/**
* 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;
}
public DemandedStatus decide(
final Status status,
ASSET.Models.Movement.MovementCharacteristics chars,
DemandedStatus demStatus,
ASSET.Models.Detection.DetectionList detections,
ASSET.Scenario.ScenarioActivityMonitor monitor,
final long time) {
// create the output object
SimpleDemandedStatus res = null;
String thisActivity = null;
// have we completed this manoeuvre?
if (_transit_complete) {
res = null;
return res;
}
// find out where we are
WorldLocation currentLoc = status.getLocation();
// are we running towards a destination?
if (_theDistance == null) {
// ok, we're not heading towards a particular point, just put us onto the correct course and
// speed
double curSpeed = status.getSpeed().getValueIn(WorldSpeed.M_sec);
double curCourse = status.getCourse();
double curHeight = -status.getLocation().getDepth();
thisActivity = "";
// are we already working to a simple demanded course/speed/depth?
if (demStatus instanceof SimpleDemandedStatus) {
res = new SimpleDemandedStatus(time, (SimpleDemandedStatus) demStatus);
} else {
res = new SimpleDemandedStatus(time, status);
}
if (_mySpeed != null) {
if (curSpeed != _mySpeed.getValueIn(WorldSpeed.M_sec)) {
thisActivity += " speed to:" + (int) _mySpeed.getValueIn(WorldSpeed.Kts);
res.setSpeed(_mySpeed.getValueIn(WorldSpeed.M_sec));
}
}
if (_myCourse != null) {
if (curCourse != _myCourse.doubleValue()) {
thisActivity += " course to:" + _myCourse.doubleValue();
res.setCourse(_myCourse.doubleValue());
}
}
if (_myHeight != null) {
if (curHeight != _myHeight.getValueIn(WorldDistance.METRES)) {
thisActivity += " height to:" + _myHeight.getValueIn(WorldDistance.METRES);
res.setHeight(_myHeight.getValueIn(WorldDistance.METRES));
}
}
// did we update any?
if (thisActivity == "") {
// no - we must be ok,
res = null;
} else {
// cool, the res is set already
}
} else {
// do we have our destination?
if (_theDestination == null) {
// no, this is the first time we've been called. Calculate where we're going to
WorldVector vector =
new WorldVector(
MWC.Algorithms.Conversions.Degs2Rads(this._myCourse.doubleValue()),
_theDistance.getValueIn(WorldDistance.DEGS),
0);
_theDestination = new WorldLocation(currentLoc);
_theDestination.addToMe(vector);
} else {
// ok, we're up and running, have we reached our destination
// how far to the target
double rngDegs = currentLoc.subtract(_theDestination).getRange();
// and in yards
double rngYds = MWC.Algorithms.Conversions.Degs2Yds(rngDegs);
if (rngYds < _threshold) {
// right, we've got there. Mark complete
_transit_complete = true;
super.setLastActivity(thisActivity);
// and drop out
return res;
}
}
// ok, now steer to the destination
double brg_rads = _theDestination.subtract(currentLoc).getBearing();
final double brgDegs = MWC.Algorithms.Conversions.Rads2Degs(brg_rads);
// and set the course in degs
res = new SimpleDemandedStatus(time, status);
res.setCourse(brgDegs);
// do we have depth?
if (_myHeight != null) res.setHeight(_myHeight.getValueIn(WorldDistance.METRES));
// and the speed
if (_mySpeed != null) res.setSpeed(_mySpeed.getValueIn(WorldSpeed.M_sec));
thisActivity = "Heading for target location";
}
super.setLastActivity(thisActivity);
return res;
}
