/*
 * RampGenerationProcess.hh
 *
 *  Created on: 31 мая 2020 г.
 *      Author: LeonidTitov
 */

#ifndef UMLIBRARY_PROCESSING_ACS_RAMPGENERATIONPROCESS_HH_
#define UMLIBRARY_PROCESSING_ACS_RAMPGENERATIONPROCESS_HH_

#include "ControlSystemInterface.hh"

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

#include "../../control/generator/Generator_1stOrder.hh"

namespace processing { namespace acs {

//!Процесс построения задания, с ограничением первой производной.
class RampGeneration1stOrderProcess : public PhaseSpaceToPhaseSpaceUnitInterface, public systemic::IProcess {
public:

    typedef ::control::generator::Generator_1stOrder Generator;

    vector::ITechValue & getDerivativeLimit();

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

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

    RampGeneration1stOrderProcess( Generator & generator, systemic::ISignal & value );

    bool isConnected() const { return output; }

private:
    systemic::ISignal & value;
    Generator & generator;

    SetInterface * output;
    TypeInput trajectory;

    ShadowGuard< control::PhaseSpaceValue > setpoint;     //!<Целевое значение.

    struct DerivativeLimit : public vector::ITechValue {

        void set( float limit );
        float get() const;

        Generator & generator;

        DerivativeLimit( Generator & gen ) : generator(gen) {}

    } limit;

    bool proc_enable;

};

}}

#endif /* UMLIBRARY_PROCESSING_ACS_RAMPGENERATIONPROCESS_HH_ */