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output/

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**CUI**
# aea_iads demo
This directory contains the necessary files to test the EW effects
in a scenario similar to the iads_demo baseline scenario.
The SOJ and EW_Radar have EA and EP techniques, respectively, with them
to aid in the testing and verification of these techniques.
The strike.txt file is the normal input file to run the simulation
as a single application. The replay file will be written to the
output directory.
Also included are two realtime run files strike-rt.txt and iads-rt.txt
that can be run concurrently to test the jamming and EW effects over DIS.
Each WSF application communicates over DIS. The applications can be run
on separate hosts or on the same host. The file dis_data.txt provides
the DIS Enumeration mapping for the entity types, emitter types, and ew
technique types.
To visually monitor the progress of the realtime simulations, Warlock can
be opened and then configured to monitor multicast address 224.2.25.55,
port 3225 via an input file containing a dis_interface block.
## CUI Designation Indicator
* Controlled by: Air Force Research Laboratory
* Controlled by: Aerospace Systems Directorate
* CUI Categories: CTI, EXPT
* LDC/Distribution Statement: DIST-C
* POC: afrl.rq.afsim@us.af.mil
## Notices and Warnings
### DISTRIBUTION STATEMENT C
Distribution authorized to US Government agencies and their contractors;
Critical Technology, Export Controlled; (2021 Oct 06). Other requests for this
information shall be referred to AFRL Aerospace Systems Directorate.
### NOTICE TO ACCOMPANY FOREIGN DISCLOSURE
This content is furnished on the condition that it will not be released to
another nation without specific authority of the Department of the Air Force of
the United States, that it will be used for military purposes only, that
individual or corporate rights originating in the information, whether patented
or not, will be respected, that the recipient will report promptly to the
United States any known or suspected compromise, and that the information will
be provided substantially the same degree of security afforded it by the
Department of Defense of the United States. Also, regardless of any other
markings on the document, it will not be downgraded or declassified without
written approval from the originating U.S. agency.
### WARNING - EXPORT CONTROLLED
This content contains technical data whose export is restricted by the Arms
Export Control Act (Title 22, U.S.C. Sec 2751 et seq.) or the Export
Administration Act of 1979, as amended, Title 50 U.S.C., App. 2401 et seq.
Violations of these export laws are subject to severe criminal penalties.
Disseminate in accordance with provisions of DoD Directive 5230.25.
### HANDLING AND DESTRUCTION NOTICE
Handle this information in accordance with DoDI 5200.48. Destroy by any
approved method that will prevent unauthorized disclosure or reconstruction of
this information in accordance with NIST SP 800-88 and 32 C.F.R 2002.14
(Safeguarding Controlled Unclassified Information).
**CUI**

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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.
# ****************************************************************************
csv_event_output
file replay.csv
enable all
end_csv_event_output
visual_elements
end_visual_elements
visual_elements
end_visual_elements
visual_elements
end_visual_elements
visual_elements
end_visual_elements
visual_elements
end_visual_elements
visual_elements
end_visual_elements

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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.
# ****************************************************************************
script_variables
global Set< string > mPlatformTypes = Set< string >();
global FileIO mSensorDetectFile = FileIO();
global string mSensorFileName = "sensor_detection_data.txt";
end_script_variables
on_initialize
if (! mSensorDetectFile.Open(mSensorFileName, "out"))
{
writeln("Could not open file: ", mSensorFileName);
}
string header = write_str("Time(sec),ObserverCallbackType,PlatformName,TrackStartTime(sec),SensorName,TargetName");
mSensorDetectFile.Writeln(header);
#Fill in platform names of interest
mPlatformTypes.Clear();
mPlatformTypes.Insert("EW_RADAR");
mPlatformTypes.Insert("ACQ_RADAR");
mPlatformTypes.Insert("TTR_RADAR");
end_on_initialize
script bool FindStr(Array<string> aArray, string aKey)
foreach (string key in aArray)
{
if (key == aKey)
{
return true;
}
}
end_script
script void SensorDetectionAttempt(WsfPlatform aPlatform, WsfSensor aSensor, WsfPlatform aTarget, WsfSensorInteraction aResult)
if (mPlatformTypes.Exists(aPlatform.Type()))
{
WsfEW_Effects effects = aResult.EW_Effects();
int mask = effects.Mask();
bool cohCheck = effects.EA_CoherencyCheck("noise");
double myValue1 = effects.EffectValue("jamming", "blanking");
double myValue2 = effects.EffectValue("jamming", "cancellation");
string mystring = write_str(TIME_NOW,
",", "SensorDetectionAttempt",
",", aPlatform.Name(),
//",", aResult.Failed(),
//",", cohCheck,
",", myValue1,
",", myValue2);
mSensorDetectFile.Writeln(mystring);
}
end_script
observer
enable SENSOR_DETECTION_ATTEMPT SensorDetectionAttempt
end_observer

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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.
# ****************************************************************************
dis_interface
entity_type TARGET 2:1:222:2:1:1:0
entity_type ACQ_RADAR 9:1:222:2:2:3:0
entity_type EW_RADAR 9:1:222:2:2:2:0
entity_type LARGE_SAM_TTR 1:1:222:28:4:3:0
entity_type LARGE_SAM_LAUNCHER 1:1:222:28:4:2:0
entity_type LARGE_SAM_BATTALION 1:1:222:7:0:0:0
entity_type IADS_CMDR 1:1:225:0:5:0:0
entity_type RADAR_COMPANY 1:1:222:7:6:0:0
entity_type BLUE_MULTIROLE_FIGHTER_1E 1:2:225:1:9:10:0
entity_type SOJ 1:2:225:6:9:2:0
#entity_type UCAV 1:2:225:50:8:0:0 # UCAV
entity_type UCAV 1:2:225:1:9:10:0
entity_type LARGE_SAM 2:1:225:1:16:0:0
entity_type BLUE_GPS_BOMB_2 2:1:225:1:13:1:0
entity_type BLUE_GPS_BOMB_1 2:1:225:1:13:2:0
entity_type BLUE_GLIDE_BOMB_1 2:1:225:1:13:2:1
emitter_type SOJ_SBAND_JAMMER 1
emitter_type SOJ_VHF_JAMMER 2
emitter_type SOJ_XBAND_JAMMER 3
emitter_type UCAV_ESM 10
emitter_type EW_RADAR 11
emitter_type TTR_RADAR 12
emitter_type ACQ_RADAR 13
end_dis_interface

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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.
# ****************************************************************************
dis_interface
ew_technique_type noise_jamming 0
ew_technique_type random_pulse_jamming 132
ew_technique_type jtos_gain_jamming 136
ew_technique_type false_target_jamming 148
ew_technique_type simple_false_target_jamming 152
end_dis_interface

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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.
# ****************************************************************************
dis_interface
#log_created_entities
exercise 1
site 25
application 1
multicast 224.2.25.55 10.
#broadcast 10.
port 3225
autostart
#use_pdu_time
ignore_pdu_time
simple_detonations on
simple_kill_range 100 m
heartbeat_timer 5.0 sec
heartbeat_multiplier 2.4
mover_update_timer 5.0 sec
entity_position_threshold 10.0 meters
#suppress_comm_data true
#initial_distribution_interval 5 sec
#debug_emission_pdu 2
end_dis_interface

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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.
.. ****************************************************************************
.. demo:: aea_iads
.. |classification| replace:: Unclassified
.. |date| replace:: 2018-03-22
.. |group| replace:: Demos
.. |image| replace:: images/aea_iads_demo.png
.. |tags| replace:: n/a
.. |title| replace:: aea_iads demo
.. |startup| replace:: strike.txt
.. |summary| replace:: This directory contains the necessary files to test the EW effects in a scenario similar to the iads_demo baseline scenario.
.. |i| image:: images/aea_iads_demo.png
:height: 150 px
:width: 150 px
.. include:: demo_template.txt
| This directory contains the necessary files to test the EW effects
| in a scenario similar to the iads_demo baseline scenario.
|
| The SOJ and EW_Radar have EA and EP techniques, respectively, with them
| to aid in the testing and verification of these techniques.
|
| The strike.txt file is the normal run input file to run the simulation
| as a single application.
|
| To execute, open "strike.txt" in Wizard and execute using the mission
| application. The replay file will written to the output directory for
| opening by Mystic.
|
| Also included are two realtime run files strike-rt.txt and iads-rt.txt
| that can be run separately to test the jamming and EW effects over DIS.
| To run both concurrently, open two Wizard applications one with
| "iads-rt.txt" and one with "strike-rt.txt" and execute using the mission
| application. Each WSF application communicate over DIS. The applications
| can be run on separate hosts or on the same host. The file dis_data.txt
| provides the DIS Enumeration mapping for the entity types, emitter types,
| and EW technique types.
|
| To visually monitor the progress of the realtime sims, Warlock can be opened
| and then setup to monitor multicast address 224.2.25.55, port 3225 via input
file containing a dis_interface block.

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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.
.. ****************************************************************************
.. demo:: iads
.. |classification| replace:: Unclassified
.. |date| replace:: 2014-09-02
.. |group| replace:: Demos
.. |image| replace:: images/iads_demo.png
.. |tags| replace:: n/a
.. |title| replace:: iads demo
.. |startup| replace:: strike.txt
.. |summary| replace:: n/a
.. |i| image:: images/iads_demo.png
:height: 150 px
:width: 150 px
.. include:: demo_template.txt

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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.
# ****************************************************************************
# common file for selecting which messages appear in the event log
event_output
file replay.evt
time_format h:m:s.1
lat_lon_format d:m:s.2
print_track_in_message true
disable TEAM_NAME_DEFINITION
#enable COMM_TURNED_OFF
#enable COMM_TURNED_ON
enable JAMMING_ATTEMPT
enable JAMMING_REQUEST_CANCELED
enable JAMMING_REQUEST_INITIATED
enable JAMMING_REQUEST_UPDATED
#enable LOCAL_TRACK_CORRELATION
#enable LOCAL_TRACK_DECORRELATION
#enable LOCAL_TRACK_INITIATED
#enable LOCAL_TRACK_UPDATED
#enable LOCAL_TRACK_DROPPED
#enable MESSAGE_DISCARDED
#enable MESSAGE_UPDATED
#enable MESSAGE_QUEUED
#enable MESSAGE_RECEIVED
#enable MESSAGE_TRANSMITTED
#enable OPERATING_LEVEL_CHANGED
#enable PLATFORM_ADDED
#enable PLATFORM_DELETED
#enable PLATFORM_BROKEN
#enable PROCESSOR_TURNED_OFF
#enable PROCESSOR_TURNED_ON
enable SENSOR_DETECTION_ATTEMPT
#enable SENSOR_FREQUENCY_CHANGED
#enable SENSOR_MODE_ACTIVATED
#enable SENSOR_MODE_DEACTIVATED
#enable SENSOR_REQUEST_CANCELED
#enable SENSOR_REQUEST_INITIATED
#enable SENSOR_REQUEST_UPDATED
#enable SENSOR_TRACK_INITIATED
#enable SENSOR_TRACK_UPDATED
#enable SENSOR_TRACK_DROPPED
#enable SENSOR_TURNED_ON
#enable SENSOR_TURNED_OFF
#enable SIMULATION_STARTING
#enable SIMULATION_COMPLETE
#enable TASK_ASSIGNED
#enable TASK_CANCELED
#enable TASK_COMPLETED
#enable WEAPON_FIRE_ABORTED
#enable WEAPON_FIRE_REQUESTED
#enable WEAPON_FIRED
#enable WEAPON_HIT
#enable WEAPON_MISSED
#enable WEAPON_RELOAD_STARTED
#enable WEAPON_RELOAD_ENDED
#enable WEAPON_TERMINATED
#enable WEAPON_TURNED_OFF
#enable WEAPON_TURNED_ON
end_event_output

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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.
# ****************************************************************************
# common file for selecting which messages appear in the event pipe
event_pipe
file replay.aer
use_preset default
end_event_pipe

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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.
# ****************************************************************************
define_path_variable CASE iads-rt
log_file output/$(CASE).log
realtime
include setup.txt
include dis_data.txt
include dis_ew_data.txt
include dis_realtime.txt
include xio_interface.txt
include scenarios/targets.txt
include scenarios/iads_laydown.txt
event_output file NULL end_event_output
csv_event_output file NULL end_csv_event_output
event_pipe file NULL end_event_pipe
dis_interface
application 2
end_dis_interface
end_time 40 min

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# File generated by AFSIM Wizard
# DO NOT MODIFY, YOUR CHANGES WILL BE OVERWRITTEN
############## Debugger Settings ##############
# The following inputs configure WSF to connect
# to this instance of the AFSIM Wizard.
# This text should be added to your WSF inputs
###############################################
xio_interface
unicast 127.0.0.1 # Change to this hostname if running from another machine
send_port 60321
pause_for_connection yes
debug on
verbose on
end_xio_interface
realtime
minimum_mover_timestep 0 s
# This file contains scripts which enhance the watch variable values
include_once "D:\developer\AFSIM_2.9\resources\data\_wsf_debug_scripts_.txt"

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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.
# ****************************************************************************
multi_thread
#number_of_threads 4
#multi_thread_update_interval 0.2 sec
#platform_update_multiplier 5
#sensor_update_multiplier 1
line_of_sight_manager
multi_thread
maximum_location_change 2500.0 m
#debug_thread
end_line_of_sight_manager
dis_interface
#debug_thread
multi_threading on
end_dis_interface

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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.
# ****************************************************************************
51277 1
1
1
4 Main
3
50331648
83886082
83886080
770
11
1
6 49 1584 1104
Graphics
1
3
38.47588
-116.6227
0
90
671181.4
MapOptions
2
7
2
5
10 Western US
0
1
0
0
0
0
0
1
0
EndMapOptions
EndGraphics
0
0
1
0
7 EndMain
6 Filter
entity_options
3
.global.
DisplayIcon 0 1
DisplayName 1 1
DisplayWaypts 0 1
DisplaySegments 0 1
DisplayZones 0 1
DisplayAltLocs 0 1
DisplayAltLocLines 0 1
SymbolSize 2.5 1
LineWidth 3 1
DisplayUnderground 0 1
DisplayAboveground 0 1
DisplayCmtBubbles 0 1
DisplayCommandChain 0 1
InheritAll 0
End_EntityOptions
end_entity_options
11 PostProcess
postprocess_options
3
.global.
DisplayIcon 0 1
DisplayName 1 1
SymbolSize 1.5 1
LineWidth 3 1
KillRemovalTime 30 1
StaleRemovalTime 30 1
DeactRemovalTime 30 1
EmitFace 0 1
EmitEdge 0 1
EmitIcon 0 1
TraceLines 1 1
AltPoles 0 1
WingRibbon 0 1
CmtBubbles 0 1
Length 6000 1
AltPoleIncr 20 1
InheritEntityAll 0
IntrAll 0 0 1
XmitDetect 0 0 1
XmitTrack 0 0 1
XmitJam 0 0 1
XmitFire 1 0 1
XmitKill 0 0 1
RecvDetect 0 0 1
RecvTrack 0 0 1
RecvJam 0 0 1
RecvFire 1 0 1
RecvKill 0 0 1
XmitComm 0 1
RecvComm 0 1
CommIntrLife 1 1
IntrHistIncr 10 1
InheritIntrAll 0
End_PostProcessOptions
.blue.
DisplayIcon 0 1
DisplayName 1 1
SymbolSize 1 0
LineWidth 3 1
KillRemovalTime 30 1
StaleRemovalTime 30 1
DeactRemovalTime 30 1
EmitFace 0 1
EmitEdge 0 1
EmitIcon 0 1
TraceLines 1 1
AltPoles 0 1
WingRibbon 0 1
CmtBubbles 0 1
Length 6000 1
AltPoleIncr 20 1
InheritEntityAll 0
IntrAll 0 0 1
XmitDetect 0 0 1
XmitTrack 0 0 1
XmitJam 0 0 1
XmitFire 1 0 1
XmitKill 0 0 1
RecvDetect 0 0 1
RecvTrack 0 0 1
RecvJam 0 0 1
RecvFire 1 0 1
RecvKill 0 0 1
XmitComm 0 1
RecvComm 0 1
CommIntrLife 1 1
IntrHistIncr 10 1
InheritIntrAll 0
End_PostProcessOptions
end_postprocess_options
6 Common
0
0 0 1260 155
end_common_data
8 EndSedit

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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.
# ****************************************************************************
# The following script is called for SENSOR_TRACK_INITIATED, SENSOR_TRACK_DROPPED.
script_interface
# debug
end_script_interface
script void sensorinfo(WsfPlatform aPlatform, WsfSensor aSensor, WsfTrack aTrack)
if (aTrack.TargetName() == "300_ucav")
{
writeln(TIME_NOW, ",", aTrack.StartTime(), ",", aTrack.SensorName(), ",", aTrack.TargetName(), ",", aTrack.Range());
}
end_script
observer
enable SENSOR_TRACK_INITIATED sensorinfo
enable SENSOR_TRACK_DROPPED sensorinfo
end_observer

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UNCLASSIFIED
Converted from file radar1.pat
0.00 30.00 -30.00 DB 2D
0.00 1801 0.00 0.10
0.00 1801 0.00 0.10
AZCUT
0.00 -0.20 -0.81 -1.87 -3.46 -5.72 -8.97
-14.01 -24.72 -24.61 -16.76 -14.07 -13.27 -13.72
-15.36 -18.55 -24.85 -30.00 -24.78 -20.14 -18.25
-17.85 -18.66 -20.81 -25.07 -30.00 -30.00 -25.07
-22.04 -20.88 -21.01 -22.38 -25.38 -30.00 -30.00
-30.00 -25.48 -23.50 -22.99 -23.70 -25.79 -30.00
-30.00 -30.00 -29.00 -26.02 -24.84 -24.94 -26.30
-29.34 -30.00 -30.00 -30.00 -28.63 -26.69 -26.20
-26.92 -29.05 -30.00 -30.00 -30.00 -30.00 -28.66
-27.53 -27.66 -29.06 -30.00 -30.00 -30.00 -30.00
-30.00 -28.99 -28.54 -29.30 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -29.56 -29.75 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
-30.00 -30.00 -30.00 -30.00 -30.00 -30.00 -30.00
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523
patterns/radar2.ant Normal file
View File

@@ -0,0 +1,523 @@
UNCLASSIFIED
Converted from file radar2.pat
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-0.20 0.00

265
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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.
# ****************************************************************************
#!/usr/bin/perl -w
# convert a suppressor antenna pattern to a tabular pattern
#
sub ReadAndTrim
{
# Read a single line from the input file, checking for EOF.
$eof = !($line = <ANT_IN>);
# Trim leading and trailing whitespace.
$line =~ s/^\s+|\s+$//g;
};
if (@ARGV != 2)
{
die("Wrong number of arguments.\nUsage: convert <in_file> <out_file>\n");
}
$file_name = $ARGV[0];
$out_file_name = $ARGV[1];
if (! open(ANT_IN, "+<", $file_name))
{
die("** ERROR: File $file_name could not be opened\n");
}
if (! open ANT_OUT, ">", $out_file_name)
{
die("** ERROR: File $out_file_name could not be opened\n");
}
$el_array_index = 0;
$data_value_set_index = 0;
$az_array_length = 0;
$max_el_values_size = 0;
$max_el_values_index = 0;
$el_array_length = 0;
my @el_array;
#Read first line;
ReadAndTrim();
while (!eof)
{
#print $line, "\n";
# first character in the line should not be "$"
# if DIMENSION 1 AZ found
if (index($line , "DIMENSION 1 AZ")!= -1)
{
$firstChar = index($line, "(") + 1;
$lastChar = index($line, ")") - 1;
$az_units = lc(substr $line, $firstChar, ($lastChar - $firstChar + 1));
ReadAndTrim();
while (index($line, "\$") != 0)
{
# push all whitespace delimited values into the array.
push (@az_array, split(/\s+/, $line));
ReadAndTrim();
}
$az_array_length = @az_array;
# get ready for next block
$index = 0;
while ($index != $az_array_length)
{
$offset = 0.0; # may change
push(@az_array_padded, $az_array[$index]);
if (($index != 0) &&
($index != ($az_array_length - 1)))
{
push(@az_array_padded, $az_array[$index] + 0.0001);
}
$index = $index + 1;
}
}
# convert to array with staggered edge values (e.g. -0.00001 and 0.00001)
# else if DIMENSION 2 EL found
elsif (index($line, "DIMENSION 2 EL") != -1)
{
# check the value in parentheses
# these are the units
$firstChar = index($line, "(") + 1;
$lastChar = index($line, ")") - 1;
$el_units[$data_value_set_index] = lc(substr $line, $firstChar, ($lastChar - $firstChar + 1));
#print {STDOUT} "el units: ", $el_units[data_value_set_index], "\n";
# read next line
ReadAndTrim();
# Clear the el values
@el_values = ();
# read in el values until we get to the actual data
while (index($line, "GAIN") == -1)
{
# push all whitespace delimited values into the array.
push (@el_values, split(/\s+/, $line));
ReadAndTrim();
}
# these need to be saved for later evaluation
$el_values_size = @el_values;
for($i=0; $i<$el_values_size; $i=$i+1)
{
$el_array[$data_value_set_index][$i] = $el_values[$i];
}
$el_array_length[$data_value_set_index] = $el_values_size;
# Need to determine which set of el values has the most elements
# as all other el arrays will be expanded to fit this one.
if ($el_values_size > $max_el_values_size)
{
$max_el_values_index = $data_value_set_index;
$max_el_values_size = $el_values_size;
}
# read data values
# this is tricky because we read either until we encounter another
# header or comment line, or we reach eof :(
# for now, we will REQUIRE a comment break "$"; although this does not
# appear to be required, the files I've seen follow the rule.
# Clear the data values.
@data_values = ();
# Keep reading data until we encounter the "$" char (comment) at the first position of a line.
do
{
ReadAndTrim();
if (! $eof)
{
$char1 = substr $line, 0, 1; #check for valid data
# read el values;
push (@data_values, split(/\s+/, $line));
}
else
{
print "End of file.\n";
}
}
while ((!$eof) && (!($char1 =~ /\$/)));
# these need to be saved for later evaluation
$data_values_size = @data_values;
for($i=0; $i<$data_values_size; $i=$i+1)
{
$data_array[$data_value_set_index][$i] = $data_values[$i];
}
$data_array_length[$data_value_set_index] = $data_values_size;
# increment the data value set index
#print "Data Values: ", @data_values, "end_data_values\n";
$data_value_set_index = $data_value_set_index + 1;
# Find max set of el values. The entire table will have
# to be expanded and padded to include all elevation values.
}
else
{
#comment line; read next
ReadAndTrim();
}
}
# Done reading input
print "Done reading input.";
$el_array_padded[0] = $el_array[$max_el_values_index][0];
$index = 1;
while ($index != $max_el_values_size)
{
$offset = 0.0; # may change
push(@el_array_padded, $el_array[$max_el_values_index][$index]);
if ($index != ($max_el_values_size - 1))
{
push(@el_array_padded, $el_array[$max_el_values_index][$index]);
}
$index = $index + 1;
}
#now ready to write out data
$num_padded_el_values = @el_array_padded;
$num_padded_az_values = @az_array_padded;
#$num_padded_values = $num_padded_az_values * $num_padded_el_values;
# Three comment lines
print {ANT_OUT} "# Generated from Suppressor\n";
print {ANT_OUT} "# \n";
print {ANT_OUT} "# \n";
print {ANT_OUT} $num_padded_az_values, " ", $num_padded_el_values, "\n ";
$prevElValue = 500;
for ($i=0; $i<$num_padded_el_values; ++$i)
{
if ($el_array_padded[$i] == $prevElValue)
{
print {ANT_OUT} $el_array_padded[$i]+0.01, " ";
}
else
{
print {ANT_OUT} $el_array_padded[$i], " ";
}
$prevElValue = $el_array_padded[$i];
}
print {ANT_OUT} "\n";
#print el index
# All data for the first az bin (first and second indices) are available in the first el set.
# Just need to expand values into all el bins
$az_index = 0;
for ($az = 0; $az < $num_padded_az_values; ++$az)
{
$el_index = 0;
#print $az, " ", $az_array[$az_index], " ", $az_array_padded[$az],"\n";
for ($el = 0; $el < $num_padded_el_values; ++$el)
{
#print $az, " ", $el, " ", $az_index, " ", $el_index, " ", $el_array[$az_index][$el_index], " ", $el_array_padded[$el], " ", $data_array[$az_index][$el_index], "\n";
$pattern[$az][$el] = $data_array[$az_index][$el_index];
if ($el_array[$az_index][$el_index] < $el_array_padded[$el])
{
if ($el_array[$az_index][$el_index+1] <= $el_array_padded[$el])
{
$el_index += 1;
}
}
}
if ($az_array[$az_index] < ($az_array_padded[$az] - 0.0001))
{
$az_index += 1;
}
}
$prevAzValue = 500;
for ($az = 0; $az < $num_padded_az_values; ++$az)
{
if ($az_array_padded[$az] == $prevAzValue)
{
print {ANT_OUT} $az_array_padded[$az]+0.01, " ";
}
else
{
print {ANT_OUT} $az_array_padded[$az], " ";
}
$prevAzValue = $az_array_padded[$az];
for ($el = 0; $el < $num_padded_el_values; ++$el)
{
print {ANT_OUT} $pattern[$az][$el], " ";
}
print {ANT_OUT} "\n";
}
#print $az_array_padded;
# Close input and output files
close(ANT_IN);
close(ANT_OUT);
select(STDOUT);

44
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# ****************************************************************************
# UNCLASSIFIED//FOUO
# See AAA_ITAR.txt for distribution and usage.
# ****************************************************************************
DATA-TABLE
$ --UNCLASSIFIED
$ ...
$ ...
DIMENSION 1 AZ (DEG)
-180 -90 -30 0 30 90 180
$ EL DATA FOR AZ Interval: -180 to -90
DIMENSION 2 EL (DEG)
-90 -30 30 90
GAIN (DB)
-10 -8 -10
$ EL DATA FOR AZ Interval: -90 to -30
DIMENSION 2 EL (DEG)
-90 -30 0 30 90
GAIN (DB)
-9 -7 -7 -9
$ EL DATA FOR AZ Interval: -30 to 0
DIMENSION 2 EL (DEG)
-90 -30 -10 10 30 90
GAIN (DB)
-3 -2 0 -2 -3
$ EL DATA FOR AZ Interval: 0 to 30
DIMENSION 2 EL (DEG)
-90 -30 30 90
GAIN (DB)
-3 0 -3
$ EL DATA FOR AZ Interval: 30 to 90
DIMENSION 2 EL (DEG)
-90 -30 30 90
GAIN (DB)
-9 -7 -9
$ EL DATA FOR AZ Interval: 90 to 180
DIMENSION 2 EL (DEG)
-90 -30 30 90
GAIN (DB)
-10 -8 -10

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/red_radar.txt
include_once sensors/radar/acq_radar.txt
platform_type ACQ_RADAR RED_RADAR
icon Ground_Radar
category ACQUISITION
sensor acq_radar ACQ_RADAR
off
internal_link data_mgr
ignore_same_side
end_sensor
aux_data
double max_range = 92600 # meters = 50 nm
end_aux_data
end_platform_type

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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.
# ****************************************************************************
###############################################################################
# simple AWACS Platform (Airborne CAOC)
###############################################################################
optical_signature awacs_optical_signature
constant 1000 m^2
end_optical_signature
radar_signature awacs_radar_signature
constant 1000 m^2
end_radar_signature
platform_type AWACS WSF_PLATFORM
icon KC-10
side blue
mover WSF_AIR_MOVER
default_linear_acceleration 1.0 g
default_radial_acceleration 1.0 g
end_mover
optical_signature awacs_optical_signature
radar_signature awacs_radar_signature
# command_chain sat-ops self // satellites
# command_chain uavs self // UAVs
# command_chain strike self // Strike assets
// --- * --- * ---
// Comm
// --- * --- * ---
# comm constellation-xmtr WSF_RADIO_XMTR
# frequency 900.0 mhz
# end_comm
# comm constellation-rcvr WSF_RADIO_RCVR
# frequency 1000.0 mhz
# internal_link track-proc
# end_comm
// --- * --- * ---
// Sensors
// --- * --- * ---
// N/A
sensor geo_sensor WSF_GEOMETRIC_SENSOR
azimuth_field_of_view -180.0 degrees 180.0 degrees
elevation_field_of_view -90.0 degrees 90.0 degrees
minimum_range 0 m
# 300 nm
maximum_range 555600 m
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
reports_bearing
#do not report weapons quality tracks
track_quality 0.75
ignore_same_side
internal_link track-proc
end_sensor
// --- * --- * ---
// Processors
// --- * --- * ---
processor track-proc WSF_TRACK_PROCESSOR
# purge_interval 5 min
purge_interval 120.0 sec
update_interval 10.0 sec
end_processor
end_platform_type

