disaggregatedMoveAlongController.h

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



#pragma once

#include <vlutil/vlConfig.h> 
#include <vector>

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfmodel/entityRouteFollowingData.h"
#include "vrfmodel/entityRouteTraversalState.h"
#include "vrfobjcore/cmdChanRadio.h"

class DtVrfAggregateStateRepository;
class DtFormationState;
class DtMoveAlongTask;
class DtSimMessage;
class DtAggregateMoveAlongPSR;
class DtAggregateMoveAlongDescriptor;
class DtSetDataRequest;
class DtVrfObjectManager;
class DtMaintainFormationMonitor;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtDisaggregatedMoveAlongController : public DtSingleTaskControllerComponent
{
public:

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


   virtual ~DtDisaggregatedMoveAlongController();

   virtual DtString type() const;

   virtual bool init();

   virtual void registerTaskMsgCallbacks();

   virtual void tick();

   virtual void clearTask();

   virtual bool createPSR();

   virtual DtSimTaskStatePtr currentTaskState() const;

   static void moveAlongTaskCallback(DtSimMessage * msg, void * usr, DtSimTaskStatePtr taskState);

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

   static void formationChangedCallback(const DtFormationState& formationState, 
      void* usr);

   static void routeChangedCallback(DtVrfObject* obj, void * usr);

   static void objectAddedCb(DtVrfObject * vrfObject, void * usr);

   static void objectAboutToBeRemovedCb(DtVrfObject * vrfObject, void * usr);

   static void objectManagerRemoveAndDeleteAllCallback(
      const DtVrfObjectManager& objectManager, void* usr);

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

protected:

   virtual void initializeMoveAlongTask(DtVrfObject& route, DtIteratorDirection traversalDirection, 
      bool startAtClosestPoint, DtSimTaskStatePtr taskState);

   virtual void processFormationChanged(const DtFormationState& formationState);

   virtual void processMoveAlongTask(DtSimMessage * msg, DtSimTaskStatePtr taskState);

   virtual void processTaskComplete(DtSimMessage * msg);

   virtual void processRouteChanged(const DtVrfObject& obj);

   virtual void processObjectAdded(DtVrfObject * vrfObject);

   virtual void processObjectAboutToBeRemoved(DtVrfObject * vrfObject);

   virtual void moveTo(const DtString& routeName,
      bool traverseForward);

   virtual void moveAlong(const DtString& route, bool traverseForward, bool startAtClosestPoint);

   virtual void generateFormationRoutes(const DtVrfObject& route,
      bool reverseDirection);

   virtual void buildEntityRouteFollowingMap(
      std::map<DtVrfObject*, DtEntityRouteFollowingData>& map);

   virtual void sendTaskToSubordinate(const DtSimTask& task, 
      const DtString& subordinateObjectName) const;

   virtual void sendSetDataToSubordinate(const DtSetDataRequest& setData, 
      const DtString& subordinateObjectName) const;

   virtual void deleteFormationRoutes();

   virtual void onObjectManagerRemoveAndDeleteAll(const DtVrfObjectManager& objectManager);

   virtual bool calculateInitialPositionAndHeadingAlongRoute(const DtVrfObject& route, 
      bool traverseForward, DtVector& initialPosition, double& initialHeading);

   virtual void sendVrfObjectModifyMsg(const DtEntityIdentifier& id, DtList* vertices) const;

   virtual void initializeNextRouteIndex();

   virtual unsigned int nextRouteIndex();

   virtual bool buildOffsetRoute(const DtList& localRouteVertexList,
      const DtVector& bodyOffset,
      bool reverseDirection,
      bool generateRoutesWithRoundedCorners,
      double vertexSpacingAlongRoundedCorners,
      DtList& geocentricOffsetRouteVertexList);

   virtual void registerRouteCallbacksIfNeeded();

   virtual void initializeMemberDataFromDescriptor(
      const DtAggregateMoveAlongDescriptor& desc);

   virtual void maintainMovementInFormation();

   virtual void reevaluateMoveAlongAssignments();

   virtual void sendClearTask(const DtString& recipientName, const DtSimTaskMessageType& taskType) const;

   virtual bool adjustOffsetRouteStart(std::vector<DtVector>& route) const;

   virtual bool adjustOffsetRouteEnd(std::vector<DtVector>& route) const;

   virtual bool extendRouteStart(std::vector<DtVector>& route, 
      double distance) const;

   virtual bool clipRouteEnd(std::vector<DtVector>& route, double distance) const;

   virtual DtMaintainFormationMonitor* createFormationMonitor(DtVrfObject* entity) const;

   virtual bool publishFormationRoutes() const;

   virtual bool shouldGroundClamp() const;

private:

   DtDisaggregatedMoveAlongController();

   DtDisaggregatedMoveAlongController(const DtDisaggregatedMoveAlongController& orig);

   DtDisaggregatedMoveAlongController& operator=(const DtDisaggregatedMoveAlongController& orig);

protected:

   std::map<int, DtString> myPromotionIndexRouteNameMap;

   DtMaintainFormationMonitor* myMaintainFormationMonitor;

   double myMaintainFormationTickInterval;

   double myTimeToNextMaintainFormationTick;

   std::map<DtVrfObject*, DtEntityRouteFollowingData> myEntityRouteFollowingMap;

   std::map<DtVrfObject*, DtEntityRouteTraversalState> myEntityRouteTraversalStateMap;

   DtVrfAggregateStateRepository* myAggregateStateRepository;

   DtFormationState* myFormationState;

   DtCommandChannelRadio* myCommandRadio;

   bool myGenerateRoutesWithRoundedCorners;

   double myVertexSpacingAlongRoundedCorners;

   DtAggregateMoveAlongPSR* myProcessState;

   const DtAggregateMoveAlongDescriptor* myAggregateMoveAlongDescriptor;

   bool myRegisteredFormationChangedCallback;

   bool myRegisteredObjectCallbacks;   

   bool myFirstTick;

   unsigned int myNextRouteIndex;

   DtSimTaskStatePtr myCachedTaskState;
};