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https://github.com/FlightControl-Master/MOOSE.git
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RECOVERYTANKER v0.9.4
This commit is contained in:
Frank
parent
5af235a345
commit
c5171e8722
@ -533,11 +533,6 @@ function BEACON:ActivateTACAN(Channel, Mode, Message, Bearing, Duration)
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return self
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end
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if self.Positionable:IsAir() then
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--TODO: set TACANMode="Y"
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self:E({"The POSITIONABLE you want to attach the AA Tacan Beacon is not an aircraft! The BEACON is not emitting.", self.Positionable})
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end
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-- Beacon type.
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local Type=BEACON.Type.TACAN
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@ -548,6 +543,10 @@ function BEACON:ActivateTACAN(Channel, Mode, Message, Bearing, Duration)
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local AA=self.Positionable:IsAir()
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if AA then
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System=BEACON.System.TACAN_TANKER
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-- Check if "Y" mode is selected for aircraft.
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if Mode~="Y" then
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self:E({"WARNING: The POSITIONABLE you want to attach the AA Tacan Beacon is an aircraft: Mode should Y !The BEACON is not emitting.", self.Positionable})
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end
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end
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-- Attached unit.
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@ -3556,7 +3556,7 @@ function AIRBOSS:_GetRelativeHeading(unit, runway)
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rhdg=rhdg-self.carrierparam.rwyangle
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end
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-- TODO another way would be to get the heading of the carrier and the heading of the unit and calc difference?
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--[[
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-- Heading of unit.
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local unitheading=unit:GetHeading()
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@ -3570,8 +3570,8 @@ function AIRBOSS:_GetRelativeHeading(unit, runway)
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carrierheading=self:GetHeading(false)
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end
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rhdg=unitheading-carrierheading
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local rhdg=unitheading-carrierheading
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]]
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-- Return heading in degrees.
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return rhdg
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@ -20,6 +20,7 @@
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--- RECOVERYTANKER class.
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-- @type RECOVERYTANKER
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-- @field #string ClassName Name of the class.
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-- @field #boolean Debug Debug mode.
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-- @field Wrapper.Unit#UNIT carrier The carrier the helo is attached to.
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-- @field #string carriertype Carrier type.
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-- @field #string tankergroupname Name of the late activated tanker template group.
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@ -28,6 +29,8 @@
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-- @field Core.Radio#BEACON beacon Tanker TACAN beacon.
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-- @field #number TACANchannel TACAN channel. Default 1.
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-- @field #string TACANmode TACAN mode, i.e. "X" or "Y". Default "Y".
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-- @field #string TACANmorse TACAN morse code. Three letters identifying the TACAN station. Default "TKR".
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-- @field #boolean TACANon If true, TACAN is automatically activated. If false, TACAN is disabled.
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-- @field #number speed Tanker speed when flying pattern.
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-- @field #number altitude Tanker orbit pattern altitude.
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-- @field #number distStern Race-track distance astern.
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@ -39,6 +42,8 @@
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-- @field #boolean respawn If true, tanker be respawned (default). If false, no respawning will happen.
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-- @field #boolean respawninair If true, tanker will always be respawned in air. This has no impact on the initial spawn setting.
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-- @field #boolean uncontrolledac If true, use and uncontrolled tanker group already present in the mission.
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-- @field DCS#Vec3 orientation Orientation of the carrier. Used to monitor changes and update the pattern if heading changes significantly.
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-- @field Core.Point#COORDINATE position Positon of carrier. Used to monitor if carrier significantly changed its position and then update the tanker pattern.
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-- @extends Core.Fsm#FSM
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--- Recovery Tanker.
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@ -112,6 +117,7 @@
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-- @field #RECOVERYTANKER
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RECOVERYTANKER = {
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ClassName = "RECOVERYTANKER",
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Debug = true,
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carrier = nil,
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carriertype = nil,
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tankergroupname = nil,
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@ -120,6 +126,8 @@ RECOVERYTANKER = {
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beacon = nil,
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TACANchannel = nil,
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TACANmode = nil,
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TACANmorse = nil,
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TACANon = nil,
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altitude = nil,
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speed = nil,
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distStern = nil,
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@ -131,19 +139,24 @@ RECOVERYTANKER = {
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respawn = nil,
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respawninair = nil,
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uncontrolledac = nil,
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orientation = nil,
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position = nil,
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}
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--- Class version.
