LIB: Added bitmapped bytes and enumeration values ISO new architecture

Incorporated for backwards compatibility and to ensure that the current
GCS applications will work with the new architecture

ap_lib/src/ap_lib/ap_enumerations.py

@@ -112,6 +112,7 @@ PATROL_BOX_SHOOTER = 11    # Randomly patrol a rectangular box & engage approach
 WAVE_ATTACK = 12           # Formation flyin and sequential drop
 DELAYED_ATTACK = 13        # Time delay between individual attacks one one location
 OVERWATCH_ATTACK = 14      # Formation flyin and sequential drop with highboy overwatch
+DEFEND_AND_ATTACK = 15     # Half swarm area defense and the other half wave attack
 SWARM_SEQUENCE_LAND = 99   # Land in order (low-to-high UAV)
 
 # Obsolete behaviors that are still included for backwards compatibility
@@ -163,6 +164,7 @@ SWARM_BHVRS = {  SWARM_STANDBY:          'Standby', \
                  WAVE_ATTACK:            'Wave Grnd Attack', \
                  DELAYED_ATTACK:         'Delayed Grnd Attack', \
                  OVERWATCH_ATTACK:       'Overwatch Grnd Attack', \
+                 DEFEND_AND_ATTACK:      'Defend and Grnd Attack', \
                  FIXED_TURN:             'Fixed Turn' }
 
 SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
@@ -189,6 +191,7 @@ SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
                       'Wave Grnd Attack':      WAVE_ATTACK, \
                       'Delayed Grnd Attack':   DELAYED_ATTACK, \
                       'Overwatch Grnd Attack': OVERWATCH_ATTACK, \
+                      'Defend and Grnd Attack':DEFEND_AND_ATTACK, \
                       'Fixed Turn':            FIXED_TURN }
 
 # Enumeration for swarming states

ap_lib/src/ap_lib/bitmapped_bytes.py

@@ -28,32 +28,35 @@ INT_LIST = 12       # Data field contains a series of ints
 UINT_LIST = 13      # Data field contains a series of unsigned ints
 FLOAT_LIST = 14     # Data field contains a series of floats
 
-BEHAVIOR_STATE = 15    # Data field represents an updated behavior state (int)
-LAT_LON = 16           # Data field contains a latitude/longitude
-SEARCH_WP = 17         # Data field represents a series of waypoints
-FIRING_REPORT = 18     # Data field represents an air-to-air firing report
-ATTACK_REPORT = 19     # Data field represents an air-to-ground firing report
-HIT_REPORT = 20        # Data field represents an air-to-air hit report
-ID_VALUE_PAIRS = 21    # Data field represents a series of ID-value pairs
-ID_FLOAT_PAIRS = 22    # Data field represents a series of ID-float (32-bit) pairs
-CONSENSUS_SUMMARY = 23 # Data field represents a consensus algorithm summary
-GEO_BOX = 24           # Data field represents a box (lat, lon, len, width, orient)
-
-PURSUIT_MESSAGE = 25        # Data field represents a pursuit message
-PURSUIT_UPDATE_REQUEST = 26 # List of Enemies being pursued
-PURSUIT_LIST = 26           # Used to give new swarm member the pursuit list
-
-RANGE_FOV = 27            # Data field represents a Constrained Shooter parameter message
-WINGMAN_PARAMETERS = 28   # Data field represents a Wingman Parameter message
-BOMB_MESSAGE = 29         # Data field represents a Bomb Parameter message
-
-AUCTION_STATUS = 30       # Data field represents an AuctionSearch searcher update message
-AUCTION_NEW    = 31       # Data field represents an AuctionSearch new auction message
-AUCTION_CELLS  = 32       # Data field represents an AuctionSearch cells status message
-AUCTION_BID    = 33       # Data field represents an AuctionSearch bid message
-AUCTION_CELLS_REQUEST = 34       # Data field represents an AuctionSearch cells status request message
-AUCTION_BIDS_REQUEST  = 35       # Data field represents an AuctionSearch cells status request message
-AUCTION_COMPLETE = 36
+BEHAVIOR_STATE = 15         # Data field represents an updated behavior state (int)
+LAT_LON = 16                # Data field contains a latitude/longitude
+SEARCH_WP = 17              # Data field represents a series of waypoints
+FIRING_REPORT = 18          # Data field represents an air-to-air firing report
+ATTACK_REPORT = 19          # Data field represents an air-to-ground firing report
+HIT_REPORT = 20             # Data field represents an air-to-air hit report
+ID_VALUE_PAIRS = 21         # Data field represents a series of ID-value pairs
+ID_FLOAT_PAIRS = 22         # Data field represents a series of ID-float (32-bit) pairs
+CONSENSUS_SUMMARY = 23      # Data field represents a consensus algorithm summary
+GEO_BOX = 24                # Data field represents a box (lat, lon, len, width, orient)
+GRND_ATTACK = 25            # Data field represents a ground attack order
+DELAYED_GRND_ATTACK = 26    # Data field represents a delayed ground attack order
+PATROL_AND_GRND_ATTACK = 27 # Data field represents a combined patrol & ground attack order
+
+PURSUIT_MESSAGE = 28        # Data field represents a pursuit message
+PURSUIT_UPDATE_REQUEST = 29 # List of Enemies being pursued
+PURSUIT_LIST = 30           # Used to give new swarm member the pursuit list
+
+RANGE_FOV = 31            # Data field represents a Constrained Shooter parameter message
+WINGMAN_PARAMETERS = 32   # Data field represents a Wingman Parameter message
+BOMB_MESSAGE = 33         # Data field represents a Bomb Parameter message
+
+AUCTION_STATUS = 34       # Data field represents an AuctionSearch searcher update message
+AUCTION_NEW    = 35       # Data field represents an AuctionSearch new auction message
+AUCTION_CELLS  = 36       # Data field represents an AuctionSearch cells status message
+AUCTION_BID    = 37       # Data field represents an AuctionSearch bid message
+AUCTION_CELLS_REQUEST = 38       # Data field represents an AuctionSearch cells status request message
+AUCTION_BIDS_REQUEST  = 39       # Data field represents an AuctionSearch cells status request message
+AUCTION_COMPLETE = 40
 
 class BitmappedBytes(object):
     ''' Abstract class template for customized parsing of byte arrays
@@ -678,6 +681,60 @@ class DelayedGroundAttackOrderParser(BitmappedBytes):
         self.delay = fields[4]
 
 
+class AreaPatrolAndGroundAttackOrderParser(BitmappedBytes):
+    ''' Parser for combined area patrol and ground attack orders
+    '''
+    fmt = ">llHHfllll"
+
+    def __init__(self):
+        ''' Initializes parameters with default values
+        '''
+        self.box_sw_latitude = 0.0   # 7-decimal precision degrees
+        self.box_sw_longitude = 0.0  # 7-decimal precision degrees
+        self.box_length = 0
+        self.box_width = 0
+        self.box_orientation = 0.0
+        self.tgt_latitude = 0.0      # 7-decimal precision degrees
+        self.tgt_longitude = 0.0     # 7-decimal precision degrees
+        self.release_altitude = 0.0  # 2-decimal precision meters MSL
+        self.runin_direction = 0.0   # 3-decimal precision degrees
+
+
+    def pack(self):
+        ''' Serializes parameter values into a bitmapped byte array
+        @return bitmapped bytes as a string
+        '''
+        tupl = (int(self.box_sw_latitude * 1e07), \
+                int(self.box_sw_longitude * 1e07), \
+                int(self.box_length), \
+                int(self.box_width), \
+                self.box_orientation, \
+                int(self.tgt_latitude * 1e07), \
+                int(self.tgt_longitude * 1e07), \
+                int(self.release_altitude * 1e02), \
+                int(self.runin_direction * 1e03))
+
+        return struct.pack(type(self).fmt, *tupl)
+
+
+    def unpack(self, bytes):
+        ''' Sets parameter values from a bitmapped byte array
+        @param bytes: bitmapped byte array
+        '''
+        fields = struct.unpack_from(type(self).fmt, bytes, 0)
+
+        # Place unpacked but unconverted fields into message elements
+        self.box_sw_latitude = fields[0] / 1e07
+        self.box_sw_longitude = fields[1] / 1e07
+        self.box_length = fields[2]
+        self.box_width = fields[3]
+        self.box_orientation = fields[4]
+        self.tgt_latitude = fields[5] / 1e07
+        self.tgt_longitude = fields[6] / 1e07
+        self.release_altitude = fields[7] / 1e02
+        self.runin_direction = fields[8] / 1e03
+
+
 class FiringReportParser(BitmappedBytes):
     ''' Parser for firing report messages orders
     '''