surfaceEntityMoveAlongController.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfmodel/surfaceEntityMoveToController.h"
#include "vrfutil/localVectorIterator.h"

class DtString;
class DtSimulationServices;
class DtRouteState;
class DtSimMessage;
class DtVectorOutputPort;
class DtMoveAlongTask;


class DT_DLL_vrfmodel DtSurfaceEntityMoveAlongController : 
   public DtSurfaceEntityMoveToController
{

public:

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

   virtual ~DtSurfaceEntityMoveAlongController() override;

   virtual const char* type() const override;

   virtual bool init() override; 

   virtual void preFirstTickInit() override;

   virtual void clearTask() override;

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

   virtual void processMoveAlongTask(DtSimMessage * msg);

   static DtReaderWriter* provideCurrentMinTurnRadius(void* controller);

   static DtReaderWriter* provideTurnRadiusForOrderedSpeed(void* controller);

   static DtReaderWriter* provideNextRoutePointIndex(void* controller);

   virtual void processRouteChanged();

   virtual bool atGoal() override;

   virtual bool passedGoal() override;



   virtual bool targetNextVertex();

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

   virtual void tick() override;
   virtual void taskComplete(bool success = true) override;

protected:
   DtSurfaceEntityMoveAlongController();

   DtSurfaceEntityMoveAlongController
      (const DtSurfaceEntityMoveAlongController& orig);

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

   virtual bool getNextRoutePoint(int & index, 
      DtVector * & point);

   virtual DtVector previousRoutePoint();

   virtual void setStateForCurrentPoint();

   virtual bool setupControlPoint() override;

   virtual void controlMovement() override;

   virtual void moveToMiddleOrFinalPoint();

   virtual bool shouldMoveToRouteSegment(double& distanceToSegment);

   virtual void controlMovementToRouteSegment(double distanceToSegment);

   virtual DtReal computeStartTurnDistance2();

   virtual DtReal minTurnRadiusForSpeed(double speed) const;

   virtual DtVrfMovingObjectStateRepository* getSR() override { return myEntityState;}
   virtual DtSurfaceMovementPSR* getPSR(){return myProcessState;}
   virtual const DtSurfaceEntityParameters* getParams(){return myParameters;}

   virtual void registerTaskMsgCallbacks() override;

   virtual void emptyVertexList();

   virtual double integralControl() const;
   virtual double integratedErrorDecayRate() const { return 0.9; }

   virtual double integralControlGain() const { return 0.002; }

   virtual void processEstimatedTotCalculation() override;

   virtual bool createPorts() override;

   virtual void processMoveAlongTask(DtMoveAlongTask* moveAlong);

protected:
   double myMinManeuverDistance2;

   double myIntegratedAlignmentError;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;

   DtSimObjectReference myRoute;

   bool myReprocessTask;
};