OPS

- Found and fixed bugs for ARMY and NAVY groups, which caused only one waypoint to be processed
- Added Duration for AUFTRAG
- Fixed bug in auftrag if no legion was assigned and mission was canceled at opsgroup level
- Trying (again) to include the whole route for ARMY and NAVY when UpdateRoute
- Simpler task function for passing waypoint

STILL a lot to do/check!

Moose Development/Moose/Ops/ArmyGroup.lua

@@ -190,7 +190,8 @@ end
 -- @param #ARMYGROUP self
 -- @return Core.Point#COORDINATE Coordinate of a road closest to the group.
 function ARMYGROUP:GetClosestRoad()
-  return self:GetCoordinate():GetClosestPointToRoad()
+  local coord=self:GetCoordinate():GetClosestPointToRoad()
+  return coord
 end
 
 --- Get 2D distance to the closest road.
@@ -568,12 +569,13 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
     
     -- Formation
     if not self.option.Formation then
-      self.option.Formation=self.optionDefault.Formation
+      -- Will be set in update route.
+      --self.option.Formation=self.optionDefault.Formation
     end
 
     -- Update route.
     if #self.waypoints>1 then
-      self:Cruise(nil, self.option.Formation or self.optionDefault.Formation)
+      self:Cruise(nil, self.option.Formation)
     else
       self:FullStop()
     end
@@ -624,72 +626,76 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
   -- Update route from this waypoint number onwards.
   n=n or self:GetWaypointIndexNext(self.adinfinitum)
   
-  -- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
+  -- Update waypoint tasks, i.e. inject WP tasks into waypoint table. OBSOLETE!
-  self:_UpdateWaypointTasks(n)
+  --self:_UpdateWaypointTasks(n)
-
+  
   -- Waypoints.
   local waypoints={}
   
-  -- Next waypoint.
+  local formationlast=nil
-  local wp=UTILS.DeepCopy(self.waypoints[n]) --Ops.OpsGroup#OPSGROUP.Waypoint
+  for i=n, #self.waypoints do
   
-  -- Do we want to drive on road to the next wp?
+    -- Next waypoint.
-  local onroad=wp.action==ENUMS.Formation.Vehicle.OnRoad
+    local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
-        
+ 
-  -- Speed.
+    -- Speed.
-  if Speed then
+    if Speed then
-    wp.speed=UTILS.KnotsToMps(Speed)
+      wp.speed=UTILS.KnotsToMps(Speed)
-  else
+    else
-    -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
+      -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
-    if wp.speed<0.1 then --self.adinfinitum and 
+      if wp.speed<0.1 then --self.adinfinitum and 
-      wp.speed=UTILS.KmphToMps(self.speedCruise)
+        wp.speed=UTILS.KmphToMps(self.speedCruise)
+      end
     end
+    
+    -- Formation.
+    if self.formationPerma then
+      wp.action=self.formationPerma
+    elseif Formation then 
+      wp.action=Formation
+    end
+  
+    -- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
+    if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>10 then
+    
+      -- The real waypoint is actually off road.
+      wp.action=ENUMS.Formation.Vehicle.OffRoad
+  
+      -- Add "On Road" waypoint in between.
+      local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad) --Ops.OpsGroup#OPSGROUP.Waypoint
+      
+      -- Insert road waypoint.
+      table.insert(waypoints, wproad)
+    end    
+          
+    -- Add waypoint.
+    table.insert(waypoints, wp)
+    
+    -- Last formation.
+    formationlast=wp.action  
   end
   
-  -- Formation.
+  -- First (next wp).
-  if self.formationPerma then
+  local wp=waypoints[1] --Ops.OpsGroup#OPSGROUP.Waypoint
-    wp.action=self.formationPerma
-  elseif Formation then 
-    wp.action=Formation
-  end
   
