mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2025-08-15 10:47:21 +00:00
6973e8c028
AI_A2A_PATROL: - Added optional race track pattern. AI_A2A_DISPATCHER: - Added option for CAP patrolling in a race track pattern.
436 lines
17 KiB
Lua
436 lines
17 KiB
Lua
--- **AI** -- (R2.2) - Models the process of air patrol of airplanes.
|
|
--
|
|
-- ===
|
|
--
|
|
-- ### Author: **FlightControl**
|
|
--
|
|
-- ===
|
|
--
|
|
-- @module AI.AI_A2A_Patrol
|
|
-- @image AI_Air_Patrolling.JPG
|
|
|
|
|
|
--- @type AI_A2A_PATROL
|
|
-- @extends AI.AI_A2A#AI_A2A
|
|
|
|
--- Implements the core functions to patrol a @{Zone} by an AI @{Wrapper.Group} or @{Wrapper.Group}.
|
|
--
|
|
-- 
|
|
--
|
|
-- 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.
|
|
--
|
|
-- 
|
|
--
|
|
-- 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.
|
|
--
|
|
-- 
|
|
--
|
|
-- This cycle will continue.
|
|
--
|
|
-- 
|
|
--
|
|
-- During the patrol, the AI will detect enemy targets, which are reported through the **Detected** event.
|
|
--
|
|
-- 
|
|
--
|
|
---- 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.
|
|
--
|
|
-- 
|
|
--
|
|
-- 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.
|
|
--
|
|
-- 
|
|
--
|
|
-- ## 1. AI_A2A_PATROL constructor
|
|
--
|
|
-- * @{#AI_A2A_PATROL.New}(): Creates a new AI_A2A_PATROL object.
|
|
--
|
|
-- ## 2. AI_A2A_PATROL is a FSM
|
|
--
|
|
-- 
|
|
--
|
|
-- ### 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.SetRefreshTimeInterval}( 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 @{Wrapper.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 Patrol 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 AIPatrol
|
|
-- @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.Group} in km/h.
|
|
-- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Group} in km/h.
|
|
-- @param DCS#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 a Group 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( AIPatrol, PatrolZone, PatrolFloorAltitude, PatrolCeilingAltitude, PatrolMinSpeed, PatrolMaxSpeed, PatrolAltType )
|
|
|
|
-- Inherits from BASE
|
|
local self = BASE:Inherit( self, AI_A2A:New( AIPatrol ) ) -- #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", "Airborne", "Refuelling" }, "Patrol", "Patrolling" )
|
|
|
|
--- OnBefore Transition Handler for Event Patrol.
|
|
-- @function [parent=#AI_A2A_PATROL] OnBeforePatrol
|
|
-- @param #AI_A2A_PATROL self
|
|
-- @param Wrapper.Group#GROUP AIPatrol The Group 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.Group#GROUP AIPatrol The Group 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.Group#GROUP AIPatrol The Group 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.Group#GROUP AIPatrol The Group 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.Group#GROUP AIPatrol The Group 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.Group#GROUP AIPatrol The Group 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#Speed PatrolMinSpeed The minimum speed of the @{Wrapper.Group} in km/h.
|
|
-- @param DCS#Speed PatrolMaxSpeed The maximum speed of the @{Wrapper.Group} 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#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_A2A_PATROL self
|
|
function AI_A2A_PATROL:SetAltitude( PatrolFloorAltitude, PatrolCeilingAltitude )
|
|
self:F2( { PatrolFloorAltitude, PatrolCeilingAltitude } )
|
|
|
|
self.PatrolFloorAltitude = PatrolFloorAltitude
|
|
self.PatrolCeilingAltitude = PatrolCeilingAltitude
|
|
end
|
|
|
|
--- Set race track parameters. CAP flights will perform race track patterns rather than randomly patrolling the zone.
|
|
-- @param #AI_A2A_PATROL self
|
|
-- @param #number LegMin Min Length of the race track leg in meters. Default 10,000 m.
|
|
-- @param #number LegMax Max length of the race track leg in meters. Default 15,000 m.
|
|
-- @param #number HeadingMin Min heading of the race track in degrees. Default 0 deg, i.e. from South to North.
|
|
-- @param #number HeadingMax Max heading of the race track in degrees. Default 180 deg, i.e. from South to North.
|
|
-- @param #number duration (Optional) Min duration before switching the orbit position. Default is keep same orbit until RTB or engage.
|
|
-- @param #number duration (Optional) Max duration before switching the orbit position. Default is keep same orbit until RTB or engage.
|
|
-- @return #AI_A2A_PATROL self
|
|
function AI_A2A_PATROL:SetRaceTrackPattern(LegMin, LegMax, HeadingMin, HeadingMax, DurationMin, DurationMax)
|
|
self:F2({leglength, duration})
|
|
|
|
self.racetrack=true
|
|
self.racetracklegmin=LegMin or 10000
|
|
self.racetracklegmax=LegMax or 15000
|
|
self.racetrackheadingmin=HeadingMin or 0
|
|
self.racetrackheadingmax=HeadingMax or 180
|
|
self.racetrackdurationmin=DurationMin
|
|
self.racetrackdurationmax=DurationMax
|
|
|
|
if self.racetrackdurationmax and not self.racetrackdurationmin then
|
|
self.racetrackdurationmin=self.racetrackdurationmax
|
|
end
|
|
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.Group#GROUP AIPatrol The Group 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( AIPatrol, From, Event, To )
|
|
self:F2()
|
|
|
|
self:ClearTargetDistance()
|
|
|
|
self:__Route( 1 )
|
|
|
|
AIPatrol:OnReSpawn(
|
|
function( PatrolGroup )
|
|
self:__Reset( 1 )
|
|
self:__Route( 5 )
|
|
end
|
|
)
|
|
end
|
|
|
|
|
|
|
|
--- @param Wrapper.Group#GROUP AIPatrol
|
|
-- This statis method is called from the route path within the last task at the last waaypoint of the AIPatrol.
