WsfTowedMover.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2003-2015 The Boeing Company. All rights reserved.
//
// The use, dissemination or disclosure of data in this file is subject to
// limitation or restriction. See accompanying README and LICENSE for details.
// ****************************************************************************
 
#ifndef WSFTOWEDMOVER_HPP
#define WSFTOWEDMOVER_HPP
 
#include "wsf_mil_export.h"
 
#include <deque>
 
#include "WsfOffsetMover.hpp"

class WSF_MIL_EXPORT WsfTowedMover : public WsfOffsetMover
{
public:
   enum DeploymentState
   {
      cSTOWED      = 0,
      cREELING_OUT = 1,
      cDEPLOYED    = 2,
      cREELING_IN  = 3
   };
 
   WsfTowedMover(WsfScenario& aScenario);
   WsfTowedMover(const WsfTowedMover& aSrc) = default;
   WsfTowedMover& operator=(const WsfTowedMover&) = delete;
   ~WsfTowedMover() override                      = default;


   void OnPlatformUpdated(double aSimTime, WsfPlatform* aPlatformPtr) override;


   WsfMover* Clone() const override;
   bool      Initialize(double aSimTime) override;
   bool      ProcessInput(UtInput& aInput) override;
   void      Update(double aSimTime) override;
 
   const char* GetScriptClassName() const override;

   struct LeadState
   {
      void LoadFromPlatform(double aSimTime, WsfPlatform& aPlatform);
 
      // Needed to support std::lower_bound algorithm
      bool operator<(double aTime) { return (mTimeUpdated < aTime); }
 
      double mLocationWCS[3];
      double mVelocityWCS[3];
      double mAccelerationWCS[3];
      double mOrientationNED[3];
      double mTimeUpdated;
   };
 
   double GetDistanceMeters() { return mCurrentRange; }
 
   DeploymentState GetState() { return mState; }

   void SetReelInTime(double aStartReelInTime) { mStartReelInTime = aStartReelInTime; }

   void SetReelInTimeAfterDeployment(double aStartReelInTime) { mRelativeReelInTimeAfterDeployed = aStartReelInTime; }

   double GetReelInTimeAbsolute() { return mStartReelInTime; }

   double GetReelInTimeAfterDeployment() { return mRelativeReelInTimeAfterDeployed; }

   void SetReelInRate(double aRate) { mReelInRate = aRate; }

   void SetReelOutRate(double aReelOutRate) { mReelOutRate = aReelOutRate; }

   double GetReelOutRate() { return mReelOutRate; }

   double GetReelInRate() { return mReelInRate; }

   void SetTowLength(double aLength) { mTowLength = aLength; }
 
protected:
   void OnPlatformDeleted(double aSimTime, WsfPlatform* aPlatformPtr) override;

   void GetLeadStateHistory(double aTime, LeadState& aState);
 
   // delete asset once it has been stowed after being in some type of deployed state (reeling out/in or deployed)
   void CleanUpStowedAsset(double aSimTime);
 
   void ComputeTowDistance(double aSimTime);

   void UpdateVelocity();
 
private:
   double mReelOutRate;

   double mReelInRate;

   double mTowLength;

   double mStartReelInTime;

   double mRelativeReelInTimeAfterDeployed;

   double mStartReelInDistance;

   double mCurrentRange;

   std::deque<LeadState> mLeadPlatformStateQueue;

   DeploymentState mState;

   bool mRestoreQuantity;

   bool mFollowLeadTrajectory;

   double mAzimuthRelativeToLead;

   double mElevationRelativeToLead;
};
 
#endif