include/vrfmodel/rotWingTaskCtl.h

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/*******************************************************************************
** Copyright (c) 1999-2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: rotWingTaskCtl.h,v $ $Revision: 1.4 $ $State: Exp $
*******************************************************************************/



#ifndef rotWingTaskCtl_H_
#define rotWingTaskCtl_H_

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfmodel/vrfmodelDefines.h"

class DtString;
class DtSimManager;
class DtRotaryWingEntityStateRepository;
class DtRotaryWingFlightPSR;
class DtAnalogOutputPort;
class DtVectorOutputPort;
class DtOutputPortGroup;
class DtBooleanOutputPort;

class DT_DLL_vrfmodel DtRotaryWingTaskController : public DtSingleTaskControllerComponent
{
public:
   DtRotaryWingTaskController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtRotaryWingTaskController();

   virtual bool init();

   virtual DtString type() const = 0;

   virtual void clearTask();


   virtual void setDesiredPosition(const DtVector& pos);
   virtual void setDesiredVelocity(const DtVector& vel);
   virtual void setDesiredAcceleration(const DtVector& accel);
   virtual void setDesiredHeading(double heading);
   virtual void setPositionSelector(double sel);
   virtual void setVelocitySelector(double sel);
   virtual void setAccelerationSelector(double sel);
   virtual void setHeadingSelector(double sel);
   virtual void setAggressiveness(double agg);
   virtual void setPowerDown(bool powerDown);


   virtual DtVectorOutputPort *desiredPositionPort();
   virtual DtVectorOutputPort *desiredVelocityPort();
   virtual DtVectorOutputPort *desiredAccelerationPort();
   virtual DtAnalogOutputPort *desiredHeadingPort();
   virtual DtAnalogOutputPort *positionSelectorPort();
   virtual DtAnalogOutputPort *velocitySelectorPort();
   virtual DtAnalogOutputPort *accelerationSelectorPort();
   virtual DtAnalogOutputPort *headingSelectorPort();
   virtual DtAnalogOutputPort *aggressivenessPort();
   virtual DtBooleanOutputPort* powerDownPort();

protected:
   
   virtual bool createPortGroups();

   virtual bool createPorts();


   virtual bool createGuidancePortGroup();
   virtual bool createDesiredPositionPort();
   virtual bool createDesiredVelocityPort();
   virtual bool createDesiredAccelerationPort();
   virtual bool createDesiredHeadingPort();
   virtual bool createPositionSelectorPort();
   virtual bool createVelocitySelectorPort();
   virtual bool createAccelerationSelectorPort();
   virtual bool createHeadingSelectorPort();
   virtual bool createAggressivenessPort();
   virtual bool createPowerDownPort();

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit();

private:
   DtRotaryWingTaskController();

   DtRotaryWingTaskController(const DtRotaryWingTaskController & 
      orig);

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


protected:

   DtRotaryWingEntityStateRepository * myRotaryWingEntityState;



   DtOutputPortGroup *myGuidancePortGroup;

   DtVectorOutputPort *myDesiredPositionPort;

   DtVectorOutputPort *myDesiredVelocityPort;

   DtVectorOutputPort *myDesiredAccelerationPort;

   DtAnalogOutputPort *myDesiredHeadingPort;

   DtAnalogOutputPort *myPositionSelectorPort;

   DtAnalogOutputPort *myVelocitySelectorPort;

   DtAnalogOutputPort *myAccelerationSelectorPort;

   DtAnalogOutputPort *myHeadingSelectorPort;

   DtAnalogOutputPort *myAggressivenessPort;

   DtBooleanOutputPort* myPowerDownPort;

   DtRotaryWingFlightPSR*              myProcessState;
};
#endif