humanMoveToController.h

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


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/humanLocalObjectFacade.h"

class DtCgf;
class DtHumanStateRepository;
class DtSimMessage;
class DtHumanMoveToPSR;
class DtCollisionInputPort;
class DtInputPortGroup;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtHumanMoveToControllerDescriptor;
class DtBooleanOutputPort;
class DtActiveBotNavInterface;
class DtGenericPsr;
class DtAnalogInputPort;
class DtAnalogOutputPort;
class DtVectorInputPort;

class DT_DLL_vrfmodel DtHumanMoveToController : public DtSingleTaskControllerComponent
{
private:

   DtHumanMoveToController();

   DtHumanMoveToController( const DtHumanMoveToController& orig );

   DtHumanMoveToController& operator = ( const DtHumanMoveToController& orig );

public:

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

   virtual ~DtHumanMoveToController() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void tick() override;

   static void moveToCallback( DtSimMessage* msg, void* usr );

   static void setLocationCallback( DtSimMessage* msg, void* usr );

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

   static void modifyVrfObjectCallback( DtSimMessage* msg, void* usr );

protected:

   virtual void processMoveToTask( DtSimMessage* msg );

   virtual void processDestinationChanged();

   virtual bool setupDestination();

   virtual void setupDestinationVector() const;

   virtual void invalidateDestinationVector() const;

   virtual bool atDestination();

   virtual void doMoving();

   virtual double findDesiredHeading();

   virtual double findDesiredSpeed();

   virtual void moveToDestination();

   virtual void stop( bool success );

   virtual void registerTaskMsgCallbacks() override;

   virtual void processModifyVrfObject( DtSimMessage* msg );

   virtual void processSetLocation( DtSimMessage* msg );

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual bool createPSR();

   virtual double distanceToDestination() const;

   virtual void clearTask() override;

   virtual bool destinationIsInsideObstruction( const DtVector& localDestination ) const;

   virtual bool decideToGiveUpTask() const override;

   virtual double atDistance() const;

   virtual bool usingNavBot() const;

   virtual void useNavBotData();

   virtual unsigned maxNumFailedPathAttempts() const;

   virtual bool findAlternateDestination();

   virtual void setStuck( bool yesNo );
   virtual double stuckTime();

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

   DtVector localDestination() const;

   virtual void updateTaskVisualizations() override;

   virtual void suspendTask() override;

   virtual void preFirstTickInit() override;

   static void setAutonomousActionsEnabledCallback( DtSimMessage* msg, void* usrData );
   virtual void processSetAutonomousActionsEnabled( DtSimMessage* msg );

   virtual void processNavigationInterfaceChanged();

   virtual void processEstimatedTotCalculation();

   template<typename T_Task>
   void setCommonTaskParams( const T_Task& task )
   {
      myOverrideAtDistance = task.isAtDistanceSpecified();
      if ( myOverrideAtDistance )
      {
         myOverrideAtDistanceValue = task.atDistance();
      }

      myOverrideSpeed = task.isSpeedSpecified();
      if ( myOverrideSpeed )
      {
         myOverrideSpeedValue = task.speed();
      }
   }

   virtual bool currentPathEdge(DtVector& pathEdgeStart, DtVector& pathEdgeEnd) const;

protected:


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;

   DtBooleanOutputPort* myIsMovingPort;

   DtBooleanOutputPort* myUseCollisionAvoidancePort;

   DtVectorInputPort* myLastVertexLocationInputPort;

   DtAnalogInputPort* myEtaForLastVertexInputPort;

   DtAnalogOutputPort* myEtaToLastVertexOutputPort;


   DtSimObjectReference myControlPoint;

   DtVector myLocalDestination;
   DtVector myWorldDestination;

   bool myHasIntermediateDestination;
   DtVector myIntermediateWorldDestination;
   DtVector myIntermediateLocalDestination;

   mutable DtVector myDestinationVector;
   mutable bool myDestinationVectorIsValid;

   bool myAtDestination;
   double myDistanceSquared;

   bool myOverrideAtDistance;
   double myOverrideAtDistanceValue;
   bool myOverrideSpeed;
   double myOverrideSpeedValue;

   bool myIgnoreNavData;

   unsigned myNumFailedPathAttempts;

   DtHumanStateRepository* myHumanStateRepository;

   DtHumanMoveToPSR* myProcessState;
   //DtGenericPsr* myHumanMovePsr;

   DtHumanMoveToControllerDescriptor* myHumanMoveToControllerDescriptor;
   DtActiveBotNavInterface* myNavInterface;

   bool myAutonomousActionsEnabled;

   const double DtEstimatedTotCalcInterval = 5.0;

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

   DtHumanLocalObjectFacade myHumanLocalObjectFacade;

};


void registerDtHumanMoveToController( DtCgf* cgf );