uid, Formation, true)
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local detour=Coordinate:WaypointGround(Speed, Formation, {Task})
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table.insert(waypoints, detour)
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self:Route(waypoints)
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-- Set if we want to resume route after reaching the detour waypoint.
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if ResumeRoute then
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wp.detour=1
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else
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wp.detour=0
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end
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end
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@ -491,25 +489,6 @@ function ARMYGROUP:onafterDetourReached(From, Event, To)
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self:I(self.lid.."Group reached detour coordinate.")
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end
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--- Function called when a group is passing a waypoint.
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--@param Wrapper.Group#GROUP group Group that passed the waypoint
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--@param #ARMYGROUP armygroup Army group object.
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--@param #boolean resume Resume route.
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function ARMYGROUP._DetourReached(group, armygroup, resume)
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-- Debug message.
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local text=string.format("Group reached detour coordinate")
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armygroup:I(armygroup.lid..text)
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if resume then
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local indx=armygroup:GetWaypointIndexNext(true)
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local speed=armygroup:GetSpeedToWaypoint(indx)
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armygroup:__UpdateRoute(-1, indx, speed, armygroup.formation)
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end
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armygroup:DetourReached()
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end
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--- On after "FullStop" event.
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-- @param #ARMYGROUP self
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@ -684,29 +663,36 @@ end
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--- Add an a waypoint to the route.
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-- @param #ARMYGROUP self
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-- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
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-- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
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-- @param #number wpnumber Waypoint number. Default at the end.
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-- @param #number formation Formation the group will use.
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-- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
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-- @return #number Waypoint index.
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function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, formation, updateroute)
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-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
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-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
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-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
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-- @param #number Formation Formation the group will use.
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-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
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-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
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function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation, Updateroute)
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-- Waypoint number. Default is at the end.
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wpnumber=wpnumber or #self.waypoints+1
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-- Set waypoint index.
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local wpnumber=#self.waypoints+1
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if wpnumber then
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local index=self:GetWaypointIndex(AfterWaypointWithID)
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if index then
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wpnumber=index+1
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end
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end
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-- Check if final waypoint is still passed.
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if wpnumber>self.currentwp then
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self.passedfinalwp=false
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end
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-- Speed in knots.
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speed=speed or self:GetSpeedCruise()
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Speed=Speed or self:GetSpeedCruise()
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-- Speed at waypoint.
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local speedkmh=UTILS.KnotsToKmph(speed)
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local speedkmh=UTILS.KnotsToKmph(Speed)
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-- Create a Naval waypoint.
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local wp=coordinate:WaypointGround(speedkmh, formation)
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local wp=Coordinate:WaypointGround(speedkmh, Formation)
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-- Create waypoint data table.
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local waypoint=self:_CreateWaypoint(wp)
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@ -715,15 +701,15 @@ function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, formation, updaterou
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self:_AddWaypoint(waypoint, wpnumber)
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-- Debug info.
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self:T(self.lid..string.format("Adding GROUND waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, speed, self.currentwp, #self.waypoints))
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self:T(self.lid..string.format("Adding GROUND waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, Speed, self.currentwp, #self.waypoints))
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-- Update route.
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if updateroute==nil or updateroute==true then
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if Updateroute==nil or Updateroute==true then
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self:_CheckGroupDone(1)
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end
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return wpnumber
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return waypoint
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end
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--- Initialize group parameters. Also initializes waypoints if self.waypoints is nil.
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@ -822,7 +808,7 @@ function ARMYGROUP:_InitGroup()
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--text=text..string.format("Radio = %.1f MHz %s %s\n", self.radioFreq, UTILS.GetModulationName(self.radioModu), tostring(self.radioOn))
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--text=text..string.format("Ammo = %d (G=%d/R=%d/B=%d/M=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Bombs, self.ammo.Missiles)
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text=text..string.format("FSM state = %s\n", self:GetState())
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text=text..string.format("Is alive = %s\n", tostring(self.group:IsAlive()))
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text=text..string.format("Is alive = %s\n", tostring(self:IsAlive()))
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text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
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self:I(self.lid..text)
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@ -838,49 +824,6 @@ end
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-- Misc Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Check if group is done, i.e.
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--
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-- * passed the final waypoint,
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-- * no current task
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-- * no current mission
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-- * number of remaining tasks is zero
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-- * number of remaining missions is zero
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--
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-- @param #ARMYGROUP self
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-- @param #number delay Delay in seconds.
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function ARMYGROUP:_CheckGroupDone(delay)
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if self:IsAlive() and self.ai then
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if delay and delay>0 then
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-- Delayed call.
