| | | 1 | | using System.Collections; |
| | | 2 | | using System.Collections.Generic; |
| | | 3 | | using System.Linq; |
| | | 4 | | using UnityEngine; |
| | | 5 | | |
| | | 6 | | // The Integrated Air Defense System (IADS) manages the air defense strategy. |
| | | 7 | | // It implements the singleton pattern to ensure that only one instance exists. |
| | | 8 | | public class IADS : MonoBehaviour, ICommsEndpoint { |
| | | 9 | | // Hierarchy parameters. |
| | | 10 | | private const float _hierarchyUpdatePeriod = 5f; |
| | | 11 | | private const float _coverageFactor = 1f; |
| | | 12 | | |
| | | 13 | | // List of assets. |
| | 0 | 14 | | private List<IHierarchical> _assets = new List<IHierarchical>(); |
| | | 15 | | |
| | | 16 | | // The IADS only manages the launchers at the top level of the interceptor hierarchy. |
| | 0 | 17 | | private List<IHierarchical> _launchers = new List<IHierarchical>(); |
| | | 18 | | |
| | | 19 | | // Coroutine to perform the maintain the agent hierarchy. |
| | | 20 | | private Coroutine _hierarchyCoroutine; |
| | | 21 | | |
| | | 22 | | // List of threats waiting to be incorporated into the hierarchy. |
| | 0 | 23 | | private List<IHierarchical> _newThreats = new List<IHierarchical>(); |
| | | 24 | | |
| | 0 | 25 | | public static IADS Instance { get; private set; } |
| | | 26 | | |
| | 0 | 27 | | public IReadOnlyList<IHierarchical> Assets => _assets.AsReadOnly(); |
| | | 28 | | |
| | 0 | 29 | | public IReadOnlyList<IHierarchical> Launchers => _launchers.AsReadOnly(); |
| | | 30 | | |
| | 0 | 31 | | public CommsNode CommsNode { get; private set; } |
| | | 32 | | |
| | 0 | 33 | | private void Awake() { |
| | 0 | 34 | | if (Instance != null && Instance != this) { |
| | 0 | 35 | | Destroy(gameObject); |
| | 0 | 36 | | return; |
| | | 37 | | } |
| | 0 | 38 | | Instance = this; |
| | 0 | 39 | | } |
| | | 40 | | |
| | 0 | 41 | | private void Start() { |
| | 0 | 42 | | SimManager.Instance.OnSimulationStarted += RegisterSimulationStarted; |
| | 0 | 43 | | SimManager.Instance.OnSimulationEnded += RegisterSimulationEnded; |
| | 0 | 44 | | SimManager.Instance.OnNewAsset += RegisterNewAsset; |
| | 0 | 45 | | SimManager.Instance.OnNewLauncher += RegisterNewLauncher; |
| | 0 | 46 | | SimManager.Instance.OnNewThreat += RegisterNewThreat; |
| | | 47 | | |
| | | 48 | | // Create a communication node for the IADS. |
| | 0 | 49 | | CommsNode = new CommsNode(Configs.AgentType.Iads); |
| | 0 | 50 | | CommsNode.OnReceived += RegisterMessageReceived; |
| | 0 | 51 | | CommsManager.Instance.AddNode(CommsNode); |
| | 0 | 52 | | } |
| | | 53 | | |
| | 0 | 54 | | private void OnDestroy() { |
| | 0 | 55 | | if (_hierarchyCoroutine != null) { |
| | 0 | 56 | | StopCoroutine(_hierarchyCoroutine); |
| | 0 | 57 | | _hierarchyCoroutine = null; |
| | 0 | 58 | | } |
| | 0 | 59 | | } |
| | | 60 | | |
| | 0 | 61 | | private void RegisterSimulationStarted() { |
| | 0 | 62 | | _hierarchyCoroutine = StartCoroutine(HierarchyManager(_hierarchyUpdatePeriod)); |
| | 0 | 63 | | } |
| | | 64 | | |
| | 0 | 65 | | private void RegisterSimulationEnded() { |
