moveAlongWithActionsController.h

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/*******************************************************************************
** Copyright (c) 2020 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

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

class DtString;
class DtSimulationServices;
class DtTaskMessage;
class DtMoveAlongWithActionsPSR;
class DtVectorInputPort;
class DtMoveAlongRouteTimeEstimator;


class DtRouteAction;
class DtRouteLegActionsEntry;

class DT_DLL_vrfmodel DtMoveAlongWithActionsController : public DtSingleTaskControllerComponent
{
public:

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

   virtual ~DtMoveAlongWithActionsController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

   virtual void clearTask();

   static void setSpeedRequiredCallback(DtSimMessage * msg, void * usr);
   virtual void processSetSpeedRequired(DtSimMessage* msg);

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

protected:
   virtual void registerTaskMsgCallbacks();

   virtual bool createPorts();

   virtual bool createPSR();

   virtual void createTimeEstimator();

   static void taskCompleteReportCallback(DtSimMessage * msg, void * usr);
   virtual void processTaskComplete(DtSimMessage * msg);

   static void moveAlongWithActionsTaskCallback(DtSimMessage* msg, void* usr);
   virtual void processMoveAlongWithActionsTask(DtSimMessage* msg);

   static void deleteVrfObjectCallback(const DtLocalObject* msg, void * usr);
   virtual void processDeleteVrfObjectCallback(const DtLocalObject* obj);

   virtual void processRouteChanged(const DtSimObject* obj);

   virtual void preFirstTickInit();

   virtual void executeCurrentAction();

   virtual void executeAction(DtRouteAction* routeAction);

   virtual void executeHold();

   virtual void executeTargetAction();
   
   virtual void updateCurrentAction();

   virtual void proceedToNextLeg(const DtVector& position);

   virtual bool passedPosition(const DtVector& position);

   virtual void traverseLegActions(bool stop = false);

   virtual void getActionLocalPosition(double routePosition, const DtVector& startPoint, const DtVector& endPoint, DtVector& localPosition);

   virtual bool passedHoldPosition();

   virtual bool passedTargetPosition();

   virtual void estimateTimeOnTarget();

   virtual void updateHoldAndTargetPointLocations();

   virtual double timeOnTargetWindow() const;

   virtual void updateTaskVisualizations();

private:
   
   DtMoveAlongWithActionsController();

   DtMoveAlongWithActionsController(const DtMoveAlongWithActionsController& orig);

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

protected:

   DtMoveAlongWithActionsPSR*        myProcessState;

   DtVectorInputPort* myCurrentVertexLocationInputPort;
   
   DtVector myCurrentVertexLocation;

   DtVector myCurrentActionPosition;

   bool myEnableActions;

   DtUUID myActionObj;
   
   DtMoveAlongRouteTimeEstimator* myEstimator;

   double myMinSpeed;
   double myMaxSpeed;

   double myHoldUntilTime;
   double myEstRequiredSpeed;
   double myEstTimeOnTarget;
   std::vector<double> myEstVertexTimes;
   std::vector<double> myLastTaskVisVertexTimes;
   DtMovementLocalObjectFacade myMovementLocalObjectFacade;
};