execution.uav

Class UavExecution

java.lang.Object

execution.Execution

execution.uav.UavExecution

All Implemented Interfaces:

JoystickEventListener, Runnable

public class UavExecution
extends Execution
implements Runnable

Main class for UAV Execution Software

Version:

$Revision: 1.55 $

Author:

Duane T. Davis Modified by Terry D. Norbraten

Nested Class Summary

Nested classes/interfaces inherited from class execution.Execution

Execution.IdleHandler

Field Summary

Fields

Modifier and Type	Field and Description
ControlCoefficients	controlCoefficients control controlCoefficients to be utilized for physical control of the AUV
UavControllers	controllers list of available controllers
ControlHardware	controls interface object for control actuator hardware
UavControlParameters	uavControlParameters
UavExecutionParameters	uavExecutionParameters uav-specific run-time runtimeFlags

Fields inherited from class execution.Execution

currentCommandElement, currentCommandIndex, drivers, dynamics, dynamicsArgs, environmentCustomer, executionKey, firstTime, interVehicleCommunicationsHandler, joystickEventHashMap, KILL_CMD, killRun, mission, MULTIPLELOOPSMISSION_CMD, PAUSE_CMD, REALTIME_CMD, RESUME_CMD, runtimeFlags, stateReportChannel, stateVector, strategicLevel, strategicThread, tacticalConnection, tacticalLevel, tacticalThread, vehicleShortName, virtualWorldConnection, workbenchCommunicator

Constructor Summary

Constructors

Constructor and Description
UavExecution(String[] args) Creates a new instance of Execution

Method Summary

Modifier and Type	Method and Description
protected void	act() computes and applies control settings
protected Mission	buildNewMission(boolean wantResultsOutput)
protected void	decide() determines appropriate action needed to complete current command, using controller to compute
protected ControlParameters	getControlParameters()
StateVector	getState()
protected String	getTabDelimitedFormattedStateFieldNames() Add uav-specific fields to default state
protected String	getTabDelimitedStateValues() Add uav-specific fields to default state
int	getVehicleType()
static void	main(String[] args) This is the entry point when Execution is invoked, either in a separate JVM or a single JVM.
protected void	missionFinished() Required implementation of abstract method in Execution
void	reset() Resets all component objects and variables to start over.
protected void	sense() reads sensors or communicates with the virtual world to orient auv in the world

Methods inherited from class execution.Execution

checkKill, checkMultipleLoopsMission, checkPauseResume, checkPauseSeparateJvm, checkRealtime, cleanUpFollowingMissionLoopCompletion, decideExternal, endPositionReports, endStateReports, getEnvironmentalUpdatePeriodMs, getNextJoystickEvent, getPositionUpdatePeriod, getStateReportUpdatePeriod, getTacticalConnection, getWorkbenchCommunicator, initializeEnvironmentUpdates, isOneThreadedJvmForAllMissions, isRunning, missionSimulationLoopHouseKeepingFinal, missionSimulationLoopHouseKeepingInitial, missionSimulationLoopsRunFullMission, notifyCommandComplete, receiveJoystickEvent, run, setAgendaLaunchXY, setVehicleCharacteristics, shouldUseSingleJvm, startEnvironmentalUpdates, startPositionReports, startStateReports, stopEnviroUpdates, useMetric, useRadians

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.lang.Runnable

run

Field Detail

uavExecutionParameters

public UavExecutionParameters uavExecutionParameters

uav-specific run-time runtimeFlags

controlCoefficients

public ControlCoefficients controlCoefficients

control controlCoefficients to be utilized for physical control of the AUV

controls

public ControlHardware controls

interface object for control actuator hardware

controllers

public UavControllers controllers

list of available controllers

uavControlParameters

public UavControlParameters uavControlParameters

Constructor Detail

UavExecution

public UavExecution(String[] args)

Creates a new instance of Execution

Parameters:

args - String[] command line arguments

Method Detail

reset

public void reset()

Description copied from class: Execution

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.

Overrides:

reset in class Execution

getControlParameters

protected ControlParameters getControlParameters()

Specified by:

getControlParameters in class Execution

buildNewMission

protected Mission buildNewMission(boolean wantResultsOutput)

Specified by:

buildNewMission in class Execution

Parameters:

wantResultsOutput -

Returns:

appropriate mission type for subclass (AuvMission, UavMission, etc.)

missionFinished

protected void missionFinished()

Required implementation of abstract method in Execution

Specified by:

missionFinished in class Execution

main

public static void main(String[] args)

This is the entry point when Execution is invoked, either in a separate JVM or a single JVM.

Parameters:

args - the command line arguments

sense

protected void sense()

reads sensors or communicates with the virtual world to orient auv in the world

Specified by:

sense in class Execution

decide

protected void decide()

determines appropriate action needed to complete current command, using controller to compute

Specified by:

decide in class Execution

act

protected void act()

computes and applies control settings

Specified by:

act in class Execution

getTabDelimitedFormattedStateFieldNames

protected String getTabDelimitedFormattedStateFieldNames()

Add uav-specific fields to default state

Overrides:

getTabDelimitedFormattedStateFieldNames in class Execution

Returns:

name string

getTabDelimitedStateValues

protected String getTabDelimitedStateValues()

Add uav-specific fields to default state

Overrides:

getTabDelimitedStateValues in class Execution

Returns:

name string

getVehicleType

public int getVehicleType()

Specified by:

getVehicleType in class Execution

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 StateVector getState()

Specified by:

getState in class Execution

Returns:

current vehicle state vector