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https://github.com/FlightControl-Master/MOOSE.git
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Frank
413 lines
14 KiB
Lua
413 lines
14 KiB
Lua
--- **Ops** - (R2.5) - Aerial refueling tanker.
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--
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-- **Main Features:**
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--
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-- * Monitor flight status of elements or entire group.
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-- * Create a mission queue.
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-- * Inherits FLIGHTGROUP class.
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--
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--
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-- ===
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--
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-- ### Author: **funkyfranky**
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-- @module Ops.TankerGroup
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-- @image OPS_TankerGroup.png
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--- TANKERGROUP class.
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-- @type TANKERGROUP
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-- @field #string ClassName Name of the class.
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-- @field #boolean Debug Debug mode. Messages to all about status.
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-- @field #string lid Class id string for output to DCS log file.
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-- @field #table Qmissions Mission queue.
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-- @field #table Qclients Client queue.
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-- @field #TANKERGROUP.Mission currentmission Currently assigned mission.
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-- @field #number missioncounter Counter of total missions.
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-- @field Core.Scheduler#SCHEDULER Statusupdater Scheduler to update tanker status.
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-- @extends Ops.FlightGroup#FLIGHTGROUP
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--- *To invent an airplane is nothing. To build one is something. To fly is everything.* -- Otto Lilienthal
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--
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-- ===
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--
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-- 
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--
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-- # The TANKERGROUP Concept
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--
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-- # Events
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--
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--
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-- # Tasking
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--
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--
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-- # Examples
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--
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--
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--
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--
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--
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-- @field #TANKERGROUP
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TANKERGROUP = {
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ClassName = "TANKERGROUP",
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Debug = false,
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lid = nil,
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Qmissions = {},
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Qclients = {},
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currentmission = nil,
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missioncounter = nil,
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Statusupdater = nil,
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}
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--- Tanker mission table.
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-- @type TANKERGROUP.Mission
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-- @field #string name Name of the mission.
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-- @field #number mid ID of the mission.
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-- @field #string status Mission status.
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-- @field Ops.FlightGroup#FLIGHTGROUP.Task task Task of mission.
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-- @field Core.Zone#ZONE zone Mission zone.
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-- @field #number duration Duration of mission.
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-- @field #number altitude Altitude of orbit in meters ASL.
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-- @field #number distance Length of orbit leg in meters.
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-- @field #number heading Heading of orbit in degrees.
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-- @field #number speed Speed in m/s.
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-- @field #number Tadded Time the mission was added.
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-- @field #number Tstart Start time in seconds.
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-- @field #number Tstarted Time the mission was started.
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-- @field #number Tstop Time the mission is stopped.
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-- @field #number Tsopped Time the mission was stopped.
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-- @field #number prio Priority of the mission.
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--- Mission status.
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-- @type TANKERGROUP.MissionStatus
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-- @field #string SCHEDULED Mission is scheduled.
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-- @field #string EXECUTING Mission is being executed.
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-- @field #string ASSIGNED Mission was assigned.
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-- @field #string ACCOMPLISHED Mission is accomplished.
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TANKERGROUP.MissionStatus={
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SCHEDULED="scheduled",
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EXECUTING="executing",
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ASSIGNED="assigned",
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ACCOMPLISHED="accomplished",
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FAILED="failed",
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}
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--- TANKERGROUP class version.
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-- @field #string version
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TANKERGROUP.version="0.0.2"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Add orbit task.
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-- TODO: Add client queue.
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-- TODO: Add menu?
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a new TANKERGROUP object and start the FSM.
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-- @param #TANKERGROUP self
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-- @param #string groupname Name of the group.
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-- @return #TANKERGROUP self
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function TANKERGROUP:New(groupname)
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-- Create flight group.
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local fg=FLIGHTGROUP:New(groupname, false)
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-- Inherit everything from TANKERGROUP class.
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local self=BASE:Inherit(self, fg) -- #TANKERGROUP
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-- Init mission counter.
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self.missioncounter=0
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-- Log id.
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self.lid=string.format("FLIGHTGROUP %s (TANKER) | ", groupname)
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if false then
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BASE:TraceOn()
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BASE:TraceLevel(3)
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BASE:TraceClass(self.ClassName)
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BASE:TraceClass("FLIGHTGROUP")
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end
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("*", "TankerState", "*") -- Tanker is on station and ready to refuel.
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self:AddTransition("*", "OnStation", "Ready2Refuel") -- Tanker is on station and ready to refuel.
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self:AddTransition("*", "MissionStart", "*") -- Tanker is on station and ready to refuel.
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self:AddTransition("*", "MissionAccomplished", "*") -- Tanker is on station and ready to refuel.
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-- Call status update.
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self:__TankerState(-5)
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-- Start FSM.
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self:Start()
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- User API functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Add mission for tanker.
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-- @param #TANKERGROUP self
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-- @param Core.Zone#ZONE Zone The mission zone. Orbit is picked at a random location.
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-- @param #number Altitude Orbit altitude in feet. Default is 10000 ft.
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-- @param #number Distance Length of the race-track pattern leg in NM.
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-- @param #number Heading Heading of the race-track pattern in degrees. Default is 90, i.e. from West to East.
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-- @param #number SpeedOrbit Orbit speed in knots. Default is 280 knots.
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-- @param #string ClockStart Time the mission is started, e.g. "05:00" for 5 am. If specified as a #number, it will be relative (in seconds) to the current mission time.
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-- @param #string ClockStop Time the mission is stopped, e.g. "13:00" for 1 pm. If mission could not be started at that time, it will be removed from the queue. If specified as a #number it will be relative (in seconds) to the current mission time.
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-- @param #number Prio Priority of the mission, i.e. a number between 1 and 100. Default 50.
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-- @param #string Name Mission name. Default "Aerial Refueling #00X", where "#00X" is a running mission counter index starting at "#001".
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-- @return #TANKERGROUP.Mission The mission table.
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function TANKERGROUP:AddMission(Zone, Altitude, Distance, Heading, SpeedOrbit, ClockStart, ClockStop, Prio, Name)
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-- Increase mission counter.
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self.missioncounter=self.missioncounter+1
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-- Current mission time.
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local Tnow=timer.getAbsTime()
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-- Set start time. Default in 5 sec.
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local Tstart=Tnow+5
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if ClockStart and type(ClockStart)=="number" then
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Tstart=Tnow+ClockStart
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elseif ClockStart and type(ClockStart)=="string" then
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Tstart=UTILS.ClockToSeconds(ClockStart)
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end
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-- Set stop time. Default nil.
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local Tstop=nil
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if ClockStop and type(ClockStop)=="number" then
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Tstop=Tnow+ClockStop
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elseif ClockStop and type(ClockStop)=="string" then
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Tstop=UTILS.ClockToSeconds(ClockStop)
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end
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-- Make mission table.
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local mission={} --#TANKERGROUP.Mission
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mission.zone=Zone
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mission.mid=self.missioncounter
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mission.altitude=UTILS.FeetToMeters(Altitude or 10000)
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mission.distance=UTILS.NMToMeters(Distance or 25)
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mission.name=Name or string.format("Aerial Refueling #%03d", mission.mid)
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mission.speed=UTILS.KnotsToMps(SpeedOrbit or 280)
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mission.heading=Heading or 270
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mission.Tadded=Tnow
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mission.Tstart=Tstart
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mission.Tstop=Tstop
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mission.status=TANKERGROUP.MissionStatus.SCHEDULED
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if Tstop then
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mission.duration=mission.Tstop-mission.Tstart
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end
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mission.prio=Prio or 50
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mission.task=nil
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-- Add mission to queue.
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table.insert(self.Qmissions, mission)
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local text=string.format("Added mission %s at zone %s. Starting at %s. Stopping at %s. Altitude=%d ft, Leg=%s NM, Heading=%03d, Speed=%d kts",
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mission.zone:GetName(), mission.name, UTILS.SecondsToClock(mission.Tstart, true), mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "never",
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UTILS.MetersToFeet(mission.altitude), UTILS.MetersToNM(mission.distance), mission.heading, UTILS.MpsToKnots(mission.speed))
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self:I(self.lid..text)
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return mission
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- FSM functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- On after "TankerStatus" event.
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-- @param #TANKERGROUP 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 TANKERGROUP:onafterTankerState(From, Event, To)
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-- FSM state.
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local fsmstate=self:GetState()
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-- First check if group is alive?
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if self:IsAlive()~=nil and not self.currentmission then
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local mission=self:_GetNextMission()
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if mission then
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env.info("FF starting mission")
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self:MissionStart(mission)
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end
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end
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-- Current mission name.
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local mymission=self.currentmission and self.currentmission.name or "N/A"
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-- Current status.
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local text=string.format("Tanker Status %s: Mission=%s (%d)", fsmstate, mymission, #self.Qmissions)
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for i,_mission in pairs(self.Qmissions) do
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local mission=_mission --#TANKERGROUP.Mission
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text=text..string.format("\n[%d] %s status=%s", i, tostring(mission.name), tostring(mission.status))
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end
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self:I(self.lid..text)
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-- Nest status update in 30 sec.
