lab1/platforms/brawler/alternatives/behavior_alt3B11_illuminate.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 alt3b.f
// Replicates the illuminate 3,B,1,1 alternative behavior
// GENERATES ILLUMINATION MANEUVER
//

behavior alt3B11_illuminate

   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 mAlternative3B11Enabled = true;

      // Alternative ID
      int ilevel = 3;
      int kalt   = 11;
      int icall  = 1;
      int lcall  = 1;

      double mMaxSustainedG = 2.0;

      double mLongRange = 5.0 * Math.M_PER_NM();

      Vec3 dir0;
      double gmx = 1.0;
      double spd0;

      // 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_alt3B11_illuminate, 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");
      }

      ### check if alternative should even be considered?

      if (!mAlternative3B11Enabled)
      {
         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!");
      }


      ## alt3b.f : lines 84 - 127

#      if(!lillum)
#      {
#         return Failure("lillum == false");
#      }
      #
      dir0 = Vec3.Construct(0,0,0);
      #if(nbvr == 0) call nabort('ALT3B...NBVR=0')

#     #LBM - only fly against targetTrack, not all things
#      do 50 ibvr=1,nbvr
#         if (jtgbvr(ibvr).lt.0) call nabort('ALT3B...JTGBVR IS ZERO')
#         if (jtgbvr(ibvr).eq.0) goto 50
#         iac = mmindt(jtgbvr(ibvr))
#         if (iac.eq.0) goto 50

      #call vdir(xp(1,me),xp(1,iac),dx)
      Vec3 dx = RelativePositionNED(PLATFORM.Location(), targetTrack.CurrentLocation());
      dx.Normalize();
      Vec3 vp = PLATFORM.VelocityNED();
      Vec3 dir0i = vorth(vp,dx);

      #call veclin(0.5/xmag(dir0i),dir0i,root3*0.5,dx,dir0i)

      //missile phases:
      //pinfr=1, psema=2, pactr=3, pcomg=4, pguns=5, phor=6, p_act_ir_1=7, p_inertial=8, pnewg=9

      int kndbvr;   //TODO? = pcomg if command guided launch
      int psema = 2;    //semi active
      int pcomg = 4;    //command guided
      if (kndbvr == psema)
      {
         # SEMI-ACTIVE MISSILE, GIVE FULL WEIGHT

         #call vsum(dir0,dir0i,dir0);

      }
      else if (kndbvr == pcomg)
      {
         # ACTIVE RADAR MISSILE, PRESUMABLY PRE-ACQUISITION
         # GIVE 50% WEIGHT TO ITS ILLUM VECTOR

         #call vecinc(dir0,0.5,dir0i,dir0)

      }
      else
      {
         #call nabort('ALT3B...unknown/illegal kndbvr')
         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " unknown/illegal kndbvr");
         writeln_d(msg);
         return Failure(msg);
      }

      # If BVR target is not to be considered in high detail do not
      # illuminate
      if (dir0.Magnitude() == 0.0)
      {
         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " dir0 == zero");
         writeln_d(msg);
         return Failure(msg);
      }

      #call unitv(dir0,dir0)
      int iactn = 4;
      gmx = 2.0;
      double bvrmch = 1.0;   //TODO - find for real
      double fmachp = 1.0;   //TODO - find for real
      spd0 = PLATFORM.Speed() * MATH.Max(1.0,bvrmch/fmachp);   #spd0 in meter/seconds units here
      int spdmod = 1;   //(desspd = 1, thrttl = 2, desacc = 3)

      ### Evaluate [Projected] Maneuver Alternative
      double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
      return score;

   end_precondition


   execute
      ## what was evaluated should be actually performed now
      brawlerPlatform.FlyVectorWithSpeed(dir0, gmx, spd0);
   end_execute

end_behavior