/** test the string swapping */
public void testSubstitution() {
final String sample = "eerrt$BRG$sdfsdfs$RNG$sdf<TargetType/>sdd";
final String answer =
"eerrt2.1sdfsdfs12.1sdf<TargetType><Type Name=\"RED\"/></TargetType>sdd";
final WorldDistance rng = new WorldDistance(12.1, WorldDistance.YARDS);
final Float brg = new Float(2.1f);
final CoreSensor sensor = new ASSET.Models.Sensor.Initial.OpticSensor(12);
final NetworkParticipant host = new ASSET.Models.Vessels.SSK(12);
final NetworkParticipant target = new ASSET.Models.Vessels.Surface(22);
final DetectionEvent de =
new DetectionEvent(
0, host.getId(), null, sensor, rng, rng, brg, null, null, null, null, null, target);
final TargetType getRed = new TargetType();
getRed.addTargetType(Category.Force.RED);
final WorldLocation currentLocation = new WorldLocation(1, 1, 0);
final Status currentStatus = new Status(12, 2000);
currentStatus.setLocation(currentLocation);
final String res = LaunchWeapon.swapKeywords(de, currentStatus, sample, getRed);
assertEquals("strings swapped", answer, res);
}
/** test we can read the weapon from file */
public void testReadWeapon() {
final WorldDistance rng = new WorldDistance(12.1, WorldDistance.YARDS);
final Float brg = new Float(2.1f);
final CoreSensor sensor = new ASSET.Models.Sensor.Initial.OpticSensor(12);
final NetworkParticipant host = new ASSET.Models.Vessels.SSK(12);
final NetworkParticipant target = new ASSET.Models.Vessels.Surface(22);
final DetectionEvent de =
new DetectionEvent(
0, host.getId(), null, sensor, rng, rng, brg, null, null, null, null, null, target);
final WorldLocation currentLocation = new WorldLocation(1, 1, 0);
final Status currentStatus = new Status(12, 2000);
currentStatus.setLocation(currentLocation);
final ParticipantType newPart =
LaunchWeapon.getWeapon(de, currentStatus, launchBehaviour, null);
assertNotNull("participant created", newPart);
final DecisionType dt = newPart.getDecisionModel();
assertEquals("correct model loaded", "Waterfall", dt.getName());
System.out.println("part created");
}
/** do the actual launch */
private void launchWeapon(
final DetectionEvent detection,
final ASSET.Scenario.ScenarioActivityMonitor monitor,
final Status currentLocation,
final double initial_course_degs,
final long time) {
// have we read in the weapon description yet?
if ((_launchThis == null) || (_launchThis.length() == 0))
_launchThis = readWeaponFromThisFile(this._fileName);
final ParticipantType newPart = getWeapon(detection, currentLocation, _launchThis, _myTarget);
// create the target
monitor.createParticipant(newPart);
// set it's status
final Status newState = new Status(currentLocation);
// update the status for the object's new id
newState.setId(newPart.getId());
// and put it in the participant
newPart.setStatus(newState);
// give it a faster speed though
newState.setSpeed(new WorldSpeed(30, WorldSpeed.M_sec));
// give the weapon a hint about direction to travel in
SimpleDemandedStatus ds = new SimpleDemandedStatus(time, newState);
ds.setCourse(initial_course_degs);
newPart.setDemandedStatus(ds);
}
public void testTheMove() {
// ok, create some locations
WorldLocation locA = new WorldLocation(0, 0, 12);
WorldLocation locC = new WorldLocation(0, 3, 12);
Move move = new Move();
move.setCourse(new Double(60));
move.setSpeed(new WorldSpeed(12, WorldSpeed.M_sec));
move.setDistance(new WorldDistance(3, WorldDistance.DEGS));
// check the initial values are correct
assertEquals("the course is set", move.getCourse().doubleValue(), 60, 0.01);
assertEquals("the speed is set", move.getSpeed().getValueIn(WorldSpeed.M_sec), 12, 0.01);
assertEquals(
"the distance is set", move.getDistance().getValueIn(WorldDistance.DEGS), 3, 0.01);
// change course to head east (to ease our testing)
move.setCourse(new Double(90));
Status theStat = new Status(12, 12000);
theStat.setLocation(locA);
theStat.setSpeed(new WorldSpeed(12, WorldSpeed.Kts));
DemandedStatus res = move.decide(theStat, null, null, null, null, 1000);
// did it work?