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self:ScheduleOnce(delay, ARMYGROUP._CheckGroupDone, self)
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else
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if self.passedfinalwp then
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if #self.waypoints>1 and self.adinfinitum then
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local speed=self:GetSpeedToWaypoint(1)
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-- Start route at first waypoint.
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self:__UpdateRoute(-1, 1, speed, self.formation)
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end
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else
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self:UpdateRoute(nil, nil, self.formation)
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end
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end
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end
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end
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--- Get default cruise speed.
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-- @param #ARMYGROUP self
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-- @return #number Cruise speed (>0) in knots.
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@ -888,21 +831,6 @@ function ARMYGROUP:GetSpeedCruise()
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return UTILS.KmphToKnots(self.speedCruise or self.speedmax*0.7)
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end
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--- Returns a non-zero speed to the next waypoint (even if the waypoint speed is zero).
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-- @param #ARMYGROUP self
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-- @param #number indx Waypoint index.
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-- @return #number Speed to next waypoint (>0) in knots.
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function ARMYGROUP:GetSpeedToWaypoint(indx)
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local speed=self:GetWaypointSpeed(indx)
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if speed<=0.1 then
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speed=self:GetSpeedCruise()
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end
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return speed
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -1778,7 +1778,6 @@ function FLIGHTGROUP:_CheckGroupDone(delay)
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return
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end
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-- Number of tasks remaining.
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local nTasks=self:CountRemainingTasks()
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@ -93,6 +93,7 @@ function NAVYGROUP:New(GroupName)
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-- Defaults
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self:SetDefaultROE()
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self:SetDefaultAlarmstate()
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self:SetDetection()
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self:SetPatrolAdInfinitum(true)
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@ -418,11 +419,23 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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local nTaskTot, nTaskSched, nTaskWP=self:CountRemainingTasks()
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local nMissions=self:CountRemainingMissison()
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local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"
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local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"
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local turning=tostring(self:IsTurning())
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local alt=pos.y
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local speedExpected=UTILS.MpsToKnots(self.speed or 0)
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local wpidxCurr=self.currentwp
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local wpuidCurr=0
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local wpidxNext=self:GetWaypointIndexNext()
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local wpuidNext=0
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local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint())
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local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint(), true)
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local roe=self:GetROE() or 0
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local als=self:GetAlarmstate() or 0
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-- Info text.
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local text=string.format("%s (T=%d,M=%d): Wp=%d-->%d (of %d) Speed=%.1f (%.1f) Depth=%.1f Hdg=%03d Turn=%s Collision=%d IntoWind=%s ROE=%d AS=%d",
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fsmstate, nTaskTot, nMissions, self.currentwp, self:GetWaypointIndexNext(), #self.waypoints, speed, UTILS.MpsToKnots(self.speed or 0), pos.y, hdg, tostring(self:IsTurning()), freepath, intowind, 0, 0)
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local text=string.format("%s [ROE=%d,AS=%d, T/M=%d/%d]: Wp=%d[%d]-->%d[%d] (of %d) Dist=%.1f NM ETA=%s - Speed=%.1f (%.1f) kts, Depth=%.1f m, Hdg=%03d, Turn=%s Collision=%d IntoWind=%s",
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fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints, wpDist, wpETA, speed, speedExpected, alt, hdg, turning, freepath, intowind)
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self:I(self.lid..text)
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else
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@ -536,16 +549,15 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
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if self.ai then
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-- Set default ROE and ROT options.
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self:SetOptionROE(self.roe)
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-- Set default ROE and Alarmstate options.
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self:SetOptionROE(self.roe)
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self:SetOptionAlarmstate(self.alarmstate)
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end
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-- Get orientation.
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self.Corientlast=self.group:GetUnit(1):GetOrientationX()
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self.depth=self.group:GetHeight()
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-- Update route.
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self:Cruise()
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@ -562,7 +574,7 @@ end
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function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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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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n=n or self:GetWaypointIndexNext()
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-- Debug info.
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self:T(self.lid..string.format("FF Update route n=%d", n))
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@ -607,7 +619,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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else
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-- Dive depth is applied to all other waypoints.
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-- Dive depth is applied to all other waypoints.
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if self.depth then
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wp.alt=-self.depth
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else
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@ -637,10 +649,11 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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else
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---
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-- No waypoints left
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-- No waypoints left ==> Full Stop
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---
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self:I(self.lid..string.format("No waypoints left"))
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self:E(self.lid..string.format("WARNING: No waypoints left ==> Full Stop!"))
