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https://github.com/FlightControl-Master/MOOSE.git
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1000 lines
36 KiB
Lua
1000 lines
36 KiB
Lua
--- **Functional** - (R2.5) - Carrier recovery tanker.
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--
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-- Tanker aircraft flying a racetrack pattern overhead an aircraft carrier.
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--
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-- Features:
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--
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-- * Regular pattern update with respect to carrier positon.
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-- * Automatic respawning when tanker runs out of fuel for 24/7 operations.
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-- * Tanker can be spawned cold or hot on the carrier or at any other airbase or directly in air.
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--
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-- Please not that his class is work in progress and in an **alpha** stage.
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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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-- @module Ops.RecoveryTanker
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-- @image MOOSE.JPG
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--- RECOVERYTANKER class.
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-- @type RECOVERYTANKER
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-- @field #string ClassName Name of the class.
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-- @field #boolean Debug Debug mode.
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-- @field Wrapper.Unit#UNIT carrier The carrier the helo is attached to.
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-- @field #string carriertype Carrier type.
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-- @field #string tankergroupname Name of the late activated tanker template group.
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-- @field Wrapper.Group#GROUP tanker Tanker group.
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-- @field Wrapper.Airbase#AIRBASE airbase The home airbase object of the tanker. Normally the aircraft carrier.
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-- @field Core.Radio#BEACON beacon Tanker TACAN beacon.
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-- @field #number TACANchannel TACAN channel. Default 1.
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-- @field #string TACANmode TACAN mode, i.e. "X" or "Y". Default "Y".
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-- @field #string TACANmorse TACAN morse code. Three letters identifying the TACAN station. Default "TKR".
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-- @field #boolean TACANon If true, TACAN is automatically activated. If false, TACAN is disabled.
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-- @field #number speed Tanker speed when flying pattern.
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-- @field #number altitude Tanker orbit pattern altitude.
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-- @field #number distStern Race-track distance astern.
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-- @field #number distBow Race-track distance bow.
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-- @field #number dTupdate Time interval for updating pattern position wrt new tanker position.
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-- @field #number Tupdate Last time the pattern was updated.
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-- @field #number takeoff Takeoff type (cold, hot, air).
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-- @field #number lowfuel Low fuel threshold in percent.
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-- @field #boolean respawn If true, tanker be respawned (default). If false, no respawning will happen.
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-- @field #boolean respawninair If true, tanker will always be respawned in air. This has no impact on the initial spawn setting.
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-- @field #boolean uncontrolledac If true, use and uncontrolled tanker group already present in the mission.
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-- @field DCS#Vec3 orientation Orientation of the carrier. Used to monitor changes and update the pattern if heading changes significantly.
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-- @field Core.Point#COORDINATE position Positon of carrier. Used to monitor if carrier significantly changed its position and then update the tanker pattern.
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-- @extends Core.Fsm#FSM
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--- Recovery Tanker.
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--
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-- ===
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--
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-- 
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--
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-- # Recovery Tanker
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--
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-- A recovery tanker acts as refueling unit flying overhead an aircraft carrier in order to supply incoming flights with gas if necessary.
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--
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-- # Simple Script
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--
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-- In the mission editor you have to set up a carrier unit, which will act as "mother". In the following, this unit will be named "USS Stennis".
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--
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-- Secondly, you need to define a recovery tanker group in the mission editor and set it to "LATE ACTIVATED". The name of the group we'll use is "Texaco".
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--
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-- The basic script is very simple and consists of only two lines.
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--
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-- TexacoStennis=RECOVERYTANKER:New(UNIT:FindByName("USS Stennis"), "Texaco")
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-- TexacoStennis:Start()
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--
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-- The first line will create a new RECOVERYTANKER object and the second line starts the process.
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--
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-- With this setup, the tanker will be spawned on the USS Stennis with running engines. After it takes off, it will fly a position astern of the boat and from there start its
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-- pattern. This is a counter clockwise racetrack pattern at angels 6.
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--
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-- 
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--
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-- The "downwind" leg of the pattern is normally used for refueling.
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--
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-- Once the tanker runs out of fuel itself, it will return to the carrier and be respawned.
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--
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-- # Fine Tuning
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--
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-- Several parameters can be customized by the mission designer.
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--
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-- ## Adjusting the Takeoff Type
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--
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-- By default, the tanker is spawned with running engies on the carrier. The mission designer has set option to set the take off type via the @{#RECOVERYTANKER.SetTakeoff} function.
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-- Or via shortcuts
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--
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-- * @{#RECOVERYTANKER.SetTakeoffHot}(): Will set the takeoff to hot, which is also the default.
