Common unit functions moved to unit class

client/src/atc/board/tower.ts

@@ -1,5 +1,6 @@
 import { getUnitsManager } from "../..";
 import { Dropdown } from "../../controls/dropdown";
+import { mToFt, msToKnots } from "../../other/utils";
 import { ATC } from "../atc";
 import { ATCBoard } from "../atcboard";
 
@@ -139,7 +140,7 @@ export class ATCBoardTower extends ATCBoard {
                     assignedAltitude.value = flight.assignedAltitude;
                 }
 
-                flightData.altitude = Math.floor( flightData.altitude / 0.3048 );
+                flightData.altitude = Math.floor( mToFt(flightData.altitude) );
 
                 strip.element.querySelectorAll( `[data-point="altitude"]` ).forEach( el => {
                     if ( el instanceof HTMLElement ) {
@@ -163,7 +164,7 @@ export class ATCBoardTower extends ATCBoard {
                     assignedSpeed.value = flight.assignedSpeed;
                 }
 
-                flightData.speed = Math.floor( flightData.speed * 1.94384 );
+                flightData.speed = Math.floor( msToKnots(flightData.speed) );
 
                 strip.element.querySelectorAll( `[data-point="speed"]` ).forEach( el => {
                     if ( el instanceof HTMLElement ) {

client/src/controls/mapcontextmenu.ts

@@ -7,6 +7,7 @@ import { ContextMenu } from "./contextmenu";
 import { Dropdown } from "./dropdown";
 import { Switch } from "./switch";
 import { Slider } from "./slider";
+import { ftToM } from "../other/utils";
 
 export interface SpawnOptions {
     role: string;
@@ -26,7 +27,7 @@ export class MapContextMenu extends ContextMenu {
     #aircrafSpawnAltitudeSlider: Slider;
     #groundUnitRoleDropdown: Dropdown;
     #groundUnitTypeDropdown: Dropdown;
-    #spawnOptions: SpawnOptions = { role: "", type: "", latlng: new LatLng(0, 0), loadout: null, coalition: "blue", airbaseName: null, altitude: 20000 * 0.3048 };
+    #spawnOptions: SpawnOptions = { role: "", type: "", latlng: new LatLng(0, 0), loadout: null, coalition: "blue", airbaseName: null, altitude: ftToM(20000) };
     
     constructor(id: string) {
         super(id);
@@ -37,7 +38,7 @@ export class MapContextMenu extends ContextMenu {
         this.#aircraftRoleDropdown = new Dropdown("aircraft-role-options", (role: string) => this.#setAircraftRole(role));
         this.#aircraftTypeDropdown = new Dropdown("aircraft-type-options", (type: string) => this.#setAircraftType(type));
         this.#aircraftLoadoutDropdown = new Dropdown("loadout-options", (loadout: string) => this.#setAircraftLoadout(loadout));
-        this.#aircrafSpawnAltitudeSlider = new Slider("aircraft-spawn-altitude-slider", 0, 50000, "ft", (value: number) => {this.#spawnOptions.altitude = value * 0.3048;});
+        this.#aircrafSpawnAltitudeSlider = new Slider("aircraft-spawn-altitude-slider", 0, 50000, "ft", (value: number) => {this.#spawnOptions.altitude = ftToM(value);});
         this.#groundUnitRoleDropdown = new Dropdown("ground-unit-role-options", (role: string) => this.#setGroundUnitRole(role));
         this.#groundUnitTypeDropdown = new Dropdown("ground-unit-type-options", (type: string) => this.#setGroundUnitType(type));
 

client/src/controls/unitcontextmenu.ts

@@ -1,4 +1,4 @@
-import { deg2rad } from "../other/utils";
+import { deg2rad, ftToM } from "../other/utils";
 import { ContextMenu } from "./contextmenu";
 
 export class UnitContextMenu extends ContextMenu {
@@ -19,8 +19,8 @@ export class UnitContextMenu extends ContextMenu {
                 }
                 var angleDeg = 360 - (clock - 1) * 45;
                 var angleRad = deg2rad(angleDeg);
-                var distance = parseInt((<HTMLInputElement>dialog.querySelector(`#distance`)?.querySelector("input")).value) * 0.3048;
+                var distance = ftToM(parseInt((<HTMLInputElement>dialog.querySelector(`#distance`)?.querySelector("input")).value));
-                var upDown = parseInt((<HTMLInputElement>dialog.querySelector(`#up-down`)?.querySelector("input")).value) * 0.3048;
+                var upDown = ftToM(parseInt((<HTMLInputElement>dialog.querySelector(`#up-down`)?.querySelector("input")).value));
 
