Strategic (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.Strategic

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

MunitionStrategic, UavStrategic, UgvStrategic, UsvStrategic, UuvStrategic
```
public abstract class Strategic
extends Object
implements Runnable
```
Abstract class for implementation of specific autonomous vehicle strategic level control

Since:

08 September 2005

Version:

$Id: Strategic.java 8789 2012-12-27 15:07:15Z brutzman $

Author:

Duane Davis

Field Summary

Fields
Modifier and Type Field and Description

static String CONFIG_DIR

static String CONFIG_FILE

static String LOG_FILE

static String MISSION_DIR

static String MISSION_FILE

Fields
Modifier and Type	Field and Description
`static String`	`CONFIG_DIR`
`static String`	`CONFIG_FILE`
`static String`	`LOG_FILE`
`static String`	`MISSION_DIR`
`static String`	`MISSION_FILE`

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`Strategic(Execution passedExecutionLevel, VehicleCharacteristics passedVehicleCharacteristics, AvclMission passedAvclMission)` Creates a new instance of Strategic
`protected`	`Strategic(VehicleCharacteristics chars, AvclMission mission, boolean networkComms)` Creates a new instance of Strategic that does not have an execution level object on this JVM

Method Summary

Methods
Modifier and Type	Method and Description
`abstract void`	`createContaminantRecordEvent(int contaminant, int pType, double x, double y, int vType, double v1, double v2, String description)` Creates an event log element for a contaminant detection or removal event
`static Strategic`	`createStrategicLevel(Execution execution, VehicleCharacteristics chars, AvclMission mission)`
`AvclPlannerFlowController`	`getAvclPlannerFlowController()`
`GeoAreaSet`	`getAvoidAreaSet()`
`int`	`getCurrentGoalStatus()`
`Execution`	`getExecution()`
`AvclMission`	`getMission()`
`static double`	`getMissionTime()`
`Tactical`	`getTactical()`
`TacticalConnection`	`getTacticalComms()`
`VehicleCharacteristics`	`getVehicleCharacteristics()`
`void`	`incrementMissionStateMachine()` Increments the mission state machine (if required) based on the status of the currently executing goal
`abstract void`	`logContactEvent(int contactID, String name, int pType, double x, double y, double heading, double velocity, int vType, double v1, double v2, String description)` Creates an event log element for a contact detection or update
`abstract void`	`logEvent(Object event)` Logs an event
`abstract void`	`logGoalStatusEvent(Object goal, String status, String description)` Creates an event log element for a change in goal execution status
`abstract void`	`logSignalOfInterestEvent(double frequency, int units, String content, String description)` Creates an event log element for a signal of interest detection
`abstract void`	`logVehicleStatusEvent(String system, String status, String description)` Creates an event log element for a change in vehicle status
`void`	`marshalLog()` Marshals the mission log object
`static void`	`parseArguments(String[] arguments)`
`void`	`processIVMessage(AvclMessage message)` Processes a message received from another vehicle
`String`	`readMessageFromTactical()`
`protected void`	`reportEvent(Object evt)`
`void`	`run()` Implementation of the Runnable interface
`void`	`sendCommandScriptElementListToTactical(List<JAXBElement<?>> cmdElementList)` Sends a sequential List of AVCL commands to the tactical level for execution
`void`	`sendMessageToTactical(String msg)` Writes a message to the tactical level
`void`	`setAvclPlannerFlowController(AvclPlannerFlowController controller)`
`void`	`setExecution(Execution execution)` Sets the execution level of the controller
`void`	`setIVCommunicator(CommunicationsHandler ivComms)` Sets the communicator object in the planners so that they can communicate with other vehicles
`void`	`setTactical(Tactical tactical)` Sets the tactical level of the controller
`void`	`setWorldModel(WorldModel world)` Sets the world model that the planners are to use
`static void`	`startTiming()` Starts the Strategic Level clock

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

- Field Detail
  - MISSION_DIR
```
public static final String MISSION_DIR
```
  - MISSION_FILE
```
public static String MISSION_FILE
```
  - CONFIG_DIR
```
public static final String CONFIG_DIR
```
  - CONFIG_FILE
```
public static String CONFIG_FILE
```
  - LOG_FILE
```
public static String LOG_FILE
```
- Constructor Detail
  - Strategic
```
protected Strategic(Execution passedExecutionLevel,
         VehicleCharacteristics passedVehicleCharacteristics,
         AvclMission passedAvclMission)
```
    Creates a new instance of Strategic
    
    Parameters:
    passedExecutionLevel - reference to the execution level object of the vehicle
    passedVehicleCharacteristics - defines what goals the vehicle is capable of completing and how it will do so
    passedAvclMission - AVCL mission object (JAXB) containing the declarative mission being run
  - Strategic
```
protected Strategic(VehicleCharacteristics chars,
         AvclMission mission,
         boolean networkComms)
```
    Creates a new instance of Strategic that does not have an execution level object on this JVM
    
    Parameters:
    chars - defines what goals the vehicle is capable of completing and how it will do so
    mission - AVCL mission object (JAXB) containing the declarative mission being run
    networkComms - set to true if tactical level communications are networked, false if threaded
- Method Detail
  - logEvent
```
public abstract void logEvent(Object event)
```
    Logs an event
    
    Parameters:
    event - event
  - logGoalStatusEvent
```
public abstract void logGoalStatusEvent(Object goal,
                      String status,
                      String description)
```
    Creates an event log element for a change in goal execution status
    
    Parameters:
    goal - the goal to which the change in status applies
    status - a description of the status change
    description - value of the goal status element's description field
  - logVehicleStatusEvent
```
public abstract void logVehicleStatusEvent(String system,
                         String status,
                         String description)
```
    Creates an event log element for a change in vehicle status
    
    Parameters:
    system - the effected vehicle system
    status - a description of the new status of the effected system
    description - value of the goal status element's description field
  - logSignalOfInterestEvent
```
public abstract void logSignalOfInterestEvent(double frequency,
                            int units,
                            String content,
                            String description)
```
    Creates an event log element for a signal of interest detection
    
    Parameters:
    frequency - frequency
    units - enumeration for the units of the signal frequency
    content - any loggable signal content
    description - value of the signal of interest element's description attribute
  - logContactEvent
```
public abstract void logContactEvent(int contactID,
                   String name,
                   int pType,
                   double x,
                   double y,
                   double heading,
                   double velocity,
                   int vType,
                   double v1,
                   double v2,
                   String description)
```
    Creates an event log element for a contact detection or update
    
    Parameters:
    contactID - numerical identifier of the contact
    name - string identifier of the contact
    pType - enumeration for the type of position (Cartesian or latitude/longitude)
    x - X or latitude coordinate of the contact
    y - Y or longitude coordinate of the contact
    heading - heading (degrees) of the contact
    velocity - speed (meters per second) of the contact
    vType - enumeration for the type of vertical component of the contact
    v1 - a depth or altitude
    v2 - a depth or altitude
    description - value of the contact element description attribute
  - createContaminantRecordEvent
```
public abstract void createContaminantRecordEvent(int contaminant,
                                int pType,
                                double x,
                                double y,
                                int vType,
                                double v1,
                                double v2,
                                String description)
```
    Creates an event log element for a contaminant detection or removal event
    
    Parameters:
    contaminant - enumeration identifying the type of contaminant
    pType - enumeration for the type of position (Cartesian or latitude/longitude)
    x - X or latitude coordinate of the contact
    y - Y or longitude coordinate of the contact
    vType - enumeration for the type of vertical component of the contaminant
    v1 - a depth or altitude
    v2 - a depth or altitude
    description - value of the contact element description attribute
  - createStrategicLevel
```
public static Strategic createStrategicLevel(Execution execution,
                             VehicleCharacteristics chars,
                             AvclMission mission)
```
    Parameters:
    execution - execution level object (AUV, USV, UGV, or UAV)
    chars - defines what goals the vehicle is capable of completing and how it will do so
    mission - AVCL mission object (JAXB)
    
    Returns:
    an appropriate kind of strategic level object depending on the vehicle type
  - getMission
```
public AvclMission getMission()
```
    Returns:
    a reference to the mission object
  - getExecution
```
public Execution getExecution()
```
    Returns:
    a reference to the execution level object
  - getTactical
```
public Tactical getTactical()
```
    Returns:
    a reference to the tactical level object
  - setIVCommunicator
```
public void setIVCommunicator(CommunicationsHandler ivComms)
```
    Sets the communicator object in the planners so that they can communicate with other vehicles
    
    Parameters:
    ivComms -
  - getAvoidAreaSet
```
public GeoAreaSet getAvoidAreaSet()
```
    Returns:
    a reference to the avoid area set
  - startTiming
```
public static void startTiming()
```
    Starts the Strategic Level clock
  - getMissionTime
```
public static double getMissionTime()
```
    Returns:
    the mission execution time (seconds since start)
  - getVehicleCharacteristics
```
public VehicleCharacteristics getVehicleCharacteristics()
```
    Returns:
    a reference to the shared vehicle characteristics object
  - getTacticalComms
```
public TacticalConnection getTacticalComms()
```
    Returns:
    a reference to the shared memory used for tactical/strategic level communications
  - sendMessageToTactical
```
public void sendMessageToTactical(String msg)
```
    Writes a message to the tactical level
    
    Parameters:
    msg - String message that is to be written
  - readMessageFromTactical
```
public String readMessageFromTactical()
```
    Returns:
    a message from the tactical level (if one has been sent--returns null if not)
  - sendCommandScriptElementListToTactical
```
public void sendCommandScriptElementListToTactical(List<JAXBElement<?>> cmdElementList)
```
    Sends a sequential List of AVCL commands to the tactical level for execution
    
    Parameters:
    cmdElementList - sequential List of AVCL commands (JAXB) that are to be executed by the tactical level
  - setTactical
```
public void setTactical(Tactical tactical)
```
    Sets the tactical level of the controller
    
    Parameters:
    tactical - tactical level object being controlled by the strategic level
  - setWorldModel
```
public void setWorldModel(WorldModel world)
```
    Sets the world model that the planners are to use
    
    Parameters:
    world -
  - setExecution
```
public void setExecution(Execution execution)
```
    Sets the execution level of the controller
    
    Parameters:
    execution - execution level object being controlled by the strategic level
  - getAvclPlannerFlowController
```
public AvclPlannerFlowController getAvclPlannerFlowController()
```
    Returns:
    a reference to the mission controller (planner) object
  - setAvclPlannerFlowController
```
public final void setAvclPlannerFlowController(AvclPlannerFlowController controller)
```
  - processIVMessage
```
public void processIVMessage(AvclMessage message)
```
    Processes a message received from another vehicle
    
    Parameters:
    message -
  - getCurrentGoalStatus
```
public int getCurrentGoalStatus()
```
    Returns:
    the status (succeed, GOAL_FAIL, or GOAL_IN_PROGRESS) of the current goal Uses the status of the goal itself, plus any administrative requirements (reports, etc.)
  - incrementMissionStateMachine
```
public void incrementMissionStateMachine()
```
    Increments the mission state machine (if required) based on the status of the currently executing goal
  - parseArguments
```
public static void parseArguments(String[] arguments)
```
  - marshalLog
```
public void marshalLog()
```
    Marshals the mission log object
  - run
```
public void run()
```
    Implementation of the Runnable interface
    
    Specified by:
    
    run in interface Runnable
  - reportEvent
```
protected void reportEvent(Object evt)
```

Class Strategic

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MISSION_DIR

MISSION_FILE

CONFIG_DIR

CONFIG_FILE

LOG_FILE

Constructor Detail

Strategic

Strategic

Method Detail

logEvent

logGoalStatusEvent

logVehicleStatusEvent

logSignalOfInterestEvent

logContactEvent

createContaminantRecordEvent

createStrategicLevel

getMission

getExecution

getTactical

setIVCommunicator

getAvoidAreaSet

startTiming

getMissionTime

getVehicleCharacteristics

getTacticalComms

sendMessageToTactical

readMessageFromTactical

sendCommandScriptElementListToTactical

setTactical

setWorldModel

setExecution

getAvclPlannerFlowController

setAvclPlannerFlowController

processIVMessage

getCurrentGoalStatus

incrementMissionStateMachine

parseArguments

marshalLog

run

reportEvent