behavior for a ground vehicle aggregate entity to drive and follow each other on and off roads and routes More...

Inheritance diagram for DtConvoyTaskController:

Public Member Functions
	DtConvoyTaskController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtConvoyTaskController ()
	Default destructor.
virtual bool	init ()
	Initializes the controller. Mostly sets up the ConvoyPSR.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	clearTask ()
	Clears the task.
virtual void	resetTask ()
	Resets the task without completely clearing it.
virtual void	registerTaskMsgCallbacks ()
	Registers task and set data request callbacks for the convoy tasks.
virtual void	preFirstTickInit ()
	Restarts convoy tasks if necessary.
virtual void	tick ()
	This gives the thread of control to the component.
virtual bool	createPSR ()
virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
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 void	suspendTask ()
	This method is called when the currently running task is being suspended.
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 bool	isSubtasked () const
	Returns true if this controller is currently subtasked.
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 bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
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 DtSuspendedTaskInfo *	suspendTaskById (int taskId)
virtual std::list < DtTaskMessage * >	currentTaskMessages () const

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

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 (DtSimRadio *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 bool	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component.
virtual void	setTasked (bool tasked)
	The current tasked state of this controller.
virtual bool	tasked () const
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 DtSimRadio *	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 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	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 (std::string &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 DtReaderWriter::SearchPaths &searchPaths, 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 DtTaskVisualizationMap &	taskVisualizations ()
	Returns the list of task visualizations for this component.
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") 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)
	pseudo-copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
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 (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op.
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op.
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op.
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op.
virtual void	writeSelf (std::string &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 void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
bool	isReadonly () const
virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to iriginal state Default is no-op.
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment.
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 const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
std::string	debugText () const
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 bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference.
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 void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated.
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time.
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
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)
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable.
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename.
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid.
virtual bool	fromXmlFile (const DtFilename &)
	Restires object from given xml file.
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data.
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference.
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value.
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference.

Static Public Member Functions
static void	convoyTaskCallback (DtSimMessage msg, void usr)
	Callback function for handling incoming turn to heading task message.
static void	taskCompleteReportCallback (const DtVrfObjectMessage msg, void usr)
	Calls onTaskComplete() to process the message.
static void	destinationChangedCallback (DtVrfObject obj, void usr)
	Calls onModifyVrfObject() to process the change.
static void	objectAboutToBeRemovedCallback (DtVrfObject obj, void usr)
	Calls onObjectAboutToBeRemoved() to process the change.
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
static void	settingConsumerCallback (const DtSettingsObject settingsObject, void usr)

