AuvUndulateDiveControl.h

#pragma once
 
#include "SampleClock.h"
 
#include <fhsim/simobject/SimObject.h>
#include <string>
 
class PrintDuringExec;
 
class AuvUndulateDiveControl : public SimObject
{
public:
   enum EDir_t
   {
      Dir_Down = 0, 
      Dir_Up        
   };
 
   struct Limits
   {
      double maxDepth            = 80.0;  
      double minDepth            = 5.0;   
      double minSeafloorDistance = 10.0;  
      double diveAngle           = 0.349; 
      double depthHysteresis     = 1.0;   
   };
 
   struct Command
   {
      double pitchRef     = 0.0;      
      double depthRef     = 0.0;      
      EDir_t direction    = Dir_Down; 
      bool   waterTooThin = false;    
   };
 
   AuvUndulateDiveControl(std::string simObjectName, ISimObjectCreator* creator);
 
   AuvUndulateDiveControl(std::string simObjectName, const Limits& limits, double updatePeriod = 1.0);
 
   static Command CommandOf(const Limits& limits, double depth, double altitude, EDir_t direction);
 
   void OdeFcn(const double dT, const double* const adX, double* const adXDot) const override;
 
   void AcceptedStep(const double dT, const double* const adX) override;
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator) override { }
   void RenderUpdate(const double dT, const double* const adX) override { }
#endif
 
   void Update(double depth, double altitude);
 
   const Command& HeldCommand() const { return m_command; }
 
   int ThinWaterWarningCount() const { return m_thinWaterWarnings; }
 
protected:
   const double* OutPitchRef(const double dT, const double* const adX);
 
   const double* OutDepthRef(const double dT, const double* const adX);
 
   const double* OutDirection(const double dT, const double* const adX);
 
private:
   void WarnOnceAboutThinWater();
 
   ISignalPort* m_inDepth    = nullptr; 
   ISignalPort* m_inAltitude = nullptr; 
 
   PrintDuringExec* m_print = nullptr; 
 
   std::string m_name;   
   Limits      m_limits; 
   SampleClock m_clock;  
 
   Command m_command;                       
   double  m_outDirection          = 1.0;   
   bool    m_thinWaterWarningGiven = false; 
   int     m_thinWaterWarnings     = 0;     
};