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self:__TankerState(-30)
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end
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--- On after "MissionStart" event.
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-- @param #TANKERGROUP 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 #TANKERGROUP.Mission Mission The mission table.
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function TANKERGROUP:onafterMissionStart(From, Event, To, Mission)
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-- TODO: need to handle case that group is spawned at a later point in time!
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-- Delay for route to mission. Group needs to be activated and controlled.
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local delay=nil
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-- Check if group is spawned.
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if self:IsInUtero() then
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-- Activate group if it is late activated.
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if self:IsLateActivated() then
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self:Activate()
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delay=1
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end
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-- Activate group if it is uncontrolled.
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if self:IsUncontrolled() then
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self:StartUncontrolled(5)
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delay=6
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end
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end
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-- Set current mission.
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self.currentmission=Mission
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-- Set Tstarted time stamp.
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self.currentmission.Tstarted=timer.getAbsTime()
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-- Set mission status.
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self.currentmission.status=TANKERGROUP.MissionStatus.EXECUTING
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-- Route flight to mission zone.
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self:RouteToMission(Mission, delay)
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end
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--- On after "TaskDone" event.
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-- @param #TANKERGROUP 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 Ops.FlightGroup#FLIGHTGROUP.Task Task.
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function TANKERGROUP:onafterTaskDone(From, Event, To, Task)
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-- First call flight status.
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self:GetParent(self).onafterTaskDone(self, From, Event, To, Task)
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if self.currentmission then
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local missiontask=self.currentmission.task
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if missiontask.id==Task.id then
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self:MissionAccomplished(self.currentmission)
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end
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end
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end
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--- On after "MissionAccomplished" event.
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-- @param #TANKERGROUP 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 #TANKERGROUP.Mission Mission
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function TANKERGROUP:onafterMissionAccomplished(From, Event, To, Mission)
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Mission.status=TANKERGROUP.MissionStatus.ACCOMPLISHED
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self.currentmission=nil
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- MISC functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Get next mission.
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-- @param #TANKERGROUP self
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-- @return #TANKERGROUP.Mission Next mission or *nil*.
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function TANKERGROUP:_GetNextMission()
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-- Number of missions.
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local Nmissions=#self.Qmissions
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-- Treat special cases.
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if Nmissions==0 then
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return nil
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end
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-- Sort results table wrt times they have already been engaged.
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local function _sort(a, b)
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local taskA=a --#TANKERGROUP.Mission
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local taskB=b --#TANKERGROUP.Mission
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return (taskA.Tstart<taskB.Tstart) or (taskA.Tstart==taskB.Tstart and taskA.prio<taskB.prio)
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end
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table.sort(self.Qmissions, _sort)
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-- Current time.
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local time=timer.getAbsTime()
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-- Look for first task that is not accomplished.
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for _,_mission in pairs(self.Qmissions) do
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local mission=_mission --#TANKERGROUP.Mission
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if mission.status==TANKERGROUP.MissionStatus.SCHEDULED and time>=mission.Tstart then
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return mission
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end
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end
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return nil
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end
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--- Route group to mission. Also sets the
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-- @param #TANKERGROUP self
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-- @param #TANKERGROUP.Mission mission The mission table.
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-- @param #number delay Delay in seconds.
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function TANKERGROUP:RouteToMission(mission, delay)
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if delay and delay>0 then
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-- Delay call.
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self:ScheduleOnce(delay, TANKERGROUP.RouteToMission, self, mission)
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else
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-- Get random coordinate in mission zone.
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local Coordinate=mission.zone:GetRandomCoordinate():SetAltitude(mission.altitude, true)
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-- Set second coordinate for race track pattern.
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local CoordRaceTrack=Coordinate:Translate(mission.distance, mission.heading, true)
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Coordinate:MarkToAll("Orbit 1")
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CoordRaceTrack:MarkToAll("Orbit 2")
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-- Add waypoint.
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self:AddWaypointAir(Coordinate, nil, self.speedmax*0.8)
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-- Create task to orbit.
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local taskorbit=self.group:TaskOrbit(Coordinate, mission.altitude, mission.speed, CoordRaceTrack)
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-- Add waypoint task.
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-- TODO: find last AIR waypoint! We dont want this at landing waypoints.
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mission.task=self:AddTaskWaypoint(taskorbit, #self.waypoints, mission.name, 10, mission.duration)
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end
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end
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