SimpleThrusterModel.h

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/*
Simple thruster model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Simple Thruster",
          "exclude" : False,
          "category" : "Actuators"
}
aliases = {"control_body" : "Spacecraft",
           "thruster_location__body" : "Position",
           "thruster_pointing__body" : "Pointing Vector",
           "thrust_bias" : "Bias",
           "thrust_noise_std" : "Noise",
           "g" : "EXCLUDE",
           "seed_value" : "EXCLUDE",
           "mdot" : "Mass Flow Rate",
           "Isp" : "Specific Impulse",
           "applied_thrust" : "EXCLUDE",
           "applied_force__body" : "Applied Force",
}
*/
 
#ifndef MODELS_ACTUATORS_SIMPLE_THRUSTER_MODEL_H
#define MODELS_ACTUATORS_SIMPLE_THRUSTER_MODEL_H
 
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
#include "frames/Body.h"
#include "frames/Node.h"
#include "models/support/BiasNoiseModel.h"
#include "constants/planetdefaults.h"
 
namespace warptwin {
 
    const double ON_STATE = 1e-15;   // Mdot threshold below which thruster is considered "off"
 
    enum cmds_e {
        OFF,
        ON
    };

    MODEL(SimpleThrusterModel)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(control_body,            Body*,                 nullptr)
            SIGNAL(thruster_location__body, CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(thruster_pointing__body, CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(thrust_bias,             double,                 0.0)
            SIGNAL(thrust_noise_std,        double,                 0.0)
            SIGNAL(g,                       double,                 warpos::earth_wgs84.mean_gravity)
            SIGNAL(seed_value,              int,                    0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS 
            SIGNAL(mdot,                    double,                 0.0)
            SIGNAL(Isp,                     double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(applied_thrust,          double,                  0.0)
            SIGNAL(applied_force__body,     CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        // Getters for handles to respective frames
        // TODO: Fix this to not be needed because these can all be public. Until then it's here
        clockwerk::DataIO<Node*> thrusterNode = clockwerk::DataIO<Node*>(this, "thrusterNode", &_thruster_node);
    protected:
        int16 start() override;
        int16 execute() override; 

        BiasNoiseModel _thruster_bias_noise;

        Node _thruster_node;

        double _nominal_thrust = 0.0;

        double _thrust_perturbation = 0.0;

        double _total_thrust = 0.0;

        int _cmd_state = OFF;
        int _prev_cmd = OFF;
    };
 
}
 
#endif