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self:FullStop()
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end
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@ -656,20 +669,20 @@ end
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-- @param #number Depth Depth in meters. Default 0 meters.
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-- @param #number ResumeRoute If true, resume route after detour point was reached. If false, the group will stop at the detour point and wait for futher commands.
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function NAVYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Depth, ResumeRoute)
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-- Waypoints.
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local waypoints={}
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-- Depth for submarines.
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local depth=Depth or 0
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Depth=Depth or 0
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-- Speed in knots.
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Speed=Speed or self:GetSpeedCruise()
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local wpindx=self.currentwp+1
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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local wp=self:AddWaypoint(Coordinate, Speed, wpindx, true)
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, Speed, uid, Depth, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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if ResumeRoute then
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wp.detour=1
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else
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@ -687,26 +700,6 @@ function NAVYGROUP:onafterDetourReached(From, Event, To)
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self:I(self.lid.."Group reached detour coordinate.")
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end
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--- Function called when a group is passing a waypoint.
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--@param Wrapper.Group#GROUP group Group that passed the waypoint
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--@param #NAVYGROUP navygroup Navy group object.
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--@param #boolean resume Resume route.
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function NAVYGROUP._DetourReached(group, navygroup, resume)
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-- Debug message.
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local text=string.format("Group reached detour coordinate")
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navygroup:I(navygroup.lid..text)
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if resume then
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local indx=navygroup:GetWaypointIndexNext(true)
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local speed=navygroup:GetSpeedToWaypoint(indx)
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navygroup:UpdateRoute(indx, speed, navygroup.depth)
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end
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navygroup:DetourReached()
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end
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--- On after "TurnIntoWind" event.
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-- @param #NAVYGROUP self
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-- @param #string From From state.
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@ -739,10 +732,11 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
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local coord=self:GetCoordinate()
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local Coord=coord:Translate(distance, IntoWind.Heading)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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local wpindex=self.currentwp+1 --self:GetWaypointIndexNext(false)
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local wptiw=self:AddWaypoint(Coord, speed, wpindex, true)
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local wptiw=self:AddWaypoint(Coord, speed, uid)
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wptiw.intowind=true
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IntoWind.waypoint=wptiw
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@ -751,14 +745,6 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
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IntoWind.Coordinate:MarkToAll("Return coord")
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end
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--[[
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local wp={}
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wp[1]=coord:WaypointNaval(UTILS.KnotsToKmph(speed))
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wp[2]=Coord:WaypointNaval(UTILS.KnotsToKmph(speed))
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self:Route(wp)
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]]
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end
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--- On after "TurnIntoWindOver" event.
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@ -816,10 +802,10 @@ 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 Speed Speed in knots until next waypoint is reached.
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-- @param #number Speed Speed in knots until next waypoint is reached. Default is speed set for waypoint.
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function NAVYGROUP:onafterCruise(From, Event, To, Speed)
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--
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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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@ -1001,28 +987,36 @@ end
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--- Add an a waypoint to the route.
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-- @param #NAVYGROUP self
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-- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
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-- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
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-- @param #number wpnumber Waypoint number. Default at the end.
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-- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
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-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
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-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
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-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
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-- @param #number Depth Depth at waypoint in meters.
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-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
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-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
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function NAVYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
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-- Waypoint number. Default is at the end.
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wpnumber=wpnumber or #self.waypoints+1
|
||||
function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Updateroute)
|
||||
|
||||
-- Set waypoint index.
|
||||
local wpnumber=#self.waypoints+1
|
||||
if wpnumber then
|
||||
local index=self:GetWaypointIndex(AfterWaypointWithID)
|
||||
if index then
|
||||
wpnumber=index+1
|
||||
end
|
||||
end
|
||||
|
||||
-- Check if final waypoint is still passed.
|
||||
if wpnumber>self.currentwp then
|
||||
self.passedfinalwp=false
|
||||
end
|
||||
|
||||
-- Speed in knots.
|
||||
speed=speed or self:GetSpeedCruise()
|
||||
Speed=Speed or self:GetSpeedCruise()
|
||||
|
||||
-- Speed at waypoint.
|
||||
local speedkmh=UTILS.KnotsToKmph(speed)
|
||||
local speedkmh=UTILS.KnotsToKmph(Speed)
|
||||
|
||||
-- Create a Naval waypoint.
|
||||
local wp=coordinate:WaypointNaval(speedkmh)
|
||||
local wp=Coordinate:WaypointNaval(speedkmh)
|
||||
|
||||
-- Create waypoint data table.
