groundAutoControllerComponent.h

Go to the documentation of this file.

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


#pragma once

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

class DtString;
class DtSimulationServices;
class DtGroundVehicleStateRepository;
class DtTaskMessage;
class DtSoilFactors;
class DtAutomotivePSR;
class DtConstrainedAnalogOutputPort;
class DtConstrainedIntegerOutputPort;
class DtBooleanOutputPort;
 
#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtGroundAutoControllerComponent : public DtSingleTaskControllerComponent
{
public:

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

   virtual ~DtGroundAutoControllerComponent() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void clearTask() override;

   virtual double mildAccelerationConstant() const;
   virtual double standardAccelerationConstant() const;
   virtual double hardAccelerationConstant() const;
   virtual double maxAccelerationConstant() const;

   virtual double currentAccelerationToUse() const;

   virtual double computeSpeedForFastestTurn(
      const double latAccelLimit = 0.0) const;

   virtual double speedForFastestTurn() const;
   virtual void setSpeedForFastestTurn(double speed);

   virtual double approximateThrottle(double desiredSpeed, double headingError = 0.0);

   double speedConstraintForHeadingError(
      const double headingError, const double maxAccel = 0.0) const;
   virtual double headingErrorRequiringMinTurnRadius() const { return 0.5; }

   virtual double calculateSteering(double currentHeading, double 
      desiredHeading) const;


   virtual double calculateCurrentBrakingDistance() const;

   
   virtual bool createAutomotiveControlPortGroup();
   virtual bool createThrottlePort();
   virtual bool createSteeringPort();
   virtual bool createBrakePort();
   virtual bool createGearPort();
   virtual bool createParkingBrakePort();

   virtual DtConstrainedAnalogOutputPort * throttlePort();
   virtual DtConstrainedAnalogOutputPort * steeringPort();
   virtual DtConstrainedAnalogOutputPort * brakePort();
   virtual DtConstrainedIntegerOutputPort * gearPort();
   virtual DtBooleanOutputPort * parkingBrakePort();

   virtual void setThrottleFromAcceleration(const double signedAccel);


   virtual double decelerationSoilFactor() const;

   virtual double tractionFactorFromSoilAndWeather() const;

   virtual double calcSteeringForTurnInPlace();

   virtual double calcThrottleForTurnInPlace();

   virtual double calcBrakeForTurnInPlace();

   virtual int calcGearForTurnInPlace();

   virtual double calcSteeringForPivot();

   virtual double calcThrottleForPivot();

   virtual double calcSteeringForKTurn();

   virtual double calcThrottleForKTurn();

   virtual double calcBrakeForKTurn();

   virtual double findSpeedForKTurn();

   virtual double findHeadingForKTurn();

   virtual void setHeadingToTurnTo(double headingToTurnTo);
   virtual double headingToTurnTo() const;

   virtual double calculateHeadingToTurnTo();

   virtual void setTurnToMode(int headingToTurnTo);
   virtual int turnToMode() const;
   
   virtual void setKTurnReverseGoalHeading(double kTurnReverseGoalHeading);
   virtual double kTurnReverseGoalHeading() const;

   virtual void setKTurnReverseComplete(bool kTurnReverseComplete);
   virtual bool kTurnReverseComplete() const;

   static void setSpeedCallback(DtSimMessage * msg, void * usrData);
   virtual void processSetSpeed(DtSimMessage * msg);
 
   virtual DtAutomotivePSR* processState() const;

protected:
   virtual bool createPorts() override;

   virtual bool createPortGroups() override;

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit() override;

   virtual const DtSoilFactors * currentSoilFactors() const;

   virtual bool decideToGiveUpTask() const override;

private:
   
   DtGroundAutoControllerComponent();

   DtGroundAutoControllerComponent(const DtGroundAutoControllerComponent & 
      orig);

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


protected:

   DtGroundVehicleStateRepository * myGroundVehicleState;


   DtConstrainedAnalogOutputPort *        myThrottlePort;

   DtConstrainedAnalogOutputPort *        mySteeringPort;

   DtConstrainedAnalogOutputPort *        myBrakePort;

   DtConstrainedIntegerOutputPort *       myGearPort;

   DtBooleanOutputPort *       myParkingBrakePort;

   DtOutputPortGroup*          myAutomotiveControlPortGroup;


   DtAutomotivePSR* myProcessState;

   double mySpeedLastTick;

   double myAccumulatedSpeedError;

   double mySpeedForFastestTurn;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;

   mutable bool myHaveWarnedAboutNoPivotSpeed;
};