/*
 * PiControllerProcess.hh
 *
 *  Created on: 5 июн. 2020 г.
 *      Author: LeonidTitov
 */

#ifndef UMLIBRARY_PROCESSING_ACS_PICONTROLLERPROCESS_HH_
#define UMLIBRARY_PROCESSING_ACS_PICONTROLLERPROCESS_HH_

#include "ControlSystemInterface.hh"

#include "../../systemic/ISignal.hh"
#include "../../systemic/IProcess.hh"
#include "../../common/ShadowGuard.hh"

#include "../../control/regulator/PiController.hh"

namespace processing { namespace acs {

//!Процесс выполнения ПИ-Регулятора.
class PiControllerProcess : public ValueToValueUnitInterface, public systemic::IProcess  {
public:
    typedef control::regulator::PiController Regulator;

    //!Установить ошибку регулирования.
    void set( TypeInput );
    TypeOutput get() const;
    void set_output( SetInterface * );

    vector::ITechValue & getLimit();

    void setSampleTime( float ts_in_second );
    void process();
    void reset();

    vector::ITechValue & getTrackingTract();

    PiControllerProcess( Regulator & regulator, systemic::ISignal & current_value );

private:
    Regulator & regulator;
    systemic::ISignal & current_value;

    struct Limit : vector::ITechValue {

        void set( float limit ) {
            regulator.setOutputLimit(limit);
        }
        float get() const {
            return regulator.getOutputLimit();
        }

        Regulator & regulator;

        Limit(Regulator & regulator) : regulator(regulator) {}
    } limit;

    struct TrackingTract : vector::ITechValue {

        void set( float tracked_value ) {
            value = tracked_value;
        }
        float get() const {
            return value;
        }

        control::Value value;

        TrackingTract() : value(0.0f) {}
    } tracking;

    bool proc_enable;

    bool isConnected() const;

    SetInterface * output;

    control::Value value_error;     //!<Вход: ошибка регулятора.

    control::Value value_output;
};

}}

#endif /* UMLIBRARY_PROCESSING_ACS_PICONTROLLERPROCESS_HH_ */