MOOSE/Moose Development/Moose/Ops/PlayerTask.lua

--- **Ops** - PlayerTask (mission) for Players.
--
-- ## Main Features:
--
--    * Simplifies defining and executing Player tasks
--    * FSM events when a mission is done, successful or failed
--
-- ===
--
-- ## Example Missions:
--
-- Demo missions can be found on [github](https://github.com/FlightControl-Master/MOOSE_MISSIONS/tree/develop/).
--
-- ===
--
-- ### Author: **Applevangelist**
--
-- ===
-- @module Ops.PlayerTask
-- @image OPS_PlayerTask.png


--- PLAYERTASK class.
-- @type PLAYERTASK
-- @field #string ClassName Name of the class.
-- @field #boolean verbose Switch verbosity.
-- @field #string lid Class id string for output to DCS log file.
-- @field #number PlayerTaskNr (Globally unique) Number of the task.
-- @field Ops.Auftrag#AUFTRAG.Type Type The type of the task
-- @field Ops.Target#TARGET Target The target for this Task
-- @field Utilities.FiFo#FIFO Clients Table of Wrapper.Client#CLIENT planes executing this task
-- @field #boolean Repeat
-- @field #number repeats
-- @field #number RepeatNo
-- @field Wrapper.Marker#MARKER TargetMarker
-- @field #number SmokeColor
-- @field #number FlareColor
-- @field #table conditionSuccess   =   {},
-- @field #table conditionFailure   =   {},
-- @field Ops.PlayerTask#PLAYERTASKCONTROLLER TaskController
--
-- @extends Core.Fsm#FSM

--- Global PlayerTaskNr counter
_PlayerTaskNr = 0

---
-- @field #PLAYERTASK
PLAYERTASK = {
  ClassName          = "PLAYERTASK",
  verbose            =   true,
  lid                =   nil,
  PlayerTaskNr       =   nil,
  Type               =   nil,
  Target             =   nil,
  Clients            =   nil,
  Repeat             =   false,
  repeats            =   0,
  RepeatNo           =   1,
  TargetMarker       =   nil,
  SmokeColor         =   nil,
  FlareColor         =   nil,
  conditionSuccess   =   {},
  conditionFailure   =   {},
  TaskController     =   nil,
  }
  
--- PLAYERTASK class version.
-- @field #string version
PLAYERTASK.version="0.0.5"

--- Generic task condition.
-- @type PLAYERTASK.Condition
-- @field #function func Callback function to check for a condition. Should return a #boolean.
-- @field #table arg Optional arguments passed to the condition callback function.

--- Constructor
-- @param #PLAYERTASK self
-- @param Ops.Auftrag#AUFTRAG.Type Type Type of this task
-- @param Ops.Target#TARGET Target Target for this task
-- @param #boolean Repeat Repeat this task if true (default = false)
-- @param #number Times Repeat on failure this many times if Repeat is true (default = 1)
-- @return #PLAYERTASK self 
function PLAYERTASK:New(Type, Target, Repeat, Times)

  -- Inherit everything from FSM class.
  local self=BASE:Inherit(self, FSM:New()) -- #PLAYERTASK
  
  self.Type = Type
  
  self.Repeat = false
  self.repeats = 0
  self.RepeatNo = 1
  self.Clients = FIFO:New() -- Utilities.FiFo#FIFO
  self.TargetMarker = nil -- Wrapper.Marker#MARKER
  self.SmokeColor = SMOKECOLOR.Red
  self.conditionSuccess = {}
  self.conditionFailure = {}
  self.TaskController = nil -- Ops.PlayerTask#PLAYERTASKCONTROLLER
  
  if Repeat then
    self.Repeat = true
    self.RepeatNo = Times or 1
  end
  
  _PlayerTaskNr = _PlayerTaskNr + 1
  
  self.PlayerTaskNr = _PlayerTaskNr
  
  self.lid=string.format("PlayerTask #%d %s | ", self.PlayerTaskNr, tostring(self.Type))
  
  if Target and Target.ClassName and Target.ClassName == "TARGET" then
    self.Target = Target
  elseif Target and Target.ClassName then
    self.Target = TARGET:New(Target)
  else
    self:E(self.lid.."*** NO VALID TARGET!")
    return self
  end
  
  self:I(self.lid.."Created.")
  