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-- @field #string version
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RECOVERYTANKER.version="0.9.3"
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RECOVERYTANKER.version="0.9.4"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Smarter pattern update function. E.g. (small) zone around carrier. Only update position when carrier leaves zone or changes heading?
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-- TODO: Is alive check for tanker.
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-- TODO: Trace functions self:T instead of self:I for less output.
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-- TODO: Make pattern update parameters (distance, orientation) input parameters.
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-- TODO: Write documenation.
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-- DONE: Add FSM event for pattern update.
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-- DONE: Smarter pattern update function. E.g. (small) zone around carrier. Only update position when carrier leaves zone or changes heading?
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-- DONE: Set AA TACAN.
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-- DONE: Add refueling event/state.
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-- DONE: Possibility to add already present/spawned aircraft, e.g. for warehouse.
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@ -174,6 +187,9 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- Tanker group name.
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self.tankergroupname=tankergroupname
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-- Save self in static object. Easier to retrieve later.
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self.carrier:SetState(self.carrier, "RECOVERYTANKER", self)
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-- Init default parameters.
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self:SetPatternUpdateInterval()
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self:SetAltitude()
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@ -194,12 +210,13 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("Stopped", "Start", "Running")
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self:AddTransition("*", "Refuel", "Refueling")
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self:AddTransition("*", "Run", "Running")
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self:AddTransition("Running", "RTB", "Returning")
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self:AddTransition("*", "Status", "*")
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self:AddTransition("*", "Stop", "Stopped")
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self:AddTransition("Stopped", "Start", "Running") -- Start the FSM.
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self:AddTransition("*", "Refuel", "Refueling") -- Tanker starts to refuel.
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self:AddTransition("*", "Run", "Running") -- Tanker starts normal operation again.
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self:AddTransition("Running", "RTB", "Returning") -- Tanker is returning to base (for fuel).
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self:AddTransition("*", "Status", "*") -- Status update.
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self:AddTransition("Running", "PatternUpdate", "*") -- Update pattern wrt to carrier.
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self:AddTransition("*", "Stop", "Stopped") -- Stop the FSM.
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--- Triggers the FSM event "Start" that starts the recovery tanker. Initializes parameters and starts event handlers.
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@ -214,8 +231,8 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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--- Triggers the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] Refuel
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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--- Triggers delayed the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] __Refuel
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@ -237,11 +254,33 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
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--- Triggers the FSM event "RTB" that sends the tanker home.
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-- @function [parent=#RECOVERYTANKER] RTB
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
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--- Triggers the FSM event "RTB" that sends the tanker home after a delay.
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-- @function [parent=#RECOVERYTANKER] __RTB
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
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--- Triggers the FSM event "Status" that updates the tanker status.
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-- @function [parent=#RECOVERYTANKER] Status
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-- @param #RECOVERYTANKER self
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--- Triggers the delayed FSM event "Status" that updates the tanker status.
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-- @function [parent=#RECOVERYTANKER] __Status
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "PatternUpdate" that updates the pattern of the tanker wrt to the carrier position.
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-- @function [parent=#RECOVERYTANKER] PatternUpdate
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-- @param #RECOVERYTANKER self
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--- Triggers the delayed FSM event "PatternUpdate" that updates the pattern of the tanker wrt to the carrier position.
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-- @function [parent=#RECOVERYTANKER] __PatternUpdate
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Stop" that stops the recovery tanker. Event handlers are stopped.
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@ -400,31 +439,50 @@ function RECOVERYTANKER:SetUseUncontrolledAircraft()
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return self
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end
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--- Disable automatic TACAN activation.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTACANoff()
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self.TACANon=false
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return self
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end
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--- Set TACAN channel of tanker.
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-- @param #RECOVERYTANKER self
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-- @param #number channel TACAN channel. Default 1.
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-- @param #string mode TACAN mode, i.e. "X" or "Y". Default "Y".
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-- @param #string morse TACAN morse code identifier. Three letters. Default "TKR".
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTACAN(channel, mode)
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function RECOVERYTANKER:SetTACAN(channel, mode, morse)
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self.TACANchannel=channel or 1
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self.TACANmode=mode or "Y"
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self.TACANmorse=morse or "TKR"
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self.TACANon=true
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return self
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end
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--- Check if tanker is returning to base.
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--- Check if tanker is currently returning to base.
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-- @param #RECOVERYTANKER self
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-- @return #boolean If true, tanker is returning to base.
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function RECOVERYTANKER:IsReturning()
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return self:is("Returning")
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end
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--- Check if tanker is operating.
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--- Check if tanker is currently operating.
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-- @param #RECOVERYTANKER self
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-- @return #boolean If true, tanker is operating.
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function RECOVERYTANKER:IsRunning()
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return self:is("Running")
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end
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--- Check if tanker is currently refueling another aircraft.
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-- @param #RECOVERYTANKER self
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-- @return #boolean If true, tanker is refueling.
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function RECOVERYTANKER:IsRefueling()
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return self:is("Refueling")
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- FSM states
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -441,9 +499,9 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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-- Handle events.
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self:HandleEvent(EVENTS.EngineShutdown)
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self:HandleEvent(EVENTS.Refueling)
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self:HandleEvent(EVENTS.RefuelingStop)
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self:HandleEvent(EVENTS.Crash)
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self:HandleEvent(EVENTS.Refueling, self._RefuelingStart) --Need explcit functions sice OnEventRefueling and OnEventRefuelingStop did not hook.
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self:HandleEvent(EVENTS.RefuelingStop, self._RefuelingStop)
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--self:HandleEvent(EVENTS.Crash)
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-- Spawn tanker.
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local Spawn=SPAWN:New(self.tankergroupname):InitUnControlled(false)
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@ -467,7 +525,7 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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self.tanker=Spawn:SpawnFromCoordinate(Carrier)
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-- Initial route.
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self:_InitRoute(15, 1, 2)
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self:_InitRoute(15, 1)
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else
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-- Check if an uncontrolled tanker group was requested.
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@ -495,18 +553,24 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
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end
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-- Initialize route.
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self:_InitRoute(30, 10, 1)
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self:_InitRoute(15, 1)
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end
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-- Create tanker beacon.
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self.beacon=BEACON:New(self.tanker:GetUnit(1))
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self.beacon:ActivateTACAN(self.TACANchannel, self.TACANmode, "TKR", true)
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if self.TACANon then
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self:_ActivateTACAN(2)
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end
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-- Get initial orientation and position of carrier.
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self.orientation=self.carrier:GetOrientationX()
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self.position=self.carrier:GetCoordinate()
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-- Init status check.
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self:__Status(10)
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end
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--- On after Status event. Checks player status.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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@ -522,45 +586,12 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
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local text=string.format("Recovery tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
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self:I(text)
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-- Check if tanker is running and not RTBing.
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-- Check if tanker is running and not RTBing or refueling.
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if self:IsRunning() then
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-- Check fuel.
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if fuel<self.lowfuel then
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-- Send tanker home if fuel runs low.
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self:RTB()
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else
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if self.Tupdate then
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--Time since last pattern update.
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local dt=time-self.Tupdate
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-- Update pattern.
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if dt>self.dTupdate then
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self:_PatternUpdate()
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end
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end
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end
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end
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-- Call status again in 1 minute.
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self:__Status(-60)
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end
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--- On before RTB event. Check if takeoff type is air and if so respawn the tanker and deny RTB transition.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @return #boolean If true, transition is allowed.
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function RECOVERYTANKER:onbeforeRTB(From, Event, To)
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-- Check if spawn in air is activated.
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if self.takeoff==SPAWN.Takeoff.Air or self.respawninair then
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@ -575,19 +606,99 @@ function RECOVERYTANKER:onbeforeRTB(From, Event, To)
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self.tanker:InitHeading(self.tanker:GetHeading())
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self.tanker=self.tanker:Respawn(nil, true)
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-- Create tanker beacon.
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self.beacon=BEACON:New(self.tanker:GetUnit(1))
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self.beacon:ActivateTACAN(self.TACANchannel, self.TACANmode, "TKR", true)
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-- Create tanker beacon and activate TACAN.
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if self.TACANon then
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self:_ActivateTACAN(3)
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end
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-- Update Pattern in 2 seconds. Need to give a bit time so that the respawned group is in the game.
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SCHEDULER:New(nil, self._PatternUpdate, {self}, 2)
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self:__PatternUpdate(2)
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end
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else
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-- Send tanker home if fuel runs low.
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self:RTB(self.airbase)
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end
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else
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if self.Tupdate then
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--Time since last pattern update.
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local dt=time-self.Tupdate
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-- Check if pattern needs to be updated.
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local updatepattern=self:_CheckPatternUpdate(dt)
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-- Update pattern.
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if updatepattern then
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self:PatternUpdate()
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end
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-- Deny transition to RTB.
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return false
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end
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end
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return true
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end
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-- Call status again in 1 minute.
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self:__Status(-60)
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end
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--- On after "PatternUpdate" event. Updates the racetrack pattern of the tanker wrt the carrier position.
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-- @param #RECOVERYTANKER self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function RECOVERYTANKER:onafterPatternUpdate(From, Event, To)
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-- Debug message.
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self:I(string.format("Updating recovery tanker %s orbit.", self.tanker:GetName()))
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-- Carrier heading.
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local hdg=self.carrier:GetHeading()
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-- Carrier position.
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local Carrier=self.carrier:GetCoordinate()
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-- Define race-track pattern.
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local p0=self.tanker:GetCoordinate():Translate(2000, self.tanker:GetHeading())
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local p1=Carrier:SetAltitude(self.altitude):Translate(self.distStern, hdg)
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local p2=Carrier:SetAltitude(self.altitude):Translate(self.distBow, hdg)
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-- Set orbit task.
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local taskorbit=self.tanker:TaskOrbit(p1, self.altitude, self.speed, p2)
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-- Debug markers.
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if self.Debug then
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p0:MarkToAll("Waypoint P0 " ..self.tanker:GetName())
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p1:MarkToAll("Racetrack P1 "..self.tanker:GetName())
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p2:MarkToAll("Racetrack P2 "..self.tanker:GetName())
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self.tanker:SmokeRed()
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end
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-- Waypoints array.
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local wp={}
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-- New waypoint with orbit pattern task.
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wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil , self.speed, {}, "Current Position")
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wp[2]=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
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-- Initialize WP and route tanker.
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self.tanker:WayPointInitialize(wp)
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-- Task combo.
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local tasktanker = self.tanker:EnRouteTaskTanker()
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local taskroute = self.tanker:TaskRoute(wp)
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-- Note that tasktanker has to come first. Otherwise it does not work!
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local taskcombo = self.tanker:TaskCombo({tasktanker, taskroute})
|
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|
||||
-- Set task.
|
||||
self.tanker:SetTask(taskcombo, 1)
|
||||
|
||||
-- Set update time.
|
||||
self.Tupdate=timer.getTime()
|
||||
end
|
||||
|
||||
--- On after "RTB" event. Send tanker back to carrier.
|
||||
@ -595,10 +706,14 @@ end
|
||||
-- @param #string From From state.
|
||||
-- @param #string Event Event.
|
||||
-- @param #string To To state.
|
||||
function RECOVERYTANKER:onafterRTB(From, Event, To)
|
||||
-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
|
||||
function RECOVERYTANKER:onafterRTB(From, Event, To, airbase)
|
||||
|
||||
-- Default is the home base.
|
||||
airbase=airbase or self.airbase
|
||||
|
||||
-- Debug message.
|
||||
local text=string.format("Tanker %s returning to airbase %s.", self.tanker:GetName(), self.airbase:GetName())
|
||||
local text=string.format("Tanker %s returning to airbase %s.", self.tanker:GetName(), airbase:GetName())
|
||||
self:I(text)
|
||||
|
||||
-- Waypoint array.
|
||||
@ -606,7 +721,7 @@ function RECOVERYTANKER:onafterRTB(From, Event, To)
|
||||
|
||||
-- Set landing waypoint.
|
||||
wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
|
||||
wp[2]=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing on Carrier")
|
||||
wp[2]=airbase:GetCoordinate():WaypointAirLanding(300, airbase, nil, "Land at airbase")
|
||||
|
||||
-- Initialize WP and route tanker.
|
||||
self.tanker:WayPointInitialize(wp)
|
||||
@ -622,6 +737,8 @@ end
|
||||
-- @param #string To To state.
