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

End User Description: The DtDisaggregatedLeadFollowInFormationController models movement along a route for aggregate entities. It handles execution of DtMoveAlongTasks. Movement is implemented by creating a temporary working route for the leader, positioned at an offset needed to maintain the leader's position in formation. The other subordinate routes are handled by their subtask. Speed control is also handled by the subordinate subtasks. The movement task 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 route 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 DtDisaggregatedLeadFollowInFormationController class registers a callback for handling DtMoveAlongTasks. When it receives a DtMoveAlongTask, it creates a working route for the leader. Then it calls for subtasks LeadFormation and FollowInFormation. It registers callbacks for handling changes to formation state, and changes to route vertices.

Uses Descriptor Type: DtAggregateMoveAlongDescriptor

Inheritance diagram for DtDisaggregatedLeadFollowInFormationController:

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

virtual	~DtDisaggregatedLeadFollowInFormationController ()

virtual const char *	type () const

virtual bool	init ()

virtual void	registerTaskMsgCallbacks ()

virtual void	preFirstTickInit ()

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=nullptr, DtReaderWriterRegistry parentRegistry=nullptr)

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick () override

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

virtual void	taskNotify (const DtSimTask &task) override

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 DtSubtaskStatusEntry *	subtaskStatus (int subtaskId)

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual bool	decideToGiveUpTask () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const override

virtual bool	clearTopLevelTasks () override

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) override

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType) override

virtual void	clearTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId) override

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

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const override

virtual void	disable () override

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

virtual	~DtTaskControllerComponent ()

virtual AcceptLevel	acceptTask (const DtTaskMessage &task)

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio) override

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 () override

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const override

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 () override

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	enableScriptedTask (const DtString &scriptId)

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	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod, double minTickPeriodVariance)

virtual void	setupFirstTickTime ()

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 void	isClutterChanged ()

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) const

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	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	processFormationChanged (const DtFormationState &formationState)

virtual void	processTaskComplete (DtSimMessage *msg)

virtual void	processRouteChanged ()

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

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

virtual void	beginFollowInFormation (const DtUUID &routeName, const bool startAtClosestPoint, const bool traverseForward)

virtual int	findClosestSegmentIndex (DtVector testPoint, std::vector< DtVector > testRoute, DtPoint &closestSegmentLoc, double &distanceToSegment, int indexSegmentFloor=0)

virtual bool	createLeaderOffsetRoute (const std::vector< DtVector > &localPoints, const double rightOffset, const double forwardOffset, DtUUID &routeUUID, DtUUID)

virtual bool	isPlatformCapable (const DtUUID &platform) const

virtual int	taskLeader (const DtUUID &leader, const DtSimObjectReferenceList &subs, const DtUUID &leaderRoute, const double formationWidth, const double formationLength)

virtual int	taskFollower (const DtUUID &subEntity, const DtUUID &formationLeader, const DtUUID &unitRouteUUID, const double leaderForwardOffset, const bool doReverseRoute, const double vertexStartIndex)

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

virtual void	initializeMemberDataFromDescriptor (const DtAggregateMoveAlongDescriptor &desc)

virtual bool	isUnitMovementExhausted ()

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

virtual bool	publishFormationRoutes () const

virtual double	dist2D (const DtVector &position1, const DtVector &position2, const Coordinate_System &coordinateSystem)

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 void	setupTimedTickLogic (double minTickPeriod, double minTickPeriodVariance)

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

DtPropertyInterface *	cachedNextFrameStateProperty (DtPropertyInterface **prop, const DtString &propName)

template<typename ValType >
void	setCachedNextFrameStatePropertyValue (DtPropertyInterface **prop, const DtString &propName, ValType value)

const DtPropertyInterface *	cachedCurrentFrameStateProperty (const DtPropertyInterface **prop, const DtString &propName) const

template<typename ValType >
bool	getCachedCurrentFrameStatePropertyValue (const DtPropertyInterface **prop, const DtString &propName, ValType &value) 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