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-- * @{#RECOVERYTANKER.SetTakeoffCold}(): Will set the takeoff type to cold, i.e. with engines off.
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-- * @{#RECOVERYTANKER.SetTakeoffAir}(): Will set the takeoff type to air, i.e. the tanker will be spawned in air relatively far behind the carrier.
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--
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-- For example,
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-- TexacoStennis=RECOVERYTANKER:New(UNIT:FindByName("USS Stennis"), "Texaco")
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-- TexacoStennis:SetTakeoffAir()
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-- TexacoStennis:Start()
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-- will spawn the tanker several nautical miles astern the carrier. From there it will start its pattern.
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--
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-- Spawning in air is not as realsitic but can be useful do avoid DCS bugs and shortcomings like aircraft crashing into each other on the flight deck.
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--
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-- **Note** that when spawning in air is set, the tanker will also not return to the boat, once it is out of fuel. Instead it will be respawned directly in air.
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--
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-- If only the first spawning should happen on the carrier, one use the @{#RECOVERYTANKER.SetRespawnInAir}() function to command that all subsequent spawning
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-- will happen in air.
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--
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-- If the helo should no be respawned at all, one can set @{#RECOVERYTANKER.SetRespawnOff}().
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--
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-- ## Adjusting the Pattern
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--
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-- The racetrack pattern parameters can be fine tuned via the following functions:
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--
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-- * @{#RECOVERYTANKER.SetAltitude}(*altitude*), where *altitude* is the pattern altitude in feet. Default 6000 ft.
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-- * @{#RECOVERYTANKER.SetSpeed}(*speed*), where *speed* is the pattern speed in knots. Default is 272 knots.
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-- * @{#RECOVERYTANKER.SetRacetrackDistances}(*distbow*, *diststern*), where *distbow* and *diststern* are the distances ahead and astern the boat, respectively.
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--
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-- @field #RECOVERYTANKER
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RECOVERYTANKER = {
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ClassName = "RECOVERYTANKER",
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Debug = true,
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carrier = nil,
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carriertype = nil,
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tankergroupname = nil,
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tanker = nil,
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airbase = nil,
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beacon = nil,
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TACANchannel = nil,
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TACANmode = nil,
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TACANmorse = nil,
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TACANon = nil,
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altitude = nil,
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speed = nil,
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distStern = nil,
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distBow = nil,
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dTupdate = nil,
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Tupdate = nil,
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takeoff = nil,
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lowfuel = nil,
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respawn = nil,
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respawninair = nil,
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uncontrolledac = nil,
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orientation = nil,
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position = nil,
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}
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--- Class version.
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-- @field #string version
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RECOVERYTANKER.version="0.9.4"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Is alive check for tanker.
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-- TODO: Trace functions self:T instead of self:I for less output.
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-- TODO: Make pattern update parameters (distance, orientation) input parameters.
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-- TODO: Write documenation.
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-- DONE: Add FSM event for pattern update.
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-- DONE: Smarter pattern update function. E.g. (small) zone around carrier. Only update position when carrier leaves zone or changes heading?
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-- DONE: Set AA TACAN.
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-- DONE: Add refueling event/state.
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-- DONE: Possibility to add already present/spawned aircraft, e.g. for warehouse.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create new RECOVERYTANKER object.
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Unit#UNIT carrierunit Carrier unit.
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-- @param #string tankergroupname Name of the late activated tanker aircraft template group.
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-- @return #RECOVERYTANKER RECOVERYTANKER object.
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function RECOVERYTANKER:New(carrierunit, tankergroupname)
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-- Inherit everthing from FSM class.
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local self = BASE:Inherit(self, FSM:New()) -- #RECOVERYTANKER
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if type(carrierunit)=="string" then
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self.carrier=UNIT:FindByName(carrierunit)
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else
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self.carrier=carrierunit
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end
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-- Carrier type.
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self.carriertype=self.carrier:GetTypeName()
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-- Tanker group name.
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self.tankergroupname=tankergroupname
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-- Save self in static object. Easier to retrieve later.
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self.carrier:SetState(self.carrier, "RECOVERYTANKER", self)
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-- Init default parameters.
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self:SetPatternUpdateInterval()
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self:SetAltitude()
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self:SetSpeed()
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self:SetRacetrackDistances(6, 8)
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self:SetHomeBase(AIRBASE:FindByName(self.carrier:GetName()))
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self:SetTakeoffAir()
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self:SetLowFuelThreshold()
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self:SetRespawnOnOff()
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self:SetTACAN()
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-----------------------
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--- FSM Transitions ---
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-----------------------
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-- Start State.
