DtDisaggregatedFormationController Class Reference

Class DtAggregateFormationController is a controller that manages the formation state for an aggregate entity. More...

Inheritance diagram for DtDisaggregatedFormationController:

Public Member Functions
	DtDisaggregatedFormationController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtDisaggregatedFormationController ()
virtual bool	init ()
	Initializes myCommandRadio and myAggregateStateRepository members.
virtual void	tick ()
	Calls formationUpdateIsNeeded().
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	setRadio (DtSimRadio *radio)
	Overridden to register for following radio messages: DtSetFormationType DtSetLocationRequestType DtSnapIntoFormationRequestType.
virtual void	processNodeAddedCallback (const DtUUID &subordinate)
virtual void	enable ()
	Override to (re)add set data request callbacks.
virtual void	disable ()
	Override to remove set data request callbacks.
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.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (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	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component.
virtual bool	taskVisualizationsEnabled () const
	Returns true if task visualizations are enabled 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 original 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 bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called.
virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag.
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 &)
	Restores 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	setFormationCallback (DtSimMessage *msg, void *usr)
	Callback for DtSetFormationRequest set data requests.
static void	setFormationTypeCallback (DtSimMessage *msg, void *usr)
	Callback for DtSetFormationTyeRequest set data requests.
static void	setHeadingCallback (DtSimMessage *msg, void *usr)
	Callback for DtSetFormationRequest set data requests.
static void	setLocationCallback (DtSimMessage *msg, void *usr)
	Callback for DtSetLocationRequest set data requests.
static void	snapIntoFormationCallback (DtSimMessage *msg, void *usr)
	Callback for DtSnapIntoFormationRequest set data requests.
static void	subordinatesChangedCallback (const DtUUID &superior, const DtUUID &subordinate, void *usr)
	Callback registered with DtVrfSubordinateManager invoked when contents of subordinate manager changes.
static void	nodeAddedCallback (const DtUUID &subordinate, void *userData)
	Callback registered with DtVrfSubordinateManager invoked when an org manager node is added.
static void	onTaskNotifyCallback (const DtSimTask &task, const DtSimComponent &notifier, void *usr)
	Callback to be invoked when onNotify() is called in the local task manager to indicate entity is about to start a new task.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual bool	formationUpdateIsNeeded () const
	Walks list of subordinates in formation state.
virtual void	processSetFormation (DtSimMessage *msg)
	Handler for setFormationCallback().
virtual void	processSetFormationType (DtSimMessage *msg)
	Handler for setFormationCallbackType().
virtual void	processSetHeading (DtSimMessage *msg)
	Handler for setHeadingCallback().
virtual void	processSetLocation (DtSimMessage *msg)
	Handler for setLocationCallback().
virtual void	processSnapIntoFormation (DtSimMessage *msg)
	Handler for snapIntoFormationCallback().
virtual void	processSubordinatesChanged (const DtUUID &superior, const DtUUID &subordinate)
	Handler for subordinates changed callback.
virtual void	snapIntoFormation (const DtString &formation, const DtVector &location, double heading, bool applyHeading)
	Puts the aggregate into the given formation, at the given location and heading.
virtual void	getCurrentFormation (DtFormation &formation)
	Get current formation position and formation type.
virtual DtOrgViewManagedObjectListConstPtr	generateListOfSubordinatesEligibleForFormation ()
	Generates the subset of subordinates available to participate in formation.
virtual std::list< int >	generateFormationPositions (DtOrgViewManagedObjectListConstPtr &entityInFormation)
	Generates a list of formation positions for each entity in the formation.
virtual int	findPositionInVector (const std::vector< DtEntityIdentifier > subordinateList, const DtEntityIdentifier &entityId) const
	Helper function for generateFormationPositions().
virtual void	generateFormationAtPositionAndOrientation (const DtVector &geocentricOrigin, const DtTaitBryan &geocentricOrientation, std::vector< DtVector > geocentricPositions, DtFormation &formation)
	Constructs an ad hoc formation (set of positional offsets of participants) based on current relative positioning of subordinates, at given location and orientation.
virtual void	generateWorkingFormation (DtFormation &formation)
	Creates an ad hoc formation from the current eligible subordinates current positions relative to one another.
virtual void	updateFormationState ()
	Recomputes and updates current working formation in process state repository, and updates subordinate list and formation positional data.
virtual void	registerWithOrgManager ()
	Register subordinateOrderChangedCallback with the DtOrganizationManager.
virtual void	unregisterWithOrgManager ()
	Unregister subordinateOrderChangedCallback with the DtOrganizationManager.
virtual void	sendRequestToSelf (const DtSetDataRequest &request) const
	Send given request to ourself.
virtual void	sendRequestToSubordinate (const DtSetDataRequest &request, const DtUUID &subordinate) const
	Send given request to one of our subordinates.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	processOnTaskNotifyCallback (const DtSimTask &task, const DtSimComponent &notifier)
	Called when the entity is about to start a new task.
virtual void	processRequestAvailableFormations (const DtVrfObjectMessage *msg)
virtual void	addSetDataCallbacks ()
	Add set data request callbacks.
void	removeSetDataCallbacks ()
	Callbacks are removed when component is disabled or destroyed.
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	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
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 ()

