humanUseDoorController.h

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/*******************************************************************************
** Copyright (c) 2017 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/humanUseDoorControllerPSR.h"
#include <vrfNavigation/navArea.h>

class DtActiveBotNavInterface;
class DtScriptedTaskTask;
class DtHumanStateRepository;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtBooleanOutputPort;
class DtHumanUseDoorControllerDescriptor;

class DT_DLL_vrfmodel DtHumanUseDoorController : public DtSingleTaskControllerComponent
{
private:
   DtHumanUseDoorController();
   DtHumanUseDoorController(const DtHumanUseDoorController& orig);
   DtHumanUseDoorController& operator=(const DtHumanUseDoorController& orig);
public:
   DtHumanUseDoorController(const DtString& name, DtLocalObject* owner,
      DtSimulationServices* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtHumanUseDoorController() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void tick() override;

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

protected:

   static void setAutomaticDoorClosingCallback(DtSimMessage* msg, void* usrData);
   virtual void processSetAutomaticDoorClosing(DtSimMessage* msg);

   virtual bool isDoorNavTag(const DtNavTag& navTag) const;

   virtual DtVector findDoor();

   virtual bool isDoorOpen(const DtVector& doorLoc);

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual DtHumanUseDoorControllerPSR* createPSR();

   virtual bool usingNavBot() const;

   virtual bool taskVisualizationsActive() const override;
   virtual void updateTaskVisualizations() override;

   virtual void processNavigationInterfaceChanged();

protected:

   DtActiveBotNavInterface* myNavInterface;

   DtHumanUseDoorControllerPSR* myProcessState;

   DtHumanUseDoorControllerDescriptor* myUseDoorDescriptor;

   DtVector myDoorCheckPt1;
   DtVector myDoorCheckPt2;
   bool myDoorIntersect;


   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtBooleanOutputPort* myIsMovingPort;

   DtBooleanOutputPort* myUseCollisionAvoidancePort;

};