|
||||
local waypoint=self:_CreateWaypoint(wp)
|
||||
@ -1031,10 +1025,10 @@ function NAVYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
|
||||
self:_AddWaypoint(waypoint, wpnumber)
|
||||
|
||||
-- Debug info.
|
||||
self:I(self.lid..string.format("Adding NAVAL waypoint index=%d uid=%d, speed=%.1f knots. Last waypoint passed was #%d. Total waypoints #%d", wpnumber, waypoint.uid, speed, self.currentwp, #self.waypoints))
|
||||
self:I(self.lid..string.format("Adding NAVAL waypoint index=%d uid=%d, speed=%.1f knots. Last waypoint passed was #%d. Total waypoints #%d", wpnumber, waypoint.uid, Speed, self.currentwp, #self.waypoints))
|
||||
|
||||
-- Update route.
|
||||
if updateroute==nil or updateroute==true then
|
||||
if Updateroute==nil or Updateroute==true then
|
||||
self:_CheckGroupDone(1)
|
||||
end
|
||||
|
||||
@ -1076,8 +1070,8 @@ function NAVYGROUP:_InitGroup()
|
||||
-- Max speed in km/h.
|
||||
self.speedmax=self.group:GetSpeedMax()
|
||||
|
||||
-- Cruise speed: 70% of max speed but within limit.
|
||||
--self.speedCruise=self.speedmax*0.7
|
||||
-- Cruise speed: 70% of max speed.
|
||||
self.speedCruise=self.speedmax*0.7
|
||||
|
||||
-- Group ammo.
|
||||
--self.ammo=self:GetAmmoTot()
|
||||
@ -1106,6 +1100,7 @@ function NAVYGROUP:_InitGroup()
|
||||
end
|
||||
end
|
||||
|
||||
-- Get all units of the group.
|
||||
local units=self.group:GetUnits()
|
||||
|
||||
for _,_unit in pairs(units) do
|
||||
@ -1351,58 +1346,18 @@ function NAVYGROUP:_CheckStuck()
|
||||
|
||||
local ExpectedSpeed=self:GetExpectedSpeed()
|
||||
|
||||
local speed=self.group:GetVelocityMPS()
|
||||
local speed=self:GetVelocity()
|
||||
|
||||
if speed<0.5 and ExpectedSpeed>0 then
|
||||
if not self.holdtimestamp then
|
||||
self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f expected=%.1f knots", speed, ExpectedSpeed))
|
||||
self:E(self.lid..string.format("WARNING: Group came to an unexpected standstill. Speed=%.1f<%.1f m/s expected", speed, ExpectedSpeed))
|
||||
self.holdtimestamp=timer.getTime()
|
||||
end
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Check if group is done, i.e.
|
||||
--
|
||||
-- * passed the final waypoint,
|
||||
-- * no current task
|
||||
-- * no current mission
|
||||
-- * number of remaining tasks is zero
|
||||
-- * number of remaining missions is zero
|
||||
--
|
||||
-- @param #NAVYGROUP self
|
||||
-- @param #number delay Delay in seconds.
|
||||
function NAVYGROUP:_CheckGroupDone(delay)
|
||||
|
||||
if self:IsAlive() and self.ai then
|
||||
|
||||
if delay and delay>0 then
|
||||
-- Delayed call.
|
||||
self:ScheduleOnce(delay, NAVYGROUP._CheckGroupDone, self)
|
||||
else
|
||||
|
||||
if self.passedfinalwp then
|
||||
|
||||
if #self.waypoints>1 and self.adinfinitum then
|
||||
|
||||
local speed=self:GetSpeedToWaypoint(1)
|
||||
|
||||
-- Start route at first waypoint.
|
||||
self:__UpdateRoute(-1, 1, speed, self.depth)
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
|
||||
self:__UpdateRoute(-1, nil, nil, self.depth)
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Check queued turns into wind.
|
||||
-- @param #NAVYGROUP self
|
||||
@ -1466,33 +1421,7 @@ function NAVYGROUP:GetSpeedCruise()
|
||||
return UTILS.KmphToKnots(self.speedCruise or self.speedmax*0.7)
|
||||
end
|
||||
|
||||
--- Returns a non-zero speed to the next waypoint (even if the waypoint speed is zero).
|
||||
-- @param #NAVYGROUP self
|
||||
-- @param #number indx Waypoint index.
|
||||
-- @return #number Speed to next waypoint (>0) in knots.
