--- **AI** -- Perform Air Patrolling for airplanes. -- -- **Features:** -- -- * Patrol AI airplanes within a given zone. -- * Trigger detected events when enemy airplanes are detected. -- * Manage a fuel threshold to RTB on time. -- -- === -- -- AI PATROL classes makes AI Controllables execute an Patrol. -- -- There are the following types of PATROL classes defined: -- -- * @{#AI_PATROL_ZONE}: Perform a PATROL in a zone. -- -- === -- -- ### [Demo Missions](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/master/PAT%20-%20Patrolling) -- -- === -- -- ### [YouTube Playlist](https://www.youtube.com/playlist?list=PL7ZUrU4zZUl35HvYZKA6G22WMt7iI3zky) -- -- === -- -- ### Author: **FlightControl** -- ### Contributions: -- -- * **[Dutch_Baron](https://forums.eagle.ru/member.php?u=112075)**: Working together with James has resulted in the creation of the AI_BALANCER class. James has shared his ideas on balancing AI with air units, and together we made a first design which you can use now :-) -- * **[Pikey](https://forums.eagle.ru/member.php?u=62835)**: Testing and API concept review. -- -- === -- -- @module AI.AI_Patrol -- @image AI_Air_Patrolling.JPG --- AI_PATROL_ZONE class -- @type AI_PATROL_ZONE -- @field Wrapper.Controllable#CONTROLLABLE AIControllable The @{Wrapper.Controllable} patrolling. -- @field Core.Zone#ZONE_BASE PatrolZone The @{Zone} where the patrol needs to be executed. -- @field DCS#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol. -- @field DCS#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol. -- @field DCS#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Controllable} in km/h. -- @field DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Controllable} in km/h. -- @field Core.Spawn#SPAWN CoordTest -- @extends Core.Fsm#FSM_CONTROLLABLE --- Implements the core functions to patrol a @{Zone} by an AI @{Wrapper.Controllable} or @{Wrapper.Group}. -- -- ![Process](..\Presentations\AI_PATROL\Dia3.JPG) -- -- The AI_PATROL_ZONE is assigned a @{Wrapper.Group} and this must be done before the AI_PATROL_ZONE process can be started using the **Start** event. -- -- ![Process](..\Presentations\AI_PATROL\Dia4.JPG) -- -- The AI will fly towards the random 3D point within the patrol zone, using a random speed within the given altitude and speed limits. -- Upon arrival at the 3D point, a new random 3D point will be selected within the patrol zone using the given limits. -- -- ![Process](..\Presentations\AI_PATROL\Dia5.JPG) -- -- This cycle will continue. -- -- ![Process](..\Presentations\AI_PATROL\Dia6.JPG) -- -- During the patrol, the AI will detect enemy targets, which are reported through the **Detected** event. -- -- ![Process](..\Presentations\AI_PATROL\Dia9.JPG) -- ---- Note that the enemy is not engaged! To model enemy engagement, either tailor the **Detected** event, or -- use derived AI_ classes to model AI offensive or defensive behaviour. -- -- ![Process](..\Presentations\AI_PATROL\Dia10.JPG) -- -- Until a fuel or damage threshold has been reached by the AI, or when the AI is commanded to RTB. -- When the fuel threshold has been reached, the airplane will fly towards the nearest friendly airbase and will land. -- -- ![Process](..\Presentations\AI_PATROL\Dia11.JPG) -- -- ## 1. AI_PATROL_ZONE constructor -- -- * @{#AI_PATROL_ZONE.New}(): Creates a new AI_PATROL_ZONE object. -- -- ## 2. AI_PATROL_ZONE is a FSM -- -- ![Process](..\Presentations\AI_PATROL\Dia2.JPG) -- -- ### 2.1. AI_PATROL_ZONE States -- -- * **None** ( Group ): The process is not started yet. -- * **Patrolling** ( Group ): The AI is patrolling the Patrol Zone. -- * **Returning** ( Group ): The AI is returning to Base. -- * **Stopped** ( Group ): The process is stopped. -- * **Crashed** ( Group ): The AI has crashed or is dead. -- -- ### 2.2. AI_PATROL_ZONE Events -- -- * **Start** ( Group ): Start the process. -- * **Stop** ( Group ): Stop the process. -- * **Route** ( Group ): Route the AI to a new random 3D point within the Patrol Zone. -- * **RTB** ( Group ): Route the AI to the home base. -- * **Detect** ( Group ): The AI is detecting targets. -- * **Detected** ( Group ): The AI has detected new targets. -- * **Status** ( Group ): The AI is checking status (fuel and damage). When the