rotaryWingTaskController.h

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



#pragma once

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

class DtString;
class DtSimulationServices;
class DtRotaryWingEntityStateRepository;
class DtRotaryWingFlightPSR;
class DtAnalogOutputPort;
class DtVectorOutputPort;
class DtOutputPortGroup;
class DtBooleanOutputPort;

class DT_DLL_vrfmodel DtRotaryWingTaskController : public DtSingleTaskControllerComponent
{
public:
   DtRotaryWingTaskController(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtRotaryWingTaskController() override;

   virtual bool init() override;

   virtual void tick() override;

   virtual const char* type() const override = 0;

   virtual void clearTask() override;


   virtual void setDesiredPosition(const DtVector& pos);
   virtual void setContinueMovement(const bool continueAtEnd);
   virtual void setDesiredVelocity(const DtVector& vel);
   virtual void setDesiredAcceleration(const DtVector& accel);
   virtual void setDesiredHeading(double heading);
   virtual void setPositionSelector(double sel);
   virtual void setVelocitySelector(double sel);
   virtual void setAccelerationSelector(double sel);
   virtual void setHeadingSelector(double sel);
   virtual void setAggressiveness(double agg);
   virtual void setPowerDown(bool powerDown);


   virtual DtVectorOutputPort *desiredPositionPort();
   virtual DtVectorOutputPort *desiredVelocityPort();
   virtual DtVectorOutputPort *desiredAccelerationPort();
   virtual DtAnalogOutputPort *desiredHeadingPort();
   virtual DtAnalogOutputPort *positionSelectorPort();
   virtual DtBooleanOutputPort *continueMovementPort();
   virtual DtAnalogOutputPort *velocitySelectorPort();
   virtual DtAnalogOutputPort *accelerationSelectorPort();
   virtual DtAnalogOutputPort *headingSelectorPort();
   virtual DtAnalogOutputPort *aggressivenessPort();
   virtual DtBooleanOutputPort* powerDownPort();

protected:
   
   virtual bool createPortGroups() override;

   virtual bool createPorts() override;


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

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit() override;

   virtual void processEstimatedTotCalculation();

   virtual void updateTaskVisualizations() override;

private:
   DtRotaryWingTaskController();

   DtRotaryWingTaskController(const DtRotaryWingTaskController & 
      orig);

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


protected:

   DtRotaryWingEntityStateRepository * myRotaryWingEntityState;



   DtOutputPortGroup *myGuidancePortGroup;

   DtVectorOutputPort *myDesiredPositionPort;

   DtVectorOutputPort *myDesiredVelocityPort;

   DtVectorOutputPort *myDesiredAccelerationPort;

   DtAnalogOutputPort *myDesiredHeadingPort;

   DtAnalogOutputPort *myPositionSelectorPort;

   DtBooleanOutputPort *myContinueMovementPort;

   DtAnalogOutputPort *myVelocitySelectorPort;

   DtAnalogOutputPort *myAccelerationSelectorPort;

   DtAnalogOutputPort *myHeadingSelectorPort;

   DtAnalogOutputPort *myAggressivenessPort;

   DtBooleanOutputPort* myPowerDownPort;

   DtRotaryWingFlightPSR*              myProcessState;

   const double DtEstimatedTotCalcInterval = 5.0;

   bool myEstimatedTotCalcEnabled;
   double myEstimatedTotValue;
   double myEstimatedTotLastCalcTime;
   DtVector myEstimatedTotTextPos;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};