src/Engine/Task/Ordered/TaskAdvanceSmart.cpp

   1 /* Copyright_License {
   2
   3   XCSoar Glide Computer - http://www.xcsoar.org/
   4   Copyright (C) 2000-2013 The XCSoar Project
   5   A detailed list of copyright holders can be found in the file "AUTHORS".
   6
   7   This program is free software; you can redistribute it and/or
   8   modify it under the terms of the GNU General Public License
   9   as published by the Free Software Foundation; either version 2
  10   of the License, or (at your option) any later version.
  11
  12   This program is distributed in the hope that it will be useful,
  13   but WITHOUT ANY WARRANTY; without even the implied warranty of
  14   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15   GNU General Public License for more details.
  16
  17   You should have received a copy of the GNU General Public License
  18   along with this program; if not, write to the Free Software
  19   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  20 }
  21  */
  22
  23 #include "TaskAdvanceSmart.hpp"
  24 #include "Task/Points/TaskPoint.hpp"
  25 #include "Points/StartPoint.hpp"
  26 #include "Points/AATPoint.hpp"
  27 #include "Points/IntermediatePoint.hpp"
  28 #include "Task/Factory/TaskFactoryConstraints.hpp"
  29
  30 TaskAdvanceSmart::TaskAdvanceSmart()
  31   :state(TaskAdvance::MANUAL),
  32    start_requires_arm(false)
  33 {
  34 }
  35
  36 void
  37 TaskAdvanceSmart::SetFactoryConstraints(const TaskFactoryConstraints &constraints)
  38 {
  39   start_requires_arm = constraints.start_requires_arm;
  40 }
  41
  42 bool
  43 TaskAdvanceSmart::CheckReadyToAdvance(const TaskPoint &tp,
  44                                       const AircraftState &aircraft,
  45                                       const bool x_enter, const bool x_exit)
  46 {
  47   const bool state_ready = IsStateReady(tp, aircraft, x_enter, x_exit);
  48
  49   if (armed)
  50     request_armed = false;
  51
  52   if (tp.GetType() == TaskPointType::START) {
  53     const StartPoint &sp = (const StartPoint &)tp;
  54     if (start_requires_arm) {
  55       if (armed) {
  56         state = TaskAdvance::START_ARMED;
  57       } else {
  58         state = TaskAdvance::START_DISARMED;
  59         if (sp.IsInSector(aircraft))
  60           request_armed = true;
  61       }
  62       return armed && state_ready;
  63     } else {
  64       state = TaskAdvance::AUTO;
  65       return state_ready;
  66     }
  67   } else if (tp.GetType() == TaskPointType::AAT) {
  68     if (armed) {
  69       state = TaskAdvance::TURN_ARMED;
  70     } else {
  71       state = TaskAdvance::TURN_DISARMED;
  72       if (state_ready)
  73         request_armed = true;
  74     }
  75     return armed && state_ready;
  76   } else if (tp.IsIntermediatePoint()) {
  77     state = TaskAdvance::AUTO;
  78     return state_ready;
  79   }
  80
  81   return false;
  82 }
  83
  84 TaskAdvance::State
  85 TaskAdvanceSmart::GetState() const
  86 {
  87   return state;
  88 }
  89
  90 void
  91 TaskAdvanceSmart::UpdateState()
  92 {
  93   switch (state) {
  94   case TaskAdvance::START_ARMED:
  95     if (!armed)
  96       state = TaskAdvance::START_DISARMED;
  97
  98     return;
  99   case TaskAdvance::START_DISARMED:
 100     if (armed)
 101       state = TaskAdvance::START_ARMED;
 102
 103     return;
 104   case TaskAdvance::TURN_ARMED:
 105     if (!armed)
 106       state = TaskAdvance::TURN_DISARMED;
 107
 108     return;
 109   case TaskAdvance::TURN_DISARMED:
 110     if (armed)
 111       state = TaskAdvance::TURN_ARMED;
 112
 113     return;
 114   default:
 115     break;
 116   };
 117 }