Execution (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.Execution

All Implemented Interfaces:

JoystickEventListener, Runnable

Direct Known Subclasses:

MunitionExecution, UavExecution, UgvExecution, UsvExecution, UuvExecution
```
public abstract class Execution
extends Object
implements Runnable, JoystickEventListener
```
Abstract class for implementation of specific autonomous vehicle control programs

Since:

08 September 2004

Version:

$Id: Execution.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

dtdavis

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static interface`	`Execution.IdleHandler` An object which implements this interface will do something (or nothing) with the time it is given.

Field Summary

Fields
Modifier and Type	Field and Description
`protected JAXBElement<?>`	`currentCommandElement` XML (AVCL) or text command currently being executed
`protected int`	`currentCommandIndex`
`DriverInterface`	`drivers` Intended as a driver interface that can control the vehicle -- SG
`Dynamics`	`dynamics` Reference to the Dynamics module if running in virtual world--must be initialized by inheriting class
`List<String>`	`dynamicsArgs` Temporary container for arguments that must be passed to Dynamics
`protected EnvironmentCustomer`	`environmentCustomer` Updater object.
`String`	`executionKey` Unique key identifying this execution instance
`protected boolean`	`firstTime` We only want this to happen on the first call of this flag
`CommunicationsHandler`	`interVehicleCommunicationsHandler` Reference to the handler for inter-vehicle communications
`EnumMap<JoystickEvent.CommandType,JoystickEvent>`	`joystickEventHashMap` If under manual control, the joystick or other device will send events from a separate thread.
`static String`	`KILL_CMD`
`boolean`	`killRun` Whether kill signal (stop mission) command received from workbench interface
`Mission`	`mission` parsed XML (AVCL) mission script (if utilized) and mission results--must be initialized by inheriting class
`static String`	`MULTIPLELOOPSMISSION_CMD`
`static String`	`PAUSE_CMD`
`static String`	`REALTIME_CMD`
`static String`	`RESUME_CMD`
`RuntimeFlags`	`runtimeFlags` global run-time parameters
`protected WorkbenchCommunicator`	`stateReportChannel` The above reference can be hijacked by telemetry missions to send back different stuff than is done in this base class.
`StateVector`	`stateVector` state elements from virtual world--must be initialized by inheriting class
`Strategic`	`strategicLevel` Reference to the strategic level object (used with an agenda-based mission)
`Thread`	`strategicThread`
`TacticalConnection`	`tacticalConnection` network connection between vehicle and tactical level--must be initialized by inheriting class
`Tactical`	`tacticalLevel` Reference to the tactical level object (used with an agenda-based mission)
`Thread`	`tacticalThread`
`protected String`	`vehicleShortName` "uuv, uav, etc." -- initialized by inheriting class
`VWConnection`	`virtualWorldConnection` network connection between vehicle and virtual world--must be initialized by inheriting class
`WorkbenchCommunicator`	`workbenchCommunicator` provides a communications capability between the execution and dynamics objects and the workbench

Constructor Summary

Constructors
Constructor and Description

Execution()
Creates a new instance of Vehicle

Constructors
Constructor and Description
`Execution()` Creates a new instance of Vehicle

