#include <HelmApp.h>

Inheritance diagram for CHelmApp:

Collaboration diagram for CHelmApp:

Classes
class	CTransaction
Public Member Functions
	CHelmApp ()
virtual	~CHelmApp ()
bool	Initialise ()
Protected Member Functions
bool	InitialiseTransactors ()
bool	OnThirdPartyRequest (CMOOSMsg &Msg)
bool	OnTransaction (string sInstruction, double dfTimeNow)
bool	OnTransactionError (string sError, bool bShouldClose=true)
bool	OnTransactionClose (string sClient, bool bAnnounce=true)
bool	OnTransactionOpen (string sClient)
bool	PassSafetyCheck ()
bool	GetGains ()
bool	IsManualOveride ()
bool	RestartHelm ()
virtual bool	OnStartUp ()
string	MakeWayPointsString ()
bool	SetThrust (double dfThrust)
bool	OnPostIterate ()
bool	OnPreIterate ()
bool	OnConnectToServer ()
bool	Iterate ()
virtual bool	OnNewMail (MOOSMSG_LIST &NewMail)
bool	SetElevator (double dfAngleRadians)
bool	SetRudder (double dfAngleRadians)
Protected Attributes
CTransaction	m_Transaction
CMOOSTaskReader	m_TaskReader
bool	m_bInitialised
bool	m_bManualOverRide
CMOOSBehaviour::CControllerGains	m_Gains
double	m_dfCurrentElevator
double	m_dfCurrentRudder
double	m_dfCurrentThrust
string	m_sTaskFile
TASK_LIST	m_Tasks

Detailed Description

Definition at line 49 of file HelmApp.h.

Constructor & Destructor Documentation

CHelmApp::CHelmApp ( )

Definition at line 61 of file HelmApp.cpp.

CHelmApp::~CHelmApp ( ) [virtual]

Definition at line 78 of file HelmApp.cpp.

Member Function Documentation

bool CHelmApp::GetGains ( ) [protected]

Definition at line 315 of file HelmApp.cpp.

bool CHelmApp::Initialise ( )

Definition at line 236 of file HelmApp.cpp.

bool CHelmApp::InitialiseTransactors ( ) [protected]

Definition at line 894 of file HelmApp.cpp.

bool CHelmApp::IsManualOveride ( ) [protected]

Definition at line 610 of file HelmApp.cpp.

bool CHelmApp::Iterate ( ) [protected, virtual]

called when the application should iterate. Overload this function in a derived class and within it write all the application specific code. It will be called at approximately nFreq = 1/AppTick Hz

Reimplemented from CMOOSApp.

Definition at line 160 of file HelmApp.cpp.

string CHelmApp::MakeWayPointsString ( ) [protected]

Definition at line 537 of file HelmApp.cpp.

bool CHelmApp::OnConnectToServer ( ) [protected, virtual]

Called when the class has succesully connected to the server. Overload this function and place use it to register for notification when variables of interest change

Reimplemented from CMOOSApp.

Definition at line 145 of file HelmApp.cpp.

bool CHelmApp::OnNewMail ( MOOSMSG_LIST & NewMail ) [protected, virtual]

called when new mail has arrived. Overload this method in a derived class to process new mail. It will be called at approximately 1/CommsTick Hz. In this function you'll most likely interate over the collection of mail message received or call a m_Comms::PeekMail() to look for a specific named message.

Parameters:

NewMail a list of new mail messages

Reimplemented from CMOOSApp.

Definition at line 93 of file HelmApp.cpp.

bool CHelmApp::OnPostIterate ( ) [protected]

Definition at line 466 of file HelmApp.cpp.

bool CHelmApp::OnPreIterate ( ) [protected]

Definition at line 435 of file HelmApp.cpp.

bool CHelmApp::OnStartUp ( ) [protected, virtual]

called just before the main app loop is entered. Specific initialisation code can be written in an overloaded version of this function

over load this if you want to do something fancy at statup...

Reimplemented from CMOOSApp.