The DtRotaryWingPilotController class creates the rotary-wing-control port group needed to control rotary-wing actuators. More...

Inheritance diagram for DtRotaryWingPilotController:

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Public Member Functions
	DtRotaryWingPilotController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRotaryWingPilotController ()
	destructor
virtual bool	init ()
	Overridden to initialize myRotaryWingEntityState.
virtual void	tick ()
	Reads the data from the guidance ports into the state repository.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedAnalogOutputPort *	collectivePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	cyclicPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()

virtual bool	createGuidancePortGroup ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredPositionPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredVelocityPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredAccelerationPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredHeadingPort ()
	Create the guidance ports from the task controllers.
virtual bool	createPositionSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createVelocitySelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createAccelerationSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createHeadingSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createAggressivenessPort ()
	Create the guidance ports from the task controllers.
virtual bool	createPowerDownPort ()
	Create the guidance ports from the task controllers.

virtual DtVectorInputPort *	desiredPositionPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredVelocityPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredAccelerationPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	desiredHeadingPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	positionSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	velocitySelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	accelerationSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	headingSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	aggressivenessPort ()
	Accessors for guidance ports.
virtual DtBooleanInputPort *	powerDownPort ()
	Accessors for guidance ports.

virtual bool	createRotaryWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createCollectivePort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createCyclicPort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createPedalPort ()
	These are called in init to create the ports used to communicate with the actuator.
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.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
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	postTick ()
	This function is called immediately after tick() is called.
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 void	enable ()
	Is this component enabled or not.
virtual void	disable ()
	Is this component enabled or not.
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 DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,

Protected Member Functions
virtual bool	createPortGroups ()
	Overridden to call createRotaryWingControlPortGroup() and createGuidancePortGroup()
virtual bool	createPorts ()
	Overridden to create rotary wing ports.
virtual void	setStateFromPorts ()
	Sets the state repository variables from the ports.
	DtRotaryWingPilotController ()
	default constructor; not implemented
	DtRotaryWingPilotController (const DtRotaryWingPilotController &orig)
	copy constructor; not implemented
const DtRotaryWingPilotController &	operator= (const DtRotaryWingPilotController &orig)
	assignment operator; not implemented
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
virtual void	setRadio (DtSimBaseRadio *radio)
Protected Member Functions inherited from DtSimComponent
bool	testInvariant () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.

Protected Attributes
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtVector	myNormalizedBodyVelocity
Ports and Port Groups
DtOutputPortGroup *	myRotaryWingControlPortGroup
	Output Port Group Name: rotary-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: The position of the throttle control.
DtConstrainedAnalogOutputPort *	myCollectivePort
	Output Port Name: collective Output Port Description: The position of the collective control.
DtConstrainedDualAxisAnalogOutputPort *	myCyclicPort
	Output Port Name: cyclic Output Port Description: The position of the collective control in X and Y.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: The position of the pedal controls.
DtInputPortGroup *	myGuidancePortGroup
	Input Port Group Name: guidance Input Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.
DtVectorInputPort *	myDesiredPositionPort
	Input Port Name: desired-position Input Port Description: The desired position of the entity.
DtVectorInputPort *	myDesiredVelocityPort
	Input Port Name: desired-velocity Input Port Description: The desired velocity of the entity Input Port Range: Database coordinates.
DtVectorInputPort *	myDesiredAccelerationPort
	Input Port Name: desired-acceleration Input Port Description: The desired acceleration of the entity Input Port Range: Database coordinates.
DtAnalogInputPort *	myDesiredHeadingPort
	Input Port Name: desired-heading Input Port Description: Input Port Range: -1.
DtAnalogInputPort *	myPositionSelectorPort
	Input Port Name: position-selector Input Port Description: Determines whether the desired-position port is used.
DtAnalogInputPort *	myVelocitySelectorPort
	Input Port Name: velocity-selector Input Port Description: Determines whether the desired-velocity port is used.
DtAnalogInputPort *	myAccelerationSelectorPort
	Input Port Name: acceleration-selector Input Port Description: Determines whether the desired-acceleration port is used.
DtAnalogInputPort *	myHeadingSelectorPort
	Input Port Name: heading-selector Input Port Description: Determines whether the desired-heading port is used.
DtAnalogInputPort *	myAggressivenessPort
	Input Port Name: aggressiveness Input Port Description: How aggressively the autopilot will move the controls to gain the desired values.
DtBooleanInputPort *	myPowerDownPort
	Input Port Name: power-down Input Port Description: Determines whether the control values will all be set to 0.
Protected Attributes inherited from DtControllerComponent
DtSimBaseRadio *	myRadio
	Controller components can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
const DtComponentDescriptor *	myComponentDescriptor
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.

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 DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

The DtRotaryWingPilotController class creates the rotary-wing-control port group needed to control rotary-wing actuators.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtRotaryWingPilotController::DtRotaryWingPilotController	(	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 DtRotaryWingPilotController::~DtRotaryWingPilotController ( )

virtual

destructor

DtRotaryWingPilotController::DtRotaryWingPilotController ( )

protected

default constructor; not implemented

DtRotaryWingPilotController::DtRotaryWingPilotController ( const DtRotaryWingPilotController & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtRotaryWingPilotController::init ( )

virtual

Overridden to initialize myRotaryWingEntityState.

Reimplemented from DtControllerComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual void DtRotaryWingPilotController::tick ( )

virtual

Reads the data from the guidance ports into the state repository.

Reimplemented from DtSimComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual DtString DtRotaryWingPilotController::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: DtRotaryWingPilotControllerType

Reimplemented from DtControllerComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual bool DtRotaryWingPilotController::createGuidancePortGroup ( )

virtual