execution.usv

Class UsvStrategic

java.lang.Object

execution.Strategic

execution.usv.UsvStrategic

All Implemented Interfaces:

Runnable

public class UsvStrategic
extends Strategic

Implements strategic level control for an AUV

Author:

dtdavis

Field Summary

Fields inherited from class execution.Strategic

CONFIG_DIR, CONFIG_FILE, LOG_FILE, MISSION_DIR, MISSION_FILE

Constructor Summary

Constructors

Constructor and Description
UsvStrategic(UsvExecution execution, VehicleCharacteristics chars, AvclMission mission) Creates a new instance of UsvStrategic
UsvStrategic(VehicleCharacteristics chars, AvclMission mission, boolean networkComms) Creates a new instance of UsvStrategic that does not have an execution level object on this JVM

Method Summary

Methods

Modifier and Type	Method and Description
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
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
void	logEvent(Object event) Logs an event ¶m event
void	logGoalStatusEvent(Object goal, String status, String description) Creates an event log element for a change in goal execution status
void	logSignalOfInterestEvent(double frequency, int units, String content, String description) Creates an event log element for a signal of interest detection
void	logVehicleStatusEvent(String system, String status, String description) Creates an event log element for a change in vehicle status
static void	main(String[] args) Used to run the Strategic level in standalone mode

Methods inherited from class execution.Strategic

createStrategicLevel, getAvclPlannerFlowController, getAvoidAreaSet, getCurrentGoalStatus, getExecution, getMission, getMissionTime, getTactical, getTacticalComms, getVehicleCharacteristics, incrementMissionStateMachine, marshalLog, parseArguments, processIVMessage, readMessageFromTactical, reportEvent, run, sendCommandScriptElementListToTactical, sendMessageToTactical, setAvclPlannerFlowController, setExecution, setIVCommunicator, setTactical, setWorldModel, startTiming

Methods inherited from class java.lang.Object

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

Constructor Detail

UsvStrategic

public UsvStrategic(UsvExecution execution,
            VehicleCharacteristics chars,
            AvclMission mission)

Creates a new instance of UsvStrategic

Parameters:

execution -

chars -

mission -

UsvStrategic

public UsvStrategic(VehicleCharacteristics chars,
            AvclMission mission,
            boolean networkComms)

Creates a new instance of UsvStrategic 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 comms is networked, false if threaded

Method Detail

logEvent

public void logEvent(Object event)

Logs an event ¶m event

Specified by:

logEvent in class Strategic

Parameters:

event - event

logGoalStatusEvent

public void logGoalStatusEvent(Object goal,
                      String status,
                      String description)

Creates an event log element for a change in goal execution status

Specified by:

logGoalStatusEvent in class Strategic

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 void logVehicleStatusEvent(String system,
                         String status,
                         String description)

Creates an event log element for a change in vehicle status

Specified by:

logVehicleStatusEvent in class Strategic

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 void logSignalOfInterestEvent(double frequency,
                            int units,
                            String content,
                            String description)

Creates an event log element for a signal of interest detection

Specified by:

logSignalOfInterestEvent in class Strategic

Parameters:

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 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

Specified by:

logContactEvent in class Strategic

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 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

Specified by:

createContaminantRecordEvent in class Strategic

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

main

public static void main(String[] args)

Used to run the Strategic level in standalone mode

Parameters:

args -