execution

Class ControlParameters

java.lang.Object

execution.ControlParameters

Direct Known Subclasses:

MunitionControlParameters, UavControlParameters, UgvControlParameters, UsvControlParameters, UuvControlParameters

public abstract class ControlParameters
extends Object

A parent class for each class of the same name in the uav, auv, usv packages. Just defines some things that are required for the Execution class. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

$Id: ControlParameters.java 7845 2012-03-10 12:37:33Z brutzman $

Author:

Mike Bailey

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	ControlParameters.CommandParser

Field Summary

Fields

Modifier and Type	Field and Description
boolean	commandCompleteMsgSent
boolean	continueRun
protected boolean	readyNextCommand
protected double	standoffDistance Distance that is considered an acceptable distance from a waypoint
Execution	vehicle
protected WorkbenchCommunicator	workbenchCommunicator
protected double	xCommand commanded x position
protected double	xStart starting point x position of the current track
protected double	yCommand commanded y position
protected double	yStart starting point y position of the current track

Constructor Summary

Constructors

Constructor and Description
ControlParameters()

Method Summary

Methods

Modifier and Type	Method and Description
double	getStandoff()
abstract double	getTimeStep() Compute simulation timestep interval for this vehicle
double	getXCommand()
double	getXStart()
double	getYCommand()
double	getYStart()
boolean	isTimedCommand()
abstract boolean	parseCommand(Object commandElement) parses an XML (AVCL) script command and sets the control parameter values as required
abstract boolean	parseCommand(String commandString) parses a space delimited text script command and sets the control parameter values as required
protected boolean	parseTelemetryPostCommon(double timestamp, StateVector state, ControlParameters.CommandParser parser) Common code for all types of telemetry parsers
boolean	readyForNextCommand()
abstract void	setMission(Mission mission) Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
void	setReadyNextCommand() sets the "ready for next command" flag to true
void	setTimedCommand(double time) sets the vehicle to be ready for a new command at a specified time
void	setWorkbenchCommunicator(WorkbenchCommunicator workbenchCommunicator) Replay missions execution objects delegate workbench updates to this class, or its subclass, because the status communication is more involved than just "which AVCL command are we executing?".
void	unsetReadyNextCommand() sets the "ready for next command" flag to false
abstract void	useMetricDistances(boolean setting) Used to switch between metric and English units of measure
abstract void	useRadianAngles(boolean setting) Used to switch between radian and degree angular measurements

Methods inherited from class java.lang.Object

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

Field Detail

vehicle

public Execution vehicle

standoffDistance

protected double standoffDistance

Distance that is considered an acceptable distance from a waypoint

xCommand

protected double xCommand

commanded x position

yCommand

protected double yCommand

commanded y position

xStart

protected double xStart

starting point x position of the current track

yStart

protected double yStart

starting point y position of the current track

continueRun

public boolean continueRun

readyNextCommand

protected boolean readyNextCommand

commandCompleteMsgSent

public boolean commandCompleteMsgSent

workbenchCommunicator

protected WorkbenchCommunicator workbenchCommunicator

Constructor Detail

ControlParameters

public ControlParameters()

Method Detail

useMetricDistances

public abstract void useMetricDistances(boolean setting)

Used to switch between metric and English units of measure

Parameters:

setting - true if metric units of measure are to be used

useRadianAngles

public abstract void useRadianAngles(boolean setting)

Used to switch between radian and degree angular measurements

Parameters:

setting - true if metric units of measure are to be used

getTimeStep

public abstract double getTimeStep()

Compute simulation timestep interval for this vehicle

parseCommand

public abstract boolean parseCommand(Object commandElement)

parses an XML (AVCL) script command and sets the control parameter values as required

Parameters:

commandElement - command to be parsed

Returns:

true if good command for continued processing; false if another command should immediately be requested

parseCommand

public abstract boolean parseCommand(String commandString)

parses a space delimited text script command and sets the control parameter values as required

Parameters:

commandString - command to be parsed

Returns:

true if good command for continued processing; false if another command should immediately be requested

setMission

public abstract void setMission(Mission mission)

Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)

Parameters:

mission - instance of execution.mission.Mission

setReadyNextCommand

public void setReadyNextCommand()

sets the "ready for next command" flag to true

unsetReadyNextCommand

public void unsetReadyNextCommand()

sets the "ready for next command" flag to false

setTimedCommand

public void setTimedCommand(double time)

sets the vehicle to be ready for a new command at a specified time

Parameters:

time - specified time

isTimedCommand

public boolean isTimedCommand()

Returns:

true if the currently executing command ends at a specified time

getStandoff

public double getStandoff()

Returns:

the current standoff distance (i.e., how close to a waypoint is close enough)

getXCommand

public double getXCommand()

Returns:

the currently commanded X coordinate (waypoint end)

getYCommand

public double getYCommand()

Returns:

the currently commanded Y coordinate (waypoint end)

getXStart

public double getXStart()

Returns:

the starting X coordinate of the current waypoint path

getYStart

public double getYStart()

Returns:

the starting Y coordinate of the current waypoint path

readyForNextCommand

public boolean readyForNextCommand()

Returns:

true if the vehicle is ready for the next command

setWorkbenchCommunicator

public void setWorkbenchCommunicator(WorkbenchCommunicator workbenchCommunicator)

Replay missions execution objects delegate workbench updates to this class, or its subclass, because the status communication is more involved than just "which AVCL command are we executing?".

Parameters:

workbenchCommunicator - object to send messages to workbench

parseTelemetryPostCommon

protected boolean parseTelemetryPostCommon(double timestamp,
                               StateVector state,
                               ControlParameters.CommandParser parser)

Common code for all types of telemetry parsers

Parameters:

timestamp - vehicle timestamp

state - Vehicle state

parser - AVCL telemetry parser

Returns:

true if good command for continued processing; false if another command should immediately be requested