Intermediate

Moose Development/Moose/Core/Fsm.lua

@@ -730,11 +730,14 @@ do -- FSM
           if not self._EventSchedules[EventName] then            
             CallID = self.CallScheduler:Schedule( self, self._handler, { EventName, ... }, DelaySeconds or 1, nil, nil, nil, 4, true )
             self._EventSchedules[EventName] = CallID
+            self:T2(string.format("NEGATIVE Event %s delayed by %.1f sec SCHEDULED with CallID=%s", EventName, DelaySeconds, tostring(CallID)))
           else
+            self:T2(string.format("NEGATIVE Event %s delayed by %.1f sec CANCELLED as we already have such an event in the queue.", EventName, DelaySeconds))
             -- reschedule
           end
         else
           CallID = self.CallScheduler:Schedule( self, self._handler, { EventName, ... }, DelaySeconds or 1, nil, nil, nil, 4, true )
+          self:T2(string.format("Event %s delayed by %.1f sec SCHEDULED with CallID=%s", EventName, DelaySeconds, tostring(CallID)))
         end
       else
         error( "FSM: An asynchronous event trigger requires a DelaySeconds parameter!!! This can be positive or negative! Sorry, but will not process this." )

Moose Development/Moose/DCS.lua

@@ -428,6 +428,10 @@ do -- Types
   -- @type TaskArray
   -- @list <#Task>
 
+  ---
+  --@type WaypointAir
+  --@field #boolean lateActivated
+  --@field #boolean uncontrolled
 
 end --
 

Moose Development/Moose/Ops/FlightGroup.lua

@@ -27,6 +27,7 @@
 -- @field #table waypoints Table of waypoints.
 -- @field #table waypoints0 Table of initial waypoints.
 -- @field #table coordinates Table of waypoint coordinates.
+-- @field #table currentwp Current waypoint.
 -- @field #table taskqueue Queue of tasks.
 -- @field #number taskcounter Running number of task ids.
 -- @field #number taskcurrent ID of current task. If 0, there is no current task assigned.
@@ -145,6 +146,7 @@ FLIGHTGROUP = {
   waypoints          =   nil,
   waypoints0         =   nil,
   coordinates        =    {},
+  currentwp          =  -100,
   elements           =    {},
   taskqueue          =    {},
   taskcounter        =   nil,
@@ -480,7 +482,6 @@ function FLIGHTGROUP:New(groupname)
   _DATABASE:AddFlightGroup(self)
 
   -- Autostart.
-  --self:__Start(0.1)
   self:Start()
 
   return self
@@ -559,7 +560,7 @@ function FLIGHTGROUP:AddTaskWaypoint(task, waypointindex, description, prio, dur
   newtask.id=self.taskcounter
   newtask.duration=duration
   newtask.time=0
-  newtask.waypoint=waypointindex or self.currentwp+1
+  newtask.waypoint=waypointindex or (self.currentwp and self.currentwp+1 or 2)
   newtask.type=FLIGHTGROUP.TaskType.WAYPOINT
 
   self:T2({newtask=newtask})
@@ -567,6 +568,9 @@ function FLIGHTGROUP:AddTaskWaypoint(task, waypointindex, description, prio, dur
   -- Add to table.
   table.insert(self.taskqueue, newtask)
   
+  -- Info.
+  self:I(self.lid..string.format("Adding WAYPOINT task %s at WP %d", newtask.description, newtask.waypoint))  
+  
   -- Update route.
   self:__UpdateRoute(-1)
 
@@ -909,6 +913,11 @@ function FLIGHTGROUP:onafterStart(From, Event, To)
       -- Debug info.    
       self:I(self.lid..string.format("FF Found alive group %s at start with %d units", group:GetName(), #units))
       
+      -- Init waypoints.
+      if not self.waypoints then
+        self:InitWaypoints()
+      end      
+         
       -- Add elemets.
       for _,unit in pairs(units) do
         local element=self:AddElementByName(unit:GetName())
@@ -937,7 +946,7 @@ function FLIGHTGROUP:onafterStart(From, Event, To)
 
