convoyTaskController.h

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/*******************************************************************************
** Copyright (c) 2010 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/convoyPSR.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/aggregateLocalObjectFacade.h"
#include "vrfobjparam/convoyDescriptor.h"
#include "vrftasks/setDataRequest.h"
#include "vrfutil/rwRailSegment.h"
#include <readerWriter/rwReal.h>
#include "vrfutil/rwTemplatedList.h"
#include "terrainCS/coordSystem.h"


#define CONVOY_CONTROLLER_MAKE_FIRST_SEGMENT 0


class DtAsyncJobMapEntry;
class DtVrfObjectMessage;
class DtBoolSetting;

class DT_DLL_vrfmodel DtConvoyTaskController : public DtSingleTaskControllerComponent
{
public:
   DtConvoyTaskController(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtConvoyTaskController() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void clearTask() override;

   virtual void resetTask();
 
   virtual void registerTaskMsgCallbacks() override;

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

   static void taskCompleteReportCallback(const DtVrfObjectMessage* msg, void * usr);

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

   virtual void preFirstTickInit() override;

   virtual void tick() override;

   virtual bool createPSR();

   static  void settingConsumerCallback(const DtSettingsObject* settingsObject,
      void* usr);

   virtual void updateTaskVisualizations() override;

protected:
   virtual void onModifyVrfObject();

   virtual void onConvoyTask(DtSimMessage * msg);

   virtual void onTaskComplete(const DtVrfObjectMessage* msg);

   virtual void sendTaskToSubordinate(const DtSimTask& task, 
      const DtUUID& subordinate);

   virtual void sendSetToSubordinate(DtSetDataRequest& request,
      const DtUUID& subordinate);

   virtual bool setupTask(const DtLocalObject* aggregate, const DtSimObject* destination, 
      bool pathPlan);

   virtual DtVector findAssemblyPoint(const DtSimObject* aggregate, const DtVector& destination, 
      bool haveRails, const Coordinate_System* coordSys);

#if CONVOY_CONTROLLER_MAKE_FIRST_SEGMENT
   virtual DtRwRailSegment* createEntrySegment(const DtSimObject* entity, 
      const DtVector& assemblyPoint, const Coordinate_System* coordSys) const;
#endif

   virtual bool setupSubordinates(const DtSimObject* aggregate, bool clearSubs, bool& leaderSet, double initialOrderedSpeed);
   virtual bool setupSubordinates(const DtLocalObject* aggregate, bool clearSubs, bool& leaderSet, double initialOrderedSpeed);
   virtual bool setupSubordinates(const std::list<DtSimObjectReference>& list, bool clearSubs, bool& leaderSet,
      double initialOrderedSpeed);

   virtual void setupLeadOnDistance(int numberOfEntities, float distanceBetween);

   virtual bool createDirectRailPath(const DtSimObject* leadEntity, const DtSimObject* destination);

   virtual bool areSeparationDistancesWithinRange(const DtRwSimObjectReferenceList& subordinates, 
      const float distance, const float tolerance, const Coordinate_System* coordSys);

   virtual void setLeaderSpeed(const float speed);

   virtual void resettingPhaseTick(bool retask = true);

   virtual void startingPhaseTick();

   virtual void assemblingPhaseTick();

   virtual void convoyingPhaseTick();

   virtual void finishingPhaseTick();

   virtual DtVector findIntersectionOfLineAndCircle(const DtVector& centerPoint, 
      const DtVector& endPoint, double radius, const Coordinate_System* coordSys) const;

   virtual bool taskEntityToMoveToAssemblyPt(const DtSimObject* entity, const DtVector& assemblyPoint,
      const Coordinate_System* coordSys);

   virtual bool getEntityPathToEntry(const DtSimObject* entity, const DtVector& assemblyPoint,
      const Coordinate_System* coordSys);

   virtual DtRailSegment* findClosestEntryRail(const DtSimObject* aggregate, 
      const double& radius,
      DtRailSegmentList* rails,
      int& railNumber,
      const Coordinate_System* coordSys) const;

   virtual bool isPointWithinRadius(const DtVector& center, double radius, 
      const DtVector& point, const Coordinate_System* coordSys) const;

   virtual bool findPointOnRailOutsideSphere(const DtVector& center, const double& radius, 
      const DtRailSegment* segment, DtVector& resultPoint, const Coordinate_System* coordSys) const;

   virtual bool updateConvoySubordinates(const DtSimObject* aggregate,
      std::vector<DtUUID>& tempList, bool recursive = false);
   virtual bool updateConvoySubordinates(const DtLocalObject* aggregate,
      std::vector<DtUUID>& tempList, bool recursive = false);
   virtual bool updateConvoySubordinates(const std::list<DtSimObjectReference>&,
      std::vector<DtUUID>& tempList, bool recursive = false);

   virtual bool isEntityPartOfConvoy(const DtUUID& entity) const;

   virtual bool isEntityIndependentlyTasked(const DtSimObject* entity) const;

   virtual void setConvoyFollowing();

   virtual void destroyedPhaseTick();

   virtual void sendClearTask(const DtUUID& recipientName,
      const DtSimTaskMessageType& taskType);

   double maxSearchRadius(const DtPoint& start, const DtPoint& end);

   virtual bool startPathPlan(const DtSimObject* leadEntity, 
      const DtSimObject* destination);

   virtual bool pathPlanFinished();

   virtual DtVector groundClamp(const DtVector& point, DtGeodeticCoord& lastPoint) const;

   virtual void processSetting( const DtBoolSetting* setting);

protected:

   std::shared_ptr<DtAsyncJobMapEntry> myPathJobEntry;

   const DtConvoyDescriptor* myDescriptor;
   DtConvoyPSR* myProcessState;
   bool myDrivingOnLeft;

   DtSimObjectReference myDestination;
   DtAggregateLocalObjectFacade myAggregateLocalObjectFacade;

private:
   DtConvoyTaskController(const DtConvoyTaskController& orig);

   DtConvoyTaskController& operator=(const DtConvoyTaskController& orig);
};