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VR-Forces 4.1 Class Documentation
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VR-Forces 4.1 Class Documentation
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DtSurfaceEntityMoveAlongController is a controller that models movement of a ship along a route. More...
Public Member Functions | |
| DtSurfaceEntityMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntityMoveAlongController () |
| Destructor. | |
| virtual bool | init () |
| Creates myControlPoint. | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual void | clearTask () |
| Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup. | |
| virtual void | processMoveAlongTask (DtSimMessage *msg) |
| Retrives the route name from the task message. | |
| virtual void | processRouteChanged (DtVrfObject *obj) |
| Handles changes to the verticies in the route. | |
| virtual bool | atGoal () |
| Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached. | |
| virtual bool | passedGoal () |
| Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached. | |
| virtual void | doMoving (double desiredSpeed) |
| Overriden to call sailTo during route traversal until moving towards the the final point in the route at which time driftTo is called instead so the vessel will drift to a stop at the final vertex. | |
| virtual bool | targetNextVertex () |
| Advance to the next vertex in the route state. | |
 Public Member Functions inherited from DtSurfaceEntityMoveToController | |
| DtSurfaceEntityMoveToController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntityMoveToController () |
| destructor | |
| virtual void | tick () |
| Takes control of the surface entity output port group and determines the progress controls required to move the ship to the destination waypoint. | |
| virtual void | setupGoalVector (const DtVector &goalPosition) |
| Updates myGoalVector. | |
| virtual bool | nearGoal () |
| Determines if the entity is within the near-distance parameter to the waypoint. | |
| virtual double | findDesiredSpeed () |
| virtual void | processMoveToTask (DtSimMessage *msg) |
| Retrieves the name of the target waypoint from the task message. | |
| Public Member Functions inherited from DtSurfaceEntityPilotController | |
| DtSurfaceEntityPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntityPilotController () |
| Destructor. | |
| virtual bool | createSurfaceControlPortGroup () |
| Creates the surface control output port group. | |
| virtual bool | createThrottlePort () |
| Creates the throttle output port and adds it to mySurfaceControlPortGroup. | |
| virtual bool | createRudderPort () |
| Creates the rudder output port and adds it to mySurfaceControlPortGroup. | |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () const |
| Throttle port accessor. | |
| virtual DtConstrainedAnalogOutputPort * | rudderPort () const |
| Rudder port accessor. | |
| virtual void | sailTo (const DtVector &destination, double speed) |
| Sets the controls needed to sail towards the given destination at the given speed. | |
| virtual void | driftTo (const DtVector &destination, double speed) |
| Sets the controls needed to sail towards the given destination at the given speed for as long as possible until the engines are cut at a point which allows the ship to drift to the desired destination. | |
| virtual double | calculateControlForTurn (double yawAngle) |
| Calculates the rudder control for a given turn angle. | |
| virtual double | calculateControlForThrottle (double desiredSpeed) |
| Calculates the throttle control needed to reach the desired speed. | |
| virtual double | calculateControlForThrottle (double desiredSpeed, double distance) |
| Calculates the throttle control needed to reach the desired speed without overshooting the given distance. | |
| virtual void | emergencyStop () |
| Uses the throttle to stop the vessel as quickly as possible. | |
| 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 DtSimTaskStatePtr | currentTaskState () const |
| 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 |
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| 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 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 | moveAlongCallback (DtSimMessage *msg, void *usr) |
| Called when a move along message is received. | |
| static void | routeChangedCallback (DtVrfObject *obj, void *user) |
| Calls processRouteChanged(). | |
| static void | objectAboutToBeRemovedCallback (DtVrfObject *obj, void *usr) |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| Static Public Member Functions inherited from DtSurfaceEntityMoveToController | |
| static void | moveToCallback (DtSimMessage *msg, void *user) |
