include/vrfmodel/pathMoveController.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: pathMoveController.h,v $ $Revision: 1.21 $ $State: Exp $
*******************************************************************************/




#ifndef pathMoveController_H_
#define pathMoveController_H_

#include "vrfobjcore/singleTaskControllerComponent.h"
#include <matrix/vlVector.h>
#ifdef WIN32
#include "winsock2.h"
#include "windows.h"
#else
#include <pthread.h>
#endif

class DtPathPlanner;
class DtPathMetric;
class DtPathMovementControllerPSR;
class DtPathMovementControllerDescriptor;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtPathMovementController : public DtSingleTaskControllerComponent
{
private:
   DtPathMovementController();
   DtPathMovementController(const DtPathMovementController& orig);
   DtPathMovementController& operator=(const DtPathMovementController& orig);

public:

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

   virtual ~DtPathMovementController();

   virtual bool init();

   virtual bool createPSR();

   virtual DtString type() const;

   virtual void registerTaskMsgCallbacks();

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

   virtual void processPlannedMoveToTask(DtSimMessage * msg);

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

   virtual void processTaskCompleteReport(DtSimMessage* msg);

   static void destinationChangedCallback(DtVrfObject* obj, void* usrData);

   virtual void processDestinationChanged();


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

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

   virtual void processSetLocation(DtSimMessage* msg);

   virtual void tick();

protected:
   virtual void startPlannedMoveTo(const DtString& objectName);

   virtual void startPlannedMoveTo(const DtVector& localDestination);

   virtual void registerDestinationChangedCallback();

   virtual void unregisterDestinationChangedCallback();

   void abort();

   virtual bool pathDone();

   virtual DtVrfObject* publishPath();

   virtual void removePublishedPath();

   virtual bool makePath(const DtVector& start, const DtVector& end);

   virtual void clearTask();

   static void* staticThreadMain(void* data);

   virtual void threadMain();

   virtual DtPathMetric* createPathMetric();

public:

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

protected:
   DtPathPlanner* myPathPlanner;

   DtPathMovementControllerPSR* myProcessState;

   const DtPathMovementControllerDescriptor* myPathDescriptor;
   bool myDestinationChangedCallbackRegistered; 
   bool myDone;
   volatile bool myProcessing;
#ifdef WIN32
   HANDLE myThread;
#else
   pthread_t myThread;
#endif
   DtVector myStartPoint;
   DtVector myEndPoint;
   DtPathMetric* myPathMetric;

   double myLastMessageTime;
   double myTotalElapsedTime;
};

#endif