LIB: Added enums & bitmapped message types for overwatch and delayed attack

ap_lib/src/ap_lib/ap_enumerations.py

@@ -109,7 +109,9 @@ TACTIC_INTERFACE = 15      # Use generic tactic interface
 EVADER = 16                # Move to a waypoint while avoiding enemies
 SIMPLE_GRND_ATTACK = 17    # Basic ground attack behavior (just land there)
 WAVE_ATTACK = 18           # Formation flyin and sequential drop
-FIXED_TURN = 19            # Simple test behavior for turn-rate control capability
+DELAYED_ATTACK = 19        # Time delay between individual attacks one one location
+OVERWATCH_ATTACK = 20      # Formation flyin and sequential drop with highboy overwatch
+FIXED_TURN = 97            # Simple test behavior for turn-rate control capability
 SWARM_SEQUENCE_LAND = 98   # Land in order (low-to-high UAV)
 SWARM_EGRESS = 99          # Egress the swarm for recovery
 
@@ -134,6 +136,8 @@ SWARM_BHVRS = {  SWARM_STANDBY:          'Standby', \
                  PATROL_BOX_SHOOTER:     'Patrol Box Shooter', \
                  SIMPLE_GRND_ATTACK:     'Simple Grnd Attack', \
                  WAVE_ATTACK:            'Wave Grnd Attack', \
+                 DELAYED_ATTACK:         'Delayed Grnd Attack', \
+                 OVERWATCH_ATTACK:       'Overwatch Grnd Attack', \
                  FIXED_TURN:             'Fixed Turn' }
 
 SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
@@ -156,6 +160,8 @@ SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
                       'Tactic Interface' :     TACTIC_INTERFACE, \
                       'Simple Grnd Attack':    SIMPLE_GRND_ATTACK, \
                       'Wave Grnd Attack':      WAVE_ATTACK, \
+                      'Delayed Grnd Attack':   DELAYED_ATTACK, \
+                      'Overwatch Grnd Attack': OVERWATCH_ATTACK, \
                       'Fixed Turn':            FIXED_TURN }
 
 # Enumeration for swarming states

ap_lib/src/ap_lib/bitmapped_bytes.py

@@ -629,6 +629,48 @@ class GroundAttackOrderParser(BitmappedBytes):
         self.runin_direction = fields[3] / 1e03
 
 
+class DelayedGroundAttackOrderParser(BitmappedBytes):
+    ''' Parser for ground attack orders
+    '''
+    fmt = ">llllH2x"
+
+    def __init__(self):
+        ''' Initializes parameters with default values
+        '''
+        self.latitude = 0.0            # 7-decimal precision degrees
+        self.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
+        self.delay = 0                 # Seconds between drops
+
+
+    def pack(self):
+        ''' Serializes parameter values into a bitmapped byte array
+        @return bitmapped bytes as a string
+        '''
+        tupl = (int(self.latitude * 1e07), \
+                int(self.longitude * 1e07), \
+                int(self.release_altitude * 1e02), \
+                int(self.runin_direction * 1e03), \
+                int(self.delay))
+
+        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.latitude = fields[0] / 1e07
+        self.longitude = fields[1] / 1e07
+        self.release_altitude = fields[2] / 1e02
+        self.runin_direction = fields[3] / 1e03
+        self.delay = fields[4]
+
+
 class FiringReportParser(BitmappedBytes):
     ''' Parser for firing report messages orders
     '''