[Gcblue-commits] gcb_wx/scripts AI.py,1.16,1.17

[Dewitt C. <ddc...@us...>]

Update of /cvsroot/gcblue/gcb_wx/scripts
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1968/scripts

Modified Files:
	AI.py 
Log Message:
Parallel ai update

Index: AI.py
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/scripts/AI.py,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** AI.py	16 Feb 2005 23:13:23 -0000	1.16
--- AI.py	18 Feb 2005 17:42:08 -0000	1.17
***************
*** 71,86 ****
      TI.SetMemoryValue(1, iteration)
  
  
! def AvoidGround(UI):
!     if (UI.IsAir()):
!         terrainElevation = UI.GetTerrainElevation()
!         if (terrainElevation < 0):
!             terrainElevation = 0
!         alt = UI.GetAlt()
!         if ((alt - terrainElevation) < 80):
!            UI.SetAlt(terrainElevation + 100)
  
  
! def Patrol(UI):
      targetid = UI.GetTarget()
      if targetid != -1:
--- 71,279 ----
      TI.SetMemoryValue(1, iteration)
  
+ def Patrol(TI):
+     ZigZagPatrol(TI)
  
! # zig-zag patrol task
! def ZigZagPatrol(TI):
!     UI = TI.GetPlatformInterface()
!     BB = TI.GetBlackboardInterface()
  
+     iteration = TI.GetMemoryValue(1) # will return 0 first time
+     if (iteration == 0):  # do initialization
+         TI.SetMemoryValue(2, UI.GetHeading())
+         TI.SetMemoryValue(3, 0) # 0 is turn left next zig-zag, 1 turn right
+         TI.SetMemoryValue(4, 90.0 + 90.0 * UI.Rand()) # random turn interval in seconds
+         TI.SetMemoryText('Description', 'Perform surveillance along a zig-zag course') 
  
!     iteration = iteration + 1
!     TI.SetMemoryValue(1, iteration)
! 
!     # activate all sensors
!     can_radiate = GetSensorControl(BB)
!     if (can_radiate):
!         ActivateAllSensors(UI)
!     else:
!         ActivatePassiveSensors(UI)
! 
!     # return if conn is not available
!     if (not GetConnControl(BB)):   
!         return 
! 
!     if (TI.GetMemoryValue(3) == 0):
!         new_heading = TI.GetMemoryValue(2) - 45
!         TI.SetMemoryValue(3, 1)
!     else:
!         new_heading = TI.GetMemoryValue(2) + 45
!         TI.SetMemoryValue(3, 0)
! 
!     UI.SetHeading(new_heading)
!     TI.SetUpdateInterval(TI.GetMemoryValue(4))
!     UI.SetActionText('Patrol')
! 
! 
! # shoot hostiles and unknowns within range, but do not intercept.
! # Turn if necessary to position launchers
! def EngageAll(TI):
!     UI = TI.GetPlatformInterface()
!     BB = TI.GetBlackboardInterface()
! 
!     iteration = TI.GetMemoryValue(1) # will return 0 first time
!     if (iteration == 0):  # do initialization
!         TI.SetMemoryText('Description', 'Engage hostiles and unknowns within range, but do not intercept') 
! 
!     iteration = iteration + 1
!     TI.SetMemoryValue(1, iteration)
! 
!     # engage_mode values:
!     # 0 - searching, 1 - turning to place target within launch sector, 2 - keeping target within semiactive sector
!     engage_mode = TI.GetMemoryValue(2)
! 
!     # memory values
!     # 10: target id
!     # 11: launcher index
!     # 12: launch/follow sector center
!     # 13: launch/follow sector width
! 
!     if (engage_mode == 0): # searching
!         TI.SetUpdateInterval(30)
!         best_target, best_launcher = GetImmediateTarget(UI)
!         if (best_target != -1):
!             UI.DisplayMessage('%s: targ: %d, lau: %d' % (UI.GetName(), best_target, best_launcher))
!             launcher_info = UI.GetLauncherInfo(best_launcher)
!             if (launcher_info.IsValid()):
!                 TI.SetMemoryValue(10, best_target)
!                 TI.SetMemoryValue(11, best_launcher)
!                 TI.SetMemoryValue(12, launcher_info.SectorCenter)
!                 TI.SetMemoryValue(13, launcher_info.SectorWidth)
!                 TI.SetMemoryValue(2, 1)
!                 engage_mode = 1
!                 TI.SetUpdateInterval(10.0) 
!             else:
!                 TI.SetMemoryValue(2, 0)
! 
!     if (engage_mode == 1): # turn to target
!         target_id = long(TI.GetMemoryValue(10))
!         if (target_id == -1):
!             TI.SetMemoryValue(2, 0)
!             return
!         UI.SetTarget(target_id)
!         launcher = long(TI.GetMemoryValue(11))
!         launcher_angle = TI.GetMemoryValue(12)
!         sector_width = TI.GetMemoryValue(13)
!         target_bearing = GetTargetBearing(UI)
!         if (GetConnControl(BB)):
!             UI.SetHeading(target_bearing-launcher_angle)
!             
!         engagement_angle = target_bearing - launcher_angle
!         if (engagement_angle > 180.0):
!             engagement_angle = engagement_angle - 360.0
!         elif (engagement_angle < -180.0):
!             engagement_angle = engagement_angle + 360.0
!         if (engagement_angle <= 0.5 * sector_width):
!             EngageTargetWithLauncher(UI, launcher)
!             TI.SetMemoryValue(2, 2)
!             TI.SetUpdateInterval(10.0) # wait 10 seconds
! 
!     if (engage_mode >= 2):
!         TI.SetMemoryValue(2, 0)  # return to search mode
!         TI.SetUpdateInterval(20.0)
!         ReleaseConnControl(BB)
!         
! 
! 
! # returns id of closest target that is in-range, engageable, and not already
! # overwhelmingly engaged
! # returns -1 if none
! def GetImmediateTarget(UI):
! 
!     # anAffiliation: UNKNOWN = 0, FRIENDLY = 1, NEUTRAL = 2, HOSTILE = 3
!     #
!     # anClassMask:
!     # PTYPE_SURFACE 0x0010
!     # PTYPE_AIR 0x0020
!     # PTYPE_MISSILE 0x0040
!     # PTYPE_SUBSURFACE 0x0080
!     # PTYPE_FIXED 0x0100
!     # int anClassMask, float afMaxRange_km, UINT8 anAffiliation
!     track_list = UI.GetTrackList(0x0FFF, 150, 3)
! 
!     nTracks = track_list.Size()
!     best_range = 1e6
!     best_target = -1
!     best_launcher = -1
! 
!     for n in range(0, nTracks):
!         track_info = track_list.GetTrack(n)
!         track_id = track_info.ID
! 
!         engaged_count = track_info.GetEngagedCount()
!         if (track_info.IsAir() or track_info.IsMissile()):
!             max_engaged_count = 2
!         else:
!             max_engaged_count = 6
! 
!         if (engaged_count < max_engaged_count):
!             UI.SetTarget(track_id)
!             launcher_info = UI.GetBestLauncher()
!             launcher_idx = launcher_info.Launcher
!             if (launcher_idx != -1):
!                 target_range = UI.GetRangeToTarget()
!                 launch_range = launcher_info.Range_km  # reference max range, use for launch decision
!                 if ((target_range <= launch_range) and (target_range < best_range)):
!                     best_range = target_range
!                     best_target = track_id
!                     best_launcher = launcher_idx
!     UI.SetTarget(best_target)
!     
!     return (best_target, best_launcher)
! 
! 
! 
! 
! 
! 
! 
! def ActivateAllSensors(UI):
!     UI.SetAllSensorState(1)
! 
! def ActivatePassiveSensors(UI):
!     nSensors = UI.GetSensorCount()
!     for n in range(0, nSensors):
!         sensor_info = UI.GetSensorInfo(n)
!         if (sensor_info.IsPassive()):
!             UI.SetSensorState(n, 1)
! 
! def Emcon(TI):
!     UI = TI.GetPlatformInterface()
!     BB = TI.GetBlackboardInterface()
! 
!     # take control of (active) sensors
!     if (not GetSensorControl(BB)):
!         return
! 
!     nSensors = UI.GetSensorCount()
!     for n in range(0, nSensors):
!         sensor_info = UI.GetSensorInfo(n)
!         if (not sensor_info.IsPassive()):  # deactivate active sensors
!             UI.SetSensorState(n, 0)
! 
! 
! def AirPatrol(TI):
!     UI = TI.GetPlatformInterface()
! 
! def GetConnControl(BB):
!     return BB.Write('ConnLock', '')
! 
! def ReleaseConnControl(BB):
!     BB.Erase('ConnLock')
! 
! def GetSensorControl(BB):
!     return BB.Write('SensorLock', '')
! 
! def ReleaseSensorControl(BB):
!     BB.Erase('SensorLock')
! 
! def SAM_Defense(UI):
!     UI = TI.GetPlatformInterface()
      targetid = UI.GetTarget()
      if targetid != -1:
***************
*** 95,99 ****
          heading = heading - 360.0
      UI.SetHeading(heading)
!     UI.SetUpdate(30.0)
      # engage hostiles in range
  