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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.
# ****************************************************************************
include_once ../weapons/aam/simple_a2a_missile.txt
platform_type BLUE_ADV_FIGHTER_1_BASE WSF_PLATFORM
icon F-22
category fighter
mover WSF_AIR_MOVER
roll_rate_limit 1 rad/sec
default_linear_acceleration 1.0 g
default_radial_acceleration 6.5 g
default_climb_rate 400 fps
# Mach 1.7 (1095.3 kts) at 30K feet, with afterburner, Janes Reference
maximum_speed 1095.3 knots
# Ceiling, Janes Reference
maximum_altitude 50000 ft
minimum_altitude 50 ft
# g limit, Janes Reference
maximum_linear_acceleration 9 g
#no_pitch
at_end_of_path extrapolate
end_mover
fuel WSF_VARIABLE_RATE_FUEL
rate 7.0 lb/s
initial_quantity 14000 lb
maximum_quantity 14000 lb
end_fuel
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 1 sec
end_processor
weapon int_missile SIMPLE_A2A_MISSILE_WEAPON end_weapon
end_platform_type

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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.
# ****************************************************************************
#for BLUE_ADV_FIGHTER_1
include_once blue_adv_fighter_1_base.txt
platform_type blue_adv_fighter_1 BLUE_ADV_FIGHTER_1_BASE
//nothing new for now
end_platform_type

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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.
# ****************************************************************************
#for BLUE_ADV_FIGHTER_1
include_once platforms/blue_adv_fighter_1_base.txt
#for AIAI-thinker
include_once processors/ripr_agents/aiai/aiai_processor.txt
include_once weapons/aam/simple_short_range_missile.txt
include_once weapons/aam/super_long_range_missile.txt
include_once weapons/aam/blue_lr_a2a_rf_missile.txt
platform_type blue_adv_fighter_1 BLUE_ADV_FIGHTER_1_BASE
//use a longer range missile for this type
//adjust missile ranges in int-thinker below to accomodate
delete weapon int_missile
#weapon int_missile SUPER_LONG_RANGE_MISSILE end_weapon
#weapon int_missile SIMPLE_LONG_RANGE_MISSILE end_weapon
#weapon aim9 SIMPLE_SHORT_RANGE_MISSILE end_weapon
#weapon jdradm SUPER_LONG_RANGE_MISSILE end_weapon
weapon blue_lr_a2a_rf_missile SIMPLE_BLUE_LR_A2A_RF_MISSILE
quantity 8
end_weapon
# edit weapon blue_sr_a2a_ir_missile
# quantity 2
# end_weapon
# edit weapon jdradm
# quantity 6
# end_weapon
//This is the code that lets the interceptor intercept
processor int-thinker AIAI-thinker
script_variables
#mWeaponArray[0] = Map<string, Object>();
#mWeaponArray[0].Set("name", "blue_sr_a2a_ir_missile");
#mWeaponArray[0].Set("weapon", PLATFORM.Weapon("blue_sr_a2a_ir_missile"));
#mWeaponArray[0].Set("rangeMin", 1000);
#mWeaponArray[0].Set("rangeMax", 65000); // ~35 miles
mWeaponArray[0] = Map<string, Object>();
mWeaponArray[0].Set("name", "blue_lr_a2a_rf_missile");
mWeaponArray[0].Set("weapon", PLATFORM.Weapon("blue_lr_a2a_rf_missile"));
mWeaponArray[0].Set("rangeMin", 1000);
mWeaponArray[0].Set("rangeMax", 111120); // ~60 miles
mWeaponArray[0].Set("numActiveMax", 2); // how many weapons of this type can be in play simultaneously
mWeaponArray[0].Set("AIR", 1); // DOMAIN CAPABLE, yes, this weapon can hit air (default true)
mWeaponArray[0].Set("LAND", 0); // DOMAIN CAPABLE, no, this weapon can NOT hit land (default false)
/*
mWeaponArray[1] = Map<string, Object>();
#mWeaponArray[1].Set("name", "blue_lr_a2a_rf_missile");
#mWeaponArray[1].Set("weapon", PLATFORM.Weapon("blue_lr_a2a_rf_missile"));
mWeaponArray[1].Set("name", "jdradm");
mWeaponArray[1].Set("weapon", PLATFORM.Weapon("jdradm"));
mWeaponArray[1].Set("rangeMin", 9260);
#mWeaponArray[1].Set("rangeMax", 111120); // ~60 miles
mWeaponArray[1].Set("rangeMax", 296320); // ~160 miles
mWeaponArray[1].Set("numActiveMax", 1); // how many weapons of this type can be in play simultaneously
*/
end_script_variables
end_processor
sensor geo_sensor WSF_GEOMETRIC_SENSOR
azimuth_field_of_view -180.0 degrees 180.0 degrees
elevation_field_of_view -90.0 degrees 90.0 degrees
//azimuth_field_of_view -60.0 degrees 60.0 degrees
//elevation_field_of_view -30.0 degrees 30.0 degrees
minimum_range 0 m
#maximum_range 100000 m
#maximum_range 138900 m #about 75 nm, 75% of missile range
maximum_range 185200 m #about 100 nm
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
track_quality 1.0
ignore_same_side
internal_link track_manager
end_sensor
processor incoming_threats WSF_THREAT_PROCESSOR
update_interval 0.1 sec
#update_interval 2.0 sec
#1300 knots
threat_velocity 668.7778 m/s
threat_angle_spread 20.0 deg
script void identified_new_threat(WsfTrack aTrack)
writeln("!!! me: ", PLATFORM.Name(), ", new threat: ", aTrack.TargetName(), ", speed: ", aTrack.Speed());
end_script
script void dropped_threat(WsfTrack aTrack)
if (aTrack.IsValid())
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat: ", aTrack.TargetName());
}
else
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat");
}
end_script
end_processor
end_platform_type

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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.
# ****************************************************************************
//include_once ../sensors/blue_esm.txt
//include_once ../weapons/blue_lr_a2a_rf_missile.txt
//include_once ../weapons/blue_sr_a2a_ir_missile.txt
//include_once ../weapons/harm2.txt
//include_once ../weapons/jsow.txt
//include_once aiai_weapon.txt
include_once ../sensors/radar/blue_a2a_radar.txt
include_once ../weapons/aam/simple_a2a_missile.txt
include_once ../signatures/blue_multirole_fighter_3_radar_signature.txt
platform_type BLUE_MULTIROLE_FIGHTER_1 WSF_PLATFORM
icon F-18E
category fighter
fuel WSF_VARIABLE_RATE_FUEL
rate 7.0 lb/s
initial_quantity 14000 lb
maximum_quantity 14000 lb
end_fuel
mover WSF_AIR_MOVER
roll_rate_limit 1 rad/sec
default_linear_acceleration 1.0 g
default_radial_acceleration 6.5 g
default_climb_rate 400 fps
//old value
//maximum_speed 600.0 knots
// Janes Reference, Max level speed: more than M1.8 (1160 kts)
maximum_speed 1160.0 knots
//old value
//maximum_altitude 55000 ft
//Combat Ceiling, Janes Reference
maximum_altitude 50000 ft
minimum_altitude 50 ft
maximum_linear_acceleration 8 g
#no_pitch
at_end_of_path extrapolate
end_mover
radar_signature blue_multirole_fighter_3_radar_signature
sensor blue_a2a_radar BLUE_A2A_RADAR
//debug
on
internal_link track_manager
ignore_same_side
end_sensor
sensor esm-1 BLUE_ESM
//debug
off
internal_link track_manager
end_sensor
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 1 sec
end_processor
weapon int_missile SIMPLE_A2A_MISSILE_WEAPON end_weapon
// weapon blue_lr_a2a_rf_missile BLUE_LR_A2A_RF_MISSILE
// quantity 10
// end_weapon
// weapon blue_sr_a2a_ir_missile BLUE_SR_A2A_IR_MISSILE
// quantity 2
// end_weapon
// weapon HARM2 HARM2_WEAPON
// quantity 2
// end_weapon
// weapon JSOW JSOW_WEAPON
// quantity 2
// end_weapon
end_platform_type
#xobject BLUE_MULTIROLE_FIGHTER_1 {
#x name "BLUE_MULTIROLE_FIGHTER_1 %d"
#x icon "f_18"
# opponent_icon "f_18"
#x team blue
# extern_attribute body_type_id 12
# sensors (
#x BLUE_A2A_RADAR
#x BLUE_ESM
# IFF )
#x tactics military_tactics
#x dynamics powered_dynamics
#x aero_model (
#x linear_accel 1.0 G
#x radial_accel 6.5 G
#x climb_rate 400.0 fps
#x max_speed 850.0 knots
#x max_alt 55000 ft
#x min_alt 50 ft
# fuel_table ( 76 (115 1.37 pps
# 150 1.59 pps
# 301 6.76 pps
# 321 23.4 pps)
# 5473 (143 1.24 pps
# 187 1.44 pps
# 293 4.65 pps
# 318 16.50 pps)
# 10671 (206 1.20 pps
# 236 1.27 pps
# 271 2.13 pps
# 295 7.37 pps))
# max_speed_table ( 76 321
# 4573 318
# 10671 295)
# fuel 14000 lb
# )
# launch_to_alt 32000 ft
# launch_to_speed 500 knots
#x stores (
#x blue_lr_a2a_rf_missile BLUE_LR_A2A_RF_MISSILE
#x HARM2 HARM2
#x JSOW
#x blue_sr_a2a_ir_missile BLUE_SR_A2A_IR_MISSILE)
# //nonsense accuracy values for testing
# tgt_err_attributes target_range_err 10.0 ft
# tgt_err_attributes target_az_err 0.01 deg
# tgt_err_attributes target_el_err 0.02 deg
# tgt_err_attributes target_rdot_err 1.0 ft
# tgt_err_attributes target_azdot_err 0.03 deg
# tgt_err_attributes target_eldot_err 0.04 deg
# tgt_err_attributes launch_azalign_err 0.05 deg
# tgt_err_attributes launch_elalign_err 0.06 deg
# tgt_err_attributes launch_rollalign_err 0.07 deg
# tgt_err_attributes launch_msl_align_err 0.08 deg
#x ir_signature (1.0 1.6 2.1 2.4 2.6 2.6 2.6 2.6 2.6 2.6 2.5 2.1
#x 1.6 2.1 2.5 2.6 2.6 2.6 2.6 2.6 2.6 2.4 2.1 1.6)
#x rcs3d F15CRCS
#x}
#

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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.
# ****************************************************************************
#for BLUE_MULTIROLE_FIGHTER_1
include_once blue_multirole_fighter_1_base.txt
platform_type blue_multirole_fighter_1 BLUE_MULTIROLE_FIGHTER_1
//nothing new for now
end_platform_type

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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.
# ****************************************************************************
#for BLUE_MULTIROLE_FIGHTER_1
include_once platforms/blue_multirole_fighter_1_base.txt
#for AIAI-thinker
include_once processors/ripr_agents/aiai/aiai_processor.txt
platform_type blue_multirole_fighter_1 BLUE_MULTIROLE_FIGHTER_1
//This is the code that lets the interceptor intercept
processor int-thinker AIAI-thinker
script_variables
mWeaponArray[0] = Map<string, Object>();
mWeaponArray[0].Set("name", "int_missile");
mWeaponArray[0].Set("weapon", PLATFORM.Weapon("int_missile"));
mWeaponArray[0].Set("rangeMin", 1000);
mWeaponArray[0].Set("rangeMax", 65000); // ~35 miles
mWeaponArray[0].Set("numActiveMax", 1); // how many weapons of this type can be in play simultaneously
end_script_variables
end_processor
//don't mess around with crappy radars, use a simple geometric sensor
delete sensor blue_a2a_radar
delete sensor esm-1
sensor geo_sensor WSF_GEOMETRIC_SENSOR
azimuth_field_of_view -180.0 degrees 180.0 degrees
elevation_field_of_view -90.0 degrees 90.0 degrees
minimum_range 0 m
maximum_range 100000 m
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
track_quality 1.0
ignore_same_side
internal_link track_manager
end_sensor
processor incoming_threats WSF_THREAT_PROCESSOR
update_interval 0.1 sec
#update_interval 2.0 sec
#1300 knots
threat_velocity 668.7778 m/s
script void identified_new_threat(WsfTrack aTrack)
writeln("!!! me: ", PLATFORM.Name(), ", new threat: ", aTrack.TargetName());
end_script
script void dropped_threat(WsfTrack aTrack)
if (aTrack.IsValid())
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat: ", aTrack.TargetName());
}
else
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat");
}
end_script
end_processor
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/ucav.txt
include_once platforms/soj.txt

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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.
# ****************************************************************************
platform_type BOMBER WSF_PLATFORM
# icon EA-6B
icon B-52
mover WSF_AIR_MOVER
# WAGs - Luke Miklos
roll_rate_limit 0.7 rad/sec
default_linear_acceleration 0.7 g
default_radial_acceleration 2.5 g
default_climb_rate 300 fps
# Mach 0.9 (516.0 kts) at altitude, Janes Reference
maximum_speed 516.0 knots
# Ceiling, Janes Reference
maximum_altitude 55000 ft
minimum_altitude 1000 ft
# WAG - Luke Miklos
maximum_linear_acceleration 7 g
#no_pitch
at_end_of_path extrapolate
end_mover
fuel WSF_VARIABLE_RATE_FUEL
#rough calculation for fuel rate: based on max range, cruising speed, & max fuel
rate 4.0 lb/s
# Janes Reference, max fuel
# 46000 gallons internal, plus two 700 gallon underwing drop tanks
# jet fuel is 6 lb per gallon
initial_quantity 284400 lb
maximum_quantity 284400 lb
end_fuel
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 2 sec
end_processor
end_platform_type

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AGE1 2.
CHISIG 6.
TCORR 10. 10. 10. !OBSERVATION CORRELATION TIMES
44444444444444444444444444400000000000000000000000 VALKEY 1-50
00000000000000000000000000000000000000000000000000 VALKEY 51-100
AGEMOD 5.0 20.0
0.5 5.0
0.25 1.0
5.0 20.0
5.0 60.0
5.0 60.0
0.1 1.0
VALSIG 0.001
VCUTF 0.6
MALTS 5
STKPN 5.0
TMUSUP 5.0
TRCH 20.0
TRCHW 5.0
WTVMSL 0.5
TPROJ 3.0
AGFOLO 20.0
AGERAD 10.0
CLIMBM 10000.0
GMAXM 4.0
RFXDLY 0.2 !REFLEX_DELAY - FOR MANEUVER IMPLEMENTATION AFTER DECISION IS
WRFORM 0.1
WRRFRM 0.5
RNGWPN 25000. 30000. 85000. 3000. 40000. !SRM,MRM,LRM,GUN,DEW
TVPOLD 15.
DETR0 0.02
TEARLY 4.99
HDSPRD 2.0
HDPKLO 0.05
HDPKHI 0.10
HDRKMX 0.5
HDPSMN 0.8
SPLITA 45.0
REQDLY 15.0
ORDDLY 20.1
CHSWLS .3
CHSWLO .2
10. NEARBY UPDATE INTERVAL
DTUDES 5.0
DELFAC 0.3
CWIDTH 5.0
MAXAC_LOW 3
MAXAC_MED 5
MAXAC_HI 10
SLOGEE 3.
SL_G_LEEWAY 2.
TNL_ALPHA 0.3
TNL_BETA_LOW 0.6
TNL_BETA_MED 0.75
TNL_BETA_HI 0.9
TNL_TAU_LOW 60.0
TNL_TAU_MED 30.0
TNL_TAU_HI 0.001
TNL_CNTRST 2.
HOTMIN 1000. !minimum height over terrain
FT_REJECT_T 0.02 !Time (per false tgt) to reject false targets (sec)
TAU_ESTAB 30. Establishment value time constant
ESTABLISH 20. Threshold for establishment
DIS-ESTABLISH 10. Threshold for disestablishment (currently unused)
PURGE 1. Threshold for purging (currently unused)
VISUAL 40. Value added for a visual observation
RADAR Values added for radar obs
SCAN 13.2 => roughly 2 hits in 20 seconds will establish
STT 40.
TWS 40.
SPOT 40.
ACTIVE 40.
MESSAGE 40.
INFERRED 40.
JAMMED_RADAR
SCAN 13.2
STT 40.
TWS 40.
SPOT 40.
ACTIVE 40.
JAMMED_MESSAGE 40.
IFF 40.
RHAW 40.
IRST 40.
MW 40.
MAW 40.
RWR 40.
SAN 40.
TTT 40.
SSS 40.
XAV 40.
TOC 40.
ESM 40.
EXT 40.
OTD 40.
DLD 40.

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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.
# ****************************************************************************
#no other easy way in WSF to get relative NED position
#here we calculate a rough approximation ourselves
script Vec3 RelativePositionNED(WsfGeoPoint from, WsfGeoPoint to)
double deg2ft = 364812.76313;
Vec3 vec = Vec3.Construct( (to.Latitude() -from.Latitude() )*deg2ft,
(to.Longitude()-from.Longitude())*deg2ft*MATH.Cos(from.Latitude()*MATH.RAD_PER_DEG()),
-(to.Altitude() -from.Altitude() )*MATH.FT_PER_M());
return vec;
end_script
#replicates subroutine makecs(bxin,bzin,b)
script Array<double> makecs(Vec3 bxin, Vec3 bzin)
Array<double> b = Array<double>();
Vec3 bx;
Vec3 by;
Vec3 bz;
// Normalize bxin, store in bx
bx = bxin.Normal();
// Cross product of bzin and Normalized bxin, stored in by
by = Vec3.Cross(bzin, bx);
// Normalize by and evaluate the magnitude of original by
if (by.Normalize() == 0.0)
{
// If the magnitude of by is zero, replace by with cross of bx and unit Z vector
Vec3 unitZ = Vec3.Construct(0.0, 0.0, 1.0);
by = Vec3.Cross(unitZ, bx);
by.Normalize();
}
//cross product of bx and by stored in bz
bz = Vec3.Cross(bx, by);
b[0] = bx.Get(0); // b(1,1) = bx(1)
b[3] = bx.Get(1); // b(1,2) = bx(2)
b[6] = bx.Get(2); // b(1,3) = bx(3)
b[1] = by.Get(0); // b(2,1) = by(1)
b[4] = by.Get(1); // b(2,2) = by(2)
b[7] = by.Get(2); // b(2,3) = by(3)
b[2] = bz.Get(0); // b(3,1) = bz(1)
b[5] = bz.Get(1); // b(3,2) = bz(2)
b[8] = bz.Get(2); // b(3,3) = bz(3)
return b;
end_script
#replicates subroutine makex(cxin,[return c])
# EQUIVALENT TO MAKECS WHEN ARGUMENT BZIN = (0,0,1)
script Array<double> makex(Vec3 cxin)
Array<double> c = Array<double>();
Vec3 unitZ = Vec3.Construct(0.0, 0.0, 1.0);
c = makecs(cxin, unitZ);
return c;
end_script
#replicates subroutine makeh([return matrix], dir)
#returns an array (rot) that represents a 3x3 rotation matrix
#where rot[0] = matrix(1,1) and rot[1] == matrix(1,2)
script Array<double> makeh(Vec3 dir)
Array<double> rot = Array<double>();
double temp = MATH.Sqrt(dir[0]*dir[0] + dir[1]*dir[1]);
rot[0] = dir[0]/temp; #c(1,1) = cxin(1)/sngl(temp)
rot[1] = dir[1]/temp; #c(1,2) = cxin(2)/sngl(temp)
rot[2] = 0.0; #c(1,3) = 0.
rot[3] = -rot[1]; #c(2,1) = -c(1,2)
rot[4] = rot[0]; #c(2,2) = c(1,1)
rot[5] = 0.0; #c(2,3) = 0.
rot[6] = 0.0; #c(3,1) = 0.
rot[7] = 0.0; #c(3,2) = 0.
rot[8] = 1.0; #c(3,3) = 1.
return rot;
end_script
# replicates: subroutine vxfrmc(b,v, [return Vec3 vt],1)
# "b" represents a 3x3 rotation matrix
# where b[0] = matrix(1,1) and b[1] == matrix(1,2)
script Vec3 vxfrmc1(Array<double> b, Vec3 v)
#b = 3x3 rotation matrix where [0] = (1,1) and [1] == (1,2)
double x = v[0]*b[0]+v[1]*b[1]+v[2]*b[2];
double y = v[0]*b[3]+v[1]*b[4]+v[2]*b[5];
double z = v[0]*b[6]+v[1]*b[7]+v[2]*b[8];
Vec3 vt = Vec3.Construct(x,y,z);
return vt;
end_script
# replicates: subroutine vxfrmc(b,[return Vec3],vt,2)
# "b" represents a 3x3 rotation matrix
# where b[0] = matrix(1,1) and b[1] == matrix(1,2)
script Vec3 vxfrmc2(Array<double> b, Vec3 vt)
#b = 3x3 rotation matrix where [0] = (1,1) and [1] == (1,2)
double x = vt[0]*b[0]+vt[1]*b[3]+vt[2]*b[6];
double y = vt[0]*b[1]+vt[1]*b[4]+vt[2]*b[7];
double z = vt[0]*b[2]+vt[1]*b[5]+vt[2]*b[8];
Vec3 v = Vec3.Construct(x,y,z);
return v;
end_script
# replicates: subroutine rotx(chi,vin,[return vout])
# FINDS VECTOR IN A FRAME ROTATED BY CHI ABOUT X-AXIS
script Vec3 rotx(double chi, Vec3 vin)
double cchi = (Math.Cos(chi * Math.DEG_PER_RAD())) * Math.RAD_PER_DEG();
double schi = (Math.Sin(chi * Math.DEG_PER_RAD())) * Math.RAD_PER_DEG();
Vec3 vout = Vec3.Construct(vin[0], (cchi*vin[1]+schi*vin[2]), (-schi*vin[1]+cchi*vin[2]));
return vout;
end_script
# replicates: subroutine rotv(chi,vaxis,vin,[return vout])
# ROTATE VECTOR BY ANGLE ABOUT SPECIFIED AXIS
#CIN CHI REAL - DESIRED ANGLE OF ROTATION (radians)
#CIN VAXIS 3-VEC - AXIS OF ROTATION
#CIN VIN 3-VEC - UNROTATED VECTOR
#COUT VOUT 3-VEC - RESULT OF ROTATING VIN BY CHI ABOUT VAXIS
script Vec3 rotv(double chi, Vec3 vaxis, Vec3 vin)
Array<double> rot = Array<double>();
if (vaxis[0]*vaxis[0] + vaxis[1]*vaxis[1] == 0.0)
{
Vec3 unitX = Vec3.Construct(1,0,0);
rot = makecs(vaxis, unitX);
}
else
{
rot = makex(vaxis);
}
Vec3 vout = vxfrmc1(rot,vin);
vout = rotx(-chi,vout);
vout = vxfrmc2(rot,vout);
return vout;
end_script
# replicates: vmake(a,vin,vout)
# a - desired vector norm
# vector - vector to rescale
script Vec3 vmake(double a, Vec3 vin)
double b = a / vin.Magnitude();
// TODO prevent div by zero?
// b = a/sqrt(1.e-35 + vin(1)*vin(1) + vin(2)*vin(2) + vin(3)*vin(3))
Vec3 vout = Vec3.Construct(b*vin.X(), b*vin.Y(), b*vin.Z());
return vout;
end_script
# replicates: subroutine ramp(xlo,xval,xhi)
script double ramp(double xlo, double xval, double xhi)
double rampVal = (xval-xlo) / (xhi-xlo);
if(rampVal <= 0.0)
{
rampVal = 0.0;
}
if(rampVal >= 1.0)
{
rampVal = 1.0;
}
return rampVal;
end_script
# replicates: subroutine border(z, z0)
script double border(double z, double z0)
double border = 0;
if (z <= 0)
{
double t = (z / z0 - 1.0);
border = 1.0 / (1.0 + (t * t));
}
else
{
double u = (z / z0 + 1.0) * (z / z0 + 1.0);
border = u / (1 + u);
}
return border;
end_script
# replicates: subroutine cauchy(z, z0)
script double cauchy(double z, double z0)
double t = (z / z0);
return 1.0 / (1.0 + (t * t));
end_script
script Vec3 vorth(Vec3 a, Vec3 b)
double x = (a[0]*b[0]+a[1]*b[1]+a[2]*b[2])/(b[0]*b[0]+b[1]*b[1]+b[2]*b[2]);
Vec3 temp = b;
temp.Scale(x);
Vec3 c = Vec3.Subtract(a,temp);
return c;
end_script
script bool HaveWeapon(WsfPlatform plat)
for(int i=0; i<plat.WeaponCount(); i+=1)
{
if (plat.WeaponEntry(i).QuantityRemaining() >= 1)
{
return true;
}
}
return false;
end_script
script Vec3 unitv2(Vec3 a)
double mag = MATH.Sqrt(a.X()*a.X() + a.Y()*a.Y());
Vec3 val = Vec3.Construct(a.X()/mag, a.Y()/mag, 0.0);
return val;
end_script
#replicates portion of desvvi that calculates "vuse" and "spduse"
#function arguments:
# vdes = normalized direction vector
# spddes = speed in ft/sec
#returns a vec in ft/sec
script Vec3 desvvi(WsfBrawlerPlatform plat, Vec3 vdes, double spddes)
bool lngtrn;
Vec3 vuse = Vec3();
double spduse;
double cornrv = plat.CorneringVelocity(); //fps
double grav = 32.17405; //fps
double gmxsut = plat.MaxSustainedGs();
//C --external declarations
# integer rspace
# realdot,ramp,xlimit
# real arccos
//C --local declarations
//real h(2),hdes(2);
Vec3 h = Vec3();
Vec3 hdes = Vec3();
double d10 = 0.174533; //radians (10 deg)
double s30 = 0.5;
double s45 = 0.707107;
double s15 = 0.258819;
double dsemax,hnorm,csenow,senow;
//real arcsin
//C*ENDDEC
vuse = unitv2(vdes);
h = unitv2(plat.VelocityNED());
//C CURRENT HEADING COORDINATES:
//C X = [ H(1),H(2)]
//C Y = [-H(2),H(1)]
//hdes(1) = vuse(1)*h(1)+vuse(2)*h(2)
hdes.SetX(vuse.X()*h.X()+vuse.Y()*h.Y());
//C TO AVOID MESSING UP LATER ARCCOS(HDES(1)):
if(MATH.Fabs(hdes.X()) > 1.0)
{
if(MATH.Fabs(hdes.X()) > 1.000001)
{
//call nabort('HDES(1) NORM');
writeln("ABORT!!!! hdes(1) > 1.000001");
return Vec3();
}
hdes.SetX(1.0);
if (hdes.X() < 0)
{
hdes.SetX(-1.0);
}
}
hdes.SetY(-vuse.X()*h.Y()+vuse.Y()*h.X());
csenow = plat.Speed()*MATH.FT_PER_M()+0.01;
csenow = Vec3.Dot(vdes,plat.VelocityNED())/csenow;
senow = MATH.ACos(csenow);
double tproj3 = plat.ProjectedTimeDelta();
dsemax = tproj3*(gmxsut*grav/cornrv);
//C LNGTRN REQUIRES LARGE ERRORS IN BOTH MAGNITUDE AND HEADING
lngtrn = MATH.ACos(hdes.X()) > dsemax && senow > 1.5*dsemax;
if (!lngtrn)
{
//C
//C SHORTER TURN:
//C
vuse = vdes;
spduse = spddes;
//goto 9999
}
else
{
//C
//C LONGER TURN:
//C
if((plat.Speed()*MATH.FT_PER_M()) > 0.9*cornrv)
{
if((plat.Speed()*MATH.FT_PER_M()) < 1.1*cornrv)
{
//C HERE SPEED NEAR CORNER - MAINTAIN MODEST DIVE TO HELP MAINTAIN SPD
vuse.SetZ(s15);
}
else
{
//C TOO FAST - PULL UP WHILE TURNING
//format('DESVVI... TOO FAST, CORNER = ',f8.2,' MACH ',f5.1)
vuse.SetZ(-s45*ramp(1.1*cornrv,plat.Speed()*MATH.FT_PER_M(),1.2*cornrv));
}
}
else
{
//C TOO SLOW - SET 30 DEG DIVE
vuse.SetZ(s30);
}
hnorm = MATH.Sqrt(1.0-vuse.Z()*vuse.Z());
if(hdes.X() > 0.0)
{
//C RENORMALIZE HORIZONTAL FOR LESS THAN 90 DEG HEADING CHANGES
vuse.SetX(vuse.X()*hnorm);
vuse.SetY(vuse.Y()*hnorm);
}
else
{
//C SET UP 90 DEG HEADING CHANGE AND DO ROTATION BACK TO EARTH COORDINATES
//C IMPLICIT IS HDES(1) = 0
hdes.SetY(hnorm);
if (hdes.Y() < 0)
{
hdes.SetY(-hnorm);
}
vuse.SetX(-h.Y()*hdes.Y());
vuse.SetY(h.X()*hdes.Y());
}
spduse = cornrv;
//goto 9999
}
//C
//9999
vuse.Normalize();
vuse.Scale(spduse);
return vuse;
end_script

