def get_push_position(squad, member_id):
_member = entities.get_entity(member_id)
_best_vantage = {'position': None, 'score': 1000}
_vision = stats.get_vision(_member)
_engage_range = int(round(_vision * .75))
for pos in squad['position_map_scores']:
_scores = squad['position_map_scores'][pos]
_score = _scores['vantage'] + _scores['member_coverage']
if not _scores['targets'] or _score < 6 or _score > _engage_range:
continue
if _score < _best_vantage['score']:
_best_vantage['score'] = _score
_best_vantage['position'] = pos[:]
if not _best_vantage['position']:
_member['ai']['meta']['has_firing_position'] = False
return
_x, _y = movement.get_position(_member)
for coverage_pos in shapes.circle(_best_vantage['position'][0], _best_vantage['position'][1], 6):
if not coverage_pos in squad['position_map_scores']:
continue
_c_dist = 15 * (1 - (numbers.distance(coverage_pos, (_x, _y)) / 6.0))
squad['position_map_scores'][coverage_pos]['member_coverage'] += _c_dist
squad['position_map_scores'][_best_vantage['position']]['member_coverage'] += 20
return _best_vantage['position']
def build_item_list(entity):
entity['ai']['visible_items'] = {'weapon': [],
'container': [],
'ammo': [],
'bullet': [],
'corpse': []}
return
_active_solids = zones.get_active_solids(entity)
for entity_id in entities.get_entity_group('items'):
_item = entities.get_entity(entity_id)
if not _item['stats']['type'] in entity['ai']['visible_items']:
continue
if _item['stats']['owner']:
continue
_distance = numbers.distance(movement.get_position(entity), movement.get_position(_item))
if _distance >= stats.get_vision(entity):
continue
for pos in shapes.line(movement.get_position(entity), movement.get_position(_item)):
if pos in _active_solids:
break
else:
entity['ai']['visible_items'][_item['stats']['type']].append(entity_id)
entities.trigger_event(_item, 'seen', target_id=entity['_id'])
def create_position_map(squad):
_coverage_positions = set()
_known_targets = set()
_known_squads = set()
for member_id in squad['members']:
_member = entities.get_entity(member_id)
_x, _y = movement.get_position(_member)
_sight = stats.get_vision(_member)
if member_id in squad['member_position_maps']:
_old_coverage_positions = squad['member_position_maps'][member_id].copy()
else:
_old_coverage_positions = set()
_map_size = zones.get_active_size()
squad['member_position_maps'][member_id] = set()
squad['member_los_maps'][member_id] = tcod.map_new(_map_size[0], _map_size[1])
tcod.map_copy(zones.get_active_los_map(), squad['member_los_maps'][member_id])
_t = time.time()
tcod.map_compute_fov(squad['member_los_maps'][member_id], _x, _y, radius=_sight, light_walls=False, algo=tcod.FOV_PERMISSIVE_2)
for pos in shapes.circle(_x, _y, _sight):
if pos[0] < 0 or pos[0] >= _map_size[0] or pos[1] < 0 or pos[1] >= _map_size[1]:
continue
if not tcod.map_is_in_fov(squad['member_los_maps'][member_id], pos[0], pos[1]):
continue
_coverage_positions.add(pos)
squad['member_position_maps'][member_id].add(pos)
#TODO: Do this elsewhere
for target_id in _member['ai']['visible_targets']:
if not target_id in entities.ENTITIES:
continue
_target = entities.get_entity(target_id)
_known_squads.add((_target['ai']['faction'], _target['ai']['squad']))
#TODO: Is this right?
_known_targets.update(_member['ai']['visible_targets'])
_positions_to_remove = _old_coverage_positions - _coverage_positions
squad['known_targets'].update(_known_targets)
squad['known_squads'].update(_known_squads)
squad['coverage_positions'].update(_coverage_positions)
squad['coverage_positions'] = squad['coverage_positions'] - _positions_to_remove
if squad['known_targets']:
update_position_maps(squad)
logging.debug('Updated local position map - requesting squad update')
else:
logging.debug('Updated local position map.')