   -- Current set formation.
   self.option.Formation=wp.action
-  
-  -- Current set speed in m/s.
-  self.speedWp=wp.speed
-
-  -- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
-  if onroad then
-  
-    -- The real waypoint is actually off road.
-    wp.action=ENUMS.Formation.Vehicle.OffRoad
-
-    -- Add "On Road" waypoint in between.
-    local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad) --Ops.OpsGroup#OPSGROUP.Waypoint
     
-    -- Insert road waypoint.
+  -- Current set speed in m/s.
-    table.insert(waypoints, wproad)
+  self.speedWp=wp.speed  
-  end    
-        
-  -- Add waypoint.
-  table.insert(waypoints, wp)
   
-  -- Apply formation at the current position or it will only be changed when reaching the next waypoint.
+  local formation0=wp.action==ENUMS.Formation.Vehicle.OnRoad and ENUMS.Formation.Vehicle.OffRoad or wp.action
-  local formation=ENUMS.Formation.Vehicle.OffRoad
-  if wp.action~=ENUMS.Formation.Vehicle.OnRoad then
-    formation=wp.action
-  end
 
   -- Current point.
-  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation)
+  local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation0)
   table.insert(waypoints, 1, current)
 
   -- Insert a point on road.
-  if onroad then
+  if wp.action==ENUMS.Formation.Vehicle.OnRoad then
     local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
     table.insert(waypoints, 2, current)
   end
+ 
   
   -- Debug output.
   if false then

Moose Development/Moose/Ops/Auftrag.lua

@@ -1521,6 +1521,15 @@ function AUFTRAG:SetTime(ClockStart, ClockStop)
   return self
 end
 
+--- Set time how low the mission is executed. Once this time limit has passed, the mission is cancelled.
+-- @param #AUFTRAG self
+-- @param #number Duration Duration in seconds.
+-- @return #AUFTRAG self
+function AUFTRAG:SetDuration(Duration)
+  self.durationExe=Duration
+  return self
+end
+
 
 --- Set mission push time. This is the time the mission is executed. If the push time is not passed, the group will wait at the mission execution waypoint.
 -- @param #AUFTRAG self
@@ -2341,10 +2350,21 @@ function AUFTRAG:onafterStatus(From, Event, To)
       -- All groups have reported MISSON DONE.
       self:Done()
       
-    elseif (self.Tstop and Tnow>self.Tstop+10) or (Ntargets0>0 and Ntargets==0) then
+    elseif (self.Tstop and Tnow>self.Tstop+10) then
-    
+
       -- Cancel mission if stop time passed.
-      --self:Cancel()
+      self:Cancel()
+      
+    elseif self.durationExe and self.Texecuting and Tnow-self.Texecuting>self.durationExe then
+
+      -- Cancel mission if stop time passed.
+      self:Cancel()    
+    
+    elseif (Ntargets0>0 and Ntargets==0) then
+
+      -- Cancel mission if mission targets are gone (if there were any in the beginning).
+      -- TODO: I commented this out for some reason but I forgot why...
+      self:Cancel()
             
     end
     
@@ -2893,6 +2913,7 @@ end
 -- @param #string To To state.
 function AUFTRAG:onafterStarted(From, Event, To)
   self.status=AUFTRAG.Status.STARTED
+  self.Tstarted=timer.getAbsTime()
   self:T(self.lid..string.format("New mission status=%s", self.status))  
 end
 
@@ -2903,6 +2924,7 @@ end
 -- @param #string To To state.
 function AUFTRAG:onafterExecuting(From, Event, To)
   self.status=AUFTRAG.Status.EXECUTING
+  self.Texecuting=timer.getAbsTime()
   self:T(self.lid..string.format("New mission status=%s", self.status))  
 end
 
@@ -3006,7 +3028,7 @@ function AUFTRAG:onafterCancel(From, Event, To)
     -- COMMANDER will cancel the mission.
     self.commander:MissionCancel(self)
 
