navigationPreferenceController.h

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/*******************************************************************************
** Copyright (c) 2015 MaK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfmodel/setController.h"
#include "vrfobjparam/pathCostEntry.h"

class DtSimMessage;
class DtVrfObject;
class DtNavigationPreferenceDescriptor;
class DtNavigationPreferenceControllerPsr;
class DtNavTag;


class DT_DLL_vrfmodel DtNavigationPreferenceController : public DtSetController
{

public:

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

   virtual ~DtNavigationPreferenceController();

   virtual const char* type() const;

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

   virtual bool init();

   virtual bool postAddComponentsInit();

   virtual void preFirstTickInit();


protected:
   static bool pathCostEvalFcn(const DtNavTag& navTag, float* costMultiplier, void* userData);
   virtual bool evaluatePathCost(const DtNavTag& navTag, float* costMultiplier);

   virtual void buildNormalizedSoilRoughnessFactors();
   virtual void buildSoilAndSemanticFactors();
   virtual void addSoilAndSemanticFactorsFromList(const DtPathCostEntryList& costList);

   virtual bool finalizePathCost(double pathCost, float* costMultiplier);

   static void setNavigationPreferencesCallback(DtSimMessage * msg, void * usr);
   virtual void processSetNavigationPreferences(DtSimMessage* msg);

   static void requestAvailableNavigationPreferencesCallback(const DtVrfObjectMessage* msg, void* usr);
   virtual void processRequestAvailableNavigationPreferences(const DtVrfObjectMessage* msg);

   void sendAvailableNavigationPreferences(const DtUUID& receiver, bool sendList);


   std::map<DtRoughnessSoilType, double> myNormalizedSoilRoughnessFactors;
   std::map<DtU32, double> mySoilCharacteristicFactors;
   std::map<unsigned int, double> mySemanticDataFactors;

   DtNavigationPreferenceDescriptor* myNavigationPreferenceDesc;
   DtNavigationPreferenceControllerPsr* myProcessState;

private:

   DtNavigationPreferenceController();

   DtNavigationPreferenceController(const DtNavigationPreferenceController& orig);

   const DtNavigationPreferenceController & operator=(const 
      DtNavigationPreferenceController& orig);
   DtUUID myFrontEndSender;
};