shipClutterAreaController.h

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/*******************************************************************************
** Copyright (c) 2022 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include <vrfobjcore/singleTaskControllerComponent.h>
#include <vrfmodel/vrfmodelDefines.h>
#include <vrfcore/aisDataServiceInterface.h>
#include <vrfutil/aisTrack.h>

class DtShipClutterAreaControllerDescriptor;
class DtShipClutterAreaPSR;

class DT_DLL_vrfmodel DtShipClutterAreaController : public DtSingleTaskControllerComponent
{
public:

   using DtMmsiList = std::list<DtAisDataServiceInterface::DtMmsi>;
   using DtMmsiSet = DtAisDataServiceInterface::DtMmsiSet;
   using DtMmsi = DtAisDataServiceInterface::DtMmsi;
   using DtBorderCrossing = std::pair<double, DtVector>; 
   using DtBorderCrossingList = std::vector<DtBorderCrossing>;
   using DtTrackEventMap = std::multimap<double, DtMmsi>;

   enum ProcessingPhase
   {
      Idle,
      InitializationPhase,
      RequestTrackInfoPhase,
      ProcessTrackInfoPhase,
      OwnershipAcquisitionPhase,
      CreationPhase,
      DeletionPhase,
      GeneralPhase
   };

   DtShipClutterAreaController(const DtString& name, DtLocalObject* owner,
      DtSimulationServices* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);
   
   virtual ~DtShipClutterAreaController() override;

   virtual bool init() override;

   virtual bool postAddComponentsInit() override;

   virtual void preFirstTickInit() override;

   virtual const char* type() const override;

   virtual void registerTaskMsgCallbacks() override;

   virtual void tick() override;

   static void setMaxEntitiesCallback(DtSimMessage * msg, void * usr);
   virtual void processSetMaxEntities(DtSimMessage* msg);

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

   virtual bool taskVisualizationsActive() const override;
   
protected:

   bool createPSR();

   virtual void requestPhaseTick();

   virtual void processTrackInfoPhaseTick();

   virtual void ownershipAcquisitionPhaseTick();

   virtual void creationPhaseTick();

   virtual void deletionPhaseTick();

   virtual void generalPhaseTick();

   virtual void requestTracksInArea();

   virtual bool processTrackAdditionEvents();

   virtual bool processTrackRemovalEvents();

   virtual void processTrackOwnershipResponse(const DtMmsiSet& tracks);

   virtual void updateKnownTracks(const DtMmsiSet& tracks);

   virtual void calculateAdditionAndRemovalTimes();

   virtual bool requestTrackOwnership(DtMmsiSet& tracks);

   virtual void releaseTrackOwnership(const DtMmsiSet& tracks);

   virtual bool createEntitiesForTracks();

   virtual void monitorNewEntities();

   virtual void processEntityDeleted(const DtSimObject* entity);

   virtual void processEntityPromoted(const DtSimObject* entity);

   void cleanupRemovedEntities();

   void recordPromotedEntities();

   virtual DtEntityType objectTypeForTrack(const DtAisTrack& track) const;

   virtual bool calculateTrackPositionAtTime(double simTime, const DtAisTrack& track,
      DtVector& worldLocation, double& heading, DtVector& velocity,
      const DtPathPoint** previousPathPoint) const;

   virtual bool findLastBorderCrossingTime(
      const DtPathPoint& pt1, const DtPathPoint& pt2,
      std::vector<DtVector>& areaBorder,
      const DtMmsi trackId, double& crossingTime);
   
   virtual bool locationNear2IsInside(const DtVector& location1,
      const DtVector& location2,
      const DtLocalVertexList& areaVertices, Coordinate_System* coordSys);


   virtual void trackPositionAtPoint(const DtAisTrack& track,
      const DtAisPathPointMap::const_iterator point,
      DtVector& worldLocation, double& heading, DtVector& worldVelocity) const;

   virtual bool approximateBorderCrossings(double startTime, const DtVector& startLocation,
      double endTime, const DtVector& endLocation, std::vector<DtVector>& areaBorder,
      DtBorderCrossingList& borderLocations) const;

   virtual void markAllEntitiesForDeletion();

   virtual void markEntitiesOutsideOfAreaForDeletion();

   virtual void markExcessEntitiesForDeletion();

   virtual void deleteMarkedEntities();

   virtual bool isTimeToRequestTracks(double simTime) const;

   virtual bool isTimeForTrackAdditionEvent(double simTime) const;

   virtual bool isTimeForTrackRemovalEvent(double simTime) const;

   virtual void logEntityCreationStatistics();

   virtual void updateTaskVisualizations() override;

   virtual void setPhase(ProcessingPhase);

private:
   DtShipClutterAreaController();
   DtShipClutterAreaController(const DtShipClutterAreaController& orig);
   DtShipClutterAreaController& operator=(const DtShipClutterAreaController& orig);

protected:
   
   DtShipClutterAreaControllerDescriptor* myShipClutterAreaDescriptor;

   DtShipClutterAreaPSR* myProcessState;

   DtMmsiList myKnownTracksToProcess;
   DtTrackEventMap myTrackAdditionTimes;
   DtTrackEventMap myTrackRemovalTimes;
   DtTrackEventMap myDelayedAdditionTimes;
   DtMmsiSet myTracksToRequest;
   DtMmsiSet myTracksRequested;
   DtMmsiList myTracksToCreate;
   std::list<DtUUID> myEntitiesToDelete;
   std::list<DtUUID> myNewEntities;

   DtTime myDataEndTime;

   tbb::spin_mutex myRemovedEntitiesMutex;
   DtMmsiSet myRemovedEntities;

   tbb::spin_mutex myPromotedEntitiesMutex;
   DtMmsiSet myPromotedEntities;

   mutable tbb::spin_mutex myExcludedModelsMutex;
   mutable std::set<DtEntityType> excludedModels;

   using EntityDeletionSignalMap = std::map<DtMmsi, boost::signals2::connection>;
   EntityDeletionSignalMap myEntityDeletionSignals;

   using EntityPromotedSignalMap = std::map<DtMmsi, boost::signals2::connection>;
   EntityPromotedSignalMap myEntityPromotedSignals;

   DtAisDataServiceInterface::DtAisDataJob::Ptr myAisTrackReq;
   DtAisDataServiceInterface::DtAisDataJob::Ptr myAisOwnershipReq;

   ProcessingPhase myPhase;
   bool myCreatingEntitiesFromSave;

   unsigned myNumberCreatedRecently;
   unsigned myNumberSkippedRecently;

   bool myDebugEnabled;
   mutable std::vector<DtVector> myPreCreatePts;
   mutable std::vector<DtVector> myPostCreatePts;
   mutable std::vector<DtVector> myCreatePts;

   mutable std::vector<DtVector> myPreExitPts;
   mutable std::vector<DtVector> myPostExitPts;
   mutable std::vector<DtVector> myExitPts;

   mutable std::vector<DtVector> myPreEnterPts;
   mutable std::vector<DtVector> myPostEnterPts;
   mutable std::vector<DtVector> myEnterPts;
};