RtjAocsFramework.ManoeuvreManagement
Class Manoeuvre

java.lang.Object
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  +--RtjAocsFramework.BasicObjects.RootObject
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        +--RtjAocsFramework.BasicObjects.AocsObject
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              +--RtjAocsFramework.ManoeuvreManagement.Manoeuvre

All Implemented Interfaces:

Configurable, Monitorable, Resettable, Telemeterable

Direct Known Subclasses:

AttitudeSlew, DummyManoeuvre, JbedSmmRamp, JbedSmmTriangularWave

public abstract class Manoeuvre

extends AocsObject

implements Monitorable

Manoeuvre is an abstract class providing default - and mostly trivial - implementations of its methods. Concrete manoeuvres are instances of subclasses of Manoeuvre. Manoeuvres are loaded in a manoeuvre manager that is responsible for correctly executing them. The manoeuvre manager uses the methods exposed by class Manoeuvre to control manoeuvre execution.

Manoeuvres are implemented as state machine. They can be in one of the following states: ready, inProcess, finished, aborted, onHold, beenReset. The current state is exposed as a monitorable property.

Manoeuvres act as event sources. They fire a manoeuvre event whenever their internal state changes and they fire a change event whenever their monitored property undergoes a change as specified by its registered monitors.

Copyright: see the Copyright Notice.

Version:

1.0

Author:

Tim Brown (St. Louis, MO, U.S.A.), Vaclav Cechticky (IfA ETHZ)

See Also:

The Manoeuvre Management Framelet Document.

Field Summary

static byte	aborted Manoeuvre state
static byte	beenReset Manoeuvre state
protected byte	currentState
protected int	execTime
static byte	finished Manoeuvre state
static byte	inProcess Manoeuvre state
static byte	onHold Manoeuvre state
static byte	ready Manoeuvre state

Fields inherited from interface RtjAocsFramework.TelemetryManagement.Telemeterable

DEBUG_TM, LONG_TM, NORMAL_TM, NTMFORMATS, SHORT_TM

Constructor Summary

Manoeuvre()
Manoeuvre

Method Summary

void	abort() The abort method is called to allow a manoeuvre to perform any clean-up actions before it is descheduled.
void	addChangeListener(ChangeListener l) Initialization method to register listeners to change events.
void	addManoeuvreListener(ManoeuvreListener l) Initialization method to register listeners to manoeuvre events.
void	addMonitor(PropertyMonitor m, ChangeObject c) Adds a new PropertyMonitor object into the list of registered property monitors together with a new ChangeObject specifying the change profile in which the registered minitor is interested.
boolean	canContinue() Manoeuvre execution should only proceed if external conditions are safe.
boolean	canHold() The manoeuvre manager may wish to temporarily interrupt execution of a manoeuvre.
boolean	canResume() The manoeuvre manager can request from the manoeuvre and indication of whether or not its execution can be resumed by calling the method canResume.
boolean	canStart() Return true if the manoeuvre is ready to start execution.
void	doContinue() Manoeuvres execute over a prolonged period of time.
protected void	fireChangeEvent(short eventTypeId, ChangeObject changeObject, double lastValue) Fire a change event to all registered listeners.
protected void	fireManoeuvreEvent(short eventTypeId) Fire a manoeuvre event to all registered listeners.
AocsObject	getAocsObject() Manouvres expose their current state as a monitorable property.
double	getMonitorablePropertyValue(int i) Manouvres expose their current state as a monitorable property.
int	getNumberOfMonitorableProperties() Manouvres expose a single monitorable property.
byte	getState() Returns the current state of the manoeuvre.
int	getTelemetryImageLength() Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.
int	getTimeTag() Manoeuvres may carry a time tag defining the time after which they can be considered for execution.
short	getType() Returns the manoeuvre type.
void	hold() If the manoeuvre manager decides to interrupt execution of the manoeuvre, it should call the method hold on the manoeuvre to allow it to take any action required in connection with a suspension of the manoeuvre.
void	initialize() Manoeuvres may have to perform some special initialization action when their execution begins.
boolean	isConfigured() Checks the configuration.
boolean	isFinished() The method isFinished returns true when the manoeuvre has terminated.
boolean	isHolding() The manoeuvre manager can determine whether or not the manoeuvre is currently suspended by calling the method isHolding.
boolean	isInUse() Returns the value of the inUse flag.
protected void	notifyMonitors(byte newManoeuvreState) When a manoeuvre's state changes, the manoeuvre is responsible for notifying any registered property monitors of its state change.
void	removeChangeListener(ChangeListener l) Initialization method to unregister change event listeners.
void	removeManoeuvreListener(ManoeuvreListener l) Initialization method to unregister manoeuvre event listeners.
void	removeMonitor(PropertyMonitor m) Removes a PropertyMonitor object from the list of registered monitors.
void	reset() Resetting a manoeuvre is similar, but not quite identical, to aborting the manoeuvre.
void	resetConfiguration() Resets configuration of the super object and performs the local reset of the configuration.
void	resume() When the manoeuvre execution is resumed, method resume should be called.
void	setInUse(boolean inUse) Flag inUse is true when the manoeuvre is loaded.
void	setMaxNumberOfChangeListeners(int n) Initialization method to set the maximum number of listeners to change events.
void	setMaxNumberOfManoeuvreListeners(int n) Initialization method to set the maximum number of listeners to manoeuvre events.
void	setPropertyMonitorListSize(int n) Initialization method to set the maximum number of monitors for the manoeuvre state property.
void	setTimeTag(int t) Sets a new time tag.
void	terminate() When the manoeuvre manager detects that the manoeuvre has terminated execution, it calls terminate to give the manoeuvre the chance to perform any final closedown actions and then de-schedules it.
boolean	wasAborted() Method wasAborted returns true if the manoeuvre has been aborted.
void	writeToTelemetry(TelemetryStream stream) Causes the object to write its own state to the telemetry stream.

Methods inherited from class RtjAocsFramework.BasicObjects.AocsObject

addConfigurationListener, addFailureListener, finalize, getAocsClock, getConfigurationListenerList, getCycle, getDestructionRecoveryAction, getFailureListenerList, getSystemManager, getTelemetryFormat, getTime, removeConfigurationListener, removeFailureListener, reportConfigurationEvent, reportFailure, resetStaticConfiguration, setAocsClock, setDestructionRecoveryAction, setMaxNumberOfConfigurationListeners, setMaxNumberOfFailureListeners, setSystemManager, setTelemetryFormat

Methods inherited from class RtjAocsFramework.BasicObjects.RootObject

getClassId, getInstanceId, setClassId

Methods inherited from class java.lang.Object

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

Field Detail

ready

public static final byte ready

Manoeuvre state

See Also:

Constant Field Values

inProcess

public static final byte inProcess

Manoeuvre state

See Also:

Constant Field Values

finished

public static final byte finished

Manoeuvre state

See Also:

Constant Field Values

aborted

public static final byte aborted

Manoeuvre state

See Also:

Constant Field Values

onHold

public static final byte onHold

Manoeuvre state

See Also:

Constant Field Values

beenReset

public static final byte beenReset

Manoeuvre state

See Also:

Constant Field Values

execTime

protected int execTime

currentState

protected byte currentState

Constructor Detail

Manoeuvre

public Manoeuvre()

Manoeuvre

Method Detail

addManoeuvreListener

public void addManoeuvreListener(ManoeuvreListener l)

Initialization method to register listeners to manoeuvre events.

removeManoeuvreListener

public void removeManoeuvreListener(ManoeuvreListener l)

Initialization method to unregister manoeuvre event listeners.

setMaxNumberOfManoeuvreListeners

public void setMaxNumberOfManoeuvreListeners(int n)

Initialization method to set the maximum number of listeners to manoeuvre events. Attempts to call it more than once will result in a configuration error being generated.

addChangeListener

public void addChangeListener(ChangeListener l)

Initialization method to register listeners to change events.

removeChangeListener

public void removeChangeListener(ChangeListener l)

Initialization method to unregister change event listeners.