|
||||
function NAVYGROUP:GetSpeedToWaypoint(indx)
|
||||
|
||||
local speed=self:GetWaypointSpeed(indx)
|
||||
|
||||
if speed<=0.1 then
|
||||
speed=self:GetSpeedCruise()
|
||||
end
|
||||
|
||||
return speed
|
||||
end
|
||||
|
||||
--- Returns the currently expected speed.
|
||||
-- @param #NAVYGROUP self
|
||||
-- @return #number Expected speed in m/s.
|
||||
function NAVYGROUP:GetExpectedSpeed()
|
||||
|
||||
if self:IsHolding() then
|
||||
return 0
|
||||
else
|
||||
return self.speed or 0
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Check queued turns into wind.
|
||||
-- @param #NAVYGROUP self
|
||||
@ -1602,15 +1531,23 @@ function NAVYGROUP:_FindPathToNextWaypoint()
|
||||
if path then
|
||||
|
||||
-- Loop over nodes in found path.
|
||||
local uid=self:GetWaypointCurrent().uid -- ID of current waypoint.
|
||||
|
||||
for i,_node in ipairs(path) do
|
||||
local node=_node --Core.Astar#ASTAR.Node
|
||||
|
||||
-- Waypoint index.
|
||||
local wpindex=self:GetWaypointIndexCurrent()+i
|
||||
|
||||
-- ID of current waypoint.
|
||||
local uid=self:GetWaypointCurrent().uid
|
||||
|
||||
-- Add waypoints along detour path to next waypoint.
|
||||
local wp=self:AddWaypoint(node.coordinate, speed, wpindex)
|
||||
local wp=self:AddWaypoint(node.coordinate, speed, uid)
|
||||
wp.astar=true
|
||||
|
||||
-- Update id so the next wp is added after this one.
|
||||
uid=wp.uid
|
||||
|
||||
-- Debug: smoke and mark path.
|
||||
node.coordinate:MarkToAll(string.format("Path node #%d", i))
|
||||
|
||||
@ -95,9 +95,10 @@
|
||||
--
|
||||
-- # The OPSGROUP Concept
|
||||
--
|
||||
-- The OPSGROUP class contains common functions used by other classes such as FLIGHGROUP, NAVYGROUP.
|
||||
-- The OPSGROUP class contains common functions used by other classes such as FLIGHGROUP, NAVYGROUP and ARMYGROUP.
|
||||
-- Those classes inherit everything of this class and extend it with features specific to their unit category.
|
||||
--
|
||||
-- This class is **not** meant to be used itself by the end user.
|
||||
-- This class is **NOT** meant to be used by the end user itself.
|
||||
--
|
||||
--
|
||||
-- @field #OPSGROUP
|
||||
@ -229,7 +230,7 @@ OPSGROUP.TaskType={
|
||||
|
||||
--- NavyGroup version.
|
||||
-- @field #string version
|
||||
OPSGROUP.version="0.1.0"
|
||||
OPSGROUP.version="0.2.0"
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- TODO list
|
||||
@ -431,6 +432,18 @@ function OPSGROUP:GetCoordinate()
|
||||
return nil
|
||||
end
|
||||
|
||||
--- Get current velocity of the group.
|
||||
-- @param #OPSGROUP self
|
||||
-- @return #number Velocity in m/s.
|
||||
function OPSGROUP:GetVelocity()
|
||||
if self:IsAlive()~=nil then
|
||||
return self.group:GetVelocityMPS()
|
||||
else
|
||||
self:E(self.lid.."WARNING: Group is not alive. Cannot get velocity!")
|
||||
end
|
||||
return nil
|
||||
end
|
||||
|
||||
--- Get current heading of the group.
|
||||
-- @param #OPSGROUP self
|
||||
-- @return #number Current heading of the group in degrees.
|
||||
@ -690,8 +703,9 @@ end
|
||||
|
||||
--- Get coordinate of next waypoint of the group.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #boolean cyclic If true, return first waypoint if last waypoint was reached.
|
||||
-- @return Core.Point#COORDINATE Coordinate of the next waypoint.
|
||||
function OPSGROUP:GetNextWaypointCoordinate()
|
||||
function OPSGROUP:GetNextWaypointCoordinate(cyclic)
|
||||
|
||||
-- Get next waypoint
|
||||
local waypoint=self:GetWaypointNext(cyclic)
|
||||
@ -726,6 +740,98 @@ function OPSGROUP:GetWaypointSpeed(indx)
|
||||
return nil
|
||||
end
|
||||
|
||||
--- Get unique ID of waypoint.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #number indx Waypoint index.
|
||||
-- @return #number Unique ID.
|
||||
function OPSGROUP:GetWaypointID(indx)
|
||||
|
||||
local waypoint=self:GetWaypoint(indx)
|
||||
|
||||
if waypoint then
|
||||
return waypoint.uid
|
||||
end
|
||||
|
||||
return nil
|
||||
|
||||
end
|
||||
|
||||
--- Returns a non-zero speed to the next waypoint (even if the waypoint speed is zero).
