PressureSensor.h

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/*
Pressure Sensor model header file
 
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"exclude" : True}
*/
 
#ifndef MODELS_SENSORS_PRESSURE_SENSOR_H
#define MODELS_SENSORS_PRESSURE_SENSOR_H
 
#include "simulation/Model.h"
#include "models/support/MarkovUncertaintyModel.h"
#include "monitors/RateMonitor.h"
#include "utils/LatencyUtil.hpp"
 
namespace warptwin {


    struct _pressure_output_struct {
        double meas_pressure;
        bool is_valid;
        // Default constuctor (should populate with model defualt outputs)
        _pressure_output_struct()
            : meas_pressure(0.0), is_valid(false) {}
        // Custom constructor
        _pressure_output_struct(double meas_pressure, bool is_valid)
            : meas_pressure(meas_pressure), is_valid(is_valid) {}
    };
 
    MODEL(PressureSensor)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(min_pressure,            double,                 0.0)
            SIGNAL(max_pressure,            double,                 0.0) // TODO: change max default to Float Max in warptwin
            SIGNAL(resolution,              double,                 0.0)
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(latency,                 int,                    0)
            SIGNAL(operational_power_draw,  double,                 0.0)
            SIGNAL(mass,                    double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(perfect_pressure,        double,                 0.0)
            SIGNAL(bias,                    double,                 0.0)
            SIGNAL(gaussian_noise_std,      double,                 0.0)
            SIGNAL(scale_factor_std,        double,                 0.0)
        END_INPUTS 
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_pressure,           double,                 0.0)
            SIGNAL(meas_pressure_mbar,      double,                 0.0)
            SIGNAL(is_valid,                bool,                   false)
            SIGNAL(current_power_draw,      double,                 0.0)
        END_OUTPUTS

        warptwin::MarkovUncertaintyModel* getNoiseModel() {return &_sensor_noise_model;}

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        int16 activate() override;
        int16 deactivate() override;
        
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        MarkovUncertaintyModel _sensor_noise_model;

        RateMonitor _rate_monitor;

        double _meas_pres;

        LatencyUtil<_pressure_output_struct> _latency_model;

        _pressure_output_struct _last_output, _latency_return;
 
    };
 
}
 
#endif