Class DtDisaggregatedMoveAlongController is a task controller that models aggregate entity move-along-route behavior.

End User Description: The DtDisaggregatedMoveAlongController models movement along a route for aggregate entities. It handles execution of DtMoveAlongTasks. Movement is implemented by creating temporary working routes for each subordinate, positioned at an offset needed to maintain that subordinate's position in formation. The controller periodically monitors subordinate's relative positions to one another and issues DtSetSpeedRequests at a relatively faster or slower speed than the ordered speed. In this way, the controller attempts to maintain the shape of the formation as the subordinates move. The movement task is considered is considered complete when all subordinates have reached the end of the route and have issued task complete reports to the aggregate. At that point, the aggregate destroys the temporary working routes and the task ends.

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

Developer Description: The DtDisaggregatedMoveAlongController class registers a callback for handling DtMoveAlongTasks. When it receives a DtMoveAlongTask, it queries the aggregate's DtFormationState repository in the state repository for the current positions of its taskable subordinates in the current formation. It then creates a set of 'working' routes parallel to the original route, based on the offsets obtained from the formation state repository. It registers callbacks for handling changes to formation state, changes to route vertices, and unexpected removal of route while tasked to move along route.

Uses Descriptor Type: DtAggregateMoveAlongDescriptor

Inheritance diagram for DtDisaggregatedMoveAlongController:

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Public Member Functions
	DtDisaggregatedMoveAlongController (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtDisaggregatedMoveAlongController ()

virtual const char *	type () const

virtual bool	init ()

virtual void	registerTaskMsgCallbacks ()

virtual void	tick ()

virtual void	clearTask ()

virtual bool	createPSR ()

virtual DtSimTaskStatePtr	currentTaskState () const

Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick ()

virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)

virtual void	taskNotify (const DtSimTask &task)

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

virtual std::vector< int >	currentPendingSubstaskIds () const

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual bool	decideToGiveUpTask () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)

virtual void	clearTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)

virtual std::list < DtTaskMessage * >	currentTaskMessages () const

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

virtual void	disable ()

Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtTaskControllerComponent ()

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	enable ()

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtControllerComponent ()

virtual bool	postAddComponentsInit ()

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	disableTaskTypes ()

Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod)

virtual double	minTickPeriod () const

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)

virtual double	minTickPeriodVariance () const

virtual void	setNextTickTime (double nextTickTime)

virtual double	nextTickTime () const

virtual double	calculateNextTickTime () const

virtual double	calculateFirstTickTime () const

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0)

virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

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 int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()

virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual void	postPutSelf ()

virtual void	prePutSelf ()

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

virtual void	postGetSelf ()

virtual void	preGetSelf ()

virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

virtual std::list < DtVariableNameType >	unboundVariables () const

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	wasUpdatedSince (DtTime t) const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

virtual void	setValueSpecified (bool specified, bool recurse=false)

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

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())

virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	moveAlongCallback (DtSimMessage msg, void usr, DtSimTaskStatePtr taskStatePtr)

static void	taskCompleteReportCallback (DtSimMessage msg, void usr)

static void	formationChangedCallback (const DtFormationState &formationState, void *usr)

static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)

Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()

static void	setFactory (DtSimComponentFactory *factory)

static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject owner, DtSimulationServices simManager, DtComponentSystem parentSystem, DtComponentDescriptor desc=0, DtReaderWriterRegistry *parentRegistry=0)

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual void	processMoveAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)

virtual void	initializeMoveAlongTask (DtIteratorDirection traversalDirection, bool startAtClosestPoint, double speed, DtSimTaskStatePtr taskState)

virtual void	processFormationChanged (const DtFormationState &formationState)

virtual void	processTaskComplete (DtSimMessage *msg)

virtual void	processRouteChanged ()

virtual void	moveTo (const DtUUID &route, bool traverseForward)

virtual void	beginMoveAlong (const DtUUID &route, bool traverseForward, bool startAtClosestPoint, double speed)

virtual bool	generateFormationRoutes (const DtSimObject &route, bool reverseDirection)

virtual void	buildEntityRouteFollowingMap (std::map< const DtSimObject *, DtEntityRouteFollowingData > &map)

