Enhanced Groups

Moose Development/Moose/Ops/ArmyGroup.lua

@@ -458,27 +458,25 @@ end
 -- @param #string To To state.
 -- @param Core.Point#COORDINATE Coordinate Coordinate where to go.
 -- @param #number Speed Speed in knots. Default cruise speed.
--- @param #number Formation Formation the group will use.
+-- @param #number Formation Formation of the group.
--- @param #number ResumeRoute If true, resume route after detour point was reached.
+-- @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.
 function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation, ResumeRoute)
 
-  -- Waypoints.
+  -- Speed in knots.
-  local waypoints={}
+  Speed=Speed or self:GetSpeedCruise()
   
-  -- Get current speed in km/h.
+  -- ID of current waypoint.
-  local speed=Speed and UTILS.KnotsToKmph(Speed) or self.group:GetVelocityKMH()
+  local uid=self:GetWaypointCurrent().uid
   
-  -- Current waypoint.
+  -- Add waypoint after current.
-  local current=self:GetCoordinate():WaypointGround(Speed, Formation)
+  local wp=self:AddWaypoint(Coordinate, Speed, uid, Formation, true)
-  table.insert(waypoints, current)
   
-  -- At each waypoint report passing.
+  -- Set if we want to resume route after reaching the detour waypoint.
-  local Task=self.group:TaskFunction("ARMYGROUP._DetourReached", self, ResumeRoute)
+  if ResumeRoute then
-  
+    wp.detour=1
-  local detour=Coordinate:WaypointGround(Speed, Formation, {Task})
+  else
-  table.insert(waypoints, detour)
+    wp.detour=0
-  
+  end
-  self:Route(waypoints)
 
 end
 
@@ -491,25 +489,6 @@ function ARMYGROUP:onafterDetourReached(From, Event, To)
   self:I(self.lid.."Group reached detour coordinate.")
 end
 
---- Function called when a group is passing a waypoint.
---@param Wrapper.Group#GROUP group Group that passed the waypoint
---@param #ARMYGROUP armygroup Army group object.
---@param #boolean resume Resume route.
-function ARMYGROUP._DetourReached(group, armygroup, resume)
-
-  -- Debug message.
-  local text=string.format("Group reached detour coordinate")
-  armygroup:I(armygroup.lid..text)
-
-  if resume then
-    local indx=armygroup:GetWaypointIndexNext(true)
-    local speed=armygroup:GetSpeedToWaypoint(indx)
-    armygroup:__UpdateRoute(-1, indx, speed, armygroup.formation)
-  end
-  
-  armygroup:DetourReached()
-
-end
 
 --- On after "FullStop" event.
 -- @param #ARMYGROUP self
@@ -684,29 +663,36 @@ end
 
 --- Add an a waypoint to the route.
 -- @param #ARMYGROUP self
--- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
+-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
--- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
+-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
--- @param #number wpnumber Waypoint number. Default at the end.
+-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
--- @param #number formation Formation the group will use.
+-- @param #number Formation Formation the group will use.
--- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
+-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
--- @return #number Waypoint index.
+-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
-function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, formation, updateroute)
+function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation, Updateroute)
 
-  -- Waypoint number. Default is at the end.
+  -- Set waypoint index.
-  wpnumber=wpnumber or #self.waypoints+1
+  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:WaypointGround(speedkmh, formation)
+  local wp=Coordinate:WaypointGround(speedkmh, Formation)
   
   -- Create waypoint data table.
   local waypoint=self:_CreateWaypoint(wp)
@@ -715,15 +701,15 @@ function ARMYGROUP:AddWaypoint(coordinate, speed, wpnumber, formation, updaterou
   self:_AddWaypoint(waypoint, wpnumber)
   
   -- Debug info.
-  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))
+  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))
   
   
   -- Update route.
-  if updateroute==nil or updateroute==true then
+  if Updateroute==nil or Updateroute==true then
     self:_CheckGroupDone(1)
   end
   
-  return wpnumber
+  return waypoint
 end
 
 --- Initialize group parameters. Also initializes waypoints if self.waypoints is nil.
@@ -822,7 +808,7 @@ function ARMYGROUP:_InitGroup()
     --text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radioFreq, UTILS.GetModulationName(self.radioModu), tostring(self.radioOn))
     --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)
     text=text..string.format("FSM state    = %s\n", self:GetState())
-    text=text..string.format("Is alive     = %s\n", tostring(self.group:IsAlive()))
+    text=text..string.format("Is alive     = %s\n", tostring(self:IsAlive()))
     text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
     self:I(self.lid..text)
     
@@ -838,49 +824,6 @@ end
 -- Misc Functions
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
---- 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 #ARMYGROUP self
--- @param #number delay Delay in seconds.
-function ARMYGROUP:_CheckGroupDone(delay)
-
-  if self:IsAlive() and self.ai then
-
-    if delay and delay>0 then
-      -- Delayed call.
-      self:ScheduleOnce(delay, ARMYGROUP._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.formation)
-          
-        end
-    
-      else
-      
-        self:UpdateRoute(nil, nil, self.formation)
-        
-      end
-    
-    end
-    
-  end
-  
-end
-
-
 --- Get default cruise speed.
 -- @param #ARMYGROUP self
 -- @return #number Cruise speed (>0) in knots.
@@ -888,21 +831,6 @@ function ARMYGROUP: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 #ARMYGROUP self
--- @param #number indx Waypoint index.
--- @return #number Speed to next waypoint (>0) in knots.
-function ARMYGROUP:GetSpeedToWaypoint(indx)
-
-  local speed=self:GetWaypointSpeed(indx)
-  
-  if speed<=0.1 then
-    speed=self:GetSpeedCruise()
-  end
-
-  return speed
-end
-
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Moose Development/Moose/Ops/FlightGroup.lua

@@ -1778,7 +1778,6 @@ function FLIGHTGROUP:_CheckGroupDone(delay)
         return
       end
 
-
       -- Number of tasks remaining.
       local nTasks=self:CountRemainingTasks()
 

Moose Development/Moose/Ops/NavyGroup.lua

@@ -93,6 +93,7 @@ function NAVYGROUP:New(GroupName)
   
   -- Defaults
   self:SetDefaultROE()
+  self:SetDefaultAlarmstate()
   self:SetDetection()
   self:SetPatrolAdInfinitum(true)
 
@@ -419,10 +420,22 @@ function NAVYGROUP:onafterStatus(From, Event, To)
     local nMissions=self:CountRemainingMissison()
 
     local intowind=self:IsSteamingIntoWind() and UTILS.SecondsToClock(self.intowind.Tstop-timer.getAbsTime(), true) or "N/A"    
+    local turning=tostring(self:IsTurning())
+    local alt=pos.y
+    local speedExpected=UTILS.MpsToKnots(self.speed or 0)
+    
+    local wpidxCurr=self.currentwp
+    local wpuidCurr=0
+    local wpidxNext=self:GetWaypointIndexNext()
+    local wpuidNext=0
+    local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint())
+    local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint(), true)
+    local roe=self:GetROE() or 0
+    local als=self:GetAlarmstate() or 0
   
     -- Info text.
-    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", 
+    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", 
-    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)
+    fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints, wpDist, wpETA, speed, speedExpected, alt, hdg, turning, freepath, intowind)
     self:I(self.lid..text)
     
   else
@@ -536,16 +549,15 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
 
   if self.ai then
   
-    -- Set default ROE and ROT options.
+    -- Set default ROE and Alarmstate options.
     self:SetOptionROE(self.roe)    
+    self:SetOptionAlarmstate(self.alarmstate)
     
   end
   
   -- Get orientation.
   self.Corientlast=self.group:GetUnit(1):GetOrientationX()
   
-  self.depth=self.group:GetHeight()
-  
   -- Update route.
   self:Cruise()
   
@@ -562,7 +574,7 @@ end
 function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
 
   -- Update route from this waypoint number onwards.
-  n=n or self:GetWaypointIndexNext(self.adinfinitum)
+  n=n or self:GetWaypointIndexNext()
   
   -- Debug info.
   self:T(self.lid..string.format("FF Update route n=%d", n))
@@ -637,10 +649,11 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   else
   
     ---
-    -- No waypoints left
+    -- No waypoints left ==> Full Stop
     ---
   
-    self:I(self.lid..string.format("No waypoints left"))
+    self:E(self.lid..string.format("WARNING: No waypoints left ==> Full Stop!"))    
+    self:FullStop()
     
   end
 
@@ -657,19 +670,19 @@ end
 -- @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.
 function NAVYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Depth, ResumeRoute)
     
-  -- Waypoints.
-  local waypoints={}
-    
   -- Depth for submarines.
-  local depth=Depth or 0
+  Depth=Depth or 0
 
   -- Speed in knots.
   Speed=Speed or self:GetSpeedCruise()
   
-  local wpindx=self.currentwp+1
+  -- ID of current waypoint.
+  local uid=self:GetWaypointCurrent().uid
   
-  local wp=self:AddWaypoint(Coordinate, Speed, wpindx, true)
+  -- Add waypoint after current.
+  local wp=self:AddWaypoint(Coordinate, Speed, uid, Depth, true)
   
+  -- Set if we want to resume route after reaching the detour waypoint.
   if ResumeRoute then
     wp.detour=1
   else
@@ -687,26 +700,6 @@ function NAVYGROUP:onafterDetourReached(From, Event, To)
   self:I(self.lid.."Group reached detour coordinate.")
 end
 
---- Function called when a group is passing a waypoint.
---@param Wrapper.Group#GROUP group Group that passed the waypoint
---@param #NAVYGROUP navygroup Navy group object.
---@param #boolean resume Resume route.
-function NAVYGROUP._DetourReached(group, navygroup, resume)
-
-  -- Debug message.
-  local text=string.format("Group reached detour coordinate")
-  navygroup:I(navygroup.lid..text)
-
-  if resume then
-    local indx=navygroup:GetWaypointIndexNext(true)
-    local speed=navygroup:GetSpeedToWaypoint(indx)
-    navygroup:UpdateRoute(indx, speed, navygroup.depth)
-  end
-  
-  navygroup:DetourReached()
-
-end
-
 --- On after "TurnIntoWind" event.
 -- @param #NAVYGROUP self
 -- @param #string From From state.
@@ -740,9 +733,10 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
   local coord=self:GetCoordinate()
   local Coord=coord:Translate(distance, IntoWind.Heading)
 
-  local wpindex=self.currentwp+1  --self:GetWaypointIndexNext(false)
+  -- ID of current waypoint.
+  local uid=self:GetWaypointCurrent().uid
   
-  local wptiw=self:AddWaypoint(Coord, speed, wpindex, true)
+  local wptiw=self:AddWaypoint(Coord, speed, uid)
   wptiw.intowind=true
   
   IntoWind.waypoint=wptiw
@@ -751,14 +745,6 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
     IntoWind.Coordinate:MarkToAll("Return coord")
   end
   
-  --[[
-  local wp={}
-  wp[1]=coord:WaypointNaval(UTILS.KnotsToKmph(speed))
-  wp[2]=Coord:WaypointNaval(UTILS.KnotsToKmph(speed))
-
-  self:Route(wp)
-  ]]
-    
 end
 
 --- On after "TurnIntoWindOver" event.
@@ -816,10 +802,10 @@ end
 -- @param #string From From state.
 -- @param #string Event Event.
 -- @param #string To To state.
--- @param #number Speed Speed in knots until next waypoint is reached.
+-- @param #number Speed Speed in knots until next waypoint is reached. Default is speed set for waypoint.
 function NAVYGROUP:onafterCruise(From, Event, To, Speed)
 
-  -- 
+  -- No set depth.
   self.depth=nil
 
   self:__UpdateRoute(-1, nil, Speed)
@@ -1001,28 +987,36 @@ end
 
 --- Add an a waypoint to the route.
 -- @param #NAVYGROUP self
--- @param Core.Point#COORDINATE coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
+-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint. Use COORDINATE:SetAltitude(altitude) to define the altitude.
--- @param #number speed Speed in knots. Default is default cruise speed or 70% of max speed.
+-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
--- @param #number wpnumber Waypoint number. Default at the end.
+-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
--- @param #boolean updateroute If true or nil, call UpdateRoute. If false, no call.
+-- @param #number Depth Depth at waypoint in meters.
+-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
 -- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
-function NAVYGROUP:AddWaypoint(coordinate, speed, wpnumber, updateroute)
+function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Updateroute)
   
-  -- Waypoint number. Default is at the end.
+  -- Set waypoint index.
-  wpnumber=wpnumber or #self.waypoints+1
+  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.
+  -- Cruise speed: 70% of max speed.
-  --self.speedCruise=self.speedmax*0.7
+  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
@@ -1602,16 +1531,24 @@ 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))
         

Moose Development/Moose/Ops/OpsGroup.lua

@@ -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)
+function OPSGROUP:AddTaskWaypoint(task, Waypoint, description, prio, duration)
   
-  -- Index.
+  -- Waypoint of task.
-  waypointindex=waypointindex or (self.currentwp and self.currentwp+1 or 2)
+  Waypoint=Waypoint or self:GetWaypointNext()
     
-  -- Get waypoint
+  if Waypoint then
-  local waypoint=self:GetWaypointByIndex(waypointindex)
-  
-  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)
@@ -1002,7 +1107,6 @@ function OPSGROUP:AddTaskWaypoint(task, waypointindex, description, prio, durati
     self:T3({newtask=newtask})
     
     -- Update route.
-    --self:_CheckGroupDone(1)
     self:__UpdateRoute(-1)
   
     return newtask  
@@ -1807,8 +1911,8 @@ function OPSGROUP:RouteToMission(mission, delay)
     self:ScheduleOnce(delay, OPSGROUP.RouteToMission, self, mission)
   else
         
-    -- Next waypoint.
+    -- ID of current waypoint.
-    local nextwaypoint=self.currentwp+1
+    local uid=self:GetWaypointCurrent().uid    
     
     -- Get coordinate where the mission is executed.    
     local waypointcoord=mission:GetMissionWaypointCoord(self.group)
@@ -1818,8 +1922,11 @@ function OPSGROUP:RouteToMission(mission, delay)
       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