railMovementController.h

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



#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include <matrix/vlVector.h>
#include <list>
#include "vrfutil/rwRailSegment.h"
#include "vrfobjcore/railMovementControllerPSR.h"
#include "vrfutil/rwTemplatedList.h"
#include "vrfmodel/railObstructionInfo.h"

class DtRailSegment;
class DtRailMovementDescriptor;
class DtRailMovementDriver;
class DtRailMovementUpdater;
class DtRailSplineCalculator;
class DtRailMoveAlongTask;
class DtVrfMovingObjectStateRepository;
class DtRailObstructionFinder;
class DtBoolSetting;

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

   virtual ~DtRailMovementController();

   virtual DtString type() const;

   virtual bool init();

   virtual void preFirstTickInit();

   virtual void tick();

   virtual void clear();

   virtual bool tickWhileDestroyed() const;

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

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

   virtual void processMoveAlongTask(DtSimMessage * msg);

   virtual void registerTaskMsgCallbacks();

   static void setConvoyFollowCallback(DtSimMessage * msg, void * usrData);

   virtual void setCurrentMovementState(DtRailMovementState state);
   virtual DtRailMovementState currentMovementState() const;

   virtual DtRailSegment * nextSegment();   

   virtual DtRailSegment * peekNextSegment() const;
   
   virtual bool drivingOnLeftEnabled() const;
   
   virtual const int turnDirection() const;
   virtual void setTurnDirection(const int turn);

   virtual bool turning() const;
   virtual void setTurning(bool turn);

   virtual const int currentLane() const;
   virtual void setCurrentLane(const int lane);

   virtual const int passingLane() const;
   virtual void setPassingLane(const int lane);

   virtual void setFollowThreshold(const double);
   virtual const double followThreshold() const;

   virtual const double followSpeedFactor() const;
   
   virtual DtRailSegmentList * pathList();
   virtual const DtRailSegmentList * pathList() const;
   
   virtual bool setUpDestination(DtRailSegment * seg,bool incrementSegmentIndex = true,
      bool useCurrentPos = false,DtVector pos = DtVector::zero());

   double getDistanceSqAlongSeg(const DtRailSegment* seg,
      const DtVector & point);

   double getDistanceBehindConvoyTarget(DtVrfObject * convoyTgt);

   virtual double travelDistanceSq();

   virtual bool ifDrawDebugRoutes() const;
   virtual void drawDebugSplineTurnRoute(const DtVector & ee,const DtVector & md,const DtVector & ex);
   virtual void drawDebugSplineTurnRoute(DtRailSplineCalculator &spline);

   virtual DtVrfObject* getObjectFromObstruction(DtRailObstructionPtr &obs);

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

protected:

   DtRailMovementController();

   DtRailMovementController(
      const DtRailMovementController& orig);

   DtRailMovementController& operator=(
      const DtRailMovementController& orig);

   virtual bool createPSR();

   virtual void processSetting( const DtBoolSetting* setting);

   virtual void processSetConvoyFollowCallback(DtSimMessage * msg);

   virtual bool initializeCurrentState(DtRailMoveAlongTask * task);

   virtual bool setUpRoute(const DtRwRailSegmentList& path);

   virtual int entryLanePosition(double heading,unsigned int numLanes);

   virtual void checkMovementState(const int passingLane);

   virtual void clearTask();

   virtual bool decideToGiveUpTask() const;

   virtual int findObstructionsAndAdjust(DtRailObstructionFinder* obsFinder,
      const DtRailMovementDriver* railDriver, const DtVrfObject* entity, const DtVrfObject* convoyTgt, 
      const int drivingLane, const int passingLane, double &drivingSpeed);

   virtual void testObstructionFinder(const int drivingLane,const double drivingSpeed);

   virtual void clearPath();
  
   
protected:

   DtVector            myLocalDestination;
   DtRailSegmentList          myPath;
   //This points to the upcoming segment, not the one we are currently on.
   DtRailSegmentListIterator myPathIterator;
   DtRailMovementControllerPSR* myProcessState;

   double         myTurnDistanceSq;
   int            myTurnDirection; 
   bool           myDrivingOnLeft;

   DtVrfMovingObjectStateRepository * myMovingStateRep;
   DtRailSegment *            myCurrentSegment;
   DtRailSegment *            myNextSegment;

   DtRailMovementDriver *     myRailDriver;
   DtRailMovementUpdater *     myRailUpdater;
   DtVector                    myPassingPoint;

   bool myNotInitialized;

   const DtRailMovementDescriptor* myRailMoveDescriptor;

   DtRailObstructionFinder* myObstructionFinder;

   std::list<DtString> myTurnBugNameList;
};