pt.lsts.neptus.types.mission.plan

Class PlanType

java.lang.Object

pt.lsts.neptus.types.mission.plan.PlanType

All Implemented Interfaces:

PropertiesProvider, NameId, XmlOutputMethods

public class PlanType
extends java.lang.Object
implements XmlOutputMethods, PropertiesProvider, NameId

Author:

Paulo Dias, ZP

Field Summary

Fields

Modifier and Type	Field and Description
protected static java.lang.String	DEFAULT_ROOT_ELEMENT
protected PlanActions	endActions
protected GraphType	graph
protected java.lang.String	id
static int	INIT_HOMEREF
static int	INIT_NONE
static int	INIT_START_WPT
protected MissionType	missionType
protected PlanActions	startActions
protected java.util.Vector<VehicleType>	vehicles

Constructor Summary

Constructors

Constructor and Description
PlanType(MissionType mt)
PlanType(java.lang.String xml, MissionType mt)

Method Summary

Methods

Modifier and Type	Method and Description
void	addVehicle(java.lang.String vehicle) Adds the given vehicle to the set of vehicles in this plan
org.dom4j.Document	asDocument()
org.dom4j.Document	asDocument(java.lang.String rootElementName)
org.dom4j.Element	asElement()
org.dom4j.Element	asElement(java.lang.String rootElementName)
pt.lsts.imc.IMCMessage	asIMCPlan()
pt.lsts.imc.IMCMessage	asIMCPlan(boolean fillInPayloads)
java.lang.String	asXML() Este problema foi resolvido com a versão 1.6.1 do DOM4J.
java.lang.String	asXML(java.lang.String rootElementName) Este problema foi resolvido com a versão 1.6.1 do DOM4J.
protected java.lang.Object	clone()
PlanType	clonePlan()
PlanType	copy(java.lang.String newID)
void	getAsImage(java.awt.image.BufferedImage img)
java.lang.String	getDisplayName()
PlanActions	getEndActions()
java.util.Vector<TransitionType>	getExitingTransitions(java.lang.String maneuverId)
GraphType	getGraph()
java.lang.String	getId()
java.lang.String	getIdentification()
MapGroup	getMapGroup()
MissionType	getMissionType()
MapType	getPlanMap()
com.l2fprod.common.propertysheet.DefaultProperty[]	getProperties()
java.lang.String	getPropertiesDialogTitle()
java.lang.String[]	getPropertiesErrors(com.l2fprod.common.propertysheet.Property[] properties)
PlanActions	getStartActions()
int	getStartMode()
java.lang.String	getVehicle()
java.util.Vector<VehicleType>	getVehicles()
VehicleType	getVehicleType()
boolean	hasInitialManeuver()
boolean	hasMultipleVehiclesAssociated()
boolean	isCompatibleWith(VehicleType vehicle)
boolean	isEmpty()
boolean	isSaveGotoSequenceAsTrajectory()
boolean	isSupportedBy(VehicleType vehicle)
boolean	load(java.lang.String xml)
static void	main(java.lang.String[] args)
java.util.Vector<LocationType>	planPath()
java.lang.String	planStatistics()
void	setId(java.lang.String id)
void	setMapGroup(MapGroup mapGroup)
void	setMissionType(MissionType missionType)
void	setPayloads()
void	setPlanMap(MapType planMap)
void	setProperties(com.l2fprod.common.propertysheet.Property[] properties)
void	setSaveGotoSequenceAsTrajectory(boolean saveGotoSequenceAsTrajectory)
void	setStartMode(int startMode)
void	setVehicle(java.lang.String vehicle)
void	setVehicle(VehicleType vehicle)
void	setVehicles(java.util.Vector<VehicleType> vehicles)
java.lang.String	toString()
java.lang.String	toStringWithVehicles()
java.lang.String	toStringWithVehicles(boolean extended)
boolean	validatePlan() This method verifies that all the maneuvers in this plan have some incoming transition, returning true in that case.

Methods inherited from class java.lang.Object

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

Field Detail

INIT_HOMEREF

public static final int INIT_HOMEREF

See Also:

Constant Field Values

INIT_START_WPT

public static final int INIT_START_WPT

See Also:

Constant Field Values

INIT_NONE

public static final int INIT_NONE

See Also:

Constant Field Values

DEFAULT_ROOT_ELEMENT

protected static final java.lang.String DEFAULT_ROOT_ELEMENT

See Also:

Constant Field Values

id

protected java.lang.String id

vehicles

protected java.util.Vector<VehicleType> vehicles

missionType

protected MissionType missionType

graph

protected GraphType graph

startActions

protected PlanActions startActions

endActions

protected PlanActions endActions

Constructor Detail

PlanType

public PlanType(MissionType mt)

PlanType

public PlanType(java.lang.String xml,
        MissionType mt)

Method Detail

validatePlan

public boolean validatePlan()
                     throws java.lang.Exception

This method verifies that all the maneuvers in this plan have some incoming transition, returning true in that case. Otherwise it will return an exception

Returns:

true if all maneuvers have at least one incoming transition

Throws:

java.lang.Exception - If some maneuver has no incoming transitions (unreacheable)

load

public boolean load(java.lang.String xml)

See Also:

pt.lsts.neptus.types.mission.plan.AbstractPlanType#load(java.lang.String)

getId

public java.lang.String getId()

Returns:

Returns the id.

setId

public void setId(java.lang.String id)

Parameters:

id - The id to set.

getVehicle

public java.lang.String getVehicle()

Returns:

Returns the vehicle.

addVehicle

public void addVehicle(java.lang.String vehicle)

Adds the given vehicle to the set of vehicles in this plan

Parameters:

vehicle - The vehicle to be added to this plan

setVehicle

public void setVehicle(java.lang.String vehicle)

Parameters:

vehicle - The vehicle to set.

setVehicle

public void setVehicle(VehicleType vehicle)

Parameters:

vehicle -

getGraph

public GraphType getGraph()

Returns:

Returns the graph.

asXML

public java.lang.String asXML()

Description copied from interface: XmlOutputMethods

Este problema foi resolvido com a versão 1.6.1 do DOM4J.

