activeSonarSensor.h

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/*******************************************************************************
** Copyright (c) 2024 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/passiveSonarSensor.h"

class DtVrfActiveSonarSystem;
class DtActiveSonarSensorPSR;
class DtSimMessage;
class DtVrfObjectMessage;
class DtVrfObjectCommunicationInterface;
class DtActiveSonarSensorDescriptor;
class DtUUID;

#include "vrfmodel/vrfmodelDefines.h"

class DT_DLL_vrfmodel DtActiveSonarSensor : public DtPassiveSonarSensor
{
private:
   DtActiveSonarSensor();

   DtActiveSonarSensor(const DtActiveSonarSensor & 
      orig);

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

public:

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

   virtual ~DtActiveSonarSensor() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual int sensorType() const override;

   virtual void tick() override;

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

   virtual void setSensorEnabled(bool) override;

protected:
   virtual bool detectObject(DtSimObjectReference object, DtRwSensorContactInfo* contactInfo) override;

   virtual ContinueDetectingResult continueDetectingObject(DtSimObjectReference object,
      DtRwSensorContactInfo* contactInfo,
      bool& contactInfoModified) override;

   virtual const char* defaultPSRType() const override;

   virtual void createAndInitActiveSonarSystem();

   virtual void destroyActiveSonarSystem();

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

   virtual void processSetActiveSonarMode(DtSimMessage *msg);

   static void requestActiveSonarModesCallback(const DtVrfObjectMessage* msg, void* usr);
   virtual void processRequestActiveSonarModes(const DtUUID& receiver, 
                                              const DtUUID& sender, 
                                              const DtVrfObjectMessage* msg);

   virtual void updateActiveSonarMode(const DtString modeToUse = "");

   virtual void preFirstTickInit() override;

protected:
   
   DtVrfActiveSonarSystem* myActiveSonarSystem;
   
   DtActiveSonarSensorPSR* myActiveSonarSensorPSR;
   
   DtActiveSonarSensorDescriptor* myDescriptor;

   bool myInitializeSonar;
   bool mySkipFirstTick;
   int myActiveSonarSystemId;
};