                 // X: front-rear, positive front
                 // Y: top-bottom, positive top

client/src/other/utils.ts

@@ -160,4 +160,20 @@ export function createDivWithClass(className: string) {
     var el = document.createElement("div");
     el.classList.add(className);
     return el;
+}
+
+export function knotsToMs(knots: number) {
+    return knots / 1.94384;
+}
+
+export function msToKnots(ms: number) {
+    return ms * 1.94384;
+}
+
+export function ftToM(ft: number) {
+    return ft * 0.3048;
+}
+
+export function mToFt(m: number) {
+    return m / 0.3048;
 }

client/src/panels/unitcontrolpanel.ts

@@ -7,6 +7,7 @@ import { Unit } from "../units/unit";
 import { Panel } from "./panel";
 import { Switch } from "../controls/switch";
 import { ROEDescriptions, ROEs, altitudeIncrements, emissionsCountermeasures, emissionsCountermeasuresDescriptions, maxAltitudeValues, maxSpeedValues, minAltitudeValues, minSpeedValues, reactionsToThreat, reactionsToThreatDescriptions, speedIncrements } from "../constants/constants";
+import { ftToM, knotsToMs, mToFt, msToKnots } from "../other/utils";
 
 export class UnitControlPanel extends Panel {
     #altitudeSlider: Slider;
@@ -25,10 +26,10 @@ export class UnitControlPanel extends Panel {
         super(ID);
 
         /* Unit control sliders */
-        this.#altitudeSlider = new Slider("altitude-slider", 0, 100, "ft", (value: number) => { getUnitsManager().selectedUnitsSetAltitude(value * 0.3048); });
+        this.#altitudeSlider = new Slider("altitude-slider", 0, 100, "ft", (value: number) => { getUnitsManager().selectedUnitsSetAltitude(ftToM(value)); });
         this.#altitudeTypeSwitch = new Switch("altitude-type-switch", (value: boolean) => { getUnitsManager().selectedUnitsSetAltitudeType(value? "AGL": "ASL"); });
 
-        this.#speedSlider = new Slider("speed-slider", 0, 100, "kts", (value: number) => { getUnitsManager().selectedUnitsSetSpeed(value / 1.94384); });
+        this.#speedSlider = new Slider("speed-slider", 0, 100, "kts", (value: number) => { getUnitsManager().selectedUnitsSetSpeed(knotsToMs(value)); });
         this.#speedTypeSwitch = new Switch("speed-type-switch", (value: boolean) => { getUnitsManager().selectedUnitsSetSpeedType(value? "GS": "CAS"); });
 
         /* Option buttons */
@@ -156,11 +157,11 @@ export class UnitControlPanel extends Panel {
 
                     this.#speedSlider.setActive(targetSpeed != undefined);
                     if (targetSpeed != undefined)
-                        this.#speedSlider.setValue(targetSpeed * 1.94384, false);
+                        this.#speedSlider.setValue(msToKnots(targetSpeed), false);
 
                     this.#altitudeSlider.setActive(targetAltitude != undefined);
                     if (targetAltitude != undefined)
-                        this.#altitudeSlider.setValue(targetAltitude / 0.3048, false);
+                        this.#altitudeSlider.setValue(mToFt(targetAltitude), false);
                 }
                 else {
                     this.#speedSlider.setActive(false);

client/src/panels/unitinfopanel.ts

@@ -57,15 +57,8 @@ export class UnitInfoPanel extends Panel {
             this.#unitLabel.innerText   = aircraftDatabase.getByName(baseData.name)?.label || baseData.name;
             this.#unitName.innerText    = baseData.unitName;
             this.#unitControl.innerText = ( ( baseData.AI ) ? "AI" : "Human" ) + " controlled";
-            // this.#groupName.innerText = baseData.groupName;
-            //this.#name.innerText = baseData.name;
-            //this.#heading.innerText = String(Math.floor(rad2deg(unit.getFlightData().heading)) + " °");
-            //this.#altitude.innerText = String(Math.floor(unit.getFlightData().altitude / 0.3048) + " ft");
-            //this.#groundSpeed.innerText = String(Math.floor(unit.getFlightData().speed * 1.94384) + " kts");
             this.#fuelBar.style.width = String(unit.getMissionData().fuel + "%");
             this.#fuelPercentage.dataset.percentage = "" + unit.getMissionData().fuel;
-            //this.#latitude.innerText = ConvertDDToDMS(unit.getFlightData().latitude, false);
-            //this.#longitude.innerText = ConvertDDToDMS(unit.getFlightData().longitude, true);
             this.#currentTask.dataset.currentTask = unit.getTaskData().currentTask !== ""? unit.getTaskData().currentTask: "No task";
             this.#currentTask.dataset.coalition = unit.getMissionData().coalition;
             

