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Ops

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- First CAP version
This commit is contained in:
Frank
2020-03-12 12:37:09 +01:00
parent 04fb7f7684
commit 6c0b6b3b95
4 changed files with 201 additions and 114 deletions
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Moose Development/Moose/Ops/FlightGroup.lua
+46 -36
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@@ -440,7 +440,7 @@ function FLIGHTGROUP:New(groupname, autostart)
self:AddTransition("*", "PassingWaypoint", "*") -- Group passed a waypoint.
self:AddTransition("*", "GotoWaypoint", "*") -- Group switches to a specific waypoint.
self:AddTransition("*", "Wait", "Waiting") -- Group is orbiting.
self:AddTransition("*", "Wait", "Waiting") -- Group is orbiting.
self:AddTransition("*", "FuelLow", "*") -- Fuel state of group is low. Default ~25%.
self:AddTransition("*", "FuelCritical", "*") -- Fuel state of group is critical. Default ~10%.
@@ -932,6 +932,13 @@ function FLIGHTGROUP:IsAirborne()
return self:Is("Airborne")
end
--- Check if flight is waiting after passing final waypoint.
-- @param #FLIGHTGROUP self
-- @return #boolean If true, flight is waiting.
function FLIGHTGROUP:IsWaiting()
return self:Is("Waiting")
end
--- Check if flight is landing.
-- @param #FLIGHTGROUP self
-- @return #boolean If true, flight is landing, i.e. on final approach.
@@ -1473,7 +1480,7 @@ function FLIGHTGROUP:onafterQueueUpdate(From, Event, To)
-- Current mission but new mission is urgent with higher prio.
if mission.urgent and mission.prio<currentmission.prio then
self:MissionCancel(currentmission)
self:MissionStart(mission)
self:__MissionStart(1, mission)
end
else
@@ -2223,7 +2230,7 @@ function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
-- Is transition allowed? We assume yes until proven otherwise.
local allowed=true
if self.group and self.group:IsAlive() and self:IsAirborne() then
if self.group and self.group:IsAlive() and (self:IsAirborne() or self:IsWaiting()) then
-- Alive & Airborne ==> Update route possible.
self:T3(self.lid.."Update route possible. Group is ALIVE and AIRBORNE")
elseif self:IsDead() then
@@ -2249,7 +2256,7 @@ function FLIGHTGROUP:onbeforeUpdateRoute(From, Event, To, n)
local N=n or self.currentwp+1
if not N or N<1 then
self:T3(self.lid.."FF update route denied because N=nil or N<1")
self:E(self.lid.."FF update route denied because N=nil or N<1")
self:__UpdateRoute(-1, n)
allowed=false
end
@@ -2278,11 +2285,6 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
-- TODO: what happens if currentwp=#waypoints
n=n or self.currentwp+1
-- Debug info.
local text=string.format("Updating route n=%d for group %s", n, self.groupname)
MESSAGE:New(text, 10):ToAllIf(false)
self:I(self.lid..text)
-- Update waypoint tasks, i.e. inject WP tasks into waypoint table.
self:_UpdateWaypointTasks()
@@ -2324,7 +2326,7 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
-- Debug info.
local hb=self.homebase and self.homebase:GetName() or "unknown"
local db=self.destbase and self.destbase:GetName() or "unknown"
self:I(self.lid..string.format("Updating route for WP>=%d/%d (%d) homebase=%s destination=%s", n, #wp, #self.waypoints, hb, db))
self:I(self.lid..string.format("Updating route for WP #%d-%d homebase=%s destination=%s", n, #wp, hb, db))
if #wp>1 then
@@ -2479,7 +2481,7 @@ function FLIGHTGROUP:_CheckFlightDone(delay)
self:__Wait(-1)
end
else
self:I(self.lid..string.format("Passed Final WP but still have current Tasks or Missions left to do"))
self:I(self.lid..string.format("Passed Final WP but still have current Tasks (%s) or Missions (%s) left to do", tostring(self.taskcurrent), tostring(self.currentmission)))
end
else
self:I(self.lid.."Did NOT pass the final waypoint yet")
@@ -2537,26 +2539,31 @@ function FLIGHTGROUP:onbeforeRTB(From, Event, To, airbase, SpeedTo, SpeedHold)
self:E(self.lid.."ERROR: Wrong airbase coalition in RTB() call! We allow only same as group or neutral airbases.")
allowed=false
end
-- Check if there are remaining tasks.
local Ntot,Nsched, Nwp=self:CountRemainingTasks()
if self.taskcurrent>0 then
self:I(self.lid..string.format("WARNING: Got current task ==> RTB event is suspended for 10 sec."))
Tsuspend=-10
allowed=false
end
if Nsched>0 then
self:I(self.lid..string.format("WARNING: Still got %d SCHEDULED tasks in the queue ==> RTB event is suspended for 10 sec.", Nsched))
Tsuspend=-10
allowed=false
end
-- Only if fuel is not low or critical.
if not (self:IsFuelLow() or self:IsFuelCritical()) then
if Nwp>0 then
self:I(self.lid..string.format("WARNING: Still got %d WAYPOINT tasks in the queue ==> RTB event is suspended for 10 sec.", Nwp))
Tsuspend=-10
allowed=false
-- Check if there are remaining tasks.
local Ntot,Nsched, Nwp=self:CountRemainingTasks()
if self.taskcurrent>0 then
self:I(self.lid..string.format("WARNING: Got current task ==> RTB event is suspended for 10 sec."))
Tsuspend=-10
allowed=false
end
if Nsched>0 then
self:I(self.lid..string.format("WARNING: Still got %d SCHEDULED tasks in the queue ==> RTB event is suspended for 10 sec.", Nsched))
Tsuspend=-10
allowed=false
end
if Nwp>0 then
self:I(self.lid..string.format("WARNING: Still got %d WAYPOINT tasks in the queue ==> RTB event is suspended for 10 sec.", Nwp))
Tsuspend=-10
allowed=false
end
end
if Tsuspend and not allowed then
@@ -3211,8 +3218,10 @@ function FLIGHTGROUP:onafterTaskDone(From, Event, To, Task)
if Mission then
env.info("FF Task Done ==> Mission Done!")
self:MissionDone(Mission)
else
env.info("FF Task Done but NO mission found ==> _CheckFlightDone in 1 sec")
self:_CheckFlightDone(1)
end
@@ -3267,6 +3276,7 @@ end
function FLIGHTGROUP:onafterMissionStart(From, Event, To, Mission)
local text=string.format("Starting Mission %s", tostring(Mission.name))
self:I(self.lid..text)
MESSAGE:New(text, 120, "DEBUG"):ToAllIf(true)
-- Set current mission.
@@ -3311,9 +3321,6 @@ end
-- @param Ops.Auftrag#AUFTRAG Mission The mission to be cancelled.
function FLIGHTGROUP:onafterMissionCancel(From, Event, To, Mission)
-- Set missin flight status.
Mission:SetFlightStatus(self, AUFTRAG.FlightStatus.CANCELLED)
if self.currentmission and Mission.auftragsnummer==self.currentmission then
-- Get mission waypoint task.
@@ -3328,15 +3335,18 @@ function FLIGHTGROUP:onafterMissionCancel(From, Event, To, Mission)
self:TaskCancel(Task)
-- Set current mission to nil.
self.currentmission=nil
--self.currentmission=nil
else
-- Not the current mission.
-- TODO: remove mission from queue?
-- Set mission flight status.
Mission:SetFlightStatus(self, AUFTRAG.FlightStatus.CANCELLED)
-- Send flight RTB or WAIT if nothing left to do.
self:_CheckFlightDone()
self:_CheckFlightDone(1)
end
@@ -3417,7 +3427,7 @@ function FLIGHTGROUP._TaskExecute(group, flightgroup, task)
-- Debug message.
local text=string.format("_TaskExecute %s", task.description)
flightgroup:I(flightgroup.lid..text)
flightgroup:T3(flightgroup.lid..text)
-- Set current task to nil so that the next in line can be executed.
if flightgroup then
@@ -3433,7 +3443,7 @@ function FLIGHTGROUP._TaskDone(group, flightgroup, task)
-- Debug message.
local text=string.format("_TaskDone %s", task.description)
flightgroup:I(flightgroup.lid..text)
flightgroup:T3(flightgroup.lid..text)
-- Set current task to nil so that the next in line can be executed.
if flightgroup then