include/vrfmodel/railPathController.h

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/*******************************************************************************
** Copyright (c) 2010 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: railPathController.h,v $ $Revision: 1.1 $ $State: Exp $
** Created: 4/8/10 MEM
*******************************************************************************/




#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include <matrix/vlVector.h>
#include "vrftasks/setDataReq.h"
#include "vrfutil/railSegment.h"

class DtRailPathPlanner;
class DtPathMetric;
class DtRailPathMetric;
class DtRailPathControllerPSR;
class DtRailPathControllerDescriptor;
class DtSettingsObject;
class DtBoolSetting;

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

public:

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

   virtual ~DtRailPathController();

   virtual bool init();

   virtual bool createPSR();

   virtual DtString type() const;

   virtual void registerTaskMsgCallbacks();

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

   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 processSetting( const DtBoolSetting* setting);

   virtual bool drivingOnLeftEnabled() const;

   virtual void startPlannedMoveTo(const DtString& objectName);

   virtual void startPlannedMoveTo(const DtVector& localDestination);

   virtual void moveToRailEntry(DtRailSegmentList* rails,const DtVector& entryPt);

   virtual void directMove();

   virtual void registerDestinationChangedCallback();

   virtual void unregisterDestinationChangedCallback();

   virtual DtVrfObject* publishDebugPath();

   virtual void removeDebugPath();

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

   virtual bool destinationValid(DtVector& localDest);

   virtual void clearTask();

   virtual DtPathMetric* createPathMetric();

public:

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

protected:
   DtRailPathPlanner* myPathPlanner;

   DtRailPathControllerPSR* myProcessState;
   //Keep track of which subtask we're responsible for
   int   mySubTaskId;

   const DtRailPathControllerDescriptor* myPathDescriptor;
   bool myDestinationChangedCallbackRegistered; 

   DtVector myStartPoint; 
   DtVector myEndPoint; 
   DtRailPathMetric* myPathMetric;
   bool myDrivingOnLeftEnabled;
   bool myFirstTick;
};