ShipConsoleInput.h

#ifndef _CSHIPCONSOLE_H_
#define _CSHIPCONSOLE_H_
 
#include <memory>
#include <string>
#include <fhsim/simobject/SimObject.h>
 
#include "JoystickInput.h"
 
#ifdef FH_VISUALIZATION
class FhCamera;
#endif
 
#include <Eigen/Eigen>
 
namespace Ship{
    #ifdef FH_VISUALIZATION
    namespace joystick { class SdlJoystickPoller; }
    #endif
 
    class ShipConsoleInput: public SimObject, public joystick::JoystickListener{
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        enum engines{
            PORT_ENGINE,
            STARBOARD_ENGINE,
            NUM_ENGINE
        };
 
        enum thrusters{
            THRUSTER0,
            THRUSTER1,
            THRUSTER2,
            NUM_THRUSTER
        };
 
        ShipConsoleInput(const std::string simObjectName, ISimObjectCreator* const creator);
        ~ShipConsoleInput() override;
 
        void OdeFcn(const double T, const double *const X, double *const XDot) const{}
 
        const double *RudderAngle(const double T, const double* const X);
        const double *EngineCommand(const double T, const double* const X);
        const double *EngineCommandPort(const double T, const double* const X);
        const double *EngineCommandStarboard(const double T, const double* const X);
 
        const double *EnginePower(const double T, const double* const X);
        const double *EnginePowerPort(const double T, const double* const X);
        const double *EnginePowerStarboard(const double T, const double* const X);
 
        const double *ThrusterPower(const double T, const double* const X);
        const double *Thruster0Power(const double T, const double* const X);
        const double *Thruster1Power(const double T, const double* const X);
        const double *Thruster2Power(const double T, const double* const X);
 
        const double *ThrusterCommand(const double T, const double* const X);
        const double *Thruster0Command(const double T, const double* const X);
        const double *Thruster1Command(const double T, const double* const X);
        const double *Thruster2Command(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        virtual void RenderUpdate( const double T, const double* const X );
        void RenderRelease() override;
#endif
 
        void ButtonReleased(int button, const joystick::JoystickState& state) override;
        void AxisMoved(int axis, const joystick::JoystickState& state) override;
        void HatMoved(int hat, const joystick::JoystickState& state) override;
 
    private:
        int m_joypadID;
 
#ifdef FH_VISUALIZATION
        FhCamera* m_cam = nullptr;
        std::unique_ptr<joystick::SdlJoystickPoller> m_joystick;
#endif
 
        ISignalPort *m_inParentOrientation;
        ISignalPort *m_inParentPosition;
 
        bool m_controlCamera; 
 
        size_t m_activeCamera;
        Eigen::Vector3d m_cameraPositons[4]; 
        double m_cameraRotZ[4];
        double m_cameraRotY[4];
 
 
        double m_rudderAngle; 
 
        bool m_engineEnable[NUM_ENGINE]; 
        double m_enginePower[NUM_ENGINE]; 
        double m_engineCommand[NUM_ENGINE]; 
 
        double m_enginePowerOut[NUM_ENGINE]; 
 
        double m_thrusterPower[NUM_THRUSTER];
        double m_thrusterPowerOut[NUM_THRUSTER];
        bool m_thrusterEnable[NUM_THRUSTER]; 
        double m_thrusterCommandOut[NUM_THRUSTER];
        int m_thrusterInput[NUM_THRUSTER]; 
 
    };
}
#endif