include/vrfutil/rwSensorContactInfo.h

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/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: rwSensorContactInfo.h,v $ $Revision: 1.14 $ $State: Exp $
*******************************************************************************/


#ifndef sensorContactInfo_H_
#define sensorContactInfo_H_

#include "vrfutil/rdrWritr.h"
#include "vrfutil/rwReal.h"
#include "vrfutil/rwList.h"
#include "vrfutil/rwString.h"
#include "vrfutil/rwVector.h"
#include "vrfutil/rwInt.h"
#include "vrfutil/nLenIntVec.h"
#include <vlutil/vlTime.h>
#include "vrfutil/rwFormType.h"
#include "vrfutil/rwTaitBryan.h"
#include "vrfutil/rwObjType.h"
#include "vrfutil/rwForce.h"
#include "vrfutil/rwAppearance.h"
#include <vl/hostStructs.h>
#include "vrfutil/vrfutilDefines.h"

class DtReaderWriterRegistry;

enum DtCIDLevelType
{
   LEVEL_N0_DETECTION = 0,
   LEVEL_DETECTED,
   LEVEL_CLASSIFIED,
   LEVEL_IDENTIFIED,
   LEVEL_FULL_KNOWLEDGE
};


typedef enum
{
   DtSensorTypeUnknown = 0,
   DtSensorTypeVisual =  1,
   DtSensorTypeRadar =   2,
   DtSensorTypeSonar =   3,
   DtSensorTypeInfrared = 4,
   DtSensorTypeSpotReport = 5
} DtSensorTypeEnum;


class DT_DLL_vrfutil DtRwSensorContactInfo : public DtReaderWriter
{
public:
   DtRwSensorContactInfo();
   
   DtRwSensorContactInfo(const DtString& name,
      DtReaderWriterRegistry* const parentRegistry = NULL);
   DtRwSensorContactInfo(const DtSymbolString& name,
      DtReaderWriterRegistry* const parentRegistry = NULL);

   DtRwSensorContactInfo(const DtRwSensorContactInfo& orig,
      DtReaderWriterRegistry* const parentRegistry = NULL);

   virtual ~DtRwSensorContactInfo();

   DtRwSensorContactInfo& operator=(const DtRwSensorContactInfo& orig);


   virtual const DtEntityIdentifier& id() const { return myId; };
   virtual void setId(const DtEntityIdentifier& id) { myId = id; };


   virtual double originalDetectionTime() const { return myOriginalTimeOfDetection; };
   virtual void setOriginalDetectionTime(DtReal origTime) { myOriginalTimeOfDetection = origTime; };


   virtual void setLastTimeOfDetection(double time) { myLastTimeOfDetection = time; };
   virtual double lastDetectionTime() const { return myLastTimeOfDetection; };


   virtual DtString contactName() const { return myContactName; };
   virtual void setContactName(const DtString& name) { myContactName = name; };


   virtual int combatIdentificationLevel() const {return myCombatIdentificationLevel; };
   virtual void setCombatIdentificationLevel(int level) { myCombatIdentificationLevel = level; };


   virtual double detectionError() const {return myDetectionError; };
   virtual void setDetectionError(double level) { myDetectionError = level; };


   virtual void setContactPosition(const DtVector& vector);
   virtual DtVector contactPosition() const;


   virtual void setContactOrientation( const DtTaitBryan& orientation );
   virtual DtTaitBryan contactOrientation() const;
   

   virtual void setContactVelocity( const DtVector& velocity );
   virtual DtVector contactVelocity() const;


   virtual void setContactType(const DtObjectType& type);
   virtual DtObjectType contactType() const;


   virtual void setContactForce(const DtForceType& force);
   virtual DtForceType contactForce() const;


   virtual void setContactFormation(const DtAggregateFormation formation);
   virtual DtAggregateFormation contactFormation() const;
   virtual DtString contactFormationString() const;



   virtual void setContactActivity(DtU32 activityEnum);
   virtual DtU32 contactActivity() const;


   virtual void setContactAppearance(const DtAppearance & app);
   virtual const DtAppearance& contactAppearance() const;
   virtual DtAppearance& contactAppearance() ;

   virtual const DtNLengthIntegerVector& contactSources() const; 
   virtual void setContactSources(const DtNLengthIntegerVector& sources);

   virtual bool addContactSource(int source);

   virtual bool addContactSources(const DtNLengthIntegerVector& sources);


   virtual void removeContactSource(int source);


   virtual int findContactSource( int source);

   virtual DtRwSensorContactInfo* clone() const;

protected:
   DtRwString              myContactName;
   DtEntityIdentifier      myId;
   DtRwReal                myOriginalTimeOfDetection;
   DtRwReal                myLastTimeOfDetection;
   DtRwInt                 myCombatIdentificationLevel;
   DtRwReal                myDetectionError; 
   DtRwVector              myContactPosition;
   DtRwTaitBryan           myContactOrientation;
   DtRwVector              myContactVelocity;
   DtRwObjectType          myContactType;
   DtRwForceType           myContactForce;
   DtNLengthIntegerVector  myContactSourceTypes;
   DtRwFormationType       myContactFormation;
   DtRwInt                 myContactActivity;   
   DtRwAppearance          myContactAppearance;
};

DT_DLL_vrfutil bool mergeContactInfo(DtRwSensorContactInfo & info, const DtRwSensorContactInfo & sourceInfo);

namespace DtBufferSerialize
{
   DT_DLL_vrfutil int getSize(const DtRwSensorContactInfo& data);

   DT_DLL_vrfutil char *encode(const DtRwSensorContactInfo& data, char *buffer);

   DT_DLL_vrfutil const char *decode(DtRwSensorContactInfo &data, const char *buffer) ;
}

#endif