DtConvoyTaskController Class Reference

behavior for a ground vehicle aggregate entity to drive and follow each other on and off roads and routes More...

Inheritance diagram for DtConvoyTaskController:

List of all members.

Public Member Functions
	DtConvoyTaskController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtConvoyTaskController ()
	Default destructor.
virtual bool	init ()
	Initializes the controller. Mostly sets up the ConvoyPSR.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	clearTask ()
	Clears the task to start it anew again.
virtual void	registerTaskMsgCallbacks ()
	Registers task and set data request callbacks for the convoy tasks.
virtual void	tick ()
	This gives the thread of control to the component.
virtual bool	createPSR ()
Static Public Member Functions
static void	convoyTaskCallback (DtSimMessage *msg, void *usr)
	Callback function for handling incoming turn to heading task message.
static void	taskCompleteReportCallback (const DtVrfObjectMessage *msg, void *usr)
	Calls onTaskComplete() to process the message.
static void	destinationChangedCallback (DtVrfObject *obj, void *usr)
	Calls onModifyVrfObject() to process the change.
static void	objectAboutToBeRemovedCallback (DtVrfObject *obj, void *usr)
	Calls onObjectAboutToBeRemoved() to process the change.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
Protected Member Functions
void	onObjectAboutToBeRemoved (DtVrfObject *obj)
	Handles the removal of the destination control object.
virtual void	onModifyVrfObject (DtVrfObject *obj)
	Handles the change of vertices of the destinatino control object.
virtual void	onConvoyTask (DtSimMessage *msg)
	Issues DtMoveIntoFormationTask to ourself, at current location, heading given in incoming DtTurnToHeadingTask, keeping existing formation, and not applying formation to subordinates.
virtual void	onTaskComplete (const DtVrfObjectMessage *msg)
	Handles all task complete messages for this controller.
virtual void	sendTaskToSubordinate (const DtSimTask &task, const DtString &subordinateObjectName)
	Used to send tasks to a particular subordinate.
virtual void	sendSetToSubordinate (DtSetDataRequest &request, const DtString &subordinateObjectName)
	Used to send set messages to a particular subordinate.
virtual bool	setupTask (const DtVrfObject *aggregate, const DtVrfObject *destination, bool pathPlan, const Coordinate_System *coordSys)
	Sets up a convoy task based on the parameters.
virtual DtVector	findAssemblyPoint (const DtVrfObject *aggregate, const DtVector &destination, bool haveRails, const Coordinate_System *coordSys)
	Finds the point in which the subordinates will assemble and drive to before driving on roads/rails/along routes.
virtual DtRwRailSegment *	createEntrySegment (const DtVrfObject *entity, const DtVector &assemblyPoint, const Coordinate_System *coordSys) const
	Creates the entry segment for an entity (individual, non-aggregate) so as to enter into a road relatively smoothly.
virtual bool	setupSubordinates (const DtVrfObject *aggregate, bool clearSubs, bool leaderSet=false)
	Sets up the subordinates for this controller to worry about in the aggregate.
virtual void	setupLeadOnDistance (int numberOfEntities, float distanceBetween)
	Sets up the lead on distance the leader will have on the road/rail ahead of everyone else before he stops to wait for the others to get on the rail.
virtual bool	createRailPath (const DtVrfObject *leadEntity, const DtVrfObject *destination, bool pathPlan, const Coordinate_System *coordSys)
	Creates the rail path for which the convoy will drive on.
virtual bool	areSeparationDistancesWithinRange (const DtConvoyPSR::DtRwSubordinateList &subordinates, const float distance, const float tolerance, const Coordinate_System *coordSys)
	Checks to ensure the separation distances in the convoy are still within acceptable boundries.
virtual void	setLeaderSpeed (const float speed)
	Sets the speed of the convoy leader.
virtual void	resettingPhaseTick (bool retask=true)
	This function is called in tick() when the convoy phase is set to resetting.
virtual void	startingPhaseTick ()
	This function is called in tick() when the convoy phase is set to starting.
virtual void	assemblingPhaseTick ()
	This function is called in tick() when the convoy phase is set to assembling.
virtual void	convoyingPhaseTick ()
	This function is called in tick() when the convoy phase is set to convoying.
virtual void	finishingPhaseTick ()
	This function is called in tick() when the convoy phase is set to finishing.
virtual DtVector	findIntersectionOfLineAndCircle (const DtVector &centerPoint, const DtVector &endPoint, double radius, const Coordinate_System *coordSys) const
	Finds the intersection point of a circle and a radius line drawn in that circle.
virtual bool	getEntityToPathEntry (const DtVrfObject *entity, const DtVector &assemblyPoint, const Coordinate_System *coordSys)
	Gets the specified single entity (non-aggregate) to the assembly point, which is presumably the start of the road.
virtual DtRailSegment *	findClosestEntryRail (const DtVrfObject *aggregate, const double &radius, DtRailSegmentList *rails, int &railNumber, const Coordinate_System *coordSys) const
	This function finds the closest rail to enter a path.
virtual bool	isPointWithinRadius (const DtVector &center, double radius, const DtVector &point, const Coordinate_System *coordSys) const
	Finds whether a given point is within the given radius.
virtual bool	findPointOnRailOutsideSphere (const DtVector &center, const double &radius, const DtRailSegment *segment, DtVector &resultPoint, const Coordinate_System *coordSys) const
	Finds a point outside of the sphere on a rail, given a particular rail segment.
virtual void	registerDestinationChangedCallback ()
	Registers the necessary callbacks for any changes in control objects.
virtual void	unregisterDestinationChangedCallback ()
	Unregisters the necessary callbacks for any changes in control objects.
virtual bool	updateConvoySubordinates (DtVrfObject *aggregate, std::vector< DtString > &tempList, bool recursive=false)
	This function is recursive.
virtual bool	isEntityPartOfConvoy (const DtString &name) const
virtual bool	isEntityIndependentlyTasked (const DtVrfObject *entity) const
virtual void	setConvoyFollowing ()
virtual void	destroyedPhaseTick ()
Private Member Functions
	DtConvoyTaskController (const DtConvoyTaskController &orig)
	not implemented
DtConvoyTaskController &	operator= (const DtConvoyTaskController &orig)
	not implemented
Private Attributes
const DtConvoyDescriptor *	myDescriptor
DtConvoyPSR *	myProcessState
bool	myDestinationChangedCallbackRegistered

