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https://github.com/FlightControl-Master/MOOSE.git
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Frank
1253 lines
41 KiB
Lua
1253 lines
41 KiB
Lua
--- **Ops** - Generic group functions.
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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.OpsGroup
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-- @image OPS_OpsGroup.png
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--- OPSGROUP class.
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-- @type OPSGROUP
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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 #number verbose Verbosity level. 0=silent.
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-- @field #string lid Class id string for output to DCS log file.
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-- @field #string groupname Name of flight group.
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-- @field Wrapper.Group#GROUP group Flight group object.
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-- @field #table elements Table of elements, i.e. units of the group.
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-- @field #table waypoints Table of waypoints.
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-- @field #table waypoints0 Table of initial waypoints.
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-- @field #table currentwp Current waypoint.
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-- @field #table taskqueue Queue of tasks.
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-- @field #number taskcounter Running number of task ids.
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-- @field #number taskcurrent ID of current task. If 0, there is no current task assigned.
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-- @field #table taskenroute Enroute task of the group.
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-- @field #table taskpaused Paused tasks.
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-- @field #table missionqueue Queue of missions.
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-- @field #number currentmission The ID (auftragsnummer) of the currently assigned AUFTRAG.
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-- @field Core.Set#SET_UNIT detectedunits Set of detected units.
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-- @field #string attribute Generalized attribute.
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-- @field #number speedmax Max speed in km/h.
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-- @field #number speedCruise Cruising speed in km/h.
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-- @field #boolean passedfinalwp Group has passed the final waypoint.
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-- @field Core.Set#SET_ZONE checkzones Set of zones.
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-- @field Core.Set#SET_ZONE inzones Set of zones in which the group is currently in.
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-- @field #boolean groupinitialized If true, group parameters were initialized.
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-- @field #boolean detectionOn If true, detected units of the group are analyzed.
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-- @field Ops.Auftrag#AUFTRAG missionpaused Paused mission.
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--
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-- @field Core.Point#COORDINATE position Current position of the group.
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-- @field #number traveldist Distance traveled in meters. This is a lower bound!
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-- @field #number traveltime Time.
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-- @extends Core.Fsm#FSM
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--- *Something must be left to chance; nothing is sure in a sea fight above all.* --- Horatio Nelson
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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 OPSGROUP Concept
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--
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-- The OPSGROUP class contains common functions used by other classes such as FLIGHGROUP and NAVYGROUP.
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--
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-- This class is **not** meant to be used itself by the end user.
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--
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--
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-- @field #OPSGROUP
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OPSGROUP = {
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ClassName = "OPSGROUP",
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Debug = false,
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verbose = 0,
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lid = nil,
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groupname = nil,
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group = nil,
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template = nil,
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waypoints = nil,
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waypoints0 = nil,
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currentwp = -100,
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elements = {},
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taskqueue = {},
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taskcounter = nil,
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taskcurrent = nil,
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taskenroute = nil,
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taskpaused = {},
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missionqueue = {},
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currentmission = nil,
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detectedunits = {},
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attribute = nil,
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checkzones = nil,
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inzones = nil,
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groupinitialized = nil,
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}
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--- Flight group task status.
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-- @type FLIGHTGROUP.TaskStatus
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-- @field #string SCHEDULED Task is scheduled.
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-- @field #string EXECUTING Task is being executed.
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-- @field #string PAUSED Task is paused.
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-- @field #string DONE Task is done.
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FLIGHTGROUP.TaskStatus={
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SCHEDULED="scheduled",
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EXECUTING="executing",
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PAUSED="paused",
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DONE="done",
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}
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--- Flight group task status.
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-- @type FLIGHTGROUP.TaskType
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-- @field #string SCHEDULED Task is scheduled and will be executed at a given time.
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-- @field #string WAYPOINT Task is executed at a specific waypoint.
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FLIGHTGROUP.TaskType={
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SCHEDULED="scheduled",
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WAYPOINT="waypoint",
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}
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--- Flight group task structure.
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-- @type FLIGHTGROUP.Task
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-- @field #string type Type of task: either SCHEDULED or WAYPOINT.
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-- @field #number id Task ID. Running number to get the task.
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-- @field #number prio Priority.
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-- @field #number time Abs. mission time when to execute the task.
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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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-- @field #number waypoint Waypoint index if task is a waypoint task.
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-- @field Core.UserFlag#USERFLAG stopflag If flag is set to 1 (=true), the task is stopped.
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--- Enroute task.
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-- @type FLIGHTGROUP.EnrouteTask
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-- @field DCS#Task DCStask DCS task structure table.
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-- @field #number WaypointIndex Waypoint number at which the enroute task is added.
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--- NavyGroup version.
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-- @field #string version
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OPSGROUP.version="0.0.1"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Implement common functions.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a new OPSGROUP class object.
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-- @param #OPSGROUP self
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-- @param #string GroupName Name of the group.
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-- @return #OPSGROUP self
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function OPSGROUP:New(GroupName)
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-- Inherit everything from FSM class.
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local self=BASE:Inherit(self, FSM:New()) -- #OPSGROUP
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-- Name of the group.
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self.groupname=GroupName
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-- Set group object.
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self.group=GROUP:FindByName(self.groupname)
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-- Set some string id for output to DCS.log file.
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self.lid=string.format("OPSGROUP %s |", self.groupname)
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-- Init set of detected units.
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self.detectedunits=SET_UNIT:New()
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-- Init inzone set.
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self.inzones=SET_ZONE:New()
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-- Init task counter.
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self.taskcurrent=0
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self.taskcounter=0
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-- Start state.
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self:SetStartState("Stopped")
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("Stopped", "Start", "InUtero") -- Start FSM.
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self:AddTransition("*", "Stop", "Stopped") -- Stop FSM.
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self:AddTransition("*", "Status", "*") -- Status update.
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self:AddTransition("*", "QueueUpdate", "*") -- Update task and mission queues.
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self:AddTransition("*", "UpdateRoute", "*") -- Update route of group. Only if airborne.
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self:AddTransition("*", "Respawn", "*") -- Respawn group.
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self:AddTransition("*", "PassingWaypoint", "*") -- Passing waypoint.
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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("*", "PassingWaypoint", "*") -- Group passed a waypoint.
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self:AddTransition("*", "GotoWaypoint", "*") -- Group switches to a specific waypoint.
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self:AddTransition("*", "OutOfAmmo", "*") -- Group is completely out of ammo.
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self:AddTransition("*", "OutOfGuns", "*") -- Group is out of gun shells.
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self:AddTransition("*", "OutOfRockets", "*") -- Group is out of rockets.
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self:AddTransition("*", "OutOfBombs", "*") -- Group is out of bombs.
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self:AddTransition("*", "OutOfMissiles", "*") -- Group is out of missiles.
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self:AddTransition("*", "CheckZone", "*") -- Check if flight enters/leaves a certain zone.
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self:AddTransition("*", "EnterZone", "*") -- Flight entered a certain zone.
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self:AddTransition("*", "LeaveZone", "*") -- Flight leaves a certain zone.
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self:AddTransition("*", "TaskExecute", "*") -- Group will execute a task.
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self:AddTransition("*", "TaskPause", "*") -- Pause current task. Not implemented yet!
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self:AddTransition("*", "TaskCancel", "*") -- Cancel current task.
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self:AddTransition("*", "TaskDone", "*") -- Task is over.
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self:AddTransition("*", "MissionStart", "*") -- Mission is started.
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self:AddTransition("*", "MissionExecute", "*") -- Mission execution began.
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self:AddTransition("*", "MissionCancel", "*") -- Cancel current mission.
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self:AddTransition("*", "PauseMission", "*") -- Pause the current mission.
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self:AddTransition("*", "UnpauseMission", "*") -- Unpause the the paused mission.
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self:AddTransition("*", "MissionDone", "*") -- Mission is over.
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------------------------
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--- Pseudo Functions ---
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------------------------
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--- Triggers the FSM event "Start". Starts the OPSGROUP. Initializes parameters and starts event handlers.
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-- @function [parent=#OPSGROUP] Start
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-- @param #OPSGROUP self
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--- Triggers the FSM event "Start" after a delay. Starts the OPSGROUP. Initializes parameters and starts event handlers.
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-- @function [parent=#OPSGROUP] __Start
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-- @param #OPSGROUP self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Stop". Stops the OPSGROUP and all its event handlers.
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-- @param #OPSGROUP self
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--- Triggers the FSM event "Stop" after a delay. Stops the OPSGROUP and all its event handlers.
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-- @function [parent=#OPSGROUP] __Stop
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-- @param #OPSGROUP self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Status".
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-- @function [parent=#OPSGROUP] Status
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-- @param #OPSGROUP self
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--- Triggers the FSM event "Status" after a delay.
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-- @function [parent=#OPSGROUP] __Status
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-- @param #OPSGROUP self
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-- @param #number delay Delay in seconds.
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-- Debug trace.
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if false then
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self.Debug=true
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BASE:TraceOnOff(true)
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BASE:TraceClass(self.ClassName)
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BASE:TraceLevel(1)
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end
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- User Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Get coalition.
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-- @param #OPSGROUP self
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-- @return #number Coalition side of carrier.
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function OPSGROUP:GetCoalition()
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return self.group:GetCoalition()
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end
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--- Get coordinate.
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-- @param #OPSGROUP self
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-- @return Core.Point#COORDINATE Carrier coordinate.
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function OPSGROUP:GetCoordinate()
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return self.group:GetCoordinate()
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end
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--- Set detection on or off.
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-- @param #FLIGHTGROUP self
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-- @param #boolean Switch If true, detection is on. If false or nil, detection is off. Default is off.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:SetDetection(Switch)
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self.detectionOn=Switch
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return self
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end
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--- Define a SET of zones that trigger and event if the group enters or leaves any of the zones.
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-- @param #FLIGHTGROUP self
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-- @param Core.Set#SET_ZONE CheckZonesSet Set of zones.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:SetCheckZones(CheckZonesSet)
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self.checkzones=CheckZonesSet
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return self
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end
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--- Add a zone that triggers and event if the group enters or leaves any of the zones.
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-- @param #FLIGHTGROUP self
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-- @param Core.Zone#ZONE CheckZone Zone to check.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:AddCheckZone(CheckZone)
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if not self.checkzones then
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self.checkzones=SET_ZONE:New()
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end
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self.checkzones:AddZone(CheckZone)
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return self
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end
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--- Get set of detected units.
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-- @param #FLIGHTGROUP self
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-- @return Core.Set#SET_UNIT Set of detected units.
