articulatedPartStateComponent.h

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

#pragma once

#include "vrfStateData/stateComponent.h"
#include "vrfStateData/doubleBufferedDataStorage.h"
#include "vrfStateData/articulatedPartManager.h"
#include <vlpi/articulatedPartCollection.h>

class DtSimArtPartDescriptor;

namespace makVrf
{
   class DtArticulatedPartStateRepository;

   struct DT_DLL_vrfStateData DtArticulatedPartStateComponentData
   {
      DtArticulatedPartStateComponentData()
      : myArtPartListModified(false)
      {
      }

      void create()
      {
         myarticulatedPartManager = std::shared_ptr<DtArticulatedPartManager>(new DtArticulatedPartManager);
         myartPartList = std::shared_ptr<DtArticulatedPartCollection>(new DtArticulatedPartCollection);
      }

      DtArticulatedPartStateComponentData(const DtArticulatedPartStateComponentData& orig)
      : myarticulatedPartManager(orig.myarticulatedPartManager)
      , myartPartList(orig.myartPartList)
      , myArtPartListModified(orig.myArtPartListModified)
      {
      }

      DtArticulatedPartStateComponentData& operator=(const DtArticulatedPartStateComponentData& rhs)
      {
         myarticulatedPartManager = rhs.myarticulatedPartManager;
         myartPartList = rhs.myartPartList;
         myArtPartListModified = rhs.myArtPartListModified;

         return *this;
      }

      bool initialized() const { return (myarticulatedPartManager.get() != 0); };
      const DtArticulatedPartManager& articulatedPartManager() const { return *(myarticulatedPartManager.get()); };
      DtArticulatedPartManager& articulatedPartManager(){ return *(myarticulatedPartManager.get()); };

      const DtArticulatedPartCollection& artPartList() const { return *(myartPartList.get()); };
      DtArticulatedPartCollection& artPartList() { return *(myartPartList.get()); };

      void setArtPartListModified(bool b) { myArtPartListModified = b; };
      bool artPartListModified() const { return myArtPartListModified; };
      void clearArtPartListModified() { myArtPartListModified = false; };

   protected:
      std::shared_ptr<DtArticulatedPartManager> myarticulatedPartManager;
      std::shared_ptr<DtArticulatedPartCollection> myartPartList;
      bool myArtPartListModified;
   };


   class DT_DLL_vrfStateData DtArticulatedPartStateComponent : public DtFrameStateInterface
   {
   public:
      DEFINE_STATE_COMPONENT_TYPE(DtStateComponent::ArticulatedPartStateComponent)

      DtArticulatedPartStateComponent(DtStateData* storage)
      : DtFrameStateInterface(storage)
      {
      }

      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartManager, articulatedPartManager)
      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartManager, articulatedParts)
      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartCollection, artPartList)
      virtual DtArticulatedPart& attachPartToListIfMissing(DtArtPartType partType) { throw DtUnimplementedMethod("DtArticulatedPart& attachPartToListIfMissing(DtArtPartType partType) is not implemented for this class."); };
      virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType) { throw DtUnimplementedMethod("DtArticulatedPartStateRepository* attachPart(DtArtPartType partType) is not implemented for this class."); };
      virtual bool artPartListModified() const { throw DtUnimplementedMethod("bool artPartsModified() is not implemented for this class."); };
      virtual void addParameterType(int partType, int parameterType) { throw DtUnimplementedMethod("void addParameterType(int partType, int parameterType) is not implemented for this class."); };
      virtual void detachPartIfAttached(DtArtPartType partType) { throw DtUnimplementedMethod("void detachPartIfAttached(DtArtPartType partType) is not implemented for this class."); };
      virtual void detachPart(DtArtPartType partType) { throw DtUnimplementedMethod("void detachPart(DtArtPartType partType) is not implemented for this class."); };
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentNextFrame : public DtArticulatedPartStateComponent
   {
   public:
      DtArticulatedPartStateComponentNextFrame(DtStateData*);

