surfaceEntityMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/surfaceEntityMoveToLocationController.h"
#include "vrfutil/localVectorIterator.h"

class DtString;
class DtSimulationServices;
class DtRouteState;
class DtSimMessage;
class DtVectorOutputPort;
class DtMoveAlongTask;

#include "vrfmodel/vrfmodelDefines.h"

class DT_DLL_vrfmodel DtSurfaceEntityMoveAlongController : 
   public DtSurfaceEntityMoveToLocationController
{

public:

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

   virtual ~DtSurfaceEntityMoveAlongController();

   virtual const char* type() const;

   virtual bool init(); 

   virtual void preFirstTickInit();

   virtual void clearTask();

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

   virtual void processMoveAlongTask(DtSimMessage * msg);

   static DtReaderWriter* provideCurrentMinTurnRadius(void* controller);

   static DtReaderWriter* provideTurnRadiusForOrderedSpeed(void* controller);

   static DtReaderWriter* provideNextRoutePointIndex(void* controller);

   virtual void processRouteChanged();

   virtual bool atGoal();

   virtual bool passedGoal();



   virtual bool targetNextVertex();

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

   virtual void tick();
   virtual void taskComplete(bool success = true);

protected:
   DtSurfaceEntityMoveAlongController();

   DtSurfaceEntityMoveAlongController
      (const DtSurfaceEntityMoveAlongController& orig);

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

   virtual bool getNextRoutePoint(int & index, 
      DtVector * & point);

   virtual DtVector previousRoutePoint();

   virtual void setStateForCurrentPoint();

   virtual bool setupControlPoint();

   virtual void controlMovement();

   virtual void moveToMiddleOrFinalPoint();

   virtual bool shouldMoveToRouteSegment(double& distanceToSegment);

   virtual void controlMovementToRouteSegment(double distanceToSegment);

   virtual DtReal computeStartTurnDistance2();

   virtual DtReal minTurnRadiusForSpeed(double speed) const;

   virtual DtVrfMovingObjectStateRepository* getSR() {return myEntityState;}
   virtual DtSurfaceMovementPSR* getPSR(){return myProcessState;}
   virtual const DtSurfaceEntityParameters* getParams(){return myParameters;}

   virtual void registerTaskMsgCallbacks();

   virtual void emptyVertexList();

   virtual double integralControl() const;
   virtual double integratedErrorDecayRate() const { return 0.9; }

   virtual double integralControlGain() const { return 0.002; }

   virtual void processEstimatedTotCalculation();

   virtual bool createPorts();

   virtual void processMoveAlongTask(DtMoveAlongTask* moveAlong);

protected:
   double myMinManeuverDistance2;

   double myIntegratedAlignmentError;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;

   DtSimObjectReference myRoute;

   bool myReprocessTask;
};