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function FLIGHTGROUP:GetDetectedUnits()
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return self.detectedunits
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end
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--- Get MOOSE group object.
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-- @param #FLIGHTGROUP self
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-- @return Wrapper.Group#GROUP Moose group object.
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function FLIGHTGROUP:GetGroup()
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return self.group
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end
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--- Get flight group name.
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-- @param #FLIGHTGROUP self
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-- @return #string Group name.
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function FLIGHTGROUP:GetName()
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return self.groupname
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end
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--- Get current coordinate of the group.
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-- @param #FLIGHTGROUP self
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-- @return Core.Point#COORDINATE The coordinate (of the first unit) of the group.
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function FLIGHTGROUP:GetCoordinate()
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if self:IsAlive()~=nil then
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return self.group:GetCoordinate()
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else
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self:E(self.lid.."WARNING: Group is not alive. Cannot get coordinate!")
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end
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return nil
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end
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--- Get waypoint.
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-- @param #FLIGHTGROUP self
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-- @param #number indx Waypoint index.
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-- @return #table Waypoint table.
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function FLIGHTGROUP:GetWaypoint(indx)
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return self.waypoints[indx]
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end
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--- Get final waypoint.
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-- @param #FLIGHTGROUP self
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-- @return #table Waypoint table.
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function FLIGHTGROUP:GetWaypointFinal()
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return self.waypoints[#self.waypoints]
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end
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--- Get next waypoint.
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-- @param #FLIGHTGROUP self
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-- @return #table Waypoint table.
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function FLIGHTGROUP:GetWaypointNext()
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local n=math.min(self.currentwp+1, #self.waypoints)
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return self.waypoints[n]
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end
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--- Get current waypoint.
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-- @param #FLIGHTGROUP self
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-- @return #table Waypoint table.
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function FLIGHTGROUP:GetWaypointCurrent()
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return self.waypoints[self.currentwp]
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end
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--- Activate a *late activated* group.
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-- @param #FLIGHTGROUP self
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-- @param #number delay (Optional) Delay in seconds before the group is activated. Default is immediately.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:Activate(delay)
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if delay and delay>0 then
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self:T2(self.lid..string.format("Activating late activated group in %d seconds", delay))
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self:ScheduleOnce(delay, FLIGHTGROUP.Activate, self)
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else
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if self:IsAlive()==false then
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self:T(self.lid.."Activating late activated group")
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self.group:Activate()
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self.isLateActivated=false
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elseif self:IsAlive()==true then
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self:E(self.lid.."WARNING: Activating group that is already activated")
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else
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self:E(self.lid.."ERROR: Activating group that is does not exist!")
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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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--- Self destruction of group. An explosion is created at the position of each element.
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-- @param #FLIGHTGROUP self
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-- @param #number Delay Delay in seconds. Default now.
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-- @param #number ExplosionPower (Optional) Explosion power in kg TNT. Default 500 kg.
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-- @return #number Relative fuel in percent.
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function FLIGHTGROUP:SelfDestruction(Delay, ExplosionPower)
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if Delay and Delay>0 then
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self:ScheduleOnce(Delay, FLIGHTGROUP.SelfDestruction, self, 0, ExplosionPower)
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else
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-- Loop over all elements.
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for i,_element in pairs(self.elements) do
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local element=_element --#FLIGHTGROUP.Element
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local unit=element.unit
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if unit and unit:IsAlive() then
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unit:Explode(ExplosionPower)
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end
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end
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end
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end
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--- Route group along waypoints.
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-- @param #FLIGHTGROUP self
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-- @param #table waypoints Table of waypoints.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:Route(waypoints)
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if self:IsAlive() then
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-- DCS task combo.
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local Tasks={}
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-- Route (Mission) task.
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local TaskRoute=self.group:TaskRoute(waypoints)
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table.insert(Tasks, TaskRoute)
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-- TaskCombo of enroute and mission tasks.
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local TaskCombo=self.group:TaskCombo(Tasks)
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-- Set tasks.
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if #Tasks>1 then
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self:SetTask(TaskCombo)
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else
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self:SetTask(TaskRoute)
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end
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else
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self:E(self.lid.."ERROR: Group is not alive!")
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end
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Waypoint Functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Remove a waypoint.
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-- @param #FLIGHTGROUP self
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-- @param #number wpindex Waypoint number.
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-- @return #FLIGHTGROUP self
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function FLIGHTGROUP:RemoveWaypoint(wpindex)
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if self.waypoints then
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-- Number of waypoints before delete.
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local N=#self.waypoints
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-- Remove waypoint.
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table.remove(self.waypoints, wpindex)
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-- Number of waypoints after delete.
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local n=#self.waypoints
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self:I(self.lid..string.format("Removing waypoint %d. N %d-->%d", wpindex, N, n))
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-- Shift all waypoint tasks after the removed waypoint.
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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.type==FLIGHTGROUP.TaskType.WAYPOINT and task.waypoint and task.waypoint>wpindex then
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task.waypoint=task.waypoint-1
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end
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end
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-- Shift all mission waypoints after the removerd waypoint.
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for _,_mission in pairs(self.missionqueue) do
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local mission=_mission --Ops.Auftrag#AUFTRAG
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-- Get mission waypoint index.
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local wpidx=mission:GetFlightWaypointIndex(self)
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-- Reduce number if this waypoint lies in the future.