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`protected abstract void`	`act()`
`protected abstract Mission`	`buildNewMission(boolean writeResults)`
`boolean`	`checkKill(String workbenchDirective)` Check whether to log killing an execution mission.
`boolean`	`checkMultipleLoopsMission(String workbenchDirective)` Toggle whether multipleLoopsMission mode is true or not for this mission
`void`	`checkPauseResume(String workbenchDirective)` Toggle whether paused or whether execution has resumed
`boolean`	`checkPauseSeparateJvm()` // TODO simplify, handle singleJvm Routine to watch Sys input for pause and kill commands.
`boolean`	`checkRealtime(String workbenchDirective)` Toggle whether timing mode is real time (i.e. system clock time) or simulation time (as fast as possible)
`protected void`	`cleanUpFollowingMissionLoopCompletion()`
`protected abstract void`	`decide()` Determines appropriate action needed to complete current command, using controller to compute
`protected void`	`decideExternal()` Determines what appropriate action to complete current command, using external process.
`protected void`	`endPositionReports()`
`protected void`	`endStateReports()`
`protected abstract ControlParameters`	`getControlParameters()`
`protected long`	`getEnvironmentalUpdatePeriodMs()`
`JoystickEvent`	`getNextJoystickEvent()` Returns the next joystick event from the queue, or null if there are no events.
`protected long`	`getPositionUpdatePeriod()`
`abstract StateVector`	`getState()`
`protected long`	`getStateReportUpdatePeriod()`
`protected String`	`getTabDelimitedFormattedStateFieldNames()`
`protected String`	`getTabDelimitedStateValues()`
`TacticalConnection`	`getTacticalConnection()` Returns a reference to the tactical level communications object
`abstract int`	`getVehicleType()`
`WorkbenchCommunicator`	`getWorkbenchCommunicator()`
`protected void`	`initializeEnvironmentUpdates()` Build the update object.
`boolean`	`isOneThreadedJvmForAllMissions()`
`boolean`	`isRunning()`
`protected abstract void`	`missionFinished()` Notification of mission completion
`protected void`	`missionSimulationLoopHouseKeepingFinal(ControlParameters controlParameters)` Cleanup and setup required at the end of each timestep closed-loop iteration, including checks to see if there is another command to handle
`protected void`	`missionSimulationLoopHouseKeepingInitial(ControlParameters controlParameters)` Setup required at the beginning of each iteration of the closed loop
`protected void`	`missionSimulationLoopsRunFullMission(ControlParameters controlParameters)` Mission execution closed-loop control.
`void`	`notifyCommandComplete()` Notifies the tactical level if the currently executing command is complete
`void`	`receiveJoystickEvent(JoystickEvent controllerEvent, JoystickObserver dispatcher)` Receives an event from the joystick controller and adds it to a thread-safe queue for retrieval by the Execution object.
`void`	`reset()` Resets all component objects and variables to start over.
`void`	`run()` This is where the execution thread begins, initiated by the enclosing thread from DynamicsExecutionThread2.
`protected abstract void`	`sense()`
`protected void`	`setAgendaLaunchXY(Mission mis)`
`void`	`setVehicleCharacteristics(VehicleCharacteristics chars)` Sets the vehicle characteristics object
`protected static boolean`	`shouldUseSingleJvm(String[] commandLineArgs)` Returns true if the commandLineArgs passed in contain the argument "singleJvm", false otherwise.
`protected void`	`startEnvironmentalUpdates(double starttime)`
`protected void`	`startPositionReports()`
`protected void`	`startStateReports()`
`protected void`	`stopEnviroUpdates()` Signal to stop or pause environmental updates.
`void`	`useMetric(boolean setting)` Used to switch between metric and English units of measure
`void`	`useRadians(boolean setting)` Used to switch between radian and degree angular measurements

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - workbenchCommunicator
```
public WorkbenchCommunicator workbenchCommunicator
```
    provides a communications capability between the execution and dynamics objects and the workbench
  - joystickEventHashMap
```
public final EnumMap<JoystickEvent.CommandType,JoystickEvent> joystickEventHashMap
```
    If under manual control, the joystick or other device will send events from a separate thread. This Execution will, in a different thread, read those events from the queue. So the queue that holds the events must be thread-safe. This queue should be drained when a joystick "quit" event is received.
  - stateReportChannel
```
protected WorkbenchCommunicator stateReportChannel
```
    The above reference can be hijacked by telemetry missions to send back different stuff than is done in this base class. This is a duplicate of the original before-hijacking reference so we can also continue to send state data back from this class no matter if hijacked or not.
  - interVehicleCommunicationsHandler
```
public CommunicationsHandler interVehicleCommunicationsHandler
```
    Reference to the handler for inter-vehicle communications
  - stateVector
```
public StateVector stateVector
```
    state elements from virtual world--must be initialized by inheriting class
  - mission
```
public Mission mission
```
    parsed XML (AVCL) mission script (if utilized) and mission results--must be initialized by inheriting class
  - runtimeFlags
```
public RuntimeFlags runtimeFlags
```
    global run-time parameters
  - virtualWorldConnection
```
public VWConnection virtualWorldConnection
```
    network connection between vehicle and virtual world--must be initialized by inheriting class
  - tacticalConnection
```
public TacticalConnection tacticalConnection
```
    network connection between vehicle and tactical level--must be initialized by inheriting class
  - dynamics
```
public Dynamics dynamics
```
    Reference to the Dynamics module if running in virtual world--must be initialized by inheriting class
  - executionKey
```
public String executionKey
```
    Unique key identifying this execution instance
  - tacticalLevel
```
public Tactical tacticalLevel
```
    Reference to the tactical level object (used with an agenda-based mission)
  - tacticalThread
```
public Thread tacticalThread
```
  - strategicLevel
```
public Strategic strategicLevel
```
    Reference to the strategic level object (used with an agenda-based mission)
  - strategicThread
```
public Thread strategicThread
```
  - PAUSE_CMD
```
public static String PAUSE_CMD
```
  - RESUME_CMD
```
public static String RESUME_CMD
```
  - KILL_CMD
```
public static String KILL_CMD
```
  - REALTIME_CMD
```
public static String REALTIME_CMD
```
  - MULTIPLELOOPSMISSION_CMD
```
public static String MULTIPLELOOPSMISSION_CMD
```
  - dynamicsArgs
```
public List<String> dynamicsArgs
```
    Temporary container for arguments that must be passed to Dynamics
  - drivers
```
public DriverInterface drivers
```
    Intended as a driver interface that can control the vehicle -- SG
  - killRun
```
public boolean killRun
```
    Whether kill signal (stop mission) command received from workbench interface
  - currentCommandElement
```
protected JAXBElement<?> currentCommandElement
```
    XML (AVCL) or text command currently being executed
  - currentCommandIndex
```
protected int currentCommandIndex
```
  - firstTime
```
protected boolean firstTime
```
    We only want this to happen on the first call of this flag
  - vehicleShortName
```
protected String vehicleShortName
```
    "uuv, uav, etc." -- initialized by inheriting class
  - environmentCustomer
```
protected EnvironmentCustomer environmentCustomer
```
    Updater object.
- Constructor Detail
  - Execution
```
public Execution()
```
    Creates a new instance of Vehicle
- Method Detail
  - getControlParameters
```
protected abstract ControlParameters getControlParameters()
```
  - buildNewMission
```
protected abstract Mission buildNewMission(boolean writeResults)
```
  - missionFinished
```
protected abstract void missionFinished()
```
    Notification of mission completion
  - sense
```
protected abstract void sense()
```
  - decide
```
protected abstract void decide()
```
    Determines appropriate action needed to complete current command, using controller to compute
  - act
```
protected abstract void act()
```
  - getVehicleType
```
public abstract int getVehicleType()
```
    Returns:
    
    enumeration for the type of mission, e.g. Dynamics.AGENDA, Dynamics.UAV, Dynamics.UGV, Dynamics.USV, Dynamics.UUV, Dynamics.MUNITION, Dynamics.ROV
  - getState
```
public abstract StateVector getState()
```
    Returns:
    
    current vehicle state vector
  - setAgendaLaunchXY
```
protected void setAgendaLaunchXY(Mission mis)
```
  - receiveJoystickEvent
```
public void receiveJoystickEvent(JoystickEvent controllerEvent,
                                 JoystickObserver dispatcher)
```
    Description copied from interface: JoystickEventListener
    
    Receives an event from the joystick controller and adds it to a thread-safe queue for retrieval by the Execution object.
    
    Specified by:
    
    receiveJoystickEvent in interface JoystickEventListener
    
    Parameters:
    
    controllerEvent - latest event from joystick
    
    dispatcher - The object sending the event (usually the joystick object)
  - getNextJoystickEvent
```
public JoystickEvent getNextJoystickEvent()
```
    Returns the next joystick event from the queue, or null if there are no events. TODO If there are no joystick events on the queue we also yield the thread.
    
    Returns:
    
    Next joystick event, otherwise null if the queue is empty
  - getEnvironmentalUpdatePeriodMs
```
protected long getEnvironmentalUpdatePeriodMs()
```
  - notifyCommandComplete
```
public void notifyCommandComplete()
```
    Notifies the tactical level if the currently executing command is complete
  - reset
```
public void reset()
```
    Resets all component objects and variables to start over. Provide the vehicle state with the proper timeStamp given from the mission's current DTG for telemetry recording. This only occurs during first time the mission is simulated, since follow-on loops do not save new telemetry files.
  - run
```
public void run()
```
    This is where the execution thread begins, initiated by the enclosing thread from DynamicsExecutionThread2.
    
    Specified by:
    
    run in interface Runnable
  - isRunning
```
public boolean isRunning()
```
    Returns:
    
    a boolean indicating that the Execution thread closed loop is still active
  - missionSimulationLoopsRunFullMission
```
protected void missionSimulationLoopsRunFullMission(ControlParameters controlParameters)
```
    Mission execution closed-loop control. This method only runs a full mission, one or more times.
    
    Parameters:
    
    controlParameters - control parameters
  - missionSimulationLoopHouseKeepingInitial
```
protected void missionSimulationLoopHouseKeepingInitial(ControlParameters controlParameters)
```
    Setup required at the beginning of each iteration of the closed loop
    
    Parameters:
    
    controlParameters - control parameters
  - missionSimulationLoopHouseKeepingFinal
```
protected void missionSimulationLoopHouseKeepingFinal(ControlParameters controlParameters)
```
    Cleanup and setup required at the end of each timestep closed-loop iteration, including checks to see if there is another command to handle
    
    Parameters:
    
    controlParameters -
  - cleanUpFollowingMissionLoopCompletion
```
protected void cleanUpFollowingMissionLoopCompletion()
```
  - getTacticalConnection
```
public TacticalConnection getTacticalConnection()
```
    Returns a reference to the tactical level communications object
    
    Returns:
    
    reference to the tactical level communications object
  - useMetric
```
public void useMetric(boolean setting)
```
    Used to switch between metric and English units of measure
    
    Parameters:
    
    setting - true if metric units of measure are to be used
  - useRadians
```
public void useRadians(boolean setting)
```
    Used to switch between radian and degree angular measurements
    
    Parameters:
    
    setting - true if metric units of measure are to be used
  - decideExternal
```
protected void decideExternal()
```
    Determines what appropriate action to complete current command, using external process. Parent class default implementation is the same as decide()
  - checkPauseSeparateJvm
```
public boolean checkPauseSeparateJvm()
```
    // TODO simplify, handle singleJvm Routine to watch Sys input for pause and kill commands. Blocks on pause.
    
    Returns:
    
    true if should kill execution, else false
  - checkKill
```
public boolean checkKill(String workbenchDirective)
```
    Check whether to log killing an execution mission. Note that kill flag is also maintained externally by DynamicsExecutionThread2.
    
    Parameters:
    
    workbenchDirective - Execution.enumeration triggered by AUVW user interface: kill, pause, resume, real time, etc.
    
    Returns:
    
    true if kill command was handled
  - setVehicleCharacteristics
```
public void setVehicleCharacteristics(VehicleCharacteristics chars)
```
    Sets the vehicle characteristics object
  - checkMultipleLoopsMission
```
public boolean checkMultipleLoopsMission(String workbenchDirective)
```
    Toggle whether multipleLoopsMission mode is true or not for this mission
    
    Parameters:
    
    workbenchDirective - Execution.enumeration triggered by AUVW user interface: kill, pause, resume, realtime, multiple loops, etc.
    
    Returns:
    
    true if command handled (TODO return runtimeFlags.MULTIPLELOOPSMISSION status)
  - checkRealtime
```
public boolean checkRealtime(String workbenchDirective)
```
    Toggle whether timing mode is real time (i.e. system clock time) or simulation time (as fast as possible)
    
    Parameters:
    
    workbenchDirective - Execution.enumeration triggered by AUVW user interface: kill, pause, resume, realtime, multiple loops, etc.
    
    Returns:
    
    true if command handled (TODO return runtimeFlags.REALTIME status)
  - checkPauseResume
```
public void checkPauseResume(String workbenchDirective)
```
    Toggle whether paused or whether execution has resumed
    
    Parameters:
    
    workbenchDirective - Execution.enumeration triggered by AUVW user interface: kill, pause, resume, realtime, multiple loops, etc.
  - getWorkbenchCommunicator
```
public WorkbenchCommunicator getWorkbenchCommunicator()
```
    Returns:
    
    the stateReportChannel
  - startPositionReports
```
protected void startPositionReports()
```
  - endPositionReports
```
protected void endPositionReports()
```
  - getPositionUpdatePeriod
```
protected long getPositionUpdatePeriod()
```
  - startStateReports
```
protected void startStateReports()
```
  - endStateReports
```
protected void endStateReports()
```
  - getStateReportUpdatePeriod
```
protected long getStateReportUpdatePeriod()
```
  - getTabDelimitedFormattedStateFieldNames
```
protected String getTabDelimitedFormattedStateFieldNames()
```
  - getTabDelimitedStateValues
```
protected String getTabDelimitedStateValues()
```
  - initializeEnvironmentUpdates
```
protected void initializeEnvironmentUpdates()
```
    Build the update object. Done at Execution instance construction.
  - startEnvironmentalUpdates
```
protected void startEnvironmentalUpdates(double starttime)
```
  - stopEnviroUpdates
```
protected void stopEnviroUpdates()
```
    Signal to stop or pause environmental updates. The updates may be repeatedly started and stopped, but they should be stopped before the Execution instance is discarded.
  - isOneThreadedJvmForAllMissions
```
public boolean isOneThreadedJvmForAllMissions()
```
    Returns:
    
    the oneThreadedJvmForMissions
  - shouldUseSingleJvm
```
protected static boolean shouldUseSingleJvm(String[] commandLineArgs)
```
    Returns true if the commandLineArgs passed in contain the argument "singleJvm", false otherwise. This is a utility method used by most subclasses of Execution.
    
    Parameters:
    
    commandLineArgs - the command line arguments passed into main() in the execution subclass
    
    Returns:
    
    true if the commandLineArgs contain "singleJvm", false otherwise

Class Execution

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

workbenchCommunicator

joystickEventHashMap

stateReportChannel

interVehicleCommunicationsHandler

stateVector

mission

runtimeFlags

virtualWorldConnection

tacticalConnection

dynamics

executionKey

tacticalLevel

tacticalThread

strategicLevel

strategicThread

PAUSE_CMD

RESUME_CMD

KILL_CMD

REALTIME_CMD

MULTIPLELOOPSMISSION_CMD

dynamicsArgs

drivers

killRun

currentCommandElement

currentCommandIndex

firstTime

vehicleShortName

environmentCustomer

Constructor Detail

Execution

Method Detail

getControlParameters

buildNewMission

missionFinished

sense

decide

act

getVehicleType

getState

setAgendaLaunchXY

receiveJoystickEvent

getNextJoystickEvent

getEnvironmentalUpdatePeriodMs

notifyCommandComplete

reset

run

isRunning

missionSimulationLoopsRunFullMission

missionSimulationLoopHouseKeepingInitial

missionSimulationLoopHouseKeepingFinal

cleanUpFollowingMissionLoopCompletion

getTacticalConnection

useMetric

useRadians

decideExternal

checkPauseSeparateJvm

checkKill

setVehicleCharacteristics

checkMultipleLoopsMission

checkRealtime

checkPauseResume

getWorkbenchCommunicator

startPositionReports

endPositionReports

getPositionUpdatePeriod

startStateReports

endStateReports

getStateReportUpdatePeriod

getTabDelimitedFormattedStateFieldNames

getTabDelimitedStateValues

initializeEnvironmentUpdates

startEnvironmentalUpdates

stopEnviroUpdates