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self:SetStartState("Stopped")
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("Stopped", "Start", "Running") -- Start the FSM.
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self:AddTransition("*", "Refuel", "Refueling") -- Tanker starts to refuel.
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self:AddTransition("*", "Run", "Running") -- Tanker starts normal operation again.
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self:AddTransition("Running", "RTB", "Returning") -- Tanker is returning to base (for fuel).
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self:AddTransition("*", "Status", "*") -- Status update.
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self:AddTransition("Running", "PatternUpdate", "*") -- Update pattern wrt to carrier.
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self:AddTransition("*", "Stop", "Stopped") -- Stop the FSM.
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--- Triggers the FSM event "Start" that starts the recovery tanker. Initializes parameters and starts event handlers.
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-- @function [parent=#RECOVERYTANKER] Start
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-- @param #RECOVERYTANKER self
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--- Triggers the FSM event "Start" that starts the recovery tanker after a delay. Initializes parameters and starts event handlers.
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-- @function [parent=#RECOVERYTANKER] __Start
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] Refuel
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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--- Triggers delayed the FSM event "Refuel" when the tanker is refueling another aircraft.
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-- @function [parent=#RECOVERYTANKER] __Refuel
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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-- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
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--- Triggers the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
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-- @function [parent=#RECOVERYTANKER] Run
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-- @param #RECOVERYTANKER self
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--- Triggers delayed the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
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-- @function [parent=#RECOVERYTANKER] __Run
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "RTB" that sends the tanker home.
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-- @function [parent=#RECOVERYTANKER] RTB
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
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--- Triggers the FSM event "RTB" that sends the tanker home after a delay.
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-- @function [parent=#RECOVERYTANKER] __RTB
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
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--- Triggers the FSM event "Status" that updates the tanker status.
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-- @function [parent=#RECOVERYTANKER] Status
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-- @param #RECOVERYTANKER self
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--- Triggers the delayed FSM event "Status" that updates the tanker status.
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-- @function [parent=#RECOVERYTANKER] __Status
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "PatternUpdate" that updates the pattern of the tanker wrt to the carrier position.
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-- @function [parent=#RECOVERYTANKER] PatternUpdate
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-- @param #RECOVERYTANKER self
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--- Triggers the delayed FSM event "PatternUpdate" that updates the pattern of the tanker wrt to the carrier position.
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-- @function [parent=#RECOVERYTANKER] __PatternUpdate
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Stop" that stops the recovery tanker. Event handlers are stopped.
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-- @function [parent=#RECOVERYTANKER] Stop
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-- @param #RECOVERYTANKER self
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--- Triggers the FSM event "Stop" that stops the recovery tanker after a delay. Event handlers are stopped.
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-- @function [parent=#RECOVERYTANKER] __Stop
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-- @param #RECOVERYTANKER self
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-- @param #number delay Delay in seconds.
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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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--- Set the speed the tanker flys in its orbit pattern.
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-- @param #RECOVERYTANKER self
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-- @param #number speed Tanker speed in knots. Default 272 knots.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetSpeed(speed)
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self.speed=UTILS.KnotsToMps(speed or 272)
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return self
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end
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--- Set orbit pattern altitude of the tanker.
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-- @param #RECOVERYTANKER self
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-- @param #number altitude Tanker altitude in feet. Default 6000 ft.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetAltitude(altitude)
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self.altitude=UTILS.FeetToMeters(altitude or 6000)
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return self
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end
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--- Set race-track distances.
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-- @param #RECOVERYTANKER self
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-- @param #number distbow Distance [NM] in front of the carrier. Default 6 NM.
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-- @param #number diststern Distance [NM] behind the carrier. Default 8 NM.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRacetrackDistances(distbow, diststern)
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self.distBow=UTILS.NMToMeters(distbow or 6)
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self.distStern=-UTILS.NMToMeters(diststern or 8)
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return self
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end
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--- Set pattern update interval. Note that this update causes a slight disruption in the race track pattern.
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-- Therefore, the interval should be as long as possible but short enough to keep the tanker overhead the carrier.
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-- @param #RECOVERYTANKER self
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-- @param #number interval Interval in minutes. Default is every 30 minutes.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetPatternUpdateInterval(interval)
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self.dTupdate=(interval or 30)*60
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return self
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end
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--- Set low fuel state of tanker. When fuel is below this threshold, the tanker will RTB or be respawned if takeoff type is in air.
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-- @param #RECOVERYTANKER self
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-- @param #number threshold Low fuel threshold in percent. Default 10.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetLowFuelThreshold(threshold)
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self.lowfuel=threshold or 10
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return self
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end
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--- Set home airbase of the tanker. Default is the carrier.
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-- @param #RECOVERYTANKER self
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-- @param Wrapper.Airbase#AIRBASE airbase
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetHomeBase(airbase)
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self.airbase=airbase
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return self
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end
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--- Set takeoff type.
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-- @param #RECOVERYTANKER self
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-- @param #number takeofftype Takeoff type.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTakeoff(takeofftype)
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self.takeoff=takeofftype
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return self
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end
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--- Set takeoff with engines running (hot).
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTakeoffHot()
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self:SetTakeoff(SPAWN.Takeoff.Hot)
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return self
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end
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--- Set takeoff with engines off (cold).
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTakeoffCold()
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self:SetTakeoff(SPAWN.Takeoff.Cold)
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return self
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end
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--- Set takeoff in air at pattern altitude 30 NM behind the carrier.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTakeoffAir()
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self:SetTakeoff(SPAWN.Takeoff.Air)
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return self
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end
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--- Enable respawning of tanker. Note that this is the default behaviour.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOn()
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self.respawn=true
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return self
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end
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--- Disable respawning of tanker.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOff()
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self.respawn=false
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return self
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end
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--- Set whether tanker shall be respawned or not.
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-- @param #RECOVERYTANKER self
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-- @param #boolean switch If true (or nil), tanker will be respawned. If false, tanker will not be respawned.
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnOnOff(switch)
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if switch==nil or switch==true then
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self.respawn=true
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else
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self.respawn=false
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end
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return self
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end
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--- Tanker will be respawned in air, even it was initially spawned on the carrier.
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-- So only the first spawn will be on the carrier while all subsequent spawns will happen in air.
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-- This allows for undisrupted operations and less problems on the carrier deck.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetRespawnInAir()
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self.respawninair=true
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return self
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end
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--- Use an uncontrolled aircraft already present in the mission rather than spawning a new tanker as initial recovery thanker.
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-- This can be useful when interfaced with, e.g., a warehouse.
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-- The group name is the one specified in the @{#RECOVERYTANKER.New} function.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetUseUncontrolledAircraft()
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self.uncontrolledac=true
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return self
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end
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--- Disable automatic TACAN activation.
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-- @param #RECOVERYTANKER self
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-- @return #RECOVERYTANKER self
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function RECOVERYTANKER:SetTACANoff()
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self.TACANon=false
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return self
|
|
end
|
|
|
|
--- Set TACAN channel of tanker.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #number channel TACAN channel. Default 1.
|
|
-- @param #string mode TACAN mode, i.e. "X" or "Y". Default "Y".
|
|
-- @param #string morse TACAN morse code identifier. Three letters. Default "TKR".
|
|
-- @return #RECOVERYTANKER self
|
|
function RECOVERYTANKER:SetTACAN(channel, mode, morse)
|
|
self.TACANchannel=channel or 1
|
|
self.TACANmode=mode or "Y"
|
|
self.TACANmorse=morse or "TKR"
|
|
self.TACANon=true
|
|
return self
|
|
end
|
|
|
|
--- Check if tanker is currently returning to base.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @return #boolean If true, tanker is returning to base.
|
|
function RECOVERYTANKER:IsReturning()
|
|
return self:is("Returning")
|
|
end
|
|
|
|
--- Check if tanker is currently operating.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @return #boolean If true, tanker is operating.
|
|
function RECOVERYTANKER:IsRunning()
|
|
return self:is("Running")
|
|
end
|
|
|
|
--- Check if tanker is currently refueling another aircraft.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @return #boolean If true, tanker is refueling.
|
|
function RECOVERYTANKER:IsRefueling()
|
|
return self:is("Refueling")
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- FSM states
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- On after Start event. Starts the warehouse. Addes event handlers and schedules status updates of reqests and queue.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function RECOVERYTANKER:onafterStart(From, Event, To)
|
|
|
|
-- Info on start.
|
|
self:I(string.format("Starting Recovery Tanker v%s for carrier unit %s of type %s for tanker group %s.", RECOVERYTANKER.version, self.carrier:GetName(), self.carriertype, self.tankergroupname))
|
|
|
|
-- Handle events.
|
|
self:HandleEvent(EVENTS.EngineShutdown)
|
|
self:HandleEvent(EVENTS.Refueling, self._RefuelingStart) --Need explcit functions sice OnEventRefueling and OnEventRefuelingStop did not hook.
|
|
self:HandleEvent(EVENTS.RefuelingStop, self._RefuelingStop)
|
|
--self:HandleEvent(EVENTS.Crash)
|
|
|
|
-- Spawn tanker.
|
|
local Spawn=SPAWN:New(self.tankergroupname):InitUnControlled(false)
|
|
|
|
-- Spawn on carrier.
|
|
if self.takeoff==SPAWN.Takeoff.Air then
|
|
|
|
-- Carrier heading
|
|
local hdg=self.carrier:GetHeading()
|
|
|
|
-- Spawn distance behind the carrier.
|
|
local dist=UTILS.NMToMeters(20)
|
|
|
|
-- Coordinate behind the carrier
|
|
local Carrier=self.carrier:GetCoordinate():SetAltitude(self.altitude):Translate(-dist, hdg)
|
|
|
|
-- Orientation of spawned group.
|
|
Spawn:InitHeading(hdg)
|
|
|
|
-- Spawn at coordinate.
|
|
self.tanker=Spawn:SpawnFromCoordinate(Carrier)
|
|
|
|
-- Initial route.
|
|
self:_InitRoute(15, 1)
|
|
else
|
|
|
|
-- Check if an uncontrolled tanker group was requested.
|
|
if self.useuncontrolled then
|
|
|
|
-- Use an uncontrolled aircraft group.
|
|
self.tanker=GROUP:FindByName(self.tankergroupname)
|
|
|
|
if self.tanker:IsAlive() then
|
|
|
|
-- Start uncontrolled group.
|
|
self.tanker:StartUncontrolled()
|
|
|
|
else
|
|
-- No group by that name!
|
|
self:E(string.format("ERROR: No uncontrolled (alive) tanker group with name %s could be found!", self.tankergroupname))
|
|
return
|
|
end
|
|
|
|
else
|
|
|
|
-- Spawn tanker at airbase.
|
|
self.tanker=Spawn:SpawnAtAirbase(self.airbase, self.takeoff)
|
|
|
|
end
|
|
|
|
-- Initialize route.
|
|
self:_InitRoute(15, 1)
|
|
|
|
end
|
|
|
|
-- Create tanker beacon.
|
|
if self.TACANon then
|
|
self:_ActivateTACAN(2)
|
|
end
|
|
|
|
-- Get initial orientation and position of carrier.
|
|
self.orientation=self.carrier:GetOrientationX()
|
|
self.position=self.carrier:GetCoordinate()
|
|
|
|
-- Init status check.
|
|
self:__Status(10)
|
|
end
|
|
|
|
|
|
--- On after Status event. Checks player status.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function RECOVERYTANKER:onafterStatus(From, Event, To)
|
|
|
|
-- Get current time.
|
|
local time=timer.getTime()
|
|
|
|
-- Get fuel of tanker.
|
|
local fuel=self.tanker:GetFuel()*100
|
|
local text=string.format("Recovery tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
|
|
self:I(text)
|
|
|
|
-- Check if tanker is running and not RTBing or refueling.
|
|
if self:IsRunning() then
|
|
|
|
-- Check fuel.
|
|
if fuel<self.lowfuel then
|
|
|
|
-- Check if spawn in air is activated.
|
|
if self.takeoff==SPAWN.Takeoff.Air or self.respawninair then
|
|
|
|
-- Check that respawn should happen.
|
|
if self.respawn then
|
|
|
|
-- Debug message.
|
|
local text=string.format("Respawning tanker %s.", self.tanker:GetName())
|
|
self:I(text)
|
|
|
|
-- Respawn tanker.
|
|
self.tanker:InitHeading(self.tanker:GetHeading())
|
|
self.tanker=self.tanker:Respawn(nil, true)
|
|
|
|
-- Create tanker beacon and activate TACAN.
|
|
if self.TACANon then
|
|
self:_ActivateTACAN(3)
|
|
end
|
|
|
|
-- Update Pattern in 2 seconds. Need to give a bit time so that the respawned group is in the game.
|
|
self:__PatternUpdate(2)
|
|
end
|
|
|
|
else
|
|
|
|
-- Send tanker home if fuel runs low.
|
|
self:RTB(self.airbase)
|
|
|
|
end
|
|
|
|
else
|
|
|
|
if self.Tupdate then
|
|
|
|
--Time since last pattern update.
|
|
local dt=time-self.Tupdate
|
|
|
|
-- Check if pattern needs to be updated.
|
|
local updatepattern=self:_CheckPatternUpdate(dt)
|
|
|
|
-- Update pattern.
|
|
if updatepattern then
|
|
self:PatternUpdate()
|
|
end
|
|
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
-- Call status again in 1 minute.
|
|
self:__Status(-60)
|
|
end
|
|
|
|
--- On after "PatternUpdate" event. Updates the racetrack pattern of the tanker wrt the carrier position.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function RECOVERYTANKER:onafterPatternUpdate(From, Event, To)
|
|
|
|
-- Debug message.
|
|
self:I(string.format("Updating recovery tanker %s orbit.", self.tanker:GetName()))
|
|
|
|
-- Carrier heading.
|
|
local hdg=self.carrier:GetHeading()
|
|
|
|
-- Carrier position.
|
|
local Carrier=self.carrier:GetCoordinate()
|
|
|
|
-- Define race-track pattern.
|
|
local p0=self.tanker:GetCoordinate():Translate(2000, self.tanker:GetHeading())
|
|
local p1=Carrier:SetAltitude(self.altitude):Translate(self.distStern, hdg)
|
|
local p2=Carrier:SetAltitude(self.altitude):Translate(self.distBow, hdg)
|
|
|
|
-- Set orbit task.
|
|
local taskorbit=self.tanker:TaskOrbit(p1, self.altitude, self.speed, p2)
|
|
|
|
-- Debug markers.
|
|
if self.Debug then
|
|
p0:MarkToAll("Waypoint P0 " ..self.tanker:GetName())
|
|
p1:MarkToAll("Racetrack P1 "..self.tanker:GetName())
|
|
p2:MarkToAll("Racetrack P2 "..self.tanker:GetName())
|
|
self.tanker:SmokeRed()
|
|
end
|
|
|
|
-- Waypoints array.
|
|
local wp={}
|
|
|
|
-- New waypoint with orbit pattern task.
|
|
wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil , self.speed, {}, "Current Position")
|
|
wp[2]=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
|
|
|
|
-- Initialize WP and route tanker.
|
|
self.tanker:WayPointInitialize(wp)
|
|
|
|
-- Task combo.
|
|
local tasktanker = self.tanker:EnRouteTaskTanker()
|
|
local taskroute = self.tanker:TaskRoute(wp)
|
|
-- Note that tasktanker has to come first. Otherwise it does not work!
|
|
local taskcombo = self.tanker:TaskCombo({tasktanker, taskroute})
|
|
|
|
-- Set task.
|
|
self.tanker:SetTask(taskcombo, 1)
|
|
|
|
-- Set update time.
|
|
self.Tupdate=timer.getTime()
|
|
end
|
|
|
|
--- On after "RTB" event. Send tanker back to carrier.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param Wrapper.Airbase#AIRBASE airbase The airbase where the tanker should return to.
|
|
function RECOVERYTANKER:onafterRTB(From, Event, To, airbase)
|
|
|
|
-- Default is the home base.
|
|
airbase=airbase or self.airbase
|
|
|
|
-- Debug message.
|
|
local text=string.format("Tanker %s returning to airbase %s.", self.tanker:GetName(), airbase:GetName())
|
|
self:I(text)
|
|
|
|
-- Waypoint array.
|
|
local wp={}
|
|
|
|
-- Set landing waypoint.
|
|
wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
|
|
wp[2]=airbase:GetCoordinate():WaypointAirLanding(300, airbase, nil, "Land at airbase")
|
|
|
|
-- Initialize WP and route tanker.
|
|
self.tanker:WayPointInitialize(wp)
|
|
|
|
-- Set task.
|
|
self.tanker:Route(wp, 1)
|
|
end
|
|
|
|
--- On after Stop event. Unhandle events and stop status updates.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
function RECOVERYTANKER:onafterStop(From, Event, To)
|
|
self:UnHandleEvent(EVENTS.EngineShutdown)
|
|
self:UnHandleEvent(EVENTS.Refueling)
|
|
self:UnHandleEvent(EVENTS.RefuelingStop)
|
|
--self:UnHandleEvent(EVENTS.Land)
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- EVENT functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Event handler for engine shutdown of recovery tanker.
|
|
-- Respawn tanker group once it landed because it was out of fuel.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param Core.Event#EVENTDATA EventData Event data.
|
|
function RECOVERYTANKER:OnEventEngineShutdown(EventData)
|
|
|
|
local group=EventData.IniGroup --Wrapper.Group#GROUP
|
|
|
|
-- Check if group is alive and should be respawned.
|
|
if group:IsAlive() and self.respawn then
|
|
|
|
-- Group name. When spawning it will have #001 attached.
|
|
local groupname=group:GetName()
|
|
|
|
if groupname:match(self.tankergroupname) then
|
|
|
|
-- Debug info.
|
|
self:I(string.format("Respawning recovery tanker group %s.", group:GetName()))
|
|
|
|
-- Respawn tanker.
|
|
self.tanker=group:RespawnAtCurrentAirbase()
|
|
|
|
-- Create tanker beacon and activate TACAN.
|
|
if self.TACANon then
|
|
self:_ActivateTACAN(2)
|
|
end
|
|
|
|
-- Initial route.
|
|
self:_InitRoute(15, 1)
|
|
end
|
|
|
|
end
|
|
end
|
|
|
|
--- Event handler for refueling started.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param Core.Event#EVENTDATA EventData Event data.
|
|
function RECOVERYTANKER:_RefuelingStart(EventData)
|
|
|
|
if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
|
|
|
|
-- Unit receiving fuel.
|
|
local unit=EventData.IniUnit
|
|
|
|
-- Get distance to tanker to check that unit is receiving fuel from this tanker.
|
|
local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
|
|
|
|
-- If distance > 100 meters, this should be another tanker.
|
|
if dist>100 then
|
|
return
|
|
end
|
|
|
|
-- Info message.
|
|
self:I(string.format("Recovery tanker %s started refueling unit %s", self.tanker:GetName(), unit:GetName()))
|
|
|
|
-- FMS state "Refueling".
|
|
self:Refuel(unit)
|
|
|
|
end
|
|
|
|
end
|
|
|
|
--- Event handler for refueling stopped.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param Core.Event#EVENTDATA EventData Event data.
|
|
function RECOVERYTANKER:_RefuelingStop(EventData)
|
|
|
|
if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
|
|
|
|
-- Unit receiving fuel.
|
|
local unit=EventData.IniUnit
|
|
|
|
-- Get distance to tanker to check that unit is receiving fuel from this tanker.
|
|
local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
|
|
|
|
-- If distance > 100 meters, this should be another tanker.
|
|
if dist>100 then
|
|
return
|
|
end
|
|
|
|
-- Info message.
|
|
self:I(string.format("Recovery tanker %s stopped refueling unit %s", self.tanker:GetName(), unit:GetName()))
|
|
|
|
-- FSM state "Running".
|
|
self:Run()
|
|
end
|
|
|
|
end
|
|
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- MISC functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Task function to
|
|
-- @param #RECOVERYTANKER self
|
|
function RECOVERYTANKER:_InitPatternTaskFunction()
|
|
|
|
-- Name of the warehouse (static) object.
|
|
local carriername=self.carrier:GetName()
|
|
|
|
-- Task script.
|
|
local DCSScript = {}
|
|
DCSScript[#DCSScript+1] = string.format('local mycarrier = UNIT:FindByName(\"%s\") ', carriername) -- The carrier unit that holds the self object.
|
|
DCSScript[#DCSScript+1] = string.format('local mytanker = mycarrier:GetState(mycarrier, \"RECOVERYTANKER\") ') -- Get the RECOVERYTANKER self object.
|
|
DCSScript[#DCSScript+1] = string.format('mytanker:PatternUpdate()') -- Call the function, e.g. mytanker.(self)
|
|
|
|
-- Create task.
|
|
local DCSTask = CONTROLLABLE.TaskWrappedAction(self, CONTROLLABLE.CommandDoScript(self, table.concat(DCSScript)))
|
|
|
|
return DCSTask
|
|
end
|
|
|
|
|
|
--- Init waypoint after spawn.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #number dist Distance [NM] of initial waypoint astern carrier. Default 15 NM.
|
|
-- @param #number delay Delay before routing in seconds. Default 1 second.
|
|
function RECOVERYTANKER:_InitRoute(dist, delay)
|
|
|
|
-- Defaults.
|
|
dist=UTILS.NMToMeters(dist or 15)
|
|
delay=delay or 1
|
|
|
|
-- Debug message.
|
|
self:I(string.format("Initializing route for recovery tanker %s.", self.tanker:GetName()))
|
|
|
|
-- Carrier position.
|
|
local Carrier=self.carrier:GetCoordinate()
|
|
|
|
-- Carrier heading.
|
|
local hdg=self.carrier:GetHeading()
|
|
|
|
-- First waypoint is ~15 NM behind the boat.
|
|
local p=Carrier:Translate(-dist, hdg):SetAltitude(self.altitude)
|
|
|
|
-- Debug mark.