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

virtual void	sendSetDataToSubordinate (const DtSetDataRequest &setData, const DtUUID &subordinate) const

virtual void	deleteFormationRoutes ()

virtual bool	calculateInitialPositionAndHeadingAlongRoute (const DtSimObject &route, bool traverseForward, DtVector &initialPosition, double &initialHeading)

virtual void	sendVrfObjectModifyMsg (const DtUUID &object, DtList *vertices) const

virtual void	initializeNextRouteIndex ()

virtual unsigned int	nextRouteIndex ()

virtual bool	buildOffsetRoute (const DtList &localRouteVertexList, const DtVector &bodyOffset, bool reverseDirection, bool generateRoutesWithRoundedCorners, double vertexSpacingAlongRoundedCorners, DtList &geocentricOffsetRouteVertexList, bool &dataAvailable)

virtual void	initializeMemberDataFromDescriptor (const DtAggregateMoveAlongDescriptor &desc)

virtual void	maintainMovementInFormation ()

virtual void	reevaluateMoveAlongAssignments ()

virtual void	reevaluateFormationMoveAlongAssignments ()

virtual void	sendClearTask (const DtUUID &recipient, const DtSimTaskMessageType &taskType) const

virtual bool	adjustOffsetRouteStart (std::vector< DtVector > &route, bool &dataAvailable) const

virtual bool	adjustOffsetRouteEnd (std::vector< DtVector > &route, bool &dataAvailable) const

virtual bool	extendRouteStart (std::vector< DtVector > &route, double distance) const

virtual bool	clipRouteEnd (std::vector< DtVector > &route, double distance) const

virtual DtMaintainFormationMonitor *	createFormationMonitor (DtLocalObject *entity) const

virtual bool	publishFormationRoutes () const

virtual bool	shouldGroundClamp () const

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)

virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()

bool	testInvariant () const

virtual bool	createPortGroups ()

virtual bool	createPorts ()

DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)

virtual void	updateTaskVisualizations ()

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)

virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)

virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)

virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)

void	removeSimObjectPredicateCallback (const DtSimObject , DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void userData=0)

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
std::map< int, DtString >	myPromotionIndexRouteNameMap

DtMaintainFormationMonitor *	myMaintainFormationMonitor

double	myMaintainFormationTickInterval

double	myTimeToNextMaintainFormationTick

std::map< const DtSimObject *, DtEntityRouteFollowingData >	myEntityRouteFollowingMap

std::map< const DtSimObject *, DtEntityRouteTraversalState >	myEntityRouteTraversalStateMap

DtVrfAggregateStateRepository *	myAggregateStateRepository

DtFormationState *	myFormationState

DtCompatibilityRadio *	myCommandRadio

bool	myGenerateRoutesWithRoundedCorners

double	myVertexSpacingAlongRoundedCorners

DtAggregateMoveAlongPSR *	myProcessState

const DtAggregateMoveAlongDescriptor *	myAggregateMoveAlongDescriptor

bool	myRegisteredFormationChangedCallback

bool	myFirstTick

unsigned int	myNextRouteIndex

DtSimTaskStatePtr	myCachedTaskState

bool	mySetObjectToBeRemovedCallbacks

DtSimObjectReference	myRoute

DtAggregateLocalObjectFacade	myAggregateLocalObjectFacade

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList

bool	myTaskIsRunning

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio

bool	myTaskTypesEnabled

bool	myInitialized

Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity

DtComponentSystem *	mySystem

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myMinTickPeriod

double	myMinTickPeriodVariance

double	myNextTickTime

double	myLastTickSimTime

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

bool	myTickEveryFrame

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager	myPredicateCallbackManager

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

bool	myInvalid

bool	myChangedFlag

Private Member Functions
	DtDisaggregatedMoveAlongController ()

	DtDisaggregatedMoveAlongController (const DtDisaggregatedMoveAlongController &orig)

DtDisaggregatedMoveAlongController &	operator= (const DtDisaggregatedMoveAlongController &orig)

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

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

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

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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).

virtual DtDisaggregatedMoveAlongController::~DtDisaggregatedMoveAlongController ( )

virtual

destructor

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController ( )

private

default constructor - not implemented

DtDisaggregatedMoveAlongController::DtDisaggregatedMoveAlongController ( const DtDisaggregatedMoveAlongController & orig )

private

copy constructor - not implemented

Member Function Documentation

virtual const char* DtDisaggregatedMoveAlongController::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: DtAggregateMoveAlongControllerType

Implements DtTaskControllerComponent.

virtual bool DtDisaggregatedMoveAlongController::init ( )

virtual

Initialize myAggregateStateRepository, myFormationState, and myAggregateMoveAlongDescriptor member variables. Registers formationChangedCallback member function with myFormationState. Calls initializeMemberDataFromDescriptor() to initializes class members with data in myAggregateMoveAlongDescriptor.

