Tactical (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.Tactical

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

MunitionTactical, UavTactical, UgvTactical, UsvTactical, UuvTactical
```
public abstract class Tactical
extends Object
implements Runnable
```
Abstract class for implementation of specific autonomous vehicle tactical level control

Since:

09 September 2005

Version:

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

Author:

dtdavis

Field Summary

Fields
Modifier and Type Field and Description

protected WorldModel worldModel
Reference to the world model and map

Fields
Modifier and Type	Field and Description
`protected WorldModel`	`worldModel` Reference to the world model and map

Constructor Summary

Constructors
Constructor and Description
`Tactical(Execution execution, Strategic strategic, int vehicleType)` Creates a new instance of Tactical where-in the execution level is assumed to be a thread running in the same JVM
`Tactical(Strategic strategic, int vehicleType)` Creates a new instance of Tactical that assumes the controller is being used to control an execution level accessible via the network as opposed to a thread in the same JVM

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`enablePotentialField(boolean enable)` Turns potential field obstacle avoidance on or off
`CommunicationsHandler`	`getCommsHandler()`
`Execution`	`getExecution()`
`TacticalConnection`	`getExecutionComms()`
`double`	`getMissionTime()`
`boolean`	`getPotentialFieldEnabled()`
`double[]`	`getPotentialVector(double goalX, double goalY)` Computes a unit potential vector that will steer the vehicle away from known obstacles.
`Strategic`	`getStrategic()`
`TacticalConnection`	`getStrategicComms()`
`WorldModel`	`getWorldModel()`
`boolean`	`isRunning()`
`List<JAXBElement<?>>`	`readCommandElementListFromStrategic()`
`String`	`readMessageFromExecution()` Receives a message (if one is available) from the execution level
`String`	`readMessageFromStrategic()` Receives a message (if one is available) from the strategic level
`void`	`resetToFallbackScript()` Reverts to the previously executing script (fallback)
`void`	`run()` Implements the Runnable interface
`void`	`sendCommandToExecution()` Submits a String query to the execution level
`void`	`sendIVMessage(AvclMessage msg)` Transmits a message from this vehicle to other vehicles
`void`	`sendMessageToExecution(String msg)` Submits a String message to the execution level
`void`	`sendMessageToStrategic(String msg)` Submits a String message to the strategic level
`void`	`setScript(List<JAXBElement<?>> newScriptElementList)` Sets the currently executing script

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

- Field Detail
  - worldModel
```
protected WorldModel worldModel
```
    Reference to the world model and map
- Constructor Detail
  - Tactical
```
public Tactical(Execution execution,
                Strategic strategic,
                int vehicleType)
```
    Creates a new instance of Tactical where-in the execution level is assumed to be a thread running in the same JVM
  - Tactical
```
public Tactical(Strategic strategic,
                int vehicleType)
```
    Creates a new instance of Tactical that assumes the controller is being used to control an execution level accessible via the network as opposed to a thread in the same JVM
- Method Detail
  - getExecution
```
public Execution getExecution()
```
    Returns:
    
    reference to the execution level object
  - getWorldModel
```
public WorldModel getWorldModel()
```
    Returns:
    
    reference to the world model object
  - getStrategic
```
public Strategic getStrategic()
```
    Returns:
    
    a reference to the strategic level object
  - getCommsHandler
```
public CommunicationsHandler getCommsHandler()
```
    Returns:
    
    a reference to the inter-vehicle communications handler object
  - getMissionTime
```
public double getMissionTime()
```
    Returns:
    
    current mission time
  - getExecutionComms
```
public TacticalConnection getExecutionComms()
```
    Returns:
    
    a reference to the tactical level/execution level comms object
  - getStrategicComms
```
public TacticalConnection getStrategicComms()
```
    Returns:
    
    a reference to the tactical level/strategic level comms object
  - isRunning
```
public boolean isRunning()
```
    Returns:
    
    true if the Tactical Level is active (running)
  - setScript
```
public void setScript(List<JAXBElement<?>> newScriptElementList)
```
    Sets the currently executing script
    
    Parameters:
    
    newScriptElementList - List containing a sequence of AVCL task-level command objects (JAXB)
  - resetToFallbackScript
```
public void resetToFallbackScript()
```
    Reverts to the previously executing script (fallback)
  - getPotentialVector
```
public double[] getPotentialVector(double goalX,
                                   double goalY)
```
    Computes a unit potential vector that will steer the vehicle away from known obstacles. This method is intended for obstacle avoidance, so mission- defined "avoid areas" are not accounted for. This method is intended for Execution or Tactical Level use in obstacle avoidance between waypoints.
    
    Parameters:
    
    goalX - north/south Cartesian coordinate of the goal point
    
    goalY - east/west Cartesian coordinate of the goal point
    
    Returns:
    
    a unit potential vector
  - enablePotentialField
```
public void enablePotentialField(boolean enable)
```
    Turns potential field obstacle avoidance on or off
    
    Parameters:
    
    enable -
  - getPotentialFieldEnabled
```
public boolean getPotentialFieldEnabled()
```
    Returns:
    
    true if potential vield obstacle avoidance is enabled
  - sendIVMessage
```
public void sendIVMessage(AvclMessage msg)
```
    Transmits a message from this vehicle to other vehicles
    
    Parameters:
    
    msg - message to be sent
  - sendCommandToExecution
```
public void sendCommandToExecution()
```
    Submits a String query to the execution level
  - sendMessageToExecution
```
public void sendMessageToExecution(String msg)
```
    Submits a String message to the execution level
  - sendMessageToStrategic
```
public void sendMessageToStrategic(String msg)
```
    Submits a String message to the strategic level
  - readMessageFromExecution
```
public String readMessageFromExecution()
```
    Receives a message (if one is available) from the execution level
  - readMessageFromStrategic
```
public String readMessageFromStrategic()
```
    Receives a message (if one is available) from the strategic level
  - readCommandElementListFromStrategic
```
public List<JAXBElement<?>> readCommandElementListFromStrategic()
```
    Returns:
    
    a new list of commands from the strategic level, overriding any previously received commands
  - run
```
public void run()
```
    Implements the Runnable interface
    
    Specified by:
    
    run in interface Runnable

Class Tactical

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

worldModel

Constructor Detail

Tactical

Tactical

Method Detail

getExecution

getWorldModel

getStrategic

getCommsHandler

getMissionTime

getExecutionComms

getStrategicComms

isRunning

setScript

resetToFallbackScript

getPotentialVector

enablePotentialField

getPotentialFieldEnabled

sendIVMessage

sendCommandToExecution

sendMessageToExecution

sendMessageToStrategic

readMessageFromExecution

readMessageFromStrategic

readCommandElementListFromStrategic

run