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

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

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

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

Inheritance diagram for DtConvoyTaskController:

[legend]

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

virtual	~DtConvoyTaskController ()

virtual bool	init ()

virtual const char *	type () const

virtual void	clearTask ()

virtual void	resetTask ()

virtual void	registerTaskMsgCallbacks ()

virtual void	preFirstTickInit ()

virtual void	tick ()

virtual bool	createPSR ()

virtual void	updateTaskVisualizations ()

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 DtSimTaskStatePtr	currentTaskState () 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	enableScritedTask (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)

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	convoyTaskCallback (DtSimMessage msg, void usr)

static void	taskCompleteReportCallback (const DtVrfObjectMessage msg, void usr)

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

static void	settingConsumerCallback (const DtSettingsObject settingsObject, void usr)

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	onModifyVrfObject ()

virtual void	onConvoyTask (DtSimMessage *msg)

virtual void	onTaskComplete (const DtVrfObjectMessage *msg)

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

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

virtual bool	setupTask (const DtLocalObject aggregate, const DtSimObject destination, bool pathPlan)

virtual DtVector	findAssemblyPoint (const DtSimObject aggregate, const DtVector &destination, bool haveRails, const Coordinate_System coordSys)

virtual bool	setupSubordinates (const DtSimObject *aggregate, bool clearSubs, bool &leaderSet, double initialOrderedSpeed)

virtual bool	setupSubordinates (const DtLocalObject *aggregate, bool clearSubs, bool &leaderSet, double initialOrderedSpeed)

virtual bool	setupSubordinates (const std::list< DtSimObjectReference > &list, bool clearSubs, bool &leaderSet, double initialOrderedSpeed)

virtual void	setupLeadOnDistance (int numberOfEntities, float distanceBetween)

virtual bool	createDirectRailPath (const DtSimObject leadEntity, const DtSimObject destination)

virtual bool	areSeparationDistancesWithinRange (const DtRwSimObjectReferenceList &subordinates, const float distance, const float tolerance, const Coordinate_System *coordSys)

virtual void	setLeaderSpeed (const float speed)

virtual void	resettingPhaseTick (bool retask=true)

virtual void	startingPhaseTick ()

virtual void	assemblingPhaseTick ()

virtual void	convoyingPhaseTick ()

virtual void	finishingPhaseTick ()

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

virtual bool	taskEntityToMoveToAssemblyPt (const DtSimObject entity, const DtVector &assemblyPoint, const Coordinate_System coordSys)

virtual bool	getEntityPathToEntry (const DtSimObject entity, const DtVector &assemblyPoint, const Coordinate_System coordSys)

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

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

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

virtual bool	updateConvoySubordinates (const DtSimObject *aggregate, std::vector< DtUUID > &tempList, bool recursive=false)

virtual bool	updateConvoySubordinates (const DtLocalObject *aggregate, std::vector< DtUUID > &tempList, bool recursive=false)

virtual bool	updateConvoySubordinates (const std::list< DtSimObjectReference > &, std::vector< DtUUID > &tempList, bool recursive=false)

virtual bool	isEntityPartOfConvoy (const DtUUID &entity) const

virtual bool	isEntityIndependentlyTasked (const DtSimObject *entity) const

virtual void	setConvoyFollowing ()

virtual void	destroyedPhaseTick ()

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

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

virtual bool	startPathPlan (const DtSimObject leadEntity, const DtSimObject destination)

virtual bool	pathPlanFinished ()

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

virtual void	processSetting (const DtBoolSetting *setting)

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	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
boost::shared_ptr < DtAsyncJobMapEntry >	myPathJobEntry

const DtConvoyDescriptor *	myDescriptor

DtConvoyPSR *	myProcessState

bool	myDrivingOnLeft

DtSimObjectReference	myDestination

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	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
	DtConvoyTaskController (const DtConvoyTaskController &orig)

DtConvoyTaskController &	operator= (const DtConvoyTaskController &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

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

virtual

Default destructor.