--- 288,292 ----
          heading = heading - 360.0
      UI.SetHeading(heading)
!     TI.SetUpdateInterval(30.0)
      # engage hostiles in range
  
***************
*** 114,122 ****
          UI.SetTarget(best_id)
          UI.SetHeadingToInterceptTarget()
!         UI.SetUpdate(4.0)
  
  # Patrols in given direction, zig-zagging along the way
  # then reverses path
! def ZigZagPatrol(UI):
      targetid = UI.GetTarget()
      if targetid != -1:
--- 307,329 ----
          UI.SetTarget(best_id)
          UI.SetHeadingToInterceptTarget()
!         TI.SetUpdateInterval(4.0)
! 
! 
! 
! def AvoidGround(UI):
!     if (UI.IsAir()):
!         terrainElevation = UI.GetTerrainElevation()
!         if (terrainElevation < 0):
!             terrainElevation = 0
!         alt = UI.GetAlt()
!         if ((alt - terrainElevation) < 80):
!            UI.SetAlt(terrainElevation + 100)
! 
! 
! 
  
  # Patrols in given direction, zig-zagging along the way
  # then reverses path
! def ZigZagPatrolOld(UI):
      targetid = UI.GetTarget()
      if targetid != -1:
***************
*** 361,374 ****
          return -1
              
!             
! # set heading relative to target bearing
! def SetHeadingOffTarget(UI, heading_offset):
      track_info = UI.GetTargetTrackInfo()
      lat = track_info.Lat
      lon = track_info.Lon
!     heading = UI.GetHeadingToDatum(lon,lat)
      heading = heading + heading_offset
      if (heading > 360.0):
          heading = heading - 360.0
      UI.SetHeading(heading)
      return
--- 568,590 ----
          return -1
              
! # get target bearing in deg
! def GetTargetBearing(UI):
      track_info = UI.GetTargetTrackInfo()
      lat = track_info.Lat
      lon = track_info.Lon
!     bearing = UI.GetHeadingToDatum(lon,lat)
!     return bearing
! 
! 
! # set heading relative to target bearing
! def SetHeadingOffTarget(UI, heading_offset):
!     heading = GetTargetBearing(UI)
!     
      heading = heading + heading_offset
      if (heading > 360.0):
          heading = heading - 360.0
+     elif (heading < -180):
+         heading = heading + 360.0
+         
      UI.SetHeading(heading)
      return
***************
*** 515,518 ****
--- 731,764 ----
  
  
+ def EngageTargetWithLauncher(UI, launcher):
+     launcher_info = UI.GetLauncherInfo(launcher)
+     if (not launcher_info.IsValid()):
+         return
      
+     launch_mode = launcher_info.LaunchMode   # 0 - datum, 1 - seeker, 2 - other
+     target_info = UI.GetTargetTrackInfo()
+     
+     if target_info.IsAir():
+         launch_qty = 1
+     elif target_info.IsMissile():
+         launch_qty = 1
+     elif target_info.IsSurface():
+         launch_qty = 4
+     else:
+         launch_qty = 1
          
+     if launch_mode == 0:  # datum launch
+         lat = target_info.Lat
+         lon = target_info.Lon
+         alt = target_info.Alt
+         UI.HandoffTargetToLauncher(launcher) # to store intended target
+         UI.SendDatumToLauncher(lon,lat,alt,launcher)
+         UI.Launch(launcher, launch_qty)
+         UI.SetActionText('Datum launch')
+     elif launch_mode == 1:  # handoff to active seeker
+         target_accepted = UI.HandoffTargetToLauncher(launcher)
+         if (target_accepted):
+             UI.Launch(launcher, launch_qty)
+             UI.SetActionText('Handoff launch')
+ 
+