Static Protected Member Functions
static void	requestAvailableFormationsCallback (const DtVrfObjectMessage *msg, void *usr)

Protected Attributes
const DtFormationControllerDescriptor *	myFormationControllerDescriptor
	Descriptor used to configure this component.
DtVrfAggregateStateRepository *	myAggregateStateRepository
	Pointer to aggregate's state repository, cached in this class for convenience.
DtFormationState *	myFormationState
	Pointer to aggregate's formation state repository, cached in this for convenience.
bool	myRegisteredWithOrgManager
	Flag used to indicate if the subordinateOrderChangedCallback() has been registered with the aggregate's organization manager.
DtCompatibilityRadio *	myCommandChannelRadio
	Pointer to aggregate's command radio, cached in this class for convenience.
DtSetDataManager *	mySetDataManager
	Pointer to aggregate's DtSetDataManager, cached in this class for convenience.
DtFormationPSR *	myProcessState
	Container for state data associated with this component.
bool	myFormationCallbacksAreDisabled
	Flag used to indicate if formation-related callbacks are disabled (not registered).
bool	myFirstTick
	Flag used to indicate first non-zero dT() tick.
bool	myRegisteredForAddNodeCallback
const DtAggregateObjectParameters *	myAggregateParameters
	Convenience pointer to the aggregate parameters for this entity.
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
	Controller components can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
bool	myIsThreadSafe
	Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false.
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
	List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed.
bool	myTickEveryFrame
	Flag indicating that tickPeriod is set to 0, and the component will tick every frame.
DtTaskVisualizationMap	myTaskVisualizations
	The visualization objects to be drawn for this component.
double	myNextTaskVisTickTime
	The next tick time for updating the task visualizations.
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.
bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked.

Private Member Functions
	DtDisaggregatedFormationController ()
	Default constructor - not implemented.
	DtDisaggregatedFormationController (const DtDisaggregatedFormationController &orig)
	copy constructor - not implemented
DtDisaggregatedFormationController &	operator= (const DtDisaggregatedFormationController &orig)
	assignment operator - not implemented

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

Detailed Description

Class DtAggregateFormationController is a controller that manages the formation state for an aggregate entity.

End User Description: The DtAggregateFormationController manages the state associated with an aggregate entity's formation. This includes determining who is eligible to participate in the formation, and who should be positioned relative to whom when participating in the formation.

It is intended to work in conjunction with the aggregate controllers that model the various movement behaviors (e.g. DtAggregateMoveAlongController, DtAggregatePatrolBetweenController). The DtAggregateFormationController sets formation state (keeping it up to date), and the movement controllers examine the formation state and use that information to execute movement in formation.

This controller may only be configured as a part of an entity that has a vrf-aggregate-state-repository.

Developer Description: The DtAggregateFormationController class handles all DtSetDataRequests that affect formation, including DtSetLocationRequests, DtSetHeadingRequests, and DtSnapIntoFormationRequests. It sets the state in the aggregate entity's DtFormationState object (owned by the DtVrfAggregateStateRepository class). Therefore it should only be configured as part of an aggregate entity that has a DtVrfAggregateStateRepository.

Uses Descriptor Type: DtFormationControllerDescriptor

Constructor & Destructor Documentation

DtDisaggregatedFormationController::DtDisaggregatedFormationController ( )

private

Default constructor - not implemented.

DtDisaggregatedFormationController::DtDisaggregatedFormationController ( const DtDisaggregatedFormationController &  orig )

private

copy constructor - not implemented

DtDisaggregatedFormationController::DtDisaggregatedFormationController	(	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 DtDisaggregatedFormationController::~DtDisaggregatedFormationController ( )

virtual

Member Function Documentation

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

private

assignment operator - not implemented

virtual bool DtDisaggregatedFormationController::init ( )

virtual

Initializes myCommandRadio and myAggregateStateRepository members.

Must be called before any other member functions are called. Disables callbacks in formation state object (will be enabled after first nonzero tick).

Returns

True if component is completely successfully initialized, false if not.

