Public Member Functions |
| | DtDisaggregatedMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString&,DtVrfObject*,DtSimManager*,
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| virtual | ~DtDisaggregatedMoveAlongController () |
| | destructor
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| virtual DtString | type () const |
| | Returns a string identifies the class type of component.
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| virtual bool | init () |
| | Initialize myAggregateStateRepository, myFormationState, and myAggregateMoveAlongDescriptor member variables.
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| virtual void | registerTaskMsgCallbacks () |
| | Registers moveAlongTaskCallback member function for DtMoveAlongType tasks on radio (for tasks issued in GUI or by superior).
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| virtual void | tick () |
| | Calls registerRouteCallbacksIfNeeded() to register route-related callbacks so we can be notified in the event the route changes.
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| 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.
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| virtual bool | createPSR () |
| | Creates myProcessState data member, and adds it to our process state repository manager.
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| virtual DtSimTaskStatePtr | currentTaskState () const |
| | Returns pointer to a DtMoveAlongTaskState object containing status of our current move-along task.
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| | DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtSingleTaskControllerComponent () |
| | destructor
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| 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)).
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| virtual bool | beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) |
| | Called by the task manager when this controller should start executing the specified task.
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| 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.
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| 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.
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| virtual void | suspendTask () |
| | This method is called when the currently running task is being suspended.
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| virtual int | sendSubtask (DtSimTask &task) |
| | Sends subtask to ourself.
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| virtual void | clearSubtask (int subtaskId) |
| | Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
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| virtual void | addPendingSubtaskId (int subtaskId) |
| | Adds given subtask Id to list of pending subtasks.
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| virtual bool | findPendingSubtaskId (int subtaskId) |
| | Checks to see if given subtaskId exists in our list of pending subtasks.
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| virtual void | removePendingSubtaskId (int subtaskId) |
| | Removes pending subtask from list of subtasks for this component.
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| virtual void | removeAllPendingSubtaskIds () |
| | Clear all pending subtasks from our list of subtasks.
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| virtual std::vector< int > | currentPendingSubstaskIds () const |
| | Returns the list of all currently pending subtask ids for this controller.
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| virtual void | clearCurrentTaskMessage () |
| | Returns the current subtask with the specified id.
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| virtual DtTaskMessage * | currentTaskMessage () const |
| | Get a pointer to the message that was used to task this entity.
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| virtual bool | decideToGiveUpTask () const |
| | This function is used to determine if the controller should give up trying to execute the current task.
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| virtual void | giveUpTask () |
| | Called when controller is tasked and decideToGiveUp() returns true.
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| virtual bool | taskActive (int taskId) const |
| |
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| virtual bool | clearTopLevelTasks () |
| | If this controller has any top level tasks (not subtasks), they are cleared.
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| virtual void | clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) |
| | Clears any top level tasks on this controller that conflict with the conflict task type.
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| virtual void | clearTasksByType (const DtSimTaskMessageType &taskType) |
| | Clears any tasks of the specified type running in this controller.
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| virtual void | clearTaskById (int taskId) |
| | Clears any task of the specified ID running in this controller.
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| virtual DtSuspendedTaskInfo * | suspendTaskById (int taskId) |
virtual std::list
< DtTaskMessage * > | currentTaskMessages () const |
| |
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| virtual DtTaskWithTaskStateListPtr | topLevelTasks () const |
| |
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| | DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtTaskControllerComponent () |
| | destructor
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| virtual bool | showCurrentTaskInGui () const |
| virtual void | setRadio (DtSimBaseRadio *radio) |
| | Calls registerTaskMsgCallbacks.
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| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| | Adds a new function for processing the specified task type.
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| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| | Deprecated form of addTaskProcessorCallback.
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| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| | Undoes anything done by addTaskProcessorCallback().
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| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| | Deprecated form of removeTaskProcessorCallback.
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| virtual void | enable () |
| | Overridden to call registerTaskMsgCallbacks().
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| virtual void | disable () |
| | Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
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| virtual void | sendTaskCanceled (DtTaskMessage *taskMsg) |
| | Sends the task canceled report for the specified message.
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| virtual void | setTasked (bool tasked) |
| | The current tasked state of this controller.
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| virtual bool | tasked () const |
| | The current tasked state of this controller.
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| | DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtControllerComponent () |
| | destructor
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| virtual DtSimBaseRadio * | radio () |
| | The radio this component is listening to.
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| | DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| virtual | ~DtSimComponent () |
| | destructor
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| void | setParentSystem (DtComponentSystem *system) |
| | Sets the parent system of this component.
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| virtual bool | postAddComponentsInit () |
| | Called after all components have been created, initialized and added to the component manager.
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| virtual void | registerAttributeFunctions () |
| | Called to register functions that provide system attribute values.
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| virtual void | preFirstTickInit () |
| | This function can be overridden to initialize a component before it is ticked for the first time.
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| virtual void | timedTick () |
| | This version of tick checks to see if the time to tick has arrived.
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| virtual void | setMinTickPeriod (double minTickPeriod) |
| | specifies a minimum tick period (which can also be thought of as
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| virtual double | minTickPeriod () const |
| | access the minimum tick period
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| virtual void | setMinTickPeriodVariance (double minTickPeriodVariance) |
| | set the variance in the minimum tick time
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| virtual double | minTickPeriodVariance () const |
| | access the variance in the minimum tick period
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| virtual void | setNextTickTime (double nextTickTime) |
| | The next tick time is normally calculated internally.
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| virtual double | nextTickTime () const |
| | access the next tick time
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| virtual double | calculateNextTickTime () const |
| | The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
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| virtual double | calculateFirstTickTime () const |
| | Returns the first time value that the component should tick at.
