lab1/processors/ripr_agents/aiai/behavior_pursue_heading.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.
# ****************************************************************************


behavior pursue_heading

   script_debug_writes off

   script_variables

      WsfTrack mTargetTrack;

      //specify offset angle to fly at, during f-pole pursuit
      double DefaultOffsetAngle    =       30.0; // should this be radar-specific?
      Map<string, double> ThreatTypeOffsetAngle            = Map<string, double>();
                         #ThreatTypeOffsetAngle["awacs"]   =  15.0;
                         #ThreatTypeOffsetAngle["unknown"] =  20.0;
                         #ThreatTypeOffsetAngle["sam"]     =  50.0;
   end_script_variables


   script double GetOffsetAngleOnThreat(WsfTrack threat)
      WsfPlatform plat = WsfSimulation.FindPlatform( threat.TargetName() );
      if (plat.IsValid())
      {
         foreach( string aCategory : double angle in ThreatTypeOffsetAngle )
         {
            if( plat.CategoryMemberOf( aCategory ) )
            {
               writeln_d("offset angle for type ", aCategory, " = ", angle);
               return angle;
            }
         }
      }
      return DefaultOffsetAngle;
    end_script


   precondition
      writeln_d(PLATFORM.Name(), " precondition pursue_heading, T=", TIME_NOW);
      if (!PROCESSOR.IsA_TypeOf("WSF_RIPR_PROCESSOR"))
      {
         return Failure("behavior not attached to a RIPR processor!");
      }   //   ((WsfRIPRProcessor)PROCESSOR)
      //get target from ripr processor, to be sure
      mTargetTrack = ((WsfRIPRProcessor)PROCESSOR).GetTarget();
      if (mTargetTrack.IsNull() || !mTargetTrack.IsValid())
      {
         writeln_d("    No valid target track found to pursue!");
         return Failure("target track not found");
      }
      return true;
   end_precondition


   execute
      string comment = write_str(PLATFORM.Name(), " executing pursue_heading, T=", TIME_NOW);
      writeln_d(comment);
      #PLATFORM.Comment(comment);

     extern double mDesiredHeading;

     #extern string   CalculatePositioning(WsfPlatform, WsfTrack, double);

      double slantRangeTo   = PLATFORM.SlantRangeTo(mTargetTrack);
      string positioning    = CalculatePositioning(PLATFORM, mTargetTrack, 10.0);

      double engageRangeMax = 185200.0;   //100 miles
      double engageRangeMin =   1852.0;   //  1 mile

      string PursuitMode = "pure";
      if (((WsfRIPRProcessor)PROCESSOR).WeaponsActive(mTargetTrack) > 0)
      {
         PursuitMode = "f-pole";
      }
      else if (mTargetTrack.AirDomain())
      {
         if (slantRangeTo >= engageRangeMax &&
             positioning  != "head-to-head" &&
             positioning  != "head-to-tail" &&
             mTargetTrack.Speed()  >= PLATFORM.Speed())
         {
            PursuitMode = "lead";
         }
         else if (slantRangeTo <= engageRangeMax &&
                  positioning  != "head-to-head" &&
                  positioning  != "head-to-tail")
         {
            PursuitMode = "lag";
         }
      }
      writeln_d("     PursuitMode = ", PursuitMode);

      mDesiredHeading = PLATFORM.Heading();

      double leadOrLagTime = 15.0;  //seconds
      if (PursuitMode == "lead")
      {
         WsfWaypoint wpt = WsfWaypoint();
         double tti = PLATFORM.InterceptLocation3D(mTargetTrack, wpt);
         if (tti > 0.0)
         {
            mDesiredHeading = PLATFORM.TrueBearingTo(wpt.Location());
         }
         else
         {
            mDesiredHeading = PLATFORM.TrueBearingTo(mTargetTrack.LocationAtTime(TIME_NOW + leadOrLagTime));
         }
      }
      else if(PursuitMode == "lag")
      {
         double usedLagDelay = (slantRangeTo/engageRangeMax) * leadOrLagTime;

         double maxLagDist = 0.35 * slantRangeTo;
         double maxLagTime = maxLagDist / mTargetTrack.Speed();
         if (usedLagDelay > maxLagTime)
         {
            usedLagDelay = maxLagTime;
         }
         mDesiredHeading = PLATFORM.TrueBearingTo(mTargetTrack.LocationAtTime(TIME_NOW - usedLagDelay));
      }
      else if (PursuitMode == "f-pole")
      {
        #extern double MaximizeFPole(WsfPlatform, WsfTrack, double);
         mDesiredHeading = MaximizeFPole(PLATFORM, mTargetTrack, GetOffsetAngleOnThreat(mTargetTrack));
      }
      else
      {
         //PursuitMode == pure
         mDesiredHeading = PLATFORM.TrueBearingTo(mTargetTrack.CurrentLocation());
      }

   end_execute

end_behavior