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eager
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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.
# ****************************************************************************
behavior manage-pincer
script_debug_writes off
script_variables
//for debugging
bool mDrawClusters = false;
//parameters used to determine if a pincer is appropriate
bool mRequireActiveWeapons = false; //if true, weapons must be in flight before pincer performed
double mMaxSeparationAngle = 120.0; //degrees (pincer done if we've flanked by this much)
int mNumSubsInvolved = 2; //not necessary to be an even number
double mThresholdDistance = 160 * 1852; //160nm
//clustering is performed to make sure the group of threats we are pincering against are grouped tightly together
//if more than one group exist, the 2nd, 3rd, etc... groups have to be far enough away so that they aren't a
//concern for the pincer maneuver (i.e. we wont head into them by separating around the target group)
string mClusterMethod = "HTREEMAX"; //also valid: K_MEANS, H_TREE_MIN
double mClusterDistanceLimit = 20*1852; //20nm - how close the group members have to be together
double mMinDistanceRatio = 1.15; //other groups have to be 15% farther away than target group
// parameters useful for those performing the pincer
bool mCross = false;
string mCapZoneName = ""; //useful to specify the name of zone in which we ignore the threat's
//orientation, because they are capping while in the zone
// script variables, used by methods below, do not change, not for user edit
Array<WsfTrack> mTrackArray = Array<WsfTrack>();
Array<string> mTargetNames = Array<string>();
WsfDraw mDraw = WsfDraw();
double mMeanBearing = 0;
bool mMeanBearingValid = false;
WsfClusterManager mClusterManager;
WsfRIPRJob mPincerJob;
WsfGeoPoint mMeanPoint;
WsfGeoPoint mSubPoint;
end_script_variables
on_init
mClusterManager = WsfClusterManager.Create(); // creates a cluster manager owned by this script
mClusterManager.SetClusterMethod(mClusterMethod); // default is: "K_MEANS"
mClusterManager.SetDistanceFunction("POSITION_VELOCITY"); // default is: "POSITION_ONLY"
mClusterManager.SetDistanceLimit(mClusterDistanceLimit) ;
end_on_init
## utility method used to draw lines around tracks in a cluster ## lines are drawn according to the convex hull of the cluster members
script void draw_cluster_hull(WsfCluster cluster)
Array<WsfGeoPoint> pts = cluster.ConvexHull();
if (pts.Size() <= 0)
{
return;
}
WsfGeoPoint first = pts.Get(0);
mDraw.SetColor(1.0,0.5,0.0); //orange?
mDraw.SetLineStyle("solid");
mDraw.SetLineSize(2);
mDraw.BeginPolyline();
for (int j = 0; j < pts.Size(); j = j + 1 )
{
WsfGeoPoint pt = pts.Get(j);
mDraw.Vertex(pt);
}
mDraw.Vertex(first);
mDraw.End();
if (cluster.BearingValid())
{
double bearing = cluster.Bearing();
WsfGeoPoint pt = cluster.MeanLocation();
mDraw.SetColor(1.0,1.0,1.0); //white?
mDraw.BeginLines();
mDraw.Vertex(pt); pt.Extrapolate(cluster.Bearing(), 92600); //50 nautical miles
mDraw.Vertex(pt);
mDraw.End();
}
end_script
script WsfGeoPoint MeanLocation(Array<WsfPlatform> plats)
Vec3 mean = Vec3.Construct(0, 0, 0);
if (plats.Size() > 0)
{
double scale = 1.0/((double)plats.Size());
foreach(WsfPlatform plat in plats)
{
Vec3 temp = plat.LocationWCS();
temp.Scale(scale);
mean = Vec3.Add(mean, temp);
}
}
return WsfGeoPoint.ConstructWCS(mean);
end_script
script WsfGeoPoint SubordinatesMeanLocation()
return MeanLocation(PROCESSOR.SubordinatePlatforms());
end_script
script void RemovePincerJob()
if(mPincerJob.IsValid())
{
//remove job from board
WsfRIPRJob fake;
writeln_d(PLATFORM.Name(), " job change, REMOVE: ", mPincerJob.GetDescription());
PLATFORM.Comment(write_str("REMOVE job: ", mPincerJob.GetDescription()));
PROCESSOR.RemoveJob(mPincerJob);
mPincerJob = fake;
}
end_script
precondition
#writeln_d("precondition manage-pincer");
if (PROCESSOR.SubordinateProcessors().Size() < mNumSubsInvolved)
{
RemovePincerJob();
writeln_d("not enough subordinates");
return Failure("not enough subordinates");
}
if (mRequireActiveWeapons)
{
int weaponCount = 0;
Array<WsfRIPRProcessor> subs = PROCESSOR.SubordinateProcessors();
foreach(WsfRIPRProcessor proc in subs)
{
weaponCount = weaponCount + proc.WeaponsActive();
}
if (weaponCount <= 0)
{
RemovePincerJob();
writeln_d("no active weapons, no pincer yet");
return Failure("no active weapons, no pincer yet");
}
}
mSubPoint = SubordinatesMeanLocation();
extern bool TestTrackCategory(WsfTrack, string);
mTrackArray.Clear();
mTargetNames.Clear();
foreach (WsfLocalTrack track in PLATFORM.MasterTrackList())
{
if ( (track.IFF_Friend()) ||
(track.SideValid() && track.Side() == PLATFORM.Side()) ||
(! track. LocationValid() ) ||
(track.SlantRangeTo(mSubPoint) > mThresholdDistance) ||
(TestTrackCategory(track, "unknown")) )
{
continue;
}
track.SetBearing( track.Heading() ); #useful for the cluster processing
mTrackArray.PushBack(track);
mTargetNames.PushBack(track.TargetName());
}
if (mTrackArray.Size() > 0)
{
mClusterManager.UpdateClusters(TIME_NOW,mTrackArray);
if (mDrawClusters == true)
{
for (int i = 0; i < mClusterManager.Count(); i = i + 1 )
{
draw_cluster_hull(mClusterManager.Entry(i));
}
}
if (mClusterManager.Count() > 1)
{
//check distances
double near = MATH.DOUBLE_MAX();
double near2 = MATH.DOUBLE_MAX();
for (int i = 0; i < mClusterManager.Count(); i = i + 1 )
{
double dist = mClusterManager.Entry(i).MeanLocation().SlantRangeTo(mSubPoint);
if (dist < near)
{
if (near < near2)
{
near2 = near;
}
near = dist;
}
else if (dist < near2)
{
near2 = dist;
}
}
double ratio = near2/near;
if (ratio < mMinDistanceRatio)
{
RemovePincerJob();
writeln_d("threats too spread out!");
return Failure("threats too spread out!");
}
}
WsfCluster cluster = mClusterManager.Entry(0);
mMeanPoint = cluster.MeanLocation();
mMeanBearingValid = cluster.BearingValid();
mMeanBearing = cluster.Bearing();
}
else //no threats to pincer against, exit out
{
RemovePincerJob();
writeln_d("no threats to pincer against yet!");
return Failure("no threats to pincer against yet!");
}
//check separation of all subordinates
//only relavent if not currently in phase 2 (dragging & chasing)
int dragging = 0;
if(mPincerJob.IsValid())
{
dragging = (int)mPincerJob.GetData("left_drag") + (int)mPincerJob.GetData("right_drag");
}
if (dragging == 0)
{
Array<WsfPlatform> subs = PROCESSOR.SubordinatePlatforms();
WsfGeoPoint subMean = MeanLocation(subs);
double standard = mMeanPoint.TrueBearingTo(subMean);
double min = 361;
double max = -361;
foreach(WsfPlatform p in subs)
{
double b = MATH.NormalizeAngleMinus180_180(mMeanPoint.TrueBearingTo(p.Location()) - standard);
min = MATH.Min(min, b);
max = MATH.Max(max, b);
}
double diff = max - min;
if (diff >= mMaxSeparationAngle)
{
RemovePincerJob();
writeln_d("pincer complete, targets flanked!");
return Failure("pincer complete, targets flanked!");
}
}
mDraw.SetDuration(PROCESSOR.UpdateInterval());
return true;
end_precondition
execute
writeln_d("executing manage-pincer, T=", TIME_NOW);
//first find the group of target(s) we are going to perform the pincer against
//generate a list of their names and get their mean location
Array<WsfRIPRProcessor> subs = PROCESSOR.SubordinateProcessors();
int N = subs.Size();
if (mPincerJob.IsValid())
{
//pincer job already created! just update it
mPincerJob.SetData("ZoneThreatNameArray", mTargetNames);
mPincerJob.SetData("ZonePoint", mMeanPoint);
mPincerJob.SetData("ZoneBearingValid", mMeanBearingValid);
mPincerJob.SetData("ZoneBearing", mMeanBearing);
mPincerJob.SetData("all_on_cap", 0);
if (mCapZoneName != "" && mPincerJob.IsValid())
{
bool allOnCap = true;
foreach(WsfTrack t in mTrackArray)
{
if ( ! t.ReportedLocation().WithinZone(mCapZoneName))
{
allOnCap = false;
break;
}
}
if (allOnCap)
{
mPincerJob.SetData("all_on_cap", 1);
}
}
}
else
{
//create a pincer job for this flight group
string desc = write_str("pincer-", mNumSubsInvolved);
extern double cPincerPriority;
mPincerJob = WsfRIPRJob.Create( PROCESSOR, //creator
"pincer", //name
desc, //description
cPincerPriority * mNumSubsInvolved, //priority (must be enough to break even with "mNumSubsInvolved" jobs of another type
mNumSubsInvolved); //max winnners
mPincerJob.SetData("ZoneThreatNameArray", mTargetNames);
mPincerJob.SetData("ZonePoint", mMeanPoint);
mPincerJob.SetData("ZoneBearingValid", mMeanBearingValid);
mPincerJob.SetData("ZoneBearing", mMeanBearing);
mPincerJob.SetData("left_drag", 0);
mPincerJob.SetData("rightdrag", 0);
mPincerJob.SetData("all_on_cap", 0);
mPincerJob.SetWinnersMin(mNumSubsInvolved);
//setup the left & right flyers
double avgBearing = mMeanPoint.TrueBearingTo(mSubPoint);
foreach(WsfRIPRProcessor proc in subs)
{
//Vec3 temp = proc.Platform().LocationWCS();
double bearing = mMeanPoint.TrueBearingTo(proc.Platform().Location());
double relAngle = MATH.NormalizeAngleMinus180_180(bearing-avgBearing);
if (mCross)
{
relAngle = -1 * relAngle;
}
if (relAngle < 0)
{
mPincerJob.SetData(proc.Platform().Name(), "right");
}
else
{
mPincerJob.SetData(proc.Platform().Name(), "left");
}
}
PROCESSOR.AddJob(mPincerJob);
writeln_d("--- ", PLATFORM.Name(), " job change, ADD: ", mPincerJob.GetDescription() );
PLATFORM.Comment(write_str("ADD job: ", mPincerJob.GetDescription()));
# foreach(string tgt in mTargetNames)
# {
# PLATFORM.Comment(tgt);
# }
}
end_execute
end_behavior