roadMovementController.h

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/*******************************************************************************
** Copyright (c) 2016 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include <matrix/vlVector.h>
#include <list>
#include "vrfutil/rwRailSegment.h"
#include "vrfobjcore/railMovementControllerPSR.h"
#include "vrfutil/rwTemplatedList.h"
#include "vrfmodel/railObstructionInfo.h"
#include "vrfmodel/roadSegment.h"

class DtRailSegment;
class DtRoadMovementDescriptor;
class DtRoadMovementUpdater;
class DtRailSplineCalculator;
class DtRailMoveAlongTask;
class DtVrfMovingObjectStateRepository;
class DtMovingObjectParameters;
class DtRoadObstructionFinder;
class DtRoadPathFunctions;
class DtRoadConstants;
class DtRoadDrivingLogic;
class DtBoolSetting;


#define DT_RAIL_SEGMENT_MERGE_ERROR_BOUND 0.3

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

   virtual ~DtRoadMovementController() override;


   virtual const char* type() const override;

   virtual bool init() override;

   virtual void preFirstTickInit() override;

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

   virtual void tick() override;

   virtual void clear();

   virtual bool tickWhileDestroyed() const override;

   virtual void registerTaskMsgCallbacks() override;

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



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

   static void setConvoyFollowCallback(DtSimMessage * msg, void * usrData);

   static void settingsObjectConsumerCallback(const DtSettingsObject* settingsObject, void* usr);


   //-------------------------------------------------------------------

   virtual const DtRoadConstants* roadConstants(){ return myRoadConstants; }

   virtual void setRoadConstants(const DtRoadConstants* rc)
   {
      myRoadConstants = rc;
   }

   virtual DtRoadPathFunctions* pathFunctions(){ return myRoadPathFunctions; }
   virtual void setPathFunctions(DtRoadPathFunctions* pf)
   {
      myRoadPathFunctions = pf;
   }

   virtual DtRoadDrivingLogic* drivingLogic(){ return myDrivingLogic; }
   virtual void setDrivingLogic(DtRoadDrivingLogic* dl)
   {
      myDrivingLogic = dl;
   }

   virtual DtRoadObstructionFinder* obstructionFinder()
   {
      return myRoadObstructionFinder;
   }
   virtual void setObstructionFinder(DtRoadObstructionFinder* of)
   {
      myRoadObstructionFinder = of;
   }

   virtual DtRoadMovementUpdater* movementUpdater(){ return myRoadUpdater; }

   virtual void setMovementUpdater(DtRoadMovementUpdater* u)
   {
      myRoadUpdater = u;
   }
   //------------------------------------------------------------------

   
   virtual DtRailMovementControllerPSR* psr()
      { return myProcessState; }
   virtual const DtMovingObjectParameters* objectParameters() 
      { return myObjectParams; }
   virtual const DtRoadMovementDescriptor* descriptor() const;

   virtual bool drivingOnLeftEnabled() const;
   
   virtual void setCurrentMovementState(DtRailMovementState state);
   virtual DtRailMovementState currentMovementState() const;

   virtual DtRoadSegment* currentRoadSegment()const;
   virtual void setCurrentRoadSegment(DtRoadSegment* seg);

   virtual double frontOffset() const;
   virtual void setFrontOffset(const double o);

   virtual double rearAxleOffset() const;
   virtual void setRearAxleOffset(const double o);

   virtual DtVector localRearAxleLocation() const;

   virtual DtRailSegmentList * pathList();
   virtual const DtRailSegmentList * pathList() const;
   
   virtual DtRoadSegmentPart roadSegmentPart()const;
   virtual void setRoadSegmentPart(const DtRoadSegmentPart s);


   virtual void updateTaskVisualizations() override;

   virtual bool findPointOnTerrain(const DtVector& worldLocation, DtVector& worldLocationOnTerrain);

   virtual std::vector<DtVector>& debugPoints()
   {
      return myObstacleLocations;
   }
   virtual std::vector<std::vector<DtVector> >& debugBoxes()
   {
      return myObstacleBoxes;
   }

   virtual const double followSpeedFactor() const;

   virtual double getDistanceBehindConvoyTarget(const DtSimObject* convoyTgt) const;

   virtual DtSimObjectReference getObjectFromObstruction(DtRailObstructionPtr &obs);


   const DtRailSegmentList* path() const { return &myPath; };


protected:

   DtRoadMovementController();

   DtRoadMovementController(
      const DtRoadMovementController& orig);

   DtRoadMovementController& operator=(
      const DtRoadMovementController& orig);

   virtual bool createPSR();
   
   virtual bool createUpdater();
   virtual bool createPathFunctions();

   virtual bool createRoadObstructionFinder();

   virtual bool createDrivingLogic();


   virtual void processSetting( const DtBoolSetting* setting);

   virtual void processSetConvoyFollowCallback(DtSimMessage * msg);

   virtual void processMoveAlongTask(DtSimMessage * msg);

   virtual bool initializeCurrentState(DtRailMoveAlongTask * task);

   virtual bool setUpRoute(const DtRwRailSegmentList& path);

   virtual int entryLanePosition(double heading,unsigned int numLanes);

   virtual void clearTask() override;

   virtual void clearPath();

   virtual void initiateLaneChange(const int newLaneNum);

   virtual void checkPathEnd();

   virtual void manageRoadSegmentElevationLookup();
   virtual DtRoadSegment* lastSegmentWithElevation();
   virtual void setLastSegmentWithElevation(DtRoadSegment* seg);

   static void scriptedSetCallback(DtSimMessage *msg, void * usrData);
   virtual void processScriptedSet(DtSimMessage *msg);

protected:

   DtRailMovementControllerPSR* myProcessState;
   const DtRoadMovementDescriptor* myRoadMoveDescriptor;
   DtVrfMovingObjectStateRepository * myMovingStateRep;
   const DtMovingObjectParameters* myObjectParams;


   const DtRoadConstants* myRoadConstants;

   DtRoadPathFunctions* myRoadPathFunctions;

   DtRoadDrivingLogic* myDrivingLogic;

   DtRoadObstructionFinder* myRoadObstructionFinder;

   DtRoadMovementUpdater*     myRoadUpdater;

   DtRailSegmentList   myPath;
   DtRoadSegmentList   myRoadPath;
   DtRoadSegment *            myCurrentRoadSegment;

   DtRoadSegment* myLastSegmentWithElevation;
   int myLastSegmentIndex;

   bool           myDrivingOnLeft;
   bool           myNotInitialized;
   bool           myWarnedAboutMissingConvoyLeaderOnce;
   bool           myRoadAltitudesSet;

   double myFrontOffset;

   double myRearAxleOffset;

   DtRoadSegmentPart myRoadSegmentPart;

   std::vector<DtVector> myTaskVisPath;

   std::vector<DtVector> myCurrentTaskVisPath;

   std::map<DtRoadSegment*, unsigned> myRoadSegmentTaskVisMap;

   unsigned myCurrentTaskVisPathPtIndex;


   bool myHaveCreatedDebugVis;

   std::vector<DtVector> myOriginalPath;


   std::vector<DtVector> myObstacleLocations;

   int myLastNumObstaclePoints;

   std::vector<std::vector<DtVector> > myObstacleBoxes;

   int myLastNumBoxes;


   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};