groundMoveToDestinationControllerComponent.h

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




#pragma once


#include "vrfmodel/groundAutoControllerComponent.h"
#include <matrix/vlVector.h>
#include "vrfobjcore/automotivePSR.h"

class DtString;
class DtSimulationServices;
class DtSimMessage;
class DtGroundMoveToDescriptor;
class DtRangeAndDirectionNetworkSegmentMetric;
class DtCollisionInputPort;
class DtInputPortGroup;
class DtActiveBotNavInterface;
class DtCollision;
class DtGroundMoveToObstacleAvoider;

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

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

   virtual ~DtGroundMoveToDestinationControllerComponent() override;

   virtual void createObstacleAvoider();
   virtual DtGroundMoveToObstacleAvoider* obstacleAvoider() const;

   virtual bool init() override;

   virtual void tick() override;

   virtual const char* type() const override;

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

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

   virtual void registerTaskMsgCallbacks() override;

   virtual void clearTask() override;

   virtual bool getDestination(DtVector & destination) const;

   virtual const DtVector& destinationVector();

   virtual double findDesiredSpeed(const DtVector& localDestination,
      const double stoppingAcceleration = 0.0);
   virtual double findDesiredSpeed(const double stoppingAcceleration = 0.0);

   virtual double destinationSpeed(const double cruiseSpeed) const;

   virtual DtAutoTransmissionGearEnum determineGearSetting(const double desiredSpeed);

   virtual bool atDestination();

   virtual double approximateThrottle(double desiredSpeed, double headingError = 0.0) override;

   virtual void stopVehicle(bool success = true);

   virtual void stop(bool success = true);

   virtual void doMoving();

   virtual void updateTaskVisualizations() override;


   virtual bool nearDestination();

   virtual bool passedDestination();

   
   static const std::string notActiveString; 
   static const std::string noObstaclesString; 
   static const std::string avoidingString; 
   static const std::string blockedByVehicleString; 
   static const std::string blockedByWallString; 



protected:

   virtual bool setupDestination();

   virtual void setupDestinationVector();

   virtual void invalidateDestinationVector() const;

   virtual void moveToDestination();
   virtual double distanceSqToDestination() const;

   virtual double steeringHeadingToLocation(const DtVector& destination);

   virtual double findDesiredHeading();

   virtual bool decideToGiveUpTask() const override;

   virtual void taskComplete(bool success = true) override;

   virtual bool createPortGroups() override;
   virtual bool createPorts() override;

   virtual void setDestinationIsInsideObstruction(bool yesNo);

   virtual bool destinationIsInsideObstruction() const;

   virtual unsigned maxNumFailedPathAttempts() const;

   static void navAreaChangedCallback(void* usr);
   virtual void processNavAreaChanged();

   DtVector localDestination() const;

   virtual void processNavigationInterfaceChanged();

   virtual void processEstimatedTotCalculation();

   virtual void processGroundVehicleLocationChanged();

private:
   DtGroundMoveToDestinationControllerComponent();

   DtGroundMoveToDestinationControllerComponent(const DtGroundMoveToDestinationControllerComponent &orig);

   const DtGroundMoveToDestinationControllerComponent & operator=(const 
      DtGroundMoveToDestinationControllerComponent & orig);

protected:
   const DtGroundMoveToDescriptor* myMoveToDescriptor;
   DtGroundMoveToObstacleAvoider* myObstacleAvoider;
   int myLastNumberOfObstacleVisualizations;


   DtBooleanOutputPort* myClampToNavDataPort;


   double            myDistanceSquared;
   double            myCurrentSpeed;

   DtVector          myLocalDestination;
   DtVector          myWorldDestination;

   bool              myHasIntermediateDestination;
   DtVector          myIntermediateWorldDestination;
   DtVector          myIntermediateLocalDestination;
   
   mutable DtVector  myDestinationVector;
   mutable bool      myDestinationVectorIsValid;
   bool              myAtDestination;

   bool              myNearDestination;
   bool              myPassedDestination;
   double myNearDistanceSquared;

   DtActiveBotNavInterface* myNavInterface;
   bool myIgnoreNavData;

   bool myDestinationIsInsideObstruction;

   double myTargetHeading;

   const double DtEstimatedTotCalcInterval = 5.0;

   bool myEstimatedTotCalcEnabled;
   double myEstimatedTotValue;
   double myEstimatedTotLastCalcTime;
   DtVector myEstimatedTotTextPos;
   bool myChangedLocation;

   bool myHasFinalOutputBeenSet;
};