esPdu.h

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/*********************************************************************
** Copyright (c) 1992-2010 VT MAK
** All rights reserved.
*********************************************************************/


#ifndef esPdu_h_
#define esPdu_h_

#if DtDIS



#include "hostStructs.h"
#include "pdu.h"
#include "packets/entityStateP.h"
#include "stateMsg.h"

#include <vlpi/articulatedPartCollection.h>
#include <vlpi/attachedPartCollection.h>
#include <vlpi/disEnums.h>

#include <matrix/vlMath.h>
#include <matrix/vlDcm.h>
#include <matrix/vlTaitBryan.h>

#define DtMaxNumArtParts 83
#define DtMaxNumAttachedParts 83
#define DtINCREMENT -1

#define DtNO_SUCH_ART_PART 0
#define DtART_PART_SUCCESS 1 

class DtExerciseConn;
class DtEntityStatePdu;

typedef void (*DtEntityStatePduCb)(DtEntityStatePdu* pdu, void* usr);

class DT_DLL_VL DtEntityStatePdu : public DtStateMsg
{
public:

   enum { PduStaticSize=144 };

   DtEntityStatePdu(DtBufferPtr buffer = DtUSE_INTERNAL_BUFFER); 

   DtEntityStatePdu(const DtNetEntityStatePdu* initial, 
      DtBufferPtr buffer = DtUSE_INTERNAL_BUFFER);    

   DtEntityStatePdu(const DtEntityIdentifier& id, const DtEntityType& type,
      const DtEntityType& guise, DtDeadReckonTypes algorithm, 
      DtForceType forceId, DtBufferPtr buffer = DtUSE_INTERNAL_BUFFER);

   virtual ~DtEntityStatePdu() {};

   /****************** INSPECTOR FUNCTIONS *******************/
   const DtEntityIdentifier& id() const;
   void setId(const DtEntityIdentifier& id);

   DtForceType forceId() const;  
   void setForceId(DtForceType force);

   int numArtParams() const; 
   int numAttachedParams() const; 
   int numArtPlusAttachedParams() const;  

   const DtEntityType& entityType() const;
   void setEntityType(const DtEntityType& type);

   const DtEntityType& guise() const;
   void setGuise(const DtEntityType& type);

   const DtVector& velocity() const;
   void setVelocity(const DtVector& Velocity);

   const DtVector& location() const;
   void setLocation(const DtVector& Location);

   const DtTaitBryan& orientation() const;
   void setOrientation(const DtTaitBryan& Orient);

   DtU32 appearance() const;

   void  setAppearance(DtU32 app);

   DtAppearAttrVal appearanceAttribute(const DtAppearAttribute& attr) const;

   void setAppearanceAttribute(const DtAppearAttribute attr, 
      const DtAppearAttrVal val);

   DtDeadReckonTypes algorithm() const;
   void setAlgorithm(DtDeadReckonTypes alg);

   const DtVector& acceleration() const;
   void setAcceleration(const DtVector& Acceleration);

   const DtVector& rotationalVelocity() const;
   void setRotationalVelocity(const DtVector& BodyRates);

   int markingCharSet() const;
   void setMarkingText(const char* text);

   const char* markingText() const;
   void setMarkingCharSet(int charSet);

   DtU32 capabilities() const;
   void setCapabilities(DtU32 cap);




   const DtArticulatedPartCollection& artPartList() const;
   void setArtPartList(const DtArticulatedPartCollection& apList);




   const DtAttachedPartCollection& attPartList() const;
   void setAttPartList(const DtAttachedPartCollection& apList);

   void setNumArtPlusAttachedParams(int num);
   




   const DtNetArtPartRecord* artPartRecord(int index) const;
   DtNetArtPartRecord* artPartRecord(int index);





   DtNetAttachedPart* attPartRecord(int index);
   const DtNetAttachedPart* attPartRecord(int index) const;


   void printData() const;
   void printDataToStream(std::ostream& stream) const;

   static DtPdu* create(const DtNetPacket* initial,
      DtBufferPtr buffer = DtUSE_INTERNAL_BUFFER);

   static void addCallback(DtExerciseConn* conn, DtEntityStatePduCb cb,
      void* usr);

   static void removeCallback(DtExerciseConn* conn, DtEntityStatePduCb cb,
      void* usr);

protected:

   DtPduKind internalGetPduKind() const 
   {
      return DtEntityStatePduKind;
   }

   DtNetArtPartRecord* artPartRecord(int partType, int param) const;
   DtNetArtPartRecord* attachedPartRecord(int station) const;

   DtEntityIdentifier myId;
   DtEntityType type, theGuise;
   DtVector vel, loc, acc;
   DtTaitBryan ori;
   DtBodyRates rvel;
   char markingBuff[DtMaxEntityMarkingLength+1]; 

   mutable DtArticulatedPartCollection myArtPartList;
   mutable DtAttachedPartCollection    myAttPartList;
   int myStationList[DtMaxNumAttachedParts];

};

DT_DLL_VL std::ostream& operator<<(std::ostream& str, 
   const DtEntityStatePdu& pdu);

#endif
#endif