138 lines
4.9 KiB
Plaintext
138 lines
4.9 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.
|
||
|
|
# ****************************************************************************
|
||
|
|
|
||
|
|
#REQUIRES defined externally: double mGeesToTurnWith;
|
||
|
|
|
||
|
|
include_once common_timeline_scripts.txt
|
||
|
|
include_once air_combat_maneuvers.txt
|
||
|
|
|
||
|
|
behavior timeline_reposition
|
||
|
|
|
||
|
|
script_debug_writes off
|
||
|
|
|
||
|
|
script_variables
|
||
|
|
WsfQuantumTaskerProcessor processor;
|
||
|
|
bool mRepositioning = false;
|
||
|
|
end_script_variables
|
||
|
|
|
||
|
|
on_init
|
||
|
|
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
|
||
|
|
{
|
||
|
|
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
|
||
|
|
}
|
||
|
|
end_on_init
|
||
|
|
|
||
|
|
on_new_execute
|
||
|
|
mRepositioning = true;
|
||
|
|
PLATFORM.Comment("reposition");
|
||
|
|
end_on_new_execute
|
||
|
|
on_new_fail
|
||
|
|
mRepositioning = false;
|
||
|
|
end_on_new_fail
|
||
|
|
|
||
|
|
#TODO - add hysteresis?
|
||
|
|
# if already repositioning, account for turn time back to engage
|
||
|
|
# dont reengage if we'll have to turn away before facing target
|
||
|
|
precondition
|
||
|
|
|
||
|
|
#writeln_d(PLATFORM.Name(), " precondition timeline_reposition, T=", TIME_NOW);
|
||
|
|
if (!processor.IsValid())
|
||
|
|
{
|
||
|
|
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
|
||
|
|
}
|
||
|
|
WsfTask timeline = GetTimeLineTask(processor);
|
||
|
|
if (!timeline.IsValid())
|
||
|
|
{
|
||
|
|
return Failure("not assigned a TIMELINE task");
|
||
|
|
}
|
||
|
|
|
||
|
|
extern WsfLocalTrack mNearestTimeLineTarget;
|
||
|
|
if (!mNearestTimeLineTarget.IsValid())
|
||
|
|
{
|
||
|
|
return Failure("no local TIMELINE target to fly against");
|
||
|
|
}
|
||
|
|
|
||
|
|
extern double mGeesToTurnWith;
|
||
|
|
string RISK = timeline.AuxDataString("RISK");
|
||
|
|
if (RISK == "HIGH")
|
||
|
|
{
|
||
|
|
return Failure("HIGH RISK agent does not reposition");
|
||
|
|
}
|
||
|
|
|
||
|
|
extern double mDragSpeed;
|
||
|
|
extern double mEngageSpeed;
|
||
|
|
|
||
|
|
if (mRepositioning == true)
|
||
|
|
{
|
||
|
|
writeln_d("testing conditions to CONTINUE dragging");
|
||
|
|
#already dragging, look at conditions required to stop dragging & re-engage
|
||
|
|
#check what distance we'd be at after a turn to face the target and another turn away
|
||
|
|
#in other words: do we have the time to face the target & then turn to stay outside the gate?
|
||
|
|
|
||
|
|
#gate determined by risk level (LOW risk gate = DOR, MEDIUM risk gate = MAR)
|
||
|
|
double gate = timeline.AuxDataDouble("DOR"); #range (meters)
|
||
|
|
if (RISK == "MEDIUM")
|
||
|
|
{
|
||
|
|
gate = timeline.AuxDataDouble("MAR"); #range (meters)
|
||
|
|
}
|
||
|
|
|
||
|
|
Array<double> vals = Array<double>();
|
||
|
|
WsfGeoPoint targetLoc = mNearestTimeLineTarget.CurrentLocation();
|
||
|
|
WsfTrack platAsTrack = PLATFORM.MakeTrack();
|
||
|
|
platAsTrack.SetVelocity(mDragSpeed, platAsTrack.Heading());
|
||
|
|
TurnTimeAndDistance(platAsTrack, targetLoc, mGeesToTurnWith, vals);
|
||
|
|
double turnTime = vals[0];
|
||
|
|
double distClosed = vals[1];
|
||
|
|
double rangeAfterTurningIn = PLATFORM.GroundRangeTo(targetLoc) - distClosed - mNearestTimeLineTarget.Speed()*turnTime;
|
||
|
|
double turnAwayTime = TimeToTurn(180, mEngageSpeed, mGeesToTurnWith);
|
||
|
|
double rangeAfterTurningAway = rangeAfterTurningIn - mNearestTimeLineTarget.Speed()*turnAwayTime;
|
||
|
|
if (rangeAfterTurningAway >= gate)
|
||
|
|
{
|
||
|
|
return Failure("enough time to turn & face before gate");
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
writeln_d("testing conditions to START dragging");
|
||
|
|
#not dragging yet, look at conditions required to start:
|
||
|
|
#look at time required to turn & leave: compare to time until next gate
|
||
|
|
|
||
|
|
#gate determined by risk level (LOW risk gate = DOR, MEDIUM risk gate = MAR)
|
||
|
|
double gate = timeline.AuxDataDouble("DOR"); #range (meters)
|
||
|
|
if (RISK == "MEDIUM")
|
||
|
|
{
|
||
|
|
gate = timeline.AuxDataDouble("MAR"); #range (meters)
|
||
|
|
}
|
||
|
|
|
||
|
|
Array<double> vals = Array<double>();
|
||
|
|
WsfGeoPoint targetLoc = mNearestTimeLineTarget.CurrentLocation();
|
||
|
|
double turnAngle = 180 - MATH.Fabs(PLATFORM.RelativeBearingTo(targetLoc));
|
||
|
|
TurnAngleTimeAndDistance(turnAngle, mEngageSpeed, mGeesToTurnWith, vals);
|
||
|
|
double turnTime = vals[0];
|
||
|
|
double distSep = vals[1];
|
||
|
|
double rangeAfterTurn = distSep + PLATFORM.GroundRangeTo(targetLoc) - mNearestTimeLineTarget.Speed()*turnTime;
|
||
|
|
|
||
|
|
if (rangeAfterTurn >= gate)
|
||
|
|
{
|
||
|
|
return Failure("agent not close enough to gate");
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
end_precondition
|
||
|
|
|
||
|
|
execute
|
||
|
|
extern double mDragSpeed;
|
||
|
|
extern double mDragAltitude;
|
||
|
|
Drag(PLATFORM, mNearestTimeLineTarget, mDragSpeed, mDragAltitude, mGeesToTurnWith); #max speed
|
||
|
|
end_execute
|
||
|
|
|
||
|
|
end_behavior
|
||
|
|
|