surfEntPltCtl.h

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/*******************************************************************************
** Copyright (c) 2007 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"

class DtString;
class DtSimManager;
class DtConstrainedAnalogOutputPort;
class DtBooleanInputPort;
class DtSurfaceEntityActuator;
class DtSurfaceEntityStateRepository;
class DtSurfaceEntityPilotControllerDescriptor;
class DtTaskMessage;
class DtSurfaceMovementPSR;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtSurfaceEntityPilotController : 
   public DtSingleTaskControllerComponent
{

public:

   DtSurfaceEntityPilotController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtSurfaceEntityPilotController();

   virtual DtString type() const;

   virtual bool init();

   virtual void tick();

   virtual void clearTask();

   virtual bool createSurfaceControlPortGroup();
   virtual bool createThrottlePort();
   virtual bool createRudderPort();

   virtual DtConstrainedAnalogOutputPort* throttlePort() const;
   virtual DtConstrainedAnalogOutputPort* rudderPort() const;

   virtual void sailTo(const DtVector& destination, double speed);

   virtual void driftTo(const DtVector& destination, double speed);

   virtual double calculateControlForTurn(double yawAngle);

   virtual double calculateControlForThrottle(double desiredSpeed);

   virtual double calculateControlForThrottle(double desiredSpeed, 
      double distance);

   virtual void emergencyStop();

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

protected:
   
   virtual bool createPortGroups();

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

   virtual bool decideToGiveUpTask() const;

protected:

   DtSurfaceEntityPilotController();

   DtSurfaceEntityPilotController(
      const DtSurfaceEntityPilotController & orig);

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


protected:

   DtSurfaceEntityStateRepository * mySurfaceEntityState;
   DtSurfaceEntityPilotControllerDescriptor * myDescriptor;



   DtBooleanInputPort* mySmallVelocityClampedInputPort;

   DtOutputPortGroup* mySurfaceControlPortGroup;

   DtConstrainedAnalogOutputPort* myThrottlePort;

   DtConstrainedAnalogOutputPort* myRudderPort;


   double myLastDistanceSquared;
   double myDistanceSquared;

   DtSurfaceMovementPSR* myProcessState;
};