WsfGuidanceProgram.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 WSFGUIDANCEPROGRAM_HPP
#define WSFGUIDANCEPROGRAM_HPP
 
#include "wsf_mil_export.h"
 
#include <string>
 
class UtEntity;
class UtInput;
#include "WsfGuidanceComputer.hpp"
class WsfGuidanceComputer;
class WsfGuidanceProgram;
#include "WsfObject.hpp"
class WsfScriptContext;
 
class WsfGuidanceProgramTypes
{
public:

   static WSF_MIL_EXPORT WsfGuidanceProgramTypes&       Get(WsfScenario& aScenario);
   static WSF_MIL_EXPORT const WsfGuidanceProgramTypes& Get(const WsfScenario& aScenario);
 
   using FactoryPtr        = WsfGuidanceProgram* (*)(const std::string&);
   using ObjectFactoryList = std::list<FactoryPtr>;
   WsfGuidanceProgramTypes() { mObjectFactoryList.push_back(&WsfGuidanceProgramTypes::PredefinedObjectFactory); }
   WSF_MIL_EXPORT void                AddObjectFactory(FactoryPtr aFactoryPtr);
   WSF_MIL_EXPORT WsfGuidanceProgram* CreateInstance(const std::string& aTypeName) const;
 
protected:
   static WsfGuidanceProgram* PredefinedObjectFactory(const std::string& aTypeName);

   ObjectFactoryList mObjectFactoryList;
};

class WSF_MIL_EXPORT WsfGuidanceProgram : public WsfObject
{
public:
   // Create typedef's in our scope that parallel the same name in WsfGuidanceComputer.
   using State    = WsfGuidanceComputer::State;
   using Commands = WsfGuidanceComputer::Commands;
   using Phase    = WsfGuidanceComputer::Phase;

   static const char* cGC_ORBIT_DECLARED;
   static const char* cGC_DELTA_V_REMAINING;
   static const char* cGC_BURN_TIME_REMAINING;
   static const char* cGC_FUEL_REMAINING;

   enum Status
   {
      cCONTINUE, 
      cCOMPLETE  
   };
 
   enum Axis
   {
      cX_AXIS = 0,
      cY_AXIS = 1,
      cZ_AXIS = 2
   };
 
   WsfGuidanceProgram();
   WsfGuidanceProgram(const WsfGuidanceProgram& aSrc) = default;
   ~WsfGuidanceProgram() override                     = default;
   WsfGuidanceProgram& operator=(const WsfGuidanceProgram&) = delete;

   WsfGuidanceProgram* Clone() const override = 0;
 
   virtual bool Initialize(double aSimTime, WsfGuidanceComputer* aComputerPtr);
 
   bool ProcessInput(UtInput& aInput) override;
 
   virtual void Start(double aSimTime, double aCurTime);
 
   virtual void Terminate(double aSimTime);

   virtual Status Execute(State& aState, Commands& aCommands) = 0;

   WsfPlatform* GetPlatform() { return mComputerPtr->GetPlatform(); }
 
   WsfGuidanceComputer* GetComputer() { return mComputerPtr; }
 
protected:
   void AltitudeGuidance(State& aState, Phase& aPhase, double& aZ_Accel);
 
   void AngleOffsetGuidance(State& aState, Phase& aPhase, double& aY_Accel, double& aZ_Accel);
 
   static void ApplyGravityBias(UtEntity& aEntity, double aGravityBiasFactor, double& aY_Accel, double& aZ_Accel);
 
   static void ApplyLateralBias(UtEntity& aEntity, double aLateralBiasFactor, double& aY_Accel, double& aZ_Accel);
 
   static void ComputeGravitationalAcceleration(const double aLocWCS[3], double aGravAclWCS[3]);
 
   bool FlightPathAngleAchieved(const State& aState, double aCommandedFlightPathAngle) const;
 
   void FlightPathAngleGuidance(State& aState, Phase& aPhase, double aCommandedFlightPathAngle, double& aY_Accel, double& aZ_Accel);
 
   void ProNavGuidance(State& aState, double aProNavGain, bool aAugmented, double& aY_Accel, double& aZ_Accel);
 
   void PursuitGuidance(State& aState, double aPursuitGain, double& aY_Accel, double& aZ_Accel);
 
   WsfGuidanceComputer* mComputerPtr;
   double               mStartTime;    
   bool                 mDebugEnabled; 
};
 
#endif