groundManeuverInFormationController.h

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/*******************************************************************************
** Copyright (c) 2021 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

class DtLocalVectorIterator;
class DtVectorOutputPort;
class DtGroundManeuverInFormationPSR;
class DtSimObjectReferenceList;
class DtRailMovementControllerPSR;

#include "matrix/coordTransform.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/constrainedAnalogIOPort.h"
#include "vrfobjcore/taskControllerComponent.h"
#include "vrfmodel/groundAutoControllerComponent.h"
#include "vrfobjcore/inputPortGroup.h"
#include "vrfobjcore/outputPortGroup.h"
#include "vrfobjcore/collisionIOPort.h"
#include "vrfobjcore/movementLocalObjectFacade.h"
#include <features/featureSet.h>
#include <features/areaFeature.h>
#include <vrfobjcore/simObjectReferenceList.h>

class DT_DLL_vrfmodel DtGroundManeuverInFormationControllerComponent : public DtGroundAutoControllerComponent
{

public:

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

   virtual ~DtGroundManeuverInFormationControllerComponent() override;

   virtual bool init() override;

   virtual bool isRunningSubtask();

   virtual void onRestore() override;

   virtual void sendNextMovementTask();

   virtual const char* type() const override;

   virtual void tick() override;

   virtual void registerTaskMsgCallbacks() override;

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

protected:

   void cleanFollowInFormation();

   virtual void endFollowInFormation(bool taskSuccess = true);
   
   virtual void clearTask() override;

   virtual int adjustStartPoint(const std::vector<DtVector>& routeVertices, 
      const DtVector& entityLocation);
      
      
   virtual void doFollowerMoving();
   virtual void doLeaderMoving();

   virtual bool checkTaskEndCondition();

   virtual double headingTo(DtVector localDestination);

   virtual bool isLeader() const;

   virtual bool isLeaderCapable() const;

   virtual double horizDistBetweenPoints(DtVector, DtVector);
   virtual double horizDistBetweenPoints(DtPoint loc1, DtPoint loc2);

   virtual int findClosestSegmentIndex(DtVector testPoint, std::vector<DtVector> testRoute, 
      DtPoint& closestSegmentLoc, double& distanceToSegment, int indexSegmentFloor = 0);

   virtual double findDesiredAcceleration(double targetSpeed, double targetHeading, 
      double currentHeading, double disToTarget);

   virtual bool createFollowerOffsetRoute(const std::vector<DtVector>& localPoints, 
      float rightOffset, float forwardOffset, DtUUID& routeUUID);

   virtual bool postAddComponentsInit() override;

   virtual void processManeuverInFormation(const DtTaskMessage& msg);

   virtual bool makeTopographicVertices();

   virtual double taskSpeedOrOrderedSpeed() const;

   virtual void updateTaskVisualizations() override;

   virtual bool getValidDestinationFor(const DtVector& localPositionIn, DtVector& localPositionOut);

   virtual bool publishFormationRoutes() const;

   virtual double distanceBehind(const DtVector topoRefPos,
      const DtVector leaderDir, const DtVector topoCurrentPosition);
   virtual bool isPastDestination(const int currentIndex);

   virtual void reinitializeTemporaryVariables();

   virtual DtVector shiftLocationAlongRoute(double shiftDistance,
      std::vector<DtVector> testRoute, DtVector initalLoc, int segmentIndex);

   virtual void startObstacleSearch(const DtVector& localPosition, double radius);

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

private:

   DtGroundManeuverInFormationControllerComponent();

   DtGroundManeuverInFormationControllerComponent(
      const DtGroundManeuverInFormationControllerComponent& orig);

   DtGroundManeuverInFormationControllerComponent& operator=(
      const DtGroundManeuverInFormationControllerComponent& orig);

protected:

   DtSimObjectReferenceList myFollowers;

   DtSimObjectReference             myMajorRoute;

   DtGroundManeuverInFormationPSR* pMyManuverInFormationPSR;

   DtRailMovementControllerPSR* pMyRailMovementPSR;

   std::vector<DtVector> myTopoOffsetRoute;
   DtCoordTransform myLocalToTopoTransform;

   std::unique_ptr<MAKVRinTerra::DtAreaFeatureSet> myFeatureSet;

   bool                             myHasProcessed;

   double                           myNearDistance;
   double                           myAtDistance;
   double                           myApproachSpeed;
   double                           myObstacleBufferMeters;   

   DtSimObjectReference             myLeader;
   DtMovementSimObjectFacade        myLeaderMovementSimObjectFacade;

   DtSimObjectReference             myUnitRoute;

   DtMovementLocalObjectFacade myMovementLocalObjectFacade;
};