unit Unit1;

interface

uses
  Windows, Messages, SysUtils, Variants, Classes, Graphics, Controls, Forms,
  Dialogs, StdCtrls, TeEngine, ExtCtrls, TeeProcs, Chart, Series;

type
  TController = class;
  TStorage = class;

  TForm1 = class(TForm)
    Chart1: TChart;
    Button1: TButton;
    Series1: TLineSeries;
    b1: TEdit;
    b3: TEdit;
    treg: TEdit;
    Label1: TLabel;
    Label2: TLabel;
    Label3: TLabel;
    Button2: TButton;
    sd1: TSaveDialog;
    Button3: TButton;
    procedure FormCreate(Sender: TObject);
    procedure Button2Click(Sender: TObject);
    procedure Button1Click(Sender: TObject);
    procedure Button3Click(Sender: TObject);
  private
    { Private declarations }
  public
    { Public declarations }
  end;

  // Border
  TmyBord = class(TForm1)
  private
    /// <directed>True</directed>
    fController: TController;
    function getController(): TController;
    procedure setController(c: TController);
  public
    /// <directed>True</directed>
    property controller: TController read getController write setController;
    procedure drawGraph();
    procedure saveData();
  end;

  // Controller
  TController = class
  private
    /// <directed>True</directed>
    fBorder: TmyBord;
    fStorage: TStorage;
    function getStorage(): TStorage;
    procedure setStorage(s: TStorage);

    function geTmyBord(): TmyBord;
    procedure seTmyBord(b: TmyBord);
  public

    /// <directed>True</directed>
    procedure getDataFromBorder();
    procedure Calculate();
    /// <directed>True</directed>
    property storage: TStorage read getStorage write setStorage;
    /// <directed>True</directed>
    property border: TmyBord read geTmyBord write seTmyBord;
  end;

  // Storage
  TStorage = class
  private
    /// <directed>True</directed>
    fController: TController;
    b1, b3, treg, mue, ie, nue: real;
    gamma: array [1 .. 1000] of real;
    function getController(): TController;
    procedure setController(c: TController);

  public
    procedure saveData(fname: string);
    property controller: TController read getController write setController;
  end;

var
  myBord: TmyBord;
  myCont: TController;
  myStor: TStorage;

implementation

{$R *.dfm}

procedure TmyBord.saveData;
begin
  if sd1.Execute then
  begin
    controller.storage.saveData(sd1.FileName);
  end;
end;

procedure TStorage.saveData(fname: string);
var
  s: Tstrings;
  j: integer;
begin
  s := TStringList.Create;

  try
    for j := 1 to 1000 do
    begin
      s.Add(FloatToStr(0.01 * (j - 1)) + '     ' + FloatToStr
          (gamma[j]))
    end;
  except
    ShowMessage('Error saving, exit');
  end;

  s.SaveToFile(fname);
end;

procedure TController.getDataFromBorder;
begin
  storage.b1 := StrToFloat(border.b1.Text);
  storage.b3 := StrToFloat(border.b3.Text);
  storage.treg := StrToFloat(border.treg.Text);
end;

procedure TController.Calculate;
{
  1. расчет передаточных чисел автопилота
  2. интегрирование уравнений движения численным методом
  и получение значений графика переходного процесса
  системы ЛА-АП крена
}
var
  i: integer;
  t1, t2, n, h: real;
  wx, wxl, wxpr, x, xpr, gammazad, gammaprev, ksi: real;
  b1, b3, treg: real;
begin
  b1 := storage.b1;
  ShowMessage(FloatToStr(b1));
  b3 := storage.b3;
  treg := storage.treg;

  // 1. расчет передаточных чисел автопилота
  storage.mue := (18 - b1 * treg) / (b3 * treg);
  storage.ie := 108 / (b3 * treg * treg);
  storage.nue := 216 / (b3 * treg * treg * treg);

  gammazad := 1;
  t2 := 10;
  t1 := 0;
  n := 1000; // кол-во шагов
  h := (t2 - t1) / n; // шаг по времени
  storage.gamma[1] := 0;
  gammaprev := storage.gamma[1];
  wx := 0; // omega x - угл скорость по крену
  wxl := 0; // производная  угл скорости
  x := 0; // gamma, угол крена, получаемый интегрированием

  // 2. интегрирование уравнений движения численным методом
  // и получение значений графика переходного процесса
  for i := 2 to 1000 do
  begin
    ksi := gammaprev - gammazad;
    wxpr := wx;
    xpr := x;
    wxl := b1 * wx - b3 * (storage.mue * wx + storage.ie * gammaprev / 180 * pi + storage.nue * ksi);

    wx := wxpr + h * wxl; //
    x := xpr + h * wx;
    storage.gamma[i] := x;
    gammaprev := storage.gamma[i];
  end;
end;

procedure TmyBord.drawGraph();
var
  j: integer;
begin
  Series1.Clear;
  for j := 1 to 1000 do
    Series1.AddXY(0.01 * (j - 1), controller.storage.gamma[j], '', clRed);
end;

procedure TForm1.Button2Click(Sender: TObject);
begin
  TmyBord(self).saveData;
end;

procedure TForm1.Button3Click(Sender: TObject);
begin
  Close;
end;

procedure TForm1.FormCreate(Sender: TObject);
begin
  // creating variables
  myCont := TController.Create();
  myStor := TStorage.Create();

  // connecting them
  myBord.controller := myCont;
  myStor.controller := myCont;
  myCont.border := myBord;
  myCont.storage := myStor;

  // trying to change
  myCont.border.Caption := 'Lab';
end;

procedure TForm1.Button1Click(Sender: TObject);
begin
  try
    TmyBord(self).controller.getDataFromBorder;
  except
    ShowMessage('Error: incorrect input data');
    exit;
  end;
  TmyBord(self).controller.Calculate;
  TmyBord(self).controller.border.drawGraph();
end;

// border, connect controller
procedure TmyBord.setController(c: TController);
begin
  if c = nil then
  begin
    ShowMessage('error: Controller is nill');
    exit;
  end;
  fController := c;
end;

function TmyBord.getController(): TController;
begin
  if fController = nil then
    ShowMessage('error: Controller is not assigned to Border');
  result := self.fController;
end;

// controller, connect border
procedure TController.seTmyBord(b: TmyBord);
begin
  if b = nil then
    ShowMessage('error: Border is nill');
  self.fBorder := b;
end;

function TController.geTmyBord(): TmyBord;
begin
  if fBorder = nil then
    ShowMessage('error: Border is not assigned to Controller');

  result := self.fBorder;
end;

// controller, connect storage
procedure TController.setStorage(s: TStorage);
begin
  if s = nil then
  begin
    ShowMessage('error: Storage is nill');
    exit;
  end;
  fStorage := s;
end;

function TController.getStorage(): TStorage;
begin
  if fStorage = nil then
  begin
    ShowMessage('error: Storage is not assigned to Controller');
  end;
  result := fStorage;
end;

// storage, connect controller
procedure TStorage.setController(c: TController);
begin
  if c = nil then
  begin
    ShowMessage('error: Controller is nill');
    exit;
  end;
  fController := c;
end;

function TStorage.getController(): TController;
begin
  if fController = nil then
  begin
    ShowMessage('error: Controller is not assigned to Storage');
  end;
  result := self.fController;
end;

end.