DtDisaggregatedMoveAlongController Class Reference

Class DtDisaggregatedMoveAlongController is a task controller that models aggregate entity move-along-route behavior. More...

Inheritance diagram for DtDisaggregatedMoveAlongController:

Public Member Functions
	DtDisaggregatedMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtDisaggregatedMoveAlongController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Initialize myAggregateStateRepository, myFormationState, and myAggregateMoveAlongDescriptor member variables.
virtual void	registerTaskMsgCallbacks ()
	Registers moveAlongTaskCallback member function for DtMoveAlongType tasks on radio (for tasks issued in GUI or by superior).
virtual void	tick ()
	Calls registerRouteCallbacksIfNeeded() to register route-related callbacks so we can be notified in the event the route changes.
virtual void	clearTask ()
	If tasked, clears out myProcessState, sends clear task messages to any subordinates that are currently tasked, and calls deleteFormationRoutes() to remove any working routes this controller has created.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual DtSimTaskStatePtr	currentTaskState () const
	Returns pointer to a DtMoveAlongTaskState object containing status of our current move-along task.
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtSingleTaskControllerComponent ()
	destructor
virtual void	postTick ()
	Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)).
virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
	Called by the task manager when this controller should start executing the specified task.
virtual void	taskNotify (const DtSimTask &task)
	This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is.
virtual void	taskComplete (bool success=true)
	If we are currently tasked, this will cause us to notify the entity that we're done and delete the task.
virtual int	sendSubtask (DtSimTask &task)
	Sends subtask to ourself.
virtual void	clearSubtask (int subtaskId)
	Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
virtual void	addPendingSubtaskId (int subtaskId)
	Adds given subtask Id to list of pending subtasks.
virtual bool	findPendingSubtaskId (int subtaskId)
	Checks to see if given subtaskId exists in our list of pending subtasks.
virtual void	removePendingSubtaskId (int subtaskId)
	Removes pending subtask from list of subtasks for this component.
virtual void	removeAllPendingSubtaskIds ()
	Clear all pending subtasks from our list of subtasks.
virtual std::vector< int >	currentPendingSubstaskIds () const
	Returns the list of all currently pending subtask ids for this controller.
virtual void	clearCurrentTaskMessage ()
	Returns the current subtask with the specified id.
virtual DtTaskMessage *	currentTaskMessage () const
	Get a pointer to the message that was used to task this entity.
virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
virtual void	giveUpTask ()
	Called when controller is tasked and decideToGiveUp() returns true.
virtual bool	taskActive (int taskId) const
virtual bool	clearTopLevelTasks ()
	If this controller has any top level tasks (not subtasks), they are cleared.
virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
	Clears any top level tasks on this controller that conflict with the conflict task type.
virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)
	Clears any tasks of the specified type running in this controller.
virtual void	clearTaskById (int taskId)
	Clears any task of the specified ID running in this controller.
virtual std::list < DtTaskMessage * >	currentTaskMessages () const
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtTaskControllerComponent ()
	destructor
virtual bool	showCurrentTaskInGui () const
virtual void	setRadio (DtSimBaseRadio *radio)
	Calls registerTaskMsgCallbacks.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Adds a new function for processing the specified task type.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Deprecated form of addTaskProcessorCallback.
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Undoes anything done by addTaskProcessorCallback().
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Deprecated form of removeTaskProcessorCallback.
virtual void	enable ()
	Overridden to call registerTaskMsgCallbacks().
virtual void	disable ()
	Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)
	Sends the task canceled report for the specified message.
virtual void	setTasked (bool tasked)
	The current tasked state of this controller.
virtual bool	tasked () const
	The current tasked state of this controller.
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtControllerComponent ()
	destructor
virtual DtSimBaseRadio *	radio ()
	The radio this component is listening to.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const DtComponentDescriptor *	componentDescriptor () const
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static void	moveAlongTaskCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
	Callback registered with radio, invoked upon receipt of a DtMoveAlongTask.
static void	taskCompleteReportCallback (DtSimMessage *msg, void *usr)
	Callback registered with radio, invoked upon receipt of a DtTaskCompleteReport.
static void	formationChangedCallback (const DtFormationState &formationState, void *usr)
	Callback registered with formation state object (in aggregate state repository), invoked in the event that the formation state has changed.
static void	routeChangedCallback (DtVrfObject *obj, void *usr)
	Callback registered with the DtVrfObject representing the route we're following, for notification when thevroute vertices change.
static void	objectAddedCb (DtVrfObject *vrfObject, void *usr)
	Callback registered with DtVrfObjectManager for notification when objects are added.