-  elseif self.legions then
+  elseif self.legions and #self.legions>0 then
   
     -- Loop over all LEGIONs.
     for _,_legion in pairs(self.legions or {}) do

Moose Development/Moose/Ops/NavyGroup.lua

@@ -539,13 +539,15 @@ function NAVYGROUP:Status(From, Event, To)
       local turning=tostring(self:IsTurning())
       local alt=self.position.y
       local speed=UTILS.MpsToKnots(self.velocity)
-      local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed()) --UTILS.MpsToKnots(self.speedWp or 0)
+      local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed())
       
       -- Waypoint stuff.
       local wpidxCurr=self.currentwp
       local wpuidCurr=self:GetWaypointUIDFromIndex(wpidxCurr) or 0
       local wpidxNext=self:GetWaypointIndexNext() or 0
       local wpuidNext=self:GetWaypointUIDFromIndex(wpidxNext) or 0
+      local wpN=#self.waypoints or 0
+      local wpF=tostring(self.passedfinalwp)
       local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint() or 0)
       local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint() or 0, true)
       
@@ -554,8 +556,8 @@ function NAVYGROUP:Status(From, Event, To)
       local als=self:GetAlarmstate() or 0
     
       -- Info text.
-      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", 
+      local text=string.format("%s [ROE=%d,AS=%d, T/M=%d/%d]: Wp=%d[%d]-->%d[%d] /%d [%s]  Dist=%.1f NM ETA=%s - Speed=%.1f (%.1f) kts, Depth=%.1f m, Hdg=%03d, Turn=%s Collision=%d IntoWind=%s", 
-      fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints or 0, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
+      fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, wpN, wpF, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
       self:I(self.lid..text)
             
     end
@@ -742,49 +744,57 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   n=n or self:GetWaypointIndexNext()
   
   -- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
-  self:_UpdateWaypointTasks(n)
+  --self:_UpdateWaypointTasks(n)
 
   -- Waypoints.
   local waypoints={}
   
-  -- Waypoint.
+  for i=n, #self.waypoints do
-  local wp=UTILS.DeepCopy(self.waypoints[n])  --Ops.OpsGroup#OPSGROUP.Waypoint
+  
-    
+    -- Waypoint.
-  -- Speed.
+    local wp=UTILS.DeepCopy(self.waypoints[i])  --Ops.OpsGroup#OPSGROUP.Waypoint
-  if Speed then
+      
-    -- Take speed specified.
+    -- Speed.
-    wp.speed=UTILS.KnotsToMps(Speed)
+    if Speed then
-  else
+      -- Take speed specified.
-    -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
+      wp.speed=UTILS.KnotsToMps(Speed)
-    if self.adinfinitum and wp.speed<0.1 then
+    else
-      wp.speed=UTILS.KmphToMps(self.speedCruise)
+      -- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
+      if self.adinfinitum and wp.speed<0.1 then
+        wp.speed=UTILS.KmphToMps(self.speedCruise)
+      end
+    end
+    
+    -- Depth.
+    if Depth then
+      wp.alt=-Depth
+    elseif self.depth then
+      wp.alt=-self.depth
+    else
+      -- Take default waypoint alt.
+      wp.alt=wp.alt or 0
+    end
+    
+    -- Current set speed in m/s.
+    if i==n then
+      self.speedWp=wp.speed
+      self.altWp=wp.alt
     end
-  end
   
-  if Depth then
+    -- Add waypoint.
-    wp.alt=-Depth
+    table.insert(waypoints, wp)
-  elseif self.depth then
-    wp.alt=-self.depth
-  else
-    -- Take default waypoint alt.
-    wp.alt=wp.alt or 0
-  end
   
-  -- Current set speed in m/s.
+  end
-  self.speedWp=wp.speed
-
-  -- Add waypoint.
-  table.insert(waypoints, wp)
   
   -- Current waypoint.
-  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), wp.alt)
+  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), self.altWp)
   table.insert(waypoints, 1, current)  
 
   
   if self:IsEngaging() or not self.passedfinalwp then
 
     -- Debug info.
-    self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Depth=%d m", self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), wp.alt))
+    self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Depth=%d m", self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), self.altWp))
 