| | 0 | 66 | | if (_hierarchyCoroutine != null) { |
| | 0 | 67 | | StopCoroutine(_hierarchyCoroutine); |
| | 0 | 68 | | _hierarchyCoroutine = null; |
| | 0 | 69 | | } |
| | 0 | 70 | | _assets.Clear(); |
| | 0 | 71 | | _launchers.Clear(); |
| | 0 | 72 | | _newThreats.Clear(); |
| | 0 | 73 | | } |
| | | 74 | | |
| | 0 | 75 | | private void RegisterNewAsset(IInterceptor asset) { |
| | 0 | 76 | | if (asset.HierarchicalAgent != null) { |
| | 0 | 77 | | _assets.Add(asset.HierarchicalAgent); |
| | 0 | 78 | | } |
| | 0 | 79 | | } |
| | | 80 | | |
| | 0 | 81 | | private void RegisterNewLauncher(IInterceptor launcher) { |
| | 0 | 82 | | if (launcher.HierarchicalAgent != null) { |
| | 0 | 83 | | launcher.ParentCommsNode = CommsNode; |
| | 0 | 84 | | _launchers.Add(launcher.HierarchicalAgent); |
| | 0 | 85 | | } |
| | 0 | 86 | | } |
| | | 87 | | |
| | 0 | 88 | | private void RegisterNewThreat(IThreat threat) { |
| | 0 | 89 | | if (threat.HierarchicalAgent != null) { |
| | 0 | 90 | | _newThreats.Add(threat.HierarchicalAgent); |
| | 0 | 91 | | } |
| | 0 | 92 | | } |
| | | 93 | | |
| | 0 | 94 | | private void RegisterMessageReceived(Message message) { |
| | 0 | 95 | | switch (message) { |
| | | 96 | | case AssignTargetRequestMessage request: |
| | 0 | 97 | | AssignSubInterceptor(request.PayloadData.SubInterceptor); |
| | 0 | 98 | | break; |
| | | 99 | | case ReassignTargetRequestMessage request: |
| | 0 | 100 | | ReassignTarget(request.PayloadData.Target); |
| | 0 | 101 | | break; |
| | | 102 | | default: |
| | 0 | 103 | | break; |
| | | 104 | | } |
| | 0 | 105 | | } |
| | | 106 | | |
| | 0 | 107 | | private IEnumerator HierarchyManager(float period) { |
| | 0 | 108 | | while (true) { |
| | 0 | 109 | | if (_newThreats.Count != 0) { |
| | 0 | 110 | | BuildHierarchy(); |
| | 0 | 111 | | } |
| | 0 | 112 | | yield return new WaitForSeconds(period); |
| | 0 | 113 | | } |
| | | 114 | | } |
| | | 115 | | |
| | 0 | 116 | | private void BuildHierarchy() { |
| | 0 | 117 | | if (_newThreats.Count == 0 || _launchers.Count == 0) { |
| | 0 | 118 | | return; |
| | | 119 | | } |
| | | 120 | | |
| | | 121 | | // TODO(titan): The clustering algorithm should be aware of the capacity of the launcher. |
| | 0 | 122 | | var swarmClusterer = new KMeansClusterer(Mathf.RoundToInt(_launchers.Count / _coverageFactor)); |
| | 0 | 123 | | List<Cluster> swarms = swarmClusterer.Cluster(_newThreats); |
| | 0 | 124 | | _newThreats.Clear(); |
| | | 125 | | |
| | | 126 | | // Assign one swarm to each launcher. |
| | 0 | 127 | | var swarmToLauncherAssignment = |
| | | 128 | | new MinDistanceAssignment(Assignment.Assignment_EvenAssignment_Assign); |
| | 0 | 129 | | List<AssignmentItem> swarmToLauncherAssignments = |
| | | 130 | | swarmToLauncherAssignment.Assign(_launchers, swarms); |
| | 0 | 131 | | void AssignTarget(IHierarchical hierarchical, IHierarchical target) { |
| | 0 | 132 | | hierarchical.Target = target; |
| | 0 | 133 | | foreach (var subHierarchical in hierarchical.ActiveSubHierarchicals) { |
| | 0 | 134 | | AssignTarget(subHierarchical, target); |
| | 0 | 135 | | } |
| | 0 | 136 | | } |