assertEquals("course set correctly", ((SimpleDemandedStatus) res).getCourse(), 90, 0.01);
assertEquals("speed set correctly", ((SimpleDemandedStatus) res).getSpeed(), 12, 0.01);
assertEquals("depth not set", ((SimpleDemandedStatus) res).getHeight(), -12, 0.01);
assertEquals(
"target location set correctly",
move._theDestination.subtract(locC).getRange(),
0,
0.001);
// fiddle with the depth
move.setHeight(new WorldDistance(-55, WorldDistance.METRES));
res = move.decide(theStat, null, null, null, null, 1000);
// did it work?
assertEquals("course set correctly", ((SimpleDemandedStatus) res).getCourse(), 90, 0.01);
assertEquals("speed set correctly", ((SimpleDemandedStatus) res).getSpeed(), 12, 0.01);
assertEquals("depth set", ((SimpleDemandedStatus) res).getHeight(), -55, 0.01);
}
/**
* note that our parent behaviour has been interrupted. If we have a calculated the time/distance
* to the next waypoint these calculations may become invalid - we need to clear them in order
* that they be re-calculated next time we actually get called. On being interrupted we will
* remember the location so we can head back to it before getting back on our proper route
*
* @param currentStatus
*/
public void routeInterrupted(Status currentStatus) {
// have we already been interrupted?
if (_interruptedLocation == null) {
// ok, remember where we are
_interruptedLocation = new WorldLocation(currentStatus.getLocation());
} else {
// we've already been interrupted. we want to head back to that original location, not
// another.
}
// whatever, we want to forget any immediate route calculations we may have
forgetCalculatedRoute();
}
/**
* process a turn component of a larger manoeuvre
*
* @param turnRequired how far we have to turn (-ve is left)
* @param moves the movement chars for this participant
* @param current the current status
* @param endTime the end time for this step
* @param turner the turn algorithm we're using
* @param demandedHeight the demanded height (normally the same as the current height - to
* maintain height (and therefore speed) in a manoeuvre.
* @return
*/
protected Status doThisPartOfTheTurn(
double turnRequired,
MovementCharacteristics moves,
Status current,
long endTime,
TurnAlgorithm turner,
double demandedHeight) {
// what's our turn rate?
double turnRate =
DirectedOnTopWaypoint.getTurnRateFor(
moves, current.getSpeed().getValueIn(WorldSpeed.M_sec));
turnRate = MWC.Algorithms.Conversions.Rads2Degs(turnRate);
// hmm, so how long will it take?
long turnTime = (long) (Math.abs(turnRequired) / turnRate * 1000d);
// hey, trim the turn time to the remaining time
long thisStep = endTime - current.getTime();
turnTime = Math.min(turnTime, thisStep);
// now, to make sure we turn the right way, we're going to turn 1/2 way first, then the second
// part
double semiTurn = turnRequired / 2;
double semiTurnTime = turnTime / 2;
// hey, make sure we at least have a step to make!
semiTurnTime = Math.max(1, semiTurnTime);
// amd do the turn!
