mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2026-07-20 22:03:25 +00:00
FG
This commit is contained in:
Frank
@@ -52,8 +52,8 @@ FLIGHTGROUP = {
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flightgroup = nil,
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grouptemplate = nil,
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type = nil,
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waypoints = nil,
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coordinates = nil,
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waypoints = {},
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coordinates = {},
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element = {},
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taskqueue = {},
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taskcounter = nil,
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@@ -95,7 +95,7 @@ FLIGHTGROUP.ElementStatus={
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-- @field #string skill Skill level.
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-- @field Wrapper.Unit#UNIT unit Element unit object.
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-- @field Wrapper.Group#GROUP group Group object of the element.
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-- @field #string status Status, i.e. born, parking, taxiing.
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-- @field #string status Status, i.e. born, parking, taxiing. See @{#FLIGHTGROUP.ElementStatus}.
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--- Flight group tasks.
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-- @type FLIGHTGROUP.Mission
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@@ -136,6 +136,8 @@ FLIGHTGROUP.TaskStatus={
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-- @field #table dcstask DCS task structure.
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-- @field #string description Brief text which describes the task.
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-- @field #string status Task status.
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-- @field #number duration Duration before task is cancelled in seconds. Default never.
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-- @field #number timestamp Abs. mission time, when task was started.
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--- FLIGHTGROUP class version.
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@@ -298,15 +300,16 @@ end
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-- @param #string description Brief text describing the task, e.g. "Attack SAM".
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-- @param #table task DCS task table stucture.
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-- @param #number prio Priority of the task.
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-- @param #string clock Mission time when task is executed. Default in 60 seconds. If argument passed as #number, it defines a relative delay in seconds.
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-- @param #string clock Mission time when task is executed. Default in 5 seconds. If argument passed as #number, it defines a relative delay in seconds.
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-- @param #number duration Duration before task is cancelled in seconds counted after task started. Default never.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:AddTask(description, task, prio, clock)
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function FLIGHTGROUP:AddTask(description, task, prio, clock, duration)
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-- Increase coutner.
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self.taskcounter=self.taskcounter+1
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-- Set time.
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local time=timer.getAbsTime()+60
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local time=timer.getAbsTime()+5
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if clock then
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if type(clock)=="string" then
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time=UTILS.ClockToSeconds(clock)
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@@ -323,6 +326,7 @@ function FLIGHTGROUP:AddTask(description, task, prio, clock)
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newtask.prio=prio or 50
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newtask.time=time
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newtask.id=self.taskcounter
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newtask.duration=duration
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self:T2({newtask=newtask})
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@@ -428,7 +432,7 @@ function FLIGHTGROUP:onafterStart(From, Event, To)
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self:__FlightStatus(-1)
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end
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--- On after Start event. Starts the FLIGHTGROUP FSM and event handlers.
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--- On after "FlightSpawned" event. Sets the template, initializes the waypoints.
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-- @param #FLIGHTGROUP self
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-- @param Wrapper.Group#GROUP Group Flight group.
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-- @param #string From From state.
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@@ -437,10 +441,27 @@ end
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-- @param Wrapper.Group#GROUP Group The group object.
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function FLIGHTGROUP:onafterFlightSpawned(From, Event, To, Group)
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-- Get template of group.
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self.template=self.flightgroup:GetTemplate()
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-- Init waypoints.
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self:_InitWaypoints()
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-- Route flight group but now with passing waypoint tasks.
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self.flightgroup:Route(self.waypoints)
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end
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--- On after "FlightAirborne" event.
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-- @param #FLIGHTGROUP self
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-- @param Wrapper.Group#GROUP Group Flight group.
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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.Group#GROUP Group The group object.
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function FLIGHTGROUP:onafterFlightAirborne(From, Event, To, Group)
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-- Update
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self:__QueueUpdate(-1)
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end
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@@ -456,7 +477,7 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
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local fsmstate=self:GetState()
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-- Short info.
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local text=string.format("Flight group status %s. Task=%d", fsmstate, self.taskcurrent)
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local text=string.format("Flight status %s. Task=%d. Waypoint=%d/%d.", fsmstate, self.taskcurrent, self.currentwp or 0, #self.waypoints or 0)
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self:I(self.sid..text)
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-- Element status.
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@@ -483,18 +504,25 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
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self:I(text)
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-- Task queue.
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text="Tasks:"
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text=string.format("Tasks #%d", #self.taskqueue)
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for i,_task in pairs(self.taskqueue) do
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local task=_task --#FLIGHTGROUP.Task
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local name=task.description
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local status=task.status
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local clock=UTILS.SecondsToClock(task.time)
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local eta=task.time-timer.getAbsTime()
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local started=UTILS.SecondsToClock(task.timestamp or 0)
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local duration=-1
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if task.duration then
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duration=task.duration
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if task.timestamp then
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duration=task.duration-(timer.getAbsTime()-task.timestamp)
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else
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duration=task.duration
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end
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end
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-- Output text for element.
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text=text..string.format("\n[%d] %s: status=%s, scheduled at %s (ETA %d seconds)", i, name, status, clock, eta)
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end
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if #self.taskqueue==0 then
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text=text.." none!"
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text=text..string.format("\n[%d] %s: status=%s, scheduled=%s (%d sec), started=%s, duration=%s", i, name, status, clock, eta, started, duration)
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end
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self:I(text)
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@@ -521,10 +549,30 @@ function FLIGHTGROUP:onafterQueueUpdate(From, Event, To)
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if task then
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self:TaskExecute(task)
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end
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else
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-- Get current task.
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local task=self:GetTaskCurrent()
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-- Check if task has a defined duration.
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if task and task.duration and task.timestamp then
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-- Check if max task duration is over.
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local cancel=timer.getAbsTime()>task.timestamp+task.duration
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--self:E(string.format("FF timestap=%d , duration=%d, time=%d, stamp+duration=%s < time = %s", task.timestamp, task.duration, timer.getAbsTime(), task.timestamp+task.duration, tostring(cancel)))
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-- Cancel task if task is running longer than duration.
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if cancel then
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self:TaskCancel()
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end
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end
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end
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self:__QueueUpdate(-1)
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-- Update queue every ~5 sec.
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self:__QueueUpdate(-5)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -773,6 +821,21 @@ function FLIGHTGROUP:onafterElementArrived(From, Event, To, Element)
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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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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param #number n Waypoint number passed.
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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("Group %s passed waypoint %d/%d", self.groupname, n, N)
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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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end
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--- On after "RTB" event. Send flightgroup back to base.
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-- @param #FLIGHTGROUP self
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-- @param #string From From state.
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@@ -830,17 +893,19 @@ function FLIGHTGROUP:onafterTaskExecute(From, Event, To, Task)
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-- Task done.
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local TaskDone=self.flightgroup:TaskFunction("FLIGHTGROUP._TaskDone", self, Task)
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local TaskOrbit=self.flightgroup:TaskOrbit(Coord, 10000)
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-- Combo task.
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local TaskCombo=self.flightgroup:TaskCombo({Task.dcstask, TaskDone, TaskOrbit})
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-- Set task for group.
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self.flightgroup:SetTask(TaskCombo, 1)
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local TaskCombo=self.flightgroup:TaskCombo({Task.dcstask, TaskDone})
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-- Set time stamp.
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Task.timestamp=timer.getAbsTime()
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-- Task status executing.
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Task.status=FLIGHTGROUP.TaskStatus.EXECUTING
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-- Set task for group.
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self.flightgroup:SetTask(TaskCombo)
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end
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@@ -864,6 +929,32 @@ function FLIGHTGROUP:onafterTaskPause(From, Event, To, Task)
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end
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--- On after TaskCancel 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 #FLIGHTGROUP.Task Task
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function FLIGHTGROUP:onafterTaskCancel(From, Event, To)
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-- Clear tasks.
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self.flightgroup:ClearTasks()
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-- Get current task.
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local task=self:GetTaskCurrent()
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if task then
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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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self:I(self.sid..text)
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self:TaskDone(task)
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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.sid..text)
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end
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end
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--- On after TaskDone event.
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-- @param #FLIGHTGROUP self
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@@ -874,12 +965,19 @@ end
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function FLIGHTGROUP:onafterTaskDone(From, Event, To, Task)
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-- Debug message.
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local text=string.format("Task %s ID=%d done.", Task.description, Task.id)
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local text=string.format("Task done: %s ID=%d", Task.description, Task.id)
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MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
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self:I(self.sid..text)
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-- No current task.
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self.taskcurrent=0
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-- Task status done.
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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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end
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@@ -913,7 +1011,7 @@ end
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-- Task functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Sort task queue.
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--- Get next task in queue. Task needs to be in state SCHEDULED and time must have passed.
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-- @param #FLIGHTGROUP self
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function FLIGHTGROUP:GetTask()
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@@ -935,7 +1033,7 @@ function FLIGHTGROUP:GetTask()
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-- Look for first task that is not accomplished.
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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.status~=FLIGHTGROUP.TaskStatus.ACCOMPLISHED and time>=task.time then
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if task.status==FLIGHTGROUP.TaskStatus.SCHEDULED and time>=task.time then
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return task
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end
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end
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@@ -1129,6 +1227,13 @@ function FLIGHTGROUP:GetElementByName(unitname)
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return nil
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end
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--- Get the currently executed task if there is any.
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-- @param #FLIGHTGROUP self
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-- @return #FLIGHTGROUP.Task Current task or nil.
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function FLIGHTGROUP:GetTaskCurrent()
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return self:GetTaskByID(self.taskcurrent, FLIGHTGROUP.TaskStatus.EXECUTING)
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end
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--- Get task by its id.
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-- @param #FLIGHTGROUP self
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-- @param #number id Task id.
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@@ -1178,18 +1283,41 @@ 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()
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function FLIGHTGROUP:_UpdateRoute(n)
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-- TODO: what happens if currentwp=#waypoints
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n=n or self.currentwp+1
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local wp={}
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for i=self.currentwp,#self.waypoints do
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-- Set "remaining" waypoits.
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for i=n, #self.waypoints do
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table.insert(wp, self.waypoints[i])
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end
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if #wp>0 then
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self.flightgroup:GetTaskRoute()
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self.flightgroup:TaskRoute(wp)
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self.flightgroup:Route(wp, 1)
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-- Route group to all defined waypoints remaining.
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self.flightgroup:Route(wp, 1)
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else
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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 airbase then
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-- Route flight 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()
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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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@@ -1199,9 +1327,17 @@ function FLIGHTGROUP:_InitWaypoints()
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-- Waypoints of group as defined in the ME.
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self.waypoints=self.flightgroup:GetTemplateRoutePoints()
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for i,wp in pairs(self.waypoints) do
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local Task=self.flightgroup:TaskFunction("FLIGHTGROUP._PassingWaypoint", self, i)
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self.flightgroup:SetTaskWaypoint(wp, Task)
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self:I({wptask=Task})
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end
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-- Init array.
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self.coordinates={}
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self:I(self.sid..string.format("FF number of waypoints = %d", #self.waypoints))
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-- Set waypoint table.
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for i,point in ipairs(self.waypoints or {}) do
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@@ -1222,6 +1358,7 @@ function FLIGHTGROUP:_InitWaypoints()
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end
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-- Set current waypoint. Counting starts a one.
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self.currentwp=1
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return self
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@@ -1231,8 +1368,9 @@ end
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--@param Wrapper.Group#GROUP group Group that passed the waypoint
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--@param #FLIGHTGROUP flightgroup Flightgroup object.
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--@param #number i Waypoint number that has been reached.
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--@param #number final Final waypoint number.
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function FLIGHGROUP._PassingWaypoint(group, flightgroup, i, final)
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function FLIGHTGROUP._PassingWaypoint(group, flightgroup, i)
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local final=#flightgroup.waypoints or 1
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-- Debug message.
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local text=string.format("Group %s passing waypoint %d of %d.", group:GetName(), i, final)
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@@ -1246,13 +1384,13 @@ function FLIGHGROUP._PassingWaypoint(group, flightgroup, i, final)
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-- Debug message.
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MESSAGE:New(text,10):ToAllIf(flightgroup.Debug)
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flightgroup:T(flightgroup.sid..text)
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flightgroup:I(flightgroup.sid..text)
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-- Set current waypoint.
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flightgroup.currentwp=i
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-- Passing Waypoint event.
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flightgroup:PassingWaypoint(i)
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flightgroup:PassingWaypoint(i, final)
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-- If final waypoint reached, do route all over again.
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if i==final and final>1 then
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@@ -994,15 +994,15 @@ function CONTROLLABLE:TaskBombing( Vec2, GroupAttack, WeaponExpend, AttackQty, D
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return DCSTask
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end
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--- (AIR) Attacking the map object (building, structure, e.t.c).
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||||
--- (AIR) Attacking the map object (building, structure, etc).
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||||
-- @param #CONTROLLABLE self
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-- @param DCS#Vec2 Vec2 2D-coordinates of the point to deliver weapon at.
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||||
-- @param #boolean GroupAttack (optional) If true, all units in the group will attack the Unit when found.
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||||
-- @param DCS#AI.Task.WeaponExpend WeaponExpend (optional) Determines how much weapon will be released at each attack. If parameter is not defined the unit / controllable will choose expend on its own discretion.
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-- @param #number AttackQty (optional) This parameter limits maximal quantity of attack. The aicraft/controllable will not make more attack than allowed even if the target controllable not destroyed and the aicraft/controllable still have ammo. If not defined the aircraft/controllable will attack target until it will be destroyed or until the aircraft/controllable will run out of ammo.
|
||||
-- @param DCS#Azimuth Direction (optional) Desired ingress direction from the target to the attacking aircraft. Controllable/aircraft will make its attacks from the direction. Of course if there is no way to attack from the direction due the terrain controllable/aircraft will choose another direction.
|
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-- @param #number Altitude (optional) The altitude from where to attack.
|
||||
-- @param #number WeaponType (optional) The WeaponType.
|
||||
-- @param #boolean GroupAttack (Optional) If true, all units in the group will attack the Unit when found.
|
||||
-- @param DCS#AI.Task.WeaponExpend WeaponExpend (Optional) Determines how much weapon will be released at each attack. If parameter is not defined the unit / controllable will choose expend on its own discretion.
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||||
-- @param #number AttackQty (Optional) This parameter limits maximal quantity of attack. The aicraft/controllable will not make more attack than allowed even if the target controllable not destroyed and the aicraft/controllable still have ammo. If not defined the aircraft/controllable will attack target until it will be destroyed or until the aircraft/controllable will run out of ammo.
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||||
-- @param DCS#Azimuth Direction (Optional) Desired ingress direction from the target to the attacking aircraft. Controllable/aircraft will make its attacks from the direction. Of course if there is no way to attack from the direction due the terrain controllable/aircraft will choose another direction.
|
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-- @param #number Altitude (Optional) The altitude [meters] from where to attack. Default 30 m.
|
||||
-- @param #number WeaponType (Optional) The WeaponType. Default Auto=1073741822.
|
||||
-- @return DCS#Task The DCS task structure.
|
||||
function CONTROLLABLE:TaskAttackMapObject( Vec2, GroupAttack, WeaponExpend, AttackQty, Direction, Altitude, WeaponType )
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self:F2( { self.ControllableName, Vec2, GroupAttack, WeaponExpend, AttackQty, Direction, Altitude, WeaponType } )
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||||
@@ -1012,6 +1012,8 @@ function CONTROLLABLE:TaskAttackMapObject( Vec2, GroupAttack, WeaponExpend, Atta
|
||||
id = 'AttackMapObject',
|
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params = {
|
||||
point = Vec2,
|
||||
x = Vec2.x,
|
||||
y = Vec2.y,
|
||||
groupAttack = GroupAttack or false,
|
||||
expend = WeaponExpend or "Auto",
|
||||
attackQtyLimit = AttackQty and true or false,
|
||||
@@ -1020,7 +1022,7 @@ function CONTROLLABLE:TaskAttackMapObject( Vec2, GroupAttack, WeaponExpend, Atta
|
||||
direction = Direction,
|
||||
altitudeEnabled = Altitude and true or false,
|
||||
altitude = Altitude or 30,
|
||||
weaponType = WeaponType,
|
||||
weaponType = WeaponType or 1073741822,
|
||||
},
|
||||
},
|
||||
|
||||
|
||||
Reference in New Issue
Block a user