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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 alt1514_point
precondition
return 1.0;
end_precondition
execute
extern int kturn;
kturn = 0; //go straight at target
end_execute
end_behavior

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platforms/brawler/alternatives/behavior_alt1516_bvr_end_run_left.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 alt1516_bvr_end_run_left
script_variables
end_script_variables
precondition
return 1.0;
end_precondition
execute
extern int kturn;
kturn = -1; //go left around target
writeln_d("executed alt1516_bvr_end_run_left");
end_execute
end_behavior

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platforms/brawler/alternatives/behavior_alt1517_bvr_end_run_right.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 alt1517_bvr_end_run_right
precondition
return 1.0;
end_precondition
execute
extern int kturn;
kturn = 1; //go right around target
end_execute
end_behavior

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platforms/brawler/alternatives/behavior_alt3111_straight_level_max_speed.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt31.f
// Replicates the straight and level at max speed 3,1,1,1 alternative behavior
behavior alt3111_straight_level_max_speed
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3111Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 1;
int icall = 1;
int lcall = 1;
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3111_straight_level_max_speed, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3111Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# C STRAIGHT AND LEVEL AT MAX SPEED
#10 iactn = 4
# lenalt = lactn(iactn)
# altdsc = indpk(3,1,1,1)
# call xmit(2,vp(1,me),dir0)
# dir0(3) = 0.
# call vnorm(dir0,dir0)
# gmx = gmxsu
# spdmod = thrttl
# spd0 = 3.
# go to 800
mDir0 = PLATFORM.VelocityNED();
mDir0.SetZ(0.0);
mDir0.Normalize();
mGMX = brawlerPlatform.MaxSustainedGs();
mSpd0 = 3.0;
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

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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.
# ****************************************************************************
// converted BRAWLER v7.5 alt31.f
// Replicates the straight and level (current speed) 3,1,2,1 alternative behavior
behavior alt3121_straight_level
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3121Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 1;
int icall = 2;
int lcall = 1;
Vec3 mDir0;
double mGMX = 1.0;
double mSpd0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3121_straight_levelt, T=", TIME_NOW);
#writeln_d("T = ", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3121Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# C STRAIGHT-AND-LEVEL
#20 iactn = 4
# lenalt = lactn(iactn)
# altdsc=indpk(3,1,2,1)
# call xmit(2,vp(1,me),dir0)
# dir0(3) = 0.
# call vnorm(dir0,dir0)
# gmx = gmxsu
# spd0 = spdnow(me)
# spdmod = desspd
mDir0 = PLATFORM.VelocityNED();
mDir0.SetZ(0.0);
mDir0.Normalize();
mGMX = brawlerPlatform.MaxSustainedGs();
mSpd0 = PLATFORM.Speed();
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
writeln_d("T=", TIME_NOW, ", alt3121_straight_level = ", score);
return score;
end_precondition
execute
writeln_d("3121_straight_level, dir0 = ", mDir0.ToString());
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithSpeed(mDir0, mGMX, mSpd0);
end_execute
end_behavior

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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.
# ****************************************************************************
// converted BRAWLER v7.5 alt32.f and captrn.f
// Replicates the route maneuver 3,2,1,1 and cap turn 3,2,2,1 alternative behavior
// This behavior will just fly the WSF platform route
behavior alt3211_route_maneuver
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3211Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 2;
int icall = 1;
int lcall = 1;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3211Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() > 0)
{
// Fail if we should be pursuing a weapon task
return Failure("pursuing WEAPON task");
}
WsfRoute route = PLATFORM.Route();
if (!route.IsValid() || route.Size() < 2)
{
// Fail if we do not have a valid route
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " invalid route");
writeln_d(msg);
return Failure(msg);
}
// Otherwise return a high score for this alternative
// so it is picked and we just follow our route
double score = 10.0;
return score;
end_precondition
execute
PLATFORM.ReturnToRoute();
end_execute
end_behavior

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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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f
// Replicates the 1v1 Offensive Maneuver 3,4,1,1 alternative behavior
// Straight Flight
//
// Operates on nearest perceived threat to generate maneuver alternative
behavior alt3411_straight_flight
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
WsfLocalTrack targetTrack;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3411Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 1;
int lcall = 1;
double mLongRange = 5.0 * Math.M_PER_NM();
Vec3 dir0;
double mGMX = 1.0;
double mSpd0 = 3.0;
// ALSO NEED:
// randomization to simulate imperfect decision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in scoring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3411Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (target) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid())
{
return Failure("no target track!");
}
// Get nearest hostile and check that range is less than max
// alt34.f line 114
WsfTrack nearestHostile = perception.NearestThreat();
double rangeToNearest = 999999999; # default large value, in meters
if (nearestHostile.IsValid() &&
nearestHostile.LocationValid())
{
rangeToNearest = nearestHostile.SlantRangeTo(PLATFORM);
}
if (!nearestHostile.IsValid())
{
writeln_d("nearest hostile not valid!");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
if (rangeToNearest > mLongRange)
{
writeln_d("nearest hostile too far away! (", rangeToNearest," m)");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# alt34.f line 115 - 121
# iactn = 4
# call vnorm(vp(1,me),dir0) - get a unit vector (dir0) of my current velocity vector
# gmx = amin1(3.,gmxsu) - take the smaller of 3.0 and Maximum load possible at maximum thrust
# spd0 = 3.
# spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
int iactn = 4;
dir0 = PLATFORM.VelocityNED().Normal();
mGMX = Math.Min(3.0, brawlerPlatform.MaxSustainedGs());
mSpd0 = 3.0;
int spdmod = 2; // thrttl
### Project and Evaluate (Score) Maneuver Alternative
// Alternative is only projected tproj sec and then evaluated
double alternativeScore = brawlerPlatform.EvaluateVectorWithThrottle(dir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
writeln_d(PLATFORM.Name(), " behavior_alt3411_straight_flight score = ", alternativeScore, ", T=", TIME_NOW);
### Return Maneuver Alternative Score
return alternativeScore;
end_precondition
execute
#writeln_d(PLATFORM.Name(), " executing behavior_alt3411_straight_flight, T=", TIME_NOW);
brawlerPlatform.FlyVectorWithThrottle(dir0, mGMX, mSpd0);
# if (mDrawSteering == true)
# {
# mDraw.SetLayer("behavior_pursue_target");
# mDraw.SetDuration(processor.UpdateInterval());
# mDraw.SetColor(1.0, 0.5, 0.0);
# mDraw.SetLineSize(1);
# mDraw.BeginLines();
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(mTargetPoint);
# mDraw.End();
# }
#
# string msg = write_str("pursue-target: ", targetTrack.TargetName(), " at speed ", (string)mTargetSpeed);
# writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
# FlyTarget( PLATFORM, mTargetPoint, mTargetSpeed);
end_execute
end_behavior

145
platforms/brawler/alternatives/behavior_alt3421_roll_+15_pull.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt342.f
// Replicates the 3,4,2,1 alternative behavior
// alt3421_roll_+15_pull
include_once BrawlerScriptUtil.txt
behavior alt3421_roll_15_pull
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3421Enabled = true;
double mLongRange = 5.0 * Math.M_PER_NM();
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 2;
int lcall = 1;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3421 roll_+15_pull, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3421Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
## alt 34.f line 97, & 140
#lrange = rhst*ftnmi .gt. 5.0
#if(lrange)goto 15
WsfTrack nearestHostile = perception.NearestThreat();
double rangeToNearest = 999999999; # default large value, in meters
if (nearestHostile.IsValid() &&
nearestHostile.LocationValid())
{
rangeToNearest = nearestHostile.SlantRangeTo(PLATFORM);
}
if (!nearestHostile.IsValid())
{
writeln_d("nearest hostile not valid!");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
if (rangeToNearest > mLongRange)
{
writeln_d("nearest hostile too far away! (", rangeToNearest," m)");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
##alt342.f line 99-112
## GENERATE MAX TURNS IN MANEUVER PLANES ADJACENT TO PRESENT PLANE
## ROLL +15 & PULL
#iactn = 4
#dir0(1) = 0.
#dir0(2) = sd15
#dir0(3) = -cd15
#call vxfrmc(rwep,dir0,dir0,2)
## DIR0 IS UNIT ACCELERATION VECTOR IN DESIRED MANEUVER PLANE
#call manpln(dir0,gmxsu)
double sd15 = 0.2588190;
double cd15 = 0.9659258;
dir0 = Vec3.Construct(0.0, sd15, -cd15);
dir0 = brawlerPlatform.ConvertWindtoNED(dir0);
double gmxsu = brawlerPlatform.MaxTacticalGs();
#call manpln(dir0,gmxsu)
#manpln() - maneuver in plane: replicated in 6 lines below
dir0 = vorth(dir0, PLATFORM.VelocityNED());
dir0.Normalize();
int iactn = 4;
gmx = gmxsu;
spd0 = 3.0;
int spdmod = 2; //thrttl
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithThrottle(dir0, gmx, spd0);
end_execute
end_behavior

140
platforms/brawler/alternatives/behavior_alt3431_roll-15_pull.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt343.f
// Replicates the 3,4,3,1 alternative behavior
// alt3431_roll-15_pull
behavior alt3431_roll-15_pull
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3431Enabled = true;
double mLongRange = 5.0 * Math.M_PER_NM();
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 3;
int lcall = 1;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3431 roll-15_pull, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3431Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
## alt 34.f line 97, & 140
#lrange = rhst*ftnmi .gt. 5.0
#if(lrange)goto 15
WsfTrack nearestHostile = perception.NearestThreat();
double rangeToNearest = 999999999; # default large value, in meters
if (nearestHostile.IsValid() &&
nearestHostile.LocationValid())
{
rangeToNearest = nearestHostile.SlantRangeTo(PLATFORM);
}
if (!nearestHostile.IsValid())
{
writeln_d("nearest hostile not valid!");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
if (rangeToNearest > mLongRange)
{
writeln_d("nearest hostile too far away! (", rangeToNearest," m)");
return Failure("no vaild hostiles closer than 5 nautical miles");
}
##alt343.f line 99-109
## ROLL -15 & PULL
#dir0(1) = 0.
#dir0(2) = -sd15
#dir0(3) = -cd15
#call vxfrmc(rwep,dir0,dir0,2)
## DIR0 IS UNIT ACCELERATION VECTOR IN DESIRED MANEUVER PLANE
#call manpln(dir0,gmxsu)
double sd15 = 0.2588190;
double cd15 = 0.9659258;
dir0 = Vec3.Construct(0.0, -sd15, -cd15);
dir0 = brawlerPlatform.ConvertWindtoNED(dir0);
double gmxsu = brawlerPlatform.MaxTacticalGs();
#call manpln(dir0,gmxsu)
#manpln() - maneuver in plane: replicated in 6 lines below
dir0 = vorth(dir0, PLATFORM.VelocityNED());
dir0.Normalize();
int iactn = 4;
gmx = gmxsu;
spd0 = 3.0;
int spdmod = 2; //thrttl
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithThrottle(dir0, gmx, spd0);
end_execute
end_behavior

331
platforms/brawler/alternatives/behavior_alt3441_tail_attack.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt344.f
// Replicates the 3,4,4,1 alternative behavior
// alt3441_tail_attack
include_once BrawlerScriptUtil.txt
behavior alt3441_tail_attack
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
WsfLocalTrack targetTrack;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3441Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 4;
int lcall = 1;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # speed or throttle setting (depending on spdmod)
int spdmod;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
#when talatk() is done:
# dir0 is normalized
# spd0 is in units of ft/sec (or set to 3.0 for throttle mode)
script void talatk()
writeln_d("alt3441 tail attack: talatk");
# # local declarations
# integer jacid
# real t,pres,dens,vs,pr,dr,xcarot(3),vcarot(3)
# real xprj(3),vprj(3),rhprj(3,3),dlag,dlagn,dlagun,vtemp(3)
# real dxtail(3),aprj(3),ause(3),dt,spdwtd,x_tgt(3)
# data dlagn/5000./,dlagun/1000./
# # ENDDEC
# # SET TARGET POSITION BEHIND TARGET A/C A DISTANCE DLAG
# jacid = iacidt(iac)
# dlag=dlagn
# if(.not.noaim) dlag= (ppmrmn+ppmrmx)/2.
# if(mslpp.eq.nummis+1) dlag= dlagun
# # GET POSITION OF AC 5 SECONDS IN FUTURE:
# dt = 5.
# #if (xp(3,iac).ge.trkr_neg_alt) call nabort('talatk...tgt more than /par/trkr_neg_alt feet below ground')
# call xmit3(xp(1,iac),x_tgt)
# if (x_tgt(3).ge.0.) x_tgt(3) = -1.0
# call atmos(-x_tgt(3),t,pres,dens,vs,pr,dr)
# call a_lim(x_tgt,vp(1,iac),ap(1,iac),dt,casmin(iac)/sqrt(dr),ause)
# call projw(x_tgt,vp(1,iac),ause,dt,xprj,vprj,aprj,rhprj)
# call vmake(-dlag,vprj,vtemp)
# call vsum(x_tgt,vtemp,dxtail)
# call vsub(dxtail,xp(1,me),dxtail)
# call vecinc(vp(1,iac),0.5/tproj3,dxtail,dir0)
# spd0 = xmag(dir0)
# spdmod = desspd
# spdwtd = spdnow(me)+almax*tproj3*1.1
# if (spd0 .gt. spdwtd)
# {
# spd0 = 3.
# spdmod = thrttl
# }
# call vnorm(dir0,dir0)
double dlagn = 5000.0;
double dlagun = 1000.0;
double dlag = dlagn;
## check if we have a weapon task - it shouldn't reach this point if we didn't
#if(.not.noaim) dlag= (ppmrmn+ppmrmx)/2.
## check if we have a weapon, otherwise close at gun range
#if(mslpp.eq.nummis+1) dlag= dlagun
if (!HaveWeapon(PLATFORM))
{
dlag = dlagun;
}
# GET POSITION OF AC 5 SECONDS IN FUTURE:
double dt = 5.0;
#if (xp(3,iac).ge.trkr_neg_alt) call nabort('talatk...tgt more than /par/trkr_neg_alt feet below ground')
# call xmit3(xp(1,iac),x_tgt)
# ##LBM - dont do projection for now
# if (x_tgt(3).ge.0.) x_tgt(3) = -1.0
# call atmos(-x_tgt(3),t,pres,dens,vs,pr,dr)
# call a_lim(x_tgt,vp(1,iac),ap(1,iac),dt,casmin(iac)/sqrt(dr),ause)
# call projw(x_tgt,vp(1,iac),ause,dt,xprj,vprj,aprj,rhprj)
//LBM - not able to perceive target's acceleration
//assume target's velocity after dt is same as now
//LBM - convert everything to feet when calculating against BRAWLER constants
// convert back to meters to call WSF commands
Vec3 vprj = targetTrack.VelocityNED();
Vec3 vtemp = vprj.Normal();
vtemp.Scale(-dlag);
# Vec3 x_tgt; //target position
# Vec3 xp; //my position
# Vec3 dxtail = Vec3.Add(x_tgt,vtemp); #adding vtemp is not accounted for in the line below
# dxtail = Vec3.Subtract(dxtail,xp);
Vec3 dx = RelativePositionNED(PLATFORM.Location(), targetTrack.CurrentLocation());
dx.Scale(MATH.FT_PER_M());
Vec3 dxtail = Vec3.Add(dx,vtemp);
Vec3 vpt = targetTrack.VelocityNED();
vpt.Scale(MATH.FT_PER_M());
dxtail.Scale(0.5/brawlerPlatform.ProjectedTimeDelta());
dir0 = Vec3.Add(vpt,dxtail);
spd0 = dir0.Magnitude(); #ft/sec
spdmod = 1; //(desspd = 1, thrttl = 2, desacc = 3)
#double almax = brawlerPlatform.MaxForwardAccelWithGravity() * MATH.M_PER_FT();
double almax = brawlerPlatform.MaxForwardAccelWithGravity(); #ft/sec^2
double spdwtd = PLATFORM.Speed()*MATH.FT_PER_M() + almax * brawlerPlatform.ProjectedTimeDelta() * 1.1;
if (spd0 > spdwtd)
{
spd0 = 3.0;
spdmod = 2; //(desspd = 1, thrttl = 2, desacc = 3)
}
dir0.Normalize();
end_script
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3441 tail_attack, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3441Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
writeln_d("no weapon (target) tasks!");
return Failure("no weapon (target) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid())
{
writeln_d("no target track!");
return Failure("no target track!");
}
if (!targetTrack.VelocityValid())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " target track does not have valid velocity!");
writeln_d(msg);
return Failure(msg);
}
##alt344.f line 172 - 224
int iactn = 4;
# GENERATE TURNS IN MANEUVER PLANE CONTAINING LOS TO OPPONENT
Vec3 dxpme = RelativePositionNED(PLATFORM.Location(),targetTrack.CurrentLocation());
Vec3 vp = PLATFORM.VelocityNED();
Vec3 vp_iac = targetTrack.VelocityNED();
bool bhndme = (Vec3.Dot(dxpme,vp) < 0.0);
bool bhndhm = (Vec3.Dot(dxpme,vp_iac) > 0.0);
if (bhndme && bhndhm)
{
# BEHIND EACH OTHER: WANT COURSE REVERSAL
# USE TAIL ATTACK FOR NOW
talatk();
}
else if (bhndme && !bhndhm)
{
# HE'S ON MY TAIL!: NO TAIL ATTACK ALTERNATIVE GENERATED
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " HE IS ON MY TAIL! NO TAIL ATTACK!");
writeln_d(msg);
return Failure(msg);
}
else if (!bhndme && bhndhm)
{
# I'M ON HIS TAIL!: GENERATE TAIL ATTACK
talatk();
}
else if (!bhndme && !bhndhm)
{
# NOSE TO NOSE: PLAN INTERCEPT
#call aimpt(xp(1,me),spdnow(me),xp(1,iac),vp(1,iac),spdnow(iac),daimpt,lsoln);
WsfWaypoint aimptWP = WsfWaypoint();
double intTime = PLATFORM.InterceptLocation3D(targetTrack, aimptWP);
#if (lsoln)
if (intTime > 0)
{
WsfGeoPoint daimpt = aimptWP.Location();
#call vsub(daimpt,xp(1,me),dxaim);
Vec3 dxaim = RelativePositionNED(PLATFORM.Location(), daimpt); #NED coordinates
dir0 = dxaim.Normal();
spd0 = 3.0;
spdmod = 2; //(desspd = 1, thrttl = 2, desacc = 3)
}
else
{
//return Failure("ERROR: intercept somehow not possible, even though head to head with target!");
# ASSUME OVERSHOOT, SO TRY A TAIL ATTACK
talatk();
}
}
else
{
//call nabort('AL344...UNKNOWN GEOMETRY');
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " ...UNKNOWN GEOMETRY");
writeln_d(msg);
return Failure(msg);
}
//lmore = .true.
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = gmxsu;
### Project and Evaluate (Score) Maneuver Alternative
double score = 0;
if (spdmod == 2)
{
score = brawlerPlatform.EvaluateVectorWithThrottle(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
}
else
{
score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0 * MATH.M_PER_FT(), ilevel, kalt, icall, lcall);
}
writeln_d("T=", TIME_NOW, ", 3441_tail_attack = ", score);
writeln_d("raw = ", brawlerPlatform.RawManeuverValueComponent("offensive"),
", ", brawlerPlatform.RawManeuverValueComponent("low speed recovery"),
", ", brawlerPlatform.RawManeuverValueComponent("defensive"),
", ", brawlerPlatform.RawManeuverValueComponent("illumination"),
", ", brawlerPlatform.RawManeuverValueComponent("missile evasion"),
", ", brawlerPlatform.RawManeuverValueComponent("missile aiming"));
writeln_d("component = ", brawlerPlatform.ManeuverValueComponent("offensive"),
", ", brawlerPlatform.ManeuverValueComponent("low speed recovery"),
", ", brawlerPlatform.ManeuverValueComponent("defensive"),
", ", brawlerPlatform.ManeuverValueComponent("illumination"),
", ", brawlerPlatform.ManeuverValueComponent("missile evasion"),
", ", brawlerPlatform.ManeuverValueComponent("missile aiming"));
writeln_d("tunnel = ", brawlerPlatform.TunnelVisionMultiplier("offensive"),
", ", brawlerPlatform.TunnelVisionMultiplier("low speed recovery"),
", ", brawlerPlatform.TunnelVisionMultiplier("defensive"),
", ", brawlerPlatform.TunnelVisionMultiplier("illumination"),
", ", brawlerPlatform.TunnelVisionMultiplier("missile evasion"),
", ", brawlerPlatform.TunnelVisionMultiplier("missile aiming"));
writeln_d("bias = ", brawlerPlatform.InherentBiasFaults("aggressiveness"),
", ", brawlerPlatform.InherentBiasFaults("mutual support"),
", ", brawlerPlatform.InherentBiasFaults("airspeed maintenance"));
writeln_d("mult = ", brawlerPlatform.OffensiveMultiplier(),
", ", brawlerPlatform.DefensiveMultiplier());
if (targetTrack.Target().IsValid())
{
writeln_d("engage = ", brawlerPlatform.LastEngagementValue(targetTrack.Target()));
}
return score;
end_precondition
execute
writeln_d("3441_tail_attack");
## what was evaluated should be actually performed now
if (spdmod == 2)
{
PLATFORM.FlyVectorWithThrottle(dir0, gmx, spd0);
}
else
{
PLATFORM.FlyVectorWithSpeed(dir0, gmx, spd0 * MATH.M_PER_FT());
}
end_execute
end_behavior

129
platforms/brawler/alternatives/behavior_alt3451_pull_gmax_sust.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt345.f
// Replicates the 3,4,5,1 alternative behavior
// alt3451_pull_gmax_sust
include_once BrawlerScriptUtil.txt
behavior alt3451_pull_gmax_sust
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3451Enabled = true;
bool mCheckRollOverTopValue = true; #this alternative assumes a different one has already evaluated and flown (to set the roll over the top value)
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 5;
int lcall = 1;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3451 pull_gmax_sust, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3451Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
##alt34.f line 160 //filter out this alternative?
double valrot = brawlerPlatform.RollOverTopValue();
if(mCheckRollOverTopValue == true && valrot == 0.0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " valrot == 0");
writeln_d(msg);
return Failure(msg);
}
##alt345.f line 104 - 119
#iactn = 4
#call makeh(vp(1,me),rot)
#dir0(1) = 0.001
#dir0(2) = 0.0
#dir0(3) = -1.000
#call vxfrmc(rot,dir0,dir0,2)
#call vnorm(dir0,dir0)
#gmx = gmxsu
#spd0 = 3.
#spdmod = thrttl
int iactn = 4;
Vec3 vp = PLATFORM.VelocityNED();
Array<double> rot = makeh(vp);
dir0 = Vec3.Construct(0.001, 0.0, -1.0);
dir0 = vxfrmc2(rot, dir0);
dir0.Normalize();
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = gmxsu;
spd0 = 3.0;
int spdmod = 2; //thrttl // spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithThrottle(dir0, gmx, spd0);
end_execute
end_behavior

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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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt347.f
// Replicates the 3,4,7,1 alternative behavior
// alt3471_slow_current_dir
behavior alt3471_slow_current_dir
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3471Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 7;
int lcall = 1;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3471 slow_current_dir, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3471Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
##alt347.f line 108 //initialize value
#call vnorm(vp(1,me),myvdir)
##alt347.f line 124 - 134
#iactn=4
#call xmit(3,myvdir,dir0)
#gmx=amin1(3.,gmxsu)
#spd0=spdnow(me)+almin*tproj3*1.1
#spd0 = amax1(200.,spd0)
#spdmod = desspd
Vec3 myvdir = PLATFORM.VelocityNED().Normal();
int iactn = 4;
dir0 = myvdir;
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = MATH.Min(3.0,gmxsu);
double almin = brawlerPlatform.MinForwardAccelWithGravity(); #ft/sec^2
spd0 = PLATFORM.Speed() * MATH.FT_PER_M() + almin * brawlerPlatform.ProjectedTimeDelta() * 1.1;
spd0 = MATH.Max(200.0, spd0);
spd0 *= MATH.M_PER_FT();
int spdmod = 1; //desspd // spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

119
platforms/brawler/alternatives/behavior_alt3472_slow_pull_right.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt347.f
// Replicates the 3,4,7,2 alternative behavior
// alt3472_slow_pull_right
behavior alt3472_slow_pull_right
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3472Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 7;
int lcall = 2;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3472 slow_pull_right, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3472Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
##alt347.f line 108 //initialize value
#call vnorm(vp(1,me),myvdir)
##alt347.f line 135 - 148
#iactn=4
#acc0(1)=0.
#acc0(2)=sroll
#acc0(3)=-croll
#call vxfrmc(rwep,dir0,acc0,2)
#gmx=gmxsu
#spd0=spdnow(me)+almin*tproj3*1.1
#spd0 = amax1(200.,spd0)
#spdmod = desspd
Vec3 myvdir = PLATFORM.VelocityNED().Normal();
int iactn = 4;
double sroll = 0.2588190; //sin of roll angle (15 deg)
double croll = 0.9659258; //cos of roll angle (15 deg)
Vec3 acc0 = Vec3.Construct(0.0, sroll, -croll);
dir0 = brawlerPlatform.ConvertWindtoNED(acc0);
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = gmxsu;
double almin = brawlerPlatform.MinForwardAccelWithGravity();
spd0 = PLATFORM.Speed() * MATH.FT_PER_M() + almin * brawlerPlatform.ProjectedTimeDelta() * 1.1;
spd0 = MATH.Max(200.0, spd0);
spd0 *= MATH.M_PER_FT();
int spdmod = 1; //desspd // spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

