lab1/processors/ripr_agents/aiai/behavior_disengage.txt

# ****************************************************************************
# CUI
#
# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
#
# The use, dissemination or disclosure of data in this file is subject to
# limitation or restriction. See accompanying README and LICENSE for details.
# ****************************************************************************



behavior disengage

   script_debug_writes off

   script_variables
      double   cDIVE_ALTITUDE          =        304.8;            # 1000 feet
      double   cDEFAULT_SPEED          =        200.0;            # m/s
      double   cMAX_SPEED              = 9999999999.99;           # m/s
      double   cGRAVITY_ACCEL          =          9.80665;        # 1 G
      double   cDEFAULT_ACCEL          = (cGRAVITY_ACCEL * 7.5);  # m/s^2  ~7.5 Gs
      double   cANGLE_TOLERANCE          =         45.0;            # degrees
      bool     drawEscape = false;
      WsfDraw draw = WsfDraw();
   end_script_variables


   on_init
      draw.SetLineSize(2);
      draw.SetColor(1.0, 0.0, 1.0); //purple
   end_on_init


   script bool IsFlightAsset(WsfPlatform aPlat)
      if (aPlat.Mover().IsA_TypeOf("WSF_AIR_MOVER" ) ||
          aPlat.Mover().IsA_TypeOf("WSF_6DOF_MOVER")    )
      {
         return true;
      }
      else if (aPlat.MakeTrack().AirDomain())
      {
         return true;
      }
      else if((aPlat.Altitude() > 152.4) && (aPlat.Speed() > 51.44) ) // ~500 feet alt, ~100 knots speed
      {
         return true;
      }
      return false;
   end_script


   script bool IsWeapon(WsfTrack aTrack)
      if (aTrack.Target().IsValid() && aTrack.Target().WeaponEngagement().IsValid())
      {
         return true;
      }
      return false;
   end_script


   precondition
      writeln("precondition disengage");

      //check track list or threat processor for any threats
     #extern double mVisualRange;
      double totalThreatsWVR = 0.0;
      foreach (WsfLocalTrack t in PLATFORM.MasterTrackList())
      {
         if (!t.SideValid() || t.Side() != PLATFORM.Side())
         {
            if ((!IsWeapon(t)) && (PLATFORM.SlantRangeTo(t) < mVisualRange))
            {
               writeln_d("    is threat: ", t.TargetName());
               totalThreatsWVR = totalThreatsWVR + 1.0;
            }
         }
      }

      double assetCount = 0.0;
      WsfRIPRProcessor cmdr = PROCESSOR.GetRIPRCommanderProcessor();  # get the flight lead
      if (cmdr.IsValid())
      {
         WsfRIPRProcessor cmdr2 = cmdr.GetRIPRCommanderProcessor();  # check for gci
         if (cmdr2.IsValid())
         {
            foreach (WsfPlatform aifl in cmdr2.Platform().Subordinates())
            {
               foreach (WsfPlatform aiai in aifl.Subordinates())
               {
                  if (IsFlightAsset(aiai) && PLATFORM.SlantRangeTo(aiai) < mVisualRange)
                  {
                     writeln_d("    is asset: ", aiai.Name());
                     assetCount = assetCount + 1.0;
                  }
               }
            }
         }
         else
         {
            foreach (WsfPlatform aiai in cmdr.Platform().Subordinates())
            {
               if (IsFlightAsset(aiai) && PLATFORM.SlantRangeTo(aiai) < mVisualRange)
               {
                  writeln_d("    is asset: ", aiai.Name());
                  assetCount = assetCount + 1.0;
               }
            }
         }
      }

     #extern double mEngagementAggressiveness;
      double requiredAggressiveness = totalThreatsWVR / (totalThreatsWVR + assetCount);

      writeln_d("    required aggress for disengage: ", requiredAggressiveness, " mine: ", mEngagementAggressiveness);

      if (mEngagementAggressiveness < requiredAggressiveness)
      {
         draw.SetDuration(PROCESSOR.UpdateInterval());
         return true;   //disengage
      }

      //check if there are any threats that I need to evade
      //if there are & I have an energy advantage (altitude &/or speed), then extend the escape & unload

      //???
      //???
      //???

      return false;
   end_precondition


   execute
      writeln("executing disengage.");
      PLATFORM.Comment("disengage");

      #double bestheading = 0.0;  //compute this as away from all threats
      #PLATFORM.TurnToHeading(bestheading);

      //calculate an average heading to incoming platforms weighted by distance
      double y = 0;
      double x = 0;
      foreach (WsfLocalTrack t in PLATFORM.MasterTrackList())
      {
         if (t.IsValid() && (!t.SideValid() || t.Side() != PLATFORM.Side()))
         {
            double distMod = 1 / PLATFORM.SlantRangeTo(t);
            double bearingMod = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(t));
            x = x + MATH.Sin(bearingMod) * distMod;
            y = y + MATH.Cos(bearingMod) * distMod;
            writeln_d("    Incoming ", t.TargetName(), " at distance: ", 1 / distMod, ", bearing: ", bearingMod);
         }
      }

      if (x!=0 || y!=0) //if there is something to run from
      {
         double evadeHeading = MATH.NormalizeAngle0_360(MATH.ATan2(x, y) - 180);
         writeln_d("    x: ", x, ", y: ", y, ", evade at: ", evadeHeading);

        #extern bool FlyHold   (WsfPlatform, double, double, double);
         FlyHold( PLATFORM, evadeHeading, cDIVE_ALTITUDE, cMAX_SPEED);

         if (drawEscape == true)
         {
            WsfGeoPoint pt = PLATFORM.Location();
            pt.Extrapolate(evadeHeading, 1852 * 10);  //draw line in direction of egress, for 10 nautical miles
            draw.BeginLines();
               draw.Vertex(PLATFORM.Location());
               draw.Vertex(pt);
            draw.End();
         }
      }

   end_execute

end_behavior