surfaceEntityPilotController.h

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


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"

#define REDUCED_ACCELERATION_FACTOR 0.5 
#define PROPORTIONAL_SPEED_CONTROL 1.0
#define DIRECT_HEADING_CONTROL_ANGLE 0.5 
#define HEADING_GOAL_EPSILON 0.001  
class DtString;
class DtSimulationServices;
class DtAnalogOutputPort;
class DtBooleanOutputPort;
class DtSurfaceEntityActuator;
class DtVrfMovingObjectStateRepository;
class DtSurfaceEntityParameters;
class DtSurfaceEntityPilotControllerDescriptor;
class DtTaskMessage;
class DtSurfaceMovementPSR;


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

public:

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

   virtual ~DtSurfaceEntityPilotController();

   virtual const char* type() const;

   virtual bool init();

   virtual void tick();

   virtual void clearTask();
   virtual bool createSurfaceControlPortGroup();

   virtual DtVrfMovingObjectStateRepository* getSR() {return myEntityState;}

   static DtReaderWriter* provideOrderedSpeed(void* controller);

protected:
   virtual void moveToWithFinalSpeed(const DtVector& localDestination, 
      const double cruiseSpeed, const double finalSpeed);
   virtual void moveToWithFinalSpeed(const double goalHeading,
      const double cruiseSpeed, const double finalSpeed);

   virtual void turn(double desiredRate);

   virtual void turn(double desiredRate, double desiredHeading);

   virtual void immediateNormalStop();

protected:
   virtual double calculateControlForTurn(double yawAngle, 
      double desiredRate);

   virtual double calculateNormalAcceleration(double cruiseSpeed, 
      double distance, double turnAngle, double finalSpeed);

   virtual double calculateNormalAcceleration(double desiredSpeed);

   virtual double limitedAcceleration(double desiredAcceleration,
      double desiredSpeed);
   
   virtual double followerAcceleration(double dT, 
      double distance, double maxDeceleration,
      double followerSpeed, double leaderSpeed);

public:
   static DtSimComponent * creator(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

protected:
   
   virtual bool createPortGroups();

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

   virtual bool decideToGiveUpTask() const;

   DtPlatformLocalObjectFacade& platformLocalObjectFacade()
   {
      return myPlatformLocalObjectFacade;
   }

protected:

   DtSurfaceEntityPilotController();

   DtSurfaceEntityPilotController(
      const DtSurfaceEntityPilotController & orig);

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

protected:

   DtVrfMovingObjectStateRepository * myEntityState;
   DtSurfaceEntityPilotControllerDescriptor * myDescriptor;

   const DtSurfaceEntityParameters* myParameters;

   DtSurfaceMovementPSR* myProcessState;


   DtAnalogOutputPort *myAccelerationPort;
   DtAnalogOutputPort *myClampSpeedPort;
   DtAnalogOutputPort *myTurnRatePort;
   DtAnalogOutputPort *myFinalHeadingPort;

   DtOutputPortGroup* mySurfaceControlPortGroup;

   double myDistanceSquared;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};