SunSensor.h

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/*
Sun Sensor model header file
 
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Sun Sensor",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"pointing_bias" : "EXCLUDE",
           "fov_horizontal" : "Horizontal FOV (degrees)",
           "fov_vertical" : "Vertical FOV (degrees)",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "EXCLUDE",
           "mount_alignment_mf" : "EXCLUDE",
           "rate_hz" : "EXCLUDE",
           "seed_value" : "RNG Seed",
           "sun_inertial_frame" : "Sun Inertial Frame",
           "primary_inertial_frame" : "Earth Inertial Frame",
           "primary_radius" : "EXCLUDE",
           "latency" : "EXCLUDE",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "gaussian_noise" : "One-Sigma Noise (radians)",
           "meas_sun_vector__ss" : "Measured Sun Vector",
           "truth_sun_vector__ss" : "Truth Sun Vector",
           "is_valid" : "Measurement Validity Boolean",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_SUN_SENSOR_H
#define MODELS_SENSORS_SUN_SENSOR_H
 
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
#include "utils/LatencyUtil.hpp"
#include "models/environment/OccultationModel.h"
#include "models/states/FrameStateSensorModel.h"
#include "simulation/UniformRandom.hpp"
#include "simulation/NormalRandom.hpp"
 
namespace warptwin {


    struct _sunsensor_output_struct {
        CartesianVector3 meas_sun_vector__ss;
        bool is_valid;
        // Default constuctor (should populate with model defualt outputs)
        _sunsensor_output_struct()
            : meas_sun_vector__ss(CartesianVector3({0.0, 0.0, 0.0})),
              is_valid(false) {}
        // Custom constructor
        _sunsensor_output_struct(CartesianVector3 meas_sun_vector__ss, bool is_valid)
            : meas_sun_vector__ss(meas_sun_vector__ss),
              is_valid(is_valid) {}
    };
 
    MODEL(SunSensor)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(pointing_bias,           clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(fov_horizontal,          double,                 0.0)
            SIGNAL(fov_vertical,            double,                 0.0)
            SIGNAL(mount_frame,             Frame*,                nullptr)
            SIGNAL(mount_position__mf,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(mount_alignment_mf,      clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(sun_inertial_frame,      Frame*,                 nullptr)
            SIGNAL(primary_inertial_frame,  Frame*,                 nullptr)
            SIGNAL(primary_radius,          double,                 warpos::earth_wgs84.eq_radius)
            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(gaussian_noise,          double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_sun_vector__ss,     CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(truth_sun_vector__ss,    CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(is_valid,                bool,                   false)
            SIGNAL(current_power_draw,      double,                 0.0)
        END_OUTPUTS

        clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);

        warptwin::BiasNoiseModel* biasNoiseModel() {return &_sensor_noise_model;}

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}

        warptwin::OccultationModel* occultationModel() {return &_occult;}
 
        int16 activate() override;
        int16 deactivate() override;
 
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        Frame _sensor_frame;

        BiasNoiseModel _sensor_noise_model;

        RateMonitor _rate_monitor;

        OccultationModel _occult;

        FrameStateSensorModel _sun_relative_state;

        FrameStateSensorModel _primary_orbiter_relative_state;

        UniformRandom<double>* _uniform_random_model = nullptr;

        LatencyUtil<_sunsensor_output_struct> _latency_model;

        _sunsensor_output_struct _last_output, _latency_return;

        CartesianVector3 _pos_ss_ss__ss = CartesianVector3({0.0, 0.0, 0.0});
        CartesianVector3 _pos_PCI_ss__ss;
        CartesianVector3 _pos_SCI_ss__ss, _pos_SCI_ss__ss_unit;

        CartesianVector3 _w;
        double _theta;
        clockwerk::Quaternion _q;
    };
 
}
 
#endif