lab1/processors/timeline_agents/behavior_fly_timeline.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.
# ****************************************************************************

include_once common_timeline_scripts.txt
include_once air_combat_maneuvers.txt

behavior fly_timeline

   script_debug_writes off

   script_variables
      WsfQuantumTaskerProcessor processor;
      #***********************************************************************#
      #** debugging parameters                                             ***#
      #***********************************************************************#
      bool    mDebugDraw = true;
      #***********************************************************************#
      #********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING **********#
      #***********************************************************************#
      WsfDraw mDraw      = WsfDraw();
   end_script_variables

   on_init
      if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         processor = (WsfQuantumTaskerProcessor)PROCESSOR;
      }
   end_on_init

   precondition
      writeln_d(PLATFORM.Name(), " precondition  fly_timeline,  T=", TIME_NOW);
     #if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      if (!processor.IsValid())
      {
         return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
      }
#      WsfTaskList tasks = processor.TasksReceivedOfType("TIMELINE");
#      if (tasks.Count() <= 0)
#      {
#         return Failure("no TIMELINE tasks received yet");
#      }
#      writeln_d(PLATFORM.Name(), " received TIMELINE tasks: ", tasks.Count());
      if (!GetTimeLineTask(processor).IsValid())
      {
         return Failure("no TIMELINE tasks received yet");
      }
      return true;
   end_precondition


   execute

#      WsfTrack target = GetNearestTimelineTarget(PLATFORM, processor);
#     #Engage(PLATFORM, target, "pure");
#      Engage(PLATFORM, target, "lead");

      #look for the soonest intercepting target that we don't already have a weapon active or pending against
      #sort them

      Array<WsfTrack> targets = GetTimeLineTargets(processor);
      Array<double> times = Array<double>();
      foreach(WsfTrack target in targets)
      {
         double time = TimeToReachPoint(target, PLATFORM.Location(), 6.0);   //6 G turns
         times.PushBack(time);
      }
      SortTracksByValue(targets, times);

      #check for no active or pending weapons
      foreach(WsfTrack target in targets)
      {
         #do we need master track?
         WsfLocalTrack masterTarget = GetMasterTrackByName(PLATFORM, target.TargetName());
         if (!masterTarget.IsValid())
         {
            continue;
         }
         if ((PLATFORM.WeaponsPendingFor(masterTarget.TrackId()) + PLATFORM.WeaponsActiveFor(masterTarget.TrackId())) > 0)
         {
            continue;
         }
         Engage(PLATFORM, target, "lead", PLATFORM.Speed(), PLATFORM.Altitude(), 6.0);
         break;
      }

      if (mDebugDraw == true)
      {
         mDraw.SetLayer("behavior_fly_timeline");
         mDraw.SetDuration(processor.UpdateInterval());
         string side = PLATFORM.Side().Lower();
         mDraw.SetLineSize(1);
         mDraw.SetLineStyle("solid");
         WsfTaskList tasks = processor.TasksReceivedOfType("TIMELINE");
         foreach(WsfTask task in tasks)
         {
            Array<WsfTrack> targets = (Array<WsfTrack>)task.AuxDataObject("targets");
            WsfGeoPoint SeparateA;
            WsfGeoPoint SeparateB;
            if (task.AuxDataExists("point_a"))
            {
               SeparateA = (WsfGeoPoint)task.AuxDataObject("point_a");
               SeparateB = (WsfGeoPoint)task.AuxDataObject("point_b");
            }

            #draw lines to targets
            if (side == "blue") {
               mDraw.SetColor(0.0, 0.0, 1.0);   #blue
            } else if (side == "red") {
               mDraw.SetColor(1.0, 0.0, 0.0);   #red
            } else {
               mDraw.SetColor(0.0, 1.0, 0.0);   #green
            }

            if (SeparateA.IsValid() && SeparateB.IsValid())
            {
               #draw lines for separation divide
               mDraw.SetColor(0.0, 0.0, 0.0);   #black
               mDraw.BeginLines();
                  mDraw.Vertex(SeparateA);
                  mDraw.Vertex(SeparateB);
               mDraw.End();

               #check if platform is on the correct side of separation line
               WsfCluster targetCluster = GetCluster(targets);
               double refAz = SeparateA.TrueBearingTo(SeparateB);
               double ownAz = SeparateA.TrueBearingTo(PLATFORM.Location()) - refAz;
               double tgtAz = SeparateA.TrueBearingTo(targetCluster.MeanLocation()) - refAz;
               ownAz = MATH.NormalizeAngleMinus180_180(ownAz);
               tgtAz = MATH.NormalizeAngleMinus180_180(tgtAz);
               if ((ownAz * tgtAz) > 0)
               {
                  #on correct side of line
                  mDraw.SetColor(1.0, 0.0, 1.0);   #purple
               }
               else
               {
                  #incorrect side
                  mDraw.SetColor(1.0, 0.5, 0.0);   #orange
               }
            }

            mDraw.BeginLines();
            foreach(WsfTrack target in targets)
            {
               mDraw.Vertex(PLATFORM);
               mDraw.Vertex(target.CurrentLocation());
            }
            mDraw.End();
         }
      }
   end_execute

end_behavior