WsfSpinSensorScheduler.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2021 Radiance Technologies. 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 WSFSPINSENSORSCHEDULER_HPP
#define WSFSPINSENSORSCHEDULER_HPP
 
#include "wsf_export.h"
 
#include <queue>
#include <vector>
 
class UtInput;
#include "UtCallback.hpp"
#include "UtCallbackHolder.hpp"
#include "WsfSensorScheduler.hpp"
#include "WsfTrack.hpp"

class WSF_EXPORT WsfSpinSensorScheduler : public WsfSensorScheduler
{
public:
   WsfSpinSensorScheduler()           = default;
   ~WsfSpinSensorScheduler() override = default;

   static std::unique_ptr<WsfSensorScheduler> ObjectFactory(const std::string& aTypeName);



   WsfSensorScheduler* Clone() const override;
 
   bool Initialize(double aSimTime, WsfSensor* aSensorPtr, WsfSensorTracker* aTrackerPtr) override;
   bool ProcessInput(UtInput& aInput) override;
 
   void ModeDeselected(double aSimTime, WsfStringId aModeNameId) override;
   void ModeSelected(double aSimTime, WsfStringId aModeNameId) override;
 
   void PlatformAdded(double aSimTime, WsfPlatform* aPlatformPtr) override;
 
   void RemoveTarget(double aSimTime, size_t aTargetIndex) override;
 
   bool SelectTarget(double               aSimTime,
                     double&              aNextSimTime,
                     size_t&              aTargetIndex,
                     WsfTrackId&          aRequestId,
                     WsfSensor::Settings& aSettings) override;
 
   void TurnOff(double aSimTime) override;
   void TurnOn(double aSimTime) override;
 
protected:
   WsfSpinSensorScheduler(const WsfSpinSensorScheduler& aSrc);
   WsfSpinSensorScheduler& operator=(const WsfSpinSensorScheduler&) = delete;
 
private:
   void ResetSearchList();

   void CalculateDetectionTime(size_t aTargetIndex, double aSimTime);

   double CalculateAngle(const ut::coords::WCS& aRangeVector, double aAngle);

   double GetDirection(double aSimTime) const;

   ut::coords::WCS FutureVec(double aSimTime, WsfSensor* aSensorPtr, const WsfPlatform* aTargetPtr);

   double AngularDistance(double aSimTime, const WsfPlatform* aTargetPtr);

   double mScanPeriod{10.0};

   float mScanDirection{1.0f};

   double mInitialAngle{0.0};

   bool mRandomAzimuthPosition{false};

   bool mRandomAzimuthPositionCheck{false};

   std::map<std::size_t, double> mDetectionTimes;

   std::map<size_t, std::unique_ptr<UtCallback>> mMoverCallbackMap;
   std::map<size_t, std::unique_ptr<UtCallback>> mRouteCallbackMap;

   std::vector<WsfSensorMode*> mModeList;

   size_t mLastExplicitModeIndex{0};
};
 
#endif