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https://github.com/FlightControl-Master/MOOSE.git
synced 2026-08-11 03:43:38 +00:00
Update NavyGroup.lua
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Frank
@@ -3,9 +3,9 @@
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-- **Main Features:**
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--
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-- * Dynamically add and remove waypoints
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-- * Let the group steam into the wind.
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-- * Command a full stop.
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-- * Let a submarine dive and surface.
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-- * Let the group steam into the wind
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-- * Command a full stop
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-- * Let a submarine dive and surface
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--
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-- ===
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--
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@@ -16,6 +16,8 @@
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--- NAVYGROUP class.
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-- @type NAVYGROUP
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-- @field #boolean turning If true, group is currently turning.
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-- @field #NAVYGROUP.IntoWind intowind Into wind info.
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-- @extends Ops.OpsGroup#OPSGROUP
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--- *Something must be left to chance; nothing is sure in a sea fight above all.* -- Horatio Nelson
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@@ -32,6 +34,8 @@
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NAVYGROUP = {
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ClassName = "NAVYGROUP",
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verbose = 2,
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turning = false,
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intowind = nil,
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}
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--- Navy group element.
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@@ -39,6 +43,14 @@ NAVYGROUP = {
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-- @field #string name Name of the element, i.e. the unit.
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-- @field #string typename Type name.
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--- Navy group element.
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-- @type NAVYGROUP.IntoWind
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-- @field #number Tstart Time to start.
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-- @field #number Tstop Time to stop.
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-- @field #boolean Uturn U-turn.
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-- @field #number Speed Speed in knots.
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--- NavyGroup version.
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-- @field #string version
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NAVYGROUP.version="0.0.1"
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@@ -74,11 +86,14 @@ function NAVYGROUP:New(GroupName)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("*", "FullStop", "Holding") -- Hold position.
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self:AddTransition("*", "TurnIntoWind", "*") -- Hold position.
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self:AddTransition("*", "Cruise", "Cruising") -- Hold position.
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self:AddTransition("*", "Dive", "Diving") -- Hold position.
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self:AddTransition("Diving", "Surface", "Cruising") -- Hold position.
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self:AddTransition("*", "TurnIntoWind", "*") -- Command the group to turn into the wind.
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self:AddTransition("*", "TurningStarted", "*") -- Group started turning.
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self:AddTransition("*", "TurningStopped", "*") -- Group stopped turning.
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self:AddTransition("*", "Dive", "Diving") -- Command a submarine to dive.
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self:AddTransition("Diving", "Surface", "Cruising") -- Command a submarine to go to the surface.
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------------------------
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--- Pseudo Functions ---
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@@ -182,15 +197,38 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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local hdg=self:GetHeading()
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local pos=self:GetCoordinate()
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local speed=self.group:GetVelocityKNOTS()
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-- Check if group started or stopped turning.
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self:_CheckTurning()
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-- Check water is ahead.
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local collision=self:_CheckCollisionCoord(pos:Translate(self.collisiondist or 5000, hdg))
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local intowind=false
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if self.intowind then
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if timer.getAbsTime()>=self.intowind.Tstop then
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if self.intowind.Uturn then
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self:UpdateRoute(self.currentwp)
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else
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self:UpdateRoute()
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end
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self.intowind=nil
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else
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intowind=true
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end
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end
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-- Get number of tasks and missions.
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local nTaskTot, nTaskSched, nTaskWP=self:CountRemainingTasks()
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local nMissions=self:CountRemainingMissison()
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-- Info text.
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local text=string.format("State %s: Speed=%.1f knots Heading=%03d collision=%s Tasks=%d Missions=%d", fsmstate, speed, hdg, tostring(collision), nTaskTot, nMissions)
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local text=string.format("State %s: Speed=%.1f knots Heading=%03d intowind=%s turning=%s collision=%s Tasks=%d Missions=%d", fsmstate, speed, hdg, tostring(intowind), tostring(self.turning), tostring(collision), nTaskTot, nMissions)
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self:I(self.lid..text)
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@@ -254,7 +292,7 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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-- Next check in ~30 seconds.
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if not self:IsStopped() then
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self:__Status(-30)
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self:__Status(-10)
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end
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end
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@@ -291,6 +329,9 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
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end
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-- Get orientation.
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self.Corientlast=self.group:GetUnit(1):GetOrientationX()
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-- Update route.
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self:__Cruise(-1)
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@@ -370,9 +411,18 @@ end
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-- @param #boolean Uturn Return to the place we came from.
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function NAVYGROUP:onafterTurnIntoWind(From, Event, To, Duration, Speed, Uturn)
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self.turnintowind=timer.getAbsTime()
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local headingTo=self:GetCoordinate():GetWind(50)
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local intowind={} --#NAVYGROUP.IntoWind
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intowind.Speed=Speed
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intowind.Tstart=timer.getAbsTime()
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intowind.Tstop=intowind.Tstart+Duration
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intowind.Uturn=Uturn or false
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intowind.Heading=headingTo
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self.intowind=intowind
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self:I(self.lid..string.format("Steaming into wind: Heading=%03d Speed=%.1f knots, Tstart=%d Tstop=%d", intowind.Heading, intowind.Speed, intowind.Tstart, intowind.Tstop))
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local distance=UTILS.NMToMeters(1000)
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@@ -733,10 +783,10 @@ end
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function NAVYGROUP:_CheckTurning()
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-- Current orientation of carrier.
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local vNew=self.group:GetOrientationX()
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local vNew=self.group:GetUnit(1):GetOrientationX()
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-- Last orientation from 30 seconds ago.
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local vLast=self.Corientlast
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local vLast=self.Corientlast or vNew
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-- We only need the X-Z plane.
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vNew.y=0 ; vLast.y=0
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@@ -747,43 +797,25 @@ function NAVYGROUP:_CheckTurning()
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-- Last orientation becomes new orientation
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self.Corientlast=vNew
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-- Carrier is turning when its heading changed by at least one degree since last check.
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local turning=math.abs(deltaLast)>=1
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-- Carrier is turning when its heading changed by at least two degrees since last check.
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local turning=math.abs(deltaLast)>=2
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-- Check if turning stopped. (Carrier was turning but is not any more.)
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-- Check if turning stopped.
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if self.turning and not turning then
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-- Get final bearing.
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local FB=self:GetFinalBearing(true)
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-- Carrier was turning but is not any more.
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self:TurningStopped()
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elseif turning and not self.turning then
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-- Marshal radio call: "99, new final bearing XYZ degrees."
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self:_MarshalCallNewFinalBearing(FB)
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end
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-- Check if turning started. (Carrier was not turning and is now.)
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if turning and not self.turning then
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-- Get heading.
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local hdg
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if self.turnintowind then
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-- We are now steaming into the wind.
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hdg=self:GetHeadingIntoWind(false)
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else
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-- We turn towards the next waypoint.
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hdg=self:GetCoordinate():HeadingTo(self:_GetNextWaypoint())
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end
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-- Magnetic!
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hdg=hdg-self.magvar
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if hdg<0 then
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hdg=360+hdg
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end
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-- Carrier was not turning but is now.
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self:TurningStarted()
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end
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-- Update turning.
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self.turning=turning
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end
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--- Check if group is done, i.e.
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@@ -805,7 +837,9 @@ function NAVYGROUP:_CheckGroupDone(delay)
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self:ScheduleOnce(delay, NAVYGROUP._CheckGroupDone, self)
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else
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-- TODO: What?
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if not self.passedfinalwp then
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self:UpdateRoute()
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end
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end
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