From 9161838dd1bc0365649bcfc821ac4dbc60be7d72 Mon Sep 17 00:00:00 2001 From: Yoshinari Gyu <50069930+yngyu@users.noreply.github.com> Date: Mon, 28 Nov 2022 14:31:21 +0900 Subject: [PATCH 001/199] add GetStructure method to Spacecraft class --- src/Simulation/Spacecraft/Spacecraft.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Simulation/Spacecraft/Spacecraft.h b/src/Simulation/Spacecraft/Spacecraft.h index fa8739a18..20de521ea 100644 --- a/src/Simulation/Spacecraft/Spacecraft.h +++ b/src/Simulation/Spacecraft/Spacecraft.h @@ -34,6 +34,7 @@ class Spacecraft { inline const Dynamics& GetDynamics() const { return *dynamics_; } inline const LocalEnvironment& GetLocalEnv() const { return *local_env_; } inline const Disturbances& GetDisturbances() const { return *disturbances_; } + inline const Structure& GetStructure() const { return *structure_; } inline const InstalledComponents& GetInstalledComponents() const { return *components_; } inline int GetSatID() const { return sat_id_; } From f1611d20f3339e2f6e5f4d74e7793fc0149625f9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 28 Nov 2022 10:14:22 +0100 Subject: [PATCH 002/199] Copy InitializeSensorBase from S2E-FF --- .../Abstract/InitializeSensorBase.hpp | 9 +++++ .../Abstract/InitializeSensorBase_tfs.hpp | 37 +++++++++++++++++++ 2 files changed, 46 insertions(+) create mode 100644 src/Component/Abstract/InitializeSensorBase.hpp create mode 100644 src/Component/Abstract/InitializeSensorBase_tfs.hpp diff --git a/src/Component/Abstract/InitializeSensorBase.hpp b/src/Component/Abstract/InitializeSensorBase.hpp new file mode 100644 index 000000000..1dfa9bb87 --- /dev/null +++ b/src/Component/Abstract/InitializeSensorBase.hpp @@ -0,0 +1,9 @@ +#pragma once + +#include + +// TODO:これをコアに移して全体で共有したい +template +SensorBase ReadSensorBaseInformation(const std::string file_name, const double step_width_s); + +#include "InitializeSensorBase_tfs.hpp" diff --git a/src/Component/Abstract/InitializeSensorBase_tfs.hpp b/src/Component/Abstract/InitializeSensorBase_tfs.hpp new file mode 100644 index 000000000..647c679ab --- /dev/null +++ b/src/Component/Abstract/InitializeSensorBase_tfs.hpp @@ -0,0 +1,37 @@ + +#pragma once +#include + +template +SensorBase ReadSensorBaseInformation(const std::string file_name, const double step_width_s) { + IniAccess ini_file(file_name); + char section[30] = "SensorBase"; + + libra::Vector scale_factor_vector; + ini_file.ReadVector(section, "scale_factor_c", scale_factor_vector); + libra::Matrix scale_factor_c; + for (size_t i = 0; i < N; i++) { + for (size_t j = 0; j < N; j++) { + scale_factor_c[i][j] = scale_factor_vector[i * N + j]; + } + } + + libra::Vector constant_bias_c; + ini_file.ReadVector(section, "constant_bias_c", constant_bias_c); + libra::Vector normal_random_standard_deviation_c; + ini_file.ReadVector(section, "normal_random_standard_deviation_c", normal_random_standard_deviation_c); + libra::Vector random_walk_standard_deviation_c; + ini_file.ReadVector(section, "random_walk_standard_deviation_c", random_walk_standard_deviation_c); + libra::Vector random_walk_limit_c; + ini_file.ReadVector(section, "random_walk_limit_c", random_walk_limit_c); + + double range_to_const = ini_file.ReadDouble(section, "range_to_const"); + libra::Vector range_to_const_c{range_to_const}; + double range_to_zero = ini_file.ReadDouble(section, "range_to_zero"); + libra::Vector range_to_zero_c{range_to_zero}; + + SensorBase sensor_base(scale_factor_c, range_to_const_c, range_to_zero_c, constant_bias_c, normal_random_standard_deviation_c, step_width_s, + random_walk_standard_deviation_c, random_walk_limit_c); + + return sensor_base; +} From 293370104fa6264d6788882304d0b7d716294be5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 28 Nov 2022 10:18:47 +0100 Subject: [PATCH 003/199] fix to suit with S2E-CORE --- src/Component/Abstract/InitializeSensorBase.hpp | 3 +-- src/Component/Abstract/InitializeSensorBase_tfs.hpp | 3 +-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/src/Component/Abstract/InitializeSensorBase.hpp b/src/Component/Abstract/InitializeSensorBase.hpp index 1dfa9bb87..3f0acca92 100644 --- a/src/Component/Abstract/InitializeSensorBase.hpp +++ b/src/Component/Abstract/InitializeSensorBase.hpp @@ -1,8 +1,7 @@ #pragma once -#include +#include "SensorBase.h" -// TODO:これをコアに移して全体で共有したい template SensorBase ReadSensorBaseInformation(const std::string file_name, const double step_width_s); diff --git a/src/Component/Abstract/InitializeSensorBase_tfs.hpp b/src/Component/Abstract/InitializeSensorBase_tfs.hpp index 647c679ab..9baaa024e 100644 --- a/src/Component/Abstract/InitializeSensorBase_tfs.hpp +++ b/src/Component/Abstract/InitializeSensorBase_tfs.hpp @@ -1,6 +1,5 @@ - #pragma once -#include +#include "Interface/InitInput/IniAccess.h" template SensorBase ReadSensorBaseInformation(const std::string file_name, const double step_width_s) { From 520b6ac83dbe762950fbd4762e2a8bf46fb4206f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 28 Nov 2022 15:26:28 +0100 Subject: [PATCH 004/199] Save GS ini file in log directory when read it --- src/Simulation/GroundStation/GroundStation.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/Simulation/GroundStation/GroundStation.cpp b/src/Simulation/GroundStation/GroundStation.cpp index 096081383..abdc09681 100644 --- a/src/Simulation/GroundStation/GroundStation.cpp +++ b/src/Simulation/GroundStation/GroundStation.cpp @@ -35,6 +35,8 @@ void GroundStation::Initialize(int gs_id, SimulationConfig* config) { gs_position_ecef_ = gs_position_geo_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); + + config->main_logger_->CopyFileToLogDir(gs_ini_path); } void GroundStation::LogSetup(Logger& logger) { logger.AddLoggable(this); } From 159b9f764d33ca6fe98b8daba2ca15660ce2ab02 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 28 Nov 2022 15:27:01 +0100 Subject: [PATCH 005/199] Read ground station position info from ini file --- scripts/Plot/plot_gs_visibility.py | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/scripts/Plot/plot_gs_visibility.py b/scripts/Plot/plot_gs_visibility.py index 226b9b525..e54894a3b 100644 --- a/scripts/Plot/plot_gs_visibility.py +++ b/scripts/Plot/plot_gs_visibility.py @@ -15,6 +15,8 @@ import matplotlib.pyplot as plt # csv import pandas +# ini file +from configparser import ConfigParser # local function from make_miller_projection_map import make_miller_projection_map from common import find_latest_log_tag @@ -48,11 +50,17 @@ gs_lat_deg = args.gs_lat gs_lon_deg = args.gs_lon -# TODO: Read from the ini file in the logs directory +# Read Gound Station position from the ini file in the logs directory +gs_ini_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + "/SampleGS.ini" +configur = ConfigParser(comment_prefixes=('#', ';', '//'), inline_comment_prefixes=('#', ';', '//')) +configur.read(gs_ini_file_name) +gs_lat_in_inifile_deg = configur.getfloat('GS0', 'latitude_deg') +gs_lon_in_inifile_deg = configur.getfloat('GS0', 'longitude_deg') + if not gs_lat_deg: - gs_lat_deg = 26.140837 + gs_lat_deg = gs_lat_in_inifile_deg if not gs_lon_deg: - gs_lon_deg = 127.661483 + gs_lon_deg = gs_lon_in_inifile_deg # # CSV file name From e63c32ff2eba255c1cc306953df71fb60ef89f73 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 28 Nov 2022 15:38:17 +0100 Subject: [PATCH 006/199] Remove unnecessary arguments --- scripts/Plot/plot_gs_visibility.py | 14 ++------------ 1 file changed, 2 insertions(+), 12 deletions(-) diff --git a/scripts/Plot/plot_gs_visibility.py b/scripts/Plot/plot_gs_visibility.py index e54894a3b..97dd90c50 100644 --- a/scripts/Plot/plot_gs_visibility.py +++ b/scripts/Plot/plot_gs_visibility.py @@ -27,8 +27,6 @@ aparser.add_argument('--logs-dir', type=str, help='logs directory like "../../data/SampleSat/logs"', default='../../data/SampleSat/logs') aparser.add_argument('--file-tag', type=str, help='log file tag like 220627_142946') -aparser.add_argument('--gs-lat', type=float, help='ground station lat(deg)') -aparser.add_argument('--gs-lon', type=float, help='ground station lon(deg)') aparser.add_argument('--no-gui', action='store_true') args = aparser.parse_args() @@ -47,20 +45,12 @@ print("log: " + read_file_tag) -gs_lat_deg = args.gs_lat -gs_lon_deg = args.gs_lon - # Read Gound Station position from the ini file in the logs directory gs_ini_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + "/SampleGS.ini" configur = ConfigParser(comment_prefixes=('#', ';', '//'), inline_comment_prefixes=('#', ';', '//')) configur.read(gs_ini_file_name) -gs_lat_in_inifile_deg = configur.getfloat('GS0', 'latitude_deg') -gs_lon_in_inifile_deg = configur.getfloat('GS0', 'longitude_deg') - -if not gs_lat_deg: - gs_lat_deg = gs_lat_in_inifile_deg -if not gs_lon_deg: - gs_lon_deg = gs_lon_in_inifile_deg +gs_lat_deg = configur.getfloat('GS0', 'latitude_deg') +gs_lon_deg = configur.getfloat('GS0', 'longitude_deg') # # CSV file name From 58a09ec53eac5852d9c4cdb2517fdadae386482b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 09:37:17 +0100 Subject: [PATCH 007/199] Fix comments in S2E.cpp --- src/S2E.cpp | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/src/S2E.cpp b/src/S2E.cpp index e501bb9e9..62ce2a969 100644 --- a/src/S2E.cpp +++ b/src/S2E.cpp @@ -1,3 +1,8 @@ +/** + * @file S2E.cpp + * @brief The main file of S2E + */ + #ifdef WIN32 #define _WINSOCKAPI_ // stops windows.h including winsock.h #include @@ -14,9 +19,9 @@ // Add custom include files #include "Simulation/Case/SampleCase.h" -//#include "Simulation/MCSim/MCSimExecutor.h" -//#include "Interface/HilsInOut/COSMOSWrapper.h" -//#include "Interface/HilsInOut/HardwareMessage.h" +// #include "Simulation/MCSim/MCSimExecutor.h" +// #include "Interface/HilsInOut/COSMOSWrapper.h" +// #include "Interface/HilsInOut/HardwareMessage.h" void print_path(std::string path) { #ifdef WIN32 @@ -41,7 +46,7 @@ int main(int argc, char *argv[]) system_clock::time_point start, end; start = system_clock::now(); - std::string data_path = "../../data/"; // 必要なくなった？ + std::string data_path = "../../data/"; std::string ini_file = "../../data/SampleSat/ini/SampleSimBase.ini"; // Parsing arguments: SatAttSim [ini_file] From 1d43084b918dcc7cda86c3fc6d39d6b60da3170e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 09:39:01 +0100 Subject: [PATCH 008/199] Fix comments in S2E_parallel.cpp --- src/S2E_parallel.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/S2E_parallel.cpp b/src/S2E_parallel.cpp index faecf19dc..1e0f26e02 100644 --- a/src/S2E_parallel.cpp +++ b/src/S2E_parallel.cpp @@ -1,3 +1,8 @@ +/** + * @file S2E_parallel.cpp + * @brief The main file of S2E parallel execution + */ + #include #include #include @@ -50,8 +55,7 @@ void mail_loop(int idx) { COSMOSWrapper& cosmos_wrapper = COSMOSWrapper(); HardwareMessage& hw_msg = HardwareMessage(); - SimulationCase& simcase = EquuleusCase(*mc_sim, ini_fname, cosmos_wrapper, - hw_msg); // 最終的にはnullptrではなくCOSMOSWrapperインスタンスへのポインタを渡すべき。 + SimulationCase& simcase = EquuleusCase(*mc_sim, ini_fname, cosmos_wrapper, hw_msg); // mclog.AddLoggable(&simcase); // if (mc_sim->GetNumOfExecutionsDone() == 0) //{ From a01332735816be2f48cf31f963a20ad0e760b48f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 09:47:44 +0100 Subject: [PATCH 009/199] Fix comments in SimulationConfig.h --- src/Simulation/SimulationConfig.h | 27 ++++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/src/Simulation/SimulationConfig.h b/src/Simulation/SimulationConfig.h index bb07d1384..f5b8f7f6d 100644 --- a/src/Simulation/SimulationConfig.h +++ b/src/Simulation/SimulationConfig.h @@ -1,17 +1,30 @@ +/** + * @file SimulationConfig.h + * @brief Definition of struct for simulation setting information + */ + #pragma once #include #include #include "../Interface/LogOutput/Logger.h" +/** + * @struct SimulationConfig + * @brief Simulation setting information + */ struct SimulationConfig { - std::string ini_base_fname_; - Logger* main_logger_; - int num_of_simulated_spacecraft_; - std::vector sat_file_; - std::string gs_file_; - std::string inter_sat_comm_file_; - std::string gnss_file_; + std::string ini_base_fname_; //!< Base file name for initialization + Logger* main_logger_; //!< Main logger + int num_of_simulated_spacecraft_; //!< Number of simulated spacecraft + std::vector sat_file_; //!< File name list for spacecraft initialization + std::string gs_file_; //!< File name for ground station initialization + std::string inter_sat_comm_file_; //!< File name for inter-satellite communication initialization + std::string gnss_file_; //!< File name for GNSS initialization + /** + * @fn ~SimulationConfig + * @brief Deconstructor + */ ~SimulationConfig() { delete main_logger_; } }; From e15554a082bf38aacac627238b9183efde236c14 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 10:24:19 +0100 Subject: [PATCH 010/199] Fix comments in Spacecraft --- src/Simulation/Spacecraft/Spacecraft.cpp | 7 ++ src/Simulation/Spacecraft/Spacecraft.h | 93 ++++++++++++++++++++---- 2 files changed, 86 insertions(+), 14 deletions(-) diff --git a/src/Simulation/Spacecraft/Spacecraft.cpp b/src/Simulation/Spacecraft/Spacecraft.cpp index 04a36ef22..10da8a52f 100644 --- a/src/Simulation/Spacecraft/Spacecraft.cpp +++ b/src/Simulation/Spacecraft/Spacecraft.cpp @@ -1,3 +1,8 @@ +/** + * @file Spacecraft.cpp + * @brief Definition of Spacecraft class + */ + #include "Spacecraft.h" #include @@ -61,6 +66,7 @@ void Spacecraft::Update(const SimTime* sim_time) { // Update local environment and disturbance local_env_->Update(dynamics_, sim_time); disturbances_->Update(*local_env_, *dynamics_, sim_time); + // Update components clock_gen_.UpdateComponents(sim_time); @@ -68,6 +74,7 @@ void Spacecraft::Update(const SimTime* sim_time) { dynamics_->AddAcceleration_i(disturbances_->GetAccelerationI()); dynamics_->AddTorque_b(disturbances_->GetTorque()); dynamics_->AddForce_b(disturbances_->GetForce()); + // Add generated force and torque by components dynamics_->AddTorque_b(components_->GenerateTorque_Nm_b()); dynamics_->AddForce_b(components_->GenerateForce_N_b()); diff --git a/src/Simulation/Spacecraft/Spacecraft.h b/src/Simulation/Spacecraft/Spacecraft.h index 20de521ea..d5a944482 100644 --- a/src/Simulation/Spacecraft/Spacecraft.h +++ b/src/Simulation/Spacecraft/Spacecraft.h @@ -1,3 +1,8 @@ +/** + * @file Spacecraft.h + * @brief Definition of Spacecraft class + */ + #pragma once #include @@ -9,42 +14,102 @@ #include "InstalledComponents.hpp" #include "Structure/Structure.h" +/** + * @class Spacecraft + * @brief Base class to express Spacecraft + */ class Spacecraft { public: - // For single satellite simulation + /** + * @fn Spacecraft + * @brief Constructor for single satellite simulation + */ Spacecraft(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); - // for multi satellite simulation + /** + * @fn Spacecraft + * @brief Constructor for multiple satellite simulation + */ Spacecraft(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, RelativeInformation* rel_info, const int sat_id); + + /** + * @fn ~Spacecraft + * @brief Deconstructor + */ virtual ~Spacecraft(); // forbidden copy Spacecraft(const Spacecraft&) = delete; Spacecraft& operator=(const Spacecraft&) = delete; - // virtual functions - // For single satellite simulation + // Virtual functions + /** + * @fn Initialize + * @brief Initialize function for single spacecraft simulation + */ virtual void Initialize(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); - // for multi satellite simulation + /** + * @fn Initialize + * @brief Initialize function for multiple spacecraft simulation + */ virtual void Initialize(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, RelativeInformation* rel_info, const int sat_id); + + /** + * @fn Update + * @brief Update all states related with the spacecraft + */ virtual void Update(const SimTime* sim_time); + + /** + * @fn Clear + * @brief Clear force and torque acting on the spacecraft + */ virtual void Clear(void); + + /** + * @fn LogSetup + * @brief Logger setting for the spacecraft specific information + */ virtual void LogSetup(Logger& logger); - // Get functions + // Getters + /** + * @fn GetDynamics + * @brief Get dynamics of the spacecraft + */ inline const Dynamics& GetDynamics() const { return *dynamics_; } + /** + * @fn GetlocalEnv + * @brief Get local environment around the spacecraft + */ inline const LocalEnvironment& GetLocalEnv() const { return *local_env_; } + /** + * @fn GetDisturbances + * @brief Get disturbance acting of the spacecraft + */ inline const Disturbances& GetDisturbances() const { return *disturbances_; } + /** + * @fn GetStructure + * @brief Get structure of the spacecraft + */ inline const Structure& GetStructure() const { return *structure_; } + /** + * @fn GetInstalledComponents + * @brief Get components installed on the spacecraft + */ inline const InstalledComponents& GetInstalledComponents() const { return *components_; } + /** + * @fn GetSatID + * @brief Get ID of the spacecraft + */ inline int GetSatID() const { return sat_id_; } protected: - ClockGenerator clock_gen_; - Dynamics* dynamics_; - RelativeInformation* rel_info_; - LocalEnvironment* local_env_; - Disturbances* disturbances_; - Structure* structure_; - InstalledComponents* components_; - const int sat_id_; + ClockGenerator clock_gen_; //!< Origin of clock for the spacecraft + Dynamics* dynamics_; //!< Dynamics information of the spacecraft + RelativeInformation* rel_info_; //!< Relative information with respect to the other spacecraft + LocalEnvironment* local_env_; //!< Local environment information around the spacecraft + Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft + Structure* structure_; //!< Structure information of the spacecraft + InstalledComponents* components_; //!< Components information installed on the spacecraft + const int sat_id_; //!