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 $
*******************************************************************************/
#pragma once

#include "vrftasks/setDataRequest.h"
#include <vlpi/netStructs.h>
#include <readerWriter/rwReal.h>
#include "vrftasks/radioMessageTypes.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.

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

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

   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 const DtSetMessageType& 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;
   };
}

---

Implementation:

/*******************************************************************************
** Copyright (c) 2006 MaK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#include <math.h>
#include <readerWriter/bufferSerialize.h>
#include "../addSetSim/setSpeedAndHeading.h"
#include <tdbutil/unitFormatter.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()
   {
   }

   const DtSetMessageType& DtSetSpeedAndHeadingRequest::type() const
   {
      return DtSetSpeedAndHeadingType;
   }

   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 = 0;
      size += DtBufferSerialize::getSize(mySpeed);
      size += DtBufferSerialize::getSize(myHeading);
      return size;
   }

   //Fills in the task from the network buffer
   bool DtSetSpeedAndHeadingRequest::setFromNet(const char* contentBuffer, 
   unsigned contentSize)
   {
      contentBuffer = DtBufferSerialize::decode(mySpeed, contentBuffer);
      contentBuffer = DtBufferSerialize::decode(myHeading, contentBuffer);
      return true;
   }

   //Fills in the network buffer (created by base class simTask) with the
   //task contents.
   bool DtSetSpeedAndHeadingRequest::setToNet()
   {
      if (!netRep())
      {
         return false;
      }
      char* contentBuffer = netRep();
      contentBuffer = DtBufferSerialize::encode(mySpeed, contentBuffer);
      contentBuffer = DtBufferSerialize::encode(myHeading, contentBuffer);
      return true;
   }
}