mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2025-08-15 10:47:21 +00:00
ad0b32c0ee
- Found and fixed bugs for ARMY and NAVY groups, which caused only one waypoint to be processed - Added Duration for AUFTRAG - Fixed bug in auftrag if no legion was assigned and mission was canceled at opsgroup level - Trying (again) to include the whole route for ARMY and NAVY when UpdateRoute - Simpler task function for passing waypoint STILL a lot to do/check!
1320 lines
43 KiB
Lua
1320 lines
43 KiB
Lua
--- **Ops** - Enhanced Ground Group.
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--
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-- ## Main Features:
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--
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-- * Patrol waypoints *ad infinitum*
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-- * Easy change of ROE and alarm state, formation and other settings
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-- * Dynamically add and remove waypoints
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-- * Sophisticated task queueing system (know when DCS tasks start and end)
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-- * Convenient checks when the group enters or leaves a zone
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-- * Detection events for new, known and lost units
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-- * Simple LASER and IR-pointer setup
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-- * Compatible with AUFTRAG class
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-- * Many additional events that the mission designer can hook into
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--
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-- ===
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--
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-- ## Example Missions:
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--
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-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/OPS%20-%20Armygroup).
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--
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-- ===
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--
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-- ### Author: **funkyfranky**
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--
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-- ==
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--
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-- @module Ops.ArmyGroup
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-- @image OPS_ArmyGroup.png
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--- ARMYGROUP class.
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-- @type ARMYGROUP
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-- @field #boolean adinfinitum Resume route at first waypoint when final waypoint is reached.
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-- @field #boolean formationPerma Formation that is used permanently and overrules waypoint formations.
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-- @field #boolean isMobile If true, group is mobile.
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-- @field #ARMYGROUP.Target engage Engage target.
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-- @field #boolean retreatOnOutOfAmmo If true, the group will automatically retreat when out of ammo. Needs a retreat zone!
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-- @field Core.Set#SET_ZONE retreatZones Set of retreat zones.
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *Your soul may belong to Jesus, but your ass belongs to the marines.* -- Eugene B Sledge
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--
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-- ===
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--
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-- 
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--
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-- # The ARMYGROUP Concept
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--
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-- This class enhances naval groups.
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--
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-- @field #ARMYGROUP
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ARMYGROUP = {
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ClassName = "ARMYGROUP",
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formationPerma = nil,
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engage = {},
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}
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--- Target
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-- @type ARMYGROUP.Target
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-- @field Ops.Target#TARGET Target The target.
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-- @field Core.Point#COORDINATE Coordinate Last known coordinate of the target.
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--- Army Group version.
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-- @field #string version
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ARMYGROUP.version="0.7.0"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Suppression of fire.
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-- TODO: Check if group is mobile.
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-- TODO: F10 menu.
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-- DONE: Retreat.
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-- DONE: Rearm. Specify a point where to go and wait until ammo is full.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a new ARMYGROUP class object.
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-- @param #ARMYGROUP self
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-- @param Wrapper.Group#GROUP group The GROUP object. Can also be given by its group name as `#string`.
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-- @return #ARMYGROUP self
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function ARMYGROUP:New(group)
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-- First check if we already have an OPS group for this group.
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local og=_DATABASE:GetOpsGroup(group)
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if og then
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og:I(og.lid..string.format("WARNING: OPS group already exists in data base!"))
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return og
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end
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-- Inherit everything from FSM class.
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local self=BASE:Inherit(self, OPSGROUP:New(group)) -- #ARMYGROUP
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-- Set some string id for output to DCS.log file.
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self.lid=string.format("ARMYGROUP %s | ", self.groupname)
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-- Defaults
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self:SetDefaultROE()
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self:SetDefaultAlarmstate()
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self:SetDetection()
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self:SetPatrolAdInfinitum(false)
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self:SetRetreatZones()
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("*", "FullStop", "Holding") -- Hold position.
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self:AddTransition("*", "Cruise", "Cruising") -- Cruise along the given route of waypoints.
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self:AddTransition("*", "RTZ", "Returning") -- Group is returning to (home) zone.
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self:AddTransition("Returning", "Returned", "Returned") -- Group is returned to (home) zone.
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self:AddTransition("*", "Detour", "OnDetour") -- Make a detour to a coordinate and resume route afterwards.
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self:AddTransition("OnDetour", "DetourReached", "Cruising") -- Group reached the detour coordinate.
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self:AddTransition("*", "Retreat", "Retreating") -- Order a retreat.
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self:AddTransition("Retreating", "Retreated", "Retreated") -- Group retreated.
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self:AddTransition("Cruising", "EngageTarget", "Engaging") -- Engage a target from Cruising state
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self:AddTransition("Holding", "EngageTarget", "Engaging") -- Engage a target from Holding state
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self:AddTransition("OnDetour", "EngageTarget", "Engaging") -- Engage a target from OnDetour state
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self:AddTransition("Engaging", "Disengage", "Cruising") -- Disengage and back to cruising.
