planner.avclPlan

Class AvclPlannerFlowController

java.lang.Object

planner.avclPlan.AvclPlannerFlowController

public class AvclPlannerFlowController
extends Object

Object that contains planners for an entire AVCL declarative mission Can be used to initiate planning for each goal as required and determine mission completion

Since:

28 July 2005

Version:

$Id: AvclPlannerFlowController.java 8808 2012-12-30 00:07:28Z brutzman $

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
double[]	recoveryPositionArray Designated position for vehicle recovery

Constructor Summary

Constructors

Constructor and Description
AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, File missionFile, int passedSearchPlannerType) Creates a new instance of AvclPlannerFlowController
AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, InputStream missionFile, int passedSearchPlannerType) Creates a new instance of AvclPlannerFlowController
AvclPlannerFlowController(int passedVehicleID, VehicleCharacteristics passedVehicleCharacteristics, String missionFile, int passedSearchPlannerType) Creates a new instance of AvclPlannerFlowController
AvclPlannerFlowController(VehicleCharacteristics passedVehicleCharacteristics, AvclMission passedMission, int passedSearchPlannerType) Creates a new instance of AvclPlannerFlowController

Method Summary

Methods

Modifier and Type	Method and Description
void	failCurrentGoal() Iterates the controller in the instance that the current goal fails
List<JAXBElement<?>>	generateAvclScriptElementList() Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
List<JAXBElement<?>>	generateAvclScriptElementList(String goalID) Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM
List<JAXBElement<?>>	generateAvclScriptElementList(String goalID, VehicleCharacteristics vehicleCharacteristics) Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM with updated vehicle characteristics
List<JAXBElement<?>>	generateAvclScriptElementList(VehicleCharacteristics vehicleCharacteristics) Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal using updated vehicle characteristics
List<JAXBElement<?>>	generateReturnRoutingElementList() Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal
AvclMission	generateScriptMission()
AvclMission	generateScriptMission(List<JAXBElement<?>> scriptCmds)
AvclMission	generateWholeMissionScript()
GeoAreaSet	getAvoidAreaSet()
double[]	getBestPosition()
Object	getCurrentGoal()
int	getCurrentGoalStatus()
int	getCurrentGoalType()
boolean	hasStateChanged()
void	initialize() Sets vehicle-specific parameters that impact how the planners run This method is used when the controller is attached to a Strategic level that communicates with the execution level via network (no execution object)
void	initialize(double[] position) Sets vehicle-specific parameters that impact how the planners run
void	initialize(double x, double y) Sets vehicle-specific parameters that impact how the planners run
void	initialize(Execution vehicle) Sets vehicle-specific parameters that impact how the planners run
void	initialize(Execution vehicle, double[] position) Sets vehicle-specific parameters that impact how the planners run
void	initialize(Execution vehicle, double x, double y) Sets vehicle-specific parameters that impact how the planners run
boolean	inOperatingArea(double[] pt)
static void	main(String[] args) main method for testing and debugging use only
boolean	missionComplete()
void	planScript() Initiates planning for the current goal using the most recent vehicle position for the starting point
void	planScript(double startX, double startY) Initiates planning for the current goal using an arbitrary starting point
void	planScript(String goalID) Initiates planning for an arbitrary goal using the most recent vehicle position for the starting point
void	planScript(String goalID, double startX, double startY) Initiates planning for an arbitrary goal using an arbitrary starting point
void	processInternalMessage(String message) Takes a String parameter (message from running vehicle) and processes the effect effect on the current planner if required (depends on the message and type of planner)
void	processIVMessage(AvclMessage msg) Processes a message received from another vehicle
void	resetPlannerSet() Generates a logical finite state machine (FSM) with planners in each state that correspond to the AVCL declarative mission FSM goals
void	resetStateChanged() Resets the "state changed" flag to false
void	sendRequiredComms() Directs the current planner to send any required inter-vehicle communications based on the current goal status
void	setCommunicator(CommunicationsHandler ivCommunicator) Used to set the inter-vehicle communicator
void	setPlannerState() Resets the state of the current goal planner based on its internal variables
void	setVehicle(Execution vehicle) Sets the vehicle to be controlled by this controller
void	setWorldModel(WorldModel world) Sets the world model that the planners are to utilize
void	succeedCurrentGoal() Iterates the controller whenever the current goal succeeds

