controller_builder.hpp

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#pragma once
 
#include <cstddef>
#include <string>
#include <string_view>
 
#include "controller_input.hpp"
 
namespace kynema_fmb::interfaces::components {
 
class ControllerBuilder {
public:
    ControllerInput& Input() { return input; }
 
    // Enable or disable the controller
    ControllerBuilder& EnableController(bool enable = true) {
        input.controller_enabled = enable;
        return *this;
    }
 
    // Enable or disable pitch control
    ControllerBuilder& EnablePitchControl(bool enable = true) {
        input.pitch_control_enabled = enable;
        return *this;
    }
 
    // Enable or disable torque control
    ControllerBuilder& EnableTorqueControl(bool enable = true) {
        input.torque_control_enabled = enable;
        return *this;
    }
 
    // Set time step (seconds)
    ControllerBuilder& SetTimeStep(double time_step) {
        input.time_step = time_step;
        return *this;
    }
 
    // Set number of blades
    ControllerBuilder& SetNumberOfBlades(size_t n_blades) {
        input.n_blades = n_blades;
        return *this;
    }
 
    // Enable or disable yaw control
    ControllerBuilder& EnableYawControl(bool enable = true) {
        input.yaw_control_enabled = enable;
        return *this;
    }
 
    // Set initial yaw angle (radians)
    ControllerBuilder& SetYawAngle(double angle) {
        input.yaw_angle = angle;
        return *this;
    }
 
    // Set initial pitch angle (radians)
    ControllerBuilder& SetPitchAngle(double angle) {
        input.pitch_angle = angle;
        return *this;
    }
 
    ControllerBuilder& EnableReadCheckpoint(bool enable = true) {
        input.read_checkpoint = enable;
        return *this;
    }
 
    ControllerBuilder& SetLibraryPath(std::string_view lib_path) {
        input.shared_lib_path = std::string(lib_path);
        return *this;
    }
 
    ControllerBuilder& SetFunctionName(std::string_view func_name) {
        input.function_name = std::string(func_name);
        return *this;
    }
 
    ControllerBuilder& SetInputFilePath(std::string_view inp_file_path) {
        input.input_file_path = std::string(inp_file_path);
        return *this;
    }
 
    ControllerBuilder& SetOutputFilePath(std::string_view sim_name) {
        input.output_file_path = std::string(sim_name);
        return *this;
    }
 
private:
    ControllerInput input;
};
 
}  // namespace kynema_fmb::interfaces::components