surfaceEntityFollowEntityController.h

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/*******************************************************************************
** Copyright (c) 2007 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfutil/scriptGeometry.h"

class DtSimManager;
class DtSimMessage;
class DtString;
class DtSimManager;
class DtAnalogOutputPort;
class DtBooleanOutputPort;
class DtSurfaceEntityActuator;
class DtVrfMovingObjectStateRepository;
class DtSurfaceEntityParameters;
class DtSurfaceEntityPilotControllerDescriptor;
class DtTaskMessage;
class DtSurfaceMovementPSR;

typedef enum
{
   surfFollowNoState,
   surfFollowFar,
   surfFollowBehind,
   surfFollowAhead,
   surfFollowOver,
   surfFollowFacingBack,
   surfFollowTurnToStation
} DtSurfFollowState;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtSurfaceEntityFollowEntityController : 
   public DtSingleTaskControllerComponent
{

public:

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

   virtual ~DtSurfaceEntityFollowEntityController();

   virtual const char* type() const;

   virtual bool init();

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

   virtual void processFollowEntityTask(DtSimMessage* msg);

   virtual void registerTaskMsgCallbacks();

   virtual void tick();

   virtual void clearTask();
   virtual bool createSurfaceControlPortGroup();

protected:
   virtual bool setupControlPoint();

   virtual void controlMovement();

   virtual void moveTowardProjectedStationPosition(double distanceToStation,
      double approachDistance);

   virtual void moveBackToApproachPoint(bool onLeftSide, double approachDistance,
      double turnRadius);

    virtual void turnToProjectedStationLine(
      bool isOnLeft, double radius, double distanceToSegment);

   virtual void accelToCatchUp(double stationSpeed, double entitySpeed,
      double distanceBehindStation);

   virtual void accelToDropBack(double stationSpeed,
      double entitySpeed, double distanceAheadOfStation,
      double distanceFromLine);

   virtual void turnAtSpeed(double desiredHeading,
      double desiredSpeed);

   virtual bool willOverrunPoint(double distanceAhead, double distanceFromLine,
      double entitySpeed, double turnRadius, double pointSpeed, double maxWaitTime);

   virtual double calculateAcceleration(double desiredSpeed);

   virtual double limitAcceleration(double desiredAcceleration,
      double desiredSpeed);

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit();

   virtual bool decideToGiveUpTask() const;

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

protected:
   DtSurfaceEntityFollowEntityController();

   DtSurfaceEntityFollowEntityController(
      const DtSurfaceEntityFollowEntityController & orig);

   const DtSurfaceEntityFollowEntityController & operator=(
      const DtSurfaceEntityFollowEntityController & orig);

protected:
   DtVrfMovingObjectStateRepository * myEntityState;
   DtSurfaceEntityPilotControllerDescriptor * myDescriptor;

   const DtSurfaceEntityParameters* myParameters;

   DtSurfaceMovementPSR* myProcessState;


   DtAnalogOutputPort *myAccelerationPort;
   DtAnalogOutputPort *myClampSpeedPort;
   DtAnalogOutputPort *myTurnRatePort;
   DtAnalogOutputPort *myFinalHeadingPort;

   DtOutputPortGroup* mySurfaceControlPortGroup;


   const DtVrfObject* myLeaderPointer;

   DtLocation3D myGeodCurrentPosition;
   DtVector2D myNEStationToEntity;
//?   DtVector2D myNEVelocity;

   DtLocation3D myGeodStationPosition;
   DtVector2D myUnitNEStationDirection;
   double myStationSpeed;

   DtReal myApproachSpeed;

   bool myIgnoreApproach;

   DtSurfFollowState myFollowState;
};