UwMissionCoordinatorModule Class Reference

#include <uwsc-mission-coordinator-module.h>

Inheritance diagram for UwMissionCoordinatorModule:

Collaboration diagram for UwMissionCoordinatorModule:

Classes
struct	AUV_stats
struct	Mine

Public Member Functions
	UwMissionCoordinatorModule ()
virtual	~UwMissionCoordinatorModule ()=default
virtual int	command (int argc, const char *const *argv) override
virtual int	recvSyncClMsg (ClMessage *m) override

Protected Types
typedef struct UwMissionCoordinatorModule::Mine	Mine
typedef struct UwMissionCoordinatorModule::AUV_stats	AUV_stats

Protected Member Functions
void	removeMine (int id)
bool	isTracked (Position *p) const

Protected Attributes
std::vector< AUV_stats >	auv_follower

Detailed Description

UwMissionCoordinatorModule class is used to manage AUV followers and to collect statistics about them.

Member Typedef Documentation

AUV_stats

typedef struct UwMissionCoordinatorModule::AUV_stats UwMissionCoordinatorModule::AUV_stats

protected

AUV_stats describes statistics about the AUV follower. It also contains ids of respectively the UwROV controller and UwTracker receiver module installed in the AUV leader.

Mine

typedef struct UwMissionCoordinatorModule::Mine UwMissionCoordinatorModule::Mine

protected

Mine describes a mine by its position and state.

Constructor & Destructor Documentation

UwMissionCoordinatorModule()

UwMissionCoordinatorModule::UwMissionCoordinatorModule

(

)

Default Constructor of UwMissionCoordinatorModule class.

~UwMissionCoordinatorModule()

virtual UwMissionCoordinatorModule::~UwMissionCoordinatorModule ( )

virtualdefault

Destructor of UwMissionCoordinatorModule class.

Member Function Documentation

command()

int UwMissionCoordinatorModule::command ( int  argc, const char *const *  argv  )

overridevirtual

TCL command interpreter. It implements the following OTcl methods:

Parameters

argc	Number of arguments in argv.
argv	Array of strings which are the command parameters (Note that argv[0] is the name of the object).

Returns

TCL_OK or TCL_ERROR whether the command has been dispatched successfully or not.

References auv_follower.

isTracked()

bool UwMissionCoordinatorModule::isTracked ( Position *  p ) const

protected

Check if the mine at received position is already tracked.

Parameters

Position*

Pointer to mine position

Returns

bool True if the mine is already tracked false otherwise

References auv_follower.

Referenced by recvSyncClMsg().

recvSyncClMsg()

int UwMissionCoordinatorModule::recvSyncClMsg ( ClMessage *  m )

overridevirtual

Recv syncronous cross layer messages to require an operation from another module.

Parameters

m	Pointer cross layer message

Returns

zero if successful

References auv_follower, CLMSG_CTR2MC_GETPOS, CLMSG_TRACK2MC_GETSTATUS, CLMSG_TRACK2MC_TRACKPOS, isTracked(), UwMissionCoordinatorModule::Mine::MINE_DETECTED, UwMissionCoordinatorModule::Mine::MINE_TRACKED, removeMine(), and ClMsgMc2CtrPosition::setRovDestination().

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removeMine()

void UwMissionCoordinatorModule::removeMine ( int  id )

protected

Send a signal to the AUV follower to inform it, that the mine it is detecting is removed.

Parameters

int	ID of the ROV sent to detect the mine

References auv_follower, UwMissionCoordinatorModule::Mine::MINE_REMOVED, and ClMsgMc2CtrStatus::setRovStatus().

Referenced by recvSyncClMsg().

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Member Data Documentation

auv_follower

std::vector<AUV_stats> UwMissionCoordinatorModule::auv_follower

protected

ROV followers info.

Referenced by command(), isTracked(), recvSyncClMsg(), and removeMine().

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The documentation for this class was generated from the following files:

• DESERT_Addons/uwswarm_control/uwsc-mission-coordinator-module.h
• DESERT_Addons/uwswarm_control/uwsc-mission-coordinator-module.cc