DtConvoyTaskController::DtConvoyTaskController ( const DtConvoyTaskController & orig )

private

not implemented

Member Function Documentation

virtual bool DtConvoyTaskController::init ( )

virtual

Initializes the controller. Mostly sets up the ConvoyPSR.

Reimplemented from DtControllerComponent.

virtual const char* DtConvoyTaskController::type ( ) const

virtual

Returns a string identifies the class type of component. Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns: DtConvoyTaskControllerType

Implements DtTaskControllerComponent.

virtual void DtConvoyTaskController::clearTask ( )

virtual

Clears the task. Will also send clear task messages to subordinates that are takes to clear their tasks.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtConvoyTaskController::resetTask ( )

virtual

Resets the task without completely clearing it.

virtual void DtConvoyTaskController::registerTaskMsgCallbacks ( )

virtual

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

Reimplemented from DtTaskControllerComponent.

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

static

Callback function for handling incoming turn to heading task message. Calls processTurnToHeadingTask to actually handle the message.

Parameters

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

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

static

Calls onTaskComplete() to process the message.

Parameters

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

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

virtual

Restarts convoy tasks if necessary.

Reimplemented from DtSimComponent.

virtual void DtConvoyTaskController::tick ( )

virtual

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

Reimplemented from DtSimComponent.

virtual bool DtConvoyTaskController::createPSR ( )

virtual

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

static

virtual void DtConvoyTaskController::updateTaskVisualizations ( )

virtual

Called to update task visualizations after every tick. Implemented by subclasses.

Reimplemented from DtSimComponent.

virtual void DtConvoyTaskController::onModifyVrfObject ( )

protectedvirtual

Handles the change of vertices of the destinatino control object. This will result in the task restarting from their current location.

Parameters

obj	the control object that was modified

virtual void DtConvoyTaskController::onConvoyTask ( DtSimMessage * msg )

protectedvirtual

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

Parameters

msg	Message containing a DtTurnToHeadingTask.

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

protectedvirtual

Handles all task complete messages for this controller.

Parameters

msg	Message containing a DtTaskCompleteReport.

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

protectedvirtual

Used to send tasks to a particular subordinate. Does not check if entity is still a subordinate or independently tasked or immoblized for any reason.

Parameters

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

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

protectedvirtual

Used to send set messages to a particular subordinate. Does not check if entity is still a subordinate or alive.

Parameters

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

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

protectedvirtual

Sets up a convoy task based on the parameters. Calls several functions to setup the task.

Parameters

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

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

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

protectedvirtual

Finds the point in which the subordinates will assemble and drive to before driving on roads/rails/along routes. Generally gives back the start of a rail.

Parameters

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

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

virtual bool DtConvoyTaskController::setupSubordinates	(	const DtSimObject *	aggregate,
		bool	clearSubs,
		bool &	leaderSet,
		double	initialOrderedSpeed
	)

protectedvirtual

Sets up the subordinates for this controller to worry about in the aggregate. This must be called as one of the first functions called. Is called by setupTask(). This function is also recursive for aggregates within aggregates. This function sets the subordinates in the PSR.

Parameters

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

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

virtual bool DtConvoyTaskController::setupSubordinates	(	const DtLocalObject *	aggregate,
		bool	clearSubs,
		bool &	leaderSet,
		double	initialOrderedSpeed
	)

protectedvirtual

virtual bool DtConvoyTaskController::setupSubordinates	(	const std::list< DtSimObjectReference > &	list,
		bool	clearSubs,
		bool &	leaderSet,
		double	initialOrderedSpeed
	)

protectedvirtual

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

protectedvirtual

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

Parameters

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

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

protectedvirtual

Creates the rail path for which the convoy will drive on. Uses either the path planner, a route, or will return false if neither occurred.

