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0441acf101
Improve the consistency of the module intros to the most commonly used version (single dash). Add missing module information (abbreviated where none existed previously). Fix broken documentation links Make module names correspond to filenames (and fix links). Fix typos.
405 lines
16 KiB
Lua
405 lines
16 KiB
Lua
--- **AI** - (R2.2) - Models the process of air patrol of airplanes.
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--
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-- ===
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--
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-- ### Author: **FlightControl**
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--
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-- ===
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--
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-- @module AI.AI_A2A_Patrol
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-- @image AI_Air_Patrolling.JPG
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--- @type AI_A2A_PATROL
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-- @extends AI.AI_A2A#AI_A2A
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--- Implements the core functions to patrol a @{Zone} by an AI @{Wrapper.Group} or @{Wrapper.Group}.
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--
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-- 
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--
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-- The AI_A2A_PATROL is assigned a @{Wrapper.Group} and this must be done before the AI_A2A_PATROL process can be started using the **Start** event.
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--
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-- 
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--
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-- The AI will fly towards the random 3D point within the patrol zone, using a random speed within the given altitude and speed limits.
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-- Upon arrival at the 3D point, a new random 3D point will be selected within the patrol zone using the given limits.
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--
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-- 
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--
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-- This cycle will continue.
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--
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-- 
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--
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-- During the patrol, the AI will detect enemy targets, which are reported through the **Detected** event.
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--
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-- 
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--
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---- Note that the enemy is not engaged! To model enemy engagement, either tailor the **Detected** event, or
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-- use derived AI_ classes to model AI offensive or defensive behaviour.
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--
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-- 
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--
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-- Until a fuel or damage threshold has been reached by the AI, or when the AI is commanded to RTB.
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-- When the fuel threshold has been reached, the airplane will fly towards the nearest friendly airbase and will land.
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--
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-- 
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--
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-- ## 1. AI_A2A_PATROL constructor
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--
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-- * @{#AI_A2A_PATROL.New}(): Creates a new AI_A2A_PATROL object.
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--
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-- ## 2. AI_A2A_PATROL is a FSM
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--
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-- 
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--
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-- ### 2.1. AI_A2A_PATROL States
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--
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-- * **None** ( Group ): The process is not started yet.
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-- * **Patrolling** ( Group ): The AI is patrolling the Patrol Zone.
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-- * **Returning** ( Group ): The AI is returning to Base.
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-- * **Stopped** ( Group ): The process is stopped.
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-- * **Crashed** ( Group ): The AI has crashed or is dead.
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--
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-- ### 2.2. AI_A2A_PATROL Events
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--
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-- * **Start** ( Group ): Start the process.
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-- * **Stop** ( Group ): Stop the process.
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-- * **Route** ( Group ): Route the AI to a new random 3D point within the Patrol Zone.
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-- * **RTB** ( Group ): Route the AI to the home base.
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-- * **Detect** ( Group ): The AI is detecting targets.
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-- * **Detected** ( Group ): The AI has detected new targets.
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-- * **Status** ( Group ): The AI is checking status (fuel and damage). When the thresholds have been reached, the AI will RTB.
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--
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-- ## 3. Set or Get the AI controllable
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--
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-- * @{#AI_A2A_PATROL.SetControllable}(): Set the AIControllable.
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-- * @{#AI_A2A_PATROL.GetControllable}(): Get the AIControllable.
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--
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-- ## 4. Set the Speed and Altitude boundaries of the AI controllable
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--
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-- * @{#AI_A2A_PATROL.SetSpeed}(): Set the patrol speed boundaries of the AI, for the next patrol.
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-- * @{#AI_A2A_PATROL.SetAltitude}(): Set altitude boundaries of the AI, for the next patrol.
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--
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-- ## 5. Manage the detection process of the AI controllable
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--
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-- The detection process of the AI controllable can be manipulated.
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-- Detection requires an amount of CPU power, which has an impact on your mission performance.
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-- Only put detection on when absolutely necessary, and the frequency of the detection can also be set.
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--
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-- * @{#AI_A2A_PATROL.SetDetectionOn}(): Set the detection on. The AI will detect for targets.