   -- Start the status monitoring.
   self:__CheckZone(-1)
-  self:__FlightStatus(-1)
+  --self:__FlightStatus(-1)
 end
 
 --- On after Start event. Starts the FLIGHTGROUP FSM and event handlers.
@@ -1084,7 +1093,7 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
 
 
   -- Next check in ~30 seconds.
-  self:__FlightStatus(-30)
+  --self:__FlightStatus(-30)
 end
 
 --- On after "QueueUpdate" event.
@@ -1792,20 +1801,44 @@ end
 -- @param #number n Waypoint number.
 function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
 
+  -- Is transition allowed? We assume yes until proven otherwise.
+  local allowed=true
+
   if self.group and self.group:IsAlive() and self:IsAirborne() then
     -- Alive & Airborne ==> Update route possible.
-    self:T2(self.lid.."Update route allowed")
+    self:T2(self.lid.."Update route possible. Group is ALIVE and AIRBORNE")
-    return true
   elseif self:IsDead() then
     -- Group is dead! No more updates.
-    return false
+    self:T3(self.lid.."FF update route denied. Group is DEAD!")
+    allowed=false
   else
     -- Not airborne yet. Try again in 1 sec.
     self:T3(self.lid.."FF update route denied ==> checking back in 1 sec")
     self:__UpdateRoute(-1, n)
-    return false
+    allowed=false
   end
   
+  if n and n<1 then
+    self:T3(self.lid.."FF update route denied because n<1")
+    self:__UpdateRoute(-1, n)
+    allowed=false  
+  end
+  
+  if not self.currentwp then
+    self:T3(self.lid.."FF update route denied because self.currentwp=nil")
+    self:__UpdateRoute(-1, n)
+    allowed=false    
+  end
+  
+  local N=n or self.currentwp+1
+  if not N or N<1 then
+    self:T3(self.lid.."FF update route denied because N=nil or N<1")
+    self:__UpdateRoute(-1, n)
+    allowed=false    
+  end
+  
+
+  return allowed
 end
 
 --- On after "UpdateRoute" event.
@@ -1816,6 +1849,8 @@ end
 -- @param #number n Waypoint number.
 function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
 
+  env.info(string.format("FF Update route n=%s current wp=%s", tostring(n), tostring(self.currentwp)))
+
   -- TODO: what happens if currentwp=#waypoints
   n=n or self.currentwp+1
 

Moose Development/Moose/Ops/TankerGroup.lua

@@ -19,6 +19,10 @@
 -- @field #string ClassName Name of the class.
 -- @field #boolean Debug Debug mode. Messages to all about status.
 -- @field #string lid Class id string for output to DCS log file.
+-- @field #table Qmissions Mission queue.
+-- @field #table Qclients Client queue.
+-- @field #TANKERGROUP.Mission currentmission Currently assigned mission.
+-- @field #number missioncounter Counter of total missions.
 -- @extends Ops.FlightGroup#FLIGHTGROUP
 
 --- *To invent an airplane is nothing. To build one is something. To fly is everything.* -- Otto Lilienthal
@@ -46,7 +50,6 @@ TANKERGROUP = {
   ClassName          = "TANKERGROUP",
   Debug              = false,
   lid                =   nil,
-  tankerzones        =   nil,
   Qmissions          =    {},
   Qclients           =    {},
   currentmission     =   nil,
@@ -98,7 +101,6 @@ function TANKERGROUP:New(groupname)
   
   -- Add FSM transitions.
   --                 From State     -->     Event     -->          To State
-  self:AddTransition("*",                 "TankerStatus",         "*")              -- Tanker is on station and ready to refuel.
   self:AddTransition("*",                 "OnStation",            "Ready2Refuel")   -- Tanker is on station and ready to refuel.
   self:AddTransition("*",                 "MissionStart",         "*")              -- Tanker is on station and ready to refuel.
   
@@ -106,13 +108,18 @@ function TANKERGROUP:New(groupname)
   
   self.lid=string.format("TANKERGROUP %s | ", groupname)
   
+  --[[
   BASE:TraceOn()
   BASE:TraceLevel(3)
   BASE:TraceClass(self.ClassName)
+  ]]
   
   env.info("FF NEW Tanker!")
   
