DtDisaggregatedManeuverAlongController Class Reference

Class DtDisaggregatedManeuverAlongController is a task controller that models aggregate entity maneuver-along behavior.

End User Description: The DtDisaggregatedManeuverAlongController models movement along a route for aggregate entities.

It generates offset routes for the immediate subordinates based upon the current formation. Subordinate units are issued "move-along". Subordinate platforms are issued "maneuver-in-formation".

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

Developer Description: see "data/simulationModelSets/EntityLevel/scripts/maneuver-along.xml DtDisaggregatedManeuverAlongController class registers for DtManeuverAlongTaskType (see include/vrfTasksradioMessageTypes.h). It receives a scriptedTask task. It retrieves a formation entry for the currrent unit formation. It determines a leader based on formation entry and by chosing among viable subordinates. It generates offset routes for the leader if it is a platform and issues "maneuver-in-formation". It generates offset routes for any subordinate unit and issues "maneuver-in-formation". It does not generate offset routes for subordinate platforms that are not leader. Instead, it sends "maneuver-in-formation" to the followers, and the platform implementation will generate its own offset route. If subordinates are deleted or destroyed, this controller attempts to handle those conditions. If the formation changes, the task is reissued.

Uses Descriptor Type: DtAggregateMoveAlongDescriptor

Inheritance diagram for DtDisaggregatedManeuverAlongController:

Public Member Functions
	DtDisaggregatedManeuverAlongController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtDisaggregatedManeuverAlongController () override
virtual const char *	type () const override
virtual bool	init () override
virtual void	registerTaskMsgCallbacks () override
virtual void	preFirstTickInit () override
virtual void	tick () override
virtual void	clearTask () override
virtual bool	createPSR ()
virtual DtSimTaskStatePtr	currentTaskState () const override
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
virtual	~DtSingleTaskControllerComponent () override
virtual void	postTick () override
virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) override
virtual void	taskNotify (const DtSimTask &task) override
virtual void	taskComplete (bool success=true)
virtual void	suspendTask ()
virtual int	sendSubtask (DtSimTask &task)
virtual void	clearSubtask (int subtaskId)
virtual void	addPendingSubtaskId (int subtaskId)
virtual bool	findPendingSubtaskId (int subtaskId)
virtual bool	isSubtasked () const
virtual void	removePendingSubtaskId (int subtaskId)
virtual void	removeAllPendingSubtaskIds ()
virtual std::vector< int >	currentPendingSubstaskIds () const
virtual DtSubtaskStatusEntry *	subtaskStatus (int subtaskId)
virtual void	clearCurrentTaskMessage ()
virtual DtTaskMessage *	currentTaskMessage () const
virtual bool	decideToGiveUpTask () const
virtual void	giveUpTask ()
virtual bool	taskActive (int taskId) const override
virtual bool	clearTopLevelTasks () override
virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) override
virtual void	clearTasksByType (const DtSimTaskMessageType &taskType) override
virtual void	clearTaskById (int taskId) override
virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId) override
virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId) override
virtual std::list < DtTaskMessage * >	currentTaskMessages () const override
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const override
virtual void	disable () override
virtual void	updateImgui () override
virtual void	initializeTaskInformationStateProperty (const DtSimTaskMessageType &taskType)
virtual void	updateCurrentTaskInformationStatusProperty (const DtString &status)
virtual DtString	taskInformationStatusPropertyValue (const DtSimTaskMessageType &taskType) const
virtual DtString	currentTaskInformationStatusPropertyValue () const
virtual DtRwPropertiesStructure *	taskInformationProperty (const DtSimTaskMessageType &taskType)
virtual DtRwPropertiesStructure *	currentTaskInformationProperty ()
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
virtual	~DtTaskControllerComponent () override
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 () override
virtual bool	postAddComponentsInit () override
virtual DtSimRadio *	radio ()
virtual void	enableTaskTypes ()
virtual void	enableScriptedTask (const DtString &scriptId)
virtual void	disableTaskTypes ()
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent () override
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) override
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) override
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	debugActive () const
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual int	notifyLevel () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
VRF4API_METHOD const DtSimulationServices *	simManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
bool	operator== (const DtReaderWriter &) const
bool	operator!= (const DtReaderWriter &rhs) const
virtual	~DtReaderWriter ()
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual void	postPutSelf ()
virtual void	prePutSelf ()
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
virtual void	postGetSelf ()
virtual void	preGetSelf ()
virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual DtSymbolString	name () const
virtual void	addAlias (const DtSymbolString &alias)
virtual void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
bool	isReadonly () const
virtual void	reset ()
virtual int	alignment () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
virtual void	setName (const DtString &)
virtual const char *	readerWriterType () const
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
virtual bool	hasVariableReference () const
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
virtual void	recordUpdateTime () const
virtual bool	changedSinceLastChecked ()
virtual bool	peekChangedSinceLastChecked () const
virtual void	setValueSpecified (bool specified, bool recurse=false)
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
virtual DtSymbolString	variableName () const
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
const DtReaderWriterRegistry &	registry () const
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
virtual bool	toXml (const DtFilename &) const
virtual bool	fromXml (const DtString &)
virtual bool	fromXmlFile (const DtFilename &)
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	maneuverAlongCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskStatePtr)
static void	taskCompleteReportCallback (DtSimMessage *msg, void *usr)
static void	formationChangedCallback (const DtFormationState &formationState, void *usr)
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
static const DtFilename &	appPath ()
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual const DtSimTaskMessageType &	originalTaskType () const
virtual void	processManeuverAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)
virtual void	processFormationChanged (const DtFormationState &formationState)
virtual void	processTaskComplete (DtSimMessage *msg)
virtual void	processRouteChanged ()
virtual int	sendTaskToSubordinate (const DtSimTask &task, const DtUUID &subordinate)
virtual void	sendSetDataToSubordinate (const DtSetDataRequest &setData, const DtUUID &subordinate) const
virtual void	beginManeuverAlong (const DtUUID &routeName, const bool startAtClosestPoint, const bool traverseForward)
virtual int	findClosestSegmentIndex (DtVector testPoint, std::vector< DtVector > testRoute, DtPoint &closestSegmentLoc, double &distanceToSegment, int indexSegmentFloor=0)
virtual bool	createSubordinateOffsetRoute (const std::vector< DtVector > &localPoints, const double rightOffset, const double forwardOffset, DtUUID &routeUUID, DtUUID subordinateId)
virtual bool	isPlatform (const DtSimObjectReference &subject) const
virtual bool	isSubordinateCapable (const DtUUID &sub) const
virtual bool	isSubUnit (const DtSimObjectReference &subject) const
virtual int	taskLeader (const DtUUID &leader, const DtSimObjectReferenceList &subs, const DtUUID &leaderRoute, const double formationWidth, const double formationLength)
virtual int	taskFollower (const DtUUID &subEntity, const DtUUID &formationLeader, const DtUUID &unitRouteUUID, const double leaderForwardOffset, const bool doReverseRoute, const double vertexStartIndex)
virtual int	taskSubunit (const DtUUID &subUnitId)
virtual int	taskSubunit (const DtUUID &subUnitId, const DtUUID &routeId)
virtual void	sendVrfObjectModifyMsg (const DtUUID &object, DtList *vertices) const
virtual void	initializeMemberDataFromDescriptor (const DtAggregateMoveAlongDescriptor &desc)
virtual bool	isUnitMovementExhausted ()
virtual void	sendClearTask (const DtUUID &recipient, const DtSimTaskMessageType &taskType) const
virtual bool	publishFormationRoutes () const
virtual double	dist2D (const DtVector &position1, const DtVector &position2, const Coordinate_System &coordinateSystem)
virtual bool	originalIsSpeedSpecified () const
virtual double	originalSpeed () const
virtual bool	originalStartAtClosest () const
virtual bool	originalUseForwardDirection () const
virtual DtUUID	originalRouteUUID () const
Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()
virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)
virtual void	cleanupInactiveSubtaskStatus ()
Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)
virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)
virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	DtControllerComponent (const DtControllerComponent &orig)
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
virtual void	onRestore () override
virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)
virtual void	sendCapableSetsAndTasks ()
Protected Member Functions inherited from DtSimComponent
virtual void	setupTimedTickLogic (double minTickPeriod, double minTickPeriodVariance)
virtual double	computeCurrentTime ()
bool	testInvariant () const
virtual bool	createPortGroups ()
virtual bool	createPorts ()
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
virtual void	updateTaskVisualizations ()
virtual void	destroyTaskVisualizations ()
virtual void	destroyTaskVisualization (const DtString &name)
virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
double	calculateNextTaskVisTickTime () const
DtVrfObjectStateRepository *	localStateRepository ()
const DtVrfObjectStateRepository *	localStateRepository () const
DtPropertyInterface *	cachedNextFrameStateProperty (DtPropertyInterface **prop, const DtString &propName)
template<typename ValType >
void	setCachedNextFrameStatePropertyValue (DtPropertyInterface **prop, const DtString &propName, ValType value)
const DtPropertyInterface *	cachedCurrentFrameStateProperty (const DtPropertyInterface **prop, const DtString &propName) const
template<typename ValType >
bool	getCachedCurrentFrameStatePropertyValue (const DtPropertyInterface **prop, const DtString &propName, ValType &value) const
void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	removeSimObjectPredicateCallback (const DtSimObject *, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	invokeSimObjectPredicateCallbacks ()
virtual void	clearPredicateCallbacks ()
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
std::map< int, DtString >	myPromotionIndexRouteNameMap
std::map< const DtSimObject *, DtEntityRouteFollowingData >	myEntityRouteFollowingMap
std::map< const DtSimObject *, DtEntityRouteTraversalState >	myEntityRouteTraversalStateMap
DtVrfAggregateStateRepository *	myAggregateStateRepository
DtFormationState *	myFormationState
DtCompatibilityRadio *	myCommandRadio
bool	myGenerateRoutesWithRoundedCorners
double	myVertexSpacingAlongRoundedCorners
DtAggregateMoveAlongPSR *	myProcessState
const DtAggregateMoveAlongDescriptor *	myAggregateMoveAlongDescriptor
bool	myRegisteredFormationChangedCallback
unsigned int	myNextRouteIndex
DtSimTaskStatePtr	myCachedTaskState
bool	mySetObjectToBeRemovedCallbacks
DtSimObjectReference	myRoute
bool	myRestartTaskOnFormationUpdate
DtTime	myStuckSubordinatesGiveUpSimTime
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
bool	myLocalDebug
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
	DtDisaggregatedManeuverAlongController ()
	DtDisaggregatedManeuverAlongController (const DtDisaggregatedManeuverAlongController &orig)
DtDisaggregatedManeuverAlongController &	operator= (const DtDisaggregatedManeuverAlongController &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 )()
Public Attributes inherited from DtSingleTaskControllerComponent
const DtString	TaskStatusRunning = "TaskRunning"
const DtString	TaskStatusNotActive = "TaskNotActive"
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

DtDisaggregatedManeuverAlongController::DtDisaggregatedManeuverAlongController	(	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 DtDisaggregatedManeuverAlongController::~DtDisaggregatedManeuverAlongController ( )

overridevirtual

destructor

DtDisaggregatedManeuverAlongController::DtDisaggregatedManeuverAlongController ( )

private

default constructor - not implemented

DtDisaggregatedManeuverAlongController::DtDisaggregatedManeuverAlongController ( const DtDisaggregatedManeuverAlongController &  orig )

private

copy constructor - not implemented

Member Function Documentation

virtual const char* DtDisaggregatedManeuverAlongController::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

DtAggregateManeuverAlongControllerType

Implements DtTaskControllerComponent.

virtual bool DtDisaggregatedManeuverAlongController::init ( )

overridevirtual

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

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedManeuverAlongController::registerTaskMsgCallbacks ( )

overridevirtual

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

Reimplemented from DtTaskControllerComponent.

virtual void DtDisaggregatedManeuverAlongController::preFirstTickInit ( )

overridevirtual

Init myProcessState->setMovingToRoute.

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedManeuverAlongController::tick ( )

overridevirtual

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

Reimplemented from DtSimComponent.

virtual void DtDisaggregatedManeuverAlongController::clearTask ( )

overridevirtual

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

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtDisaggregatedManeuverAlongController::createPSR ( )

virtual

Creates myProcessState data member, and adds it to our process state repository manager. Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in psrTypes.h.

virtual DtSimTaskStatePtr DtDisaggregatedManeuverAlongController::currentTaskState ( ) const

overridevirtual

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

Reimplemented from DtSingleTaskControllerComponent.

static void DtDisaggregatedManeuverAlongController::maneuverAlongCallback ( DtSimMessage *  msg, void *  usr, DtSimTaskStatePtr  taskStatePtr  )

static

Callback that invokes processManeuverAlong()

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

static

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

Parameters

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

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

static

Callback registered with formation state object (in aggregate state repository), invoked in the event that the formation state has changed. Calls beginManeuverAlong with updated info.

Parameters

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

static DtSimComponent* DtDisaggregatedManeuverAlongController::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 bool DtDisaggregatedManeuverAlongController::originalIsSpeedSpecified ( ) const

protectedvirtual

Task message accessors.

virtual double DtDisaggregatedManeuverAlongController::originalSpeed ( ) const

protectedvirtual

Task message accessors.

virtual bool DtDisaggregatedManeuverAlongController::originalStartAtClosest ( ) const

protectedvirtual

Task message accessors.

virtual bool DtDisaggregatedManeuverAlongController::originalUseForwardDirection ( ) const

protectedvirtual

Task message accessors.

virtual DtUUID DtDisaggregatedManeuverAlongController::originalRouteUUID ( ) const

protectedvirtual

Task message accessors.

virtual const DtSimTaskMessageType& DtDisaggregatedManeuverAlongController::originalTaskType ( ) const

protectedvirtual

Returns type of currentTaskMessage()->task() DtScriptedTaskTask::type().

virtual void DtDisaggregatedManeuverAlongController::processManeuverAlong ( const DtTaskMessage &  msg, DtSimTaskStatePtr  taskStatePtr  )

protectedvirtual

Receives the maneuver-along scripted task.

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

protectedvirtual

Calls beginManeuverAlong.

Parameters

formationState

Formation state maintained in our aggregate's state repository.

virtual void DtDisaggregatedManeuverAlongController::processTaskComplete ( DtSimMessage *  msg )

protectedvirtual

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

Parameters

msg	Message containing DtTaskCompleteReport.

virtual void DtDisaggregatedManeuverAlongController::processRouteChanged ( )

protectedvirtual

Calls beginManeuverAlong.

Parameters

obj	The route we're currently following.

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

protectedvirtual

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

Parameters

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

Returns

Task tracking number assigned to the task.

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

protectedvirtual

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

Parameters

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

virtual void DtDisaggregatedManeuverAlongController::beginManeuverAlong ( const DtUUID &  routeName, const bool  startAtClosestPoint, const bool  traverseForward  )

protectedvirtual

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

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

protectedvirtual

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

Parameters

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

Returns

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

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

protectedvirtual

Creates working offset route for the subordinate. Calls generateOffsetRoute.

Parameters

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

virtual bool DtDisaggregatedManeuverAlongController::isPlatform ( const DtSimObjectReference &  subject ) const

protectedvirtual

Returns true if subject valid and platform type.

virtual bool DtDisaggregatedManeuverAlongController::isSubordinateCapable ( const DtUUID &  sub ) const

protectedvirtual

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

virtual bool DtDisaggregatedManeuverAlongController::isSubUnit ( const DtSimObjectReference &  subject ) const

protectedvirtual

Returns true if subject valid and aggregate type.

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

protectedvirtual

Tasks the leader with a DtManeuverInFormationTaskType if it is a platform. Or tasks the leader with DtMoveAlongTaskType if it is a subunit.

Returns

The task tracking number generated for this task.

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

protectedvirtual

Tasks a subordinate with DtManeuverInFormationTaskType if it is a platform. Or tasks the subordinate with DtMoveAlongTaskType if it is a subunit.

Returns

The task tracking number generated for this task.

virtual int DtDisaggregatedManeuverAlongController::taskSubunit ( const DtUUID &  subUnitId )

protectedvirtual

Send move-along to subordinate unit. Calculates offset and generates offset route. Calls taskSubunit(subUnitId, routeId); Returns task tracking number.

virtual int DtDisaggregatedManeuverAlongController::taskSubunit ( const DtUUID &  subUnitId, const DtUUID &  routeId  )

protectedvirtual

Given a UUID for subordinate unit and route, send move-along task. Returns task tracking number.

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

protectedvirtual

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

Parameters

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

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

protectedvirtual

Parameters

desc	Descriptor used to configure this component.

virtual bool DtDisaggregatedManeuverAlongController::isUnitMovementExhausted ( )

protectedvirtual

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

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

protectedvirtual

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

Parameters

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

virtual bool DtDisaggregatedManeuverAlongController::publishFormationRoutes ( ) const

protectedvirtual

Returns

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

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

protectedvirtual

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

private

assignment operator - not implemented

Member Data Documentation

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

protected

Map of formation positions to generated route object names.

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

protected

Map of subordinates and route following data.

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

protected

Map of subordinate and current route traversal state.

DtVrfAggregateStateRepository* DtDisaggregatedManeuverAlongController::myAggregateStateRepository

protected

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

DtFormationState* DtDisaggregatedManeuverAlongController::myFormationState

protected

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

DtCompatibilityRadio* DtDisaggregatedManeuverAlongController::myCommandRadio

protected

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

bool DtDisaggregatedManeuverAlongController::myGenerateRoutesWithRoundedCorners

protected

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

double DtDisaggregatedManeuverAlongController::myVertexSpacingAlongRoundedCorners

protected

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

DtAggregateMoveAlongPSR* DtDisaggregatedManeuverAlongController::myProcessState

protected

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

const DtAggregateMoveAlongDescriptor* DtDisaggregatedManeuverAlongController::myAggregateMoveAlongDescriptor

protected

Pointer to descriptor used to configure this object.

bool DtDisaggregatedManeuverAlongController::myRegisteredFormationChangedCallback

protected

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

unsigned int DtDisaggregatedManeuverAlongController::myNextRouteIndex

protected

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

DtSimTaskStatePtr DtDisaggregatedManeuverAlongController::myCachedTaskState

protected

bool DtDisaggregatedManeuverAlongController::mySetObjectToBeRemovedCallbacks

protected

DtSimObjectReference DtDisaggregatedManeuverAlongController::myRoute

protected

bool DtDisaggregatedManeuverAlongController::myRestartTaskOnFormationUpdate

protected

DtTime DtDisaggregatedManeuverAlongController::myStuckSubordinatesGiveUpSimTime

protected

Give up time for isUnitMovementExhausted(). No need for this to go into a PSR. Loading a checkpoint effectively extends the burndown time. Burndown only happens in isUnitMovementExhausted() if there is no tasked leader and also no subordinate speed.

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrfmodel/disaggregatedManeuverAlongController.h