navigationPreferenceController.h

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/*******************************************************************************
** Copyright (c) 2015 MaK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfmodel/setController.h"
#include <geometry/surface.h>
#include "vrfobjparam/pathCostEntry.h"

class DtSimMessage;
class DtNavigationPreferenceDescriptor;
class DtNavigationPreferenceControllerPsr;
class DtNavTag;
class DtVrfMovingObjectStateRepository;
class DtActiveBotNavInterface;

class DT_DLL_vrfmodel DtNavigationPreferenceController : public DtSetController
{

public:

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

   virtual ~DtNavigationPreferenceController() override;

   virtual const char* type() const override;

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

   virtual bool init() override;

   virtual bool postAddComponentsInit() override;

   virtual void preFirstTickInit() override;

   virtual void processNavigationInterfaceChanged();

protected:
   static bool pathCostEvalFcn(const DtNavTag& navTag, float slope, float elevationChange, float* costMultiplier, void* userData);
   virtual bool evaluatePathCost(const DtNavTag& navTag, float slope, float elevationChange, float* costMultiplier);

   virtual void buildNormalizedSoilRoughnessFactors();
   virtual void buildSoilAndSemanticFactors();
   virtual void addSoilAndSemanticFactorsFromList(const DtPathCostEntryList& costList);

   virtual double slopeMultiplier(const double elevationChange, const double slope, const double soilModifier = 0.0);

   virtual bool finalizePathCost(double pathCost, float* costMultiplier);


   static void setNavigationPreferencesCallback(DtSimMessage* msg, void* usr);
   virtual void processSetNavigationPreferences(DtSimMessage* msg);


   static void requestAvailableNavigationPreferencesCallback(const DtVrfObjectMessage* msg, void* usr);
   virtual void processRequestAvailableNavigationPreferences(const DtVrfObjectMessage* msg);

   void sendAvailableNavigationPreferences(const DtUUID& receiver, bool sendList);

   void setUseRoadsForPathPlanning(bool useRoads);


   std::map<DtRoughnessSoilType, double> myNormalizedSoilRoughnessFactors;
   std::map<DtU32, double> mySoilCharacteristicFactors;
   std::map<unsigned int, double> mySemanticDataFactors;

   DtNavigationPreferenceDescriptor* myNavigationPreferenceDesc;
   DtNavigationPreferenceControllerPsr* myProcessState;

private:

   DtNavigationPreferenceController();

   DtNavigationPreferenceController(const DtNavigationPreferenceController& orig);

   const DtNavigationPreferenceController & operator=(const 
      DtNavigationPreferenceController& orig);
   DtUUID myFrontEndSender;

   DtVrfMovingObjectStateRepository* myMovingObjectStateRep;

   DtActiveBotNavInterface* myNavInterface;

   tbb::spin_mutex myMutex;
};