thresholds have been reached, the AI will RTB. -- -- ## 3. Set or Get the AI controllable -- -- * @{#AI_PATROL_ZONE.SetControllable}(): Set the AIControllable. -- * @{#AI_PATROL_ZONE.GetControllable}(): Get the AIControllable. -- -- ## 4. Set the Speed and Altitude boundaries of the AI controllable -- -- * @{#AI_PATROL_ZONE.SetSpeed}(): Set the patrol speed boundaries of the AI, for the next patrol. -- * @{#AI_PATROL_ZONE.SetAltitude}(): Set altitude boundaries of the AI, for the next patrol. -- -- ## 5. Manage the detection process of the AI controllable -- -- The detection process of the AI controllable can be manipulated. -- Detection requires an amount of CPU power, which has an impact on your mission performance. -- Only put detection on when absolutely necessary, and the frequency of the detection can also be set. -- -- * @{#AI_PATROL_ZONE.SetDetectionOn}(): Set the detection on. The AI will detect for targets. -- * @{#AI_PATROL_ZONE.SetDetectionOff}(): Set the detection off, the AI will not detect for targets. The existing target list will NOT be erased. -- -- The detection frequency can be set with @{#AI_PATROL_ZONE.SetRefreshTimeInterval}( seconds ), where the amount of seconds specify how much seconds will be waited before the next detection. -- Use the method @{#AI_PATROL_ZONE.GetDetectedUnits}() to obtain a list of the @{Wrapper.Unit}s detected by the AI. -- -- The detection can be filtered to potential targets in a specific zone. -- Use the method @{#AI_PATROL_ZONE.SetDetectionZone}() to set the zone where targets need to be detected. -- Note that when the zone is too far away, or the AI is not heading towards the zone, or the AI is too high, no targets may be detected -- according the weather conditions. -- -- ## 6. Manage the "out of fuel" in the AI_PATROL_ZONE -- -- When the AI is out of fuel, it is required that a new AI is started, before the old AI can return to the home base. -- Therefore, with a parameter and a calculation of the distance to the home base, the fuel threshold is calculated. -- When the fuel threshold is reached, the AI will continue for a given time its patrol task in orbit, -- while a new AI is targetted to the AI_PATROL_ZONE. -- Once the time is finished, the old AI will return to the base. -- Use the method @{#AI_PATROL_ZONE.ManageFuel}() to have this proces in place. -- -- ## 7. Manage "damage" behaviour of the AI in the AI_PATROL_ZONE -- -- When the AI is damaged, it is required that a new AIControllable is started. However, damage cannon be foreseen early on. -- Therefore, when the damage threshold is reached, the AI will return immediately to the home base (RTB). -- Use the method @{#AI_PATROL_ZONE.ManageDamage}() to have this proces in place. -- -- === -- -- @field #AI_PATROL_ZONE AI_PATROL_ZONE = { ClassName = "AI_PATROL_ZONE", } --- Creates a new AI_PATROL_ZONE object -- @param #AI_PATROL_ZONE self -- @param Core.Zone#ZONE_BASE PatrolZone The @{Zone} where the patrol needs to be executed. -- @param DCS#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol. -- @param DCS#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol. -- @param DCS#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Controllable} in km/h. -- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Controllable} in km/h. -- @param DCS#AltitudeType PatrolAltType The altitude type ("RADIO"=="AGL", "BARO"=="ASL"). Defaults to RADIO -- @return #AI_PATROL_ZONE self -- @usage -- -- Define a new AI_PATROL_ZONE Object. This PatrolArea will patrol an AIControllable within PatrolZone between 3000 and 6000 meters, with a variying speed between 600 and 900 km/h. -- PatrolZone = ZONE:New( 'PatrolZone' ) -- PatrolSpawn = SPAWN:New( 'Patrol Group' ) -- PatrolArea = AI_PATROL_ZONE:New( PatrolZone, 3000, 6000, 600, 900 ) function AI_PATROL_ZONE:New( PatrolZone, PatrolFloorAltitude, PatrolCeilingAltitude, PatrolMinSpeed, PatrolMaxSpeed, PatrolAltType ) -- Inherits from BASE local self = BASE:Inherit( self, FSM_CONTROLLABLE:New() ) -- #AI_PATROL_ZONE self.PatrolZone = PatrolZone self.PatrolFloorAltitude = PatrolFloorAltitude self.PatrolCeilingAltitude = PatrolCeilingAltitude self.PatrolMinSpeed = PatrolMinSpeed self.PatrolMaxSpeed = PatrolMaxSpeed -- defafult PatrolAltType to "BARO" if not specified self.PatrolAltType = PatrolAltType or "BARO" self:SetRefreshTimeInterval( 30 ) self.CheckStatus = true self:ManageFuel( .2, 60 ) self:ManageDamage( 1 ) self.DetectedUnits = {} -- This table contains the targets detected during patrol. self:SetStartState( "None" ) self:AddTransition( "*", "Stop", "Stopped" ) --- OnLeave Transition Handler for State Stopped. -- @function [parent=#AI_PATROL_ZONE] OnLeaveStopped -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnEnter Transition Handler for State Stopped. -- @function [parent=#AI_PATROL_ZONE] OnEnterStopped -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- OnBefore Transition Handler for Event Stop. -- @function [parent=#AI_PATROL_ZONE] OnBeforeStop -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Stop. -- @function [parent=#AI_PATROL_ZONE] OnAfterStop -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Stop. -- @function [parent=#AI_PATROL_ZONE] Stop -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Stop. -- @function [parent=#AI_PATROL_ZONE] __Stop -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. self:AddTransition( "None", "Start", "Patrolling" ) --- OnBefore Transition Handler for Event Start. -- @function [parent=#AI_PATROL_ZONE] OnBeforeStart -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Start. -- @function [parent=#AI_PATROL_ZONE] OnAfterStart -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Start. -- @function [parent=#AI_PATROL_ZONE] Start -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Start. -- @function [parent=#AI_PATROL_ZONE] __Start -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. --- OnLeave Transition Handler for State Patrolling. -- @function [parent=#AI_PATROL_ZONE] OnLeavePatrolling -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnEnter Transition Handler for State Patrolling. -- @function [parent=#AI_PATROL_ZONE] OnEnterPatrolling -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. self:AddTransition( "Patrolling", "Route", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. --- OnBefore Transition Handler for Event Route. -- @function [parent=#AI_PATROL_ZONE] OnBeforeRoute -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Route. -- @function [parent=#AI_PATROL_ZONE] OnAfterRoute -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Route. -- @function [parent=#AI_PATROL_ZONE] Route -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Route. -- @function [parent=#AI_PATROL_ZONE] __Route -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. self:AddTransition( "*", "Status", "*" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. --- OnBefore Transition Handler for Event Status. -- @function [parent=#AI_PATROL_ZONE] OnBeforeStatus -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Status. -- @function [parent=#AI_PATROL_ZONE] OnAfterStatus -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Status. -- @function [parent=#AI_PATROL_ZONE] Status -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Status. -- @function [parent=#AI_PATROL_ZONE] __Status -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. self:AddTransition( "*", "Detect", "*" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. --- OnBefore Transition Handler for Event Detect. -- @function [parent=#AI_PATROL_ZONE] OnBeforeDetect -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Detect. -- @function [parent=#AI_PATROL_ZONE] OnAfterDetect -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Detect. -- @function [parent=#AI_PATROL_ZONE] Detect -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Detect. -- @function [parent=#AI_PATROL_ZONE] __Detect -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. self:AddTransition( "*", "Detected", "*" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. --- OnBefore Transition Handler for Event Detected. -- @function [parent=#AI_PATROL_ZONE] OnBeforeDetected -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event Detected. -- @function [parent=#AI_PATROL_ZONE] OnAfterDetected -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event Detected. -- @function [parent=#AI_PATROL_ZONE] Detected -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event Detected. -- @function [parent=#AI_PATROL_ZONE] __Detected -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. self:AddTransition( "*", "RTB", "Returning" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. --- OnBefore Transition Handler for Event RTB. -- @function [parent=#AI_PATROL_ZONE] OnBeforeRTB -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnAfter Transition Handler for Event RTB. -- @function [parent=#AI_PATROL_ZONE] OnAfterRTB -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. --- Synchronous Event Trigger for Event RTB. -- @function [parent=#AI_PATROL_ZONE] RTB -- @param #AI_PATROL_ZONE self --- Asynchronous Event Trigger for Event RTB. -- @function [parent=#AI_PATROL_ZONE] __RTB -- @param #AI_PATROL_ZONE self -- @param #number Delay The delay in seconds. --- OnLeave Transition Handler for State Returning. -- @function [parent=#AI_PATROL_ZONE] OnLeaveReturning -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. -- @return #boolean Return false to cancel Transition. --- OnEnter Transition Handler for State Returning. -- @function [parent=#AI_PATROL_ZONE] OnEnterReturning -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. self:AddTransition( "*", "Reset", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_PATROL_ZONE. self:AddTransition( "*", "Eject", "*" ) self:AddTransition( "*", "Crash", "Crashed" ) self:AddTransition( "*", "PilotDead", "*" ) return self end --- Sets (modifies) the minimum and maximum speed of the patrol. -- @param #AI_PATROL_ZONE self -- @param DCS#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Controllable} in km/h. -- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Controllable} in km/h. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetSpeed( PatrolMinSpeed, PatrolMaxSpeed ) self:F2( { PatrolMinSpeed, PatrolMaxSpeed } ) self.PatrolMinSpeed = PatrolMinSpeed self.PatrolMaxSpeed = PatrolMaxSpeed end --- Sets the floor and ceiling altitude of the patrol. -- @param #AI_PATROL_ZONE self -- @param DCS#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol. -- @param DCS#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetAltitude( PatrolFloorAltitude, PatrolCeilingAltitude ) self:F2( { PatrolFloorAltitude, PatrolCeilingAltitude } ) self.PatrolFloorAltitude = PatrolFloorAltitude self.PatrolCeilingAltitude = PatrolCeilingAltitude end -- * @{#AI_PATROL_ZONE.SetDetectionOn}(): Set the detection on. The AI will detect for targets. -- * @{#AI_PATROL_ZONE.SetDetectionOff}(): Set the detection off, the AI will not detect for targets. The existing target list will NOT be erased. --- Set the detection on. The AI will detect for targets. -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetDetectionOn() self:F2() self.DetectOn = true end --- Set the detection off. The AI will NOT detect for targets. -- However, the list of already detected targets will be kept and can be enquired! -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetDetectionOff() self:F2() self.DetectOn = false end --- Set the status checking off. -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetStatusOff() self:F2() self.CheckStatus = false end --- Activate the detection. The AI will detect for targets if the Detection is switched On. -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetDetectionActivated() self:F2() self:ClearDetectedUnits() self.DetectActivated = true self:__Detect( -self.DetectInterval ) end --- Deactivate the detection. The AI will NOT detect for targets. -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetDetectionDeactivated() self:F2() self:ClearDetectedUnits() self.DetectActivated = false end --- Set the interval in seconds between each detection executed by the AI. -- The list of already detected targets will be kept and updated. -- Newly detected targets will be added, but already detected targets that were -- not detected in this cycle, will NOT be removed! -- The default interval is 30 seconds. -- @param #AI_PATROL_ZONE self -- @param #number Seconds The interval in seconds. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetRefreshTimeInterval( Seconds ) self:F2() if Seconds then self.DetectInterval = Seconds else self.DetectInterval = 30 end end --- Set the detection zone where the AI is detecting targets. -- @param #AI_PATROL_ZONE self -- @param Core.Zone#ZONE DetectionZone The zone where to detect targets. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:SetDetectionZone( DetectionZone ) self:F2() if DetectionZone then self.DetectZone = DetectionZone else self.DetectZone = nil end end --- Gets a list of @{Wrapper.Unit#UNIT}s that were detected by the AI. -- No filtering is applied, so, ANY detected UNIT can be in this list. -- It is up to the mission designer to use the @{Wrapper.Unit} class and methods to filter the targets. -- @param #AI_PATROL_ZONE self -- @return #table The list of @{Wrapper.Unit#UNIT}s function AI_PATROL_ZONE:GetDetectedUnits() self:F2() return self.DetectedUnits end --- Clears the list of @{Wrapper.Unit#UNIT}s that were detected by the AI. -- @param #AI_PATROL_ZONE self function AI_PATROL_ZONE:ClearDetectedUnits() self:F2() self.DetectedUnits = {} end --- When the AI is out of fuel, it is required that a new AI is started, before the old AI can return to the home base. -- Therefore, with a parameter and a calculation of the distance to the home base, the fuel threshold is calculated. -- When the fuel threshold is reached, the AI will continue for a given time its patrol task in orbit, while a new AIControllable is targetted to the AI_PATROL_ZONE. -- Once the time is finished, the old AI will return to the base. -- @param #AI_PATROL_ZONE self -- @param #number PatrolFuelThresholdPercentage The threshold in percentage (between 0 and 1) when the AIControllable is considered to get out of fuel. -- @param #number PatrolOutOfFuelOrbitTime The amount of seconds the out of fuel AIControllable will orbit before returning to the base. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:ManageFuel( PatrolFuelThresholdPercentage, PatrolOutOfFuelOrbitTime ) self.PatrolFuelThresholdPercentage = PatrolFuelThresholdPercentage self.PatrolOutOfFuelOrbitTime = PatrolOutOfFuelOrbitTime return self end --- When the AI is damaged beyond a certain threshold, it is required that the AI returns to the home base. -- However, damage cannot be foreseen early on. -- Therefore, when the damage threshold is reached, -- the AI will return immediately to the home base (RTB). -- Note that for groups, the average damage of the complete group will be calculated. -- So, in a group of 4 airplanes, 2 lost and 2 with damage 0.2, the damage threshold will be 0.25. -- @param #AI_PATROL_ZONE self -- @param #number PatrolDamageThreshold The threshold in percentage (between 0 and 1) when the AI is considered to be damaged. -- @return #AI_PATROL_ZONE self function AI_PATROL_ZONE:ManageDamage( PatrolDamageThreshold ) self.PatrolManageDamage = true self.PatrolDamageThreshold = PatrolDamageThreshold return self end --- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings. -- @param #AI_PATROL_ZONE self -- @return #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. function AI_PATROL_ZONE:onafterStart( Controllable, From, Event, To ) self:F2() self:__Route( 1 ) -- Route to the patrol point. The asynchronous trigger is important, because a spawned group and units takes at least one second to come live. self:__Status( 60 ) -- Check status status every 30 seconds. self:SetDetectionActivated() self:HandleEvent( EVENTS.PilotDead, self.OnPilotDead ) self:HandleEvent( EVENTS.Crash, self.OnCrash ) self:HandleEvent( EVENTS.Ejection, self.OnEjection ) Controllable:OptionROEHoldFire() Controllable:OptionROTVertical() self.Controllable:OnReSpawn( function( PatrolGroup ) self:T( "ReSpawn" ) self:__Reset( 1 ) self:__Route( 5 ) end ) self:SetDetectionOn() end --- @param #AI_PATROL_ZONE self --- @param Wrapper.Controllable#CONTROLLABLE Controllable function AI_PATROL_ZONE:onbeforeDetect( Controllable, From, Event, To ) return self.DetectOn and self.DetectActivated end --- @param #AI_PATROL_ZONE self --- @param Wrapper.Controllable#CONTROLLABLE Controllable function AI_PATROL_ZONE:onafterDetect( Controllable, From, Event, To ) local Detected = false local DetectedTargets = Controllable:GetDetectedTargets() for TargetID, Target in pairs( DetectedTargets or {} ) do local TargetObject = Target.object if TargetObject and TargetObject:isExist() and TargetObject.id_ < 50000000 then local TargetUnit = UNIT:Find( TargetObject ) -- Check