def can_see_position(entity, position): _solids = zones.get_active_solids(entity) if numbers.distance(movement.get_position(entity), position) > stats.get_vision(entity): return False for pos in shapes.line(movement.get_position(entity), position): if pos in _solids: return False return True
def can_see_position(entity, position):
_solids = zones.get_active_solids(entity)
if numbers.distance(movement.get_position(entity),
position) > stats.get_vision(entity):
return False
for pos in shapes.line(movement.get_position(entity), position):
if pos in _solids:
return False
return True
def get_push_position(squad, member_id):
_member = entities.get_entity(member_id)
_best_vantage = {'position': None, 'score': 1000}
_vision = stats.get_vision(_member)
_engage_range = int(round(_vision * .75))
for pos in squad['position_map_scores']:
_scores = squad['position_map_scores'][pos]
_score = _scores['vantage'] + _scores['member_coverage']
if not _scores['targets'] or _score < 6 or _score > _engage_range:
continue
if _score < _best_vantage['score']:
_best_vantage['score'] = _score
_best_vantage['position'] = pos[:]
if not _best_vantage['position']:
_member['ai']['meta']['has_firing_position'] = False
return
_x, _y = movement.get_position(_member)
for coverage_pos in shapes.circle(_best_vantage['position'][0],
_best_vantage['position'][1], 6):
if not coverage_pos in squad['position_map_scores']:
continue
_c_dist = 15 * (1 - (numbers.distance(coverage_pos, (_x, _y)) / 6.0))
squad['position_map_scores'][coverage_pos][
'member_coverage'] += _c_dist
squad['position_map_scores'][
_best_vantage['position']]['member_coverage'] += 20
return _best_vantage['position']
def build_life_list(entity):
entity['ai']['visible_targets'] = []
_nearest_target = {'target_id': None, 'distance': 0}
_solids = zones.get_active_solids(entity)
_visible_life = set()
_vision = stats.get_vision(entity)
_visible_by_friendlies = [entities.get_entity(e)['ai']['visible_targets'] for e in entity['ai']['life_memory'] if not entity['ai']['life_memory'][e]['is_target'] and e in entities.ENTITIES]
#Warning: Makes AI super smart
_visible_by_friendlies = [item for sublist in _visible_by_friendlies for item in sublist]
for entity_id in entities.get_entity_group('life'):
if entity['_id'] == entity_id:
continue
_target = entities.get_entity(entity_id)
if not entity_id in entity['ai']['life_memory']:
life.create_life_memory(entity, entity_id)
if not ai_factions.is_enemy(entity, entity_id):
_visible = True
else:
if numbers.distance(movement.get_position(entity), movement.get_position(_target)) > _vision:
if entity['ai']['life_memory'][entity_id]['can_see'] and ai_factions.is_enemy(entity, _target['_id']):
entities.trigger_event(entity, 'target_lost', target_id=entity_id)
if entity_id in _visible_by_friendlies:
entity['ai']['life_memory'][entity_id]['in_los'] = False
entity['ai']['life_memory'][entity_id]['can_see'] = True
_visible = True
else:
entity['ai']['life_memory'][entity_id]['can_see'] = False
entity['ai']['life_memory'][entity_id]['in_los'] = False
if entity_id in entity['ai']['visible_life']:
entity['ai']['visible_life'].remove(entity_id)
_visible = False
else:
for pos in shapes.line(movement.get_position(entity), movement.get_position(_target)):
if pos in _solids:
if entity['ai']['life_memory'][entity_id]['can_see'] and ai_factions.is_enemy(entity, _target['_id']):
entities.trigger_event(entity, 'target_lost', target_id=entity_id)
if entity_id in _visible_by_friendlies:
entity['ai']['life_memory'][entity_id]['in_los'] = False
entity['ai']['life_memory'][entity_id]['can_see'] = True
_visible = True
else:
entity['ai']['life_memory'][entity_id]['can_see'] = False
entity['ai']['life_memory'][entity_id]['in_los'] = False
if entity_id in entity['ai']['visible_life']:
entity['ai']['visible_life'].remove(entity_id)
