include/bhaveSim/kynapseCtrl.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include <vrfobjcore/singleTaskControllerComponent.h>
#include <vrftasks/userTask.h>
#include <vrfobjcore/entityTargetInformation.h>

#include <bhaveSim/bhaveSimDefines.h>
#include <kyruntime.h>

#define KYCRTL_PUBLISH_ROUTE_REFRESH_RATE 10 //debug route will be checked every 10 ticks

class DtAnalogOutputPort;
class DtBooleanOutputPort;
class DtConstrainedIntegerOutputPort;
class DtConstrainedAnalogOutputPort;
class DtOutputPortGroup;
class DtGroundVehicleStateRepository;
class DtScenario;
class DtAnalogOutputPort;
class DtAnalogOutputPort;
class DtOutputPortGroup;
class DtSensorContactListInputPort;
class DtSensorContactInfoList;
class DtVrfObjectMessage;


namespace BHAVE
{
   class KynapseDescriptor;
   class DtKynapsePSR;
   class DtVrfEntityBot;

const char DtKynapseControllerType[] = "kynapse-controller";

static void setLocationRequestCallack(DtSimMessage * msg, void * usrData);

class DT_DLL_bhaveSim DtKynapseController : public DtSingleTaskControllerComponent
{
public:

   DtKynapseController(const DtString & name, DtVrfObject* owner, 
      DtSimManager * simManager, DtComponentDescriptor* desc = NULL,
      DtReaderWriterRegistry * parentRegistry = 0);
   
   virtual ~DtKynapseController();
   
   DtKynapseController(const DtKynapseController& orig);
   
   DtKynapseController& operator=(const DtKynapseController& orig);

   virtual bool init();
   
   virtual DtString type() const;

   virtual void setComponentDescriptor(DtComponentDescriptor* descriptor);

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


   virtual void registerTaskMsgCallbacks();

   virtual void unregisterTaskMsgCallbacks();
   
   static void userTaskCallback(DtSimMessage * msg, void * usr);
   
   virtual void processUserTask();
   
   DtVrfEntityBot* kynapseEntity();

   const DtSensorContactInfoList& getSensorContacts();


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

   virtual DtBoolean checkTick();

   virtual void NotifyTaskCompleted(bool success = true);

   virtual void clearTask();

   virtual void tick();

   virtual void firstTick();

   virtual void processSetBhaveMovementMode(DtSimMessage* msg);

   void drawDebugRoutes();

protected: 

   virtual DtBoolean createPorts();
   virtual DtBoolean createPortGroups();

   virtual bool createKynapsePSR();

   static void aboutToSaveCheckpointCallback(DtScenario& scn, void* usr);
   virtual void processAboutToSaveCheckpoint();

   static void postLoadCheckpointCallback(const DtScenario& scn, void* usr);
   static void postRewindCallback(void* usr);
   virtual void processPostLoadCheckpoint();

   static void objectAboutToBeRemovedCallback(DtVrfObject* object, void* usr);
   virtual void processObjectAboutToBeRemoved(DtVrfObject* object);

   static void objectDestroyedCallback(DtVrfObject* obj, DtVrfObjectPredicateEvaluator* eval, void* usr);
   virtual void processObjectDestroyed(DtVrfObject* obj);

   virtual bool updateDebugRoute();
   
   
   virtual void clearDebugRoute();

   virtual void setBhaveMovementMode(const DtString & movementMode);

   virtual bool IsExecutingBHAVETask();

   virtual DtBoolean applyKynapseRecommendations();

   virtual DtBoolean deactivateOutputControl() {return false;};

protected: 

   DtKynapsePSR* myKynapsePSR;

   bool myFirstTick;
   
   const KynapseDescriptor* myKynapseDescriptor;

   DtVrfEntityBot* myKynapseEntity;

   bool pathFindingAccidentAlreadyReported;
   DtUserTask *myUserTask;

   struct VRFDebugInfo {
      int skipUpdateTickCount;
      bool draw;
      bool needsRedraw;
      std::list<DtVector> localVRFPath;
   } debugView;
};

} //namespace BHAVE