---

Detailed Description

behavior for a ground vehicle aggregate entity to drive and follow each other on and off roads and routes

End User Description: The DtConvoyTaskController responds to convoy-related tasks. It executes convoy behavior for the aggregate as a whole by issuing radio messages to aggregate members to carry out the convoy-related task.

This controller may only be configured as a part of an entity that has a convoy-task-controller.

Developer Description: The DtConvoyTaskController class sends several messages as appropriate to its subordinates. The aggregate considers itself complete once it has received task complete reports from all of the subordinates participating in the task at the end of the road or route or path. Uses Descriptor Type: DtConvoyDescriptor

---

Constructor & Destructor Documentation

DtConvoyTaskController::DtConvoyTaskController	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtConvoyTaskController::~DtConvoyTaskController

(

)

[virtual]

Default destructor.

DtConvoyTaskController::DtConvoyTaskController

(

const DtConvoyTaskController &

orig

)

[private]

not implemented

---

Member Function Documentation

virtual bool DtConvoyTaskController::init

(

)

[virtual]

Initializes the controller. Mostly sets up the ConvoyPSR.

Reimplemented from DtControllerComponent.

virtual DtString DtConvoyTaskController::type

(

)

const [virtual]

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns:

DtConvoyTaskControllerType

Implements DtTaskControllerComponent.

virtual void DtConvoyTaskController::clearTask

(

)

[virtual]

Clears the task to start it anew again.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtConvoyTaskController::registerTaskMsgCallbacks

(

)

[virtual]

Registers task and set data request callbacks for the convoy tasks.

Reimplemented from DtTaskControllerComponent.

static void DtConvoyTaskController::convoyTaskCallback	(	DtSimMessage *	msg,
		void *	usr
	)		[static]

Callback function for handling incoming turn to heading task message.

Calls processTurnToHeadingTask to actually handle the message.

Parameters:

msg	Message containing a DtTurnToHeadingTask.
usr	Pointer to instance of this class.

static void DtConvoyTaskController::taskCompleteReportCallback	(	const DtVrfObjectMessage *	msg,
		void *	usr
	)		[static]

Calls onTaskComplete() to process the message.

Parameters:

msg	Message containing a DtTaskCompleteReport.
usr	Pointer to an instance of this class.

static void DtConvoyTaskController::destinationChangedCallback	(	DtVrfObject *	obj,
		void *	usr
	)		[static]

Calls onModifyVrfObject() to process the change.

static void DtConvoyTaskController::objectAboutToBeRemovedCallback	(	DtVrfObject *	obj,
		void *	usr
	)		[static]

Calls onObjectAboutToBeRemoved() to process the change.

static DtSimComponent* DtConvoyTaskController::creator	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0
	)		[static]

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns:

New instance of this class.

virtual void DtConvoyTaskController::tick

(

)

[virtual]

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

virtual bool DtConvoyTaskController::createPSR

(

)

[virtual]

void DtConvoyTaskController::onObjectAboutToBeRemoved

(

DtVrfObject *

obj

)

[protected]

Handles the removal of the destination control object.

This will result in the task being skipped.

Parameters:

obj	the control object that is going to be removed

virtual void DtConvoyTaskController::onModifyVrfObject

(

DtVrfObject *

obj

)

[protected, virtual]

Handles the change of vertices of the destinatino control object.

This will result in the task restarting from their current location.

Parameters:

obj	the control object that was modified

virtual void DtConvoyTaskController::onConvoyTask

(

DtSimMessage *

msg

)

[protected, virtual]

Issues DtMoveIntoFormationTask to ourself, at current location, heading given in incoming DtTurnToHeadingTask, keeping existing formation, and not applying formation to subordinates.

Parameters:

msg	Message containing a DtTurnToHeadingTask.

virtual void DtConvoyTaskController::onTaskComplete

(

const DtVrfObjectMessage *

msg

)

[protected, virtual]

Handles all task complete messages for this controller.

Parameters:

msg	Message containing a DtTaskCompleteReport.

virtual void DtConvoyTaskController::sendTaskToSubordinate	(	const DtSimTask &	task,
		const DtString &	subordinateObjectName
	)		[protected, virtual]

Used to send tasks to a particular subordinate.

Does not check if entity is still a subordinate or independently tasked or immoblized for any reason.

Parameters:

task	The task you wish you give
subordinateObjectName	the name of the entity you wish to send this task to. Must be a subordinate.

virtual void DtConvoyTaskController::sendSetToSubordinate	(	DtSetDataRequest &	request,
		const DtString &	subordinateObjectName
	)		[protected, virtual]

Used to send set messages to a particular subordinate.

Does not check if entity is still a subordinate or alive.

Parameters:

request	The set request
subordinateObjectName	name of the entity you wish to send this request to. Must be a subordinate.

virtual bool DtConvoyTaskController::setupTask	(	const DtVrfObject *	aggregate,
		const DtVrfObject *	destination,
		bool	pathPlan,
		const Coordinate_System *	coordSys
	)		[protected, virtual]

Sets up a convoy task based on the parameters.

Calls several functions to setup the task.

Parameters:

aggregate	the entity using this controller
destination	the destination object. Waypoint or route
pathPlan	whether or not to plan a path. If destination is route, this should be false
coordSys	the pointer to the coordinate system

Returns:

True if the task setup was successful. False if it was not.

virtual DtVector DtConvoyTaskController::findAssemblyPoint	(	const DtVrfObject *	aggregate,
		const DtVector &	destination,
		bool	haveRails,
		const Coordinate_System *	coordSys
	)		[protected, virtual]

Finds the point in which the subordinates will assemble and drive to before driving on roads/rails/along routes.

Generally gives back the start of a rail

Parameters:

aggregate	the aggregate using this controller
destination	this point is only used if haveRails param is false
haveRails	were rails created successfully? This will read the rails directly from the PSR
coordSys	the coordinate system pointer

Returns:

The location (in 3D) in which the start of the rail path is (generated or otherwise)

virtual DtRwRailSegment* DtConvoyTaskController::createEntrySegment	(	const DtVrfObject *	entity,
		const DtVector &	assemblyPoint,
		const Coordinate_System *	coordSys
	)		const [protected, virtual]

Creates the entry segment for an entity (individual, non-aggregate) so as to enter into a road relatively smoothly.

Sets the ConvoyPSR::lastGeneratedRailSegment() in the convoy PSR

Parameters:

entity	the entity that the entry segment is being created for
assemblyPoint	the start of the rail path
coordSys	the pointer to the coordinate system

Returns:

pointer to a rails segment it creates

virtual bool DtConvoyTaskController::setupSubordinates	(	const DtVrfObject *	aggregate,
		bool	clearSubs,
		bool	leaderSet = false
	)		[protected, virtual]

Sets up the subordinates for this controller to worry about in the aggregate.

