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This commit is contained in:
Frank
2020-02-09 23:13:34 +01:00
parent e004da9f00
commit 3a0e154daa
2 changed files with 95 additions and 25 deletions
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Moose Development/Moose/Ops/TankerGroup.lua
+77 -13
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@@ -62,7 +62,8 @@ TANKERGROUP = {
-- @type TANKERGROUP.Mission
-- @field #string name Name of the mission.
-- @field #number mid ID of the mission.
-- @field #number tid ID of the assigned FLIGHTGROUP task.
-- @field #string status Mission status.
-- @field Ops.FlightGroup#FLIGHTGROUP.Task task Task of mission.
-- @field Core.Zone#ZONE zone Mission zone.
-- @field #number duration Duration of mission.
-- @field #number altitude Altitude of orbit in meters ASL.
@@ -74,6 +75,7 @@ TANKERGROUP = {
-- @field #number Tstarted Time the mission was started.
-- @field #number Tstop Time the mission is stopped.
-- @field #number Tsopped Time the mission was stopped.
-- @field #number prio Priority of the mission.
--- Mission status.
-- @type TANKERGROUP.MissionStatus
@@ -87,7 +89,7 @@ TANKERGROUP.MissionStatus={
}
--- TANKERGROUP class version.
-- @field #string version
TANKERGROUP.version="0.0.1"
TANKERGROUP.version="0.0.2"
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- TODO list
@@ -131,6 +133,7 @@ function TANKERGROUP:New(groupname)
self:AddTransition("*", "TankerState", "*") -- 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.
self:AddTransition("*", "MissionAccomplished", "*") -- Tanker is on station and ready to refuel.
-- Call status update.
@@ -155,9 +158,10 @@ end
-- @param #number SpeedOrbit Orbit speed in knots. Default is 280 knots.
-- @param #string ClockStart Time the mission is started, e.g. "05:00" for 5 am. If specified as a #number, it will be relative (in seconds) to the current mission time.
-- @param #string ClockStop Time the mission is stopped, e.g. "13:00" for 1 pm. If mission could not be started at that time, it will be removed from the queue. If specified as a #number it will be relative (in seconds) to the current mission time.
-- @param #number Prio Priority of the mission, i.e. a number between 1 and 100. Default 50.
-- @param #string Name Mission name. Default "Aerial Refueling #00X", where "#00X" is a running mission counter index starting at "#001".
-- @return #TANKERGROUP.Mission The mission table.
function TANKERGROUP:AddMission(Zone, Altitude, Distance, Heading, SpeedOrbit, ClockStart, ClockStop, Name)
function TANKERGROUP:AddMission(Zone, Altitude, Distance, Heading, SpeedOrbit, ClockStart, ClockStop, Prio, Name)
-- Increase mission counter.
self.missioncounter=self.missioncounter+1
@@ -193,10 +197,12 @@ function TANKERGROUP:AddMission(Zone, Altitude, Distance, Heading, SpeedOrbit, C
mission.Tadded=Tnow
mission.Tstart=Tstart
mission.Tstop=Tstop
mission.status=TANKERGROUP.MissionStatus.SCHEDULED
if Tstop then
mission.duration=mission.Tstop-mission.Tstart
end
mission.tid=nil
mission.prio=Prio or 50
mission.task=nil
-- Add mission to queue.
table.insert(self.Qmissions, mission)
@@ -220,9 +226,6 @@ end
-- @param #string To To state.
function TANKERGROUP:onafterTankerState(From, Event, To)
-- First call flight status.
--self:GetParent(self).onafterFlightStatus(self, From, Event, To)
-- FSM state.
local fsmstate=self:GetState()
@@ -244,6 +247,10 @@ function TANKERGROUP:onafterTankerState(From, Event, To)
-- Current status.
local text=string.format("Tanker Status %s: Mission=%s (%d)", fsmstate, mymission, #self.Qmissions)
for i,_mission in pairs(self.Qmissions) do
local mission=_mission --#TANKERGROUP.Mission
text=text..string.format("\n[%d] %s status=%s", i, tostring(mission.name), tostring(mission.status))
end
self:I(self.lid..text)
-- Nest status update in 30 sec.
@@ -285,12 +292,50 @@ function TANKERGROUP:onafterMissionStart(From, Event, To, Mission)
-- Set Tstarted time stamp.
self.currentmission.Tstarted=timer.getAbsTime()
-- Set mission status.
self.currentmission.status=TANKERGROUP.MissionStatus.EXECUTING
-- Route flight to mission zone.
self:RouteToMission(Mission, delay)
end
--- On after "TaskDone" event.
-- @param #TANKERGROUP self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param Ops.FlightGroup#FLIGHTGROUP.Task Task.
function TANKERGROUP:onafterTaskDone(From, Event, To, Task)
-- First call flight status.
self:GetParent(self).onafterTaskDone(self, From, Event, To, Task)
if self.currentmission then
local missiontask=self.currentmission.task
if missiontask.id==Task.id then
self:MissionAccomplished(self.currentmission)
end
end
end
--- On after "MissionAccomplished" event.
-- @param #TANKERGROUP self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param #TANKERGROUP.Mission Mission
function TANKERGROUP:onafterMissionAccomplished(From, Event, To, Mission)
Mission.status=TANKERGROUP.MissionStatus.ACCOMPLISHED
self.currentmission=nil
end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- MISC functions
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -300,22 +345,40 @@ end
-- @return #TANKERGROUP.Mission Next mission or *nil*.
function TANKERGROUP:_GetNextMission()
if #self.Qmissions==0 then
-- Number of missions.
local Nmissions=#self.Qmissions
-- Treat special cases.
if Nmissions==0 then
return nil
end
--TODO: Sort wrt start time and priority.
-- Sort results table wrt times they have already been engaged.
local function _sort(a, b)
local taskA=a --#TANKERGROUP.Mission
local taskB=b --#TANKERGROUP.Mission
return (taskA.Tstart<taskB.Tstart) or (taskA.Tstart==taskB.Tstart and taskA.prio<taskB.prio)
end
table.sort(self.Qmissions, _sort)
-- Current time.
local time=timer.getAbsTime()
local mission=self.Qmissions[1]
-- Look for first task that is not accomplished.
for _,_mission in pairs(self.Qmissions) do
local mission=_mission --#TANKERGROUP.Mission
if mission.status==TANKERGROUP.MissionStatus.SCHEDULED and time>=mission.Tstart then
return mission
end
end
return mission
return nil
end
--- Route group to mission. Also sets the
-- @param #TANKERGROUP self
-- @param #TANKERGROUP.Mission mission The mission table.
-- @param #number delay Delay in seconds.
-- @return #TANKERGROUP.Mission Next mission or *nil*.
function TANKERGROUP:RouteToMission(mission, delay)
if delay and delay>0 then
@@ -339,7 +402,8 @@ function TANKERGROUP:RouteToMission(mission, delay)
local taskorbit=self.group:TaskOrbit(Coordinate, mission.altitude, mission.speed, CoordRaceTrack)
-- Add waypoint task.
self:AddTaskWaypoint(taskorbit, #self.waypoints, mission.name, 10, mission.duration)
-- TODO: find last AIR waypoint! We dont want this at landing waypoints.
mission.task=self:AddTaskWaypoint(taskorbit, #self.waypoints, mission.name, 10, mission.duration)
end
end