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https://github.com/FlightControl-Master/MOOSE.git
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OPSGROUP
- Fixes that ARMY and NAVYGROUPS only go to first waypoint - Fixes for PATROL and RECON missions that waypoints are added at the end - Some other stuff - Still need to fix adinfinitum
This commit is contained in:
Frank
parent
ad0b32c0ee
commit
538864519e
@ -1150,16 +1150,12 @@ end
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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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-- Create coordinate.
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local coordinate=self:_CoordinateFromObject(Coordinate)
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-- Set waypoint index.
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local wpnumber=self:GetWaypointIndexAfterID(AfterWaypointWithID)
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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:_PassedFinalWaypoint(false, "ARMYGROUP.AddWaypoint: wpnumber>self.currentwp")
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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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@ -1185,8 +1181,7 @@ function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation
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-- Update route.
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if Updateroute==nil or Updateroute==true then
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self:UpdateRoute()
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--self:_CheckGroupDone(1)
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self:__UpdateRoute(-0.01)
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end
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return waypoint
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@ -2275,7 +2275,7 @@ function FLIGHTGROUP:_CheckGroupDone(delay, waittime)
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---
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-- Debug info.
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self:T(self.lid..string.format("Flight (status=%s) did NOT pass the final waypoint yet ==> update route", self:GetState()))
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self:T(self.lid..string.format("Flight (status=%s) did NOT pass the final waypoint yet ==> update route in -0.01 sec", self:GetState()))
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-- Update route.
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self:__UpdateRoute(-0.01)
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@ -3466,18 +3466,17 @@ end
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-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
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function FLIGHTGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Altitude, Updateroute)
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-- Create coordinate.
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local coordinate=self:_CoordinateFromObject(Coordinate)
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-- Set waypoint index.
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local wpnumber=self:GetWaypointIndexAfterID(AfterWaypointWithID)
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if wpnumber>self.currentwp then
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self:_PassedFinalWaypoint(false, "FLIGHTGROUP:AddWaypoint wpnumber>self.currentwp")
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end
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-- Speed in knots.
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Speed=Speed or self.speedCruise
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-- Create air waypoint.
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local wp=Coordinate:WaypointAir(COORDINATE.WaypointAltType.BARO, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, UTILS.KnotsToKmph(Speed), true, nil, {})
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local wp=coordinate:WaypointAir(COORDINATE.WaypointAltType.BARO, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, UTILS.KnotsToKmph(Speed), true, nil, {})
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-- Create waypoint data table.
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local waypoint=self:_CreateWaypoint(wp)
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@ -146,8 +146,8 @@ function NAVYGROUP:New(group)
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self:AddTransition("*", "CollisionWarning", "*") -- Collision warning.
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self:AddTransition("*", "ClearAhead", "*") -- Clear ahead.
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self:AddTransition("*", "Dive", "Diving") -- Command a submarine to dive.
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self:AddTransition("Diving", "Surface", "Cruising") -- Command a submarine to go to the surface.
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self:AddTransition("*", "Dive", "*") -- Command a submarine to dive.
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self:AddTransition("Diving", "Surface", "*") -- Command a submarine to go to the surface.
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------------------------
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--- Pseudo Functions ---
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@ -1105,30 +1105,17 @@ end
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-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
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function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Depth, Updateroute)
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-- Check if a coordinate was given or at least a positionable.
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if not Coordinate:IsInstanceOf("COORDINATE") then
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if Coordinate:IsInstanceOf("POSITIONABLE") or Coordinate:IsInstanceOf("ZONE_BASE") then
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self:T(self.lid.."WARNING: Coordinate is not a COORDINATE but a POSITIONABLE or ZONE. Trying to get coordinate")
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Coordinate=Coordinate:GetCoordinate()
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else
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self:E(self.lid.."ERROR: Coordinate is neither a COORDINATE nor any POSITIONABLE or ZONE!")
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return nil
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end
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end
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-- Create coordinate.
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local coordinate=self:_CoordinateFromObject(Coordinate)
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-- Set waypoint index.
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local wpnumber=self:GetWaypointIndexAfterID(AfterWaypointWithID)
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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:_PassedFinalWaypoint(false, "NAVYGROUP:AddWaypoint wpnumber>self.currentwp")
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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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-- Create a Naval waypoint.
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local wp=Coordinate:WaypointNaval(UTILS.KnotsToKmph(Speed), Depth)
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local wp=coordinate:WaypointNaval(UTILS.KnotsToKmph(Speed), Depth)
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-- Create waypoint data table.
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local waypoint=self:_CreateWaypoint(wp)
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@ -1141,7 +1128,7 @@ function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Depth, Up
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-- Update route.
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if Updateroute==nil or Updateroute==true then
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self:_CheckGroupDone(1)
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self:__UpdateRoute(-0.01)
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end
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return waypoint
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@ -402,6 +402,7 @@ OPSGROUP.TaskType={
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-- @field #number roaddist Distance to closest point on road.
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-- @field Wrapper.Marker#MARKER marker Marker on the F10 map.
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-- @field #string formation Ground formation. Similar to action but on/off road.
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-- @field #number missionUID Mission UID (Auftragsnr) this waypoint belongs to.
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--- Cargo Carrier status.
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-- @type OPSGROUP.CarrierStatus
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@ -2502,6 +2503,18 @@ function OPSGROUP:RemoveWaypoint(wpindex)
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-- Number of waypoints before delete.
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local N=#self.waypoints
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-- Always keep at least one waypoint.
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if N==1 then
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self:E(self.lid..string.format("ERROR: Cannot remove waypoint with index=%d! It is the only waypoint and a group needs at least ONE waypoint", wpindex))
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return self
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end
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-- Check that wpindex is not larger than the number of waypoints in the table.
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if wpindex>N then
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self:E(self.lid..string.format("ERROR: Cannot remove waypoint with index=%d as there are only N=%d waypoints!", wpindex, N))
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return self
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end
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-- Remove waypoint marker.
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local wp=self:GetWaypoint(wpindex)
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@ -2525,12 +2538,14 @@ function OPSGROUP:RemoveWaypoint(wpindex)
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-- Removed a FUTURE waypoint
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---
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-- TODO: patrol adinfinitum.
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-- TODO: patrol adinfinitum. Not sure this is handled correctly. If patrol adinfinitum and we have now only one WP left, we should at least go back.
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if self.currentwp>=n then
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self:_PassedFinalWaypoint(true, "Removed FUTURE waypoint")
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-- Could be that the waypoint we are currently moving to was the LAST waypoint. Then we now passed the final waypoint.
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if self.currentwp>=n and not self.adinfinitum then
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self:_PassedFinalWaypoint(true, "Removed FUTURE waypoint we are currently moving to and that was the LAST waypoint")
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end
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-- Check if group is done.
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self:_CheckGroupDone(1)
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else
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@ -3199,6 +3214,9 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
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--env.info("FF adding current task to queue")
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table.insert(self.taskqueue, Task)
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end
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-- Get mission of this task (if any).
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local Mission=self:GetMissionByTaskID(self.taskcurrent)
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if Task.dcstask.id=="Formation" then
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@ -3241,15 +3259,21 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
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-- Speed and altitude.
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local Speed=UTILS.KmphToKnots(Task.dcstask.params.speed or self.speedCruise)
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local Altitude=Task.dcstask.params.altitude and UTILS.MetersToFeet(Task.dcstask.params.altitude) or nil
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local currUID=self:GetWaypointCurrent().uid
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-- New waypoint.
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local wp=nil --#OPSGROUP.Waypoint
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if self.isFlightgroup then
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FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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elseif self.isArmygroup then
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ARMYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Formation)
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wp=ARMYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Formation)
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elseif self.isNavygroup then
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NAVYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=NAVYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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end
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-- Set mission UID.
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wp.missionUID=Mission and Mission.auftragsnummer or nil
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elseif Task.dcstask.id=="ReconMission" then
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@ -3272,16 +3296,22 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
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local Altitude=Task.dcstask.params.altitude and UTILS.MetersToFeet(Task.dcstask.params.altitude) or nil
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--Coordinate:MarkToAll("Next waypoint", ReadOnly,Text)
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local currUID=self:GetWaypointCurrent().uid
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-- New waypoint.
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local wp=nil --#OPSGROUP.Waypoint
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if self.isFlightgroup then
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FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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elseif self.isArmygroup then
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ARMYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Formation)
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wp=ARMYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Formation)
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elseif self.isNavygroup then
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NAVYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=NAVYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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end
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-- Set mission UID.
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wp.missionUID=Mission and Mission.auftragsnummer or nil
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else
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-- If task is scheduled (not waypoint) set task.