119
platforms/brawler/alternatives/behavior_alt3473_slow_pull_left.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt347.f
// Replicates the 3,4,7,3 alternative behavior
// alt3473_slow_pull_left
behavior alt3473_slow_pull_left
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3473Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 7;
int lcall = 3;
Vec3 a0; # maneuver plane
Vec3 dir0; # direction vector
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3473 slow_pull_left, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3473Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
##alt347.f line 108 //initialize value
#call vnorm(vp(1,me),myvdir)
##alt347.f line 150 - 163
#iactn=4
#acc0(1)=0.
#acc0(2)=-sroll
#acc0(3)=-croll
#call vxfrmc(rwep,dir0,acc0,2)
#gmx=gmxsu
#spd0=spdnow(me)+almin*tproj3*1.1
#spd0 = amax1(200.,spd0)
#spdmod = desspd
Vec3 myvdir = PLATFORM.VelocityNED().Normal();
int iactn = 4;
double sroll = 0.2588190; //sin of roll angle (15 deg)
double croll = 0.9659258; //cos of roll angle (15 deg)
Vec3 acc0 = Vec3.Construct(0.0, -sroll, -croll);
dir0 = brawlerPlatform.ConvertWindtoNED(acc0);
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = gmxsu;
double almin = brawlerPlatform.MinForwardAccelWithGravity();
spd0 = PLATFORM.Speed() * MATH.FT_PER_M() + almin * brawlerPlatform.ProjectedTimeDelta() * 1.1;
spd0 = MATH.Max(200.0, spd0);
spd0 *= MATH.M_PER_FT();
int spdmod = 1; //desspd // spdmod = thrttl (desspd = 1, thrttl = 2, desacc = 3)
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

121
platforms/brawler/alternatives/behavior_alt3474_slow_pull_current_plane.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt34.f -> alt347.f
// Replicates the 3,4,7,4 alternative behavior
// alt3474_slow_pull_current_plane
behavior alt3474_slow_pull_current_plane
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3474Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 4;
int icall = 7;
int lcall = 4;
Vec3 a0; # maneuver plane
double gmx; # max Gs
double spd0; # throttle setting
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
double grav = 32.17405;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition alt3474 slow_pull_current_plane, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3474Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
##alt347.f line 108 //initialize value
#call vnorm(vp(1,me),myvdir)
##alt347.f line 165 - 183
#if(xmag(ap(1,me)).lt.0.1)then
# //FAIL
#endif
#iactn=3
#call cross(myvdir,ap(1,me),a0)
#call vnorm(a0,a0)
#gmx = gmxsu*grav
#--spd0 is a throttle setting under the NEW iactn=3 format
#spd0 = -1.0
Vec3 myvdir = PLATFORM.VelocityNED().Normal();
Vec3 ap = PLATFORM.AccelerationNED(); //meters/sec^2
ap.Scale(Math.FT_PER_M()); //convert to feet/sec^2
if(ap.Magnitude() < 0.1)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " acceleration not high enough to clearly define a maneuever plane!");
writeln_d(msg);
return Failure(msg);
}
int iactn = 3;
a0 = Vec3.Cross(myvdir, ap).Normal();
double gmxsu = brawlerPlatform.MaxTacticalGs();
gmx = gmxsu*grav;
#--spd0 is a throttle setting under the NEW iactn=3 format
#spd0 = -1.0; //this means 100% thrust reversal setting
spd0 = 1.0; //NO thrust reversal in brawler -> -1 gets converted to 1 (mil power)
### Project and Evaluate (Score) Maneuver Alternative
double score = brawlerPlatform.EvaluateTurnInPlaneWithThrottle(a0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
PLATFORM.PullGsInPlaneWithThrottle(a0, gmx, spd0);
end_execute
end_behavior

207
platforms/brawler/alternatives/behavior_alt3511_break_right.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt35.f
// Replicates the 1v1 Defensive Maneuver 3,5,1,1 alternative behavior
// Defensive right break turn
// Operates on nearest perceived threat to generate maneuver alternative
include_once BrawlerScriptUtil.txt
behavior alt3511_break_right
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3511Enabled = true;
bool mCheckRange = true;
bool mCheckBoresight = true;
bool mCheckClosingSpeed = true;
// Alternative ID
int ilevel = 3;
int kalt = 5;
int icall = 1;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0;
double mGMX = 1.0;
double mSpd0 = 3.0;
// ALSO NEED:
// randomization to simulate imperfect desision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in socring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3511_break_right, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3511Enabled)
{
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (hostile) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!hostile.IsValid())
{
return Failure("no hostile track!");
}
//TODO - change this script so it doesn't use a truth method?
if (hostile.TargetKilled())
{
return Failure("hostile was destroyed!");
}
// alt35.f line 136 - 140
//if the predicted range (rngun) between me and threat greater then 2 nautical miles, skip
double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
if (mCheckRange == true && rangeToHostile > 2.0 * Math.M_PER_NM())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " nearest hostile further than 2 nautical miles");
writeln_d(msg);
return Failure(msg);
}
//if the off-bore angle between threat and me is greater than pi/2, skip
if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM) > Math.PI_OVER_2())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Boresight angle between hostile and me greater than Pi/2");
writeln_d(msg);
return Failure(msg);
}
//if the off-bore angle between me and the threat is less than pi/2 check more conditions
if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target()) < Math.PI_OVER_2())
{
//if the predicted range rate (rngrun) of the threat is greater then zero, skip
if (mCheckClosingSpeed == true && PLATFORM.ClosingSpeedOf(hostile) > 0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile is not closing");
writeln_d(msg);
return Failure(msg);
}
//if the predicted range minus the range rate * 2 is greater than 3000, skip
if (mCheckRange == true && rangeToHostile * Math.FT_PER_M() - (PLATFORM.ClosingSpeedOf(hostile) * 3.28084 * 2.0) > 3000.0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile further than 3000 ft within 2 seconds");
writeln_d(msg);
return Failure(msg);
}
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
// alt35.f line 141 - 153
# fill dir0 with values from dxpme(1,iac)
# vxfrmc(rwep,dir0,dir0,1) - transforms vectors as specified by an orientation matrix
# dir0(1) = 0
# vxfrmc(rwep,dir0,dir0,2)
# if(-xp(3,me).lt.5000.) dir0(3) = amin1(0.,dir0(3))
# vnorm(dir0,dir0)
# gmx = gmxin+(2.-gmxin)*ramp(1.,rngun(iac)*ftnmi,2.)
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
# spd0 = 3.
# spdmod = thrttl
mDir0 = RelativePositionNED(PLATFORM.Location(), projectedHostileLocation);
mDir0 = brawlerPlatform.ConvertNEDtoWind(mDir0);
mDir0.SetX(0.0);
mDir0 = brawlerPlatform.ConvertWindtoNED(mDir0);
if (PLATFORM.Altitude() < 5000.0 * Math.M_PER_FT())
{
mDir0.SetZ( Math.Min(0.0, mDir0.Z()) );
}
mDir0.Normalize();
mGMX = brawlerPlatform.MaxAvailableGs() + (2.0 - brawlerPlatform.MaxAvailableGs()) *
ramp(1.0, rangeToHostile * Math.M_PER_NM(), 2.0);
mSpd0 = 3.0;
### Evaluate (Score) Maneuver Alternative
double alternativeScore = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
### Return Maneuver Alternative Score
return alternativeScore;
end_precondition
execute
writeln_d(PLATFORM.Name(), " executing behavior_alt3511_break_right, T=", TIME_NOW);
// Fly this alternative
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
# if (mDrawSteering == true)
# {
# mDraw.SetLayer("behavior_pursue_target");
# mDraw.SetDuration(processor.UpdateInterval());
# mDraw.SetColor(1.0, 0.5, 0.0);
# mDraw.SetLineSize(1);
# mDraw.BeginLines();
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(mTargetPoint);
# mDraw.End();
# }
#
# string msg = write_str("pursue-target: ", targetTrack.TargetName(), " at speed ", (string)mTargetSpeed);
# writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
# FlyTarget( PLATFORM, mTargetPoint, mTargetSpeed);
end_execute
end_behavior

210
platforms/brawler/alternatives/behavior_alt3531_break_left.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt35.f
// Replicates the 1v1 Defensive Maneuver 3,5,3,1 alternative behavior
// Defensive left break turn
// Operates on nearest perceived threat to generate maneuver alternative
include_once BrawlerScriptUtil.txt
behavior alt3531_break_left
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3531Enabled = true;
bool mCheckRange = true;
bool mCheckBoresight = true;
bool mCheckClosingSpeed = true;
// Alternative ID
int ilevel = 3;
int kalt = 5;
int icall = 3;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0;
double mGMX = 1.0;
double mSpd0 = 3.0;
// ALSO NEED:
// randomization to simulate imperfect desision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in socring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3531_break_left, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3531Enabled)
{
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (hostile) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!hostile.IsValid())
{
return Failure("no hostile track!");
}
//TODO - change this script so it doesn't use a truth method?
if (hostile.TargetKilled())
{
return Failure("hostile was destroyed!");
}
// alt35.f line 184 - 188
# if(rngun(iac)*ftnmi .gt. 2.) go to 205
# if(obang(iac,me) .gt. hafpi) go to 205
# if(obang(me,iac).gt.hafpi) go to 232
# if(rngrun(iac) .gt. 0.) go to 205
# if(rngun(iac)-rngrun(iac)*2. .gt. 3000.) go to 205
//if the predicted range (rngun) between me and threat greater then 2 nautical miles, skip
double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
if (mCheckRange == true && rangeToHostile > 2.0 * Math.M_PER_NM())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " nearest hostile further than 2 nautical miles");
writeln_d(msg);
return Failure(msg);
}
//if the off-bore angle between threat and me is greater than pi/2, skip
if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM) > Math.PI_OVER_2())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Boresight angle between hostile and me greater than Pi/2");
writeln_d(msg);
return Failure(msg);
}
//if the off-bore angle between me and the threat is less than pi/2 check more conditions
if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target()) < Math.PI_OVER_2())
{
//if the predicted range rate (rngrun) of the threat is greater then zero, skip
if (mCheckClosingSpeed == true && PLATFORM.ClosingSpeedOf(hostile) > 0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile is not closing");
writeln_d(msg);
return Failure(msg);
}
//if the predicted range minus the range rate * 2 is greater than 3000, skip
if (mCheckRange == true && rangeToHostile * Math.FT_PER_M() - (PLATFORM.ClosingSpeedOf(hostile) * 3.28084 * 2.0) > 3000.0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile further than 3000 ft within 2 seconds");
writeln_d(msg);
return Failure(msg);
}
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
// alt35.f line 189 - 201
#232 continue
# call xmit(3,dxp(1,me,iac),dir0)
# call vxfrmc(rwep,dir0,dir0,1)
# dir0(1) = 0.
# call vxfrmc(rwep,dir0,dir0,2)
# if(-xp(3,me).lt.5000.) dir0(3) = amin1(0.,dir0(3))
# call vnorm(dir0,dir0)
# gmx = gmxin+(2.-gmxin)*ramp(1.,rngun(iac)*ftnmi,2.)
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
# spd0 = 3.
# spdmod = thrttl
mDir0 = RelativePositionNED(PLATFORM.Location(), projectedHostileLocation);
mDir0 = brawlerPlatform.ConvertNEDtoWind(mDir0);
mDir0.SetX(0.0);
mDir0 = brawlerPlatform.ConvertWindtoNED(mDir0);
if (PLATFORM.Altitude() < 5000.0 * Math.M_PER_FT())
{
mDir0.SetZ( Math.Min(0.0, mDir0.Z()) );
}
mDir0.Normalize();
mGMX = brawlerPlatform.MaxAvailableGs() + (2.0 - brawlerPlatform.MaxAvailableGs()) *
ramp(1.0, rangeToHostile * Math.M_PER_NM(), 2.0);
mSpd0 = 3.0;
### Evaluate (Score) Maneuver Alternative
double alternativeScore = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
### Return Maneuver Alternative Score
return alternativeScore;
end_precondition
execute
writeln_d(PLATFORM.Name(), " executing behavior_alt3531_break_left, T=", TIME_NOW);
// Fly this alternative
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
# if (mDrawSteering == true)
# {
# mDraw.SetLayer("behavior_pursue_target");
# mDraw.SetDuration(processor.UpdateInterval());
# mDraw.SetColor(1.0, 0.5, 0.0);
# mDraw.SetLineSize(1);
# mDraw.BeginLines();
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(mTargetPoint);
# mDraw.End();
# }
#
# string msg = write_str("pursue-target: ", targetTrack.TargetName(), " at speed ", (string)mTargetSpeed);
# writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
# FlyTarget( PLATFORM, mTargetPoint, mTargetSpeed);
end_execute
end_behavior

156
platforms/brawler/alternatives/behavior_alt3551_run_away.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt35.f
// Replicates the 1v1 Defensive Maneuver 3,5,5,1 alternative behavior
// RUN AWAY!
include_once BrawlerScriptUtil.txt
behavior alt3551_run_away
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3551Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 5;
int icall = 5;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3551_run_away, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3551Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
writeln_d("no weapon (hostile) tasks!");
return Failure("no weapon (hostile) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!hostile.IsValid())
{
writeln_d("no hostile track!");
return Failure("no hostile track!");
}
//TODO - change this script so it doesn't use a truth method?
if (hostile.TargetKilled())
{
writeln_d("hostile was destroyed!");
return Failure("hostile was destroyed!");
}
// alt35.f line 233 - 234
# rrunmn = 5.*ramp(twopi,obang(iac,me)+obang(me,iac),0.)
# if(rngun(iac)*ftnmi .lt. rrunmn) go to 205
double obang_hostile_me = brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM);
double obang_me_hostile = brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target());
double rrunmn = 5.0 * ramp(Math.TWO_PI(), obang_hostile_me + obang_me_hostile, 0.0);
double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
if (rangeToHostile * Math.M_PER_NM() < rrunmn)
{
// Hostile too far
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " range to hostile < minimum range to run");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
// alt35.f line 235 - 243
#245 continue
# iactn = 4
# call vmult(-1.,dxeuan(1,iac),dir0)
# lenalt = lactn(iactn)
# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
# dir0(3) = 0.
# gmx = gmxsu
# spd0 = 3.
# spdmod = thrttl
Vec3 dxeuan = RelativePositionNED(PLATFORM.Location(), projectedHostileLocation);
mDir0.SetX(dxeuan.X() * -1.0);
mDir0.SetY(dxeuan.Y() * -1.0);
mDir0.SetZ(0.0);
mGMX = brawlerPlatform.MaxSustainedGs();
mSpd0 = 3.0;
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
writeln_d("mDir0 = ", mDir0.ToString(), ", mGMX = ", mGMX, ", mSpd0 = ", mSpd0, ", score = ", score, ", my speed = ", PLATFORM.Speed());
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

143
platforms/brawler/alternatives/behavior_alt3561_force_overshoot.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt35.f
// Replicates the force overshoot 3,5,6,1 alternative behavior
behavior alt3561_force_overshoot
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3561Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 5;
int icall = 6;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0;
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3561_force_overshoot, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3561Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (hostile) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!hostile.IsValid())
{
return Failure("no hostile track!");
//TODO also validate location / veloctiy
}
// alt35.f line 247
# if(rngun(iac).gt.3000.) go to 205
double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
if (rangeToHostile > 3000 * Math.FT_PER_M())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " hostile range greater than 3000 ft");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
// alt35.f line 249 - 256
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
# call cros1(vp(1,me),vp(1,iac),dir0)
# if(dir0(3).gt.0.) call vmult(-1.,dir0,dir0)
# gmx = amin1(5.,gmxin)
# spd0 = spdnow(me)+almin*tproj3*1.1
# spdmod = desspd
Vec3 myVdir = PLATFORM.VelocityNED();
Vec3 tgtVdir = hostile.VelocityNED();
mDir0 = Vec3.Cross(myVdir, tgtVdir);
mDir0.Normalize();
if (mDir0.Z() > 0)
{
mDir0.Scale(-1.0);
}
mGMX = Math.Min(5.0, brawlerPlatform.MaxAvailableGs());
double almin = brawlerPlatform.MinForwardAccelWithGravity();
mSpd0 = PLATFORM.Speed() * MATH.FT_PER_M() + almin * brawlerPlatform.ProjectedTimeDelta() * 1.1;
mSpd0 *= MATH.M_PER_FT();
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
writeln_d("T=", TIME_NOW, ", 3561_force_overshoot = ", score);
return score;
end_precondition
execute
writeln_d("3561_force_overshoot");
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithSpeed(mDir0, mGMX, mSpd0);
end_execute
end_behavior

165
platforms/brawler/alternatives/behavior_alt3581_negative_velocity.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt35.f
// Replicates the negative velocity 3,5,8,1 alternative behavior
include_once BrawlerScriptUtil.txt
behavior alt3581_negative_velocity
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3581Enabled = true;
bool mCheckBoresight = true;
bool mCheckRange = true;
// Alternative ID
int ilevel = 3;
int kalt = 5;
int icall = 8;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0;
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3581_negative_velocity, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3581Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (hostile) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!hostile.IsValid())
{
return Failure("no hostile track!");
}
//TODO - change this script so it doesn't use a truth method?
if (hostile.TargetKilled())
{
return Failure("hostile was destroyed!");
}
// alt35.f line 282 - 285
# if(spdut(iac).eq.0.0)goto 205
# if(obang(iac,me).gt.hafpi) go to 205
# rrunmn = 5.*ramp(twopi,obang(iac,me)+obang(me,iac),0.) <- same as 3551
# if(rngun(iac)*ftnmi .gt. rrunmn+1.) go to 205
if (!hostile.VelocityValid() || (hostile.Speed()*MATH.FT_PER_M()) < 1)
{
// If we don't have valid velocity or spoed is effectively zero
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " hostile has invalid or no speed");
writeln_d(msg);
return Failure(msg);
}
double obang_hostile_me = brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM);
double obang_me_hostile = brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target());
if (mCheckBoresight == true && obang_hostile_me > Math.PI_OVER_2())
{
// Not ahead of hostile
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " off boresight angle hostile to me > Pi/2");
writeln_d(msg);
return Failure(msg);
}
double rrunmn = 5.0 * ramp(Math.TWO_PI(), obang_hostile_me + obang_me_hostile, 0.0);
double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
if (mCheckRange == true && rangeToHostile * Math.M_PER_NM() < rrunmn + 1.0)
{
// Hostile too far
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " range to hostile < minimum range to run");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
// alt35.f line 286 - 292
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
# call vmake(-1.,veut(1,iac),dir0)
# gmx = gmxsu
# spd0 = 3.
# spdmod = thrttl
mDir0 = vmake(-1.0, hostile.VelocityNED());
mGMX = brawlerPlatform.MaxSustainedGs();
mSpd0 = 3.0;
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

153
platforms/brawler/alternatives/behavior_alt3611_fly_vector.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.
# ****************************************************************************
// converted from BRAWLER v7.5 alt36.f
// Replicates the blah blah 3,6,1,1 alternative behavior
// blah blah
// alt3611_fly_vector
behavior alt3611_fly_vector
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
WsfLocalTrack targetTrack;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3611Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 6;
int icall = 1;
int lcall = 1;
double mMaxSustainedG = 2.0;
double mLongRange = 5.0 * Math.M_PER_NM();
Vec3 dir0;
double gmx = 1.0;
double spd0 = 3.0;
// ALSO NEED:
// randomization to simulate imperfect decision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in scoring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt33841_aim_missile_typ4, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
### check if alternative should even be considered?
if (!mAlternative3611Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (target) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid())
{
return Failure("no target track!");
}
extern Vec3 vecfpp;
extern double valfpp;
extern double sflypp;
#alt36()
#iactn = 4
#set_gmx()
Vec3 vv = vecfpp.Normal();
dir0 = desvvi(brawlerPlatform, vv, sflypp);
spd0 = dir0.Magnitude();
dir0.Normalize();
//spdmod = desspd;
//call indupk(altd1,tac_ilevel,tac_kalt,tac_icall,tac_lcall);
//if (tac_kalt.ne.8 .or. tac_icall.ne.2) then
if ((PLATFORM.Speed()*MATH.FT_PER_M()) <= spd0+100.0)
{
double gmxsut = brawlerPlatform.MaxSustainedGs();
double gmxsu = brawlerPlatform.MaxTacticalGs();
double wt = ramp(spd0 - 100.0, PLATFORM.Speed()*MATH.FT_PER_M(),spd0+100.0);
gmx = wt*MATH.Max(2.0,MATH.Max(gmxsut,gmxsu)) + (1.0-wt)*MATH.Min(gmxsut,gmxsu);
gmx = MATH.Max(gmx,2.0);
}
else
{
gmx = brawlerPlatform.MaxAvailableGs(); #gmxin;
}
//else
#LBM - not doing GCI drag tactic (1,8,2,1) right now
//...
//endif
spd0 *= MATH.M_PER_FT();
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
writeln_d("alt3611_fly_vector score = ", score);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

201
platforms/brawler/alternatives/behavior_alt3841_aim_missile_typ4.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt38.f
// Replicates the blah blah 3,8,4,1 alternative behavior
// blah blah
//alt3841_aim_missile_typ4
//LBM - NOTE: using typ4 because it uses maneuver type 4 (instead of type 9)
// according to notes in BRAWLER, this is the replacement for typ1
// especially for certain sims because of stability problems
behavior alt3841_aim_missile_typ4
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
WsfLocalTrack targetTrack;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3841Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 8;
int icall = 4;
int lcall = 1;
double mMaxSustainedG = 2.0;
double mLongRange = 5.0 * Math.M_PER_NM();
Vec3 dir0;
double gmx = 1.0;
double spd0 = 3.0;
// ALSO NEED:
// randomization to simulate imperfect decision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in scoring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt33841_aim_missile_typ4, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
### check if alternative should even be considered?
if (!mAlternative3841Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (target) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid())
{
return Failure("no target track!");
}
bool alt_ctrl = false; //see ali38()
bool msl_loft = false; //see line 147 (no productions rules right now)
## alt38.f : lines 136 - 150
#if (noaim) go to 980
#if (mslpp .ge. nummis+1) then
if (!HaveWeapon(PLATFORM))
{
# SKIP ALT_CTRL DETERMINATION IF SELECTED WEAPON IS A GUN
alt_ctrl = false;
msl_loft = false;
//go to 900
}
else
{
#call gmisld(ppmptr,1) #TODO
# Call special handler to see if desire missile loft
#call pcode(23) #TODO
# Loft missile if ready and pr_loft is set
#msl_loft = (ready && pr_loft); #TODO
}
## alt38.f : lines 227 - 253
# generate aim_missile_typ4 unless alt_ctrl = T.
if (alt_ctrl)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " alt_ctrl is true, do not do aim_missile_typ4 behavior");
writeln_d(msg);
return Failure(msg);
}
# generate aim_missile_typ1 if pointing in direction of aimpoint
#LBM - not doing vectored flight right now
# if (valfpp > 0.0)
# {
# double theta = sepa(dxeuan(1,ppmiac),vecfpp);
# if (theta > 0.8*zeta_lim)
# {
# return Failure("not pointing in right direction, do not do aim_missile_typ4 behavior");
# }
# }
#LBM - not a manned sim, dont even check, right now
#if (simltr != mansim) goto 900
# This is a replacement for icall=1 maneuver, for manned simulators
# Use a type 4 maneuver to avoid stability problems with type
# 9 maneuver at WSSC:
int iactn = 4;
Vec3 ppmapt; //calculated from mlsenv() -> envgeo() -> aimpt()
WsfWaypoint aimptWP = WsfWaypoint();
double weaponSpeedFtSec = 3349.35; //(mach 3) ft/sec
double intTime = PLATFORM.InterceptLocation3D(targetTrack, aimptWP, weaponSpeedFtSec, 5.0);
if (intTime < 0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " missile intercept not possible!");
writeln_d(msg);
return Failure(msg);
}
#call vdir(xp(1,me),ppmapt,desdir);
Vec3 desdir = RelativePositionNED(PLATFORM.Location(), aimptWP.Location());
desdir.Normalize();
double spddes = PLATFORM.Speed()*MATH.FT_PER_M(); //from ali38() -> slow_aim is never set, so use current speed
#call des1v1(desdir,spddes,dir0,spd0,lngtrn,semin,sewid);
spd0 = spddes; //from des1v1 (direct copy, duh)
dir0 = desdir; //from des1v1 (direct copy, duh)
int spdmod = 1; //(desspd = 1, thrttl = 2, desacc = 3)
if ((PLATFORM.Speed()*MATH.FT_PER_M()) <= spd0+100.0)
{
double gmxsut = brawlerPlatform.MaxSustainedGs();
double gmxsu = brawlerPlatform.MaxTacticalGs();
double wt = ramp(spd0-100.0, PLATFORM.Speed()*MATH.FT_PER_M(), spd0+100.0);
gmx = wt*MATH.Max(2.0,MATH.Max(gmxsut,gmxsu)) + (1.0-wt)*MATH.Min(gmxsut,gmxsu);
gmx = MATH.Max(gmx,2.0);
}
else
{
gmx = brawlerPlatform.MaxAvailableGs(); #gmxin
}
spd0 *= MATH.M_PER_FT();
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

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platforms/brawler/alternatives/behavior_alt3911_evade_missile.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt39.f
// Replicates the evade missile 3,9,1,1 alternative behavior
// GENERATES MISSILE EVASION MANEUVER
behavior alt3911_evade_missile
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfThreatProcessor threatProc;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3911Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 9;
int icall = 1;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
threatProc = (WsfThreatProcessor)PLATFORM.Processor("incoming_threats");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3911_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3911Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTrack threat = threatProc.NearestThreat();
if (!threat.IsValid())
{
// This check equivalent to noneed in alt39.f
writeln_d("no incoming missiles");
return Failure("no incoming missiles");
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,9,1,1,0,0)
# call xmit(3,direv,dir0)
# gmx = gmxin
# spd0 = throtm(iacid) <- limits throttle to 2 if there are IR missiles coming at me
# spdmod = thrttl
// Get stored evasion direction vector
//Vec3 direvd = brawlerPlatform.EvasionDirection();
Vec3 direvd = brawlerPlatform.EvasionDirection();
mDir0 = direvd;
mGMX = brawlerPlatform.MaxAvailableGs();
mSpd0 = 2; // Always 2 for now
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

140
platforms/brawler/alternatives/behavior_alt3A11_low_speed_recover.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt3a.f
// Replicates the low speed recover 3,A,1,1 alternative behavior
include_once BrawlerScriptUtil.txt
behavior alt3A11_low_speed_recover
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3A11Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 10;
int icall = 1;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3A11Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
if (!brawlerPlatform.SlowFlight())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " not in slow flight");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# C ALTERNATIVE 1: "ALMOST" STRAIGHT DOWN
#20 continue
#C --SET DIR0 ALMOST STRAIGHT DOWN, BUT SLIGHLY IN THE DIRECTION
#C --OF MY CURRENT VELOCITY
# call xmit3(unitz,dir0)
# call vcross(vp(1,me),unitz,vtemp)
# call rotv(2.0*rad,vtemp,dir0,dir0)
# go to 990
#990 submor = .true.
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,10,icall,1,0,0)
#C --SET TO HIGHEST THROTTLE SETTING FOR MAX SPEED
# spd0 = 3.
# spdmod = thrttl
# call srch(dragvl,ndatbl,acmasp*grav,index,xx) <- search drag versus lift table for aircraft mass * gravity
# if(index.ne.0) go to 995
# index = ndatbl
# xx = 0.0
#995 continue
# gmx = gmxin*(index-xx-1.0)/(ndatbl-1.0)
# gmx = amax1(gmx,1.5)
# gmx = 1.5+(gmx-1.5)*ramp(.5,vp(3,me)/spdnow(me),0.)
mDir0 = Vec3.Construct(0, 0, 1);
Vec3 vtemp = Vec3.Cross(PLATFORM.VelocityNED(), mDir0);
double rad = Math.PI()/180.0;
mDir0 = rotv(2.0*rad, vtemp, mDir0);
mSpd0 = 3;
mGMX = brawlerPlatform.MaxAvailableGs(); // TODO add drag v lift
mGMX = Math.Max(mGMX, 1.5);
Vec3 vp = PLATFORM.VelocityNED();
double speed = PLATFORM.Speed() * Math.FT_PER_M(); // Speed in f/sec
mGMX = 1.5 + (mGMX - 1.5) * ramp(0.5, (vp[2] * Math.FT_PER_M()/speed), 0.0);
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

139
platforms/brawler/alternatives/behavior_alt3A21_low_speed_recover_right45.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt3a.f
// Replicates the low speed recover right 45 deg 3,A,2,1 alternative behavior
behavior alt3A21_low_speed_recover_right45
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3A21Enabled = false;
// Alternative ID
int ilevel = 3;
int kalt = 10;
int icall = 2;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
// Magic numbers from alt3a.f
double sd45 = 0.7071068;
double cd45 = 0.7071068;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3A21Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
if (!brawlerPlatform.SlowFlight())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " not in slow flight");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
#C ALTERNATIVE 2: ROLL +45 DEGREES
#40 continue
# dir0(1) = 0.
# dir0(2) = sd45
# dir0(3) = -cd45
# call vxfrmc(rbep,dir0,dir0,2)
# go to 990
#990 submor = .true.
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,10,icall,1,0,0)
#C --SET TO HIGHEST THROTTLE SETTING FOR MAX SPEED
# spd0 = 3.
# spdmod = thrttl
# call srch(dragvl,ndatbl,acmasp*grav,index,xx)
# if(index.ne.0) go to 995
# index = ndatbl
# xx = 0.0
#995 continue
# gmx = gmxin*(index-xx-1.0)/(ndatbl-1.0)
# gmx = amax1(gmx,1.5)
# gmx = 1.5+(gmx-1.5)*ramp(.5,vp(3,me)/spdnow(me),0.)
mDir0 = Vec3.Construct(0.0, sd45, -cd45);
//TODO convert from earth to body coordinates
mSpd0 = 3;
mGMX = brawlerPlatform.MaxAvailableGs(); // TODO add drag v lift
mGMX = Math.Max(mGMX, 1.5);
Vec3 vp = PLATFORM.VelocityNED();
double speed = PLATFORM.Speed() * Math.FT_PER_M(); // Speed in f/sec
mGMX = 1.5 + (mGMX - 1.5) * ramp(0.5, (vp[2] * Math.FT_PER_M()/speed), 0.0);
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

139
platforms/brawler/alternatives/behavior_alt3A31_low_speed_recover_left45.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt3a.f
// Replicates the low speed recover left 45 deg 3,A,3,1 alternative behavior
behavior alt3A31_low_speed_recover_left45
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3A31Enabled = false;
// Alternative ID
int ilevel = 3;
int kalt = 10;
int icall = 3;
int lcall = 1;
// Maneuver Alternative flight values
Vec3 mDir0 = Vec3();
double mGMX = 1.0;
double mSpd0 = 3.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
// Magic numbers from alt3a.f
double sd45 = 0.7071068;
double cd45 = 0.7071068;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3A31Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
if (!brawlerPlatform.SlowFlight())
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " not in slow flight");
writeln_d(msg);
return Failure(msg);
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# C ALTERNATIVE 3: ROLL -45 DEGREES
#60 continue
# dir0(1) = 0.
# dir0(2) = -sd45
# dir0(3) = -cd45
# call vxfrmc(rbep,dir0,dir0,2)
# go to 990
#990 submor = .true.
# iactn = 4
# lenalt = lactn(iactn)
# altdsc = altpk(3,10,icall,1,0,0)
#C --SET TO HIGHEST THROTTLE SETTING FOR MAX SPEED
# spd0 = 3.
# spdmod = thrttl
# call srch(dragvl,ndatbl,acmasp*grav,index,xx)
# if(index.ne.0) go to 995
# index = ndatbl
# xx = 0.0
#995 continue
# gmx = gmxin*(index-xx-1.0)/(ndatbl-1.0)
# gmx = amax1(gmx,1.5)
# gmx = 1.5+(gmx-1.5)*ramp(.5,vp(3,me)/spdnow(me),0.)
mDir0 = Vec3.Construct(0.0, -sd45, -cd45);
//TODO convert from earth to body coordinates
mSpd0 = 3;
mGMX = brawlerPlatform.MaxAvailableGs(); // TODO add drag v lift
mGMX = Math.Max(mGMX, 1.5);
Vec3 vp = PLATFORM.VelocityNED();
double speed = PLATFORM.Speed() * Math.FT_PER_M(); // Speed in f/sec
mGMX = 1.5 + (mGMX - 1.5) * ramp(0.5, (vp[2] * Math.FT_PER_M()/speed), 0.0);
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
end_execute
end_behavior

188
platforms/brawler/alternatives/behavior_alt3B11_illuminate.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt3b.f
// Replicates the illuminate 3,B,1,1 alternative behavior
// GENERATES ILLUMINATION MANEUVER
//
behavior alt3B11_illuminate
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfPerceptionProcessor perception;
WsfBrawlerPlatform brawlerPlatform;
WsfLocalTrack targetTrack;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
bool mAlternative3B11Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 11;
int icall = 1;
int lcall = 1;
double mMaxSustainedG = 2.0;
double mLongRange = 5.0 * Math.M_PER_NM();
Vec3 dir0;
double gmx = 1.0;
double spd0;
// ALSO NEED:
// randomization to simulate imperfect decision making, valsig, read from MIND file, typically ~0.01
// Production rule bias, used in scoring of alternative
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
WsfDraw mDraw = WsfDraw();
double mLastTime = 0.0;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3B11_illuminate, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
### check if alternative should even be considered?
if (!mAlternative3B11Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no weapon (target) tasks!");
}
WsfTask targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid())
{
return Failure("no target track!");
}
## alt3b.f : lines 84 - 127
# if(!lillum)
# {
# return Failure("lillum == false");
# }
#
dir0 = Vec3.Construct(0,0,0);
#if(nbvr == 0) call nabort('ALT3B...NBVR=0')
# #LBM - only fly against targetTrack, not all things
# do 50 ibvr=1,nbvr
# if (jtgbvr(ibvr).lt.0) call nabort('ALT3B...JTGBVR IS ZERO')
# if (jtgbvr(ibvr).eq.0) goto 50
# iac = mmindt(jtgbvr(ibvr))
# if (iac.eq.0) goto 50
#call vdir(xp(1,me),xp(1,iac),dx)
Vec3 dx = RelativePositionNED(PLATFORM.Location(), targetTrack.CurrentLocation());
dx.Normalize();
Vec3 vp = PLATFORM.VelocityNED();
Vec3 dir0i = vorth(vp,dx);
#call veclin(0.5/xmag(dir0i),dir0i,root3*0.5,dx,dir0i)
//missile phases:
//pinfr=1, psema=2, pactr=3, pcomg=4, pguns=5, phor=6, p_act_ir_1=7, p_inertial=8, pnewg=9
int kndbvr; //TODO? = pcomg if command guided launch
int psema = 2; //semi active
int pcomg = 4; //command guided
if (kndbvr == psema)
{
# SEMI-ACTIVE MISSILE, GIVE FULL WEIGHT
#call vsum(dir0,dir0i,dir0);
}
else if (kndbvr == pcomg)
{
# ACTIVE RADAR MISSILE, PRESUMABLY PRE-ACQUISITION
# GIVE 50% WEIGHT TO ITS ILLUM VECTOR
#call vecinc(dir0,0.5,dir0i,dir0)
}
else
{
#call nabort('ALT3B...unknown/illegal kndbvr')
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " unknown/illegal kndbvr");
writeln_d(msg);
return Failure(msg);
}
# If BVR target is not to be considered in high detail do not
# illuminate
if (dir0.Magnitude() == 0.0)
{
string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " dir0 == zero");
writeln_d(msg);
return Failure(msg);
}
#call unitv(dir0,dir0)
int iactn = 4;
gmx = 2.0;
double bvrmch = 1.0; //TODO - find for real
double fmachp = 1.0; //TODO - find for real
spd0 = PLATFORM.Speed() * MATH.Max(1.0,bvrmch/fmachp); #spd0 in meter/seconds units here
int spdmod = 1; //(desspd = 1, thrttl = 2, desacc = 3)
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateVectorWithSpeed(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyVectorWithSpeed(dir0, gmx, spd0);
end_execute
end_behavior

123
platforms/brawler/alternatives/behavior_alt3G11_barrel_roll.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.
# ****************************************************************************
// converted BRAWLER v7.5 alt3g.f and brlrol.f
// Replicates the barrel roll 3,16,1,1 alternative behavior
// DO A BARREL ROLL! - Peppy
behavior alt3G11_barrel_roll
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
// Takes the place of 'brlflg'
bool mAlternative3G11Enabled = true;
// Alternative ID
int ilevel = 3;
int kalt = 16;
int icall = 1;
int lcall = 1;
// Barrel Roll Generation Parameters (formerly from rules file)
// See Brawler Production Rule Handbook 2.1.2.4 Barrel Roll - brlrol
double rolrat = 15; // Desired roll rate in degrees/sec
double ptchrt = 30; // Desired pitch rate in degrees/sec
double lgees = 0; // Desired longitudinal acceleration in units of gees.
// Maneuver Alternative flight values
Vec3 mA0 = Vec3();
Vec3 mAl0 = Vec3();
double mAccmod = 0.0;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
double grav = 32.17405; // From pcon.fi
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
#writeln_d(PLATFORM.Name(), " precondition behavior_alt3G11_barrel_roll, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
if (!mAlternative3G11Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
// ALL CONDITIONS PASS
### Generate Maneuver Alternative
# brlrol.f
#--NEXT LINE ALLOWS ALT3G TO GENERATE ALTERNATIVE
#brlflg=.true.
#if(lprnt) write(ioutp,1000) rolrat,ptchrt,lgees
#--SET DESIRED RATES
#w0(1)=rolrat*rad
#w0(2)=ptchrt*rad
#w0(3)=0.0
#al0 = grav*lgees
#accmod = desacc
#call xmit(5,althld(5),baralt)
mA0.SetX(rolrat * Math.RAD_PER_DEG());
mA0.SetY(ptchrt * Math.RAD_PER_DEG());
mA0.SetZ(0.0);
mAl0.SetX(grav * lgees); // Note al0 is actually a singe value, it is set to vector accreq(1) in command.f
//mAccmod = ??; where do we get desacc?
# alt3g.f
#iactn = 1
#lenalt=lactn(iactn)
#altdsc = indpk(3,16,1,1)
#call xmit(5,baralt,althld(5)) <- copy predefined barrel roll maneuver into alternative storage
### Evaluate [Projected] Maneuver Alternative
double score = brawlerPlatform.EvaluateRates(mA0, mAl0, ilevel, kalt, icall, lcall);
return score;
end_precondition
execute
## what was evaluated should be actually performed now
brawlerPlatform.FlyRates(mA0, mAl0);
end_execute
end_behavior

264
platforms/brawler/alternatives/behavior_pilot_posture.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 pilot_posture
script_debug_writes off
script_variables
WsfTask targetTask;
WsfLocalTrack targetTrack;
WsfQuantumTaskerProcessor processor;
WsfBrawlerPlatform brawlerPlatform;
double root3 = 1.732050808; # pcon.fi
double splita = 45.0; # MIND file, TODO - use read in value
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
precondition
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
string err = write_str("no weapon (target) tasks!");
writeln_d(err);
return Failure(err);
}
targetTask = tasks.Entry(0);
targetTrack = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
if (!targetTrack.IsValid() || targetTrack.TargetKilled())
{
string err = write_str("no target track!");
writeln_d(err);
return Failure(err);
}
return true;
end_precondition
execute
writeln_d("executing pilot_posture");
Vec3 xp = brawlerPlatform.LocationNED();
Vec3 vp = PLATFORM.VelocityNED();
double spdnow = PLATFORM.Speed()*MATH.FT_PER_M();
Vec3 xp_iac = brawlerPlatform.LocationNED(targetTrack);
Vec3 vp_iac = targetTrack.VelocityNED();
#aslct2()
#spcial()
#spbvri()
// "iac" is target index, get target track from WEAPON task, for now
Vec3 hlvec = Vec3();
double hlspd = 0.0;
double hlval = 0.0;
extern int kturn;
//C --GET KTURN VALUE
//call ckrngi(myturn,-2,2,'~KTURN(IACID)~')
double sgn = 1.0;
if (kturn<0)
{
sgn = -1.0;
}
#double vsme = 0.0; #TODO - speed of sound
#double bvrmch = 0.0; #TODO - mach to use BVR (MIND2)
#double bvrmch = PLATFORM.Speed()*MATH.FT_PER_M() / vsme;
#double sa = vsme*bvrmch;
double sa = brawlerPlatform.Speed()*MATH.FT_PER_M();
//call asstgt(iacord,jacidord,virtl,nassign)
//if(nassign.eq.0) goto 900
//iac = iacord(1);
if (kturn != 0)
{
writeln_d("kturn != 0");
//C --THIS CODE NOT NEEDED FOR POINT TACTIC:
//C --COMPUTE INTERCEPT PT AIMP, BASED ON MAX OF MACH 1 OR PRESENT MACH
//C --USE THE FIRST MEMBER OF THE ASSIGNED TARGET GROUP.
#st = xmag(vp(1,iac));
double st = vp_iac.Magnitude();
//LBM - TODO - verify units used in WsfBrawlerPlatform AimPoint and Intercept() methods!!!
#call aimpt(xp(1,me),amax1(sa,vsme),xp(1,iac),vp_iac,st,aimp,lsoln);
#Vec3 aimp = brawlerPlatform.AimPoint(xp, MATH.Max(sa, vsme), xp_iac, vp_iac, st);
Vec3 aimp = brawlerPlatform.AimPoint(xp, sa, xp_iac, vp_iac, st);
#Vec3 dxpme = Vec3.Subtract(xp_iac, xp);
#Vec3 dxt = dxpme;
Vec3 dxt = Vec3.Subtract(xp_iac, xp);
dxt.SetZ(0.0);
dxt.Normalize();
if(aimp.Magnitude() > 0)
{
#call vsub(aimp,xp(1,me),dxi);
Vec3 dxi = Vec3.Subtract(aimp, xp);
dxi.SetZ(0.0);
dxi.Normalize();
}
}
# if (kturn == 0) //C --POINT AT TGT
# {
# hdes = -xp(3,me);
# if (lbit(pp_skrs,saskr) || pp_comg)
# {
# if (!ppmtrk)
# {
# hdes = amin1(hdes,-xp(3,iac));
# }
# }
## //LBM - dont worry about rules right now
## //C --CHANGED RULFLG VALUE 18 NOV 87 DICKERSON
## if (rulflg == 1510)
## {
## call pcode(-rulflg);
## hdes = prdalt;
## }
#
# Vec3 aimpt = ((WsfBrawlerPlatform)PLATFORM).AimPoint(Vec3, double, Vec3, Vec3, double);
#
# #call intcpt(xp(1,me),spdnow(me),xp(1,iac),vp(1,iac),root3/2.0,0.0,hdes,hlvec,hlspd);
# hlvec = ((WsfBrawlerPlatform)PLATFORM).Intercept(Vec3, PLATFORM.Speed()*MATH.FT_PER_M(), Vec3, Vec3, double, double, double);
# hlspd = hlvec.Magnitude();
# hlvec.Normalize();
#
# //goto 965;
# }
# //else
if (kturn == 1 || kturn == -1) //C --END-RUN TGT
{
writeln_d("end run");
double closmn = root3/2.0;
double angint = splita*sgn;
double hdes = PLATFORM.Altitude();
//hdes = -xp(3,me);
//LBM - dont worry about lower targets or flying lower, for now
# if (lbit(pp_skrs,saskr) || pp_comg)
# {
# if (!ppmtrk)
# {
# hdes = amin1(hdes,-xp(3,iac));
# }
# }
//LBM - dont worry about rules right now
# //C --CHANGED RULFLG VALUE 18 NOV 87 DICKERSON
# if (rulflg == 1510)
# {
# call pcode(-rulflg);
# hdes = prdalt;
# }
//LBM - TODO - verify units used in WsfBrawlerPlatform AimPoint and Intercept() methods!!!
//call intcpt(xp(1,me),spdnow(me),xp(1,iac),vp(1,iac),root3/2.0,splita*sgn,hdes,hlvec,hlspd);
Vec3 desVec = brawlerPlatform.Intercept(xp, spdnow, xp_iac, vp_iac, closmn, angint, hdes);
hlvec = desVec.Normal();
hlspd = desVec.Magnitude();
//brawlerPlatform.InterceptLocation3D(
//goto 965;
}
# else if (kturn == 2 || kturn == -2) //C --LOOP
# {
# if (lsoln) then
# call xmit3(dxi,temp)
# else
# call xmit3(dxt,temp)
# endif
# call makex(vp(1,me),r)
# call vxfrmc(r,temp,temp,1)
# loopha = loopha .or. temp(1).lt.0.
# loopnf = loopnf .or. (loopha .and. temp(1).gt.0. .and. (sign(1.,temp(2)).eq.sgn) )
# if (loopnf) then
# //C --HERE NO LONGER LOOP - POINT
# goto 100
# endif
# temp(1) = 0.
# temp(2) = sgn
# temp(3) = 0.
# call vxfrmc(r,hlvec,temp,2)
# hlval = valme*1.5
# hlspd = bvrmch*spdnow(me)/fmachp
# //C --TURN OFF FORMATION VALUES DURING LOOP:
# mdskpp = iand(mdskpp,6)
# stkppp = stkppp*0.25
# goto 970
# }
# //C
#//900 continue
# //C --HERE NO TGT - PRESUMABLY DEAD
# hlval = 0.
# goto 970
# //C
//965 continue
//C --FINISH SETTING UP HIGH LEVEL STEERING VALUES
#hlval = valeff(iac);
hlval = brawlerPlatform.LastEngagementValue(targetTrack.Target());
#writeln_d("hlvec = ", hlvec.ToString(), ", hlval = ", hlval, ", hlspd = ", hlspd);
//970 continue
//call steer
#steer()
# if (dirspc.ne.0) then
# //C --SUPPRESS VECTORED FLIGHT VALUES - DIRECT HAS PRECEDENCE
# valfpp= 0.0
# elseif (vfspc.eq.0) then
//C --USE NORMAL HIGH_LEVEL VALUES FOR VECTORED_FLIGHT
//call xmit(3,hlvec,vecfpp)
extern Vec3 vecfpp;
extern double valfpp;
extern double sflypp;
vecfpp = hlvec;
valfpp = hlval;
sflypp = hlspd;
writeln_d("vecfpp = ", vecfpp.ToString(), ", valfpp = ", valfpp, ", sflypp = ", sflypp);
brawlerPlatform.SuggestVectoredFlight(vecfpp, valfpp, sflypp);
# else
# //C --USE FORCE_V VECTOR INSTEAD OF HL... VALUES
# //C --THESE MAY BE SET BY EITHER PRODUCTION RULES OR IP
# call xmit(3,hlvfor,vecfpp)
# valfpp = hlvalf
# sflypp = hlspdf
# endif
//call sepset(10.0) //LBM - not doing separation yet
//9999
return;
end_execute
end_behavior

329
platforms/brawler/alternatives/behavior_weapon_decision_gun.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.
# ****************************************************************************
// converted BRAWLER v7.5 aslct7.f and akshn7.f
// Replicates the gun fire 7,3,7,x alternative behavior
include_once BrawlerScriptUtil.txt
behavior weapon_decision_gun
script_debug_writes off
script_variables
double RNGWPN = 3000.0; #feet (from MIND file)
WsfQuantumTaskerProcessor processor;
WsfBrawlerPlatform brawlerPlatform;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawGuns = true;
WsfDraw mDraw = WsfDraw();
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
// Takes the place of production rules
bool mAlternative7371Enabled = true;
// Alternative ID
int ilevel = 7;
int kalt = 3;
int icall = 7; // Always 7 for gun
int lcall = 1;
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
// Needed?
brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
end_on_init
// Replicates the checks done in canfirg.f
// Return true if the gun can be fired ("hard" checks)
// Sets the string to the fail reason
script bool canfirg(string failMsg)
/*
cnfire = .false.
C --NOTE THAT WE ARE RECALCULATING PILOT POSTURE VARIABLES HERE
C --ppmrmx WILL BE NEEDED IN shldfrg, SO PERFORM THIS CALCULATION
C --UNCONDITIONALLY.
call gunenv(xp(1,me),vp(1,me),xp(1,ppmiac),vp(1,ppmiac),
1 ppmptr,ppmrmn,ppmrmx,ppmapt,ppmse,ppmaof,ppmenv,ppmtrk,ppmohr,
2 rbep )
C --If temp midway in a 0.5 second burst exceeds maximum (1.0 by
C --definition) then you can't shoot. Rate of temperature rise
C --is 1.0/t_to_heat, so that firing for t_to_heat seconds reaches
C --the limit.
overheat = (gun_temp+0.25/t_to_heat .gt. 1.0)
if (overheat) then
rsfail = 'GUN OVERHEAT'
return
endif
C
C --CHECK IF TARGET IS IN ENVELOPE
if (.not.ppmenv) then
rsfail = 'NOT IN ENVELOPE '
return
endif
C
C --CHECK ON PROBABILITY IN RANGE
pinrng = prmax2(ppmiac,ppmrmx,1.0,0.2)
pbinrg = pinrng.ge.pr2lim
if (.not.pbinrg) then
rsfail = 'LOW PROB IN RANGE'
return
endif
C
visacq = inform(ppmiac).eq.1 .and. time.le.seet(ppmiac)+0.5
C --If pilot has not had a recent visual (or does not have a
C --radar lock if rdrgun is set), then gun can't be fired.
if(.not.rdrgun) then
C --DO I HAVE A RECENT VISUAL?
if(.not.visacq) then
rsfail = 'NO RECENT VISUAL'
return
endif
else
C --AN ESTABLISHED RADAR TRACK MAY SUBSTITUTE FOR A VISUAL
C --IF RDRGUN=.TRUE.
call lockid(iacid,ppmjid,locked)
gunacq = visacq .or. locked.eq.2
if(.not.gunacq) then
rsfail = 'NO RECENT VISUAL OR LOCK'
return
endif
endif
C
cnfire = .true.
*/
#bool canFire = false;
bool canFire = true; #LBM - temporary
return canFire;
end_script
// Replicates the checks done in shldfrg.f
// Return true if the should should be fired ("soft" checks)
// Sets the string to the fail reason if any
script bool shldfrg(string failMsg)
/*
C --If target is inside Rmax2, don't need the following
C --tests(target is inside no-escape range).
C --CHECK THAT PILOT BELIEVES RANGE IS OK FOR TARGETING
pinrng = prmax2(ppmiac,ppmrmx,ppm_rpeak,0.2)
pbinrg = pinrng.ge.pr2lim
call pdset('PROB_IN_RANGE',pbinrg)
C
C --CALCULATE CURRENT ENVELOPE LEVEL; ppmrmx WAS RECALCULATED IN canfirg
elevnow = envlvg(rngnow(me,ppmiac),rdotme(ppmiac),ppmse,ppmrmx,
1 'SHOOT')
C --CALCULATE PROJECTED ENVELOPE, CONSTANT VELOCITY PROJECTION FOR
C --ME AND CURRENT ACCELERATION PROJECTION FOR TARGET.
C --call vecinc(xp(1,me),tproj3,vp(1,me),xme)
C --Full projection for target, fixed velocity projection
C --for attacker.
C --call gunenv(xme,vp(1,me),xeut(1,ppmiac),veut(1,ppmiac),
call gunenv(xeuan,veuan,xeut(1,ppmiac),veut(1,ppmiac),
1 ppmptr,rmin,rmax,aimp,se,aof,inenvp,trkbl,ovrhoz,rbep)
elevprj = envlvg(rngun(ppmiac),rngrun(ppmiac),se,rmax,'SHOOT')
if(lprnt) write(ioutp,2000) rmin,rmax,rng(ppmiac),aimp,se,aof,
1 elevprj
C
C --CHECK PROJECTION -- IS LEVEL DECREASING?
worse = (elevnow.ge.elevprj)
call pdset('SHOT_WORSENING',worse)
C
needid = (irel(ppmiac).eq.0) .and. (id_mode.ne.bvr_id_md)
call pdset('SURE_BAD_GUY',.not.needid)
C
if (needid)then
lfire = .false.
rsfail = 'NEED ID'
elseif(.not.(pbinrg.or.worse))then
rsfail = '!(IN RPEAK OR WORSE)'
lfire = .false.
else
lfire = .true.
endif
*/
# bool lfire = false;
bool lfire = true; #LBM - temporary
return lfire;
end_script
precondition
#writeln_d(PLATFORM.Name(), " precondition weapon_decision_gun, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
// aslct7.f line 123 - 132
# --CHECK IF TARGET SELECTED
# if (ppmiac .eq. 0 .and. .not.dewvmsl)then
# rsfail = 'NO TARGET SELECTED'
# goto 800
# endif
# --CHECK IF WEAPON SELECTED
# if (ppmptr .eq. 0)then
# rsfail = 'NO WEAPON SELECTED'
# goto 800
# endif
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no target selected");
}
WsfTrack targetTrack = PLATFORM.MasterTrackList().FindTrack(tasks.Entry(0).LocalTrackId());
if (!targetTrack.IsValid())
{
return Failure("no valid target track");
}
#LBM - temporary
# // Weapon selection done in selwpn.f (called from aslct2.f)
# // checks weapon inventory. Use a similar check here as a replacement
# if (!HaveWeapon(PLATFORM))
# {
# // TODO Account for weapon type gun/missile
# return Failure("no weapon selected");
# }
if (!PLATFORM.Weapon("gun").IsValid() || PLATFORM.Weapon("gun").QuantityRemaining() <= 0)
{
writeln_d(" ", PLATFORM.Name(), " no weapon selected at time: ", TIME_NOW);
return Failure("no weapon selected");
}
# // aslct7() calls canfir().
# // canfir.f checks production rules and GCI inhibit
# // just doing a simple flag for now
# if (!mAlternative7371Enabled)
# {
# writeln_d("behavior not enabled!");
# return Failure("behavior alternative not enabled");
# }
#
# //canfir.f calls canfirg()
# string msg = "";
# if (!canfirg(msg))
# {
# return Failure(msg);
# }
#
# // aslct7 line 199 - 205
# // if undamaged calls shldfr().
# // if we are damaged skip checks and fire now
# if (PLATFORM.DamageFactor() <= 0.0)
# {
# // shldfr.f just calls the specific weapon type
# if (!shldfrg(msg))
# {
# return Failure(msg);
# }
# }
#
# // aslct7 creates and alternative to evaluate.
# // The alternative has no projection and always
# // evaluates to 1, so skip that processing
WsfWeapon gun = PLATFORM.Weapon("gun");
if (gun.LaunchComputer().CanIntercept(targetTrack, 0.1)) #see "firing_delay" for BULLET weapon
{
WsfGeoPoint pt = gun.LaunchComputer().InterceptPoint();
#TODO - move slant range check to gun's launch computer???
if (PLATFORM.SlantRangeTo(pt) <= (RNGWPN * MATH.M_PER_FT()))
{
# #draw line to intercept point
# if (mDrawGuns)
# {
# double delta = ((WsfBrawlerPlatform)PLATFORM).ProjectedTimeDelta();
# mDraw.SetLayer("behavior_weapon_decision_gun");
# mDraw.SetDuration(delta);
# mDraw.SetColor(0.5, 0.5, 0.5); #gray
# mDraw.SetLineSize(1);
# mDraw.SetLineStyle("solid");
# mDraw.BeginLines();
# mDraw.Vertex(PLATFORM.Location());
# mDraw.Vertex(pt);
# mDraw.End();
# }
return true;
}
else
{
writeln_d("no gun fire, too far away");
return Failure("no gun fire, too far away");
}
}
else
{
writeln_d("gun cannot intercept target yet");
return Failure("gun cannot intercept target yet");
}
// All conditions pass, weapon can fire
return true;
end_precondition
execute
// Replicates akshn7.f
// We don't need to do all the bookeeping that BRAWLER
// does. Just launch the weapon.
// TODO Fill in gun fire
#LBM - temporary
WsfTrack targetTrack = PLATFORM.MasterTrackList().FindTrack(processor.TasksReceivedOfType("WEAPON").Entry(0).LocalTrackId());
WsfWeapon weapon = PLATFORM.Weapon("gun");
bool launched = weapon.FireSalvo(targetTrack, 1); // Always firing one for now
if (!launched)
{
writeln_d(" ", PLATFORM.Name(), " could NOT fire at track: ", targetTrack.TargetName(), " at time: ", TIME_NOW);
}
else if (mDrawGuns)
{
double delta = ((WsfBrawlerPlatform)PLATFORM).ProjectedTimeDelta();
mDraw.SetLayer("behavior_weapon_decision_gun");
mDraw.SetDuration(delta);
mDraw.SetColor(1.0, 1.0, 1.0); #white
mDraw.SetLineSize(2);
mDraw.SetLineStyle("dotted2");
mDraw.BeginLines();
mDraw.Vertex(PLATFORM.Location());
mDraw.Vertex(targetTrack.CurrentLocation());
mDraw.End();
}
end_execute
end_behavior

510
platforms/brawler/alternatives/behavior_weapon_decision_missile.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.
# ****************************************************************************
// converted BRAWLER v7.5 aslct7.f and akshn7.f
// Replicates the missile fire 7,3,1,x alternative behavior
include_once BrawlerScriptUtil.txt
behavior weapon_decision_missile
script_debug_writes off
script_variables
WsfQuantumTaskerProcessor processor;
//**********************************************************************//
//** debugging parameters **//
//**********************************************************************//
bool mDrawSteering = false;
//**********************************************************************//
//** alternative parameters **//
//**********************************************************************//
// Flag used to enable/disable this alternative
// Takes the place of production rules
bool mAlternative7311Enabled = true;
// Alternative ID
int ilevel = 7;
int kalt = 3;
int icall = 1; // Weapon number, for missiles 1 - 6
int lcall = 1;
// Max/Min range for a SRM (meters)
double mMaxRange = 25000 * Math.M_PER_FT();
double mMinRange = 4000 * Math.M_PER_FT();
// Maximum angle a shot can be taken at (degrees)
double mMaxFiringAngle = 15.0;
// Percent range is reduced by for simple envelope
double mPercentRange = 0.2;
// Maximum number of missiles on a target
int mTargetSaturation = 1;
// Required track quality for a shot
double mRequiredTrackQuality = 0.8;
//**********************************************************************//
//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
//**********************************************************************//
double grav = 32.17405; // From pcon.fi
end_script_variables
on_init
if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
processor = (WsfQuantumTaskerProcessor)PROCESSOR;
}
end_on_init
// Replicates the checks done in canfirm.f
// Return true if the missile can be fired
// Sets the string to the fail reason
script bool canfirm(WsfLocalTrack target, string failMsg)
/*
cnfire = .false.
--MISSILE COMING OFF RAIL
if (lnchng) then
rsfail = 'MISL COMING OFF RAIL'
return
endif
--SWITCHOLOGY DELAYS
pswtch = (time .ge. timemf)
if (.not. pswtch)then
rsfail = 'SWITCHOLOGY'
return
endif
--CHECK IF TARGET IS IN ENVELOPE
--NOTE THAT SOME PPM... VARIABLES ARE RECALCULATED.
call mslenv_typ_mm(ppmiac,renv_typ)
call mslenv(iacid,xp(1,me),vp(1,me),ap(1,me),
1 alphap,xp(1,ppmiac),vp(1,ppmiac),ap(1,ppmiac),
2 ppmptr, rbep, rwep, ext_mle, .true., renv_typ, ppmrmn, ppmrmx,
3 ppmapt, ppmse, ppmaof, ppmenv, ppmtrk, ppmohr,l_config)
if (.not. ppmenv)then
rsfail = 'TGT NOT IN ENV'
return
endif
--Does pilot beleive that target is within max range (R<Rmax1)?
pinrng = prmax2(ppmiac,ppmrmx,1.,0.2)
pbinrg = (pinrng .gt. pr2lim)
if (.not.pbinrg)then
rsfail = 'LOW PROB. TGT IN RNG'
return
endif
if(lnchma.eq.0)then
rsfail = 'FAIL ALL FIRE MODES'
return
endif
cnfire = .true.
*/
// Not currently checking for another missile coming off the rail
// Not currently checking for switchology delays
// CHECK IF TARGET IS IN ENVELOPE
// Using a very simplified replacement of mslenv()
// that take a percentage of ange and a simple angle check
double range = PLATFORM.SlantRangeTo(target);
double absRelativeBearing = MATH.Fabs(PLATFORM.RelativeBearingTo(target));
if (range < (mMinRange + mMinRange * mPercentRange) ||
range > (mMaxRange - mMaxRange * mPercentRange) ||
absRelativeBearing >= mMaxFiringAngle )
{
#writeln("absRelativeBearing = ", absRelativeBearing, ", range = ", range);
#failMsg = "TGT NOT IN ENV";
target.SetAuxData("msg", "TGT NOT IN ENV");
return false;
}
// Does pilot beleive that target is within max range (R<Rmax1)?
// Using simplified version of prmax2
// and assuming short range missile with rmax = 25000 ft
double drng = (mMaxRange - PLATFORM.SlantRangeTo(target));
if (drng < 0.0)
{
#failMsg = "LOW PROB. TGT IN RNG";
target.SetAuxData("msg", "LOW PROB. TGT IN RNG");
return false;
}
// Not currently checking launch modes
// lnchma set if fctest() passes checks
return true;
end_script
// Replicates the checks done in shldfrm.f
// Return true if the missile should be fired
// Sets the string to the fail reason if any
script bool shldfrm(WsfLocalTrack target, string failMsg)
/*
C --CHECK THAT PILOT BELIEVES RANGE IS OK FOR TARGETING
pinrng = prmax2(ppmiac,ppmrmx,ppm_rpeak,0.2)
pbinrg = pinrng.ge.pr2lim
call pdset('PROB_IN_RANGE',pbinrg)
call mslenv_typ_mm(ppmiac,renv_typ)
C
C --CALCULATE tgleav
C --POSSIBLE PROJECTIONS
C -- ATTACKER TARGET
C --(1) CONSTANT VELOCITY XEUAN CONSTANT VELOCITY vecinc
C --(2) CURRENT MANEUVER XEUA CURRENT MANEUVER XEUT
C --(3) CURRENT MANEUVER XEUA CONSTANT VELOCITY vecinc
C --(4) CONSTANT VELOCITY XEUAN CURRENT MANEUVER XEUT
C --LOGIC IS AS FOLLOWS:
C --IF CASE (1) (neither maneuver) IS IN ENVELOPE THEN
C -- IF CASE (2) (both maneuver) IS OUT OF ENVELOPE
C -- IF CASE (3) (atkr maneuvers) IS IN ENVELOPE
C -- IF CASE(4) (tgt maneuvers) IS OUT OF ENVELOPE
C -- ASSERT: TARGET AT FAULT
C
C CASE 1: CALCULATE INENVP_CC
if (ient.eq.sament) then
call xmit3(xp(1,me),xme)
call xmit3(vp(1,me),vme)
call xmit(9,rbep,rbeme)
call xmit(9,rwep,rweme)
else
call xmit3(xeuan,xme)
call xmit3(veuan,vme)
call xmit(9,rbeuan,rbeme)
call xmit(9,rweuan,rweme)
endif
call vecinc(xp(1,ppmiac),tproj3,vp(1,ppmiac),xtgt)
call xmit3(vp(1,ppmiac),vtgt)
call zero3(azero)
xtgt(3) = amin1(xtgt(3),-50.)
call mslenv(iacid,xme,vme,azero,alphap,xtgt,vtgt,azero,
1 misl(mslpp),rbeme,rweme,.false.,.true.,renv_typ,rmin_mm,
2 rmax_mm,aimp,se_mm,aof_mm,inenvp_cc,trkbl,ovrhoz,l_config)
C --"target leaving" CANNOT BE TRUE IF NOT IN ENVELOPE WHEN NEITHER
C --MANEUVERING
if(.not.inenvp_cc)then
tgleav = .false.
goto 200
endif
C
C --CASE 2: CALCULATE INENVP_MM
if (ient.eq.sament) then
C --USE SAME AS CASE 1 SINCE I CAN'T MANEUVER
continue
else
call xmit3(xeua,xme)
call xmit3(veua,vme)
call xmit(9,rbeua,rbeme)
call xmit(9,rweua,rweme)
endif
call xmit3(xeut(1,ppmiac),xtgt)
call xmit3(veut(1,ppmiac),vtgt)
call mslenv(iacid,xme,vme,azero,alphap,xtgt,vtgt,azero,
1 misl(mslpp),rbeme,rweme,.false.,.true.,renv_typ,rmin,rmax,
2 aimp,se,aof,inenvp_mm,trkbl,ovrhoz,l_config)
C --"target leaving" CANNOT BE TRUE IF STILL IN ENV. WHEN BOTH MANEUVER
if(inenvp_mm)then
tgleav = .false.
goto 200
endif
C
C --CASE 3: CALCULATE INENVP_MC
if (ient.eq.sament) then
C --USE SAME AS CASE 1 SINCE I CAN'T MANEUVER
continue
else
call xmit3(xeua,xme)
call xmit3(veua,vme)
call xmit(9,rbeua,rbeme)
call xmit(9,rweua,rweme)
endif
call vecinc(xp(1,ppmiac),tproj3,vp(1,ppmiac),xtgt)
call xmit3(vp(1,ppmiac),vtgt)
xtgt(3) = amin1(xtgt(3),-50.)
call mslenv(iacid,xme,vme,azero,alphap,xtgt,vtgt,azero,
1 misl(mslpp),rbeme,rweme,.false.,.true.,renv_typ,rmin,rmax,
2 aimp,se,aof,inenvp_mc,trkbl,ovrhoz,l_config)
if(.not.inenvp_mc)then
tgleav = .false.
goto 200
endif
C
C --CASE 4: CALCULATE INENVP_CM
if (ient.eq.sament) then
C --USE SAME AS CASE 1 SINCE I CAN'T MANEUVER
continue
else
call xmit3(xeuan,xme)
call xmit3(veuan,vme)
call xmit(9,rbeuan,rbeme)
call xmit(9,rweuan,rweme)
endif
call xmit3(xeut(1,ppmiac),xtgt)
call xmit3(veut(1,ppmiac),vtgt)
call mslenv(iacid,xme,vme,azero,alphap,xtgt,vtgt,azero,
1 misl(mslpp),rbeme,rweme,.false.,.true.,renv_typ,rmin,rmax,aimp,
2 se,aof,inenvp_cm,trkbl,ovrhoz,l_config)
tgleav = .not.inenvp_cm
C
200 continue
call pdset('TGT_LEAVING_ENV',tgleav)
C
C --Calculate current envelope level (WORSE)
elevnow= envlvl(rngnow(me,ppmiac),rdotme(ppmiac),ppmse,
1 ppmaof,ppmrmn,ppmrmx,ppm_rpeak,ppm_semax,aoffmx,
2 ppmtrk,ppmohr,'SHOOT ')
C
if (ient.ne.sament) then
elevprj= envlvl(rng(ppmiac),rngr(ppmiac),se_mm,aof_mm,rmin_mm,
1 rmax_mm,ppm_rpeak,ppm_semax,aoffmx,trkbl,ovrhoz,'SHOOT ')
if(lprnt) write(ioutp,2000) rmin_mm,rmax_mm,
1 rng(ppmiac),aimp,se_mm,aof_mm,elevprj
else
C --rng, rngr NOT SET FOR SAM, USE rngun, rngrun
elevprj= envlvl(rngun(ppmiac),rngrun(ppmiac),se_mm,aof_mm,
1 rmin_mm,rmax_mm,ppm_rpeak,ppm_semax,aoffmx,trkbl,ovrhoz,
2 'SHOOT ')
if(lprnt) write(ioutp,2000) rmin_mm,rmax_mm,
1 rngun(ppmiac),aimp,se_mm,aof_mm,elevprj
endif
C --CHECK PROJECTION -- IS LEVEL DECREASING?
worse = (elevnow.ge.elevprj)
call pdset('SHOT_WORSENING',worse)
10 continue
C
C --Check if target is too near beam for successful semi-active
C -- missile shot
lbeam = beamsht()
call pdset('SA_BEAM_SHOT',lbeam)
C
C --If positive target ID required to fire, has ID been
C --established?
needid = (irel(ppmiac).eq.0) .and. (id_mode.ne.bvr_id_md)
call pdset('SURE_BAD_GUY',.not.needid)
C
C --check for fratricide risk
call set_hldcod(mslpp,ppmiac,hldcode,pp_skrs,pp_undes,lfrshot)
lfrat = lbit(hldcode,2)
call pdset('FRAT_RISK',lfrat)
C
C --CHECK IF FRIEND HAS A BETTER SHOT
lfrnd = lbit(hldcode,1)
call pdset('FRND_BETTER_SHOT',lfrnd)
C
C --Is target already engaged with max number of missiles/target?
other_tgtd = 0
do 100 igg=1,ngg
iacf = listf(igg)
acidf = iacidt(iacf)
if (iacid .eq. acidf)goto 100
C --Don't count another's selection if you have a much better
C --shot, since he will wait for you to shoot
if (.not.lfrshot(iacf)) goto 100
C --Don't count another's selection if you have selected the
C --same target earlier! RMK 9 Apr 92
C --(Cant use others_tgt(iacid) here since not set until akshn7)
if (others_tgt(acidf).eq.ppmiac)then
C --However, we do need to use others_tgt(iacid) here, since
C --we need to use others_msgtim(iacid), which is only correct
C --if others_tgt(iacid) .eq. ppmiac
if(others_tgt(iacid).eq.ppmiac) then
C --I have selected this tgt previously
if (others_msgtim(acidf).lt.others_msgtim(iacid)) then
C --He selected this target earlier than I, so count him
other_tgtd = other_tgtd + 1
endif
else
C --I just changed to this target, so if anybody else has
C --sent me a message selecting him, they must have gotten
C --there first
other_tgtd = other_tgtd + 1
endif
endif
100 continue
110 continue
satur = ((nmhutl(ppmiac)+other_tgtd).ge.mxtgt_ac(ppmjid))
call pdset('TARGET_SATURATED',satur)
skr_lock = .false.
do 300 iseek = 1, mx_skr
if (skr_acquired(iseek)) then
skr_lock = .true.
goto 305
endif
300 continue
305 continue
call pdset('SEEKER_LOCK',skr_lock)
C
C --CHECK WEAPON QUALITY TRACK
C --no_trk indicates track not needed for this launch mode
no_trk = (lnchma .eq. ppsli) .or.
1 (lnchma .eq. ppslr) .or.
2 (lnchma .eq. pcguv) .or.
3 (lnchma .eq. pvtnhms)
if (.not.usewqt(iflite)) then
C --Flight does not require WQT
needwqt = .false.
elseif (no_trk) then
C --Using a luanch mode that is not cued from a track
needwqt = .false.
else
needwqt = .not.wpnqual
endif
400 continue
C
C --FIRING LOGIC:
lfire =
1 .not.(needid.or.satur.or.lfrat.or.lfrnd.or.lbeam.or.needwqt)
2 .and.(pbinrg.or.(worse.and..not.tgleav))
if(lfire)then
rsfail = ' '
else
if(needid)then
rsfail = 'NEED ID'
elseif(satur)then
rsfail = 'MXTGT_AC LIMIT'
elseif(lfrat)then
rsfail = 'FRATRICIDE RISK'
elseif(lfrnd)then
rsfail = 'FRND HAS BETTER SHOT'
elseif(lbeam)then
rsfail = 'TGT TOO NEAR BEAM'
elseif(.not.(pbinrg.or.(worse.and..not.tgleav)))then
rsfail = 'FAILED ENV LOGIC'
elseif (needwqt) then
rsfail = 'NO WEAPON QUAL TRK'
else
call nabort('SHLDFRM..unknown failure reason')
endif
endif
*/
// ONLY Checking target stauration and track quality for now
if (PLATFORM.WeaponsActiveFor(target.TrackId()) >= mTargetSaturation)
{
//lfire = true;
writeln_d(" ", PLATFORM.Name(), " shouldn't fire ", target.TargetName(), " saturated");
failMsg = "MXTGT_AC LIMIT";
return false;
}
if (target.TrackQuality() < mRequiredTrackQuality)
{
failMsg = "NO WEAPON QUAL TRK";
return false;
}
return true;
end_script
precondition
#writeln_d(PLATFORM.Name(), " precondition weapon_decision_missile, T=", TIME_NOW);
### Evaluate conditions that would prevent behavior alternative from running
if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
{
writeln_d("not a quantum tasker!");
return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
}
// aslct7.f line 123 - 132
# --CHECK IF TARGET SELECTED
# if (ppmiac .eq. 0 .and. .not.dewvmsl)then
# rsfail = 'NO TARGET SELECTED'
# goto 800
# endif
# --CHECK IF WEAPON SELECTED
# if (ppmptr .eq. 0)then
# rsfail = 'NO WEAPON SELECTED'
# goto 800
# endif
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
if(tasks.Count() <= 0)
{
return Failure("no tasks");
}
// Assuming 1v1 and first and only task is the one we want
WsfLocalTrack targetTrack = PLATFORM.MasterTrackList().FindTrack(tasks.Entry(0).LocalTrackId());
if(tasks.Count() <= 0 || targetTrack.IsNull() || !targetTrack.IsValid())
{
writeln_d(" ", PLATFORM.Name(), " no target selected at time: ", TIME_NOW);
return Failure("no target selected");
}
// Weapon selection done in selwpn.f (called from aslct2.f)
// checks weapon inventory. Use a similar check here as a replacement
if (!PLATFORM.Weapon("srm").IsValid() || PLATFORM.Weapon("srm").QuantityRemaining() <= 0)
{
writeln_d(" ", PLATFORM.Name(), " no weapon selected at time: ", TIME_NOW);
return Failure("no weapon selected");
}
// aslct7() calls canfir().
// canfir.f checks production rules and GCI inhibit
// just doing a simple flag for now
if (!mAlternative7311Enabled)
{
writeln_d("behavior not enabled!");
return Failure("behavior alternative not enabled");
}
//canfir.f calls canfirm()
string msg = "";
if (!canfirm(targetTrack, msg))
{
msg = targetTrack.AuxDataString("msg");
writeln_d(" ", PLATFORM.Name(), " couldn't fire at time: ", TIME_NOW, " ", msg);
return Failure(msg);
}
// aslct7 line 199 - 205
// if undamaged calls shldfr().
// if we are damaged skip checks and fire now
if (PLATFORM.DamageFactor() <= 0.0)
{
// shldfr.f just calls the specific weapon type
if (!shldfrm(targetTrack, msg))
{
writeln_d(" ", PLATFORM.Name(), " shouldn't fire at time: ", TIME_NOW, " ", msg);
return Failure(msg);
}
}
// aslct7 creates and alternative to evaluate.
// The alternative has no projection and always
// evaluates to 1, so skip that processing
// All conditions pass, weapon can fire
return true;
end_precondition
execute
// Replicates akshn7.f
// We don't need to do all the bookeeping that BRAWLER
// does. Just launch the weapon.
WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
// Assuming 1v1 and first and only task is the one we want
WsfLocalTrack targetTrack = PLATFORM.MasterTrackList().FindTrack(tasks.Entry(0).LocalTrackId());
//Assuming weapon name, checked in precondition
WsfWeapon weapon = PLATFORM.Weapon("srm");
bool launched = weapon.FireSalvo(targetTrack, 1); // Always firing one for now
if (!launched)
{
writeln_d(" ", PLATFORM.Name(), " could NOT fire at track: ", targetTrack.TargetName(), " at time: ", TIME_NOW);
}
end_execute
end_behavior

72
platforms/brawler/brawler_flight_lead.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.
# ****************************************************************************
platform_type BRAWLER_FLIGHT_LEAD WSF_PLATFORM
comm datalink WSF_COMM_TRANSCEIVER
network_name brawler_net
internal_link data_mgr
internal_link task_mgr
internal_link perception
end_comm
processor data_mgr WSF_TRACK_PROCESSOR
master_track_processor
end_processor
track_manager
retain_raw_tracks
retain_track_history
uncorrelated_track_drops disable
end_track_manager
processor perception WSF_PERCEPTION_PROCESSOR
asset_perception status_messages
end_processor
processor task_mgr WSF_QUANTUM_TASKER_PROCESSOR
script_variables
## for evaluating weapon tasks
Map<string,int> mKnownTargetTypes = Map<string,int>();
mKnownTargetTypes["BRAWLER_PLATFORM"] = 1;
end_script_variables
script Array<WsfTask> FlightLeadTaskGeneration (Array<WsfLocalTrack> TRACKS, Array<WsfAssetPerception> ASSETS )
Array<WsfTask> tasks = Array<WsfTask>();
//if its us, then create weapon tasks for enemy tracks
writeln_d("TRACKS.Size() = ", TRACKS.Size(), ", ASSETS.Size() = ", ASSETS.Size());
for (int i=0; i<TRACKS.Size(); i=i+1)
{
WsfLocalTrack lt = TRACKS.Get(i);
if (lt.IsValid() && (!lt.SideValid() || lt.Side() != PLATFORM.Side()))
{
if (mKnownTargetTypes.Size() <= 0 || mKnownTargetTypes.Exists(lt.TargetType()))
{
WsfTask task = WsfTask.Construct(1.0, "WEAPON", lt);
task.SetTaskType("WEAPON");
tasks.PushBack(task);
writeln_d("weapon task generated for: ", lt.TargetName(), ", updated time: ", lt.UpdateTime());
}
}
}
return tasks;
end_script
on_initialize
end_on_initialize
#debug
#script_debug_writes on
#show_task_messages
reallocation_strategy dynamic
generator custom FlightLeadTaskGeneration
evaluator distance
#allocator greedy_isolated
allocator optimal_profit
allocator_extra_assets optimal_profit #assigns tasks to extra blue guys
update_interval 0.3 sec
end_processor
end_platform_type

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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.
# ****************************************************************************
#TODO - give blue_sr_a2a_ir_missile limited IR seekers, not perfect trackers
include_once ../../weapons/aam/blue_sr_a2a_ir_missile.txt
include_once ../../../site_types/weapons/other/gun.txt
# BRAWLER Behaviors
# "CONTEXT-FREE" Maneuvers
include_once alternatives/behavior_alt3111_straight_level_max_speed.txt
include_once alternatives/behavior_alt3121_straight_level.txt
include_once alternatives/behavior_alt3211_route_maneuver.txt
# Offensive 1v1 Maneuvers
include_once alternatives/behavior_alt3411_straight_flight.txt
include_once alternatives/behavior_alt3421_roll_+15_pull.txt
include_once alternatives/behavior_alt3431_roll-15_pull.txt
include_once alternatives/behavior_alt3441_tail_attack.txt
include_once alternatives/behavior_alt3451_pull_gmax_sust.txt
include_once alternatives/behavior_alt3471_slow_current_dir.txt
include_once alternatives/behavior_alt3472_slow_pull_right.txt
include_once alternatives/behavior_alt3473_slow_pull_left.txt
include_once alternatives/behavior_alt3474_slow_pull_current_plane.txt
# Defensive 1v1 Maneuvers
include_once alternatives/behavior_alt3511_break_right.txt
include_once alternatives/behavior_alt3531_break_left.txt
include_once alternatives/behavior_alt3551_run_away.txt
include_once alternatives/behavior_alt3561_force_overshoot.txt
include_once alternatives/behavior_alt3581_negative_velocity.txt
#missile aiming maneuever
include_once alternatives/behavior_alt3841_aim_missile_typ4.txt
include_once alternatives/behavior_alt3911_evade_missile.txt
include_once alternatives/behavior_alt3A11_low_speed_recover.txt
include_once alternatives/behavior_alt3A21_low_speed_recover_right45.txt
include_once alternatives/behavior_alt3A31_low_speed_recover_left45.txt
#include_once alternatives/behavior_alt3B11_illuminate.txt
include_once alternatives/behavior_alt3G11_barrel_roll.txt
# Weapon employment decision alternatives
include_once alternatives/behavior_weapon_decision_gun.txt
include_once alternatives/behavior_weapon_decision_missile.txt
#include_once alternatives/behavior_alt1514_point.txt
#include_once alternatives/behavior_alt1516_bvr_end_run_left.txt
#include_once alternatives/behavior_alt1517_bvr_end_run_right.txt
#include_once alternatives/behavior_pilot_posture.txt
#
##direct maneuver
##
##fly vector
#include_once alternatives/behavior_alt3611_fly_vector.txt
#include_once alternatives/behavior_debug_data.txt
# A WSF_BRAWLER_PLATFORM must have the following defined:
# 1. A WSF_BRAWLER_MOVER or WSF_P6DOF_MOVER
# 2. A WSF_QUANTUM_TASKER_PROCESSOR (typically named task_mgr)
# 3. A WSF_PERCEPTION_PROCESSOR (typically named perception)
# 4. A WSF_THREAT_PROCESSOR (typically named incoming_threats)
platform_type BRAWLER_PLATFORM WSF_BRAWLER_PLATFORM
icon F-15
mover WSF_BRAWLER_MOVER
aero_file ACFT_BD.FXW
#draw_projection
end_mover
mind_file MIND
#draw_alternatives
#draw_nominal_states
#debug
weapon srm BLUE_SR_A2A_IR_MISSILE
quantity 2
end_weapon
weapon gun BULLET
quantity 12 #each "bullet" represents a 1-sec burst of gunfire
end_weapon
comm datalink WSF_COMM_TRANSCEIVER
network_name brawler_net
internal_link data_mgr
internal_link task_mgr
internal_link perception
end_comm
sensor simple_sensor WSF_GEOMETRIC_SENSOR
on
#azimuth_field_of_view -45.0 degrees 45.0 degrees
#elevation_field_of_view -20.0 degrees 20.0 degrees
azimuth_field_of_view -180.0 degrees 180.0 degrees
elevation_field_of_view -90.0 degrees 90.0 degrees
maximum_range 150 km
frame_time 0.5 sec
reports_location
reports_velocity
reports_range
reports_iff
track_quality 1.0
internal_link data_mgr
ignore_same_side
end_sensor
processor data_mgr WSF_TRACK_PROCESSOR
purge_interval 60 sec
report_interval 1.0 sec
report_to commander via datalink
fused_track_reporting on
raw_track_reporting off
end_processor
processor perception WSF_PERCEPTION_PROCESSOR
threat_update_interval 2 sec
max_threat_load 5
reports_self on
report_interval 1.0 sec
report_to commander via datalink
end_processor
processor incoming_threats WSF_THREAT_PROCESSOR
threat_time_to_intercept 120 sec #default: 60 sec
end_processor
processor task_mgr WSF_QUANTUM_TASKER_PROCESSOR
#debug
#show_task_messages
# script_variables
# int kturn = 0; //turn type for BVR flight tactics
# Vec3 vecfpp = Vec3(); //vectored flight, direction
# double valfpp = 0.0; //vectored flight, value
# double sflypp = 0.0; //vectored flight, speed
# end_script_variables
behavior_tree
#behavior_node debug_data
# #FLIGHT TACTIC DECISION
# priority_selector
# behavior_node alt1516_bvr_end_run_left
# behavior_node alt1517_bvr_end_run_right
# behavior_node alt1514_point
# end_priority_selector
# #FLIGHT POSTURE DECISION
# selector
# #behavior_node altWXYZ_blah_blah
# end_selector
# #PILOT POSTURE DECISION
# selector
# behavior_node pilot_posture
# end_selector
#PILOT MANEUVERING DECISION
priority_selector
#when debug: prints precondition score of each selector child behavior
#debug
behavior_node alt3111_straight_level_max_speed
behavior_node alt3121_straight_level
behavior_node alt3411_straight_flight
behavior_node alt3421_roll_15_pull
behavior_node alt3431_roll-15_pull
behavior_node alt3441_tail_attack
behavior_node alt3451_pull_gmax_sust
behavior_node alt3471_slow_current_dir
behavior_node alt3472_slow_pull_right
behavior_node alt3473_slow_pull_left
behavior_node alt3474_slow_pull_current_plane
behavior_node alt3511_break_right
behavior_node alt3531_break_left
behavior_node alt3551_run_away
behavior_node alt3561_force_overshoot
behavior_node alt3581_negative_velocity
#behavior_node alt3611_fly_vector
behavior_node alt3841_aim_missile_typ4
#behavior_node alt3211_route_maneuver
behavior_node alt3911_evade_missile
#behavior_node alt3A11_low_speed_recover
#behavior_node alt3A21_low_speed_recover_right45
#behavior_node alt3A31_low_speed_recover_left45
#behavior_node alt3B11_illuminate
behavior_node alt3G11_barrel_roll
end_priority_selector
#WEAPON EMPLOYMENT DECISION
selector
behavior_node weapon_decision_gun
behavior_node weapon_decision_missile
end_selector
end_behavior_tree
end_processor
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/iads_cmdr.txt
include_once platforms/red_radar_company.txt
platform_type RADAR_COMPANY RED_RADAR_COMPANY
end_platform_type
include_once platforms/target.txt

