GroundStationModel.h

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/*
Ground station model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_STATES_GROUND_STATION_MODEL_H
#define MODELS_STATES_GROUND_STATION_MODEL_H
 
#include "FrameStateSensorModel.h"
#include "RangeAzElSensorModel.h"
#include "utils/planetdefaults.h"
 
namespace modelspace {
 
    /**
     * @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.
    */
    class GroundStationModel : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The frame of the spacecraft object that the ground station will sense*/
            SIGNAL(spacecraft_frame,        FrameD*,                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,   FrameD*,                nullptr)
            /** This is the equatorial radius of the planet. Default is Earth in meters */
            SIGNAL(R_planet,                double,                 clockwerk::earth_wgs84.semimajor_axis)
            /** This is the centric latitude of the ground station, in radians */
            SIGNAL(latitude_centric_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,           CartesianVector3D,      CartesianVector3D())
            /** The velocity of the spacecraft as measured in the GS East, North, Up frame*/
            SIGNAL(velocity__enu,           CartesianVector3D,      CartesianVector3D())
            /** 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,        CartesianVector3D,      CartesianVector3D())
            /** The velocity of the ground station as measured in the planet-centered inertial frame */
            SIGNAL(gs_velocity__pci,        CartesianVector3D,      CartesianVector3D())
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        GroundStationModel();
        GroundStationModel(Model &pnt, const std::string &m_name="ground_station");
        GroundStationModel(SimulationExecutive &e, const std::string &m_name="ground_station");
        GroundStationModel(Model &pnt, int schedule_slot, const std::string &m_name="ground_station");
        GroundStationModel(SimulationExecutive &e, int schedule_slot, const std::string &m_name="ground_station");
        ~GroundStationModel() {}
 
        // 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<FrameD*> enuFrame = clockwerk::DataIO<FrameD*>(this, "enuFrame", &_enu_frame);
        modelspace::FrameStateSensorModel* frameStateSensorEnu() {return &_fss_enu;}
        modelspace::RangeAzElSensorModel* rangeAzElSensor() {return &_range_az_el_sensor;}
    protected:
        int start();
        int execute();
 
        /// @brief The ENU frame created for the GS by this model
        FrameD _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