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https://github.com/FlightControl-Master/MOOSE.git
synced 2026-08-12 04:31:09 +00:00
FG
This commit is contained in:
Frank
@@ -587,7 +587,6 @@ end
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-- This method is used by the SPAWN class.
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-- @param #DATABASE self
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-- @param #table SpawnTemplate Template of the group to spawn.
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-- @param #string Groupname (Optional) Name of the group.
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-- @return Wrapper.Group#GROUP Spawned group.
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function DATABASE:Spawn( SpawnTemplate )
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self:F( SpawnTemplate.name )
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@@ -233,7 +233,7 @@ FLIGHTGROUP.TaskType={
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--- FLIGHTGROUP class version.
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-- @field #string version
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FLIGHTGROUP.version="0.2.0"
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FLIGHTGROUP.version="0.2.1"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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@@ -296,12 +296,12 @@ function FLIGHTGROUP:New(groupname)
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self:AddTransition("*", "FlightStatus", "*") -- FLIGHTGROUP status update.
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self:AddTransition("*", "QueueUpdate", "*") -- Update task queue.
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self:AddTransition("*", "DetectedUnit", "*") -- Add a newly detected unit to the detected units set.
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self:AddTransition("*", "DetectedUnitNew", "*") -- Add a newly detected unit to the detected units set.
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self:AddTransition("*", "DetectedUnitKnown", "*") -- Add a newly detected unit to the detected units set.
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self:AddTransition("*", "DetectedUnitLost", "*") -- Group lost a detected target.
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self:AddTransition("*", "UpdateRoute", "*") -- Update route of group. Only if airborne.
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self:AddTransition("*", "RTB", "Returning") -- Group is returning to base.
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self:AddTransition("*", "Orbit", "Orbiting") -- Group is holding position.
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self:AddTransition("*", "Hold", "Holding") -- Group is holding position.
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@@ -485,9 +485,8 @@ function FLIGHTGROUP:AddTaskWaypoint(description, task, waypointindex, prio, dur
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-- Add to table.
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table.insert(self.taskqueue, newtask)
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if self.group and self.group:IsAlive() then
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self:_UpdateRoute()
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end
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-- Update route.
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self:__UpdateRoute(-0.1)
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return self
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end
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@@ -1509,6 +1508,128 @@ function FLIGHTGROUP:onafterFlightDead(From, Event, To)
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end
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--- On before "UpdateRoute" event. Update route of group, e.g after new waypoints and/or waypoint tasks have been added.
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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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-- @param #number n Waypoint number.
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function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
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if self.group and self.group:IsAlive() and self:IsAirborne() then
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-- Alive & Airborne ==> Update route possible.
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env.info("FF update route allowed")
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return true
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elseif self:IsDead() then
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-- Group is dead! No more updates.
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return false
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else
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-- Not airborne yet. Try again in 1 sec.
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env.info("FF update route denied ==> checking back in 1 sec")
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self:__UpdateRoute(-1, n)
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return false
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end
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end
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--- On after "UpdateRoute" event.
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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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-- @param #number n Waypoint number.
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function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
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MESSAGE:New("Updating route", 10):ToAll()
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env.info("FF updating route")
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-- TODO: what happens if currentwp=#waypoints
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n=n or self.currentwp+1
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks()
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-- Waypoints.
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local wp={}
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-- Set current waypoint or we get problem that the _PassingWaypoint function is triggered too early, i.e. right now and not when passing the next WP.
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-- TODO: This, however, leads to the flight to go right over this point when it is on an airport ==> Need to test Waypoint takeoff
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local current=self.group:GetCoordinate():WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, 350, true, nil, {}, "Current")
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table.insert(wp, current)
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-- Set "remaining" waypoits.
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for i=n, #self.waypoints do
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local w=self.waypoints[i]
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if self.Debug then
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--self:GetWaypointCoordinate(w):MarkToAll(string.format("UpdateRoute Waypoint %d", i))
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end
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table.insert(wp, w)
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end
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-- Get destination airbase from waypoints.
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self.homebase=self:GetHomebaseFromWaypoints() or self.homebase
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-- Get destination airbase from waypoints.
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self.destination=self:GetDestinationFromWaypoints() or self.destination
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if self.destination and #wp>0 and _DATABASE:GetFlightControl(self.destination:GetName()) then
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-- Task to hold.
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local TaskOverhead=self.group:TaskFunction("FLIGHTGROUP._DestinationOverhead", self, self.destination)
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-- Random overhead coordinate at destination.
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local coordoverhead=self.destination:GetZone():GetRandomCoordinate():SetAltitude(UTILS.FeetToMeters(6000))
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-- Add overhead waypoint.
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local wpoverhead=coordoverhead:WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.FlyoverPoint, 500, false, nil, {TaskOverhead}, "Destination Overhead")
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-- Debug info.
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self:T(self.sid..string.format("Adding overhead waypoint as #%d", #wp))
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-- Add overhead to waypoints.
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table.insert(wp, #wp, wpoverhead)
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end
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-- Debug info.
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local hb=self.homebase and self.homebase:GetName() or "unknown"
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local db=self.destination and self.destination:GetName() or "unknown"
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self:I(self.sid..string.format("Updating route for WP>=%d (%d/%d) homebase=%s destination=%s", n, #wp, #self.waypoints, hb, db))
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if #wp>0 then
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-- Route group to all defined waypoints remaining.
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self.group:Route(wp, 1)
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else
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---
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-- No waypoints left
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---
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-- Get destination or home airbase.
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local airbase=self.destination or self.homebase
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if self:IsAirborne() then
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-- TODO: check if no more scheduled tasks.
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if airbase then
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-- Route flight to destination/home.
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--self:RTB(airbase)
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else
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-- Let flight orbit.
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--self:Orbit(self.group:GetCoordinate(), UTILS.FeetToMeters(20000), self.group:GetSpeedMax()*0.4)
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end
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end
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end
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end
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--- On after "PassingWaypoint" event.
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-- @param #FLIGHTGROUP self
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-- @param #string From From state.
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@@ -1518,12 +1639,12 @@ end
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-- @param #number N Final waypoint number.
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function FLIGHTGROUP:onafterPassingWaypoint(From, Event, To, n, N)
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local text=string.format("Flight %s passed waypoint %d/%d", self.groupname, n, N)
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self:T(self.sid..text)
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self:I(self.sid..text)
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MESSAGE:New(text, 30, "DEBUG"):ToAllIf(self.Debug)
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if self.destination and n>1 and n==N-1 then
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self:__Hold(1, self.destination)
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--self:__Hold(1, self.destination)
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end
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end
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@@ -1870,7 +1991,7 @@ function FLIGHTGROUP:onafterTaskDone(From, Event, To, Task)
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Task.status=FLIGHTGROUP.TaskStatus.ACCOMPLISHED
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-- Update route.
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self:_UpdateRoute()
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self:__UpdateRoute(-0.1)
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end
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@@ -1882,10 +2003,20 @@ end
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-- @param #string To To state.
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-- @param Wrapper.Unit#UNIT Unit The detected unit
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function FLIGHTGROUP:onafterDetectedUnit(From, Event, To, Unit)
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self:I(self.sid..string.format("Detected unit %s.", Unit:GetName()))
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self:T(self.sid..string.format("Detected unit %s", Unit:GetName()))
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self.detectedunits:AddUnit(Unit)
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end
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--- On after "DetectedUnitNew" event.
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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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-- @param Wrapper.Unit#UNIT Unit The detected unit
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function FLIGHTGROUP:onafterDetectedUnitNew(From, Event, To, Unit)
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self:T(self.sid..string.format("Detected New unit %s", Unit:GetName()))
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end
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--- On after "EnterZone" event. Sets self.inzone=Zone.
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-- @param #FLIGHTGROUP self
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@@ -2389,117 +2520,6 @@ function FLIGHTGROUP:GetWaypointCoordinate(wp)
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return COORDINATE:New(wp.x, wp.alt, wp.y)
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end
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--- Update route of group, e.g after new waypoints and/or waypoint tasks have been added.
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-- @param #FLIGHTGROUP self
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-- @param #number n Number of next waypoint. Default self.currentwp+1.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:_UpdateRoute(n)
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MESSAGE:New("Updating route", 10):ToAll()
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env.info("FF updating route")
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-- TODO: what happens if currentwp=#waypoints
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n=n or self.currentwp+1
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-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
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self:_UpdateWaypointTasks()
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-- Waypoints.
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local wp={}
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-- Set current waypoint or we get problem that the _PassingWaypoint function is triggered too early, i.e. right now and not when passing the next WP.
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-- TODO: This, however, leads to the flight to go right over this point when it is on an airport ==> Need to test Waypoint takeoff
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--local current=self.group:GetCoordinate():WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, 350, true, nil, {}, "Current")
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--table.insert(wp, current)
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--[[
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if self:IsAirborne() then
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local current=self.group:GetCoordinate():WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, 350, true, nil, {}, "Current")
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table.insert(wp, current)
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else
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if self:IsTaxiing() or self:IsParking() or self:IsSpawned() then
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--local coord=self.group:GetCoordinate()
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--local current=coord:WaypointAirTakeOffParking(nil, 50)
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--local current=coord:WaypointAir( AltType, COORDINATE.WaypointType.TakeOffParkingHot, COORDINATE.WaypointAction.FromParkingAreaHot, 50, true, coord:GetClosestAirbase(), {}, "Takeoff")
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--table.insert(wp, current)
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end
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local current=self.group:GetCoordinate():WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, 350, true, nil, {}, "Current")
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table.insert(wp, current)
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end
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]]
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-- Set "remaining" waypoits.
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for i=n, #self.waypoints do
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local w=self.waypoints[i]
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if self.Debug then
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--self:GetWaypointCoordinate(w):MarkToAll(string.format("UpdateRoute Waypoint %d", i))
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end
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table.insert(wp, w)
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end
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-- Get destination airbase from waypoints.
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self.homebase=self:GetHomebaseFromWaypoints() or self.homebase
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-- Get destination airbase from waypoints.
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self.destination=self:GetDestinationFromWaypoints() or self.destination
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if self.destination and #wp>0 and _DATABASE:GetFlightControl(self.destination:GetName()) then
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-- Task to hold.
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local TaskOverhead=self.group:TaskFunction("FLIGHTGROUP._DestinationOverhead", self, self.destination)
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-- Random overhead coordinate at destination.
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local coordoverhead=self.destination:GetZone():GetRandomCoordinate():SetAltitude(UTILS.FeetToMeters(6000))
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-- Add overhead waypoint.
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local wpoverhead=coordoverhead:WaypointAir(nil, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.FlyoverPoint, 500, false, nil, {TaskOverhead}, "Destination Overhead")
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-- Debug info.
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self:T(self.sid..string.format("Adding overhead waypoint as #%d", #wp))
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-- Add overhead to waypoints.
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table.insert(wp, #wp, wpoverhead)
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end
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-- Debug info.
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self:T(self.sid..string.format("Updating route for WP>=%d (%d/%d) homebase=%s destination=%s", n, #wp, #self.waypoints, self.homebase and self.homebase:GetName() or "unknown", self.destination and self.destination:GetName() or "unknown"))
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if #wp>0 then
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-- Route group to all defined waypoints remaining.
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self.group:Route(wp, 1)
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else
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---
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-- No waypoints left
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---
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-- Get destination or home airbase.
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local airbase=self.destination or self.homebase
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if self:IsAirborne() then
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-- TODO: check if no more scheduled tasks.
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if airbase then
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-- Route flight to destination/home.
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--self:RTB(airbase)
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else
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-- Let flight orbit.
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--self:Orbit(self.group:GetCoordinate(), UTILS.FeetToMeters(20000), self.group:GetSpeedMax()*0.4)
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end
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end
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end
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return self
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end
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--- Initialize Mission Editor waypoints.
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-- @param #FLIGHTGROUP self
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function FLIGHTGROUP:_UpdateWaypointTasks()
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@@ -2588,7 +2608,7 @@ function FLIGHTGROUP:InitWaypoints(waypoints)
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-- Update route.
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if #self.waypoints>0 then
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self:_UpdateRoute(1)
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self:__UpdateRoute(-0.1, 1)
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end
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return self
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@@ -2628,7 +2648,8 @@ function FLIGHTGROUP:AddWaypointAir(coordinate, wpnumber, speed)
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end
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end
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self:_UpdateRoute()
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-- Update route.
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self:__UpdateRoute(-0.1)
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end
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--- Check if a unit is and element of the flightgroup.
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