def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Execute state behaviour only on first tick after entering state
if self._first_tick:
self._first_tick = False
# Check threat is detected
if not self.beliefs.threat_state:
return
# Calculate bearing from entity to threat and the reverse
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = ut.relative_bearing(entity.x, entity.y, threat.x,
threat.y)
entity_bearing = ut.reciprocal_heading(threat_bearing)
# Add or subtract the turn angle depending on whether we are
# clockwise or counter-clockwise from the threat's heading, so that
# we turn away from the threat not across it
if ut.is_angle_ccw(threat.heading, entity_bearing):
new_heading = threat_bearing + self.TURN_ANGLE
else:
new_heading = threat_bearing - self.TURN_ANGLE
new_heading = ut.constrain_360(new_heading)
# Issue the change heading command
if not ut.is_close(
new_heading, entity.desired_heading, abs_tol=1.0):
# self.commands.append(SetHeadingCmd(new_heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(
SetHeadingGLoadCmd(psi_c=new_heading, gload_c=5))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
# Check if the threat heading is exactly reciprocal
if ut.is_reciprocal(entity.heading, threat.heading):
# Issue command to turn toward the threat aircraft
threat_bearing = ut.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
if not ut.is_close(entity.desired_heading, threat_bearing,
abs_tol=1.0):
# self.commands.append(SetHeadingCmd(threat_bearing))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing, gload_c=5))
elif not ut.is_close(entity.desired_heading, threat.heading):
# Issue command to turn to match the threat aircraft heading
# self.commands.append(SetHeadingCmd(threat.heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat.heading, gload_c=5))
# Adjust the entity speed to avoid overshooting
if (entity.desired_v > threat.v and not
ut.is_close(entity.desired_v, threat.v)):
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
if ut.metres_to_nautical_miles(distance) <= \
self.NO_CLOSER_RANGE:
# Issue command to match threat speed
self.commands.append(SetSpeedCmd(threat.v))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
if self.beliefs.threat_state:
# Determine the bearing to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = utils.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
# Issue the change heading command
if not ut.is_close(threat_bearing, entity.desired_heading):
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing,
gload_c=5))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
# Determine the bearing to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = ut.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
# Issue command to turn toward threat
if not ut.is_close(threat_bearing, entity.desired_heading):
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing,
gload_c=10))
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