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if wpidx and wpidx>wpindex then
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mission:SetFlightWaypointIndex(self, wpidx-1)
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end
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end
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-- Waypoint was not reached yet.
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if wpindex > self.currentwp then
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-- Could be that we just removed the only remaining waypoint ==> passedfinalwp=true so we RTB or wait.
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if self.currentwp>=n then
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self.passedfinalwp=true
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end
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env.info("FF update route -1 after waypoint removed")
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self:_CheckFlightDone()
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else
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-- If an already passed waypoint was deleted, we do not need to update the route.
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-- TODO: But what about the self.currentwp number. This is now incorrect!
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self.currentwp=self.currentwp-1
|
|
|
|
end
|
|
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Task Functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Set DCS task. Enroute tasks are injected automatically.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #table DCSTask DCS task structure.
|
|
-- @return #FLIGHTGROUP self
|
|
function FLIGHTGROUP:SetTask(DCSTask)
|
|
|
|
if self:IsAlive() then
|
|
|
|
if self.taskcurrent>0 then
|
|
|
|
-- TODO: Why the hell did I do this? It breaks scheduled tasks. I comment it out for now to see where it fails.
|
|
--local task=self:GetTaskCurrent()
|
|
--self:RemoveTask(task)
|
|
--self.taskcurrent=0
|
|
|
|
end
|
|
|
|
-- Inject enroute tasks.
|
|
if self.taskenroute and #self.taskenroute>0 then
|
|
if tostring(DCSTask.id)=="ComboTask" then
|
|
for _,task in pairs(self.taskenroute) do
|
|
table.insert(DCSTask.params.tasks, 1, task)
|
|
end
|
|
else
|
|
local tasks=UTILS.DeepCopy(self.taskenroute)
|
|
table.insert(tasks, DCSTask)
|
|
|
|
DCSTask=self.group.TaskCombo(self, tasks)
|
|
end
|
|
end
|
|
|
|
-- Set task.
|
|
self.group:SetTask(DCSTask)
|
|
|
|
-- Debug info.
|
|
local text=string.format("SETTING Task %s", tostring(DCSTask.id))
|
|
if tostring(DCSTask.id)=="ComboTask" then
|
|
for i,task in pairs(DCSTask.params.tasks) do
|
|
text=text..string.format("\n[%d] %s", i, tostring(task.id))
|
|
end
|
|
end
|
|
self:I(self.lid..text)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Push DCS task.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #table DCSTask DCS task structure.
|
|
-- @return #FLIGHTGROUP self
|
|
function FLIGHTGROUP:PushTask(DCSTask)
|
|
|
|
if self:IsAlive() then
|
|
|
|
-- Push task.
|
|
self.group:PushTask(DCSTask)
|
|
|
|
-- Debug info.
|
|
local text=string.format("PUSHING Task %s", tostring(DCSTask.id))
|
|
if tostring(DCSTask.id)=="ComboTask" then
|
|
for i,task in pairs(DCSTask.params.tasks) do
|
|
text=text..string.format("\n[%d] %s", i, tostring(task.id))
|
|
end
|
|
end
|
|
self:I(self.lid..text)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Clear DCS tasks.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #table DCSTask DCS task structure.
|
|
-- @return #FLIGHTGROUP self
|
|
function FLIGHTGROUP:ClearTasks()
|
|
if self:IsAlive() then
|
|
self.group:ClearTasks()
|
|
self:I(self.lid..string.format("CLEARING Tasks"))
|
|
end
|
|
return self
|
|
end
|
|
|
|
--- Add a *scheduled* task.
|
|
-- @param #OPSGROUP self
|
|
-- @param #table task DCS task table structure.
|
|
-- @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.
|
|
-- @param #string description Brief text describing the task, e.g. "Attack SAM".
|
|
-- @param #number prio Priority of the task.
|
|
-- @param #number duration Duration before task is cancelled in seconds counted after task started. Default never.
|
|
-- @return #OPSGROUP.Task The task structure.
|
|
function OPSGROUP:AddTask(task, clock, description, prio, duration)
|
|
|
|
local newtask=self:NewTaskScheduled(task, clock, description, prio, duration)
|
|
|
|
-- Add to table.
|
|
table.insert(self.taskqueue, newtask)
|
|
|
|
-- Info.
|
|
self:I(self.lid..string.format("Adding SCHEDULED task %s starting at %s", newtask.description, UTILS.SecondsToClock(newtask.time, true)))
|
|
self:T3({newtask=newtask})
|
|
|
|
return newtask
|
|
end
|
|
|
|
--- Create a *scheduled* task.
|
|
-- @param #OPSGROUP self
|
|
-- @param #table task DCS task table structure.
|
|
-- @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.
|
|
-- @param #string description Brief text describing the task, e.g. "Attack SAM".
|
|
-- @param #number prio Priority of the task.
|
|
-- @param #number duration Duration before task is cancelled in seconds counted after task started. Default never.
|
|
-- @return #OPSGROUP.Task The task structure.
|
|
function OPSGROUP:NewTaskScheduled(task, clock, description, prio, duration)
|
|
|
|
-- Increase counter.
|
|
self.taskcounter=self.taskcounter+1
|
|
|
|
-- Set time.
|
|
local time=timer.getAbsTime()+5
|
|
if clock then
|
|
if type(clock)=="string" then
|
|
time=UTILS.ClockToSeconds(clock)
|
|
elseif type(clock)=="number" then
|
|
time=timer.getAbsTime()+clock
|
|
end
|
|
end
|
|
|
|
-- Task data structure.
