vreRlJoyController.h

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/*******************************************************************************
** Copyright (c) 2025 MAK Technologies
** All rights reserved.
*******************************************************************************/
 
//! \file vreRlJoyController.h
//! \ingroup vreVrfRtd
//! \brief Rotary-wing joystick controller for VREngage
//!
//! This file defines the DtVreRlJoyController class, which manages joystick
//! input for rotary-wing aircraft in VREngage and converts it into appropriate
//! control surface movements.
 
#pragma once
 
#include <vreVrfmodel/rotaryWingJoyFlightController.h>
 
#include <vreVrfRtd/vreRtdBackendLibCommon.h>
#include <vreVrfRtd/vreRtdTraitJoyControllerExtension.h>
 
class DtBooleanOutputPort;
class DtAnalogOutputPort;
 
 
namespace RlCgfVrf
{
class DtVreRlJoyControllerDescriptor;
 
//! \brief Type string for VREngage rotary-wing joystick controller component
//!
//! Constant used to identify this component type in the simulation system.
const char TS_JoyController[] = "rotorlib-cgf-vr-engage-joy-controller";
//! \brief Rotary-wing joystick controller for VREngage
//!
//! This class manages joystick input for rotary-wing aircraft and converts
//! it into appropriate control surface movements. It handles various input
//! devices and maps their values to helicopter control outputs, providing a bridge
//! between the physical joystick and the helicopter flight model.
class RTD_VRF_BACKEND_PLUGIN_EXPORT DtVreRlJoyController : public makVre::DtRotaryWingJoyFlightController,
                                                           public ::vreRtd::DtVreRtdTraitJoyControllerExtension
{
public:
   //! \brief Constructor
   //! \param name The name of the component
   //! \param owner The local object this component belongs to
   //! \param simManager The simulation services manager
   //! \param desc Component descriptor containing configuration
   //! \param parentRegistry Parent registry for reader/writer functionality
   //!
   //! Initializes a new rotary-wing joystick controller component for VREngage control.
   DtVreRlJoyController(const DtString& name, DtLocalObject* owner, DtSimulationServices* simManager,
      DtComponentDescriptor* desc = 0, DtReaderWriterRegistry* parentRegistry = 0);
 
   //! \brief Virtual destructor
   //!
   //! Cleans up resources used by the joystick controller component.
   virtual ~DtVreRlJoyController() override;
 
   //! \brief Initializes the joystick controller
   //! \return True if initialization was successful
   //!
   //! Performs initial setup of the joystick controller, including configuration
   //! loading and port initialization.
   virtual bool init() override;
 
   //! \brief Performs per-frame processing
   //!
   //! Called once per simulation frame to calculate new control values
   //! based on current joystick input and update the output ports.
   virtual void tick() override;
 
   //! \brief Creates component ports
   //! \return True if port creation was successful
   //!
   //! Creates output ports for cyclic, collective, pedals, and other helicopter controls.
   virtual bool createPorts() override;
 
   //! \brief Calculates and sets port values for a specific joystick function
   //! \param functionGroup The function group of the joystick input
   //! \param function The specific function within the group
   //! \param value The input value from the joystick
   //! \param repeat Whether this is a repeated input
   //!
   //! Maps joystick inputs to the appropriate helicopter control outputs.
   virtual void calcAndSetPortValues(
      const DtString& functionGroup, const DtString& function, double value, bool repeat) override;
 
   //! \brief Gets the component type
   //! \return The type string for this component
   //!
   //! Returns TS_JoyController as the component type identifier.
   virtual const char* type() const override;
 
   //! \brief Gets the joystick enabled output port
   //! \return Pointer to the joystick enabled output port
   //!
   //! Returns the output port that indicates whether joystick control is enabled.
   virtual DtBooleanOutputPort* joystickEnabledPort();
 
   //! \brief Disables the joystick controller
   //!
   //! Disables joystick input processing, usually when player
   //! control is deactivated.
   virtual void disable() override;
 
   //! \brief Enables the joystick controller
   //!
   //! Enables joystick input processing, usually when player
   //! control is activated.
   virtual void enable() override;
 
   //! \brief Sets the enabled state of the joystick controller
   //! \param yes True to enable the controller, false to disable
   //!
   //! Directly sets the enabled state of the joystick controller.
   virtual void setIsEnabled(bool yes) override;
 
   //! \brief Component factory function
   //! \param name The name for the new component
   //! \param owner The local object the component will belong to
   //! \param simManager The simulation services manager
   //! \param desc Component descriptor containing configuration
   //! \param parentRegistry Parent registry for reader/writer functionality
   //! \return Pointer to the newly created component
   //!
   //! Static factory function used for component creation through the component registry.
   static DtSimComponent* creator(const DtString& name, DtLocalObject* owner, DtSimulationServices* simManager,
      DtComponentDescriptor* desc = 0, DtReaderWriterRegistry* parentRegistry = 0);
 
private:
   //! \brief Copy constructor (not implemented)
   //! \param orig The source object
   DtVreRlJoyController(const DtVreRlJoyController& orig);
 
   //! \brief Assignment operator (not implemented)
   //! \param orig The source object
   //! \return Reference to this object
   DtVreRlJoyController& operator=(const DtVreRlJoyController& orig);
 
   //! \brief Component descriptor containing configuration parameters
   const DtVreRlJoyControllerDescriptor* myDesc;
 
   //! \brief Output port for wheel brake control
   DtAnalogOutputPort* myWheelBrakeOutputPort;
 
   //! \brief Output port for pedal control (yaw)
   //!
   //! Pedal port of VRF rotWingActuator doesn't get any values. Seems to be a bug.
   //! Use this port to apply values.
   DtAnalogOutputPort* myPedalOutputPort;
 
   //! \brief Output port for collective control (lift)
   DtConstrainedAnalogOutputPort* myCollectiveOutputPort;
 
   //! \brief Output port for cyclic control (pitch/roll)
   DtConstrainedDualAxisAnalogOutputPort* myCyclicOutputPort;
};
 
} // namespace RlCgfVrf