364 lines
13 KiB
Plaintext
364 lines
13 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 pincer_fsm
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script_debug_writes off
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script_variables
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//debug parameters
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bool mDrawSteering = false;
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//parameters for how to initially fly pincer (1st phase, separation)
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string mDirection = "none";
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double mPincerSpeed = 500 * MATH.MPS_PER_NMPH(); //400 kts
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double mPincerOffsetAngle = 70.0; //degrees
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//parameters for determining if to chase and how to do so (2nd phase, option A)
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double mEnemyFOVHalfAngle = 50.0; //degrees
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double mChaseAngle = 75.0; //degrees
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double mChaseSpeedlnsideFOV = 600 * MATH.MPS_PER_NMPH(); //600 kts
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double mChaseSpeedOutsideFOV = 1200 * MATH.MPS_PER_NMPH(); //1200 kts
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//parameters for determining if to drag (run) and how to do so (2nd phase, option B)
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double mRunDistance = 130 * 1852; //130nm (meters)
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double mRunAngleLimit = 15.0; //degrees
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double mDragSpeed = 800 * MATH.MPS_PER_NMPH(); //800 kts
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double mDragAddedAngle = -1.0; //degrees
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// bidding parameters (similar to pursue-target parameters)
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double cMIN_JOB_BID = -MATH.DOUBLE_MAX();
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# double cWEIGHT_CURRENT_TARGET = 10.0;
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# double cWEIGHT_CLOSING_SPEED_OF = 0.5; #1.0;
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# double cWEIGHT_SLANT_RANGE_TO = -4.0; #-3.0;
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# double cWEIGHT_FUEL = 2.0;
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# double cWEIGHT_WEAPONS_IN_FLIGHT = 0.0;
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# double cWEIGHT_ANY_WEAPONS_ACTIVE = 20.0;
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# double cWEIGHT_THREAT_WEAPONS_ENVELOPE = 10000.0;
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# double cBASE_SLANT_RANGE_CONSTANT = 600000.0; //over 300 nm away [How is this used???]
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# double cBASE_CLOSING_SPEED_CONSTANT = 1050.0; //over 2000 kts closing speed
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double cMAX_SLANT_RANGE = 1000000.0; #over 539 nm away, target ranges beyond this are considered unfavorable
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double cWEIGHT_SLANT_RANGE_TO = 1.0;
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double cMIN_CLOSING_SPEED = -1050.0; #threats running away (negative closing) faster are considered unfavorable
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double cWEIGHT_CLOSING_SPEED = 1.0; #scale for how closing speed translates to distance
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double cWEIGHT_FUEL = 0.0; #try a value of 2.0 if you care about fuel
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double cWEIGHT_MY_WEAPONS_ACTIVE = 0.0; #changes bid if your own weapons are active on target
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double cWEIGHT_PEERS_WEAPONS_ACTIVE = 0.0; #changes bid if your peers weapons are active on target
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double cWEIGHT_THREAT_WEAPONS_ENVELOPE = 10000.0; #uses the global "mWeaponsEnvelope" array, try value of 10000 if you care about that
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//careful with these two parameters, they are stateful
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double cWEIGHT_CURRENT_TARGET = 0.0; #changes bid if you are currently targeting the threat
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//util var, not for user edit
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WsfGeoPoint mPincerPoint;
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WsfDraw mDraw = WsfDraw();
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WsfRIPRJob mCurrentJob;
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WsfTrack mWorstTrack;
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double mWorstDist = MATH.DOUBLE_MAX();
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double mWorstFOV = MATH.DOUBLE_MAX();
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end_script_variables
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script double GetPincerDragOffset(WsfTrack aTgt)
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if (aTgt.Speed() >= PLATFORM.Speed())
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{
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return 180.0;
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}
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else
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{
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return (180 - MATH.ACos(aTgt.Speed()/PLATFORM.Speed()));
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}
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end_script
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precondition
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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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} // ((WsfRIPRProcessor)PROCESSOR)
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#writeln_d("precondition pincer");
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if (((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderProcessor().IsValid())
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{
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mCurrentJob = ((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderProcessor().GetJobFor(TIME_NOW, ((WsfRIPRProcessor)PROCESSOR));
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if (mCurrentJob.IsValid())
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{
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// If we're supposed to fly towards a point, go for it!