| Called when a move to message is received. | |
Protected Member Functions | |
| DtSurfaceEntityMoveAlongController () | |
| default constructor; not implemented | |
| DtSurfaceEntityMoveAlongController (const DtSurfaceEntityMoveAlongController &orig) | |
| copy constructor; not implemented | |
| const DtSurfaceEntityMoveAlongController & | operator= (const DtSurfaceEntityMoveAlongController &orig) |
| assignment operator; not implemented | |
| virtual bool | setupRoute () |
| Updates the route state in the process state repository. | |
| virtual bool | setupControlPoint () |
| Overridden to synchronize myControlPoint with the current vertex in the route. | |
| virtual void | registerTaskMsgCallbacks () |
| Registers interest in move along tasks by calling addTaskProcessorCallback with moveAlongCallback as the function pointer and the 'this' pointer as the user data. | |
| virtual void | emptyVertexList () |
| Removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()). | |
| virtual void | processObjectAboutToBeRemoved (DtVrfObject *obj) |
| Protected Member Functions inherited from DtSurfaceEntityMoveToController | |
| virtual double | distanceSquaredToDestination2D (const DtVector ¤t) const |
| Returns distance squared from destination point to current location. | |
| virtual void | getLocalDestination (DtVector &local) const |
| Protected Member Functions inherited from DtSurfaceEntityPilotController | |
| virtual bool | createPortGroups () |
| Overridden to call createSurfaceControlPortGroup(). | |
| virtual bool | createPorts () |
| Overridden to call createThrottlePort() and createRudderPort(). | |
| virtual void | lookupAndCacheProcessSR () |
| This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. | |
| virtual bool | postAddComponentsInit () |
| Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. | |
| virtual bool | decideToGiveUpTask () const |
| If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class. | |
| DtSurfaceEntityPilotController () | |
| default constructor; not implemented | |
| DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig) | |
| copy constructor; not implemented | |
| const DtSurfaceEntityPilotController & | operator= (const DtSurfaceEntityPilotController &orig) |
| assignment operator; not implemented | |
| 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 | |
| DtVrfObject * | myRoute |
| This is looked up once per tick - assumed unchanging while we have control. | |
| bool | myRouteHasChanged |
| This gets set to true when a modifyRoute message for the route we're following is received. | |
| Protected Attributes inherited from DtSurfaceEntityMoveToController | |
| DtVrfObject * | myControlPoint |
| Pointer to the target waypoint. | |
| DtVector | myControlPointLastLocation |
| Stores last known location of the waypoint. | |
| DtVector | myGoalVector |
| Maintained by setupGoalVector() | |
| bool | myAtGoal |
| bool | myNearGoal |
| bool | myPassedGoal |
| Protected Attributes inherited from DtSurfaceEntityPilotController | |
| DtSurfaceEntityStateRepository * | mySurfaceEntityState |
| DtSurfaceEntityPilotControllerDescriptor * | myDescriptor |
| double | myLastDistanceSquared |
| double | myDistanceSquared |
| DtSurfaceMovementPSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
| DtBooleanInputPort * | mySmallVelocityClampedInputPort |
| Input Port Name: clamp-small-vel-zero Input Port Description: Input Port Range: Input Port Default Value: True . | |
| DtOutputPortGroup * | mySurfaceControlPortGroup |
| Output Port Group Name: surface-control Output Port Group Description: | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control. | |
| DtConstrainedAnalogOutputPort * | myRudderPort |
| Output Port Name: rudder Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control. | |
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 |
DtSurfaceEntityMoveAlongController is a controller that models movement of a ship along a route.
End User Description: DtSurfaceEntityMoveAlongController (surfEntMvAlgCtl.h) is derived from DtSurfaceEntityMoveToController and implements the Move Along route task for surface entities. It works by creating a temporary waypoint which the base class is targeting, and moving that waypoing to each successive point in the route. By overriding DtSurfaceEntityMoveToController::doMoving, the move along controller is able to call sailTo() instead of driftTo() for all the target vertices along the route except for the final vertex where it will attempt to drift to a stop. Both atGoal() and passedGoal() are overridden to call down to the base class, and then call targetNextVertex() to advance myRouteState to the next vertex.
It overrides DtTaskControllerComponent::registerTaskMsgCallbacks() and registers the callback function moveAlongCallback() for DtMoveAlongType. When a message is received, the callback invokes processMoveAlongTask(), which looks up the route in the object manager and stores a pointer to it in myRoute.
Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor
| DtSurfaceEntityMoveAlongController::DtSurfaceEntityMoveAlongController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
|
virtual |
Destructor.
Removes any remaining vertices changed callback added by processMoveAlongTask. Deletes myControlPoint. Calls emptyVertexList().
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protected |
default constructor; not implemented
|
protected |
copy constructor; not implemented
|
virtual |
Creates myControlPoint.
Reimplemented from DtSurfaceEntityPilotController.
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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.
Reimplemented from DtSurfaceEntityMoveToController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
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virtual |
Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
Reimplemented from DtSurfaceEntityMoveToController.
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static |
Called when a move along message is received.
Instances of this component will register this callback (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of move-along tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processMoveAlongTask is called with the move along message.
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virtual |
Retrives the route name from the task message.
Called by moveAlongCallback to lookup the route stored in the move to message and store a pointer to it in myRoute. The name of the route and the reverse flag are saved in the process state repository. A verticies changed callback is registered on the route with routeChangedCallback as the function pointer. The myRouteHasChanged flag is then set to false. Finally, setupControlPoint() is called.
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Calls processRouteChanged().
Casts the user data pointer to an instance of this class upon which it calls processRouteChanged() with the object pointer.
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Handles changes to the verticies in the route.
Checks to make sure that the route is not null, that it's name matches the name stored in the process state repository, and that the controller is tasked. Iterates over the vertices in the route and compares them to the route vertices stored in the process state repository. If one of the verticies differs, myRouteHasChanged is set to true.
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Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.
Calls down to DtSurfaceEntityMoveToController::atGoal() to determine if the current vertex has been reached. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been reached and atGoal will return true.
Reimplemented from DtSurfaceEntityMoveToController.
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Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.
Calls down to DtSurfaceEntityMoveToController::passedGoal() to determine if the current vertex has been passed. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been passed and passedGoal will return true.
Reimplemented from DtSurfaceEntityMoveToController.
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Overriden to call sailTo during route traversal until moving towards the the final point in the route at which time driftTo is called instead so the vessel will drift to a stop at the final vertex.
Reimplemented from DtSurfaceEntityMoveToController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
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Advance to the next vertex in the route state.
Checks to see if the current vertex stored in the route state of the process state repository is the last vertex in the route. If so, false is returned. If not, the route state is advanced and setupControlPoint() is called. If sucessful, doMoving is called with findDesiredSpeed. If not, false is returned.
Reimplemented in DtSurfaceEntityPatrolRouteController.
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Reimplemented from DtSurfaceEntityMoveToController.
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(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented from DtSurfaceEntityMoveToController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
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assignment operator; not implemented
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protectedvirtual |
Updates the route state in the process state repository.
Looks up the route in the object manager using the name stored in the process state repository and stores the pointer to it in myRoute. If the lookup fails, setupRoute returns false. Otherwise, if the PSR does not have a valid route state pointer, or if myRouteHasChanged, the PSR's route verticies are updated based on the vertices in myRoute. Additionally, if myRouteHasChanged setToClosest is called on the PSR's route state and myRouteHasChanged is reset to false.
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protectedvirtual |
Overridden to synchronize myControlPoint with the current vertex in the route.
Calls setupRoute and returns false if it fails. Updates the local position of myControlPoint with the location of the current vertex of the route state from the process state repository. If myRouteHasChanged, setupGoalVector() is called with the location of myControlPoint.
Reimplemented from DtSurfaceEntityMoveToController.
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Registers interest in move along tasks by calling addTaskProcessorCallback with moveAlongCallback as the function pointer and the 'this' pointer as the user data.
Reimplemented from DtSurfaceEntityMoveToController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
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protectedvirtual |
Removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
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protectedvirtual |
Reimplemented from DtSurfaceEntityMoveToController.
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This is looked up once per tick - assumed unchanging while we have control.
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This gets set to true when a modifyRoute message for the route we're following is received.