aggregatedMoveToController.h

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/*******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

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

class DtCgf;
class DtVrfAggregateStateRepository;
class DtSimMessage;
class DtAggregatedMoveToPSR;
class DtOutputPortGroup;
class DtBooleanOutputPort;
class DtVectorOutputPort;
class DtAggregatedMoveToDescriptor;
class DtAnalogOutputPort;
class DtSetDataRequest;
class DtSetDataManager;

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

   virtual ~DtAggregatedMoveToController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

   static void moveToCallback(DtSimMessage * msg, void * usr);
   static void moveToRetrogradeCallback(DtSimMessage * msg, void * usr);

   static void setLocationCallback(DtSimMessage* msg, void* usr);

   static void moveToLocationCallback(DtSimMessage * msg, void * usr);
   static void moveToLocationRetrogradeCallback(DtSimMessage * msg, void * usr);

   static void moveIntoFormationCallback(DtSimMessage * msg, void * usr);

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

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

   static void modifyVrfObjectCallback(DtSimMessage* msg, void* usr);

   virtual void updateTaskVisualizations();

protected:

   virtual void processMoveToTask(DtSimMessage * msg);
   virtual void processMoveToLocationTask(DtSimMessage * msg);
   virtual void processMoveToRetrogradeTask(DtSimMessage * msg);
   virtual void processMoveToLocationRetrogradeTask(DtSimMessage * msg);
   virtual void preFirstTickInit();

   virtual void processDestinationChanged();

   virtual bool setupDestination();

   virtual void setupDestinationVector() const;

   virtual void invalidateDestinationVector() const;

   virtual bool atDestination();

   virtual void doMoving();

   virtual double findDesiredHeading();

   virtual void moveToDestination();

   virtual void stop();

   virtual void registerTaskMsgCallbacks();

   virtual void processModifyVrfObject(DtSimMessage* msg);

   virtual void processSetLocation(DtSimMessage* msg);

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual bool createPSR();

   virtual double distanceToDestination() const;

   virtual void clearTask();

   virtual double atDistance() const;

   virtual void processMoveIntoFormationTask(DtSimMessage* msg);

   virtual void processTurnToHeadingTask(DtSimMessage* msg);

   virtual void sendRequestToSelf(const DtSetDataRequest& request) const;

   virtual void processEstimatedTotCalculation();

protected:


   DtAnalogOutputPort* myMovementDirectionOutputPort;

   DtAnalogOutputPort* mySpeedOutputPort;

   DtOutputPortGroup* myOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;


   DtSimObjectReference myControlPoint;

   DtVector          myLocalDestination;
   DtVector          myWorldDestination;

   mutable DtVector  myDestinationVector;
   mutable bool      myDestinationVectorIsValid;

   bool              myAtDestination;
   double            myDistanceSquared;
   double            myEstimatedTotValue;
   double            myEstimatedTotLastCalcTime;

   const double      DtEstimatedTotCalcInterval = 5.0;

   DtVector          myEstimatedTotTextPos;

   DtVrfAggregateStateRepository* myAggregateStateRepository;

   DtAggregatedMoveToPSR* myProcessState;

   DtAggregatedMoveToDescriptor* myAggregatedMoveToDescriptor;

   DtSetDataManager* mySetDataManager;

   DtBooleanOutputPort* myRetrogradeOutputPort;
};