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self:AddTransition("*", "Rearm", "Rearm") -- Group is send to a coordinate and waits until ammo is refilled.
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self:AddTransition("Rearm", "Rearming", "Rearming") -- Group has arrived at the rearming coodinate and is waiting to be fully rearmed.
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self:AddTransition("Rearming", "Rearmed", "Cruising") -- Group was rearmed.
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------------------------
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--- Pseudo Functions ---
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------------------------
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--- Triggers the FSM event "Stop". Stops the ARMYGROUP and all its event handlers.
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-- @param #ARMYGROUP self
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--- Triggers the FSM event "Stop" after a delay. Stops the ARMYGROUP and all its event handlers.
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-- @function [parent=#ARMYGROUP] __Stop
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-- @param #ARMYGROUP self
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-- @param #number delay Delay in seconds.
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-- TODO: Add pseudo functions.
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-- Init waypoints.
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self:_InitWaypoints()
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-- Initialize the group.
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self:_InitGroup()
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-- Handle events:
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self:HandleEvent(EVENTS.Birth, self.OnEventBirth)
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self:HandleEvent(EVENTS.Dead, self.OnEventDead)
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self:HandleEvent(EVENTS.RemoveUnit, self.OnEventRemoveUnit)
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--self:HandleEvent(EVENTS.Hit, self.OnEventHit)
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-- Start the status monitoring.
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self.timerStatus=TIMER:New(self.Status, self):Start(1, 30)
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-- Start queue update timer.
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self.timerQueueUpdate=TIMER:New(self._QueueUpdate, self):Start(2, 5)
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-- Start check zone timer.
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self.timerCheckZone=TIMER:New(self._CheckInZones, self):Start(2, 30)
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-- Add OPSGROUP to _DATABASE.
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_DATABASE:AddOpsGroup(self)
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- User Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Group patrols ad inifintum. If the last waypoint is reached, it will go to waypoint one and repeat its route.
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-- @param #ARMYGROUP self
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-- @param #boolean switch If true or nil, patrol until the end of time. If false, go along the waypoints once and stop.
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-- @return #ARMYGROUP self
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function ARMYGROUP:SetPatrolAdInfinitum(switch)
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if switch==false then
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self.adinfinitum=false
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else
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self.adinfinitum=true
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end
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return self
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end
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--- Get coordinate of the closest road.
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-- @param #ARMYGROUP self
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-- @return Core.Point#COORDINATE Coordinate of a road closest to the group.
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function ARMYGROUP:GetClosestRoad()
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local coord=self:GetCoordinate():GetClosestPointToRoad()
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return coord
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end
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--- Get 2D distance to the closest road.
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-- @param #ARMYGROUP self
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-- @return #number Distance in meters to the closest road.
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function ARMYGROUP:GetClosestRoadDist()
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local road=self:GetClosestRoad()
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if road then
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local dist=road:Get2DDistance(self:GetCoordinate())
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return dist
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end
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return math.huge
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end
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--- Add a *scheduled* task to fire at a given coordinate.
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-- @param #ARMYGROUP self
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-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Radius Radius in meters. Default 100 m.
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-- @param #number Nshots Number of shots to fire. Default 3.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskFireAtPoint(Coordinate, Clock, Radius, Nshots, WeaponType, Prio)
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Coordinate=self:_CoordinateFromObject(Coordinate)
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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local task=self:AddTask(DCStask, Clock, nil, Prio)
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return task
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end
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--- Add a *waypoint* task to fire at a given coordinate.
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-- @param #ARMYGROUP self
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-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
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-- @param Ops.OpsGroup#OPSGROUP.Waypoint Waypoint Where the task is executed. Default is next waypoint.
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-- @param #number Radius Radius in meters. Default 100 m.
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-- @param #number Nshots Number of shots to fire. Default 3.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio)
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Coordinate=self:_CoordinateFromObject(Coordinate)
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Waypoint=Waypoint or self:GetWaypointNext()
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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local task=self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
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return task
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end
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--- Add a *scheduled* task.
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-- @param #ARMYGROUP self
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-- @param Wrapper.Group#GROUP TargetGroup Target group.
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-- @param #number WeaponExpend How much weapons does are used.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskAttackGroup(TargetGroup, WeaponExpend, WeaponType, Clock, Prio)
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local DCStask=CONTROLLABLE.TaskAttackGroup(nil, TargetGroup, WeaponType, WeaponExpend, AttackQty, Direction, Altitude, AttackQtyLimit, GroupAttack)
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local task=self:AddTask(DCStask, Clock, nil, Prio)
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return task
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end
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--- Add a *scheduled* task to transport group(s).
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-- @param #ARMYGROUP self
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-- @param Core.Set#SET_GROUP GroupSet Set of cargo groups. Can also be a singe @{Wrapper.Group#GROUP} object.
