DtFixedWingMoveAlongController is a controller that models the movement of a fixed wing entity along a route.

Developer Description: DtFixedWingMoveAlongController implements the move-along task for fixed-wing entities. It creates, in init(), a DtRouteState object (pointed to by the process state repository member myRouteState). This object is used by a DtRoute object to maintain the state of a route following task. All of its data and members are hidden from all but the DtRoute object; however, since it is created (and destroyed) by the controller, and not the DtRoute itself, it is possible for any number of controllers to follow the same DtRoute. DtFixedWingMoveAlongController overrides DtTaskControllerComponent:: registerTaskMsgCallbacks() and registers the callback function moveAlongCallback() for DtMoveAlongType radio messages.

Uses Descriptor Type: DtFixedWingPilotControllerDescriptor

Inheritance diagram for DtFixedWingMoveAlongController:

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

virtual	~DtFixedWingMoveAlongController ()

virtual bool	init ()

virtual void	preFirstTickInit ()

virtual void	tick ()

virtual const char *	type () const

virtual void	doFinishing ()

virtual void	doFinishingForFlying ()

virtual void	doFinishingForTaxiing ()

virtual void	doMoving ()

virtual void	doFlying ()

virtual void	doTaxiing ()

virtual void	doTakeOff ()

virtual void	doLanding ()

virtual double	findDesiredSpeed ()

virtual bool	nearGoal ()

virtual bool	atGoal ()

virtual bool	passedGoal ()

virtual bool	processFlyAlongTask (DtSimTask *msg, DtSimTaskStatePtr taskStatePtr)

virtual bool	processMoveAlongTask (DtSimTask *msg, DtSimTaskStatePtr taskStatePtr)

virtual void	processRouteChanged ()

virtual void	processSetAltitude (DtSimMessage *msg)

virtual void	processSetOrderedAltitude (DtSimMessage *msg)

virtual void	processSetLocation (DtSimMessage *msg)

virtual void	processSetRestore (DtSimMessage *msg)

virtual void	processModifyVrfObject (DtSimMessage *msg)

virtual bool	setupRoute ()

virtual void	registerTaskMsgCallbacks ()

virtual DtFixedWingFlightPSR *	getPSR ()

virtual DtSimTaskStatePtr	currentTaskState () const

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

virtual	~DtFixedWingPilotController ()

virtual double	maxTurningGs () const

virtual bool	terrainAvoidanceEnabled ()

virtual double	terrainAvoidanceLookaheadTime ()

virtual void	registerAttributeFunctions ()

virtual void	taxiTo (const DtVector &destination, double speed)

virtual void	taxi (double speed, double turnRate)

virtual double	calculateSteering (double turnAngle) const

virtual double	approximateThrottle (double speed)

virtual double	calculateCurrentBrakingDistance () const

virtual void	flyTo (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)

virtual void	flyToDirect (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)

virtual void	fly (double speed, double turnRate, double climbRate, double maxTerrainAvoidanceLookaheadDist=-1)

virtual void	flyFixedPitch (double speed, double turnRate, double desiredPitch, double maxTerrainAvoidanceLookaheadDist=-1)

virtual double	terrainAvoidancePitch (double speed, double desiredPitch, double maxTerrainAvoidanceLookaheadDist)

virtual bool	clearPathTo (const DtVector &localPosition, bool &dataAvailable)

virtual void	circle (const DtVector &center, double radius, double speed, double altitude, bool clockwise=true)

virtual double	calcControlForRoll (double rollRate)

virtual double	calcControlForThrottle (double speed, bool &deployFlaps)

virtual double	decelerationLimitedClimbRate (double altitudeError, double desiredSpeed, double finalClimbRate=0.0)

virtual void	calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal)

virtual void	calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal, double rollRate=0.0)

virtual double	calculateClimbRate (double altitude, double climbTime) const

virtual double	calculateTurnRate (double turnAngle, double additionalTurnRate=0) const