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-- * @{#AI_A2A_PATROL.SetDetectionOff}(): Set the detection off, the AI will not detect for targets. The existing target list will NOT be erased.
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--
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-- The detection frequency can be set with @{#AI_A2A_PATROL.SetRefreshTimeInterval}( seconds ), where the amount of seconds specify how much seconds will be waited before the next detection.
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-- Use the method @{#AI_A2A_PATROL.GetDetectedUnits}() to obtain a list of the @{Wrapper.Unit}s detected by the AI.
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--
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-- The detection can be filtered to potential targets in a specific zone.
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-- Use the method @{#AI_A2A_PATROL.SetDetectionZone}() to set the zone where targets need to be detected.
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-- 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
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-- according the weather conditions.
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--
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-- ## 6. Manage the "out of fuel" in the AI_A2A_PATROL
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--
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-- 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.
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-- Therefore, with a parameter and a calculation of the distance to the home base, the fuel threshold is calculated.
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-- When the fuel threshold is reached, the AI will continue for a given time its patrol task in orbit,
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-- while a new AI is targetted to the AI_A2A_PATROL.
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-- Once the time is finished, the old AI will return to the base.
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-- Use the method @{#AI_A2A_PATROL.ManageFuel}() to have this proces in place.
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--
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-- ## 7. Manage "damage" behaviour of the AI in the AI_A2A_PATROL
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--
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-- When the AI is damaged, it is required that a new Patrol is started. However, damage cannon be foreseen early on.
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-- Therefore, when the damage threshold is reached, the AI will return immediately to the home base (RTB).
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-- Use the method @{#AI_A2A_PATROL.ManageDamage}() to have this proces in place.
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--
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-- ===
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--
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-- @field #AI_A2A_PATROL
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AI_A2A_PATROL = {
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ClassName = "AI_A2A_PATROL",
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}
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--- Creates a new AI_A2A_PATROL object
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The patrol group object.
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-- @param Core.Zone#ZONE_BASE PatrolZone The @{Zone} where the patrol needs to be executed.
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-- @param DCS#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol.
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-- @param DCS#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol.
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-- @param DCS#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Group} in km/h.
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-- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Group} in km/h.
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-- @param DCS#AltitudeType PatrolAltType The altitude type ("RADIO"=="AGL", "BARO"=="ASL"). Defaults to BARO
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-- @return #AI_A2A_PATROL self
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-- @usage
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-- -- Define a new AI_A2A_PATROL Object. This PatrolArea will patrol a Group within PatrolZone between 3000 and 6000 meters, with a variying speed between 600 and 900 km/h.
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-- PatrolZone = ZONE:New( 'PatrolZone' )
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-- PatrolSpawn = SPAWN:New( 'Patrol Group' )
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-- PatrolArea = AI_A2A_PATROL:New( PatrolZone, 3000, 6000, 600, 900 )
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function AI_A2A_PATROL:New( AIPatrol, PatrolZone, PatrolFloorAltitude, PatrolCeilingAltitude, PatrolMinSpeed, PatrolMaxSpeed, PatrolAltType )
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local AI_Air = AI_AIR:New( AIPatrol )
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local AI_Air_Patrol = AI_AIR_PATROL:New( AI_Air, AIPatrol, PatrolZone, PatrolFloorAltitude, PatrolCeilingAltitude, PatrolMinSpeed, PatrolMaxSpeed, PatrolAltType )
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local self = BASE:Inherit( self, AI_Air_Patrol ) -- #AI_A2A_PATROL
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self:SetFuelThreshold( .2, 60 )
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self:SetDamageThreshold( 0.4 )
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self:SetDisengageRadius( 70000 )
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self.PatrolZone = PatrolZone
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self.PatrolFloorAltitude = PatrolFloorAltitude
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self.PatrolCeilingAltitude = PatrolCeilingAltitude
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self.PatrolMinSpeed = PatrolMinSpeed
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self.PatrolMaxSpeed = PatrolMaxSpeed
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-- defafult PatrolAltType to "BARO" if not specified
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self.PatrolAltType = PatrolAltType or "BARO"
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self:AddTransition( { "Started", "Airborne", "Refuelling" }, "Patrol", "Patrolling" )
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--- OnBefore Transition Handler for Event Patrol.
