shipClutterMovementController.h

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

#pragma once

#include <vrfobjcore/singleTaskControllerComponent.h>
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfutil/aisTrack.h"
#include "vrfcore/aisDataServiceInterface.h"
#include "vrfutil/scriptGeometry.h"

#include <vrfmodel/vrfmodelDefines.h>



class DtAnalogOutputPort;
class DtUpdateRepositoryOutputPortGroup;
class DtSurfaceEntityStateRepository;
class DtSurfaceEntityParameters;
class DtAisDataServiceInterface;
class DtSimMessage;
class DtTaskMessage;


class DT_DLL_vrfmodel DtShipClutterMovementController : public DtSingleTaskControllerComponent
{

public:

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

   virtual ~DtShipClutterMovementController() override;

   virtual const char* type() const override;

   virtual bool init() override;

   virtual void tick() override;

   virtual void clearTask() override;

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

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

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

protected:
   

   virtual bool createPortGroups() override;

   //virtual bool createSurfaceControlPortGroup();

   virtual bool createUpdateRepositoryPortGroup();

   //virtual bool createPorts();
   
   virtual void lookupAndCacheProcessSR();

   virtual void registerTaskMsgCallbacks() override;

   virtual bool getInitialAisInformation();

   void processClutterMove(const DtTaskMessage* msg);

   virtual void processTaskComplete(DtSimMessage* msg);

   virtual bool setUpNextPathPoint();

   virtual bool setUpMoveToCurrentPoint();

   virtual bool canTurnToTarget(const DtLocation3D& currentPosition,
      const DtLocation3D& targetPosition);

   virtual double currentTurnRadius(const double speed);

   virtual void isClutterChanged() override;

   virtual void updateTaskVisualizations() override;

   typedef 
      enum
   {
      moveModeNone,
      moveModeMoveTo,
      moveModeAnimate
   } MoveModeEnum;

protected:

   DtShipClutterMovementController();

   DtShipClutterMovementController(
      const DtShipClutterMovementController & orig);

   const DtShipClutterMovementController & operator=(
      const DtShipClutterMovementController & orig);

protected:

   //DtAnalogOutputPort *myAccelerationPort;
   //DtAnalogOutputPort *myClampSpeedPort;
   //DtAnalogOutputPort *myTurnRatePort;
   //DtAnalogOutputPort *myFinalHeadingPort;

   //DtOutputPortGroup* mySurfaceControlPortGroup;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryPortGroup;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;

   DtAisDataServiceInterface* myAisService;

   DtSurfaceEntityStateRepository * mySurfaceEntityState;
   const DtSurfaceEntityParameters* myParameters;

   MoveModeEnum myMoveMode;

   const DtAisTrack* myAisTrack;

   int myMmsi;

   DtAisDataServiceInterface::DtPathPointIter myCurrentPointIter;


   double myMoveStartTime;
   double myMoveEndTime;
   DtVector myLocalStartPosition;
   DtVector myLocalVelocityToTarget;
   double myStartHeading;
   double myHeadingChangeRate;
   double myTargetHeading;


   int myWarningsGiven;
};