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WarpTwin
Documentation for WarpTwin models and classes.
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WarpTwin
Documentation for WarpTwin models and classes.
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/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX INC.
******************************************************************************/
/*
Ground station model header file
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Ground Station",
"exclude" : False,
"category" : "Assemblies"
}
aliases = {"spacecraft_frame" : "Spacecraft Body",
"planet_rotating_frame" : "Planet Rotating Frame",
"R_planet" : "Planet Equatorial Radius",
"flattening_planet" : "Ellipse Flattening",
"latitude_detic_rad" : "Latitude",
"longitude_rad" : "Longitude",
"elevation_mask_rad" : "Elevation Mask",
"position__enu" : "EXCLUDE",
"velocity__enu" : "EXCLUDE",
"range" : "Range",
"range_rate" : "Range Rate",
"azimuth" : "Azimuth",
"elevation" : "Elevation",
"masked" : "Masked",
"gs_position__pci" : "EXCLUDE",
"gs_velocity__pci" : "EXCLUDE",
"self_ptr" : "Ground Station"
}
*/
#ifndef MODELS_STATES_GROUND_STATION_MODEL_H
#define MODELS_STATES_GROUND_STATION_MODEL_H
#include "FrameStateSensorModel.h"
#include "RangeAzElSensorModel.h"
#include "constants/planetdefaults.h"
namespace warptwin {
/**
* @brief Simple ground station model
*
* This model is a simple model of a ground station. It uses the FrameStateSensor
* and RangeAzElSensor internally to create an ENU frame as a child of the parent
* frame, then returns results every step. It is primarily a configuration wrapper
* model -- that is, it does the large majority of its work in startup, and adds
* little to no functionality at runtime, and instead runs the innter frame state
* sensor and range az el sensor model, which do the heavy lifting.
*/
MODEL(GroundStationModel)
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** The frame of the spacecraft object that the ground station will sense*/
SIGNAL(spacecraft_frame, Frame*, nullptr)
/** The planet rotating frame to which the ground station is attached. Note that
* the planet rotating frame must be a child of the associated planet inertial
* frame, which is also used in this model. */
SIGNAL(planet_rotating_frame, Frame*, nullptr)
/** This is the equatorial radius of the planet. Default is Earth in meters */
SIGNAL(R_planet, double, warpos::earth_wgs84.eq_radius)
/** This is the flattening of the planet, which defines shape. Default is Earth */
SIGNAL(flattening_planet, double, warpos::earth_wgs84.flattening)
/** This is the centric latitude of the ground station, in radians */
SIGNAL(latitude_detic_rad, double, 0.0)
/** The longitude of the ground station, in radians*/
SIGNAL(longitude_rad, double, 0.0)
/** This is the elevation mask value, in radians, for the ground station. Default is zero degrees*/
SIGNAL(elevation_mask_rad, double, 0.0)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** The position of the spacecraft as measured in the GS East, North, Up frame */
SIGNAL(position__enu, CartesianVector3, CartesianVector3())
/** The velocity of the spacecraft as measured in the GS East, North, Up frame*/
SIGNAL(velocity__enu, CartesianVector3, CartesianVector3())
/** This is the range of the input object to the frame. Will be zero if masked.*/
SIGNAL(range, double, 0.0)
/** This is the range rate of the spacecraft to the GS. Will be zero if masked.*/
SIGNAL(range_rate, double, 0.0)
/** This is the azimuth of the spacecraft wrt the frame x vector, in radians. Will be zero if masked */
SIGNAL(azimuth, double, 0.0)
/** This is the elevation of the spacecraft wrt the frame x-y plane, in radians. Will be zero if masked. */
SIGNAL(elevation, double, 0.0)
/** This is the mask flag for the ground station. True for masked, False for visible */
SIGNAL(masked, bool, true)
/** The position of the ground station as measured in the planet-centered inertial frame */
SIGNAL(gs_position__pci, CartesianVector3, CartesianVector3())
/** The velocity of the ground station as measured in the planet-centered inertial frame */
SIGNAL(gs_velocity__pci, CartesianVector3, CartesianVector3())
/** Pointer to the ground station model for GUI linking of Ground Station model */
SIGNAL(self_ptr, clockwerk::GraphTreeObject*,nullptr)
END_OUTPUTS
// Getters for handles to respective submodels
// TODO: Fix this to not be needed because these can all be public. Until then it's here
clockwerk::DataIO<Frame*> enuFrame = clockwerk::DataIO<Frame*>(this, "enuFrame", &_enu_frame);
warptwin::FrameStateSensorModel* frameStateSensorEnu() {return &_fss_enu;}
warptwin::RangeAzElSensorModel* rangeAzElSensor() {return &_range_az_el_sensor;}
protected:
int16 start() override;
int16 execute() override;
/// @brief The ENU frame created for the GS by this model
Frame _enu_frame;
/// @brief The frame state sensor for relative states to the ENU frame
FrameStateSensorModel _fss_enu;
/// @brief The range az el sensor for our actual ground station
RangeAzElSensorModel _range_az_el_sensor;
/// @brief The frame state sensor for GS state in the PCI frame
FrameStateSensorModel _fss_gs_pci;
};
}
#endif
1.16.1