95 lines
3.0 KiB
Plaintext
95 lines
3.0 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 default-flight
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script_debug_writes off
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script_variables
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bool mDrawRoute = false;
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WsfDraw mDraw = WsfDraw();
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bool mResumeDefaultRoute = true;
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double cDEFAULT_SPEED = 450.0 * MATH.MPS_PER_NMPH();
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double cDEFAULT_ACCEL = 7.5 * Earth.ACCEL_OF_GRAVITY(); // 7.5 G (m/s^2)
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double cLARGE_UPDATE_INTERVAL = 3.0; // update once every 3 seconds
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end_script_variables
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script void DrawRoute()
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WsfRoute currRoute = PLATFORM.Route();
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if (currRoute.IsValid())
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{
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//PLATFORM.Comment("draw current route");
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mDraw.SetLayer("behavior default=flight");
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mDraw.Erase(PLATFORM.Name());
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mDraw.SetId(PLATFORM.Name());
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mDraw.SetColor(0,1,1);
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mDraw.SetLineSize(2);
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mDraw.SetLineStyle("dash_dot2");
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mDraw.BeginPolyline();
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for (int i=0; i<currRoute.Size(); i=i+1)
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{
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mDraw.Vertex(currRoute.Waypoint(i).Location());
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}
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mDraw.End();
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}
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end_script
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precondition
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writeln_d("precondition default-flight");
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return true;
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end_precondition
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execute
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writeln_d(PLATFORM.Name(), " executing default-flight, T=", TIME_NOW);
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//PLATFORM.Comment("default-flight");
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if (mResumeDefaultRoute)
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{
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bool success = false;
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//go at default speed; this gets overwritten if route waypoint has defined a speed
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success = PLATFORM.GoToSpeed(cDEFAULT_SPEED, cDEFAULT_ACCEL, true);
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//return to route, at the last target route point as re-entry
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#success = success && PLATFORM.ReturnToRoute();
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#extern bool ReEnterRoute(WsfPlatform);
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success = success && ReEnterRoute(PLATFORM);
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if (!success)
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{
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string msg = "ERROR: transition to default flight, could not return to route!";
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PLATFORM.Comment(msg);
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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}
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else
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{
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string msg = write_str("returning to route: ", PLATFORM.Route().Name());
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//PLATFORM.Comment(msg);
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writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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}
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}
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else
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{
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extern double cDEFAULT_ALTITUDE;
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#extern bool FlyHold (WsfPlatform, double, double, double);
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FlyHold( PLATFORM, PLATFORM.Heading(), cDEFAULT_ALTITUDE, cDEFAULT_SPEED);
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}
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#PROCESSOR.SetUpdateInterval(cLARGE_UPDATE_INTERVAL);
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if (mDrawRoute)
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{
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DrawRoute();
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}
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end_execute
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end_behavior
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