DtTurretSlewController Class Reference

DtTurretSlewController is a controller that has those capabilities common to all controllers that manipulate turret actuators. More...

Inheritance diagram for DtTurretSlewController:

Public Member Functions
	DtTurretSlewController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtTurretSlewController ()
	destructor
virtual bool	init ()
	Calls setRadio()
virtual DtString	type () const =0
	Returns a string identifies the class type of component.
virtual void	tick ()
	Deriving controllers should call this FIRST in their tick to ensure that parameter values have been looked up from the actuator (unless you don't need those values.)
virtual double	approximateSlew (double angle)
	We use this to approximate the correct slew amount for a given dA.
virtual void	setMaxSlewRate (DtReal maxSlewRate)
virtual DtReal	maxSlewRate () const
virtual void	setTurretToControl (DtArtPartType turretToControl)
virtual DtArtPartType	turretToControl () const
virtual double	turretBodyRotation () const
	Returns the current rotation of the turret (specified by turretToControl()) in the reference from of the entity body.
virtual bool	createSlewPort ()
	These are called by createPorts to create the ports used to communicate with the actuator.
virtual bool	createLosPort ()
virtual DtConstrainedAnalogOutputPort *	slewPort ()
	The slew port is constrained to -1.
virtual DtIntegerOutputPort *	losPort ()
	Provides data as to whether this turret controller has done a LOS calculation to the target, and if so it provides the result.
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.

Protected Member Functions
virtual bool	createPorts ()
	Called by init to create the ports.
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.
	DtTurretSlewController ()
	default constructor; not implemented
	DtTurretSlewController (const DtTurretSlewController &orig)
	copy constructor; not implemented
const DtTurretSlewController &	operator= (const DtTurretSlewController &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 bool	createPortGroups ()
	Called by init.
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
DtVrfTurretedBalGunPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
Ports and Port Groups
DtConstrainedAnalogOutputPort *	mySlewPort
	Output Port Name: slew Output Port Description: Slew rate.
DtIntegerOutputPort *	myLosPort
	Output Port Name: line-of-sight Output Port Description: Indicates if a LOS calculation was performed in this controller, and what the result was.
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
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
	A DtSimComponentFactory is allocated by the DtSimCreator, and this pointer is set.
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtVrfObject *owner, DtSimManager *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Creates a DtSimComponent using the factory, then initializes it via the MTL stream.
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
	Adds a DtSimComponent creation function to the DtSimComponentFactory, using the given type as the key.
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

DtTurretSlewController is a controller that has those capabilities common to all controllers that manipulate turret actuators.

End User Description: Specific turret controllers (scan and target acquisition, e. g.), extend this controller, and turret actuators expect to be controlled by a class derived from this one. Max-slew-rate and the turret part type to control are parameters. Generated values (-1. to 1.) cause the turret to slew by some (actuator-defined proportion of max-slew-rate). This controller cheats and assumes that function is linear. Another could choose to add a feedback loop and increase/decrease output based on the actual slew rate occurring.

Developer Description: Creates the ports needed to control a turret actuator and manages the various parameters and state needed.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtTurretSlewController::DtTurretSlewController	(	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 DtTurretSlewController::~DtTurretSlewController ( )

virtual

destructor

DtTurretSlewController::DtTurretSlewController ( )

protected

default constructor; not implemented

DtTurretSlewController::DtTurretSlewController ( const DtTurretSlewController &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtTurretSlewController::init ( )

virtual

Calls setRadio()

Reimplemented from DtControllerComponent.

Reimplemented in DtTurretAcquireController, and DtTurretScanController.

virtual DtString DtTurretSlewController::type ( ) const

pure 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

One of the type strings defined in compTypes.h

Reimplemented from DtControllerComponent.

Implemented in DtTurretAcquireController, DtTurretScanController, and DtGroundJoyTurretController.

virtual void DtTurretSlewController::tick ( )

virtual

Deriving controllers should call this FIRST in their tick to ensure that parameter values have been looked up from the actuator (unless you don't need those values.)

Reimplemented from DtSimComponent.

Reimplemented in DtTurretAcquireController, DtTurretScanController, and DtGroundJoyTurretController.

virtual double DtTurretSlewController::approximateSlew ( double  angle )

virtual

We use this to approximate the correct slew amount for a given dA.

Returns the slew angle desired, divided by the product of maxSlewRate() and dT. If the value returned is outside the range -1.0 to 1.0 it is constrained by the slew port itself.

virtual void DtTurretSlewController::setMaxSlewRate ( DtReal  maxSlewRate )

virtual

virtual DtReal DtTurretSlewController::maxSlewRate ( ) const

virtual

virtual void DtTurretSlewController::setTurretToControl ( DtArtPartType  turretToControl )

virtual

virtual DtArtPartType DtTurretSlewController::turretToControl ( ) const

virtual

virtual double DtTurretSlewController::turretBodyRotation ( ) const

virtual

Returns the current rotation of the turret (specified by turretToControl()) in the reference from of the entity body.

virtual bool DtTurretSlewController::createSlewPort ( )

virtual

These are called by createPorts to create the ports used to communicate with the actuator.

virtual bool DtTurretSlewController::createLosPort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtTurretSlewController::slewPort ( )

virtual

The slew port is constrained to -1.

• 1. Positive values should slew counterclockwise, negative values clockwise (looking down the axis. Since our body coordinate systen is z-down, a positive value would rotate clockwise if looking down on the object, for example a turret on a tank).

virtual DtIntegerOutputPort* DtTurretSlewController::losPort ( )

virtual

Provides data as to whether this turret controller has done a LOS calculation to the target, and if so it provides the result.

This is done to avoid calculating line of sight more than once in a single tick for the same target.

virtual bool DtTurretSlewController::createPorts ( )

protectedvirtual

Called by init to create the ports.

Reimplemented from DtSimComponent.

Reimplemented in DtTurretAcquireController.

virtual void DtTurretSlewController::lookupAndCacheProcessSR ( )

protectedvirtual

This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.

The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.

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

protected

assignment operator; not implemented

Member Data Documentation

DtConstrainedAnalogOutputPort* DtTurretSlewController::mySlewPort

protected

Output Port Name: slew
Output Port Description: Slew rate.

1.0 indicates maximum left slew, 1.0 indicates maximum right slew
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent:

DtIntegerOutputPort* DtTurretSlewController::myLosPort

protected

Output Port Name: line-of-sight
Output Port Description: Indicates if a LOS calculation was performed in this controller, and what the result was.

Output Port Range: 0 = Unkown, 1 = Blocked, 2 = Clear
Output Port Default Value:
Output Group Parent:

DtVrfTurretedBalGunPSR* DtTurretSlewController::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component.

This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).

---

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

• include/vrfmodel/turretCntlr.h