/*
 * PositionControlProcess.h
 *
 *  Created on: 23 сент. 2019 г.
 *      Author: titov
 */

#ifndef SOURCE_PROCESSING_ACS_POSITIONCONTROLPROCESS_H_
#define SOURCE_PROCESSING_ACS_POSITIONCONTROLPROCESS_H_

#include "ControlSystemInterface.hh"

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

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

#include <algorithm>

namespace processing { namespace acs {

class PositionControlProcess : public PhaseSpaceToPhaseSpaceUnitInterface, public systemic::IProcess {
public:
    typedef control::regulator::ParabolicPositioner PositionRegulator;

    void set( TypeInput );
    TypeOutput get() const;
    void set_output( SetInterface * );

    vector::ITechValue & getAccelerationLimit();
    vector::ITechValue & getSpeedLimit();

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

    const float & demand() const;

    PositionControlProcess( PositionRegulator & position_reg, systemic::ISignal & position_fdb, systemic::ISignal & speed_fdb );

private:
    struct AccelerationLimit : public vector::ITechValue {

        void set( float acc ) {
            position_control.setAcceleration(acc);
            position_control.setDeceleration(acc);
        }

        float get() const {
            return std::max( position_control.getAcceleration(), position_control.getDeceleration() );
        }

        PositionRegulator & position_control;

        AccelerationLimit( PositionRegulator & position_control ) :
            position_control(position_control) {}

    } acc_limit;

    struct SpeedLimit : public vector::ITechValue {

        void set( float vel ) {
            position_control.setVelocity(vel);
        }

        float get() const {
            return position_control.getVelocity();
        }

        PositionRegulator & position_control;

        SpeedLimit( PositionRegulator & position_control ) :
            position_control(position_control) {}

    } speed_limit;

    bool proc_enable;

    SetInterface * output;

    ShadowGuard< control::PhaseSpaceValue > position_stp; //!<Вход: задание положения.
    control::PhaseSpaceValue speed_stp;                   //!<Выход: задание скорости.

    PositionRegulator & position_control;
    systemic::ISignal & position_fdb;      //!<Cкорость.
    systemic::ISignal & speed_fdb;

};

}}

#endif /* SOURCE_PROCESSING_ACS_POSITIONCONTROLPROCESS_H_ */