_visible = False
break
else:
entity['ai']['life_memory'][entity_id]['in_los'] = True
_visible = True
if not _visible and entity['ai']['life_memory'][entity_id]['seen_time'] > 0:
_visible = True
entity['ai']['life_memory'][entity_id]['in_los'] = False
entity['ai']['life_memory'][entity_id]['can_see'] = True
entity['ai']['life_memory'][entity_id]['seen_time'] -= 1
if entity_id in entity['ai']['visible_life']:
entity['ai']['visible_life'].remove(entity_id)
elif not _visible and entity_id in entity['ai']['visible_life']:
entity['ai']['visible_life'].remove(entity_id)
if _visible:
_previous_last_seen_at = entity['ai']['life_memory'][entity_id]['last_seen_at']
_target_position = movement.get_position(_target)[:]
entity['ai']['life_memory'][entity_id]['is_lost'] = False
if entity['ai']['life_memory'][entity_id]['in_los']:
if entity['ai']['life_memory'][entity_id]['seen_time'] < 30:
entity['ai']['life_memory'][entity_id]['seen_time'] += 1
else:
entity['ai']['life_memory'][entity_id]['seen_time'] -= 1
if entity['ai']['life_memory'][entity_id]['seen_time'] < 0 and entity_id in entity['ai']['visible_life']:
entity['ai']['visible_life'].remove(entity_id)
entity['ai']['life_memory'][entity_id]['in_los'] = False
if movement.get_position(_target) == _previous_last_seen_at:
_new_last_seen_at = _previous_last_seen_at
else:
_new_last_seen_at = _target_position
_is_target = ai_factions.is_enemy(entity, _target['_id'])
_profile = {'distance': numbers.distance(movement.get_position(entity), movement.get_position(_target)),
'is_target': _is_target,
'is_armed': items.get_items_in_holder(_target, 'weapon'),
'is_lost': False,
'can_see': True,
'last_seen_at': _new_last_seen_at,
'last_seen_velocity': None}
if not entity_id in entity['ai']['visible_life']:
entities.trigger_event(entity, 'new_target_spotted', target_id=entity_id)
if entity['ai']['life_memory'][entity_id]['in_los']:
entity['ai']['visible_life'].add(entity_id)
if _is_target:
ai_flow.register_combat(entity, entity_id)
if _is_target:
entity['ai']['targets'].add(entity_id)
_distance = numbers.distance(movement.get_position(entity), movement.get_position_via_id(entity_id))
if not _nearest_target['target_id'] or _distance < _nearest_target['distance']:
_nearest_target['distance'] = _distance
_nearest_target['target_id'] = entity_id
if entity['ai']['life_memory'][entity_id]['last_seen_at']:
_last_seen_at = entity['ai']['life_memory'][entity_id]['last_seen_at'][:]
_velocity = (_profile['last_seen_at'][0]-_last_seen_at[0], _profile['last_seen_at'][1]-_last_seen_at[1])
_profile['last_seen_velocity'] = _velocity
else:
_profile['last_seen_velocity'] = None
if not entity['ai']['life_memory'][entity_id]['can_see'] and _is_target:
_could_not_see_target_before = True
else:
_could_not_see_target_before = False
entity['ai']['life_memory'][entity_id].update(_profile)
if _could_not_see_target_before:
entities.trigger_event(entity, 'target_found', target_id=entity_id)
#TODO: What?
#for t in entity['ai']['life_memory']:
# if not 'is_lost' in entity['ai']['life_memory'][t]:
# print entity['ai']['life_memory'][t]
entity['ai']['visible_targets'] = list(entity['ai']['visible_life'] & entity['ai']['targets'])
entity['ai']['targets_to_search'] = [t for t in entity['ai']['life_memory'].keys() if entity['ai']['life_memory'][t]['is_lost'] and not entity['ai']['life_memory'][t]['searched_for'] and t in entities.ENTITIES]
if _nearest_target['target_id']:
if not entity['ai']['nearest_target'] == _nearest_target['target_id']:
entity['ai']['meta']['has_firing_position'] = True
entity['ai']['nearest_target'] = _nearest_target['target_id']
elif entity['ai']['targets']:
for target_id in list(entity['ai']['targets']):
_target = entity['ai']['life_memory'][target_id]
if not target_id in entities.ENTITIES or _target['is_lost']:
