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feat: started adding ability to set and draw racetracks

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This commit is contained in:
Davide Passoni
2025-01-24 17:33:27 +01:00
parent 96415fd087
commit c2ea746d48
9 changed files with 154 additions and 20 deletions
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23
backend/core/src/airunit.cpp
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@@ -154,6 +154,11 @@ void AirUnit::AIloop()
{
srand(static_cast<unsigned int>(time(NULL)) + ID);
if (state != State::IDLE) {
setRacetrackAnchor(Coords(NULL));
setRacetrackBearing(NULL);
}
/* State machine */
switch (state) {
case State::IDLE: {
@@ -166,23 +171,27 @@ void AirUnit::AIloop()
if (!getHasTask())
{
if (racetrackAnchor == Coords(NULL)) setRacetrackAnchor(position);
if (racetrackBearing == NULL) setRacetrackBearing(heading);
std::ostringstream taskSS;
if (isActiveTanker) {
taskSS << "{ [1] = { id = 'Tanker' }, [2] = { id = 'Orbit', pattern = 'Race-Track', altitude = " <<
desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" <<
desiredAltitude << ", lat = " << racetrackAnchor.lat << ", lng = " << racetrackAnchor.lng << ", speed = " << desiredSpeed << ", altitudeType = '" <<
(desiredAltitudeType ? "AGL" : "ASL") << "', speedType = '" << (desiredSpeedType ? "GS" : "CAS") << "', heading = " <<
heading << ", length = " << (50000 * 1.852) << " }}";
racetrackBearing << ", length = " << (racetrackLength != NULL ? racetrackLength : (50000 * 1.852)) << " }}";
}
else if (isActiveAWACS) {
taskSS << "{ [1] = { id = 'AWACS' }, [2] = { id = 'Orbit', pattern = 'Circle', altitude = " <<
desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" <<
(desiredAltitudeType ? "AGL" : "ASL") << "', speedType = '" << (desiredSpeedType ? "GS" : "CAS") << "' }}";
taskSS << "{ [1] = { id = 'AWACS' }, [2] = { id = 'Orbit', pattern = 'Race-Track', altitude = " <<
desiredAltitude << ", lat = " << racetrackAnchor.lat << ", lng = " << racetrackAnchor.lng << ", speed = " << desiredSpeed << ", altitudeType = '" <<
(desiredAltitudeType ? "AGL" : "ASL") << "', speedType = '" << (desiredSpeedType ? "GS" : "CAS") << "', heading = " <<
racetrackBearing << ", length = " << (racetrackLength != NULL ? racetrackLength : (desiredSpeed * 30)) << " }}";
}
else {
taskSS << "{ id = 'Orbit', pattern = 'Race-Track', altitude = " <<
desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" <<
desiredAltitude << ", lat = " << racetrackAnchor.lat << ", lng = " << racetrackAnchor.lng << ", speed = " << desiredSpeed << ", altitudeType = '" <<
(desiredAltitudeType ? "AGL" : "ASL") << "', speedType = '" << (desiredSpeedType ? "GS" : "CAS") << "', heading = " <<
heading << ", length = " << desiredSpeed * 30 << " }";
racetrackBearing << ", length = " << (racetrackLength != NULL ? racetrackLength: (desiredSpeed * 30)) << " }";
}
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);