This must be called as one of the first functions called. Is called by setupTask(). This function is also recursive for aggregates within aggregates. This function sets the subordinates in the PSR

Parameters:

aggregate	The top level aggregate
leaderSet	Either ignore this parameter or pass in false

Returns:

True if this happened successsfully, false if this failed

virtual void DtConvoyTaskController::setupLeadOnDistance	(	int	numberOfEntities,
		float	distanceBetween
	)		[protected, virtual]

Sets up the lead on distance the leader will have on the road/rail ahead of everyone else before he stops to wait for the others to get on the rail.

The value is set in the PSR

Parameters:

numberOfEntites	the number of entites in the convoy
distanceBetween	the distance that should be kept between the entities

virtual bool DtConvoyTaskController::createRailPath	(	const DtVrfObject *	leadEntity,
		const DtVrfObject *	destination,
		bool	pathPlan,
		const Coordinate_System *	coordSys
	)		[protected, virtual]

Creates the rail path for which the convoy will drive on.

Uses either the path planner, a route, or will return false if neither occurred.

Parameters:

leadEntity	The convoy leader
destination	The point or path of interest (waypoint or route)
pathPlan	whether or not to use the path planner. If destination is route, this should be false
coordSys	the pointer to the coordinate system

Returns:

True if a rail was created and set to the PSR, false if no rail was created

virtual bool DtConvoyTaskController::areSeparationDistancesWithinRange	(	const DtConvoyPSR::DtRwSubordinateList &	subordinates,
		const float	distance,
		const float	tolerance,
		const Coordinate_System *	coordSys
	)		[protected, virtual]

Checks to ensure the separation distances in the convoy are still within acceptable boundries.

Only updates the leader's speed as everyone else is dictated by their own follow sets.

Parameters:

subordinates	A reference to the list of subordinates
distance	the distance of separation the subordinates should be from each other
tolerance	the tolerance for which the subordinates will be forgiven for in lagging behind (a percentage)
coordSys	a pointer to the coordinate system

Returns:

True if the subordinates are within the specified ranges. False if they are not.

virtual void DtConvoyTaskController::setLeaderSpeed

(

const float

speed

)

[protected, virtual]

Sets the speed of the convoy leader.

This also sets a flag that remembers the leaders last ordered speed.

Parameters:

speed

The speed at which the leader will go

virtual void DtConvoyTaskController::resettingPhaseTick

(

bool

retask = true

)

[protected, virtual]

This function is called in tick() when the convoy phase is set to resetting.

It will reset the entire task based on the most recent convoy task it was given from its current location. Upon resetting, do we want to resetup the entities for the task?

virtual void DtConvoyTaskController::startingPhaseTick

(

)

[protected, virtual]

This function is called in tick() when the convoy phase is set to starting.

This function doesn't do anything for our own purposes.

virtual void DtConvoyTaskController::assemblingPhaseTick

(

)

[protected, virtual]

This function is called in tick() when the convoy phase is set to assembling.

This function checks to see where the leader is on the road/rail path before telling him to stop. Calls setLeaderSpeed() to alter the leader's speed accordingly.

virtual void DtConvoyTaskController::convoyingPhaseTick

(

)

[protected, virtual]

This function is called in tick() when the convoy phase is set to convoying.

This function checks the distances between each entity to ensure that they are within the specified distances

virtual void DtConvoyTaskController::finishingPhaseTick

(

)

[protected, virtual]

This function is called in tick() when the convoy phase is set to finishing.

This function is used when the convoy leader has reached his destination and the subordinates are all ordered to tighten up their formation so they can complete the task.

virtual DtVector DtConvoyTaskController::findIntersectionOfLineAndCircle	(	const DtVector &	centerPoint,
		const DtVector &	endPoint,
		double	radius,
		const Coordinate_System *	coordSys
	)		const [protected, virtual]

Finds the intersection point of a circle and a radius line drawn in that circle.

Parameters:

centerPoint	the center of the circle but also connects to the endPoint (3D)
endPoint	the end point of the line that radiates from the center. Must be OUTSIDE of the circle (3D)
radius	the distance from the center point. Should be shorter than the distance of centerPoint to endPoint
coordSys	the coordinate system pointer

Returns:

A vector that contains the 3D point of intersection between the line and the circle.

virtual bool DtConvoyTaskController::getEntityToPathEntry	(	const DtVrfObject *	entity,
		const DtVector &	assemblyPoint,
		const Coordinate_System *	coordSys
	)		[protected, virtual]

Gets the specified single entity (non-aggregate) to the assembly point, which is presumably the start of the road.

