public void testHeloDetection() {
// set up the Ssk
ASSET.Models.Vessels.SSK ssk = new ASSET.Models.Vessels.SSK(12);
ASSET.Participants.Status sskStat = new ASSET.Participants.Status(12, 0);
WorldLocation origin = new WorldLocation(0, 0, 0);
sskStat.setLocation(
origin.add(new WorldVector(0, MWC.Algorithms.Conversions.Nm2Degs(35), 40)));
sskStat.setSpeed(new WorldSpeed(18, WorldSpeed.M_sec));
ssk.setStatus(sskStat);
// ok, setup the ssk radiation
ASSET.Models.Mediums.BroadbandRadNoise brn = new ASSET.Models.Mediums.BroadbandRadNoise(134);
ASSET.Models.Vessels.Radiated.RadiatedCharacteristics rc =
new ASSET.Models.Vessels.Radiated.RadiatedCharacteristics();
rc.add(EnvironmentType.BROADBAND_PASSIVE, brn);
ssk.setRadiatedChars(rc);
// now setup the helo
ASSET.Models.Vessels.Helo merlin = new ASSET.Models.Vessels.Helo(33);
ASSET.Participants.Status merlinStat = new ASSET.Participants.Status(33, 0);
merlinStat.setLocation(origin);
merlinStat.setSpeed(new WorldSpeed(12, WorldSpeed.Kts));
merlin.setStatus(merlinStat);
// and it's sensor
ASSET.Models.Sensor.SensorList fit = new ASSET.Models.Sensor.SensorList();
BroadbandSensor bs = new BroadbandSensor(34);
fit.add(bs);
merlin.setSensorFit(fit);
// now setup the su
ASSET.Models.Vessels.Surface ff = new ASSET.Models.Vessels.Surface(31);
ASSET.Participants.Status ffStat = new ASSET.Participants.Status(31, 0);
WorldLocation sskLocation = ssk.getStatus().getLocation();
ffStat.setLocation(
sskLocation.add(new WorldVector(0, MWC.Algorithms.Conversions.Nm2Degs(1), -40)));
ffStat.setSpeed(new WorldSpeed(12, WorldSpeed.M_sec));
ff.setStatus(ffStat);
ff.setSensorFit(fit);
ASSET.Models.Mediums.BroadbandRadNoise ff_brn =
new ASSET.Models.Mediums.BroadbandRadNoise(15);
ASSET.Models.Vessels.Radiated.RadiatedCharacteristics ff_rc =
new ASSET.Models.Vessels.Radiated.RadiatedCharacteristics();
ff_rc.add(EnvironmentType.BROADBAND_PASSIVE, ff_brn);
ff.setSelfNoise(ff_rc);
// try a detection
ASSET.Models.Environment.CoreEnvironment env = new SimpleEnvironment(1, 1, 1);
ASSET.Models.Detection.DetectionEvent dt;
dt = bs.detectThis(env, merlin, ssk, 0, null);
assertTrue("helo able to detect SSK", dt != null);
dt = bs.detectThis(env, ff, ssk, 0, null);
assertTrue("frigate able to detect SSK", dt != null);
}
void construct(PlanningSegment seg, WorldLocation origin, HiResDate date) {
// check we have some data
if (date == null || origin == null) return;
double timeTravelledMillis = getSecsTravelled(seg) * 1000;
// ditch the existing items
seg.removeAllElements();
// ok build for this segment
double courseDegs = seg.getCourse();
double courseRads = MWC.Algorithms.Conversions.Degs2Rads(courseDegs);
long timeMillis = date.getDate().getTime();
final long timeStepMillis;
final long ONE_MIN = 60 * 1000;
final long ONE_HOUR = 60 * ONE_MIN;
final long ONE_DAY = 24 * ONE_HOUR;
// use a time step appropriate to how long we're generating the track for
if (timeTravelledMillis <= 4 * ONE_HOUR) timeStepMillis = ONE_MIN;
else if (timeTravelledMillis <= 12 * ONE_HOUR) timeStepMillis = 10 * ONE_MIN;
else if (timeTravelledMillis <= 2 * ONE_DAY) timeStepMillis = 30 * ONE_MIN;
else timeStepMillis = ONE_HOUR;
// now work out how far he will have travelled in a time step
double distPerMinute = getMinuteDelta(seg);
double distPerStep = distPerMinute * (timeStepMillis / ONE_MIN);
WorldVector vec =
new WorldVector(courseRads, new WorldDistance(distPerStep, WorldDistance.METRES), null);
for (long tNow = timeMillis;
