Class DtAggregateMoveIntoFormationController is a task controller that models aggregate entity behavior of moving into a given formation, at a given heading and location. More...

Inheritance diagram for DtDisaggregatedMoveIntoFormationController:

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List of all members.

Public Member Functions
	DtDisaggregatedMoveIntoFormationController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtDisaggregatedMoveIntoFormationController ()
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Initializes myFormationState.
virtual void	tick ()
	Overridden to call registerOrgNodeCallbacks().
virtual void	registerTaskMsgCallbacks ()
	Registers task and set data request callbacks for following type: DtMoveIntoFormationTask Overridden from base class to register for DtTaskCompleteReports.
virtual void	clearTask ()
	Override to send clear task messages to subordinates.
Static Public Member Functions
static void	taskCompleteReportCallback (DtSimMessage msg, void usr)
	Handles task complete reports from our subordinates.
static void	formationStateChanged (const DtFormationState &formationState, void *usr)
	Called whenever formation state has changed in myFormationState.
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
static void	moveIntoFormationTaskCallback (DtSimMessage msg, void usr)
	Callback function for handling incoming turn to move to task message.
static void	subordinateRemoved (DtEntityIdentifier childEid, void *usr)
	Callback function for handling subordinate removed events.
Protected Member Functions
virtual void	moveIntoFormation (const DtVector &location, double heading, DtString formation)
	Sends DtFormationTypeRequest to ourself if formation is anything other than 'DtKeepExistingFormation'.
virtual void	onTaskComplete (DtSimMessage *msg)
	If task complete from our subordinate indicates task just completed is of type DtMoveToLocationTaskType, then send subordinate a DtTurnToHeadingType task with the new heading.
virtual void	onFormationStateChanged ()
	Clears list of currently tasked subordinate names in the process state repository (myProcessState), and calls moveIntoFormation() with our cached location, heading, formation, and apply formation to subordinates data members.
virtual void	sendRequestToSelf (const DtSetDataRequest &request) const
	Sends given data request message to ourself through myRadio.
virtual void	sendTaskToSubordinate (const DtSimTask &task, const DtString &subordinateName) const
	Sends given task message to a given subordinate through myRadio.
void	sendSetDataRequestToSubordinate (const DtSetDataRequest &request, const DtString &subordinateName) const
	Sends given set data request message to a given subordinate through myRadio.
virtual void	processMoveIntoFormationTask (DtSimMessage *msg)
	Unpacks incoming DtMoveToTask, calls startTask() and then moveIntoFormation().
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	clearDebugWaypointNames ()
virtual void	processSubordinateRemoved (DtEntityIdentifier childEid)
	Handles subordinate removed events.
virtual bool	registerOrgNodeCallbacks ()
	Registers subordinateRemoved() callback with the aggregate's organization node.
virtual void	groundClampLocation (DtVector &location)
	Utility function.
virtual bool	shouldGroundClamp () const
Protected Attributes
const DtAggregateMoveIntoFormationDescriptor *	myAggregateMoveIntoFormationDescriptor
DtFormationState *	myFormationState
DtVector	myLocation
DtString	myFormation
DtCommandChannelRadio *	myCommandRadio
	Pointer to aggregate's command radio, cached in this class for convenience.
DtSetDataManager *	mySetDataManager
	Pointer to aggregate's DtSetDataManager, cached in this class for convenience.
std::vector< DtString >	myDebugWaypointNames
	List of object names of waypoints, generated at target locations.
DtVrfAggregateStateRepository *	myAggregateStateRepository
	Pointer to aggregate's state repository, cached in this class for convenience.
DtAggregateMoveToPSR *	myProcessState
	Container for state data associated with this component.
bool	myStopMovingUponArrival
	Flag indicating whether or not subordinates should stop upon arrival at destination.
bool	myTurnToHeadingUponArrival
	Flag indicating whether or not subordinates should turn to given heading upon arrival at the destination.
bool	myRegisteredWithOrgNode
	Flag used to indicate if the subordinateRemoved() callback has been registered with the aggregate's organization node.
Private Member Functions
	DtDisaggregatedMoveIntoFormationController (const DtDisaggregatedMoveIntoFormationController &orig)
	not implemented
DtDisaggregatedMoveIntoFormationController &	operator= (const DtDisaggregatedMoveIntoFormationController &orig)
	not implemented

Detailed Description

Class DtAggregateMoveIntoFormationController is a task controller that models aggregate entity behavior of moving into a given formation, at a given heading and location.

End User Description: DtAggregateMoveIntoFormationController models movement of an aggregate into formation at a given location, formation, and heading. It responds to DtMoveIntoFormationTask commands issued to the aggregate. To implement the behavior, it computes the final position each subordinate should be in, to be in formation at the desired location and orientation. It then issues a move-to-location task to each subordinate, directing it to move into position. When it arrives, it issues a turn-to-heading task to the subordinate, to orient it at the desired heading. The task is considered complete when all subordinates have reached their target location and have finished their turn-to-heading tasks.

This controller may only be configured as a part of an entity that has a vrf-aggregate-state-repository.

Uses Descriptor Type: DtAggregateMoveIntoFormationDescriptor

Constructor & Destructor Documentation

DtDisaggregatedMoveIntoFormationController::DtDisaggregatedMoveIntoFormationController	(	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 DtDisaggregatedMoveIntoFormationController::~DtDisaggregatedMoveIntoFormationController ( ) [virtual]

DtDisaggregatedMoveIntoFormationController::DtDisaggregatedMoveIntoFormationController ( const DtDisaggregatedMoveIntoFormationController & orig ) [private]

not implemented

Member Function Documentation

virtual DtString DtDisaggregatedMoveIntoFormationController::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:: DtAggregateMoveIntoFormationControllerType

Implements DtTaskControllerComponent.

virtual bool DtDisaggregatedMoveIntoFormationController::init ( ) [virtual]

Initializes myFormationState.

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedMoveIntoFormationController::tick ( ) [virtual]

Overridden to call registerOrgNodeCallbacks().

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedMoveIntoFormationController::registerTaskMsgCallbacks ( ) [virtual]

Registers task and set data request callbacks for following type: DtMoveIntoFormationTask Overridden from base class to register for DtTaskCompleteReports.

Reimplemented from DtTaskControllerComponent.

virtual void DtDisaggregatedMoveIntoFormationController::clearTask ( ) [virtual]

Override to send clear task messages to subordinates.

Reimplemented from DtSingleTaskControllerComponent.

static void DtDisaggregatedMoveIntoFormationController::taskCompleteReportCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Handles task complete reports from our subordinates.

Calls onTaskComplete().

Parameters:

msg	Message containing a DtTaskCompleteReport.

static void DtDisaggregatedMoveIntoFormationController::formationStateChanged	(	const DtFormationState &	formationState,
		void *	usr
	)		`[static]`

Called whenever formation state has changed in myFormationState.

Calls onFormationStateChanged().

static DtSimComponent* DtDisaggregatedMoveIntoFormationController::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.

static void DtDisaggregatedMoveIntoFormationController::moveIntoFormationTaskCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Callback function for handling incoming turn to move to task message.

Calls onMoveToTask to actually handle the message.

static void DtDisaggregatedMoveIntoFormationController::subordinateRemoved	(	DtEntityIdentifier	childEid,
		void *	usr
	)		`[static]`

Callback function for handling subordinate removed events.

Calls processSubordinateRemoved.

virtual void DtDisaggregatedMoveIntoFormationController::moveIntoFormation	(	const DtVector &	location,
		double	heading,
		DtString	formation
	)		`[protected, virtual]`

Sends DtFormationTypeRequest to ourself if formation is anything other than 'DtKeepExistingFormation'.

For each subordinate, computes new location and heading, given the formation If subordinate is an individual, sends DtMoveToTask with new location. If subordinate is an aggregate, sends DtMoveIntoFormationTask with new location, heading, formation, and apply to subordinates flag.

virtual void DtDisaggregatedMoveIntoFormationController::onTaskComplete ( DtSimMessage * msg ) [protected, virtual]

If task complete from our subordinate indicates task just completed is of type DtMoveToLocationTaskType, then send subordinate a DtTurnToHeadingType task with the new heading.

If task completed is of type DtTurnToHeadingType, then removes subordinate from list of currently tasked subordinate names in the process state repository (myProcessState). If list of currently tasked subordinate names is empty, places a value of true on myAtDestinationOutputPort and sends the data (at this point, behavior is complete).