SimpleDemandedStatus sds =
new SimpleDemandedStatus(1, (long) (current.getTime() + (semiTurnTime)));
sds.setCourse(current.getCourse() + semiTurn);
sds.setSpeed(current.getSpeed());
sds.setHeight(demandedHeight);
current = turner.doTurn(current, sds, moves, sds.getTime());
// and the second part of the turn!
sds = new SimpleDemandedStatus(1, current.getTime() + (long) (turnTime - semiTurnTime));
sds.setCourse(current.getCourse() + semiTurn);
sds.setSpeed(current.getSpeed());
sds.setHeight(demandedHeight);
current = turner.doTurn(current, sds, moves, sds.getTime());
return current;
}
public MovedEvent(final Status status) {
super(status.getTime());
_status = status;
}
protected static Status processStraightCourse(
Double requiredDistance,
Status current,
long endTime,
HighLevelDemandedStatus highLevelDemStat,
TurnAlgorithm turner,
MovementCharacteristics moves) {
// How far do we still have to go?
double straightDistance = requiredDistance.doubleValue();
// how far will we travel in this time step?
// hey, how long of the time step is remaining?
long thisTimeStep = endTime - current.getTime();
// do we have a demanded height change ('cos this really buggers things up)
double demHeight = -highLevelDemStat.getCurrentTarget().getDepth();
double curHeight = -current.getLocation().getDepth();
WorldLocation origin = new WorldLocation(current.getLocation());
// take note of the original height. We may change height during a height change, but wish to
// return to the original
// height on completion. Alternatively we may wish to change to a demanded speed on completion
// of the height change
WorldSpeed originalSpeed = null;
if (demHeight != curHeight) {
// ok, and is there any distance remaining?
double distanceTravelled = current.getLocation().subtract(origin).getRange();
distanceTravelled = MWC.Algorithms.Conversions.Degs2m(distanceTravelled);
double distanceRemaining = straightDistance - distanceTravelled;
if (distanceRemaining > 0.1) {
// yup, let's continue
// yup, height change there is...
double heightDelta = demHeight - curHeight;
// find out what the height change speed is
double stepTime = (endTime - current.getTime()) / 1000d;
// and how long will the height change take?
long heightChangeTimeMillis =
(long) (TurnAlgorithm.calcHeightChangeTime(heightDelta, moves, stepTime) * 1000d);
// WORKAROUND - a very small height change may require a time less than one millisecond -
// represented
// as zero time. If this is the case, give us a tiny time step
if (heightChangeTimeMillis == 0) heightChangeTimeMillis = 1;
// hey, trim the height change to our remaining time
heightChangeTimeMillis = Math.min(heightChangeTimeMillis, thisTimeStep);
long timeTakenMillis;
// right then. Is this a vehicle with standard climb and dive speeds?
if (moves instanceof ClimbRateCharacteristics) {
// yes, we need to factor in the speed change
// ok, we're doing a height change with speed consequences. remember the current speed,
// so
// we can return to it on completion
originalSpeed = new WorldSpeed(current.getSpeed());
// ok, how far will we travel during this period
timeTakenMillis =
DirectedOnTopWaypoint.calcClippedHeightChangeTimeFor(
current.getSpeed(),
heightDelta,
moves,
heightChangeTimeMillis,
distanceRemaining);
// todo - double-check that height change is achievable in the time-step,
// though the turn decision algorithm should only produce achievable height changes
} else {
// right, we're just going to travel at normal speed for the turn.
// calc how far we are due to travel in the time step
// how long will it take to cover the remaining distance at this speed
timeTakenMillis =
(long) (1000 * straightDistance / current.getSpeed().getValueIn(WorldSpeed.M_sec));
}
// trim to the step time
timeTakenMillis = Math.min(heightChangeTimeMillis, timeTakenMillis);
// and create a demanded status
SimpleDemandedStatus sds = new SimpleDemandedStatus(1, current);
// and set the height
sds.setHeight(demHeight);
// and do the step
current = turner.doTurn(current, sds, moves, current.getTime() + timeTakenMillis);
} // if we have distance to run
}
// that's the height change done - we should be at our demanded height now. If there's any time
// left we will allow
// a speed change
// ok, height change is done. Is there any time left?
if (current.getTime() < endTime) {
// ok, and is there any distance remaining?
double distanceTravelled = current.getLocation().subtract(origin).getRange();
distanceTravelled = MWC.Algorithms.Conversions.Degs2m(distanceTravelled);
double distanceRemaining = straightDistance - distanceTravelled;
if (distanceRemaining > 0.1) {
// yup, let's continue
// is there a demanded speed change?
WorldSpeed demSpeedObj = highLevelDemStat.getSpeed();
if (demSpeedObj != null) {
double demSpeed = demSpeedObj.getValueIn(WorldSpeed.M_sec);
double curSpeed = current.getSpeed().getValueIn(WorldSpeed.M_sec);
if (curSpeed != demSpeed) {
// ok, process the speed change
long remainingTime = endTime - current.getTime();
boolean isAccelerating = TurnAlgorithm.areWeAccelerating(curSpeed, demSpeed);
WorldAcceleration accelRate = TurnAlgorithm.calcAccelRate(isAccelerating, moves);
long timeAllowed =
DirectedOnTopWaypoint.calcTrimmedAccelTime(
demSpeedObj, current.getSpeed(), accelRate, remainingTime, distanceRemaining);
// and move us forward
SimpleDemandedStatus sds = new SimpleDemandedStatus(1, current);
// and set the speed
sds.setSpeed(demSpeedObj);
// and do the step
current = turner.doTurn(current, sds, moves, current.getTime() + timeAllowed);
} // if we need a speed change
} // if we have a demanded speed
else {
// hey, no demanded speed change. Was there a dem height change?
// This may have caused a speed change which we now need to counter
if (originalSpeed != null) {
// yup, we changed height. We need to head back to the old speed
// ok, process the speed change
long remainingTime = endTime - current.getTime();
boolean isAccelerating =
TurnAlgorithm.areWeAccelerating(current.getSpeed(), originalSpeed);
WorldAcceleration accelRate = TurnAlgorithm.calcAccelRate(isAccelerating, moves);
long timeAllowed =
DirectedOnTopWaypoint.calcTrimmedAccelTime(
current.getSpeed(),
current.getSpeed(),
accelRate,
remainingTime,
distanceRemaining);
// long timeAllowed = DirectedOnTopWaypoint.calcTrimmedAccelTime(demSpeedObj,
// current.getSpeed(),
// accelRate, remainingTime, distanceRemaining);
// and move us forward
SimpleDemandedStatus sds = new SimpleDemandedStatus(1, current);
// and do the step
current = turner.doTurn(current, sds, moves, current.getTime() + timeAllowed);
}
}
} // if we have distance to run
} // if there is time left
// hmm, that's the speed change over. do we have any time left?
if (current.getTime() < endTime) {
// how far have we travelled
double distanceTravelled = current.getLocation().subtract(origin).getRange();
distanceTravelled = MWC.Algorithms.Conversions.Degs2m(distanceTravelled);
// which leaves how far?
double distanceRemaining = straightDistance - distanceTravelled;
if (distanceRemaining > 0.1) {
// yup, let's continue travelling in a straight line at steady speed/height
// collate the input data.
// how long will it take to cover the remaining distance at this speed
long timeTakenMillis =
(long) (1000 * straightDistance / current.getSpeed().getValueIn(WorldSpeed.M_sec));
// trim to the step time
timeTakenMillis = Math.min(thisTimeStep, timeTakenMillis);
// and create a demanded status
SimpleDemandedStatus sds = new SimpleDemandedStatus(1, current);
// and do the step
current = turner.doTurn(current, sds, moves, current.getTime() + timeTakenMillis);
}
}
return current;
}
// 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();
}
}
/** put our keywords into the XML description */
protected static String swapKeywords(
final DetectionEvent detection,
final Status currentLocation,
final String weapon,
final TargetType theTarget) {
// amend string template to include available parameters
final Float brg_degs = detection.getBearing();
final WorldDistance rng = detection.getRange();
// take a copy of the string
String working = new String(weapon);
// swap the bearing
if (brg_degs != null) {
final String brg_val = "" + brg_degs.floatValue();
working = replaceAll(working, "$BRG$", brg_val);
}
// swap the range
if (rng != null) {
final String rng_val = "" + rng.getValueIn(WorldDistance.YARDS);
working = replaceAll(working, "$RNG$", rng_val);
}
// insert the location of the target
if (brg_degs != null) {
final float brg_val = brg_degs.floatValue();
// do we know range?