Parameters

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

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

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

protectedvirtual

Checks to ensure the separation distances in the convoy are still within acceptable boundries. Only updates the leader's speed as everyone else is dictated by their own follow sets.

Parameters

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

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

virtual void DtConvoyTaskController::setLeaderSpeed ( const float speed )

protectedvirtual

Sets the speed of the convoy leader. This also sets a flag that remembers the leaders last ordered speed.

Parameters

speed The speed at which the leader will go

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

protectedvirtual

This function is called in tick() when the convoy phase is set to resetting. It will reset the entire task based on the most recent convoy task it was given from its current location. Upon resetting, do we want to resetup the entities for the task?

virtual void DtConvoyTaskController::startingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to starting. This function doesn't do anything for our own purposes.

virtual void DtConvoyTaskController::assemblingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to assembling. This function checks to see where the leader is on the road/rail path before telling him to stop. Calls setLeaderSpeed() to alter the leader's speed accordingly.

virtual void DtConvoyTaskController::convoyingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to convoying. This function checks the distances between each entity to ensure that they are within the specified distances.

virtual void DtConvoyTaskController::finishingPhaseTick ( )

protectedvirtual

This function is called in tick() when the convoy phase is set to finishing. This function is used when the convoy leader has reached his destination and the subordinates are all ordered to tighten up their formation so they can complete the task.

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

protectedvirtual

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

Parameters

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

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

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

protectedvirtual

Tasks the specified single entity (non-aggregate) to move to the assembly point, which is presumably the start of the road. This calls createEntrySegment() since each entry segment is created for each entity individually.

Parameters

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

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

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

protectedvirtual

Deprecated as of 4.2– calls taskEntityToMoveToAssemblyPt.

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

protectedvirtual

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

Parameters

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

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

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

protectedvirtual

Finds whether a given point is within the given radius. Used by findClosestEntryRail() to help it find out whether the segment it found is ideal.

Parameters

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

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

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

protectedvirtual

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

Parameters

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

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

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

protectedvirtual

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

Parameters

aggregate Expects a top level aggregate

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

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

protectedvirtual

virtual bool DtConvoyTaskController::updateConvoySubordinates	(	const std::list< DtSimObjectReference > &	,
		std::vector< DtUUID > &	tempList,
		bool	recursive = `false`
	)

protectedvirtual

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

protectedvirtual

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

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

protectedvirtual

virtual void DtConvoyTaskController::setConvoyFollowing ( )

protectedvirtual

virtual void DtConvoyTaskController::destroyedPhaseTick ( )

protectedvirtual

virtual void DtConvoyTaskController::sendClearTask	(	const DtUUID &	recipientName,
		const DtSimTaskMessageType &	taskType
	)

protectedvirtual

Send out message to clear task from the given subordinate.

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

protected

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

protectedvirtual

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

Parameters

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

virtual bool DtConvoyTaskController::pathPlanFinished ( )

protectedvirtual

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

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

protectedvirtual

Will ground clamp the supplied point and return the ground clamped point. If data is not available will use the last point supplied for altitude. If data is available last point is set to be the point just checked.

Parameters

point	Point to ground clamp
lastPoint	Last point successfully ground clamped

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

protectedvirtual

Sets myDrivingOnLeftEnabled with value in setting.

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

private

not implemented

Member Data Documentation

boost::shared_ptr<DtAsyncJobMapEntry> DtConvoyTaskController::myPathJobEntry

protected

Token for asynchronous path plan task.

const DtConvoyDescriptor* DtConvoyTaskController::myDescriptor

protected

DtConvoyPSR* DtConvoyTaskController::myProcessState

protected

bool DtConvoyTaskController::myDrivingOnLeft

protected

DtSimObjectReference DtConvoyTaskController::myDestination

protected

DtAggregateLocalObjectFacade DtConvoyTaskController::myAggregateLocalObjectFacade

protected

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

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