Mission (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.mission.Mission

Direct Known Subclasses:: MunitionMission, ReplayMission, UavMission, UgvMission, UsvMission, UuvMission

public abstract class Mission
extends Object

Handles interaction between execution code, an XML (AVCL) or text mission script, and XML (AVCL) and text output files. Abstract class must be extended to implement vehicle-specific instances. Specifically, the avclMissionResults and textMissionResults class variables are not initialized here.

Version:

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

Latest Modifications:


     Date:     13 APR 2005
     Time:     1057:29
     Author:   Terry Norbraten
     Comments: Modified to enable Forward Error Correction (FEC) encoding of
               mission data output.  If the FEC server is not enabled, the
               fecTransfer() method will return before calling the FEC
               Encoder.

     Date:     August 31, 2005
     Time:     2021:45
     Author:   Terry Norbraten, NPS MOVES
     Comments: Modified to call the XsbcSerializer from the XSBC binary in the
               lib directory

     Date:     September 23, 2005
     Time:     1001
     Author:   Terry Norbraten, NPS MOVES
     Comments: Mod. to create .xml telemetry file instance from the
               constructor for utilization by both the xsbcTransfer() and
               fecTransfer()methods

     Date:     17 JUN 2007
     Time:     0443Z
     Author:   Terry Norbraten, NPS MOVES
     Comments: Modified to check for vehicle.runtimeFlags.CREATE_MISSION_TELEMETRY to
               preclude XSBC and FEC services from executing if no telemetry
               output is recorded

Author:

Duane Davis

See Also:

execution.mission

Field Summary

Fields
Modifier and Type	Field and Description
`protected AvclMissionDataFeed`	`avclDataFeed` vehicle mission commands in XML (AVCL) format or telemetry records
`protected AvclMissionResults`	`avclMissionResults` Telemetry, order, and command results of an vehicle mission
`protected TextCommandScript`	`textCommandScript` vehicle mission commands in text format
`protected TextMissionResults`	`textMissionResults` Telemetry, order, and command result file handler for text output files
`protected Execution`	`vehicleExecution` reference to main vehicle object

Constructor Summary

Constructors
Constructor and Description

Mission(Execution vehicle)
Creates a new instance of Mission

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

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`closeDataFiles()` Closes open data files upon mission completion
`void`	`fecTransfer()` Encode serialized XSBC mission files using FEC and transmit to a remote server via UDP.
`AvclMission`	`getAvclMissionObject()` Returns a reference to the AVCL mission script object
`Object`	`getCurrentCommand()` Returns the current vehicle command
`double`	`getGeoOriginLatitude()`
`double`	`getGeoOriginLongitude()`
`Object`	`getNextCommand()` Increments the command and returns the next vehicle command
`int`	`getReturnedCommandIndex()`
`String`	`getTelemetryDataFile()`
`int`	`getVehicleID()`
`void`	`logMissionEvent(Element event)` Adds an element to the event log parent element
`void`	`logMissionEvent(Object event)` Adds an element (JAXB object) to the event log parent element
`abstract void`	`newMission()` Loads a new mission script
`void`	`recordData()` Writes to all XML and text output files as applicable
`void`	`resetLogElement()` resets the event log element for the next timestep
`protected void`	`setUnitsOfMeasure(Object uom)` sets the control routines to utilize the appropriate units of measure (feet/meters, degrees/radians)
`void`	`writeElement(Element el)` Writes an element to the XML mission data file Used to write both individual commands and the entire mission element
`void`	`writeElement(Object el)` Writes an element (JAXB object) to the XML mission data file Used to write both individual commands and the entire mission element
`protected void`	`writeOcxs()`
`protected void`	`writeOrders()` Writes an vehicle orders element containing control parameters to the XML and text mission data files
`void`	`writeSensorData()` Writes sensor data to all XML and text output files as applicable
`protected void`	`writeTelemetry()` Generates and writes a telemetry element to the XML and text mission data file
`void`	`writeWeaponData()` Writes weapon data to all XML and text output files as applicable
`void`	`xsbcTransfer()` Compresses the mission output file using XSBC and transmit it to a remote server

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

- Field Detail
  - vehicleExecution
```
protected Execution vehicleExecution
```
    reference to main vehicle object
  - avclDataFeed
```
protected AvclMissionDataFeed avclDataFeed
```
    vehicle mission commands in XML (AVCL) format or telemetry records
  - textCommandScript
```
protected TextCommandScript textCommandScript
```
    vehicle mission commands in text format
  - avclMissionResults
```
protected AvclMissionResults avclMissionResults
```
    Telemetry, order, and command results of an vehicle mission
  - textMissionResults
```
protected TextMissionResults textMissionResults
```
    Telemetry, order, and command result file handler for text output files
- Constructor Detail
  - Mission
```
public Mission(Execution vehicle)
```
    Creates a new instance of Mission
    
    Parameters:
    
    vehicle - reference to vehicle object to which this mission applies
- Method Detail
  - newMission
```
public abstract void newMission()
```
    Loads a new mission script
  - setUnitsOfMeasure
```
protected void setUnitsOfMeasure(Object uom)
```
    sets the control routines to utilize the appropriate units of measure (feet/meters, degrees/radians)
    
    Parameters:
    
    uom - UnitsOfMeasure element from mission file specifying correct units
  - getAvclMissionObject
```
public AvclMission getAvclMissionObject()
```
    Returns a reference to the AVCL mission script object
    
    Returns:
    
    AvclMission - reference to the AVCL mission script object
  - getVehicleID
```
public int getVehicleID()
```
    Returns:
    
    the VehicleID specified in the AVCL mission file
  - getCurrentCommand
```
public Object getCurrentCommand()
```
    Returns the current vehicle command
    
    Returns:
    
    Object - reference to the current command. This will be a DOM Element for an AVCL mission or a String for a text mission (thus the return-type Object) Will ultimately have to be cast by the calling object as appropriate
  - getNextCommand
```
public Object getNextCommand()
```
    Increments the command and returns the next vehicle command
    
    Returns:
    
    Object - reference to the current command. This will be a DOM Element for an AVCL mission or a String for a text mission (thus the return-type Object). Will ultimately have to be cast by the calling object as appropriate.
  - getReturnedCommandIndex
```
public int getReturnedCommandIndex()
```
  - recordData
```
public void recordData()
```
    Writes to all XML and text output files as applicable
  - writeOcxs
```
protected void writeOcxs()
```
  - writeTelemetry
```
protected void writeTelemetry()
```
    Generates and writes a telemetry element to the XML and text mission data file
  - writeOrders
```
protected void writeOrders()
```
    Writes an vehicle orders element containing control parameters to the XML and text mission data files
  - logMissionEvent
```
public void logMissionEvent(Element event)
```
    Adds an element to the event log parent element
    
    Parameters:
    
    event - element
  - logMissionEvent
```
public void logMissionEvent(Object event)
```
    Adds an element (JAXB object) to the event log parent element
    
    Parameters:
    
    event - element
  - resetLogElement
```
public void resetLogElement()
```
    resets the event log element for the next timestep
  - writeElement
```
public void writeElement(Element el)
```
    Writes an element to the XML mission data file Used to write both individual commands and the entire mission element
    
    Parameters:
    
    el - element
  - writeElement
```
public void writeElement(Object el)
```
    Writes an element (JAXB object) to the XML mission data file Used to write both individual commands and the entire mission element
    
    Parameters:
    
    el - element
  - writeSensorData
```
public void writeSensorData()
```
    Writes sensor data to all XML and text output files as applicable
  - writeWeaponData
```
public void writeWeaponData()
```
    Writes weapon data to all XML and text output files as applicable
  - getTelemetryDataFile
```
public String getTelemetryDataFile()
```
  - closeDataFiles
```
public void closeDataFiles()
```
    Closes open data files upon mission completion
  - xsbcTransfer
```
public void xsbcTransfer()
```
    Compresses the mission output file using XSBC and transmit it to a remote server
  - fecTransfer
```
public void fecTransfer()
```
    Encode serialized XSBC mission files using FEC and transmit to a remote server via UDP. Method will return if the FEC server is not enabled
    doesn't @throws Exception If the FEC server is not enabled. This is to prevent the FEC Encoder from executing on the account of the disabled FEC server.
  - getGeoOriginLatitude
```
public double getGeoOriginLatitude()
                            throws Exception
```
    Throws:
    
    Exception
  - getGeoOriginLongitude
```
public double getGeoOriginLongitude()
                             throws Exception
```
    Throws:
    
    Exception

Class Mission

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

vehicleExecution

avclDataFeed

textCommandScript

avclMissionResults

textMissionResults

Constructor Detail

Mission

Method Detail

newMission

setUnitsOfMeasure

getAvclMissionObject

getVehicleID

getCurrentCommand

getNextCommand

getReturnedCommandIndex

recordData

writeOcxs

writeTelemetry

writeOrders

logMissionEvent

logMissionEvent

resetLogElement

writeElement

writeElement

writeSensorData

writeWeaponData

getTelemetryDataFile

closeDataFiles

xsbcTransfer

fecTransfer

getGeoOriginLatitude

getGeoOriginLongitude