PropulsorActuator.h

#ifndef PropulsorActuator_h__
#define PropulsorActuator_h__
 
#include <string>
 
#include "LocalConnection.h"
namespace Ship
{
    class PropulsorActuator: public LocalConnection{
    public:
        enum FailureModes{
            failureModeRPMError = 0,
            failureModeRPMLock,
            failureModePitchLock,
            failureModePitchMalfunction,
            failureModeAzimuthLock,
            failureModeAzimuthMalfunction,
            failureModeFeedbackPitchFreeze,
            failureModeFeedbackRPMFreeze,
            failureModeFeedbackAzimuthFreeze,
            failureModeFeedbackThrustFreeze,
            failureModes
        };
 
        PropulsorActuator(const std::string& simObjectName,ISimObjectCreator* const creator);
 
        virtual void OdeFcn(const double T, const double* const X, double* const XDot) const;
        void AcceptedStep(double T, const double* X) override;
        //void InitialConditionSetup( const double T, const double *const X, ISimObjectCreator* const creator );
        void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
        const double * RPM(const double T, const double * const X);
        const double * RPMMotor(const double T, const double * const X);
        const double * Pitch(const double T, const double * const X);
        const double * PD(const double T, const double * const X);
        const double * ConsumedPower(const double T, const double * const X);
 
        const double * RPM_FB(const double T, const double * const X);
        const double * Thrust_FB(const double T, const double * const X);
        const double * Pitch_FB(const double T, const double * const X);
 
        const double * ForceBody2(const double T, const double * const X);
        const double * TorqueBody2(const double T, const double * const X);
 
        // over ridable for cycloidal actuator
        virtual const double * Angle_FB(const double T, const double * const X);
        virtual const double * Angle(const double T, const double * const X);
 
    protected:
        double m_torqueLimit;
 
        bool m_oscMode;
        ISignalPort *m_inRPMLimits;
        ISignalPort *m_inPitchLimits;
        ISignalPort *m_inAngleLimits;
        ISignalPort *m_inShaftTorque;
        ISignalPort *m_inAvailablePower;
 
        double m_pitchMaxChangeRate;
        double m_RPMMaxChangeRate;
        double m_aziMaxChangeRate;
 
        int m_indexMotorPitch;
        int m_indexPropulsorRPM;
 
        ISignalPort *m_inFailureMode;
        ISignalPort *m_inCommendedRPM;
        ISignalPort *m_inCommandedPitch;
 
        bool  m_isAzimuth;
        double m_azimuthLoss[2];
 
        mutable bool m_failureModeRPMError = false;
        mutable bool m_failureModeRPMLock = false;
        mutable bool m_failureModePitchLock = false;
        mutable bool m_failureModePitchMalfunction = false;
        mutable bool m_failureModeAzimuthLock = false;
        mutable bool m_failureModeAzimuthMalfunction = false;
        mutable bool m_failureModeFeedbackPitchFreeze = false;
        mutable bool m_failureModeFeedbackRPMFreeze = false;
        mutable bool m_failureModeFeedbackAzimuthFreeze = false;
        mutable bool m_failureModeFeedbackThrustFreeze = false;
 
        mutable double m_maxAngle;
        mutable double m_minAngle;
        mutable double m_maxRPM;
        mutable double m_minRPM;
        mutable double m_maxPitch;
        mutable double m_minPitch;
 
        double m_gearRatio;
 
        double m_angularMotorMalfunctionRate;
 
        double m_actualRPM;
        double m_actualMotorRPM;
        double m_actualPitch;
        double m_actualPD;
        double m_actualAngle;
        double m_consumedPower;
        double m_timeConstantPitch;
        double m_timeConstantRPM;
 
        double m_actualRPMFeedback;
        double m_actualThrustFeedback;
        double m_actualPitchFeedback;
        double m_actualAngleFeedback;
 
        double m_heldRPMFeedback = 0;
        double m_heldPitchFeedback = 0;
        double m_heldAngleFeedback = 0;
        double m_heldThrustFeedback = 0;
 
        virtual double AngleFeedbackValue(const double* X) const;
 
        double m_forceParentBody[3];
        double m_torqueParentBody[3];
    };
}
 
#endif // PropulsorActuator_h__