|
|
local newtask={} --#OPSGROUP.Task
|
|
newtask.status=OPSGROUP.TaskStatus.SCHEDULED
|
|
newtask.dcstask=task
|
|
newtask.description=description or task.id
|
|
newtask.prio=prio or 50
|
|
newtask.time=time
|
|
newtask.id=self.taskcounter
|
|
newtask.duration=duration
|
|
newtask.waypoint=-1
|
|
newtask.type=OPSGROUP.TaskType.SCHEDULED
|
|
newtask.stopflag=USERFLAG:New(string.format("%s StopTaskFlag %d", self.groupname, newtask.id))
|
|
newtask.stopflag:Set(0)
|
|
|
|
return newtask
|
|
end
|
|
|
|
--- Add a *waypoint* task.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #table task DCS task table structure.
|
|
-- @param #number waypointindex Number of waypoint. Counting starts at one! Default is the as *next* waypoint.
|
|
-- @param #string description Brief text describing the task, e.g. "Attack SAM".
|
|
-- @param #number prio Priority of the task. Number between 1 and 100. Default is 50.
|
|
-- @param #number duration Duration before task is cancelled in seconds counted after task started. Default never.
|
|
-- @return #FLIGHTGROUP.Task The task structure.
|
|
function FLIGHTGROUP:AddTaskWaypoint(task, waypointindex, description, prio, duration)
|
|
|
|
-- Increase counter.
|
|
self.taskcounter=self.taskcounter+1
|
|
|
|
-- Task data structure.
|
|
local newtask={} --#FLIGHTGROUP.Task
|
|
newtask.description=description
|
|
newtask.status=FLIGHTGROUP.TaskStatus.SCHEDULED
|
|
newtask.dcstask=task
|
|
newtask.prio=prio or 50
|
|
newtask.id=self.taskcounter
|
|
newtask.duration=duration
|
|
newtask.time=0
|
|
newtask.waypoint=waypointindex or (self.currentwp and self.currentwp+1 or 2)
|
|
newtask.type=FLIGHTGROUP.TaskType.WAYPOINT
|
|
newtask.stopflag=USERFLAG:New(string.format("%s StopTaskFlag %d", self.groupname, newtask.id))
|
|
newtask.stopflag:Set(0)
|
|
|
|
-- Add to table.
|
|
table.insert(self.taskqueue, newtask)
|
|
|
|
-- Info.
|
|
self:I(self.lid..string.format("Adding WAYPOINT task %s at WP %d", newtask.description, newtask.waypoint))
|
|
self:T3({newtask=newtask})
|
|
|
|
-- Update route.
|
|
--self:_CheckFlightDone(1)
|
|
self:__UpdateRoute(-1)
|
|
|
|
return newtask
|
|
end
|
|
|
|
--- Add an *enroute* task.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #table task DCS task table structure.
|
|
function FLIGHTGROUP:AddTaskEnroute(task)
|
|
|
|
if not self.taskenroute then
|
|
self.taskenroute={}
|
|
end
|
|
|
|
-- Check not to add the same task twice!
|
|
local gotit=false
|
|
for _,Task in pairs(self.taskenroute) do
|
|
if Task.id==task.id then
|
|
gotit=true
|
|
break
|
|
end
|
|
end
|
|
|
|
if not gotit then
|
|
table.insert(self.taskenroute, task)
|
|
end
|
|
|
|
end
|
|
|
|
--- Get the unfinished waypoint tasks
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #number n Waypoint index. Counting starts at one.
|
|
-- @return #table Table of tasks. Table could also be empty {}.
|
|
function FLIGHTGROUP:GetTasksWaypoint(n)
|
|
|
|
-- Tasks table.
|
|
local tasks={}
|
|
|
|
-- Sort queue.
|
|
self:_SortTaskQueue()
|
|
|
|
-- Look for first task that SCHEDULED.
|
|
for _,_task in pairs(self.taskqueue) do
|
|
local task=_task --#FLIGHTGROUP.Task
|
|
if task.type==FLIGHTGROUP.TaskType.WAYPOINT and task.status==FLIGHTGROUP.TaskStatus.SCHEDULED and task.waypoint==n then
|
|
table.insert(tasks, task)
|
|
end
|
|
end
|
|
|
|
return tasks
|
|
end
|
|
|
|
--- Sort task queue.
|
|
-- @param #FLIGHTGROUP self
|
|
function FLIGHTGROUP:_SortTaskQueue()
|
|
|
|
-- Sort results table wrt prio and then start time.
|
|
local function _sort(a, b)
|
|
local taskA=a --#FLIGHTGROUP.Task
|
|
local taskB=b --#FLIGHTGROUP.Task
|
|
return (taskA.prio<taskB.prio) or (taskA.prio==taskB.prio and taskA.time<taskB.time)
|
|
end
|
|
|
|
--TODO: only needs to be sorted if a task was added, is done, or was removed.
|
|
table.sort(self.taskqueue, _sort)
|
|
|
|
end
|
|
|
|
|
|
--- Count the number of tasks that still pending in the queue.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @return #number Total number of tasks remaining.
|
|
-- @return #number Number of SCHEDULED tasks remaining.
|
|
-- @return #number Number of WAYPOINT tasks remaining.
|
|
function FLIGHTGROUP:CountRemainingTasks()
|
|
|
|
local Ntot=0
|
|
local Nwp=0
|
|
local Nsched=0
|
|
|
|
-- Loop over tasks queue.
|
|
for _,_task in pairs(self.taskqueue) do
|
|
local task=_task --#FLIGHTGROUP.Task
|
|
|
|
-- Task is still scheduled.
|
|
if task.status==FLIGHTGROUP.TaskStatus.SCHEDULED then
|
|
|
|
-- Total number of tasks.
|
|
Ntot=Ntot+1
|
|
|
|
if task.type==FLIGHTGROUP.TaskType.WAYPOINT then
|
|
--TODO: maybe check that waypoint was not already passed?
|
|
Nwp=Nwp+1
|
|
elseif task.type==FLIGHTGROUP.TaskType.SCHEDULED then
|
|
Nsched=Nsched+1
|
|
end
|
|
|
|
end
|
|
|
|
end
|
|
|
|
return Ntot, Nsched, Nwp
|
|
end
|
|
|
|
--- Remove task from task queue.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #FLIGHTGROUP.Task Task The task to be removed from the queue.
|
|
-- @return #boolean True if task could be removed.
|
|
function FLIGHTGROUP:RemoveTask(Task)
|
|
|
|
for i=#self.taskqueue,1,-1 do
|
|
local task=self.taskqueue[i] --#FLIGHTGROUP.Task
|
|
|
|
if task.id==Task.id then
|
|
|
|
-- Remove task from queue.
|
|
table.remove(self.taskqueue, i)
|
|
|
|
-- Update route if this is a waypoint task.
|
|
if task.type==FLIGHTGROUP.TaskType.WAYPOINT and task.status==FLIGHTGROUP.TaskStatus.SCHEDULED then
|
|
self:_CheckFlightDone(1)
|
|
--self:__UpdateRoute(-1)
|
|
end
|
|
|
|
return true
|
|
end
|
|
end
|
|
|
|
return false
|
|
end
|
|
|
|
--- Get the currently executed task if there is any.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @return #FLIGHTGROUP.Task Current task or nil.
|
|
function FLIGHTGROUP:GetTaskCurrent()
|
|
return self:GetTaskByID(self.taskcurrent, FLIGHTGROUP.TaskStatus.EXECUTING)
|
|
end
|
|
|
|
--- Get task by its id.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #number id Task id.
|
|
-- @param #string status (Optional) Only return tasks with this status, e.g. FLIGHTGROUP.TaskStatus.SCHEDULED.
|
|
-- @return #FLIGHTGROUP.Task The task or nil.
|
|
function FLIGHTGROUP:GetTaskByID(id, status)
|
|
|
|
for _,_task in pairs(self.taskqueue) do
|
|
local task=_task --#FLIGHTGROUP.Task
|
|
|
|
if task.id==id then
|
|
if status==nil or status==task.status then
|
|
return task
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
return nil
|
|
end
|
|
|
|
--- Get mission by its id (auftragsnummer).
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #number id Mission id (auftragsnummer).
|
|
-- @return Ops.Auftrag#AUFTRAG The mission.
|
|
function FLIGHTGROUP:GetMissionByID(id)
|
|
|
|
if not id then
|
|
return nil
|
|
end
|
|
|
|
for _,_mission in pairs(self.missionqueue) do
|
|
local mission=_mission --Ops.Auftrag#AUFTRAG
|
|
|
|
if mission.auftragsnummer==id then
|
|
return mission
|
|
end
|
|
|
|
end
|
|
|
|
return nil
|
|
end
|
|
|
|
--- Get mission by its task id.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #number taskid The id of the (waypoint) task of the mission.
|
|
-- @return Ops.Auftrag#AUFTRAG The mission.
|
|
function FLIGHTGROUP:GetMissionByTaskID(taskid)
|
|
|
|
if taskid then
|
|
for _,_mission in pairs(self.missionqueue) do
|
|
local mission=_mission --Ops.Auftrag#AUFTRAG
|
|
|
|
local task=mission:GetFlightWaypointTask(self)
|
|
|
|
if task and task.id and task.id==taskid then
|
|
return mission
|
|
end
|
|
|
|
end
|
|
end
|
|
|
|
return nil
|
|
end
|
|
|
|
--- Get current mission.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @return Ops.Auftrag#AUFTRAG The current mission or *nil*.
|
|
function FLIGHTGROUP:GetMissionCurrent()
|
|
return self:GetMissionByID(self.currentmission)
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Mission Functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Add mission to queue.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param Ops.Auftrag#AUFTRAG Mission Mission for this group.
|
|
-- @return #FLIGHTGROUP self
|
|
function FLIGHTGROUP:AddMission(Mission)
|
|
|
|
-- Add flight group to mission.
|
|
Mission:AddFlightGroup(self)
|
|
|
|
-- Set flight status to SCHEDULED..
|
|
Mission:SetFlightStatus(self, AUFTRAG.FlightStatus.SCHEDULED)
|
|
|
|
-- Set mission status to SCHEDULED.
|
|
Mission:Scheduled()
|
|
|
|
-- Add mission to queue.
|
|
table.insert(self.missionqueue, Mission)
|
|
|
|
-- Info text.
