execution

Class Tactical

java.lang.Object

execution.Tactical

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

MunitionTactical, UavTactical, UgvTactical, UsvTactical, UuvTactical

public abstract class Tactical
extends Object
implements Runnable

Abstract class for implementation of specific autonomous vehicle tactical level control

Since:

09 September 2005

Version:

$Id: Tactical.java 8767 2012-12-25 22:51:34Z brutzman $

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected WorldModel	worldModel Reference to the world model and map

Constructor Summary

Constructors

Constructor and Description
Tactical(Execution execution, Strategic strategic, int vehicleType) Creates a new instance of Tactical where-in the execution level is assumed to be a thread running in the same JVM
Tactical(Strategic strategic, int vehicleType) Creates a new instance of Tactical that assumes the controller is being used to control an execution level accessible via the network as opposed to a thread in the same JVM

Method Summary

Methods

Modifier and Type	Method and Description
void	enablePotentialField(boolean enable) Turns potential field obstacle avoidance on or off
CommunicationsHandler	getCommsHandler()
Execution	getExecution()
TacticalConnection	getExecutionComms()
double	getMissionTime()
boolean	getPotentialFieldEnabled()
double[]	getPotentialVector(double goalX, double goalY) Computes a unit potential vector that will steer the vehicle away from known obstacles.
Strategic	getStrategic()
TacticalConnection	getStrategicComms()
WorldModel	getWorldModel()
boolean	isRunning()
List<JAXBElement<?>>	readCommandElementListFromStrategic()
String	readMessageFromExecution() Receives a message (if one is available) from the execution level
String	readMessageFromStrategic() Receives a message (if one is available) from the strategic level
void	resetToFallbackScript() Reverts to the previously executing script (fallback)
void	run() Implements the Runnable interface
void	sendCommandToExecution() Submits a String query to the execution level
void	sendIVMessage(AvclMessage msg) Transmits a message from this vehicle to other vehicles
void	sendMessageToExecution(String msg) Submits a String message to the execution level
void	sendMessageToStrategic(String msg) Submits a String message to the strategic level
void	setScript(List<JAXBElement<?>> newScriptElementList) Sets the currently executing script

Methods inherited from class java.lang.Object

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

Field Detail

worldModel

protected WorldModel worldModel

Reference to the world model and map

Constructor Detail

Tactical

public Tactical(Execution execution,
        Strategic strategic,
        int vehicleType)

Creates a new instance of Tactical where-in the execution level is assumed to be a thread running in the same JVM

Tactical

public Tactical(Strategic strategic,
        int vehicleType)

Creates a new instance of Tactical that assumes the controller is being used to control an execution level accessible via the network as opposed to a thread in the same JVM

Method Detail

getExecution

public Execution getExecution()

Returns:

reference to the execution level object

getWorldModel

public WorldModel getWorldModel()

Returns:

reference to the world model object

getStrategic

public Strategic getStrategic()

Returns:

a reference to the strategic level object

getCommsHandler

public CommunicationsHandler getCommsHandler()

Returns:

a reference to the inter-vehicle communications handler object

getMissionTime

public double getMissionTime()

Returns:

current mission time

getExecutionComms

public TacticalConnection getExecutionComms()

Returns:

a reference to the tactical level/execution level comms object

getStrategicComms

public TacticalConnection getStrategicComms()

Returns:

a reference to the tactical level/strategic level comms object

isRunning

public boolean isRunning()

Returns:

true if the Tactical Level is active (running)

setScript

public void setScript(List<JAXBElement<?>> newScriptElementList)

Sets the currently executing script

Parameters:

newScriptElementList - List containing a sequence of AVCL task-level command objects (JAXB)

resetToFallbackScript

public void resetToFallbackScript()

Reverts to the previously executing script (fallback)

getPotentialVector

public double[] getPotentialVector(double goalX,
                          double goalY)

Computes a unit potential vector that will steer the vehicle away from known obstacles. This method is intended for obstacle avoidance, so mission- defined "avoid areas" are not accounted for. This method is intended for Execution or Tactical Level use in obstacle avoidance between waypoints.

Parameters:

goalX - north/south Cartesian coordinate of the goal point

goalY - east/west Cartesian coordinate of the goal point

Returns:

a unit potential vector

enablePotentialField

public void enablePotentialField(boolean enable)

Turns potential field obstacle avoidance on or off

Parameters:

enable -

getPotentialFieldEnabled

public boolean getPotentialFieldEnabled()

Returns:

true if potential vield obstacle avoidance is enabled

sendIVMessage

public void sendIVMessage(AvclMessage msg)

Transmits a message from this vehicle to other vehicles

Parameters:

msg - message to be sent

sendCommandToExecution

public void sendCommandToExecution()

Submits a String query to the execution level

sendMessageToExecution

public void sendMessageToExecution(String msg)

Submits a String message to the execution level

sendMessageToStrategic

public void sendMessageToStrategic(String msg)

Submits a String message to the strategic level

readMessageFromExecution

public String readMessageFromExecution()

Receives a message (if one is available) from the execution level

readMessageFromStrategic

public String readMessageFromStrategic()

Receives a message (if one is available) from the strategic level

readCommandElementListFromStrategic

public List<JAXBElement<?>> readCommandElementListFromStrategic()

Returns:

a new list of commands from the strategic level, overriding any previously received commands

run

public void run()

Implements the Runnable interface

Specified by:

run in interface Runnable