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https://github.com/FlightControl-Master/MOOSE.git
synced 2025-08-15 10:47:21 +00:00
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!
This commit is contained in:
Frank
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1bd5e7472f
commit
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@ -190,7 +190,8 @@ end
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-- @param #ARMYGROUP self
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-- @return Core.Point#COORDINATE Coordinate of a road closest to the group.
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function ARMYGROUP:GetClosestRoad()
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return self:GetCoordinate():GetClosestPointToRoad()
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local coord=self:GetCoordinate():GetClosestPointToRoad()
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return coord
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end
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--- Get 2D distance to the closest road.
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@ -568,12 +569,13 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
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-- Formation
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if not self.option.Formation then
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self.option.Formation=self.optionDefault.Formation
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-- Will be set in update route.
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--self.option.Formation=self.optionDefault.Formation
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end
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-- Update route.
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if #self.waypoints>1 then
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self:Cruise(nil, self.option.Formation or self.optionDefault.Formation)
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self:Cruise(nil, self.option.Formation)
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else
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self:FullStop()
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end
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@ -624,17 +626,17 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext(self.adinfinitum)
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks(n)
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table. OBSOLETE!
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--self:_UpdateWaypointTasks(n)
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-- Waypoints.
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local waypoints={}
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-- Next waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[n]) --Ops.OpsGroup#OPSGROUP.Waypoint
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local formationlast=nil
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for i=n, #self.waypoints do
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-- Do we want to drive on road to the next wp?
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local onroad=wp.action==ENUMS.Formation.Vehicle.OnRoad
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-- Next waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Speed.
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if Speed then
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@ -653,14 +655,8 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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wp.action=Formation
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end
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-- Current set formation.
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self.option.Formation=wp.action
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-- Current set speed in m/s.
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self.speedWp=wp.speed
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-- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
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if onroad then
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if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>10 then
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-- The real waypoint is actually off road.
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wp.action=ENUMS.Formation.Vehicle.OffRoad
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@ -675,22 +671,32 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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-- Add waypoint.
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table.insert(waypoints, wp)
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-- Apply formation at the current position or it will only be changed when reaching the next waypoint.
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local formation=ENUMS.Formation.Vehicle.OffRoad
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if wp.action~=ENUMS.Formation.Vehicle.OnRoad then
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formation=wp.action
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-- Last formation.
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formationlast=wp.action
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end
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-- First (next wp).
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local wp=waypoints[1] --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Current set formation.
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self.option.Formation=wp.action
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-- Current set speed in m/s.
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self.speedWp=wp.speed
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local formation0=wp.action==ENUMS.Formation.Vehicle.OnRoad and ENUMS.Formation.Vehicle.OffRoad or wp.action
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-- Current point.
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local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation)
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local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation0)
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table.insert(waypoints, 1, current)
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-- Insert a point on road.
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if onroad then
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if wp.action==ENUMS.Formation.Vehicle.OnRoad then
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local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
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table.insert(waypoints, 2, current)
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end
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-- Debug output.
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if false then
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for i,_wp in pairs(waypoints) do
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@ -1521,6 +1521,15 @@ function AUFTRAG:SetTime(ClockStart, ClockStop)
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return self
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end
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--- Set time how low the mission is executed. Once this time limit has passed, the mission is cancelled.
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-- @param #AUFTRAG self
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-- @param #number Duration Duration in seconds.
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-- @return #AUFTRAG self
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function AUFTRAG:SetDuration(Duration)
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self.durationExe=Duration
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return self
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end
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--- 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.
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-- @param #AUFTRAG self
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@ -2341,10 +2350,21 @@ function AUFTRAG:onafterStatus(From, Event, To)
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-- All groups have reported MISSON DONE.
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self:Done()
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elseif (self.Tstop and Tnow>self.Tstop+10) or (Ntargets0>0 and Ntargets==0) then
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elseif (self.Tstop and Tnow>self.Tstop+10) then
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-- Cancel mission if stop time passed.
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--self:Cancel()
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self:Cancel()
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elseif self.durationExe and self.Texecuting and Tnow-self.Texecuting>self.durationExe then
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-- Cancel mission if stop time passed.
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self:Cancel()
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elseif (Ntargets0>0 and Ntargets==0) then
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-- Cancel mission if mission targets are gone (if there were any in the beginning).
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-- TODO: I commented this out for some reason but I forgot why...
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self:Cancel()
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end
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@ -2893,6 +2913,7 @@ end
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-- @param #string To To state.
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function AUFTRAG:onafterStarted(From, Event, To)
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self.status=AUFTRAG.Status.STARTED
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self.Tstarted=timer.getAbsTime()
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self:T(self.lid..string.format("New mission status=%s", self.status))
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end
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@ -2903,6 +2924,7 @@ end
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-- @param #string To To state.
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function AUFTRAG:onafterExecuting(From, Event, To)
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self.status=AUFTRAG.Status.EXECUTING
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self.Texecuting=timer.getAbsTime()
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self:T(self.lid..string.format("New mission status=%s", self.status))
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end
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@ -3006,7 +3028,7 @@ function AUFTRAG:onafterCancel(From, Event, To)
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-- COMMANDER will cancel the mission.
