lookAtPointController.h

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/*******************************************************************************
** Copyright (c) 2017 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"

class DtVectorOutputPort;
class DtBooleanOutputPort;
class DtAnalogOutputPort;
class DtLookAtPointControllerPSR;
class DtSimMessage;
class DtScriptedTaskTask;

class DT_DLL_vrfmodel DtLookAtPointController :  public DtSingleTaskControllerComponent
{

public:

   DtLookAtPointController(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtLookAtPointController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

   static void setLookAtPointCallback(DtSimMessage * msg, void * usr);
   virtual void processSetLookAtPoint(DtSimMessage* msg);

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

protected:

   virtual bool createPorts();

   virtual bool createPortGroups();

   virtual DtLookAtPointControllerPSR* createPSR();

   virtual void registerTaskMsgCallbacks();

   static void nodHeadCallback(DtSimMessage* msg, void* usrData);
   virtual void processNodHead(DtSimMessage*);

   static void shakeHeadCallback(DtSimMessage* msg, void* usrData);
   virtual void processShakeHead(DtSimMessage*);

   virtual void performLookAt();
   virtual void performTask();

   virtual void getTaskValues(DtScriptedTaskTask* task, double& minRange, double& maxRange, double& rate, int& time);

   virtual void clearTask();

private:

   DtLookAtPointController();

   DtLookAtPointController(const 
      DtLookAtPointController & orig);

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


protected:

   DtLookAtPointControllerPSR* myProcessState;



   DtOutputPortGroup* myLookAtControlPortGroup;

   DtVectorOutputPort* myLookAtPointPort;

   DtBooleanOutputPort* myLookAtAnglePort;

   DtAnalogOutputPort* myLookAtAzimuthPort;

   DtAnalogOutputPort* myLookAtElevationPort;

   DtBooleanOutputPort* myForbidBaseRotationPort;

   DtAnalogOutputPort* myNodOrShake;

   DtVectorOutputPort* myNodOrShakeRates;

   DtBooleanOutputPort* myResetHead;

};