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if (mCurrentJob.Name() == "pincer")
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{
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mPincerPoint = (WsfGeoPoint)mCurrentJob.GetData("ZonePoint");
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mDirection = (string)mCurrentJob.GetData(PLATFORM.Name());
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if (mPincerPoint.IsValid())
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{
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return true;
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}
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else
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{
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writeln_d(PLATFORM.Name(), " pincer point not valid!");
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return Failure("pincer job did not have valid point");
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " job not a pincer job: ", mCurrentJob.Name());
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " job not valid!");
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " commander not found!");
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return Failure("no commander found");
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}
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return Failure("current job not a valid pincer job");
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end_precondition
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### FSM states are evaluated after "execute"
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execute
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writeln_d(PLATFORM.Name(), " executing pincer!, T=", TIME_NOW);
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//provide for another channel for pursue-target jobs
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if (((WsfRIPRProcessor)PROCESSOR).NumJobChannels() <= 1)
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{
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((WsfRIPRProcessor)PROCESSOR).SetNumJobChannels(2);
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}
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((WsfRIPRProcessor)PROCESSOR).ClearTarget();
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//save off the closest opponent track
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mWorstDist = MATH.DOUBLE_MAX();
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mWorstFOV = MATH.DOUBLE_MAX();
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Array<string> targetNames = (Array<string>)mCurrentJob.GetData("ZoneThreatNameArray");
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foreach(string tgtName in targetNames)
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{
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WsfTrack tgt = GetTrackByName(PLATFORM, tgtName);
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if (tgt.IsValid() && tgt.LocationValid())
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{
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double attackRange = tgt.GroundRangeTo(PLATFORM);
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if (attackRange < mWorstDist)
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{
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//run away, drag threats out
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mWorstDist = attackRange;
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mWorstTrack = tgt;
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}
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double fov = MATH.Fabs(tgt.RelativeBearingTo(PLATFORM));
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if (fov < mWorstFOV)
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{
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mWorstFOV = fov;
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}
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}
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}
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# if (mDrawSteering == true)
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# {
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# WsfGeoPoint pt = PLATFORM.Location();
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# pt.Extrapolate(heading, 185200);
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# mDraw.SetLayer("behavior_pincer");
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# mDraw.SetDuration(((WsfRIPRProcessor)PROCESSOR).UpdateInterval());
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# mDraw.SetColor(0.0, 1.0, 0.75); //green-blue
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# mDraw.SetLineSize(1);
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# mDraw.BeginLines();
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# mDraw.Vertex(PLATFORM.Location());
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# mDraw.Vertex(pt);
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# mDraw.Vertex(PLATFORM.Location());
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# mDraw.Vertex(mPincerPoint);
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# mDraw.End();
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# }
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end_execute
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script bool ShouldChase()
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int allOnCap = (int)mCurrentJob.GetData("all_on_cap");
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if (allOnCap > 0)
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{
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return false;
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}
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int other_dragging_count = 0;
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if (mDirection == "right")
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{
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other_dragging_count = (int)mCurrentJob.GetData("left_drag");
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}
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else if (mDirection == "left")
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{
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other_dragging_count = (int)mCurrentJob.GetData("right_drag");
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}
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double diff = 0;
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if (mWorstTrack.IsValid() && mWorstTrack.HeadingValid())
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{
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double b1 = mWorstTrack.Heading();
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double b2 = mWorstTrack.TrueBearingTo(PLATFORM.Location());
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diff = MATH.NormalizeAngleMinus180_180(b2 - b1);
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}
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if (other_dragging_count > 0 && MATH.Fabs(diff) > mEnemyFOVHalfAngle)
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{
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//the other pincer group is being engaged, turn in now
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writeln_d(PLATFORM.Name(), " chasing because other pair is dragging");
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return true;
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}
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else if ((mDirection == "right" && diff < -mChaseAngle) ||
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(mDirection == "left" && diff > mChaseAngle) )
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{
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//we have already flanked, so now we can chase (regardless of other side dragging or not)
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writeln_d(PLATFORM.Name(), " chasing because past chase angle");
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return true;
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}
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return false;
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end_script
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#show_state_transitions
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#first default state, start here and go back to here if confused
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state SEPARATE
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next_state DRAG
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int allOnCap = (int)mCurrentJob.GetData("all_on_cap");
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if ( (allOnCap <= 0) &&
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(mWorstDist < mRunDistance) &&