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedMoveAlongController::registerTaskMsgCallbacks ( )

virtual

Registers moveAlongTaskCallback member function for DtMoveAlongType tasks on radio (for tasks issued in GUI or by superior). Registers taskCompleteReportCallback member function for DtTaskComplete reports on radio and command radio (so it can receive task complete reports from itself and its subordinates, respectively).

Reimplemented from DtTaskControllerComponent.

virtual void DtDisaggregatedMoveAlongController::tick ( )

virtual

Calls registerRouteCallbacksIfNeeded() to register route-related callbacks so we can be notified in the event the route changes. Calls taskStateFromPre3_8Scenario() to check if current tasked state has been read in from a pre-3.8 scenario. If true, calls upgradeTaskStateFromPre3_8Scenario() to update task state to current version. Calls initializerRouteIndex() initialize myNextRouteIndex member from process state repository. Calls maintainMovementInFormation() to maintain relative formation positions, if we're currently tasked and moving along the route.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedMoveAlongController::clearTask ( )

virtual

If tasked, clears out myProcessState, sends clear task messages to any subordinates that are currently tasked, and calls deleteFormationRoutes() to remove any working routes this controller has created. Override to send clear task messages to subordinates and delete working routes, if currently tasked.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtDisaggregatedMoveAlongController::createPSR ( )

virtual

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 DtSimTaskStatePtr DtDisaggregatedMoveAlongController::currentTaskState ( ) const

virtual

Returns pointer to a DtMoveAlongTaskState object containing status of our current move-along task.

Reimplemented from DtSingleTaskControllerComponent.

static void DtDisaggregatedMoveAlongController::moveAlongCallback	(	DtSimMessage *	msg,
		void *	usr,
		DtSimTaskStatePtr	taskStatePtr
	)

static

static void DtDisaggregatedMoveAlongController::taskCompleteReportCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Callback registered with radio, invoked upon receipt of a DtTaskCompleteReport. Calls processTaskComplete() to handle the report.

Parameters

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

static void DtDisaggregatedMoveAlongController::formationChangedCallback	(	const DtFormationState &	formationState,
		void *	usr
	)

static

Callback registered with formation state object (in aggregate state repository), invoked in the event that the formation state has changed. Calls processFormationChanged to handle the event.

Parameters

formationState	Formation state repository for the aggregate (maintained in aggregate state repository).
usr	Pointer to instance of this class.

static DtSimComponent* DtDisaggregatedMoveAlongController::creator	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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).

Returns: New instance of this class.

virtual void DtDisaggregatedMoveAlongController::processMoveAlong	(	const DtTaskMessage &	msg,
		DtSimTaskStatePtr	taskStatePtr
	)

protectedvirtual

virtual void DtDisaggregatedMoveAlongController::initializeMoveAlongTask	(	DtIteratorDirection	traversalDirection,
		bool	startAtClosestPoint,
		double	speed,
		DtSimTaskStatePtr	taskState
	)

protectedvirtual

Initializes move along task, setting name of the route in myProcessState, registering the routeChangedCallback with the given route. If startAtClosest is true, calls moveAlong() to starting moving along the route immediately. Otherwise calls moveTo() to move the aggregate to a starting point at the appropriate end of the route.

Parameters

route	The route we're tasked to follow.
traversalDirection	The direction we want to follow the route. A value of DtIteratorForward indicates route should be traversed in order of increasing vertex index, DtIteratorReverse indicates traversal should be in order of decreasing vertex index.
startAtClosestPoint	This flag indicates whether traversal should start at closest vertex (true), or at the logical beginning of the route (false).
speed	is either the speed specified in the task or ordered speed.

virtual void DtDisaggregatedMoveAlongController::processFormationChanged ( const DtFormationState & formationState )

protectedvirtual

If currently tasked and in the moving along route phase, calls reevaluateMoveAlongAssignments().

Parameters

formationState Formation state maintained in our aggregate's state repository.

virtual void DtDisaggregatedMoveAlongController::processTaskComplete ( DtSimMessage * msg )

protectedvirtual

If task complete report is a DtMoveAlongTask, remove corresponding entry from myCurrentlyTaskedSubordinateEchelonIds. If myCurrentlyTaskedSubordinateEchelonIds is empty, calls taskComplete().