Protected Member Functions
void	onObjectAboutToBeRemoved (DtVrfObject *obj)
	Handles the removal of the destination control object.
virtual void	onModifyVrfObject (DtVrfObject *obj)
	Handles the change of vertices of the destinatino control object.
virtual void	onConvoyTask (DtSimMessage *msg)
	Issues DtMoveIntoFormationTask to ourself, at current location, heading given in incoming DtTurnToHeadingTask, keeping existing formation, and not applying formation to subordinates.
virtual void	onTaskComplete (const DtVrfObjectMessage *msg)
	Handles all task complete messages for this controller.
virtual void	sendTaskToSubordinate (const DtSimTask &task, const DtUUID &subordinate)
	Used to send tasks to a particular subordinate.
virtual void	sendSetToSubordinate (DtSetDataRequest &request, const DtUUID &subordinate)
	Used to send set messages to a particular subordinate.
virtual bool	setupTask (const DtVrfObject aggregate, DtVrfObject destination, bool pathPlan)
	Sets up a convoy task based on the parameters.
virtual DtVector	findAssemblyPoint (const DtVrfObject aggregate, const DtVector &destination, bool haveRails, const Coordinate_System coordSys)
	Finds the point in which the subordinates will assemble and drive to before driving on roads/rails/along routes.
virtual bool	setupSubordinates (const DtVrfObject *aggregate, bool clearSubs, bool &leaderSet)
	Sets up the subordinates for this controller to worry about in the aggregate.
virtual void	setupLeadOnDistance (int numberOfEntities, float distanceBetween)
	Sets up the lead on distance the leader will have on the road/rail ahead of everyone else before he stops to wait for the others to get on the rail.
virtual bool	createDirectRailPath (const DtVrfObject leadEntity, const DtVrfObject destination)
	Creates the rail path for which the convoy will drive on.
virtual bool	areSeparationDistancesWithinRange (const DtConvoyPSR::DtRwSubordinateList &subordinates, const float distance, const float tolerance, const Coordinate_System *coordSys)
	Checks to ensure the separation distances in the convoy are still within acceptable boundries.
virtual void	setLeaderSpeed (const float speed)
	Sets the speed of the convoy leader.
virtual void	resettingPhaseTick (bool retask=true)
	This function is called in tick() when the convoy phase is set to resetting.
virtual void	startingPhaseTick ()
	This function is called in tick() when the convoy phase is set to starting.
virtual void	assemblingPhaseTick ()
	This function is called in tick() when the convoy phase is set to assembling.
virtual void	convoyingPhaseTick ()
	This function is called in tick() when the convoy phase is set to convoying.
virtual void	finishingPhaseTick ()
	This function is called in tick() when the convoy phase is set to finishing.
virtual DtVector	findIntersectionOfLineAndCircle (const DtVector &centerPoint, const DtVector &endPoint, double radius, const Coordinate_System *coordSys) const
	Finds the intersection point of a circle and a radius line drawn in that circle.
virtual bool	taskEntityToMoveToAssemblyPt (const DtVrfObject entity, const DtVector &assemblyPoint, const Coordinate_System coordSys)
	Tasks the specified single entity (non-aggregate) to move to the assembly point, which is presumably the start of the road.
virtual bool	getEntityPathToEntry (const DtVrfObject entity, const DtVector &assemblyPoint, const Coordinate_System coordSys)
	Deprecated as of 4.2– calls taskEntityToMoveToAssemblyPt.
virtual DtRailSegment *	findClosestEntryRail (const DtVrfObject aggregate, const double &radius, DtRailSegmentList rails, int &railNumber, const Coordinate_System *coordSys) const
	This function finds the closest rail to enter a path.
virtual bool	isPointWithinRadius (const DtVector &center, double radius, const DtVector &point, const Coordinate_System *coordSys) const
	Finds whether a given point is within the given radius.
virtual bool	findPointOnRailOutsideSphere (const DtVector &center, const double &radius, const DtRailSegment segment, DtVector &resultPoint, const Coordinate_System coordSys) const
	Finds a point outside of the sphere on a rail, given a particular rail segment.
virtual void	registerDestinationChangedCallback ()
	Registers the necessary callbacks for any changes in control objects.
virtual void	unregisterDestinationChangedCallback ()
	Unregisters the necessary callbacks for any changes in control objects.
virtual bool	updateConvoySubordinates (DtVrfObject *aggregate, std::vector< DtUUID > &tempList, bool recursive=false)
	This function is recursive.
virtual bool	isEntityPartOfConvoy (const DtUUID &entity) const
	Returns true if the named entity is part of the convoy.
virtual bool	isEntityIndependentlyTasked (const DtVrfObject *entity) const
virtual void	setConvoyFollowing ()
virtual void	destroyedPhaseTick ()
double	maxSearchRadius (const DtPoint &start, const DtPoint &end)
virtual bool	startPathPlan (const DtVrfObject leadEntity, const DtVrfObject destination)
	Starts an asynchronous path plan.
virtual bool	pathPlanFinished ()
	Called when the path planning is done - sets up the rail path and sets the convoy status to "starting".
virtual DtVector	groundClamp (const DtVector &point, DtGeodeticCoord &lastPoint) const
	Will ground clamp the supplied point and return the ground clamped point.
virtual void	processSetting (const DtBoolSetting *setting)
	Sets myDrivingOnLeftEnabled with value in setting.
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.
virtual void	cleanupInactiveSubtaskStatus ()
	Clears out subtask status entries that are either completed or canceled which were started by this controller.
Protected Member Functions inherited from DtTaskControllerComponent
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.
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
	Compute current time and myDT.
bool	testInvariant () const
virtual bool	createPortGroups ()
	Called by init.
virtual bool	createPorts ()
	Called by init.
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
	Creates a PSR for this component and registers it with the PSR manager.
virtual void	destroyTaskVisualizations ()
	Destroys all task visualizations for this component.
virtual void	destroyTaskVisualization (const DtString &name)
	Destroys an existing task visualization.
virtual DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
	Finds an existing or creates a new point task visualization with the given name.
virtual DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
	Finds an existing or creates a new line task visualization with the given name.
virtual DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
	Finds an existing or creates a new area task visualization with the given name.
virtual DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
	Finds an existing or creates a new text task visualization with the given name.
double	calculateNextTaskVisTickTime () const
	Determines the next time the task visualizations should be ticked.
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
Protected Member Functions inherited from DtObjectDebugger< DtReaderWriter >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()
Protected Member Functions inherited from DtObjectDebugger< DtSimComponent >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()