that target is alive due to issue https://github.com/FlightControl-Master/MOOSE/issues/1234 if TargetUnit and TargetUnit:IsAlive() then local TargetUnitName = TargetUnit:GetName() if self.DetectionZone then if TargetUnit:IsInZone( self.DetectionZone ) then self:T( {"Detected ", TargetUnit } ) if self.DetectedUnits[TargetUnit] == nil then self.DetectedUnits[TargetUnit] = true end Detected = true end else if self.DetectedUnits[TargetUnit] == nil then self.DetectedUnits[TargetUnit] = true end Detected = true end end end end self:__Detect( -self.DetectInterval ) if Detected == true then self:__Detected( 1.5 ) end end --- @param Wrapper.Controllable#CONTROLLABLE AIControllable -- This statis method is called from the route path within the last task at the last waaypoint of the Controllable. -- Note that this method is required, as triggers the next route when patrolling for the Controllable. function AI_PATROL_ZONE:_NewPatrolRoute( AIControllable ) local PatrolZone = AIControllable:GetState( AIControllable, "PatrolZone" ) -- PatrolCore.Zone#AI_PATROL_ZONE PatrolZone:__Route( 1 ) end --- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings. -- @param #AI_PATROL_ZONE self -- @param Wrapper.Controllable#CONTROLLABLE Controllable The Controllable Object managed by the FSM. -- @param #string From The From State string. -- @param #string Event The Event string. -- @param #string To The To State string. function AI_PATROL_ZONE:onafterRoute( Controllable, From, Event, To ) self:F2() -- When RTB, don't allow anymore the routing. if From == "RTB" then return end local life = self.Controllable:GetLife() or 0 if self.Controllable:IsAlive() and life > 1 then -- Determine if the AIControllable is within the PatrolZone. -- If not, make a waypoint within the to that the AIControllable will fly at maximum speed to that point. local PatrolRoute = {} -- Calculate the current route point of the controllable as the start point of the route. -- However, when the controllable is not in the air, -- the controllable current waypoint is probably the airbase... -- Thus, if we would take the current waypoint as the startpoint, upon take-off, the controllable flies -- immediately back to the airbase, and this is not correct. -- Therefore, when on a runway, get as the current route point a random point within the PatrolZone. -- This will make the plane fly immediately to the patrol zone. if self.Controllable:InAir() == false then self:T( "Not in the air, finding route path within PatrolZone" ) local CurrentVec2 = self.Controllable:GetVec2() if not CurrentVec2 then return end --Done: Create GetAltitude function for GROUP, and delete GetUnit(1). local CurrentAltitude = self.Controllable:GetAltitude() local CurrentPointVec3 = POINT_VEC3:New( CurrentVec2.x, CurrentAltitude, CurrentVec2.y ) local ToPatrolZoneSpeed = self.PatrolMaxSpeed local CurrentRoutePoint = CurrentPointVec3:WaypointAir( self.PatrolAltType, POINT_VEC3.RoutePointType.TakeOffParking, POINT_VEC3.RoutePointAction.FromParkingArea, ToPatrolZoneSpeed, true ) PatrolRoute[#PatrolRoute+1] = CurrentRoutePoint else self:T( "In the air, finding route path within PatrolZone" ) local CurrentVec2 = self.Controllable:GetVec2() if not CurrentVec2 then return end --DONE: Create GetAltitude function for GROUP, and delete GetUnit(1). local CurrentAltitude = self.Controllable:GetAltitude() local CurrentPointVec3 = POINT_VEC3:New( CurrentVec2.x, CurrentAltitude, CurrentVec2.y ) local ToPatrolZoneSpeed = self.PatrolMaxSpeed local CurrentRoutePoint = CurrentPointVec3:WaypointAir( self.PatrolAltType, POINT_VEC3.RoutePointType.TurningPoint, POINT_VEC3.RoutePointAction.TurningPoint, ToPatrolZoneSpeed, true ) PatrolRoute[#PatrolRoute+1] = CurrentRoutePoint end --- Define a random point in the @{Zone}. The AI will fly to that point within the zone. --- Find a random 2D point in PatrolZone. local ToTargetVec2 = self.PatrolZone:GetRandomVec2() self:T2( ToTargetVec2 ) --- Define Speed and Altitude. local ToTargetAltitude = math.random( self.PatrolFloorAltitude, self.PatrolCeilingAltitude ) local ToTargetSpeed = math.random( self.PatrolMinSpeed, self.PatrolMaxSpeed ) self:T2( { self.PatrolMinSpeed, self.PatrolMaxSpeed, ToTargetSpeed } ) --- Obtain a 3D @{Point} from the 2D