lab1/processors/ripr_agents/aiai/behavior_radar-control_new.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 radar-control

   script_debug_writes off

   script_variables
      bool                   mTurnOnFiringRadarInRange  = false;
      string                 mFiringRadarName           = "radar";   // replace with sensor name on platform
      double                 mFiringRadarRange          = 1852 * 50; // 50 nautical miles (units: meters)
      bool                   mTurnOnFiringRadarIfRWR    = true;
      double                 cWEIGHT_SLANT_RANGE_TO     =     -3.0;
      double                 cBASE_SLANT_RANGE_CONSTANT = 600000.0;  //over 300 nm away
      double                 cWEIGHT_SEPERATION_ANGLE   =     20.0;
      double                 cWEIGHT_RADARS_ON          =     50.0;
      double                 cMIN_JOB_BID               = -MATH.DOUBLE_MAX();
      int                    mRadarJobId                = -1;
   end_script_variables


   script bool AmEmittingAnything()
      for (int i=0; i<PLATFORM.SensorCount(); i=i+1)
      {
         WsfSensor s = PLATFORM.SensorEntry(i);
         if (s.IsTurnedOn() && s.IsA_TypeOf("WSF_RADAR_SENSOR"))
         {
            return true;
         }
      }
   end_script


   query_bid_type    radar-control

      if (!JOB.IsValid())
      {
         return cMIN_JOB_BID;
      }
      Array<string> targetNames = (Array<string>)JOB.GetData("RadarTargetsArray");
      WsfGeoPoint point         =   (WsfGeoPoint)JOB.GetData("RadarPointOfInterest");
      string mode               =        (string)JOB.GetData("RadarMode");
      string strategy           =        (string)JOB.GetData("RadarStrategy");

      bool emitting = AmEmittingAnything();
      if (mode=="silent" && emitting==true)
      {
         return cMIN_JOB_BID;
      }

      double weightSlantRange = cWEIGHT_SLANT_RANGE_TO;
      if (strategy=="distributed" && mode=="support")
      {
         weightSlantRange = MATH.Fabs(weightSlantRange);
      }

      double current_bid = 10000.0;
     #extern int GetBucket(double, double);
     #extern double cBUCKET_BASE;
      current_bid = current_bid + MATH.Fabs(cWEIGHT_SLANT_RANGE_TO) * GetBucket(cBASE_SLANT_RANGE_CONSTANT, cBUCKET_BASE);
      current_bid = current_bid + weightSlantRange * GetBucket(PLATFORM.SlantRangeTo(point), cBUCKET_BASE);

      WsfRIPRJob otherJob;
      Set<int> deps = JOB.DependenciesForJob();
      if (deps.Size()>0)
      {
         int dep = (int)deps.GetIterator().Data();   //just grab first one
         WsfRIPRJob otherJob = PROCESSOR.GetJobById(dep);
      }

      if (mode=="support" && emitting==true)
      {
         current_bid = current_bid + cWEIGHT_RADARS_ON;
      }

      if (strategy=="passive" && otherJob.IsValid() && otherJob.Name()=="radar-control")
      {
         Array<WsfPlatform> others = otherJob.Winners();
         double angle1 = point.TrueBearingTo(PLATFORM.Location());
         double maxAngle = 0;
         foreach(WsfPlatform other in others)
         {
            double seperation = MATH.NormalizeAngleMinus180_180(angle1 - point.TrueBearingTo(other.Location()));
            maxAngle = MATH.Max(maxAngle, MATH.Fabs(seperation));
         }
         current_bid = current_bid + cWEIGHT_SEPERATION_ANGLE * GetBucket(maxAngle, cBUCKET_BASE);
      }
      return current_bid;
   end_query_bid_type


   precondition
      writeln_d("precondition radar-control");

      WsfRIPRJob currentJob = null;
      WsfRIPRProcessor commander = PROCESSOR.GetRIPRCommanderProcessor();
      if (commander.IsValid())
      {
         Array<int> channels = PROCESSOR.JobTypeChannels("radar-control");
         if (channels.Size()>0)
         {
            foreach(int c in channels)
            {
               currentJob = commander.GetJobFor(TIME_NOW, PROCESSOR, c);
               if (!currentJob.IsNull() && currentJob.IsValid() && currentJob.Name() == "radar-control")
               {
                  mRadarJobId = currentJob.Id();
                  return true;
               }
            }
         }
         else
         {
            currentJob = PROCESSOR.GetRIPRCommanderProcessor().GetJobFor(TIME_NOW, PROCESSOR);
            if (!currentJob.IsNull() && currentJob.IsValid() && currentJob.Name() == "radar-control")
            {
               mRadarJobId = currentJob.Id();
               return true;
            }
         }
      }
      mRadarJobId = -1;

      WsfTrack curTarget = PROCESSOR.GetTarget();
      if ((mTurnOnFiringRadarInRange && !curTarget.IsNull() && curTarget.IsValid()) || mTurnOnFiringRadarIfRWR)
      {
         return true;
      }

      return Failure("no radar-control job and no radar plan set!");
   end_precondition




   script bool RWR_ShowsBeingTracked()
      for (int i=0; i < PLATFORM.SensorCount(); i=i+1)
      {
         WsfSensor sensor = PLATFORM.SensorEntry(i);
         if (sensor.IsA_TypeOf("WSF_ESM_SENSOR"))
         {
            foreach (WsfLocalTrack t in PLATFORM.MasterTrackList())
            {
               if (t.ContributorOf(PLATFORM, sensor))
               {
                  return true;
               }
            }
         }
      }
      return false;
   end_script


   execute
      writeln_d("executing radar-control.");

      WsfTrack curTarget = PROCESSOR.GetTarget();

      bool turnOnFiringRadar = false;
      //turn on firing radar if in range
      if (mTurnOnFiringRadarInRange && !curTarget.IsNull() && curTarget.IsValid())
      {
         //check range against radar range
         if (PLATFORM.SlantRangeTo(curTarget) < mFiringRadarRange)
         {
            #writeln_d(PLATFORM.Name()," within range of curTarget!");

            turnOnFiringRadar = true;
         }
         else
         {
            #writeln_d(PLATFORM.Name()," NOT within range of curTarget!");
         }
      }

      //turn on firing radar if being tracked
      if (mTurnOnFiringRadarIfRWR && !turnOnFiringRadar)
      {
         turnOnFiringRadar = RWR_ShowsBeingTracked();
      }

      if (turnOnFiringRadar)
      {
         //make sure radar is on
         WsfSensor firingRadar = PLATFORM.Sensor(mFiringRadarName);
         if (firingRadar.IsValid())
         {
            if (!firingRadar.IsTurnedOn())
            {
               firingRadar.TurnOn();
               writeln_d(PLATFORM.Name(), " turned on active radar ", mFiringRadarName);
            }
            else
            {
               writeln_d("radar already turned on");
            }
         }
      }

   end_execute

end_behavior