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@ -3328,10 +3358,9 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
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end
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-- Get mission of this task (if any).
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local Mission=self:GetMissionByTaskID(self.taskcurrent)
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-- Set AUFTRAG status.
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if Mission then
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-- Set AUFTRAG status.
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self:MissionExecute(Mission)
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end
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@ -3922,7 +3951,15 @@ function OPSGROUP:onafterMissionDone(From, Event, To, Mission)
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-- Remove mission waypoint.
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local wpidx=Mission:GetGroupWaypointIndex(self)
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if wpidx then
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self:RemoveWaypointByID(wpidx)
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--self:RemoveWaypointByID(wpidx)
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end
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for i=#self.waypoints,1,-1 do
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local wp=self.waypoints[i] --#OPSGROUP.Waypoint
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if wp.missionUID==Mission.auftragsnummer then
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--table.remove(self.waypoints, i)
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self:RemoveWaypoint(i)
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end
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end
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-- Decrease patrol data.
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@ -4097,7 +4134,7 @@ function OPSGROUP:RouteToMission(mission, delay)
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--waypointcoord:MarkToAll(string.format("Mission %s alt=%d m", mission:GetName(), waypointcoord.y))
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-- Add waypoint.
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local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
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local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, uid, formation, false) ; waypoint.missionUID=mission.auftragsnummer
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-- Add waypoint task. UpdateRoute is called inside.
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local waypointtask=self:AddTaskWaypoint(mission.DCStask, waypoint, mission.name, mission.prio, mission.duration)
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@ -4109,9 +4146,10 @@ function OPSGROUP:RouteToMission(mission, delay)
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-- Set waypoint index.
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mission:SetGroupWaypointIndex(self, waypoint.uid)
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-- Add egress waypoint.
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local egress=mission:GetMissionEgressCoord()
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if egress then
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local waypoint=self:AddWaypoint(egress, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
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local waypointEgress=self:AddWaypoint(egress, SpeedToMission, waypoint.uid, formation, false) ; waypointEgress.missionUID=mission.auftragsnummer
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end
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---
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@ -4287,6 +4325,12 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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-- Get the current task.
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local task=self:GetTaskCurrent()
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-- Get the corresponding mission.
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local mission=nil --Ops.Auftrag#AUFTRAG
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if task then
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mission=self:GetMissionByTaskID(task.id)
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end
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if task and task.dcstask.id=="PatrolZone" then
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@ -4302,14 +4346,18 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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-- Speed and altitude.
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local Speed=UTILS.KmphToKnots(task.dcstask.params.speed or self.speedCruise)
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local Altitude=task.dcstask.params.altitude and UTILS.MetersToFeet(task.dcstask.params.altitude) or nil
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local currUID=self:GetWaypointCurrent().uid
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local wp=nil --#OPSGROUP.Waypoint
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if self.isFlightgroup then
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FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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elseif self.isArmygroup then
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ARMYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Formation)
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wp=ARMYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Formation)
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elseif self.isNavygroup then
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NAVYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=NAVYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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end
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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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@ -4332,14 +4380,18 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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-- Debug.
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--Coordinate:MarkToAll("Recon Waypoint n="..tostring(n))
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local currUID=self:GetWaypointCurrent().uid
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local wp=nil --#OPSGROUP.Waypoint
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if self.isFlightgroup then
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FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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elseif self.isArmygroup then
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ARMYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Formation)
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wp=ARMYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Formation)
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elseif self.isNavygroup then
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NAVYGROUP.AddWaypoint(self, Coordinate, Speed, AfterWaypointWithID, Altitude)
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wp=NAVYGROUP.AddWaypoint(self, Coordinate, Speed, currUID, Altitude)
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end
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wp.missionUID=mission and mission.auftragsnummer or nil
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-- Increase counter.
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task.dcstask.params.lastindex=task.dcstask.params.lastindex+1
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@ -4365,26 +4417,43 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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end
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else
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---
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-- No special task active
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---
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-- Apply tasks of this waypoint.
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local ntasks=self:_SetWaypointTasks(Waypoint)
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-- Get waypoint index.
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local wpindex=self:GetWaypointIndex(Waypoint.uid)
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local wpindex=self:GetWaypointIndex(Waypoint.uid)
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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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if not self.adinfinitum or #self.waypoints<=1 then
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if self.adinfinitum then
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if #self.waypoints<=1 then
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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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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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-- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
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if ntasks==0 and (self:HasPassedFinalWaypoint()) then-- or self:IsArmygroup() or self:IsNavygroup()) then
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if ntasks==0 and self:HasPassedFinalWaypoint() then
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self:_CheckGroupDone(0.01)
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end
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@ -7958,7 +8027,6 @@ function OPSGROUP:_CreateWaypoint(waypoint)
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local taskswp={}
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-- At each waypoint report passing.
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--local TaskPassingWaypoint=self.group:TaskFunction("OPSGROUP._PassingWaypoint", self, waypoint.uid)
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local TaskPassingWaypoint=self:_SimpleTaskFunction("OPSGROUP._PassingWaypoint", waypoint.uid)
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table.insert(taskswp, TaskPassingWaypoint)
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@ -7988,7 +8056,7 @@ function OPSGROUP:_AddWaypoint(waypoint, wpnumber)
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-- Now we obviously did not pass the final waypoint.
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if self.currentwp and wpnumber>self.currentwp then
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self:_PassedFinalWaypoint(false, "_AddWaypoint self.currentwp and wpnumber>self.currentwp")
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self:_PassedFinalWaypoint(false, string.format("_AddWaypoint: wpnumber/index %d>%d self.currentwp", wpnumber, self.currentwp))
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end
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end
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@ -8017,7 +8085,7 @@ function OPSGROUP:_InitWaypoints(WpIndexMin, WpIndexMax)
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local wp=self.waypoints0[i] --DCS#Waypoint
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-- Coordinate of the waypoint.
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local coordinate=COORDINATE:NewFromWaypoint(wp)
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local Coordinate=COORDINATE:NewFromWaypoint(wp)
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-- Strange!
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wp.speed=wp.speed or 0
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@ -8025,14 +8093,25 @@ function OPSGROUP:_InitWaypoints(WpIndexMin, WpIndexMax)
|
||||
-- Speed at the waypoint.
|
||||
local speedknots=UTILS.MpsToKnots(wp.speed)
|
||||
|
||||
if i==1 then
|
||||
-- Expected speed to the first waypoint.
|
||||
if i<=2 then
|
||||
self.speedWp=wp.speed
|
||||
end
|
||||
|
||||
local waypoint=self:_CreateWaypoint(wp)
|
||||
-- Speed in knots.
|
||||
local Speed=UTILS.MpsToKnots(wp.speed)
|
||||
|
||||
--local waypoint=self:_CreateWaypoint(wp)
|
||||
--self:_AddWaypoint(waypoint)
|
||||
|
||||
if self:IsFlightgroup() then
|
||||
FLIGHTGROUP.AddWaypoint(self, Coordinate, Speed, nil, Altitude, false)
|
||||
elseif self:IsArmygroup() then
|
||||
ARMYGROUP.AddWaypoint(self, Coordinate, Speed, nil, wp.action, false)
|
||||
elseif self:IsNavygroup() then
|
||||
NAVYGROUP.AddWaypoint(self, Coordinate, Speed, nil, Depth, false)
|
||||
end
|
||||
|
||||
self:_AddWaypoint(waypoint)
|
||||
|
||||
end
|
||||
|
||||
-- Debug info.
|
||||
@ -8052,6 +8131,7 @@ function OPSGROUP:_InitWaypoints(WpIndexMin, WpIndexMax)
|
||||
table.remove(self.waypoints, #self.waypoints)
|
||||
end
|
||||
|
||||
-- Set destination to homebase.
|
||||
if self.destbase==nil then
|
||||
self.destbase=self.homebase
|
||||
end
|
||||
@ -9890,7 +9970,8 @@ function OPSGROUP:_CoordinateFromObject(Object)
|
||||
else
|
||||
if Object:IsInstanceOf("POSITIONABLE") or Object:IsInstanceOf("ZONE_BASE") then
|
||||
self:T(self.lid.."WARNING: Coordinate is not a COORDINATE but a POSITIONABLE or ZONE. Trying to get coordinate")
|
||||
return Object:GetCoordinate()
|
||||
local coord=Object:GetCoordinate()
|
||||
return coord
|
||||
else
|
||||
self:E(self.lid.."ERROR: Coordinate is neither a COORDINATE nor any POSITIONABLE or ZONE!")
|
||||
end
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user