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-- @param Core.Zone#ZONE PickupZone Zone where the cargo is picked up.
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-- @param Core.Zone#ZONE DeployZone Zone where the cargo is delivered to.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskCargoGroup(GroupSet, PickupZone, DeployZone, Clock, Prio)
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local DCStask={}
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DCStask.id="CargoTransport"
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DCStask.params={}
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DCStask.params.cargoqueu=1
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local task=self:AddTask(DCStask, Clock, nil, Prio)
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return task
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end
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--- Define a set of possible retreat zones.
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-- @param #ARMYGROUP self
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-- @param Core.Set#SET_ZONE RetreatZoneSet The retreat zone set. Default is an empty set.
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-- @return #ARMYGROUP self
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function ARMYGROUP:SetRetreatZones(RetreatZoneSet)
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self.retreatZones=RetreatZoneSet or SET_ZONE:New()
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return self
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end
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--- Add a zone to the retreat zone set.
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-- @param #ARMYGROUP self
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-- @param Core.Zone#ZONE_BASE RetreatZone The retreat zone.
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-- @return #ARMYGROUP self
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function ARMYGROUP:AddRetreatZone(RetreatZone)
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self.retreatZones:AddZone(RetreatZone)
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return self
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end
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--- Check if the group is currently holding its positon.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group was ordered to hold.
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function ARMYGROUP:IsHolding()
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return self:Is("Holding")
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end
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--- Check if the group is currently cruising.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group cruising.
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function ARMYGROUP:IsCruising()
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return self:Is("Cruising")
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end
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--- Check if the group is currently on a detour.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group is on a detour.
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function ARMYGROUP:IsOnDetour()
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return self:Is("OnDetour")
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end
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--- Check if the group is ready for combat. I.e. not reaming, retreating, retreated, out of ammo or engaging.
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-- @param #ARMYGROUP self
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-- @return #boolean If true, group is on a combat ready.
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function ARMYGROUP:IsCombatReady()
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local combatready=true
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if self:IsRearming() or self:IsRetreating() or self.outofAmmo or self:IsEngaging() or self:is("Retreated") or self:IsDead() or self:IsStopped() or self:IsInUtero() then
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combatready=false
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end
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return combatready
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Status
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Update status.
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-- @param #ARMYGROUP self
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function ARMYGROUP:Status()
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-- FSM state.
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local fsmstate=self:GetState()
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-- Is group alive?
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local alive=self:IsAlive()
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if alive then
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---
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-- Detection
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---
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-- Check if group has detected any units.
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if self.detectionOn then
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self:_CheckDetectedUnits()
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end
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-- Check ammo status.
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self:_CheckAmmoStatus()
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-- Update position etc.
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self:_UpdatePosition()
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-- Check if group got stuck.
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self:_CheckStuck()
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-- Check damage of elements and group.
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self:_CheckDamage()
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-- Update engagement.
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if self:IsEngaging() then
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self:_UpdateEngageTarget()
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end
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-- Check if group is waiting.
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if self:IsWaiting() then
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if self.Twaiting and self.dTwait then
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if timer.getAbsTime()>self.Twaiting+self.dTwait then
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self.Twaiting=nil
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self.dTwait=nil
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self:Cruise()
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end
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end
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end
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end
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if alive~=nil then
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if self.verbose>=1 then
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-- Get number of tasks and missions.
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local nTaskTot, nTaskSched, nTaskWP=self:CountRemainingTasks()
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local nMissions=self:CountRemainingMissison()
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local roe=self:GetROE()
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local alarm=self:GetAlarmstate()
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local speed=UTILS.MpsToKnots(self.velocity or 0)
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local speedEx=UTILS.MpsToKnots(self:GetExpectedSpeed())
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local formation=self.option.Formation or "unknown"
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local ammo=self:GetAmmoTot()
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local cargo=0
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for _,_element in pairs(self.elements) do
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local element=_element --Ops.OpsGroup#OPSGROUP.Element
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cargo=cargo+element.weightCargo
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end
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-- Info text.
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local text=string.format("%s [ROE-AS=%d-%d T/M=%d/%d]: Wp=%d/%d-->%d (final %s), Life=%.1f, Speed=%.1f (%d), Heading=%03d, Ammo=%d, Cargo=%.1f",
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fsmstate, roe, alarm, nTaskTot, nMissions, self.currentwp, #self.waypoints, self:GetWaypointIndexNext(), tostring(self.passedfinalwp), self.life or 0, speed, speedEx, self.heading or 0, ammo.Total, cargo)
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self:I(self.lid..text)
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end
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else
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-- Info text.