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

unsigned int	myNextRouteIndex

DtSimTaskStatePtr	myCachedTaskState

bool	mySetObjectToBeRemovedCallbacks

DtSimObjectReference	myRoute

bool	myRestartTaskOnFormationUpdate

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	myLastTickSimTime

std::unique_ptr< DtTimedTickLogic >	myTimedTickLogic

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager *	myPredicateCallbackManager

boost::signals2::scoped_connection	myIsClutterChangedConnection

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
	DtDisaggregatedLeadFollowInFormationController ()

	DtDisaggregatedLeadFollowInFormationController (const DtDisaggregatedLeadFollowInFormationController &orig)

DtDisaggregatedLeadFollowInFormationController &	operator= (const DtDisaggregatedLeadFollowInFormationController &orig)

Additional Inherited Members
Public Types inherited from DtTaskControllerComponent
enum	AcceptLevel { AcceptLevel_Accept = 0, AcceptLevel_Partial = 1, AcceptLevel_Error = 2, AcceptLevel_NoAccept = 99 }

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

DtDisaggregatedLeadFollowInFormationController::DtDisaggregatedLeadFollowInFormationController	(	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 DtDisaggregatedLeadFollowInFormationController::~DtDisaggregatedLeadFollowInFormationController ( )

virtual

destructor

DtDisaggregatedLeadFollowInFormationController::DtDisaggregatedLeadFollowInFormationController ( )

private

default constructor - not implemented

DtDisaggregatedLeadFollowInFormationController::DtDisaggregatedLeadFollowInFormationController ( const DtDisaggregatedLeadFollowInFormationController & orig )

private

copy constructor - not implemented

Member Function Documentation

virtual const char* DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::preFirstTickInit ( )

virtual

Init myProcessState->setMovingToRoute.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedLeadFollowInFormationController::tick ( )

virtual

Calls beginFollowInFormation when route is discovered. Calls processRouteChanged when haveVerticesChanged is true for myRoute.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedLeadFollowInFormationController::clearTask ( )

virtual

If tasked, clears out myProcessState, sends clear task messages to any subordinates that are currently tasked. Override to send clear task messages to subordinates and delete working routes, if currently tasked.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::currentTaskState ( ) const

virtual

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

Reimplemented from DtSingleTaskControllerComponent.

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

static

static void DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::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 beginFollowInFormation with updated info.

Parameters

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

static DtSimComponent* DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::processMoveAlong	(	const DtTaskMessage &	msg,
		DtSimTaskStatePtr	taskStatePtr
	)

protectedvirtual

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

protectedvirtual

Calls beginFollowInFormation.

Parameters

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

virtual void DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::processRouteChanged ( )

protectedvirtual

Calls beginFollowInFormation.

Parameters

obj	The route we're currently following.

virtual int DtDisaggregatedLeadFollowInFormationController::sendTaskToSubordinate	(	const DtSimTask &	task,
		const DtUUID &	subordinate
	)

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.

Returns: Task tracking number assigned to the task.

virtual void DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::beginFollowInFormation	(	const DtUUID &	routeName,
		const bool	startAtClosestPoint,
		const bool	traverseForward
	)

protectedvirtual

Gets formation data from DtVrfAggregateStateRepository::formationState() Calls createLeaderOffsetRoute Sends subtasks lead-formation and follow-in-formation.

virtual int DtDisaggregatedLeadFollowInFormationController::findClosestSegmentIndex	(	DtVector	testPoint,
		std::vector< DtVector >	testRoute,
		DtPoint &	closestSegmentLoc,
		double &	distanceToSegment,
		int	indexSegmentFloor = `0`
	)

protectedvirtual

Find the segment in the given route that is closest to the given point.

Parameters

testPoint	The given point to measure distance to.
testRoute	A route defined by a vector of points.
closestSegmentLoc.	Return value. The location (point) on the route that is closest to the test point.
distanceToSegment.	Return value. The distance of the testPoint to closestSegmentLoc.
indexSegmentFloor.	The segment index from which to start the search for the closest point.

Returns: A segment index. For a route with N vertices, the segment index will be in [0, N-2]. Calls closestPointAlongChord2D.

virtual bool DtDisaggregatedLeadFollowInFormationController::createLeaderOffsetRoute	(	const std::vector< DtVector > &	localPoints,
		const double	rightOffset,
		const double	forwardOffset,
		DtUUID &	routeUUID,
		DtUUID
	)

protectedvirtual

Creates working offset route for the leader. Calls generateOffsetRoute.

Parameters

localPoints	DtVectors of the main route
rightOffset	right-ward distance subroute should be from the main route
forwardOffset	forward distance subroute should be from the main route is the fraction of the way to the next vertex.
routeUUID	UUID of the main route

virtual bool DtDisaggregatedLeadFollowInFormationController::isPlatformCapable ( const DtUUID & platform ) const

protectedvirtual

Determines if the platform is able to move with the formation. Used to determine if a leader is capable or must be replaced.

virtual int DtDisaggregatedLeadFollowInFormationController::taskLeader	(	const DtUUID &	leader,
		const DtSimObjectReferenceList &	subs,
		const DtUUID &	leaderRoute,
		const double	formationWidth,
		const double	formationLength
	)

protectedvirtual

Tasks the leader with a DtLeadFormationTaskType.

Returns: The task tracking number generated for this task.

virtual int DtDisaggregatedLeadFollowInFormationController::taskFollower	(	const DtUUID &	subEntity,
		const DtUUID &	formationLeader,
		const DtUUID &	unitRouteUUID,
		const double	leaderForwardOffset,
		const bool	doReverseRoute,
		const double	vertexStartIndex
	)

protectedvirtual

Tasks a subordinate with DtFollowInFormationTaskType.

Returns: The task tracking number generated for this task.

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

protectedvirtual

Parameters

desc	Descriptor used to configure this component.

virtual bool DtDisaggregatedLeadFollowInFormationController::isUnitMovementExhausted ( )

protectedvirtual

Check to see if the unit task should be ended because subordinate movement has ended. This is a fail safe, because normally the subordinates should finish their moves and send taskComplete reports that are processed to end the unit task. However, if the leader has finished its movement task and the subordinates are all stopped, but haven't sent task complete reports, then something is hanging them up. In that case this unit behavior can shut itself down and continue.

virtual void DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::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 double DtDisaggregatedLeadFollowInFormationController::dist2D	(	const DtVector &	position1,
		const DtVector &	position2,
		const Coordinate_System &	coordinateSystem
	)

protectedvirtual

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

private

assignment operator - not implemented

Member Data Documentation

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

protected

Map of formation positions to generated route object names.

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

protected

Map of subordinates and route following data.

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

protected

Map of subordinate and current route traversal state.

DtVrfAggregateStateRepository* DtDisaggregatedLeadFollowInFormationController::myAggregateStateRepository

protected

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

DtFormationState* DtDisaggregatedLeadFollowInFormationController::myFormationState

protected

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

DtCompatibilityRadio* DtDisaggregatedLeadFollowInFormationController::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 DtDisaggregatedLeadFollowInFormationController::myGenerateRoutesWithRoundedCorners

protected

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

double DtDisaggregatedLeadFollowInFormationController::myVertexSpacingAlongRoundedCorners

protected

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

DtAggregateMoveAlongPSR* DtDisaggregatedLeadFollowInFormationController::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* DtDisaggregatedLeadFollowInFormationController::myAggregateMoveAlongDescriptor

protected

Pointer to descriptor used to configure this object.

bool DtDisaggregatedLeadFollowInFormationController::myRegisteredFormationChangedCallback

protected

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

unsigned int DtDisaggregatedLeadFollowInFormationController::myNextRouteIndex

protected

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

DtSimTaskStatePtr DtDisaggregatedLeadFollowInFormationController::myCachedTaskState

protected

bool DtDisaggregatedLeadFollowInFormationController::mySetObjectToBeRemovedCallbacks

protected

DtSimObjectReference DtDisaggregatedLeadFollowInFormationController::myRoute

protected

bool DtDisaggregatedLeadFollowInFormationController::myRestartTaskOnFormationUpdate

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfmodel/disaggregatedLeadFollowInFormationController.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