Methods inherited from class java.lang.Object

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

Field Detail

recoveryPositionArray

public double[] recoveryPositionArray

Designated position for vehicle recovery

Constructor Detail

AvclPlannerFlowController

public AvclPlannerFlowController(int passedVehicleID,
                         VehicleCharacteristics passedVehicleCharacteristics,
                         String missionFile,
                         int passedSearchPlannerType)

Creates a new instance of AvclPlannerFlowController

Parameters:

passedVehicleID -

passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

missionFile - path to the AVCL file containing the declarative mission

passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

AvclPlannerFlowController

public AvclPlannerFlowController(int passedVehicleID,
                         VehicleCharacteristics passedVehicleCharacteristics,
                         File missionFile,
                         int passedSearchPlannerType)

Creates a new instance of AvclPlannerFlowController

Parameters:

passedVehicleID -

passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

missionFile - File object reference to the AVCL file containing the declarative mission

passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

AvclPlannerFlowController

public AvclPlannerFlowController(int passedVehicleID,
                         VehicleCharacteristics passedVehicleCharacteristics,
                         InputStream missionFile,
                         int passedSearchPlannerType)

Creates a new instance of AvclPlannerFlowController

Parameters:

passedVehicleID -

passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

missionFile - Stream from which the AVCL file containing the declarative mission is to be read

passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

AvclPlannerFlowController

public AvclPlannerFlowController(VehicleCharacteristics passedVehicleCharacteristics,
                         AvclMission passedMission,
                         int passedSearchPlannerType)

Creates a new instance of AvclPlannerFlowController

Parameters:

passedVehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

passedMission - AvclMission object containing the declarative AVCL mission

passedSearchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

Method Detail

resetPlannerSet

public void resetPlannerSet()

Generates a logical finite state machine (FSM) with planners in each state that correspond to the AVCL declarative mission FSM goals

initialize

public void initialize(double[] position)

Sets vehicle-specific parameters that impact how the planners run

Parameters:

position - double[2] containing the vehicle's current position

initialize

public void initialize()

Sets vehicle-specific parameters that impact how the planners run This method is used when the controller is attached to a Strategic level that communicates with the execution level via network (no execution object)

initialize

public void initialize(double x,
              double y)

Sets vehicle-specific parameters that impact how the planners run

Parameters:

x - x coordinate of the vehicle starting position to use during planning

y - y coordinate of the vehicle starting position to use during planning

initialize

public void initialize(Execution vehicle,
              double[] position)

Sets vehicle-specific parameters that impact how the planners run

Parameters:

vehicle - vehicle

position - double[2] containing the vehicle's current position

initialize

public void initialize(Execution vehicle,
              double x,
              double y)

Sets vehicle-specific parameters that impact how the planners run

Parameters:

vehicle - execution object of the vehicle that is being controlled

x - x coordinate of the vehicle starting position to use during planning

y - y coordinate of the vehicle starting position to use during planning

initialize

public void initialize(Execution vehicle)

Sets vehicle-specific parameters that impact how the planners run

Parameters:

vehicle - execution object of the vehicle that is being controlled

setWorldModel

public void setWorldModel(WorldModel world)

Sets the world model that the planners are to utilize

Parameters:

world -

getAvoidAreaSet

public GeoAreaSet getAvoidAreaSet()

Returns:

the GeoAreaSet containing all of the agenda's avoid areas

setCommunicator

public void setCommunicator(CommunicationsHandler ivCommunicator)

Used to set the inter-vehicle communicator

Parameters:

ivCommunicator -

missionComplete

public boolean missionComplete()

Returns:

true if the mission has reached a Complete state (current node == null)

succeedCurrentGoal

public void succeedCurrentGoal()

Iterates the controller whenever the current goal succeeds

failCurrentGoal

public void failCurrentGoal()

Iterates the controller in the instance that the current goal fails

setVehicle

public void setVehicle(Execution vehicle)

Sets the vehicle to be controlled by this controller

Parameters:

vehicle - execution level object of the vehicle to be controlled

getCurrentGoal

public Object getCurrentGoal()

Returns:

the goal object of the current planner node

getCurrentGoalType

public int getCurrentGoalType()

Returns:

an enumeration for the type of the current goal

hasStateChanged

public boolean hasStateChanged()

Returns:

true if the goal execution state of the current goal has changed

resetStateChanged

public void resetStateChanged()

Resets the "state changed" flag to false

inOperatingArea

public boolean inOperatingArea(double[] pt)

Parameters:

pt - double[2] containing the (x, y) position of the point being tested

Returns:

true if the point specified by the parameter is in the current goal's operating area

processIVMessage

public void processIVMessage(AvclMessage msg)

Processes a message received from another vehicle

Parameters:

msg -

processInternalMessage

public void processInternalMessage(String message)

Takes a String parameter (message from running vehicle) and processes the effect effect on the current planner if required (depends on the message and type of planner)

Parameters:

message - String containing the relevant state information

setPlannerState

public void setPlannerState()

Resets the state of the current goal planner based on its internal variables

getBestPosition

public double[] getBestPosition()

Returns:

the best available current vehicle position

planScript

public void planScript()

Initiates planning for the current goal using the most recent vehicle position for the starting point

planScript

public void planScript(double startX,
              double startY)

Initiates planning for the current goal using an arbitrary starting point

Parameters:

startX - x coordinate of the vehicle's assumed position when goal attempt begins

startY - y coordinate of the vehicle's assumed position when goal attempt begins

planScript

public void planScript(String goalID)

Initiates planning for an arbitrary goal using the most recent vehicle position for the starting point

Parameters:

goalID - unique String identifier for the goal that identifies it in the AVCL file

planScript

public void planScript(String goalID,
              double startX,
              double startY)

Initiates planning for an arbitrary goal using an arbitrary starting point

Parameters:

goalID - unique String identifier for the goal that identifies it in the AVCL file

startX - x coordinate of the vehicle's assumed position when goal attempt begins

startY - y coordinate of the vehicle's assumed position when goal attempt begins

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList()

Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(VehicleCharacteristics vehicleCharacteristics)

Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal using updated vehicle characteristics

Parameters:

vehicleCharacteristics - chars

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(String goalID)

Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM

Parameters:

goalID - goal id

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(String goalID,
                                                 VehicleCharacteristics vehicleCharacteristics)

Generates a set of AVCL task-level commands corresponding to the computed plan for an arbitrary goal in the FSM with updated vehicle characteristics

Parameters:

goalID - goal id

vehicleCharacteristics - updated vehicle characteristics to utilize during planning

Returns:

ArrayList of AVCL script command objects (JAXB)

generateScriptMission

public AvclMission generateScriptMission()

Returns:

a complete AVCL script mission corresponding to the current state of the current goal

generateScriptMission

public AvclMission generateScriptMission(List<JAXBElement<?>> scriptCmds)

Parameters:

scriptCmds - contains the sequence of script commands that form the mission

Returns:

a complete AVCL script mission corresponding to the current state of the current goal

generateWholeMissionScript

public AvclMission generateWholeMissionScript()

Returns:

a mission script for the entire mission Assumes that all goals succeed and that no state changes occur during script execution that would call for replanning

generateReturnRoutingElementList

public List<JAXBElement<?>> generateReturnRoutingElementList()

Generates a set of AVCL task-level commands corresponding to the computed plan for the current goal

Returns:

ArrayList of AVCL script command objects (JAXB)

getCurrentGoalStatus

public int getCurrentGoalStatus()

Returns:

the status of the current goal

sendRequiredComms

public void sendRequiredComms()

Directs the current planner to send any required inter-vehicle communications based on the current goal status

main

public static void main(String[] args)

main method for testing and debugging use only

Parameters:

args - command line arguments