execution.usv

Class UsvExecution

java.lang.Object

execution.Execution

execution.usv.UsvExecution

All Implemented Interfaces:

JoystickEventListener, Runnable

public class UsvExecution
extends Execution
implements Runnable

Main class for USV Execution Software

Version:

$Revision: 1.30 $

Latest Modification:

     Date:     11 MAY 2005
     Time:     1015:41
     Author:   Terry D. Norbraten
     Comments: Modified to handle Forward Error Correction (FEC) encoding of
               mission data output
   

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

Author:

Duane T. Davis

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 USV
UsvController[]	controllerArray array of available controllers
ControlHardware	controls interface object for control actuator hardware
UsvControlParameters	usvControlParameters
UsvExecutionParameters	usvExecutionParameters usv-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
UsvExecution(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 long	getStateReportUpdatePeriod() Can change period here if desired
protected String	getTabDelimitedFormattedStateFieldNames() Add usv-specific fields to default state
protected String	getTabDelimitedStateValues() Add usv-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 usv in the world
protected void	setupVirtualWorld(Mission missionObject)

Methods inherited from class execution.Execution

checkKill, checkMultipleLoopsMission, checkPauseResume, checkPauseSeparateJvm, checkRealtime, cleanUpFollowingMissionLoopCompletion, decideExternal, endPositionReports, endStateReports, getEnvironmentalUpdatePeriodMs, getNextJoystickEvent, getPositionUpdatePeriod, 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

usvExecutionParameters

public UsvExecutionParameters usvExecutionParameters

usv-specific run-time runtimeFlags

controlCoefficients

public ControlCoefficients controlCoefficients

control controlCoefficients to be utilized for physical control of the USV

controls

public ControlHardware controls

interface object for control actuator hardware

controllerArray

public UsvController[] controllerArray

array of available controllers

usvControlParameters

public UsvControlParameters usvControlParameters

Constructor Detail

UsvExecution

public UsvExecution(String[] args)

Creates a new instance of Execution

Parameters:

args - 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

setupVirtualWorld

protected void setupVirtualWorld(Mission missionObject)

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 usv 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 usv-specific fields to default state

Overrides:

getTabDelimitedFormattedStateFieldNames in class Execution

Returns:

name string

getTabDelimitedStateValues

protected String getTabDelimitedStateValues()

Add usv-specific fields to default state

Overrides:

getTabDelimitedStateValues in class Execution

Returns:

name string

getStateReportUpdatePeriod

protected long getStateReportUpdatePeriod()

Can change period here if desired

Overrides:

getStateReportUpdatePeriod in class Execution

Returns:

update period

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