static void	objectAboutToBeRemovedCb (DtVrfObject *vrfObject, void *usr)
	Callback registered with DtVrfObjectManager for notification when objects are removed.
static void	objectManagerRemoveAndDeleteAllCallback (const DtVrfObjectManager &objectManager, void *usr)
	Callback to be invoked when the DtVrfObjectManager's removeAndDeleteAll() member function is about to be invoked.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual void	initializeMoveAlongTask (DtVrfObject &route, DtIteratorDirection traversalDirection, bool startAtClosestPoint, DtSimTaskStatePtr taskState)
	Initializes move along task, setting name of the route in myProcessState, registering the routeChangedCallback with the given route.
virtual void	processFormationChanged (const DtFormationState &formationState)
	If currently tasked and in the moving along route phase, calls reevaluateMoveAlongAssignments().
virtual void	processMoveAlongTask (DtSimMessage *msg, DtSimTaskStatePtr taskState)
	Unpacks DtMoveAlongTask and calls moveAlong().
virtual void	processTaskComplete (DtSimMessage *msg)
	If task complete report is a DtMoveAlongTask, remove corresponding entry from myCurrentlyTaskedSubordinateEchelonIds.
virtual void	processRouteChanged (const DtVrfObject &obj)
	Regenerates routes.
virtual void	processObjectAdded (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	processObjectAboutToBeRemoved (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	moveTo (const DtString &routeName, bool traverseForward)
	Issue DtMoveIntoFormation task as subtask to ourself.
virtual void	moveAlong (const DtString &route, bool traverseForward, bool startAtClosestPoint)
	Generate separate route for each subordinate, and then task subordinate to follow its own route.
virtual void	generateFormationRoutes (const DtVrfObject &route, bool reverseDirection)
	Generate routes for subordinates to follow, at offsets corresponding to their position in formation.
virtual void	buildEntityRouteFollowingMap (std::map< DtVrfObject *, DtEntityRouteFollowingData > &map)
	Generate map of which subordinate is following which generated route.
virtual void	sendTaskToSubordinate (const DtSimTask &task, const DtString &subordinateObjectName) const
	Constructs task messages and sends it to given subordinate through myRadio.
virtual void	sendSetDataToSubordinate (const DtSetDataRequest &setData, const DtString &subordinateObjectName) const
	Constructs set data request message and sends it to given subordinate through myRadio.
virtual void	deleteFormationRoutes ()
	Delete all formation routes (routes generated by this controller).
virtual void	onObjectManagerRemoveAndDeleteAll (const DtVrfObjectManager &objectManager)
	De-registers for formation changed callbacks.
virtual bool	calculateInitialPositionAndHeadingAlongRoute (const DtVrfObject &route, bool traverseForward, DtVector &initialPosition, double &initialHeading)
	Determines location and heading of aggregate at the logical beginning of the route the aggregate wants to follow.
virtual void	sendVrfObjectModifyMsg (const DtEntityIdentifier &id, DtList *vertices) const
	Sends DtIfModifyVrfObject interface message for given object id, with updated set of vertices.
virtual void	initializeNextRouteIndex ()
	Initialize counter used to generate working route names.
virtual unsigned int	nextRouteIndex ()
	Next available index to use when constructing working route names.
virtual bool	buildOffsetRoute (const DtList &localRouteVertexList, const DtVector &bodyOffset, bool reverseDirection, bool generateRoutesWithRoundedCorners, double vertexSpacingAlongRoundedCorners, DtList &geocentricOffsetRouteVertexList)
	Builds route at body offset relative to given route.
virtual void	registerRouteCallbacksIfNeeded ()
	If tasked and we have not yet registered any callbacks with move-along route, register callbacks to either discover route, or be notified when route changes and when it is about to be removed.
virtual void	initializeMemberDataFromDescriptor (const DtAggregateMoveAlongDescriptor &desc)
	Initializes myGenerateRoutesWithRoundedCorners, myVertexSpacingAlongRoundedCorners, myMaintainFormationTickInterval, and myMaintainFormationMonitor data members with data in descriptor.
virtual void	maintainMovementInFormation ()
	If currently tasked and in the moving along route state, montiors subordinates' speed using myMaintainFormationMonitor, and calls task complete if behavior is complete.
virtual void	reevaluateMoveAlongAssignments ()
	Prunes entities no longer part of current formation from process state repository.
virtual void	sendClearTask (const DtString &recipientName, const DtSimTaskMessageType &taskType) const
	Sends a clear task request to the given receipient on this entity's command radio.
virtual bool	adjustOffsetRouteStart (std::vector< DtVector > &route) const
	Adjusts the start of a given offset route.
virtual bool	adjustOffsetRouteEnd (std::vector< DtVector > &route) const
	Adjusts the ending point of a given offset route.
virtual bool	extendRouteStart (std::vector< DtVector > &route, double distance) const
	Extends route by given distance at start of route, extending the first segment by the given distance.
virtual bool	clipRouteEnd (std::vector< DtVector > &route, double distance) const
	Clips end of given route by distance.
virtual DtMaintainFormationMonitor *	createFormationMonitor (DtVrfObject *entity) const
	Creates an instance of a DtMaintainFormationMonitor.
virtual bool	publishFormationRoutes () const
virtual bool	shouldGroundClamp () const
Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()
	Iterates over collection of all pending subtasks for this controller, and calls clearSubtask() for each subtask type.
virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)
	Clear all subtasks of a given type.