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if self.verbose>=1 then
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local text=string.format("State %s: Alive=%s", fsmstate, tostring(self:IsAlive()))
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self:I(self.lid..text)
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end
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end
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---
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-- Elements
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---
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if self.verbose>=2 then
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local text="Elements:"
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for i,_element in pairs(self.elements) do
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local element=_element --Ops.OpsGroup#OPSGROUP.Element
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local name=element.name
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local status=element.status
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local unit=element.unit
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--local life=unit:GetLifeRelative() or 0
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local life,life0=self:GetLifePoints(element)
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local life0=element.life0
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-- Get ammo.
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local ammo=self:GetAmmoElement(element)
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-- Output text for element.
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text=text..string.format("\n[%d] %s: status=%s, life=%.1f/%.1f, guns=%d, rockets=%d, bombs=%d, missiles=%d, cargo=%d/%d kg",
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i, name, status, life, life0, ammo.Guns, ammo.Rockets, ammo.Bombs, ammo.Missiles, element.weightCargo, element.weightMaxCargo)
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end
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if #self.elements==0 then
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text=text.." none!"
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end
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self:I(self.lid..text)
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end
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---
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-- Cargo
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---
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self:_CheckCargoTransport()
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---
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-- Tasks & Missions
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---
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self:_PrintTaskAndMissionStatus()
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- DCS Events ==> See OPSGROUP
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Event function handling when a unit is hit.
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-- @param #ARMYGROUP self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function ARMYGROUP:OnEventHit(EventData)
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-- Check that this is the right group.
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if EventData and EventData.IniGroup and EventData.IniUnit and EventData.IniGroupName and EventData.IniGroupName==self.groupname then
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local unit=EventData.IniUnit
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local group=EventData.IniGroup
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local unitname=EventData.IniUnitName
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-- TODO: suppression
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- FSM Events
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- On after "ElementSpawned" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Ops.OpsGroup#OPSGROUP.Element Element The group element.
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function ARMYGROUP:onafterElementSpawned(From, Event, To, Element)
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self:T(self.lid..string.format("Element spawned %s", Element.name))
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-- Set element status.
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self:_UpdateStatus(Element, OPSGROUP.ElementStatus.SPAWNED)
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end
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--- On after "Spawned" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function ARMYGROUP:onafterSpawned(From, Event, To)
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self:T(self.lid..string.format("Group spawned!"))
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-- Debug info.
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if self.verbose>=1 then
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local text=string.format("Initialized Army Group %s:\n", self.groupname)
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text=text..string.format("Unit type = %s\n", self.actype)
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text=text..string.format("Speed max = %.1f Knots\n", UTILS.KmphToKnots(self.speedMax))
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text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
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text=text..string.format("Weight = %.1f kg\n", self:GetWeightTotal())
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text=text..string.format("Cargo bay = %.1f kg\n", self:GetFreeCargobay())
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text=text..string.format("Elements = %d\n", #self.elements)
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text=text..string.format("Waypoints = %d\n", #self.waypoints)
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text=text..string.format("Radio = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
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text=text..string.format("Ammo = %d (G=%d/R=%d/M=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles)
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text=text..string.format("FSM state = %s\n", self:GetState())
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text=text..string.format("Is alive = %s\n", tostring(self:IsAlive()))
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text=text..string.format("LateActivate = %s\n", tostring(self:IsLateActivated()))
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self:I(self.lid..text)
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end
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-- Update position.
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self:_UpdatePosition()
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-- Not dead or destroyed yet.
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self.isDead=false
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self.isDestroyed=false
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if self.isAI then
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-- Set default ROE.
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self:SwitchROE(self.option.ROE)
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-- Set default Alarm State.
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self:SwitchAlarmstate(self.option.Alarm)
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-- Set TACAN to default.
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self:_SwitchTACAN()
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-- Turn on the radio.
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if self.radioDefault then
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self:SwitchRadio(self.radioDefault.Freq, self.radioDefault.Modu)
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else
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self:SetDefaultRadio(self.radio.Freq, self.radio.Modu, true)
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end
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-- Formation
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if not self.option.Formation then
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-- Will be set in update route.
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--self.option.Formation=self.optionDefault.Formation
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end
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-- Update route.
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if #self.waypoints>1 then
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self:Cruise(nil, self.option.Formation)
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else
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self:FullStop()
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end
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end
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end
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--- On before "UpdateRoute" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onbeforeUpdateRoute(From, Event, To, n, Speed, Formation)
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if self:IsWaiting() then
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self:E(self.lid.."Update route denied. Group is WAIRING!")
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return false
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elseif self:IsInUtero() then
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self:E(self.lid.."Update route denied. Group is INUTERO!")
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return false
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elseif self:IsDead() then
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self:E(self.lid.."Update route denied. Group is DEAD!")
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return false
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elseif self:IsStopped() then
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self:E(self.lid.."Update route denied. Group is STOPPED!")
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return false
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end
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return true
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end
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--- On after "UpdateRoute" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number. Default is next waypoint.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
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-- Debug info.
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local text=string.format("Update route state=%s: n=%s, Speed=%s, Formation=%s", self:GetState(), tostring(n), tostring(Speed), tostring(Formation))
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self:T(self.lid..text)
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-- Update route from this waypoint number onwards.
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n=n or self:GetWaypointIndexNext(self.adinfinitum)
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table. OBSOLETE!
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--self:_UpdateWaypointTasks(n)
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-- Waypoints.
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local waypoints={}
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local formationlast=nil
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for i=n, #self.waypoints do
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-- Next waypoint.
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Speed.
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if Speed then
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wp.speed=UTILS.KnotsToMps(Speed)
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else
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-- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
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if wp.speed<0.1 then --self.adinfinitum and
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wp.speed=UTILS.KmphToMps(self.speedCruise)
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end
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end
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-- Formation.
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if self.formationPerma then
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wp.action=self.formationPerma
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elseif Formation then
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wp.action=Formation
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end
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-- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
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if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>10 then
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-- The real waypoint is actually off road.
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wp.action=ENUMS.Formation.Vehicle.OffRoad
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-- Add "On Road" waypoint in between.
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local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Insert road waypoint.
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table.insert(waypoints, wproad)
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end
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-- Add waypoint.
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table.insert(waypoints, wp)
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-- Last formation.
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formationlast=wp.action
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end
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-- First (next wp).
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local wp=waypoints[1] --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Current set formation.
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self.option.Formation=wp.action
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-- Current set speed in m/s.
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self.speedWp=wp.speed
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local formation0=wp.action==ENUMS.Formation.Vehicle.OnRoad and ENUMS.Formation.Vehicle.OffRoad or wp.action
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-- Current point.
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local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation0)
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table.insert(waypoints, 1, current)
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-- Insert a point on road.
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if wp.action==ENUMS.Formation.Vehicle.OnRoad then
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local current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
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table.insert(waypoints, 2, current)
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end
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-- Debug output.
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if false then
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for i,_wp in pairs(waypoints) do
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local wp=_wp
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local text=string.format("WP #%d UID=%d type=%s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.uid and wp.uid or 0, wp.type, wp.speed, wp.alt, wp.action)
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self:T(text)
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end
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end
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if self:IsEngaging() or not self.passedfinalwp then
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-- Debug info.
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self:T(self.lid..string.format("Updateing route: WP %d-->%d (%d/%d), Speed=%.1f knots, Formation=%s",
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self.currentwp, n, #waypoints, #self.waypoints, UTILS.MpsToKnots(self.speedWp), tostring(self.option.Formation)))
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-- Route group to all defined waypoints remaining.
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self:Route(waypoints)
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else
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---
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-- Passed final WP ==> Full Stop
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---
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self:E(self.lid..string.format("WARNING: Passed final WP when UpdateRoute() ==> Full Stop!"))
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self:FullStop()
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end
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end
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--- On after "GotoWaypoint" event. Group will got to the given waypoint and execute its route from there.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number UID The goto waypoint unique ID.
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-- @param #number Speed (Optional) Speed to waypoint in knots.
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-- @param #number Formation (Optional) Formation to waypoint.
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function ARMYGROUP:onafterGotoWaypoint(From, Event, To, UID, Speed, Formation)
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local n=self:GetWaypointIndex(UID)
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--env.info(string.format("FF AG Goto waypoint UID=%s Index=%s, Speed=%s, Formation=%s", tostring(UID), tostring(n), tostring(Speed), tostring(Formation)))
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if n then
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-- TODO: switch to re-enable waypoint tasks.
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if false then
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local tasks=self:GetTasksWaypoint(n)
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for _,_task in pairs(tasks) do
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local task=_task --Ops.OpsGroup#OPSGROUP.Task
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task.status=OPSGROUP.TaskStatus.SCHEDULED
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end
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end
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-- Speed to waypoint.
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Speed=Speed or self:GetSpeedToWaypoint(n)
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-- Update the route.
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self:UpdateRoute(n, Speed, Formation)
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end
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end
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--- On after "Detour" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to go.
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-- @param #number Speed Speed in knots. Default cruise speed.
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-- @param #number Formation Formation of the group.
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-- @param #number ResumeRoute If true, resume route after detour point was reached. If false, the group will stop at the detour point and wait for futher commands.
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function ARMYGROUP:onafterDetour(From, Event, To, Coordinate, Speed, Formation, ResumeRoute)
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for _,_wp in pairs(self.waypoints) do
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local wp=_wp --Ops.OpsGroup#OPSGROUP.Waypoint
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if wp.detour then
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self:RemoveWaypointByID(wp.uid)
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end
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end
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-- Speed in knots.
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Speed=Speed or self:GetSpeedCruise()
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, Speed, uid, Formation, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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if ResumeRoute then
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wp.detour=1
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else
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wp.detour=0
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end
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end
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--- On after "Rearm" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE Coordinate Coordinate where to rearm.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterRearm(From, Event, To, Coordinate, Formation)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, nil, uid, Formation, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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wp.detour=0
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end
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--- On after "RTZ" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Zone#ZONE Zone The zone to return to.
