aggregatedMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2012 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"

class DtCgf;
class DtAnalogOutputPort;
class DtVectorOutputPort;
class DtVrfAggregateStateRepository;
class DtAggregatedMoveAlongPSR;
class DtAggregatedMoveToDescriptor;
class DtBooleanOutputPort;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtAggregatedMoveAlongController : public DtSingleTaskControllerComponent
{
   
private:
   DtAggregatedMoveAlongController();
   DtAggregatedMoveAlongController(const DtAggregatedMoveAlongController& orig);
   DtAggregatedMoveAlongController& operator=(
      const DtAggregatedMoveAlongController& orig);
public:
   DtAggregatedMoveAlongController(const DtString& name, DtVrfObject* owner, 
      DtSimManager* simManager, DtComponentDescriptor* desc=0, 
      DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtAggregatedMoveAlongController();

   virtual bool init();

   virtual const char* type() const;

   virtual void preFirstTickInit();

   virtual void tick();

   static void routeChangedCallback(const DtVrfObject* obj, void * usr);
   virtual void processRouteChanged(const DtVrfObject* obj);

   virtual void registerTaskMsgCallbacks();

   static void moveAlongCallback(DtSimMessage* msg, void* usr, DtSimTaskStatePtr taskStatePtr);
   static void moveAlongRetrogradeCallback(DtSimMessage* msg, void* usr, DtSimTaskStatePtr taskStatePtr);

   virtual bool setupRoute();

   virtual bool setupDestination();

   virtual double findDesiredSpeed();

   virtual void stop();

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

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

   virtual bool createPorts();

   virtual bool createPortGroups();

   virtual bool createPSR();

   virtual void doMoving();

   virtual double findDesiredHeading(DtVector& dest);

   //virtual bool destinationIsInsideObstruction(

   //virtual bool decideToGiveUpTask() const;

protected:
   virtual void processMoveAlong(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);
   virtual void processMoveAlongRetrograde(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);

   //virtual void buildLocalRoute();

   virtual void emptyVertexList();

   virtual void processObjectAdded(const DtVrfObject * vrfObject);

   virtual void clearTask();

   virtual void moveToDestination();

   virtual double distanceToDestinationSquared() const;

   virtual bool atDestination();

   virtual bool passedDestination();

   virtual bool getDestination(DtVector & destination);

   virtual DtVector destinationVector() const;

   virtual double atDistance() const;

   virtual bool stayOnRoute() const;

   virtual double minCorrectionDistance() const;

   virtual double maxCorrectionDistance() const;

   virtual double correctionAngle(const double distanceFromLine) const;

   virtual void computePointToSegmentGeometry(
      const DtVector& localPoint,
      const DtVector& localLinePt1, const DtVector& localLinePt2, 
      const Coordinate_System& coordinateSystemRef,
      double& r, bool &leftSide, double &distanceToSegment);

   virtual bool getCurrentRouteSegment(DtVector& routeSegmentStart, 
      DtVector& routeSegmentEnd) const;
   
   DtSimTaskStatePtr currentTaskState() const;

   virtual void calculateRadius();

protected:

   const Coordinate_System* localCS() const;
 
   DtOutputPortGroup* myMovementControlPortGroup;
   DtAnalogOutputPort* mySpeedPort;

   DtAnalogOutputPort* myMovementDirectionPort;

   DtVectorOutputPort* myDestinationOutputPort;

   DtVrfAggregateStateRepository* myTrueAggregateRepository;

   DtAggregatedMoveAlongPSR* myProcessState;

   bool myRouteHasChanged;
   bool myResetVertex;

   DtVector          myLocalDestination;
   DtVector          myWorldDestination;
   double            myUnitRadius;

   DtAggregatedMoveToDescriptor* myAggregatedMoveToDescriptor;
   DtBooleanOutputPort* myRetrogradeOutputPort;
};