disaggregatedMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vlutil/vlConfig.h> 
#include <vector>

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/aggregateLocalObjectFacade.h"
#include "vrfmodel/entityRouteFollowingData.h"
#include "vrfmodel/entityRouteTraversalState.h"

class DtVrfAggregateStateRepository;
class DtFormationState;
class DtMoveAlongTask;
class DtSimMessage;
class DtAggregateMoveAlongPSR;
class DtAggregateMoveAlongDescriptor;
class DtSetDataRequest;
class DtVrfObjectManager;
class DtMaintainFormationMonitor;
class DtCompatibilityRadio;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtDisaggregatedMoveAlongController : public DtSingleTaskControllerComponent
{
public:

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


   virtual ~DtDisaggregatedMoveAlongController() override;

   virtual const char* type() const override;

   virtual bool init() override;

   virtual void registerTaskMsgCallbacks() override;

   virtual void tick() override;

   virtual void clearTask() override;

   virtual bool createPSR();

   virtual DtSimTaskStatePtr currentTaskState() const override;

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

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

   static void formationChangedCallback(const DtFormationState& formationState, 
      void* usr);

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

protected:
   virtual void processMoveAlong(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);

   virtual void initializeMoveAlongTask(DtIteratorDirection traversalDirection, 
      bool startAtClosestPoint, double speed, DtSimTaskStatePtr taskState);

   virtual void processFormationChanged(const DtFormationState& formationState);

   virtual void processTaskComplete(DtSimMessage * msg);

   virtual void processRouteChanged();

   virtual void moveTo(const DtUUID& route,
      bool traverseForward);

   virtual void beginMoveAlong(const DtUUID& route, 
      bool traverseForward, 
      bool startAtClosestPoint,
      double speed);

   virtual bool generateFormationRoutes(const DtSimObject& route,
      bool reverseDirection);

   virtual void buildEntityRouteFollowingMap(std::map<const DtSimObject*, DtEntityRouteFollowingData>& map);

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

   virtual void sendSetDataToSubordinate(const DtSetDataRequest& setData, 
      const DtUUID& subordinate) const;

   virtual void deleteFormationRoutes();

   virtual bool calculateInitialPositionAndHeadingAlongRoute(const DtSimObject& route, 
      bool traverseForward, DtVector& initialPosition, double& initialHeading);

   virtual void sendVrfObjectModifyMsg(const DtUUID& object, DtList* vertices) const;

   virtual void initializeNextRouteIndex();

   virtual unsigned int nextRouteIndex();

   virtual bool buildOffsetRoute(const DtList& localRouteVertexList,
      const DtVector& bodyOffset,
      bool reverseDirection,
      bool generateRoutesWithRoundedCorners,
      double vertexSpacingAlongRoundedCorners,
      DtList& geocentricOffsetRouteVertexList,
      bool& dataAvailable);


   virtual void initializeMemberDataFromDescriptor(
      const DtAggregateMoveAlongDescriptor& desc);

   virtual void maintainMovementInFormation();

   virtual void reevaluateMoveAlongAssignments();

   virtual void reevaluateFormationMoveAlongAssignments();

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

   virtual bool adjustOffsetRouteStart(std::vector<DtVector>& route,
      bool& dataAvailable) const;

   virtual bool adjustOffsetRouteEnd(std::vector<DtVector>& route,
      bool& dataAvailable) const;

   virtual bool extendRouteStart(std::vector<DtVector>& route, 
      double distance) const;

   virtual bool clipRouteEnd(std::vector<DtVector>& route, double distance) const;

   virtual DtMaintainFormationMonitor* createFormationMonitor(DtLocalObject* entity) const;

   virtual bool publishFormationRoutes() const;

   virtual bool shouldGroundClamp() const;

private:

   DtDisaggregatedMoveAlongController();

   DtDisaggregatedMoveAlongController(const DtDisaggregatedMoveAlongController& orig);

   DtDisaggregatedMoveAlongController& operator=(const DtDisaggregatedMoveAlongController& orig);

protected:

   virtual bool groundClampRoute(std::vector<DtVector>& route, bool& dataAvailable) const;

protected:

   std::map<int, DtString> myPromotionIndexRouteNameMap;

   DtMaintainFormationMonitor* myMaintainFormationMonitor;

   double myMaintainFormationTickInterval;

   double myTimeToNextMaintainFormationTick;

   std::map<const DtSimObject*, DtEntityRouteFollowingData> myEntityRouteFollowingMap;

   std::map<const DtSimObject*, DtEntityRouteTraversalState> myEntityRouteTraversalStateMap;

   DtVrfAggregateStateRepository* myAggregateStateRepository;

   DtFormationState* myFormationState;

   DtCompatibilityRadio* myCommandRadio;

   bool myGenerateRoutesWithRoundedCorners;

   double myVertexSpacingAlongRoundedCorners;

   DtAggregateMoveAlongPSR* myProcessState;

   const DtAggregateMoveAlongDescriptor* myAggregateMoveAlongDescriptor;

   bool myRegisteredFormationChangedCallback;

   bool myFirstTick;

   unsigned int myNextRouteIndex;

   DtSimTaskStatePtr myCachedTaskState;

   bool mySetObjectToBeRemovedCallbacks;

   DtSimObjectReference myRoute;

   DtAggregateLocalObjectFacade myAggregateLocalObjectFacade;
};