client/src/units/unit.ts

@@ -1,6 +1,6 @@
 import { Marker, LatLng, Polyline, Icon, DivIcon, CircleMarker, Map } from 'leaflet';
 import { getMap, getUnitsManager } from '..';
-import { rad2deg } from '../other/utils';
+import { mToFt, msToKnots, rad2deg } from '../other/utils';
 import { addDestination, attackUnit, changeAltitude, changeSpeed, createFormation as setLeader, deleteUnit, getUnits, landAt, setAltitude, setReactionToThreat, setROE, setSpeed, refuel, setAdvacedOptions, followUnit, setEmissionsCountermeasures, setSpeedType, setAltitudeType, setOnOff, setFollowRoads } from '../server/server';
 import { aircraftDatabase } from './aircraftdatabase';
 import { groundUnitsDatabase } from './groundunitsdatabase';
@@ -668,9 +668,9 @@ export class Unit extends CustomMarker {
 
                 /* Set altitude and speed */
                 if (element.querySelector(".unit-altitude"))
-                    (<HTMLElement>element.querySelector(".unit-altitude")).innerText = "FL" + String(Math.floor(this.getFlightData().altitude / 0.3048 / 100));
+                    (<HTMLElement>element.querySelector(".unit-altitude")).innerText = "FL" + String(Math.floor(mToFt(this.getFlightData().altitude) / 100));
                 if (element.querySelector(".unit-speed"))
-                    (<HTMLElement>element.querySelector(".unit-speed")).innerText = String(Math.floor(this.getFlightData().speed * 1.94384));
+                    (<HTMLElement>element.querySelector(".unit-speed")).innerText = String(Math.floor(msToKnots(this.getFlightData().speed))) + "GS";
 
                 /* Rotate elements according to heading */
                 element.querySelectorAll("[data-rotate-to-heading]").forEach(el => {

client/src/units/unitsmanager.ts

@@ -3,7 +3,7 @@ import { getHotgroupPanel, getInfoPopup, getMap, getUnitDataTable } from "..";
 import { Unit } from "./unit";
 import { cloneUnit } from "../server/server";
 import { IDLE, MOVE_UNIT } from "../map/map";
-import { deg2rad, keyEventWasInInput, latLngToMercator, mercatorToLatLng } from "../other/utils";
+import { deg2rad, keyEventWasInInput, latLngToMercator, mToFt, mercatorToLatLng, msToKnots } from "../other/utils";
 
 export class UnitsManager {
     #units: { [ID: number]: Unit };
@@ -250,7 +250,7 @@ export class UnitsManager {
         for (let idx in selectedUnits) {
             selectedUnits[idx].setSpeed(speed);
         }
-        this.#showActionMessage(selectedUnits, `setting speed to ${speed * 1.94384} kts`);
+        this.#showActionMessage(selectedUnits, `setting speed to ${msToKnots(speed)} kts`);
     }
 
     selectedUnitsSetSpeedType(speedType: string) {
@@ -266,7 +266,7 @@ export class UnitsManager {
         for (let idx in selectedUnits) {
             selectedUnits[idx].setAltitude(altitude);
         }
-        this.#showActionMessage(selectedUnits, `setting altitude to ${altitude / 0.3048} ft`);
+        this.#showActionMessage(selectedUnits, `setting altitude to ${mToFt(altitude)} ft`);
     }
 
     selectedUnitsSetAltitudeType(altitudeType: string) {

src/core/include/airunit.h

@@ -12,19 +12,12 @@ class AirUnit : public Unit
 public:
 	AirUnit(json::value json, int ID);
 
-	virtual wstring getCategory() = 0;
+	virtual void setState(int newState);
-	virtual void changeSpeed(wstring change) {};
-	virtual void changeAltitude(wstring change) {};
-	virtual void setTargetSpeed(double newTargetSpeed);
-	virtual void setTargetAltitude(double newTargetAltitude);
-	virtual void setTargetSpeedType(wstring newTargetSpeedType);
-	virtual void setTargetAltitudeType(wstring newTargetAltitudeType);
 
+	virtual wstring getCategory() = 0;
+	virtual void changeSpeed(wstring change) = 0;
+	virtual void changeAltitude(wstring change) = 0;
+	
 protected:
 	virtual void AIloop();
-	virtual void setState(int newState);
-	bool isDestinationReached();
-	bool setActiveDestination();
-	bool updateActivePath(bool looping);
-	void goToDestination(wstring enrouteTask = L"nil");
 };

src/core/include/groundunit.h

@@ -7,12 +7,14 @@ class GroundUnit : public Unit
 {
 public:
 	GroundUnit(json::value json, int ID);
-	virtual void AIloop();
-
 	virtual wstring getCategory() { return L"GroundUnit"; };
+
+	virtual void setState(int newState);
+
 	virtual void changeSpeed(wstring change);
-	virtual void changeAltitude(wstring change) {};
 	virtual void setOnOff(bool newOnOff);
 	virtual void setFollowRoads(bool newFollowRoads);
 