|
|
local text=string.format("Added %s mission %s starting at %s, stopping at %s",
|
|
tostring(Mission.type), tostring(Mission.name), UTILS.SecondsToClock(Mission.Tstart, true), Mission.Tstop and UTILS.SecondsToClock(Mission.Tstop, true) or "INF")
|
|
self:I(self.lid..text)
|
|
|
|
return self
|
|
end
|
|
|
|
--- Remove mission from queue.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param Ops.Auftrag#AUFTRAG Mission Mission to be removed.
|
|
-- @return #FLIGHTGROUP self
|
|
function FLIGHTGROUP:RemoveMission(Mission)
|
|
|
|
for i,_mission in pairs(self.missionqueue) do
|
|
local mission=_mission --Ops.Auftrag#AUFTRAG
|
|
|
|
if mission.auftragsnummer==Mission.auftragsnummer then
|
|
|
|
-- Remove mission waypoint task.
|
|
local Task=Mission:GetFlightWaypointTask(self)
|
|
|
|
if Task then
|
|
self:RemoveTask(Task)
|
|
end
|
|
|
|
-- Remove mission from queue.
|
|
table.remove(self.missionqueue, i)
|
|
|
|
return self
|
|
end
|
|
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Count remaining missons.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @return #number Number of missions to be done.
|
|
function FLIGHTGROUP:CountRemainingMissison()
|
|
|
|
local N=0
|
|
|
|
-- Loop over mission queue.
|
|
for _,_mission in pairs(self.missionqueue) do
|
|
local mission=_mission --Ops.Auftrag#AUFTRAG
|
|
|
|
if mission and mission:IsNotOver() then
|
|
|
|
-- Get flight status.
|
|
local status=mission:GetFlightStatus(self)
|
|
|
|
if status~=AUFTRAG.FlightStatus.DONE and status~=AUFTRAG.FlightStatus.CANCELLED then
|
|
N=N+1
|
|
end
|
|
|
|
end
|
|
end
|
|
|
|
return N
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- FSM Events
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- On after "PassingWaypoint" event.
|
|
-- @param #OPSGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param #number n Waypoint passed.
|
|
-- @param #number N Total number of waypoints.
|
|
function OPSGROUP:onafterPassingWaypoint(From, Event, To, n, N)
|
|
self:I(self.lid..string.format("Passed waypoint %d of %d", n, N))
|
|
end
|
|
|
|
--- On after "DetectedUnit" event. Add newly detected unit to detected units set.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param Wrapper.Unit#UNIT Unit The detected unit.
|
|
function FLIGHTGROUP:onafterDetectedUnit(From, Event, To, Unit)
|
|
self:T2(self.lid..string.format("Detected unit %s", Unit:GetName()))
|
|
self.detectedunits:AddUnit(Unit)
|
|
end
|
|
|
|
--- On after "DetectedUnitNew" event.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param Wrapper.Unit#UNIT Unit The detected unit.
|
|
function FLIGHTGROUP:onafterDetectedUnitNew(From, Event, To, Unit)
|
|
self:T(self.lid..string.format("Detected New unit %s", Unit:GetName()))
|
|
end
|
|
|
|
--- On after "EnterZone" event. Sets self.inzones[zonename]=true.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param Core.Zone#ZONE Zone The zone that the group entered.
|
|
function FLIGHTGROUP:onafterEnterZone(From, Event, To, Zone)
|
|
local zonename=Zone and Zone:GetName() or "unknown"
|
|
self:T2(self.lid..string.format("Entered Zone %s", zonename))
|
|
self.inzones:Add(Zone:GetName(), Zone)
|
|
end
|
|
|
|
--- On after "LeaveZone" event. Sets self.inzones[zonename]=false.
|
|
-- @param #FLIGHTGROUP self
|
|
-- @param #string From From state.
|
|
-- @param #string Event Event.
|
|
-- @param #string To To state.
|
|
-- @param Core.Zone#ZONE Zone The zone that the group entered.
|
|
function FLIGHTGROUP:onafterLeaveZone(From, Event, To, Zone)
|
|
local zonename=Zone and Zone:GetName() or "unknown"
|
|
self:T2(self.lid..string.format("Left Zone %s", zonename))
|
|
self.inzones:Remove(zonename, true)
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Routing
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Set DCS task. Enroute tasks are injected automatically.
|
|
-- @param #OPSGROUP self
|
|
-- @param #table DCSTask DCS task structure.
|
|
-- @return #OPSGROUP self
|
|
function OPSGROUP:SetTask(DCSTask)
|
|
|
|
if self:IsAlive() then
|
|
|
|
-- Set task.
|
|
self.group:SetTask(DCSTask)
|
|
|
|
-- Debug info.
|
|
local text=string.format("SETTING Task %s", tostring(DCSTask.id))
|
|
if tostring(DCSTask.id)=="ComboTask" then
|
|
for i,task in pairs(DCSTask.params.tasks) do
|
|
text=text..string.format("\n[%d] %s", i, tostring(task.id))
|
|
end
|
|
end
|
|
self:I(self.lid..text)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Check if flight is alive.
|
|
-- @param #OPSGROUP self
|
|
-- @return #boolean *true* if group is exists and is activated, *false* if group is exist but is NOT activated. *nil* otherwise, e.g. the GROUP object is *nil* or the group is not spawned yet.
|
|
function OPSGROUP:IsAlive()
|
|
|
|
if self.group then
|
|
return self.group:IsAlive()
|
|
end
|
|
|
|
return nil
|
|
end
|
|
|
|
--- Route group along waypoints. Enroute tasks are also applied.