Protected Attributes
std::map< int, DtString >	myPromotionIndexRouteNameMap
	Map of formation positions to generated route object names.
DtMaintainFormationMonitor *	myMaintainFormationMonitor
	Object that monitors current subordinate positions and adjusts them if necessary to maintain correct formation shape while moving.
double	myMaintainFormationTickInterval
	Simulation time interval at which myMaintainFormationMonitor should be ticked.
double	myTimeToNextMaintainFormationTick
	Simulation time for next tick of myMaintainFormationMonitor.
std::map< DtVrfObject *, DtEntityRouteFollowingData >	myEntityRouteFollowingMap
	Map of subordinates and route following data.
std::map< DtVrfObject *, DtEntityRouteTraversalState >	myEntityRouteTraversalStateMap
	Map of subordinate and current route traversal state.
DtVrfAggregateStateRepository *	myAggregateStateRepository
	Pointer to aggregate's state repository, cached in this class for convenience.
DtFormationState *	myFormationState
	Pointer to aggregate's formation state object, cached in this class for convenience.
DtCommandChannelRadio *	myCommandRadio
	Pointer to aggregate's command radio, cached in this class for convenience.
bool	myGenerateRoutesWithRoundedCorners
	Flag indicating all generated route should have rounded turns.
double	myVertexSpacingAlongRoundedCorners
	Spacing in meters between extra vertices inserted in generated routes to form rounded turns.
DtAggregateMoveAlongPSR *	myProcessState
	Container for state data associated with this component.
const DtAggregateMoveAlongDescriptor *	myAggregateMoveAlongDescriptor
	Pointer to descriptor used to configure this object.
bool	myRegisteredFormationChangedCallback
	Flag used to indicate whether formation changed callback has been registered yet.
bool	myRegisteredObjectCallbacks
	Flag used to indcate whether route added/changed/removed callbacks have yet been registered.
bool	myFirstTick
	Flag used to indicate first non-zero dT() tick.
unsigned int	myNextRouteIndex
	Counter used in naming generated routes.
DtSimTaskStatePtr	myCachedTaskState

Private Member Functions
	DtDisaggregatedMoveAlongController ()
	default constructor - not implemented
	DtDisaggregatedMoveAlongController (const DtDisaggregatedMoveAlongController &orig)
	copy constructor - not implemented
DtDisaggregatedMoveAlongController &	operator= (const DtDisaggregatedMoveAlongController &orig)
	assignment operator - not implemented

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair
	This map stores callbacks that have been registered to processes various tasks.
typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

Class DtDisaggregatedMoveAlongController is a task controller that models aggregate entity move-along-route behavior.

End User Description: The DtDisaggregatedMoveAlongController models movement along a route for aggregate entities. It handles execution of DtMoveAlongTasks. Movement is implemented by creating temporary working routes for each subordinate, positioned at an offset needed to maintain that subordinate's position in formation. The controller periodically monitors subordinate's relative positions to one another and issues DtSetSpeedRequests at a relatively faster or slower speed than the ordered speed. In this way, the controller attempts to maintain the shape of the formation as the subordinates move. The movement task is considered is considered complete when all subordinates have reached the end of the route and have issued task complete reports to the aggregate. At that point, the aggregate destroys the temporary working routes and the task ends.

