sensorGimbalActuator.h

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/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfcore/timer.h"
#include "vrfmodel/bindableLuaComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"

class DtSimulationServices;
class DtSensorGimbalActuatorDescriptor;
class DtSensorGimbalActuatorPSR;
class DtVrfBalGunPSR;
class DtIntegerInputPort;
class DtAnalogInputPort;
class DtAnalogOutputPort;
class DtOrientationOutputPort;
class DtBooleanOutputPort;
class DtVectorOutputPort;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtSensorGimbalActuator : public DtActuatorComponent,
   public DtBindableLuaComponent<DtSensorGimbalActuator>
{

public:

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


   virtual ~DtSensorGimbalActuator();

   virtual bool init();

   virtual void preFirstTickInit();

   virtual const char* type() const;

   virtual void tick();



   virtual bool gimbalLimitHit() const;


   virtual void bindLuaFunctions(lua_State* L);
   virtual void bindLuaGlobals(lua_State* L);

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

protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual DtSensorGimbalActuatorPSR* createPSR();

   virtual void updatePorts();

   virtual void updateParts(double azRate, double elRate);

protected:
   
   DtSensorGimbalActuator();

   DtSensorGimbalActuator(const DtSensorGimbalActuator & orig);

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

protected:
   DtSensorGimbalActuatorDescriptor* myGimbalDescriptor;

   DtSensorGimbalActuatorPSR* myProcessState;

   DtArtPartType myGimbalAzimuthArtPart;
   DtArtPartType myGimbalElevationArtPart;

   bool myRotation360;

   bool myNeedToRetrieveGimbalLimits;
   double myMaxAzimuthRate;
   double myMinAzimuth;
   double myMaxAzimuth;
   double myMaxElevationRate;
   double myMinElevation;
   double myMaxElevation;


   DtAnalogInputPort*  myOrderedElevationPort;

   DtAnalogInputPort*  myOrderedAzimuthPort;

   DtIntegerInputPort*  myRotationRatePercentagePort;

   DtIntegerInputPort* myElevationRotationRatePercentagePort;

   DtIntegerInputPort* myAzimuthRotationRatePercentagePort;

   DtOutputPortGroup* mySensorOutputPortGroup;

   DtOrientationOutputPort* myOrientationOutputPort;

   DtVectorOutputPort* myPositionOutputPort;

   DtBooleanOutputPort* myOrientationAchievedOutputPort;

   DtOutputPortGroup* myGimbalLimitsOutputPortGroup;

   DtAnalogOutputPort* myMinAzimuthOutputPort;

   DtAnalogOutputPort* myMaxAzimuthOutputPort;

   DtAnalogOutputPort* myMinElevationOutputPort;

   DtAnalogOutputPort* myMaxElevationOutputPort;


   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};