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self.commander:MissionCancel(self)
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elseif self.legions then
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elseif self.legions and #self.legions>0 then
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-- Loop over all LEGIONs.
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for _,_legion in pairs(self.legions or {}) do
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@ -539,13 +539,15 @@ function NAVYGROUP:Status(From, Event, To)
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local turning=tostring(self:IsTurning())
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local alt=self.position.y
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local speed=UTILS.MpsToKnots(self.velocity)
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local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed()) --UTILS.MpsToKnots(self.speedWp or 0)
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local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed())
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-- Waypoint stuff.
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local wpidxCurr=self.currentwp
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local wpuidCurr=self:GetWaypointUIDFromIndex(wpidxCurr) or 0
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local wpidxNext=self:GetWaypointIndexNext() or 0
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local wpuidNext=self:GetWaypointUIDFromIndex(wpidxNext) or 0
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local wpN=#self.waypoints or 0
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local wpF=tostring(self.passedfinalwp)
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local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint() or 0)
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local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint() or 0, true)
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@ -554,8 +556,8 @@ function NAVYGROUP:Status(From, Event, To)
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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 [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 or 0, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
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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",
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fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, wpN, wpF, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
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self:I(self.lid..text)
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end
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@ -742,13 +744,15 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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n=n or self:GetWaypointIndexNext()
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks(n)
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--self:_UpdateWaypointTasks(n)
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-- Waypoints.
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local waypoints={}
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for i=n, #self.waypoints do
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-- Waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[n]) --Ops.OpsGroup#OPSGROUP.Waypoint
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Speed.
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if Speed then
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@ -761,6 +765,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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end
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end
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-- Depth.
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if Depth then
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wp.alt=-Depth
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elseif self.depth then
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@ -771,20 +776,25 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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end
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-- Current set speed in m/s.
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if i==n then
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self.speedWp=wp.speed
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self.altWp=wp.alt
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end
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-- Add waypoint.
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table.insert(waypoints, wp)
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end
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-- Current waypoint.
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local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), wp.alt)
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local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), self.altWp)
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table.insert(waypoints, 1, current)
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if self:IsEngaging() or not self.passedfinalwp then
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-- Debug info.
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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))
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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))
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-- Route group to all defined waypoints remaining.
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self:Route(waypoints)
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@ -4097,7 +4097,7 @@ 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)
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local waypoint=self:AddWaypoint(waypointcoord, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
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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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@ -4111,7 +4111,7 @@ function OPSGROUP:RouteToMission(mission, delay)
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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)
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local waypoint=self:AddWaypoint(egress, SpeedToMission, nil, formation, false) ; waypoint.ismission=true
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end
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---
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@ -4384,7 +4384,7 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
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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
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if ntasks==0 and (self:HasPassedFinalWaypoint()) then-- or self:IsArmygroup() or self:IsNavygroup()) then
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self:_CheckGroupDone(0.01)
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end
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@ -7910,6 +7910,26 @@ end
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-- Waypoints & Routing
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Simple task function. Can be used to call a function which has the warehouse and the executing group as parameters.
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-- @param #OPSGROUP self
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-- @param #string Function The name of the function to call passed as string.
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-- @param #number uid Waypoint UID.
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function OPSGROUP:_SimpleTaskFunction(Function, uid)
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-- Task script.
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local DCSScript = {}
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--_DATABASE:FindOpsGroup(groupname)
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DCSScript[#DCSScript+1] = string.format('local mygroup = _DATABASE:FindOpsGroup(\"%s\") ', self.groupname) -- The group that executes the task function. Very handy with the "...".
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DCSScript[#DCSScript+1] = string.format('%s(mygroup, %d)', Function, uid) -- Call the function, e.g. myfunction.(warehouse,mygroup)
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-- Create task.
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local DCSTask=CONTROLLABLE.TaskWrappedAction(self, CONTROLLABLE.CommandDoScript(self, table.concat(DCSScript)))
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return DCSTask
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end
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--- Enhance waypoint table.
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-- @param #OPSGROUP self
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-- @param #OPSGROUP.Waypoint Waypoint data.
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@ -7934,6 +7954,17 @@ function OPSGROUP:_CreateWaypoint(waypoint)
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waypoint.astar=false
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waypoint.temp=false
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-- Tasks of this 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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-- Waypoint task combo.
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waypoint.task=self.group:TaskCombo(taskswp)
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-- Increase UID counter.
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self.wpcounter=self.wpcounter+1
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@ -8117,10 +8148,9 @@ end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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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 #OPSGROUP opsgroup Ops group object.
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--@param #number uid Waypoint UID.
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function OPSGROUP._PassingWaypoint(group, opsgroup, uid)
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function OPSGROUP._PassingWaypoint(opsgroup, uid)
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-- Debug message.
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local text=string.format("Group passing waypoint uid=%d", uid)
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