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

Developer Description: The DtDisaggregatedMoveAlongController class registers a callback for handling DtMoveAlongTasks. When it receives a DtMoveAlongTask, it queries the aggregate's DtFormationState repository in the state repository for the current positions of its taskable subordinates in the current formation. It then creates a set of 'working' routes parallel to the original route, based on the offsets obtained from the formation state repository. It registers callbacks for handling changes to formation state, changes to route vertices, and unexpected removal of route while tasked to move along route.

Uses Descriptor Type: DtAggregateMoveAlongDescriptor

Constructor & Destructor Documentation

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController	(	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 DtDisaggregatedMoveAlongController::~DtDisaggregatedMoveAlongController ( )

virtual

destructor

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController ( )

private

default constructor - not implemented

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController ( const DtDisaggregatedMoveAlongController &  orig )

private

copy constructor - not implemented

Member Function Documentation

virtual DtString DtDisaggregatedMoveAlongController::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

DtAggregateMoveAlongControllerType

Implements DtTaskControllerComponent.

virtual bool DtDisaggregatedMoveAlongController::init ( )

virtual

Initialize myAggregateStateRepository, myFormationState, and myAggregateMoveAlongDescriptor member variables.

Registers formationChangedCallback member function with myFormationState. Calls initializeMemberDataFromDescriptor() to initializes class members with data in myAggregateMoveAlongDescriptor.

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedMoveAlongController::registerTaskMsgCallbacks ( )

virtual

Registers moveAlongTaskCallback member function for DtMoveAlongType tasks on radio (for tasks issued in GUI or by superior).

Registers taskCompleteReportCallback member function for DtTaskComplete reports on radio and command radio (so it can receive task complete reports from itself and its subordinates, respectively).

Reimplemented from DtTaskControllerComponent.

virtual void DtDisaggregatedMoveAlongController::tick ( )

virtual

Calls registerRouteCallbacksIfNeeded() to register route-related callbacks so we can be notified in the event the route changes.

Calls taskStateFromPre3_8Scenario() to check if current tasked state has been read in from a pre-3.8 scenario. If true, calls upgradeTaskStateFromPre3_8Scenario() to update task state to current version. Calls initializerRouteIndex() initialize myNextRouteIndex member from process state repository. Calls maintainMovementInFormation() to maintain relative formation positions, if we're currently tasked and moving along the route.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedMoveAlongController::clearTask ( )

virtual

If tasked, clears out myProcessState, sends clear task messages to any subordinates that are currently tasked, and calls deleteFormationRoutes() to remove any working routes this controller has created.

Override to send clear task messages to subordinates and delete working routes, if currently tasked.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtDisaggregatedMoveAlongController::createPSR ( )

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 DtSimTaskStatePtr DtDisaggregatedMoveAlongController::currentTaskState ( ) const

virtual

Returns pointer to a DtMoveAlongTaskState object containing status of our current move-along task.

Reimplemented from DtSingleTaskControllerComponent.

static void DtDisaggregatedMoveAlongController::moveAlongTaskCallback ( DtSimMessage *  msg, void *  usr, DtSimTaskStatePtr  taskState  )

static

Callback registered with radio, invoked upon receipt of a DtMoveAlongTask.

Calls processMoveAlongTask() to handle the task message.

Parameters

msg	Message containing DtMoveAlongTask.
usr	Pointer to instance of this class.

static void DtDisaggregatedMoveAlongController::taskCompleteReportCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback registered with radio, invoked upon receipt of a DtTaskCompleteReport.

Calls processTaskComplete() to handle the report.

Parameters

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

static void DtDisaggregatedMoveAlongController::formationChangedCallback ( const DtFormationState &  formationState, void *  usr  )

static

Callback registered with formation state object (in aggregate state repository), invoked in the event that the formation state has changed.

Calls processFormationChanged to handle the event.

Parameters

formationState	Formation state repository for the aggregate (maintained in aggegate state repository).
usr	Pointer to instance of this class.

static void DtDisaggregatedMoveAlongController::routeChangedCallback ( DtVrfObject *  obj, void *  usr  )

static

Callback registered with the DtVrfObject representing the route we're following, for notification when thevroute vertices change.

Calls processRouteChanged().

Parameters

obj	Pointer to the route we're following.
usr	Pointer to instance of this class.

static void DtDisaggregatedMoveAlongController::objectAddedCb ( DtVrfObject *  vrfObject, void *  usr  )

static

Callback registered with DtVrfObjectManager for notification when objects are added.

