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https://github.com/FlightControl-Master/MOOSE.git
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Ops
This commit is contained in:
Frank
@@ -659,20 +659,23 @@ end
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-- @param Core.Point#COORDINATE WaypointCoordinate Coordinate of the mission waypoint
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-- @param #number WaypointIndex The waypoint number. Default is after all current air waypoints.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:AddMission(Mission, WaypointCoordinate, WaypointIndex)
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function FLIGHTGROUP:AddMission(Mission, WaypointCoordinate)
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Mission.waypointcoord=WaypointCoordinate
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Mission.waypointindex=WaypointIndex
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-- Add flight group to mission.
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Mission:AddFlightGroup(self)
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-- Set status to scheduled.
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Mission:SetFlightStatus(self, AUFTRAG.FlightStatus.SCHEDULED)
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Mission:Scheduled()
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-- Add mission to queue.
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table.insert(self.missionqueue, Mission)
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-- Info text.
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local text=string.format("Added %s mission %s at waypoint #%s. Starting at %s. Stopping at %s",
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tostring(Mission.type), tostring(Mission.name), tostring(Mission.waypointindex), UTILS.SecondsToClock(Mission.Tstart, true), Mission.Tstop and UTILS.SecondsToClock(Mission.Tstop, true) or "N/A")
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local text=string.format("Added %s mission %s starting at %s, stopping at %s",
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tostring(Mission.type), tostring(Mission.name), UTILS.SecondsToClock(Mission.Tstart, true), Mission.Tstop and UTILS.SecondsToClock(Mission.Tstop, true) or "INF")
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self:I(self.lid..text)
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return self
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@@ -1337,8 +1340,8 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
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local mission=_mission --Ops.Auftrag#AUFTRAG
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local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
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local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
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text=text..string.format("\n[%d] %s (%s) status=%s, Time=%s-%s, waypoint=%s, prio=%d targets=%d",
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i, tostring(mission.name), mission.type, tostring(mission.status), Cstart, Cstop, tostring(mission.waypointindex), mission.prio, mission:CountMissionTargets())
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text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d targets=%d",
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i, tostring(mission.name), mission.type, mission:GetFlightStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, mission:CountMissionTargets())
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end
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self:I(self.lid..text)
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@@ -2990,30 +2993,48 @@ function FLIGHTGROUP:onafterTaskUnpause(From, Event, To)
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--self.task
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end
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--- On after "TaskCancel" event. Cancels the current task.
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--- On after "TaskCancel" event. Cancels the current task or simply sets the status to DONE if the task is not the current one.
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-- @param #FLIGHTGROUP self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function FLIGHTGROUP:onafterTaskCancel(From, Event, To)
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-- @param #FLIGHTGROUP.Task Task The task to cancel. Default is the current task (if any).
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function FLIGHTGROUP:onafterTaskCancel(From, Event, To, Task)
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-- Get current task.
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local task=self:GetTaskCurrent()
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local currenttask=self:GetTaskCurrent()
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if task then
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Task=Task or currenttask
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-- Debug info.
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local text=string.format("Task %s ID=%d cancelled.", task.description, task.id)
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MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
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if Task then
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-- Check if the task is the current task?
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if currenttask and Task.id==currenttask.id then
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-- Debug info.
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local text=string.format("Current task %s ID=%d cancelled", Task.description, Task.id)
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MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
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self:I(self.lid..text)
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-- Set stop flag. When the flag is true, the _TaskDone function is executed and calls :TaskDone()
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Task.stopflag:Set(1)
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else
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self:I(self.lid..string.format("TaskCancel: Setting task %s ID=%d to DONE", Task.description, Task.id))
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Task.status=FLIGHTGROUP.TaskStatus.DONE
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if Task.type==FLIGHTGROUP.TaskType.WAYPOINT and Task.waypoint then
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self:RemoveWaypoint(Task.waypoint)
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end
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end
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else
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local text=string.format("WARNING: No (current) task to cancel!")
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MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
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self:I(self.lid..text)
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-- Set stop flag. When the flag is true, the _TaskDone function is executed and calls :TaskDone()
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task.stopflag:Set(1)
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else
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local text=string.format("WARNING: No current task to cancel!")
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MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
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self:I(self.lid..text)
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end
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end
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@@ -3152,19 +3173,26 @@ end
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function FLIGHTGROUP:onafterMissionCancel(From, Event, To, Mission)
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if self.currentmission and Mission.auftragsnummer==self.currentmission then
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local Task=Mission:GetFlightWaypointTask(self)
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env.info(string.format("FF Cancel current mission %s. Task=%s", tostring(Mission.name), tostring(Task and Task.description or "WTF")))
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-- Cancelling the mission is actually cancelling the current task. This will trigger the task done.
