examples/addSet/addSetSim/setSpeedAndHeading.h

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/*******************************************************************************
** Copyright (c) 2006 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: setSpeedAndHeading.h,v $ $Revision: 1.3 $ $State: Exp $
*******************************************************************************/

#ifndef SETSPEEDANDHEADING_H_
#define SETSPEEDANDHEADING_H_

#include "vrftasks/setDataReq.h"
#include <vlpi/NetStructs.h>
#include "vrfutil/rwReal.h"
#include "vrftasks/radioMsgTypes.h"

namespace vrfAddSetExample
{
   //class DtSetSpeedAndHeadingRequest:
   //
   //Instances of DtSetSpeedAndHeading are an example of a new kind of set that tells
   //an entity to set their current speed and heading.

   //This number is used to identify the type of DtSetDataRequest, and is returned
   //by DtSetSpeedAndHeading::type(). To be sure that it doesn't conflict with any 
   //existing types use a number greater than MIN_USER_RADIO_MESSAGE_TYPE as 
   //defined in radioMsgTypes.h. 
   const int DtSetSpeedAndHeadingRequestType = MIN_USER_RADIO_MESSAGE_TYPE + 52;

   //DtSetSpeedAndHeadingString must be a unique string representing the set 
   //(existing string types are defined in msgTypes.h).
   const char DtSetSpeedAndHeadingString[] = "set-speed-and-heading";

   //DtSetSpeedAndHeadingMenuItemIdName must be a unique string identifying the 
   //DtSetSpeedAndHeadingMenuItem object, which inherits from DtVrfTaskSetMenuItem
   const char DtSetSpeedAndHeadingMenuItemIdName[] = "DtSetSpeedAndHeadingMenuItem";

   //This struct is the network representation of a set speed and heading set.
   struct DtNetSetSpeedAndHeadingRequest
   {
   DtNetFloat64 mySpeed;
   DtNetFloat64 myHeading;
   };

   class DtSetSpeedAndHeadingRequest : public DtSetDataRequest
   {

   public:

      //default constructor
   DtSetSpeedAndHeadingRequest();

      //constructor; 
      //If you have a request 'put' itself, the writeName will preface it.
   DtSetSpeedAndHeadingRequest(const DtString & writeName, 
      DtReaderWriterRegistry * parentRegistry = 0);

      //copy constructor
   DtSetSpeedAndHeadingRequest(const DtString & writeName, const DtSetSpeedAndHeadingRequest &
      orig, DtReaderWriterRegistry * parentRegistry = 0);

      //assignment operator
   const DtSetSpeedAndHeadingRequest & operator=(const DtSetSpeedAndHeadingRequest & orig);

   virtual ~DtSetSpeedAndHeadingRequest();

      //Returns DtSetSpeedAndHeadingRequestType.
   virtual int type() const;

      //Creates a copy of the request.
   virtual DtSetDataRequest * clone(const DtString & name, 
      DtReaderWriterRegistry * parentRegistry = 0) const;

      //Get a readable string representation of this setDataRequest.
   virtual DtString stringRep() const;

      //In meters/second.
   virtual DtReal speed() const;
   virtual void setSpeed(DtReal speed);

      //In radians
   virtual DtReal heading() const;
   virtual void setHeading(DtReal heading);

      //Returns the size of the full network representation 
      //padded to an 8-byte boundary.
   virtual int netRepSize() const;

      //Fills in the task from the network buffer.
   virtual bool setFromNet(const char* contentBuffer, 
      unsigned contentSize);

      //Fills in the network buffer (created by base class setDataRequest) with 
      //the set data request contents.
   virtual bool setToNet();

   static DtSetDataRequest * creator();

   protected:

   DtRwReal mySpeed;
   DtRwReal myHeading;
   };
}
#endif