+protected:
+	virtual void AIloop();
 };

src/core/include/navyunit.h

@@ -9,6 +9,5 @@ public:
 
 	virtual wstring getCategory() { return L"NavyUnit"; };
 	virtual void changeSpeed(wstring change);
-	virtual void changeAltitude(wstring change) {};
 
 };

src/core/include/unit.h

@@ -70,6 +70,7 @@ public:
 	void setAlive(bool newAlive) { alive = newAlive; addMeasure(L"alive", json::value(newAlive));}
 	void setType(json::value newType) { type = newType; addMeasure(L"type", newType);}
 	void setCountry(int newCountry) { country = newCountry; addMeasure(L"country", json::value(newCountry));}
+
 	bool getAI() { return AI; }
 	wstring getName() { return name; }
 	wstring getUnitName() { return unitName; }
@@ -84,6 +85,7 @@ public:
 	void setAltitude(double newAltitude) {altitude = newAltitude; addMeasure(L"altitude", json::value(newAltitude));}
 	void setHeading(double newHeading) {heading = newHeading; addMeasure(L"heading", json::value(newHeading));}
 	void setSpeed(double newSpeed) {speed = newSpeed; addMeasure(L"speed", json::value(newSpeed));}
+
 	double getLatitude() { return latitude; }
 	double getLongitude() { return longitude; }
 	double getAltitude() { return altitude; }
@@ -97,6 +99,7 @@ public:
 	void setHasTask(bool newHasTask) { hasTask = newHasTask; addMeasure(L"hasTask", json::value(newHasTask)); }
 	void setCoalitionID(int newCoalitionID);
 	void setFlags(json::value newFlags) { flags = newFlags; addMeasure(L"flags", json::value(newFlags));}
+
 	double getFuel() { return fuel; }
 	json::value getAmmo() { return ammo; }
 	json::value getTargets() { return targets; }
@@ -108,21 +111,18 @@ public:
 	/********** Formation data **********/
 	void setLeaderID(int newLeaderID) { leaderID = newLeaderID; addMeasure(L"leaderID", json::value(newLeaderID)); }
 	void setFormationOffset(Offset formationOffset);
+
 	int getLeaderID() { return leaderID; }
 	Offset getFormationoffset() { return formationOffset; }
 	
 	/********** Task data **********/
 	void setCurrentTask(wstring newCurrentTask) { currentTask = newCurrentTask; addMeasure(L"currentTask", json::value(newCurrentTask)); } 
-	virtual void setTargetSpeed(double newTargetSpeed) { targetSpeed = newTargetSpeed; addMeasure(L"targetSpeed", json::value(newTargetSpeed));}
+	void setTargetSpeed(double newTargetSpeed);
-	virtual void setTargetAltitude(double newTargetAltitude) { targetAltitude = newTargetAltitude; addMeasure(L"targetAltitude", json::value(newTargetAltitude));}
+	void setTargetAltitude(double newTargetAltitude);
-	virtual void setTargetSpeedType(wstring newTargetSpeedType) { targetSpeedType = newTargetSpeedType; addMeasure(L"targetSpeedType", json::value(newTargetSpeedType)); }
+	void setTargetSpeedType(wstring newTargetSpeedType);
-	virtual void setTargetAltitudeType(wstring newTargetAltitudeType) { targetAltitudeType = newTargetAltitudeType; addMeasure(L"targetAltitudeType", json::value(newTargetAltitudeType)); }
+	void setTargetAltitudeType(wstring newTargetAltitudeType);
 	void setActiveDestination(Coords newActiveDestination) { activeDestination = newActiveDestination; addMeasure(L"activeDestination", json::value("")); } // TODO fix
 	void setActivePath(list<Coords> newActivePath);
-	void clearActivePath();
-	void pushActivePathFront(Coords newActivePathFront);
-	void pushActivePathBack(Coords newActivePathBack);
-	void popActivePathFront();
 	void setTargetID(int newTargetID) { targetID = newTargetID; addMeasure(L"targetID", json::value(newTargetID));}
 	void setIsTanker(bool newIsTanker);
 	void setIsAWACS(bool newIsAWACS);
@@ -150,6 +150,7 @@ public:
 	void setRadio(Options::Radio newradio);
 	void setGeneralSettings(Options::GeneralSettings newGeneralSettings);
 	void setEPLRS(bool newEPLRS);
+
 	wstring getROE() { return ROE; }
 	wstring getReactionToThreat() { return reactionToThreat; }
 	wstring getEmissionsCountermeasures() { return emissionsCountermeasures; };
@@ -160,11 +161,15 @@ public:
 
 	/********** Control functions **********/
 	void landAt(Coords loc);
-	virtual void changeSpeed(wstring change){};
+	virtual void changeSpeed(wstring change) {};
-	virtual void changeAltitude(wstring change){};
+	virtual void changeAltitude(wstring change) {};
 	void resetActiveDestination();
 	virtual void setState(int newState) { state = newState; };
 	void resetTask();
+	void clearActivePath();
+	void pushActivePathFront(Coords newActivePathFront);
+	void pushActivePathBack(Coords newActivePathBack);
+	void popActivePathFront();
 
 protected:
 	int ID;
@@ -236,4 +241,8 @@ protected:
 	bool isLeaderAlive();
 	virtual void AIloop() = 0;
 	void addMeasure(wstring key, json::value value);
+	bool isDestinationReached(double threshold);
+	bool setActiveDestination();
+	bool updateActivePath(bool looping);
+	void goToDestination(wstring enrouteTask = L"nil");
 };

src/core/src/aircraft.cpp

@@ -18,8 +18,8 @@ Aircraft::Aircraft(json::value json, int ID) : AirUnit(json, ID)
 	log("New Aircraft created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
 
-	double targetSpeed = 300 / 1.94384;
+	double targetSpeed = knotsToMs(300);
-	double targetAltitude = 20000 * 0.3048;
+	double targetAltitude = ftToM(20000);
 	setTargetSpeed(targetSpeed);
 	setTargetAltitude(targetAltitude);
 };
@@ -27,16 +27,14 @@ Aircraft::Aircraft(json::value json, int ID) : AirUnit(json, ID)
 void Aircraft::changeSpeed(wstring change)
 {
 	if (change.compare(L"stop") == 0)
-	{
 		setState(State::IDLE);
-	}
 	else if (change.compare(L"slow") == 0)
-		setTargetSpeed(getTargetSpeed() - 25 / 1.94384);
+		setTargetSpeed(getTargetSpeed() - knotsToMs(25));
 	else if (change.compare(L"fast") == 0)
-		setTargetSpeed(getTargetSpeed() + 25 / 1.94384);
+		setTargetSpeed(getTargetSpeed() + knotsToMs(25));
 
-	if (getTargetSpeed() < 50 / 1.94384)
+	if (getTargetSpeed() < knotsToMs(50))
-		setTargetSpeed(50 / 1.94384);
+		setTargetSpeed(knotsToMs(50));
 
 	goToDestination();		/* Send the command to reach the destination */
 }
@@ -46,16 +44,16 @@ void Aircraft::changeAltitude(wstring change)
 	if (change.compare(L"descend") == 0)
 	{
 		if (getTargetAltitude() > 5000)
-			setTargetAltitude(getTargetAltitude() - 2500 / 3.28084);
+			setTargetAltitude(getTargetAltitude() - ftToM(2500));
 		else if (getTargetAltitude() > 0)
-			setTargetAltitude(getTargetAltitude() - 500 / 3.28084);
+			setTargetAltitude(getTargetAltitude() - ftToM(500));
 	}
 	else if (change.compare(L"climb") == 0)
 	{
 		if (getTargetAltitude() > 5000)
-			setTargetAltitude(getTargetAltitude() + 2500 / 3.28084);
+			setTargetAltitude(getTargetAltitude() + ftToM(2500));
 		else if (getTargetAltitude() >= 0)
-				setTargetAltitude(getTargetAltitude() + 500 / 3.28084);
+				setTargetAltitude(getTargetAltitude() + ftToM(500));
 	}
 	if (getTargetAltitude() < 0)
 		setTargetAltitude(0);

src/core/src/airunit.cpp

@@ -20,7 +20,7 @@ AirUnit::AirUnit(json::value json, int ID) : Unit(json, ID)
 
 void AirUnit::setState(int newState) 
 {
-	/************ Perform any action required when LEAVING a certain state ************/
+	/************ Perform any action required when LEAVING a state ************/
 	if (newState != state) {
 		switch (state) {
 		case State::IDLE: {
@@ -48,7 +48,7 @@ void AirUnit::setState(int newState)
 		}
 	}
 
-	/************ Perform any action required when ENTERING a certain state ************/
+	/************ Perform any action required when ENTERING a state ************/
 	switch (newState) {
 	case State::IDLE: {
 		clearActivePath();
@@ -100,67 +100,6 @@ void AirUnit::setState(int newState)
 	state = newState;
 }
 