-  self:TankerStatus()
+  
+  -- Call status update.
+  -- TODO: WARNING, if the call is delayed, it is NOT executed!
+  self:FlightStatus()
   
   return self
 end
@@ -123,13 +130,18 @@ end
 
 --- Add mission for tanker.
 -- @param #TANKERGROUP self
--- @return #TANKERGROUP self
+-- @param Core.Zone#ZONE Zone The mission zone. Orbit is picked at a random location.
+-- @param #number Altitude Orbit altitude in feet.
+-- @param #number Distance Length of the race-track pattern leg in NM.
+-- @param #number Speed Orbit speed in knots.
+-- @return #TANKERGROUP.Mission The mission table.
 function TANKERGROUP:AddMission(Zone, Altitude, Distance, Speed)
 
+  -- Increase mission counter.
   self.missioncounter=self.missioncounter+1
   
+  -- Make mission table.
   local mission={} --#TANKERGROUP.Mission  
-  
   mission.zone=Zone
   mission.mid=self.missioncounter
   mission.altitude=UTILS.FeetToMeters(Altitude or 10000)
@@ -139,7 +151,12 @@ function TANKERGROUP:AddMission(Zone, Altitude, Distance, Speed)
   mission.heading=270
   mission.tid=nil
 
+  -- Add mission to queue.
   table.insert(self.Qmissions, mission)
+  
+  self:I(self.lid..string.format("Added mission"))
+  
+  return mission
 end
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -151,32 +168,37 @@ end
 -- @param #string From From state.
 -- @param #string Event Event.
 -- @param #string To To state.
-function TANKERGROUP:onafterTankerStatus(From, Event, To)
+function TANKERGROUP:onafterFlightStatus(From, Event, To)
+
+  -- First call flight status.
+  self:GetParent(self).onafterFlightStatus(self, From, Event, To)
 
   env.info("FF Tanker status!")
+  env.info(string.format("FF current wp=%s", tostring(self.currentwp)))
 
   -- FSM state.
   local fsmstate=self:GetState()
   
   -- First check if group is alive?
-  if self.group and self.group:IsAlive()==true then
+  if self.group and self.group:IsAlive()==true and not self.currentmission then
   
     local mission=self:_GetNextMission()
     
     if mission then
       
+      env.info("FF starting mission")
       self:MissionStart(mission)
       
     end
   end
   
-  
+  -- Current mission name.
   local mymission=self.currentmission and self.currentmission.name or "N/A"
   
   local text=string.format("Tanker Status %s: Mission=%s (%d)", fsmstate, mymission, #self.Qmissions)
   self:I(self.lid..text)
   
-  self:__TankerStatus(30)
+  self:__FlightStatus(-30)
 end
 
 --- On after "MissionStart" event.
@@ -204,7 +226,10 @@ function TANKERGROUP:onafterMissionStart(From, Event, To, Mission)
   
   end
   
-  self:RouteTo(Mission)
+  self.currentmission=Mission
+
+  --
+  self:RouteToMission(Mission)
 
 end
 
@@ -228,17 +253,17 @@ function TANKERGROUP:_GetNextMission()
   return mission
 end
 
---- Get next mission.
+--- Route group to mission. Also sets the 
 -- @param #TANKERGROUP self
--- @param #TANKERGROUP.Mission mission
+-- @param #TANKERGROUP.Mission mission The mission table.
 -- @return #TANKERGROUP.Mission Next mission or *nil*.
-function TANKERGROUP:RouteTo(mission)
+function TANKERGROUP:RouteToMission(mission)
 
   local Coordinate=mission.zone:GetRandomCoordinate():SetAltitude(mission.altitude, true)
   
   local CoordRaceTrack=Coordinate:Translate(mission.distance, mission.heading, true)
 
-  self:AddWaypointAir(Coordinate, wpnumber, self.speedmax*0.8)
+  self:AddWaypointAir(Coordinate, nil, self.speedmax*0.8)
   
   local taskorbit=self.group:TaskOrbit(Coordinate, mission.altitude, mission.speed, CoordRaceTrack)