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(mWorstTrack.IsValid()) &&
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(mWorstTrack.HeadingValid()) &&
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(MATH.Fabs(mWorstTrack.TrueBearingTo(PLATFORM)-mWorstTrack.Heading()) < mRunAngleLimit))
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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_next_state
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next_state CHASE
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return ShouldChase();
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end_next_state
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next_state SEPARATE
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double separate_angle = 0;
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if (mDirection == "left")
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{
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separate_angle = -mPincerOffsetAngle;
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}
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else if (mDirection == "right")
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{
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separate_angle = mPincerOffsetAngle;
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}
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double heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + separate_angle);
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PLATFORM.GoToSpeed(mPincerSpeed);
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PLATFORM.TurnToHeading(heading);
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return true;
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end_next_state
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end_state
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state DRAG
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next_state SEPARATE
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if ( (!mWorstTrack.IsValid()) ||
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(mWorstDist > (mRunDistance*1.1)) ||
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(!mWorstTrack.HeadingValid()) ||
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(MATH.Fabs(mWorstTrack.TrueBearingTo(PLATFORM)-mWorstTrack.Heading()) > (mRunAngleLimit*1.1)))
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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_next_state
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next_state DRAG
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writeln_d("dragging!");
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//try to maintain distance
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PLATFORM.GoToSpeed(mDragSpeed);
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double dragOffset = GetPincerDragOffset(mWorstTrack);
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double heading;
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if (mDirection == "right")
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{
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if (mDragAddedAngle > 0)
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{
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heading = MATH.NormalizeAngle0_360(heading + mDragAddedAngle);
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}
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else
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{
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heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + dragOffset);
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}
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}
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else if (mDirection == "left")
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{
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if (mDragAddedAngle > 0)
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{
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heading = MATH.NormalizeAngle0_360(heading - mDragAddedAngle);
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}
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else
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{
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heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) - dragOffset);
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}
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}
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PLATFORM.TurnToHeading(heading);
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return true;
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end_next_state
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on_entry
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if (mDirection == "right")
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{
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int count = (int)mCurrentJob.GetData("right_drag");
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mCurrentJob.SetData("right_drag",count+1);
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writeln_d(PLATFORM.Name(), " increased right_drag to: ", count+1);
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}
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else if (mDirection == "left")
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{
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int count = (int)mCurrentJob.GetData("left_drag");
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mCurrentJob.SetData("left_drag",count+1);
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writeln_d(PLATFORM.Name(), " increased left_drag to: ", count+1);
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}
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end_on_entry
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on_exit
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if (mDirection == "right")
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{
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int count = (int)mCurrentJob.GetData("right_drag");
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mCurrentJob.SetData("right_drag",count-1);
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writeln_d(PLATFORM.Name(), " decreased right_drag to: ", count-1);
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}
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else if (mDirection == "left")
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{
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int count = (int)mCurrentJob.GetData("left_drag");
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mCurrentJob.SetData("left_drag",count -1);
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writeln_d(PLATFORM.Name(), " decreased left_drag to: ", count-1);
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}
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end_on_exit
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end_state
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state CHASE
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next_state SEPARATE
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return ! ShouldChase();
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end_next_state
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next_state CHASE
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writeln_d("chasing!");
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if (mWorstFOV <= mEnemyFOVHalfAngle)
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{
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PLATFORM.GoToSpeed(mChaseSpeedlnsideFOV);
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}
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else
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{
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PLATFORM.GoToSpeed(mChaseSpeedOutsideFOV);
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}
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double heading = 0;
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if (mWorstTrack.IsValid())
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{
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heading = PLATFORM.TrueBearingTo(mWorstTrack);
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((WsfRIPRProcessor)PROCESSOR).SetTarget(mWorstTrack);
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}
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else
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{
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heading = PLATFORM.TrueBearingTo((WsfGeoPoint)mCurrentJob.GetData("ZonePoint"));
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}
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PLATFORM.TurnToHeading(heading);
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||
|
|
return true;
|
||
|
|
end_next_state
|
||
|
|
end_state
|
||
|
|
|
||
|
|
end_behavior
|