Parameters:

msg	Message containing a DtTaskCompleteReport.

virtual void DtDisaggregatedMoveIntoFormationController::onFormationStateChanged ( ) [protected, virtual]

Clears list of currently tasked subordinate names in the process state repository (myProcessState), and calls moveIntoFormation() with our cached location, heading, formation, and apply formation to subordinates data members.

virtual void DtDisaggregatedMoveIntoFormationController::sendRequestToSelf ( const DtSetDataRequest & request ) const [protected, virtual]

Sends given data request message to ourself through myRadio.

virtual void DtDisaggregatedMoveIntoFormationController::sendTaskToSubordinate	(	const DtSimTask &	task,
		const DtString &	subordinateName
	)		const `[protected, virtual]`

Sends given task message to a given subordinate through myRadio.

void DtDisaggregatedMoveIntoFormationController::sendSetDataRequestToSubordinate	(	const DtSetDataRequest &	request,
		const DtString &	subordinateName
	)		const `[protected]`

Sends given set data request message to a given subordinate through myRadio.

virtual void DtDisaggregatedMoveIntoFormationController::processMoveIntoFormationTask ( DtSimMessage * msg ) [protected, virtual]

Unpacks incoming DtMoveToTask, calls startTask() and then moveIntoFormation().

virtual bool DtDisaggregatedMoveIntoFormationController::createPSR ( ) [protected, virtual]

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtDisaggregatedMoveIntoFormationController::clearDebugWaypointNames ( ) [protected, virtual]

virtual void DtDisaggregatedMoveIntoFormationController::processSubordinateRemoved ( DtEntityIdentifier childEid ) [protected, virtual]

Handles subordinate removed events.

If this controller is currently tasked, removes this subordinate name from the process state list of currently tasked subordinates.

virtual bool DtDisaggregatedMoveIntoFormationController::registerOrgNodeCallbacks ( ) [protected, virtual]

Registers subordinateRemoved() callback with the aggregate's organization node.

virtual void DtDisaggregatedMoveIntoFormationController::groundClampLocation ( DtVector & location ) [protected, virtual]

Utility function.

virtual bool DtDisaggregatedMoveIntoFormationController::shouldGroundClamp ( ) const [protected, virtual]

Returns:: Boolean value indicating whether or not generated locations should be ground clamped or not.

DtDisaggregatedMoveIntoFormationController& DtDisaggregatedMoveIntoFormationController::operator= ( const DtDisaggregatedMoveIntoFormationController & orig ) [private]

not implemented

Member Data Documentation

const DtAggregateMoveIntoFormationDescriptor* DtDisaggregatedMoveIntoFormationController::myAggregateMoveIntoFormationDescriptor [protected]

DtFormationState* DtDisaggregatedMoveIntoFormationController::myFormationState [protected]

DtVector DtDisaggregatedMoveIntoFormationController::myLocation [protected]

DtString DtDisaggregatedMoveIntoFormationController::myFormation [protected]

DtCommandChannelRadio* DtDisaggregatedMoveIntoFormationController::myCommandRadio [protected]

Pointer to aggregate's command radio, cached in this class for convenience.

Aggregate must be configured with a command channel radio for this controller to work correctly (it must have a command radio to issue commands to subordinates).

DtSetDataManager* DtDisaggregatedMoveIntoFormationController::mySetDataManager [protected]

Pointer to aggregate's DtSetDataManager, cached in this class for convenience.

std::vector<DtString> DtDisaggregatedMoveIntoFormationController::myDebugWaypointNames [protected]

List of object names of waypoints, generated at target locations.

Used for debugging.

DtVrfAggregateStateRepository* DtDisaggregatedMoveIntoFormationController::myAggregateStateRepository [protected]

Pointer to aggregate's state repository, cached in this class for convenience.

DtAggregateMoveToPSR* DtDisaggregatedMoveIntoFormationController::myProcessState [protected]

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

bool DtDisaggregatedMoveIntoFormationController::myStopMovingUponArrival [protected]

Flag indicating whether or not subordinates should stop upon arrival at destination.

Typically set to true for ground vehicles, set to false for air vehicles. Default is false.

bool DtDisaggregatedMoveIntoFormationController::myTurnToHeadingUponArrival [protected]

Flag indicating whether or not subordinates should turn to given heading upon arrival at the destination.

Typically set to true for ground vehicles, set to false for air vehicles (who can't stop and turn). Default is false.

bool DtDisaggregatedMoveIntoFormationController::myRegisteredWithOrgNode [protected]

Flag used to indicate if the subordinateRemoved() callback has been registered with the aggregate's organization node.

This registration cannot occur until the first tick of the entity. This flag is initially false, and gets set to true in the first non-zero dT() tick..

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

include/vrfmodel/disaggregatedMoveIntoFormController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation