src/StateControl.cpp

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/*

Traplas visualisation.

Copyright (C) 2006 Herbert de Vos & Willem Drost

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

(For full Licence see ../GPL-Licence.txt)

*/

//TODO add scaling to mapping files.

#ifndef STATECONTROL_H
#include "StateControl.h"
#endif

#ifndef DISPATCHER_H
#include "Dispatcher.h"
#endif

#ifndef _GLIBCXX_SSTREAM
#include <sstream>
#endif

#ifndef _GLIBCXX_IOSTREAM
#include <iostream>
#endif

#ifndef OSGDB_READFILE 
#include <osgDB/ReadFile>
#endif

#ifndef OSG_VEC3D
#include <osg/Vec3d>
#endif

#ifndef OSG_QUAT
#include <osg/Quat>
#endif

#ifndef OSG_POSITIONATTITUDETRANSFORM
#include <osg/PositionAttitudeTransform>
#endif

#ifndef OSG_AUTOTRANSFORM
#include <osg/AutoTransform>
#endif

#ifndef OSG_VEC4
#include <osg/Vec4>
#endif

#ifndef OSG_MATRIX
#include <osg/Matrix>
#endif

#ifndef OSG_MATRIXTRANSFORM
#include <osg/MatrixTransform>
#endif

#ifndef OSG_GEOMETRY
#include <osg/Geometry>
#endif

#ifndef OSG_STATESET
#include <osg/StateSet>
#endif

#ifndef OSGTEXT_TEXT
#include <osgText/Text>
#endif

#ifndef OSGGA_NODETRACKERMANIPULATOR
#include <osgGA/NodeTrackerManipulator>
#endif


//Own callback class:
#ifndef ANIMATIONPATHTIMEDCALLBACK_H
#include "AnimationPathTimedCallback.h"
#endif

#ifndef USERINTERFACE_H
#include "UserInterface.h"
#endif

#ifndef _GLIBCXX_LIST
#include <list>
#endif

#ifndef GLOBALS_H
#include "Globals.h"
#endif

#include <algorithm>

/*StateControl*/


void* go(void* none){
        //sets up the osg viewer and hud, creates callbacks and UserInterface,  checks the dispatcher for messages, updates world, starts osg main loop.
        StateControl *st = static_cast<StateControl*>( none );  
        
        osg::Group* root = dynamic_cast<osg::Group*>( st->getOsgRoot() );
        assert( root != NULL );
        osgProducer::Viewer* viewer = new osgProducer::Viewer();

        st->view = viewer;

        viewer->setUpViewer(osgProducer::Viewer::STANDARD_SETTINGS);
        viewer->setSceneData(root);

        root->addChild( st->ui->createHud() );
        //Event handler for picking and updating the HUD:
        viewer->getEventHandlerList().push_front(new UserEventHandler(viewer, st->ui ));

        /*      TODO 
        //add camera manipulator to the list:
        unsigned int cmid = viewer->addCameraManipulator(new osgGA::NodeTrackerManipulator());  
        
        list<string> tempNames;
        viewer->getCameraManipulatorNameList(tempNames);
        
        ((StateControl*)none)->trackingCamName = tempNames.back(); //assuming we've added to the end of the list.*/

        viewer->realize();
        //osg main loop:
        while( !viewer->done() ){
                //check for messages in the queue
                st->dis->dispatchMessage();
                viewer->sync();
                viewer->update();
                viewer->frame();
        }
        cout << "Viewer exit." << endl;
        //      TODO    Call destructors.
        exit(0);
        
        return NULL;
}

StateControl::StateControl(Dispatcher* disp){

        dis = disp;
        ui = new UserInterface(this);
        view = NULL;
        pausetime = 0.0;

        readMapping(CARGO);
        readMapping(TRANSPORT);
        readMapping(LOCATION);

        osgRoot = new osg::Group;
        
        //create thread that can live in go():
        pthread_create(&osg_update_loop, NULL, go, (void*)this);
}

bool StateControl::readMapping(int type){
        //rewrite this bit for use here:
        string line;
        vector<string> mapping;
        ifstream mappingfile;
        switch(type){
                case CARGO:
                mappingfile.open("../cargo");
                break;
                case TRANSPORT:
                mappingfile.open("../transport");
                break;
                case LOCATION:
                mappingfile.open("../locations");
                break;
                default:
                cout << "Warning: (Statecontrol::readMapping()) Error readMapping: Trying to read type " << type << ". Doesn't exist." << endl;
                break;
        }

