disaggregatedMoveIntoFormationController.h

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



#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/aggregateLocalObjectFacade.h"
#include <matrix/vlVector.h>
#include <vector>
#include <vrfobjcore/organizationManagerNode.h>
#include <tbb/spin_mutex.h>

class DtAggregateMoveIntoFormationDescriptor;
class DtFormationState;
class DtSimMessage;
class DtSetDataManager;
class DtSetDataRequest;
class DtAggregateMoveToPSR;
class DtCompatibilityRadio;

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

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

   virtual ~DtDisaggregatedMoveIntoFormationController() override;

   virtual const char* type() const override;

   virtual bool init() override;

   virtual void registerTaskMsgCallbacks() override;

   virtual void clearTask() override;

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

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

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

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

protected:

   virtual void moveIntoFormation(const DtVector& location, double heading,  DtString formation);

   virtual void onTaskComplete(DtSimMessage * msg);

   virtual void onFormationStateChanged();

   virtual void sendRequestToSelf(const DtSetDataRequest& request) const;

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

   void sendSetDataRequestToSubordinate(const DtSetDataRequest& request, 
      const DtUUID& subordinate) const;

   virtual void processMoveIntoFormationTask(DtSimMessage * msg);

   virtual bool createPSR();

   virtual void clearDebugWaypointNames();

   virtual void processSubordinateRemoved(const DtUUID& info);

   virtual void groundClampLocation(DtVector& location);

   virtual bool shouldGroundClamp() const;

private:

   DtDisaggregatedMoveIntoFormationController(const DtDisaggregatedMoveIntoFormationController& orig);

   DtDisaggregatedMoveIntoFormationController& operator=(const DtDisaggregatedMoveIntoFormationController& orig);

protected:

   const DtAggregateMoveIntoFormationDescriptor* myAggregateMoveIntoFormationDescriptor;
   DtFormationState* myFormationState;
   DtVector myLocation;
   DtString myFormation;

   DtCompatibilityRadio* myCommandRadio;

   DtSetDataManager* mySetDataManager;

   std::vector<DtString> myDebugWaypointNames;

   DtAggregateMoveToPSR* myProcessState;

   bool myStopMovingUponArrival;

   bool myTurnToHeadingUponArrival;

   boost::signals2::scoped_connection mySubordinateRemovedConnection;
   DtAggregateLocalObjectFacade myAggregateLocalObjectFacade;

   tbb::spin_mutex myProcessStateRemovalMutex;
};