lab1/processors/ripr_agents/aiai/old.formations.old/four.script

# ****************************************************************************
# 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.
# ****************************************************************************
//compile_debug true

script_variables
   // TEMPORARY eventually get this from a waypoint or a battle manager

   string           mManeuverName = "la";
   string           mFlightName = "four";
   int              mFlightIndex = -1;
   bool             mFirstPass = true;

   WsfAIFLProcessor mFlightLeadAgent;
end_script_variables

include_once aiai_scripts.txt
include_once formation.script
include_once la_methods.script

on_initialize
   // check in to the FlightLead agent
   mFlightLeadAgent = (WsfAIFLProcessor)(PROCESSOR.GetCommander());
   writeln_d("   mFlightLeadAgent.IsValid() == ", mFlightLeadAgent.IsValid());
//   mFlightLeadAgent.CheckIn(PLATFORM, false);

   // tweak the formation flying for fueling
   formation_initialize(0.2 * MATH.M_PER_NM(),   // waypoint proximity
                        5.0 * MATH.M_PER_NM(),   // far from waypoint
                        0.4,   // min mach
                        1.5,   // max mach
                        2.0 * MATH.M_PER_NM());  // out of formation

   aiai_initialize();
end_on_initialize

script void lead_wait_logic()
   // get the tracks from my flight
   WsfLocalTrackList flightTracks = mFlightLeadAgent.FlightTrackList(); 

   // assume targets are in-bound to my flight and find the smallest range
   // target selection should be done A LOT better
   double minRange = 9999999.9;
   WsfTrack closestTrack = NULL;
   foreach (WsfTrack track in flightTracks)
   {
      if (DetermineTargetType(track) == "unknown")
      {
         continue;
      }

      double thisRange = PLATFORM.SlantRangeTo(track);
      writeln_d("    considering: ", track.TargetName(), " at ", thisRange);
      if (thisRange < minRange)
      {
         minRange = thisRange;
         closestTrack = track;
      }
   }

   // if I'm within range of to start the formation tactic, do it
   if (minRange < cSTART_MANEUVER_RANGE && closestTrack.IsValid())
   {
writeln_d("Maneuver started at range: ", minRange);
      mFlightLeadAgent.TargetSet(closestTrack);

      PLATFORM.Comment("Maneuver started...");
      mFlightLeadAgent.SetTopState("FLIGHT_MANEUVER");
   }

   if (closestTrack.IsValid())
   {
      mFlightLeadAgent.TargetSet(closestTrack);
      PLATFORM.Comment("Range to target: " + (string)minRange);

      // turn towards the track
      double heading = PLATFORM.TrueBearingTo(closestTrack);
      PLATFORM.TurnToHeading(heading);
      PLATFORM.GoToAltitude(closestTrack.Altitude());
      PLATFORM.GoToSpeed(cINTERCEPT_SPEED);
   }
   else
   {
//      PLATFORM.GoToAltitude(cDEFAULT_ALTITUDE);
//      PLATFORM.GoToSpeed(cWAIT_SPEED);
   }
end_script

on_update
   string flightTopState = "*NO*FLIGHT*LEAD*";

   writeln_d("--- four on_update Platform: ", PLATFORM.Name(), ", Time: ", TIME_NOW);
//   string myTopState = PLATFORM.GetTopState();
   if (!mFlightLeadAgent.IsValid())
   {
      mFlightLeadAgent = (WsfAIFLProcessor)(PROCESSOR.GetCommander());
      if (mFlightLeadAgent.IsValid())
      {
         writeln_d("    acquired mFlightLeadAgent ", mFlightLeadAgent.Name());
      }
      else
      {
//         aiai_update();
         // can't do anything without a FL
         return;
      }
   }

   flightTopState = mFlightLeadAgent.GetTopState();

   writeln_d("    flightTopState: ", flightTopState);

   // one time transition to FLIGHT_WAIT state
//   if ((myTopState == "STRAIGHT") && (mFirstPass == true))
   if (mFirstPass == true)
   {
      mFlightLeadAgent.AssignNewLead(0);

//      PLATFORM.SetTopState("FLIGHT_WAIT");
      mFirstPass = false;
   }

   // if my flight has been disrupted, just go to ai logic
   if (!mFlightLeadAgent.FlightIntact())
   {
      aiai_update();
      return;
   }

   // the flight is waiting for something to act on
   //  - lead flies straight and level
   //  - flight follows the lead in formation
writeln_d("    mFlightIndex: ", mFlightIndex);

//   if (myTopState == "FLIGHT_WAIT")
//   extern string mFlightName;
   if (mFlightName == "four")
   {
writeln_d("   four...");
      // if lead has commanded to do the maneuver, do it
      if (flightTopState == "FLIGHT_SOLO")
      {
         aiai_update();
         return;
      }
      else if (flightTopState == "FLIGHT_MANEUVER")
      {
writeln_d("   FLIGHT_MANEUVER...");
         // get my position in the flight if not done already
//         if (mFlightIndex < 0)
//         {
            mFlightIndex = mFlightLeadAgent.GetFormationIndex(PLATFORM) + 1;
writeln_d("   mFlightIndex acquired == ", mFlightIndex);
//         }

         perform_maneuver(mFlightIndex);
      }
      else if (flightTopState == "FLIGHT_RELEASE")
      {
         if (mFlightLeadAgent.GetLeadStatus(PLATFORM) == true && !mFlightLeadAgent.TargetPlatformGet().IsValid())
         {
writeln_d("   target dead, FLIGHT_WAIT");
            mFlightLeadAgent.SetTopState("FLIGHT_WAIT");
//            PLATFORM.FollowRoute("DEFAULT_ROUTE", "CLOSEST_POINT");
            PLATFORM.FollowRoute("DEFAULT_ROUTE");
            return;
         }
writeln_d("   FLIGHT_RELEASE...");
         aiai_update();
         return;
      }
      else
      {
writeln_d("   other (", flightTopState, ")...");
         if (mFlightLeadAgent.GetLeadStatus(PLATFORM) == true)
         {
writeln_d("   I am lead, so wait");
            SetUpdateInterval(cFAST_UPDATE_RATE);
//            PLATFORM.GoToLocation(0, 0, 0); // trying to trick mover so next FollowRoute works right
//            PLATFORM.FollowRoute("DEFAULT_ROUTE", "CLOSEST_POINT");            
//            PLATFORM.FollowRoute("line", "CLOSEST_POINT");            
            lead_wait_logic();
         }
         else
         {
writeln_d("   follow the leader");
            // follow the lead
            WsfPlatform leadPlatform = mFlightLeadAgent.GetPlatformInFormation(-1);
            SetFollowingFormationIndex(-1);
            mManeuverState = 0;
            SetUpdateInterval(cFAST_UPDATE_RATE);
            formation_update(leadPlatform);
         }
      }
   }
end_on_update