point + altitude. local ToTargetPointVec3 = POINT_VEC3:New( ToTargetVec2.x, ToTargetAltitude, ToTargetVec2.y ) --- Create a route point of type air. local ToTargetRoutePoint = ToTargetPointVec3:WaypointAir( self.PatrolAltType, POINT_VEC3.RoutePointType.TurningPoint, POINT_VEC3.RoutePointAction.TurningPoint, ToTargetSpeed, true ) --self.CoordTest:SpawnFromVec3( ToTargetPointVec3:GetVec3() ) --ToTargetPointVec3:SmokeRed() PatrolRoute[#PatrolRoute+1] = ToTargetRoutePoint --- Now we're going to do something special, we're going to call a function from a waypoint action at the AIControllable... self.Controllable:WayPointInitialize( PatrolRoute ) --- Do a trick, link the NewPatrolRoute function of the PATROLGROUP object to the AIControllable in a temporary variable ... self.Controllable:SetState( self.Controllable, "PatrolZone", self ) self.Controllable:WayPointFunction( #PatrolRoute, 1, "AI_PATROL_ZONE:_NewPatrolRoute" ) --- NOW ROUTE THE GROUP! self.Controllable:WayPointExecute( 1, 2 ) end end --- @param #AI_PATROL_ZONE self function AI_PATROL_ZONE:onbeforeStatus() return self.CheckStatus end --- @param #AI_PATROL_ZONE self function AI_PATROL_ZONE:onafterStatus() self:F2() if self.Controllable and self.Controllable:IsAlive() then local RTB = false local Fuel = self.Controllable:GetFuelMin() if Fuel < self.PatrolFuelThresholdPercentage then self:I( self.Controllable:GetName() .. " is out of fuel:" .. Fuel .. ", RTB!" ) local OldAIControllable = self.Controllable local OrbitTask = OldAIControllable:TaskOrbitCircle( math.random( self.PatrolFloorAltitude, self.PatrolCeilingAltitude ), self.PatrolMinSpeed ) local TimedOrbitTask = OldAIControllable:TaskControlled( OrbitTask, OldAIControllable:TaskCondition(nil,nil,nil,nil,self.PatrolOutOfFuelOrbitTime,nil ) ) OldAIControllable:SetTask( TimedOrbitTask, 10 ) RTB = true else end -- TODO: Check GROUP damage function. local Damage = self.Controllable:GetLife() if Damage <= self.PatrolDamageThreshold then self:I( self.Controllable:GetName() .. " is damaged:" .. Damage .. ", RTB!" ) RTB = true end if RTB == true then self:RTB() else self:__Status( 60 ) -- Execute the Patrol event after 30 seconds. end end end --- @param #AI_PATROL_ZONE self function AI_PATROL_ZONE:onafterRTB() self:F2() if self.Controllable and self.Controllable:IsAlive() then self:SetDetectionOff() self.CheckStatus = false local PatrolRoute = {} --- Calculate the current route point. local CurrentVec2 = self.Controllable:GetVec2() if not CurrentVec2 then return end --DONE: Create GetAltitude function for GROUP, and delete GetUnit(1). --local CurrentAltitude = self.Controllable:GetUnit(1):GetAltitude() local CurrentAltitude = self.Controllable:GetAltitude() local CurrentPointVec3 = POINT_VEC3:New( CurrentVec2.x, CurrentAltitude, CurrentVec2.y ) local ToPatrolZoneSpeed = self.PatrolMaxSpeed local CurrentRoutePoint = CurrentPointVec3:WaypointAir( self.PatrolAltType, POINT_VEC3.RoutePointType.TurningPoint, POINT_VEC3.RoutePointAction.TurningPoint, ToPatrolZoneSpeed, true ) PatrolRoute[#PatrolRoute+1] = CurrentRoutePoint --- Now we're going to do something special, we're going to call a function from a waypoint action at the AIControllable... self.Controllable:WayPointInitialize( PatrolRoute ) --- NOW ROUTE THE GROUP! self.Controllable:WayPointExecute( 1, 1 ) end end --- @param #AI_PATROL_ZONE self function AI_PATROL_ZONE:onafterDead() self:SetDetectionOff() self:SetStatusOff() end --- @param #AI_PATROL_ZONE self -- @param Core.Event#EVENTDATA EventData function AI_PATROL_ZONE:OnCrash( EventData ) if self.Controllable:IsAlive() and EventData.IniDCSGroupName == self.Controllable:GetName() then if #self.Controllable:GetUnits() == 1 then self:__Crash( 1, EventData ) end end end --- @param #AI_PATROL_ZONE self -- @param Core.Event#EVENTDATA EventData function AI_PATROL_ZONE:OnEjection( EventData ) if self.Controllable:IsAlive() and EventData.IniDCSGroupName == self.Controllable:GetName() then self:__Eject( 1, EventData ) end end --- @param #AI_PATROL_ZONE self -- @param Core.Event#EVENTDATA EventData function AI_PATROL_ZONE:OnPilotDead( EventData ) if self.Controllable:IsAlive() and EventData.IniDCSGroupName == self.Controllable:GetName() then self:__PilotDead( 1, EventData ) end end