lab1/processors/quantum_agents/aiww/behavior_formation.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 formation

   script_debug_writes off

   script_variables

      //**********************************************************************//
      //** debugging parameters                                             **//
      //**********************************************************************//
      bool  mDrawFormationData =  false;

      //**********************************************************************//
      //** formation flying parameters, for offset and tightness            **//
      //**********************************************************************//
      Array<string> mLeadNames = Array<string>();
      double   mFormationPositionX =  -500;     #meters in front of of package
      double   mFormationPositionY =  3000;  #meters off right wing of package
      double   mGoodFormationRatio =  0.15;  #percentage of total offset
      double   mFormationLookAhead = 30.0;   #seconds
      double   mFormationAltitude  = -1.0;   #used if positive

      //**********************************************************************//
      //********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
      //**********************************************************************//
      WsfDraw  mDraw           =  WsfDraw();
      bool     mLastInPosition =  false;  #boolean flag, utility, don't change

   end_script_variables


   ### find escorted platform, return it
   script WsfPlatform GetFormationLead()
      WsfPlatform leadPlatform;
      foreach ( string sLeadName in mLeadNames )
      {
         leadPlatform = WsfSimulation.FindPlatform(sLeadName);
         if (leadPlatform.IsValid() )
         {
            break;
         }
      }
      return leadPlatform;
   end_script


   precondition
      writeln_d("precondition formation");

      WsfPlatform leadPlatform = GetFormationLead();
      if (!leadPlatform.IsValid() )
      {
         return Failure("no listed lead for formation found!");
      }

      writeln_d("--- agent ", PLATFORM.Name(), " is in formation with ", leadPlatform.Name());
      return true;
   end_precondition



   script bool AmInFormationPosition(WsfGeoPoint formationPoint, double radius)
      //make it fly to the inner 50% of the acceptable radius on re-entry
      if (!mLastInPosition)
      {
         radius = 0.5 * radius;
      }
      mLastInPosition = false;
      double range = PLATFORM.GroundRangeTo(formationPoint);
      if (range <= radius)
      {
         mLastInPosition = true;
      }
      return mLastInPosition;
   end_script



   execute
      writeln_d("executing formation.");

      //make sure escorted platform exists, find it, save it
      WsfPlatform leadPlatform = GetFormationLead();
      if (!leadPlatform.IsValid() )
      {
         writeln_d("--- fighter ", PLATFORM.Name(), " no valid platform to escort!");
         return;
      }

      //check if I am approximately in my formation position
      WsfGeoPoint formationPoint = leadPlatform.Location();

      if (mFormationAltitude > 0)
      {
        formationPoint.Set(formationPoint.Latitude(), formationPoint.Longitude(), mFormationAltitude);
      }

      if (mFormationPositionX > 0)
      {
         formationPoint.Extrapolate(leadPlatform.Heading(), mFormationPositionX);
      }
      else
      {
         formationPoint.Extrapolate(leadPlatform.Heading()+180, -mFormationPositionX);
      }

      if (mFormationPositionY > 0)
      {
         formationPoint.Extrapolate(leadPlatform.Heading()+90.0, mFormationPositionY);
      }
      else
      {
         formationPoint.Extrapolate(leadPlatform.Heading()-90.0, -mFormationPositionY);
      }

      if (!formationPoint.IsValid())
      {
         writeln_d("--- fighter ", PLATFORM.Name(), " invalid formation point from ", leadPlatform.Name());
         return;
      }

      if (mDrawFormationData == true)
      {
         mDraw.SetLayer("behavior_formation");
         mDraw.SetDuration(PROCESSOR.UpdateInterval());

         // draw line to desired formation position
         mDraw.SetColor(0, 1, 0);   //green
         mDraw.SetLineSize(4);
         mDraw.BeginLines();
            mDraw.Vertex(leadPlatform.Location());
            mDraw.Vertex(formationPoint);
         mDraw.End();
      }

      double radius = mGoodFormationRatio * leadPlatform.SlantRangeTo(formationPoint);

      double formAlt   = leadPlatform.Altitude();
      double formSpeed = leadPlatform.Speed();
      double formYaw   = leadPlatform.Heading();
      if (formAlt < PLATFORM.Altitude())
      {
         formAlt = PLATFORM.Altitude();
      }
      WsfGeoPoint tgt = WsfGeoPoint.Construct(formationPoint.Latitude(), formationPoint.Longitude(), formAlt);
      double lookAheadDistance  = mFormationLookAhead * leadPlatform.Speed();
      tgt.Extrapolate(formYaw, lookAheadDistance);

      if (! AmInFormationPosition(formationPoint, radius))
      {
         //fly towards formation position, extrapolated ahead X seconds, in order to catch up to the point in X seconds
         formSpeed = PLATFORM.GroundRangeTo(tgt) / mFormationLookAhead;
      }

     #extern bool FlyTarget (WsfPlatform, WsfGeoPoint,    double);
      FlyTarget (PLATFORM, tgt, formSpeed);

   end_execute

end_behavior