Speed and Heading Request

The DtSetSpeedAndHeadingRequest is a new class that encapsulates the setting of both the speed and the heading for a particular entity. This message is handled by the subclasses of the appropriate back-end set controllers.

---

Header file:

/*******************************************************************************
** 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

---

Implementation:

/*******************************************************************************
** Copyright (c) 2006 MaK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: setSpeedAndHeading.cxx,v $ $Revision: 1.1 $ $State: Exp $
*******************************************************************************/

//
//File:        setHeadingAndSpeed.cxx
//
//Class:       setHeadingAndSpeedRequest
//

#include <math.h>
#include "../addSetSim/setSpeedAndHeading.h"

namespace vrfAddSetExample
{

   //default constructor
   DtSetSpeedAndHeadingRequest::DtSetSpeedAndHeadingRequest() :
   DtSetDataRequest(),
   mySpeed("speed", & myRegistry),
   myHeading("heading", & myRegistry)
   {
   mySpeed = 0.;
   myHeading = 0.;
   }

   //constructor
   //if you have a task 'put' itself, the writeName will preface the task.
   DtSetSpeedAndHeadingRequest::DtSetSpeedAndHeadingRequest(const DtString & writeName, 
   DtReaderWriterRegistry * parentRegistry) :
   DtSetDataRequest(writeName, parentRegistry),
   mySpeed("speed", & myRegistry),
   myHeading("heading", & myRegistry)
   {
   mySpeed = 0.;
   myHeading = 0.;
   }

   //copy constructor
   DtSetSpeedAndHeadingRequest::DtSetSpeedAndHeadingRequest(const DtString & writeName, const 
   DtSetSpeedAndHeadingRequest & orig, DtReaderWriterRegistry * parentRegistry) :
   DtSetDataRequest(writeName, orig, parentRegistry),
   mySpeed(orig.mySpeed.name(), & myRegistry),
   myHeading(orig.myHeading.name(), & myRegistry)
   {
   mySpeed = orig.mySpeed;
   myHeading = orig.myHeading;
   }

   //assignment operator
   const DtSetSpeedAndHeadingRequest & DtSetSpeedAndHeadingRequest::operator=(const 
   DtSetSpeedAndHeadingRequest & orig)
   {
   if (this == & orig)
   {
      return *this;
   }

   mySpeed = orig.mySpeed;
   myHeading = orig.myHeading;

   return *this;
   }

   DtSetSpeedAndHeadingRequest::~DtSetSpeedAndHeadingRequest()
   {
   }

   int DtSetSpeedAndHeadingRequest::type() const
   {
   return DtSetSpeedAndHeadingRequestType;
   }

   DtSetDataRequest * DtSetSpeedAndHeadingRequest::clone(const DtString & name, 
   DtReaderWriterRegistry * parentRegistry) const
   {
   return new DtSetSpeedAndHeadingRequest(name, *this, parentRegistry);
   }

   //Get a readable string representation of this setDataRequest.
   DtString DtSetSpeedAndHeadingRequest::stringRep() const
   {
   DtString str = trUtf8("Set Speed=", "DtSetSpeedRequest");
   char valueBuff[128];
   sprintf(valueBuff, "%g Heading (deg)=%g", mySpeed.value(), DtRad2Deg(myHeading.value()));

   str += valueBuff;

   return str;
   }

   DtReal DtSetSpeedAndHeadingRequest::speed() const
   {
   return mySpeed;
   }

   void DtSetSpeedAndHeadingRequest::setSpeed(DtReal speed)
   {
   mySpeed = speed;
   }

   DtReal DtSetSpeedAndHeadingRequest::heading() const
   {
   return myHeading;
   }

   void DtSetSpeedAndHeadingRequest::setHeading(DtReal heading)
   {
   myHeading = heading;
   }

   DtSetDataRequest * DtSetSpeedAndHeadingRequest::creator()
   {
   return new DtSetSpeedAndHeadingRequest();
   }

   //returns the size of the full network representation (control object name
   //included) padded to an 8-byte boundary.
   int DtSetSpeedAndHeadingRequest::netRepSize() const
   {
   int size;

   size = sizeof(DtNetSetSpeedAndHeadingRequest);

   return size;
   }

   //Fills in the task from the network buffer
   bool DtSetSpeedAndHeadingRequest::setFromNet(const char* contentBuffer, 
   unsigned contentSize)
   {
   DtNetSetSpeedAndHeadingRequest* taskBuffer;
   taskBuffer = (DtNetSetSpeedAndHeadingRequest*)contentBuffer;

   mySpeed = taskBuffer->mySpeed;
   myHeading = taskBuffer->myHeading;

   return true;
   }

   //Fills in the network buffer (created by base class simTask) with the
   //task contents.
   bool DtSetSpeedAndHeadingRequest::setToNet()
   {
   if (!netRep())
   {
      return false;
   }

   DtNetSetSpeedAndHeadingRequest* taskBuffer = (DtNetSetSpeedAndHeadingRequest*)myNetRep;
   taskBuffer->mySpeed = mySpeed;
   taskBuffer->myHeading = myHeading;

   return true;
   }
}