108 lines
3.0 KiB
Plaintext
108 lines
3.0 KiB
Plaintext
|
# ****************************************************************************
|
||
|
|
# 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.
|
||
|
|
# ****************************************************************************
|
||
|
|
|
||
|
|
# Search behavior that can be driven by locations
|
||
|
|
# provided by a heat map
|
||
|
|
|
||
|
|
behavior search
|
||
|
|
|
||
|
|
script_debug_writes off
|
||
|
|
|
||
|
|
script_variables
|
||
|
|
WsfQuantumTaskerProcessor processor;
|
||
|
|
|
||
|
|
string mSearchRadarName = "radar"; // replace with sensor name on platform
|
||
|
|
|
||
|
|
bool mDrawSteering = true;
|
||
|
|
WsfDraw mDraw = WsfDraw();
|
||
|
|
end_script_variables
|
||
|
|
|
||
|
|
on_init
|
||
|
|
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
|
||
|
|
{
|
||
|
|
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
|
||
|
|
}
|
||
|
|
end_on_init
|
||
|
|
|
||
|
|
precondition
|
||
|
|
writeln_d("T= ",TIME_NOW, " precondition search");
|
||
|
|
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
|
||
|
|
{
|
||
|
|
return Failure("behavior not attached to a quantum tasker processor!");
|
||
|
|
}
|
||
|
|
|
||
|
|
WsfTaskList tasks = processor.TasksReceivedOfType("SEARCH");
|
||
|
|
writeln_d(" Tasks count is ", tasks.Count());
|
||
|
|
if (tasks.Count() <= 0)
|
||
|
|
{
|
||
|
|
return Failure("No search tasks received");
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
end_precondition
|
||
|
|
|
||
|
|
execute
|
||
|
|
writeln_d(PLATFORM.Name(), " executing search, T=", TIME_NOW);
|
||
|
|
|
||
|
|
WsfGeoPoint targetPoint = WsfGeoPoint();
|
||
|
|
double ownSpeed = PLATFORM.Speed();
|
||
|
|
|
||
|
|
WsfTaskList tasks = processor.TasksReceivedOfType("SEARCH");
|
||
|
|
WsfTask task = tasks.Entry(0);
|
||
|
|
|
||
|
|
if (task.IsValid() && task.AuxDataExists("HeatPoint"))
|
||
|
|
{
|
||
|
|
writeln_d(PLATFORM.Name(), " has HeatPoint aux data, T=", TIME_NOW);
|
||
|
|
targetPoint = (WsfGeoPoint)task.AuxDataObject("HeatPoint");
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
//make sure radar is on
|
||
|
|
WsfSensor searchRadar = PLATFORM.Sensor(mSearchRadarName);
|
||
|
|
if (searchRadar.IsValid())
|
||
|
|
{
|
||
|
|
if (!searchRadar.IsTurnedOn())
|
||
|
|
{
|
||
|
|
searchRadar.TurnOn();
|
||
|
|
writeln_d(PLATFORM.Name(), " turned on active radar ", searchRadar);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
writeln_d(" radar already turned on");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (mDrawSteering == true)
|
||
|
|
{
|
||
|
|
mDraw.SetLayer("behavior_search");
|
||
|
|
mDraw.SetDuration(PROCESSOR.UpdateInterval());
|
||
|
|
mDraw.SetColor(1.0, 0.5, 0.0);
|
||
|
|
mDraw.SetLineSize(1);
|
||
|
|
mDraw.BeginLines();
|
||
|
|
mDraw.Vertex(PLATFORM.Location());
|
||
|
|
mDraw.Vertex(targetPoint);
|
||
|
|
mDraw.End();
|
||
|
|
}
|
||
|
|
|
||
|
|
string msg = write_str("pursue-target: ", targetPoint, " at speed ", (string)ownSpeed);
|
||
|
|
writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
|
||
|
|
|
||
|
|
FlyTarget(PLATFORM, targetPoint, ownSpeed);
|
||
|
|
end_execute
|
||
|
|
|
||
|
|
end_behavior
|
||
|
|
|