      const DtArticulatedPartStateComponentData& frameState() const { return myData; };
      DtArticulatedPartStateComponentData& frameState() { return myData; };

      virtual const DtArticulatedPartManager& articulatedPartManager() const override;
      virtual DtArticulatedPartManager& articulatedPartManager() override;

      virtual const DtArticulatedPartManager& articulatedParts() const override;
      virtual DtArticulatedPartManager& articulatedParts() override;

      virtual const DtArticulatedPartCollection& artPartList() const override;
      virtual DtArticulatedPartCollection& artPartList() override;

      void setCoordinateSystem(const Coordinate_System*);

      virtual void makeWritable() override {};

      virtual void makeReadOnly() override {};

      virtual DtArticulatedPart& attachPartToListIfMissing(DtArtPartType partType) override;
      virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType) override;
      virtual void detachPartIfAttached(DtArtPartType partType) override;
      virtual void detachPart(DtArtPartType partType) override;

      void setPublishOnLegionNetwork(bool b);

      virtual void clearModified() override;
      virtual bool artPartListModified() const override;

      virtual void addParameterType(int partType, int parameterType) override;

   protected:
      DtArticulatedPartStateComponentData myData;
      bool myPublishOnLegionNetwork;
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentCurrentFrame : public DtArticulatedPartStateComponent
   {
   public:
      DtArticulatedPartStateComponentCurrentFrame(DtStateData* storage);

      const DtArticulatedPartStateComponentData& frameState() const { return myData; };

      virtual const DtArticulatedPartManager& articulatedPartManager() const override;
      virtual const DtArticulatedPartManager& articulatedParts() const override;
      virtual const DtArticulatedPartCollection& artPartList() const override;

      void setUpdateFromLegionNetwork(bool);
      virtual void clearModified() override;
      virtual bool artPartListModified() const override;

   protected:
      friend class DtArticulatedPartStateComponentImplementation;
      void advanceFrame(const DtArticulatedPartStateComponentData& data)
      {
         myData = data;
      }

   protected:
      DtArticulatedPartStateComponentData myData;
      bool myUpdateFromLegionNetwork;
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentImplementation : public DtDoubleBufferedStateComponent<DtArticulatedPartStateComponent>
   {
   public:
      DtArticulatedPartStateComponentImplementation(DtStateData* sd);

      bool isDoubleBuffered() { return true; };
      virtual const DtFrameStateInterface* currentFrameState() const override { return &myCurrentFrameState; }
      virtual DtFrameStateInterface* nextFrameState() override { return &myNextFrameState; };
      virtual const DtFrameStateInterface* nextFrameState() const override { return &myNextFrameState; };

      virtual void setCoordinateSystem(const Coordinate_System*) override;

      virtual void updateDataStorage() override;

      virtual void updateStateData(DtStateData* sd) override
      {
         myCurrentFrameState.updateStateData(sd);
         myNextFrameState.updateStateData(sd);
      }

      virtual void setPublishingOnLegionNetwork(bool b) override;

      virtual void initializeFromParameters(const DtVrfObjectParameters* params) override;

      virtual void aboutToBeDeleted() override
      {
         DtDoubleBufferedStateComponent<DtArticulatedPartStateComponent>::aboutToBeDeleted();
         myCurrentFrameState.aboutToBeDeleted();
         myNextFrameState.aboutToBeDeleted();
      }
      
      static void SetAddMissingParameterToAllParts(bool);
      static bool AddMissingParameterToAllParts();

   protected:
      virtual void createPartsFromDescriptors(const std::list<DtSimArtPartDescriptor*>& descriptors,
         const std::list<DtSimArtPartDescriptor*>& partDefaultsFromActuators);

   protected:
      DtArticulatedPartStateComponentCurrentFrame myCurrentFrameState;
      DtArticulatedPartStateComponentNextFrame myNextFrameState;
   };

   typedef DtStateComponentCreator<DtArticulatedPartStateComponentImplementation> DtArticulatedPartStateComponentCreator;
}