parachuteController.h

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/*******************************************************************************
** Copyright (c) 2012 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include <matrix/vlVector.h>

class DtString;
class DtSimManager;
class DtVectorOutputPort;
class DtParachuteControllerPSR;
class DtBooleanOutputPort;
class DtConstrainedAnalogOutputPort;
class DtOutputPortGroup;
class DtAnalogInputPort;
class DtObjectIdInputPort;
class DtBooleanInputPort;
class DtParachuteControllerDescriptor;

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

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

   virtual ~DtParachuteController();

   virtual bool init();

   virtual void tick();

   virtual const char* type() const;

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

protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual bool createPSR();


   static void parachuteToLocationTaskCallback(DtSimMessage* msg, void* usrData);
   virtual void processParachuteTolocationTask(DtSimMessage* msg);

   static void setDeployAltitudeCallback(DtSimMessage* msg, void* usrData);
   virtual void processSetDeployAltitude(DtSimMessage* msg);

   virtual bool isFallingApplicable() const;

   virtual double findDesiredHeading(const DtVector& localDestination);

   virtual void calculateSteering(double currentHeading, const DtVector& targetLocation, 
      double& leftToggle, double& rightToggle);

   virtual DtVector projectLandingLocation(DtVrfObject* entity);

   virtual bool deployParachute(DtVrfObject* targetObject) const;

   virtual bool taskVisualizationsActive() const;

   virtual void updateTaskVisualizations(); 

   void setDeployAltitude(double orderedAltitude, bool isAgl);

   virtual void clearTask();

private:
   DtParachuteController();

   DtParachuteController(const DtParachuteController & 
      orig);

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

protected:
   DtParachuteControllerPSR* myProcessState;

   DtParachuteControllerDescriptor* myDescriptor;

   DtBooleanOutputPort* myDeployedOutputPort;
   DtConstrainedAnalogOutputPort* myLeftToggleOutputPort;
   DtConstrainedAnalogOutputPort* myRightToggleOutputPort;

   DtAnalogInputPort* myMaxTurnRateInputPort;
   DtBooleanInputPort* myFallingInputPort;

   DtOutputPortGroup* myParachuteControlOutputPortGroup;

   DtObjectIdInputPort* myFollowTargetInputPort;
};