entity['ai']['targets'].remove(target_id)
continue
_distance = numbers.distance(movement.get_position(entity), _target['last_seen_at'])
if not _nearest_target['target_id'] or _distance < _nearest_target['distance']:
_nearest_target['target_id'] = target_id
_nearest_target['distance'] = _distance
if not entity['ai']['nearest_target'] == _nearest_target['target_id']:
entity['ai']['meta']['has_firing_position'] = True
entity['ai']['nearest_target'] = _nearest_target['target_id']
def _human_logic(entity):
_t = time.time()
ai_visuals.build_item_list(entity)
ai_visuals.build_life_list(entity)
if ai_flow.is_flow_active() and not ai_flow.can_act(entity):
return
if timers.has_timer_with_name(entity, "passout"):
return
# if not ai_squads.is_active(ai_squads.get_assigned_squad(entity)) or entity['stats']['action_points'] <= 0:
# return
_old_meta = entity["ai"]["meta"].copy()
entity["ai"]["meta"]["sees_item_type_weapon"] = len(entity["ai"]["visible_items"]["weapon"]) > 0
entity["ai"]["meta"]["sees_item_type_ammo"] = len(entity["ai"]["visible_items"]["ammo"]) > 0
entity["ai"]["meta"]["sees_item_type_container"] = len(entity["ai"]["visible_items"]["container"]) > 0
entity["ai"]["meta"]["has_weapon"] = len(items.get_items_in_holder(entity, "weapon")) > 0
entity["ai"]["meta"]["has_ammo"] = len(items.get_items_matching(entity, {"type": "ammo"})) > 0
entity["ai"]["meta"]["has_container"] = len(items.get_items_matching(entity, {"type": "container"})) > 0
entity["ai"]["meta"]["weapon_loaded"] = (
len(
[
w
for w in items.get_items_in_holder(entity, "weapon")
if entities.get_entity(w)["flags"]["ammo"]["value"] > 0
]
)
> 0
)
entity["ai"]["meta"]["in_engagement"] = (
len([t for t in entity["ai"]["targets"] if not entity["ai"]["life_memory"][t]["is_lost"]]) > 0
)
entity["ai"]["meta"]["has_lost_target"] = len(entity["ai"]["targets_to_search"]) > 0
entity["ai"]["meta"]["in_enemy_los"] = (
len([t for t in entity["ai"]["targets"] if entity["ai"]["life_memory"][t]["in_los"]]) > 0
)
entity["ai"]["meta"]["has_needs"] = (
not entity["ai"]["meta"]["has_weapon"]
or not entity["ai"]["meta"]["has_container"]
or not entity["ai"]["meta"]["weapon_loaded"]
)
entity["ai"]["meta"]["is_injured"] = skeleton.has_critical_injury(entity)
if not entity["ai"]["meta"] == _old_meta:
entities.trigger_event(entity, "meta_change")
if entity["ai"]["meta"]["in_engagement"]:
_target = entity["ai"]["nearest_target"]
_target_distance = numbers.distance(movement.get_position_via_id(_target), movement.get_position(entity))
_engage_distance = stats.get_vision(entity) * 0.75
_weapon = entities.get_entity(items.get_items_in_holder(entity, "weapon")[0])
_engage_distance = numbers.clip(
_engage_distance - (flags.get_flag(_weapon, "accuracy") * 3), 1, stats.get_vision(entity)
)
_min_engage_distance = 3
if _weapon["stats"]["kind"] == "explosive":
_engage_distance /= 2
_min_engage_distance = 8
entities.trigger_event(entity, "set_flag", flag="engage_distance", value=_engage_distance)
entities.trigger_event(entity, "set_flag", flag="min_engage_distance", value=_min_engage_distance)
# NOTE: Mirror change in ai_logic!
entity["ai"]["meta"]["in_firing_range"] = (
_target_distance <= _engage_distance and _target_distance >= _min_engage_distance
)
if entity["ai"]["meta"]["in_enemy_los"]:
if flags.has_flag(entity, "search_nodes"):
flags.delete_flag(entity, "search_nodes")
entity["ai"]["meta"]["is_in_melee_range"] = _target_distance == 1
else:
entity["ai"]["meta"]["is_target_near"] = False
entity["ai"]["meta"]["in_firing_range"] = False
entity["ai"]["meta"]["is_target_armed"] = (
len([t for t in entity["ai"]["targets"] if entity["ai"]["life_memory"][t]["is_armed"]]) > 0
)
entity["ai"]["meta"]["is_panicked"] = (
not entity["ai"]["meta"]["weapon_loaded"] and entity["ai"]["meta"]["is_target_armed"]
)
if entity["ai"]["is_player"]:
return
# TODO: Experimental!
# if entity['ai']['meta'] == _old_meta:
# print 'Something changed...'
# return
if (
timers.has_timer_with_name(entity, "shoot")
or entity["movement"]["path"]["positions"]
or timers.has_timer_with_name(entity, "move")
):
# print 'Clearing existing action...'
return
_goap = _handle_goap(entity)
if not _goap:
entity["ai"]["current_action"] = "idle"
entities.trigger_event(entity, "finish_turn")
entities.trigger_event(entity, "stop")
# print
# print entity['stats']['name'], 'no possible action'
# print
# for meta_name in entity['ai']['meta']:
# print meta_name, '\t', entity['ai']['meta'][meta_name]
return
_plan = _goap[0]
if not entity["ai"]["last_action"] == _plan["actions"][0]["name"]:
if entity["_id"] in ai_debugger.WATCHING:
logging.info("%s: %s -> %s" % (entity["_id"], entity["ai"]["last_action"], _plan["actions"][0]["name"]))
# TODO: Only do this if the action requires movement changes
entities.trigger_event(entity, "stop")
entity["ai"]["last_action"] = _plan["actions"][0]["name"]
# print entity['stats']['name'], _plan['actions'][0]['name']
_plan["planner"].trigger_callback(entity, _plan["actions"][0]["name"])
# print time.time() - _t
entity["ai"]["current_action"] = _plan["actions"][0]["name"]
def _human_logic(entity):
_t = time.time()
ai_visuals.build_item_list(entity)
ai_visuals.build_life_list(entity)
if ai_flow.is_flow_active() and not ai_flow.can_act(entity):
return
if timers.has_timer_with_name(entity, 'passout'):
return
#if not ai_squads.is_active(ai_squads.get_assigned_squad(entity)) or entity['stats']['action_points'] <= 0:
# return
_old_meta = entity['ai']['meta'].copy()
entity['ai']['meta']['sees_item_type_weapon'] = len(
entity['ai']['visible_items']['weapon']) > 0
entity['ai']['meta']['sees_item_type_ammo'] = len(
entity['ai']['visible_items']['ammo']) > 0
entity['ai']['meta']['sees_item_type_container'] = len(
entity['ai']['visible_items']['container']) > 0
entity['ai']['meta']['has_weapon'] = len(
items.get_items_in_holder(entity, 'weapon')) > 0
entity['ai']['meta']['has_ammo'] = len(
items.get_items_matching(entity, {'type': 'ammo'})) > 0
entity['ai']['meta']['has_container'] = len(
items.get_items_matching(entity, {'type': 'container'})) > 0
entity['ai']['meta']['weapon_loaded'] = len([
w for w in items.get_items_in_holder(entity, 'weapon')
if entities.get_entity(w)['flags']['ammo']['value'] > 0
]) > 0
entity['ai']['meta']['in_engagement'] = len([
t for t in entity['ai']['targets']
if not entity['ai']['life_memory'][t]['is_lost']
]) > 0
entity['ai']['meta']['has_lost_target'] = len(
entity['ai']['targets_to_search']) > 0
entity['ai']['meta']['in_enemy_los'] = len([
t for t in entity['ai']['targets']
if entity['ai']['life_memory'][t]['in_los']
]) > 0
entity['ai']['meta']['has_needs'] = not entity['ai']['meta'][
'has_weapon'] or not entity['ai']['meta'][
'has_container'] or not entity['ai']['meta']['weapon_loaded']
entity['ai']['meta']['is_injured'] = skeleton.has_critical_injury(entity)
if not entity['ai']['meta'] == _old_meta:
entities.trigger_event(entity, 'meta_change')
if entity['ai']['meta']['in_engagement']:
_target = entity['ai']['nearest_target']
_target_distance = numbers.distance(
movement.get_position_via_id(_target),
movement.get_position(entity))
_engage_distance = stats.get_vision(entity) * .75
_weapon = entities.get_entity(
items.get_items_in_holder(entity, 'weapon')[0])
_engage_distance = numbers.clip(
_engage_distance - (flags.get_flag(_weapon, 'accuracy') * 3), 1,
stats.get_vision(entity))
_min_engage_distance = 3
if _weapon['stats']['kind'] == 'explosive':
_engage_distance /= 2
_min_engage_distance = 8
entities.trigger_event(entity,
'set_flag',
flag='engage_distance',
value=_engage_distance)
entities.trigger_event(entity,
'set_flag',
flag='min_engage_distance',
value=_min_engage_distance)
#NOTE: Mirror change in ai_logic!