|
||||
function RECOVERYTANKER:onafterStop(From, Event, To)
|
||||
self:UnHandleEvent(EVENTS.EngineShutdown)
|
||||
self:UnHandleEvent(EVENTS.Refueling)
|
||||
self:UnHandleEvent(EVENTS.RefuelingStop)
|
||||
--self:UnHandleEvent(EVENTS.Land)
|
||||
end
|
||||
|
||||
@ -651,12 +768,13 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
|
||||
-- Respawn tanker.
|
||||
self.tanker=group:RespawnAtCurrentAirbase()
|
||||
|
||||
-- Create tanker beacon.
|
||||
self.beacon=BEACON:New(self.tanker:GetUnit(1))
|
||||
self.beacon:ActivateTACAN(self.TACANchannel, self.TACANmode, "TKR", true)
|
||||
-- Create tanker beacon and activate TACAN.
|
||||
if self.TACANon then
|
||||
self:_ActivateTACAN(2)
|
||||
end
|
||||
|
||||
-- Initial route.
|
||||
self:_InitRoute()
|
||||
self:_InitRoute(15, 1)
|
||||
end
|
||||
|
||||
end
|
||||
@ -665,7 +783,7 @@ end
|
||||
--- Event handler for refueling started.
|
||||
-- @param #RECOVERYTANKER self
|
||||
-- @param Core.Event#EVENTDATA EventData Event data.
|
||||
function RECOVERYTANKER:OnEventRefuel(EventData)
|
||||
function RECOVERYTANKER:_RefuelingStart(EventData)
|
||||
|
||||
if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
|
||||
|
||||
@ -683,6 +801,9 @@ function RECOVERYTANKER:OnEventRefuel(EventData)
|
||||
-- Info message.
|
||||
self:I(string.format("Recovery tanker %s started refueling unit %s", self.tanker:GetName(), unit:GetName()))
|
||||
|
||||
-- FMS state "Refueling".
|
||||
self:Refuel(unit)
|
||||
|
||||
end
|
||||
|
||||
end
|
||||
@ -690,7 +811,7 @@ end
|
||||
--- Event handler for refueling stopped.
|
||||
-- @param #RECOVERYTANKER self
|
||||
-- @param Core.Event#EVENTDATA EventData Event data.
|
||||
function RECOVERYTANKER:OnEventRefuelStop(EventData)
|
||||
function RECOVERYTANKER:_RefuelingStop(EventData)
|
||||
|
||||
if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
|
||||
|
||||
@ -708,25 +829,45 @@ function RECOVERYTANKER:OnEventRefuelStop(EventData)
|
||||
-- Info message.
|
||||
self:I(string.format("Recovery tanker %s stopped refueling unit %s", self.tanker:GetName(), unit:GetName()))
|
||||
|
||||
-- FSM state "Running".
|
||||
self:Run()
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-- ROUTE functions
|
||||
-- MISC functions
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
--- Task function to
|
||||
-- @param #RECOVERYTANKER self
|
||||
function RECOVERYTANKER:_InitPatternTaskFunction()
|
||||
|
||||
-- Name of the warehouse (static) object.
|
||||
local carriername=self.carrier:GetName()
|
||||
|
||||
-- Task script.
|
||||
local DCSScript = {}
|
||||
DCSScript[#DCSScript+1] = string.format('local mycarrier = UNIT:FindByName(\"%s\") ', carriername) -- The carrier unit that holds the self object.
|
||||
DCSScript[#DCSScript+1] = string.format('local mytanker = mycarrier:GetState(mycarrier, \"RECOVERYTANKER\") ') -- Get the RECOVERYTANKER self object.
|
||||
DCSScript[#DCSScript+1] = string.format('mytanker:PatternUpdate()') -- Call the function, e.g. mytanker.(self)
|
||||
|
||||
-- Create task.
|
||||
local DCSTask = CONTROLLABLE.TaskWrappedAction(self, CONTROLLABLE.CommandDoScript(self, table.concat(DCSScript)))
|
||||
|
||||
return DCSTask
|
||||
end
|
||||
|
||||
|
||||
--- Init waypoint after spawn.
|
||||
-- @param #RECOVERYTANKER self
|
||||
-- @param #number dist Distance [NM] of initial waypoint astern carrier. Default 30 NM.
|
||||
-- @param #number Tstart Time in minutes before the tanker starts its pattern. Default 10 min.
|
||||
-- @param #number dist Distance [NM] of initial waypoint astern carrier. Default 15 NM.