Protected Attributes
boost::shared_ptr < DtAsyncJobMapEntry >	myPathJobEntry
	Token for asynchronous path plan task.
const DtConvoyDescriptor *	myDescriptor
DtConvoyPSR *	myProcessState
bool	myDestinationChangedCallbackRegistered
bool	myDrivingOnLeft

Private Member Functions
	DtConvoyTaskController (const DtConvoyTaskController &orig)
	not implemented
DtConvoyTaskController &	operator= (const DtConvoyTaskController &orig)
	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::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()
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

Detailed Description

behavior for a ground vehicle aggregate entity to drive and follow each other on and off roads and routes

End User Description: The DtConvoyTaskController responds to convoy-related tasks. It executes convoy behavior for the aggregate as a whole by issuing radio messages to aggregate members to carry out the convoy-related task.

This controller may only be configured as a part of an entity that has a convoy-task-controller.

Developer Description: The DtConvoyTaskController class sends several messages as appropriate to its subordinates. The aggregate considers itself complete once it has received task complete reports from all of the subordinates participating in the task at the end of the road or route or path. Uses Descriptor Type: DtConvoyDescriptor

Constructor & Destructor Documentation

DtConvoyTaskController::DtConvoyTaskController	(	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 DtConvoyTaskController::~DtConvoyTaskController ( )

virtual

Default destructor.

DtConvoyTaskController::DtConvoyTaskController ( const DtConvoyTaskController & orig )

private

not implemented

Member Function Documentation

virtual bool DtConvoyTaskController::init ( )

virtual

Initializes the controller. Mostly sets up the ConvoyPSR.

Reimplemented from DtControllerComponent.

virtual const char* DtConvoyTaskController::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. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns: DtConvoyTaskControllerType

Implements DtTaskControllerComponent.

virtual void DtConvoyTaskController::clearTask ( )

virtual

Clears the task.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtConvoyTaskController::resetTask ( )

virtual

Resets the task without completely clearing it.

virtual void DtConvoyTaskController::registerTaskMsgCallbacks ( )

virtual

Registers task and set data request callbacks for the convoy tasks.

Reimplemented from DtTaskControllerComponent.

static void DtConvoyTaskController::convoyTaskCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Callback function for handling incoming turn to heading task message.

Calls processTurnToHeadingTask to actually handle the message.

Parameters

msg	Message containing a DtTurnToHeadingTask.
usr	Pointer to instance of this class.

static void DtConvoyTaskController::taskCompleteReportCallback	(	const DtVrfObjectMessage *	msg,
		void *	usr
	)

static

Calls onTaskComplete() to process the message.

Parameters

msg	Message containing a DtTaskCompleteReport.
usr	Pointer to an instance of this class.

static void DtConvoyTaskController::destinationChangedCallback	(	DtVrfObject *	obj,
		void *	usr
	)

static

Calls onModifyVrfObject() to process the change.

static void DtConvoyTaskController::objectAboutToBeRemovedCallback	(	DtVrfObject *	obj,
		void *	usr
	)

static

Calls onObjectAboutToBeRemoved() to process the change.

static DtSimComponent* DtConvoyTaskController::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 void DtConvoyTaskController::preFirstTickInit ( )

virtual

Restarts convoy tasks if necessary.

Reimplemented from DtSimComponent.

virtual void DtConvoyTaskController::tick ( )

virtual

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

virtual bool DtConvoyTaskController::createPSR ( )

virtual

static void DtConvoyTaskController::settingConsumerCallback	(	const DtSettingsObject *	settingsObject,
		void *	usr
	)

static

virtual void DtConvoyTaskController::updateTaskVisualizations ( )

virtual

Called to update task visualizations after every tick.

Implemented by subclasses.