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
# --------------------------------------------------------------
# Vehicle Signatures
# --------------------------------------------------------------
infrared_signature VEHICLE_INFRARED_SIGNATURE
constant 10 watts/steradian
end_infrared_signature
optical_signature VEHICLE_OPTICAL_SIGNATURE
constant 10 m^2
end_optical_signature
radar_signature VEHICLE_RADAR_SIGNATURE
constant 1 m^2
end_radar_signature
# --------------------------------------------------------------
# Red datalink
# --------------------------------------------------------------
comm RED_DATALINK WSF_COMM_TRANSCEIVER
transfer_rate 100 mbits/sec
end_comm
# --------------------------------------------------------------
# Filter tactics
# --------------------------------------------------------------
filter FILTER_TACTICS WSF_KALMAN_FILTER
range_measurement_sigma 50. m
bearing_measurement_sigma 0.1 deg
elevation_measurement_sigma 0.1 deg
# values for maneuvering targets (per Erik)
process_noise_sigmas_XYZ 50 50 30
end_filter

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/red_radar.txt
include_once sensors/radar/ew_radar.txt
include_once processors/ep_operations.txt
platform_type EW_RADAR RED_RADAR
icon Ground_Radar
category 2D_RADAR
sensor ew_radar EW_RADAR
on
internal_link data_mgr
ignore_same_side
end_sensor
processor ep_operations EP_OPERATIONS
script_variables
mSensorNameList.PushBack("ew_radar");
end_script_variables
end_processor
aux_data
double max_range = 185200 # meters = 100 nm
end_aux_data
end_platform_type

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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.
# ****************************************************************************
platform_type FLIGHT_LEAD_BASE WSF_PLATFORM
//these definitions go in scenario specific platform type derivatives
// comm cmdr_net DATALINK_TYPE
// network_name <local:slave>
// internal_link data_mgr
// end_comm
// comm sub_net DATALINK_TYPE
// network_name <local:master>
// internal_link data_mgr
// end_comm
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 seconds
#report_to commander via cmdr_net
report_to subordinates via sub_net
//Only report fused tracks to entities that won't transmit tracks back.
//report_interval 20 sec
report_interval 4 sec
fused_track_reporting off
raw_track_reporting on
end_processor
end_platform_type

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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.
# ****************************************************************************
#for flight lead base
include_once flight_lead_base.txt
platform_type FLIGHT_LEAD FLIGHT_LEAD_BASE
end_platform_type

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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.
# ****************************************************************************
#for AIFL-thinker
include_once processors/ripr_agents/aifl/aifl_processor.txt
#for flight lead base
include_once platforms/flight_lead_base.txt
platform_type FLIGHT_LEAD FLIGHT_LEAD_BASE
processor lead-thinker AIFL-thinker
#debug
script_variables
###mEscortNames[0] = "some platform name";
end_script_variables
#auto_exclusive_mode true
#job_window_open_length 5 sec
#bid_window_open_length 5 sec
end_processor
end_platform_type

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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.
# ****************************************************************************
platform_type GCI_BASE WSF_PLATFORM
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 seconds
//report_to commander via cmdr_net
report_to subordinates via sub_net
//Only report fused tracks to entities that won't transmit tracks back.
//report_interval 20 sec
report_interval 4 sec
fused_track_reporting off
raw_track_reporting on
end_processor
end_platform_type

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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.
# ****************************************************************************
#for gci base
include_once gci_base.txt
platform_type GCI GCI_BASE
end_platform_type

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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.
# ****************************************************************************
#for AIGCI-thinker
include_once processors/ripr_agents/aigci/aigci_processor.txt
#for gci base
include_once platforms/gci_base.txt
platform_type GCI GCI_BASE
processor gci-thinker AIGCI-thinker
end_processor
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
processor IADS_CMDR_DATA_MGR WSF_TRACK_PROCESSOR
purge_interval 60 sec
end_processor
processor IADS_CMDR_TASK_MGR WSF_TASK_PROCESSOR
number_of_servers 5
track_update_interval 10.0 sec
#script_debug_writes true
#show_state_transitions
#show_task_messages
script_variables
int MAX_SAMS_PER_TARGET = 2;
int MAX_ASSIGNMENTS_PER_SAM = 4;
string WEAPON_NAME = "sam";
end_script_variables
// determine if TRACK is assignable
script bool IsAssignable()
if ((! TRACK.IFF_Friend()) &&
(TRACK.TimeSinceUpdated() < 30.0))
{
return true;
}
return false;
end_script
// determine if the subordinate and/or his subordinates have weapons remaining
script bool WeaponsAvailable(WsfPlatform aAssignee)
bool weaponsAvailable = false;
int quantity = 0;
WsfWeapon weapon = aAssignee.Weapon(WEAPON_NAME);
if (weapon.IsTurnedOn())
{
quantity = quantity + weapon.QuantityRemaining();
}
if (quantity > 0)
{
weaponsAvailable = true;
}
else
{
foreach (WsfPlatform sub in aAssignee.Subordinates())
{
weapon = sub.Weapon(WEAPON_NAME);
if (weapon.IsTurnedOn())
{
quantity = quantity + weapon.QuantityRemaining();
}
}
if (quantity > 0) weaponsAvailable = true;
}
return weaponsAvailable;
end_script
script void MakeAssignments()
Array<WsfPlatform> filter = Array<WsfPlatform>();
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
if (sub.Type() == "LARGE_SAM_BATTALION")
{
if (WeaponsAvailable(sub) &&
(TasksAssignedTo(sub) < MAX_ASSIGNMENTS_PER_SAM) &&
(TasksAssignedTo(sub, TRACK.TrackId()) < 1) &&
(TRACK.WithinZoneOf(sub, "battalion_sector")))
{
writeln_d("*** Adding ", sub.Name(), " to filter");
filter.PushBack(sub);
}
}
}
int i;
int numAssignments = (int)MATH.Min(filter.Size(), MAX_SAMS_PER_TARGET);
for (int i=0; i < numAssignments; i = i + 1)
{
AssignTask(TRACK, "ENGAGE", filter[i]);
}
end_script
# -------------------------------------------------------------------------
evaluation_interval DETECTED 10.0 sec
time_to_evaluate DETECTED 5.0 secs
state DETECTED
next_state ASSIGNED
if (! IsAssignable()) return false;
MakeAssignments();
return true;
end_next_state
end_state
evaluation_interval ASSIGNED 10.0 sec
time_to_evaluate ASSIGNED 1.0 secs
state ASSIGNED
next_state DETECTED
if (! IsAssignable())
{
CancelTask(TRACK.TrackId());
return true;
}
MakeAssignments();
return false;
end_next_state
end_state
end_processor
platform_type IADS_CMDR WSF_PLATFORM
icon C4I
infrared_signature VEHICLE_INFRARED_SIGNATURE
optical_signature VEHICLE_OPTICAL_SIGNATURE
radar_signature VEHICLE_RADAR_SIGNATURE
comm sub_net RED_DATALINK
network_name <local:master>
internal_link data_mgr
internal_link task_mgr
end_comm
processor data_mgr IADS_CMDR_DATA_MGR
end_processor
processor task_mgr IADS_CMDR_TASK_MGR
operating_level ENGAGE 1
end_processor
include processors/commander_track_manager$(TRACKER_TYPE).txt
/*
# ---------------------------------------------
# Draw track to false targets and real targets
# ---------------------------------------------
script_variables
# Create a WsfDraw object.
WsfDraw draw = WsfDraw();
end_script_variables
execute at_interval_of 10.0 s
foreach (WsfTrack track in MasterTrackList())
{
if (track.IsValid())
{
# use the track ID as a unique draw ID
# a track icon and a line to the track icon
# is drawn at each track update
string trackId = track.TrackId().ToString();
draw.SetId(trackId);
draw.SetDuration(10.0); # this is faster than calling erase every time
if (track.IsFalseTarget())
{
draw.SetColor(0,1,0);
draw.BeginIcons(track.Heading(), "Wedge");
}
else
{
draw.SetColor(0,0,1);
draw.BeginIcons(track.Heading(), "Wedge");
}
draw.Vertex(track.CurrentLocation());
draw.End();
# Draw a line to the track
draw.SetLineStyle("dashed");
draw.BeginLines();
draw.Vertex(PLATFORM);
draw.Vertex(track.CurrentLocation());
draw.End();
}
}
end_execute
*/
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once processors/red_sam_battery_tactics.txt
include_once platforms/large_sam_ttr.txt
include_once platforms/large_sam_launcher.txt
processor LARGE_SAM_BATTALION_TASK_MGR RED_SAM_BATTERY_TASK_MGR
number_of_servers 2
#script_debug_writes on
#show_state_transitions
#show_task_messages
on_initialize
SENSOR_NAME = "ttr";
REQUIRED_TRACK_QUALITY = 0.75;
SENSOR_ACQUIRE_MODE = "ACQUIRE";
SENSOR_TRACK_MODE = "TRACK";
WEAPON_NAME = "sam";
ENVELOPE = "full_kinematic";
SALVO_SIZE = 2;
end_on_initialize
# -------------------------------------------------------------------------------
// on task assign / cancel, command the acquisition radar to emcon-on and
// emcon-off, respectively
script void EvaluateOperatingLevel()
if ((TasksReceived() > 0) ||
(OperatingLevelFor("ENGAGE") > 0))
{
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
string subType = sub.Type();
if (subType == "ACQ_RADAR")
{
if (OperatingLevelFor("ENGAGE", sub) < 1)
{
ChangeOperatingLevel("ENGAGE", 1, sub);
break;
}
}
}
}
else
{
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
string subType = sub.Type();
if (subType == "ACQ_RADAR")
{
if (OperatingLevelFor("ENGAGE", sub) > 0)
{
ChangeOperatingLevel("ENGAGE", 0, sub);
break;
}
}
}
}
end_script
script void on_task_assign(WsfTask aTask, WsfTrack aTrack)
EvaluateOperatingLevel();
end_script
script void on_task_cancel(WsfTask aTask)
EvaluateOperatingLevel();
end_script
end_processor
platform_type LARGE_SAM_BATTALION WSF_PLATFORM
icon TWIN_BOX
category ENGAGEMENT
infrared_signature VEHICLE_INFRARED_SIGNATURE
optical_signature VEHICLE_OPTICAL_SIGNATURE
radar_signature VEHICLE_RADAR_SIGNATURE
include processors/commander_track_manager$(TRACKER_TYPE).txt
comm cmdr_net RED_DATALINK
network_name <local:slave>
internal_link data_mgr
internal_link task_mgr
end_comm
comm sub_net RED_DATALINK
network_name <local:master>
internal_link data_mgr
internal_link task_mgr
end_comm
zone full_kinematic
circular
maximum_altitude 30 km
maximum_radius 25 nm
end_zone
processor data_mgr WSF_TRACK_PROCESSOR
purge_interval 30 seconds
end_processor
processor task_mgr LARGE_SAM_BATTALION_TASK_MGR
end_processor
/*
# ---------------------------------------------
# Draw track to false targets and real targets
# ---------------------------------------------
script_variables
# Create a WsfDraw object.
WsfDraw draw = WsfDraw();
end_script_variables
execute at_interval_of 1.0 s
foreach (WsfLocalTrack track in MasterTrackList())
{
if (track.IsValid() && track.SensorTypeContributor("TTR_RADAR"))
{
# use the track ID as a unique draw ID
# a track icon and a line to the track icon
# is drawn at each track update
string trackId = track.TrackId().ToString();
draw.SetId(trackId);
draw.SetDuration(1.0); # this is faster than calling erase every time
if (track.IsFalseTarget())
{
draw.SetColor(0,1,0);
}
else
{
draw.SetColor(1,0,0);
}
draw.BeginIcons(track.Heading(), "Wedge");
draw.Vertex(track.ReportedLocation());
draw.End();
# Draw a line to the track
draw.SetLineStyle("dashed");
draw.BeginLines();
draw.Vertex(PLATFORM);
draw.Vertex(track.ReportedLocation());
draw.End();
}
}
end_execute
*/
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once weapons/sam/large_sam.txt
platform_type LARGE_SAM_LAUNCHER WSF_PLATFORM
icon SA-10_Launcher
comm cmdr_net RED_DATALINK
network_name <local:slave>
internal_link data_mgr
internal_link task_mgr
end_comm
processor data_mgr WSF_TRACK_PROCESSOR
purge_interval 60 sec
end_processor
processor task_mgr WSF_TASK_PROCESSOR
end_processor
weapon sam LARGE_SAM
quantity 4
end_weapon
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once sensors/radar/ttr_radar.txt
platform_type LARGE_SAM_TTR WSF_PLATFORM
icon flaplid_radar_maz
category FIRE_CONTROL
comm datalink RED_DATALINK
network_name <local:slave>
internal_link task_mgr
end_comm
sensor ttr TTR_RADAR
off
internal_link data_mgr
ignore_same_side
end_sensor
processor data_mgr WSF_LINKED_PROCESSOR
report_to commander via datalink to sub_net
end_processor
processor task_mgr WSF_TASK_PROCESSOR
end_processor
aux_data
double max_range = 64820 # meters = 35 nm
double pk = .7
end_aux_data
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/red_radar.txt
include_once platforms/ew_radar.txt
include_once platforms/acq_radar.txt

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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.
# ****************************************************************************
include_once ../weapons/aam/simple_a2a_missile.txt
#all guesses in this platform type definition are simply scaled up values from other known jets
platform_type RED_ADV_FIGHTER_1_BASE WSF_PLATFORM
icon F-22
category fighter
mover WSF_AIR_MOVER
# WAGs - Luke Miklos
roll_rate_limit 1.4 rad/sec
default_linear_acceleration 1.2 g
default_radial_acceleration 7.0 g
default_climb_rate 500 fps
# Mach 2.0 at altitude, WAG - Luke Miklos
maximum_speed 1288.6 knots
# Ceiling, WAG - Luke Miklos
maximum_altitude 60000 ft
minimum_altitude 50 ft
# g limit, WAG - Luke Miklos
maximum_linear_acceleration 10 g
#no_pitch
at_end_of_path extrapolate
end_mover
fuel WSF_VARIABLE_RATE_FUEL
rate 7.0 lb/s
initial_quantity 14000 lb
maximum_quantity 14000 lb
end_fuel
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 1 sec
end_processor
weapon int_missile SIMPLE_A2A_MISSILE_WEAPON end_weapon
end_platform_type

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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.
# ****************************************************************************
#for RED_ADV_FIGHTER_1
include_once red_adv_fighter_1_base.txt
platform_type RED_ADV_FIGHTER_1 RED_ADV_FIGHTER_1_BASE
//nothing new for now
end_platform_type

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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.
# ****************************************************************************
#for RED_ADV_FIGHTER_1
include_once red_adv_fighter_1_base.txt
#for AIAI-thinker
include_once processors/ripr_agents/aiai/aiai_processor.txt
#for red_mr_a2a_rf_missile
include_once weapons/aam/red_mr_a2a_rf_missile.txt
include_once weapons/aam/simple_blue_lr_a2a_rf_missile.txt
platform_type RED_ADV_FIGHTER_1 RED_ADV_FIGHTER_1_BASE
//use a different missile for this type
//adjust missile ranges in int-thinker below to accomodate
delete weapon int_missile
#weapon int_missile RED_MR_A2A_RF_MISSILE end_weapon # ~45 nm range
weapon blue_lr_a2a_rf_missile SIMPLE_BLUE_LR_A2A_RF_MISSILE end_weapon # ~60 nm range
edit weapon blue_lr_a2a_rf_missile
quantity 8
end_weapon
//This is the code that lets the interceptor intercept
processor int-thinker AIAI-thinker
script_variables
#agentProductions must be relative to working directory of application
#this file usually sits in scenario_name/platforms folder
#working directory is typically the scenario folder
#agentProductions = "../ripr/agents/aiai/RIPR-AIAI.soar";
#mWeaponArray[0] = Map<string, Object>();
#mWeaponArray[0].Set("name", "int_missile");
#mWeaponArray[0].Set("weapon", PLATFORM.Weapon("int_missile"));
#mWeaponArray[0].Set("rangeMin", 5556);
#mWeaponArray[0].Set("rangeMax", 83340);
#mWeaponArray[0].Set("numActiveMax", 2); // how many weapons of this type can be in play simultaneously
mWeaponArray[0] = Map<string, Object>();
mWeaponArray[0].Set("name", "blue_lr_a2a_rf_missile");
mWeaponArray[0].Set("weapon", PLATFORM.Weapon("blue_lr_a2a_rf_missile"));
mWeaponArray[0].Set("rangeMin", 1000);
mWeaponArray[0].Set("rangeMax", 111120); // ~60 miles
mWeaponArray[0].Set("numActiveMax", 2); // how many weapons of this type can be in play simultaneously
end_script_variables
end_processor
sensor geo_sensor WSF_GEOMETRIC_SENSOR
//azimuth_field_of_view -180.0 degrees 180.0 degrees
//elevation_field_of_view -90.0 degrees 90.0 degrees
azimuth_field_of_view -60.0 degrees 60.0 degrees
elevation_field_of_view -30.0 degrees 30.0 degrees
minimum_range 0 m
# maximum_range 100000 m
maximum_range 63000 m
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
track_quality 1.0
ignore_same_side
internal_link track_manager
end_sensor
processor incoming_threats WSF_THREAT_PROCESSOR
update_interval 0.1 sec
#update_interval 2.0 sec
#1300 knots
threat_velocity 668.7778 m/s
threat_angle_spread 15.0 deg
threat_time_to_intercept 240 sec
script void identified_new_threat(WsfTrack aTrack)
writeln("!!! me: ", PLATFORM.Name(), ", new threat: ", aTrack.TargetName());
end_script
script void dropped_threat(WsfTrack aTrack)
if (aTrack.IsValid())
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat: ", aTrack.TargetName());
}
else
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat");
}
end_script
end_processor
end_platform_type

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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.
# ****************************************************************************
include_once ../weapons/aam/simple_a2a_missile.txt
platform_type RED_FIGHTER_1_BASE WSF_PLATFORM
icon SU-27
category fighter
mover WSF_AIR_MOVER
roll_rate_limit 1 rad/sec
default_linear_acceleration 1.0 g
default_radial_acceleration 6.5 g
default_climb_rate 400 fps
# Mach 1.85 (1192.0 kts) at altitude, Janes Reference
maximum_speed 1192.0 knots
# Ceiling, Janes Reference
maximum_altitude 59000 ft
minimum_altitude 50 ft
# g limit, Janes Reference
maximum_linear_acceleration 9 g
#no_pitch
at_end_of_path extrapolate
end_mover
fuel WSF_VARIABLE_RATE_FUEL
rate 7.0 lb/s
initial_quantity 19842 lb
#max internal fuel + max external stores load, Janes reference
#(4500 internal + 4500 external = 9000 kg)
maximum_quantity 19842 lb
end_fuel
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 1 sec
end_processor
weapon int_missile SIMPLE_A2A_MISSILE_WEAPON end_weapon
end_platform_type

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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.
# ****************************************************************************
#for RED_FIGHTER_1
include_once red_fighter_1_base.txt
platform_type RED_FIGHTER_1 RED_FIGHTER_1_BASE
//nothing new for now
end_platform_type

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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.
# ****************************************************************************
#for RED_FIGHTER_1
include_once red_fighter_1_base.txt
#for AIAI-thinker
include_once processors/ripr_agents/aiai/aiai_processor.txt
#for red_mr_a2a_rf_missile
include_once weapons/aam/red_mr_a2a_rf_missile.txt
platform_type RED_FIGHTER_1 RED_FIGHTER_1_BASE
//use a different missile for this type
//adjust missile ranges in int-thinker below to accomodate
delete weapon int_missile
weapon int_missile RED_MR_A2A_RF_MISSILE end_weapon
//This is the code that lets the interceptor intercept
processor int-thinker AIAI-thinker
script_variables
mWeaponArray[0] = Map<string, Object>();
mWeaponArray[0].Set("name", "int_missile");
mWeaponArray[0].Set("weapon", PLATFORM.Weapon("int_missile"));
mWeaponArray[0].Set("rangeMin", 5556);
mWeaponArray[0].Set("rangeMax", 83340);
mWeaponArray[0].Set("numActiveMax", 2); // how many weapons of this type can be in play simultaneously
end_script_variables
end_processor
sensor geo_sensor WSF_GEOMETRIC_SENSOR
//azimuth_field_of_view -180.0 degrees 180.0 degrees
//elevation_field_of_view -90.0 degrees 90.0 degrees
azimuth_field_of_view -60.0 degrees 60.0 degrees
elevation_field_of_view -30.0 degrees 30.0 degrees
minimum_range 0 m
# maximum_range 100000 m
maximum_range 63000 m
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
track_quality 1.0
ignore_same_side
internal_link track_manager
end_sensor
processor incoming_threats WSF_THREAT_PROCESSOR
update_interval 0.1 sec
#update_interval 2.0 sec
#1300 knots
threat_velocity 668.7778 m/s
threat_angle_spread 13.0 deg
threat_time_to_intercept 240 sec
script void identified_new_threat(WsfTrack aTrack)
writeln("!!! me: ", PLATFORM.Name(), ", new threat: ", aTrack.TargetName());
end_script
script void dropped_threat(WsfTrack aTrack)
if (aTrack.IsValid())
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat: ", aTrack.TargetName());
}
else
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat");
}
end_script
end_processor
end_platform_type

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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.
# ****************************************************************************
//include_once ../sensors/red_esm.txt
//include_once ../sensors/rwr_esm.txt
//include_once ../weapons/x_jammer_red.txt
include_once ../sensors/radar/red_a2a_radar.txt
include_once ../weapons/aam/simple_a2a_missile.txt
platform_type RED_MULTIROLE_FIGHTER_2_BASE WSF_PLATFORM
icon SU-27
category fighter
mover WSF_AIR_MOVER
roll_rate_limit 1 rad/sec
default_linear_acceleration 1.0 g
default_radial_acceleration 6.0 g
default_climb_rate 400 fps
maximum_speed 850.0 knots
maximum_altitude 50000 ft
minimum_altitude 50 ft
maximum_linear_acceleration 8 g
at_end_of_path extrapolate
end_mover
processor track_manager WSF_TRACK_PROCESSOR
//debug
purge_interval 60 sec
update_interval 1 sec
end_processor
sensor red_multirole_fighter_2_radar RED_A2A_RADAR
on
processor track_manager
ignore_same_side
end_sensor
// sensor red_esm RED_ESM
// processor track_manager
// end_sensor
// sensor rwr_esm RWR_ESM
// processor track_manager
// end_sensor
weapon int_missile SIMPLE_A2A_MISSILE_WEAPON end_weapon
// weapon disrupt1 X_JAMMER_RED
// on
// end_weapon
fuel WSF_FUEL
//maximum_quantity 6531 kg
//10,000 lbs is about 4536 kg
maximum_quantity 4536 kg
//initial_quantity 6000 kg
initial_quantity 4500 kg
consumption_rate 1 kg/sec
bingo_quantity 1500 kg
on_bingo
writeln_d ("!!! ", PLATFORM.Name(), " on_bingo fuel");
end_on_bingo
on_empty
writeln_d ("!!! ", PLATFORM.Name(), " on_empty fuel");
end_on_empty
end_fuel
end_platform_type
#object RED_MULTIROLE_FIGHTER_2 {
# name "RED_MULTIROLE_FIGHTER_2 %d"
# team red
# icon "su_27"
# opponent_icon "su_27"
# //opponent_icon "CH_53"
# sensors (RED_A2A_RADAR RED_ESM RWR_ESM)
# tactics military_tactics
# dynamics powered_dynamics
# aero_model (
# linear_accel 1.0 G
# radial_accel 6.0 G
# climb_rate 400.0 fps
# max_speed 850.0 knots
# max_alt 50000 ft
# min_alt 50 ft
# fuel_table ( 76 (115 1.37 pps
# 150 1.59 pps
# 301 6.76 pps
# 321 23.4 pps)
# 5473 (143 1.24 pps
# 187 1.44 pps
# 293 4.65 pps
# 318 16.50 pps)
# 10671 (206 1.20 pps
# 236 1.27 pps
# 271 2.13 pps
# 295 7.37 pps))
# max_speed_table ( 76 321
# 4573 318
# 10671 295)
# fuel 10000 lb
# )
# launch_to_alt 32000 ft
# launch_to_speed 500 knots
# net off
#x ir_signature (1.0 1.2 1.6 1.8 2.0 2.0 2.0 2.0 2.0 2.0 1.9 1.8
#x 1.7 1.9 2.0 2.0 2.0 2.0 2.0 2.0 2.0 1.8 1.6 1.2)
# rcs3d FTR_RCS
#}
#
#

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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.
# ****************************************************************************
#for RED_MULTIROLE_FIGHTER_2
include_once red_multirole_fighter_2_base.txt
platform_type RED_MULTIROLE_FIGHTER_2 RED_MULTIROLE_FIGHTER_2_BASE
//nothing new for now
end_platform_type

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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.
# ****************************************************************************
#for RED_MULTIROLE_FIGHTER_2
include_once red_multirole_fighter_2_base.txt
#for AIAI-thinker
include_once processors/ripr_agents/aiai/aiai_processor.txt
#for red_mr_a2a_rf_missile
include_once weapons/aam/red_mr_a2a_rf_missile.txt
script_interface
//debug
end_script_interface
// This is a ripr interceptor, based on red_multirole_fighter_2.
platform_type RED_MULTIROLE_FIGHTER_2 RED_MULTIROLE_FIGHTER_2_BASE
//use a different missile for this type
//adjust missile ranges in int-thinker below to accomodate
delete weapon int_missile
weapon int_missile RED_MR_A2A_RF_MISSILE end_weapon
//This is the code that lets the interceptor intercept
processor int-thinker AIAI-thinker
script_variables
#agentProductions must be relative to working directory of application
#this file usually sits in scenario_name/platforms folder
#working directory is typically the scenario folder
#agentProductions = "../ripr/agents/aiai/RIPR-AIAI.soar";
mWeaponArray[0] = Map<string, Object>();
mWeaponArray[0].Set("name", "int_missile");
mWeaponArray[0].Set("weapon", PLATFORM.Weapon("int_missile"));
mWeaponArray[0].Set("rangeMin", 5556);
mWeaponArray[0].Set("rangeMax", 83340);
mWeaponArray[0].Set("numActiveMax", 2); // how many weapons of this type can be in play simultaneously
end_script_variables
end_processor
//don't mess around with crappy radars, just use a simple geometric sensor
delete sensor red_a2a_radar
sensor geo_sensor WSF_GEOMETRIC_SENSOR
//azimuth_field_of_view -180.0 degrees 180.0 degrees
//elevation_field_of_view -90.0 degrees 90.0 degrees
azimuth_field_of_view -60.0 degrees 60.0 degrees
elevation_field_of_view -30.0 degrees 30.0 degrees
minimum_range 0 m
# maximum_range 100000 m
maximum_range 63000 m
on
frame_time 0.5 sec
reports_location
reports_velocity
reports_iff
track_quality 1.0
ignore_same_side
internal_link track_manager
end_sensor
processor incoming_threats WSF_THREAT_PROCESSOR
update_interval 0.1 sec
#update_interval 2.0 sec
#1300 knots
threat_velocity 668.7778 m/s
threat_angle_spread 10.0 deg
threat_time_to_intercept 240 sec
script void identified_new_threat(WsfTrack aTrack)
writeln("!!! me: ", PLATFORM.Name(), ", new threat: ", aTrack.TargetName());
end_script
script void dropped_threat(WsfTrack aTrack)
if (aTrack.IsValid())
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat: ", aTrack.TargetName());
}
else
{
writeln("!!! ", PLATFORM.Name(), " dropped a threat");
}
end_script
end_processor
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/red_radar_tactics.txt
# This serves as a base for 'red' standalone radar players
platform_type RED_RADAR WSF_PLATFORM
icon Ground_Radar
infrared_signature VEHICLE_INFRARED_SIGNATURE
optical_signature VEHICLE_OPTICAL_SIGNATURE
radar_signature VEHICLE_RADAR_SIGNATURE
comm sub_net RED_DATALINK
network_name <local:slave>
internal_link task_mgr
end_comm
processor data_mgr WSF_LINKED_PROCESSOR
report_to commander via sub_net
end_processor
processor task_mgr RED_RADAR_TACTICS
end_processor
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
platform_type RED_RADAR_COMPANY WSF_PLATFORM
icon TWIN_BOX
infrared_signature VEHICLE_INFRARED_SIGNATURE
optical_signature VEHICLE_OPTICAL_SIGNATURE
radar_signature VEHICLE_RADAR_SIGNATURE
comm cmdr_net RED_DATALINK
network_name <local:slave>
internal_link data_mgr
internal_link task_mgr
end_comm
comm sub_net RED_DATALINK
network_name <local:master>
internal_link data_mgr
internal_link task_mgr
end_comm
include processors/commander_track_manager$(TRACKER_TYPE).txt
processor data_mgr WSF_TRACK_PROCESSOR
purge_interval 60 sec
report_to commander via cmdr_net to sub_net
report_interval 20 sec
fused_track_reporting on
raw_track_reporting off
end_processor
processor task_mgr WSF_TASK_PROCESSOR
end_processor
/*
# ---------------------------------------------
# Draw track to false targets and real targets
# ---------------------------------------------
script_variables
# Create a WsfDraw object.
WsfDraw draw = WsfDraw();
end_script_variables
execute at_interval_of 1.0 s
foreach (WsfTrack track in MasterTrackList())
{
if (track.IsValid())
{
# use the track ID as a unique draw ID
# a track icon and a line to the track icon
# is drawn at each track update
string trackId = track.TrackId().ToString();
draw.SetId(trackId);
draw.SetDuration(1.0); # this is faster than calling erase every time
if (track.IsFalseTarget())
{
draw.SetColor(0,1,0);
}
else
{
draw.SetColor(0,0,1);
}
draw.BeginIcons(track.Heading(), "Wedge");
draw.Vertex(track.ReportedLocation());
draw.End();
# Draw a line to the track
draw.SetLineStyle("dashed");
draw.BeginLines();
draw.Vertex(PLATFORM);
draw.Vertex(track.ReportedLocation());
draw.End();
}
}
end_execute
*/
end_platform_type

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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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
# this file defines a simple task manager which implements very basic EMCON
# rules for EW/ACQ type radar players
processor RED_RADAR_TACTICS WSF_TASK_PROCESSOR
script_variables
bool cEVALUATE_EMCON_TURN_OFF = false;
end_script_variables
script void EvaluateEmcon()
int sensorCount = PLATFORM.SensorCount();
if (sensorCount > 0)
{
WsfSensor sensor = PLATFORM.SensorEntry(0);
if (sensor.IsTurnedOff())
{
# sensor is off. Turn it on if we've received a task or
# we are put on alert
if ((TasksReceived() > 0) ||
(OperatingLevelFor("ENGAGE") > 0))
{
for (int entry = 0; entry < sensorCount; entry = entry + 1)
{
PLATFORM.SensorEntry(entry).TurnOn();
}
}
}
else if (sensor.IsTurnedOn() &&
cEVALUATE_EMCON_TURN_OFF)
{
# sensor is on. Turn it off if we have no tasks and are
# not on alert
if ((TasksReceived() < 1) &&
(OperatingLevelFor("ENGAGE") < 1))
{
for (int entry = 0; entry < sensorCount; entry = entry + 1)
{
PLATFORM.SensorEntry(entry).TurnOff();
}
}
}
}
end_script
# this cannot be done in 'on_initialize' because the commander may not yet exist
execute at_time 0.1 seconds relative
# if my commander is in the category ENGAGEMENT then we will execute
# the emcon/turn-off logic
WsfPlatform commander = PLATFORM.Commander();
if (commander.IsValid() &&
commander.CategoryMemberOf("ENGAGEMENT"))
{
cEVALUATE_EMCON_TURN_OFF = true;
}
end_execute
# evaluate emcon whenever we have a change in assignment or alert level
script void on_task_assign(WsfTask aTask, WsfTrack aTrack)
ExecuteScriptAtTime(TIME_NOW + RANDOM.Uniform(0.0, 4.0), "EvaluateEmcon");
end_script
script void on_task_cancel(WsfTask aTask)
ExecuteScriptAtTime(TIME_NOW + RANDOM.Uniform(0.0, 4.0), "EvaluateEmcon");
end_script
script void on_operating_level_change(string aName)
ExecuteScriptAtTime(TIME_NOW + RANDOM.Uniform(0.0, 4.0), "EvaluateEmcon");
end_script
end_processor

308
platforms/red_sam_battery_tactics.txt Normal file
View File

@@ -0,0 +1,308 @@
# ****************************************************************************
# 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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
# this file defines a task manager implementing a generic sam battery
include_once weapons/sam/sam_launch_computer.txt
processor RED_SAM_BATTERY_TASK_MGR WSF_TASK_PROCESSOR
#script_debug_writes on
#show_state_transitions
#show_task_messages
track_update_interval 5.0 sec
script_variables
string SENSOR_NAME;
string WEAPON_NAME;
string ENVELOPE = "full_kinematic";
# the following variable declares the name of the mode used for tracking
string SENSOR_ACQUIRE_MODE = "ACQUIRE";
string SENSOR_TRACK_MODE = "TRACK";
# the following variable declares the minimum track quality to
# attempt to engage the target
double REQUIRED_TRACK_QUALITY = 0.49;
int SALVO_SIZE = 2;
# the following are used internally and should not be modified by the user
string mAcquireTaskStr = "Acquire";
string mTrackTaskStr = "Track";
string mShootTaskStr = "Shoot";
end_script_variables
# returns true if weapon is still active for given track
script bool FiringNow()
return (WeaponsActiveFor(TRACK.TrackId()) > 0);
end_script
# return true if intercept results are known
# (i.e. weapons have terminated for this TRACK)
script bool InterceptResultsKnown()
return (TimeSinceWeaponLastTerminatedFor(TRACK.TrackId()) > 0.0);
end_script
# return true if TRACK is inside the intercept envelope
script bool InInterceptEnvelopeOf(string aEnvelopeName)
extern bool SAM_LaunchComputer(WsfTrack, WsfPlatform, string, double);
return SAM_LaunchComputer(TRACK, PLATFORM, aEnvelopeName, 0.0);
end_script
// returns true if acq_radar is tracking
script bool HasDetected()
return (TRACK.TrackQuality() > 0.55);
end_script
// returns true if TTR is tracking in acquire mode
script bool HasAcquired()
return (TRACK.TrackQuality() > 0.75);
end_script
// returns true if TTR is tracking in track mode
script bool TrackingNow()
return (TRACK.TrackQuality() > 0.95);
end_script
# release resources
script void ReleaseResources()
CancelTask(TRACK.TrackId());
end_script
# select a weapon and launch it
# the selected weapon must be available, have sufficient rounds and not busy
script bool LaunchWeapon()
WsfWeapon weapon;
WsfPlatform platform;
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
weapon = sub.Weapon(WEAPON_NAME);
if (weapon.IsTurnedOn() &&
(weapon.QuantityRemaining() >= SALVO_SIZE) &&
(TasksAssignedTo(sub, "", weapon.Name()) < 1))
{
bool canInterceptNow = InInterceptEnvelopeOf(ENVELOPE);
if (canInterceptNow)
{
platform = sub;
break;
}
}
}
bool launched = false;
if ((weapon.IsValid()) && (!platform.IsNull()))
{
launched = Fire(TRACK, mShootTaskStr, weapon.Name(), SALVO_SIZE, platform);
if (launched)
{
writeln_d("*** T=", TIME_NOW, " ", platform.Name(), " ",
TRACK.TargetName(), " R=", platform.SlantRangeTo(TRACK),
" FIRE!!!!");
}
}
return launched;
end_script
# returns true if the TRACK has been assigned or the system has
# local engage authority
script bool IsAssignable()
writeln_d(TIME_NOW, " ", PLATFORM.Name(), " IsAssignable()");
writeln_d(" TaskReceivedFor(TRACK) ", TasksReceivedFor(TRACK.TrackId()));
writeln_d(" OperatingLevelFor(ENGAGE) ", OperatingLevelFor("ENGAGE"));
return ((PLATFORM == PLATFORM.Commander()) ||
(TasksReceivedFor(TRACK.TrackId()) > 0) ||
(OperatingLevelFor("ENGAGE") > 0));
end_script
# determine the number of available weapons
script int WeaponsAvailable(WsfPlatform aAssignee)
int quantity = 0;
WsfWeapon weapon = aAssignee.Weapon(WEAPON_NAME);
if (weapon.IsTurnedOn())
{
quantity = weapon.QuantityRemaining();
}
return quantity;
end_script
# determine total number of available weapons
script int TotalWeaponsAvailable()
int quantity = 0;
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
quantity = quantity + WeaponsAvailable(sub);
}
return quantity;
end_script
# begin tracking the current target
script bool Engage()
bool engaging = false;
if (TotalWeaponsAvailable() < 1) return false;
writeln_d(TIME_NOW, " ", PLATFORM.Name(), " WeaponsAvailable");
foreach (WsfPlatform sub in PLATFORM.Subordinates())
{
# bypass this subordinate if it already has an assignment for this target
writeln_d(" subordinate ", sub.Name());
if (TasksAssignedTo(sub, TRACK.TrackId(), mTrackTaskStr) > 0)
{
writeln_d(" already assigned to ", TRACK.TargetName());
continue;
}
WsfSensor sensor = sub.Sensor(SENSOR_NAME);
if (! sensor.IsValid())
{
writeln_d(" sensor ", SENSOR_NAME, " invalid");
continue;
}
# the system can only track so many targets
if (sensor.ActiveRequestCount(SENSOR_TRACK_MODE) >=
sensor.MaximumRequestCount(SENSOR_TRACK_MODE))
{
writeln_d(" maximum requests met");
continue;
}
if (TRACK.BelievedAlive() &&
InInterceptEnvelopeOf(ENVELOPE) &&
(HasAcquired()))
{
// track the target
engaging = StartTracking(TRACK, mTrackTaskStr, sensor.Name(), SENSOR_TRACK_MODE, sub);
if (engaging)
{
writeln_d(" tracking engaged ", TRACK.TargetName());
break;
}
else
{
writeln_d(" unable to track target ", TRACK.TargetName());
}
}
if (sensor.ActiveRequestCount(SENSOR_ACQUIRE_MODE) >=
sensor.MaximumRequestCount(SENSOR_ACQUIRE_MODE)) continue;
if (TRACK.BelievedAlive() &&
InInterceptEnvelopeOf(ENVELOPE) &&
(HasDetected()))
{
// acquire the target
engaging = StartTracking(TRACK, mAcquireTaskStr, sensor.Name(), SENSOR_ACQUIRE_MODE, sub);
if (engaging) break;
}
else
{
writeln_d(" TRACK.TargetName() ", TRACK.TargetName());
writeln_d(" TRACK.BelievedAlive() ", TRACK.BelievedAlive());
writeln_d(" InInterceptEnvelopeOf(ENVELOPE) ", InInterceptEnvelopeOf(ENVELOPE));
writeln_d(" TRACK.TrackQuality() ", TRACK.TrackQuality());
writeln_d(" REQUIRED_TRACK_QUALITY ", REQUIRED_TRACK_QUALITY);
writeln_d(" TRACK.TrackQuality() > REQUIRED_TRACK_QUALITY ", TRACK.TrackQuality() > REQUIRED_TRACK_QUALITY);
}
}
return engaging;
end_script
# ------------------------------------------------------------------
evaluation_interval DETECTED 2.0 sec
state DETECTED
next_state DETECTED
if (TRACK.IFF_Friend())
{
# cancel any tasks assigned against this track
CancelTask(TRACK.TrackId());
return true;
}
return false;
end_next_state
next_state ENGAGEABLE
return (TRACK.BelievedAlive() &&
(! TRACK.IFF_Friend()) &&
IsAssignable());
end_next_state
end_state
evaluation_interval ENGAGEABLE 2.0 sec
state ENGAGEABLE
next_state DETECTED
bool cancel = false;
if (TRACK.BelievedDead() ||
TRACK.IFF_Friend() ||
((TasksAssignedFor(TRACK.TrackId(), "ENGAGE") < 1) &&
(! IsAssignable())))
{
cancel = true;
ReleaseResources();
}
return cancel;
end_next_state
next_state ENGAGE
Engage();
# wait until tracking target
return (TrackingNow() &&
(TasksAssignedFor(TRACK.TrackId(), mTrackTaskStr) > 0));
end_next_state
end_state
evaluation_interval ENGAGE 2.0 sec
state ENGAGE
next_state ENGAGEABLE
bool cancel = false;
if (TRACK.BelievedDead() ||
(! TrackingNow()) ||
(! IsAssignable()))
{
cancel = true;
ReleaseResources();
}
return cancel;
end_next_state
next_state FIRING
bool launched = false;
if (TRACK.BelievedAlive() &&
TrackingNow() &&
! FiringNow() &&
InInterceptEnvelopeOf(ENVELOPE))
{
launched = LaunchWeapon();
}
return launched;
end_next_state
end_state
evaluation_interval FIRING 2.0 sec
state FIRING
next_state ENGAGE
return (TRACK.BelievedDead() ||
! InInterceptEnvelopeOf(ENVELOPE) ||
(! FiringNow() &&
(TasksAssignedFor(TRACK.TrackId(), mShootTaskStr) < 1)) ||
(TotalWeaponsAvailable() < 1) ||
! TrackingNow());
end_next_state
end_state
end_processor

14
platforms/sam_players.txt Normal file
View 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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once platforms/large_sam_battalion.txt

470
platforms/soj.txt Normal file
View File

@@ -0,0 +1,470 @@
# ****************************************************************************
# 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.
# ****************************************************************************
# * * ************************************** * *
# * ****** Demonstration input file ****** *
# * ****** UNCLASSIFIED ****** *
# * * ************************************** * *
include_once signatures/fighter_sigs.txt
include_once sensors/esm_rwr/ucav_esm.txt
include_once weapons/jammer/soj_vhf_jammer.txt
include_once weapons/jammer/soj_sband_jammer.txt
include_once weapons/jammer/soj_xband_jammer.txt
# -------------------------------------------------------------------------
# script to make jamming assignemnts based on
# frequency band and FOV of the jamming weapons system.
processor SOJ_TASK_MGR WSF_TASK_PROCESSOR
#script_debug_writes on
#show_state_transitions
#show_task_messages
script_variables
# Track time since updated to consider track stale
double mTrackUpdateStaleTime = 10.0; # seconds
# MUST BE DIFFERENT FOR EACH JAMMER TASK MANAGER CONTROLLING DIFFERENT SYSTEMS
string mJamTaskStr = "SOJ_JAM"; # Reset to all caps in the on_initialize script below.
# Map of the previous signal count for the given track Id
Map<WsfTrackId, int> mSignalCountMap = Map<WsfTrackId, int>();
# Default technique to assign for threats not defined in mThreatTechniqueMap below
string mDefaultTechnique = "noise_jamming";
# Available types: noise_jamming, random_pulse_jamming, false_target_jamming,
# simple_false_target_jamming, track_error, jtos_gain_jamming
Map<string, struct> mThreatData = Map<string, struct>();
// EW Radar
struct ew_data = struct();
ew_data->mAssign = true;
ew_data->mTechnique = "noise_jamming";
#ew_data->mTechnique = "false_target_jamming";
//ACQ Radar
struct acq_data = struct();
acq_data->mAssign = true;
acq_data->mTechnique = "random_pulse_jamming";
//TTR Radar
struct ttr_data = struct();
ttr_data->mAssign = true;
ttr_data->mTechnique = "jtos_gain_jamming";
// Create data map for use by scripts
# Must be top level names or types, does not drill into sub-types
mThreatData["EW_RADAR"] = ew_data;
mThreatData["ACQ_RADAR"] = acq_data;
mThreatData["TTR_RADAR"] = ttr_data;
# Must be top level names or types, does not drill into sub-types
Map<string, bool> mWeaponAssignMap = Map<string, bool>();
mWeaponAssignMap["SOJ_VHF_JAMMER"] = true;
mWeaponAssignMap["SOJ_SBAND_JAMMER"] = true;
mWeaponAssignMap["SOJ_XBAND_JAMMER"] = true;
end_script_variables
on_initialize
mJamTaskStr = Name().Upper();
end_on_initialize
# Script to determine if the given threat is in the list
# and its status for assignments
script bool AllowTrack()
bool allowAssign = false;
int emitterCount = TRACK.EmitterCount();
for (int i = 0; i < emitterCount; i = i + 1)
{
string emitterType = TRACK.EmitterType(i);
if (emitterType == "")
{
emitterType = TRACK.TargetType();
}
if (mThreatData.Exists(TRACK.TargetName()) &&
mThreatData.Get(TRACK.TargetName())->mAssign)
{
return true;
}
else if (mThreatData.Exists(emitterType) &&
mThreatData.Get(emitterType)->mAssign)
{
return true;
}
}
return allowAssign;
end_script
# Script to determine if the given jammer is in the list
# and its status for assignments
# must be top level names or types, does not drill into sub-types
script bool AllowWeaponTasking(WsfWeapon aWeapon)
bool allowAssign = false;
if (aWeapon.IsValid() &&
aWeapon.IsA_TypeOf("WSF_RF_JAMMER"))
{
if (mWeaponAssignMap.Exists(aWeapon.Name()))
{
allowAssign = mWeaponAssignMap.Get(aWeapon.Name());
}
else if (mWeaponAssignMap.Exists(aWeapon.Type()))
{
allowAssign = mWeaponAssignMap.Get(aWeapon.Type());
}
}
return allowAssign;
end_script
# Script to determine the appropriate jammer types based on frequency
# must be top level names or types, does not drill into sub-types
script Map<string, bool> JammerTypes(double aFrequency)
Map<string, bool> jammerTypes = Map<string, bool>();
if (TRACK.FrequencyValid())
{
for (int i = 0; i < PLATFORM.WeaponCount(); i = i + 1)
{
WsfWeapon weapon = PLATFORM.WeaponEntry(i);
if (AllowWeaponTasking(weapon))
{
double minFreq = weapon.MinimumFrequency();
double maxFreq = weapon.MaximumFrequency();
if ((aFrequency >= minFreq) && (aFrequency <= maxFreq))
{
jammerTypes[weapon.Type()] = true;
}
}
}
}
return jammerTypes;
end_script
# Script to determine the appropriate technique to use based on target type
script string TechniqueType(int aSignalIndex)
string techniqueType = mDefaultTechnique; // default technique
string emitterType = TRACK.SignalEmitterType(aSignalIndex);
if (emitterType == "")
{
emitterType = TRACK.TargetType();
}
if (TRACK.IsValid())
{
if (mThreatData.Exists(TRACK.TargetName()))
{
techniqueType = mThreatData.Get(TRACK.TargetName())->mTechnique;
}
else if (mThreatData.Exists(TRACK.TargetType()))
{
techniqueType = mThreatData.Get(emitterType)->mTechnique;
}
}
return techniqueType ;
end_script
# Script to determine the appropriate bandwidth to use based on technique
# Note: Could also add in the target type if required
script double Bandwidth(int aSignalIndex, double aPulsewidth)
double bandwidth = 1.e6; // default bandwidth
if (TechniqueType(aSignalIndex) == "false_target_jamming")
{
bandwidth = 1.0e6;
if (aPulsewidth > 0.0)
{
bandwidth = 1 / aPulsewidth;
}
}
else if (TechniqueType(aSignalIndex) == "random_pulse_jamming")
{
bandwidth = 1.5e6;
}
return bandwidth;
end_script
// Add spot for the current signal index in the track
script bool AddSpot(int aSignalIndex)
bool addedSpot = false;
WsfWeapon jammer;
Map<string, bool> requiredTypes = Map<string, bool>();
string jammerType = "";
double freq = TRACK.SignalFrequency(aSignalIndex);
requiredTypes = JammerTypes(freq);
for (int i=0; i < PLATFORM.WeaponCount(); i = i + 1)
{
jammer = PLATFORM.WeaponEntry(i);
jammerType = jammer.Type();
if (requiredTypes.Exists(jammerType))
{
if(PLATFORM.WithinFieldOfView(TRACK, jammer.Name()))
{
# check to see if any maximum spots have been allocated
if ((jammer.QuantityRemaining() > 0) || (jammer.MaximumRequestCount() == 1))
{
string jamStr = write_str(mJamTaskStr, aSignalIndex);
double pulsewidth = TRACK.SignalPW(aSignalIndex);
if (StartJamming(TRACK,
jamStr,
jammer,
freq,
Bandwidth(aSignalIndex, pulsewidth),
TechniqueType(aSignalIndex)))
{
writeln_d("T=", TIME_NOW, " ", PLATFORM.Name(), ":", jammer.Name(), " started jamming ",
TRACK.TargetName(), ":", TRACK.SignalEmitterType(aSignalIndex),
", task=", jamStr, " freq=", freq, " BW=", Bandwidth(aSignalIndex,pulsewidth),
" Technique=", TechniqueType(aSignalIndex));
addedSpot = true;
break; # only allow one weapon per assignment for now, script needs work to do more than one
}
}
}
}
}
return addedSpot;
end_script
# Script to start jamming a track
script bool StartJammingTrack()
bool startedJamming = false;
int signalCount = TRACK.SignalCount();
mSignalCountMap[TRACK.TrackId()] = signalCount; // Update the signal count map
for (int signalIndex = 0; signalIndex < signalCount; signalIndex = signalIndex + 1)
{
if (AddSpot(signalIndex))
{
startedJamming = true;
}
}
return startedJamming;
end_script
# Script to update jamming assignments for a track
script void UpdateJammingTrack()
string reason = "UNKNOWN";
int curSignalCount = TRACK.SignalCount();
int prevSignalCount = mSignalCountMap[TRACK.TrackId()];
int loopSignalCount = MATH.Max(curSignalCount, prevSignalCount); # use the max to add/remove spots
for (int signalIndex = 0; signalIndex < loopSignalCount; signalIndex = signalIndex + 1)
{
bool addSpot = false;
string jamStr = write_str(mJamTaskStr, signalIndex);
WsfTaskList taskList = AssignedTaskList(TRACK.TrackId(), jamStr);
if (taskList.Count() == 0)
{
addSpot = true;
reason = "frequency added";
}
else if (taskList.Count() == 1)
{
WsfTask task = taskList.Entry(0);
bool needToStopJamming = true;
if (signalIndex >= curSignalCount)
{
reason = write_str("signal_", signalIndex, "_invalid");
}
else if (PLATFORM.WithinFieldOfView(TRACK, task.ResourceName()))
{
if (task.ResourceFrequency() == TRACK.SignalFrequency(signalIndex))
{
needToStopJamming = false;
}
if (needToStopJamming)
{
reason = "frequency change";
}
}
else
{
reason = "FOV limits";
}
if (needToStopJamming)
{
writeln_d("T=", TIME_NOW, " ", PLATFORM.Name(), ":", task.ResourceName(), " stopped jamming ",
TRACK.TargetName(), ":", TRACK.SignalEmitterType(signalIndex),
", task=", task.TaskType()," freq=", task.ResourceFrequency(),
" due to ", reason);
if (CancelTask(task.TrackId(), task.TaskType(), task.ResourceName()))
{
addSpot = true;
}
}
}
else
{
# script setup for single jamming task for now, needs work for multiples?
writeln("*****WARNING: More than one task found in.", PLATFORM.Name(), " jamming script.");
}
if (addSpot)
{
AddSpot(signalIndex);
}
}
mSignalCountMap[TRACK.TrackId()] = curSignalCount;
end_script
# script to stop jamming against the current track
script void StopJammingTrack(string aReasonStr)
WsfTaskList taskList = AssignedTaskList(TRACK.TrackId(), "");
foreach(WsfTask task in taskList)
{
if (task.ResourceIsJammer() && task.TaskType().StartsWith(mJamTaskStr))
{
writeln_d("T=", TIME_NOW, " ", PLATFORM.Name(), ":", task.ResourceName(), " stopped jamming ",
TRACK.TargetName(), ", task=", task.TaskType()," freq=", task.ResourceFrequency(),
" due to ", aReasonStr);
if (! CancelTask(task.TrackId(), task.TaskType(), task.ResourceName()))
{
writeln_d("FAILED");
}
}
}
end_script
# script to determine if platform is still jamming current track
script bool StoppedJammingTrack()
bool stoppedJammingTrack = true;
WsfTaskList taskList = AssignedTaskList(TRACK.TrackId(),"");
foreach(WsfTask task in taskList)
{
if (task.ResourceIsJammer() && task.TaskType().StartsWith(mJamTaskStr))
{
stoppedJammingTrack = false;
}
}
if (stoppedJammingTrack)
{
writeln_d("T=", TIME_NOW, " ", PLATFORM.Name(), " stopped jamming track ",
TRACK.TargetName(), " due to all jamming assignments being stopped");
mSignalCountMap.Erase(TRACK.TrackId());
}
return stoppedJammingTrack;
end_script
# -------------------------------------------------------------------------
evaluation_interval DETECTED 1.0 sec
state DETECTED
next_state CAN_JAM
return ((TRACK.TimeSinceUpdated() < mTrackUpdateStaleTime) && AllowTrack());
end_next_state
end_state
evaluation_interval CAN_JAM 1.0 sec
state CAN_JAM
next_state DETECTED
return (TRACK.TimeSinceUpdated() >= mTrackUpdateStaleTime);
end_next_state
next_state IS_JAMMING
return StartJammingTrack();
end_next_state
end_state
evaluation_interval IS_JAMMING 1.0 sec
state IS_JAMMING
next_state CAN_JAM
if (TRACK.TimeSinceUpdated() < mTrackUpdateStaleTime)
{
UpdateJammingTrack();
}
else
{
StopJammingTrack("STALE_TRACK");
}
return StoppedJammingTrack();
end_next_state
end_state
end_processor
# -------------------------------------------------------------------------
platform_type SOJ WSF_PLATFORM
icon weasel
infrared_signature FIGHTER_INFRARED_SIG
optical_signature FIGHTER_OPTICAL_SIG
radar_signature FIGHTER_RADAR_SIG
sensor esm UCAV_ESM
on
internal_link data_mgr
ignore_same_side
end_sensor
mover WSF_AIR_MOVER
default_radial_acceleration 2.0 g
at_end_of_path remove
end_mover
weapon fwd_vhf_jammer SOJ_VHF_JAMMER
off
ignore_same_side
end_weapon
weapon aft_vhf_jammer SOJ_VHF_JAMMER
off
yaw 180.0 deg
ignore_same_side
end_weapon
weapon fwd_sband_jammer SOJ_SBAND_JAMMER
off
ignore_same_side
end_weapon
weapon aft_sband_jammer SOJ_SBAND_JAMMER
off
yaw 180.0 deg
ignore_same_side
end_weapon
weapon fwd_xband_jammer SOJ_XBAND_JAMMER
off
ignore_same_side
end_weapon
weapon aft_xband_jammer SOJ_XBAND_JAMMER
off
yaw 180.0 deg
ignore_same_side
end_weapon
processor data_mgr WSF_TRACK_PROCESSOR
purge_interval 60.0 sec
end_processor
processor soj_task_mgr SOJ_TASK_MGR
end_processor
end_platform_type
route soj_orbit
navigation
label start
offset 20 0 km speed 450 kts altitude 35000 ft msl
radial_acceleration 2 g
offset 20 5 km speed 450 kts altitude 35000 ft msl
radial_acceleration 2 g
offset 0 5 km speed 450 kts altitude 35000 ft msl
radial_acceleration 2 g
offset 0 0 km speed 450 kts altitude 35000 ft msl
radial_acceleration 2 g
goto start
end_navigation
end_route

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