|
||||
-- @param #number delay Delay before routing in seconds. Default 1 second.
|
||||
function RECOVERYTANKER:_InitRoute(dist, Tstart, delay)
|
||||
function RECOVERYTANKER:_InitRoute(dist, delay)
|
||||
|
||||
-- Defaults.
|
||||
dist=UTILS.NMToMeters(dist or 30)
|
||||
Tstart=(Tstart or 10)*60
|
||||
dist=UTILS.NMToMeters(dist or 15)
|
||||
delay=delay or 1
|
||||
|
||||
-- Debug message.
|
||||
@ -738,75 +879,121 @@ function RECOVERYTANKER:_InitRoute(dist, Tstart, delay)
|
||||
-- Carrier heading.
|
||||
local hdg=self.carrier:GetHeading()
|
||||
|
||||
-- First waypoint is 50 km behind the boat.
|
||||
-- First waypoint is ~15 NM behind the boat.
|
||||
local p=Carrier:Translate(-dist, hdg):SetAltitude(self.altitude)
|
||||
|
||||
-- Debug mark
|
||||
-- Debug mark.
|
||||
if self.Debug then
|
||||
p:MarkToAll(string.format("Init WP: alt=%d ft, speed=%d kts", UTILS.MetersToFeet(self.altitude), UTILS.MpsToKnots(self.speed)))
|
||||
end
|
||||
|
||||
-- Task to update pattern when wp 2 is reached.
|
||||
local task=self:_InitPatternTaskFunction()
|
||||
|
||||
-- Waypoints.
|
||||
local wp={}
|
||||
wp[1]=Carrier:WaypointAirTakeOffParking()
|
||||
wp[2]=p:WaypointAirTurningPoint(nil, self.speed, nil, "Stern")
|
||||
if self.takeoff==SPAWN.Takeoff.Air then
|
||||
wp[#wp+1]=self.tanker:GetCoordinate():SetAltitude(self.altitude):WaypointAirTurningPoint(nil, self.speed, {}, "Spawn Position")
|
||||
else
|
||||
wp[#wp+1]=Carrier:WaypointAirTakeOffParking()
|
||||
end
|
||||
wp[#wp+1]=p:WaypointAirTurningPoint(nil, self.speed, {task}, "Begin Pattern")
|
||||
|
||||
-- Set route.
|
||||
self.tanker:Route(wp, delay)
|
||||
|
||||
-- No update yet.
|
||||
-- No update yet, wait until the function is called (avoids checks if pattern update is needed).
|
||||
self.Tupdate=nil
|
||||
|
||||
-- Update pattern in ~10 minutes.
|
||||
SCHEDULER:New(nil, self._PatternUpdate, {self}, Tstart)
|
||||
end
|
||||
|
||||
|
||||
--- Function to update the race-track pattern of the tanker wrt to the carrier position.
|
||||
--- Check if heading or position have changed significantly.
|
||||
-- @param #RECOVERYTANKER self
|
||||
function RECOVERYTANKER:_PatternUpdate()
|
||||
-- @param #number dt Time since last update in seconds.
|
||||
-- @return #boolean If true, heading and/or position have changed more than 10 degrees or 10 km, respectively.
|
||||
function RECOVERYTANKER:_CheckPatternUpdate(dt)
|
||||
|
||||
-- Assume no update necessary.
|
||||
local update=false
|
||||
|
||||
-- Get current position and orientation of carrier.
|
||||
local pos=self.carrier:GetCoordinate()
|
||||
local vC=self.carrier:GetOrientationX()
|
||||
|
||||
-- Check if tanker is running and last updated is more than 10 minutes ago.
|
||||
if self:IsRunning() and dt>10*60 then
|
||||
|
||||
-- Last saved orientation of carrier.
|
||||
local vP=self.orientation
|
||||
|
||||
-- We only need the X-Z plane.
|
||||
vC.y=0 ; vP.y=0
|
||||
|
||||
-- Get angle between the two orientation vectors in rad.
|
||||
local rhdg=math.deg(math.acos(UTILS.VecDot(vC,vP)/UTILS.VecNorm(vC)/UTILS.VecNorm(vP)))
|
||||
|
||||
-- Check if orientation changed.
|
||||
-- TODO: make 5 deg input variable.
