kynapseManager.h

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/*******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include <bhaveSim/bhaveSimDefines.h>

#include <map>
#include <list>
#include <vector>
#include <string>

#include <vrfcore/simManager.h>
#include <vrfobjcore/vrfObjectManager.h>
#include <vrfobjcore/vrfObject.h>
#include <vrfobjcore/vrfObjectStateRepository.h>
#include <geometry/point.h>

#include "bhaveMsgs/setBhaveMovementMode.h"
#include "bhaveSim/bhaveFactories.h"
#include "bhaveSim/vrfBodyManager.h"
#include "bhaveSim/kynapseObstacleManager.h"

#include <kyruntime.h>

class DtCgf;
class DtVrfObject;
class DtObjectType;
class DtString;
class DtFilename;
class PathDataMgr;
class DtBhavePluginOptions;

namespace BHAVE
{
   class DtKynapseManager;
   class DtVrlLogBridge;
   class DtDrawingViewerBridge;
   class DtVrfCollisionBridge;


#define BHAVE_PARAMS_DIR "../data/parameters/BHAVE"
#define BHAVE_RUNTIME_CONFIG "bhave_conf.xml"

class DT_DLL_bhaveSim DtKynapseManager
{

public:
   static DtKynapseManager* instance();

   virtual ~DtKynapseManager();

   virtual bool init(DtCgf* cgf);

   virtual void closeKynapseWorld();

   DtBhavePluginOptions* pluginOptions();

   //Accessors
   virtual Kaim::World* getKynapseWorld() {return myWorld;}
   virtual DtCgf* getCgf() {return myCgf;}
   virtual DtBhaveFactories* getFactories() {return DtBhaveFactories::instance();}

   virtual bool dbHasPathdata(const std::string& dbName);

   virtual double getPathDataHeight(const DtString& pathDataName) const;

protected:
   virtual void registerKynapseActuators();

   virtual void registerKynapseControllers();

   static void preLoadTerrainCallback(const DtFilename& filename, void* usr);
   virtual void processPreLoadTerrainCallback(const DtFilename& filename);
   static void postLoadTerrainCallback(const DtFilename& filename, void* usr);
   virtual void processPostLoadTerrainCallback(const DtFilename& filename);

   static void simTickCallback(void*);

   static void postTickCallback(void*);

   virtual void processSimTick(void*);

   virtual void processPostTick(void*);

   virtual void updateAllKynapsePositions();

   bool PrepareWorld();

   void disableBHAVETasks(DtVrfObject * vrfObject);

   Kaim::Bot* getKynBotByVrfObject(DtVrfObject * vrfObject);


private:
   DtKynapseManager();

   bool BHAVELicenseCheck();

protected:

   static DtKynapseManager* theKynapseManager;
   static Kaim::Engine* theKynapseEngine;

   DtBhavePluginOptions* myBhavePluginOptions;  
   DtCgf* myCgf;                                
   Kaim::World * myWorld;                       
   DtVrlLogBridge * myLogBridge;                
   DtDrawingViewerBridge * myDrawingBridge;     
   DtVrfCollisionBridge * myCollisionBridge;    
   DtKynapseObstacleManager* myObstacleManager; 
   DtVrfBodyManager* myBodyManager;             

   std::list<Kaim::PathData*> myPathDataList;   
   std::set<Kaim::Database*> myPathDatabaseSet; 

   DtFilename myTerrainFilename; 

   std::map<DtString, double> myPathDataHeights;


   int myTickCount;
};


} //namespace BHAVE