mirror of
https://github.com/FlightControl-Master/MOOSE.git
synced 2026-08-11 19:58:22 +00:00
Refactoring
This commit is contained in:
Frank
@@ -31,6 +31,7 @@
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-- @field #NAVYGROUP
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NAVYGROUP = {
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ClassName = "NAVYGROUP",
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verbose = 2,
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}
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--- Navy group element.
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@@ -140,6 +141,7 @@ end
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--- Add a *scheduled* task.
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-- @param #NAVYGROUP self
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-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
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-- @param #number Radius Radius in meters. Default 100 m.
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-- @param #number Nshots Number of shots to fire. Default 3.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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@@ -148,10 +150,24 @@ function NAVYGROUP:AddTaskFireAtPoint(Coordinate, Radius, Nshots, WeaponType, Cl
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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self:AddTask(DCStask, Clock, nil, Prio)
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end
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--- Add a *scheduled* task.
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-- @param #NAVYGROUP self
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-- @param Wrapper.Group#GROUP TargetGroup Target group.
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-- @param #number WeaponExpend How much weapons does are used.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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function NAVYGROUP:AddTaskAttackGroup(TargetGroup, WeaponExpend, WeaponType, Clock, Prio)
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local DCStask=CONTROLLABLE.TaskAttackGroup(nil, TargetGroup, WeaponType, WeaponExpend, AttackQty, Direction, Altitude, AttackQtyLimit, GroupAttack)
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self:AddTask(DCStask, Clock, nil, Prio)
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Status
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@@ -163,6 +179,15 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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-- FSM state.
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local fsmstate=self:GetState()
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---
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-- Detection
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---
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-- Check if group has detected any units.
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if self.detectionOn then
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self:_CheckDetectedUnits()
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end
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-- Current heading and position of the carrier.
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@@ -173,11 +198,76 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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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 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", fsmstate, speed, hdg, tostring(collision))
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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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self:I(self.lid..text)
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self:__Status(-30)
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---
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-- Tasks
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---
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-- Task queue.
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if #self.taskqueue>0 and self.verbose>1 then
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local 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 taskid=task.dcstask.id or "unknown"
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local status=task.status
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local clock=UTILS.SecondsToClock(task.time, true)
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local eta=task.time-timer.getAbsTime()
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local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
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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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-- Time the task is running.
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duration=task.duration-(timer.getAbsTime()-task.timestamp)
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else
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-- Time the task is supposed to run.
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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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if task.type==OPSGROUP.TaskType.SCHEDULED then
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text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
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elseif task.type==OPSGROUP.TaskType.WAYPOINT then
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text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
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end
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end
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self:I(self.lid..text)
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end
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---
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-- Missions
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---
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-- Current mission name.
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if self.verbose>0 then
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local Mission=self:GetMissionByID(self.currentmission)
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-- Current status.
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local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
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for i,_mission in pairs(self.missionqueue) do
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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 (%s), Time=%s-%s, prio=%d wp=%s targets=%d",
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i, tostring(mission.name), mission.type, mission:GetFlightStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetFlightWaypointIndex(self)), mission:CountMissionTargets())
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end
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self:I(self.lid..text)
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end
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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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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -209,7 +299,7 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
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if self.ai then
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-- Set default ROE and ROT options.
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self:SetOptionROE()
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self:SetOptionROE(self.roe)
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end
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@@ -252,6 +342,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- Set speed.
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wp.speed=UTILS.KmphToMps(speed)
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wp.alt=-depth
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-- Add waypoint.
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table.insert(waypoints, wp)
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@@ -259,9 +350,11 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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if #waypoints>1 then
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self:I(self.lid..string.format("Updateing route: WP=%d, Speed=%.1f knots, depth=%d meters", #self.waypoints-n+1, UTILS.KmphToKnots(speed), depth))
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-- Route group to all defined waypoints remaining.
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self.group:Route(waypoints, 1)
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self:Route(waypoints)
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else
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@@ -269,7 +362,11 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- No waypoints left
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---
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self:UpdateRoute(1)
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self:I(self.lid..string.format("No waypoints left"))
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-- TODO: Switch to waypoint 1
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--self:UpdateRoute(1)
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end
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@@ -299,7 +396,7 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, Duration, Speed, Uturn)
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wp[1]=coord:WaypointNaval(Speed)
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wp[2]=Coord:WaypointNaval(Speed)
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self.group:Route(wp, 1)
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self:Route(wp)
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end
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@@ -317,7 +414,7 @@ function NAVYGROUP:onafterFullStop(From, Event, To)
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local wp=pos:WaypointNaval(0)
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-- Create new route consisting of only this position ==> Stop!
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self.group:Route({wp})
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self:Route({wp})
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end
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@@ -340,6 +437,7 @@ end
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-- @param #number Depth Dive depth in meters.
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function NAVYGROUP:onafterDive(From, Event, To, Depth)
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env.info("FF Diving")
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self:UpdateRoute(nil, nil, Depth)
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end
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@@ -478,6 +576,8 @@ function NAVYGROUP:_InitGroup()
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element.status=OPSGROUP.ElementStatus.INUTERO
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table.insert(self.elements, element)
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self:GetAmmoUnit(unit, true)
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if unit:IsAlive() then
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self:ElementSpawned(element)
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end
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@@ -639,6 +739,33 @@ function NAVYGROUP:_CheckTurning()
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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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--
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-- * passed the final waypoint,
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-- * no current task
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-- * no current mission
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-- * number of remaining tasks is zero
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-- * number of remaining missions is zero
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--
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-- @param #NAVYGROUP self
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-- @param #number delay Delay in seconds.
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function NAVYGROUP:_CheckGroupDone(delay)
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if self:IsAlive() and self.ai then
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if delay and delay>0 then
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-- Delayed call.
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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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end
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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