DtSurfaceEntityPatrolRouteController is a controller that models patrolling along a route for surface entities.

End User Description:
DtSurfaceEntityPatrolRouteController (surfEntPtrlRt.h) is derived from DtSurfaceEntityMoveAlongController. It changes the functionality of DtSurfaceEntityMoveAlongController from Move Along Route to Patrol Along Route by modifying the route state when the end of a route is reached, instead of completing the task. DtSurfaceEntityPatrolRouteController adds uses the reverse flag from the process state repository to keep track of the direction in which the route is being followed. It overrides registerTaskMsgCallbacks() to register for DtPatrolRouteType. By overriding doMoving(), the controller can insure that sailTo() is always called (as opposed to the base class which calls driftTo() at the end of the route). Overriding targetNextVertex() allows continuous iteration back and forth through the vertices, and maintains the reverse flag.

Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor

Inheritance diagram for DtSurfaceEntityPatrolRouteController:

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

virtual	~DtSurfaceEntityPatrolRouteController ()

virtual const char *	type () const override

virtual void	processPatrolRouteTask (DtSimMessage *msg)

virtual void	registerTaskMsgCallbacks () override

virtual void	moveToMiddleOrFinalPoint () override

virtual bool	targetNextVertex () override

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

virtual	~DtSurfaceEntityMoveAlongController ()

virtual bool	init ()

virtual void	preFirstTickInit ()

virtual void	clearTask ()

virtual void	processMoveAlongTask (DtSimMessage *msg)

virtual void	processRouteChanged ()

virtual bool	atGoal ()

virtual bool	passedGoal ()

virtual void	tick ()

virtual void	taskComplete (bool success=true)

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

virtual	~DtSurfaceEntityMoveToLocationController ()

virtual void	processMoveToLocationTask (DtSimMessage *msg)

virtual void	initializeLocals (const DtVector &globalTarget)

virtual double	getAtDistance ()

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

virtual	~DtSurfaceEntityPilotController ()

virtual bool	createSurfaceControlPortGroup ()

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

static void	patrolRouteCallback (DtSimMessage msg, void usrData)

Static Public Member Functions inherited from DtSurfaceEntityMoveAlongController
static void	moveAlongCallback (DtSimMessage msg, void usr)

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

static DtReaderWriter *	provideCurrentMinTurnRadius (void *controller)

static DtReaderWriter *	provideTurnRadiusForOrderedSpeed (void *controller)

static DtReaderWriter *	provideNextRoutePointIndex (void *controller)

Static Public Member Functions inherited from DtSurfaceEntityMoveToLocationController
static void	moveToLocationCallback (DtSimMessage msg, void usr)

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

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

static DtReaderWriter *	provideOrderedSpeed (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)

Private Member Functions
	DtSurfaceEntityPatrolRouteController ()

	DtSurfaceEntityPatrolRouteController (const DtSurfaceEntityPatrolRouteController &orig)

const DtSurfaceEntityPatrolRouteController &	operator= (const DtSurfaceEntityPatrolRouteController &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

Protected Member Functions inherited from DtSurfaceEntityMoveAlongController
	DtSurfaceEntityMoveAlongController ()

	DtSurfaceEntityMoveAlongController (const DtSurfaceEntityMoveAlongController &orig)

const DtSurfaceEntityMoveAlongController &	operator= (const DtSurfaceEntityMoveAlongController &orig)

virtual bool	getNextRoutePoint (int &index, DtVector *&point)

virtual DtVector	previousRoutePoint ()

virtual void	setStateForCurrentPoint ()

virtual bool	setupControlPoint ()

virtual void	controlMovement ()

virtual bool	shouldMoveToRouteSegment (double &distanceToSegment)

virtual void	controlMovementToRouteSegment (double distanceToSegment)

virtual DtReal	computeStartTurnDistance2 ()

virtual DtReal	minTurnRadiusForSpeed (double speed) const

virtual DtVrfMovingObjectStateRepository *	getSR ()

virtual DtSurfaceMovementPSR *	getPSR ()

virtual const DtSurfaceEntityParameters *	getParams ()

virtual void	emptyVertexList ()

virtual void	processEstimatedTotCalculation ()

virtual bool	createPorts ()

virtual void	processMoveAlongTask (DtMoveAlongTask *moveAlong)

virtual double	integralControl () const

virtual double	integratedErrorDecayRate () const

virtual double	integralControlGain () const

Protected Member Functions inherited from DtSurfaceEntityMoveToLocationController
virtual void	updateTaskVisualizations ()

Protected Member Functions inherited from DtSurfaceEntityPilotController
virtual void	moveToWithFinalSpeed (const DtVector &localDestination, const double cruiseSpeed, const double finalSpeed)

virtual void	moveToWithFinalSpeed (const double goalHeading, const double cruiseSpeed, const double finalSpeed)

virtual void	turn (double desiredRate)

virtual void	turn (double desiredRate, double desiredHeading)

virtual void	immediateNormalStop ()

virtual double	calculateControlForTurn (double yawAngle, double desiredRate)

virtual double	calculateNormalAcceleration (double cruiseSpeed, double distance, double turnAngle, double finalSpeed)

virtual double	calculateNormalAcceleration (double desiredSpeed)

virtual double	limitedAcceleration (double desiredAcceleration, double desiredSpeed)

virtual double	followerAcceleration (double dT, double distance, double maxDeceleration, double followerSpeed, double leaderSpeed)

virtual bool	createPortGroups ()

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual bool	decideToGiveUpTask () const

DtPlatformLocalObjectFacade &	platformLocalObjectFacade ()

	DtSurfaceEntityPilotController ()

	DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig)

const DtSurfaceEntityPilotController &	operator= (const DtSurfaceEntityPilotController &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 inherited from DtSurfaceEntityMoveAlongController
double	myMinManeuverDistance2

double	myIntegratedAlignmentError

DtVectorOutputPort *	myCurrentVertexLocationOutputPort

DtSimObjectReference	myRoute

bool	myReprocessTask

Protected Attributes inherited from DtSurfaceEntityMoveToLocationController
DtLocation3D	myEntityPoint

DtBoolean	myPassedGoal

DtBoolean	myAtGoal

DtVector2D	myCurrentGoalToEntity2DVector

DtVector2D	myCurrentEntityToGoal2DVector

DtLocation3D	myAimingPoint

double	myAtDistance

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled

double	myEstimatedTotValue

double	myEstimatedTotLastCalcTime

DtVector	myEstimatedTotTextPos

Protected Attributes inherited from DtSurfaceEntityPilotController
DtVrfMovingObjectStateRepository *	myEntityState

DtSurfaceEntityPilotControllerDescriptor *	myDescriptor

const DtSurfaceEntityParameters *	myParameters

DtSurfaceMovementPSR *	myProcessState

double	myDistanceSquared

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtAnalogOutputPort *	myAccelerationPort

DtAnalogOutputPort *	myClampSpeedPort

DtAnalogOutputPort *	myTurnRatePort

DtAnalogOutputPort *	myFinalHeadingPort

DtOutputPortGroup *	mySurfaceControlPortGroup

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

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

DtSurfaceEntityPatrolRouteController::DtSurfaceEntityPatrolRouteController	(	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 DtSurfaceEntityPatrolRouteController::~DtSurfaceEntityPatrolRouteController ( )

virtual

destructor

DtSurfaceEntityPatrolRouteController::DtSurfaceEntityPatrolRouteController ( )

private

Default constructor; not implemented.

DtSurfaceEntityPatrolRouteController::DtSurfaceEntityPatrolRouteController ( const DtSurfaceEntityPatrolRouteController & orig )

private

copy constructor; not implemented

Member Function Documentation

static DtSimComponent* DtSurfaceEntityPatrolRouteController::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 const char* DtSurfaceEntityPatrolRouteController::type ( ) const

overridevirtual

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: DtSurfaceEntityPatrolRouteType

Reimplemented from DtSurfaceEntityMoveAlongController.

static void DtSurfaceEntityPatrolRouteController::patrolRouteCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Called when a patrol route message is received.

Instances of this component will register this callback in registerTaskMsgCallbacks (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of patrol route tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processPatrolRouteTask is called with the patrol route task message.

virtual void DtSurfaceEntityPatrolRouteController::processPatrolRouteTask ( DtSimMessage * msg )

virtual

Retrives the name of the route for the patrol from the task message.

Called by patrolRouteCallback to store the names of the route in the process state repository. The reverse flag in the PSR is reset to false. The route is lookup up in the object manager and a pointer to it is stored in myRoute. The route verticies are then copied in the route state in the process state repository and setToClosest is called on the PSR with the location of the entity. A verticesChangedCallback is added on the route with routeChangedCallback as the function pointer. The myRouteHasChanged flag is set to false. A call is made to setupControlPoint() to initilize the base class.

virtual void DtSurfaceEntityPatrolRouteController::registerTaskMsgCallbacks ( )

overridevirtual

Registers interest in patrol tasks by calling addTaskProcessorCallback with patrolRouteCallback as the function pointer, and the 'this' pointer as the user data.

Reimplemented from DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityPatrolRouteController::moveToMiddleOrFinalPoint ( )

overridevirtual

Overridden to call sailTo, preventing the base class from using a driftTo

which would cause the entity to stop. virtual void doMoving(double desiredSpeed);

Overrides the parent function; always moves to the next point at ordered speed, even if the final point.

Reimplemented from DtSurfaceEntityMoveAlongController.

virtual bool DtSurfaceEntityPatrolRouteController::targetNextVertex ( )

overridevirtual

Overridden to continually loop route state.

Checks to see if the current vertex in the route state (from the process state repository) is the last vertex in the route. If so the reverse flag is flipped, and the route state is reset. Once the route state is upddated, next() is called to advance to the next vertex, setupControlPoint() is called to initilize the base class and doMoving() is called with findDesiredSpeed().

Reimplemented from DtSurfaceEntityMoveAlongController.

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

private

assignment operator; not implemented

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

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

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