Reimplemented from DtSimComponent.

void DtConvoyTaskController::onObjectAboutToBeRemoved ( DtVrfObject * obj )

protected

Handles the removal of the destination control object.

This will result in the task being skipped.

Parameters

obj	the control object that is going to be removed

virtual void DtConvoyTaskController::onModifyVrfObject ( DtVrfObject * obj )

protectedvirtual

Handles the change of vertices of the destinatino control object.

This will result in the task restarting from their current location.

Parameters

obj	the control object that was modified

virtual void DtConvoyTaskController::onConvoyTask ( DtSimMessage * msg )

protectedvirtual

Issues DtMoveIntoFormationTask to ourself, at current location, heading given in incoming DtTurnToHeadingTask, keeping existing formation, and not applying formation to subordinates.

Parameters

msg	Message containing a DtTurnToHeadingTask.

virtual void DtConvoyTaskController::onTaskComplete ( const DtVrfObjectMessage * msg )

protectedvirtual

Handles all task complete messages for this controller.

Parameters

msg	Message containing a DtTaskCompleteReport.

virtual void DtConvoyTaskController::sendTaskToSubordinate	(	const DtSimTask &	task,
		const DtUUID &	subordinate
	)

protectedvirtual

Used to send tasks to a particular subordinate.

Does not check if entity is still a subordinate or independently tasked or immoblized for any reason.

Parameters

task	The task you wish you give
subordinateObjectName	the name of the entity you wish to send this task to. Must be a subordinate.

virtual void DtConvoyTaskController::sendSetToSubordinate	(	DtSetDataRequest &	request,
		const DtUUID &	subordinate
	)

protectedvirtual

Used to send set messages to a particular subordinate.

Does not check if entity is still a subordinate or alive.

Parameters

request	The set request
subordinateObjectName	name of the entity you wish to send this request to. Must be a subordinate.

virtual bool DtConvoyTaskController::setupTask	(	const DtVrfObject *	aggregate,
		DtVrfObject *	destination,
		bool	pathPlan
	)

protectedvirtual

Sets up a convoy task based on the parameters.

Calls several functions to setup the task.

Parameters

aggregate	the entity using this controller
destination	the destination object. Waypoint or route
pathPlan	whether or not to plan a path. If destination is route, this should be false

Returns: True if the task setup was successful. False if it was not.

virtual DtVector DtConvoyTaskController::findAssemblyPoint	(	const DtVrfObject *	aggregate,
		const DtVector &	destination,
		bool	haveRails,
		const Coordinate_System *	coordSys
	)

protectedvirtual

Finds the point in which the subordinates will assemble and drive to before driving on roads/rails/along routes.

Generally gives back the start of a rail

Parameters

aggregate	the aggregate using this controller
destination	this point is only used if haveRails param is false
haveRails	were rails created successfully? This will read the rails directly from the PSR
coordSys	the coordinate system pointer

Returns: The location (in 3D) in which the start of the rail path is (generated or otherwise)

virtual bool DtConvoyTaskController::setupSubordinates	(	const DtVrfObject *	aggregate,
		bool	clearSubs,
		bool &	leaderSet
	)

protectedvirtual

Sets up the subordinates for this controller to worry about in the aggregate.

This must be called as one of the first functions called. Is called by setupTask(). This function is also recursive for aggregates within aggregates. This function sets the subordinates in the PSR

Parameters

aggregate	The top level aggregate
leaderSet	Either ignore this parameter or pass in false

Returns: True if this happened successsfully, false if this failed

virtual void DtConvoyTaskController::setupLeadOnDistance	(	int	numberOfEntities,
		float	distanceBetween
	)

protectedvirtual

Sets up the lead on distance the leader will have on the road/rail ahead of everyone else before he stops to wait for the others to get on the rail.

The value is set in the PSR

Parameters

numberOfEntites	the number of entites in the convoy
distanceBetween	the distance that should be kept between the entities

virtual bool DtConvoyTaskController::createDirectRailPath	(	const DtVrfObject *	leadEntity,
		const DtVrfObject *	destination
	)

protectedvirtual

Creates the rail path for which the convoy will drive on.

Uses either the path planner, a route, or will return false if neither occurred.

