DtGroundPatrolRouteController Class Reference

DtGroundPatrolRouteController is a controller that models patrolling along route behavior for ground vehicles. More...

Inheritance diagram for DtGroundPatrolRouteController:

Public Member Functions
	DtGroundPatrolRouteController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtGroundPatrolRouteController ()
	destructor
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual DtSimTaskStatePtr	currentTaskState () const
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register its interest in patrolRoute commands.
virtual void	stop ()
	Overrides so we can call DtRoute::reset() to reverse our direction instead of actually stopping at the end of the route.
Public Member Functions inherited from DtGroundMoveAlongControllerComponent
	DtGroundMoveAlongControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtGroundMoveAlongControllerComponent ()
	destructor
virtual bool	init ()
	Registers the attribute function with the parent system.
virtual void	preFirstTickInit ()
	Override to try and look up route if we start out with a move-along route task and if found register routeChangedCallback as a vertices changed callback.
virtual void	tick ()
	If tasked and destinationIsInsideObstruction() but the current vertex in the route is not the last one, print a warning to the console, call setDestinationIsInsideObstruction(false) and then call stop().
virtual void	processRouteChanged (DtVrfObject *obj)
virtual DtAutomotivePSR *	getPSR ()
	Gets the process state repository for purposes of providing attributes.
virtual bool	setupRoute ()
	Look up the route by name, and set myRoute if found.
virtual bool	setupDestination ()
	Sets myControlPoint to the position of the route's current vertex.
virtual double	findDesiredSpeed ()
	Overrides so the entity will slow down when coming to large turns in the route, but not slowdown/stop if the turn is small.
virtual DtAutoTransmissionGearEnum	determineGearSetting ()
	Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed().
virtual double	findCosTurnAngle ()
	Returns the cos of the angle of the next turn in the route.
Public Member Functions inherited from DtGroundMoveToDestinationControllerComponent
	DtGroundMoveToDestinationControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtGroundMoveToDestinationControllerComponent ()
	destructor
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	Overridden to cast and set our local pointer to the descriptor.
virtual void	processSetLocation (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.
virtual void	processModifyVrfObject (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
virtual bool	getDestination (DtVector &destination)
	getDestination()
virtual const DtVector &	destinationVector () const
	Returns the current destination vector for the entity.
virtual double	findDesiredHeading ()
	Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()).
virtual bool	nearDestination ()
	Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).
virtual bool	atDestination ()
	Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.
virtual bool	passedDestination ()
	Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.
virtual void	doMoving ()
	Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
Public Member Functions inherited from DtGroundAutoControllerComponent
	DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtGroundAutoControllerComponent ()
	destructor
virtual double	approximateThrottle (double desiredSpeed)
	Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil.
virtual double	calculateSteering (double currentHeading, double desiredHeading) const
virtual double	calculateCurrentBrakingDistance () const
virtual bool	createAutomotiveControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
virtual bool	createSteeringPort ()
virtual bool	createBrakePort ()
virtual bool	createGearPort ()
virtual bool	createParkingBrakePort ()
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedAnalogOutputPort *	steeringPort ()
virtual DtConstrainedAnalogOutputPort *	brakePort ()
virtual DtConstrainedIntegerOutputPort *	gearPort ()
virtual DtBooleanOutputPort *	parkingBrakePort ()
virtual double	decelerationSoilFactor () const
virtual double	calcSteeringForTurnInPlace ()
	calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn.
virtual double	calcThrottleForTurnInPlace ()
	calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn.
virtual double	calcBrakeForTurnInPlace ()
	If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned.
virtual int	calcGearForTurnInPlace ()
	calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn.
virtual double	calcSteeringForPivot ()
	calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn.
virtual double	calcThrottleForPivot ()
	calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn.
virtual double	calcSteeringForKTurn ()
	If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn.
virtual double	calcThrottleForKTurn ()
	If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn.
virtual double	calcBrakeForKTurn ()
	If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop.
virtual double	findSpeedForKTurn ()
	If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned.
virtual double	findHeadingForKTurn ()
	If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned.
virtual void	setHeadingToTurnTo (double headingToTurnTo)
	Get/Set the heading we the entity has been tasked to turn to.
virtual double	headingToTurnTo () const
virtual double	calculateHeadingToTurnTo ()
	The heading to turn to given the current turn mode and heaading to turn to.
virtual void	setTurnToMode (int headingToTurnTo)
	Get/Set the heading turn to mode (see setHeadingRequest.h for modes)
virtual int	turnToMode () const
virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)
	Get/Set the heading that is halfway between the original heading and the heading to turn to.
virtual double	kTurnReverseGoalHeading () const
virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)
	Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading())
virtual bool	kTurnReverseComplete () const
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 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 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 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	patrolRouteCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskStatePtr)
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
Static Public Member Functions inherited from DtGroundMoveAlongControllerComponent
static void	moveAlongCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskStatePtr)
static void	routeChangedCallback (DtVrfObject *obj, void *usr)
	Handle messages that may indicate the route we're following has changed.
static DtReaderWriter *	provideNextRoutePointIndex (void *c)
	A callback to provide a controller attribute ("next-route-point-index")
static void	objectAddedCb (DtVrfObject *vrfObject, void *usr)
	Calls processObjectAdded().
static void	objectAboutToBeRemovedCallback (DtVrfObject *obj, void *usr)
Static Public Member Functions inherited from DtGroundMoveToDestinationControllerComponent
static void	setLocationCallback (DtSimMessage *msg, void *usr)
	Calls processSetLocation.
static void	modifyVrfObjectCallback (DtSimMessage *msg, void *usr)
	Calls processModifyVrfObject.

Protected Member Functions
virtual void	processPatrolRoute (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)
	DtGroundPatrolRouteController ()
	Default constructor; should not be called.
	DtGroundPatrolRouteController (const DtGroundPatrolRouteController &orig)
	copy constructor; shallow; does not copy the ports.
const DtGroundPatrolRouteController &	operator= (const DtGroundPatrolRouteController &orig)
	assignment operator; see comments on copy constructor!
Protected Member Functions inherited from DtGroundMoveAlongControllerComponent
virtual void	processMoveAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)
	DtGroundMoveAlongControllerComponent ()
	default constructor - should not be called
	DtGroundMoveAlongControllerComponent (const DtGroundMoveAlongControllerComponent &orig)
	copy constructor
DtGroundMoveAlongControllerComponent &	operator= (const DtGroundMoveAlongControllerComponent &orig)
	assignment operator
virtual void	buildLocalRoute ()
	builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices.
virtual void	emptyVertexList ()
	removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
virtual void	processObjectAdded (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	clearTask ()
	Override to clear route name and route state data stored in myProcessState.
virtual bool	decideToGiveUpTask () const
	Checks to see if destination is inside an obstruction.
virtual void	processObjectAboutToBeRemoved (DtVrfObject *obj)
virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
Protected Member Functions inherited from DtGroundMoveToDestinationControllerComponent
virtual void	setupDestinationVector () const
	Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual double	desiredHeadingFromDestination (const DtDcm &localToTopoDcm)
	Given the destination, calculate the heading needed to reach that point.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual double	distanceToDestination () const
virtual bool	createPortGroups ()
	Overridden to create myAutomotiveControlPortGroup.
virtual bool	createPorts ()
	Overridden to create the automotive ports.
virtual void	setDestinationIsInsideObstruction (bool yesNo)
	Set whether or not current destination is inside an obstruction.
virtual bool	destinationIsInsideObstruction () const
	Returns whether or not current destination is inside an obstruction.
virtual bool	usingNavBot ()
virtual void	useNavBotData ()
	Uses calculations from the navBot to control the entity or end the task.
virtual void	updateNavBotDestination ()
virtual void	processNavAreaChanged ()
DtVector	localDestination () const
Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()
	This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.
virtual bool	postAddComponentsInit ()
	Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
virtual DtSoilFactors *	currentSoilFactors () const
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
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 ()

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 Member Functions inherited from DtGroundMoveToDestinationControllerComponent
static void	navAreaChangedCallback (void *usr)
Protected Attributes inherited from DtGroundMoveAlongControllerComponent
DtVrfObject *	myRoute
	This is looked up once per tick - assumed unchanging while we have control.
bool	myRouteHasChanged
	This gets set to true when a modifyRoute message for the route we're following is received.
bool	myResetVertex
int	myPreviousVertex
bool	myNeedsDestinationSetupOnNextTick
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

DtGroundPatrolRouteController is a controller that models patrolling along route behavior for ground vehicles.

End User Description: The route is followed until complete, then in reverse, then forward, etc., until the entity is retasked.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtGroundPatrolRouteController::DtGroundPatrolRouteController	(	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 DtGroundPatrolRouteController::~DtGroundPatrolRouteController ( )

virtual

destructor

DtGroundPatrolRouteController::DtGroundPatrolRouteController ( )

protected

Default constructor; should not be called.

Here because the compiler will generate an unprotected one otherwise.

DtGroundPatrolRouteController::DtGroundPatrolRouteController ( const DtGroundPatrolRouteController &  orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual const char* DtGroundPatrolRouteController::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

DtGroundAutoPatrolRouteType

Reimplemented from DtGroundMoveAlongControllerComponent.

static void DtGroundPatrolRouteController::patrolRouteCallback ( DtSimMessage *  msg, void *  usr, DtSimTaskStatePtr  taskStatePtr  )

static

virtual DtSimTaskStatePtr DtGroundPatrolRouteController::currentTaskState ( ) const

virtual

Returns

Current execution state of the task. At the base class level, returns 0. Derived classes that have tasks with DtTaskState (data associated with execution of the task) may return a new DtTaskState instance, filled out with the appropriate information about the current task execution state. Task controllers that do not need to return task state do not need to override this function.

Reimplemented from DtGroundMoveAlongControllerComponent.

static DtSimComponent* DtGroundPatrolRouteController::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.

Reimplemented from DtGroundMoveAlongControllerComponent.

virtual void DtGroundPatrolRouteController::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register its interest in patrolRoute commands.

Reimplemented from DtGroundMoveAlongControllerComponent.

virtual void DtGroundPatrolRouteController::stop ( )

virtual

Overrides so we can call DtRoute::reset() to reverse our direction instead of actually stopping at the end of the route.

Reimplemented from DtGroundMoveAlongControllerComponent.

virtual void DtGroundPatrolRouteController::processPatrolRoute ( const DtTaskMessage &  msg, DtSimTaskStatePtr  taskStatePtr  )

protectedvirtual

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

protected

assignment operator; see comments on copy constructor!

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

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