CSeineOperation.h

#pragma once
 
#include <stdio.h>
#include <string>
#include <iostream>
#include <fstream>
 
#include <SimObject.h>
 
#include "CAttractorBase.h"
 
#ifdef FH_VISUALIZATION
#include "CTextRenderer.h"
#endif
#include "sfh/timers/StopWatch.h"
#include "sfh/filters/IIR.h"
 
class CSeineOperation : public SimObject
{
public:
    CSeineOperation(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
    ~CSeineOperation();
 
    void CalcOutput(const double dT, const double* const adX);
    void CalcOutput2(const double dT, const double* const adX);
 
    virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep){}
    virtual void FinalSetup(const double dT, const double *const adX, ISimObjectCreator* const pCreator);
 
#ifdef FH_VISUALIZATION
    virtual void            RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
    virtual void            RenderUpdate(const double dT, const double* const adX);
#endif
    const virtual double * WarpConnected(const double dT, const double *const adX);
    const virtual double * BuoyPos(const double dT, const double *const adX);
    const virtual double * VesselHeading(const double dT, const double *const adX);
    const virtual double * VesselSpeed(const double dT, const double *const adX);
    const virtual double * PWarpLength(const double dT, const double *const adX);
    const virtual double * SWarpLength(const double dT, const double *const adX);
 
protected:
    void SetOperationalPhase(const double dT);
 
    void SetAttractorStrengths(const double dT);
 
    enum EPhase_t
    {
        Phase_NotSet = 0,
        Phase_SetFirstLeg,
        Phase_SetNet ,
        Phase_SetSecondLeg ,
        Phase_Towing ,
        Phase_Hauling ,
        Phase_Finished
    };
 
    ISignalPort*    m_pInVesselPos;
    ISignalPort*    m_pInPBridleTension;
    ISignalPort*    m_pInSBridleTension;
    ISignalPort*    m_pInNetSWingPos;
    ISignalPort*    m_pInNetPWingPos;
    ISignalPort*    m_pInNetVel;
    ISignalPort*    m_pInPBridlePos;
    ISignalPort*    m_pInSBridlePos;
 
    ICommonComputation* m_pCommonCalc;          
    ICommonComputation* m_pCommonCalc2;
    // Configuration
    double                  m_adVesselHeading[7];
    double                  m_adVesselSpeed[7];
    double                  m_adPhaseStartTime[7];
    double                  m_dPayOutSpeedFactor;
    double                  m_dMinTension;
    double                  m_adBuoyPos[3];
    double                  m_dLastCall;
    double                  m_dDeltaT;
    double                  m_dWarpLengthCorrectionSpeed;
    double                  m_dInitialSpeed;
    double                  m_dSetSpeed;
    double                  m_dTowSpeed;
    double                  m_dHaulSpeed;
    double                  m_dFinishedSpeed;
    double                  m_dWinchHaulSpeed;
    double                  m_dInitialHeading;
    double                  m_dTowHeading ;
    double                  m_dSpreadAngle;
    double                  m_dSetWarpLength;
 
    bool                    m_bWarpConnected;
    double                  m_dOutPWarpLength;
    double                  m_dOutSWarpLength;
 
 
    double                  m_dAddedTrackLength;
    double                  m_dTowTime;
    double                  m_dMinWarpLength;
    std::string             m_sAttractorNameNet;
    std::string             m_sAttractorNameWarps;
    std::string             m_asPhase[7];
    std::string             m_asSpeed[7];
    std::string             m_asHeading[7];
    CAttractorBase*         m_pAttractorNet;
    CAttractorBase*         m_pAttractorWarps;
    EPhase_t                m_EPhase;
 
    // Output
    double                      m_adBool[2];
    double                      m_dWingSpread;
    double                      m_dNetTangentialSpeed;
    double                      m_dNetNormalSpeed;
    double                      m_dFileWritePeriod;
    double                      m_adBridleTension[2];
    double                      m_dBridleSpread;
    bool                        m_bOutputToFile;
    sfh::timers::StopWatch      m_StopWatchFileWrite;
    sfh::timers::StopWatch      m_StopWatchRenderUpdate;
    std::ofstream               m_Outfile;
    std::string                 m_sFileName;
    sfh::filters::IIR           m_BridleTensionFilter;
#ifdef FH_VISUALIZATION
    Ogre::Entity*               m_RenderMass;
    Ogre::SceneNode*            m_RenderNode;
    std::string                 m_DisplayText;
    CTextRenderer*              m_TextRenderer;
    //CTextRenderer*                m_TextRendererCopyright;
#endif
 
};