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self:TaskCancel()
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self:TaskCancel(Task)
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self.currentmission=nil
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else
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-- Not the current mission. So set status in queue.
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-- TODO: remove mission from queue?
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-- Set missin flight status.
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Mission:SetFlightStatus(self, AUFTRAG.Status.CANCELLED)
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-- TODO: remove mission from queue?
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end
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-- Set missin flight status.
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env.info("FF setting mission to cancelled")
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Mission:SetFlightStatus(self, AUFTRAG.Status.CANCELLED)
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end
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@@ -3206,21 +3234,20 @@ function FLIGHTGROUP:RouteToMission(mission, delay)
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-- Next waypoint.
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local nextwaypoint=self.currentwp+1
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-- Execute mission at the given waypoint (but ensure it has not been passed already) or the next waypoint.
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mission.waypointindex=mission.waypointindex and math.max(mission.waypointindex, nextwaypoint) or nextwaypoint
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-- Add waypoint.
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self:AddWaypointAir(mission.waypointcoord, mission.waypointindex, self.speedmax*0.8, false)
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self:AddWaypointAir(mission.waypointcoord, nextwaypoint, self.speedmax*0.8, false)
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-- Add waypoint task. UpdateRoute is called inside.
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-- TODO: The waypoint task is different for all assinged flights!
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mission.waypointtask=self:AddTaskWaypoint(mission.DCStask, mission.waypointindex, mission.name, mission.prio, mission.duration)
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local waypointtask=self:AddTaskWaypoint(mission.DCStask, nextwaypoint, mission.name, mission.prio, mission.duration)
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-- Set waypoint task.
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mission:SetFlightWaypointTask(self, waypointtask)
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-- TODO: better marker text, mission.maker
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mission.marker=mission.waypointcoord:MarkToCoalition(mission.name, self:GetCoalition(), true)
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self:SetROE(mission.optionROE)
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--self:SetROE(mission.optionROE)
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end
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end
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@@ -3937,7 +3964,7 @@ function FLIGHTGROUP:AddWaypointAir(coordinate, wpnumber, speed, updateroute)
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-- Shift all waypoint tasks after the inserted waypoint.
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for _,_task in pairs(self.taskqueue) do
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local task=_task --#FLIGHTGROUP.Task
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if task.type==FLIGHTGROUP.TaskType.WAYPOINT and task.status==FLIGHTGROUP.TaskStatus.SCHEDULED and task.waypoint>=wpnumber then
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if task.type==FLIGHTGROUP.TaskType.WAYPOINT and task.waypoint and task.waypoint>=wpnumber then
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task.waypoint=task.waypoint+1
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end
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end
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@@ -3945,7 +3972,7 @@ function FLIGHTGROUP:AddWaypointAir(coordinate, wpnumber, speed, updateroute)
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-- Shift all mission waypoints after the inserted waypoint.
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for _,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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if mission.status==AUFTRAG.Status.SCHEDULED and mission.waypointindex and mission.waypointindex>=wpnumber then
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if mission.waypointindex and mission.waypointindex>=wpnumber then
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mission.waypointindex=mission.waypointindex+1
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end
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end
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@@ -3958,26 +3985,36 @@ function FLIGHTGROUP:AddWaypointAir(coordinate, wpnumber, speed, updateroute)
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return self
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end
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--- Set the landing waypoint.
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--- Remove a waypoint.
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-- @param #FLIGHTGROUP self
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-- @param Wrapper.Airbase#AIRBASE airbase The destination airbase.
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-- @param #number wpnumber Waypoint number. Default at the end.
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-- @param #number speed Speed in knots. Default 350 kts.
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-- @param #number wpindex Waypoint number.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:RemoveWaypoint(wpindex)
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for i, wp in pairs(self.waypoints) do
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if i==wpindex then
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table.remove(self.waypoints, i)
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break
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end
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end
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-- Remove waypoint.
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table.remove(self.waypoints, wpindex)
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-- Shift all waypoint tasks after the removed waypoint.
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for _,_task in pairs(self.taskqueue) do
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local task=_task --#FLIGHTGROUP.Task
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if task.type==FLIGHTGROUP.TaskType.WAYPOINT and task.waypoint and task.waypoint>wpindex then
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task.waypoint=task.waypoint-1
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end
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end
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-- Shift all mission waypoints after the removerd waypoint.
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for _,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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if mission.waypointindex and mission.waypointindex>wpindex then
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mission.waypointindex=mission.waypointindex-1
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end
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end
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--TODO update route?
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-- no, if <= self.currentwaypoint or WP is landing.
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--TODO shift task and mission waypoints
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self:__UpdateRoute(-1)
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end
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