SwitchConsoleInput.h

#ifndef SwitchConsoleInput_h__
#define SwitchConsoleInput_h__
 
#include <fhsim/simobject/SimObject.h>
 
#include <memory>
#include <string>
 
#include "JoystickInput.h"
 
namespace Ship{
 
#ifdef FH_VISUALIZATION
    namespace joystick { class SdlJoystickPoller; }
#endif
 
    class SwitchConsoleInput: public SimObject, public joystick::JoystickListener{
    public:
        SwitchConsoleInput(const std::string simObjectName, ISimObjectCreator* const creator);
        ~SwitchConsoleInput() override;
 
        void OdeFcn(const double T, const double *const X, double *const XDot) const;
 
        void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
 
        const double * WinchSpeed(const double T, const double* const X);
        const double * WinchCable(const double T, const double* const X);
 
        const double * AttachCable(const double T, const double* const X);
 
        const double * BaseRotationAngle(const double T, const double* const X);
        const double * BaseElevationAngle(const double T, const double* const X);
        const double * BaseElevationAngleRate(const double T, const double* const X);
 
        const double * JointAngle0(const double T, const double* const X);
        const double * JointAngleRate0(const double T, const double* const X);
        const double * ElementLength0(const double T, const double* const X);
 
        const double * JointAngle1(const double T, const double* const X);
        const double * JointAngleRate1(const double T, const double* const X);
        const double * ElementLength1(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 ButtonPressed(int button, const joystick::JoystickState& state) override;
        void ButtonReleased(int button, const joystick::JoystickState& state) override;
        void AxisMoved(int axis, const joystick::JoystickState& state) override;
    private:
 
        size_t m_joypadID;
 
        double m_winchSpeed;
        int m_winchCounter;
        int m_winchState;
        bool m_craneEnable;
        bool m_connectEnable;
 
        double m_baseSpeed;
        int m_baseState;
 
        double m_baseAngleSpeed;
        int m_baseAngle;
 
        int m_jointAngleState0;
        int m_jointAngleState1;
 
        int m_telescopeState0;
        int m_telescopeState1;
 
        double m_jointAngleSpeed0;
        double m_jointAngleSpeed1;
 
        double m_jointTelescopeSpeed0;
        double m_jointTelescopeSpeed1;
 
        double m_baseLimits[2];
 
        double m_baseAngleLimits[2];
        double m_baseLength;
 
        double m_angleLimits0[2];
        double m_telescopeLimits0[2];
 
        double m_angleLimits1[2];
        double m_telescopeLimits1[2];
 
        double m_winchSpeedOut;
        double m_attachOut;
 
#ifdef FH_VISUALIZATION
        std::unique_ptr<joystick::SdlJoystickPoller> m_joystick;
#endif
    };
 
 
}
#endif // SwitchConsoleInput_h__