entity['ai']['meta'][
'in_firing_range'] = _target_distance <= _engage_distance and _target_distance >= _min_engage_distance
if entity['ai']['meta']['in_enemy_los']:
if flags.has_flag(entity, 'search_nodes'):
flags.delete_flag(entity, 'search_nodes')
entity['ai']['meta']['is_in_melee_range'] = _target_distance == 1
else:
entity['ai']['meta']['is_target_near'] = False
entity['ai']['meta']['in_firing_range'] = False
entity['ai']['meta']['is_target_armed'] = len([
t for t in entity['ai']['targets']
if entity['ai']['life_memory'][t]['is_armed']
]) > 0
entity['ai']['meta']['is_panicked'] = (
not entity['ai']['meta']['weapon_loaded']
and entity['ai']['meta']['is_target_armed'])
if entity['ai']['is_player']:
return
#TODO: Experimental!
#if entity['ai']['meta'] == _old_meta:
#print 'Something changed...'
#return
if timers.has_timer_with_name(
entity, 'shoot'
) or entity['movement']['path']['positions'] or timers.has_timer_with_name(
entity, 'move'):
#print 'Clearing existing action...'
return
_goap = _handle_goap(entity)
if not _goap:
entity['ai']['current_action'] = 'idle'
entities.trigger_event(entity, 'finish_turn')
entities.trigger_event(entity, 'stop')
#print
#print entity['stats']['name'], 'no possible action'
#print
#for meta_name in entity['ai']['meta']:
# print meta_name, '\t', entity['ai']['meta'][meta_name]
return
_plan = _goap[0]
if not entity['ai']['last_action'] == _plan['actions'][0]['name']:
if entity['_id'] in ai_debugger.WATCHING:
logging.info('%s: %s -> %s' %
(entity['_id'], entity['ai']['last_action'],
_plan['actions'][0]['name']))
#TODO: Only do this if the action requires movement changes
entities.trigger_event(entity, 'stop')
entity['ai']['last_action'] = _plan['actions'][0]['name']
#print entity['stats']['name'], _plan['actions'][0]['name']
_plan['planner'].trigger_callback(entity, _plan['actions'][0]['name'])
#print time.time() - _t
entity['ai']['current_action'] = _plan['actions'][0]['name']
def create_position_map(squad):
_coverage_positions = set()
_known_targets = set()
_known_squads = set()
for member_id in squad['members']:
_member = entities.get_entity(member_id)
_x, _y = movement.get_position(_member)
_sight = stats.get_vision(_member)
if member_id in squad['member_position_maps']:
_old_coverage_positions = squad['member_position_maps'][
member_id].copy()
else:
_old_coverage_positions = set()
_map_size = zones.get_active_size()
squad['member_position_maps'][member_id] = set()
squad['member_los_maps'][member_id] = tcod.map_new(
_map_size[0], _map_size[1])
tcod.map_copy(zones.get_active_los_map(),
squad['member_los_maps'][member_id])
_t = time.time()
tcod.map_compute_fov(squad['member_los_maps'][member_id],
_x,
_y,
radius=_sight,
light_walls=False,
algo=tcod.FOV_PERMISSIVE_2)
for pos in shapes.circle(_x, _y, _sight):
if pos[0] < 0 or pos[0] >= _map_size[0] or pos[1] < 0 or pos[
1] >= _map_size[1]:
continue
if not tcod.map_is_in_fov(squad['member_los_maps'][member_id],
pos[0], pos[1]):
continue
_coverage_positions.add(pos)
squad['member_position_maps'][member_id].add(pos)
#TODO: Do this elsewhere
for target_id in _member['ai']['visible_targets']:
if not target_id in entities.ENTITIES:
continue
_target = entities.get_entity(target_id)
_known_squads.add(
(_target['ai']['faction'], _target['ai']['squad']))
#TODO: Is this right?
_known_targets.update(_member['ai']['visible_targets'])
_positions_to_remove = _old_coverage_positions - _coverage_positions
squad['known_targets'].update(_known_targets)
squad['known_squads'].update(_known_squads)
squad['coverage_positions'].update(_coverage_positions)
squad['coverage_positions'] = squad[
'coverage_positions'] - _positions_to_remove
if squad['known_targets']:
update_position_maps(squad)
logging.debug('Updated local position map - requesting squad update')
else:
logging.debug('Updated local position map.')
