planner.avclPlan

Class DecontaminatePlanner

java.lang.Object

planner.avclPlan.GoalPlanner

planner.avclPlan.DecontaminatePlanner

All Implemented Interfaces:

Runnable

public class DecontaminatePlanner
extends GoalPlanner

Planner utilized to generate a script capable of accomplishing a Decontaminate goal in an AVCL declarative mission Upper Level State Machine of the Decontaminate Planner: +------- start, alert = true V +------------------------TRANSIT_AND_ALERT | alertEnded | patternComplete, reportStatusChange = false | Execute | +--------------------------------------------------+ | | / | | | / +----------------------------------------------+ | | | / / patternComplete, reportStatusChange = true | | | | / / reportMade | | | | / / +--------------------------------+ | | | reportStatusChange = true V / / V | | | | contaminantDetected +--- EXECUTE_SAMPLE <------ start, alert = false | | | | | | reportStatusChange = false +-----+ | | | V | contaminantDetected / | | | REPORT_DECON | REPORT_CLEANED | | | | | ^ | | | reportMade | V | contaminantCleansed | | | +---> DECONTAMINATE----------------+ reportStatusChange = true | | | + | | reportMade / + | +---------------REPORT_COMPLETE <-----------------+ / | | / | V / +----------------------------> COMPLETE <---------------------------------------------+

Author:

dtdavis

Nested Class Summary

Nested classes/interfaces inherited from class planner.avclPlan.GoalPlanner

GoalPlanner.PartnerList, GoalPlanner.PartnerRecord

Field Summary

Fields

Modifier and Type	Field and Description
static int	CONTINUE_SEARCH
static int	DECONTAMINATE
static int	EXECUTE_SAMPLE
static int	REPORT_AND_CONTINUE
static int	REPORT_AND_DECON
static int	TRANSIT_AND_ALERT

Fields inherited from class planner.avclPlan.GoalPlanner

alert, ATTACK_GOAL, avoidAreaSet, currentState, DECISION_CURRENT, DECISION_ONFAILURE, DECISION_ONSUCCESS, DECONTAMINATE_GOAL, DEMOLISH_GOAL, duration, firstGoal, GOAL_FAIL, GOAL_IN_PROGRESS, GOAL_SUCCEED, goalAttainable, goalVertical, goalVerticalMode, ILLUMINATE_GOAL, interVehicleCommunicationsHandler, JAM_GOAL, MARK_GOAL, MONITOR_TRANSMISSION_GOAL, onStation, operatingArea, PATROL_GOAL, planComputed, ready, RENDEZVOUS_GOAL, reportEnd, reportingInterval, reportPeriodic, reportStart, reportStatusChange, REPOSITION_GOAL, SAMPLE_ENVIRONMENT_GOAL, SEARCH_GOAL, searchPlannerType, startTime, stateChanged, STATUS_DESC_LAST_ENDED, STATUS_EXECUTION_BEGIN, STATUS_EXECUTION_FAIL, STATUS_EXECUTION_SUCCEED, STATUS_STATUS_COMPLETE, STATUS_SYSTEM_MISSION, stopTime, teamPartnerList, timeOut, vehicleCharacteristics, vehicleID, worldModel

Constructor Summary

Constructors

Constructor and Description
DecontaminatePlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, int srchPlannerType) Creates a new instance of DecontaminatePlanner
DecontaminatePlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of DecontaminatePlanner
DecontaminatePlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of DecontaminatePlanner
DecontaminatePlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, int srchPlannerType) Creates a new instance of DecontaminatePlanner
DecontaminatePlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of DecontaminatePlanner
DecontaminatePlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of DecontaminatePlanner

Method Summary

Modifier and Type	Method and Description
List<JAXBElement<?>>	generateAvclScriptElementList(int vehicleType, double gpsInterval) Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself
List<JAXBElement<?>>	generateAvclScriptElementList(List<JAXBElement<?>> planElementList, int vehicleType, double gpsInterval) Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself
int	goalExecutionStatus() Determines the current status of goal execution (in progress, succeed, or fail
static void	main(String[] args) Main method for testing purposes only
void	planScript() Utilizes all available information to generate a script to accomplish the applicable goal
void	planScript(double startX, double startY) Utilizes all available information to generate a script to accomplish the applicable goal
void	reset() Resets the planner so that it can be restarted from scratch
protected void	sendRequiredComms() Sends any required inter-vehicle communications based on the current goal status
void	setContaminantCleansed() Sets the contaminant cleansed flag
void	setContaminantDetected() Sets the contaminant detected flag
protected void	setParameters() Sets the goal parameters specific to searches based on a AVCL decontaminate goal
void	setPatternComplete() Sets the pattern complete flag
int	setState() Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)
void	vehicleInitialize(VehicleCharacteristics chars) Initializes the control parameters of the sample pattern (sweep width, required pd, etc.)

Methods inherited from class planner.avclPlan.GoalPlanner

assignVehicle, getAvoidAreas, getBestPosition, getCurrentTime, getDuration, getGoal, getPlannerType, getStartTime, getStopTime, getTimingType, getVehicleType, goalType, hasStateChanged, inOperatingArea, localExecutionLevel, makeLoiterCmd, makeMetaCmd, makePositionCmd, makeWaitCmd, makeWaitUntilTimeCmd, matchedWaypoints, planAvailable, planRouteElementList, recalculateGpsFixes, resetStateChanged, resetTiming, run, setAvoidAreas, setCommunicator, setFirst, setOffStation, setOnStation, setOperatingArea, setStartPosition, setStartPosition, setTeamMemberOnStation, setUnattainable, setWorldModel

Methods inherited from class java.lang.Object

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

Field Detail

TRANSIT_AND_ALERT

public static final int TRANSIT_AND_ALERT

See Also:

Constant Field Values

EXECUTE_SAMPLE

public static final int EXECUTE_SAMPLE

See Also:

Constant Field Values

DECONTAMINATE

public static final int DECONTAMINATE

See Also:

Constant Field Values

REPORT_AND_DECON

public static final int REPORT_AND_DECON

See Also:

Constant Field Values

REPORT_AND_CONTINUE

public static final int REPORT_AND_CONTINUE

See Also:

Constant Field Values

CONTINUE_SEARCH

public static final int CONTINUE_SEARCH

See Also:

Constant Field Values

Constructor Detail

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            List<AreaElementType> avoidAreas,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            List<AreaElementType> avoidAreas,
                            double startX,
                            double startY,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            StateVector state,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            StateVector state,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            List<AreaElementType> avoidAreas,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

DecontaminatePlanner

public DecontaminatePlanner(int vehicleID,
                            StateVector state,
                            VehicleCharacteristics chars,
                            AgendaGoalElementType goal,
                            List<AreaElementType> avoidAreas,
                            double startX,
                            double startY,
                            int srchPlannerType)

Creates a new instance of DecontaminatePlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

chars - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

Method Detail

reset

public void reset()

Resets the planner so that it can be restarted from scratch

Specified by:

reset in class GoalPlanner

setParameters

protected void setParameters()

Sets the goal parameters specific to searches based on a AVCL decontaminate goal

Specified by:

setParameters in class GoalPlanner

vehicleInitialize

public void vehicleInitialize(VehicleCharacteristics chars)

Initializes the control parameters of the sample pattern (sweep width, required pd, etc.) NOTE: The planner is not usable until this method has been called!

Overrides:

vehicleInitialize in class GoalPlanner

Parameters:

chars - vehicle characteristics to be utilized for the search

setContaminantDetected

public void setContaminantDetected()

Sets the contaminant detected flag

setContaminantCleansed

public void setContaminantCleansed()

Sets the contaminant cleansed flag

setPatternComplete

public void setPatternComplete()

Sets the pattern complete flag

setState

public int setState()

Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)

Specified by:

setState in class GoalPlanner

Returns:

planScript

public void planScript(double startX,
                       double startY)

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

Parameters:

startX - X coordinate of the vehicle when starting work towards goal accomplishment

startY - Y coordinate of the vehicle when starting work towards goal accomplishment

planScript

public void planScript()

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(List<JAXBElement<?>> planElementList,
                                                          int vehicleType,
                                                          double gpsInterval)

Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself

Parameters:

planElementList - ArrayList containing an existing plan to which the generated one will be appended

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                          double gpsInterval)

Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself

Specified by:

generateAvclScriptElementList in class GoalPlanner

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

sendRequiredComms

protected void sendRequiredComms()

Sends any required inter-vehicle communications based on the current goal status

Specified by:

sendRequiredComms in class GoalPlanner

goalExecutionStatus

public int goalExecutionStatus()

Determines the current status of goal execution (in progress, succeed, or fail

Specified by:

goalExecutionStatus in class GoalPlanner

Returns:

integer enumeration for current execution status: GOAL_IN_PROGRESS, GOAL_SUCCEED, or GOAL_FAIL

main

public static void main(String[] args)

Main method for testing purposes only

Parameters:

args -