|
|
if self.Debug then
|
|
p:MarkToAll(string.format("Init WP: alt=%d ft, speed=%d kts", UTILS.MetersToFeet(self.altitude), UTILS.MpsToKnots(self.speed)))
|
|
end
|
|
|
|
-- Task to update pattern when wp 2 is reached.
|
|
local task=self:_InitPatternTaskFunction()
|
|
|
|
-- Waypoints.
|
|
local wp={}
|
|
if self.takeoff==SPAWN.Takeoff.Air then
|
|
wp[#wp+1]=self.tanker:GetCoordinate():SetAltitude(self.altitude):WaypointAirTurningPoint(nil, self.speed, {}, "Spawn Position")
|
|
else
|
|
wp[#wp+1]=Carrier:WaypointAirTakeOffParking()
|
|
end
|
|
wp[#wp+1]=p:WaypointAirTurningPoint(nil, self.speed, {task}, "Begin Pattern")
|
|
|
|
-- Set route.
|
|
self.tanker:Route(wp, delay)
|
|
|
|
-- No update yet, wait until the function is called (avoids checks if pattern update is needed).
|
|
self.Tupdate=nil
|
|
end
|
|
|
|
--- Check if heading or position have changed significantly.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #number dt Time since last update in seconds.
|
|
-- @return #boolean If true, heading and/or position have changed more than 10 degrees or 10 km, respectively.
|
|
function RECOVERYTANKER:_CheckPatternUpdate(dt)
|
|
|
|
-- Assume no update necessary.
|
|
local update=false
|
|
|
|
-- Get current position and orientation of carrier.
|
|
local pos=self.carrier:GetCoordinate()
|
|
local vC=self.carrier:GetOrientationX()
|
|
|
|
-- Check if tanker is running and last updated is more than 10 minutes ago.
|
|
if self:IsRunning() and dt>10*60 then
|
|
|
|
-- Last saved orientation of carrier.
|
|
local vP=self.orientation
|
|
|
|
-- We only need the X-Z plane.
|
|
vC.y=0 ; vP.y=0
|
|
|
|
-- Get angle between the two orientation vectors in rad.
|
|
local rhdg=math.deg(math.acos(UTILS.VecDot(vC,vP)/UTILS.VecNorm(vC)/UTILS.VecNorm(vP)))
|
|
|
|
-- Check if orientation changed.
|
|
-- TODO: make 5 deg input variable.
|
|
if math.abs(rhdg)>5 then
|
|
self:I(string.format("Carrier heading changed by %d degrees. Updating recovery tanker pattern.", rhdg))
|
|
update=true
|
|
end
|
|
|
|
-- Get distance to saved position.
|
|
local dist=pos:Get2DDistance(self.position)
|
|
|
|
-- Check if carrier moved more than 10 km.
|
|
-- TODO: make 10 km input variable.
|
|
if dist/1000>10 then
|
|
self:I(string.format("Carrier position changed by %.1f km. Updating recovery tanker pattern.", dist/1000))
|
|
update=true
|
|
end
|
|
|
|
end
|
|
|
|
-- If pattern is updated then update orientation AND positon.
|
|
-- But only if last update is less then 10 minutes ago.
|
|
if update then
|
|
self.orientation=vC
|
|
self.position=pos
|
|
end
|
|
|
|
return update
|
|
end
|
|
|
|
--- Activate TACAN of tanker.
|
|
-- @param #RECOVERYTANKER self
|
|
-- @param #number delay Delay in seconds.
|
|
function RECOVERYTANKER:_ActivateTACAN(delay)
|
|
|
|
if delay and delay>0 then
|
|
|
|
-- Schedule TACAN activation.
|
|
SCHEDULER:New(nil,self._ActivateTACAN, {self}, delay)
|
|
|
|
else
|
|
|
|
-- Get tanker unit.
|
|
local unit=self.tanker:GetUnit(1)
|
|
|
|
-- Check if unit is alive.
|
|
if unit:IsAlive() then
|
|
|
|
-- Debug message.
|
|
self:I(string.format("Activating recovery tanker TACAN beacon: channel=%d mode=%s, morse=%s.", self.TACANchannel, self.TACANmode, self.TACANmorse))
|
|
|
|
-- Create a new beacon and activate TACAN.
|
|
self.beacon=BEACON:New(unit)
|
|
self.beacon:ActivateTACAN(self.TACANchannel, self.TACANmode, self.TACANmorse, true)
|
|
|
|
else
|
|
self:E("ERROR: Recovery tanker is not alive!")
|
|
end
|
|
|
|
end
|
|
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|