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-- @param #number Formation Formation of the group.
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function ARMYGROUP:onafterRTZ(From, Event, To, Zone, Formation)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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-- Zone.
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local zone=Zone or self.homezone
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if zone then
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-- Debug info.
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self:I(self.lid..string.format("RTZ to Zone %s", zone:GetName()))
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local Coordinate=zone:GetRandomCoordinate()
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, nil, uid, Formation, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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wp.detour=0
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else
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self:E(self.lid.."ERROR: No RTZ zone given!")
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end
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end
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--- On after "Returned" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function ARMYGROUP:onafterReturned(From, Event, To)
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-- Debug info.
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self:T(self.lid..string.format("Group returned"))
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if self.legion then
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-- Debug info.
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self:T(self.lid..string.format("Adding group back to warehouse stock"))
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-- Add asset back in 10 seconds.
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self.legion:__AddAsset(10, self.group, 1)
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end
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end
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--- On after "Rearming" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function ARMYGROUP:onafterRearming(From, Event, To)
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-- Get current position.
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local pos=self:GetCoordinate()
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-- Create a new waypoint.
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local wp=pos:WaypointGround(0)
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-- Create new route consisting of only this position ==> Stop!
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self:Route({wp})
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end
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--- On before "Retreat" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Zone#ZONE_BASE Zone (Optional) Zone where to retreat. Default is the closest retreat zone.
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-- @param #number Formation (Optional) Formation of the group.
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function ARMYGROUP:onbeforeRetreat(From, Event, To, Zone, Formation)
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if not Zone then
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local a=self:GetVec2()
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local distmin=math.huge
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local zonemin=nil
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for _,_zone in pairs(self.retreatZones:GetSet()) do
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local zone=_zone --Core.Zone#ZONE_BASE
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local b=zone:GetVec2()
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local dist=UTILS.VecDist2D(a, b)
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if dist<distmin then
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distmin=dist
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zonemin=zone
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end
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end
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if zonemin then
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self:__Retreat(0.1, zonemin, Formation)
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end
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return false
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end
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return true
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end
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--- On after "Retreat" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Zone#ZONE_BASE Zone (Optional) Zone where to retreat. Default is the closest retreat zone.
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-- @param #number Formation (Optional) Formation of the group.
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function ARMYGROUP:onafterRetreat(From, Event, To, Zone, Formation)
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-- ID of current waypoint.
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local uid=self:GetWaypointCurrent().uid
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local Coordinate=Zone:GetRandomCoordinate()
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-- Add waypoint after current.
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local wp=self:AddWaypoint(Coordinate, nil, uid, Formation, true)
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-- Set if we want to resume route after reaching the detour waypoint.
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wp.detour=0
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end
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|
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--- On after "Retreated" event.
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function ARMYGROUP:onafterRetreated(From, Event, To)
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-- Get current position.
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local pos=self:GetCoordinate()
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-- Create a new waypoint.
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local wp=pos:WaypointGround(0)
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-- Create new route consisting of only this position ==> Stop!
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self:Route({wp})
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end
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--- On after "EngageTarget" event.
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-- @param #ARMYGROUP self
|
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Wrapper.Group#GROUP Group the group to be engaged.
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function ARMYGROUP:onbeforeEngageTarget(From, Event, To, Target)
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|
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local ammo=self:GetAmmoTot()
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|
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if ammo.Total==0 then
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self:E(self.lid.."WARNING: Cannot engage TARGET because no ammo left!")
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return false
|
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end
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|
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return true
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end
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|
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--- On after "EngageTarget" event.
|
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-- @param #ARMYGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
|
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-- @param #string To To state.
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-- @param Wrapper.Group#GROUP Group the group to be engaged.
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function ARMYGROUP:onafterEngageTarget(From, Event, To, Target)
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self:T(self.lid.."Engaging Target")
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|
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if Target:IsInstanceOf("TARGET") then
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self.engage.Target=Target
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else
|
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self.engage.Target=TARGET:New(Target)
|
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end
|
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|
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-- Target coordinate.
|
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self.engage.Coordinate=UTILS.DeepCopy(self.engage.Target:GetCoordinate())
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|
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-- TODO: Backup current ROE and alarm state and reset after disengage.