| | 0 | 137 | | foreach (var assignment in swarmToLauncherAssignments) { |
| | | 138 | | // Assign the swarm as the target to the launcher. |
| | 0 | 139 | | assignment.First.Target = assignment.Second; |
| | | 140 | | |
| | | 141 | | // Find the asset closest to each swarm and assign it as the target to all threats within the |
| | | 142 | | // swarm. If there are no assets, the threats will target the launcher. |
| | | 143 | | // TODO(titan): Move threat coordination into a separate module as the IADS should only manage |
| | | 144 | | // the defense strategy. |
| | 0 | 145 | | var closestAsset = |
| | 0 | 146 | | _assets.OrderBy(asset => Vector3.Distance(assignment.Second.Position, asset.Position)) |
| | | 147 | | .FirstOrDefault(); |
| | 0 | 148 | | AssignTarget(assignment.Second, closestAsset ?? assignment.First); |
| | 0 | 149 | | } |
| | 0 | 150 | | } |
| | | 151 | | |
| | 0 | 152 | | private void AssignSubInterceptor(IInterceptor subInterceptor) { |
| | 0 | 153 | | if (subInterceptor == null || subInterceptor.IsTerminated || |
| | 0 | 154 | | subInterceptor.CapacityRemaining <= 0) { |
| | 0 | 155 | | return; |
| | | 156 | | } |
| | | 157 | | |
| | | 158 | | // Pass the sub-interceptor through all the launchers in order of increasing distance between |
| | | 159 | | // the sub-interceptor and the launcher's target. |
| | 0 | 160 | | var sortedLaunchers = |
| | 0 | 161 | | Launchers.Where(launcher => launcher.Target != null && !launcher.Target.IsTerminated) |
| | | 162 | | .OrderBy(launcher => |
| | 0 | 163 | | Vector3.Distance(subInterceptor.Position, launcher.Target.Position)); |
| | 0 | 164 | | foreach (var launcher in sortedLaunchers) { |
| | 0 | 165 | | IHierarchical target = launcher.FindNewTarget(subInterceptor.HierarchicalAgent, |
| | | 166 | | subInterceptor.CapacityRemaining); |
| | 0 | 167 | | if (target != null && !target.IsTerminated) { |
| | 0 | 168 | | CommsManager.Instance.SendMessage( |
| | | 169 | | new AssignTargetResponseMessage(CommsNode, subInterceptor.CommsNode, target)); |
| | 0 | 170 | | break; |
| | | 171 | | } |
| | 0 | 172 | | } |
| | 0 | 173 | | } |
| | | 174 | | |
| | 0 | 175 | | private void ReassignTarget(IHierarchical target) { |
| | | 176 | | // Assign the closest launcher with non-zero remaining capacity to pursue the target. |
| | 0 | 177 | | var closestLauncher = |
| | | 178 | | Launchers |
| | 0 | 179 | | .Select(launcher => new { |
| | | 180 | | Hierarchical = launcher, |
| | | 181 | | Interceptor = (launcher as HierarchicalAgent)?.Agent as IInterceptor, |
| | | 182 | | }) |
| | 0 | 183 | | .Where(launcher => launcher.Interceptor?.CapacityPlannedRemaining > 0) |
| | 0 | 184 | | .OrderBy(launcher => Vector3.Distance(target.Position, launcher.Hierarchical.Position)) |
| | | 185 | | .FirstOrDefault(); |
| | 0 | 186 | | if (closestLauncher == null) { |
| | 0 | 187 | | return; |
| | | 188 | | } |
| | 0 | 189 | | CommsManager.Instance.SendMessage( |
| | | 190 | | new ReassignTargetRequestMessage(CommsNode, closestLauncher.Interceptor.CommsNode, target)); |
| | 0 | 191 | | } |
| | | 192 | | } |