Atenção ao usar este método com o método FileUtil.saveToFile(String, String) e afins. Isto porque ao gravar como UTF-8 os caracteres são adulterados guardando por exemplo "é" em 2 caracteres (ou seja pega nos dois caracteres UTF-8 e transforma-os em 2 UTF-8s).

Specified by:

asXML in interface XmlOutputMethods

Returns:

asXML

public java.lang.String asXML(java.lang.String rootElementName)

Description copied from interface: XmlOutputMethods

Este problema foi resolvido com a versão 1.6.1 do DOM4J.

Atenção ao usar este método com o método FileUtil.saveToFile(String, String) e afins. Isto porque ao gravar como UTF-8 os caracteres são adulterados guardando por exemplo "é" em 2 caracteres (ou seja pega nos dois caracteres UTF-8 e transforma-os em 2 UTF-8s).

Specified by:

asXML in interface XmlOutputMethods

Returns:

asElement

public org.dom4j.Element asElement()

Specified by:

asElement in interface XmlOutputMethods

Returns:

asElement

public org.dom4j.Element asElement(java.lang.String rootElementName)

Specified by:

asElement in interface XmlOutputMethods

Returns:

asDocument

public org.dom4j.Document asDocument()

Specified by:

asDocument in interface XmlOutputMethods

Returns:

asDocument

public org.dom4j.Document asDocument(java.lang.String rootElementName)

Specified by:

asDocument in interface XmlOutputMethods

Returns:

hasMultipleVehiclesAssociated

public boolean hasMultipleVehiclesAssociated()

getVehicles

public java.util.Vector<VehicleType> getVehicles()

setVehicles

public void setVehicles(java.util.Vector<VehicleType> vehicles)

getVehicleType

public VehicleType getVehicleType()

Returns:

isEmpty

public boolean isEmpty()

Returns:

hasInitialManeuver

public boolean hasInitialManeuver()

Returns:

getMissionType

public MissionType getMissionType()

Returns:

setMissionType

public void setMissionType(MissionType missionType)

Parameters:

missionType -

getMapGroup

public MapGroup getMapGroup()

Returns:

setMapGroup

public void setMapGroup(MapGroup mapGroup)

Parameters:

mapGroup -

getPlanMap

public MapType getPlanMap()

Returns:

setPlanMap

public void setPlanMap(MapType planMap)

Parameters:

planMap -

copy

public PlanType copy(java.lang.String newID)

Parameters:

newID -

Returns:

isSaveGotoSequenceAsTrajectory

public boolean isSaveGotoSequenceAsTrajectory()

Returns:

setSaveGotoSequenceAsTrajectory

public void setSaveGotoSequenceAsTrajectory(boolean saveGotoSequenceAsTrajectory)

Parameters:

saveGotoSequenceAsTrajectory -

isSupportedBy

public boolean isSupportedBy(VehicleType vehicle)

Parameters:

vehicle -

Returns:

clonePlan

public PlanType clonePlan()

Returns:

clone

protected java.lang.Object clone()
                          throws java.lang.CloneNotSupportedException

Overrides:

clone in class java.lang.Object

Throws:

java.lang.CloneNotSupportedException

toStringWithVehicles

public java.lang.String toStringWithVehicles()

toStringWithVehicles

public java.lang.String toStringWithVehicles(boolean extended)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

setStartMode

public void setStartMode(int startMode)

Parameters:

startMode -

getStartMode

public int getStartMode()

Returns:

getExitingTransitions

public java.util.Vector<TransitionType> getExitingTransitions(java.lang.String maneuverId)

Parameters:

maneuverId -

Returns:

setPayloads

public void setPayloads()

asIMCPlan

public pt.lsts.imc.IMCMessage asIMCPlan()

asIMCPlan

public pt.lsts.imc.IMCMessage asIMCPlan(boolean fillInPayloads)

Returns:

planStatistics

public java.lang.String planStatistics()

getAsImage

public void getAsImage(java.awt.image.BufferedImage img)

getProperties

public com.l2fprod.common.propertysheet.DefaultProperty[] getProperties()

Specified by:

getProperties in interface PropertiesProvider

setProperties

public void setProperties(com.l2fprod.common.propertysheet.Property[] properties)

Specified by:

setProperties in interface PropertiesProvider

getPropertiesDialogTitle

public java.lang.String getPropertiesDialogTitle()

Specified by:

getPropertiesDialogTitle in interface PropertiesProvider

getPropertiesErrors

public java.lang.String[] getPropertiesErrors(com.l2fprod.common.propertysheet.Property[] properties)

Specified by:

getPropertiesErrors in interface PropertiesProvider

getStartActions

public PlanActions getStartActions()

Returns:

the startActions

getEndActions

public PlanActions getEndActions()

Returns:

the endActions

main

public static void main(java.lang.String[] args)
                 throws java.lang.Exception

Throws:

java.lang.Exception

planPath

public java.util.Vector<LocationType> planPath()

isCompatibleWith

public boolean isCompatibleWith(VehicleType vehicle)

getIdentification

public java.lang.String getIdentification()

Specified by:

getIdentification in interface NameId

getDisplayName

public java.lang.String getDisplayName()

Specified by:

getDisplayName in interface NameId