articulatedPartStateRepository.h

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/*******************************************************************************
** Copyright (c) 2019 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vrfStateData/vrfStateDataDefines.h>
#include <vrfStateData/stateDataTypes.h>
#include <vrfutil/rwTemplatedMap.h>
#include <readerWriter/rwVector.h>
#include <readerWriter/rwReal.h>
#include <vrfutil/rwArtPartState.h>
#include <vlpi/articulatedPart.h>
#include <readerWriter/noArgumentCallbackList.h>

class Coordinate_System;

namespace makVrf
{
   class DtStateData;
   class DtArticulatedPartStateComponent;
   class DtArticulatedPartStateRepository;

   using DtArticulatedPartStateRepositoryDeletedCallbackList = DtCallbackList<DtArticulatedPartStateRepository*>;

   class DT_DLL_vrfStateData DtArticulatedPartStateRepository : public DtRwArtPartState
   {
   public:

      class DtArtPartMap : public DtRwTemplatedMapPtr<DtRwInt, DtArticulatedPartStateRepository>
      {
      public:

         DtArtPartMap() : DtRwTemplatedMapPtr() {};
         DtArtPartMap(const DtString& name,
            DtReaderWriterRegistry* parentRegistry = nullptr,
            const DtString& keyName = "key", const DtString& valueName = "value", const DtString& elementName = "item")
            : DtRwTemplatedMapPtr(name, parentRegistry, keyName, valueName, elementName) {};
         DtArtPartMap(const DtSymbolString& name,
            DtReaderWriterRegistry* parentRegistry = nullptr,
            const DtString& keyName = "key", const DtString& valueName = "value", const DtString& elementName = "item")
            : DtRwTemplatedMapPtr(name, parentRegistry, keyName, valueName, elementName) {};
         DtArtPartMap(const DtString& name, const DtRwTemplatedMapPtr& orig,
            DtReaderWriterRegistry* parentRegistry = nullptr)
            : DtRwTemplatedMapPtr(name, orig, parentRegistry) {};
         DtArtPartMap(const DtSymbolString& name, const DtRwTemplatedMapPtr& orig,
            DtReaderWriterRegistry* parentRegistry = nullptr)
            : DtRwTemplatedMapPtr(name, orig, parentRegistry) {};
         DtArtPartMap(const DtRwTemplatedMapPtr& orig,
            DtReaderWriterRegistry* parentRegistry = nullptr)
            : DtRwTemplatedMapPtr(orig, parentRegistry) {};

         virtual ~DtArtPartMap() override {};

         virtual void postGetSelf() override;
      };
   
      DtArticulatedPartStateRepository(const DtSymbolString& rwName = DtSymbolString("art-part"),
         DtReaderWriterRegistry*  parentRegistry = nullptr);

      virtual void attachTo(DtStateData* parentObj);

      virtual void attachTo(DtStateData* parentObj, DtArticulatedPartStateRepository* parentPart);

      virtual DtArtPartType parentPartType() const;


      virtual DtArticulatedPartStateRepository* parentPart();
      virtual const DtArticulatedPartStateRepository* parentPart() const;


      virtual DtStateData* parentObject();
      virtual const DtStateData* parentObject() const;

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

      virtual ~DtArticulatedPartStateRepository() override;

      virtual bool mergeSpecifiedParameters(const DtArticulatedPartStateRepository& other,
         MergeRule rule = AllSpecifiedValues);


      virtual DtArtPartType partType() const;
      virtual void setPartType(DtArtPartType type);

      virtual DtVector attachPointWithRespectToObject() const;

      virtual DtVector bodyPosition() const;

      virtual DtVector localPosition() const;

      virtual DtVector endPointlocalPosition() const;

      virtual DtVector worldPosition() const;

      virtual DtTaitBryan bodyOrientation() const;

      virtual DtDcm localOrientationMatrix() const;
   

      virtual const DtArtPartMap& parts() const;
      virtual DtArtPartMap& parts();

      virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType);

      virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType, 
         const DtArticulatedPartStateRepository& partState);


      DtReal azimuthNeutralOffset() const;
      void setAzimuthNeutralOffset(DtReal offset, bool isSpecified = true);
      bool isAzimuthNeutralOffsetSpecified() const;


