SeineOperation.h

#pragma once
 
#include "AttractorBase.h"
 
#include <fhsim/simobject/SimObject.h>
#include <fstream>
#include <iostream>
#include <stdio.h>
#include <string>
 
#ifdef FH_VISUALIZATION
#   include <fhsim/visual/renderer/TextRenderer.h>
#endif
#include "sfh/filters/IIR.h"
#include "sfh/timers/StopWatch.h"
 
class SeineOperation : public SimObject
{
public:
   SeineOperation(std::string simObjectName, ISimObjectCreator* creator);
 
   ~SeineOperation();
 
   void CalcOutput(const double dT, const double* const adX);
   void CalcOutput2(const double dT, const double* const adX);
   void CalcOutputCommon(const double dT, const double* const adX) const;
   void CalcOutput2Common(const double dT, const double* const adX) const;
 
   virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot) const { }
   virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
   const virtual double* WarpConnected(const double dT, const double* const adX);
   const virtual double* BuoyPos(const double dT, const double* const adX);
   const virtual double* VesselHeading(const double dT, const double* const adX);
   const virtual double* VesselSpeed(const double dT, const double* const adX);
   const virtual double* PWarpLength(const double dT, const double* const adX);
   const virtual double* SWarpLength(const double dT, const double* const adX);
 
protected:
   void SetOperationalPhase(const double dT);
 
   void SetAttractorStrengths(const double dT);
 
   enum EPhase_t
   {
      Phase_NotSet = 0,
      Phase_SetFirstLeg,
      Phase_SetNet,
      Phase_SetSecondLeg,
      Phase_Towing,
      Phase_Hauling,
      Phase_Finished
   };
 
   ISignalPort* m_inVesselPos;
   ISignalPort* m_inPBridleTension;
   ISignalPort* m_inSBridleTension;
   ISignalPort* m_inNetSWingPos;
   ISignalPort* m_inNetPWingPos;
   ISignalPort* m_inNetVel;
   ISignalPort* m_inPBridlePos;
   ISignalPort* m_inSBridlePos;
 
   ICommonComputation* m_commonCalc; 
   ICommonComputation* m_commonCalc2;
   // Configuration
   double m_vesselHeading[7];
   double m_vesselSpeed[7];
   double m_phaseStartTime[7];
   double m_payOutSpeedFactor;
   double m_minTension;
   double m_buoyPos[3];
   double m_lastCall;
   double m_deltaT;
   double m_warpLengthCorrectionSpeed;
   double m_initialSpeed;
   double m_setSpeed;
   double m_towSpeed;
   double m_haulSpeed;
   double m_finishedSpeed;
   double m_winchHaulSpeed;
   double m_initialHeading;
   double m_towHeading;
   double m_spreadAngle;
   double m_setWarpLength;
 
   bool   m_warpConnected;
   double m_outPWarpLength;
   double m_outSWarpLength;
 
 
   double         m_addedTrackLength;
   double         m_towTime;
   double         m_minWarpLength;
   std::string    m_attractorNameNet;
   std::string    m_attractorNameWarps;
   std::string    m_phase[7];
   std::string    m_speed[7];
   std::string    m_heading[7];
   AttractorBase* m_attractorNet;
   AttractorBase* m_attractorWarps;
   EPhase_t       m_EPhase;
 
   // Output
   double                 m_bool[2];
   double                 m_wingSpread;
   double                 m_netTangentialSpeed;
   double                 m_netNormalSpeed;
   double                 m_fileWritePeriod;
   double                 m_bridleTension[2];
   double                 m_bridleSpread;
   bool                   m_outputToFile;
   sfh::timers::StopWatch m_StopWatchFileWrite;
   sfh::timers::StopWatch m_StopWatchRenderUpdate;
   std::ofstream          m_Outfile;
   std::string            m_fileName;
   sfh::filters::IIR      m_BridleTensionFilter;
#ifdef FH_VISUALIZATION
   Ogre::Entity*    m_RenderMass;
   Ogre::SceneNode* m_RenderNode;
   std::string      m_DisplayText;
   TextRenderer*    m_TextRenderer;
   // TextRenderer*             m_TextRendererCopyright;
#endif
};