examples/subtask/turnAndMoveController.h

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/*******************************************************************************
** Copyright (c) 2005 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: turnAndMoveController.h,v $ $Revision: 1.3 $ $State: Exp $
*******************************************************************************/

#ifndef turnAndMoveController_H_
#define turnAndMoveController_H_

#include "vrfobjcore/singleTaskControllerComponent.h"

class DtTurnAndMoveControllerPSR;

const char DtTurnAndMoveControllerType[] = "turn-and-move-controller";

//This example controller responds to a user task with the name "turn-and-move"
//and argument 1 specifying the name of a destination object (i.e. a waypoint).
//The task is carried out by first issuing a Turn To Heading subtask, and
//when that completes, issuing a Move To task.
//The controller registers for DtTaskCompletedReport messages from itself
//in order to find out when a subtask has completed.
class DtTurnAndMoveController : public DtSingleTaskControllerComponent
{
private:
   //Not Implemented.
   DtTurnAndMoveController();
   //Not Implemented.
   DtTurnAndMoveController(const DtTurnAndMoveController& orig);
   //Not Implemented.
   DtTurnAndMoveController& operator=(const DtTurnAndMoveController& orig);

public:

   //\copydoc DtSimComponent(const DtString&,DtVrfObject*,DtSimManager*,
   //DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)
   DtTurnAndMoveController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = NULL,
      DtReaderWriterRegistry* parentRegistry = NULL);

   virtual ~DtTurnAndMoveController();

   //Initial setup of component after creation.
   virtual bool init();

   //Creates the process state repository for this component.
   virtual bool createPSR();

   //\copydoc DtSimComponent::type()
   //\return DtTurnAndMoveControllerType.
   virtual DtString type() const;

   //Overridden to register interest in user-task and task-completed
   //radio messages.
   virtual void registerTaskMsgCallbacks();

   //Callback for DtUserTask.  Calls the virtual processUserTask().
   static void userTaskCallback(DtSimMessage * msg, void * usr);

   //Starts this task.
   //Looks for DtUserTasks with name of "turn-and-move" with
   //the first argument being the name of the destination object.
   virtual void processUserTask(DtSimMessage * msg);

   //Callback for DtTaskCompletedReport.  
   //Calls the virtual processTaskCompleteReport().
   static void taskCompleteReportCallback(DtSimMessage* msg, void* usr);

   //Listens for task completed reports from the subtasks that
   //are started by this task, and issues the next subtask,
   //or completes the task as necessary when the reports arrive.
   virtual void processTaskCompleteReport(DtSimMessage* msg);

   //Main processing for component.
   virtual void tick();

protected:

   //Calculates the heading to the destination and starts a 
   //turn to heading subtask.
   virtual bool startTurningPhase();

   //Starts a move to subtask.
   virtual bool startMovingPhase();

   //Overridden for any resource cleanup when task is cleared.
   //For this example, only calls down to the base class.
   virtual void clearTask();

public:

   //\copydoc DtSimComponent(const DtString&,DtVrfObject*,DtSimManager*,
   //DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)
   //\return New instance of this class.
   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

protected:
   enum DtControllerStates
   {
      StateTurning,
      StateMoving
   };

   //All state values for this controller are stored in a process state
   //repository, so that if the scenario is saved during the execution
   //of the task, it will resume correctly when the scenario is reloaded.
   //See the addPSR example for more information specifically about 
   //using process state repositories.
   DtTurnAndMoveControllerPSR* myProcessState;
};

#endif