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #number indx Waypoint index.
|
||||
-- @return #number Speed to next waypoint (>0) in knots.
|
||||
function OPSGROUP:GetSpeedToWaypoint(indx)
|
||||
|
||||
local speed=self:GetWaypointSpeed(indx)
|
||||
|
||||
if speed<=0.1 then
|
||||
speed=self:GetSpeedCruise()
|
||||
end
|
||||
|
||||
return speed
|
||||
end
|
||||
|
||||
--- Get distance to waypoint.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #number indx Waypoint index. Default is the next waypoint.
|
||||
-- @return #number Distance in meters.
|
||||
function OPSGROUP:GetDistanceToWaypoint(indx)
|
||||
local dist=0
|
||||
|
||||
if #self.waypoints>0 then
|
||||
|
||||
indx=indx or self:GetWaypointIndexNext()
|
||||
|
||||
local wp=self:GetWaypoint(indx)
|
||||
|
||||
if wp then
|
||||
|
||||
local coord=self:GetCoordinate()
|
||||
|
||||
dist=coord:Get2DDistance(wp.coordinate)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
return dist
|
||||
end
|
||||
|
||||
--- Get time to waypoint based on current velocity.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #number indx Waypoint index. Default is the next waypoint.
|
||||
-- @return #number Time in seconds. If velocity is 0
|
||||
function OPSGROUP:GetTimeToWaypoint(indx)
|
||||
|
||||
local s=self:GetDistanceToWaypoint(indx)
|
||||
|
||||
local v=self:GetVelocity()
|
||||
|
||||
local t=s/v
|
||||
|
||||
if t==math.inf then
|
||||
return 365*24*60*60
|
||||
elseif t==math.nan then
|
||||
return 0
|
||||
else
|
||||
return t
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
--- Returns the currently expected speed.
|
||||
-- @param #OPSGROUP self
|
||||
-- @return #number Expected speed in m/s.
|
||||
function OPSGROUP:GetExpectedSpeed()
|
||||
|
||||
if self:IsHolding() then
|
||||
return 0
|
||||
else
|
||||
return self.speed or 0
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
|
||||
|
||||
--- Remove a waypoint with a ceratin UID.
|
||||
-- @param #OPSGROUP self
|
||||
@ -765,7 +871,9 @@ function OPSGROUP:RemoveWaypoint(wpindex)
|
||||
-- Waypoint was not reached yet.
|
||||
if wpindex > self.currentwp then
|
||||
|
||||
-- Could be that we just removed the only remaining waypoint ==> passedfinalwp=true.
|
||||
---
|
||||
-- Removed a FUTURE waypoint
|
||||
---
|
||||
|
||||
-- TODO: patrol adinfinitum.
|
||||
|
||||
@ -773,16 +881,16 @@ function OPSGROUP:RemoveWaypoint(wpindex)
|
||||
self.passedfinalwp=true
|
||||
end
|
||||
|
||||
env.info("FF passed final waypoint after remove current wp = "..self.currentwp)
|
||||
env.info("FF passed final waypoint after remove! current wp = "..self.currentwp)
|
||||
|
||||
self:_CheckGroupDone(1)
|
||||
|
||||
--elseif wpindex==self.currentwp then
|
||||
|
||||
-- Removed the waypoint we just passed.
|
||||
|
||||
|
||||
else
|
||||
|
||||
---
|
||||
-- Removed a waypoint ALREADY PASSED
|
||||
---
|
||||
|
||||
-- If an already passed waypoint was deleted, we do not need to update the route.
|
||||
|
||||
-- If current wp = 1 it stays 1. Otherwise decrease current wp.
|
||||
@ -962,20 +1070,17 @@ end
|
||||
--- Add a *waypoint* task.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #table task DCS task table structure.
|
||||
-- @param #number waypointindex Number of waypoint. Counting starts at one! Default is the as *next* waypoint.
|
||||
-- @param #OPSGROUP.Waypoint Waypoint where the task is executed. Default is the at *next* waypoint.
|
||||
-- @param #string description Brief text describing the task, e.g. "Attack SAM".
|
||||
-- @param #number prio Priority of the task. Number between 1 and 100. Default is 50.