Calls processObjectAdded() to handle the event.

Parameters

vrfObject	Pointer to object just added to object manager (could be any type of object – entity, aggregate, control object).
usr	Pointer to instance of this class.

static void DtDisaggregatedMoveAlongController::objectAboutToBeRemovedCb ( DtVrfObject *  vrfObject, void *  usr  )

static

Callback registered with DtVrfObjectManager for notification when objects are removed.

Calls processObjectAboutToBeRemoved().

Parameters

vrfObject	Pointer to object representing the route we're following.
usr	Pointer to instance of this class.

static void DtDisaggregatedMoveAlongController::objectManagerRemoveAndDeleteAllCallback ( const DtVrfObjectManager &  objectManager, void *  usr  )

static

Callback to be invoked when the DtVrfObjectManager's removeAndDeleteAll() member function is about to be invoked.

Calls onObjectManagerRemoveAndDeleteAll().

Parameters

objectManager	The object manager maintinaing all simulated objects in a VR-Forces back-end.
usr	Pointer to an instance of this class.

static DtSimComponent* DtDisaggregatedMoveAlongController::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 DtDisaggregatedMoveAlongController::initializeMoveAlongTask ( DtVrfObject &  route, DtIteratorDirection  traversalDirection, bool  startAtClosestPoint, DtSimTaskStatePtr  taskState  )

protectedvirtual

Initializes move along task, setting name of the route in myProcessState, registering the routeChangedCallback with the given route.

If startAtClosest is true, calls moveAlong() to starting moving along the route immediately. Otherwise calls moveTo() to move the aggregate to a starting point at the appropriate end of the route.

Parameters

route	The route we're tasked to follow.
traversalDirection	The direction we want to follow the route. A value of DtIteratorForward indicates route should be traversed in order of increasing vertex index, DtIteratorReverse indicates traversal should be in order of decreasing vertex index.
startAtClosestPoint	This flag indicates whether traversal should start at closest vertex (true), or at the logical beginning of the route (false).

virtual void DtDisaggregatedMoveAlongController::processFormationChanged ( const DtFormationState &  formationState )

protectedvirtual

If currently tasked and in the moving along route phase, calls reevaluateMoveAlongAssignments().

Parameters

formationState

Formation state maintained in our aggregate's state repository.

virtual void DtDisaggregatedMoveAlongController::processMoveAlongTask ( DtSimMessage *  msg, DtSimTaskStatePtr  taskState  )

protectedvirtual

Unpacks DtMoveAlongTask and calls moveAlong().

Parameters

msg	Message containing DtMoveAlongTask.

virtual void DtDisaggregatedMoveAlongController::processTaskComplete ( DtSimMessage *  msg )

protectedvirtual

If task complete report is a DtMoveAlongTask, remove corresponding entry from myCurrentlyTaskedSubordinateEchelonIds.

If myCurrentlyTaskedSubordinateEchelonIds is empty, calls taskComplete().

Parameters

msg	Message containing DtTaskCompleteReport.

virtual void DtDisaggregatedMoveAlongController::processRouteChanged ( const DtVrfObject &  obj )

protectedvirtual

Regenerates routes.

Parameters

obj	The route we're currently following.

virtual void DtDisaggregatedMoveAlongController::processObjectAdded ( DtVrfObject *  vrfObject )

protectedvirtual

Checks given vrfObject against the route we're looking for.

If it is ours, registers a vertices-changed callback on the object. This way we can detect if the route changes while we're trying to follow it.

Parameters

vrfObject

Pointer to the object just added to the object manager. May be any type of DtVrfObject (entity, aggregate, control object).

virtual void DtDisaggregatedMoveAlongController::processObjectAboutToBeRemoved ( DtVrfObject *  vrfObject )

protectedvirtual

Checks given vrfObject against the route we're looking for.

If it is the route we're following, calls clearTask().

Parameters

vrfObject

Pointer to the object about to be removed from the object manager. May be any type of DtVrfObject (entity, aggregate, control object).

virtual void DtDisaggregatedMoveAlongController::moveTo ( const DtString &  routeName, bool  traverseForward  )

protectedvirtual

Issue DtMoveIntoFormation task as subtask to ourself.