  -- FMS start state is PLANNED.
  self:SetStartState("Planned")

  -- PLANNED --> REQUESTED --> EXECUTING --> DONE
  self:AddTransition("*",            "Planned",          "Planned")   -- Task is in planning stage. 
  self:AddTransition("*",            "Requested",        "Requested")   -- Task clients have been requested to join.
  self:AddTransition("*",            "ClientAdded",      "*")  -- Client has been added to the task
  self:AddTransition("*",            "ClientRemoved",    "*")  -- Client has been added to the task
  self:AddTransition("*",            "Executing",        "Executing")   -- First client is executing the Task.
  self:AddTransition("*",            "Done",             "Done")   -- All clients have reported that Task is done.
  self:AddTransition("*",            "Cancel",           "Done")   -- Command to cancel the Task.
  self:AddTransition("*",            "Success",          "Done")
  self:AddTransition("*",            "ClientAborted",    "*")
  self:AddTransition("*",            "Failed",           "*") -- Done or repeat --> PLANNED
  self:AddTransition("*",            "Status",           "*")
  self:AddTransition("*",            "Stop",             "Stopped")
  
  self:__Status(-5)
  return self
end

--- [Internal] Add a PLAYERTASKCONTROLLER for this task
-- @param #PLAYERTASK self
-- @param Ops.PlayerTask#PLAYERTASKCONTROLLER Controller
-- @return #PLAYERTASK self
function PLAYERTASK:_SetController(Controller)
  self:I(self.lid.."_SetController")
  self.TaskController = Controller
  return self
end

--- [User] Check is task is done
-- @param #PLAYERTASK self
-- @return #boolean done
function PLAYERTASK:IsDone()
  self:I(self.lid.."IsDone?")
  local IsDone = false
  local state = self:GetState()
  if state == "Done" or state == "Stopped" then
    IsDone = true
  end
  return IsDone
end

--- [User] Add a client to this task
-- @param #PLAYERTASK self
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASK self
function PLAYERTASK:AddClient(Client)
  self:I(self.lid.."AddClient")
  local name = Client:GetName()
  if not self.Clients:HasUniqueID(name) then
    self.Clients:Push(Client,name)
    self:__ClientAdded(-2,Client)
  end
  return self
end

--- [User] Remove a client from this task
-- @param #PLAYERTASK self
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASK self
function PLAYERTASK:RemoveClient(Client)
  self:I(self.lid.."RemoveClient")
  local name = Client:GetName()
  if self.Clients:HasUniqueID(name) then
    self.Clients:PullByID(name)
    self:__ClientRemoved(-2,Client)
    if self.Clients:Count() == 0 then
      self:__Failed(-1)
    end
  end
  return self
end

--- [User] Client has aborted task this task
-- @param #PLAYERTASK self
-- @param Wrapper.Client#CLIENT Client (optional)
-- @return #PLAYERTASK self
function PLAYERTASK:ClientAbort(Client)
  self:I(self.lid.."ClientAbort")
  local name = Client:GetName()
  if Client and Client:IsAlive() then
    self:RemoveClient(Client)
    self:__ClientAborted(-1,Client)
    return self
  else
    -- no client given, abort whole task if no one else is assigned
    if self.Clients:Count() == 0 then
      -- return to planned state if repeat    
      self:__Failed(-1)
    end
  end
  return self
end

--- [User] Create target mark on F10 map
-- @param #PLAYERTASK self
-- @return #PLAYERTASK self
function PLAYERTASK:MarkTargetOnF10Map()
  self:I(self.lid.."MarkTargetOnF10Map")
  if self.Target then
    local coordinate = self.Target:GetCoordinate()
    if coordinate then
      if self.TargetMarker then
        -- Marker exists, delete one first
        self.TargetMarker:Remove()
      end
      self.TargetMarker = MARKER:New(coordinate,"Target of "..self.lid)
      self.TargetMarker:ReadOnly()
      self.TargetMarker:ToAll()
    end
  end
  return self
end

--- [User] Smoke Target
-- @param #PLAYERTASK self
-- @param #number Color, defaults to SMOKECOLOR.Red
-- @return #PLAYERTASK self
function PLAYERTASK:SmokeTarget(Color)
  self:I(self.lid.."SmokeTarget")
  local color = Color or SMOKECOLOR.Red
  if self.Target then
    local coordinate = self.Target:GetCoordinate()
    if coordinate then
      coordinate:Smoke(color)
    end
  end
  return self
end

--- [User] Flare Target
-- @param #PLAYERTASK self
-- @param #number Color, defaults to FLARECOLOR.Red
-- @return #PLAYERTASK self
function PLAYERTASK:FlareTarget(Color)
  self:I(self.lid.."SmokeTarget")
  local color = Color or FLARECOLOR.Red
  if self.Target then
    local coordinate = self.Target:GetCoordinate()
    if coordinate then
      coordinate:Flare(color,0)
    end
  end
  return self
end

-- success / failure function addion courtesy @FunkyFranky.

