groundLeadFormationController.h

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/****************************************************************************
 * Copyright (c) 2022 MAK Technologies, Inc.
 * All rights reserved.
 ****************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include <vrfobjcore/simObjectReferenceList.h>
#include "vrfobjcore/constrainedAnalogIOPort.h"
#include "vrfobjcore/taskControllerComponent.h"
#include "vrfmodel/groundAutoControllerComponent.h"
#include "vrfobjcore/inputPortGroup.h"
#include "vrfobjcore/outputPortGroup.h"
#include "vrfobjcore/collisionIOPort.h"
#include "groundFollowInFormationController.h"

class DtLocalVectorIterator;
class DtVectorOutputPort;

class DT_DLL_vrfmodel DtGroundLeadFormationControllerComponent : public DtGroundFollowInFormationControllerComponent
{
public:

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

   virtual ~DtGroundLeadFormationControllerComponent();

   virtual const char* type() const;

   virtual void endFollowInFormation(bool taskSuccess = true);

   virtual void registerTaskMsgCallbacks();

   virtual void clearTask();

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

   virtual void doMoving();

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

   virtual bool isLeaderCapable() const;

   virtual bool checkTaskEndCondition();

protected:
   virtual void processFollowInFormation(const DtTaskMessage& msg);

   virtual DtVector shiftLocationAlongRoute(double shiftDistance,
      std::vector<DtVector> testRoute, DtVector initalLoc, int segmentIndex);

   virtual double headingTo(DtVector localDestination);

   virtual void updateTaskVisualizations();

private:

   DtGroundLeadFormationControllerComponent();

   DtGroundLeadFormationControllerComponent( const DtGroundLeadFormationControllerComponent& orig);

   DtGroundLeadFormationControllerComponent& operator = ( const DtGroundLeadFormationControllerComponent& orig );

protected:

   DtSimObjectReferenceList myFollowers;
   DtSimObjectReference myMainRoute;
   double myFormationWidth;
   double myFormationLength;

};