|
||||
if math.abs(rhdg)>5 then
|
||||
self:I(string.format("Carrier heading changed by %d degrees. Updating recovery tanker pattern.", rhdg))
|
||||
update=true
|
||||
end
|
||||
|
||||
-- Get distance to saved position.
|
||||
local dist=pos:Get2DDistance(self.position)
|
||||
|
||||
-- Check if carrier moved more than 10 km.
|
||||
-- TODO: make 10 km input variable.
|
||||
if dist/1000>10 then
|
||||
self:I(string.format("Carrier position changed by %.1f km. Updating recovery tanker pattern.", dist/1000))
|
||||
update=true
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
-- If pattern is updated then update orientation AND positon.
|
||||
-- But only if last update is less then 10 minutes ago.
|
||||
if update then
|
||||
self.orientation=vC
|
||||
self.position=pos
|
||||
end
|
||||
|
||||
return update
|
||||
end
|
||||
|
||||
--- Activate TACAN of tanker.
|
||||
-- @param #RECOVERYTANKER self
|
||||
-- @param #number delay Delay in seconds.
|
||||
function RECOVERYTANKER:_ActivateTACAN(delay)
|
||||
|
||||
if delay and delay>0 then
|
||||
|
||||
-- Schedule TACAN activation.
|
||||
SCHEDULER:New(nil,self._ActivateTACAN, {self}, delay)
|
||||
|
||||
else
|
||||
|
||||
-- Get tanker unit.
|
||||
local unit=self.tanker:GetUnit(1)
|
||||
|
||||
-- Check if unit is alive.
|
||||
if unit:IsAlive() then
|
||||
|
||||
-- Debug message.
|
||||
self:I(string.format("Updating recovery tanker %s orbit.", self.tanker:GetName()))
|
||||
self:I(string.format("Activating recovery tanker TACAN beacon: channel=%d mode=%s, morse=%s.", self.TACANchannel, self.TACANmode, self.TACANmorse))
|
||||
|
||||
-- Carrier heading.
|
||||
local hdg=self.carrier:GetHeading()
|
||||
-- Create a new beacon and activate TACAN.
|
||||
self.beacon=BEACON:New(unit)
|
||||
self.beacon:ActivateTACAN(self.TACANchannel, self.TACANmode, self.TACANmorse, true)
|
||||
|
||||
-- Carrier position.
|
||||
local Carrier=self.carrier:GetCoordinate()
|
||||
|
||||
-- Define race-track pattern.
|
||||
local p0=self.tanker:GetCoordinate():Translate(1000, self.tanker:GetHeading())
|
||||
local p1=Carrier:SetAltitude(self.altitude):Translate(self.distStern, hdg)
|
||||
local p2=Carrier:SetAltitude(self.altitude):Translate(self.distBow, hdg)
|
||||
|
||||
-- Set orbit task.
|
||||
local taskorbit=self.tanker:TaskOrbit(p1, self.altitude, self.speed, p2)
|
||||
|
||||
-- Debug markers.
|
||||
if self.Debug then
|
||||
p0:MarkToAll("Waypoint P0 " ..self.tanker:GetName())
|
||||
p1:MarkToAll("Racetrack P1 "..self.tanker:GetName())
|
||||
p2:MarkToAll("Racetrack P2 "..self.tanker:GetName())
|
||||
else
|
||||
self:E("ERROR: Recovery tanker is not alive!")
|
||||
end
|
||||
|
||||
-- Waypoints array.
|
||||
local wp={}
|
||||
|
||||
-- New waypoint with orbit pattern task.
|
||||
--wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil , self.speed, {}, "Current Position")
|
||||
wp[1]=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
|
||||
|
||||
-- Initialize WP and route tanker.
|
||||
self.tanker:WayPointInitialize(wp)
|
||||
|
||||
-- Task combo.
|
||||
local tasktanker = self.tanker:EnRouteTaskTanker()
|
||||
local taskroute = self.tanker:TaskRoute(wp)
|
||||
-- Note that tasktanker has to come first. Otherwise it does not work!
|
||||
local taskcombo = self.tanker:TaskCombo({tasktanker, taskroute})
|
||||
|
||||
-- Set task.
|
||||
self.tanker:SetTask(taskcombo, 1)
|
||||
|
||||
-- Set update time.
|
||||
self.Tupdate=timer.getTime()
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user