-bool AirUnit::isDestinationReached()
-{
-	if (activeDestination != NULL)
-	{
-		double dist = 0;
-		Geodesic::WGS84().Inverse(latitude, longitude, activeDestination.lat, activeDestination.lng, dist);
-		if (dist < AIR_DEST_DIST_THR)
-		{
-			log(unitName + L" destination reached");
-			return true;
-		}
-		else {
-			return false;
-		}
-	}
-	else
-		return true;
-}
-
-bool AirUnit::setActiveDestination()
-{
-	if (activePath.size() > 0)
-	{
-		activeDestination = activePath.front();
-		log(unitName + L" active destination set to queue front");
-		return true;
-	}
-	else
-	{
-		activeDestination = Coords(0);
-		log(unitName + L" active destination set to NULL");
-		return false;
-	}
-}
-
-bool AirUnit::updateActivePath(bool looping)
-{
-	if (activePath.size() > 0)
-	{
-		/* Push the next destination in the queue to the front */
-		if (looping)
-			pushActivePathBack(activePath.front());
-		popActivePathFront();
-		log(unitName + L" active path front popped");
-		return true;
-	}
-	else {
-		return false;
-	}
-}
-
-void AirUnit::goToDestination(wstring enrouteTask)
-{
-	if (activeDestination != NULL)
-	{
-		Command* command = dynamic_cast<Command*>(new Move(ID, activeDestination, getTargetSpeed(), getTargetSpeedType(), getTargetAltitude(), getTargetAltitudeType(), enrouteTask));
-		scheduler->appendCommand(command);
-		setHasTask(true);
-	}
-}
-
 void AirUnit::AIloop()
 {
 	/* State machine */
@@ -168,7 +107,7 @@ void AirUnit::AIloop()
 		case State::IDLE: {
 			currentTask = L"Idle";
 			
-			if (!hasTask)
+			if (!getHasTask())
 			{
 				std::wostringstream taskSS;
 				if (isTanker) {
@@ -206,7 +145,7 @@ void AirUnit::AIloop()
 				currentTask = L"Reaching destination";
 			}
 			
-			if (activeDestination == NULL || !hasTask)
+			if (activeDestination == NULL || !getHasTask())
 			{
 				if (!setActiveDestination())
 					setState(State::IDLE);
@@ -214,7 +153,7 @@ void AirUnit::AIloop()
 					goToDestination(enrouteTask);
 			}
 			else {
-				if (isDestinationReached()) {
+				if (isDestinationReached(AIR_DEST_DIST_THR)) {
 					if (updateActivePath(looping) && setActiveDestination())
 						goToDestination(enrouteTask);
 					else 
@@ -251,7 +190,7 @@ void AirUnit::AIloop()
 			wstring enrouteTask = enrouteTaskSS.str();
 			currentTask = L"Attacking " + getTargetName();
 			
-			if (!hasTask)
+			if (!getHasTask())
 			{
 				setActiveDestination();
 				goToDestination(enrouteTask);
@@ -272,7 +211,7 @@ void AirUnit::AIloop()
 			currentTask = L"Following " + getTargetName();
 
 			Unit* leader = unitsManager->getUnit(leaderID);
-			if (!hasTask) {
+			if (!getHasTask()) {
 				if (leader != nullptr && leader->getAlive() && formationOffset != NULL)
 				{
 					std::wostringstream taskSS;
@@ -295,7 +234,7 @@ void AirUnit::AIloop()
 		case State::REFUEL: {
 			currentTask = L"Refueling";
 
-			if (!hasTask) {
+			if (!getHasTask()) {
 				if (fuel <= initialFuel) {
 					std::wostringstream taskSS;
 					taskSS << "{"
@@ -316,23 +255,3 @@ void AirUnit::AIloop()
 
 	addMeasure(L"currentTask", json::value(currentTask));
 }
-
-void AirUnit::setTargetSpeed(double newTargetSpeed) {
-	Unit::setTargetSpeed(newTargetSpeed);
-	goToDestination();
-}
-
-void AirUnit::setTargetAltitude(double newTargetAltitude) {
-	Unit::setTargetAltitude(newTargetAltitude);
-	goToDestination();
-}
-
-void AirUnit::setTargetSpeedType(wstring newTargetSpeedType) { 
-	Unit::setTargetSpeedType(newTargetSpeedType);
-	goToDestination();
-}
-
-void AirUnit::setTargetAltitudeType(wstring newTargetAltitudeType) { 
-	Unit::setTargetAltitudeType(newTargetAltitudeType);
-	goToDestination();
-}

src/core/src/groundunit.cpp

@@ -22,60 +22,98 @@ GroundUnit::GroundUnit(json::value json, int ID) : Unit(json, ID)
 	setTargetSpeed(targetSpeed);
 };
 
+void GroundUnit::setState(int newState)
+{
+	/************ Perform any action required when LEAVING a state ************/
+	if (newState != state) {
+		switch (state) {
+		case State::IDLE: {
+			break;
+		}
+		case State::REACH_DESTINATION: {
+			break;
+		}
+		default:
+			break;
+		}
+	}
+
+	/************ Perform any action required when ENTERING a state ************/
+	switch (newState) {
+	case State::IDLE: {
+		clearActivePath();
+		resetActiveDestination();
+		addMeasure(L"currentState", json::value(L"Idle"));
+		break;
+	}
+	case State::REACH_DESTINATION: {
+		resetActiveDestination();
+		addMeasure(L"currentState", json::value(L"Reach destination"));
+		break;
+	}
+	default:
+		break;
+	}
+
+	resetTask();
+
+	log(unitName + L" setting state from " + to_wstring(state) + L" to " + to_wstring(newState));
+	state = newState;
+}
+
 void GroundUnit::AIloop()
 {
-	/* Set the active destination to be always equal to the first point of the active path. This is in common with all AI units */
-	if (activePath.size() > 0)
-	{
-		if (activeDestination != activePath.front())
-		{
-			activeDestination = activePath.front();
 
-			std::wostringstream taskSS;
+	switch (state) {
-			taskSS << "{ id = 'FollowRoads', value = " << (getFollowRoads()? "true" : "false") << " }";
+	case State::IDLE: {
-
+		currentTask = L"Idle";
-			Command* command = dynamic_cast<Command*>(new Move(ID, activeDestination, getTargetSpeed(), getTargetSpeedType(), getTargetAltitude(), getTargetAltitudeType(), taskSS.str()));
+		if (getHasTask())
-			scheduler->appendCommand(command);
+			resetTask();
-		}
+		break;
 	}
-	else
+	case State::REACH_DESTINATION: {
-	{
+		wstring enrouteTask = L"";
-		if (activeDestination != NULL)
+		bool looping = false;
+
+		std::wostringstream taskSS;
+		taskSS << "{ id = 'FollowRoads', value = " << (getFollowRoads() ? "true" : "false") << " }";
+		enrouteTask = taskSS.str();
+
+		if (activeDestination == NULL || !getHasTask())
 		{
-			log(unitName + L" no more points in active path");
+			if (!setActiveDestination())
-			activeDestination = Coords(0); // Set the active path to NULL
+				setState(State::IDLE);
-			currentTask = L"Idle";
+			else
+				goToDestination(enrouteTask);
 		}
+		else {
+			if (isDestinationReached(GROUND_DEST_DIST_THR)) {
+				if (updateActivePath(looping) && setActiveDestination())
+					goToDestination(enrouteTask);
+				else
+					setState(State::IDLE);
+			}
+		}
+		break;
+	}
+	default:
+		break;
 	}
 
-	/* Ground unit AI Loop */
+	addMeasure(L"currentTask", json::value(currentTask));
-	if (activeDestination != NULL)
-	{
-		double newDist = 0;
-		Geodesic::WGS84().Inverse(latitude, longitude, activeDestination.lat, activeDestination.lng, newDist);
-		if (newDist < GROUND_DEST_DIST_THR)
-		{
-			/* Destination reached */
-			popActivePathFront();
-			log(unitName + L" destination reached");
-		}
-	}
 }
 
 void GroundUnit::changeSpeed(wstring change)
 {
 	if (change.compare(L"stop") == 0)
-	{
+		setState(State::IDLE);
-
-	}
 	else if (change.compare(L"slow") == 0)
-	{
+		setTargetSpeed(getTargetSpeed() - knotsToMs(5));
-
-	}
 	else if (change.compare(L"fast") == 0)
-	{
+		setTargetSpeed(getTargetSpeed() + knotsToMs(5));
 
-	}
+	if (getTargetSpeed() < 0)
+		setTargetSpeed(0);
 }
 
 void GroundUnit::setOnOff(bool newOnOff) 

src/core/src/helicopter.cpp

@@ -18,8 +18,8 @@ Helicopter::Helicopter(json::value json, int ID) : AirUnit(json, ID)
 	log("New Helicopter created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
 
-	double targetSpeed = 100 / 1.94384;
+	double targetSpeed = knotsToMs(100);
-	double targetAltitude = 5000 * 0.3048;
+	double targetAltitude = ftToM(5000);
 	setTargetSpeed(targetSpeed);
 	setTargetAltitude(targetAltitude);
 };
@@ -32,9 +32,9 @@ void Helicopter::changeSpeed(wstring change)
 		clearActivePath();
 	}
 	else if (change.compare(L"slow") == 0)
-		targetSpeed -= 10 / 1.94384;
+		targetSpeed -= knotsToMs(10);
 	else if (change.compare(L"fast") == 0)
-		targetSpeed += 10 / 1.94384;
+		targetSpeed += knotsToMs(10);
 	if (targetSpeed < 0)
 		targetSpeed = 0;
 
