humanCrosswalkController.h

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/*******************************************************************************
** Copyright (c) 2016 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/humanCrosswalkControllerPSR.h"
#include <vrfNavigation/navArea.h>

class DtActiveBotNavInterface;
class DtScriptedTaskTask;
class DtHumanStateRepository;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtBooleanOutputPort;
class DtHumanCrosswalkControllerDescriptor;

class DT_DLL_vrfmodel DtHumanCrosswalkController : public DtSingleTaskControllerComponent
{
private:
   DtHumanCrosswalkController();
   DtHumanCrosswalkController(const DtHumanCrosswalkController& orig);
   DtHumanCrosswalkController& operator=(const DtHumanCrosswalkController& orig);
public:
   DtHumanCrosswalkController(const DtString& name, DtVrfObject* owner,
      DtSimManager* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtHumanCrosswalkController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

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

protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual DtHumanCrosswalkControllerPSR* createPSR();

   virtual bool usingNavBot() const;

   virtual DtRoadCrossingState upcomingCrossing(DtNavTag& crosswalkNavTag) const;

   virtual DtRoadCrossingState currentCrossing(DtNavTag& crosswalkNavTag) const;

   virtual bool canCross(const DtNavTag& navTag) const;

   virtual double getCrossingHeading(const DtNavTag& navTag) const;

   virtual bool isRoadNavTag(const DtNavTag& navTag) const;

   virtual bool isCrosswalkNavTag(const DtNavTag& navTag) const;

   virtual void updateTaskVisualizations();

   static void navigationInterfaceChanged(DtVrfObject*, void* usr);
   virtual void processNavigationInterfaceChanged(DtVrfObject*);

protected:

   DtHumanCrosswalkControllerDescriptor* myHumanCrosswalkDescriptor;

   DtActiveBotNavInterface* myNavInterface;

   DtHumanCrosswalkControllerPSR* myProcessState;



   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtBooleanOutputPort* myIsMovingPort;

   DtBooleanOutputPort* myUseCollisionAvoidancePort;

};