This calls createEntrySegment() since each entry segment is created for each entity individually.

Parameters:

entity	The entity in this aggregate being ordered to get to the path
assemblyPoint	the first point on the path
coordSys	the coordinate system pointer

Returns:

True if this was successful, false if it failed for any reason

virtual DtRailSegment* DtConvoyTaskController::findClosestEntryRail	(	const DtVrfObject *	aggregate,
		const double &	radius,
		DtRailSegmentList *	rails,
		int &	railNumber,
		const Coordinate_System *	coordSys
	)		const [protected, virtual]

This function finds the closest rail to enter a path.

This uses isPointWithinRadius() to figure out and iterate through the list of rails in order to find a rail in which the second point of the rail itself sits outside of the bounding radius given.

Parameters:

aggregate	Expects the top level aggregate with this controller
radius	The radius of the aggregate
rails	The list of rails where we are trying to find the closest entryway
railNumber	returns the index of the rail it finds in the list
coordSys	the coordinate system pointer

Returns:

Pointer to the rail in the list that is the closest

virtual bool DtConvoyTaskController::isPointWithinRadius	(	const DtVector &	center,
		double	radius,
		const DtVector &	point,
		const Coordinate_System *	coordSys
	)		const [protected, virtual]

Finds whether a given point is within the given radius.

Used by findClosestEntryRail() to help it find out whether the segment it found is ideal.

Parameters:

center	Center of the circle (in 3D)
radius	Radius of the circle (in meters)
point	The point in question (in 3D)
coordSys	The coordinate system pointer

Returns:

True if the point is within the circle, false otherwise.

virtual bool DtConvoyTaskController::findPointOnRailOutsideSphere	(	const DtVector &	center,
		const double &	radius,
		const DtRailSegment *	segment,
		DtVector &	resultPoint,
		const Coordinate_System *	coordSys
	)		const [protected, virtual]

Finds a point outside of the sphere on a rail, given a particular rail segment.

Parameters:

center	Center of the sphere. Preferrably in 2D (topo)
radius	Radius of the sphere. In meters.
segment	Pointer to the segment in question
resultPoint	Expects an empty vector, but will store the resulting point here and return it
coordSys	Pointer to the coordinate system

Returns:

True if it found a point, false if no point was found.

virtual void DtConvoyTaskController::registerDestinationChangedCallback

(

)

[protected, virtual]

Registers the necessary callbacks for any changes in control objects.

virtual void DtConvoyTaskController::unregisterDestinationChangedCallback

(

)

[protected, virtual]

Unregisters the necessary callbacks for any changes in control objects.

virtual bool DtConvoyTaskController::updateConvoySubordinates	(	DtVrfObject *	aggregate,
		std::vector< DtString > &	tempList,
		bool	recursive = false
	)		[protected, virtual]

This function is recursive.

It calls itself if there are aggregates within aggregates. It compares the current list of subordinates with what should be and removes any subordinates that were removed. If any subordinates were added, however, this function will immediately return false.

Parameters:

aggregate	Expects a top level aggregate
currentIter	Iterator for the list of subordinates at the beginning of the list.
previousEntity	Should pass in a blank DtString() set to "". Used for recursion

Returns:

True if the update resulted in either the removal of entities or no change occurred and false if an entity was added.

virtual bool DtConvoyTaskController::isEntityPartOfConvoy

(

const DtString &

name

)

const [protected, virtual]

virtual bool DtConvoyTaskController::isEntityIndependentlyTasked

(

const DtVrfObject *

entity

)

const [protected, virtual]

virtual void DtConvoyTaskController::setConvoyFollowing

(

)

[protected, virtual]

virtual void DtConvoyTaskController::destroyedPhaseTick

(

)

[protected, virtual]

DtConvoyTaskController& DtConvoyTaskController::operator=

(

const DtConvoyTaskController &

orig

)

[private]

not implemented

---

Member Data Documentation

const DtConvoyDescriptor* DtConvoyTaskController::myDescriptor [private]

DtConvoyPSR* DtConvoyTaskController::myProcessState [private]

bool DtConvoyTaskController::myDestinationChangedCallbackRegistered [private]

---

The documentation for this class was generated from the following file:

• include/vrfmodel/convoyTaskController.h