Parameters

msg	Message containing DtTaskCompleteReport.

virtual void DtDisaggregatedMoveAlongController::processRouteChanged ( )

protectedvirtual

Regenerates routes.

Parameters

obj	The route we're currently following.

virtual void DtDisaggregatedMoveAlongController::moveTo	(	const DtUUID &	route,
		bool	traverseForward
	)

protectedvirtual

Issue DtMoveIntoFormation task as subtask to ourself.

Parameters

routeName	The object name of the route we're tasked to move along.
traverseForward	Flag indicating if route should be traversed in order of increasing vertex index (DtIteratorForward) or decreasing vertex index (DtIteratorReverse).

virtual void DtDisaggregatedMoveAlongController::beginMoveAlong	(	const DtUUID &	route,
		bool	traverseForward,
		bool	startAtClosestPoint,
		double	speed
	)

protectedvirtual

Generate separate route for each subordinate, and then task subordinate to follow its own route.

Parameters

route	Object name of the route we are tasked to follow.
traverseForward	Flag indicating if route should be traversed in order of increasing vertex index (DtIteratorForward) or decreasing vertex index (DtIteratorReverse).
startAtClosestPoint	This flag indicates whether traversal should start at closest vertex (true), or at the logical beginning of the route (false).
speed	is from task or ordered speed

virtual bool DtDisaggregatedMoveAlongController::generateFormationRoutes	(	const DtSimObject &	route,
		bool	reverseDirection
	)

protectedvirtual

Generate routes for subordinates to follow, at offsets corresponding to their position in formation. Saves them in PSR myPromotionIndexRouteMap.

Parameters

route	Object name of the route we are following.
reverseDirection	Flag indicating if traversal direction is reverse (false) or forward (true).

Returns: true if the function completed, false if it is still waiting for data

virtual void DtDisaggregatedMoveAlongController::buildEntityRouteFollowingMap ( std::map< const DtSimObject *, DtEntityRouteFollowingData > & map )

protectedvirtual

Generate map of which subordinate is following which generated route.

Parameters

map	Map of subordinates versus current route following state (such as identity of route subordinate should follow, current vertex, and so on).

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

protectedvirtual

Constructs task messages and sends it to given subordinate through myRadio.

Parameters

task	Task to be issued to a subordinate.
subordinateObjectName	Object name of the subordinate to be given the task.

virtual void DtDisaggregatedMoveAlongController::sendSetDataToSubordinate	(	const DtSetDataRequest &	setData,
		const DtUUID &	subordinate
	)		const

protectedvirtual

Constructs set data request message and sends it to given subordinate through myRadio.

Parameters

setData	Set data request to be issued to subordinate.
subordinateObjectName	Object name of the subordinate to be given the set data request.

virtual void DtDisaggregatedMoveAlongController::deleteFormationRoutes ( )

protectedvirtual

Delete all formation routes (routes generated by this controller).

virtual bool DtDisaggregatedMoveAlongController::calculateInitialPositionAndHeadingAlongRoute	(	const DtSimObject &	route,
		bool	traverseForward,
		DtVector &	initialPosition,
		double &	initialHeading
	)

protectedvirtual

Determines location and heading of aggregate at the logical beginning of the route the aggregate wants to follow. Aggregate is positioned such that the lead entity in the current formation is at the start of the route.

Parameters

route	The route the aggregate is tasked to follow.
traverseForward	If true, route should be traversed in order of increasing route vertex index. If false, traversal should be in order of decreasing vertex index.
initialPosition	Initial position of aggregate at start of route in geocentric coordinates. Centers the aggregate at the start of the route.
initialHeading	Initial heading of aggregate at start of route, such that aggregate is aligned along first segment of route, in radians.

virtual void DtDisaggregatedMoveAlongController::sendVrfObjectModifyMsg	(	const DtUUID &	object,
		DtList *	vertices
	)		const

protectedvirtual

Sends DtIfModifyVrfObject interface message for given object id, with updated set of vertices. Used to modify vertices of working route generated by this class whenever the route we're following changes.