--- [User] Add success condition.
-- @param #PLAYERTASK self
-- @param #function ConditionFunction If this function returns `true`, the mission is cancelled.
-- @param ... Condition function arguments if any.
-- @return #PLAYERTASK self
function PLAYERTASK:AddConditionSuccess(ConditionFunction, ...)

  local condition={} --#PLAYERTASK.Condition

  condition.func=ConditionFunction
  condition.arg={}
  if arg then
    condition.arg=arg
  end

  table.insert(self.conditionSuccess, condition)

  return self
end

--- [User] Add failure condition.
-- @param #PLAYERTASK self
-- @param #function ConditionFunction If this function returns `true`, the task is cancelled.
-- @param ... Condition function arguments if any.
-- @return #PLAYERTASK self
function PLAYERTASK:AddConditionFailure(ConditionFunction, ...)

  local condition={} --#PLAYERTASK.Condition

  condition.func=ConditionFunction
  condition.arg={}
  if arg then
    condition.arg=arg
  end

  table.insert(self.conditionFailure, condition)

  return self
end

--- [Internal] Check if any of the given conditions is true.
-- @param #PLAYERTASK self
-- @param #table Conditions Table of conditions.
-- @return #boolean If true, at least one condition is true.
function PLAYERTASK:_EvalConditionsAny(Conditions)

  -- Any stop condition must be true.
  for _,_condition in pairs(Conditions or {}) do
    local condition=_condition --#AUFTRAG.Condition

    -- Call function.
    local istrue=condition.func(unpack(condition.arg))

    -- Any true will return true.
    if istrue then
      return true
    end

  end

  -- No condition was true.
  return false
end

--- [Internal] On after status call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterStatus(From, Event, To)
  self:I({From, Event, To})
  self:I(self.lid.."onafterStatus")
  
  local status = self:GetState()
  
  -- Check Target status
  local targetdead = false
  if self.Target:IsDead() or self.Target:IsDestroyed() then
    targetdead = true
    self:__Success(-2)
    status = "Success"
    return self
  end
    
  if status == "Executing" then    
    -- Check Clients alive
    local clientsalive = false
    local ClientTable = self.Clients:GetDataTable()
    for _,_client in pairs(ClientTable) do
      local client = _client -- Wrapper.Client#CLIENT
      if client:IsAlive() then
        clientsalive=true -- one or more clients alive
      end
    end
    
    -- Failed?
    if status == "Executing" and (not clientsalive) and (not targetdead) then
      self:__Failed(-2)
      status = "Failed"
    end
    
    -- Any success condition true?
    local successCondition=self:_EvalConditionsAny(self.conditionSuccess)
  
    -- Any failure condition true?
    local failureCondition=self:_EvalConditionsAny(self.conditionFailure)
  
    if failureCondition then
      self:__Failed(-2)
      status = "Failed"
    elseif successCondition then
      self:__Success(-2)
      status = "Success"
    end
    
    if self.verbose then
      self:I(self.lid.."Target dead: "..tostring(targetdead).." | Clients alive: " .. tostring(clientsalive))
    end
  end
  
  -- Continue if we are not done
  if status ~= "Done" then
    self:__Status(-20)
  else
    self:__Stop(-1)
  end
  
  return self
end


--- [Internal] On after planned call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterPlanned(From, Event, To)
  self:I({From, Event, To})
  return self
end

--- [Internal] On after requested call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterRequested(From, Event, To)
  self:I({From, Event, To})
  return self
end

--- [Internal] On after executing call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterExecuting(From, Event, To)
  self:I({From, Event, To})
  return self
end

--- [Internal] On after status call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterStop(From, Event, To)
  self:I({From, Event, To})
  return self
end

--- [Internal] On after client added call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASK self
function PLAYERTASK:onafterClientAdded(From, Event, To, Client)
  self:I({From, Event, To})
  if Client then
    local text = string.format("Player %s joined task %d!",Client:GetPlayerName() or "Generic",self.PlayerTaskNr)
    self:I(self.lid..text)
  end
  return self
end

--- [Internal] On after done call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterDone(From, Event, To)
  self:I({From, Event, To})
  if self.TaskController then
    self.TaskController:__TaskDone(-1,self)
  end
  self:__Stop(-1)
  return self
end

--- [Internal] On after cancel call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterCancel(From, Event, To)
  self:I({From, Event, To})
  if self.TaskController then
    self.TaskController:__TaskCancelled(-1,self)
  end
  self:__Done(-1)
  return self
end

--- [Internal] On after success call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterSuccess(From, Event, To)
  self:I({From, Event, To})
  if self.TaskController then
    self.TaskController:__TaskSuccess(-1,self)
  end
  if self.TargetMarker then
    self.TargetMarker:Remove()
  end
  self:__Done(-1)
  return self
end

--- [Internal] On after failed call
-- @param #PLAYERTASK self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASK self
function PLAYERTASK:onafterFailed(From, Event, To)
  self:I({From, Event, To})
  self.repeats = self.repeats + 1
  -- repeat on failed?
  if self.Repeat and (self.repeats <= self.RepeatNo) then
    if self.TaskController then
      self.TaskController:__TaskRepeatOnFailed(-1,self)
    end
    self:__Planned(-1)
    return self
  else
    if self.TargetMarker then
      self.TargetMarker:Remove()
    end
    if self.TaskController then
      self.TaskController:__TaskFailed(-1,self)
    end
    self:__Done(-1)
  end
  return self
end

-------------------------------------------------------------------------------------------------------------------
-- PLAYERTASKCONTROLLER
-- TODO: PLAYERTASKCONTROLLER
-------------------------------------------------------------------------------------------------------------------

--- PLAYERTASKCONTROLLER class.
-- @type PLAYERTASKCONTROLLER
-- @field #string ClassName Name of the class.
-- @field #boolean verbose Switch verbosity.
-- @field #string lid Class id string for output to DCS log file.
-- @field Utilities.FiFo#FIFO TargetQueue
-- @field Utilities.FiFo#FIFO TaskQueue
-- @field Utilities.FiFo#FIFO TasksPerPlayer
-- @field Core.Set#SET_CLIENT ClientSet
-- @field #string ClientFilter
-- @field #string Name
-- @field #string Type
-- @field #boolean UseGroupNames
-- 


---
-- @field #PLAYERTASKCONTROLLER
PLAYERTASKCONTROLLER = {
  ClassName          = "PLAYERTASKCONTROLLER",
  verbose            =   true,
  lid                =   nil,
  TargetQueue        =   nil,
  ClientSet          =   nil,
  UseGroupNames      =   true,
  }

---
-- @field Type
PLAYERTASKCONTROLLER.Type = {
  A2A = "Air-To-Air",
  A2G = "Air-To-Ground",
  A2S = "Air-To-Sea",
}
  
--- PLAYERTASK class version.
-- @field #string version
PLAYERTASKCONTROLLER.version="0.0.3"

--- Constructor
-- @param #PLAYERTASKCONTROLLER self
-- @param #string Name Name of this controller
-- @param #number Coalition of this controller, e.g. coalition.side.BLUE
-- @param #string Type Type of the tasks controlled, defaults to PLAYERTASKCONTROLLER.Type.A2G
-- @param #string ClientFilter (optional) Additional prefix filter for the SET_CLIENT
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:New(Name, Coalition, Type, ClientFilter)
  
  -- Inherit everything from FSM class.
  local self=BASE:Inherit(self, FSM:New()) -- #PLAYERTASKCONTROLLER
  
  self.Name = Name or "CentCom"
  self.Coalition = Coalition or coalition.side.BLUE
  self.CoalitionName = UTILS.GetCoalitionName(Coalition)
  self.Type = Type or PLAYERTASKCONTROLLER.Type.A2G
  self.ClientFilter = ClientFilter or ""
  
  self.TargetQueue = FIFO:New() -- Utilities.FiFo#FIFO
  self.TaskQueue = FIFO:New() -- Utilities.FiFo#FIFO
  self.TasksPerPlayer = FIFO:New() -- Utilities.FiFo#FIFO
  
  self.repeatonfailed = true
  self.repeattimes = 5
  self.UseGroupNames = true
  
  if ClientFilter then
    self.ClientSet = SET_CLIENT:New():FilterCoalitions(string.lower(self.CoalitionName)):FilterActive(true):FilterPrefixes(ClientFilter):FilterStart()
  else
    self.ClientSet = SET_CLIENT:New():FilterCoalitions(string.lower(self.CoalitionName)):FilterActive(true):FilterStart()
  end
  
  self.lid=string.format("PlayerTaskController %s %s | ", self.Name, tostring(self.Type))
  