if (rng != null) {
// yes, compute target location
final WorldVector newVector =
new WorldVector(
MWC.Algorithms.Conversions.Degs2Rads(brg_val),
rng.getValueIn(WorldDistance.DEGS),
0);
final WorldLocation newLoc = currentLocation.getLocation().add(newVector);
// produce strings from this location
final String theDepth = "" + newLoc.getDepth();
final String theLat = "" + newLoc.getLat();
final String theLong = "" + newLoc.getLong();
// put these strings into the new behaviour
working = replaceAll(working, "$TGT_DEPTH$", theDepth);
working = replaceAll(working, "$TGT_LAT$", theLat);
working = replaceAll(working, "$TGT_LONG$", theLong);
} else {
// no, send the weapon down a bearing for XXXX yds
// compute target location
final double TGT_RANGE = 5000;
final WorldVector newVector =
new WorldVector(
MWC.Algorithms.Conversions.Degs2Rads(brg_val),
MWC.Algorithms.Conversions.Yds2Degs(TGT_RANGE),
0);
final WorldLocation newLoc = currentLocation.getLocation().add(newVector);
// produce strings from this location
final String theDepth = "" + newLoc.getDepth();
final String theLat = "" + newLoc.getLat();
final String theLong = "" + newLoc.getLong();
// put these strings into the new behaviour
working = replaceAll(working, "$TGT_DEPTH$", theDepth);
working = replaceAll(working, "$TGT_LAT$", theLat);
working = replaceAll(working, "$TGT_LONG$", theLong);
}
}
if (theTarget != null) {
// output the XML header stuff
// output the plot
final java.io.StringWriter newString = new StringWriter();
// final com.sun.xml.tree.XmlDocument doc = new com.sun.xml.tree.XmlDocument();
DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
Document doc = null;
try {
DocumentBuilder builder = factory.newDocumentBuilder();
doc = builder.newDocument();
final org.w3c.dom.Element type =
ASSET.Util.XML.Decisions.Util.TargetTypeHandler.getElement(theTarget, doc);
doc.appendChild(type);
doc.setNodeValue(type.getTagName());
// doc.changeNodeOwner(type);
// doc.setSystemId("ASSET XML Version 1.0");
// Use a Transformer for output
TransformerFactory tFactory = TransformerFactory.newInstance();
Transformer transformer = tFactory.newTransformer();
DOMSource source = new DOMSource(doc);
StreamResult result = new StreamResult(newString);
transformer.transform(source, result);
} catch (ParserConfigurationException e) {
e.printStackTrace(); // To change body of catch statement use Options | File Templates.
} catch (DOMException e) {
e.printStackTrace(); // To change body of catch statement use Options | File Templates.
} catch (TransformerFactoryConfigurationError transformerFactoryConfigurationError) {
transformerFactoryConfigurationError
.printStackTrace(); // To change body of catch statement use Options | File Templates.
} catch (TransformerException e) {
e.printStackTrace(); // To change body of catch statement use Options | File Templates.
}
// // ok, we should be done now
// try
// {
// doc.write(newString);
// }
// catch(java.io.IOException e)
// {
// e.printStackTrace();
// }
// try to extract the <target type portion
if (newString != null) {
final String val = newString.toString();
final String startIdentifier = "<TargetType";
final String endIdentifier = "</TargetType";
final int start = val.indexOf(startIdentifier);
final int end = val.lastIndexOf(endIdentifier);
final String detail = val.substring(start, end + endIdentifier.length() + 1);
// lastly, replace the string
working = replaceAll(working, "<TargetType/>", detail);
}
}
return working;
}
/**
* 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;
}