Parameters

routeName	The object name of the route we're tasked to move along.
traverseForward	Flag indicating if route should be traversed in order of increasing vertex index (DtIteratorForward) or decreasing vertex index (DtIteratorReverse).

virtual void DtDisaggregatedMoveAlongController::moveAlong ( const DtString &  route, bool  traverseForward, bool  startAtClosestPoint  )

protectedvirtual

Generate separate route for each subordinate, and then task subordinate to follow its own route.

Parameters

route	Object name of the route we are tasked to follow.
traverseForward	Flag indicating if route should be traversed in order of increasing vertex index (DtIteratorForward) or decreasing vertex index (DtIteratorReverse).
startAtClosestPoint	This flag indicates whether traversal should start at closest vertex (true), or at the logical beginning of the route (false).

virtual void DtDisaggregatedMoveAlongController::generateFormationRoutes ( const DtVrfObject &  route, bool  reverseDirection  )

protectedvirtual

Generate routes for subordinates to follow, at offsets corresponding to their position in formation.

Parameters

route	Object name of the route we are following.
reverseDirection	Flag indicating if traversal direction is reverse (false) or forward (true).

virtual void DtDisaggregatedMoveAlongController::buildEntityRouteFollowingMap ( std::map< DtVrfObject *, DtEntityRouteFollowingData > &  map )

protectedvirtual

Generate map of which subordinate is following which generated route.

Parameters

map	Map of subordinates versus current route following state (such as identity of route subordinate should follow, current vertex, and so on).

virtual void DtDisaggregatedMoveAlongController::sendTaskToSubordinate ( const DtSimTask &  task, const DtString &  subordinateObjectName  ) const

protectedvirtual

Constructs task messages and sends it to given subordinate through myRadio.

Parameters

task	Task to be issued to a subordinate.
subordinateObjectName	Object name of the subordinate to be given the task.

virtual void DtDisaggregatedMoveAlongController::sendSetDataToSubordinate ( const DtSetDataRequest &  setData, const DtString &  subordinateObjectName  ) const

protectedvirtual

Constructs set data request message and sends it to given subordinate through myRadio.

Parameters

setData	Set data request to be issued to subordinate.
subordinateObjectName	Object name of the subordinate to be given the set data request.

virtual void DtDisaggregatedMoveAlongController::deleteFormationRoutes ( )

protectedvirtual

Delete all formation routes (routes generated by this controller).

virtual void DtDisaggregatedMoveAlongController::onObjectManagerRemoveAndDeleteAll ( const DtVrfObjectManager &  objectManager )

protectedvirtual

De-registers for formation changed callbacks.

We don't want to be affected by intermediate changes to aggregate composition as objects are being cleaned up in the object manager.

Parameters

objectManager

Reference to the object manager that maintains all of the simulated object in a VR-Forces back-end.

virtual bool DtDisaggregatedMoveAlongController::calculateInitialPositionAndHeadingAlongRoute ( const DtVrfObject &  route, bool  traverseForward, DtVector &  initialPosition, double &  initialHeading  )

protectedvirtual

Determines location and heading of aggregate at the logical beginning of the route the aggregate wants to follow.

Aggregate is positioned such that the lead entity in the current formation is at the start of the route.

Parameters

route	The route the aggregate is tasked to follow.
traverseForward	If true, route should be traversed in order of increasing route vertex index. If false, traversal should be in order of decreasing vertex index.
initialPosition	Initial position of aggregate at start of route in geocentric coordinates. Centers the aggregate at the start of the route.
initialHeading	Initial heading of aggregate at start of route, such that aggregate is aligned along first segment of route, in radians.

virtual void DtDisaggregatedMoveAlongController::sendVrfObjectModifyMsg ( const DtEntityIdentifier &  id, DtList *  vertices  ) const

protectedvirtual

Sends DtIfModifyVrfObject interface message for given object id, with updated set of vertices.

Used to modify vertices of working route generated by this class whenever the route we're following changes.

Parameters

id	Entity identifier object to modify (one of the working routes).
vertices	List of DtVector* vertices in geocentric coordinates for the route.

virtual void DtDisaggregatedMoveAlongController::initializeNextRouteIndex ( )

protectedvirtual

Initialize counter used to generate working route names.

Sets it to lowest integer greater than that used by any routes stored in process state.

virtual unsigned int DtDisaggregatedMoveAlongController::nextRouteIndex ( )

protectedvirtual

Next available index to use when constructing working route names.

virtual bool DtDisaggregatedMoveAlongController::buildOffsetRoute ( const DtList &  localRouteVertexList, const DtVector &  bodyOffset, bool  reverseDirection, bool  generateRoutesWithRoundedCorners, double  vertexSpacingAlongRoundedCorners, DtList &  geocentricOffsetRouteVertexList  )

protectedvirtual

Builds route at body offset relative to given route.

