extendablePartActuator.h

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/*******************************************************************************
** Copyright (c) 2021 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfLua/luaScriptInterfaceImpl.h"
#include "vrfmodel/bindableLuaComponent.h"

class DtString;
class DtSimManager;
class DtBooleanInputPort;
class DtIntegerOutputPort;   
class DtSimObjectBaseObjectStateRepository;
class DtExtendablePartActuatorDescriptor;
class DtExtendablePartActuatorPSR;
class DtExtendablePartActuatorAxisInfo;

namespace makVrf
{
   class DtArticulatedPartStateRepository;
}

class DT_DLL_vrfmodel DtExtendablePartActuator : public DtActuatorComponent,
   public DtBindableLuaComponent<DtExtendablePartActuator>
{

public:

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

   virtual ~DtExtendablePartActuator();

   virtual bool init();

   virtual bool postAddComponentsInit();

   virtual const char* type() const;

   virtual void tick();

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

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

public:
   virtual void extend();
   virtual void extendWithRate(double rate);

   virtual void reset();

   virtual void retract();
   virtual void retractWithRate(double rate);

   virtual bool isExtended() const;

   virtual bool isRetracted() const;

protected:

   enum DtPartState
   {
      State_Retracted = 0,
      State_In_Transision = 1,
      State_Extended = 2
   };

   virtual bool createPorts();

   virtual DtExtendablePartActuatorPSR* createPSR();

private:
   DtExtendablePartActuator();
   DtExtendablePartActuator(const DtExtendablePartActuator & orig);
   const DtExtendablePartActuator & operator=(const 
      DtExtendablePartActuator & orig);

protected:


   DtIntegerOutputPort* myCurrentStateOutputPort;

   DtBooleanInputPort* myRequestedStateInputPort;

   makVrf::DtArticulatedPartStateRepository *myArtPartStateRep;

   const DtExtendablePartActuatorDescriptor* myDescriptor;

   DtExtendablePartActuatorPSR* myProcessState;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};