tNow <= timeMillis + timeTravelledMillis;
tNow += timeStepMillis) {
HiResDate thisDtg = new HiResDate(tNow);
// ok, do this fix
Fix thisF =
new Fix(thisDtg, origin, courseRads, seg.getSpeed().getValueIn(WorldSpeed.ft_sec) / 3);
// override the depth
thisF.getLocation().setDepth(seg.getDepth().getValueIn(WorldDistance.METRES));
FixWrapper fw = new FixWrapper(thisF);
fw.setColor(seg.getColor());
// and store it
seg.add(fw);
// reset the name, we're not going to use a human generated one
fw.resetName();
// produce a new position
origin = origin.add(vec);
}
}
/**
* this method is called by the 'Create' function, and it fills in the buoys into the correct
* pattern
*/
protected final void addBuoys(Debrief.Wrappers.BuoyPatternWrapper pattern) {
WorldLocation origin = getKingpin();
// note that as we calculate the LH angle
double lh_orient_rads = MWC.Algorithms.Conversions.Degs2Rads(_orientation2);
double rh_orient_rads = MWC.Algorithms.Conversions.Degs2Rads(_orientation1);
double spacing_degs = MWC.Algorithms.Conversions.Nm2Degs(_spacing);
// how many bouys in each leg?
// an even number means we don't have one at the tip, which becomes a special case
int num_buoys = getNumberOfBuoys().intValue();
boolean even_num = false;
if ((num_buoys % 2) == 0) {
even_num = true;
}
// sort out how many there are in each leg
int num_in_leg = num_buoys / 2;
// sort out the direction
double this_orient = rh_orient_rads;
int buoy_counter = 0;
// remember that we are looking at the first buoy
boolean first_buoy = true;
// do the first leg
for (int i = 0; i < num_in_leg; i++) {
// create the new symbol
Debrief.Wrappers.LabelWrapper lw =
new Debrief.Wrappers.LabelWrapper("W" + (buoy_counter + 1), origin, java.awt.Color.red);
buoy_counter++;
// get the parent to do the formatting
this.formatSymbol(lw, pattern);
// if this is the first buoy, mark it as the kingping
if (first_buoy) {
lw.setSymbolType("Kingpin");
first_buoy = false;
}
// create the step to use to get to the next buoy
WorldVector thisStep = new MWC.GenericData.WorldVector(this_orient, spacing_degs, 0.0);
// place buoy
origin = origin.add(thisStep);
}
// if we have an even number, we need to move forward 1/2 distance for one more step before we
// change direction
if (even_num) {
// calculate the size of this small step
double reverse_rh_rads = MWC.Algorithms.Conversions.Degs2Rads(_orientation1 + 180.0);
WorldVector short_hop = new WorldVector(reverse_rh_rads, spacing_degs / 2, 0.0);
// move the origin forward
origin = origin.add(short_hop);
// calculate the size of this small step
short_hop = new WorldVector(lh_orient_rads, spacing_degs / 2, 0.0);
// move the origin forward
origin = origin.add(short_hop);
} else {
// drop a buoy at the current point
Debrief.Wrappers.LabelWrapper lw =
new Debrief.Wrappers.LabelWrapper("W" + (buoy_counter + 1), origin, java.awt.Color.red);
buoy_counter++;
// move to the correct location for the next point
WorldVector short_hop = new WorldVector(lh_orient_rads, spacing_degs, 0.0);
// move the origin forward
origin = origin.add(short_hop);
// get the parent to do the formatting
this.formatSymbol(lw, pattern);
}
// now travel back down the reverse side
// sort out the direction
this_orient = lh_orient_rads;
// do the first leg
for (int i = 0; i < num_in_leg; i++) {
// create the new symbol
Debrief.Wrappers.LabelWrapper lw =
new Debrief.Wrappers.LabelWrapper("W" + (buoy_counter + 1), origin, java.awt.Color.red);
buoy_counter++;
// get the parent to do the formatting
this.formatSymbol(lw, pattern);
// create the step to use to get to the next buoy
WorldVector thisStep = new MWC.GenericData.WorldVector(this_orient, spacing_degs, 0.0);
// start moving down the return leg
// move buoy
origin = origin.add(thisStep);
}
}
public static void main(String[] args) {
// create a movement model
Wander wander =
new Wander(new WorldLocation(1, 1, 0), new WorldDistance(3000, WorldDistance.YARDS));
// set up the Ssk
ASSET.Models.Vessels.SSK ssk = new ASSET.Models.Vessels.SSK(12);
ASSET.Participants.Status sskStat = new ASSET.Participants.Status(12, 0);
WorldLocation origin = new WorldLocation(0, 0, 0);
sskStat.setLocation(origin.add(new WorldVector(0, MWC.Algorithms.Conversions.Nm2Degs(3), 40)));
sskStat.setSpeed(new WorldSpeed(12, WorldSpeed.M_sec));
ssk.setMovementChars(SSMovementCharacteristics.getSampleChars());
ssk.setStatus(sskStat);
ssk.setDecisionModel(wander);
ssk.setName("SSK");
// ok, setup the ssk radiation
ASSET.Models.Mediums.BroadbandRadNoise brn = new ASSET.Models.Mediums.BroadbandRadNoise(134);
ASSET.Models.Vessels.Radiated.RadiatedCharacteristics rc =
new ASSET.Models.Vessels.Radiated.RadiatedCharacteristics();
rc.add(EnvironmentType.BROADBAND_PASSIVE, brn);
ssk.setRadiatedChars(rc);
// now setup the helo
final ASSET.Models.Vessels.Helo merlin = new ASSET.Models.Vessels.Helo(33);
merlin.setMovementChars(HeloMovementCharacteristics.getSampleChars());
ASSET.Participants.Status merlinStat = new ASSET.Participants.Status(33, 0);
merlinStat.setLocation(
origin.add(new WorldVector(0, MWC.Algorithms.Conversions.Nm2Degs(1), -400)));
merlinStat.setSpeed(new WorldSpeed(60, WorldSpeed.M_sec));
merlin.setStatus(merlinStat);
merlin.setDecisionModel(wander);
merlin.setName("Merlin");
// and it's sensor
ASSET.Models.Sensor.SensorList fit = new ASSET.Models.Sensor.SensorList();
final OpticLookupSensor optic = OpticLookupSensor.OpticLookupTest.getTestOpticSensor();
fit.add(optic);
merlin.setSensorFit(fit);
merlin.setCategory(
new Category(Category.Force.BLUE, Category.Environment.AIRBORNE, Category.Type.HELO));
// now setup the su
ASSET.Models.Vessels.Surface ff = new ASSET.Models.Vessels.Surface(31);
ASSET.Participants.Status ffStat = new ASSET.Participants.Status(31, 0);
WorldLocation sskLocation = ssk.getStatus().getLocation();
ffStat.setLocation(
sskLocation.add(new WorldVector(0, MWC.Algorithms.Conversions.Nm2Degs(4), -40)));
ffStat.setSpeed(new WorldSpeed(6, WorldSpeed.M_sec));
ff.setMovementChars(MovementCharacteristics.getSampleChars());
ff.setStatus(ffStat);
ASSET.Models.Sensor.SensorList fit2 = new ASSET.Models.Sensor.SensorList();
final BroadbandSensor bs2 = new BroadbandSensor(34);
fit2.add(bs2);
ff.setSensorFit(fit2);
ASSET.Models.Mediums.BroadbandRadNoise ff_brn = new ASSET.Models.Mediums.BroadbandRadNoise(35);
ASSET.Models.Vessels.Radiated.RadiatedCharacteristics ff_rc =
new ASSET.Models.Vessels.Radiated.RadiatedCharacteristics();
ff_rc.add(EnvironmentType.BROADBAND_PASSIVE, ff_brn);
ff.setSelfNoise(ff_rc);
ff.setDecisionModel(wander);
ff.setRadiatedChars(rc);
ff.setName("FF");
ff.setCategory(
new Category(Category.Force.RED, Category.Environment.SURFACE, Category.Type.FRIGATE));
// setup the scenario
final ASSET.Scenario.CoreScenario cs = new ASSET.Scenario.CoreScenario();
cs.addParticipant(ff.getId(), ff);
cs.addParticipant(merlin.getId(), merlin);
cs.addParticipant(ssk.getId(), ssk);
cs.setEnvironment(new SimpleEnvironment(0, 1, 0));
// and the viewer!!