Parameters

leadEntity	The convoy leader
destination	The point or path of interest (waypoint or route)

Returns: True if a rail was created and set to the PSR, false if no rail was created

virtual bool DtConvoyTaskController::areSeparationDistancesWithinRange	(	const DtConvoyPSR::DtRwSubordinateList &	subordinates,
		const float	distance,
		const float	tolerance,
		const Coordinate_System *	coordSys
	)

protectedvirtual

Checks to ensure the separation distances in the convoy are still within acceptable boundries.

Only updates the leader's speed as everyone else is dictated by their own follow sets.

Parameters

subordinates	A reference to the list of subordinates
distance	the distance of separation the subordinates should be from each other
tolerance	the tolerance for which the subordinates will be forgiven for in lagging behind (a percentage)
coordSys	a pointer to the coordinate system

Returns: True if the subordinates are within the specified ranges. False if they are not.

virtual void DtConvoyTaskController::setLeaderSpeed ( const float speed )

protectedvirtual

Sets the speed of the convoy leader.

This also sets a flag that remembers the leaders last ordered speed.

Parameters

speed The speed at which the leader will go

virtual void DtConvoyTaskController::resettingPhaseTick ( bool retask = true )

protectedvirtual

This function is called in tick() when the convoy phase is set to resetting.

It will reset the entire task based on the most recent convoy task it was given from its current location. Upon resetting, do we want to resetup the entities for the task?

virtual void DtConvoyTaskController::startingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to starting.

This function doesn't do anything for our own purposes.

virtual void DtConvoyTaskController::assemblingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to assembling.

This function checks to see where the leader is on the road/rail path before telling him to stop. Calls setLeaderSpeed() to alter the leader's speed accordingly.

virtual void DtConvoyTaskController::convoyingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to convoying.

This function checks the distances between each entity to ensure that they are within the specified distances

virtual void DtConvoyTaskController::finishingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to finishing.

This function is used when the convoy leader has reached his destination and the subordinates are all ordered to tighten up their formation so they can complete the task.

virtual DtVector DtConvoyTaskController::findIntersectionOfLineAndCircle	(	const DtVector &	centerPoint,
		const DtVector &	endPoint,
		double	radius,
		const Coordinate_System *	coordSys
	)		const

protectedvirtual

Finds the intersection point of a circle and a radius line drawn in that circle.

Parameters

centerPoint	the center of the circle but also connects to the endPoint (3D)
endPoint	the end point of the line that radiates from the center. Must be OUTSIDE of the circle (3D)
radius	the distance from the center point. Should be shorter than the distance of centerPoint to endPoint
coordSys	the coordinate system pointer

Returns: A vector that contains the 3D point of intersection between the line and the circle.

virtual bool DtConvoyTaskController::taskEntityToMoveToAssemblyPt	(	const DtVrfObject *	entity,
		const DtVector &	assemblyPoint,
		const Coordinate_System *	coordSys
	)

protectedvirtual

Tasks the specified single entity (non-aggregate) to move to the assembly point, which is presumably the start of the road.

This calls createEntrySegment() since each entry segment is created for each entity individually.

Parameters

entity	The entity in this aggregate being ordered to get to the path
assemblyPoint	the first point on the path
coordSys	the coordinate system pointer

Returns: True if this was successful, false if it failed for any reason

virtual bool DtConvoyTaskController::getEntityPathToEntry	(	const DtVrfObject *	entity,
		const DtVector &	assemblyPoint,
		const Coordinate_System *	coordSys
	)

protectedvirtual

Deprecated as of 4.2– calls taskEntityToMoveToAssemblyPt.

virtual DtRailSegment* DtConvoyTaskController::findClosestEntryRail	(	const DtVrfObject *	aggregate,
		const double &	radius,
		DtRailSegmentList *	rails,
		int &	railNumber,
		const Coordinate_System *	coordSys
	)		const

protectedvirtual

This function finds the closest rail to enter a path.

This uses isPointWithinRadius() to figure out and iterate through the list of rails in order to find a rail in which the second point of the rail itself sits outside of the bounding radius given.

Parameters

aggregate	Expects the top level aggregate with this controller
radius	The radius of the aggregate
rails	The list of rails where we are trying to find the closest entryway
railNumber	returns the index of the rail it finds in the list
coordSys	the coordinate system pointer

Returns: Pointer to the rail in the list that is the closest

virtual bool DtConvoyTaskController::isPointWithinRadius	(	const DtVector &	center,
		double	radius,
		const DtVector &	point,
		const Coordinate_System *	coordSys
	)		const

protectedvirtual

Finds whether a given point is within the given radius.

