execution.ugv

Class UgvExecution

java.lang.Object

execution.Execution

execution.ugv.UgvExecution

All Implemented Interfaces:

JoystickEventListener, Runnable

public class UgvExecution
extends Execution

Main class for UGV Execution Software for driving tracked UGV or one that uses differential wheel speed to steer

Author:

dtdavi1

Nested Class Summary

Nested classes/interfaces inherited from class execution.Execution

Execution.IdleHandler

Field Summary

Fields

Modifier and Type	Field and Description
ControlCoefficients	controlCoefficients control controlCoefficients used by controllers during closed-loop control
UgvControllers	controllers list of available controllers
ControlHardware	controls handle to an object for interfacing with vehicle-hardware
UgvControlParameters	ugvControlParameters Parameters defining the type of control called for, commanded speed, etc.
UgvExecutionParameters	ugvExecutionParameters ugv-specific run-time runtimeFlags

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
UgvExecution(String[] args)

Method Summary

Methods

Modifier and Type	Method and Description
void	act()
protected Mission	buildNewMission(boolean wantResultsOutput)
void	decide() Determines appropriate action needed to complete current command, using controller to compute
protected ControlParameters	getControlParameters()
StateVector	getState()
protected long	getStateReportUpdatePeriod() Can change period here if desired
protected String	getTabDelimitedFormattedStateFieldNames() Add ugv-specific fields to default state
protected String	getTabDelimitedStateValues() Add ugv-specific fields to default state
int	getVehicleType()
void	loadConfigurationFile() Loads vehicle default characteristics from a configuration file
static void	main(String[] args) This is the entry point when Execution is invoked, either in a separate JVM or a single JVM.
protected void	missionFinished() Notification of mission completion
void	reset() Resets all component objects and variables to start over.
void	sense()
void	setupVirtualWorld(Mission missionObject) Sets up a connection with the virtual world (if running in simulation)

Methods inherited from class execution.Execution

checkKill, checkMultipleLoopsMission, checkPauseResume, checkPauseSeparateJvm, checkRealtime, cleanUpFollowingMissionLoopCompletion, decideExternal, endPositionReports, endStateReports, getEnvironmentalUpdatePeriodMs, getNextJoystickEvent, getPositionUpdatePeriod, getTacticalConnection, getWorkbenchCommunicator, initializeEnvironmentUpdates, isOneThreadedJvmForAllMissions, isRunning, missionSimulationLoopHouseKeepingFinal, missionSimulationLoopHouseKeepingInitial, 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

ugvControlParameters

public UgvControlParameters ugvControlParameters

Parameters defining the type of control called for, commanded speed, etc.

controllers

public UgvControllers controllers

list of available controllers

controlCoefficients

public ControlCoefficients controlCoefficients

control controlCoefficients used by controllers during closed-loop control

ugvExecutionParameters

public UgvExecutionParameters ugvExecutionParameters

ugv-specific run-time runtimeFlags

controls

public ControlHardware controls

handle to an object for interfacing with vehicle-hardware

Constructor Detail

UgvExecution

public UgvExecution(String[] args)

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

buildNewMission

protected Mission buildNewMission(boolean wantResultsOutput)

Specified by:

buildNewMission in class Execution

Parameters:

wantResultsOutput -

Returns:

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

loadConfigurationFile

public final void loadConfigurationFile()

Loads vehicle default characteristics from a configuration file

setupVirtualWorld

public void setupVirtualWorld(Mission missionObject)

Sets up a connection with the virtual world (if running in simulation)

Parameters:

missionObject - object containing the mission specification for the vehicle

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

getControlParameters

protected ControlParameters getControlParameters()

Specified by:

getControlParameters in class Execution

missionFinished

protected void missionFinished()

Description copied from class: Execution

Notification of mission completion

Specified by:

missionFinished in class Execution

sense

public void sense()

Specified by:

sense in class Execution

decide

public void decide()

Description copied from class: Execution

Determines appropriate action needed to complete current command, using controller to compute

Specified by:

decide in class Execution

act

public void act()

Specified by:

act in class Execution

getTabDelimitedFormattedStateFieldNames

protected String getTabDelimitedFormattedStateFieldNames()

Add ugv-specific fields to default state

Overrides:

getTabDelimitedFormattedStateFieldNames in class Execution

Returns:

name string

getTabDelimitedStateValues

protected String getTabDelimitedStateValues()

Add ugv-specific fields to default state

Overrides:

getTabDelimitedStateValues in class Execution

Returns:

name string

getStateReportUpdatePeriod

protected long getStateReportUpdatePeriod()

Can change period here if desired

Overrides:

getStateReportUpdatePeriod in class Execution

Returns:

update period

main

public static void main(String[] args)

This is the entry point when Execution is invoked, either in a separate JVM or a single JVM.

Parameters:

args - the command line arguments