JFrame viewer = new JFrame();
viewer.setSize(400, 300);
viewer.setVisible(true);
MWC.GUI.Properties.Swing.SwingPropertiesPanel props =
new MWC.GUI.Properties.Swing.SwingPropertiesPanel(null, null, null, null);
//// props.addEditor(optic.getInfo(), null);
LookupSensorComponentViewer sv = new LookupSensorComponentViewer();
sv.setName("optic");
sv.setObject(new SensorFitEditor.WrappedSensor(optic));
props.add(sv);
viewer.getContentPane().setLayout(new BorderLayout());
viewer.getContentPane().add(props, BorderLayout.CENTER);
JButton stepper = new JButton("Step");
stepper.addActionListener(
new java.awt.event.ActionListener() {
/** Invoked when an action occurs. */
public void actionPerformed(ActionEvent e) {
// move the scenario forward
cs.step();
}
});
viewer.getContentPane().add(stepper, BorderLayout.SOUTH);
viewer.doLayout();
viewer.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
viewer.pack();
}
// TODO FIX-TEST
public void NtestLaunch() {
final double rngToHim = 5000;
final double crseToHim = 45;
final WorldLocation origin = new WorldLocation(0, 0, 0);
final WorldLocation hisLoc =
origin.add(
new WorldVector(
MWC.Algorithms.Conversions.Degs2Rads(crseToHim),
MWC.Algorithms.Conversions.Yds2Degs(rngToHim),
0));
final Status blueStat = new Status(13, 0);
blueStat.setLocation(origin);
blueStat.setCourse(0);
blueStat.setSpeed(new WorldSpeed(4, WorldSpeed.M_sec));
final Status redStat = new Status(blueStat);
redStat.setLocation(hisLoc);
// setup a couple of targets
final ASSET.Models.Vessels.SSN ssn = new ASSET.Models.Vessels.SSN(1);
ssn.setName("ssn");
ssn.setMovementChars(
SSMovementCharacteristics.generateDebug("scrap", 1, 1, 0, 20, 1, 300, 1, 1, 10, 100));
ssn.setCategory(
new ASSET.Participants.Category(
Category.Force.BLUE, Category.Environment.SUBSURFACE, Category.Type.SUBMARINE));
ssn.setStatus(blueStat);
final ASSET.Models.Sensor.Initial.OpticSensor periscope =
new ASSET.Models.Sensor.Initial.OpticSensor(12);
ssn.addSensor(periscope);
RadiatedCharacteristics rc = new RadiatedCharacteristics();
rc.add(EnvironmentType.VISUAL, new Optic(12, new WorldDistance(12, WorldDistance.METRES)));
ssn.setRadiatedChars(rc);
final ASSET.Models.Vessels.Surface su = new ASSET.Models.Vessels.Surface(4);
su.setName("su");
su.setMovementChars(
SurfaceMovementCharacteristics.generateDebug("scrap", 1, 1, 0.001, 14, 1, 299));
su.setCategory(
new ASSET.Participants.Category(
Category.Force.RED, Category.Environment.SURFACE, Category.Type.CARRIER));
su.setStatus(redStat);
rc = new RadiatedCharacteristics();
rc.add(EnvironmentType.VISUAL, new Optic(12, new WorldDistance(12, WorldDistance.METRES)));
su.setRadiatedChars(rc);
/** create the scenario */
final CoreScenario scenario = new CoreScenario();
scenario.setScenarioStepTime(10000);
scenario.setTime(0);
scenario.setName("Testing weapon launch");
// get somebody to listen to the tracks
final ASSET.Scenario.Observers.Recording.DebriefReplayObserver debrief_writer =
new ASSET.Scenario.Observers.Recording.DebriefReplayObserver(
"�test_reports", null, true, "test observer", true);
debrief_writer.setup(scenario);
// DON'T BOTHER RECORDING JUST YET!
debrief_writer.setActive(false);
/** now the behaviours */
final Trail trailRed = new Trail(new WorldDistance(2000, WorldDistance.YARDS));
final TargetType getRed = new TargetType();
getRed.addTargetType(Category.Force.RED);
trailRed.setTargetType(getRed);
final LaunchWeapon launchWeapon = new LaunchWeapon();
launchWeapon.setTargetType(getRed);
launchWeapon.setLaunchRange(new WorldDistance(4000, WorldDistance.YARDS));
launchWeapon.setCoolOffTime(new Duration(Duration.DAYS, 3)); // 24 hr cool off time
launchWeapon.setLaunchType(launchBehaviour);
final Waterfall blueWaterfall = new Waterfall();
blueWaterfall.insertAtFoot(trailRed);
blueWaterfall.insertAtHead(launchWeapon);
ssn.setDecisionModel(blueWaterfall);
scenario.addParticipant(1, ssn);
scenario.addParticipant(4, su);
// move forward a while
boolean found = false;
double lastRange = -1;
double thisRange = -1;
int counter = 0;
while (!found && counter <= 100000) {
scenario.step();
final WorldVector sep =
ssn.getStatus().getLocation().subtract(su.getStatus().getLocation());
thisRange = MWC.Algorithms.Conversions.Degs2Yds(sep.getRange());
if (lastRange == -1) {
lastRange = thisRange;
}
if (ssn.getActivity().equals(LaunchWeapon.LAUNCH_MESSAGE)) {
found = true;
System.out.println("LAUNCHED");
} else {
lastRange = thisRange;
}
// just do "MAD" check to ensure we don't go on for ever
counter++;
}
// check we didn't time out
assertTrue(" we just ran to end of loop (no fire)", counter < 100000);
// check we launched at the right point
final double launchYds = launchWeapon.getLaunchRange().getValueIn(WorldDistance.YARDS);
assertTrue("didn't fire too soon", lastRange > launchYds);
assertTrue(
"didn't fire too late, got:" + launchYds + " but wanted:" + thisRange,
thisRange <= launchYds);
// so, we've launched the weapon - see how many participants are in the scenario
assertEquals("New participant created", 3, scenario.getListOfParticipants().length);
// find the weapon
// final ParticipantType torpedo =
// scenario.getThisParticipant(scenario.getListOfParticipants()[0].intValue());
// check if the torpedo gets to the target
while (scenario.getListOfParticipants().length == 3) {
scenario.step();
}
// check that the torpedo destroys the SU, and they are both removed
assertEquals("surface participant destroyed", 1, scenario.getListOfParticipants().length);
// move a bit further just to give us some more blue track
for (int ii = 0; ii < 20; ii++) {
scenario.step();
}
}
/**
* decide the course of action to take, or return null to no be used
*
* @param status the current status of the participant
* @param detections the current list of detections for this participant
* @param time the time this decision was made
*/
public DemandedStatus decide(
final Status status,
ASSET.Models.Movement.MovementCharacteristics chars,
DemandedStatus demStatus,
final DetectionList detections,
final ASSET.Scenario.ScenarioActivityMonitor monitor,
final long time) {
// produce a steady-state demanded course - so we continue
// what we're doing during the weapons launch
DemandedStatus res = null;
// clear the activity flag
String activity = "Not in trail";
// is it time to fire another yet?
if ((_lastLaunch == -1)
|| (time > _lastLaunch + _coolOffTime.getValueIn(Duration.MILLISECONDS))) {
// do we have any detections?
if (detections != null) {
// get bearing to first detection
final int len = detections.size();
if (len > 0) {
for (int i = 0; i < len; i++) {
final ASSET.Models.Detection.DetectionEvent de = detections.getDetection(i);
final Float brg = de.getBearing();
if (brg != null) {
// do we have a target type?
if (_myTarget != null) {
// is this of our target type
final ASSET.Participants.Category thisTarget = de.getTargetType();
if (_myTarget.matches(thisTarget)) {
// do we have range?
if (de.getRange() != null) {
// work out distance from us to the target, not from the sensor to the target
WorldLocation sensorLocation = de.getSensorLocation();
// Work out the estimated target location
WorldVector sensorToTarget =
new WorldVector(
MWC.Algorithms.Conversions.Degs2Rads(de.getBearing().doubleValue()),
de.getRange().getValueIn(WorldDistance.DEGS),
0);
WorldLocation targetLocation = sensorLocation.add(sensorToTarget);
// how are are we from the target location
WorldVector meToTarget = status.getLocation().subtract(targetLocation);
double yds_to_target =
MWC.Algorithms.Conversions.Degs2Yds(meToTarget.getRange());
double brg_to_target_degs =
MWC.Algorithms.Conversions.Rads2Degs(meToTarget.getBearing());
// is it within range?
if (yds_to_target < _launchRange.getValueIn(WorldDistance.YARDS)) {
// continue in steady state
res = new SimpleDemandedStatus(time, status);
// remember the launch time
_lastLaunch = time;
// start the launch steps
launchWeapon(de, monitor, status, brg_to_target_degs, time);
activity = LaunchWeapon.LAUNCH_MESSAGE;
// ok, drop out, we don't need to launch any more weapons
return res;
}
}
}
}
} // if we know the bearing
} // looping through the detections
} // if we have any detections
} // if the detections object was received
} // whether it's time to launch another
else {
//
}
super.setLastActivity(activity);
// always return null, since we continue in steady state
return res;
}