     -- Route group to all defined waypoints remaining.
     self:Route(waypoints)

Moose Development/Moose/Ops/OpsGroup.lua

@@ -4097,7 +4097,7 @@ function OPSGROUP:RouteToMission(mission, delay)
     --waypointcoord:MarkToAll(string.format("Mission %s alt=%d m", mission:GetName(), waypointcoord.y))
 
     -- Add waypoint.
-    local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, formation, false)
+    local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
 
     -- Add waypoint task. UpdateRoute is called inside.
     local waypointtask=self:AddTaskWaypoint(mission.DCStask, waypoint, mission.name, mission.prio, mission.duration)
@@ -4111,7 +4111,7 @@ function OPSGROUP:RouteToMission(mission, delay)
     
     local egress=mission:GetMissionEgressCoord()
     if egress then
-      local waypoint=self:AddWaypoint(egress, SpeedToMission, nil, formation, false)
+      local waypoint=self:AddWaypoint(egress, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
     end
 
     ---
@@ -4384,7 +4384,7 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
 
     -- Check if all tasks/mission are done?
     -- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
-    if ntasks==0 and self:HasPassedFinalWaypoint() then
+    if ntasks==0 and (self:HasPassedFinalWaypoint()) then-- or self:IsArmygroup() or self:IsNavygroup()) then
       self:_CheckGroupDone(0.01)
     end
 
@@ -7910,6 +7910,26 @@ end
 -- Waypoints & Routing
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
+--- Simple task function. Can be used to call a function which has the warehouse and the executing group as parameters.
+-- @param #OPSGROUP self
+-- @param #string Function The name of the function to call passed as string.
+-- @param #number uid Waypoint UID.
+function OPSGROUP:_SimpleTaskFunction(Function, uid)
+
+  -- Task script.
+  local DCSScript = {}
+  
+  --_DATABASE:FindOpsGroup(groupname)
+
+  DCSScript[#DCSScript+1]   = string.format('local mygroup = _DATABASE:FindOpsGroup(\"%s\") ', self.groupname)  -- The group that executes the task function. Very handy with the "...".
+  DCSScript[#DCSScript+1]   = string.format('%s(mygroup, %d)', Function, uid)                                   -- Call the function, e.g. myfunction.(warehouse,mygroup)
+
+  -- Create task.
+  local DCSTask=CONTROLLABLE.TaskWrappedAction(self, CONTROLLABLE.CommandDoScript(self, table.concat(DCSScript)))
+
+  return DCSTask
+end
+
 --- Enhance waypoint table.
 -- @param #OPSGROUP self
 -- @param #OPSGROUP.Waypoint Waypoint data.
@@ -7933,6 +7953,17 @@ function OPSGROUP:_CreateWaypoint(waypoint)
   waypoint.detour=false
   waypoint.astar=false
   waypoint.temp=false
+  
+  -- Tasks of this waypoint
+  local taskswp={}
+
+  -- At each waypoint report passing.
+  --local TaskPassingWaypoint=self.group:TaskFunction("OPSGROUP._PassingWaypoint", self, waypoint.uid)
+  local TaskPassingWaypoint=self:_SimpleTaskFunction("OPSGROUP._PassingWaypoint", waypoint.uid)
+  table.insert(taskswp, TaskPassingWaypoint)
+
+  -- Waypoint task combo.
+  waypoint.task=self.group:TaskCombo(taskswp)  
 
   -- Increase UID counter.
   self.wpcounter=self.wpcounter+1
@@ -8117,10 +8148,9 @@ end
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
 --- Function called when a group is passing a waypoint.
---@param Wrapper.Group#GROUP group Group that passed the waypoint.
 --@param #OPSGROUP opsgroup Ops group object.
 --@param #number uid Waypoint UID.
-function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
+function OPSGROUP._PassingWaypoint(opsgroup, uid)
 
   -- Debug message.
   local text=string.format("Group passing waypoint uid=%d", uid)