include/bhaveSim/bhaveMovementChooserController.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
* Copyright 2009 Autodesk, Inc.  All rights reserved.
* Use of this software is subject to the terms of the Autodesk license 
* agreement provided at the time of installation or download, or which otherwise
* accompanies this software in either electronic or hard copy form.
*******************************************************************************/

/*******************************************************************************
** $RCSfile: bhaveMovementChooserController.h,v $ $Revision: 1.3 $ $State: Exp $
*******************************************************************************/


#pragma once

#include <bhaveSim/bhaveSimDefines.h>
#include <vrfmodel/gndMovementChooserController.h>
#include <vrfmodel/railPathPlanner.h>
#include "vrfmodel/railPathMetric.h"
#include <vrfobjcore/railPathControllerPSR.h>
#include "vrfobjcore/boolIOPort.h"
#include <vrfobjparam/pathMoveDesc.h>
#include <bhaveSim/bhaveMovementChooserDescriptor.h>
#include "makSettingsManager/boolSetting.h"

#include "vrfutil/simSettingsObjectTypes.h"
#include "vrfcore/simMgr.h"
#include "vrfcore/vrfSimSettingsManager.h"

class DtPatrolRouteTask;
class DtPatrolTwoPointsTask;

namespace BHAVE
{
class DtVrfEntityBot;

   const char DtBhaveMovementChooserControllerType[] = "bhave-movement-chooser-controller";

class DT_DLL_bhaveSim DtBhaveMovementChooserController : public DtGroundMovementChooserController
{
private:

   DtBhaveMovementChooserController();
   DtBhaveMovementChooserController(const DtBhaveMovementChooserController& orig);
   DtBhaveMovementChooserController& operator=(const DtBhaveMovementChooserController& orig);

public:

   DtBhaveMovementChooserController(const DtString& name, DtVrfObject* owner, 
      DtSimManager* simManager, DtComponentDescriptor* desc = NULL,
      DtReaderWriterRegistry* parentRegistry = NULL);

   virtual ~DtBhaveMovementChooserController();

   virtual bool createPSR();

   virtual void registerTaskMsgCallbacks();

   virtual bool init();

   virtual void initPathPlanner();

   virtual void tick();

   virtual void processSwitchSystemResponse(DtSimMessage* msg);

protected:

   virtual void processTaskCompleteReport(DtSimMessage* msg);

   virtual void processMovementTask(DtFollowEntityTask* taskMsg, int taskId);
   virtual void processMovementTask(DtMoveAlongTask* taskMsg, int taskId);
   virtual void processMovementTask(DtMoveToLocationTask* taskMsg, int taskId);
   virtual void processMovementTask(DtMoveToTask* taskMsg, int taskId);
   virtual void processMovementTask(DtPatrolRouteTask* taskMsg, int taskId);
   virtual void processMovementTask(DtPatrolTwoPointsTask* taskMsg, int taskId);
   virtual void processMovementTask(DtPlanAndMoveToTask* taskMsg, int taskId);
   virtual void processMovementTask(DtPlanAndMoveToLocationTask* taskMsg, int taskId);

   virtual bool attachToVRFRailMovement(DtVrfEntityBot* kynapseTarget, int currentSubtaskId, int currentTaskId);

   static void setLocationCallback(DtSimMessage* msg, void* usr);

   virtual void processSetLocation(DtSimMessage* msg);

   static void settingDrivingSideCallback(const DtSettingsObject* settingsObject, void* usr);

   virtual void processDrivingSide(const DtBoolSetting* setting);

   virtual void switchToRailMovement(int currentTaskId);

   virtual void switchToNormalMovement(int currentTaskId);

public:

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

   virtual bool createPorts();

protected:

   DtRailPathPlanner* myPathPlanner;
   DtRailPathMetric* myPathMetric;
   bool myUsingRails;
   DtBooleanInputPort* myDisableMovementChooserPort;
   bool myDrivingOnLeftEnabled;
   bool myIgnoreRoadDriving;
   

   DtRailPathControllerPSR* myRailProcessState;

   const DtBhaveMovementChooserControllerDescriptor* myPathDescriptor;
};

} //namespace BHAVE