|
|
-- @param #OPSGROUP self
|
|
-- @param #table waypoints Table of waypoints.
|
|
-- @return #OPSGROUP self
|
|
function OPSGROUP:Route(waypoints)
|
|
|
|
if self:IsAlive() then
|
|
|
|
-- DCS task combo.
|
|
local Tasks={}
|
|
|
|
-- Route (Mission) task.
|
|
local TaskRoute=self.group:TaskRoute(waypoints)
|
|
table.insert(Tasks, TaskRoute)
|
|
|
|
-- TaskCombo of enroute and mission tasks.
|
|
local TaskCombo=self.group:TaskCombo(Tasks)
|
|
|
|
-- Set tasks.
|
|
if #Tasks>1 then
|
|
self:SetTask(TaskCombo)
|
|
else
|
|
self:SetTask(TaskRoute)
|
|
end
|
|
|
|
else
|
|
self:E(self.lid.."ERROR: Group is not alive!")
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Initialize Mission Editor waypoints.
|
|
-- @param #OPSGROUP self
|
|
-- @param #table waypoints Table of waypoints. Default is from group template.
|
|
-- @return #OPSGROUP self
|
|
function OPSGROUP:InitWaypoints(waypoints)
|
|
|
|
-- Template waypoints.
|
|
self.waypoints0=self.group:GetTemplateRoutePoints()
|
|
|
|
-- Waypoints of group as defined in the ME.
|
|
self.waypoints=waypoints or UTILS.DeepCopy(self.waypoints0)
|
|
|
|
-- Debug info.
|
|
self:T(self.lid..string.format("Initializing %d waypoints", #self.waypoints))
|
|
|
|
-- Update route.
|
|
if #self.waypoints>0 then
|
|
|
|
-- Check if only 1 wp?
|
|
if #self.waypoints==1 then
|
|
self.passedfinalwp=true
|
|
end
|
|
|
|
-- Update route (when airborne).
|
|
self:__UpdateRoute(-1)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--- Initialize Mission Editor waypoints.
|
|
-- @param #OPSGROUP self
|
|
function OPSGROUP:_UpdateWaypointTasks()
|
|
|
|
local waypoints=self.waypoints
|
|
local nwaypoints=#waypoints
|
|
|
|
for i,wp in pairs(waypoints) do
|
|
|
|
if i>self.currentwp or nwaypoints==1 then
|
|
|
|
-- Debug info.
|
|
self:T2(self.lid..string.format("Updating waypoint task for waypoint %d/%d. Last waypoint passed %d.", i, nwaypoints, self.currentwp))
|
|
|
|
-- Tasks of this waypoint
|
|
local taskswp={}
|
|
|
|
-- At each waypoint report passing.
|
|
local TaskPassingWaypoint=self.group:TaskFunction("OPSGROUP._PassingWaypoint", self, i)
|
|
table.insert(taskswp, TaskPassingWaypoint)
|
|
|
|
-- Waypoint task combo.
|
|
wp.task=self.group:TaskCombo(taskswp)
|
|
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-- Global Task Functions
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
--- Function called when a group is passing a waypoint.
|
|
--@param Wrapper.Group#GROUP group Group that passed the waypoint
|
|
--@param #OPSGROUP opsgroup Ops group object.
|
|
--@param #number i Waypoint number that has been reached.
|
|
function OPSGROUP._PassingWaypoint(group, opsgroup, i)
|
|
|
|
local final=#opsgroup.waypoints or 1
|
|
|
|
-- Debug message.
|
|
local text=string.format("Group passing waypoint %d of %d", i, final)
|
|
opsgroup:T3(opsgroup.lid..text)
|
|
|
|
-- Set current waypoint.
|
|
opsgroup.currentwp=i
|
|
|
|
-- Trigger PassingWaypoint event.
|
|
opsgroup:PassingWaypoint(i, final)
|
|
|
|
end
|
|
|
|
--- Function called when a task is executed.
|
|
--@param Wrapper.Group#GROUP group Group which should execute the task.
|
|
--@param #FLIGHTGROUP flightgroup Flight group.
|
|
--@param #FLIGHTGROUP.Task task Task.
|
|
function FLIGHTGROUP._TaskExecute(group, flightgroup, task)
|
|
|
|
-- Debug message.
|
|
local text=string.format("_TaskExecute %s", task.description)
|
|
flightgroup:T3(flightgroup.lid..text)
|
|
|
|
-- Set current task to nil so that the next in line can be executed.
|
|
if flightgroup then
|
|
flightgroup:TaskExecute(task)
|
|
end
|
|
end
|
|
|
|
--- Function called when a task is done.
|
|
--@param Wrapper.Group#GROUP group Group for which the task is done.
|
|
--@param #FLIGHTGROUP flightgroup Flight group.
|
|
--@param #FLIGHTGROUP.Task task Task.
|
|
function FLIGHTGROUP._TaskDone(group, flightgroup, task)
|
|
|
|
-- Debug message.
|
|
local text=string.format("_TaskDone %s", task.description)
|
|
flightgroup:T3(flightgroup.lid..text)
|
|
|
|
-- Set current task to nil so that the next in line can be executed.
|
|
if flightgroup then
|
|
flightgroup:TaskDone(task)
|
|
end
|
|
end
|
|
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|