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedFormationController::tick ( )

virtual

Calls formationUpdateIsNeeded().

If this returns true, calls updateFormation(). Enables callbacks in formation state object after first non-zero tick.

Reimplemented from DtSimComponent.

virtual const char* DtDisaggregatedFormationController::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

DtAggregateFormationControllerType

Implements DtControllerComponent.

Reimplemented in DtDisaggregatedConvoyFormationController.

virtual void DtDisaggregatedFormationController::setRadio ( DtSimRadio *  radio )

virtual

Overridden to register for following radio messages: DtSetFormationType DtSetLocationRequestType DtSnapIntoFormationRequestType.

Parameters

radio

Caches a pointer to the aggregate's radio in myCommandChannelRadio. Dynamically casts it to type DtCompatibilityRadio. Aggregates must be configured with radios of this type in order to be able to issue tasks/set data requests to subordinates.

Reimplemented from DtControllerComponent.

static void DtDisaggregatedFormationController::setFormationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for DtSetFormationRequest set data requests.

Calls processSetFormation().

Parameters

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

static void DtDisaggregatedFormationController::setFormationTypeCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for DtSetFormationTyeRequest set data requests.

Calls processSetFormationType().

Parameters

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

static void DtDisaggregatedFormationController::setHeadingCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for DtSetFormationRequest set data requests.

Calls processSetHeading().

Parameters

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

static void DtDisaggregatedFormationController::setLocationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for DtSetLocationRequest set data requests.

Calls processSetLocation().

Parameters

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

static void DtDisaggregatedFormationController::snapIntoFormationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for DtSnapIntoFormationRequest set data requests.

Calls snapIntoFormationCallback().

Parameters

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

static void DtDisaggregatedFormationController::subordinatesChangedCallback ( const DtUUID &  superior, const DtUUID &  subordinate, void *  usr  )

static

Callback registered with DtVrfSubordinateManager invoked when contents of subordinate manager changes.

Calls processSubordinatesChanged().

Parameters

entId	The aggregate's entity Id.
usr	Pointer to an instance of this class.

static void DtDisaggregatedFormationController::nodeAddedCallback ( const DtUUID &  subordinate, void *  userData  )

static

Callback registered with DtVrfSubordinateManager invoked when an org manager node is added.

This will be set when trying to register with the org manager and cannot

Parameters

entId	The aggregate's entity Id.
usr	Pointer to an instance of this class.

virtual void DtDisaggregatedFormationController::processNodeAddedCallback ( const DtUUID &  subordinate )

virtual

virtual void DtDisaggregatedFormationController::enable ( )

virtual

Override to (re)add set data request callbacks.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedFormationController::disable ( )

virtual

Override to remove set data request callbacks.

Reimplemented from DtSimComponent.

static void DtDisaggregatedFormationController::onTaskNotifyCallback ( const DtSimTask &  task, const DtSimComponent &  notifier, void *  usr  )

static

Callback to be invoked when onNotify() is called in the local task manager to indicate entity is about to start a new task.

Calls processOnTaskNotify().

Parameters

task	Task the aggregate is about to start.
notifier	The component that is responsible for executing the task.
usr	Pointer to an instance of this class.

static DtSimComponent* DtDisaggregatedFormationController::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 in DtDisaggregatedConvoyFormationController.

virtual bool DtDisaggregatedFormationController::formationUpdateIsNeeded ( ) const

protectedvirtual

Walks list of subordinates in formation state.

Calls DtFormationState::isAvailableForFormation() for each subordinate. If any subordinate fails this test, returns true, otherwise returns false.

virtual void DtDisaggregatedFormationController::processSetFormation ( DtSimMessage *  msg )

protectedvirtual

Handler for setFormationCallback().

If aggregate is currently tasked, calls updateFormationState(). Issues a DtSnapIntoFormationRequest to itself at the formation given in the incoming message.

Parameters

msg	Message containing a DtSetFormationRequest.

virtual void DtDisaggregatedFormationController::processSetFormationType ( DtSimMessage *  msg )

protectedvirtual

Handler for setFormationCallbackType().

If aggregate is currently tasked, calls updateFormationState(). Will only set the formation name. Usually used in conjunction with a task that will move the aggregate into the requested formation (as opposed to snapping it into formation).

Parameters

msg	Message containing a DtSetFormationRequest.

virtual void DtDisaggregatedFormationController::processSetHeading ( DtSimMessage *  msg )

protectedvirtual

Handler for setHeadingCallback().

If aggregate is currently tasked, calls updateFormationState(). Issues a DtSnapIntoFormationRequest to itself at the heading given in the incoming message.