Generates a route parallel to the original route, at the given body offset. Then calls adjustOffsetRouteStart() followed by adjustOffsetRouteEnd() to modify the beginning and end of the route, respectively.

Parameters

localRouteVertexList	Original list of DtLocalRwVector vertices from route we're tasked to follow.
bodyOffset	Formation position offset in aggregate body coordinates of formation position, relative to center of mass of aggregate formation.
reverseDirection	If true, generate route in reverse direction relative to original route. If false, generate route in same direction as original route.
generateRoutesWithRoundedCorners	If true, round the edges of turns by inserting additional vertices in offset route.
vertexSpacingAlongRoundedCorners	Distance in meters between vertices inserted in offset route to create rounded corners.
geocentricOffsetRouteVertexList	List of DtVector* vertices in geocentric coordinates for new offset route.

Returns

true if offset route was built sucessfully, false if not

virtual void DtDisaggregatedMoveAlongController::registerRouteCallbacksIfNeeded ( )

protectedvirtual

If tasked and we have not yet registered any callbacks with move-along route, register callbacks to either discover route, or be notified when route changes and when it is about to be removed.

Registers objectAddedCb member function with object manger for notification when new objects are added to object manager, and objectAboutToBeRemovedCb member function when a given object is about to be removed. Registered routeChangedCallback when given route we're following vertices have changed.

virtual void DtDisaggregatedMoveAlongController::initializeMemberDataFromDescriptor ( const DtAggregateMoveAlongDescriptor &  desc )

protectedvirtual

Initializes myGenerateRoutesWithRoundedCorners, myVertexSpacingAlongRoundedCorners, myMaintainFormationTickInterval, and myMaintainFormationMonitor data members with data in descriptor.

Parameters

desc	Descriptor used to configure this component.

virtual void DtDisaggregatedMoveAlongController::maintainMovementInFormation ( )

protectedvirtual

If currently tasked and in the moving along route state, montiors subordinates' speed using myMaintainFormationMonitor, and calls task complete if behavior is complete.

If tasked, in the moving-along-route phase of task, and it is time to tick formation maonitor, calls myMaintainFormationMonitor->tick().

virtual void DtDisaggregatedMoveAlongController::reevaluateMoveAlongAssignments ( )

protectedvirtual

Prunes entities no longer part of current formation from process state repository.

Removes routes associated with those entities from the process state repository and from the object manager. For remaining entities, adjusts formation routes to reflect their latest position in formation.

virtual void DtDisaggregatedMoveAlongController::sendClearTask ( const DtString &  recipientName, const DtSimTaskMessageType &  taskType  ) const

protectedvirtual

Sends a clear task request to the given receipient on this entity's command radio.

Parameters

recipientName	Object name of the entity we want to have clear its task
taskType	Identifies the kind of task we want the recipient to clear (see radioMsgTypes.h for available task types)

virtual bool DtDisaggregatedMoveAlongController::adjustOffsetRouteStart ( std::vector< DtVector > &  route ) const

protectedvirtual

Adjusts the start of a given offset route.

Calls extendRouteStart() with the the current formation half length to adjust the route such that the aggregate will line up with the leading entity at the start of the route.

Returns

true if route is sucessfully adjusted (route is still valid after adjustment), false otherwise.

virtual bool DtDisaggregatedMoveAlongController::adjustOffsetRouteEnd ( std::vector< DtVector > &  route ) const

protectedvirtual

Adjusts the ending point of a given offset route.

Calls clipRouteEnd() with the the current formation half length to adjust the route such that the aggregate will line up with the leading entity at the end of the route.

Returns

true if route is sucessfully adjusted (route is still valid after adjustment), false otherwise.

virtual bool DtDisaggregatedMoveAlongController::extendRouteStart ( std::vector< DtVector > &  route, double  distance  ) const

protectedvirtual

Extends route by given distance at start of route, extending the first segment by the given distance.

Parameters

route	List of vertices representing a route
distance	Amount to extend the first segment

Returns

true if route was sucessfully modified

virtual bool DtDisaggregatedMoveAlongController::clipRouteEnd ( std::vector< DtVector > &  route, double  distance  ) const

protectedvirtual

Clips end of given route by distance.

