AvclPlannerFlowController (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.avclPlan.AvclPlannerFlowController

```
public class AvclPlannerFlowController
extends Object
```
Object that contains planners for an entire AVCL declarative mission Can be used to initiate planning for each goal as required and determine mission completion

Since:

28 July 2005

Version:

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

Author:

dtdavis

Field Summary

Fields
Modifier and Type Field and Description

double[] recoveryPositionArray
Designated position for vehicle recovery

Fields
Modifier and Type	Field and Description
`double[]`	`recoveryPositionArray` Designated position for vehicle recovery

Constructor Summary

Constructors
Constructor and Description
`AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, File missionFile, int passedSearchPlannerType)` Creates a new instance of AvclPlannerFlowController
`AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, InputStream missionFile, int passedSearchPlannerType)` Creates a new instance of AvclPlannerFlowController
`AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, String missionFile, int passedSearchPlannerType)` Creates a new instance of AvclPlannerFlowController
`AvclPlannerFlowController(VehicleCharacteristics passedVehicleCharacteristics, AvclMission passedMission, int passedSearchPlannerType)` Creates a new instance of AvclPlannerFlowController

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`failCurrentGoal()` Iterates the controller in the instance that the current goal fails
`List<JAXBElement<?>>`	`generateAvclScriptElementList()` Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
`List<JAXBElement<?>>`	`generateAvclScriptElementList(String goalID)` Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM
`List<JAXBElement<?>>`	`generateAvclScriptElementList(String goalID, VehicleCharacteristics vehicleCharacteristics)` Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM with updated vehicle characteristics
`List<JAXBElement<?>>`	`generateAvclScriptElementList(VehicleCharacteristics vehicleCharacteristics)` Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal using updated vehicle characteristics
`List<JAXBElement<?>>`	`generateReturnRoutingElementList()` Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
`AvclMission`	`generateScriptMission()`
`AvclMission`	`generateScriptMission(List<JAXBElement<?>> scriptCmds)`
`AvclMission`	`generateWholeMissionScript()`
`GeoAreaSet`	`getAvoidAreaSet()`
`double[]`	`getBestPosition()`
`Object`	`getCurrentGoal()`
`int`	`getCurrentGoalStatus()`
`int`	`getCurrentGoalType()`
`boolean`	`hasStateChanged()`
`void`	`initialize()` Sets vehicle-specific parameters that impact how the planners run This method is used when the controller is attached to a Strategic level that communicates with the execution level via network (no execution object)
`void`	`initialize(double[] position)` Sets vehicle-specific parameters that impact how the planners run
`void`	`initialize(double x, double y)` Sets vehicle-specific parameters that impact how the planners run
`void`	`initialize(Execution vehicle)` Sets vehicle-specific parameters that impact how the planners run
`void`	`initialize(Execution vehicle, double[] position)` Sets vehicle-specific parameters that impact how the planners run
`void`	`initialize(Execution vehicle, double x, double y)` Sets vehicle-specific parameters that impact how the planners run
`boolean`	`inOperatingArea(double[] pt)`
`static void`	`main(String[] args)` main method for testing and debugging use only
`boolean`	`missionComplete()`
`void`	`planScript()` Initiates planning for the current goal using the most recent vehicle position for the starting point
`void`	`planScript(double startX, double startY)` Initiates planning for the current goal using an arbitrary starting point
`void`	`planScript(String goalID)` Initiates planning for an arbitrary goal using the most recent vehicle position for the starting point
`void`	`planScript(String goalID, double startX, double startY)` Initiates planning for an arbitrary goal using an arbitrary starting point
`void`	`processInternalMessage(String message)` Takes a String parameter (message from running vehicle) and processes the effect effect on the current planner if required (depends on the message and type of planner)
`void`	`processIVMessage(AvclMessage msg)` Processes a message received from another vehicle
`void`	`resetPlannerSet()` Generates a logical finite state machine (FSM) with planners in each state that correspond to the AVCL declarative mission FSM goals
`void`	`resetStateChanged()` Resets the "state changed" flag to false
`void`	`sendRequiredComms()` Directs the current planner to send any required inter-vehicle communications based on the current goal status
`void`	`setCommunicator(CommunicationsHandler ivCommunicator)` Used to set the inter-vehicle communicator
`void`	`setPlannerState()` Resets the state of the current goal planner based on its internal variables
`void`	`setVehicle(Execution vehicle)` Sets the vehicle to be controlled by this controller
`void`	`setWorldModel(WorldModel world)` Sets the world model that the planners are to utilize
`void`	`succeedCurrentGoal()` Iterates the controller whenever the current goal succeeds

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

- Field Detail
  - recoveryPositionArray
```
public double[] recoveryPositionArray
```
    Designated position for vehicle recovery
- Constructor Detail
  - AvclPlannerFlowController
```
public AvclPlannerFlowController(int passedVehicleID,
                                 VehicleCharacteristics passedVehicleCharacteristics,
                                 String missionFile,
                                 int passedSearchPlannerType)
```
    Creates a new instance of AvclPlannerFlowController
    
    Parameters:
    
    passedVehicleID -
    
    passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing
    
    missionFile - path to the AVCL file containing the declarative mission
    
    passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)
  - AvclPlannerFlowController
```
public AvclPlannerFlowController(int passedVehicleID,
                                 VehicleCharacteristics passedVehicleCharacteristics,
                                 File missionFile,
                                 int passedSearchPlannerType)
```
    Creates a new instance of AvclPlannerFlowController
    
    Parameters:
    
    passedVehicleID -
    
    passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing
    
    missionFile - File object reference to the AVCL file containing the declarative mission
    
    passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)
  - AvclPlannerFlowController
```
public AvclPlannerFlowController(int passedVehicleID,
                                 VehicleCharacteristics passedVehicleCharacteristics,
                                 InputStream missionFile,
                                 int passedSearchPlannerType)
```
    Creates a new instance of AvclPlannerFlowController
    
    Parameters:
    
    passedVehicleID -
    
    passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing
    
    missionFile - Stream from which the AVCL file containing the declarative mission is to be read
    
    passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)
  - AvclPlannerFlowController
```
public AvclPlannerFlowController(VehicleCharacteristics passedVehicleCharacteristics,
                                 AvclMission passedMission,
                                 int passedSearchPlannerType)
```
    Creates a new instance of AvclPlannerFlowController
    
    Parameters:
    
    passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing
    
    passedMission - AvclMission object containing the declarative AVCL mission
    
    passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)
- Method Detail
  - resetPlannerSet
```
public void resetPlannerSet()
```
    Generates a logical finite state machine (FSM) with planners in each state that correspond to the AVCL declarative mission FSM goals
  - initialize
```
public void initialize(double[] position)
```
    Sets vehicle-specific parameters that impact how the planners run
    
    Parameters:
    
    position - double[2] containing the vehicle's current position
  - initialize
```
public void initialize()
```
    Sets vehicle-specific parameters that impact how the planners run This method is used when the controller is attached to a Strategic level that communicates with the execution level via network (no execution object)
  - initialize
```
public void initialize(double x,
                       double y)
```
    Sets vehicle-specific parameters that impact how the planners run
    
    Parameters:
    
    x - x coordinate of the vehicle starting position to use during planning
    
    y - y coordinate of the vehicle starting position to use during planning
  - initialize
```
public void initialize(Execution vehicle,
                       double[] position)
```
    Sets vehicle-specific parameters that impact how the planners run
    
    Parameters:
    
    vehicle - vehicle
    
    position - double[2] containing the vehicle's current position
  - initialize
```
public void initialize(Execution vehicle,
                       double x,
                       double y)
```
    Sets vehicle-specific parameters that impact how the planners run
    
    Parameters:
    
    vehicle - execution object of the vehicle that is being controlled
    
    x - x coordinate of the vehicle starting position to use during planning
    
    y - y coordinate of the vehicle starting position to use during planning
  - initialize
```
public void initialize(Execution vehicle)
```
    Sets vehicle-specific parameters that impact how the planners run
    
    Parameters:
    
    vehicle - execution object of the vehicle that is being controlled
  - setWorldModel
```
public void setWorldModel(WorldModel world)
```
    Sets the world model that the planners are to utilize
    
    Parameters:
    
    world -
  - getAvoidAreaSet
```
public GeoAreaSet getAvoidAreaSet()
```
    Returns:
    
    the GeoAreaSet containing all of the agenda's avoid areas
  - setCommunicator
```
public void setCommunicator(CommunicationsHandler ivCommunicator)
```
    Used to set the inter-vehicle communicator
    
    Parameters:
    
    ivCommunicator -
  - missionComplete
```
public boolean missionComplete()
```
    Returns:
    
    true if the mission has reached a Complete state (current node == null)
  - succeedCurrentGoal
```
public void succeedCurrentGoal()
```
    Iterates the controller whenever the current goal succeeds
  - failCurrentGoal
```
public void failCurrentGoal()
```
    Iterates the controller in the instance that the current goal fails
  - setVehicle
```
public void setVehicle(Execution vehicle)
```
    Sets the vehicle to be controlled by this controller
    
    Parameters:
    
    vehicle - execution level object of the vehicle to be controlled
  - getCurrentGoal
```
public Object getCurrentGoal()
```
    Returns:
    
    the goal object of the current planner node
  - getCurrentGoalType
```
public int getCurrentGoalType()
```
    Returns:
    
    an enumeration for the type of the current goal
  - hasStateChanged
```
public boolean hasStateChanged()
```
    Returns:
    
    true if the goal execution state of the current goal has changed
  - resetStateChanged
```
public void resetStateChanged()
```
    Resets the "state changed" flag to false
  - inOperatingArea
```
public boolean inOperatingArea(double[] pt)
```
    Parameters:
    
    pt - double[2] containing the (x, y) position of the point being tested
    
    Returns:
    
    true if the point specified by the parameter is in the current goal's operating area
  - processIVMessage
```
public void processIVMessage(AvclMessage msg)
```
    Processes a message received from another vehicle
    
    Parameters:
    
    msg -
  - processInternalMessage
```
public void processInternalMessage(String message)
```
    Takes a String parameter (message from running vehicle) and processes the effect effect on the current planner if required (depends on the message and type of planner)
    
    Parameters:
    
    message - String containing the relevant state information
  - setPlannerState
```
public void setPlannerState()
```
    Resets the state of the current goal planner based on its internal variables
  - getBestPosition
```
public double[] getBestPosition()
```
    Returns:
    
    the best available current vehicle position
  - planScript
```
public void planScript()
```
    Initiates planning for the current goal using the most recent vehicle position for the starting point
  - planScript
```
public void planScript(double startX,
                       double startY)
```
    Initiates planning for the current goal using an arbitrary starting point
    
    Parameters:
    
    startX - x coordinate of the vehicle's assumed position when goal attempt begins
    
    startY - y coordinate of the vehicle's assumed position when goal attempt begins
  - planScript
```
public void planScript(String goalID)
```
    Initiates planning for an arbitrary goal using the most recent vehicle position for the starting point
    
    Parameters:
    
    goalID - unique String identifier for the goal that identifies it in the AVCL file
  - planScript
```
public void planScript(String goalID,
                       double startX,
                       double startY)
```
    Initiates planning for an arbitrary goal using an arbitrary starting point
    
    Parameters:
    
    goalID - unique String identifier for the goal that identifies it in the AVCL file
    
    startX - x coordinate of the vehicle's assumed position when goal attempt begins
    
    startY - y coordinate of the vehicle's assumed position when goal attempt begins
  - generateAvclScriptElementList
```
public List<JAXBElement<?>> generateAvclScriptElementList()
```
    Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - generateAvclScriptElementList
```
public List<JAXBElement<?>> generateAvclScriptElementList(VehicleCharacteristics vehicleCharacteristics)
```
    Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal using updated vehicle characteristics
    
    Parameters:
    
    vehicleCharacteristics - chars
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - generateAvclScriptElementList
```
public List<JAXBElement<?>> generateAvclScriptElementList(String goalID)
```
    Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM
    
    Parameters:
    
    goalID - goal id
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - generateAvclScriptElementList
```
public List<JAXBElement<?>> generateAvclScriptElementList(String goalID,
                                                          VehicleCharacteristics vehicleCharacteristics)
```
    Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM with updated vehicle characteristics
    
    Parameters:
    
    goalID - goal id
    
    vehicleCharacteristics - updated vehicle characteristics to utilize during planning
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - generateScriptMission
```
public AvclMission generateScriptMission()
```
    Returns:
    
    a complete AVCL script mission corresponding to the current state of the current goal
  - generateScriptMission
```
public AvclMission generateScriptMission(List<JAXBElement<?>> scriptCmds)
```
    Parameters:
    
    scriptCmds - contains the sequence of script commands that form the mission
    
    Returns:
    
    a complete AVCL script mission corresponding to the current state of the current goal
  - generateWholeMissionScript
```
public AvclMission generateWholeMissionScript()
```
    Returns:
    
    a mission script for the entire mission Assumes that all goals succeed and that no state changes occur during script execution that would call for replanning
  - generateReturnRoutingElementList
```
public List<JAXBElement<?>> generateReturnRoutingElementList()
```
    Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
    
    Returns:
    
    ArrayList of AVCL script command objects (JAXB)
  - getCurrentGoalStatus
```
public int getCurrentGoalStatus()
```
    Returns:
    
    the status of the current goal
  - sendRequiredComms
```
public void sendRequiredComms()
```
    Directs the current planner to send any required inter-vehicle communications based on the current goal status
  - main
```
public static void main(String[] args)
```
    main method for testing and debugging use only
    
    Parameters:
    
    args - command line arguments

Class AvclPlannerFlowController

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

recoveryPositionArray

Constructor Detail

AvclPlannerFlowController

AvclPlannerFlowController

AvclPlannerFlowController

AvclPlannerFlowController

Method Detail

resetPlannerSet

initialize

initialize

initialize

initialize

initialize

initialize

setWorldModel

getAvoidAreaSet

setCommunicator

missionComplete

succeedCurrentGoal

failCurrentGoal

setVehicle

getCurrentGoal

getCurrentGoalType

hasStateChanged

resetStateChanged

inOperatingArea

processIVMessage

processInternalMessage

setPlannerState

getBestPosition

planScript

planScript

planScript

planScript

generateAvclScriptElementList

generateAvclScriptElementList

generateAvclScriptElementList

generateAvclScriptElementList

generateScriptMission

generateScriptMission

generateWholeMissionScript

generateReturnRoutingElementList

getCurrentGoalStatus

sendRequiredComms

main