Parameters

msg	Message containing a DtSetHeadingRequest.

virtual void DtDisaggregatedFormationController::processSetLocation ( DtSimMessage *  msg )

protectedvirtual

Handler for setLocationCallback().

If aggregate is currently tasked, calls updateFormationState(). Issues a DtSnapIntoFormationRequest to itself at the heading given in the incoming message.

Parameters

msg	Message containing a DtSetHeadingRequest.

virtual void DtDisaggregatedFormationController::processSnapIntoFormation ( DtSimMessage *  msg )

protectedvirtual

Handler for snapIntoFormationCallback().

If aggregate is currently tasked, calls updateFormationState(). Then calls snapIntoFormation().

Parameters

msg	Message containing a DtSnapIntoFromationRequest.

virtual void DtDisaggregatedFormationController::processSubordinatesChanged ( const DtUUID &  superior, const DtUUID &  subordinate  )

protectedvirtual

Handler for subordinates changed callback.

If formation is of type DtOtherAggregateFormation, changes it to DtWorkingFormation. Next, if formation is of type DtWorkingFormation, calls generateWorkingFormation() to create a formation given the current aggregate location, orientation, and subordinate positions. Finally, calls updateFormationState().

Parameters

entId

The ID of the entity whose subordinates have changed (ID of the aggregate).

virtual void DtDisaggregatedFormationController::snapIntoFormation ( const DtString &  formation, const DtVector &  location, double  heading, bool  applyHeading  )

protectedvirtual

Puts the aggregate into the given formation, at the given location and heading.

Issues set data request messages to each subordinate in the aggregate. Computes the position for each subordinate needed to construct the formation at the given location and heading. For individual subordinates, issues DtSetLocationRequests and DtSetHeadingRequests at the computed location and given heading. If applyFormationToSubaggregates is true (recurse), then for aggregate subordinates, issues DtSnapIntoFormationRequests at the computed location and given heading, thereby recursively snapping the aggregate into formation. Otherwise (applyFormationToSubordinates is false, no recursion) issues DtSetLocationRequest and DtSetHeadingReuqest to aggregate subordinates in the same way as for individuals. This allows for mixed formation (don't recursively apply given formation to subordinate aggregates).

Parameters

formation	Type of formation to snap into.
location	Local position aggregate where aggregate should position itself in formation.
heading	Heading in radians at which aggregate should position itself in formation.

virtual void DtDisaggregatedFormationController::getCurrentFormation ( DtFormation &  formation )

protectedvirtual

Get current formation position and formation type.

If aggregate has a working formation, returns the current ad hoc formation positions from the process state repository. Otherwise, looks up known type of formation (e.g. column, line, wedge), return the formation from the formation descriptor.

Parameters

formation

Type of formation (see extendedAggregateEnums.h for list of available types).

virtual DtOrgViewManagedObjectListConstPtr DtDisaggregatedFormationController::generateListOfSubordinatesEligibleForFormation ( )

protectedvirtual

Generates the subset of subordinates available to participate in formation.

Only subordinates that are alive and not independently tasked are included in the result.

Returns

The list of subordinates able to participate in formation. (mySubordinateInFormation)

virtual std::list<int> DtDisaggregatedFormationController::generateFormationPositions ( DtOrgViewManagedObjectListConstPtr &  entityInFormation )

protectedvirtual

Generates a list of formation positions for each entity in the formation.

If auto-promote-in-formation is false, positions are skipped in the formation for any entities that that have left the formation or are destroyed. Otherwise, the first n positions in the formation are used, based on the number of entities to be placed into formation.

virtual int DtDisaggregatedFormationController::findPositionInVector ( const std::vector< DtEntityIdentifier >  subordinateList, const DtEntityIdentifier &  entityId  ) const

protectedvirtual

Helper function for generateFormationPositions().

Returns

The position of entityId in the vector subordinateList.

virtual void DtDisaggregatedFormationController::generateFormationAtPositionAndOrientation ( const DtVector &  geocentricOrigin, const DtTaitBryan &  geocentricOrientation, std::vector< DtVector >  geocentricPositions, DtFormation &  formation  )

protectedvirtual

Constructs an ad hoc formation (set of positional offsets of participants) based on current relative positioning of subordinates, at given location and orientation.

Parameters

geocentricOrigin	Origin of coordinate system in geocentric coordinates, in which relative formation positions are computed from geocentric subordinate positions.
geocentricOrientation	Orientation of coordinate system in geocentric coordinates, to be used to compute formation positions from subordinate positions.
formation	constructed from relative subordinate positions.

virtual void DtDisaggregatedFormationController::generateWorkingFormation ( DtFormation &  formation )

protectedvirtual

Creates an ad hoc formation from the current eligible subordinates current positions relative to one another.

