ExternalSim.h

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#ifndef EXTERNALSIM_H_
#define EXTERNALSIM_H_

#include "SimHeadStruct.h"
#include "SimInitStruct.h"
#include "SimResultStruct.h"
#include "SimRunStruct.h"

#include "component/SyncComponent.h"
#include "data/Location.h"
#include "data/Matrix6x6.h"
#include "data/Point3D.h"
#include "data/Point6D.h"
#include "io/SocketClient.h"
#include "utils/AuvMath.h"
#include "utils/Datum.h"
#include "utils/Timestamp.h"

class ConfigReader;
class UniversalDataReader;

class ExternalSim : public SyncSimulatorComponent
{

public:
    ExternalSim( const Module* module );

    virtual ~ExternalSim();

    virtual void initialize( void );

    virtual void run( void );

    virtual void uninitialize( void );

private:

    SocketClient* socketClient_;

    int addr_;
    int pid_;

    bool ok_;

    // write State to Slate
    virtual void publishState( float entrainedBuoyancy );

    // configuration readers
    ConfigReader* simDaemonServerCfgReader_;

    //*------------------- slate variables -----------------------*/

    DataWriter* latitudeWriter_;
    DataWriter* longitudeWriter_;
    DataWriter* propThrustWriter_;
    DataWriter* propTorqueWriter_;
    DataWriter* netBuoyWriter_;
    DataWriter* forceXWriter_;
    DataWriter* forceYWriter_;
    DataWriter* forceZWriter_;
    DataWriter* positionXWriter_;
    DataWriter* positionYWriter_;
    DataWriter* positionZWriter_;
    DataWriter* positionRollWriter_;
    DataWriter* positionPitchWriter_;
    DataWriter* positionHeadingWriter_;
    DataWriter* positionXDotWriter_;
    DataWriter* positionYDotWriter_;
    DataWriter* positionZDotWriter_;
    DataWriter* rateUWriter_;
    DataWriter* rateVWriter_;
    DataWriter* rateWWriter_;
    DataWriter* ratePWriter_;
    DataWriter* rateQWriter_;
    DataWriter* rateRWriter_;
    DataWriter* homingSensorRangeWriter_;
    DataWriter* homingSensorAzimWriter_;
    DataWriter* homingSensorElevWriter_;
    //DataWriter* utmZoneWriter_;
    //DataWriter* northernHemiWriter_;

    // AHRS specific parameters:
    // Default amplitude on additive noise (in radians)
    static const double DEFAULT_AHRS_NOISE_AMPLITUDE;
    double ahrsNoiseAmplitude_;
    // Slate inputs
    DataReader* ahrsNoiseAmplitudeReader_;

    //----------------------------------------------------------------
    // Depth specific parameters:
    // Default value for the depthadditive noise amplitude (in meters)
    static const double DEFAULT_DEPTH_NOISE_AMPLITUDE;
    double depthNoiseAmplitude_;
    // Slate inputs
    DataReader *depthNoiseAmplitudeReader_;

    //----------------------------------------------------------------
    // Tailcone specific parameters:
    // The inputs
    DataReader* propOmegaActionReader_;
    DataReader* elevatorAngleActionReader_;
    DataReader* rudderAngleActionReader_;
    DataReader* massPositionActionReader_;
    DataReader* buoyancyActionReader_;
    DataReader* dropWeightStateReader_;
    DataReader* propOmegaReader_;
    DataReader* elevatorAngleReader_;
    DataReader* rudderAngleReader_;
    DataReader* massPositionReader_;
    DataReader* buoyancyPositionReader_;

    UniversalDataReader* altitudeReader_;
    float altitude_;

    float buoyancyNeutralOffset_; // Value added to buoyancy in the ExternalSim to achieve "True" neutral
    float massPositionOffset_;    // Value added to mass position in the ExternalSim to achieve "True" zero pitch
    float entrainedAir_;          // Amount of entrained air in vehicle
    float bottomLockGone_;        // Altitude greater than this value results in loss of bottom lock simulated

    Timestamp startTime_;
    Timespan homingSensorTat_;    // Homing sensor turn-around time.
    bool     calcHoming_;
    bool     useGeographic_;

    double beaconLat_;
    double beaconLon_;
    double beaconDepth_;
    double bcnN_;
    double bcnE_;

    //----------------------------------------------------------------
    // Communications
    SimHeadStruct head_;
    SimRunStruct runParams_;
    char params_[ sizeof( SimHeadStruct ) + sizeof( SimRunStruct )];
    SimResultStruct results_;

};

#endif /*EXTERNALSIM_H_*/