examples/radarWarnRx/simpleRdrWrnResp.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: simpleRdrWrnResp.h,v $ $Revision: 1.7 $ $State: Exp $
*******************************************************************************/

#ifndef DtSimpleRadarWarningResponse_H_
#define DtSimpleRadarWarningResponse_H_

#include "vrfmodel/fixWngPltCtl.h"

//class DtSimpleRadarWarningResponse:
//
//Instances of DtSimpleRadarWarningResponse are an example of a controller
//that implements a reactive behavior when a it receives sensor input that
//a radar has been detected.  It receives a list of emitter systems (hostile
//radar systems).  It takes the first emitter in the list and flys away to
//a location in the opposite direction.

class DtVrfObject;
class DtEntityListInputPort;   

class DtSimpleRadarWarningResponse : public DtFixedWingPilotController
{
public:
   
   //constructor
   DtSimpleRadarWarningResponse(const DtString& name, DtVrfObject* owner,
      DtSimManager* simManager, DtComponentDescriptor* desc = NULL,
      DtReaderWriterRegistry* const parentRegistry = 0);


   //destructor
   virtual ~DtSimpleRadarWarningResponse();

   //This returns a string that uniquely identifies this type of component.
   //(must be unique with respect to the component types defined in compTypes.h
   //as well as any additional user-defined components).  Returns the string
   //"simple-radar-warning-response".
   virtual DtString type() const;

   //Calculate new control values.
   virtual void tick();

   //Returns a newly created instance of this class.  We need to provide
   //this function so that we can register this class with the component
   //factory.
   static DtSimComponent* creator(const DtString& name, DtVrfObject* owner,
      DtSimManager* simManager, DtComponentDescriptor* desc,
      DtReaderWriterRegistry* parentRegistry);

protected:

   //Called by DtSimComponent::init to create myEntityListPort used to manage
   //multiple sensors that might provide targets to this controller.
   virtual bool createPorts();

   //Looks up safe control point by name.  If the object exists and it has
   //a valid state repository, returns the object.  Otherwise returns NULL.
   virtual DtVrfObject* getControlPoint(const DtString& name);

   //Returns true if we are in the vicinity of the given position.  To be
   //in the vicinity of the position means that we are within 5 seconds of
   //the given location, given our ordered speed.
   virtual bool inVicinity(const DtVector& localPosition);

protected:

   //default constructor
   DtSimpleRadarWarningResponse();

   //copy constructor, not implemented
   DtSimpleRadarWarningResponse(const DtSimpleRadarWarningResponse& orig);

   //assignment operator, not implemented
   DtSimpleRadarWarningResponse& operator=(const DtSimpleRadarWarningResponse& orig);

protected:

   //Port though which the list of hostile emitter systems will be received.
   DtEntityListInputPort* myEmitterListPort; 
   
   //true while in state of reacting to the detection of an emitter.
   bool myReactingToWarning;

   //Name of the safe location (a control point) we can retreat to.
   DtString mySafeControlPointName;

   DtVector myLocalGoal;
};

#endif