@@ -46,16 +46,16 @@ void Helicopter::changeAltitude(wstring change)
 	if (change.compare(L"descend") == 0)
 	{
 		if (targetAltitude > 100)
-			targetAltitude -= 100 / 3.28084;
+			targetAltitude -= ftToM(100);
 		else if (targetAltitude > 0)
-			targetAltitude -= 10 / 3.28084;
+			targetAltitude -= ftToM(10);
 	}
 	else if (change.compare(L"climb") == 0)
 	{
 		if (targetAltitude > 100)
-			targetAltitude += 100 / 3.28084;
+			targetAltitude += ftToM(100);
 		else if (targetAltitude >= 0)
-			targetAltitude += 10 / 3.28084;
+			targetAltitude += ftToM(10);
 	}
 	if (targetAltitude < 0)
 		targetAltitude = 0;

src/core/src/unit.cpp

@@ -324,6 +324,7 @@ void Unit::resetTask()
 {
 	Command* command = dynamic_cast<Command*>(new ResetTask(ID));
 	scheduler->appendCommand(command);
+	setHasTask(false);
 }
 
 void Unit::setFormationOffset(Offset newFormationOffset)
@@ -576,3 +577,87 @@ void Unit::setGeneralSettings(Options::GeneralSettings newGeneralSettings) {
 	}
 }
 
+void Unit::setTargetSpeed(double newTargetSpeed) {
+	targetSpeed = newTargetSpeed; 
+	addMeasure(L"targetSpeed", json::value(newTargetSpeed));
+	goToDestination();
+}
+
+void Unit::setTargetAltitude(double newTargetAltitude) {
+	targetAltitude = newTargetAltitude;
+	addMeasure(L"targetAltitude", json::value(newTargetAltitude));
+	goToDestination();
+}
+
+void Unit::setTargetSpeedType(wstring newTargetSpeedType) {
+	targetSpeedType = newTargetSpeedType; 
+	addMeasure(L"targetSpeedType", json::value(newTargetSpeedType));
+	goToDestination();
+}
+
+void Unit::setTargetAltitudeType(wstring newTargetAltitudeType) {
+	targetAltitudeType = newTargetAltitudeType; 
+	addMeasure(L"targetAltitudeType", json::value(newTargetAltitudeType));
+	goToDestination();
+}
+
+void Unit::goToDestination(wstring enrouteTask)
+{
+	if (activeDestination != NULL)
+	{
+		Command* command = dynamic_cast<Command*>(new Move(ID, activeDestination, getTargetSpeed(), getTargetSpeedType(), getTargetAltitude(), getTargetAltitudeType(), enrouteTask));
+		scheduler->appendCommand(command);
+		setHasTask(true);
+	}
+}
+
+bool Unit::isDestinationReached(double threshold)
+{
+	if (activeDestination != NULL)
+	{
+		double dist = 0;
+		Geodesic::WGS84().Inverse(latitude, longitude, activeDestination.lat, activeDestination.lng, dist);
+		if (dist < threshold)
+		{
+			log(unitName + L" destination reached");
+			return true;
+		}
+		else {
+			return false;
+		}
+	}
+	else
+		return true;
+}
+
+bool Unit::setActiveDestination()
+{
+	if (activePath.size() > 0)
+	{
+		activeDestination = activePath.front();
+		log(unitName + L" active destination set to queue front");
+		return true;
+	}
+	else
+	{
+		activeDestination = Coords(0);
+		log(unitName + L" active destination set to NULL");
+		return false;
+	}
+}
+
+bool Unit::updateActivePath(bool looping)
+{
+	if (activePath.size() > 0)
+	{
+		/* Push the next destination in the queue to the front */
+		if (looping)
+			pushActivePathBack(activePath.front());
+		popActivePathFront();
+		log(unitName + L" active path front popped");
+		return true;
+	}
+	else {
+		return false;
+	}
+}

src/utils/include/utils.h

@@ -29,3 +29,8 @@ bool DllExport operator!= (const Offset& a, const Offset& b);
 bool DllExport operator== (const Offset& a, const int& b);
 bool DllExport operator!= (const Offset& a, const int& b);
 
+double DllExport knotsToMs(const double knots);
+double DllExport msToKnots(const double ms);
+double DllExport ftToM(const double ft);
+double DllExport mToFt(const double m);
+

src/utils/src/utils.cpp

@@ -63,3 +63,20 @@ bool operator== (const Offset& a, const Offset& b) { return a.x == b.x && a.y ==
 bool operator!= (const Offset& a, const Offset& b) { return !(a == b); }
 bool operator== (const Offset& a, const int& b) { return a.x == b && a.y == b && a.z == b; }
 bool operator!= (const Offset& a, const int& b) { return !(a == b); }
+
+
+double knotsToMs(const double knots) {
+    return knots / 1.94384;
+}
+
+double msToKnots(const double ms) {
+    return ms * 1.94384;
+}
+
+double ftToM(const double ft) {
+    return ft * 0.3048;
+}
+
+double mToFt(const double m) {
+    return m / 0.3048;
+}