planner.avclPlan

Class PatrolPlanner

java.lang.Object

planner.avclPlan.GoalPlanner

planner.avclPlan.PatrolPlanner

All Implemented Interfaces:

Runnable

public class PatrolPlanner
extends GoalPlanner

Planner utilized to generate a script capable of accomplishing a Patrol goal in an AVCL declarative mission Upper Level State Machine of the Patrol Planner: +------------------------TRANSIT_AND_ALERT <---- start, alert = true | alertEnded | | Execute | +----- start, alert = false | | / | V V contactObserved | contactObserved +-----> ROAM_AREA---------------------------+ | reportStatusChange | || ^ | ^ reportStatusChange | | = false +-------+| | | | V | | | | | MAKE_REPORT | patrolLapComplete | | | | reportMade | | patrolComplete = false +-+ | +---------------------------+ | | | | | patrolComplete | | V +----------------------------> COMPLETE

Author:

dtdavis

Nested Class Summary

Nested classes/interfaces inherited from class planner.avclPlan.GoalPlanner

GoalPlanner.PartnerList, GoalPlanner.PartnerRecord

Field Summary

Fields

Modifier and Type	Field and Description
static int	CONTINUE_PATROL
static int	PLAN_PATROL
static int	QUIT_PATROL
static int	REPLAN_PATROL
static int	REPORT_AND_CONTINUE
static int	REPORT_AND_QUIT
static int	TRANSIT_AND_ALERT

Fields inherited from class planner.avclPlan.GoalPlanner

alert, ATTACK_GOAL, avoidAreaSet, currentState, DECISION_CURRENT, DECISION_ONFAILURE, DECISION_ONSUCCESS, DECONTAMINATE_GOAL, DEMOLISH_GOAL, duration, firstGoal, GOAL_FAIL, GOAL_IN_PROGRESS, GOAL_SUCCEED, goalAttainable, goalVertical, goalVerticalMode, ILLUMINATE_GOAL, interVehicleCommunicationsHandler, JAM_GOAL, MARK_GOAL, MONITOR_TRANSMISSION_GOAL, onStation, operatingArea, PATROL_GOAL, planComputed, ready, RENDEZVOUS_GOAL, reportEnd, reportingInterval, reportPeriodic, reportStart, reportStatusChange, REPOSITION_GOAL, SAMPLE_ENVIRONMENT_GOAL, SEARCH_GOAL, searchPlannerType, startTime, stateChanged, STATUS_DESC_LAST_ENDED, STATUS_EXECUTION_BEGIN, STATUS_EXECUTION_FAIL, STATUS_EXECUTION_SUCCEED, STATUS_STATUS_COMPLETE, STATUS_SYSTEM_MISSION, stopTime, teamPartnerList, timeOut, vehicleCharacteristics, vehicleID, worldModel

Constructor Summary

Constructors

Constructor and Description
PatrolPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, int srchPlannerType) Creates a new instance of PatrolPlanner
PatrolPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of PatrolPlanner
PatrolPlanner(int vehicleID, StateVector state, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of PatrolPlanner
PatrolPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, int srchPlannerType) Creates a new instance of PatrolPlanner
PatrolPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of PatrolPlanner
PatrolPlanner(int vehicleID, VehicleCharacteristics chars, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of PatrolPlanner

Method Summary

Methods

Modifier and Type	Method and Description
List<JAXBElement<?>>	generateAvclScriptElementList(int vehicleType, double gpsInterval) Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself
List<JAXBElement<?>>	generateAvclScriptElementList(List<JAXBElement<?>> plan, int vehicleType, double gpsInterval) Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself
int	goalExecutionStatus() Determines the current status of goal execution (in progress, succeed, or fail
static void	main(String[] args) Main method for testing purposes only
void	planScript() Utilizes all available information to generate a script to accomplish the applicable goal
void	planScript(double startX, double startY) Utilizes all available information to generate a script to accomplish the applicable goal
void	reset() Resets the planner so that it can be restarted from scratch
protected void	sendRequiredComms() Sends any required inter-vehicle communications based on the current goal status
void	setContactObserved() Sets the contact observed flag
protected void	setParameters() Sets the goal parameters specific to patrols based on a AVCL patrol goal
void	setPatternComplete() Sets the new pattern flag (current pattern completed, if time left, compute and start a new one)
int	setState() Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)
void	vehicleInitialize(VehicleCharacteristics chars) Initializes the control parameters of the search (sweep width, required pd, etc.)

Methods inherited from class planner.avclPlan.GoalPlanner

assignVehicle, getAvoidAreas, getBestPosition, getCurrentTime, getDuration, getGoal, getPlannerType, getStartTime, getStopTime, getTimingType, getVehicleType, goalType, hasStateChanged, inOperatingArea, localExecutionLevel, makeLoiterCmd, makeMetaCmd, makePositionCmd, makeWaitCmd, makeWaitUntilTimeCmd, matchedWaypoints, planAvailable, planRouteElementList, recalculateGpsFixes, resetStateChanged, resetTiming, run, setAvoidAreas, setCommunicator, setFirst, setOffStation, setOnStation, setOperatingArea, setStartPosition, setStartPosition, setTeamMemberOnStation, setUnattainable, setWorldModel

Methods inherited from class java.lang.Object

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

Field Detail

TRANSIT_AND_ALERT

public static final int TRANSIT_AND_ALERT

See Also:

Constant Field Values

PLAN_PATROL

public static final int PLAN_PATROL

See Also:

Constant Field Values

REPLAN_PATROL

public static final int REPLAN_PATROL

See Also:

Constant Field Values

REPORT_AND_CONTINUE

public static final int REPORT_AND_CONTINUE

See Also:

Constant Field Values

CONTINUE_PATROL

public static final int CONTINUE_PATROL

See Also:

Constant Field Values

QUIT_PATROL

public static final int QUIT_PATROL

See Also:

Constant Field Values

REPORT_AND_QUIT

public static final int REPORT_AND_QUIT

See Also:

Constant Field Values

Constructor Detail

PatrolPlanner

public PatrolPlanner(int vehicleID,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

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

PatrolPlanner

public PatrolPlanner(int vehicleID,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             List<AreaElementType> avoidAreas,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

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

PatrolPlanner

public PatrolPlanner(int vehicleID,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             List<AreaElementType> avoidAreas,
             double startX,
             double startY,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

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

PatrolPlanner

public PatrolPlanner(int vehicleID,
             StateVector state,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

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

PatrolPlanner

public PatrolPlanner(int vehicleID,
             StateVector state,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             List<AreaElementType> avoidAreas,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

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

PatrolPlanner

public PatrolPlanner(int vehicleID,
             StateVector state,
             VehicleCharacteristics chars,
             AgendaGoalElementType goal,
             List<AreaElementType> avoidAreas,
             double startX,
             double startY,
             int srchPlannerType)

Creates a new instance of PatrolPlanner

Parameters:

vehicleID -

state - StateVector object of the vehicle for which the planner is to be utilized

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

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

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

Method Detail

reset

public void reset()

Resets the planner so that it can be restarted from scratch

Specified by:

reset in class GoalPlanner

setParameters

protected void setParameters()

Sets the goal parameters specific to patrols based on a AVCL patrol goal

Specified by:

setParameters in class GoalPlanner

vehicleInitialize

public void vehicleInitialize(VehicleCharacteristics chars)

Initializes the control parameters of the search (sweep width, required pd, etc.) NOTE: The planner is not usable until this method has been called!

Overrides:

vehicleInitialize in class GoalPlanner

Parameters:

chars - vehicle characteristics to be utilized for the search

setContactObserved

public void setContactObserved()

Sets the contact observed flag

setPatternComplete

public void setPatternComplete()

Sets the new pattern flag (current pattern completed, if time left, compute and start a new one)

setState

public int setState()

Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)

Specified by:

setState in class GoalPlanner

Returns:

planScript

public void planScript(double startX,
              double startY)

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

Parameters:

startX - X coordinate of the vehicle when starting work towards goal accomplishment

startY - Y coordinate of the vehicle when starting work towards goal accomplishment

planScript

public void planScript()

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(List<JAXBElement<?>> plan,
                                                 int vehicleType,
                                                 double gpsInterval)

Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself

Parameters:

plan - ArrayList containing an existing plan to which the generated one will be appended

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                 double gpsInterval)

Generates a set of AVCL commands corresponding to the transit to the operating area and the goal accomplishment itself

Specified by:

generateAvclScriptElementList in class GoalPlanner

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance the vehicle can travel submerged between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

goalExecutionStatus

public int goalExecutionStatus()

Determines the current status of goal execution (in progress, succeed, or fail

Specified by:

goalExecutionStatus in class GoalPlanner

Returns:

integer enumeration for current execution status: GOAL_IN_PROGRESS, GOAL_SUCCEED, or GOAL_FAIL

sendRequiredComms

protected void sendRequiredComms()

Sends any required inter-vehicle communications based on the current goal status

Specified by:

sendRequiredComms in class GoalPlanner

main

public static void main(String[] args)

Main method for testing purposes only

Parameters:

args -