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eager
2025-09-12 15:20:28 +08:00
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processors/ripr_agents/aiai/behavior_go_home.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.
# ****************************************************************************
behavior go_home
script_debug_writes off
script_variables
bool mDrawRoute = false; // draw the home route
WsfDraw mDraw = WsfDraw();
bool mCheckFuel = true; // check fuel levels
bool mCheckMyWeapons = true; // check the remaining quanitity of munitions on this platform
bool mCheckAllWeapons = false; // check the remaining quantity of munitions on all platforms in the peer group, including my own
bool mCheckUplinks = false; // check if uplinks are still existent
bool mWaitOnActiveWeapons = false; // don't go home as long as active weapons are being controlled
string mMainWeapon = ""; // main weapon of concern, not necessarily this platform's main weapon
bool mCheckEscorts = false; // check if escort platforms are still existent and on course
Array<string> mEscortNames = Array<string>(); // the names of platforms this platform is responsible for escorting
double cBINGO_SPEED = 516 * MATH.MPS_PER_NMPH(); // ~M0.8 or 248 m/s @ 25 kft#removed 1.5 * that was added to help 6dof movers 14Oct11
WsfGeoPoint mFirstKnownPoint = WsfGeoPoint();
string mRouteName = "";
int mRouteHomeIndex = 0; // the index of the waypoint on the default route the platform should return to
string mLastComment = "<none yet>";
end_script_variables
script bool HasEscorts()
WsfPlatform escortPlatform;
foreach ( string sEscortName in mEscortNames )
{
escortPlatform = WsfSimulation.FindPlatform(sEscortName);
if (escortPlatform.IsValid() )
{
return true;
}
}
return false;
end_script
script double NumWeaponsRemaining(WsfPlatform aPlatform)
double total = 0.0;
for (int i=0; i<aPlatform.WeaponCount(); i=i+1)
{
total = total + aPlatform.WeaponEntry(i).QuantityRemaining();
}
return total;
end_script
script void DrawRoute()
WsfRoute currRoute = PLATFORM.Route();
if (currRoute.IsValid())
{
//PLATFORM.Comment("draw current route : " + PLATFORM.Route().Name());
mDraw.SetLayer("behavior_go_home");
mDraw.Erase(PLATFORM.Name());
mDraw.SetId(PLATFORM.Name());
mDraw.SetColor(0,1,1);
mDraw.SetLineSize(2);
mDraw.SetLineStyle("dash_dot2");
mDraw.BeginPolyline();
for (int i=0; i<currRoute.Size(); i=i+1)
{
mDraw.Vertex(currRoute.Waypoint(i).Location());
}
mDraw.End();
}
end_script
on_init
mFirstKnownPoint = PLATFORM.Location();
end_on_init
precondition
writeln_d("precondition go_home");
if (!PROCESSOR.IsA_TypeOf("WSF_RIPR_PROCESSOR"))
{
return Failure("behavior not attached to a RIPR processor!");
}
string msg = "";
bool result = false;
// go home if bingo on fuel
if (mCheckFuel == true &&
PLATFORM.FuelRemaining() < PLATFORM.FuelBingoQuantity())
{
msg = "GO HOME: bingo fuel";
result = true;
}
// go home if all my escorts are dead or gone
else if (mCheckEscorts == true &&
!HasEscorts())
{
msg = "GO HOME: all escorts are dead or gone";
result = true;
}
// DO NOT go home if I have any active weapons still under my control
else if (mWaitOnActiveWeapons == true &&
((WsfRIPRProcessor)PROCESSOR).WeaponsActive() <= 0)
{
msg = "GO HOME: no active weapons";
result = true;
}
// go home if there are no uplinks remaining
else if (mCheckUplinks == true &&
((WsfRIPRProcessor)PROCESSOR).UplinkCount() <= 0)
{
msg = "GO HOME: no active uplinks";
result = true;
}
// go home if all weapons, including my own, in the peer group are out of ammo
else if (mCheckAllWeapons == true &&
((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderPlatform().IsValid())
{
msg = "GO HOME: all weapons in group are out of ammo";
result = true;
foreach( WsfPlatform sub in ((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderPlatform().Subordinates() )
{
if (mMainWeapon != "")
{
WsfWeapon temp = sub.Weapon(mMainWeapon);
if (temp.IsValid() &&
temp.QuantityRemaining() > 0)
{
msg = "";
result = false;
}
}
else if (NumWeaponsRemaining(sub) > 0.0)
{
msg = "";
result = false;
}
}
}
// go home if my weapons are out of ammo
else if (mCheckMyWeapons == true)
{
if (mMainWeapon != "")
{
WsfWeapon temp = PLATFORM.Weapon(mMainWeapon);
if (temp.IsValid() &&
temp.QuantityRemaining() <= 0)
{
msg = "GO HOME: main weapon out of ammo";
result = true;
}
}
else if (NumWeaponsRemaining(PLATFORM) <= 0.0)
{
msg = "GO HOME: out of weapons";
result = true;
}
}
// debug - why is this platform going home?
if (result)
{
writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
if (msg != mLastComment)
{
PLATFORM.Comment(msg);
mLastComment = msg;
}
return true;
}
return false;
end_precondition
execute
writeln_d(PLATFORM.Name(), " executing go_home, T=", TIME_NOW);
//PLATFORM.Comment("go_home");
string msg = "";
WsfRIPRProcessor commander = ((WsfRIPRProcessor)PROCESSOR).CommanderProcessor();
if (commander.IsValid())
{
for (int i = 0; i < ((WsfRIPRProcessor)PROCESSOR).NumJobChannels(); i = i + 1)
{
commander.ClearBidsFor(((WsfRIPRProcessor)PROCESSOR), i);
}
}
// make sure we are at the right speed so we don't burn the fuel we have left too fast
PLATFORM.GoToSpeed(cBINGO_SPEED);
writeln_d(" GoToSpeed( ", cBINGO_SPEED," )");
bool onHomeRoute = false;
// if an egress route is defined, and that is the current route,
// find the closest waypoint and fly the route from there.
// this is mainly used to correct some bugs in the 6dof mover
if (mRouteName != "")
{
WsfRoute myRoute = PLATFORM.Route();
if(myRoute.Name() == "home_route")
{
int routeIndex = PLATFORM.RoutePointIndex();
if (routeIndex < 0 || routeIndex >= myRoute.Size())
{
routeIndex = 0;
}
double distThreshold = 4.0*185.2; ## 4/10th nm
if (myRoute.Waypoint(routeIndex).Location().GroundRangeTo(PLATFORM.Location()) < distThreshold)
{
routeIndex = routeIndex + 1;
if (routeIndex >= myRoute.Size())
{
routeIndex = 1;
}
}
onHomeRoute = PLATFORM.FollowRoute(myRoute, routeIndex);
#string msg = write_str("FollowRoute(home_route, ", routeIndex, ")");
#PLATFORM.Comment(msg);
}
// if there is an egress route defined, follow it
if (!onHomeRoute)
{
msg = write_str("attempting to construct and fly route: ", mRouteName);
//PLATFORM.Comment(msg);
writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
WsfRoute original = PLATFORM.Route();
WsfRoute homeRoute = WsfRoute.Create("home_route");
WsfRoute capRoute = WsfRoute.CopyGlobal(mRouteName);
double goHomeSpeed = cBINGO_SPEED;
#if (capRoute.Front().IsValid() && capRoute.Front().Speed() > 0)
#{
# goHomeSpeed = capRoute.Front().Speed();
#}
extern double cDEFAULT_ALTITUDE;
WsfGeoPoint startPoint = WsfGeoPoint.Construct(mFirstKnownPoint.Latitude(), mFirstKnownPoint.Longitude(), cDEFAULT_ALTITUDE);
homeRoute.Append(startPoint, goHomeSpeed);
capRoute.Transform(startPoint.Latitude(), startPoint.Longitude(), 0);
homeRoute.Append(capRoute);
onHomeRoute = PLATFORM.FollowRoute(homeRoute);
#PLATFORM.Comment("go_home FollowRoute(homeRoute)");
}
}
// if the platform is still not on an egress route, then there is not one
// defined or there was a problem with it, so one needs to be created.
if (!onHomeRoute)
{
if (PLATFORM.FollowRoute("DEFAULT_ROUTE", mRouteHomeIndex))
{
msg = write_str("should be flying default route");
//PLATFORM.Comment(msg);
writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
//PLATFORM.Comment("FollowRoute(DEFAULT_ROUTE, 1)");
}
else // what if no default route is provided? (fly to first known point)
{
#extern double cDEFAULT_ALTITUDE;
WsfGeoPoint tempPt = WsfGeoPoint.Construct(mFirstKnownPoint.Latitude(), mFirstKnownPoint.Longitude(), cDEFAULT_ALTITUDE);
PLATFORM.GoToLocation(tempPt);
msg = write_str("should be flying to point: ", mFirstKnownPoint.ToString());
//PLATFORM.Comment(msg);
writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
//PLATFORM.Comment("GoToLocation(tempPt)");
}
}
// debug
if (mDrawRoute)
{
DrawRoute();
}
end_execute
end_behavior