rotaryWingPilotController.h

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/*******************************************************************************
** Copyright (c) 1999-2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/controllerComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include <matrix/LibMatrix.h>

class DtString;
class DtSimulationServices;
class DtConstrainedAnalogOutputPort;
class DtConstrainedDualAxisAnalogOutputPort;
class DtRotaryWingEntityStateRepository;
class DtOutputPortGroup;
class DtInputPortGroup;
class DtVectorInputPort;
class DtAnalogInputPort;
class DtBooleanInputPort;

class DT_DLL_vrfmodel DtRotaryWingPilotController : public DtControllerComponent
{

public:

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

   virtual ~DtRotaryWingPilotController();

   virtual bool init();

   virtual void tick();

   virtual const char* type() const;

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

   virtual bool createAggressivenessPort();
   virtual DtAnalogInputPort *aggressivenessPort();


   virtual DtVectorInputPort *desiredPositionPort();
   virtual DtBooleanInputPort *continueMovementPort();
   virtual DtVectorInputPort *desiredVelocityPort();
   virtual DtVectorInputPort *desiredAccelerationPort();
   virtual DtAnalogInputPort *desiredHeadingPort();
   virtual DtAnalogInputPort *positionSelectorPort();
   virtual DtAnalogInputPort *velocitySelectorPort();
   virtual DtAnalogInputPort *accelerationSelectorPort();
   virtual DtAnalogInputPort *headingSelectorPort();
   virtual DtBooleanInputPort* powerDownPort();

   virtual bool createRotaryWingControlPortGroup();
   virtual bool createThrottlePort();
   virtual bool createCollectivePort();
   virtual bool createCyclicPort();
   virtual bool createPedalPort();

   virtual DtConstrainedAnalogOutputPort * throttlePort();
   virtual DtConstrainedAnalogOutputPort * collectivePort();
   virtual DtConstrainedDualAxisAnalogOutputPort *  cyclicPort();
   virtual DtConstrainedAnalogOutputPort * pedalPort();

   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 setStateFromPorts();

protected:
   
   DtRotaryWingPilotController();

   DtRotaryWingPilotController(const DtRotaryWingPilotController & 
      orig);

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


protected:

   DtRotaryWingEntityStateRepository * myRotaryWingEntityState;



   DtOutputPortGroup* myRotaryWingControlPortGroup;

   DtConstrainedAnalogOutputPort* myThrottlePort;

   DtConstrainedAnalogOutputPort* myCollectivePort;

   DtConstrainedDualAxisAnalogOutputPort* myCyclicPort;

   DtConstrainedAnalogOutputPort* myPedalPort;

   DtInputPortGroup *myGuidancePortGroup;

   DtVectorInputPort *myDesiredPositionPort;

   DtVectorInputPort *myDesiredVelocityPort;

   DtVectorInputPort *myDesiredAccelerationPort;

   DtAnalogInputPort *myDesiredHeadingPort;

   DtAnalogInputPort *myPositionSelectorPort;

   DtBooleanInputPort *myContinueMovementPort;

   DtAnalogInputPort *myVelocitySelectorPort;

   DtAnalogInputPort *myAccelerationSelectorPort;

   DtAnalogInputPort *myHeadingSelectorPort;

   DtAnalogInputPort *myAggressivenessPort;

   DtBooleanInputPort* myPowerDownPort;


   DtVector                            myNormalizedBodyVelocity;
   DtPlatformLocalObjectFacade         myPlatformLocalObjectFacade;
};