Parameters

formation

The generated formation.

virtual void DtDisaggregatedFormationController::updateFormationState ( )

protectedvirtual

Recomputes and updates current working formation in process state repository, and updates subordinate list and formation positional data.

virtual void DtDisaggregatedFormationController::registerWithOrgManager ( )

protectedvirtual

Register subordinateOrderChangedCallback with the DtOrganizationManager.

virtual void DtDisaggregatedFormationController::unregisterWithOrgManager ( )

protectedvirtual

Unregister subordinateOrderChangedCallback with the DtOrganizationManager.

virtual void DtDisaggregatedFormationController::sendRequestToSelf ( const DtSetDataRequest &  request ) const

protectedvirtual

Send given request to ourself.

Fills out data request message and sends it through the aggregate's radio.

Parameters

request

A set data request to be issued to ourself.

virtual void DtDisaggregatedFormationController::sendRequestToSubordinate ( const DtSetDataRequest &  request, const DtUUID &  subordinate  ) const

protectedvirtual

Send given request to one of our subordinates.

Fills out data request message and sends it to subordinate through our entity's radio.

Parameters

request	The data request to send to the given subordinate.
subordinateObjectName	The object name of the subordinate to be given the set data request.

virtual bool DtDisaggregatedFormationController::createPSR ( )

protectedvirtual

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtDisaggregatedFormationController::processOnTaskNotifyCallback ( const DtSimTask &  task, const DtSimComponent &  notifier  )

protectedvirtual

Called when the entity is about to start a new task.

Checks to see if any subordinates need to be re-added into the formation This can occur when a subordinate is independently tasked, but is later set to be tasked by superior again. 'Rediscover' these subordinates and bring them back into the formation.

Parameters

task	Task aggregate is about to start.
notifier	Component responsible for executing task.

static void DtDisaggregatedFormationController::requestAvailableFormationsCallback ( const DtVrfObjectMessage *  msg, void *  usr  )

staticprotected

virtual void DtDisaggregatedFormationController::processRequestAvailableFormations ( const DtVrfObjectMessage *  msg )

protectedvirtual

virtual void DtDisaggregatedFormationController::addSetDataCallbacks ( )

protectedvirtual

Add set data request callbacks.

Set data request callbacks are added when component is first created, and whenever component is enabled.

Reimplemented in DtDisaggregatedConvoyFormationController.

void DtDisaggregatedFormationController::removeSetDataCallbacks ( )

protected

Callbacks are removed when component is disabled or destroyed.

Non-virtual because it is called from the destructor.

Reimplemented in DtDisaggregatedConvoyFormationController.

Member Data Documentation

const DtFormationControllerDescriptor* DtDisaggregatedFormationController::myFormationControllerDescriptor

protected

Descriptor used to configure this component.

DtVrfAggregateStateRepository* DtDisaggregatedFormationController::myAggregateStateRepository

protected

Pointer to aggregate's state repository, cached in this class for convenience.

DtFormationState* DtDisaggregatedFormationController::myFormationState

protected

Pointer to aggregate's formation state repository, cached in this for convenience.

bool DtDisaggregatedFormationController::myRegisteredWithOrgManager

protected

Flag used to indicate if the subordinateOrderChangedCallback() has been registered with the aggregate's organization manager.

This registration cannot occur until the first tick of the entity. This flag is initially false, and gets set to true in the first non-zero dT() tick..

DtCompatibilityRadio* DtDisaggregatedFormationController::myCommandChannelRadio

protected

Pointer to aggregate's command radio, cached in this class for convenience.

DtSetDataManager* DtDisaggregatedFormationController::mySetDataManager

protected

Pointer to aggregate's DtSetDataManager, cached in this class for convenience.

DtFormationPSR* DtDisaggregatedFormationController::myProcessState

protected

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

bool DtDisaggregatedFormationController::myFormationCallbacksAreDisabled

protected

Flag used to indicate if formation-related callbacks are disabled (not registered).

These callbacks are disabled until the first tick. Flag is initially false, and then set to true in the first non-zero dt() tick.

bool DtDisaggregatedFormationController::myFirstTick

protected

Flag used to indicate first non-zero dT() tick.

bool DtDisaggregatedFormationController::myRegisteredForAddNodeCallback

protected

const DtAggregateObjectParameters* DtDisaggregatedFormationController::myAggregateParameters

protected

Convenience pointer to the aggregate parameters for this entity.

---

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-6-branch/include/vrfmodel/disaggregatedFormationController.h