      DtReal elevationNeutralOffset() const;
      void setElevationNeutralOffset(DtReal offset, bool isSpecified = true);
      bool isElevationNeutralOffsetSpecified() const;

      virtual void addParameterType(DtArtParamType paramType);

      virtual void clearParameterTypes();

      virtual bool hasParameterType(DtArtParamType paramType) const;

      const DtRwTemplatedIntList& parameterTypes() const;

      virtual void mergeInPartAttachments(const DtArticulatedPartStateRepository& other);

      virtual void setAllValuesUnspecified();

      void setCoordinateSystem(const Coordinate_System* cs);

      virtual void prePutSelf() override;
      
      virtual void setPublishOnLegionNetwork(bool, bool);
      bool publishOnLegionNetwork() const
      {
         return myPublishOnLegionNetwork;
      }

      virtual void updateDataStorage(const std::vector<DtArticulatedPart::ParameterMetric>&);

      virtual void setAttachPoint(const DtVector& attachPoint, bool isSpecified = true) override;
      virtual void setEndPoint(const DtVector& loc, bool isSpecified = true) override;
      virtual void setPosition(double val, bool isSpecified = true) override;
      virtual void setPositionRate(double val, bool isSpecified = true) override;
      virtual void setMaxPositionRate(double val, bool isSpecified = true) override;
      virtual void setExtension(double val, bool isSpecified = true) override;
      virtual void setExtensionRate(double val, bool isSpecified = true) override;
      virtual void setMaxExtensionRate(double val, bool isSpecified = true) override;
      virtual void setTranslation(const DtVector& val, bool isSpecified = true) override;
      virtual void setMinTranslation(const DtVector& val, bool isSpecified = true) override;
      virtual void setMaxTranslation(const DtVector& val, bool isSpecified = true) override;
      virtual void setTranslationRate(const DtVector& val, bool isSpecified = true) override;
      virtual void setMaxTranslationRate(const DtVector& val, bool isSpecified = true) override;
      virtual void setAzimuth(double angle, bool isSpecified = true) override;
      virtual void setMinAzimuth(double angle, bool isSpecified = true) override;
      virtual void setMaxAzimuth(double angle, bool isSpecified = true) override;
      virtual void setAzimuthRate(double rate, bool isSpecified = true) override;
      virtual void setMaxAzimuthRate(double rate, bool isSpecified = true) override;
      virtual void setElevation(double angle, bool isSpecified = true) override;
      virtual void setMinElevation(double angle, bool isSpecified = true) override;
      virtual void setMaxElevation(double angle, bool isSpecified = true) override;
      virtual void setElevationRate(double rate, bool isSpecified = true) override;
      virtual void setMaxElevationRate(double rate, bool isSpecified = true) override;
      virtual void setRotation(double angle, bool isSpecified = true) override;
      virtual void setMinRotation(double angle, bool isSpecified = true) override;
      virtual void setMaxRotation(double angle, bool isSpecified = true) override;
      virtual void setRotationRate(double rate, bool isSpecified = true) override;
      virtual void setMaxRotationRate(double rate, bool isSpecified = true) override;

      virtual void addPartDeletedCallback(
         DtArticulatedPartStateRepositoryDeletedCallbackList::DtCallbackFunctionType fcn, void* usrData) const;
      virtual void removePartDeletedCallback(
         DtArticulatedPartStateRepositoryDeletedCallbackList::DtCallbackFunctionType fcn, void* usrData) const;   

   protected:
      virtual void partUpdated();

      void preventConfigValueReadAndWrite();

      virtual void copyParts(const DtArticulatedPartStateRepository& orig);

      virtual void setParentsForAllParts();

      virtual DtTaitBryan parentLocalOrientation() const;

      virtual void destroyLegionParts();

   protected:
      const Coordinate_System* myCoordinateSystem;

      DtRwInt myPartType;

      DtArtPartMap myParts;

      DtStateData* myParentObject;
      DtArticulatedPartStateComponent* myParentComponent;
      DtArticulatedPartStateRepository* myParentPart;

      DtRwReal myAzimuthNeutralOffset;
      DtRwReal myElevationNeutralOffset;

      DtRwTemplatedIntList myParameterTypes;
      bool myPublishOnLegionNetwork;
      bool myIsWritable;
      UInt64 myArticulatedPartInstanceHandle;
      typedef std::map<int, UInt64> LegionParameterMetrics;
      LegionParameterMetrics myLegionParameterMetrics;
      mutable DtArticulatedPartStateRepositoryDeletedCallbackList myCallbackList;
   };

   using DtArtPartMap = DtArticulatedPartStateRepository::DtArtPartMap;
}