entityLocationStateComponent.h

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

#pragma once

#include "vrfStateData/locationStateComponent.h"
#include <legionStandardOM/sets/readEntityRepository.hpp>
#include <legionStandardOM/sets/writeEntityRepository.hpp>
#include <legionStandardOM/sets/readEmbarkedEntityRepository.hpp>
#include <legionStandardOM/sets/writeEmbarkedEntityRepository.hpp>

#include <tbb/mutex.h>
#include <tbb/spin_rw_mutex.h>
#include <boost/signals2.hpp>

namespace LOM
{
   class ReadEntityRepository;
}

class Coordinate_System;

namespace makVrf
{
   class DtStateDataManager;
   struct DT_DLL_vrfStateData DtEntityLocationStateComponentData
   {
      DtEntityLocationStateComponentData()
      : mySpatiallyFrozen(false)
      , myHostGlobalId(DtUUID::nullUUID())
      , myStationName(DtStationName::DtOnStation_XYZ)
      , myNeedsEmbarkCheck(false)
      {};

      DtEntityLocationStateComponentData(const DtEntityLocationStateComponentData& orig)
      : myHostGlobalId(orig.myHostGlobalId)
      , mySpatiallyFrozen(orig.mySpatiallyFrozen)
      , myThresholder(orig.myThresholder)
      , myStationName(orig.myStationName)
      , myNeedsEmbarkCheck(orig.myNeedsEmbarkCheck)
      {
      }

      DtEntityLocationStateComponentData& operator=(const DtEntityLocationStateComponentData& rhs)
      {
         myHostGlobalId = rhs.myHostGlobalId;
         myNeedsEmbarkCheck = rhs.myNeedsEmbarkCheck;
         mySpatiallyFrozen = rhs.mySpatiallyFrozen;
         myThresholder = rhs.myThresholder;
         myStationName = rhs.myStationName;

         return *this;
      }

      DEFINE_ACCESSOR_MUTATOR(DtUUID, hostGlobalId, HostGlobalId)
      DEFINE_ACCESSOR_MUTATOR(bool, spatiallyFrozen, SpatiallyFrozen)
      DEFINE_REF_ACCESSORS(DtThresholder, thresholder, Thresholder)
      DEFINE_ACCESSOR_MUTATOR(DtStationName, stationName, StationName)
      DEFINE_ACCESSOR_MUTATOR(bool, needsEmbarkCheck, NeedsEmbarkCheck)

   protected:
      DtUUID myHostGlobalId;
      bool mySpatiallyFrozen;
      DtThresholder myThresholder;
      DtStationName myStationName;
      bool myNeedsEmbarkCheck;
   };

   class DT_DLL_vrfStateData DtEntityLocationStateComponentInterface : public DtLocationStateComponent
   {
   public:
      DtEntityLocationStateComponentInterface(DtStateData* storage)
      : DtLocationStateComponent(storage)
      {
      }

      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(bool, spatiallyFrozen, SpatiallyFrozen)
      UNDEFINED_RETURNREF_ACCESSORS(DtThresholder, thresholder)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(DtVector, velocity, Velocity)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(DtVector, acceleration, Acceleration)
      UNDEFINED_RETURNREF_ACCESSOR_MUTATOR(DtVector, rotationalVelocity, RotationalVelocity)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(DtDeadReckonTypes, algorithm, Algorithm)
      UNDEFINED_RETURNVALUE_ACCESSOR(DtDeadReckonTypes, deadReckoningAlgorithm)

      UNDEFINED_RETURNREF_ACCESSOR(DtVector, worldVelocity)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, worldAcceleration)
      UNDEFINED_RETURNVALUE_ACCESSOR(double, worldSpeed)

      UNDEFINED_RETURNREF_ACCESSOR(DtVector, localVelocity)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, localAcceleration)
      UNDEFINED_RETURNVALUE_ACCESSOR(double, localSpeed)

      UNDEFINED_RETURNREF_ACCESSOR(DtVector, relativeVelocity)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, relativeAcceleration)
      UNDEFINED_RETURNVALUE_ACCESSOR(DtVector, bodyVelocity)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, parentVelocity)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, parentAcceleration)
      UNDEFINED_RETURNVALUE_ACCESSOR(DtStationName, parentStationName)

      UNDEFINED_METHOD(void, setRelativeVelocity, const DtVector&)
      UNDEFINED_METHOD(void, setParentAcceleration, const DtVector&)
      UNDEFINED_METHOD(void, setParentVelocity, const DtVector&)
      UNDEFINED_METHOD(void, setParentStationName, DtStationName)
      UNDEFINED_METHOD(void, setRelativeAcceleration, const DtVector&)
      UNDEFINED_METHOD(void, setLocalVelocity, const DtVector&)
      UNDEFINED_METHOD(void, setLocalAcceleration, const DtVector&)
      UNDEFINED_METHOD(void, setLocalSpeed, double)
      UNDEFINED_METHOD(void, setWorldVelocity, const DtVector&)
      UNDEFINED_METHOD(void, setWorldAcceleration, const DtVector&)
   };

   class DT_DLL_vrfStateData DtEntityLocationStateComponent : public DtEntityLocationStateComponentInterface
   {
   public:
      DEFINE_STATE_COMPONENT_TYPE(DtStateComponent::EntityLocationStateComponent)

      DtEntityLocationStateComponent(DtStateData* storage)
      : DtEntityLocationStateComponentInterface(storage)
      {
      }
   };

   class DT_DLL_vrfStateData DtEntityLocationStateComponentNextFrame : public DtEntityLocationStateComponent
   {
   public:
      DtEntityLocationStateComponentNextFrame(DtStateData*);
      virtual ~DtEntityLocationStateComponentNextFrame() override;

      const DtEntityLocationStateComponentData& frameState() const { return myData; };
      DtEntityLocationStateComponentData& frameState() { return myData; };
   
      virtual const DtUUID& hostGlobalId() const override;
      virtual void setHostGlobalId( const DtUUID& id) override;
      virtual const int objectAttachMode() const override;

      virtual void setAlgorithm(const DtDeadReckonTypes& alg) override;
      virtual const DtDeadReckonTypes algorithm() const override;
      virtual const DtDeadReckonTypes deadReckoningAlgorithm() const override { return algorithm(); };

      virtual const bool frozen() const override;
      virtual void setFrozen(const bool&) override;

      virtual const DtVector location() const override;
      virtual void setLocation(const DtVector&) override;

      virtual const DtVector velocity() const override;
      virtual void setVelocity(const DtVector&) override;

      virtual const DtVector acceleration() const override;
      virtual void setAcceleration(const DtVector&) override;

      virtual const DtTaitBryan orientation() const override;
      virtual void setOrientation(const DtTaitBryan&) override;

      virtual const DtVector& rotationalVelocity() const override;
      virtual void setRotationalVelocity(const DtVector&) override;

      virtual const bool locationChanged() const override;

      virtual const DtVector& worldPosition() const override;
      virtual const DtVector& relativePosition() const override;
      virtual const DtVector& parentPosition() const override;
      virtual const DtStationName parentStationName() const override;
      virtual const DtVector& localPosition() const override;
      virtual const DtVector& worldVelocity() const override;
      virtual const DtVector& localVelocity() const override;
      virtual const DtVector& worldAcceleration() const override;
      virtual const DtVector& localAcceleration() const override;
      virtual const DtTaitBryan& worldOrientation() const override;
      virtual const DtTaitBryan& topographicOrientation() const override;
      virtual const DtTaitBryan& parentOrientation() const override;
      virtual const DtTaitBryan& localOrientation() const override;
      virtual const DtDcm& worldOrientationMatrix() const override;
      virtual const bool localPositionIsValid() const override;

      virtual const bool spatiallyFrozen() const override;
      virtual void setSpatiallyFrozen(const bool&) override;

      virtual const DtThresholder& thresholder() const override;
      virtual DtThresholder& thresholder() override;

      virtual const double heading() const override;
      virtual const double pitch() const override;
      virtual const double roll() const override;

      virtual const double localSpeed() const override;

      virtual const double worldSpeed() const override;

      virtual const DtDcm& parentOrientationMatrix() const override;
      virtual void setLocalOrientationMatrix(const DtDcm&) override;
      virtual void setLocalOrientation(const DtTaitBryan&) override;
      virtual void setLocalOrientationWrtDatabase(const DtTaitBryan&) override;

      virtual const DtDcm& localOrientationMatrix() const override;
      virtual const DtTaitBryan& localOrientationWrtDatabase() const override;

      virtual void setRelativeVelocity(const DtVector&) override;
      virtual void setRelativeAcceleration(const DtVector&) override;
      virtual void setParentVelocity(const DtVector&) override;
      virtual void setParentAcceleration(const DtVector&) override;
      virtual void setLocalVelocity(const DtVector&) override;
      virtual void setLocalAcceleration(const DtVector&) override;
      virtual void setLocalPosition(const DtVector&) override;
      virtual void setWorldPosition(const DtVector&) override;
      virtual void setWorldVelocity(const DtVector&) override;
      virtual void setWorldAcceleration(const DtVector&) override;
      virtual void setWorldOrientation(const DtTaitBryan&) override;
      virtual void setParentOrientation(const DtTaitBryan&) override;
      virtual void setParentPosition(const DtVector&) override;
      virtual void setParentStationName(DtStationName) override;
      virtual void setWorldOrientationMatrix(const DtDcm&) override;
      virtual void setLocalSpeed(double) override;
      virtual const DtRwVrfKinematicState& kinematicState() const override;

      virtual const DtVector& relativeVelocity() const override;
      virtual const DtVector& relativeAcceleration() const override;
      virtual const DtVector& parentVelocity() const override;
      virtual const DtVector& parentAcceleration() const override;
      virtual const DtVector bodyVelocity() const override;

      void setCoordinateSystem(const Coordinate_System* cs);
      virtual void setKinematicState(const DtRwVrfKinematicState&) override;

      virtual void refreshKinematicState(const DtEntityLocationStateComponent&);

      virtual void makeWritable() override;

      virtual void makeReadOnly() override;
      void slot_hostDestroyed();

      bool needsEmbarkCheck();
      void clearNeedsEmbarkCheck();

   protected:
      LOM::WriteEntityRepository myWriteEntityStateRepository;
      DtRwVrfKinematicState* myKinematicState;
      DtStateDataManager* myStateDataManager;

      mutable tbb::spin_rw_mutex myWriteStateMutex;
      DtEntityLocationStateComponentData myData;
      boost::signals2::scoped_connection myHostDeletedConnection;
      bool myFirstVelocitySet;
   };

   class DT_DLL_vrfStateData DtEntityLocationStateComponentCurrentFrame : public DtEntityLocationStateComponent
   {
   public:
      DtEntityLocationStateComponentCurrentFrame(DtStateData*);
      virtual ~DtEntityLocationStateComponentCurrentFrame() override;

      const DtEntityLocationStateComponentData& frameState() const { return myData; };
   
      virtual const DtUUID& hostGlobalId() const override;
      virtual const int objectAttachMode() const override;

      virtual const DtRwVrfKinematicState& kinematicState() const override;
      virtual const bool frozen() const override;
      virtual const bool localPositionIsValid() const override;

      virtual const DtVector location() const override;
      virtual const DtVector velocity() const override;
      virtual const DtVector acceleration() const override;
      virtual const DtTaitBryan orientation() const override;

      virtual const DtVector& rotationalVelocity() const override;
      virtual const double heading() const override;
      virtual const double pitch() const override;
      virtual const double roll() const override;
      virtual const double localSpeed() const override;
      virtual const double worldSpeed() const override;

      virtual const DtDeadReckonTypes algorithm() const override;
      virtual const DtDeadReckonTypes deadReckoningAlgorithm() const override { return algorithm(); };
      virtual const bool spatiallyFrozen() const override;
      virtual const DtThresholder& thresholder() const override;

      virtual const DtVector& worldPosition() const override;
      virtual const DtVector& worldVelocity() const override;
      virtual const DtVector& worldAcceleration() const override;
      virtual const DtVector& relativePosition() const override;
      virtual const DtVector& parentPosition() const override;
      virtual const DtStationName parentStationName() const override;
      virtual const DtVector& relativeVelocity() const override;
      virtual const DtVector& relativeAcceleration() const override;
      virtual const DtVector& parentVelocity() const override;
      virtual const DtVector& parentAcceleration() const override;
      virtual const DtVector bodyVelocity() const override;
      virtual const DtTaitBryan& worldOrientation() const override;
      virtual const DtTaitBryan& topographicOrientation() const override;
      virtual const DtTaitBryan& parentOrientation() const override;

      virtual const DtDcm& parentOrientationMatrix() const override;

      virtual const DtVector& localPosition() const override;
      virtual const DtVector& localVelocity() const override;
      virtual const DtVector& localAcceleration() const override;
      virtual const DtTaitBryan& localOrientation() const override;

      virtual const DtDcm& worldOrientationMatrix() const override;
      virtual const DtDcm& localOrientationMatrix() const override;
      virtual const DtTaitBryan& localOrientationWrtDatabase() const override;

      virtual const bool locationChanged() const override;

      void setCoordinateSystem(const Coordinate_System* cs);
      void refreshKinematicState() const;

   protected:
      friend class DtEntityLocationStateComponentImplementation;

      void setLocationChanged(bool);
      virtual void needsKinematicStateRefresh();
      virtual void needsEmbarkedCheck();
      void advanceFrame(const DtEntityLocationStateComponentData& data)
      {
         myData = data;
      }

   protected:
      void handleDataUpdated(const std::vector<UInt32>& attributesUpdated);
      virtual void updateSpatial();
      const DtVector _rotationalVelocity() const;

   protected:
      LOM::ReadEntityRepository myReadEntityStateRepository;
      bool myLocationChanged;
      DtStateDataManager* myStateDataManager;

      mutable tbb::mutex myKinematicStateMutex;
      mutable bool myNeedsKinematicStateRefresh;
      mutable bool myInKinematicStateRefresh = false;
      mutable DtRwVrfKinematicState* myKinematicState;
      unsigned int myCallbackHandle;
      DtEntityLocationStateComponentData myData;
      unsigned int myEmbarkedCallbackHandle;
      bool myNeedsEmbarkedCheck;
   };

   class DT_DLL_vrfStateData DtEntityLocationStateComponentImplementation : public DtDoubleBufferedStateComponent<DtEntityLocationStateComponent>
   {
   public:
      DtEntityLocationStateComponentImplementation(DtStateData* sd);

      bool isDoubleBuffered() { return true; };
      virtual const DtFrameStateInterface* currentFrameState() const override { return &myCurrentFrameState; }
      virtual DtFrameStateInterface* nextFrameState() override { return &myNextFrameState; };
      virtual const DtFrameStateInterface* nextFrameState() const override { return &myNextFrameState; };

      virtual void setCoordinateSystem(const Coordinate_System*) override;

      virtual bool forceAdvance() override;

      virtual void updateDataStorage() override;

      virtual void updateStateData(DtStateData* sd) override
      {
         myCurrentFrameState.updateStateData(sd);
         myNextFrameState.updateStateData(sd);
      }

      virtual void aboutToBeDeleted() override
      {
         DtDoubleBufferedStateComponent<DtEntityLocationStateComponent>::aboutToBeDeleted();
         myCurrentFrameState.aboutToBeDeleted();
         myNextFrameState.aboutToBeDeleted();
      }

      virtual void initializeFromParameters(const DtVrfObjectParameters* params) override;

   protected:
      virtual void hostWasDeleted();

   protected:
      DtEntityLocationStateComponentCurrentFrame myCurrentFrameState;
      DtEntityLocationStateComponentNextFrame myNextFrameState;
      DtEntityLocationStateComponent* myLastAttachedToLocationStateComponent;
      DtStateData* myLastAttachedTo;
      boost::signals2::scoped_connection myHostWasDeletedConnection;
   };

   typedef DtStateComponentCreator<DtEntityLocationStateComponentImplementation> DtEntityLocationStateComponentCreator;
}