343 lines
12 KiB
Plaintext
343 lines
12 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 manage-pincer
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script_debug_writes off
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script_variables
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//for debugging
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bool mDrawClusters = false;
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//parameters used to determine if a pincer is appropriate
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bool mRequireActiveWeapons = false; //if true, weapons must be in flight before pincer performed
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double mMaxSeparationAngle = 120.0; //degrees (pincer done if we've flanked by this much)
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int mNumSubsInvolved = 2; //not necessary to be an even number
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double mThresholdDistance = 160 * 1852; //160nm
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//clustering is performed to make sure the group of threats we are pincering against are grouped tightly together
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//if more than one group exist, the 2nd, 3rd, etc... groups have to be far enough away so that they aren't a
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//concern for the pincer maneuver (i.e. we wont head into them by separating around the target group)
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string mClusterMethod = "HTREEMAX"; //also valid: K_MEANS, H_TREE_MIN
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double mClusterDistanceLimit = 20*1852; //20nm - how close the group members have to be together
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double mMinDistanceRatio = 1.15; //other groups have to be 15% farther away than target group
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// parameters useful for those performing the pincer
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bool mCross = false;
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string mCapZoneName = ""; //useful to specify the name of zone in which we ignore the threat's
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//orientation, because they are capping while in the zone
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// script variables, used by methods below, do not change, not for user edit
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Array<WsfTrack> mTrackArray = Array<WsfTrack>();
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Array<string> mTargetNames = Array<string>();
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WsfDraw mDraw = WsfDraw();
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double mMeanBearing = 0;
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bool mMeanBearingValid = false;
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WsfClusterManager mClusterManager;
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WsfRIPRJob mPincerJob;
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WsfGeoPoint mMeanPoint;
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WsfGeoPoint mSubPoint;
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end_script_variables
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on_init
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mClusterManager = WsfClusterManager.Create(); // creates a cluster manager owned by this script
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mClusterManager.SetClusterMethod(mClusterMethod); // default is: "K_MEANS"
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mClusterManager.SetDistanceFunction("POSITION_VELOCITY"); // default is: "POSITION_ONLY"
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mClusterManager.SetDistanceLimit(mClusterDistanceLimit) ;
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end_on_init
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## utility method used to draw lines around tracks in a cluster ## lines are drawn according to the convex hull of the cluster members
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script void draw_cluster_hull(WsfCluster cluster)
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Array<WsfGeoPoint> pts = cluster.ConvexHull();
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if (pts.Size() <= 0)
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{
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return;
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}
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WsfGeoPoint first = pts.Get(0);
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mDraw.SetColor(1.0,0.5,0.0); //orange?
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mDraw.SetLineStyle("solid");
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mDraw.SetLineSize(2);
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mDraw.BeginPolyline();
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for (int j = 0; j < pts.Size(); j = j + 1 )
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{
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WsfGeoPoint pt = pts.Get(j);
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mDraw.Vertex(pt);
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}
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mDraw.Vertex(first);
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mDraw.End();
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if (cluster.BearingValid())
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{
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double bearing = cluster.Bearing();
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WsfGeoPoint pt = cluster.MeanLocation();
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mDraw.SetColor(1.0,1.0,1.0); //white?
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mDraw.BeginLines();
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mDraw.Vertex(pt); pt.Extrapolate(cluster.Bearing(), 92600); //50 nautical miles
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mDraw.Vertex(pt);
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mDraw.End();
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}
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end_script
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script WsfGeoPoint MeanLocation(Array<WsfPlatform> plats)
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Vec3 mean = Vec3.Construct(0, 0, 0);
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if (plats.Size() > 0)
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{
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double scale = 1.0/((double)plats.Size());
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foreach(WsfPlatform plat in plats)
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{
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Vec3 temp = plat.LocationWCS();
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temp.Scale(scale);
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mean = Vec3.Add(mean, temp);
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}
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}
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return WsfGeoPoint.ConstructWCS(mean);
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end_script
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script WsfGeoPoint SubordinatesMeanLocation()
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return MeanLocation(((WsfRIPRProcessor)PROCESSOR).SubordinatePlatforms());
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end_script
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script void RemovePincerJob()
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if(mPincerJob.IsValid())
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{
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//remove job from board
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WsfRIPRJob fake;
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writeln_d(PLATFORM.Name(), " job change, REMOVE: ", mPincerJob.GetDescription());
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PLATFORM.Comment(write_str("REMOVE job: ", mPincerJob.GetDescription()));
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((WsfRIPRProcessor)PROCESSOR).RemoveJob(mPincerJob);
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mPincerJob = fake;
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}
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end_script
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precondition
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#writeln_d("precondition manage-pincer");
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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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if (((WsfRIPRProcessor)PROCESSOR).SubordinateProcessors().Size() < mNumSubsInvolved)
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{
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RemovePincerJob();
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writeln_d("not enough subordinates");
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return Failure("not enough subordinates");
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}
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if (mRequireActiveWeapons)
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{
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int weaponCount = 0;
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Array<WsfRIPRProcessor> subs = ((WsfRIPRProcessor)PROCESSOR).SubordinateProcessors();
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foreach(WsfRIPRProcessor proc in subs)
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{
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weaponCount = weaponCount + proc.WeaponsActive();
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}
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if (weaponCount <= 0)
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{
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RemovePincerJob();
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writeln_d("no active weapons, no pincer yet");
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return Failure("no active weapons, no pincer yet");
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}
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}
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mSubPoint = SubordinatesMeanLocation();
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#extern bool TestTrackCategory(WsfTrack, string);
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mTrackArray.Clear();
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mTargetNames.Clear();
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foreach (WsfLocalTrack track in PLATFORM.MasterTrackList())
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{
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if ( (track.IFF_Friend()) ||
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(track.SideValid() && track.Side() == PLATFORM.Side()) ||
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(! track. LocationValid() ) ||
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(track.SlantRangeTo(mSubPoint) > mThresholdDistance) ||
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(TestTrackCategory(track, "unknown")) )
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{
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continue;
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}
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track.SetBearing( track.Heading() ); #useful for the cluster processing
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mTrackArray.PushBack(track);
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mTargetNames.PushBack(track.TargetName());
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}
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if (mTrackArray.Size() > 0)
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{
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mClusterManager.UpdateClusters(TIME_NOW,mTrackArray);
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if (mDrawClusters == true)
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{
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for (int i = 0; i < mClusterManager.Count(); i = i + 1 )
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{
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draw_cluster_hull(mClusterManager.Entry(i));
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}
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}
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if (mClusterManager.Count() > 1)
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{
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//check distances
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double near = MATH.DOUBLE_MAX();
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double near2 = MATH.DOUBLE_MAX();
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for (int i = 0; i < mClusterManager.Count(); i = i + 1 )
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{
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double dist = mClusterManager.Entry(i).MeanLocation().SlantRangeTo(mSubPoint);
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if (dist < near)
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{
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if (near < near2)
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{
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near2 = near;
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}
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near = dist;
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}
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else if (dist < near2)
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{
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near2 = dist;
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}
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}
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double ratio = near2/near;
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if (ratio < mMinDistanceRatio)
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{
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RemovePincerJob();
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writeln_d("threats too spread out!");
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return Failure("threats too spread out!");
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}
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}
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WsfCluster cluster = mClusterManager.Entry(0);
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mMeanPoint = cluster.MeanLocation();
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mMeanBearingValid = cluster.BearingValid();
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mMeanBearing = cluster.Bearing();
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}
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else //no threats to pincer against, exit out
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{
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RemovePincerJob();
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writeln_d("no threats to pincer against yet!");
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return Failure("no threats to pincer against yet!");
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}
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//check separation of all subordinates
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//only relavent if not currently in phase 2 (dragging & chasing)
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int dragging = 0;
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if(mPincerJob.IsValid())
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{
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dragging = (int)mPincerJob.GetData("left_drag") + (int)mPincerJob.GetData("right_drag");
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}
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if (dragging == 0)
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{
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Array<WsfPlatform> subs = ((WsfRIPRProcessor)PROCESSOR).SubordinatePlatforms();
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WsfGeoPoint subMean = MeanLocation(subs);
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double standard = mMeanPoint.TrueBearingTo(subMean);
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double min = 361;
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double max = -361;
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foreach(WsfPlatform p in subs)
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{
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double b = MATH.NormalizeAngleMinus180_180(mMeanPoint.TrueBearingTo(p.Location()) - standard);
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min = MATH.Min(min, b);
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max = MATH.Max(max, b);
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}
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double diff = max - min;
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if (diff >= mMaxSeparationAngle)
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{
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RemovePincerJob();
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writeln_d("pincer complete, targets flanked!");
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return Failure("pincer complete, targets flanked!");
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}
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}
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mDraw.SetDuration(PROCESSOR.UpdateInterval());
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return true;
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end_precondition
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execute
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writeln_d("executing manage-pincer, T=", TIME_NOW);
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//first find the group of target(s) we are going to perform the pincer against
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//generate a list of their names and get their mean location
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Array<WsfRIPRProcessor> subs = ((WsfRIPRProcessor)PROCESSOR).SubordinateProcessors();
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int N = subs.Size();
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if (mPincerJob.IsValid())
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{
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//pincer job already created! just update it
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mPincerJob.SetData("ZoneThreatNameArray", mTargetNames);
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mPincerJob.SetData("ZonePoint", mMeanPoint);
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mPincerJob.SetData("ZoneBearingValid", mMeanBearingValid);
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mPincerJob.SetData("ZoneBearing", mMeanBearing);
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mPincerJob.SetData("all_on_cap", 0);
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if (mCapZoneName != "" && mPincerJob.IsValid())
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{
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bool allOnCap = true;
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foreach(WsfTrack t in mTrackArray)
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{
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if ( ! t.ReportedLocation().WithinZone(mCapZoneName))
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{
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allOnCap = false;
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break;
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}
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}
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if (allOnCap)
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{
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mPincerJob.SetData("all_on_cap", 1);
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}
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}
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}
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else
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{
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//create a pincer job for this flight group
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string desc = write_str("pincer-", mNumSubsInvolved);
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extern double cPincerPriority;
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mPincerJob = WsfRIPRJob.Create( ((WsfRIPRProcessor)PROCESSOR), //creator
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"pincer", //name
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desc, //description
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cPincerPriority * mNumSubsInvolved, //priority (must be enough to break even with "mNumSubsInvolved" jobs of another type
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mNumSubsInvolved); //max winnners
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mPincerJob.SetData("ZoneThreatNameArray", mTargetNames);
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mPincerJob.SetData("ZonePoint", mMeanPoint);
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mPincerJob.SetData("ZoneBearingValid", mMeanBearingValid);
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mPincerJob.SetData("ZoneBearing", mMeanBearing);
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mPincerJob.SetData("left_drag", 0);
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mPincerJob.SetData("rightdrag", 0);
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mPincerJob.SetData("all_on_cap", 0);
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mPincerJob.SetWinnersMin(mNumSubsInvolved);
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//setup the left & right flyers
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double avgBearing = mMeanPoint.TrueBearingTo(mSubPoint);
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foreach(WsfRIPRProcessor proc in subs)
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{
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//Vec3 temp = proc.Platform().LocationWCS();
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double bearing = mMeanPoint.TrueBearingTo(proc.Platform().Location());
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double relAngle = MATH.NormalizeAngleMinus180_180(bearing-avgBearing);
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if (mCross)
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{
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relAngle = -1 * relAngle;
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}
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if (relAngle < 0)
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{
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mPincerJob.SetData(proc.Platform().Name(), "right");
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}
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else
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{
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mPincerJob.SetData(proc.Platform().Name(), "left");
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}
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}
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((WsfRIPRProcessor)PROCESSOR).AddJob(mPincerJob);
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writeln_d("--- ", PLATFORM.Name(), " job change, ADD: ", mPincerJob.GetDescription() );
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PLATFORM.Comment(write_str("ADD job: ", mPincerJob.GetDescription()));
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# foreach(string tgt in mTargetNames)
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# {
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# PLATFORM.Comment(tgt);
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# }
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}
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end_execute
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end_behavior
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