dynamicTerrainVehicleTrackController.h

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



#pragma once

#include <vrfmodel/dynamicTerrainController.h>

#include <vlpi/deadReckoner.h>
#include <vrfExtProtocol/keyValuePairList.h>

#include <tbb/mutex.h>
#include <tbb/spin_mutex.h>


class DtDynamicTerrainVehicleTrackControllerDescriptor;
class DtAddPersistentTracksCommand;
class DtRemovePersistentTracksCommand;
class DtPersistentTracksCommand;
class DtRwDynamicTerrainVehicleTrackItem;
class DtRwQueuedDynamicTerrainVehicleTrackItem;

namespace makVrf
{
   class DtDynamicTerrainStateComponent;
}

namespace MAKVRinTerra
{
   class DtFeatureGeometry;
}

class DT_DLL_vrfmodel DtDynamicTerrainVehicleTrackController : public DtDynamicTerrainController
{
private:
   DtDynamicTerrainVehicleTrackController();
   DtDynamicTerrainVehicleTrackController(const DtDynamicTerrainVehicleTrackController& orig);
   DtDynamicTerrainVehicleTrackController& operator=(const DtDynamicTerrainVehicleTrackController& orig);
public:
   DtDynamicTerrainVehicleTrackController(const DtString& name, DtLocalObject* owner,
      DtSimulationServices* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);
   
   virtual ~DtDynamicTerrainVehicleTrackController() override;

   virtual void registerCallbacks() override;

   virtual void deregisterCallbacks() override;

   virtual const char* type() const override;

   virtual void preFirstTickInit() override;

   virtual void registerTaskMsgCallbacks() override;

   virtual void tick() override;

   virtual void processDynamicTerrainVehicleTracks(const DtUUID& uuid, const DtTerrainGeometry& geometry, const DtKeyValuePairList& changes,
      unsigned priority, const DtString& soilType, double distanceTraveled = 0.0, double delay = 0.0);

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

   virtual bool taskVisualizationsActive() const override;

   virtual void updateTaskVisualizations() override;

protected:
   virtual void processSimObjectAdded(DtSimObjectReference object);
   virtual void processSimObjectDeleted(DtSimObjectReference object);

   static void addPersistentTracksCommandCallBack(const DtSimCommand& cmd, void *usr);
   static void removePersistentTracksCommandCallBack(const DtSimCommand& cmd, void *usr);

   virtual bool processAddPersistentTracksCommand(const DtAddPersistentTracksCommand& cmd);
   virtual bool processRemovePersistentTracksCommand(const DtRemovePersistentTracksCommand& cmd);

   static void resetAllDynamicTerrainChangesCallback(const DtSimCommand& cmd, void* usr);
   virtual void processResetAllDynamicTerrainChangesCommand(const DtResetAllDynamicTerrainChangesCommand& cmd) override;

   virtual void processTrackFromCommand(DtKeyValuePairList& trackParams, const std::vector<DtVector>& points);

   static void displayDebugForCurrentTracksCallback(DtSimMessage* msg, void* usrData);
   virtual void processDisplayDebugForCurrentTracks(DtSimMessage*);

   static void clearDebugForCurrentTracksCallback(DtSimMessage* msg, void* usrData);
   virtual void processClearDebugForCurrentTracks(DtSimMessage*);

   virtual bool isCapableOfPersistentTracks(DtSimObjectReference object) const;

   virtual bool isCommandValidForArea(const DtPersistentTracksCommand& cmd, MAKVRinTerra::DtFeatureGeometry* intersectingGeom = 0);

   virtual void getAreaGeometry(MAKVRinTerra::DtFeatureGeometry & areaGeom);

   virtual void tickQueuedVehicleTrackData();

   virtual void tickVehicleTrackData();

   virtual void updatePublishedTrackChange(std::vector<makVrf::DtDynamicTerrainStateComponent*>& publishers,
      unsigned index, const DtRwDynamicTerrainVehicleTrackItem& trackToUpdate);

   virtual void removePublishedTrackChange(unsigned index, const DtRwDynamicTerrainVehicleTrackItem& trackToUpdate);

   virtual bool trackUpdated(DtRwDynamicTerrainVehicleTrackItem* vehicleTrackItem, bool& isStillValid, bool& newTrackStartsWhereLastEnds);

   virtual bool timeForUpdate(DtRwDynamicTerrainVehicleTrackItem* vehicleTrackItem, bool ignoreNumPoints = false) const;

   virtual void discoverNewObjectsInArea();

   virtual bool processTrackForRemoval(DtRwDynamicTerrainVehicleTrackItem* vehicleTrackItem, const MAKVRinTerra::DtFeatureGeometry& removalArea,
      std::vector<MAKVRinTerra::DtFeatureGeometry>& resultingGeom);

   virtual void demoteTrackToQueuedTracks(DtRwDynamicTerrainVehicleTrackItem* vehicleTrackItem, bool newTrackStartsWhereLastEnds);

   virtual void scrubKeyValueSurfacePairs(DtKeyValuePairList& newKeyPairList, const DtRwDynamicTerrainVehicleTrackItem* vehicleTrackItem);

   virtual void resetQueuedTrack(DtRwQueuedDynamicTerrainVehicleTrackItem* queedVehicleTrack);

   virtual void resetAllQueuedTracks();
   

   virtual bool atMaximumNumberOfIndividualTracks() const;

   virtual void dumpPublishedTracksToLog() const;

   virtual void dumpQueuedTracksToLog() const;

   virtual void dumpTrackToStream(DtRwDynamicTerrainVehicleTrackItem* item, std::ostream& os) const;

   virtual bool isGroundVehicle(DtSimObjectReference ref, DtSimObjectReference& groundObject) const;

protected:

   DtDynamicTerrainVehicleTrackControllerDescriptor* myDynamicTerrainVehicleTrackDescriptor;
   double myTrackSamplingDistanceSquared;
   double myTrackPositionalThresholdSquared;
   double myTrackRotationalTraceThresh;
   double myMaximumTraverseDistBetweenTrackPointsSquared;
   double myMinimumTraverseDistToPublishTracksSquared;
   double myLastTimeQueuedDebugPrint;
   double myLastTimePublishedDebugPrint;

   
   unsigned myMaxNumPtsPerTrack;


   double myNextObjectDiscoveryTime;
   std::set<DtUUID> myObjectsInArea;

   bool myShowingDebugTracks;
   bool myUpdateTrackTaskVis;

   DtDeadReckoner myDeadReckoner;

   struct QueuedTrackCommand
   {
      QueuedTrackCommand(const DtKeyValuePairList& params, const std::vector<DtVector>& pts)
         : trackParams(params), points(pts) {};

      DtKeyValuePairList trackParams;
      std::vector<DtVector> points;
   };

   std::vector<QueuedTrackCommand> myQueuedTrackCommands;

   boost::signals2::scoped_connection mySimObjectAddedConnection;
   boost::signals2::scoped_connection mySimObjectDeletedConnection;
   tbb::mutex myRemovalMutex;
};