sensorGimbalController.h

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


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfmodel/joystickControllerInterface.h"
#include "vrfmodel/bindableLuaComponent.h"
#include "vrfutil/rwColor.h"
#include "vrfutil/scriptGeometry.h"

namespace makVrf
{
   class DtArticulatedPartStateRepository;
}

class DtAnalogOutputPort;
class DtAnalogInputPort;
class DtIntegerInputPort;
class DtIntegerOutputPort;
class DtStringInputPort;
class DtStringOutputPort;
class DtVectorOutputPort;
class DtVectorInputPort;
class DtOrientationInputPort;
class DtBooleanOutputPort;
class DtEntityListInputPort;
class DtSensorGimbalControllerPSR;
class DtSensorGimbalControllerDescriptor;
class DtSensorFieldOfViewControlInter;

namespace makVrfEvents
{
   class DtEvent;
   class DtSensorFieldOfViewControlEvent;
}

class DT_DLL_vrfmodel DtSensorGimbalController : public DtSingleTaskControllerComponent,
   public DtJoystickControllerInterface,
   public DtBindableLuaComponent<DtSensorGimbalController>
{

public:

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

   virtual ~DtSensorGimbalController() override;

   virtual bool init() override;

   virtual bool postAddComponentsInit() override;

   virtual const char* type() const override;

   virtual void tick() override;


   static void setAimGimbalCallback(DtSimMessage * msg, void * usr);
   virtual void processSetAimGimbal(DtSimMessage* msg);


   static void setZoomSensorCallback(DtSimMessage * msg, void * usr);
   virtual void processSetZoomSensor(DtSimMessage* msg);


   static void setManualControlCallback(DtSimMessage * msg, void * usr);
   virtual void processSetManualControl(DtSimMessage* msg);


   static void setFieldOfViewColorCallback(DtSimMessage * msg, void * usr);
   virtual void processSetFieldOfViewColor(DtSimMessage* msg);


   static void setLasingCallback(DtSimMessage * msg, void * usr);
   virtual void processSetLasing(DtSimMessage* msg);


   static void laseTargetTaskCallback(DtSimMessage *msg, void * usrData);
   virtual void processLaseTargetTaskMessage(DtSimMessage *msg);

   virtual void clearTask() override;


   virtual void setGimbalControlCallback(const makVrfEvents::DtEvent&);
   virtual void processGimbalControl(const makVrfEvents::DtSensorFieldOfViewControlEvent* ctrlInter);



   virtual bool isUnderManualControl() const;

   virtual std::string mode() const;

   virtual double orientation(double& elevation) const;

   virtual DtLocation3D lookingAt() const;


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

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

protected:
   virtual bool targetPoint(const DtTaitBryan& orientation, DtVector& location) const;
   virtual DtVector localEyepoint() const;

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual DtSensorGimbalControllerPSR* createPSR();

   virtual void restoreDefaultAiming();

   virtual void aimSensorAtPoint(const DtVector& worldLocation);

   virtual void trackObject(const DtSimObject* objectToTrack);

   virtual void aimSensorAtAngle(double azimuth, double elevation);

   virtual void scanSensor();

   virtual void searchAndTrackObject(const DtSimObject* objectToTrack);

   virtual void currentPositionAzimuthAndElevation(DtVector& offset, double& az, double& el) const;

   virtual void currentWorldLocationAndOrientation(DtVector& location, DtTaitBryan& orientation) const;

   virtual makVrf::DtArticulatedPartStateRepository* gimbalAzimuthPart();
   virtual const makVrf::DtArticulatedPartStateRepository* gimbalAzimuthPart() const;

   virtual makVrf::DtArticulatedPartStateRepository* gimbalElevationPart();
   virtual const makVrf::DtArticulatedPartStateRepository* gimbalElevationPart() const;

   virtual bool findLocationOfSensorAiming(const DtVector& sensorLocation, 
      const DtTaitBryan& orientation, DtVector& aimingPoint) const;

   virtual DtSimObjectReference getLasingTarget();

   virtual void calcAndSetPortValues(
      const DtString& functionGroup, const DtString& function, double value, bool repeat) override;
   virtual void joystickConnected() override;
   virtual void joystickDisconnected() override;

   virtual double minAzimuth() const;

   virtual double maxAzimuth() const;

   virtual double minElevation() const;

   virtual double maxElevation() const;

   static DtRwColor randomFieldOfViewColor();

private:

   DtSensorGimbalController();

   DtSensorGimbalController(const 
      DtSensorGimbalController & orig);

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

protected:

   DtSensorGimbalControllerDescriptor* mySensorGimbalDescriptor;

   DtSensorGimbalControllerPSR* myProcessState;

   bool myDataNeededForAimingPoint;


   DtVector myWorldLocationForAimingPoint;
   DtTaitBryan myWorldOrientationForAimingPoint;

   bool myJoystickConnected;



   DtInputPortGroup* mySensorOffsetInputPortGroup;

   DtOrientationInputPort* myOrientationInputPort;

   DtVectorInputPort* myPositionInputPort;

   DtInputPortGroup* myGimbalLimitsPortGroup;

   DtAnalogInputPort* myMinAzimuthPort;

   DtAnalogInputPort* myMaxAzimuthPort;

   DtAnalogInputPort* myMinElevationPort;

   DtAnalogInputPort* myMaxElevationPort;

   DtAnalogOutputPort* myOrderedElevationPort;

   DtAnalogOutputPort* myOrderedAzimuthPort;

   DtIntegerOutputPort* myElevationRotationRatePercentagePort;

   DtIntegerOutputPort* myAzimuthRotationRatePercentagePort;

   DtStringOutputPort* myTargetObjectPort;

   DtVectorOutputPort* myTargetLocationPort;

   DtIntegerOutputPort* myTrackingModePort;

   DtAnalogOutputPort* myZoomLevelPort;

   DtIntegerOutputPort* myFieldOfViewColorPort;

   DtBooleanOutputPort* myLaserOnPort;

   DtEntityListInputPort* myTargetListPort;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};