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|
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-- Switch ROE and alarm state.
|
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self:SwitchAlarmstate(ENUMS.AlarmState.Auto)
|
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self:SwitchROE(ENUMS.ROE.WeaponFree)
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|
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-- ID of current waypoint.
|
|
local uid=self:GetWaypointCurrent().uid
|
|
|
|
-- Add waypoint after current.
|
|
self.engage.Waypoint=self:AddWaypoint(self.engage.Coordinate, nil, uid, Formation, true)
|
|
|
|
-- Set if we want to resume route after reaching the detour waypoint.
|
|
self.engage.Waypoint.detour=1
|
|
|
|
end
|
|
|
|
--- Update engage target.
|
|
-- @param #ARMYGROUP self
|
|
function ARMYGROUP:_UpdateEngageTarget()
|
|
|
|
if self.engage.Target and self.engage.Target:IsAlive() then
|
|
|
|
--env.info("FF Update Engage Target "..self.engage.Target:GetName())
|
|
|
|
local vec3=self.engage.Target:GetCoordinate():GetVec3()
|
|
|
|
local dist=UTILS.VecDist2D(vec3, self.engage.Coordinate:GetVec3())
|
|
|
|
if dist>100 then
|
|
|
|
--env.info("FF Update Engage Target Moved "..self.engage.Target:GetName())
|
|
|
|
self.engage.Coordinate:UpdateFromVec3(vec3)
|
|
|
|
-- ID of current waypoint.
|
|
local uid=self:GetWaypointCurrent().uid
|
|
|
|
-- Remove current waypoint
|
|
self:RemoveWaypointByID(self.engage.Waypoint.uid)
|
|
|
|
-- Add waypoint after current.
|
|
self.engage.Waypoint=self:AddWaypoint(self.engage.Coordinate, nil, uid, Formation, true)
|
|
|
|
-- Set if we want to resume route after reaching the detour waypoint.
|
|
self.engage.Waypoint.detour=0
|
|
|
|
end
|
|
|
|
else
|
|
self:Disengage()
|
|
end
|
|
|
|
end
|
|
|
|
--- On after "Disengage" event.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function ARMYGROUP:onafterDisengage(From, Event, To)
|
|
self:T(self.lid.."Disengage Target")
|
|
|
|
-- TODO: Reset ROE and alarm state.
|
|
self:_CheckGroupDone(1)
|
|
end
|
|
|
|
--- On after "Rearmed" event.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function ARMYGROUP:onafterRearmed(From, Event, To)
|
|
self:I(self.lid.."Group rearmed")
|
|
|
|
-- Check group done.
|
|
self:_CheckGroupDone(1)
|
|
|
|
end
|
|
|
|
--- On after "DetourReached" event.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function ARMYGROUP:onafterDetourReached(From, Event, To)
|
|
self:T(self.lid.."Group reached detour coordinate")
|
|
end
|
|
|
|
|
|
--- On after "FullStop" event.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function ARMYGROUP:onafterFullStop(From, Event, To)
|
|
|
|
-- Debug info.
|
|
self:T(self.lid..string.format("Full stop!"))
|
|
|
|
-- Get current position.
|
|
local pos=self:GetCoordinate()
|
|
|
|
-- Create a new waypoint.
|
|
local wp=pos:WaypointGround(0)
|
|
|
|
-- Create new route consisting of only this position ==> Stop!
|
|
self:Route({wp})
|
|
|
|
end
|
|
|
|
--- On after "Cruise" event.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param #number Speed Speed in knots.
|
|
-- @param #number Formation Formation.
|
|
function ARMYGROUP:onafterCruise(From, Event, To, Speed, Formation)
|
|
|
|
-- Not waiting anymore.
|
|
self.Twaiting=nil
|
|
self.dTwait=nil
|
|
|
|
self:__UpdateRoute(-1, nil, Speed, Formation)
|
|
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Routing
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Add an a waypoint to the route.
|
|
-- @param #ARMYGROUP self
|
|
-- @param Core.Point#COORDINATE Coordinate The coordinate of the waypoint.
|
|
-- @param #number Speed Speed in knots. Default is default cruise speed or 70% of max speed.
|
|
-- @param #number AfterWaypointWithID Insert waypoint after waypoint given ID. Default is to insert as last waypoint.
|
|
-- @param #number Formation Formation the group will use.
|
|
-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
|
|
-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
|
|
function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation, Updateroute)
|
|
|
|
local coordinate=self:_CoordinateFromObject(Coordinate)
|
|
|
|
-- Set waypoint index.
|
|
local wpnumber=self:GetWaypointIndexAfterID(AfterWaypointWithID)
|
|
|
|
-- Check if final waypoint is still passed.
|
|
if wpnumber>self.currentwp then
|
|
self:_PassedFinalWaypoint(false, "ARMYGROUP.AddWaypoint: wpnumber>self.currentwp")
|
|
end
|
|
|
|
-- Speed in knots.
|
|
Speed=Speed or self:GetSpeedCruise()
|
|
|
|
-- Create a Naval waypoint.
|
|
local wp=coordinate:WaypointGround(UTILS.KnotsToKmph(Speed), Formation)
|
|
|
|
-- Create waypoint data table.
|
|
local waypoint=self:_CreateWaypoint(wp)
|
|
|
|
-- Add waypoint to table.
