include/vrfmodel/gndMvToDestinationCntlr.h

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/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once


#include "vrfmodel/gndAutoCntlr.h"
#include <matrix/vlVector.h>
#include "vrfobjcore/automotivePSR.h"

class DtString;
class DtSimManager;
class DtSimMessage;
class DtGroundMoveToDescriptor;
class DtRangeAndDirectionNetworkSegmentMetric;
class DtCollisionInputPort;
class DtInputPortGroup;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtGroundMoveToDestinationControllerComponent : public DtGroundAutoControllerComponent
{
public:

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

   virtual ~DtGroundMoveToDestinationControllerComponent();

   virtual bool init();

   virtual void setComponentDescriptor(DtComponentDescriptor *componentDescriptor);

   virtual void tick();

   virtual DtString type() const;

   static void setLocationCallback(DtSimMessage* msg, void* usr);
   virtual void processSetLocation(DtSimMessage* msg);
   
   static void modifyVrfObjectCallback(DtSimMessage* msg, void* usr);
   virtual void processModifyVrfObject(DtSimMessage* msg);

   static void setStayInLaneCallback(DtSimMessage* msg, void* usr);
   virtual void processSetStayInLane(DtSimMessage* msg);

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

   virtual void registerTaskMsgCallbacks();

   virtual bool getDestination(DtVector & destination);

   virtual const DtVector& destinationVector() const;

   virtual double findDesiredSpeed();

   virtual double findDesiredHeading();

   virtual DtAutoTransmissionGearEnum determineGearSetting();

   virtual bool nearDestination();

   virtual bool atDestination();

   virtual bool passedDestination();

   virtual void stop();

   virtual bool findUsableRoad(double targetHeading);

   virtual double calculateSteeringForRoad(double currentHeading);

   virtual void doMoving();

protected:
   virtual bool setupDestination();

   virtual void setupDestinationVector() const;

   virtual void invalidateDestinationVector() const;

   virtual double desiredHeadingFromDestination(const DtDcm& localToTopoDcm);

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

   virtual void setupRoadMetric();

   virtual bool stayInLaneEnabled();

   virtual bool decideToGiveUpTask() const;

   virtual bool createPortGroups();
   virtual bool createPorts();

   virtual void setDestinationIsInsideObstruction(bool yesNo);

   virtual bool destinationIsInsideObstruction() const;

   virtual double sideOfRoad();

private:
   DtGroundMoveToDestinationControllerComponent();

   DtGroundMoveToDestinationControllerComponent(const DtGroundMoveToDestinationControllerComponent &orig);

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

protected:

   double            myDistanceSquared;

   DtVector          myLocalDestination;
   DtVector          myWorldDestination;

   mutable DtVector  myDestinationVector;
   mutable bool      myDestinationVectorIsValid;

   double            myDesiredSpeed;
   double            myCurrentSpeed;

   bool              myAtDestination;
   bool              myNearDestination;
   bool              myPassedDestination;

   const DtGroundMoveToDescriptor* myMoveToDescriptor;
   DtRangeAndDirectionNetworkSegmentMetric* myRoadMetric;


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;


   bool myDestinationIsInsideObstruction;
};