baseMountingController.h

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



#pragma once

#include "vrfobjcore/controllerComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include <vlpi/disEnums.h>

class DtAnalogInputPort;
class DtConstrainedAnalogOutputPort;
class DtIntegerInputPort;
   
namespace makVrf
{
   class DtArticulatedPartStateRepository;
}

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtBaseMountingController : public DtControllerComponent
{

public:

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

   virtual ~DtBaseMountingController();

   virtual bool postAddComponentsInit();

   virtual const char* type() const;

   virtual DtOutputPortGroup* mountingControlPortGroup();

   virtual DtInputPortGroup* azimuthInfoPortGroup();

   virtual DtInputPortGroup* elevationInfoPortGroup();
   
   virtual void tick();

   virtual void reorientMounting();

   virtual void setDesiredAzimuth(DtReal desiredAzimuth);
   virtual DtReal desiredAzimuth();

   virtual void setDesiredElevation(DtReal desiredElevation);
   virtual DtReal desiredElevation();

   virtual void findDesiredAzimuthAndElevation();

   virtual bool desiredOrientationIsInRange(double& azimuthOutOfRangeBy,
      double& elevationOutOfRangeBy, double additionalAzimuthMargin = 0.0,
      double additionalElevationMargin = 0.0);

   virtual bool azimuthIsInRange(double azimuth, double& outofRangeBy,
      double additionalMargin = 0.0);

   virtual bool elevationIsInRange(double elevation, double& outofRangeBy,
      double additionalMargin = 0.0);

   virtual bool createAzimuthPort();
   virtual DtConstrainedAnalogOutputPort * azimuthPort() const;

   virtual bool createElevationPort();
   virtual DtConstrainedAnalogOutputPort * elevationPort() const;

   virtual bool createAzimuthInfoPorts();
   
   virtual bool createElevationInfoPorts();
   
   virtual double approximateMountSwing(double angleChange, double maxRate);

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

protected:
   virtual double angleErrorGivenRotationLimits(double currentAngle,
      double desiredAngle, double allowedRotationCenter, 
      double allowedRotationRange);
   
   virtual bool createPortGroups();

   virtual bool createPorts();

protected:

   DtBaseMountingController();

   DtBaseMountingController(const DtBaseMountingController & orig);

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

protected:


   DtInputPortGroup* myAzimuthInfoPortGroup;

   DtAnalogInputPort* myNominalAzimuthPort;

   DtAnalogInputPort* myAzimuthRangePort;

   DtAnalogInputPort* myMaxAzimuthRatePort;

   DtIntegerInputPort* myAzimuthPartTypePort;
   
   DtInputPortGroup* myElevationInfoPortGroup;

   DtAnalogInputPort* myNominalElevationPort;

   DtAnalogInputPort* myElevationRangePort;

   DtAnalogInputPort* myMaxElevationRatePort;

   DtIntegerInputPort* myElevationPartTypePort;

   DtOutputPortGroup* myMountingControlPortGroup;

   DtConstrainedAnalogOutputPort* myAzimuthPort;

   DtConstrainedAnalogOutputPort* myElevationPort;


   makVrf::DtArticulatedPartStateRepository *  myAzimuthMountPart;
   makVrf::DtArticulatedPartStateRepository *  myElevationMountPart;
   makVrf::DtArticulatedPartStateRepository *  myChildSimBody;

   DtReal             myDesiredAzimuth;
   DtReal             myDesiredElevation;

   DtReal             myAngleApproxMargin;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};