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eager
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processors/quantum_agents/aiai/behavior_pincer_fsm.txt Normal file
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# ****************************************************************************
# 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.
# ****************************************************************************
##### put this commented out script below on any processor that uses this behavior
##### it enables coordinated manuevering (when used in tandem with this behavior)
#script_variables
# int mLeftDragCount = 0;
# int mRightDragCount = 0;
#end_script_variables
#on_message
# type WSF_CONTROL_MESSAGE
# script
# WsfControlMessage controlMsg = (WsfControlMessage)MESSAGE;
# if (controlMsg.Function() == "pincer" &&
# controlMsg.Resource() == "drag")
# {
# int adjust = 1;
# if (controlMsg.AuxDataBool("dragging") == false)
# {
# adjust = -1;
# }
# if (controlMsg.AuxDataString("side") == "left")
# {
# mLeftDragCount += adjust;
# }
# else //if (controlMsg.AuxDataString("side") == "right")
# {
# mRightDragCount += adjust;
# }
# }
# writeln("T=", TIME_NOW, " Received control, function: ", controlMsg.Function(), ", resources: ", controlMsg.Resource());
# end_script
#end_on_message
behavior pincer_fsm
script_debug_writes off
script_variables
//debug parameters
bool mDrawSteering = false;
//parameters for how to initially fly pincer (1st phase, separation)
double mPincerSpeed = 500 * MATH.MPS_PER_NMPH(); //400 kts
double mPincerOffsetAngle = 70.0; //degrees
//parameters for determining if to chase and how to do so (2nd phase, option A)
double mEnemyFOVHalfAngle = 50.0; //degrees
double mChaseAngle = 75.0; //degrees
double mChaseSpeedlnsideFOV = 600 * MATH.MPS_PER_NMPH(); //600 kts
double mChaseSpeedOutsideFOV = 1200 * MATH.MPS_PER_NMPH(); //1200 kts
//parameters for determining if to drag (run) and how to do so (2nd phase, option B)
double mRunDistance = 130 * 1852; //130nm (meters)
double mRunAngleLimit = 15.0; //degrees
double mDragSpeed = 800 * MATH.MPS_PER_NMPH(); //800 kts
double mDragAddedAngle = -1.0; //degrees
// bidding parameters (similar to pursue-target parameters)
double cMIN_JOB_BID = -MATH.DOUBLE_MAX();