< ID of the spacecraft }; From 0a4d10e8392e242dfb0ff3025173ee4e82ed8b91 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 10:41:49 +0100 Subject: [PATCH 011/199] Fix comments in InstalledComponents --- .../Spacecraft/InstalledComponents.cpp | 5 +++ .../Spacecraft/InstalledComponents.hpp | 32 ++++++++++++++++++- 2 files changed, 36 insertions(+), 1 deletion(-) diff --git a/src/Simulation/Spacecraft/InstalledComponents.cpp b/src/Simulation/Spacecraft/InstalledComponents.cpp index 1dba66311..e6d995e26 100644 --- a/src/Simulation/Spacecraft/InstalledComponents.cpp +++ b/src/Simulation/Spacecraft/InstalledComponents.cpp @@ -1,3 +1,8 @@ +/** + * @file InstalledComponents.cpp + * @brief Definition of InstalledComponents class + */ + #include "InstalledComponents.hpp" #include diff --git a/src/Simulation/Spacecraft/InstalledComponents.hpp b/src/Simulation/Spacecraft/InstalledComponents.hpp index 0ff4c5e89..524173827 100644 --- a/src/Simulation/Spacecraft/InstalledComponents.hpp +++ b/src/Simulation/Spacecraft/InstalledComponents.hpp @@ -1,13 +1,43 @@ -#pragma once +/** + * @file InstalledComponents.hpp + * @brief Definition of InstalledComponents class + */ +#pragma once #include #include +/** + * @class InstalledComponents + * @brief Base class to express components list installed on a spacecraft + */ class InstalledComponents { public: + /** + * @fn ~InstalledComponents + * @brief Deconstructor + */ virtual ~InstalledComponents() {} + + /** + * @fn GenerateForce_N_b + * @brief Return force generated by components in unit Newton in body fixed frame + * @details Users need to override this function to add force generated by components + */ virtual libra::Vector<3> GenerateForce_N_b(); + + /** + * @fn GenerateTorque_Nm_b + * @brief Return torque generated by components in unit Newton-meter in body fixed frame + * @details Users need to override this function to add torque generated by components + */ virtual libra::Vector<3> GenerateTorque_Nm_b(); + + /** + * @fn LogSetup + * @brief Setup the logger for components + * @details Users need to override this function to add logger for components + */ virtual void LogSetup(Logger& logger); }; From bd3e8416cedd41c9a1aec63e2863dc7f0304c86e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 10:47:52 +0100 Subject: [PATCH 012/199] Fix comments in SampleSat --- .../Spacecraft/SampleSpacecraft/SampleSat.cpp | 5 +++++ .../Spacecraft/SampleSpacecraft/SampleSat.h | 13 +++++++++++++ 2 files changed, 18 insertions(+) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.cpp b/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.cpp index e3a445e8b..b4729c873 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.cpp +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.cpp @@ -1,3 +1,8 @@ +/** + * @file SampleSat.cpp + * @brief An example of user side spacecraft class + */ + #include "SampleSat.h" #include diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.h index 2a0e9eaac..d5a7ae5cd 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleSat.h @@ -1,3 +1,8 @@ +/** + * @file SampleSat.h + * @brief An example of user side spacecraft class + */ + #pragma once #include "../Spacecraft.h" @@ -5,7 +10,15 @@ class SampleComponents; +/** + * @class SampleSat + * @brief An example of user side spacecraft class + */ class SampleSat : public Spacecraft { public: + /** + * @fn SampleSat + * @brief Constructor + */ SampleSat(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); }; From e45e78dcd54a30f1ca397010681cc63b076df027 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:04:37 +0100 Subject: [PATCH 013/199] Fix comments in Sample_PortConfig --- .../SampleSpacecraft/Sample_PortConfig.h | 26 ++++++++++++++----- 1 file changed, 20 insertions(+), 6 deletions(-) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/Sample_PortConfig.h b/src/Simulation/Spacecraft/SampleSpacecraft/Sample_PortConfig.h index 11196427b..c9973c318 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/Sample_PortConfig.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/Sample_PortConfig.h @@ -1,13 +1,27 @@ +/** + * @file Sample_PortConfig.h + * @brief An example of port configuration management + */ + #pragma once -// コンポとポート番号の対応表 +/** + * @enum PowerPortConfig + * @brief ID list of electrical power switch ports + * @details Register sequential same with port_id. Use NONE_1, NONE_2 if the number is skipped. + */ enum PowerPortConfig { - // port_idの順に登録してください。番号がかけている場合はNONE_1,NONE_2…として書いてください - // COMPONENT_MAXは消さず、その上に全てのポートに対応するコンポを書いてください OBC_BUS, GYRO_5V, - COMPONENT_MAX + COMPONENT_MAX //!< Maximum port number. Do not remove. Place on the bottom. }; -// これはOBCソフトウェア側との対応と合わせること！ -enum UARTPortConfig { GYRO = 0, UART_COMPONENT_MAX }; +/** + * @enum UARTPortConfig + * @brief ID list of serial communication ports with UART + * @details Register sequential same with port_id. Use NONE_1, NONE_2 if the number is skipped. + */ +enum UARTPortConfig { + GYRO = 0, + UART_COMPONENT_MAX //!< Maximum port number. Do not remove. Place on the bottom. +}; From 9bb71a0667d7aabf136ccd4e0e03ef93e9c94f46 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:13:40 +0100 Subject: [PATCH 014/199] Fix comments in SampleComponents --- .../SampleSpacecraft/SampleComponents.cpp | 5 ++ .../SampleSpacecraft/SampleComponents.h | 80 ++++++++++++++----- 2 files changed, 64 insertions(+), 21 deletions(-) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp index 28a87fe5e..55ddcdff1 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp @@ -1,3 +1,8 @@ +/** + * @file SampleComponents.cpp + * @brief An example of user side components management installed on a spacecraft + */ + #include "SampleComponents.h" #include diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h index 289b89555..f1897ede7 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h @@ -1,3 +1,8 @@ +/** + * @file SampleComponents.h + * @brief An example of user side components management installed on a spacecraft + */ + #pragma once #include #include @@ -33,36 +38,69 @@ class RWModel; class SimpleThruster; class ForceGenerator; +/** + * @class SampleComponents + * @brief An example of user side components management class + */ class SampleComponents : public InstalledComponents { public: + /** + * @fn SampleComponents + * @brief Constructor + */ SampleComponents(const Dynamics* dynamics, const Structure* structure, const LocalEnvironment* local_env, const GlobalEnvironment* glo_env, const SimulationConfig* config, ClockGenerator* clock_gen, const int sat_id); + /** + * @fn ~SampleComponents + * @brief Deconstructor + */ ~SampleComponents(); + + // Override functions for InstalledComponents + /** + * @fn GenerateForce_N_b + * @brief Return force generated by components in unit Newton in body fixed frame + */ libra::Vector<3> GenerateForce_N_b(); + /** + * @fn GenerateTorque_Nm_b + * @brief Return torque generated by components in unit Newton-meter in body fixed frame + */ libra::Vector<3> GenerateTorque_Nm_b(); + /** + * @fn LogSetup + * @brief Setup the logger for components + */ void LogSetup(Logger& logger); private: - PCU* pcu_; - OBC* obc_; - HilsPortManager* hils_port_manager_; - Gyro* gyro_; - MagSensor* mag_sensor_; - STT* stt_; - SunSensor* sun_sensor_; - GNSSReceiver* gnss_; - MagTorquer* mag_torquer_; - RWModel* rw_; - SimpleThruster* thruster_; - ForceGenerator* force_generator_; - // ExpHils* exp_hils_uart_responder_; - // ExpHils* exp_hils_uart_sender_; - // ExpHilsI2cController* exp_hils_i2c_controller_; - // ExpHilsI2cTarget* exp_hils_i2c_target_; + PCU* pcu_; //!< Power Control Unit + OBC* obc_; //!< Onboard Computer + HilsPortManager* hils_port_manager_; //!< Port manager for HILS test + + // AOCS + Gyro* gyro_; //!< Gyro sensor + MagSensor* mag_sensor_; //!< Magnetmeter + STT* stt_; //!< Star sensor + SunSensor* sun_sensor_; //!< Sun sensor + GNSSReceiver* gnss_; //!< GNSS receiver + MagTorquer* mag_torquer_; //!< Magnetorquer + RWModel* rw_; //!< Reaction Wheel + SimpleThruster* thruster_; //!< Thruster + ForceGenerator* force_generator_; //!< Ideal Force Generator + + // HILS settings examples + /* + ExpHils* exp_hils_uart_responder_; //!< Example of HILS UART responder + ExpHils* exp_hils_uart_sender_; //!< Example of HILS UART sender + ExpHilsI2cController* exp_hils_i2c_controller_; //!< Example of HILS I2C controller + ExpHilsI2cTarget* exp_hils_i2c_target_; //!< Example of HILS I2C target + */ - const SimulationConfig* config_; - const Dynamics* dynamics_; - const Structure* structure_; - const LocalEnvironment* local_env_; - const GlobalEnvironment* glo_env_; + // States + const SimulationConfig* config_; //!< Simulation settings + const Dynamics* dynamics_; //!< Dynamics information of the spacecraft + const Structure* structure_; //!< Structure information of the spacecraft + const LocalEnvironment* local_env_; //!< Local environment information around the spacecraft + const GlobalEnvironment* glo_env_; //!< Global environment information }; From ff6e6c9ba63c1cd2214317c82a3d18a3872f638b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:19:37 +0100 Subject: [PATCH 015/199] Clean up SampleComponents --- .../SampleSpacecraft/SampleComponents.