  -- FSM start state is STOPPED.
  self:SetStartState("Stopped")
  
  self:AddTransition("Stopped",      "Start",                 "Running")
  self:AddTransition("*",            "Status",                "*")
  self:AddTransition("*",            "TaskDone",              "*")
  self:AddTransition("*",            "TaskCancelled",         "*")
  self:AddTransition("*",            "TaskSuccess",           "*")
  self:AddTransition("*",            "TaskFailed",            "*")
  self:AddTransition("*",            "TaskRepeatOnFailed",    "*")
  self:AddTransition("*",            "Stop",                  "Stopped")
  
  self:__Start(-1)
  self:__Status(-2)
  
  self:I(self.lid.."Started.")
  
  return self
end

function PLAYERTASKCONTROLLER:_DummyMenu(group)
  self:I(self.lid.."_DummyMenu")
  return self
end

--- [user] Switch usage of target names for menu entries on or off
-- @param #PLAYERTASKCONTROLLER self
-- @param #boolean OnOff If true, set to on (default), if nil or false, set to off
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:SwitchUseGroupNames(OnOff)
  self:I(self.lid.."SwitchUseGroupNames")
  if OnOff then
    self.UseGroupNames = true
  else
   self.UseGroupNames = false
  end
  return self
end

--- [Internal] Get task types for the menu
-- @param #PLAYERTASKCONTROLLER self
-- @return #table TaskTypes
function PLAYERTASKCONTROLLER:_GetAvailableTaskTypes()
  self:I(self.lid.."_GetAvailableTaskTypes")
  local tasktypes = {}
  self.TaskQueue:ForEach(
    function (Task)
      local task = Task -- Ops.PlayerTask#PLAYERTASK
      local type = Task.Type
      tasktypes[type] = {}
    end
  )
  return tasktypes
end

--- [Internal] Get task per type for the menu
-- @param #PLAYERTASKCONTROLLER self
-- @return #table TasksPerTypes
function PLAYERTASKCONTROLLER:_GetTasksPerType()
  self:I(self.lid.."_GetTasksPerType")
  local tasktypes = self:_GetAvailableTaskTypes()
  
  self:I({tasktypes})
  
  self.TaskQueue:ForEach(
    function (Task)
      local task = Task -- Ops.PlayerTask#PLAYERTASK
      local type = Task.Type
      if task:GetState() ~= "Executing" and not task:IsDone() then
        table.insert(tasktypes[type],task)
      end
    end
  )
  
  return tasktypes
end

--- [Internal] Check target queue
-- @param #PLAYERTASKCONTROLLER self
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_CheckTargetQueue()
 self:I(self.lid.."_CheckTargetQueue")
 if self.TargetQueue:Count() > 0 then
  local object = self.TargetQueue:Pull()
  local target = TARGET:New(object)
  self:_AddTask(target)
 end  
 return self
end

--- [Internal] Check task queue
-- @param #PLAYERTASKCONTROLLER self
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_CheckTaskQueue()
 self:I(self.lid.."_CheckTaskQueue")
 if self.TaskQueue:Count() > 0 then
   -- remove done tasks
   local tasks = self.TaskQueue:GetIDStack()
   for _id,_entry in pairs(tasks) do
    local data = _entry.data -- Ops.PlayerTask#PLAYERTASK
    self:I("Looking at Task: "..data.PlayerTaskNr.." Type: "..data.Type.." State: "..data:GetState())
    if data:GetState() == "Done" or data:GetState() == "Stopped" then
      local task = self.TaskQueue:PullByID(_id) -- Ops.PlayerTask#PLAYERTASK
      -- TODO: Remove clients from the task
      local clientsattask = task.Clients:GetIDStackSorted()
      for _,_id in pairs(clientsattask) do
        self.TasksPerPlayer:PullByID(_id)
      end
      task = nil
    end
   end
 end  
 return self
end

--- [user] Add a target object to the target queue
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Positionable#POSITIONABLE Target The target GROUP, SET_GROUP, UNIT, SET_UNIT, STATIC, AIRBASE or COORDINATE.
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:AddTarget(Target)
  self:I(self.lid.."AddTarget")
  self.TargetQueue:Push(Target)
  return self
end

--- [Internal] Add a task to the task queue
-- @param #PLAYERTASKCONTROLLER self
-- @param Ops.Target#TARGET Target
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_AddTask(Target)
  self:I(self.lid.."_AddTask")
  local cat = Target:GetCategory()
  local type = AUFTRAG.Type.CAS
  
  if cat == TARGET.Category.GROUND then
    type = AUFTRAG.Type.CAS
    -- TODO: debug BAI, CAS, SEAD
    local targetobject = Target:GetObject() -- Wrapper.Positionable#POSITIONABLE
    if targetobject:IsInstanceOf("UNIT") then
      self:I("SEAD Check UNIT")
      if targetobject:HasSEAD() then
        type = AUFTRAG.Type.SEAD
      end
    elseif targetobject:IsInstanceOf("GROUP") then
      self:I("SEAD Check GROUP")
      local attribute = targetobject:GetAttribute()
      if attribute == GROUP.Attribute.GROUND_SAM or attribute == GROUP.Attribute.GROUND_AAA then
        type = AUFTRAG.Type.SEAD
      end
    elseif targetobject:IsInstanceOf("SET_GROUP") then
      self:I("SEAD Check SET_GROUP")
      targetobject:ForEachGroup(
        function (group)
          local attribute = group:GetAttribute()
          if attribute == GROUP.Attribute.GROUND_SAM or attribute == GROUP.Attribute.GROUND_AAA then
            type = AUFTRAG.Type.SEAD
          end
        end
      )     
    elseif targetobject:IsInstanceOf("SET_UNIT") then
      self:I("SEAD Check SET_UNIT")
      targetobject:ForEachUnit(
        function (unit)
          if unit:HasSEAD() then
            type = AUFTRAG.Type.SEAD
          end
        end
      )
    end
    -- if there are no friendlies nearby ~2km and task isn't SEAD, then it's BAI
    local targetcoord = Target:GetCoordinate()
    local targetvec2 = targetcoord:GetVec2()
    local targetzone = ZONE_RADIUS:New(self.Name,targetvec2,2000)
    local coalition = targetobject:GetCoalitionName() or "Blue"
    coalition = string.lower(coalition)
    self:I("Target coalition is "..tostring(coalition))
    local filtercoalition = "blue"
    if coalition == "blue" then filtercoalition = "red" end
    local friendlyset = SET_GROUP:New():FilterCategoryGround():FilterCoalitions(filtercoalition):FilterZones({targetzone}):FilterOnce()
    if friendlyset:Count() == 0 and type ~= AUFTRAG.Type.SEAD then
      type = AUFTRAG.Type.BAI
    end
  elseif cat == TARGET.Category.NAVAL then
    type = AUFTRAG.Type.ANTISHIP
  elseif cat == TARGET.Category.AIRCRAFT then
    type = AUFTRAG.Type.INTERCEPT
  elseif cat == TARGET.Category.AIRBASE then
    --TODO: Define Success Criteria, AB hit? Runway blocked, how to determine? change of coalition?
    type = AUFTRAG.Type.BOMBRUNWAY
  elseif cat == TARGET.Category.COORDINATE or cat == TARGET.Category.ZONE then
    --TODO: Define Success Criteria, void of enemies?
    type = AUFTRAG.Type.BOMBING
  end
  
  local task = PLAYERTASK:New(type,Target,self.repeatonfailed,self.repeattimes)
  task:_SetController(self)
  self.TaskQueue:Push(task)
  return self
end

--- [Internal] Join a player to a task
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_JoinTask(Group, Client, Task)
  self:I(self.lid.."_JoinTask")
  local playername = Client:GetPlayerName()
  if self.TasksPerPlayer:HasUniqueID(playername) then
    -- Player already has a task
    local m=MESSAGE:New("You already have one active task! Complete it first!","10","Info"):ToGroup(Group)
    return self
  end
  Task:AddClient(Client)
  local taskstate = Task:GetState()
  --self:I(self.lid.."Taskstate = "..taskstate)
  if taskstate ~= "Executing"  and taskstate ~= "Done" then
    Task:__Requested(-1)
    Task:__Executing(-2)
    local text = string.format("Player %s joined task %d in state %s", playername, Task.PlayerTaskNr, taskstate)
    self:I(self.lid..text)
    local m=MESSAGE:New(text,"10","Info"):ToAll()
    self.TasksPerPlayer:Push(Task,playername)
    Task.TaskMenu:Remove()
  end
  return self
end

--- [Internal] Show active task info
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_ActiveTaskInfo(Group, Client)
  self:I(self.lid.."_ActiveTaskInfo")
  local playername = Client:GetPlayerName()
  local text = ""
  if self.TasksPerPlayer:HasUniqueID(playername) then
    -- TODO: Show multiple
    local task = self.TasksPerPlayer:GetIDStack()
    local task = self.TasksPerPlayer:ReadByID(playername) -- Ops.PlayerTask#PLAYERTASK
    local taskname = string.format("%s Task ID %02d",task.Type,task.PlayerTaskNr)
    local Coordinate = task.Target:GetCoordinate()
    local CoordText = Coordinate:ToStringA2G(Client)
    local ThreatLevel = task.Target:GetThreatLevelMax()
    local targets = task.Target:CountTargets() or 0
    local ThreatGraph = "[" .. string.rep(  "■", ThreatLevel ) .. string.rep(  "□", 10 - ThreatLevel ) .. "]: "..ThreatLevel
    text = string.format("%s\nThreat: %s\nTargets left: %d\nCoord: %s", taskname, ThreatGraph, targets, CoordText)    
  else
    text = "No active task!"
  end
  local m=MESSAGE:New(text,15,"Tasking"):ToGroup(Group)
  return self
end

--- [Internal] Mark task on F10 map
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_MarkTask(Group, Client)
  self:I(self.lid.."_ActiveTaskInfo")
  local playername = Client:GetPlayerName()
  local text = ""
  if self.TasksPerPlayer:HasUniqueID(playername) then
    local task = self.TasksPerPlayer:ReadByID(playername) -- Ops.PlayerTask#PLAYERTASK
    task:MarkTargetOnF10Map()
    text = "Task location marked!"
  else
    text = "No active task!"
  end
  local m=MESSAGE:New(text,15,"Info"):ToGroup(Group)
  return self
end

--- [Internal] Smoke task location
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_SmokeTask(Group, Client)
  self:I(self.lid.."_SmokeTask")
  local playername = Client:GetPlayerName()
  local text = ""
  if self.TasksPerPlayer:HasUniqueID(playername) then
    local task = self.TasksPerPlayer:ReadByID(playername) -- Ops.PlayerTask#PLAYERTASK
    task:SmokeTarget()
    text = "Task location smoked!"
  else
    text = "No active task!"
  end
  local m=MESSAGE:New(text,15,"Info"):ToGroup(Group)
  return self
end

--- [Internal] Flare task location
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_FlareTask(Group, Client)
  self:I(self.lid.."_FlareTask")
  local playername = Client:GetPlayerName()
  local text = ""
  if self.TasksPerPlayer:HasUniqueID(playername) then
    local task = self.TasksPerPlayer:ReadByID(playername) -- Ops.PlayerTask#PLAYERTASK
    task:FlareTarget()
    text = "Task location illuminated!"
  else
    text = "No active task!"
  end
  local m=MESSAGE:New(text,15,"Info"):ToGroup(Group)
  return self
end

--- [Internal] Abort Task
-- @param #PLAYERTASKCONTROLLER self
-- @param Wrapper.Group#GROUP Group
-- @param Wrapper.Client#CLIENT Client
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_AbortTask(Group, Client)
  self:I(self.lid.."_FlareTask")
  local playername = Client:GetPlayerName()
  local text = ""
  if self.TasksPerPlayer:HasUniqueID(playername) then
    local task = self.TasksPerPlayer:PullByID(playername) -- Ops.PlayerTask#PLAYERTASK
    task:ClientAbort(Client)
    text = "Task aborted!"
  else
    text = "No active task!"
  end
  local m=MESSAGE:New(text,15,"Info"):ToGroup(Group)
  return self
end

