//-*-c++-*-
#ifndef Included_PilotTest_h_
#define Included_PilotTest_h_

#include "Behaviors/StateMachine.h"
#include "DualCoding/DualCoding.h"

using namespace DualCoding;

class PilotTest : public VisualRoutinesStateNode {
public:
  PilotTest() : VisualRoutinesStateNode("PilotTest") {}

  class SetupRequest : public VisualRoutinesStateNode {
  public:
    SetupRequest() : VisualRoutinesStateNode("SetupRequest") {}
    virtual void DoStart() {
      NEW_SHAPE(target, PointData, new PointData(worldShS, Point(200, 0, 0, allocentric)));
      PilotRequest pilotreq(PilotRequest::gotoShape);
      pilotreq.targetShape = target;
      pilot.executeRequest(this,pilotreq);
    }
  };

  virtual void setup() {
#statemachine
  startnode: SetupRequest() =PILOT=> SpeechNode("Arrived at destination")
#endstatemachine
      }
};

#endif