fixedWingMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2016 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include "vrfmodel/fixedWingPilotController.h"

class DtString;
class DtSimulationServices;

class DtConstrainedAnalogPort;
class boolPort;
class DtRouteState;
class DtSimMessage;
class DtVectorOutputPort;

#define DT_LANDING_BUFFER 5.0

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

public:

   DtFixedWingMoveAlongController(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtFixedWingMoveAlongController() override;

   virtual bool init() override;

   virtual void preFirstTickInit() override;

   virtual void tick() override;

   virtual const char* type() const override;

   virtual void doFinishing();

   virtual void doFinishingForFlying();

   virtual void doFinishingForTaxiing();

   virtual void doMoving();

   virtual void doFlying();

   virtual void doTaxiing();

   virtual void doTakeOff();

   virtual void doLanding();

   virtual double findDesiredSpeed();

   virtual bool nearGoal();

   virtual bool atGoal();

   virtual bool passedGoal();

   static void setAltitudeCallback(DtSimMessage * msg, void * usrData);
   static void setOrderedAltitudeCallback(DtSimMessage * msg, void * usrData);
   static void setLocationCallback(DtSimMessage * msg, void * usrData);
   static void setRestoreCallback(DtSimMessage * msg, void * usrData);
   static void modifyVrfObjectCallback(DtSimMessage * msg, void * usr);

   virtual bool processFlyAlongTask(DtSimTask* msg, DtSimTaskStatePtr taskStatePtr);

   virtual bool processMoveAlongTask(DtSimTask* msg, DtSimTaskStatePtr taskStatePtr);
   virtual void processRouteChanged();

   virtual void processSetAltitude(DtSimMessage * msg);
   virtual void processSetOrderedAltitude(DtSimMessage * msg);
   virtual void processSetLocation(DtSimMessage * msg);
   virtual void processSetRestore(DtSimMessage * msg);
   virtual void processModifyVrfObject(DtSimMessage * msg);

   virtual bool setupRoute();

   virtual void registerTaskMsgCallbacks() override;

   static void moveAlongCallback(DtSimMessage* msg, void* usr, DtSimTaskStatePtr taskStatePtr);

   static DtReaderWriter* provideNextRoutePointIndex(void* c);

   virtual DtFixedWingFlightPSR* getPSR(){return myProcessState;}
      
   virtual DtSimTaskStatePtr currentTaskState() const override;

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

protected:
   virtual void processMoveAlong(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);

   DtFixedWingMoveAlongController();

   DtFixedWingMoveAlongController(
      const DtFixedWingMoveAlongController& orig);

   DtFixedWingMoveAlongController& operator=(
      const DtFixedWingMoveAlongController& orig);

   void clearStoredRoute();

   void updateTakeOffDir();
   void updateLandingDir();

   void processEntityLocationChange();

   virtual bool setMovementStatusFromRoute();

   virtual void resetValues();

   virtual void clearTask() override;

   virtual void updateTaskVisualizations() override;

   virtual void processEstimatedTotCalculation() override;

   virtual bool createPorts() override;

protected:

   DtSimObjectReference   myRoute;

   bool      myRouteHasChanged;
   bool     myWarnedForMovementStatus;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;
   bool myChangedLocation = false;
};