        if (mappingfile.is_open()){
                while (!mappingfile.eof()){
                        getline (mappingfile, line);
                        mapping.push_back(line); //add line to vector
                }
        } else {
                cout << "Error: (Statecontrol::readMapping()) Cannot open file for type " << type << "." << endl;
                exit(0);
        }
        mappingfile.close();
        
        int spaceIndex;
        if(type == LOCATION){   
                vector<string>::iterator it = mapping.begin();
                //1st element is the scaling of the tiles:
                tilescale = atof((*it).c_str());
                it++;   
                for ( ; it != mapping.end() ; it++) {
                        spaceIndex = (*it).find(" ", 0);
                        string mapNrStr = it->substr(0, (spaceIndex));
                        string mapValue = it->substr((spaceIndex+1));
                        int mapNr= atoi(mapNrStr.c_str());
                        tileMap[mapNr]= ("../"+mapValue);
                }
        } else if(type == CARGO) {
                spaceIndex = (mapping.at(0)).find(" ",0);
                cargomodel = ("../"+(mapping.at(0).substr(0,spaceIndex)));
                cargoscale =  atof(mapping.at(0).substr(spaceIndex+1).c_str() );
        } else if(type==TRANSPORT) {
                spaceIndex = (mapping.at(0)).find(" ",0);
                transmodel = ("../"+(mapping.at(0).substr(0,spaceIndex)));
                transscale = atof(mapping.at(0).substr(spaceIndex+1).c_str() );
        }

        return true;
}

StateControl::~StateControl(){
        delete ui;
}

bool StateControl::location(int loc_id, shared_ptr<string> desc, unsigned int capacity, double dist, double s, int tile, double width, double height, double x, double y, double rot){

        osg::Node* locModel = osgDB::readNodeFile(tileMap[tile]);
        assert( locModel != NULL );
        
        if ( world[loc_id] != NULL ) {
                cout << "Warning: (StateControl::location()) Something with id " << loc_id << " allready exists! No location created." << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }
 
        //      Check if width and height are positive
        if(width <=0 || height <=0 ){
                cout << "Warning: (StateControl::location()) Incorrect tile dimensions: width and height must be > 0" << endl;
                #if STRICT
                        exit(1);
                #endif
                //      Set width and height to 0. This causes the tile to be invisible.
                width = 0;
                height = 0;
        }
        
        // Create infrastructure object and add it to worldmapping.
        Infrastructure* inf     = new Infrastructure(loc_id, LOCATION, s, tile, capacity, dist, locModel);
        world[loc_id]=inf;

        // Create scaling.
        osg::AutoTransform* scaleTrans = new osg::AutoTransform();
        scaleTrans->setScale(osg::Vec3d(tilescale * (width/2.0), tilescale,tilescale * (height/2.0)));

        //      Create position.
        osg::PositionAttitudeTransform* locXform = new osg::PositionAttitudeTransform();
        locXform->setPosition(osg::Vec3d(x,0,y));

        //      Orientation in quaternions!
        double rrot = (rot/360.0)*(2.0*M_PI); //convert to rads
        locXform->setAttitude(osg::Quat(rrot, osg::Vec3d(0,1,0)));

        //      Add it to the OSG-tree
        scaleTrans->addChild(locModel);
        locXform->addChild(scaleTrans);
        osgRoot->addChild(locXform);

        //      Set label and description.
        inf->initLabel();
        inf->setLabel(desc);
        inf->setDescription(*desc);

  return true;
}

bool StateControl::drv(int Rt, int Ri_a, int Ri_b, int Ri_d, double ts, double te){

        Infrastructure *tmp_a = dynamic_cast<Infrastructure*>( world[Ri_a] );
        Infrastructure *tmp_b = dynamic_cast<Infrastructure*>( world[Ri_b] );
        Infrastructure *tmp_d = dynamic_cast<Infrastructure*>( world[Ri_d] );
        Transport *tmp_t = dynamic_cast<Transport*>( world[Rt] );
        assert ( !(tmp_a == NULL) && !(tmp_b == NULL) && !(tmp_d == NULL) && !(tmp_t == NULL) );

        if( !((Infrastructure*)tmp_a)->isArc(Ri_b) ){
                cout << "Warning: (StateControl::drv()) No arc from " << Ri_a << " to " << Ri_b << ", drive action invalid." << endl;
                #if STRICT
                        exit(1);
                #endif
        }

        osg::AnimationPath* mypath = new osg::AnimationPath();
        mypath->setLoopMode(osg::AnimationPath::NO_LOOPING);

        osg::Vec3d pos_a = tmp_a->getPosition();
        osg::Vec3d pos_b = tmp_b->getPosition();

        //      Make the rotation thing to point the car and its cargo in the right direction.
        double angle = atan2( (pos_a.x() - pos_b.x()), (pos_b.z()-pos_a.z()) );
        osg::Quat myquat((-1*angle), osg::Vec3d(0,1,0));

        mypath->insert(0.0, osg::AnimationPath::ControlPoint(pos_a, myquat));
        //insert more controlpoints here for more fluid drive actions. (acceleration etc.)
        mypath->insert((double)(te - ts), osg::AnimationPath::ControlPoint(pos_b, myquat));

        osg::PositionAttitudeTransform* locXform = dynamic_cast<osg::PositionAttitudeTransform*>(tmp_t->getModel()->getParent(0)->getParent(0));
        assert( locXform != NULL);

        AnimationPathTimedCallback* timePath = new AnimationPathTimedCallback();
        timePath->setAnimationPath(mypath);
        timePath->setTimeOffset(0.0);
        timePath->setTimeReference(dis);
        timePath->setTimeMultiplier(dis->getTimeFlow());

        locXform->setUpdateCallback( ((osg::NodeCallback*)timePath) );
        
        tmp_t->setDestination( tmp_d->getModel()->getName() );

        return true;
}

bool StateControl::load(int Rt, int Ri, int C, double ts, double tf){
        Cargo *cgl = dynamic_cast<Cargo*>( world[C] );
        Infrastructure *infl = dynamic_cast<Infrastructure*>( world[Ri] );
        Transport *tnl = dynamic_cast<Transport*>( world[Rt] );
        assert ( !(cgl == NULL) && !(infl == NULL) && !(tnl == NULL) );

        int Cid = infl->removeCarg(C);
        if(Cid != C){
                cout << "Warning: (StateControl::load())Cargo" << cgl->getModel()->getName() <<" not at location " << infl->getModel()->getName() << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }
        tnl->setCargo(C , cgl->getModel()->getName() );

        //      OSG-tree manipulation
        //      Add the cargo to the PositionAttitudeTransform of the transport resource.
        osg::PositionAttitudeTransform *tr_pat = dynamic_cast<osg::PositionAttitudeTransform*>( tnl->getModel()->getParent(0)->getParent(0) );
        assert( tr_pat != NULL );

        osg::AutoTransform *carg_at = dynamic_cast<osg::AutoTransform*>( cgl->getModel()->getParent(0) );
        assert( carg_at != NULL );
        
        carg_at->setPosition( osg::Vec3d( 0, -2, 0) );  //      Remove the offset on the Infrastructure Resource, set offset for transport.

        tr_pat->addChild( carg_at );

        //      Now remove it from the PositionAttitudeTransform of the infrastructure resource.
        osg::PositionAttitudeTransform *inf_pat = dynamic_cast<osg::PositionAttitudeTransform*>(infl->getModel()->getParent(0)->getParent(0));
        assert( inf_pat != NULL );

        inf_pat->removeChild( carg_at );

        //update hub if selected:
        if (tnl->isSelected())updateHudText(tnl);
        return true;

}

bool StateControl::unload(int Rt, int Ri, int C, double ts, double te){
        Cargo *cgu = dynamic_cast<Cargo*>( world[C] );
        Infrastructure *infu = dynamic_cast<Infrastructure*>( world[Ri] );
        Transport *tnu = dynamic_cast<Transport*>( world[Rt] );
        assert ( !(cgu == NULL) && !(infu == NULL) && !(tnu == NULL) );

        if( tnu->getCargo() != C){
                cout << "Warning: (StateControl::Cargo()) Cargo " << cgu->getModel()->getName() << " is not on transport " << tnu->getModel()->getName() << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }

        //ok, remove cargo, add to location:
        if( !infu->addCarg( ( tnu->clearCargo() ) ) ){
                cout << "Warning: (StateControl::unload()) Failed to unload cargo " << cgu->getModel()->getName() << " from transport " << tnu->getModel()->getName() << " to location  " << infu->getModel()->getName() << endl; 
                #if STRICT
                        exit(1);
                #endif
                return false;
        }
        
        //      OSG-tree manipulation
        //      Add the AutoTransform of the cargo to the PositionAttitudeTransform of the location
        osg::PositionAttitudeTransform *loc_pat = dynamic_cast<osg::PositionAttitudeTransform*>( infu->getModel()->getParent(0)->getParent(0) );
        assert( loc_pat != NULL );

        osg::AutoTransform *carg_at = dynamic_cast<osg::AutoTransform*>( cgu->getModel()->getParent(0) );
        assert( carg_at != NULL );
        
        carg_at->setPosition( osg::Vec3d( -20, 0, 20) );        //      Place the cargo besides the road.

        loc_pat->addChild( carg_at );

        //      Now remove it from PositionAttitudeTransform of the transport.
        osg::PositionAttitudeTransform *tr_pat = dynamic_cast<osg::PositionAttitudeTransform*>( tnu->getModel()->getParent(0)->getParent(0) );
        assert( tr_pat != NULL );       

        tr_pat->removeChild( carg_at );

        //update hub if selected:
        if ( tnu->isSelected() )
                updateHudText(tnu);

        return true;
}

bool StateControl::setspdinviz(int R, double s){
        
        Infrastructure *tmpR = dynamic_cast<Infrastructure*>( world[R] );
        if (tmpR == NULL)       //R is not an infrastructure resource, perhapes it is a transport resource.
                Transport *tmpR = dynamic_cast<Transport*>( world[R] );
        assert( tmpR != NULL);          
        
        bool ret = tmpR->setSpeed(s);   
        if( tmpR->isSelected() )
                updateHudText(tmpR);
        
        return ret;
}

bool StateControl::trnew(int Rt, shared_ptr<string> desc, int Ri, double s){

        osg::Node* trModel = osgDB::readNodeFile(transmodel);
        assert( trModel != NULL );
        
        if( world[Rt] != NULL ){        
                cout << "Warning: (StateControl::trnew()) Something with id " << Rt << " allready exists. No transport created." << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }

        //create object and add to worldmap
        Transport* trans = new Transport(Rt,TRANSPORT, s, trModel);
        world[Rt]=trans;

        Infrastructure* loc = dynamic_cast<Infrastructure*>( world[Ri] );
        assert (loc != NULL);

        //      Get the location of the infrastructure resource
        osg::Vec3d locpos = loc->getPosition(); 
        
        //      Make a PositionAttitudeTransform and fill it with the position.
        osg::PositionAttitudeTransform* trpos = new osg::PositionAttitudeTransform();
        trpos->setPosition(locpos);

        //      Make our AutoTransform
        osg::AutoTransform* mytransform = new osg::AutoTransform();
        mytransform->setScale(osg::Vec3d(transscale,transscale,transscale));

        //      Add it to the OSG-Tree.
        mytransform->addChild(trModel);
        trpos->addChild(mytransform);
        osgRoot->addChild(trpos);

        //      Set the label and description.
        trans->initLabel();
        trans->setLabel(desc);
        trans->setDescription(*desc);
        
        return true;
}

bool StateControl::trdel(int Rt){
        Transport* trn = dynamic_cast<Transport*>( world[Rt] );
        assert( trn != NULL );

        if( trn->isSelected() ) 
                deselectObject(trn);
        
        if(trn->getCargo() != -1){ 
                cout << "Warning: (StateControl::trdel()) Transport " << (trn->getModel())->getName() << " was carrying cargo with id " << trn->getCargo() << endl;
                #if STRICT
                 exit(1);
                #endif
        }
        //      Remove the transport from the OSG-tree
        osg::PositionAttitudeTransform* trpos = dynamic_cast<osg::PositionAttitudeTransform*>( trn->getModel()->getParent(0)->getParent(0) );
        assert( trpos != NULL );

        osgRoot->removeChild( trpos );

        return true;
}

bool StateControl::newcarg(int C, shared_ptr<string> desc, int Ri){

        if( world[C] != NULL ){
                cout << "Warning: (StateControl::newcarg()) Something with" << C << "allready exists, no cargo made" << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }

        Infrastructure* loc = dynamic_cast<Infrastructure*>( world[Ri] );
        assert( loc != NULL );

        osg::Node* cgModel = osgDB::readNodeFile(cargomodel);
        assert( cgModel != NULL );

        //create object and add to worldmap, location
        Cargo* carg = new Cargo(C, CARGO, cgModel);
        world[C]=carg;
        loc->addCarg(C);

        //The cargo is going to be added to the infrastructure resource, so we take the PositionAttitudeTransform of the infrastructure resource.
        osg::PositionAttitudeTransform* cgpos = dynamic_cast<osg::PositionAttitudeTransform*>( loc->getModel()->getParent(0)->getParent(0) );
        assert( cgpos != NULL );        

        //Make our own AutoTransform, here we can include scaling. Also we can include rotation and position relative to the infrastructure resource it is placed upon.
        osg::AutoTransform* mytransform = new osg::AutoTransform();
        mytransform->setScale( osg::Vec3d( cargoscale, cargoscale, cargoscale) );
        mytransform->setPosition( osg::Vec3d( 20, 0, 20) );     //      Place the cargo besides the road.

        //      Add cargo to the OSG-tree.
        mytransform->addChild(cgModel);
        cgpos->addChild(mytransform);

        //      Add label and description. 
        carg->initLabel();
        carg->setLabel(desc);
    carg->setDescription(*desc);
    
        return true;
}

bool StateControl::rmcarg(int C){
        //      NOTE Cargo is removed regardless of its location in the OSG-tree.
        Cargo* carg = dynamic_cast<Cargo*>( world[C] );
        assert( carg != NULL );

        if( carg->isSelected() )
                deselectObject(carg);   

        //      Remove the cargo from the OSG-tree
        osg::PositionAttitudeTransform* cgpos = dynamic_cast<osg::PositionAttitudeTransform*>( carg->getModel()->getParent(0)->getParent(0) );
        assert( cgpos != NULL );        

        osg::AutoTransform* carg_at = dynamic_cast<osg::AutoTransform*>( carg->getModel()->getParent(0) );
        assert( carg_at != NULL );      

        cgpos->removeChild( carg_at );

        return true;
}

bool StateControl::arc(int Ri_a, int Ri_b){
        Infrastructure *a = dynamic_cast<Infrastructure*>( world[Ri_a] );
        Infrastructure *b = dynamic_cast<Infrastructure*>( world[Ri_b] );
        assert( !(a == NULL) && !(b == NULL) );

        //check if there isn't an arc yet:
        if( a->addArc(Ri_b) )
          return true;  
        else {
                cout<< "Warning: (StateControl::arc()) Arc between " << a->getModel()->getName() << " and " << b->getModel()->getName() << " allready exists." << endl;
                #if STRICT
                        exit(1);
                #endif
                return false;
        }
}

bool StateControl::adjustTimeFlow(double adj){
        
        double oldTime = dis->getTimeFlow();
        if( oldTime <= 0 && adj <= 0 ) 
                return dis->setTimeFlow(0.0);   
        else
                return dis->setTimeFlow( (dis->getTimeFlow() + adj));
}

double StateControl::getTimeFlow(){
        return dis->getTimeFlow();
}

double StateControl::getTime(){
        return dis->getTime();
}

void StateControl::pause(){
        if(dis->getTimeFlow() != 0.0){
                pausetime = dis->getTimeFlow();
                dis->setTimeFlow(0.0);
        }
        else{
                dis->setTimeFlow(pausetime);
                pausetime = 0.0;
        }
        
        return;
}

int StateControl::selectObject(TraplasObject* obj){
        
        obj->select();
        
        //TODO  trackThis(obj->getModel());  //set camera to track this object. 

        //set text on the hud.  
        ui->setHUDText(obj->toString());        
        //put in vector:
        selected.push_back(obj);
        return selected.size();
}

TraplasObject* StateControl::getLastSelected(){
        if(!selected.empty())
                return selected.at((selected.size()-1));
        else 
                return NULL;
}

int StateControl::deselectObject(TraplasObject* obj){

        //TODO  trackThis(osgRoot); //set camera to track the root.     

        vector<TraplasObject*>::iterator findDeselect = find( selected.begin() , selected.end() , obj );
        
        if( findDeselect != selected.end() ) {
                (*findDeselect)->select();
                ui->rmHUDText(obj->toString());
                selected.erase(findDeselect);
        }
        
        return (selected.size());       
}

void StateControl::clearSelection(){
        
        //TODO  trackThis(osgRoot); //set camera to track the root.

        //still have to toggle all their selection flags.
        for ( vector<TraplasObject*>::iterator rit = selected.begin() ; rit != selected.end() ; rit++ ) {
                //toggle selection flag:
                (*rit)->select();       
                //remove text from hud:
                ui->rmHUDText((*rit)->toString());              
        }
        selected.clear();
}

/*TODO tracking of selected objects.

void StateControl::track(){
        cout<<"Here there be tracking!\n";
        view->selectCameraManipulatorByName(trackingCamName);

        //update the matrices in the cameranode.

        cout << "number 5 selected\n";
}
        
void StateControl::trackThis(osg::Node* n){
        cout << "We Select!\n";

        osgGA::NodeTrackerManipulator* tmpManip = NULL;
        cout << "Yay!\n";
        cout << trackingCamName << endl;
  tmpManip = (osgGA::NodeTrackerManipulator*) view->getCameraManipulatorByName(trackingCamName);
  cout << "Hierzo! 1\n";
  if(tmpManip != NULL){
    tmpManip->setTrackNode( n);
  }
}
*/

void StateControl::updateHudText(TraplasObject* upd){
  ui->rmHUDText(upd->toString());
  ui->setHUDText(upd->toString());
}

---