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-- @function [parent=#AI_A2A_PATROL] OnBeforePatrol
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Patrol.
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-- @function [parent=#AI_A2A_PATROL] OnAfterPatrol
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Patrol.
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-- @function [parent=#AI_A2A_PATROL] Patrol
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-- @param #AI_A2A_PATROL self
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--- Asynchronous Event Trigger for Event Patrol.
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-- @function [parent=#AI_A2A_PATROL] __Patrol
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-- @param #AI_A2A_PATROL self
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-- @param #number Delay The delay in seconds.
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--- OnLeave Transition Handler for State Patrolling.
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-- @function [parent=#AI_A2A_PATROL] OnLeavePatrolling
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnEnter Transition Handler for State Patrolling.
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-- @function [parent=#AI_A2A_PATROL] OnEnterPatrolling
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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self:AddTransition( "Patrolling", "Route", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_PATROL.
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--- OnBefore Transition Handler for Event Route.
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-- @function [parent=#AI_A2A_PATROL] OnBeforeRoute
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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-- @return #boolean Return false to cancel Transition.
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--- OnAfter Transition Handler for Event Route.
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-- @function [parent=#AI_A2A_PATROL] OnAfterRoute
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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--- Synchronous Event Trigger for Event Route.
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-- @function [parent=#AI_A2A_PATROL] Route
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-- @param #AI_A2A_PATROL self
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--- Asynchronous Event Trigger for Event Route.
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-- @function [parent=#AI_A2A_PATROL] __Route
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-- @param #AI_A2A_PATROL self
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-- @param #number Delay The delay in seconds.
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self:AddTransition( "*", "Reset", "Patrolling" ) -- FSM_CONTROLLABLE Transition for type #AI_A2A_PATROL.
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return self
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end
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--- Sets (modifies) the minimum and maximum speed of the patrol.
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-- @param #AI_A2A_PATROL self
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-- @param DCS#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Group} in km/h.
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-- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Group} in km/h.
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-- @return #AI_A2A_PATROL self
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function AI_A2A_PATROL:SetSpeed( PatrolMinSpeed, PatrolMaxSpeed )
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self:F2( { PatrolMinSpeed, PatrolMaxSpeed } )
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self.PatrolMinSpeed = PatrolMinSpeed
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self.PatrolMaxSpeed = PatrolMaxSpeed
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end
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--- Sets the floor and ceiling altitude of the patrol.
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-- @param #AI_A2A_PATROL self
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-- @param DCS#Altitude PatrolFloorAltitude The lowest altitude in meters where to execute the patrol.
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-- @param DCS#Altitude PatrolCeilingAltitude The highest altitude in meters where to execute the patrol.
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-- @return #AI_A2A_PATROL self
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function AI_A2A_PATROL:SetAltitude( PatrolFloorAltitude, PatrolCeilingAltitude )
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self:F2( { PatrolFloorAltitude, PatrolCeilingAltitude } )
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self.PatrolFloorAltitude = PatrolFloorAltitude
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self.PatrolCeilingAltitude = PatrolCeilingAltitude
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end
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--- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings.
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-- @param #AI_A2A_PATROL self
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-- @return #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group Object managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2A_PATROL:onafterPatrol( AIPatrol, From, Event, To )
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self:F2()
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self:ClearTargetDistance()
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self:__Route( 1 )
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AIPatrol:OnReSpawn(
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function( PatrolGroup )
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self:__Reset( 1 )
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self:__Route( 5 )
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end
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)
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end
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--- This statis method is called from the route path within the last task at the last waaypoint of the AIPatrol.
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-- Note that this method is required, as triggers the next route when patrolling for the AIPatrol.
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-- @param Wrapper.Group#GROUP AIPatrol The AI group.
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-- @param #AI_A2A_PATROL Fsm The FSM.
