--- **AI** -- **Air Patrolling or Staging.** -- -- ![Banner Image](..\Presentations\AI_PATROL\Dia1.JPG) -- -- === -- -- AI PATROL classes makes AI Controllables execute an Patrol. -- -- There are the following types of PATROL classes defined: -- -- * @{#AI_A2A_PATROL}: Perform a PATROL in a zone. -- -- ==== -- -- # Demo Missions -- -- ### [AI_PATROL Demo Missions source code](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/master-release/PAT%20-%20Patrolling) -- -- ### [AI_PATROL Demo Missions, only for beta testers](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/master/PAT%20-%20Patrolling) -- -- ### [ALL Demo Missions pack of the last release](https://github.com/FlightControl-Master/MOOSE_MISSIONS/releases) -- -- ==== -- -- # YouTube Channel -- -- ### [AI_PATROL YouTube Channel](https://www.youtube.com/playlist?list=PL7ZUrU4zZUl35HvYZKA6G22WMt7iI3zky) -- -- ==== -- -- ### Author: **Sven Van de Velde (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_A2A_Patrol --- @type AI_A2A_PATROL -- @extends AI.AI_A2A#AI_A2A --- # AI_A2A_PATROL class, extends @{Fsm#FSM_CONTROLLABLE} -- -- The AI_A2A_PATROL class implements the core functions to patrol a @{Zone} by an AI @{Controllable} or @{Group}. -- -- ![Process](..\Presentations\AI_PATROL\Dia3.JPG) -- -- The AI_A2A_PATROL is assigned a @{Group} and this must be done before the AI_A2A_PATROL 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 treshold has been reached by the AI, or when the AI is commanded to RTB. -- When the fuel treshold has been reached, the airplane will fly towards the nearest friendly airbase and will land. -- -- ![Process](..\Presentations\AI_PATROL\Dia11.JPG) -- -- ## 1. AI_A2A_PATROL constructor -- -- * @{#AI_A2A_PATROL.New}(): Creates a new AI_A2A_PATROL object. -- -- ## 2. AI_A2A_PATROL is a FSM -- -- ![Process](..\Presentations\AI_PATROL\Dia2.JPG) -- -- ### 2.1. AI_A2A_PATROL 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_A2A_PATROL 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 tresholds have been reached, the AI will RTB. -- -- ## 3. Set or Get the AI controllable -- -- * @{#AI_A2A_PATROL.SetControllable}(): Set the AIControllable. -- * @{#AI_A2A_PATROL.GetControllable}(): Get the AIControllable. -- -- ## 4. Set the Speed and Altitude boundaries of the AI controllable -- -- * @{#AI_A2A_PATROL.SetSpeed}(): Set the patrol speed boundaries of the AI, for the next patrol. -- * @{#AI_A2A_PATROL.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_A2A_PATROL.SetDetectionOn}(): Set the detection on. The AI will detect for targets. -- * @{#AI_A2A_PATROL.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_A2A_PATROL.SetDetectionInterval}( seconds ), where the amount of seconds specify how much seconds will be waited before the next detection. -- Use the method @{#AI_A2A_PATROL.GetDetectedUnits}() to obtain a list of the @{Unit}s detected by the AI. -- -- The detection can be filtered to potential targets in a specific zone. -- Use the method @{#AI_A2A_PATROL.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_A2A_PATROL -- -- 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 treshold is calculated. -- When the fuel treshold is reached, the AI will continue for a given time its patrol task in orbit, -- while a new AI is targetted to the AI_A2A_PATROL. -- Once the time is finished, the old AI will return to the base. -- Use the method @{#AI_A2A_PATROL.ManageFuel}() to have this proces in place. -- -- ## 7. Manage "damage" behaviour of the AI in the AI_A2A_PATROL -- -- 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 treshold is reached, the AI will return immediately to the home base (RTB). -- Use the method @{#AI_A2A_PATROL.ManageDamage}() to have this proces in place. -- -- === -- -- @field #AI_A2A_PATROL AI_A2A_PATROL = { ClassName = "AI_A2A_PATROL", } --- Creates a new AI_A2A_PATROL object -- @param #AI_A2A_PATROL self -- @param Wrapper.Group#GROUP AIGroup -- @param Core.Zone#ZONE_BASE PatrolZone The @{Zone} where the patrol needs to be executed. -- @param Dcs.DCSTypes#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol. -- @param Dcs.DCSTypes#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol. -- @param Dcs.DCSTypes#Speed PatrolMinSpeed The minimum speed of the @{Controllable} in km/h. -- @param Dcs.DCSTypes#Speed PatrolMaxSpeed The maximum speed of the @{Controllable} in km/h. -- @param Dcs.DCSTypes#AltitudeType PatrolAltType The altitude type ("RADIO"=="AGL", "BARO"=="ASL"). Defaults to RADIO -- @return #AI_A2A_PATROL self -- @usage -- -- Define a new AI_A2A_PATROL 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_A2A_PATROL:New( PatrolZone, 3000, 6000, 600, 900 ) function AI_A2A_PATROL:New( AIGroup, PatrolZone, PatrolFloorAltitude, PatrolCeilingAltitude, PatrolMinSpeed, PatrolMaxSpeed, PatrolAltType ) -- Inherits from BASE local self = BASE:Inherit( self, AI_A2A:New( AIGroup ) ) -- #AI_A2A_PATROL self.PatrolZone = PatrolZone self.PatrolFloorAltitude = PatrolFloorAltitude self.PatrolCeilingAltitude = PatrolCeilingAltitude self.PatrolMinSpeed = PatrolMinSpeed self.PatrolMaxSpeed = PatrolMaxSpeed -- defafult PatrolAltType to "RADIO" if not specified self.PatrolAltType = PatrolAltType or "RADIO" self:AddTransition( "Started", "Patrol", "Patrolling" ) --- OnBefore Transition Handler for Event Patrol. -- @function [parent=#AI_A2A_PATROL] OnBeforePatrol -- @param #AI_A2A_PATROL 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 Patrol. -- @function [parent=#AI_A2A_PATROL] OnAfterPatrol -- @param #AI_A2A_PATROL 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 Patrol. -- @function [parent=#AI_A2A_PATROL] Patrol -- @param #AI_A2A_PATROL self --- Asynchronous Event Trigger for Event Patrol. -- @function [parent=#AI_A2A_PATROL] __Patrol -- @param #AI_A2A_PATROL self -- @param #number Delay The delay in seconds. --- OnLeave Transition Handler for State Patrolling. -- @function [parent=#AI_A2A_PATROL] OnLeavePatrolling -- @param #AI_A2A_PATROL 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_A2A_PATROL] OnEnterPatrolling -- @param #AI_A2A_PATROL 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_A2A_PATROL. --- OnBefore Transition Handler for Event Route. -- @function [parent=#AI_A2A_PATROL] OnBeforeRoute -- @param #AI_A2A_PATROL 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_A2A_PATROL] OnAfterRoute -- @param #AI_A2A_PATROL 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_A2A_PATROL] Route -- @param #AI_A2A_PATROL self --- Asynchronous Event Trigger for Event Route. -- @function [parent=#AI_A2A_PATROL] __Route -- @param #AI_A2A_PATROL self -- @param #number Delay The delay in seconds. self:AddTransition( "*", "Reset", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_PATROL. return self end --- Sets (modifies) the minimum and maximum speed of the patrol. -- @param #AI_A2A_PATROL self -- @param Dcs.DCSTypes#Speed PatrolMinSpeed The minimum speed of the @{Controllable} in km/h. -- @param Dcs.DCSTypes#Speed PatrolMaxSpeed The maximum speed of the @{Controllable} in km/h. -- @return #AI_A2A_PATROL self function AI_A2A_PATROL: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_A2A_PATROL self -- @param Dcs.DCSTypes#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol. -- @param Dcs.DCSTypes#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol. -- @return #AI_A2A_PATROL self function AI_A2A_PATROL:SetAltitude( PatrolFloorAltitude, PatrolCeilingAltitude ) self:F2( { PatrolFloorAltitude, PatrolCeilingAltitude } ) self.PatrolFloorAltitude = PatrolFloorAltitude self.PatrolCeilingAltitude = PatrolCeilingAltitude end --- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings. -- @param #AI_A2A_PATROL self -- @return #AI_A2A_PATROL 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_A2A_PATROL:onafterPatrol( Controllable, From, Event, To ) self:F2() self:ClearTargetDistance() self:__Route( 1 ) self.Controllable:OnReSpawn( function( PatrolGroup ) self:E( "ReSpawn" ) self:__Reset( 1 ) self:__Route( 5 ) end ) end --- @param Wrapper.Group#GROUP AIGroup -- 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_A2A_PATROL.PatrolRoute( AIGroup ) local _AI_A2A_Patrol = AIGroup:GetState( AIGroup, "AI_A2A_PATROL" ) -- #AI_A2A_PATROL _AI_A2A_Patrol:Route() end --- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings. -- @param #AI_A2A_PATROL self -- @param Wrapper.Group#GROUP AIGroup The AIGroup 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_A2A_PATROL:onafterRoute( AIGroup, From, Event, To ) self:F2() -- When RTB, don't allow anymore the routing. if From == "RTB" then return end if AIGroup:IsAlive() then local PatrolRoute = {} --- Calculate the target route point. local CurrentCoord = AIGroup:GetCoordinate() local ToTargetCoord = self.PatrolZone:GetRandomPointVec2() self:SetTargetDistance( ToTargetCoord ) -- For RTB status check local ToTargetSpeed = math.random( self.PatrolMinSpeed, self.PatrolMaxSpeed ) --- Create a route point of type air. local ToPatrolRoutePoint = ToTargetCoord:RoutePointAir( self.PatrolAltType, POINT_VEC3.RoutePointType.TurningPoint, POINT_VEC3.RoutePointAction.TurningPoint, ToTargetSpeed, true ) PatrolRoute[#PatrolRoute+1] = ToPatrolRoutePoint --- Now we're going to do something special, we're going to call a function from a waypoint action at the AIControllable... AIGroup:WayPointInitialize( PatrolRoute ) local Tasks = {} Tasks[#Tasks+1] = AIGroup:TaskFunction( 1, 1, "AI_A2A_PATROL.PatrolRoute" ) PatrolRoute[1].task = AIGroup:TaskCombo( Tasks ) --- Do a trick, link the NewPatrolRoute function of the PATROLGROUP object to the AIControllable in a temporary variable ... AIGroup:SetState( AIGroup, "AI_A2A_PATROL", self ) --- NOW ROUTE THE GROUP! AIGroup:WayPointExecute( 1, 2 ) end end