|
|
self:_AddWaypoint(waypoint, wpnumber)
|
|
|
|
-- Get closest point to road.
|
|
waypoint.roadcoord=coordinate:GetClosestPointToRoad(false)
|
|
if waypoint.roadcoord then
|
|
waypoint.roaddist=coordinate:Get2DDistance(waypoint.roadcoord)
|
|
else
|
|
waypoint.roaddist=1000*1000 --1000 km.
|
|
end
|
|
|
|
-- Debug info.
|
|
self:T(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
|
|
|
|
-- Update route.
|
|
if Updateroute==nil or Updateroute==true then
|
|
self:UpdateRoute()
|
|
--self:_CheckGroupDone(1)
|
|
end
|
|
|
|
return waypoint
|
|
end
|
|
|
|
--- Initialize group parameters. Also initializes waypoints if self.waypoints is nil.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #table Template Template used to init the group. Default is `self.template`.
|
|
-- @return #ARMYGROUP self
|
|
function ARMYGROUP:_InitGroup(Template)
|
|
|
|
-- First check if group was already initialized.
|
|
if self.groupinitialized then
|
|
self:T(self.lid.."WARNING: Group was already initialized! Will NOT do it again!")
|
|
return
|
|
end
|
|
|
|
-- Get template of group.
|
|
local template=Template or self:_GetTemplate()
|
|
|
|
-- Ground are always AI.
|
|
self.isAI=true
|
|
|
|
-- Is (template) group late activated.
|
|
self.isLateActivated=template.lateActivation
|
|
|
|
-- Ground groups cannot be uncontrolled.
|
|
self.isUncontrolled=false
|
|
|
|
-- Max speed in km/h.
|
|
self.speedMax=self.group:GetSpeedMax()
|
|
|
|
-- Cruise speed in km/h
|
|
self.speedCruise=self.speedMax*0.7
|
|
|
|
-- Group ammo.
|
|
self.ammo=self:GetAmmoTot()
|
|
|
|
-- Radio parameters from template.
|
|
self.radio.On=false -- Radio is always OFF for ground.
|
|
self.radio.Freq=133
|
|
self.radio.Modu=radio.modulation.AM
|
|
|
|
-- Set default radio.
|
|
self:SetDefaultRadio(self.radio.Freq, self.radio.Modu, self.radio.On)
|
|
|
|
-- Set default formation from first waypoint.
|
|
self.optionDefault.Formation=template.route.points[1].action --self:GetWaypoint(1).action
|
|
|
|
-- Default TACAN off.
|
|
self:SetDefaultTACAN(nil, nil, nil, nil, true)
|
|
self.tacan=UTILS.DeepCopy(self.tacanDefault)
|
|
|
|
-- Units of the group.
|
|
local units=self.group:GetUnits()
|
|
|
|
-- DCS group.
|
|
local dcsgroup=Group.getByName(self.groupname)
|
|
local size0=dcsgroup:getInitialSize()
|
|
|
|
-- Quick check.
|
|
if #units~=size0 then
|
|
self:E(self.lid..string.format("ERROR: Got #units=%d but group consists of %d units!", #units, size0))
|
|
end
|
|
|
|
-- Add elemets.
|
|
for _,unit in pairs(units) do
|
|
self:_AddElementByName(unit:GetName())
|
|
end
|
|
|
|
-- Init done.
|
|
self.groupinitialized=true
|
|
|
|
return self
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Option Functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Switch to a specific formation.
|
|
-- @param #ARMYGROUP self
|
|
-- @param #number Formation New formation the group will fly in. Default is the setting of `SetDefaultFormation()`.
|
|
-- @param #boolean Permanently If true, formation always used from now on.
|
|
-- @param #boolean NoRouteUpdate If true, route is not updated.
|
|
-- @return #ARMYGROUP self
|
|
function ARMYGROUP:SwitchFormation(Formation, Permanently, NoRouteUpdate)
|
|
|
|
if self:IsAlive() or self:IsInUtero() then
|
|
|
|
Formation=Formation or self.optionDefault.Formation
|
|
|
|
if Permanently then
|
|
self.formationPerma=Formation
|
|
else
|
|
self.formationPerma=nil
|
|
end
|
|
|
|
-- Set current formation.
|
|
self.option.Formation=Formation
|
|
|
|
if self:IsInUtero() then
|
|
self:T(self.lid..string.format("Will switch formation to %s (permanently=%s) when group is spawned", self.option.Formation, tostring(Permanently)))
|
|
else
|
|
|
|
-- Update route with the new formation.
|
|
if NoRouteUpdate then
|
|
else
|
|
self:__UpdateRoute(-1, nil, nil, Formation)
|
|
end
|
|
|
|
-- Debug info.
|
|
self:T(self.lid..string.format("Switching formation to %s (permanently=%s)", self.option.Formation, tostring(Permanently)))
|
|
|
|
end
|
|
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Misc Functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|