lab1/platforms/brawler/alternatives/behavior_alt3411_straight_flight.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.
# ****************************************************************************

// converted BRAWLER v7.5 alt34.f
// Replicates the 1v1 Offensive Maneuver 3,4,1,1 alternative behavior
// Straight Flight
//
// Operates on nearest perceived threat to generate maneuver alternative

behavior alt3411_straight_flight

   script_debug_writes off

   script_variables

      WsfQuantumTaskerProcessor processor;
      WsfPerceptionProcessor    perception;
      WsfBrawlerPlatform        brawlerPlatform;
      WsfLocalTrack             targetTrack;

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

      //**********************************************************************//
      //** alternative parameters                                           **//
      //**********************************************************************//
      // Flag used to enable/disable this alternative
      bool mAlternative3411Enabled = true;

      // Alternative ID
      int ilevel = 3;
      int kalt   = 4;
      int icall  = 1;
      int lcall  = 1;

      double mLongRange = 5.0 * Math.M_PER_NM();

      Vec3 dir0;
      double mGMX = 1.0;
      double mSpd0 = 3.0;

      // ALSO NEED:
      // randomization to simulate imperfect decision making, valsig, read from MIND file, typically ~0.01
      // Production rule bias, used in scoring of alternative

      //**********************************************************************//
      //********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
      //**********************************************************************//
      WsfDraw  mDraw             = WsfDraw();
      double   mLastTime         = 0.0;

   end_script_variables

   on_init
      if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         processor = (WsfQuantumTaskerProcessor)PROCESSOR;
      }
      perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
      brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
   end_on_init

   precondition
      #writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);

      ### Evaluate conditions that would prevent behavior alternative from running

      if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         writeln_d("not a quantum tasker!");
         return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
      }

      if (!mAlternative3411Enabled)
      {
         writeln_d("behavior not enabled!");
         return Failure("behavior alternative not enabled");
      }

      WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
      if(tasks.Count() <= 0)
      {
         return Failure("no weapon (target) tasks!");
      }
      WsfTask targetTask = tasks.Entry(0);
      targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
      if (!targetTrack.IsValid())
      {
         return Failure("no target track!");
      }

      // Get nearest hostile and check that range is less than max
      // alt34.f line 114
      WsfTrack nearestHostile = perception.NearestThreat();
      double rangeToNearest = 999999999; # default large value, in meters
      if (nearestHostile.IsValid() &&
          nearestHostile.LocationValid())
      {
         rangeToNearest = nearestHostile.SlantRangeTo(PLATFORM);
      }

      if (!nearestHostile.IsValid())
      {
         writeln_d("nearest hostile not valid!");
         return Failure("no vaild hostiles closer than 5 nautical miles");
      }

      if (rangeToNearest > mLongRange)
      {
         writeln_d("nearest hostile too far away! (", rangeToNearest," m)");
         return Failure("no vaild hostiles closer than 5 nautical miles");
      }

      // ALL CONDITIONS PASS
      ### Generate Maneuver Alternative
      # alt34.f line 115 - 121
      # iactn = 4
      # call vnorm(vp(1,me),dir0) - get a unit vector (dir0) of my current velocity vector
      # gmx = amin1(3.,gmxsu) - take the smaller of 3.0 and Maximum load possible at maximum thrust
      # spd0 = 3.
      # spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
      int iactn = 4;
      dir0 = PLATFORM.VelocityNED().Normal();
      mGMX = Math.Min(3.0, brawlerPlatform.MaxSustainedGs());
      mSpd0 = 3.0;
      int spdmod = 2; // thrttl

      ### Project and Evaluate (Score) Maneuver Alternative
      // Alternative is only projected tproj sec and then evaluated
      double alternativeScore = brawlerPlatform.EvaluateVectorWithThrottle(dir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
      writeln_d(PLATFORM.Name(), " behavior_alt3411_straight_flight score = ", alternativeScore, ", T=", TIME_NOW);

      ### Return Maneuver Alternative Score
      return alternativeScore;

   end_precondition


   execute
      #writeln_d(PLATFORM.Name(), " executing behavior_alt3411_straight_flight, T=", TIME_NOW);
      brawlerPlatform.FlyVectorWithThrottle(dir0, mGMX, mSpd0);

#      if (mDrawSteering == true)
#      {
#         mDraw.SetLayer("behavior_pursue_target");
#         mDraw.SetDuration(processor.UpdateInterval());
#         mDraw.SetColor(1.0, 0.5, 0.0);
#         mDraw.SetLineSize(1);
#         mDraw.BeginLines();
#            mDraw.Vertex(PLATFORM.Location());
#            mDraw.Vertex(mTargetPoint);
#         mDraw.End();
#      }
#
#      string msg = write_str("pursue-target: ", targetTrack.TargetName(), " at speed ", (string)mTargetSpeed);
#      writeln_d("    T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
#      FlyTarget( PLATFORM, mTargetPoint, mTargetSpeed);
   end_execute

end_behavior