fixedWingMoveToController.h

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/*******************************************************************************
** Copyright (c) 2010 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include "vrfmodel/fixedWingPilotController.h"

class DtString;
class DtSimManager;
class DtConstrainedAnalogPort;
class boolPort;
class DtSimMessage;



#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFixedWingMoveToController : public DtFixedWingPilotController
{

public:

   DtFixedWingMoveToController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtFixedWingMoveToController();

   virtual void tick();

   virtual DtString type() const;

   bool setMovementStatusFromControlPoint();

   virtual void doFinishing();

   virtual void doFinishingForFlying();

   virtual void doFinishingForTaxiing();

   virtual void doMoving();

   virtual void doFlying();

   virtual void doTaxiing();

   virtual void doTakeOff();

   virtual void updateTakeOffDirection();

   virtual double findDesiredSpeed();

   virtual bool nearGoal();

   virtual bool atGoal();

   virtual bool passedGoal();

   virtual void taskComplete(bool success = true);

   static void moveToCallback(DtSimMessage * msg, void * usr);
   static void moveToAltitudeCallback(DtSimMessage * msg, void * usr);
   static void setAltitudeCallback(DtSimMessage * msg, void * usrData);
   static void setLocationCallback(DtSimMessage * msg, void * usrData);
   static void setRestoreCallback(DtSimMessage * msg, void * usrData);
   static void waypointChangedCallback(DtVrfObject * msg, void * usr);
   static void modifyVrfObjectCallback(DtSimMessage * msg, void * usr);
   static void deleteVrfObjectCallback(DtVrfObject * msg, void * usr);

   virtual void processMoveToTask(DtSimMessage * msg);
   virtual void processMoveToAltitudeTask(DtSimMessage * msg);
   virtual void processSetAltitude(DtSimMessage * msg);
   virtual void processSetLocation(DtSimMessage * msg);
   virtual void processSetRestore(DtSimMessage * msg);
   virtual void processWaypointChanged(DtVrfObject * msg);
   virtual void processModifyVrfObject(DtSimMessage * msg);
   virtual void processDeleteVrfObject(DtVrfObject *msg);

   virtual bool createWorkingControlPoint(const DtVector location);

   virtual void registerTaskMsgCallbacks();

   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

protected:
   virtual void getLocalDestination(DtVector& local) const;
   virtual void getWorldDestination(DtVector& world) const;

   virtual double distanceSquaredToDestination(const DtVector& current) const;
   virtual double distanceSquaredToDestination2D(const DtVector& current) const;

   virtual bool atAltitude(double desiredAltitude) const;

   virtual bool setupControlPoint();

   virtual void deleteWorkingControlPoint();

   virtual void clearTask();

private:

   DtFixedWingMoveToController();

   DtFixedWingMoveToController(
      const DtFixedWingMoveToController& orig);

   DtFixedWingMoveToController& operator=(
      const DtFixedWingMoveToController& orig);

protected:

   DtVrfObject*      myControlPoint;

   DtVrfObject* myWorkingControlPoint;

   bool              myFirstTick;
};