DtTurretAcquireController Class Reference

The DtTurretAcquireController attempts to slew the turret to track targets. More...

Inheritance diagram for DtTurretAcquireController:

Public Member Functions
	DtTurretAcquireController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtTurretAcquireController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Sets myObjectId.
virtual void	tick ()
	Calculate new control values.
virtual bool	inSector (DtVrfObject *entity) const
	Calls DtVrfObjectStateRepository::inSOR.
virtual DtReal	findBodyHeadingToTarget (DtVrfObject *entity) const
	Returns heading to target in body coordinates.
virtual DtVrfObject *	chooseTarget (const DtEntityTargetList &targetList, DtTime currentTime) const
	Choses target based on sector of responsibility & easier()
virtual DtVrfObject *	easier (DtVrfObject *entity1, DtVrfObject *entity2) const
	Returns entity1.
Public Member Functions inherited from DtTurretSlewController
	DtTurretSlewController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtTurretSlewController ()
	destructor
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	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
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 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
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
bool	operator== (const DtReaderWriter &) const
	Equivalence operator.
bool	operator!= (const DtReaderWriter &rhs)
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 void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively.
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual bool	createPorts ()
	Called by init to create the targetListInputPort.
virtual bool	canTrackTarget (const DtVector &localEyepoint, DtVrfObject *targetObject) const
Protected Member Functions inherited from DtTurretSlewController
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.
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.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.

Protected Attributes
const DtTurretAcquireControllerDescriptor *	myTurretAcquireControllerDescriptor
DtEntityIdentifier	myObjectId
	cached in init() to avoid repeated lookups
Ports and Port Groups
DtEntityListInputPort *	myTargetListPort
	Input Port Name: target-list Input Port Description: List of detected hostile targets.
Protected Attributes inherited from DtTurretSlewController
DtVrfTurretedBalGunPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
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.

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

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

The DtTurretAcquireController attempts to slew the turret to track targets.

End User Description: The controller first checks to see if there is a current target for the entity. If there is, it slews the turret as necessary to track the target. If not, it checks the target port from the detection sensor. If there are targets on the port, the controller chooses one based on in-sector vs. out-of-sector and closest angular distance to the current turret position.

The DtTurretAcquireController can also process "Fire-Now" messages. It slews the turret to face the target specified in the fire now message. Once the target is lined up (ignoring range, and line of sight) the rules of engagement are set to fire-at-will, and the target-acquired flag is set to true so that the main gun will fire once it has loaded. This component then listens for a fire interaction originating from this entity, at which time this controller releases control of the ports. A timeout is also set through the descriptor so that this component will release control at a predetermined period after the fire-now command is received. This ensures that the entity will not get stuck in a "fire-now" mode even if it has run out of ammunition or does not have a munition type to use against the specified target.

Uses Descriptor Type: DtTurretAcquireControllerDescriptor

Constructor & Destructor Documentation

DtTurretAcquireController::DtTurretAcquireController	(	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 DtTurretAcquireController::~DtTurretAcquireController ( )

virtual

destructor

DtTurretAcquireController::DtTurretAcquireController ( )

private

default constructor; not implemented

DtTurretAcquireController::DtTurretAcquireController ( const DtTurretAcquireController &  orig )

private

copy constructor; not implemented

Member Function Documentation

virtual DtString DtTurretAcquireController::type ( ) const

virtual

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns

DtTurretAcquireControllerType

Implements DtTurretSlewController.

virtual bool DtTurretAcquireController::init ( )

virtual

Sets myObjectId.

Reimplemented from DtTurretSlewController.

virtual void DtTurretAcquireController::tick ( )

virtual

Calculate new control values.

Reimplemented from DtTurretSlewController.

virtual bool DtTurretAcquireController::inSector ( DtVrfObject *  entity ) const

virtual

Calls DtVrfObjectStateRepository::inSOR.

virtual DtReal DtTurretAcquireController::findBodyHeadingToTarget ( DtVrfObject *  entity ) const

virtual

Returns heading to target in body coordinates.

virtual DtVrfObject* DtTurretAcquireController::chooseTarget ( const DtEntityTargetList &  targetList, DtTime  currentTime  ) const

virtual

Choses target based on sector of responsibility & easier()

virtual DtVrfObject* DtTurretAcquireController::easier ( DtVrfObject *  entity1, DtVrfObject *  entity2  ) const

virtual

Returns entity1.

static DtSimComponent* DtTurretAcquireController::creator ( const DtString &  name, DtVrfObject *  owner, DtSimManager *  simManager, DtComponentDescriptor *  desc = 0, DtReaderWriterRegistry *  parentRegistry = 0  )

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns

New instance of this class.

virtual bool DtTurretAcquireController::createPorts ( )

protectedvirtual

Called by init to create the targetListInputPort.

Reimplemented from DtTurretSlewController.

virtual bool DtTurretAcquireController::canTrackTarget ( const DtVector &  localEyepoint, DtVrfObject *  targetObject  ) const

protectedvirtual

Returns

true if the specified target can be tracked by this entity. A target can be tracked if: The check-LOS flag is false. OR The track-by-signature is TRUE and the apparent signature of the target >= min-track-signature. OR The track-by-signature is FALSE and physicalWorld()->checkLineOfSight() returns true.

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

private

assignment operator; not implemented

Member Data Documentation

DtEntityListInputPort* DtTurretAcquireController::myTargetListPort

protected

Input Port Name: target-list
Input Port Description: List of detected hostile targets.

Input Port Range:
Input Port Default Value:
Input Group Parent:

const DtTurretAcquireControllerDescriptor* DtTurretAcquireController::myTurretAcquireControllerDescriptor

protected

DtEntityIdentifier DtTurretAcquireController::myObjectId

protected

cached in init() to avoid repeated lookups

---

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfmodel/turretAcqr.h