--- [Internal] Build client menus
-- @param #PLAYERTASKCONTROLLER self
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:_BuildMenus()
  self:I(self.lid.."_BuildMenus")
  local clients = self.ClientSet:GetAliveSet()
  for _,_client in pairs(clients) do
    if _client then
      local client = _client -- Wrapper.Client#CLIENT
      local group = client:GetGroup()
      if group then
        local topmenu = MENU_GROUP:New(group,self.Name.." Tasking "..self.Type,nil)
        local active = MENU_GROUP:New(group,"Active Task",topmenu)
        local info = MENU_GROUP_COMMAND:New(group,"Info",active,self._ActiveTaskInfo,self,group,client)
        local mark = MENU_GROUP_COMMAND:New(group,"Mark on map",active,self._MarkTask,self,group,client)
        local smoke = MENU_GROUP_COMMAND:New(group,"Smoke",active,self._SmokeTask,self,group,client)
        local flare = MENU_GROUP_COMMAND:New(group,"Flare",active,self._FlareTask,self,group,client)
        local abort = MENU_GROUP_COMMAND:New(group,"Abort",active,self._AbortTask,self,group,client)
        
        local join = MENU_GROUP:New(group,"Join Task",topmenu)  
        
        local tasktypes = self:_GetAvailableTaskTypes()
        local taskpertype = self:_GetTasksPerType()
        
        local ttypes = {}
        local taskmenu = {}
        for _tasktype,_data in pairs(tasktypes) do
          ttypes[_tasktype] = MENU_GROUP:New(group,_tasktype,join)
          local tasks =  taskpertype[_tasktype] or {}
          for _,_task in pairs(tasks) do
            local text = string.format("TaskNo %03d",_task.PlayerTaskNr)
            if self.UseGroupNames then
              local name = _task.Target:GetName()
              if name ~= "Unknown" then
                text = string.format("%s (%03d)",name,_task.PlayerTaskNr)
              end
            end
            local taskentry = MENU_GROUP_COMMAND:New(group,text,ttypes[_tasktype],self._JoinTask,self,group,client,_task)
            taskentry:SetTag(client:GetPlayerName())
            taskmenu[#taskmenu+1] = taskentry
            _task.TaskMenu = taskentry
          end
        end
      end
    end
  end
  return self
end

--- [Internal] On after Status call
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterStatus(From, Event, To)
  self:I({From, Event, To})
  self:_CheckTargetQueue()
  self:_CheckTaskQueue()
  self:_BuildMenus()
  
  local targetcount = self.TargetQueue:Count()
  local taskcount = self.TaskQueue:Count()
  local playercount = self.ClientSet:CountAlive()
  
  if self.verbose then
    local text = string.format("New Targets: %02d | Active Tasks: %02d | Active Players: %02d",targetcount,taskcount,playercount)
    self:I(text)
  end
  
  if self:GetState() ~= "Stopped" then
    self:__Status(-30)
  end
  return self
end

--- [Internal] On after task done
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterTaskDone(From, Event, To, Task)
  self:I({From, Event, To})
  self:I(self.lid.."TaskDone")
  return self
end

--- [Internal] On after task cancelled
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterTaskCancelled(From, Event, To, Task)
  self:I({From, Event, To})
  self:I(self.lid.."TaskCancelled")
  return self
end

--- [Internal] On after task success
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterTaskSuccess(From, Event, To, Task)
  self:I({From, Event, To})
  self:I(self.lid.."TaskSuccess")
  local taskname = string.format("Task #%d %s Success!", Task.PlayerTaskNr, tostring(Task.Type))
  local m = MESSAGE:New(taskname,15,"Tasking"):ToCoalition(self.Coalition)
  return self
end

--- [Internal] On after task failed
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterTaskFailed(From, Event, To, Task)
  self:I({From, Event, To})
  self:I(self.lid.."TaskFailed")
  local taskname = string.format("Task #%d %s Failed!", Task.PlayerTaskNr, tostring(Task.Type))
  local m = MESSAGE:New(taskname,15,"Tasking"):ToCoalition(self.Coalition)
  return self
end

--- [Internal] On after task failed, repeat planned
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @param Ops.PlayerTask#PLAYERTASK Task
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterTaskRepeatOnFailed(From, Event, To, Task)
  self:I({From, Event, To})
  self:I(self.lid.."RepeatOnFailed")
  local taskname = string.format("Task #%d %s Failed! Replanning!", Task.PlayerTaskNr, tostring(Task.Type))
  local m = MESSAGE:New(taskname,15,"Tasking"):ToCoalition(self.Coalition)
  return self
end

--- [Internal] On after Stop call
-- @param #PLAYERTASKCONTROLLER self
-- @param #string From
-- @param #string Event
-- @param #string To
-- @return #PLAYERTASKCONTROLLER self
function PLAYERTASKCONTROLLER:onafterStop(From, Event, To)
  self:I({From, Event, To})
  self:I(self.lid.."Stopped.")
  return self
end