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| 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.
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| virtual DtSimComponent * | nextComponent () |
| | List management functions.
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| virtual DtSimComponent * | prevComponent () |
| virtual void | setListItem (DtListItem *item) |
| | Used by DtComponentList.
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| 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.
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| 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.
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| 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.
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| 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.
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| virtual DtList | inputPortList () const |
| | Returns the list of DtInputPorts registered on this component.
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| 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.
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| 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.
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| virtual DtList | outputPortList () const |
| | Returns the list of DtOutputPorts registered on this component.
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| 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.
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| 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.
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| virtual DtList | inputPortGroupList () const |
| | Returns the list of DtInputPortGroups registered on this component.
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| 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.
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| 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.
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| virtual DtList | outputPortGroupList () const |
| | Returns the list of DtOutputPortGroups registered on this component.
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| virtual int | priority () const |
| | Return the current connection priority for this component.
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| 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.
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| double | dT () const |
| | This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
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| 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.
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| 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.
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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.
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| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual DtString | componentFullName () const |
| virtual DtPhysicalWorld * | physicalWorld () |
| | Gets the physical world that this component's entity exists in.
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| virtual const DtPhysicalWorld * | physicalWorld () const |
| virtual DtAttachedTerrain * | terrainAttachedTo () |
| | Gets the terrain that this component's entity is attached to, if any.
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| virtual const DtAttachedTerrain * | terrainAttachedTo () const |
| virtual DtVrfObject * | entity () |
| | Gets the entity.
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| virtual const DtVrfObject * | entity () const |
| virtual DtSimManager * | simManager () |
| | Gets the sim manager.
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| 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!
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| virtual Coordinate_System * | coordinateSystem () |
virtual
DtVrfObjectStateRepository * | localStateRepository () |
| | Gets the local state repository.
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virtual const
DtVrfObjectStateRepository * | localStateRepository () const |
| virtual bool | isEnabled () |
| | Is this component enabled or not.
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| virtual void | setIsEnabled (bool yesNo) |
| | Is this component enabled or not.
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| 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 |
| | 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
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| bool | operator== (const DtReaderWriter &) const |
| | Equivalence operator.
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| bool | operator!= (const DtReaderWriter &rhs) |
| virtual | ~DtReaderWriter () |
| | destructor
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| virtual void | putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename()) |
| | Top level call to write itself to file.
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| virtual void | getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference()) |
| | Top level to read itself from an input stream.
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| 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.
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| virtual void | addAlias (const DtSymbolString &alias) |
| | Add an alias as an alternative name for this object.
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| virtual bool | hasAlias (const DtSymbolString &alias) |
| virtual const aliasContainer & | aliases () const |
| virtual void | setReadonly (bool flag) |
| | Set read-only flag.
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| virtual bool | isReadonly () const |
| virtual bool | variableIsBound () const |
| virtual void | unbindVariable () |
| | Sets the myVariableIsBound flag to false.
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| 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.
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| virtual DtString | prettyPrint () const |
| | Routine to return a human readable form of the reader/writer variable.
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| 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.
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| virtual bool | valueSpecified () const |
| | The specified flags are used for optional values.
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| virtual bool | isVariableReference () const |
| | Specifies whether or not this reader writer is really a variable that is specified elsewhere.
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| virtual void | setIsVariableReference (bool value) |
| virtual void | clearAllVariableReferenceFlags () |
| | Clears out all variable reference flags from all readerwriter items in registry recursively.
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| virtual DtSymbolString | variableName () const |
| | The variable name, if this object is a variable reference.
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| virtual void | setVariableName (const DtSymbolString variableName) |
| | The variable name, if this object is a variable reference.
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| const DtReaderWriterRegistry & | registry () const |
| | Collection of child DtReaderWriter nodes owned by this object.
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| DtReaderWriterRegistry & | registry () |
| | Collection of child DtReaderWriter nodes owned by this object.
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Protected Member Functions |
| virtual void | processMoveAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr) |
| 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().
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| virtual void | processTaskComplete (DtSimMessage *msg) |
| | If task complete report is a DtMoveAlongTask, remove corresponding entry from myCurrentlyTaskedSubordinateEchelonIds.
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| virtual void | processRouteChanged (const DtVrfObject &obj) |
| | Regenerates routes.
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| 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.
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| virtual void | moveTo (const DtString &routeName, bool traverseForward) |
| | Issue DtMoveIntoFormation task as subtask to ourself.
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| 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.
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| virtual void | generateFormationRoutes (const DtVrfObject &route, bool reverseDirection) |
| | Generate routes for subordinates to follow, at offsets corresponding to their position in formation.
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| virtual void | buildEntityRouteFollowingMap (std::map< DtVrfObject *, DtEntityRouteFollowingData > &map) |
| | Generate map of which subordinate is following which generated route.
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| 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.
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| 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 |
| 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.
|
| virtual void | suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo) |
| | Suspends all running subtasks of taskId, and puts the suspend info for each of them as subtasks into the provided suspendInfo.
|
| | DtControllerComponent () |
| | default constructor
|
| | DtControllerComponent (const DtControllerComponent &orig) |
| | copy constructor
|
| const DtControllerComponent & | operator= (const DtControllerComponent &orig) |
| | assignment operator
|
| bool | testInvariant () const |
| virtual bool | createPortGroups () |
| | Called by init.
|
| virtual bool | createPorts () |
| | Called by init.
|
| 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.
|
| virtual DtlObjPtr | getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings) |
| | Deriving class overrides these to get/put class specific data.
|
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
Public Member Functions inherited from DtSingleTaskControllerComponent