Travis Hunter
e6bf1fea9b
This reverts commit 6280d9fb0184275843a8f4406c7293e41e65a639, reversing changes made to 3c9c8b8c6a2b2e7430ff09efdc2cc0c1996b16ca.
97 lines
2.7 KiB
C++
97 lines
2.7 KiB
C++
#ifndef QTROCKET_H
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#define QTROCKET_H
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/// \cond
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// C headers
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// C++ headers
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#include <atomic>
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#include <memory>
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#include <mutex>
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#include <utility>
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// 3rd party headers
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/// \endcond
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// qtrocket headers
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#include "model/MotorModel.h"
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#include "model/RocketModel.h"
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#include "sim/Environment.h"
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#include "sim/Propagator.h"
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#include "utils/Logger.h"
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#include "utils/MotorModelDatabase.h"
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#include "utils/math/MathTypes.h"
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/**
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* @brief The QtRocket class is the master controller for the QtRocket application.
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* It is the singleton that controls the interaction of the various components of
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* the QtRocket program
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*/
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class QtRocket
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{
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public:
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static QtRocket* getInstance();
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utils::Logger* getLogger() { return logger; }
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// This will return when the main window returns;
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// If called multiple times, subsequent calls, will simply
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// immediately return with value 0
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int run(int argc, char* argv[]);
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void runSim();
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std::shared_ptr<sim::Environment> getEnvironment() { return environment; }
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void setTimeStep(double t) { rocket.second->setTimeStep(t); }
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std::shared_ptr<model::RocketModel> getRocket() { return rocket.first; }
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std::shared_ptr<utils::MotorModelDatabase> getMotorDatabase() { return motorDatabase; }
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void addMotorModels(std::vector<model::MotorModel>& m);
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void addRocket(std::shared_ptr<model::RocketModel> r) { rocket.first = r; rocket.second = std::make_shared<sim::Propagator>(r); }
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void setEnvironment(std::shared_ptr<sim::Environment> e) { environment = e; }
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void launchRocket();
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/**
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* @brief getStates returns a vector of time/state pairs generated during launch()
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* @return vector of pairs of doubles, where the first value is a time and the second a state vector
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*/
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const std::vector<std::pair<double, StateData>>& getStates() const { return rocket.first->getStates(); }
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/**
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* @brief setInitialState sets the initial state of the Rocket.
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* @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
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*/
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void setInitialState(const StateData& initState) { rocket.first->setInitialState(initState); }
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private:
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QtRocket();
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static void init();
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std::atomic_bool running;
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static bool initialized;
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static std::mutex mtx;
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static QtRocket* instance;
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utils::Logger* logger;
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using Rocket = std::pair<std::shared_ptr<model::RocketModel>, std::shared_ptr<sim::Propagator>>;
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Rocket rocket;
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std::shared_ptr<sim::Environment> environment;
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std::shared_ptr<utils::MotorModelDatabase> motorDatabase;
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// Launch site
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// ECEF coordinates
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Vector3 launchSitePosition{0.0, 0.0, 0.0};
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// Table of state data
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std::vector<StateData> states;
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};
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#endif // QTROCKET_H
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