|
||||
-- @param #number duration Duration before task is cancelled in seconds counted after task started. Default never.
|
||||
-- @return #OPSGROUP.Task The task structure.
|
||||
function OPSGROUP:AddTaskWaypoint(task, waypointindex, description, prio, duration)
|
||||
|
||||
-- Index.
|
||||
waypointindex=waypointindex or (self.currentwp and self.currentwp+1 or 2)
|
||||
function OPSGROUP:AddTaskWaypoint(task, Waypoint, description, prio, duration)
|
||||
|
||||
-- Get waypoint
|
||||
local waypoint=self:GetWaypointByIndex(waypointindex)
|
||||
|
||||
if waypoint then
|
||||
-- Waypoint of task.
|
||||
Waypoint=Waypoint or self:GetWaypointNext()
|
||||
|
||||
if Waypoint then
|
||||
|
||||
-- Increase counter.
|
||||
self.taskcounter=self.taskcounter+1
|
||||
@ -989,7 +1094,7 @@ function OPSGROUP:AddTaskWaypoint(task, waypointindex, description, prio, durati
|
||||
newtask.id=self.taskcounter
|
||||
newtask.duration=duration
|
||||
newtask.time=0
|
||||
newtask.waypoint=waypoint.uid
|
||||
newtask.waypoint=Waypoint.uid
|
||||
newtask.type=OPSGROUP.TaskType.WAYPOINT
|
||||
newtask.stopflag=USERFLAG:New(string.format("%s StopTaskFlag %d", self.groupname, newtask.id))
|
||||
newtask.stopflag:Set(0)
|
||||
@ -1002,10 +1107,9 @@ function OPSGROUP:AddTaskWaypoint(task, waypointindex, description, prio, durati
|
||||
self:T3({newtask=newtask})
|
||||
|
||||
-- Update route.
|
||||
--self:_CheckGroupDone(1)
|
||||
self:__UpdateRoute(-1)
|
||||
|
||||
return newtask
|
||||
return newtask
|
||||
end
|
||||
|
||||
return nil
|
||||
@ -1807,8 +1911,8 @@ function OPSGROUP:RouteToMission(mission, delay)
|
||||
self:ScheduleOnce(delay, OPSGROUP.RouteToMission, self, mission)
|
||||
else
|
||||
|
||||
-- Next waypoint.
|
||||
local nextwaypoint=self.currentwp+1
|
||||
-- ID of current waypoint.
|
||||
local uid=self:GetWaypointCurrent().uid
|
||||
|
||||
-- Get coordinate where the mission is executed.
|
||||
local waypointcoord=mission:GetMissionWaypointCoord(self.group)
|
||||
@ -1817,9 +1921,12 @@ function OPSGROUP:RouteToMission(mission, delay)
|
||||
for _,task in pairs(mission.enrouteTasks) do
|
||||
self:AddTaskEnroute(task)
|
||||
end
|
||||
|
||||
-- Speed to mission waypoint.
|
||||
local SpeedToMission=UTILS.KmphToKnots(self.speedCruise)
|
||||
|
||||
-- Add waypoint.
|
||||
local waypoint=self:AddWaypoint(waypointcoord, UTILS.KmphToKnots(self.speedCruise), nextwaypoint, false)
|
||||
local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, false)
|
||||
|
||||
-- Special for Troop transport.
|
||||
if mission.type==AUFTRAG.Type.TROOPTRANSPORT then
|
||||
@ -1841,7 +1948,7 @@ function OPSGROUP:RouteToMission(mission, delay)
|
||||
end
|
||||
|
||||
-- Add waypoint task. UpdateRoute is called inside.
|
||||
local waypointtask=self:AddTaskWaypoint(mission.DCStask, nextwaypoint, mission.name, mission.prio, mission.duration)
|
||||
local waypointtask=self:AddTaskWaypoint(mission.DCStask, waypoint, mission.name, mission.prio, mission.duration)
|
||||
|
||||
-- Set waypoint task.
|
||||
mission:SetGroupWaypointTask(self, waypointtask)
|
||||
@ -2126,6 +2233,10 @@ function OPSGROUP:onafterCheckZone(From, Event, To)
|
||||
end
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Internal Check Functions
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
--- Check if group is in zones.
|
||||
-- @param #OPSGROUP self
|
||||
function OPSGROUP:_CheckInZones()
|
||||
@ -2248,6 +2359,106 @@ function OPSGROUP:_CheckDetectedUnits()
|
||||
|
||||
end
|
||||
|
||||
--- Check if passed the final waypoint and, if necessary, update route.
|
||||
-- @param #OPSGROUP self
|
||||
-- @param #number delay Delay in seconds.
|
||||
function OPSGROUP:_CheckGroupDone(delay)
|
||||
|
||||
if self:IsAlive() and self.ai then
|
||||
|
||||
if delay and delay>0 then
|
||||
-- Delayed call.
|
||||
self:ScheduleOnce(delay, self._CheckGroupDone, self)
|
||||
else
|
||||
|
||||
if self.passedfinalwp then
|
||||
|
||||
---
|
||||
-- Passed FINAL waypoint
|
||||
---
|
||||
|
||||
if #self.waypoints>1 then
|
||||
|
||||
if self.adinfinitum then
|
||||
|
||||
-- Get positive speed to first waypoint.
|
||||
local speed=self:GetSpeedToWaypoint(1)
|
||||
|
||||
-- Start route at first waypoint.
|
||||
self:__UpdateRoute(-1, 1, speed)
|
||||
|
||||
self:I(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=TRUE ==> Goto WP 1 at speed>0"))
|
||||
|
||||
self.passedfinalwp=false
|
||||
|
||||
else
|
||||
-- No further waypoints. Command a full stop.
|
||||
self:__FullStop(-1)
|
||||
|
||||
self:I(self.lid..string.format("Passed final WP, #WP>1, adinfinitum=FALSE ==> Full Stop"))
|
||||
end
|
||||
|
||||
elseif #self.waypoints==1 then
|
||||
|
||||
--- Only one WP left
|
||||
|
||||
-- The last waypoint.
|
||||
local waypoint=self.waypoints[1] --Ops.OpsGroup#OPSGROUP.Waypoint
|
||||
|
||||
local dist=self:GetCoordinate():Get2DDistance(waypoint.coordinate)
|
||||
|
||||
|
||||
if self.adinfinitum and dist>1000 then -- Note that dist>100 caused the same wp to be passed a lot of times.
|
||||
|
||||
self:I(self.lid..string.format("Passed final WP, #WP=1, adinfinitum=TRUE dist>1000 ==> Goto WP 1 at speed>0"))
|
||||
|
||||
-- Get positive speed to first waypoint.
|
||||
local speed=self:GetSpeedToWaypoint(1)
|
||||
|
||||
-- Start route at first waypoint.
|
||||
self:__UpdateRoute(-1, 1, speed)
|
||||
|
||||
self.passedfinalwp=false
|
||||
|
||||
else
|
||||
|
||||
self:I(self.lid..string.format("Passed final WP, #WP=1, adinfinitum=FALSE or dist<1000 ==> Full Stop"))
|
||||
|
||||
self:__FullStop(-1)
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
|
||||
--- No waypoints left
|
||||
|
||||
-- No further waypoints. Command a full stop.
|
||||
self:__FullStop(-1)
|
||||
|
||||
end
|
||||
|
||||
else
|
||||
|
||||
---
|
||||
-- Final waypoint NOT passed yet
|
||||
---
|
||||
|
||||
if #self.waypoints>0 then
|
||||
self:I(self.lid..string.format("NOT Passed final WP, #WP>0 ==> Update Route"))
|
||||
self:__UpdateRoute(-1)
|
||||
else
|
||||
self:E(self.lid..string.format("WARNING: No waypoints left! Commanding a Full Stop"))
|
||||
self:__FullStop(-1)
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- Waypoints & Routing
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
@ -2261,11 +2472,11 @@ function OPSGROUP:_CreateWaypoint(waypoint, formation, detour)
|
||||
waypoint.uid=self.wpcounter
|
||||
waypoint.coordinate=COORDINATE:New(waypoint.x, waypoint.alt, waypoint.y)
|
||||
waypoint.detour=detour and detour or false
|
||||
waypoint.formation=formation
|
||||
if formation then
|
||||
waypoint.action=formation
|
||||
end
|
||||
waypoint.onroad=onroad and onroad or false
|
||||
waypoint.npassed=0
|
||||
waypoint.patrol=false
|
||||
|
||||
self.wpcounter=self.wpcounter+1
|
||||
|
||||
@ -2412,6 +2623,9 @@ function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
|
||||
-- Get the current waypoint index.
|
||||
opsgroup.currentwp=opsgroup:GetWaypointIndex(uid)
|
||||
|
||||
-- Increase passing counter.
|
||||
waypoint.npassed=waypoint.npassed+1
|
||||
|
||||
-- Set expected speed and formation from the next WP.
|
||||
local wpnext=opsgroup:GetWaypointNext()
|
||||
if wpnext then
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user