groundMoveAlongControllerComponent.h

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/*******************************************************************************
** Copyright (c) 2012 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include "vrfmodel/groundMoveToControllerComponent.h"

class DtLocalVectorIterator;
class DtVectorOutputPort;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtGroundMoveAlongControllerComponent : public 
   DtGroundMoveToDestinationControllerComponent
{

public:

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

   virtual ~DtGroundMoveAlongControllerComponent() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void preFirstTickInit() override;

   virtual void tick() override;

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

   virtual DtSimTaskStatePtr currentTaskState() const override;

   static void routeChangedCallback(const DtSimObject* obj, void * usr);
   virtual void processRouteChanged(const DtSimObject* obj);

   virtual void registerTaskMsgCallbacks() override;

   static DtReaderWriter* provideNextRoutePointIndex(void* c);

   virtual DtAutomotivePSR* getPSR(){return myProcessState;}

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

   virtual bool setupRoute();

   virtual bool setupDestination() override;

   virtual void setupDestinationVector() override;

   virtual double findDesiredSpeed(const double maxAcceleration = 0.0) override;

   virtual double destinationSpeed(const double cruiseSpeed) const override;

   virtual double nextVertexSpeedForDownstreamRoute(const double maxVertexSpeed, const double maxLatAccel, const double maxDecel, const double cruiseSpeed) const;

   virtual double nextTurnAngle() const;

   virtual void stop(bool success = true) override;

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

   static void setLocationCallback(DtSimMessage* msg, void* usr);
   virtual void processSetLocation(DtSimMessage* msg) override;

   virtual bool beginProcessingTask(const DtTaskMessage& task, DtSimTaskStatePtr taskState) override;

   DtGroundMoveAlongControllerComponent();

   DtGroundMoveAlongControllerComponent(
      const DtGroundMoveAlongControllerComponent& orig);

   DtGroundMoveAlongControllerComponent& operator=(
      const DtGroundMoveAlongControllerComponent& orig);

   virtual void buildLocalRoute();

   virtual void emptyVertexList();

   virtual void clearTask() override;

   virtual bool decideToGiveUpTask() const override;

   virtual void updateTaskVisualizations() override;

   virtual void processEstimatedTotCalculation() override;

   virtual bool createPorts() override;

   virtual int findClosestSegment(
      const DtLocalVertexList& vertexList,
      const DtVector& testPoint, double& closestDistance,
      double& segmentDistance);

protected:

   bool               myRouteHasChanged;
   bool               myResetVertex;

   int myPreviousVertex;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;

   bool myWaitingForDiscovery;
   double myTimeStartedWaiting;
};