Class DtAggregateMoveIntoFormationController is a task controller that models aggregate entity behavior of moving into a given formation, at a given heading and location.

End User Description: DtAggregateMoveIntoFormationController models movement of an aggregate into formation at a given location, formation, and heading. It responds to DtMoveIntoFormationTask commands issued to the aggregate. To implement the behavior, it computes the final position each subordinate should be in, to be in formation at the desired location and orientation. It then issues a move-to-location task to each subordinate, directing it to move into position. When it arrives, it issues a turn-to-heading task to the subordinate, to orient it at the desired heading. The task is considered complete when all subordinates have reached their target location and have finished their turn-to-heading tasks.

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

Uses Descriptor Type: DtAggregateMoveIntoFormationDescriptor

Inheritance diagram for DtDisaggregatedMoveIntoFormationController:

[legend]

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

virtual	~DtDisaggregatedMoveIntoFormationController () override

virtual const char *	type () const override

virtual bool	init () override

virtual void	registerTaskMsgCallbacks () override

virtual void	clearTask () 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 DtSimTaskStatePtr	currentTaskState () const

virtual bool	decideToGiveUpTask () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const override

virtual bool	clearTopLevelTasks () override

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) override

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType) override

virtual void	clearTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId) override

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

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

virtual void	tick ()

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	taskCompleteReportCallback (DtSimMessage msg, void usr)

static void	formationStateChanged (const DtFormationState &formationState, void *usr)

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

static void	moveIntoFormationTaskCallback (DtSimMessage msg, void usr)

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)

Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()

static void	setFactory (DtSimComponentFactory *factory)

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

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual void	moveIntoFormation (const DtVector &location, double heading, DtString formation)

virtual void	onTaskComplete (DtSimMessage *msg)

virtual void	onFormationStateChanged ()

virtual void	sendRequestToSelf (const DtSetDataRequest &request) const

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

void	sendSetDataRequestToSubordinate (const DtSetDataRequest &request, const DtUUID &subordinate) const

virtual void	processMoveIntoFormationTask (DtSimMessage *msg)

virtual bool	createPSR ()

virtual void	clearDebugWaypointNames ()

virtual void	processSubordinateRemoved (const DtUUID &info)

virtual void	groundClampLocation (DtVector &location)

virtual bool	shouldGroundClamp () 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
const DtAggregateMoveIntoFormationDescriptor *	myAggregateMoveIntoFormationDescriptor

DtFormationState *	myFormationState

DtVector	myLocation

DtString	myFormation

DtCompatibilityRadio *	myCommandRadio

DtSetDataManager *	mySetDataManager

std::vector< DtString >	myDebugWaypointNames

DtAggregateMoveToPSR *	myProcessState

bool	myStopMovingUponArrival

bool	myTurnToHeadingUponArrival

boost::signals2::scoped_connection	mySubordinateRemovedConnection

DtAggregateLocalObjectFacade	myAggregateLocalObjectFacade

tbb::spin_mutex	myProcessStateRemovalMutex

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
	DtDisaggregatedMoveIntoFormationController (const DtDisaggregatedMoveIntoFormationController &orig)

DtDisaggregatedMoveIntoFormationController &	operator= (const DtDisaggregatedMoveIntoFormationController &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

DtDisaggregatedMoveIntoFormationController::DtDisaggregatedMoveIntoFormationController	(	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 DtDisaggregatedMoveIntoFormationController::~DtDisaggregatedMoveIntoFormationController ( )

overridevirtual

DtDisaggregatedMoveIntoFormationController::DtDisaggregatedMoveIntoFormationController ( const DtDisaggregatedMoveIntoFormationController & orig )

private

not implemented

Member Function Documentation

virtual const char* DtDisaggregatedMoveIntoFormationController::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: DtAggregateMoveIntoFormationControllerType

Implements DtTaskControllerComponent.

virtual bool DtDisaggregatedMoveIntoFormationController::init ( )

overridevirtual

Initializes myFormationState.

Reimplemented from DtControllerComponent.

virtual void DtDisaggregatedMoveIntoFormationController::registerTaskMsgCallbacks ( )

overridevirtual

Registers task and set data request callbacks for following type: DtMoveIntoFormationTask Overridden from base class to register for DtTaskCompleteReports.

Reimplemented from DtTaskControllerComponent.

virtual void DtDisaggregatedMoveIntoFormationController::clearTask ( )

overridevirtual

Override to send clear task messages to subordinates.

Reimplemented from DtSingleTaskControllerComponent.

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

static

Handles task complete reports from our subordinates. Calls onTaskComplete().

Parameters

msg	Message containing a DtTaskCompleteReport.

static void DtDisaggregatedMoveIntoFormationController::formationStateChanged	(	const DtFormationState &	formationState,
		void *	usr
	)

static

Called whenever formation state has changed in myFormationState. Calls onFormationStateChanged().

static DtSimComponent* DtDisaggregatedMoveIntoFormationController::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.

static void DtDisaggregatedMoveIntoFormationController::moveIntoFormationTaskCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Callback function for handling incoming turn to move to task message. Calls onMoveToTask to actually handle the message.

virtual void DtDisaggregatedMoveIntoFormationController::moveIntoFormation	(	const DtVector &	location,
		double	heading,
		DtString	formation
	)

protectedvirtual

Sends DtFormationTypeRequest to ourself if formation is anything other than 'DtKeepExistingFormation'. For each subordinate, computes new location and heading, given the formation If subordinate is an individual, sends DtMoveToTask with new location. If subordinate is an aggregate, sends DtMoveIntoFormationTask with new location, heading, formation, and apply to subordinates flag.

virtual void DtDisaggregatedMoveIntoFormationController::onTaskComplete ( DtSimMessage * msg )

protectedvirtual

If task complete from our subordinate indicates task just completed is of type DtMoveToLocationTaskType, then send subordinate a DtTurnToHeadingType task with the new heading. If task completed is of type DtTurnToHeadingType, then removes subordinate from list of currently tasked subordinate names in the process state repository (myProcessState). If list of currently tasked subordinate names is empty, places a value of true on myAtDestinationOutputPort and sends the data (at this point, behavior is complete).

Parameters

msg	Message containing a DtTaskCompleteReport.

virtual void DtDisaggregatedMoveIntoFormationController::onFormationStateChanged ( )

protectedvirtual

Clears list of currently tasked subordinate names in the process state repository (myProcessState), and calls moveIntoFormation() with our cached location, heading, formation, and apply formation to subordinates data members.

virtual void DtDisaggregatedMoveIntoFormationController::sendRequestToSelf ( const DtSetDataRequest & request ) const

protectedvirtual

Sends given data request message to ourself through myRadio.

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

protectedvirtual

Sends given task message to a given subordinate through myRadio.

void DtDisaggregatedMoveIntoFormationController::sendSetDataRequestToSubordinate	(	const DtSetDataRequest &	request,
		const DtUUID &	subordinate
	)		const

protected

Sends given set data request message to a given subordinate through myRadio.

virtual void DtDisaggregatedMoveIntoFormationController::processMoveIntoFormationTask ( DtSimMessage * msg )

protectedvirtual

Unpacks incoming DtMoveToTask, calls startTask() and then moveIntoFormation().

virtual bool DtDisaggregatedMoveIntoFormationController::createPSR ( )

protectedvirtual

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 void DtDisaggregatedMoveIntoFormationController::clearDebugWaypointNames ( )

protectedvirtual

virtual void DtDisaggregatedMoveIntoFormationController::processSubordinateRemoved ( const DtUUID & info )

protectedvirtual

Handles subordinate removed events. If this controller is currently tasked, removes this subordinate name from the process state list of currently tasked subordinates.

virtual void DtDisaggregatedMoveIntoFormationController::groundClampLocation ( DtVector & location )

protectedvirtual

Utility function.

virtual bool DtDisaggregatedMoveIntoFormationController::shouldGroundClamp ( ) const

protectedvirtual

Returns: Boolean value indicating whether or not generated locations should be ground clamped or not.

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

private

not implemented

Member Data Documentation

const DtAggregateMoveIntoFormationDescriptor* DtDisaggregatedMoveIntoFormationController::myAggregateMoveIntoFormationDescriptor

protected

DtFormationState* DtDisaggregatedMoveIntoFormationController::myFormationState

protected

DtVector DtDisaggregatedMoveIntoFormationController::myLocation

protected

DtString DtDisaggregatedMoveIntoFormationController::myFormation

protected

DtCompatibilityRadio* DtDisaggregatedMoveIntoFormationController::myCommandRadio

protected

Pointer to aggregate's command radio, cached in this class for convenience. Aggregate must be configured with a command channel radio for this controller to work correctly (it must have a command radio to issue commands to subordinates).

DtSetDataManager* DtDisaggregatedMoveIntoFormationController::mySetDataManager

protected

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

std::vector<DtString> DtDisaggregatedMoveIntoFormationController::myDebugWaypointNames

protected

List of object names of waypoints, generated at target locations. Used for debugging.

DtAggregateMoveToPSR* DtDisaggregatedMoveIntoFormationController::myProcessState

protected

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

bool DtDisaggregatedMoveIntoFormationController::myStopMovingUponArrival

protected

Flag indicating whether or not subordinates should stop upon arrival at destination. Typically set to true for ground vehicles, set to false for air vehicles. Default is false.

bool DtDisaggregatedMoveIntoFormationController::myTurnToHeadingUponArrival

protected

Flag indicating whether or not subordinates should turn to given heading upon arrival at the destination. Typically set to true for ground vehicles, set to false for air vehicles (who can't stop and turn). Default is false.

boost::signals2::scoped_connection DtDisaggregatedMoveIntoFormationController::mySubordinateRemovedConnection

protected

DtAggregateLocalObjectFacade DtDisaggregatedMoveIntoFormationController::myAggregateLocalObjectFacade

protected

tbb::spin_mutex DtDisaggregatedMoveIntoFormationController::myProcessStateRemovalMutex

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation