execution.munition

Class MunitionExecution

java.lang.Object

execution.Execution

execution.munition.MunitionExecution

All Implemented Interfaces:

JoystickEventListener, Runnable

public class MunitionExecution
extends Execution

Main class for Munition Execution Software

Nested Class Summary

Nested classes/interfaces inherited from class execution.Execution

Execution.IdleHandler

Field Summary

Fields

Modifier and Type	Field and Description
MunitionControlParameters	munControlParameters

Fields inherited from class execution.Execution

currentCommandElement, currentCommandIndex, drivers, dynamics, dynamicsArgs, environmentCustomer, executionKey, firstTime, interVehicleCommunicationsHandler, joystickEventHashMap, KILL_CMD, killRun, mission, MULTIPLELOOPSMISSION_CMD, PAUSE_CMD, REALTIME_CMD, RESUME_CMD, runtimeFlags, stateReportChannel, stateVector, strategicLevel, strategicThread, tacticalConnection, tacticalLevel, tacticalThread, vehicleShortName, virtualWorldConnection, workbenchCommunicator

Constructor Summary

Constructors

Constructor and Description
MunitionExecution(String[] args) Creates a new instance of Execution

Method Summary

Methods

Modifier and Type	Method and Description
protected void	act() computes and applies control settings Use this hook into the inner loop to calculate apogee
protected Mission	buildNewMission(boolean wantResultsOutput)
protected void	decide() determines what appropriate action to complete current command
protected ControlParameters	getControlParameters()
protected long	getEnvironmentalUpdatePeriodMs()
protected long	getPositionUpdatePeriod() Override this one to show more dots on the screen because of the faster movement.
StateVector	getState()
protected long	getStateReportUpdatePeriod() Can change period here if desired
protected String	getTabDelimitedFormattedStateFieldNames() Add scalar velocity to default state
protected String	getTabDelimitedStateValues() Add scalar velocity to default state
int	getVehicleType()
protected void	initializeEnvironmentUpdates() Override environment setup
static void	main(String[] args) This is the entry point when Execution is done in a separate JVM.
protected void	missionFinished() Tell the 2D display to put up the results banner
protected void	missionSimulationLoopHouseKeepingFinal(ControlParameters controlParameters) cleanup and setup required at the end of each closed loop iteration
protected void	missionSimulationLoopHouseKeepingInitial(ControlParameters controlParameters) Setup required at the beginning of each iteration of the closed loop
void	reset() Resets all component objects and variables to start over.
static void	runMunitions(String[] args) The munition execution class handles things a bit differently from the other Execution subclasses; it executes multiple threads, one after the other.
protected void	sense() reads sensors or communicates with the virtual world to orient auv in the world

Methods inherited from class execution.Execution

checkKill, checkMultipleLoopsMission, checkPauseResume, checkPauseSeparateJvm, checkRealtime, cleanUpFollowingMissionLoopCompletion, decideExternal, endPositionReports, endStateReports, getNextJoystickEvent, getTacticalConnection, getWorkbenchCommunicator, isOneThreadedJvmForAllMissions, isRunning, missionSimulationLoopsRunFullMission, notifyCommandComplete, receiveJoystickEvent, run, setAgendaLaunchXY, setVehicleCharacteristics, shouldUseSingleJvm, startEnvironmentalUpdates, startPositionReports, startStateReports, stopEnviroUpdates, useMetric, useRadians

Methods inherited from class java.lang.Object

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

Field Detail

munControlParameters

public MunitionControlParameters munControlParameters

Constructor Detail

MunitionExecution

public MunitionExecution(String[] args)

Creates a new instance of Execution

Parameters:

args - String[] command line arguments

Method Detail

reset

public void reset()

Description copied from class: Execution

Resets all component objects and variables to start over. Provide the vehicle state with the proper timeStamp given from the mission's current DTG for telemetry recording. This only occurs during first time the mission is simulated, since follow-on loops do not save new telemetry files.

Overrides:

reset in class Execution

getControlParameters

protected ControlParameters getControlParameters()

Specified by:

getControlParameters in class Execution

buildNewMission

protected Mission buildNewMission(boolean wantResultsOutput)

Specified by:

buildNewMission in class Execution

Parameters:

wantResultsOutput -

Returns:

appropriate mission type for subclass (AuvMission, MunitionMission, etc.)

missionFinished

protected void missionFinished()

Tell the 2D display to put up the results banner

Specified by:

missionFinished in class Execution

runMunitions

public static void runMunitions(String[] args)

The munition execution class handles things a bit differently from the other Execution subclasses; it executes multiple threads, one after the other. This is an extra layer of threading that allows a singleJvm run to return immediately rather than wait for all of them to finish. The main() method creates a thread and runs it, and it calls this long- running method.

main

public static void main(String[] args)

This is the entry point when Execution is done in a separate JVM.

Parameters:

args - the command line arguments

sense

protected void sense()

reads sensors or communicates with the virtual world to orient auv in the world

Specified by:

sense in class Execution

decide

protected void decide()

determines what appropriate action to complete current command

Specified by:

decide in class Execution

act

protected void act()

computes and applies control settings Use this hook into the inner loop to calculate apogee

Specified by:

act in class Execution

missionSimulationLoopHouseKeepingInitial

protected void missionSimulationLoopHouseKeepingInitial(ControlParameters controlParameters)

Description copied from class: Execution

Setup required at the beginning of each iteration of the closed loop

Overrides:

missionSimulationLoopHouseKeepingInitial in class Execution

Parameters:

controlParameters - control parameters

missionSimulationLoopHouseKeepingFinal

protected void missionSimulationLoopHouseKeepingFinal(ControlParameters controlParameters)

cleanup and setup required at the end of each closed loop iteration

Overrides:

missionSimulationLoopHouseKeepingFinal in class Execution

Parameters:

controlParameters -

getPositionUpdatePeriod

protected long getPositionUpdatePeriod()

Override this one to show more dots on the screen because of the faster movement. If running in realtime, the default is fine.

Overrides:

getPositionUpdatePeriod in class Execution

Returns:

period in ms between position updates to 2D

getStateReportUpdatePeriod

protected long getStateReportUpdatePeriod()

Can change period here if desired

Overrides:

getStateReportUpdatePeriod in class Execution

Returns:

state report update period

getTabDelimitedFormattedStateFieldNames

protected String getTabDelimitedFormattedStateFieldNames()

Add scalar velocity to default state

Overrides:

getTabDelimitedFormattedStateFieldNames in class Execution

Returns:

name string

getTabDelimitedStateValues

protected String getTabDelimitedStateValues()

Add scalar velocity to default state

Overrides:

getTabDelimitedStateValues in class Execution

Returns:

name string

initializeEnvironmentUpdates

protected void initializeEnvironmentUpdates()

Override environment setup

Overrides:

initializeEnvironmentUpdates in class Execution

getEnvironmentalUpdatePeriodMs

protected long getEnvironmentalUpdatePeriodMs()

Overrides:

getEnvironmentalUpdatePeriodMs in class Execution

getVehicleType

public int getVehicleType()

Specified by:

getVehicleType in class Execution

Returns:

enumeration for the type of mission, e.g. Dynamics.AGENDA, Dynamics.UAV, Dynamics.UGV, Dynamics.USV, Dynamics.UUV, Dynamics.MUNITION, Dynamics.ROV

getState

public StateVector getState()

Specified by:

getState in class Execution

Returns:

current vehicle state vector