305 lines
10 KiB
Plaintext
305 lines
10 KiB
Plaintext
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# ****************************************************************************
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# CUI
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#
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# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
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#
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# The use, dissemination or disclosure of data in this file is subject to
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# limitation or restriction. See accompanying README and LICENSE for details.
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# ****************************************************************************
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behavior go_home
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script_debug_writes off
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script_variables
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bool mDrawRoute = false; // draw the home route
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WsfDraw mDraw = WsfDraw();
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bool mCheckFuel = true; // check fuel levels
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bool mCheckMyWeapons = true; // check the remaining quanitity of munitions on this platform
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#bool mCheckAllWeapons = false; // check the remaining quantity of munitions on all platforms in the peer group, including my own
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#bool mCheckUplinks = false; // check if uplinks are still existent
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bool mWaitOnActiveWeapons = false; // don't go home as long as active weapons are being controlled
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string mMainWeapon = ""; // main weapon of concern, not necessarily this platform's main weapon
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bool mCheckEscorts = false; // check if escort platforms are still existent and on course
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Array<string> mEscortNames = Array<string>(); // the names of platforms this platform is responsible for escorting
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double cBINGO_SPEED = 516 * MATH.MPS_PER_NMPH(); // ~M0.8 or 248 m/s @ 25 kft#removed 1.5 * that was added to help 6dof movers 14Oct11
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WsfGeoPoint mFirstKnownPoint = WsfGeoPoint();
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string mRouteName = "";
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int mRouteHomeIndex = 0; // the index of the waypoint on the default route the platform should return to
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string mLastComment = "<none yet>";
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end_script_variables
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script bool HasEscorts()
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WsfPlatform escortPlatform;
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foreach ( string sEscortName in mEscortNames )
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{
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escortPlatform = WsfSimulation.FindPlatform(sEscortName);
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if (escortPlatform.IsValid() )
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{
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return true;
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}
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}
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return false;
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end_script
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script double NumWeaponsRemaining(WsfPlatform aPlatform)
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double total = 0.0;
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for (int i=0; i<aPlatform.WeaponCount(); i=i+1)
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{
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total = total + aPlatform.WeaponEntry(i).QuantityRemaining();
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}
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return total;
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end_script
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script void DrawRoute()
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WsfRoute currRoute = PLATFORM.Route();
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if (currRoute.IsValid())
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{
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//PLATFORM.Comment("draw current route : " + PLATFORM.Route().Name());
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mDraw.SetLayer("behavior_go_home");
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mDraw.Erase(PLATFORM.Name());
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mDraw.SetId(PLATFORM.Name());
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mDraw.SetColor(0,1,1);
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mDraw.SetLineSize(2);
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mDraw.SetLineStyle("dash_dot2");
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mDraw.BeginPolyline();
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for (int i=0; i<currRoute.Size(); i=i+1)
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{
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mDraw.Vertex(currRoute.Waypoint(i).Location());
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}
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mDraw.End();
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}
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end_script
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on_init
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mFirstKnownPoint = PLATFORM.Location();
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end_on_init
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precondition
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writeln_d("precondition go_home");
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# if (!PROCESSOR.IsA_TypeOf("WSF_RIPR_PROCESSOR"))
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# {
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# return Failure("behavior not attached to a RIPR processor!");
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# }
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string msg = "";
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bool result = false;
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// go home if bingo on fuel
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if (mCheckFuel == true &&
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PLATFORM.FuelRemaining() < PLATFORM.FuelBingoQuantity())
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{
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msg = "GO HOME: bingo fuel";
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result = true;
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}
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// go home if all my escorts are dead or gone
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else if (mCheckEscorts == true &&
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!HasEscorts())
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{
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msg = "GO HOME: all escorts are dead or gone";
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result = true;
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}
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// DO NOT go home if I have any active weapons still under my control
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else if (mWaitOnActiveWeapons == true &&
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PLATFORM.WeaponsActiveFor(WsfTrackId()) <= 0)
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{
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msg = "GO HOME: no active weapons";
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result = true;
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}
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# // go home if there are no uplinks remaining
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# else if (mCheckUplinks == true &&
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# ((WsfRIPRProcessor)PROCESSOR).UplinkCount() <= 0)
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# {
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# msg = "GO HOME: no active uplinks";
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# result = true;
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# }
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// go home if all weapons, including my own, in the peer group are out of ammo
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# else if (mCheckAllWeapons == true &&
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# ((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderPlatform().IsValid())
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# {
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# msg = "GO HOME: all weapons in group are out of ammo";
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# result = true;
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# foreach( WsfPlatform sub in ((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderPlatform().Subordinates() )
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# {
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# if (mMainWeapon != "")
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# {
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# WsfWeapon temp = sub.Weapon(mMainWeapon);
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# if (temp.IsValid() &&
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# temp.QuantityRemaining() > 0)
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# {
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# msg = "";
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# result = false;
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# }
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# }
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# else if (NumWeaponsRemaining(sub) > 0.0)
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# {
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# msg = "";
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# result = false;
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# }
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# }
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# }
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// go home if my weapons are out of ammo
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else if (mCheckMyWeapons == true)
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{
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if (mMainWeapon != "")
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{
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WsfWeapon temp = PLATFORM.Weapon(mMainWeapon);
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if (temp.IsValid() &&
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temp.QuantityRemaining() <= 0)
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{
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msg = "GO HOME: main weapon out of ammo";
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result = true;
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}
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}
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else if (NumWeaponsRemaining(PLATFORM) <= 0.0)
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{
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msg = "GO HOME: out of weapons";
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result = true;
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}
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}
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// debug - why is this platform going home?