virtual double	calculateRollAngle (double turnRate, double speed) const

virtual double	calculateRollRate (double rollAngle, double turnRate)

virtual void	calculateNormalizedBodyVelocity ()

virtual void	calculateLocalAngularVelocity ()

virtual void	calculateSpeedRatioSquared ()

virtual void	initializeControllerForTick ()

virtual bool	createFixedWingControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createStickPort ()

virtual bool	createPedalPort ()

virtual bool	createBrakePort ()

virtual bool	createFlapsDeployedPort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedDualAxisAnalogOutputPort *	stickPort ()

virtual DtConstrainedAnalogOutputPort *	pedalPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtBooleanOutputPort *	flapsDeployedPort ()

virtual void	setMaxThrustAcceleration (double maxThrustAcceleration)

virtual void	setTakeOffDir (const DtVector &takeOffDir)

virtual const DtVector &	takeOffDir () const

virtual DtReal	maxTurningGsForTask () const

virtual DtReal	maxTurnRateCutoffAngle () const

virtual DtReal	maxTaxiingTurnSpeed () const

virtual DtReal	taxiingNearDistance () const

virtual DtReal	taxiingAtDistance () const

virtual DtReal	taxiingApproachSpeed () const

virtual DtReal	maxPitchAngle () const

virtual DtReal	timeToTargetAltitude () 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 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 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	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	setAltitudeCallback (DtSimMessage msg, void usrData)

static void	setOrderedAltitudeCallback (DtSimMessage msg, void usrData)

static void	setLocationCallback (DtSimMessage msg, void usrData)

static void	setRestoreCallback (DtSimMessage msg, void usrData)

static void	modifyVrfObjectCallback (DtSimMessage msg, void usr)

static void	moveAlongCallback (DtSimMessage msg, void usr, DtSimTaskStatePtr taskStatePtr)

static DtReaderWriter *	provideNextRoutePointIndex (void *c)

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

Static Public Member Functions inherited from DtFixedWingPilotController
static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

static DtReaderWriter *	provideMaxThrustAcceleration (void *controller)

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)

	DtFixedWingMoveAlongController ()

	DtFixedWingMoveAlongController (const DtFixedWingMoveAlongController &orig)

DtFixedWingMoveAlongController &	operator= (const DtFixedWingMoveAlongController &orig)

void	clearStoredRoute ()

void	updateTakeOffDir ()

void	updateLandingDir ()

void	processEntityLocationChange ()

virtual bool	setMovementStatusFromRoute ()

virtual void	resetValues ()

virtual void	clearTask ()

virtual void	updateTaskVisualizations ()

virtual void	processEstimatedTotCalculation ()

virtual bool	createPorts ()

Protected Member Functions inherited from DtFixedWingPilotController
virtual DtReaderWriter *	processProvideMaxThrustAcceleration ()

virtual bool	createPortGroups ()

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual bool	decideToGiveUpTask () const

virtual void	updateCurrentState ()

virtual double	calculateCollisionLookAhead (const double climbRate, const double speed, const double desiredAltitude)

virtual double	convertSpeedtoGroundSpeed (double speed, double currentAlt, DtAirSpeedType speedType)

	DtFixedWingPilotController ()

	DtFixedWingPilotController (const DtFixedWingPilotController &orig)

const DtFixedWingPilotController &	operator= (const DtFixedWingPilotController &orig)

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

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
DtSimObjectReference	myRoute

bool	myRouteHasChanged

bool	myWarnedForMovementStatus

DtVectorOutputPort *	myCurrentVertexLocationOutputPort

bool	myChangedLocation = false

Protected Attributes inherited from DtFixedWingPilotController
DtFixedWingEntityStateRepository *	myFixedWingEntityState

DtFixedWingFlightPSR *	myProcessState

DtAirspeedCalculator *	myAirSpeedCalculator

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled

double	myEstimatedTotValue

double	myEstimatedTotLastCalcTime

DtVector	myEstimatedTotTextPos

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtOutputPortGroup *	myFixedWingControlPortGroup

DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedDualAxisAnalogOutputPort *	myStickPort

DtConstrainedAnalogOutputPort *	myPedalPort

DtConstrainedAnalogOutputPort *	myBrakePort

DtBooleanOutputPort *	myFlapsDeployedPort

DtVector	myCurrentLocalPosition

DtVector	myCurrentLocalVelocity

double	myCurrentSpeed

DtDcm	myCurrentOrientationMatrix

double	myCurrentHeading

double	myCurrentTopoPitch

double	myCurrentTopoRoll

DtDcm	myLocalToTopoDcm

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

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

DtFixedWingMoveAlongController::DtFixedWingMoveAlongController	(	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 DtFixedWingMoveAlongController::~DtFixedWingMoveAlongController ( )

virtual

destructor

DtFixedWingMoveAlongController::DtFixedWingMoveAlongController ( )

protected

default constructor - should not be called

DtFixedWingMoveAlongController::DtFixedWingMoveAlongController ( const DtFixedWingMoveAlongController & orig )

protected

copy constructor

Member Function Documentation

virtual bool DtFixedWingMoveAlongController::init ( )

virtual

Registers the attribute function with the parent system.

Reimplemented from DtFixedWingPilotController.

virtual void DtFixedWingMoveAlongController::preFirstTickInit ( )

virtual

If tasked and if the process state has a route name, setupRoute is called. If successful, a vertices changed callback is registered on myRoute with routeChangedCallback. The ordered altitude is set to the altitude of the current vertex in the route. Finally setMovementStatusFromRoute is called.

Reimplemented from DtSimComponent.

virtual void DtFixedWingMoveAlongController::tick ( )

virtual

Calculate new control values. If myWaitingToSetMovementStatus is set in myProcessState, then setMovementStatusFromRoute is called to see if the required terrain data is now available.

Reimplemented from DtFixedWingPilotController.

virtual const char* DtFixedWingMoveAlongController::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: DtFixedWingMoveAlongControllerType

Reimplemented from DtFixedWingPilotController.

Reimplemented in DtFixedWingPatrolRouteController, and DtCruiseMissileMoveAlongController.

virtual void DtFixedWingMoveAlongController::doFinishing ( )

virtual

Based on the current movement status of the entity, calls the appropriate doFinishing function.

virtual void DtFixedWingMoveAlongController::doFinishingForFlying ( )

virtual

Checks to see if the entity is within two seconds of being at the waypoint, or if the entity�s distance from the waypoint is greater than it was the previous frame (by comparing myProcessState->distanceSquared() to myProcessState->lastDistanceSquared()). If so, all port values are set to 0.0, myFinishing is set to false, and taskComplete() is called. Otherwise, flyTo() is called, and myProcessState->lastDistanceSquared() is set to myDistanceSquared.

Reimplemented in DtFixedWingPatrolRouteController.

virtual void DtFixedWingMoveAlongController::doFinishingForTaxiing ( )

virtual

Only called if the entity is near its goal. Checks to see if the entity is at the goal or passed it. If so, then it stops. Otherwise, it continues to taxi, but at its approach speed if it has one.

Reimplemented in DtFixedWingPatrolRouteController.

virtual void DtFixedWingMoveAlongController::doMoving ( )

virtual

Determines what state the entity is currently in and then calls the appropriate doMoving function for that state..

virtual void DtFixedWingMoveAlongController::doFlying ( )

virtual

Determines if the entity is five seconds or fewer away from being at the waypoint using the entity�s speed and myDistanceSquared. If it is, it sets the myFinishing flag to true; The myProcessState->lastDistanceSquared() is set to myDistanceSquared. otherwise, it calls the flyTo() function provided by its parent class.

virtual void DtFixedWingMoveAlongController::doTaxiing ( )

virtual

Determines if the entity is near its goal. If it is, it sets the finishing flag to true. The myProcessState->lastDistanceSquared() is set to myDistanceSquared. Otherwise, it calls the taxiTo() function provided by its parent class.

virtual void DtFixedWingMoveAlongController::doTakeOff ( )

virtual

Changes the ordered speed to be the max ground speed and then taxi's in the direction of the waypoint. By setting the ordered speed to be the max ground speed, the plane will accelerate until either maxing out its speed or reaching min lift speed and taking off.

virtual void DtFixedWingMoveAlongController::doLanding ( )

virtual

Checks to see if the entity is on the ground. If so, it assumes that the entity has landed, updates the movement status, and calls makes sure the correct movement takes place. If not, then it creates the landing direction vector if it doesn't exist, ensures that the ordered altitude is set appropriately, and proceeds to fly towards the touch down point at the desired speed.

Reimplemented in DtFixedWingPatrolRouteController.

virtual double DtFixedWingMoveAlongController::findDesiredSpeed ( )

virtual

This function returns the appropriate speed for the movement status of the FWE. Flying - the ordered speed. For now, the ordered speed doesn't change whether approaching a goal or not. Taxiing - the ordered ground speed unless it is approaching the goal, at which point it will return the approach speed. Landing - the minimum lift speed Taking off - the maximum ground speed.

virtual bool DtFixedWingMoveAlongController::nearGoal ( )

virtual

Determines if the entity is close enough to the waypoint that it can be considered near its goal. For ground motion, this means determining if its breaking distance is greater than or equal to the specified near distance. For flying, this determines if the entity is within near-time of the goal at current speed or orientation. NOTE: if the entity is not, but because it is at it's maximum altitude and the altitude is further above, it then determines if it is close enough to the goal as if that goal was at its altitude. Note that for flying, the tick period x 4 is the lower bound for near-time.

virtual bool DtFixedWingMoveAlongController::atGoal ( )

virtual

Determines if the entity is "at" the goal. For taxiing, it determines if entity is within the specified at-distance. For flying, it basically performs the same calculation for closeness, including altitude conditions, as nearGoal(), but for within at-time. The tick-period lower bound is 2 x tick period.

virtual bool DtFixedWingMoveAlongController::passedGoal ( )

virtual

Determines if the entity will move passed the control point to which it is moving. It has passed the goal if it crosses a line through the point perpendicular to the next route segment.

static void DtFixedWingMoveAlongController::setAltitudeCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Instances of this component will register these callbacks with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks. ASSUMPTION: All of these functions assume that the messages and the associated data are valid.

static void DtFixedWingMoveAlongController::setOrderedAltitudeCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

static void DtFixedWingMoveAlongController::setLocationCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

static void DtFixedWingMoveAlongController::setRestoreCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

static void DtFixedWingMoveAlongController::modifyVrfObjectCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

virtual bool DtFixedWingMoveAlongController::processFlyAlongTask	(	DtSimTask *	msg,
		DtSimTaskStatePtr	taskStatePtr
	)

virtual

virtual bool DtFixedWingMoveAlongController::processMoveAlongTask	(	DtSimTask *	msg,
		DtSimTaskStatePtr	taskStatePtr
	)

virtual

virtual void DtFixedWingMoveAlongController::processRouteChanged ( )

virtual

Called when the route to which this entity is tasked is modified. The function determines if the route change warrants updating the internal state and, if so, updates the internal state appropriately.

virtual void DtFixedWingMoveAlongController::processSetAltitude ( DtSimMessage * msg )

virtual

In all of the process functions, if an altitude change occurred, then the function redetermines the proper value for the movement status and any other state variables.

virtual void DtFixedWingMoveAlongController::processSetOrderedAltitude ( DtSimMessage * msg )

virtual

virtual void DtFixedWingMoveAlongController::processSetLocation ( DtSimMessage * msg )

virtual

virtual void DtFixedWingMoveAlongController::processSetRestore ( DtSimMessage * msg )

virtual

virtual void DtFixedWingMoveAlongController::processModifyVrfObject ( DtSimMessage * msg )

virtual

If the entity is tasked, the route is valid, and the object moved was the entity, then this resets the current route state to the closest point on the route. If the current movement status is taking off then it also resets the take off direction vector.

virtual bool DtFixedWingMoveAlongController::setupRoute ( )

virtual

virtual void DtFixedWingMoveAlongController::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register it's interest in the radio messages defined above.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtFixedWingPatrolRouteController.

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

static

static DtReaderWriter* DtFixedWingMoveAlongController::provideNextRoutePointIndex ( void * c )

static

A callback to provide a controller attribute ("next-route-point-index")

virtual DtFixedWingFlightPSR* DtFixedWingMoveAlongController::getPSR ( )

inlinevirtual

Gets the process state repository for purposes of providing attributes.

References DtFixedWingPilotController::myProcessState.

virtual DtSimTaskStatePtr DtFixedWingMoveAlongController::currentTaskState ( ) const

virtual

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

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtFixedWingPatrolRouteController.

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

protectedvirtual

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

protected

assignment operator

void DtFixedWingMoveAlongController::clearStoredRoute ( )

protected

deletes the route currently stored.

void DtFixedWingMoveAlongController::updateTakeOffDir ( )

protected

Updates the take off direction vector in the process state repository by calculating the direction from the current location to the current route point.

void DtFixedWingMoveAlongController::updateLandingDir ( )

protected

void DtFixedWingMoveAlongController::processEntityLocationChange ( )

protected

This function is meant to be called after the entity's location has been changed by the user. Usually this is through a setLocation, setAltitude, or drag and drop in the front end, but not necessarily. It resets the route state to the closest point in the route to the entity. Then it resets all necessary state including the ordered altitude and the current movement status. "Finishing" state is set to false and the lastDistanceSquared value is also reset.

virtual bool DtFixedWingMoveAlongController::setMovementStatusFromRoute ( )

protectedvirtual

Looks at the current point in the route and the entity's position and determines which type of movement status is appropriate. NOTE: The following objects must be valid before this function can be called or its behavior is undefined:

myProcessState and myProcessState->routeState()
myFixedWingEntityState
simManager() && entity()->terrainAttachedTo() The movement status is set as follows: Entity Current Pt. in Rt. Movement Status on ground on ground taxi (only if there are no further points in the route or the next point is on the ground as well. on ground on ground take off (ONLY if next point in route is in the air) on ground in air take off in air on ground landing in air in air flying If the terrain data under each point in the route is not available, myWaitingToSetMovementStatus in myProcessState is set to true, the movement state is left unchanged and false is returned. Otherwise the movement state is set as described above, myWaitingToSetMovementStatus is set to false and true is returned.

Reimplemented in DtCruiseMissileMoveAlongController.

virtual void DtFixedWingMoveAlongController::resetValues ( )

protectedvirtual

This method will clear out internal values for new calculations.

virtual void DtFixedWingMoveAlongController::clearTask ( )

protectedvirtual

Calls resetValues.

Reimplemented from DtFixedWingPilotController.

virtual void DtFixedWingMoveAlongController::updateTaskVisualizations ( )

protectedvirtual

update visualizations

Reimplemented from DtFixedWingPilotController.

virtual void DtFixedWingMoveAlongController::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented from DtFixedWingPilotController.

virtual bool DtFixedWingMoveAlongController::createPorts ( )

protectedvirtual

Overridden to create the fixed wing ports.

Reimplemented from DtFixedWingPilotController.

Member Data Documentation

DtSimObjectReference DtFixedWingMoveAlongController::myRoute

protected

This is looked up once per tick - assumed unchanging while we have control.

bool DtFixedWingMoveAlongController::myRouteHasChanged

protected

bool DtFixedWingMoveAlongController::myWarnedForMovementStatus

protected

DtVectorOutputPort* DtFixedWingMoveAlongController::myCurrentVertexLocationOutputPort

protected

Output Port Name: current-vertex-location
Output Port Description: Specifies the current vertex location of the entity's route in local coordinates. Output Port Range:
Output Group Parent:
.

bool DtFixedWingMoveAlongController::myChangedLocation = false

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation