GroundStationSensor.h

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/*
Camera sensor model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
#define MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
 
namespace modelspace {
    /**
     * @brief   Ground Station Sensor Model
     * 
     * The ground station sensor model is a wrapper around the 
     * ground station model which perturbs the range and range
     * rate measurements according to the inputs to this model.
     * 
     * This model also downselects rate according to the input
     * to this model.
     * 
     * Author: Alex Reynolds <alex.reynolds@attx.tech>
    */
    class GroundStationSensor : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The bias in the range measurement output described as a single scalar
             *   Default is no bias. */
            SIGNAL(range_bias,              double,                 0.0)
            /** The bias in the range rate measurement output described as a single scalar
             *   Default is no bias. */
            SIGNAL(range_rate_bias,         double,                 0.0)
            /** The one-sigma gaussian noise in range measurement output described as a scalar
             *  Default is no noise. */
            SIGNAL(range_gaussian_noise,    double,                 0.0)
            /** The one-sigma gaussian noise in range rate measurement output described as a scalar
             *  Default is no noise. */
            SIGNAL(range_rate_gaussian_noise,double,                0.0)
            /** The rate at which the GS generates an output, in seconds. Setting this value
             *  to 0 forces the GS to output at the simulation rate. */
            SIGNAL(rate_sec,                clockwerk::Time,        clockwerk::Time(0))
            /** Value to seed the internal RNG for this model. */
            SIGNAL(seed_value,              int,                    0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** This is the output time from the model. Will be left stale when not updated*/
            SIGNAL(time_in,                 clockwerk::Time,        clockwerk::Time(0))
            /** This is the input range from the ground station model*/
            SIGNAL(range_in,                double,                 0.0)
            /** This is the input range rate from the ground station model*/
            SIGNAL(range_rate_in,           double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** This is the time output every time a measurement is made. Left stale
             *  when ground station is masked or due to measurement rate*/
            SIGNAL(time_measured,           clockwerk::Time,        clockwerk::Time(0))
            /** This is the range output every time a measurement is made. Left stale
             *  when ground station is masked or due to measurement rate. Includes bias
             *  and noise */
            SIGNAL(range_measured,          double,                 0.0)
            /** This is the range rate output every time a measurement is made. Left stale
             *  when ground station is masked or due to measurement rate. Includes bias
             *  and noise */
            SIGNAL(range_rate_measured,     double,                 0.0)
        END_OUTPUTS
 
        /// @brief Accessor for the internal bias and noise model
        /// @return Pointer to the bias noise model
        modelspace::BiasNoiseModel* biasNoiseModel() {return &_sensor_bias_noise;}
 
        /// @brief Accessor for the internal rate monitor model
        /// @return Pointer to the rate monitor model
        modelspace::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        // Model-specific implementations of startup and derivative
        GroundStationSensor(Model &pnt, const std::string &m_name="ground_station_sensor");
        GroundStationSensor(SimulationExecutive &e, const std::string &m_name="ground_station_sensor");
        GroundStationSensor(Model &pnt, int schedule_slot, const std::string &m_name="ground_station_sensor");
        GroundStationSensor(SimulationExecutive &e, int schedule_slot, const std::string &m_name="ground_station_sensor");
        virtual ~GroundStationSensor() {}
    protected:
        int start();
        int execute();
 
        /// @brief Function to configure sensor -- runs in all constructors
        void _configureInternal();
 
        /// @brief The bias and noise model for sensor output.
        BiasNoiseModel _sensor_bias_noise;
 
        /// @brief Rate monitor to control the rate at which the sensor runs
        RateMonitor _rate_monitor;
    };
 
}
 
#endif