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if (result)
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{
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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if (msg != mLastComment)
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{
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PLATFORM.Comment(msg);
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mLastComment = msg;
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}
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return true;
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}
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return false;
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end_precondition
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execute
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writeln_d(PLATFORM.Name(), " executing go_home, T=", TIME_NOW);
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//PLATFORM.Comment("go_home");
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string msg = "";
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# WsfRIPRProcessor commander = ((WsfRIPRProcessor)PROCESSOR).CommanderProcessor();
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# if (commander.IsValid())
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# {
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# for (int i = 0; i < ((WsfRIPRProcessor)PROCESSOR).NumJobChannels(); i = i + 1)
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# {
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# commander.ClearBidsFor(((WsfRIPRProcessor)PROCESSOR), i);
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# }
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# }
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//TODO - reject or cancel any received tasks, we are going home
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// make sure we are at the right speed so we don't burn the fuel we have left too fast
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PLATFORM.GoToSpeed(cBINGO_SPEED);
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writeln_d(" GoToSpeed( ", cBINGO_SPEED," )");
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bool onHomeRoute = false;
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// if an egress route is defined, and that is the current route,
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// find the closest waypoint and fly the route from there.
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// this is mainly used to correct some bugs in the 6dof mover
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if (mRouteName != "")
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{
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WsfRoute myRoute = PLATFORM.Route();
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if(myRoute.Name() == "home_route")
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{
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int routeIndex = PLATFORM.RoutePointIndex();
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if (routeIndex < 0 || routeIndex >= myRoute.Size())
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{
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routeIndex = 0;
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}
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double distThreshold = 4.0*185.2; ## 4/10th nm
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if (myRoute.Waypoint(routeIndex).Location().GroundRangeTo(PLATFORM.Location()) < distThreshold)
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{
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routeIndex = routeIndex + 1;
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if (routeIndex >= myRoute.Size())
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{
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routeIndex = 1;
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}
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}
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onHomeRoute = PLATFORM.FollowRoute(myRoute, routeIndex);
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#string msg = write_str("FollowRoute(home_route, ", routeIndex, ")");
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#PLATFORM.Comment(msg);
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}
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// if there is an egress route defined, follow it
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if (!onHomeRoute)
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{
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msg = write_str("attempting to construct and fly route: ", mRouteName);
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//PLATFORM.Comment(msg);
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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WsfRoute original = PLATFORM.Route();
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WsfRoute homeRoute = WsfRoute.Create("home_route");
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WsfRoute capRoute = WsfRoute.CopyGlobal(mRouteName);
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double goHomeSpeed = cBINGO_SPEED;
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#if (capRoute.Front().IsValid() && capRoute.Front().Speed() > 0)
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#{
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# goHomeSpeed = capRoute.Front().Speed();
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#}
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extern double cDEFAULT_ALTITUDE;
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WsfGeoPoint startPoint = WsfGeoPoint.Construct(mFirstKnownPoint.Latitude(), mFirstKnownPoint.Longitude(), cDEFAULT_ALTITUDE);
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homeRoute.Append(startPoint, goHomeSpeed);
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capRoute.Transform(startPoint.Latitude(), startPoint.Longitude(), 0);
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homeRoute.Append(capRoute);
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onHomeRoute = PLATFORM.FollowRoute(homeRoute);
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#PLATFORM.Comment("go_home FollowRoute(homeRoute)");
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}
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}
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// if the platform is still not on an egress route, then there is not one
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// defined or there was a problem with it, so one needs to be created.
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if (!onHomeRoute)
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{
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if (PLATFORM.FollowRoute("DEFAULT_ROUTE", mRouteHomeIndex))
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{
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msg = write_str("should be flying default route");
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//PLATFORM.Comment(msg);
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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//PLATFORM.Comment("FollowRoute(DEFAULT_ROUTE, 1)");
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}
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else // what if no default route is provided? (fly to first known point)
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{
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extern double cDEFAULT_ALTITUDE;
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WsfGeoPoint tempPt = WsfGeoPoint.Construct(mFirstKnownPoint.Latitude(), mFirstKnownPoint.Longitude(), cDEFAULT_ALTITUDE);
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PLATFORM.GoToLocation(tempPt);
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msg = write_str("should be flying to point: ", mFirstKnownPoint.ToString());
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//PLATFORM.Comment(msg);
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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//PLATFORM.Comment("GoToLocation(tempPt)");
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}
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}
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// debug
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if (mDrawRoute)
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{
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DrawRoute();
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}
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end_execute
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end_behavior
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