TacticalConnection (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.network.TacticalConnection

```
public class TacticalConnection
extends Object
```
Handles communication between the execution and tactical levels or strategic and tactical level

Since:

19 April 2004

Version:

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

Author:

Duane Davis

Constructor Summary

Constructors
Constructor and Description
`TacticalConnection()` Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Strategic connection
`TacticalConnection(Execution execution)` Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Execution connection where the execution level is to be accessed as a thread on this JVM
`TacticalConnection(int port, VehicleCharacteristics vChars)` Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Execution connection or Strategic/Tactical connection where the communications are via network
`TacticalConnection(VehicleCharacteristics vChars)` Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Strategic connection

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`connectViaNetwork()` Sets up the server socket to wait for a connection
`void`	`disconnectNetwork()` Closes sockets and streams to disconnect from the network
`int`	`getReturnedCommandIndex()` Returns the index of the command currently being executed (i.e. the sequential number of the current command)
`boolean`	`isNetworked()`
`List<JAXBElement<?>>`	`readCommandElementListToTactical()` Checks for a new command from the tactical level, returns null if none is present
`String`	`readMessageFromTactical(String readerName)` Checks for a message from the tactical level, either to the execution or strategic level
`String`	`readMessageToTactical()` Checks for a message sent from the execution or strategic to the tactical level
`JAXBElement<?>`	`readNextCommandFromTactical()` Checks for a new command from the tactical level, returns null if none is present
`void`	`sendCommandElementListToTactical(List<JAXBElement<?>> cmdElementList)` Sends a List of AVCL commands to the tactical level for execution
`boolean`	`sendCommandFromTactical(List<JAXBElement<?>> cmdElementList)` Sends a new command for the execution level to execute
`void`	`sendMessageFromTactical(String msg)` Sends a message from the tactical level, either to the execution or strategic level
`void`	`sendMessageToTactical(String msg)` Sends a message from the strategic level to the tactical level
`void`	`updateFromTacticalMessageQueue()` Checks all of the connections to see if any messages are pending
`void`	`updateToTacticalMessageQueue()` Checks all of the connections to see if any messages have been sent

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

- Constructor Detail
  - TacticalConnection
```
public TacticalConnection()
```
    Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Strategic connection
  - TacticalConnection
```
public TacticalConnection(VehicleCharacteristics vChars)
```
    Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Strategic connection
    
    Parameters:
    
    vChars - reference to the vehicle characteristics object defining what XSLT to use when sending commands over the network
  - TacticalConnection
```
public TacticalConnection(int port,
                          VehicleCharacteristics vChars)
```
    Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Execution connection or Strategic/Tactical connection where the communications are via network
    
    Parameters:
    
    port - local port to use to wait for the network connection to be established
    
    vChars - reference to the vehicle characteristics object defining what XSLT to use when sending commands over the network
  - TacticalConnection
```
public TacticalConnection(Execution execution)
```
    Creates a new instance of TacticalConnection This constructor should be used for a Tactical/Execution connection where the execution level is to be accessed as a thread on this JVM
    
    Parameters:
    
    execution - reference to the execution level of the vehicle to which connection applies
- Method Detail
  - connectViaNetwork
```
public void connectViaNetwork()
```
    Sets up the server socket to wait for a connection
  - disconnectNetwork
```
public void disconnectNetwork()
```
    Closes sockets and streams to disconnect from the network
  - isNetworked
```
public boolean isNetworked()
```
    Returns:
    
    true if the connection uses the network
  - sendCommandFromTactical
```
public boolean sendCommandFromTactical(List<JAXBElement<?>> cmdElementList)
```
    Sends a new command for the execution level to execute
    
    Parameters:
    
    cmdElementList - JAXB object containing an AVCL task-level command to be executed
    
    Returns:
    
    true if bytes are actually sent, false if no bytes are sent
  - readNextCommandFromTactical
```
public JAXBElement<?> readNextCommandFromTactical()
```
    Checks for a new command from the tactical level, returns null if none is present
    
    Returns:
    
    JAXBElement AVCL command received from tactical level (null if none)
  - sendCommandElementListToTactical
```
public void sendCommandElementListToTactical(List<JAXBElement<?>> cmdElementList)
```
    Sends a List of AVCL commands to the tactical level for execution
    
    Parameters:
    
    cmdElementList - List of AVCL (JAXB) commands to be executed
  - readCommandElementListToTactical
```
public List<JAXBElement<?>> readCommandElementListToTactical()
```
    Checks for a new command from the tactical level, returns null if none is present
    
    Returns:
    
    List - command list received for tactical level execution (null if none)
  - sendMessageFromTactical
```
public void sendMessageFromTactical(String msg)
```
    Sends a message from the tactical level, either to the execution or strategic level
    
    Parameters:
    
    msg - message from tactical to execution level
  - updateFromTacticalMessageQueue
```
public void updateFromTacticalMessageQueue()
```
    Checks all of the connections to see if any messages are pending
  - readMessageFromTactical
```
public String readMessageFromTactical(String readerName)
```
    Checks for a message from the tactical level, either to the execution or strategic level
    
    Returns:
    
    message sent from the tactical level (null if none)
  - sendMessageToTactical
```
public void sendMessageToTactical(String msg)
```
    Sends a message from the strategic level to the tactical level
    
    Parameters:
    
    msg - message from execution to tactical level
  - updateToTacticalMessageQueue
```
public void updateToTacticalMessageQueue()
```
    Checks all of the connections to see if any messages have been sent
  - readMessageToTactical
```
public String readMessageToTactical()
```
    Checks for a message sent from the execution or strategic to the tactical level
    
    Returns:
    
    message sent from the execution level (null if none)
  - getReturnedCommandIndex
```
public int getReturnedCommandIndex()
```
    Returns the index of the command currently being executed (i.e. the sequential number of the current command)
    
    Returns:
    
    sequence number of the currently executing command

Class TacticalConnection

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

TacticalConnection

TacticalConnection

TacticalConnection

TacticalConnection

Method Detail

connectViaNetwork

disconnectNetwork

isNetworked

sendCommandFromTactical

readNextCommandFromTactical

sendCommandElementListToTactical

readCommandElementListToTactical

sendMessageFromTactical

updateFromTacticalMessageQueue

readMessageFromTactical

sendMessageToTactical

updateToTacticalMessageQueue

readMessageToTactical

getReturnedCommandIndex