setMaxNumberOfChangeListeners

public void setMaxNumberOfChangeListeners(int n)

Initialization method to set the maximum number of listeners to change events. Attempts to call it more than once will result in a configuration error being generated.

fireManoeuvreEvent

protected void fireManoeuvreEvent(short eventTypeId)

Fire a manoeuvre event to all registered listeners. The event records a change in the internal state of the manoeuvre.

fireChangeEvent

protected void fireChangeEvent(short eventTypeId,
                               ChangeObject changeObject,
                               double lastValue)

Fire a change event to all registered listeners. The event records a change in the single monitored property exposed by the manoeuvre object.

Parameters:

eventTypeId - the event type identifier

changeObject - the change object through which the propoerty value was passed and that triggered the property change

lastValue - the most recent value of the property that underwent the change

notifyMonitors

protected void notifyMonitors(byte newManoeuvreState)

When a manoeuvre's state changes, the manoeuvre is responsible for notifying any registered property monitors of its state change. This notification is carried out by firing a change event and by invoking the monitor's propertyChange method.

Parameters:

newManoeuvreState - is a new changed manoeuvre state.

canStart

public boolean canStart()

Return true if the manoeuvre is ready to start execution. Reaching the time tag is not necessarily enough to trigger execution of a manoeuvre. Sometimes, other conditions have to be satisfied to ensure that the manoeuvre can execute safely.

Returns:

the true value if the Aocs context in such as to make execution of the manoeuvre safe. The manoeuvre manager will only start manoeuvre execution if the method canStart() returns true.

initialize

public void initialize()

Manoeuvres may have to perform some special initialization action when their execution begins. This method encapsulates this type of action. It is called by the manoeuvre manager the first time the manoeuvre is executed.

canContinue

public boolean canContinue()

Manoeuvre execution should only proceed if external conditions are safe. For instance, a manoeuvre that performs a slew should periodically check that the spacecraft is indeed following the slew profile. If the deviation from the slew profile exceeds some pre-specified threshold, then an error is likely to have occurred and the manoeuvre should be aborted. The manoeuvre manager can call this method to ask the manoeuvre to verify if the conditions for its continued execution hold. If they do, then method doContinue can be called and the manoeuvre execution is advanced. If they do not, the manoeuvre is aborted. After a manoeuvre is aborted it is cancelled from the list of pending manoeuvres and will no longer be executed.

Returns:

the true value if the conditions for its continued execution hold

doContinue

public void doContinue()

Manoeuvres execute over a prolonged period of time. This method is called by the manoeuvre manager to advance the execution of the manoeuvre. When a manoeuvre object receives this command, it retrieves the current aocs time and performs any actions that are due for execution at that time. This is an empty method and must be defined in concrete subclasses of Manoeuvre.

abort

public void abort()

The abort method is called to allow a manoeuvre to perform any clean-up actions before it is descheduled. The manoeuvre manager calls abort when a manoeuvre must be aborted. This may happen either because the manoeuvre itself declares that it is unable to continue execution (i.e. canContinue returns false) or because the manoeuvre manager autonomously decides to abort the manoeuvre.

wasAborted

public boolean wasAborted()

Method wasAborted returns true if the manoeuvre has been aborted.

terminate

public void terminate()

When the manoeuvre manager detects that the manoeuvre has terminated execution, it calls terminate to give the manoeuvre the chance to perform any final closedown actions and then de-schedules it. The base Manoeuvre class does not implement any termination action other than firing a manoeuvre event to inform event listeners of the manoeuvre termination.

isFinished

public boolean isFinished()

The method isFinished returns true when the manoeuvre has terminated.

canHold

public boolean canHold()

The manoeuvre manager may wish to temporarily interrupt execution of a manoeuvre. The manoeuvre manager can call the method canHold on the manoeuvre to determine whether or not execution of the manoeuvre can be temporarily interrupted.

hold

public void hold()

If the manoeuvre manager decides to interrupt execution of the manoeuvre, it should call the method hold on the manoeuvre to allow it to take any action required in connection with a suspension of the manoeuvre.

isHolding

public boolean isHolding()

The manoeuvre manager can determine whether or not the manoeuvre is currently suspended by calling the method isHolding.

canResume

public boolean canResume()

The manoeuvre manager can request from the manoeuvre and indication of whether or not its execution can be resumed by calling the method canResume.

resume

public void resume()

When the manoeuvre execution is resumed, method resume should be called.

getTelemetryImageLength

public int getTelemetryImageLength()

Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.

Specified by:

getTelemetryImageLength in interface Telemeterable

Overrides:

getTelemetryImageLength in class AocsObject

Returns:

the length in bits of the telemetry image

writeToTelemetry

public void writeToTelemetry(TelemetryStream stream)

Causes the object to write its own state to the telemetry stream.

Specified by:

writeToTelemetry in interface Telemeterable

Overrides:

writeToTelemetry in class AocsObject

Parameters:

stream - the telemetry stream

reset

public void reset()

Resetting a manoeuvre is similar, but not quite identical, to aborting the manoeuvre. Resetting a manoeuvre, which is done by calling the this method of the manoeuvre, can be thought of as a more gentle form of aborting the manoeuvre. Resetting a manoeuvre causes the manoeuvre's canContinue() method to return false. When the canContinue method returns false, the manoeuvre manager responds by aborting the manoeuvre.

Specified by:

reset in interface Resettable

Overrides:

reset in class AocsObject

resetConfiguration

public void resetConfiguration()

Resets configuration of the super object and performs the local reset of the configuration.

Specified by:

resetConfiguration in interface Configurable

Overrides:

resetConfiguration in class AocsObject

isConfigured

public boolean isConfigured()

Checks the configuration.

Specified by:

isConfigured in interface Configurable

Overrides:

isConfigured in class AocsObject

Returns:

the true value if the object is configured, otherwise returns false

setInUse

public void setInUse(boolean inUse)

Flag inUse is true when the manoeuvre is loaded. The flag is set to true by the manoeuvre manager when it loads the manoeuvre and reset to false when it unloads it.

isInUse

public boolean isInUse()

Returns the value of the inUse flag.

setPropertyMonitorListSize

public void setPropertyMonitorListSize(int n)

Initialization method to set the maximum number of monitors for the manoeuvre state property. This method should only be called once. Attempts to call it more than once will result in a configuration error event being generated.

Parameters:

n - is a size of the property monitor list

addMonitor

public void addMonitor(PropertyMonitor m,
                       ChangeObject c)

Adds a new PropertyMonitor object into the list of registered property monitors together with a new ChangeObject specifying the change profile in which the registered minitor is interested. object into the change object list.

Parameters:

m - the property monitor

c - the change object specifying the change profile in which the property monitor is interested

removeMonitor

public void removeMonitor(PropertyMonitor m)

Removes a PropertyMonitor object from the list of registered monitors.

Parameters:

m - the property monitor

getTimeTag

public int getTimeTag()

Manoeuvres may carry a time tag defining the time after which they can be considered for execution. This method is provided to retrieve a manoeuvre's time tag.

setTimeTag

public void setTimeTag(int t)

Sets a new time tag.

Parameters:

t - the new time tag

getState

public byte getState()

Returns the current state of the manoeuvre.

getMonitorablePropertyValue

public double getMonitorablePropertyValue(int i)

Manouvres expose their current state as a monitorable property. Manoeuvres expose a single property. This method always return the current state regardless of the value of argument i. Attempts to access the property values with i greater than 0 will result in the generation of a failure event.

Specified by:

getMonitorablePropertyValue in interface Monitorable

See Also:

Monitorable

getNumberOfMonitorableProperties

public int getNumberOfMonitorableProperties()

Manouvres expose a single monitorable property.

Specified by:

getNumberOfMonitorableProperties in interface Monitorable

getAocsObject

public AocsObject getAocsObject()

Manouvres expose their current state as a monitorable property.

Specified by:

getAocsObject in interface Monitorable

getType

public short getType()

Returns the manoeuvre type. In the current implementation, the type of a manoeuvre is the same as its class identifier.