def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
# Calculate the lateral distance to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
self.is_param_one = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.PARAMETER_SET_ONE)
self.is_param_two = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.PARAMETER_SET_TWO)
self.is_param_three = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(),
self.PARAMETER_SET_THREE)
self.is_param_four = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(),
self.PARAMETER_SET_FOUR)
self.is_param_five = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(),
self.PARAMETER_SET_FIVE)
self.is_param_six = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.PARAMETER_SET_SIX)
if self.is_param_one or self.is_param_two or self.is_param_three or self.is_param_four or self.is_param_five or self.is_param_six:
self.transition_request = transition(
self.is_param_one, self.is_param_two, self.is_param_three,
self.is_param_four, self.is_param_five, self.is_param_six,
LeftDown, LeftUp, PullUp, LevelFlight, PushDown, RightUp)
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
# Calculate the lateral distance to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
self.is_left_down = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.LEFT_DOWN)
self.is_left_up = helpers.transition_condition(entity.tactical_3d(),
threat.tactical_3d(),
self.LEFT_UP)
self.is_pull_up = helpers.transition_condition(entity.tactical_3d(),
threat.tactical_3d(),
self.PULL_UP)
self.is_level_flight = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.LEVEL_FLIGHT)
self.is_push_down = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.PUSH_DOWN)
self.is_right_up = helpers.transition_condition(
entity.tactical_3d(), threat.tactical_3d(), self.RIGHT_UP)
if self.is_left_down or self.is_left_up or self.is_pull_up or self.is_level_flight or self.is_push_down or self.is_right_up:
self.transition_request = transition(
self.is_left_down, self.is_left_up, self.is_pull_up,
self.is_level_flight, self.is_push_down, self.is_right_up,
LeftDown, LeftUp, PullUp, LevelFlight, PushDown, RightUp)
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
# print 'State: ', self.__class__.__name__, ' at time step: ', t
if self.beliefs.threat_state:
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
self.is_param_one = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.PP2FR)
self.is_param_two = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.PP2FO)
self.is_param_three = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.PP2C)
if self.is_param_one or self.is_param_two or self.is_param_three:
self.transition_request = transition(self.is_param_one, self.is_param_two, self.is_param_three,
EcuFlyRelativeBearing, EcuFlyingOffset, EcuConverting)
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
# print 'State: ', self.__class__.__name__, ' at time step: ', t
if self.beliefs.threat_state:
# Calculate the lateral distance to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
self.is_param_one = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.C2PP)
self.is_param_two = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.C2FR)
self.is_param_three = helpers.transition_condition(entity.tactical_3d(), threat.tactical_3d(), self.C2FO)
if self.is_param_one or self.is_param_two or self.is_param_three:
self.transition_request = transition(self.is_param_one, self.is_param_two, self.is_param_three,
EcuPureIntercept, EcuFlyRelativeBearing, EcuFlyingOffset)
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if self.beliefs.threat_state:
# Calculate the lateral distance to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
displacement = ut.lateral_displacement(entity.x, entity.y,
threat.x, threat.y, threat.heading, distance)
displacement = ut.metres_to_feet(displacement)
# Check whether the desired lateral separation has been reached
if displacement >= self.DESIRED_DISPLACEMENT:
self.transition_request = FlyingOffset
else:
# No threats detected so return to default state
self.transition_request = PureIntercept
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if self.beliefs.threat_state:
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
# Check whether threat is aligned with aircraft
taa = ut.target_aspect_angle(entity.x, entity.y, threat.x,
threat.y, threat.heading)
bearing_to_entity = ut.relative_bearing(threat.x, threat.y,
entity.x, entity.y)
bearing_offset = abs(threat.heading - bearing_to_entity)
if bearing_offset > self.MAX_ALIGNMENT_DIFF:
# Threat not aligned so don't proceed to next state
return
# Check whether at turn range from threat
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
if ut.metres_to_nautical_miles(distance) <= self.TURN_RANGE:
self.transition_request = FlyRelativeBearing
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if self.beliefs.threat_state:
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
# Check whether the conversion point has been reached
if ut.metres_to_nautical_miles(distance) <= self.CONVERSION_RANGE:
self.transition_request = Converting
# Check if still closing with threat
if self._last_range:
if distance > self._last_range:
# Not closing with threat so return to default state
self.transition_request = PureIntercept
self._last_range = distance
else:
# No threats detected so return to default state
self.transition_request = PureIntercept
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
if not self.beliefs.threat_state:
# No threats detected so return to the default state
self.transition_request = PureIntercept