Parameters

id	Entity identifier object to modify (one of the working routes).
vertices	List of DtVector* vertices in geocentric coordinates for the route.

virtual void DtDisaggregatedMoveAlongController::initializeNextRouteIndex ( )

protectedvirtual

Initialize counter used to generate working route names. Sets it to lowest integer greater than that used by any routes stored in process state.

virtual unsigned int DtDisaggregatedMoveAlongController::nextRouteIndex ( )

protectedvirtual

Next available index to use when constructing working route names.

virtual bool DtDisaggregatedMoveAlongController::buildOffsetRoute	(	const DtList &	localRouteVertexList,
		const DtVector &	bodyOffset,
		bool	reverseDirection,
		bool	generateRoutesWithRoundedCorners,
		double	vertexSpacingAlongRoundedCorners,
		DtList &	geocentricOffsetRouteVertexList,
		bool &	dataAvailable
	)

protectedvirtual

Builds route at body offset relative to given route. Generates a route parallel to the original route, at the given body offset. Then calls adjustOffsetRouteStart() followed by adjustOffsetRouteEnd() to modify the beginning and end of the route, respectively.

Parameters

localRouteVertexList	Original list of DtLocalRwVector vertices from route we're tasked to follow.
bodyOffset	Formation position offset in aggregate body coordinates of formation position, relative to center of mass of aggregate formation.
reverseDirection	If true, generate route in reverse direction relative to original route. If false, generate route in same direction as original route.
generateRoutesWithRoundedCorners	If true, round the edges of turns by inserting additional vertices in offset route.
vertexSpacingAlongRoundedCorners	Distance in meters between vertices inserted in offset route to create rounded corners.
geocentricOffsetRouteVertexList	List of DtVector* vertices in geocentric coordinates for new offset route.
dataAvailable	Whether data was available to complete this operation.

Returns: true if offset route was built successfully, false if not

virtual void DtDisaggregatedMoveAlongController::initializeMemberDataFromDescriptor ( const DtAggregateMoveAlongDescriptor & desc )

protectedvirtual

Initializes myGenerateRoutesWithRoundedCorners, myVertexSpacingAlongRoundedCorners, myMaintainFormationTickInterval, and myMaintainFormationMonitor data members with data in descriptor.

Parameters

desc	Descriptor used to configure this component.

virtual void DtDisaggregatedMoveAlongController::maintainMovementInFormation ( )

protectedvirtual

If currently tasked and in the moving along route state, monitors subordinates' speed using myMaintainFormationMonitor, and calls task complete if behavior is complete. If tasked, in the moving-along-route phase of task, and it is time to tick formation maonitor, calls myMaintainFormationMonitor->tick().

virtual void DtDisaggregatedMoveAlongController::reevaluateMoveAlongAssignments ( )

protectedvirtual

Prunes entities no longer part of current formation from process state repository. Removes routes associated with those entities from the process state repository and from the object manager. For remaining entities, calls reevaluateFormationMoveAlongAssignments() to adjust formation routes to reflect their latest position in formation.

virtual void DtDisaggregatedMoveAlongController::reevaluateFormationMoveAlongAssignments ( )

protectedvirtual

Adjusts formation routes to reflect their latest position in formation.

virtual void DtDisaggregatedMoveAlongController::sendClearTask	(	const DtUUID &	recipient,
		const DtSimTaskMessageType &	taskType
	)		const

protectedvirtual

Sends a clear task request to the given recipient on this entity's command radio.

Parameters

recipientName	Object name of the entity we want to have clear its task
taskType	Identifies the kind of task we want the recipient to clear (see radioMsgTypes.h for available task types)

virtual bool DtDisaggregatedMoveAlongController::adjustOffsetRouteStart	(	std::vector< DtVector > &	route,
		bool &	dataAvailable
	)		const

protectedvirtual

Adjusts the start of a given offset route. Calls extendRouteStart() with the the current formation half length to adjust the route such that the aggregate will line up with the leading entity at the start of the route.

Returns: true if route is successfully adjusted (route is still valid after adjustment), false otherwise.

virtual bool DtDisaggregatedMoveAlongController::adjustOffsetRouteEnd	(	std::vector< DtVector > &	route,
		bool &	dataAvailable
	)		const

protectedvirtual

Adjusts the ending point of a given offset route. Calls clipRouteEnd() with the the current formation half length to adjust the route such that the aggregate will line up with the leading entity at the end of the route.

Returns: true if route is successfully adjusted (route is still valid after adjustment), false otherwise.

virtual bool DtDisaggregatedMoveAlongController::extendRouteStart	(	std::vector< DtVector > &	route,
		double	distance
	)		const

protectedvirtual

Extends route by given distance at start of route, extending the first segment by the given distance.

Parameters

route	List of vertices representing a route
distance	Amount to extend the first segment

Returns: true if route was successfully modified

virtual bool DtDisaggregatedMoveAlongController::clipRouteEnd	(	std::vector< DtVector > &	route,
		double	distance
	)		const

protectedvirtual

Clips end of given route by distance.

Parameters

route	to be modified.
distance	Amount to be clipped back from end of route

Returns: true if route was successfully clipped back. Returns false if distance to clip is greater than length of route (in which case the route will have no vertices).

virtual DtMaintainFormationMonitor* DtDisaggregatedMoveAlongController::createFormationMonitor ( DtLocalObject * entity ) const

protectedvirtual

Creates an instance of a DtMaintainFormationMonitor. Override this function if you want to create derived kind of formation monitor to be used by this class.

Parameters

entity Pointer to the entity using this formation monitor (myEntity).

virtual bool DtDisaggregatedMoveAlongController::publishFormationRoutes ( ) const

protectedvirtual

Returns: Look up whether or not we should publish formation following routes in DtVrfSettingsManager. Returns true if setting cannot be found.

virtual bool DtDisaggregatedMoveAlongController::shouldGroundClamp ( ) const

protectedvirtual

Returns: Boolean value indicating whether or not generated route vertices should be ground clamped or not.

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

private

assignment operator - not implemented

Member Data Documentation

std::map<int, DtString> DtDisaggregatedMoveAlongController::myPromotionIndexRouteNameMap

protected

Map of formation positions to generated route object names.

DtMaintainFormationMonitor* DtDisaggregatedMoveAlongController::myMaintainFormationMonitor

protected

Object that monitors current subordinate positions and adjusts them if necessary to maintain correct formation shape while moving. Adjustment is made by sending DtSetSpeedRequest messages to subordinates, relatively faster or slower than ordered speed of the aggregate.

double DtDisaggregatedMoveAlongController::myMaintainFormationTickInterval

protected

Simulation time interval at which myMaintainFormationMonitor should be ticked.

double DtDisaggregatedMoveAlongController::myTimeToNextMaintainFormationTick

protected

Simulation time for next tick of myMaintainFormationMonitor.

std::map<const DtSimObject*, DtEntityRouteFollowingData> DtDisaggregatedMoveAlongController::myEntityRouteFollowingMap

protected

Map of subordinates and route following data.

std::map<const DtSimObject*, DtEntityRouteTraversalState> DtDisaggregatedMoveAlongController::myEntityRouteTraversalStateMap

protected

Map of subordinate and current route traversal state.

DtVrfAggregateStateRepository* DtDisaggregatedMoveAlongController::myAggregateStateRepository

protected

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

DtFormationState* DtDisaggregatedMoveAlongController::myFormationState

protected

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

DtCompatibilityRadio* DtDisaggregatedMoveAlongController::myCommandRadio

protected

Pointer to aggregate's command radio, cached in this class for convenience. Aggregates must be configured with a command radio for this controller to work properly.

bool DtDisaggregatedMoveAlongController::myGenerateRoutesWithRoundedCorners

protected

Flag indicating all generated route should have rounded turns. Default is true.

double DtDisaggregatedMoveAlongController::myVertexSpacingAlongRoundedCorners

protected

Spacing in meters between extra vertices inserted in generated routes to form rounded turns. Default is 20 meters.

DtAggregateMoveAlongPSR* DtDisaggregatedMoveAlongController::myProcessState

protected

Container for state data associated with this component. This state is saved and restored as part of a scenario (or checkpoint).

const DtAggregateMoveAlongDescriptor* DtDisaggregatedMoveAlongController::myAggregateMoveAlongDescriptor

protected

Pointer to descriptor used to configure this object.

bool DtDisaggregatedMoveAlongController::myRegisteredFormationChangedCallback

protected

Flag used to indicate whether formation changed callback has been registered yet.

bool DtDisaggregatedMoveAlongController::myFirstTick

protected

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

unsigned int DtDisaggregatedMoveAlongController::myNextRouteIndex

protected

Counter used in naming generated routes. Routes are assigned unique object names using the convention <original route="" name>="">_<myNextRouteIndex>.

DtSimTaskStatePtr DtDisaggregatedMoveAlongController::myCachedTaskState

protected

bool DtDisaggregatedMoveAlongController::mySetObjectToBeRemovedCallbacks

protected

DtSimObjectReference DtDisaggregatedMoveAlongController::myRoute

protected

DtAggregateLocalObjectFacade DtDisaggregatedMoveAlongController::myAggregateLocalObjectFacade

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-0-branch/include/vrfmodel/disaggregatedMoveAlongController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation