InternalSim.h

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#ifndef INTERNALSIM_H_
#define INTERNALSIM_H_

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

class UniversalDataReader;
class UniversalDataWriter;

class InternalSim : public SyncSimulatorComponent
{

public:
    InternalSim( const Module* module );

    virtual ~InternalSim();

    virtual void initialize( void );

    virtual void run( void );

    virtual void uninitialize( void );


private:
    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    InternalSim( const InternalSim& old ); // disallow copy constructor

    Simulator simulator_;

    bool ok_;

    bool haveFix_;

    // Got a fix once (the first time through)
    bool gotFirstFix_;

    // Depth we call "at the surface"
    float surfaceThreshold_;

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

    bool loadParams( void );

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

    // Environmental parameters:
    UniversalDataReader* densityReader_;

    // AHRS specific parameters:
    UniversalDataReader* headingReader_;
    UniversalDataReader* pitchReader_;
    UniversalDataReader* rollReader_;
    UniversalDataWriter* headingWriter_;
    UniversalDataWriter* pitchWriter_;
    UniversalDataWriter* rollWriter_;

    //----------------------------------------------------------------
    // Depth specific parameters:
    UniversalDataReader *depthReader_;
    UniversalDataWriter *depthWriter_;

    //----------------------------------------------------------------
    // Gps specific parameters:
    UniversalDataReader *latitudeFixReader_;
    UniversalDataReader *longitudeFixReader_;
    UniversalDataReader *latitudeReader_;
    UniversalDataReader *longitudeReader_;
    UniversalDataWriter *latitudeWriter_;
    UniversalDataWriter *longitudeWriter_;

    //----------------------------------------------------------------
    // Tailcone specific parameters:
    DataReader* propOmegaActionReader_;
    DataReader* elevatorAngleActionReader_;
    DataReader* rudderAngleActionReader_;
    DataReader* massPositionActionReader_;
    UniversalDataWriter* propOmegaWriter_;
    UniversalDataWriter* elevatorAngleWriter_;
    UniversalDataWriter* rudderAngleWriter_;
    UniversalDataWriter* massPositionWriter_;

    //----------------------------------------------------------------
    ConfigReader* surfaceThresholdCfgReader_;

    //----------------------------------------------------------------
    // Communications
    SimRunStruct runParams_;
    SimResultStruct results_;

};

#endif /*INTERNALSIM_H_*/