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function AI_A2A_PATROL.PatrolRoute( AIPatrol, Fsm )
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AIPatrol:F( { "AI_A2A_PATROL.PatrolRoute:", AIPatrol:GetName() } )
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if AIPatrol and AIPatrol:IsAlive() then
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Fsm:Route()
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end
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end
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--- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings.
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-- @param #AI_A2A_PATROL self
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-- @param Wrapper.Group#GROUP AIPatrol The Group managed by the FSM.
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-- @param #string From The From State string.
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-- @param #string Event The Event string.
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-- @param #string To The To State string.
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function AI_A2A_PATROL:onafterRoute( AIPatrol, From, Event, To )
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self:F2()
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-- When RTB, don't allow anymore the routing.
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if From == "RTB" then
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return
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end
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if AIPatrol and AIPatrol:IsAlive() then
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local PatrolRoute = {}
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--- Calculate the target route point.
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local CurrentCoord = AIPatrol:GetCoordinate()
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-- Random altitude.
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local altitude=math.random(self.PatrolFloorAltitude, self.PatrolCeilingAltitude)
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-- Random speed in km/h.
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local speedkmh = math.random(self.PatrolMinSpeed, self.PatrolMaxSpeed)
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-- First waypoint is current position.
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PatrolRoute[1]=CurrentCoord:WaypointAirTurningPoint(nil, speedkmh, {}, "Current")
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if self.racetrack then
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-- Random heading.
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local heading = math.random(self.racetrackheadingmin, self.racetrackheadingmax)
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-- Random leg length.
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local leg=math.random(self.racetracklegmin, self.racetracklegmax)
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-- Random duration if any.
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local duration = self.racetrackdurationmin
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if self.racetrackdurationmax then
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duration=math.random(self.racetrackdurationmin, self.racetrackdurationmax)
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end
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-- CAP coordinate.
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local c0=self.PatrolZone:GetRandomCoordinate()
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if self.racetrackcapcoordinates and #self.racetrackcapcoordinates>0 then
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c0=self.racetrackcapcoordinates[math.random(#self.racetrackcapcoordinates)]
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end
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-- Race track points.
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local c1=c0:SetAltitude(altitude) --Core.Point#COORDINATE
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local c2=c1:Translate(leg, heading):SetAltitude(altitude)
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self:SetTargetDistance(c0) -- For RTB status check
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-- Debug:
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self:T(string.format("Patrol zone race track: v=%.1f knots, h=%.1f ft, heading=%03d, leg=%d m, t=%s sec", UTILS.KmphToKnots(speedkmh), UTILS.MetersToFeet(altitude), heading, leg, tostring(duration)))
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--c1:MarkToAll("Race track c1")
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--c2:MarkToAll("Race track c2")
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-- Task to orbit.
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local taskOrbit=AIPatrol:TaskOrbit(c1, altitude, UTILS.KmphToMps(speedkmh), c2)
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-- Task function to redo the patrol at other random position.
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local taskPatrol=AIPatrol:TaskFunction("AI_A2A_PATROL.PatrolRoute", self)
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-- Controlled task with task condition.
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local taskCond=AIPatrol:TaskCondition(nil, nil, nil, nil, duration, nil)
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local taskCont=AIPatrol:TaskControlled(taskOrbit, taskCond)
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-- Second waypoint
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PatrolRoute[2]=c1:WaypointAirTurningPoint(self.PatrolAltType, speedkmh, {taskCont, taskPatrol}, "CAP Orbit")
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else
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-- Target coordinate.
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local ToTargetCoord=self.PatrolZone:GetRandomCoordinate() --Core.Point#COORDINATE
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ToTargetCoord:SetAltitude(altitude)
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self:SetTargetDistance( ToTargetCoord ) -- For RTB status check
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local taskReRoute=AIPatrol:TaskFunction( "AI_A2A_PATROL.PatrolRoute", self )
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PatrolRoute[2]=ToTargetCoord:WaypointAirTurningPoint(self.PatrolAltType, speedkmh, {taskReRoute}, "Patrol Point")
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end
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-- ROE
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AIPatrol:OptionROEReturnFire()
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AIPatrol:OptionROTEvadeFire()
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-- Patrol.
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AIPatrol:Route( PatrolRoute, 0.5)
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end
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end
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