# double cWEIGHT_CURRENT_TARGET = 10.0;
# double cWEIGHT_CLOSING_SPEED_OF = 0.5; #1.0;
# double cWEIGHT_SLANT_RANGE_TO = -4.0; #-3.0;
# double cWEIGHT_FUEL = 2.0;
# double cWEIGHT_WEAPONS_IN_FLIGHT = 0.0;
# double cWEIGHT_ANY_WEAPONS_ACTIVE = 20.0;
# double cWEIGHT_THREAT_WEAPONS_ENVELOPE = 10000.0;
# double cBASE_SLANT_RANGE_CONSTANT = 600000.0; //over 300 nm away [How is this used???]
# double cBASE_CLOSING_SPEED_CONSTANT = 1050.0; //over 2000 kts closing speed
double cMAX_SLANT_RANGE = 1000000.0; #over 539 nm away, target ranges beyond this are considered unfavorable
double cWEIGHT_SLANT_RANGE_TO = 1.0;
double cMIN_CLOSING_SPEED = -1050.0; #threats running away (negative closing) faster are considered unfavorable
double cWEIGHT_CLOSING_SPEED = 1.0; #scale for how closing speed translates to distance
double cWEIGHT_FUEL = 0.0; #try a value of 2.0 if you care about fuel
double cWEIGHT_MY_WEAPONS_ACTIVE = 0.0; #changes bid if your own weapons are active on target
double cWEIGHT_PEERS_WEAPONS_ACTIVE = 0.0; #changes bid if your peers weapons are active on target
double cWEIGHT_THREAT_WEAPONS_ENVELOPE = 10000.0; #uses the global "mWeaponsEnvelope" array, try value of 10000 if you care about that
//careful with these two parameters, they are stateful
double cWEIGHT_CURRENT_TARGET = 0.0; #changes bid if you are currently targeting the threat
//util var, not for user edit (data grabbed from task)
string mDirection = "none";
WsfGeoPoint mPincerPoint;
int mAllOnCap = 0;
WsfDraw mDraw = WsfDraw();
//WsfRIPRJob mCurrentJob;
WsfTrack mWorstTrack;
double mWorstDist = MATH.DOUBLE_MAX();
double mWorstFOV = MATH.DOUBLE_MAX();
end_script_variables
script void SendDraggingChangeToPeers(string direction, bool dragging)
writeln_d("sending drag state change now!");
WsfControlMessage controlMsg = WsfControlMessage();
controlMsg.SetFunction("pincer");
controlMsg.SetResource("drag");
controlMsg.SetAuxData("side", direction);
controlMsg.SetAuxData("dragging", dragging);
controlMsg.SetSizeInBits(500000); //half megabit
WsfComm com = PLATFORM.Comm("sub_net");
#com.SendUnicastMessage(controlMsg, "Blue_2");
com.SendMessageToPeers("", controlMsg);
end_script
script double GetPincerDragOffset(WsfTrack aTgt)
if (aTgt.Speed() >= PLATFORM.Speed())
{
return 180.0;
}
else
{
return (180 - MATH.ACos(aTgt.Speed()/PLATFORM.Speed()));
}
end_script
precondition
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
return Failure("behavior not attached to a quantum tasker processor!");
} // ((WsfQuantumTaskerProcessor)PROCESSOR)
WsfTaskList tasks = ((WsfQuantumTaskerProcessor)PROCESSOR).TasksReceivedOfType("PINCER");
WsfTask task = tasks.Entry(0); //just do first one for now
if (task.IsValid() && task.CheckAuxData("ZonePoint"))
{
mDirection = task.AuxDataString(PLATFORM.Name());
mAllOnCap = task.AuxDataInt("all_on_cap");
mPincerPoint = (WsfGeoPoint)task.AuxDataObject("ZonePoint");
if (mPincerPoint.IsValid())
{
return true;
}
else
{
writeln_d(PLATFORM.Name(), " pincer point not valid!");
return Failure("pincer job did not have valid point");
}
}
else
{
return Failure("have not received a pincer task!");
}
end_precondition
### FSM states are evaluated after "execute"
execute
writeln_d(PLATFORM.Name(), " executing pincer!, T=", TIME_NOW);
//save off the closest opponent track
mWorstDist = MATH.DOUBLE_MAX();
mWorstFOV = MATH.DOUBLE_MAX();
WsfTask task = ((WsfQuantumTaskerProcessor)PROCESSOR).TasksReceivedOfType("PINCER").Entry(0);
Array<string> targetNames = (Array<string>)task.AuxDataObject("ZoneThreatNameArray");
foreach(string tgtName in targetNames)
{
WsfTrack tgt = GetTrackByName(PLATFORM, tgtName);
if (tgt.IsValid() && tgt.LocationValid())
{
double attackRange = tgt.GroundRangeTo(PLATFORM);
if (attackRange < mWorstDist)
{
//run away, drag threats out
mWorstDist = attackRange;
mWorstTrack = tgt;
}
double fov = MATH.Fabs(tgt.RelativeBearingTo(PLATFORM));
if (fov < mWorstFOV)
{
mWorstFOV = fov;
}
}
}
# if (mDrawSteering == true)
# {
# WsfGeoPoint pt = PLATFORM.Location();
# pt.Extrapolate(heading, 185200);
# mDraw.SetLayer("behavior_pincer");
# mDraw.SetDuration(((WsfRIPRProcessor)PROCESSOR).UpdateInterval());
# mDraw.SetColor(0.0, 1.0, 0.75); //green-blue
# mDraw.SetLineSize(1);
# mDraw.BeginLines();
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(pt);
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(mPincerPoint);
# mDraw.End();
# }
end_execute
script bool ShouldChase()
if (mAllOnCap > 0)
{
return false;
}
int other_dragging_count = 0;
if (mDirection == "right")
{
extern int mLeftDragCount;
other_dragging_count = mLeftDragCount;
}
else if (mDirection == "left")
{
extern int mRightDragCount;
other_dragging_count = mRightDragCount;
}
double diff = 0;
if (mWorstTrack.IsValid() && mWorstTrack.HeadingValid())
{
double b1 = mWorstTrack.Heading();
double b2 = mWorstTrack.TrueBearingTo(PLATFORM.Location());
diff = MATH.NormalizeAngleMinus180_180(b2 - b1);
}
if (other_dragging_count > 0 && MATH.Fabs(diff) > mEnemyFOVHalfAngle)
{
//the other pincer group is being engaged, turn in now
writeln_d(PLATFORM.Name(), " chasing because other pair is dragging");
return true;
}
else if ((mDirection == "right" && diff < -mChaseAngle) ||
(mDirection == "left" && diff > mChaseAngle) )
{
//we have already flanked, so now we can chase (regardless of other side dragging or not)
writeln_d(PLATFORM.Name(), " chasing because past chase angle");
return true;
}
return false;
end_script
show_state_transitions
#first default state, start here and go back to here if confused
state SEPARATE
next_state DRAG
if ( (mAllOnCap <= 0) &&
(mWorstDist < mRunDistance) &&
(mWorstTrack.IsValid()) &&
(mWorstTrack.HeadingValid()) &&
(MATH.Fabs(mWorstTrack.TrueBearingTo(PLATFORM)-mWorstTrack.Heading()) < mRunAngleLimit))
{
return true;
}
return false;
end_next_state
next_state CHASE
return ShouldChase();
end_next_state
next_state SEPARATE
double separate_angle = 0;
if (mDirection == "left")
{
separate_angle = -mPincerOffsetAngle;
}
else if (mDirection == "right")
{
separate_angle = mPincerOffsetAngle;
}
double heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + separate_angle);
PLATFORM.GoToSpeed(mPincerSpeed);
PLATFORM.TurnToHeading(heading);
return true;
end_next_state
end_state
state DRAG
next_state SEPARATE
if ( (!mWorstTrack.IsValid()) ||
(mWorstDist > (mRunDistance*1.1)) ||
(!mWorstTrack.HeadingValid()) ||
(MATH.Fabs(mWorstTrack.TrueBearingTo(PLATFORM)-mWorstTrack.Heading()) > (mRunAngleLimit*1.1)))
{
return true;
}
return false;
end_next_state
next_state DRAG
writeln_d("dragging!");
//try to maintain distance
PLATFORM.GoToSpeed(mDragSpeed);
double dragOffset = GetPincerDragOffset(mWorstTrack);
double heading;
if (mDirection == "right")
{
if (mDragAddedAngle > 0)
{
heading = MATH.NormalizeAngle0_360(heading + mDragAddedAngle);
}
else
{
heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + dragOffset);
}
}
else if (mDirection == "left")
{
if (mDragAddedAngle > 0)
{
heading = MATH.NormalizeAngle0_360(heading - mDragAddedAngle);
}
else
{
heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) - dragOffset);
}
}
PLATFORM.TurnToHeading(heading);
return true;
end_next_state
on_entry
SendDraggingChangeToPeers(mDirection, true);
writeln_d(PLATFORM.Name(), " increasing drag on side: ", mDirection);
end_on_entry
on_exit
SendDraggingChangeToPeers(mDirection, false);
writeln_d(PLATFORM.Name(), " decreasing drag on side: ", mDirection);
end_on_exit
end_state
state CHASE
next_state SEPARATE
return ! ShouldChase();
end_next_state
next_state CHASE
writeln_d("chasing!");
if (mWorstFOV <= mEnemyFOVHalfAngle)
{
PLATFORM.GoToSpeed(mChaseSpeedlnsideFOV);
}
else
{
PLATFORM.GoToSpeed(mChaseSpeedOutsideFOV);
}
double heading = 0;
if (mWorstTrack.IsValid())
{
heading = PLATFORM.TrueBearingTo(mWorstTrack);
#((WsfRIPRProcessor)PROCESSOR).SetTarget(mWorstTrack);
}
else
{
heading = PLATFORM.TrueBearingTo(mPincerPoint);
}
PLATFORM.TurnToHeading(heading);
return true;
end_next_state
end_state
end_behavior