|
|
-- Note that this method is required, as triggers the next route when patrolling for the AIPatrol.
|
|
function AI_A2A_PATROL.PatrolRoute( AIPatrol, Fsm )
|
|
|
|
AIPatrol:F( { "AI_A2A_PATROL.PatrolRoute:", AIPatrol:GetName() } )
|
|
|
|
if AIPatrol:IsAlive() then
|
|
Fsm:Route()
|
|
end
|
|
|
|
end
|
|
|
|
|
|
--- Defines a new patrol route using the @{Process_PatrolZone} parameters and settings.
|
|
-- @param #AI_A2A_PATROL self
|
|
-- @param Wrapper.Group#GROUP AIPatrol The Group 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( AIPatrol, From, Event, To )
|
|
|
|
self:F2()
|
|
|
|
-- When RTB, don't allow anymore the routing.
|
|
if From == "RTB" then
|
|
return
|
|
end
|
|
|
|
|
|
if AIPatrol and AIPatrol:IsAlive() then
|
|
|
|
local PatrolRoute = {}
|
|
|
|
--- Calculate the target route point.
|
|
|
|
local CurrentCoord = AIPatrol:GetCoordinate()
|
|
|
|
if self.racetrack then
|
|
|
|
-- Random altitude.
|
|
local altitude=math.random(self.PatrolFloorAltitude, self.PatrolCeilingAltitude)
|
|
|
|
-- Random speed in km/h.
|
|
local speedkmh = math.random(self.PatrolMinSpeed, self.PatrolMaxSpeed)
|
|
|
|
-- Random heading.
|
|
local heading = math.random(self.racetrackheadingmin, self.racetrackheadingmax)
|
|
|
|
-- Random leg length.
|
|
local leg=math.random(self.racetracklegmin, self.racetracklegmax)
|
|
|
|
-- Random duration if any.
|
|
local duration = self.racetrackdurationmin
|
|
if self.racetrackdurationmax then
|
|
duration=math.random(self.racetrackdurationmin, self.racetrackdurationmax)
|
|
end
|
|
|
|
-- Race track points.
|
|
local c1=self.PatrolZone:GetRandomCoordinate():SetAltitude(altitude) --Core.Point#COORDINATE
|
|
local c2=c1:Translate(leg, heading):SetAltitude(altitude)
|
|
|
|
-- Debug:
|
|
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)))
|
|
--c1:MarkToAll("Race track c1")
|
|
--c2:MarkToAll("Race track c2")
|
|
|
|
-- Task to orbit.
|
|
local taskOrbit=AIPatrol:TaskOrbit(c1, altitude, UTILS.KmphToMps(speedkmh), c2)
|
|
|
|
-- Task function to redo the patrol at other random position.
|
|
local taskPatrol=AIPatrol:TaskFunction("AI_A2A_PATROL.PatrolRoute", self)
|
|
|
|
|
|
local taskCond=AIPatrol:TaskCondition(nil, nil, nil, nil, duration, nil)
|
|
local taskCont=AIPatrol:TaskControlled(taskOrbit, taskCond)
|
|
|
|
PatrolRoute[1]=CurrentCoord:WaypointAirTurningPoint(nil, speedkmh, {}, "Current")
|
|
PatrolRoute[2]=c1:WaypointAirTurningPoint(self.PatrolAltType, speedkmh, {taskCont, taskPatrol}, "Orbit")
|
|
|
|
else
|
|
|
|
local ToTargetCoord = self.PatrolZone:GetRandomPointVec2()
|
|
ToTargetCoord:SetAlt( math.random( self.PatrolFloorAltitude, self.PatrolCeilingAltitude ) )
|
|
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:WaypointAir(
|
|
self.PatrolAltType,
|
|
POINT_VEC3.RoutePointType.TurningPoint,
|
|
POINT_VEC3.RoutePointAction.TurningPoint,
|
|
ToTargetSpeed,
|
|
true
|
|
)
|
|
|
|
PatrolRoute[#PatrolRoute+1] = ToPatrolRoutePoint
|
|
PatrolRoute[#PatrolRoute+1] = ToPatrolRoutePoint
|
|
|
|
local Tasks = {}
|
|
Tasks[#Tasks+1] = AIPatrol:TaskFunction( "AI_A2A_PATROL.PatrolRoute", self )
|
|
PatrolRoute[#PatrolRoute].task = AIPatrol:TaskCombo( Tasks )
|
|
|
|
end
|
|
|
|
-- ROE
|
|
AIPatrol:OptionROEReturnFire()
|
|
AIPatrol:OptionROTEvadeFire()
|
|
|
|
-- Patrol.
|
|
AIPatrol:Route( PatrolRoute, 0.5)
|
|
end
|
|
|
|
end
|
|
|
|
--- @param Wrapper.Group#GROUP AIPatrol
|
|
function AI_A2A_PATROL.Resume( AIPatrol, Fsm )
|
|
|
|
AIPatrol:I( { "AI_A2A_PATROL.Resume:", AIPatrol:GetName() } )
|
|
if AIPatrol:IsAlive() then
|
|
Fsm:__Reset( 1 )
|
|
Fsm:__Route( 5 )
|
|
end
|
|
|
|
end
|