Parameters

route	to be modified.
distance	Amount to be clipped back from end of route

Returns

true if route was sucessfully clipped back. Returns false if distance to clip is greater than length of route (in which case the route will have no vertices).

virtual DtMaintainFormationMonitor* DtDisaggregatedMoveAlongController::createFormationMonitor ( DtVrfObject *  entity ) const

protectedvirtual

Creates an instance of a DtMaintainFormationMonitor.

Override this function if you want to create derived kind of formation monitor to be used by this class.

Parameters

entity

Pointer to the entity using this formation monitor (myEntity).

virtual bool DtDisaggregatedMoveAlongController::publishFormationRoutes ( ) const

protectedvirtual

Returns

Look up whether or not we should publish formation following routes in DtVrfSettingsManager. Returns true if setting cannot be found.

virtual bool DtDisaggregatedMoveAlongController::shouldGroundClamp ( ) const

protectedvirtual

Returns

Boolean value indicating whether or not generated route vertices should be ground clamped or not.

DtDisaggregatedMoveAlongController& DtDisaggregatedMoveAlongController::operator= ( const DtDisaggregatedMoveAlongController &  orig )

private

assignment operator - not implemented

Member Data Documentation

std::map<int, DtString> DtDisaggregatedMoveAlongController::myPromotionIndexRouteNameMap

protected

Map of formation positions to generated route object names.

DtMaintainFormationMonitor* DtDisaggregatedMoveAlongController::myMaintainFormationMonitor

protected

Object that monitors current subordinate positions and adjusts them if necessary to maintain correct formation shape while moving.

Adjustment is made by sending DtSetSpeedRequest messages to subordinates, relatively faster or slower than ordered speed of the aggregate.

double DtDisaggregatedMoveAlongController::myMaintainFormationTickInterval

protected

Simulation time interval at which myMaintainFormationMonitor should be ticked.

double DtDisaggregatedMoveAlongController::myTimeToNextMaintainFormationTick

protected

Simulation time for next tick of myMaintainFormationMonitor.

std::map<DtVrfObject*, DtEntityRouteFollowingData> DtDisaggregatedMoveAlongController::myEntityRouteFollowingMap

protected

Map of subordinates and route following data.

std::map<DtVrfObject*, DtEntityRouteTraversalState> DtDisaggregatedMoveAlongController::myEntityRouteTraversalStateMap

protected

Map of subordinate and current route traversal state.

DtVrfAggregateStateRepository* DtDisaggregatedMoveAlongController::myAggregateStateRepository

protected

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

DtFormationState* DtDisaggregatedMoveAlongController::myFormationState

protected

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

DtCommandChannelRadio* DtDisaggregatedMoveAlongController::myCommandRadio

protected

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

Aggregates must be configured with a command radio for this controller to work properly.

bool DtDisaggregatedMoveAlongController::myGenerateRoutesWithRoundedCorners

protected

Flag indicating all generated route should have rounded turns.

Default is true.

double DtDisaggregatedMoveAlongController::myVertexSpacingAlongRoundedCorners

protected

Spacing in meters between extra vertices inserted in generated routes to form rounded turns.

Default is 20 meters.

DtAggregateMoveAlongPSR* DtDisaggregatedMoveAlongController::myProcessState

protected

Container for state data associated with this component.

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

const DtAggregateMoveAlongDescriptor* DtDisaggregatedMoveAlongController::myAggregateMoveAlongDescriptor

protected

Pointer to descriptor used to configure this object.

bool DtDisaggregatedMoveAlongController::myRegisteredFormationChangedCallback

protected

Flag used to indicate whether formation changed callback has been registered yet.

bool DtDisaggregatedMoveAlongController::myRegisteredObjectCallbacks

protected

Flag used to indcate whether route added/changed/removed callbacks have yet been registered.

This may not happen until sometime after the first non-zero dT() tick.

bool DtDisaggregatedMoveAlongController::myFirstTick

protected

Flag used to indicate first non-zero dT() tick.

unsigned int DtDisaggregatedMoveAlongController::myNextRouteIndex

protected

Counter used in naming generated routes.

Routes are assigned unique object names using the convention <original route="" name>="">_<myNextRouteIndex>.

DtSimTaskStatePtr DtDisaggregatedMoveAlongController::myCachedTaskState

protected

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

• include/vrfmodel/disaggregatedMoveAlongController.h