Used by findClosestEntryRail() to help it find out whether the segment it found is ideal.

Parameters

center	Center of the circle (in 3D)
radius	Radius of the circle (in meters)
point	The point in question (in 3D)
coordSys	The coordinate system pointer

Returns: True if the point is within the circle, false otherwise.

virtual bool DtConvoyTaskController::findPointOnRailOutsideSphere	(	const DtVector &	center,
		const double &	radius,
		const DtRailSegment *	segment,
		DtVector &	resultPoint,
		const Coordinate_System *	coordSys
	)		const

protectedvirtual

Finds a point outside of the sphere on a rail, given a particular rail segment.

Parameters

center	Center of the sphere. Preferably in 2D (topo)
radius	Radius of the sphere. In meters.
segment	Pointer to the segment in question
resultPoint	Expects an empty vector, but will store the resulting point here and return it
coordSys	Pointer to the coordinate system

Returns: True if it found a point, false if no point was found.

virtual void DtConvoyTaskController::registerDestinationChangedCallback ( )

protectedvirtual

Registers the necessary callbacks for any changes in control objects.

virtual void DtConvoyTaskController::unregisterDestinationChangedCallback ( )

protectedvirtual

Unregisters the necessary callbacks for any changes in control objects.

virtual bool DtConvoyTaskController::updateConvoySubordinates	(	DtVrfObject *	aggregate,
		std::vector< DtUUID > &	tempList,
		bool	recursive = `false`
	)

protectedvirtual

This function is recursive.

It calls itself if there are aggregates within aggregates. It compares the current list of subordinates with what should be and removes any subordinates that were removed. If any subordinates were added, however, this function will immediately return false.

Parameters

aggregate Expects a top level aggregate

Returns: True if the update resulted in either the removal of entities or no change occurred and false if an entity was added.

virtual bool DtConvoyTaskController::isEntityPartOfConvoy ( const DtUUID & entity ) const

protectedvirtual

Returns true if the named entity is part of the convoy.

virtual bool DtConvoyTaskController::isEntityIndependentlyTasked ( const DtVrfObject * entity ) const

protectedvirtual

virtual void DtConvoyTaskController::setConvoyFollowing ( )

protectedvirtual

virtual void DtConvoyTaskController::destroyedPhaseTick ( )

protectedvirtual

double DtConvoyTaskController::maxSearchRadius	(	const DtPoint &	start,
		const DtPoint &	end
	)

protected

virtual bool DtConvoyTaskController::startPathPlan	(	const DtVrfObject *	leadEntity,
		const DtVrfObject *	destination
	)

protectedvirtual

Starts an asynchronous path plan.

myPathJobToken is then checked in tick to see whether the job has been completed. This is used when a convoy task is using roads.

Parameters

leadEntity	Used for path plan starting location
destination	Location to plan the path to

virtual bool DtConvoyTaskController::pathPlanFinished ( )

protectedvirtual

Called when the path planning is done - sets up the rail path and sets the convoy status to "starting".

virtual DtVector DtConvoyTaskController::groundClamp	(	const DtVector &	point,
		DtGeodeticCoord &	lastPoint
	)		const

protectedvirtual

Will ground clamp the supplied point and return the ground clamped point.

If data is not available will use the last point supplied for altitude. If data is available last point is set to be the point just checked

Parameters

point	Point to ground clamp
lastPoint	Last point successfully ground clamped

virtual void DtConvoyTaskController::processSetting ( const DtBoolSetting * setting )

protectedvirtual

Sets myDrivingOnLeftEnabled with value in setting.

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

private

not implemented

Member Data Documentation

boost::shared_ptr<DtAsyncJobMapEntry> DtConvoyTaskController::myPathJobEntry

protected

Token for asynchronous path plan task.

const DtConvoyDescriptor* DtConvoyTaskController::myDescriptor

protected

DtConvoyPSR* DtConvoyTaskController::myProcessState

protected

bool DtConvoyTaskController::myDestinationChangedCallbackRegistered

protected

bool DtConvoyTaskController::myDrivingOnLeft

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation