include/vrfmodel/aggregatedMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/**********************************************************************************
** $RCSfile: aggregatedMoveAlongController.h,v $ $Revision: 1.3 $ $State: Exp $
***********************************************************************************/


#ifndef aggregatedMoveAlongController_H_
#define aggregatedMoveAlongController_H_

#include "vrfobjcore/singleTaskControllerComponent.h"

class DtCgf;
class DtAnalogOutputPort;
class DtVectorOutputPort;
class DtVrfAggregateStateRepository;
class DtAggregatedMoveAlongPSR;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtAggregatedMoveAlongController : public DtSingleTaskControllerComponent
{
private:
   DtAggregatedMoveAlongController();
   DtAggregatedMoveAlongController(const DtAggregatedMoveAlongController& orig);
   DtAggregatedMoveAlongController& operator=(
      const DtAggregatedMoveAlongController& orig);
public:
   DtAggregatedMoveAlongController(const DtString& name, DtVrfObject* owner, 
      DtSimManager* simManager, DtComponentDescriptor* desc=0, 
      DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtAggregatedMoveAlongController();

   virtual bool init();

   virtual DtString type() const;

   virtual void tick();

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

   virtual void processMoveAlongTask(DtSimMessage * msg, DtSimTaskStatePtr taskState);

   static void routeChangedCallback(DtVrfObject* obj, void * usr);
   virtual void processRouteChanged(DtVrfObject* obj);

   virtual void registerTaskMsgCallbacks();

   virtual bool setupRoute();

   virtual bool setupDestination();

   virtual double findDesiredSpeed();

   virtual void stop();

   static void objectAddedCb(DtVrfObject * vrfObject, void * usr);

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

   virtual bool createPorts();

   virtual bool createPortGroups();

   virtual bool createPSR();

   virtual void doMoving();

   virtual double findDesiredHeading();

   //virtual bool destinationIsInsideObstruction(

   //virtual bool decideToGiveUpTask() const;

protected:

   virtual void buildLocalRoute();

   virtual void emptyVertexList();

   virtual void processObjectAdded(DtVrfObject * vrfObject);

   virtual void clearTask();

   virtual void moveToDestination();

   virtual void invalidateDestinationVector() const;
   virtual double distanceToDestination() const;

   virtual bool atDestination();

   virtual bool passedDestination();

   virtual bool getDestination(DtVector & destination);

   virtual const DtVector& destinationVector() const;

   virtual void setupDestinationVector() const;

   virtual double atDistance() const;

   virtual bool stayOnRoute() const;

   virtual double minCorrectionDistance() const;

   virtual double maxCorrectionDistance() const;

   virtual double maxCorrectionAngle() const;

   virtual bool getCurrentRouteSegment(DtVector& routeSegmentStart, 
      DtVector& routeSegmentEnd) const;
   
   DtSimTaskStatePtr currentTaskState() const;

protected:
 
   DtOutputPortGroup* myMovementControlPortGroup;
   DtAnalogOutputPort* mySpeedPort;

   DtAnalogOutputPort* myMovementDirectionPort;

   DtVectorOutputPort* myDestinationOutputPort;

   DtVrfAggregateStateRepository* myTrueAggregateRepository;

   DtAggregatedMoveAlongPSR* myProcessState;

   
   DtVrfObject* myRoute;

   bool myRouteHasChanged;
   bool myResetVertex;

   bool myFirstTick;

   int myPreviousVertex;

   bool              myAtDestination;
   bool              myNearDestination;
   bool              myPassedDestination;

   double            myDistanceSquared;
   DtVector          myLocalDestination;
   DtVector          myWorldDestination;
   double            myCurrentSpeed;
   mutable bool      myDestinationVectorIsValid;
   mutable DtVector  myDestinationVector;

};

#endif