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp index 55ddcdff1..7fb4295c3 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp @@ -13,13 +13,12 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, const Structure* st const GlobalEnvironment* glo_env, const SimulationConfig* config, ClockGenerator* clock_gen, const int sat_id) : config_(config), dynamics_(dynamics), structure_(structure), local_env_(local_env), glo_env_(glo_env) { IniAccess iniAccess = IniAccess(config_->sat_file_[sat_id]); + // PCU power port connection pcu_ = new PCU(clock_gen); - pcu_->ConnectPort(0, 0.5, 3.3, - 1.0); // OBC: assumed power consumption is defined here - pcu_->ConnectPort(1, - 1.0); // Gyro: assumed power consumption is defined inside the InitGyro - pcu_->ConnectPort(2, 1.0); // for other all components + pcu_->ConnectPort(0, 0.5, 3.3, 1.0); // OBC: assumed power consumption is defined here + pcu_->ConnectPort(1, 1.0); // Gyro: assumed power consumption is defined inside the InitGyro + pcu_->ConnectPort(2, 1.0); // for other all components // Components obc_ = new OBC(1, clock_gen, pcu_->GetPowerPort(0)); @@ -29,19 +28,23 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, const Structure* st std::string ini_path = iniAccess.ReadString("COMPONENTS_FILE", "gyro_file"); config_->main_logger_->CopyFileToLogDir(ini_path); gyro_ = new Gyro(InitGyro(clock_gen, pcu_->GetPowerPort(1), 1, ini_path, glo_env_->GetSimTime().GetCompoStepSec(), dynamics_)); + // MagSensor ini_path = iniAccess.ReadString("COMPONENTS_FILE", "mag_sensor_file"); config_->main_logger_->CopyFileToLogDir(ini_path); mag_sensor_ = new MagSensor(InitMagSensor(clock_gen, pcu_->GetPowerPort(2), 1, ini_path, glo_env_->GetSimTime().GetCompoStepSec(), &(local_env_->GetMag()))); + // STT ini_path = iniAccess.ReadString("COMPONENTS_FILE", "stt_file"); config_->main_logger_->CopyFileToLogDir(ini_path); stt_ = new STT(InitSTT(clock_gen, pcu_->GetPowerPort(2), 1, ini_path, glo_env_->GetSimTime().GetCompoStepSec(), dynamics_, local_env_)); + // SunSensor ini_path = iniAccess.ReadString("COMPONENTS_FILE", "ss_file"); config_->main_logger_->CopyFileToLogDir(ini_path); sun_sensor_ = new SunSensor(InitSunSensor(clock_gen, pcu_->GetPowerPort(2), 1, ini_path, &(local_env_->GetSrp()), &(local_env_->GetCelesInfo()))); + // GNSS-R ini_path = iniAccess.ReadString("COMPONENTS_FILE", "gnss_file"); config_->main_logger_->CopyFileToLogDir(ini_path); @@ -53,11 +56,13 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, const Structure* st config_->main_logger_->CopyFileToLogDir(ini_path); mag_torquer_ = new MagTorquer( InitMagTorquer(clock_gen, pcu_->GetPowerPort(2), 1, ini_path, glo_env_->GetSimTime().GetCompoStepSec(), &(local_env_->GetMag()))); + // RW ini_path = iniAccess.ReadString("COMPONENTS_FILE", "rw_file"); config_->main_logger_->CopyFileToLogDir(ini_path); rw_ = new RWModel( InitRWModel(clock_gen, pcu_->GetPowerPort(2), 1, ini_path, dynamics_->GetAttitude().GetPropStep(), glo_env_->GetSimTime().GetCompoStepSec())); + // Thruster ini_path = iniAccess.ReadString("COMPONENTS_FILE", "thruster_file"); config_->main_logger_->CopyFileToLogDir(ini_path); From 1b0be2d361f8835b5e78755636ac65bce17b16be Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:26:45 +0100 Subject: [PATCH 016/199] Fix comments in Structure --- .../Spacecraft/Structure/Structure.cpp | 5 +++ .../Spacecraft/Structure/Structure.h | 39 +++++++++++++++++-- 2 files changed, 41 insertions(+), 3 deletions(-) diff --git a/src/Simulation/Spacecraft/Structure/Structure.cpp b/src/Simulation/Spacecraft/Structure/Structure.cpp index 975a594e1..3d142d6aa 100644 --- a/src/Simulation/Spacecraft/Structure/Structure.cpp +++ b/src/Simulation/Spacecraft/Structure/Structure.cpp @@ -1,3 +1,8 @@ +/** + * @file Structure.cpp + * @brief Definition of spacecraft structure + */ + #include "Structure.h" #include diff --git a/src/Simulation/Spacecraft/Structure/Structure.h b/src/Simulation/Spacecraft/Structure/Structure.h index bdd10ae02..8d348681c 100644 --- a/src/Simulation/Spacecraft/Structure/Structure.h +++ b/src/Simulation/Spacecraft/Structure/Structure.h @@ -1,3 +1,8 @@ +/** + * @file Structure.h + * @brief Definition of spacecraft structure + */ + #pragma once #include @@ -8,19 +13,47 @@ #include "Surface.h" using std::vector; +/** + * @class Structure + * @brief Class for spacecraft structure information + */ class Structure { public: + /** + * @fn Structure + * @brief Constructor + */ Structure(SimulationConfig* sim_config, const int sat_id); + /** + * @fn ~Structure + * @brief Deconstructor + */ ~Structure(); + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(SimulationConfig* sim_config, const int sat_id); // Getter + /** + * @fn GetSurfaces + * @brief Return surface information + */ inline const vector& GetSurfaces() const { return surfaces_; } + /** + * @fn GetKinematicsParams + * @brief Return kinematics information + */ inline const KinematicsParams& GetKinematicsParams() const { return *kinnematics_params_; } + /** + * @fn GetRMMParams + * @brief Return Residual Magnetic Moment information + */ inline const RMMParams& GetRMMParams() const { return *rmm_params_; } private: - KinematicsParams* kinnematics_params_; - vector surfaces_; - RMMParams* rmm_params_; + KinematicsParams* kinnematics_params_; //!< Kinematics parameters + vector surfaces_; //!< Surface information + RMMParams* rmm_params_; //!< Residual Magnetic Moment }; From c2965fc99f07b08b31e6f87b0ea5db151da85155 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:35:58 +0100 Subject: [PATCH 017/199] Fix comments in Surface --- .../Spacecraft/Structure/Surface.cpp | 5 ++ src/Simulation/Spacecraft/Structure/Surface.h | 56 ++++++++++++++++--- 2 files changed, 54 insertions(+), 7 deletions(-) diff --git a/src/Simulation/Spacecraft/Structure/Surface.cpp b/src/Simulation/Spacecraft/Structure/Surface.cpp index 4b74c560a..6268d2ecb 100644 --- a/src/Simulation/Spacecraft/Structure/Surface.cpp +++ b/src/Simulation/Spacecraft/Structure/Surface.cpp @@ -1,3 +1,8 @@ +/** + * @file Surface.cpp + * @brief Definition of spacecraft surface + */ + #include "Surface.h" Surface::Surface(Vector<3> position, Vector<3> normal, double area, double reflectivity, double specularity, double air_specularity) diff --git a/src/Simulation/Spacecraft/Structure/Surface.h b/src/Simulation/Spacecraft/Structure/Surface.h index 75a1f8d80..a4454c658 100644 --- a/src/Simulation/Spacecraft/Structure/Surface.h +++ b/src/Simulation/Spacecraft/Structure/Surface.h @@ -1,25 +1,67 @@ +/** + * @file Surface.h + * @brief Definition of spacecraft surface + */ + #pragma once #include using libra::Vector; +/** + * @class Surface + * @brief Class for spacecraft surface + */ class Surface { public: + /** + * @fn Surface + * @brief Constructor + */ Surface(Vector<3> position, Vector<3> normal, double area, double reflectivity, double specularity, double air_specularity); + /** + * @fn ~Surface + * @brief Deconstructor + */ ~Surface(){}; + + // Getter + /** + * @fn GetPosition + * @brief Return position vector of geometric center of the surface in body frame and meter unit + */ inline const Vector<3>& GetPosition(void) const { return position_; } + /** + * @fn GetNormal + * @brief Return normal vector of the surface in body frame + */ inline const Vector<3>& GetNormal(void) const { return normal_; } + /** + * @fn GetArea + * @brief Return area of the surface in meter^2 unit + */ inline const double& GetArea(void) const { return area_; } + /** + * @fn GetReflectivity + * @brief Return reflectivity of the surface + */ inline const double& GetReflectivity(void) const { return reflectivity_; } + /** + * @fn GetSpecularity( + * @brief Return specularity of the surface + */ inline const double& GetSpecularity(void) const { return specularity_; } + /** + * @fn GetAirSpecularity + * @brief Return specularity of air drag of the surface + */ inline const double& GetAirSpecularity(void) const { return air_specularity_; } private: - Vector<3> position_; // Position vector of the surfaces @ Body Frame - Vector<3> normal_; // Normal unit vector of the surfaces @ Body Frame - double area_; - double reflectivity_; // 1.0 - solar absorption - double specularity_; // Ratio of specular reflection in the total reflected - // light - double air_specularity_; // Specularity for air drag + Vector<3> position_; //!< Position vector of the surface @ Body Frame [m] + Vector<3> normal_; //!< Normal unit vector of the surface @ Body Frame [-] + double area_; //!< Area of the surface [m2] + double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) + double specularity_; //!< Ratio of specular reflection in the total reflected light + double air_specularity_; //!< Specularity for air drag }; From 12c5e0efd0ab9b5dd10b07d50043e013479fd952 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:43:10 +0100 Subject: [PATCH 018/199] Fix comments in RMMParams --- .../Spacecraft/Structure/RMMParams.cpp | 5 +++ .../Spacecraft/Structure/RMMParams.h | 43 +++++++++++++++++-- 2 files changed, 44 insertions(+), 4 deletions(-) diff --git a/src/Simulation/Spacecraft/Structure/RMMParams.cpp b/src/Simulation/Spacecraft/Structure/RMMParams.cpp index 8b3684d32..c79d35e20 100644 --- a/src/Simulation/Spacecraft/Structure/RMMParams.cpp +++ b/src/Simulation/Spacecraft/Structure/RMMParams.cpp @@ -1,3 +1,8 @@ +/** + * @file RMMParams.cpp + * @brief Definition of RMM (Residual Magnetic Moment) + */ + #include "RMMParams.h" RMMParams::RMMParams(Vector<3> rmm_const_b, double rmm_rwdev, double rmm_rwlimit, double rmm_wnvar) diff --git a/src/Simulation/Spacecraft/Structure/RMMParams.h b/src/Simulation/Spacecraft/Structure/RMMParams.h index 7ea56abd8..c2494402f 100644 --- a/src/Simulation/Spacecraft/Structure/RMMParams.h +++ b/src/Simulation/Spacecraft/Structure/RMMParams.h @@ -1,19 +1,54 @@ +/** + * @file RMMParams.h + * @brief Definition of RMM (Residual Magnetic Moment) + */ + #pragma once #include using libra::Vector; +/** + * @class RMMParams + * @brief Class for spacecraft RMM (Residual Magnetic Moment) + */ class RMMParams { public: + /** + * @fn RMMParams + * @brief Constructor + */ RMMParams(Vector<3> rmm_const_b, double rmm_rwdev, double rmm_rwlimit, double rmm_wnvar); + /** + * @fn ~RMMParams + * @brief Deconstructor + */ ~RMMParams(){}; + + // Getter + /** + * @fn GetRMMConst_b + * @brief Return Constant value of RMM at body frame [Am2] + */ inline const Vector<3>& GetRMMConst_b(void) const { return rmm_const_b_; } + /** + * @fn GetRMMRWDev + * @brief Return Random walk standard deviation of RMM [Am2] + */ inline const double& GetRMMRWDev(void) const { return rmm_rwdev_; } + /** + * @fn GetRMMRWDev + * @brief Random walk limit of RMM [Am2] + */ inline const double& GetRMMRWLimit(void) const { return rmm_rwlimit_; } + /** + * @fn GetRMMRWDev + * @brief Standard deviation of white noise of RMM [Am2] + */ inline const double& GetRMMWNVar(void) const { return rmm_wnvar_; } private: - Vector<3> rmm_const_b_; - double rmm_rwdev_; - double rmm_rwlimit_; - double rmm_wnvar_; + Vector<3> rmm_const_b_; //!< Constant value of RMM at body frame [Am2] + double rmm_rwdev_; //!< Random walk standard deviation of RMM [Am2] + double rmm_rwlimit_; //!< Random walk limit of RMM [Am2] + double rmm_wnvar_; //!< Standard deviation of white noise of RMM [Am2] }; From 095d3fb9b0ce1dc5df6ea21c8eb6a090380561f9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 11:48:10 +0100 Subject: [PATCH 019/199] Fix comments in KinematicsParams --- .../Spacecraft/Structure/KinematicsParams.cpp | 5 +++ .../Spacecraft/Structure/KinematicsParams.h | 37 +++++++++++++++++-- 2 files changed, 39 insertions(+), 3 deletions(-) diff --git a/src/Simulation/Spacecraft/Structure/KinematicsParams.cpp b/src/Simulation/Spacecraft/Structure/KinematicsParams.cpp index 8e8fb35d9..fcba6ec73 100644 --- a/src/Simulation/Spacecraft/Structure/KinematicsParams.cpp +++ b/src/Simulation/Spacecraft/Structure/KinematicsParams.cpp @@ -1,3 +1,8 @@ +/** + * @file KinematicsParams.cpp + * @brief Definition of Kinematics information + */ + #include "KinematicsParams.h" KinematicsParams::KinematicsParams(Vector<3> cg_b, double mass, Matrix<3, 3> inertia_tensor) diff --git a/src/Simulation/Spacecraft/Structure/KinematicsParams.h b/src/Simulation/Spacecraft/Structure/KinematicsParams.h index 15b93cdc4..6629cbb30 100644 --- a/src/Simulation/Spacecraft/Structure/KinematicsParams.h +++ b/src/Simulation/Spacecraft/Structure/KinematicsParams.h @@ -1,3 +1,8 @@ +/** + * @file KinematicsParams.h + * @brief Definition of Kinematics information + */ + #pragma once #include @@ -5,16 +10,42 @@ using libra::Matrix; using libra::Vector; +/** + * @class KinematicsParams + * @brief Class for spacecraft Kinematics information + */ class KinematicsParams { public: + /** + * @fn KinematicsParams + * @brief Constructor + */ KinematicsParams(Vector<3> cg_b, double mass, Matrix<3, 3> inertia_tensor); + /** + * @fn ~KinematicsParams + * @brief Deconstructor + */ ~KinematicsParams(){}; + + // Getter + /** + * @fn GetCGb + * @brief Return Position vector of center of gravity at body frame [m] + */ inline const Vector<3>& GetCGb() const { return cg_b_; } + /** + * @fn GetMass + * @brief Return Mass of the satellite [kg] + */ inline const double& GetMass() const { return mass_; } + /** + * @fn GetInertiaTensor + * @brief Return Inertia tensor at body frame [kgm2] + */ inline const Matrix<3, 3>& GetInertiaTensor() const { return inertia_tensor_; } private: - Vector<3> cg_b_; - double mass_; - Matrix<3, 3> inertia_tensor_; + Vector<3> cg_b_; //!< Position vector of center of gravity at body frame [m] + double mass_; //!< Mass of the satellite [kg] + Matrix<3, 3> inertia_tensor_; //!< Inertia tensor at body frame [kgm2] }; From 82fe660fbb3e25a0b7f95d5d8e51247e7464a5df Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 29 Nov 2022 12:52:25 +0100 Subject: [PATCH 020/199] Fix comments in InitStructure --- .../Spacecraft/Structure/InitStructure.cpp | 5 +++++ .../Spacecraft/Structure/InitStructure.hpp | 17 +++++++++++++++++ 2 files changed, 22 insertions(+) diff --git a/src/Simulation/Spacecraft/Structure/InitStructure.cpp b/src/Simulation/Spacecraft/Structure/InitStructure.cpp index 11beac6a3..253de4fc1 100644 --- a/src/Simulation/Spacecraft/Structure/InitStructure.cpp +++ b/src/Simulation/Spacecraft/Structure/InitStructure.cpp @@ -1,3 +1,8 @@ +/** + * @file InitStructure.cpp + * @brief Initialize functions for spacecraft structure + */ + #include "InitStructure.hpp" #include diff --git a/src/Simulation/Spacecraft/Structure/InitStructure.hpp b/src/Simulation/Spacecraft/Structure/InitStructure.hpp index 28128ab5d..61621e630 100644 --- a/src/Simulation/Spacecraft/Structure/InitStructure.hpp +++ b/src/Simulation/Spacecraft/Structure/InitStructure.hpp @@ -1,7 +1,24 @@ +/** + * @file InitStructure.hpp + * @brief Initialize functions for spacecraft structure + */ + #pragma once #include +/** + * @fn InitKinematicsParams + * @brief Initialize the kinematics parameters with an ini file + */ KinematicsParams InitKinematicsParams(std::string ini_path); +/** + * @fn InitSurfaces + * @brief Initialize the multiple surfaces with an ini file + */ vector InitSurfaces(std::string ini_path); +/** + * @fn InitRMMParams + * @brief Initialize the RMM(Residual Magnetic Moment) parameters with an ini file + */ RMMParams InitRMMParams(std::string ini_path); From 70f9d4802206110764caaaa626a0928d18f09dba Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 30 Nov 2022 19:55:42 +0100 Subject: [PATCH 021/199] Fix comments in Case --- src/Simulation/Case/SampleCase.cpp | 10 +++-- src/Simulation/Case/SampleCase.h | 40 ++++++++++++++++-- src/Simulation/Case/SimulationCase.cpp | 5 +++ src/Simulation/Case/SimulationCase.h | 56 +++++++++++++++++++++++--- 4 files changed, 100 insertions(+), 11 deletions(-) diff --git a/src/Simulation/Case/SampleCase.cpp b/src/Simulation/Case/SampleCase.cpp index fcdeb097d..2d41cf837 100644 --- a/src/Simulation/Case/SampleCase.cpp +++ b/src/Simulation/Case/SampleCase.cpp @@ -1,3 +1,8 @@ +/** + * @file SampleCase.cpp + * @brief Example of user defined simulation case + */ + #include "SampleCase.h" #include "../Spacecraft/SampleSpacecraft/SampleSat.h" @@ -11,7 +16,7 @@ SampleCase::~SampleCase() { delete sample_sat_; } void SampleCase::Initialize() { // Instantiate the target of the simulation - //`sat_id` corresponds to the index of `sat_file` in Simbase.ini + // `sat_id` corresponds to the index of `sat_file` in Simbase.ini const int sat_id = 0; sample_sat_ = new SampleSat(&sim_config_, glo_env_, sat_id); const int gs_id = 0; @@ -52,7 +57,6 @@ void SampleCase::Main() { } } -// Log for Monte Carlo Simulation string SampleCase::GetLogHeader() const { string str_tmp = ""; @@ -73,7 +77,7 @@ string SampleCase::GetLogValue() const { // auto quat_i2b = sample_sat->dynamics_->GetAttitude().GetQuaternion_i2b(); // auto omega_b = sample_sat->dynamics_->GetAttitude().GetOmega_b(); - //＊上のヘッダと内容を一致させる + // Need to match the contents of log with header setting above str_tmp += WriteScalar(glo_env_->GetSimTime().GetElapsedSec()); // str_tmp += WriteVector(pos_i, 16); // str_tmp += WriteVector(vel_i, 10); diff --git a/src/Simulation/Case/SampleCase.h b/src/Simulation/Case/SampleCase.h index 5327cc04e..d4b187a5a 100644 --- a/src/Simulation/Case/SampleCase.h +++ b/src/Simulation/Case/SampleCase.h @@ -1,22 +1,56 @@ +/** + * @file SampleCase.h + * @brief Example of user defined simulation case + */ + #pragma once #include "../GroundStation/GroundStation.h" #include "../Spacecraft/SampleSpacecraft/SampleSat.h" #include "./SimulationCase.h" +/** + * @class SampleCase + * @brief An example of user side spacecraft class + */ class SampleCase : public SimulationCase { public: + /** + * @fn SampleCase + * @brief Constructor + */ SampleCase(std::string ini_base); + + /** + * @fn ~SampleCase + * @brief Deconstructor + */ virtual ~SampleCase(); + /** + * @fn Initialize + * @brief Override function of Initialize in SimulationCase + */ void Initialize(); + + /** + * @fn Main + * @brief Override function of Main in SimulationCase + */ void Main(); - // Log for Monte Carlo Simulation + /** + * @fn GetLogHeader + * @brief Override function of GetLogHeader + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override function of GetLogValue + */ virtual std::string GetLogValue() const; private: - SampleSat* sample_sat_; - GroundStation* sample_gs_; + SampleSat* sample_sat_; //!< Instance of spacecraft + GroundStation* sample_gs_; //!< Instance of ground station }; diff --git a/src/Simulation/Case/SimulationCase.cpp b/src/Simulation/Case/SimulationCase.cpp index c290043db..2fed82acd 100644 --- a/src/Simulation/Case/SimulationCase.cpp +++ b/src/Simulation/Case/SimulationCase.cpp @@ -1,3 +1,8 @@ +/** + * @file SimulationCase.cpp + * @brief Base class to define simulation scenario + */ + #include "SimulationCase.h" #include diff --git a/src/Simulation/Case/SimulationCase.h b/src/Simulation/Case/SimulationCase.h index d36feab54..8d8aaa7d2 100644 --- a/src/Simulation/Case/SimulationCase.h +++ b/src/Simulation/Case/SimulationCase.h @@ -1,4 +1,10 @@ +/** + * @file SimulationCase.h + * @brief Base class to define simulation scenario + */ + #pragma once + #include #include #include @@ -6,24 +12,64 @@ #include "../SimulationConfig.h" class Logger; +/** + * @class SimulationCase + * @brief Base class to define simulation scenario + */ class SimulationCase : public ILoggable { public: + /** + * @fn SimulationCase + * @brief Constructor + */ SimulationCase(std::string ini_base); - SimulationCase(std::string ini_base, const MCSimExecutor& mc_sim, - std::string log_path); // For MonteCarlo + /** + * @fn SimulationCase + * @brief Constructor for Monte-Carlo Simulation + */ + SimulationCase(std::string ini_base, const MCSimExecutor& mc_sim, std::string log_path); + /** + * @fn ~SimulationCase + * @brief Deconstructor + */ virtual ~SimulationCase(); + /** + * @fn Initialize + * @brief Initialize the simulation scenario + */ virtual void Initialize() = 0; + + /** + * @fn Main + * @brief Main routine of the simulation scenario + */ virtual void Main() = 0; + /** + * @fn GetLogHeader + * @brief Log header settings for Monte-Carlo Simulation result + */ virtual std::string GetLogHeader() const = 0; + /** + * @fn GetLogValue + * @brief Log value settings for Monte-Carlo Simulation result + */ virtual std::string GetLogValue() const = 0; - // Get + // Getter + /** + * @fn GetSimConfig + * @brief Return simulation setting + */ inline SimulationConfig& GetSimConfig() { return sim_config_; } + /** + * @fn GetGlobalEnvironment + * @brief Return global environment + */ inline const GlobalEnvironment& GetGlobalEnvironment() const { return *glo_env_; } protected: - SimulationConfig sim_config_; - GlobalEnvironment* glo_env_; + SimulationConfig sim_config_; //!< Simulation setting + GlobalEnvironment* glo_env_; //!< Global Environment }; From 21efbef874808314297777d99b1d791ef29734a9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 30 Nov 2022 20:01:27 +0100 Subject: [PATCH 022/199] Add description of Virtual function --- src/Simulation/Case/SimulationCase.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/Simulation/Case/SimulationCase.h b/src/Simulation/Case/SimulationCase.h index 8d8aaa7d2..7a1970bb8 100644 --- a/src/Simulation/Case/SimulationCase.h +++ b/src/Simulation/Case/SimulationCase.h @@ -36,24 +36,24 @@ class SimulationCase : public ILoggable { /** * @fn Initialize - * @brief Initialize the simulation scenario + * @brief Virtual function to initialize the simulation scenario */ virtual void Initialize() = 0; /** * @fn Main - * @brief Main routine of the simulation scenario + * @brief Virtual function of main routine of the simulation scenario */ virtual void Main() = 0; /** * @fn GetLogHeader - * @brief Log header settings for Monte-Carlo Simulation result + * @brief Virtual function of Log header settings for Monte-Carlo Simulation result */ virtual std::string GetLogHeader() const = 0; /** * @fn GetLogValue - * @brief Log value settings for Monte-Carlo Simulation result + * @brief Virtual function of Log value settings for Monte-Carlo Simulation result */ virtual std::string GetLogValue() const = 0; From 156f3e101d9177f0712aea7f5c38f59268df21fa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 30 Nov 2022 20:23:25 +0100 Subject: [PATCH 023/199] Fix comment in GroundStation --- .../GroundStation/GroundStation.cpp | 5 ++ src/Simulation/GroundStation/GroundStation.h | 77 +++++++++++++++++-- .../SampleGroundStation/SampleGS.cpp | 7 +- .../SampleGroundStation/SampleGS.h | 31 +++++++- .../SampleGSComponents.cpp | 4 + .../SampleGroundStation/SampleGSComponents.h | 35 ++++++++- 6 files changed, 147 insertions(+), 12 deletions(-) diff --git a/src/Simulation/GroundStation/GroundStation.cpp b/src/Simulation/GroundStation/GroundStation.cpp index 096081383..91d691af3 100644 --- a/src/Simulation/GroundStation/GroundStation.cpp +++ b/src/Simulation/GroundStation/GroundStation.cpp @@ -1,3 +1,8 @@ +/** + * @file GroundStation.cpp + * @brief Base class of ground station + */ + #include "GroundStation.h" #include diff --git a/src/Simulation/GroundStation/GroundStation.h b/src/Simulation/GroundStation/GroundStation.h index c18000cfd..fe6de9cec 100644 --- a/src/Simulation/GroundStation/GroundStation.h +++ b/src/Simulation/GroundStation/GroundStation.h @@ -1,3 +1,8 @@ +/** + * @file GroundStation.h + * @brief Base class of ground station + */ + #pragma once #include @@ -8,30 +13,82 @@ #include "../SimulationConfig.h" +/** + * @class GroundStation + * @brief Base class of ground station + */ class GroundStation : public ILoggable { public: + /** + * @fn GroundStation + * @brief Constructor + */ GroundStation(SimulationConfig* config, int gs_id_); + /** + * @fn ~GroundStation + * @brief Deconstructor + */ virtual ~GroundStation(); - // ちょっとコピー周りの対応がめんどいのでとりあえずコピー禁止しとく - // GroundStation(const GroundStation &) = delete; - // GroundStation& operator= (const GroundStation &) = delete; - - // Virtual functions + /** + * @fn Initialize + * @brief Virtual function to initialize the ground station + */ virtual void Initialize(int gs_id, SimulationConfig* config); + /** + * @fn LogSetup + * @brief Virtual function to log output setting for ground station related components + */ virtual void LogSetup(Logger& logger); + /** + * @fn Update + * @brief Virtual function of main routine + */ virtual void Update(const CelestialRotation& celes_rotation, const Spacecraft& spacecraft); - // ILoggable + // Override functions for ILoggable + /** + * @fn GetLogHeader + * @brief Override function of log header setting + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override function of log value setting + */ virtual std::string GetLogValue() const; // Getters + /** + * @fn GetGsId + * @brief Return ground station ID + */ int GetGsId() const { return gs_id_; } + /** + * @fn GetGSPosition_geo + * @brief Return ground station position in the geodetic frame + */ GeodeticPosition GetGSPosition_geo() const { return gs_position_geo_; } + /** + * @fn GetGSPosition_ecef + * @brief Return ground station position in the ECEF frame [m] + */ Vector<3> GetGSPosition_ecef() const { return gs_position_ecef_; } + /** + * @fn GetGSPosition_i + * @brief Return ground station position in the inertial frame [m] + */ Vector<3> GetGSPosition_i() const { return gs_position_i_; } + /** + * @fn GetElevationLimitAngle_deg + * @brief Return ground station elevation limit angle [deg] + */ double GetElevationLimitAngle_deg() const { return elevation_limit_angle_deg_; } + /** + * @fn IsVisible + * @brief Return visible flag for the target spacecraft + * @param [in] sc_id: target spacecraft ID + */ bool IsVisible(const int sc_id) const { return is_visible_.at(sc_id); } protected: @@ -39,11 +96,17 @@ class GroundStation : public ILoggable { GeodeticPosition gs_position_geo_; //!< Ground Station Position in the geodetic frame Vector<3> gs_position_ecef_; //!< Ground Station Position in the ECEF frame [m] Vector<3> gs_position_i_; //!< Ground Station Position in the inertial frame [m] - double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station + double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] std::map is_visible_; //!< Visible flag for each spacecraft ID (not care antenna) int num_sc_; //!< Number of spacecraft in the simulation // Return true when the satellite is visible from the ground station + /** + * @fn GetElevationLimitAngle_deg + * @brief Calculate the visibility for the target spacecraft + * @param [in] sc_pos_ecef_m: spacecraft position in ECEF frame [m] + * @return True when the satellite is visible from the ground station + */ bool CalcIsVisible(const Vector<3> sc_pos_ecef_m); }; diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.cpp b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.cpp index c89016e10..1cd330855 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.cpp +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.cpp @@ -1,3 +1,8 @@ +/** + * @file SampleGS.cpp + * @brief An example of user defined ground station class + */ + #include "SampleGS.h" #include "SampleGSComponents.h" @@ -16,5 +21,5 @@ void SampleGS::LogSetup(Logger& logger) { void SampleGS::Update(const Spacecraft& spacecraft, const GlobalEnvironment& global_env, const Antenna& sc_ant, const SampleGS& samplegs) { GroundStation::Update(global_env.GetCelesInfo().GetEarthRotation(), spacecraft); components_->GetGsCalculator()->Update(spacecraft, sc_ant, samplegs, *(components_->GetAntenna())); - // TODO: compo->ant_がnullの場合未定義動作になる気がするので対処が必要？ + // TODO: When compo->ant_ is null, the calculation is undefined. } diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h index 51b9e6cbc..89e43378e 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h @@ -1,3 +1,8 @@ +/** + * @file SampleGS.h + * @brief An example of user defined ground station class + */ + #pragma once #include @@ -10,15 +15,39 @@ class SampleGSComponents; +/** + * @class SampleGS + * @brief An example of user defined ground station class + */ class SampleGS : public GroundStation { public: + /** + * @fn SampleGS + * @brief Constructor + */ SampleGS(SimulationConfig* config, int gs_id); + /** + * @fn ~SampleGS + * @brief Deconstructor + */ ~SampleGS(); + /** + * @fn Initialize + * @brief Override function of Initialize in GroundStation class + */ virtual void Initialize(SimulationConfig* config); + /** + * @fn LogSetup + * @brief Override function of LogSetup in GroundStation class + */ virtual void LogSetup(Logger& logger); + /** + * @fn Update + * @brief Override function of Update in GroundStation class + */ virtual void Update(const Spacecraft& spacecraft, const GlobalEnvironment& global_env, const Antenna& sc_ant, const SampleGS& sample_gs); private: - SampleGSComponents* components_; + SampleGSComponents* components_; //!< Ground station related components }; diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.cpp b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.cpp index e45efa56e..a79428f34 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.cpp +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.cpp @@ -1,3 +1,7 @@ +/** + * @file SampleGSComponents.cpp + * @brief An example of ground station related components list + */ #include "SampleGSComponents.h" #include diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h index 8e3ecfb6c..879f8d43a 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h @@ -1,20 +1,49 @@ +/** + * @file SampleGSComponents.h + * @brief An example of ground station related components list + */ + #pragma once #include #include +/** + * @class SampleGSComponents + * @brief An example of ground station related components list class + */ class SampleGSComponents { public: + /** + * @fn SampleGSComponents + * @brief Constructor + */ SampleGSComponents(const SimulationConfig* config); + /** + * @fn ~SampleGSComponents + * @brief Deconstructor + */ ~SampleGSComponents(); + /** + * @fn CompoLogSetUp + * @brief Log setup for ground station components + */ void CompoLogSetUp(Logger& logger); // Getter + /** + * @fn GetAntenna + * @brief Return antenna + */ inline Antenna* GetAntenna() const { return antenna_; } + /** + * @fn GetGsCalculator + * @brief Return ground station calculator + */ inline GScalculator* GetGsCalculator() const { return gs_calculator_; } private: - Antenna* antenna_; - GScalculator* gs_calculator_; - const SimulationConfig* config_; + Antenna* antenna_; //!< Antenna on ground station + GScalculator* gs_calculator_; //!< Ground station calculation algorithm + const SimulationConfig* config_; //!< Simulation setting }; From ebee56ee6ce40fe0a2ab072f99a4b1c4f6768ba1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 30 Nov 2022 20:26:13 +0100 Subject: [PATCH 024/199] Fix comment in InterSatComm --- src/Simulation/InterSatComm/InterSatComm.cpp | 5 +++++ src/Simulation/InterSatComm/InterSatComm.h | 18 ++++++++++++++++++ 2 files changed, 23 insertions(+) diff --git a/src/Simulation/InterSatComm/InterSatComm.cpp b/src/Simulation/InterSatComm/InterSatComm.cpp index ee2c02dd4..5f13585fc 100644 --- a/src/Simulation/InterSatComm/InterSatComm.cpp +++ b/src/Simulation/InterSatComm/InterSatComm.cpp @@ -1,3 +1,8 @@ +/** + * @file InterSatComm.cpp + * @brief Base class of inter satellite communication + */ + #include "InterSatComm.h" #include diff --git a/src/Simulation/InterSatComm/InterSatComm.h b/src/Simulation/InterSatComm/InterSatComm.h index 376162a76..18dd79ee3 100644 --- a/src/Simulation/InterSatComm/InterSatComm.h +++ b/src/Simulation/InterSatComm/InterSatComm.h @@ -1,9 +1,27 @@ +/** + * @file InterSatComm.h + * @brief Base class of inter satellite communication + */ + #pragma once + #include "../SimulationConfig.h" +/** + * @class InterSatComm + * @brief Base class of inter satellite communication + */ class InterSatComm { public: + /** + * @fn InterSatComm + * @brief Constructor + */ InterSatComm(const SimulationConfig* sim_config); + /** + * @fn ~InterSatComm + * @brief Deconstructor + */ ~InterSatComm(); private: From 09e14caf1120435259301b4cc953f644cce038fc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 1 Dec 2022 14:41:31 +0100 Subject: [PATCH 025/199] Fix comment in MCSim --- src/Simulation/MCSim/InitMcSim.cpp | 15 +- src/Simulation/MCSim/InitMcSim.hpp | 9 + src/Simulation/MCSim/InitParameter.cpp | 88 ++++------ src/Simulation/MCSim/InitParameter.h | 199 +++++++++++++++++----- src/Simulation/MCSim/MCSimExecutor.cpp | 18 +- src/Simulation/MCSim/MCSimExecutor.h | 147 +++++++++++----- src/Simulation/MCSim/SimulationObject.cpp | 15 +- src/Simulation/MCSim/SimulationObject.h | 68 +++++--- 8 files changed, 372 insertions(+), 187 deletions(-) diff --git a/src/Simulation/MCSim/InitMcSim.cpp b/src/Simulation/MCSim/InitMcSim.cpp index 6df19333a..e055f7e53 100644 --- a/src/Simulation/MCSim/InitMcSim.cpp +++ b/src/Simulation/MCSim/InitMcSim.cpp @@ -1,3 +1,8 @@ +/** + * @file InitMcSim.cpp + * @brief Initialize function for Monte-Carlo Simulator + */ + #include "InitMcSim.hpp" #include @@ -29,7 +34,7 @@ MCSimExecutor* InitMCSim(std::string file_name) { enum Phase { FoundNothingYet, FoundSimulationObjectStr, FoundInitParameterStr }; for (auto so_dot_ip_str : so_dot_ip_str_vec) { - // 文字列をSimulationObjectとInitParameterに分割 + // Divide the string to SimulationObject and InitParameter Phase phase = FoundNothingYet; std::stringstream ss(so_dot_ip_str); std::string item, so_str, ip_str; @@ -48,7 +53,7 @@ MCSimExecutor* InitMCSim(std::string file_name) { } } - // Randomization typeを読みこみ + // Read Randomization type InitParameter::RandomizationType rnd_type; const static unsigned int buf_size = 256; char rnd_type_str[buf_size]; @@ -76,17 +81,17 @@ MCSimExecutor* InitMCSim(std::string file_name) { else rnd_type = InitParameter::NoRandomization; - // mean_or_min ベクトルを読み込み + // Read mean_or_min vector key_name = so_dot_ip_str + MCSimExecutor::separator_ + "mean_or_min"; Vector<3> mean_or_min; ini_file.ReadVector(section, key_name.c_str(), mean_or_min); - // sigma_or_max ベクトルを読み込み + // Read sigma_or_max vector key_name = so_dot_ip_str + MCSimExecutor::separator_ + "sigma_or_max"; Vector<3> sigma_or_max; ini_file.ReadVector(section, key_name.c_str(), sigma_or_max); - // 乱数設定を書き込み + // Write randomize setting mc_sim->AddInitParameter(so_str, ip_str, mean_or_min, sigma_or_max, rnd_type); } diff --git a/src/Simulation/MCSim/InitMcSim.hpp b/src/Simulation/MCSim/InitMcSim.hpp index f7c29328b..024cb5e3b 100644 --- a/src/Simulation/MCSim/InitMcSim.hpp +++ b/src/Simulation/MCSim/InitMcSim.hpp @@ -1,6 +1,15 @@ +/** + * @file InitMcSim.hpp + * @brief Initialize function for Monte-Carlo Simulator + */ + #pragma once #include "InitParameter.h" #include "MCSimExecutor.h" +/** + * @fn InitMCSim + * @brief Initialize function for Monte-Carlo Simulator + */ MCSimExecutor* InitMCSim(std::string file_name); diff --git a/src/Simulation/MCSim/InitParameter.cpp b/src/Simulation/MCSim/InitParameter.cpp index 63206d271..1fa396198 100644 --- a/src/Simulation/MCSim/InitParameter.cpp +++ b/src/Simulation/MCSim/InitParameter.cpp @@ -1,3 +1,8 @@ +/** + * @file InitParameter.cpp + * @brief Initialized parameters for Monte-Carlo simulation + */ + #include "InitParameter.h" #include @@ -10,7 +15,7 @@ uniform_real_distribution<>* InitParameter::uniform_dist_; normal_distribution<>* InitParameter::normal_dist_; InitParameter::InitParameter() { - //初回実行時のみオブジェクトを生成する + // Generate object when the first execution static bool initial_setup_done = false; if (!initial_setup_done) { SetSeed(); @@ -19,7 +24,7 @@ InitParameter::InitParameter() { initial_setup_done = true; } - // SetRandomConfigが呼ばれない場合（MCSim.iniに設定されていない場合）はRandomizeしない + // No randomization when SetRandomConfig is not called（No setting in MCSim.ini） rnd_type_ = NoRandomization; } @@ -57,31 +62,31 @@ void InitParameter::GetQuaternion(Quaternion& dst_quat) const { void InitParameter::Randomize() { switch (rnd_type_) { - case NoRandomization: // 乱数生成なし（デフォルト値を出力） + case NoRandomization: gen_NoRandomization(); break; - case CartesianUniform: // 直交座標系での各成分が一様分布に従う確率変数 + case CartesianUniform: gen_CartesianUniform(); break; - case CartesianNormal: // 直交座標系での各成分が正規分布に従う確率変数 + case CartesianNormal: gen_CartesianNormal(); break; - case CircularNormalUniform: // 円座標系においてrが正規分布，θが一様分布に従う + case CircularNormalUniform: gen_CircularNormalUniform(); break; - case CircularNormalNormal: // 円座標系においてrとθが正規分布に従う + case CircularNormalNormal: gen_CircularNormalNormal(); break; - case SphericalNormalUniformUniform: // 球座標系においてrが正規分布，θ・φが一様分布に従う + case SphericalNormalUniformUniform: gen_SphericalNormalUniformUniform(); break; - case SphericalNormalNormal: // ベクトルのノルム(r)とデフォルトベクトルとの角度(θ)が正規分布に従う．デフォルトベクトル周りの角度(φ)は[0,2*pi]の一様分布． + case SphericalNormalNormal: gen_SphericalNormalNormal(); break; - case QuaternionUniform: // 完全にランダムな姿勢を出力するクオータニオン確率変数． + case QuaternionUniform: gen_QuaternionUniform(); break; - case QuaternionNormal: // デフォルトクオータニオンからの角度のずれ(θ)が正規分布に従う． + case QuaternionNormal: gen_QuaternionNormal(); break; default: @@ -93,41 +98,32 @@ double InitParameter::Uniform_1d(double lb, double ub) { return lb + (*InitParam double InitParameter::Normal_1d(double mean, double std) { return mean + (*InitParameter::normal_dist_)(InitParameter::mt_) * (std); } -// 乱数生成なし（GetVec, GetDoubleで与えられる参照の変数を変更しない） void InitParameter::gen_NoRandomization() { val_.clear(); } -// 直交座標系での各成分が一様分布に従う確率変数（現状3次元まで） -// mean_or_min_[0]: x成分最小値 sigma_or_max_[0]: x成分最大値 -// mean_or_min_[1]: y成分最小値 sigma_or_max_[1]: y成分最大値 -// mean_or_min_[2]: z成分最小値 sigma_or_max_[2]: z成分最大値 void InitParameter::gen_CartesianUniform() { + // Random variables following a uniform distribution in Cartesian frame val_.clear(); for (unsigned int i = 0; i < mean_or_min_.size(); i++) { val_.push_back(InitParameter::Uniform_1d(mean_or_min_[i], sigma_or_max_[i])); } } -// 直交座標系での各成分が正規分布に従う確率変数（現状3次元まで） -// mean_or_min_[0]: x成分平均 sigma_or_max_[0]: x成分標準偏差 -// mean_or_min_[1]: y成分平均 sigma_or_max_[1]: y成分標準偏差 -// mean_or_min_[2]: z成分平均 sigma_or_max_[2]: z成分標準偏差 void InitParameter::gen_CartesianNormal() { + // Random variables following a normal distribution in Cartesian frame val_.clear(); for (unsigned int i = 0; i < mean_or_min_.size(); i++) { val_.push_back(InitParameter::Normal_1d(mean_or_min_[i], sigma_or_max_[i])); } } -// 円座標系においてrが正規分布，θが一様分布に従う void InitParameter::get_CircularNormalUniform(Vector<2>& dst, double r_mean, double r_sigma, double theta_min, double theta_max) { + // r follows normal distribution, and θ follows uniform distribution in Circular frame double r = InitParameter::Normal_1d(r_mean, r_sigma); double theta = InitParameter::Uniform_1d(theta_min, theta_max); dst[0] = r * cos(theta); dst[1] = r * sin(theta); } -// mean_or_min_[0]: r成分平均 sigma_or_max_[0]: r成分標準偏差 -// mean_or_min_[1]: θ成分最小値 sigma_or_max_[1]: θ成分最大値 void InitParameter::gen_CircularNormalUniform() { const static int dim = 2; if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { @@ -142,16 +138,14 @@ void InitParameter::gen_CircularNormalUniform() { } } -// 円座標系においてrとθが正規分布に従う void InitParameter::get_CircularNormalNormal(Vector<2>& dst, double r_mean, double r_sigma, double theta_mean, double theta_sigma) { + // r and θ follow normal distribution in Circular frame double r = InitParameter::Normal_1d(r_mean, r_sigma); double theta = InitParameter::Normal_1d(theta_mean, theta_sigma); dst[0] = r * cos(theta); dst[1] = r * sin(theta); } -// mean_or_min_[0]: r成分平均 sigma_or_max_[0]: r成分標準偏差 -// mean_or_min_[1]: θ成分平均 sigma_or_max_[1]: θ成分標準偏差 void InitParameter::gen_CircularNormalNormal() { const static int dim = 2; if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { @@ -166,10 +160,9 @@ void InitParameter::gen_CircularNormalNormal() { } } -// 球座標系においてrが正規分布，θ・φが球面一様分布に従う -// θ・φは球面に対して一様な分布をするように計算されている． void InitParameter::get_SphericalNormalUniformUniform(Vector<3>& dst, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max) { + // r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame double r = InitParameter::Normal_1d(r_mean, r_sigma); double theta = acos(cos(theta_min) - (cos(theta_min) - cos(theta_max)) * InitParameter::Uniform_1d(0.0, 1.0)); double phi = InitParameter::Uniform_1d(phi_min, phi_max); @@ -178,9 +171,6 @@ void InitParameter::get_SphericalNormalUniformUniform(Vector<3>& dst, double r_m dst[2] = r * cos(theta); } -// mean_or_min_[0]: r成分平均 sigma_or_max_[0]: r成分標準偏差 -// mean_or_min_[1]: θ成分最小値 sigma_or_max_[1]: θ成分最大値 -// mean_or_min_[2]: φ成分最小値 sigma_or_max_[2]: φ成分最大値 void InitParameter::gen_SphericalNormalUniformUniform() { const static int dim = 3; if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { @@ -196,14 +186,10 @@ void InitParameter::gen_SphericalNormalUniformUniform() { } } -// ベクトルのノルム(r)とmean vectorとの角度(θ)が正規分布に従う． -// mean vector周りの角度(φ)は[0,2*pi]の一様分布． -// mean_or_min_[0]: x成分平均 sigma_or_max_[0]: r成分標準偏差 -// mean_or_min_[1]: y成分平均 sigma_or_max_[1]: θ成分標準偏差 -// mean_or_min_[2]: z成分平均 sigma_or_max_[2]: なし void InitParameter::get_SphericalNormalNormal(Vector<3>& dst, const Vector<3>& mean_vec) { + // r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] Vector<3> mean_vec_dir; - mean_vec_dir = 1.0 / norm(mean_vec) * mean_vec; // mean vector方向の単位ベクトル + mean_vec_dir = 1.0 / norm(mean_vec) * mean_vec; // Unit vector of mean vector direction Vector<3> x_axis(0.0), y_axis(0.0); x_axis[0] = 1.0; @@ -211,21 +197,19 @@ void InitParameter::get_SphericalNormalNormal(Vector<3>& dst, const Vector<3>& m Vector<3> op_x = outer_product(mean_vec_dir, x_axis); Vector<3> op_y = outer_product(mean_vec_dir, y_axis); - // mean vectorに垂直な単位ベクトルの一つ．mean - // vectorがx軸またはy軸と平行だった場合に備えて，外積ベクトルノルムの大きい方との外積を選ぶ． + // An unit vector perpendicular with the mean vector + // In case of the mean vector is parallel with X or Y axis, selecting the axis depend on the norm of outer product Vector<3> normal_unit_vec = norm(op_x) > norm(op_y) ? normalize(op_x) : normalize(op_y); double rotation_angle_of_normal_unit_vec = InitParameter::Uniform_1d(0.0, libra::tau); - Quaternion rotation_of_normal_unit_vec(mean_vec_dir, - -rotation_angle_of_normal_unit_vec); //座標が回転するのではなくベクトルが回転するので角度の向きを逆にする - Vector<3> rotation_axis = rotation_of_normal_unit_vec.frame_conv(normal_unit_vec); // mean vectorを回転させる軸 + Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) + Vector<3> rotation_axis = rotation_of_normal_unit_vec.frame_conv(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitParameter::Normal_1d(0.0, sigma_or_max_[1]); - Quaternion rotation_of_mean_vec(rotation_axis, - -rotation_angle_of_mean_vec); //座標が回転するのではなくベクトルが回転するので角度の向きを逆にする - Vector<3> ret_vec = rotation_of_mean_vec.frame_conv(mean_vec_dir); //方向の計算完了 + Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) + Vector<3> ret_vec = rotation_of_mean_vec.frame_conv(mean_vec_dir); // Complete calculation of the direction - ret_vec = InitParameter::Normal_1d(norm(mean_vec), sigma_or_max_[0]) * ret_vec; //ノルム掛け算 + ret_vec = InitParameter::Normal_1d(norm(mean_vec), sigma_or_max_[0]) * ret_vec; // multiply norm for (int i = 0; i < 3; i++) { dst[i] = ret_vec[i]; @@ -249,12 +233,12 @@ void InitParameter::gen_SphericalNormalNormal() { } } -// 完全にランダムな姿勢を出力するクオータニオン確率変数． void InitParameter::get_QuaternionUniform(Quaternion& dst) { + // Perfectly Randomized Quaternion Vector<3> x_axis(0.0); x_axis[0] = 1.0; - // x軸がクオータニオンによって変換された後の方向ベクトルは球面上に一様な確率分布を持つはずである． + // A direction vector converted from the X-axis by a quaternion may follows the uniform distribution in full sphere. Quaternion first_cnv; Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitParameter::Uniform_1d(0.0, 1.0)); @@ -270,7 +254,7 @@ void InitParameter::get_QuaternionUniform(Quaternion& dst) { } first_cnv[3] = cos_angle_between; - // x軸周りの回転角をランダムに生成する + // Generate randomized rotation angle around the X-axis double rotation_angle = InitParameter::Uniform_1d(0.0, libra::tau); Quaternion second_cnv(x_axis, rotation_angle); @@ -292,9 +276,9 @@ void InitParameter::gen_QuaternionUniform() { } } -// デフォルトクオータニオンからの角度のずれ(θ)が正規分布に従う． void InitParameter::get_QuaternionNormal(Quaternion& dst, double theta_sigma) { - // 回転軸は全球面上に一様分布 + // Angle from the default quaternion θ follows normal distribution + // The rotation axis follows uniform distribution on full sphere Vector<3> rot_axis; double theta = acos(1 - (1 - (-1)) * InitParameter::Uniform_1d(0.0, 1.0)); double phi = InitParameter::Uniform_1d(0, libra::tau); @@ -310,8 +294,8 @@ void InitParameter::get_QuaternionNormal(Quaternion& dst, double theta_sigma) { } } -// mean_or_min_[0]: なし sigma_or_max_[0]: θ標準偏差 void InitParameter::gen_QuaternionNormal() { + // mean_or_min_[0]: NA sigma_or_max_[0]: standard deviation of θ [rad] const static int dim = 4; if (sigma_or_max_.size() < 1) { throw "Config parameters dimension unmatched."; diff --git a/src/Simulation/MCSim/InitParameter.h b/src/Simulation/MCSim/InitParameter.h index 749609bfd..f2a2f2d2e 100644 --- a/src/Simulation/MCSim/InitParameter.h +++ b/src/Simulation/MCSim/InitParameter.h @@ -1,3 +1,8 @@ +/** + * @file InitParameter.h + * @brief Initialized parameters for Monte-Carlo simulation + */ + #pragma once #include @@ -10,91 +15,193 @@ using libra::Quaternion; using libra::Vector; +/** + * @class InitParameter + * @brief Initialized parameters for Monte-Carlo simulation + */ class InitParameter { public: - // 乱数タイプ + /** + * @enum RandomizationType + * @brief Randomization type + */ enum RandomizationType { - NoRandomization, // 乱数生成なし（デフォルト値を出力） - CartesianUniform, // 直交座標系での各成分が一様分布に従う確率変数 - CartesianNormal, // 直交座標系での各成分が正規分布に従う確率変数 - CircularNormalUniform, // 円座標系においてrが正規分布，θが一様分布に従う - CircularNormalNormal, // 円座標系においてrとθが正規分布に従う - SphericalNormalUniformUniform, // 球座標系においてrが正規分布，θ・φが球面一様分布に従う - SphericalNormalNormal, // ベクトルのノルム(r)とデフォルトベクトルとの角度(θ)が正規分布に従う．mean - // vector周りの角度(φ)は[0,2*pi]の一様分布． - QuaternionUniform, // 完全にランダムな姿勢を出力するクオータニオン確率変数． - QuaternionNormal, // デフォルトクオータニオンからの角度のずれ(θ)が正規分布に従う． + NoRandomization, //!< Output default value + CartesianUniform, //!< Random variables following a uniform distribution in Cartesian frame + CartesianNormal, //!< Random variables following a normal distribution in Cartesian frame + CircularNormalUniform, //!< r follows normal distribution, and θ follows uniform distribution in Circular frame + CircularNormalNormal, //!< r and θ follow normal distribution in Circular frame + SphericalNormalUniformUniform, //!< r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame + SphericalNormalNormal, //!< r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] + QuaternionUniform, //!< Perfectly Randomized Quaternion + QuaternionNormal, //!< Angle from the default quaternion θ follows normal distribution }; - // コンストラクタ + /** + * @fn InitParameter + * @brief Constructor + */ InitParameter(); - //// コピーコンストラクタ - // InitParameter(const InitParameter& other); - - //// デストラクタ - //~InitParameter(); - - // Randomization seedの設定．is_deterministic = - // falaseの場合は引数seedは用いられず時刻情報が用いられる． + // Setter + /** + * @fn SetSeed + * @brief Set seed of randomization. Use time infomation when is_deterministic = false. + */ static void SetSeed(unsigned long seed = 0, bool is_deterministic = false); - + /** + * @fn SetRandomConfig + * @brief Set randomization parameters + */ template - // Ramdomizationのパラメータを設定する void SetRandomConfig(const Vector& mean_or_min, const Vector& sigma_or_max, RandomizationType rnd_type); - // Randomizationのパラメータを用いて実際にRanzomizeする - void Randomize(); - + // Getter + /** + * @fn GetVec + * @brief Get randomized vector value results + */ template - // Ranzomizeした結果の値をdst_vecに格納する void GetVec(Vector& dst_vec) const; - - // Ranzomizeした結果の値をdst_quatに格納する + /** + * @fn GetQuaternion + * @brief Get randomized quaternion results + */ void GetQuaternion(Quaternion& dst_quat) const; - - // Ranzomizeした結果の値をdstに格納する + /** + * @fn GetDouble + * @brief Get randomized value results + */ void GetDouble(double& dst) const; - private: - // 実際の値 - std::vector val_; + // Calculation + /** + * @fn Randomize + * @brief Randomize values with randomization parameters + */ + void Randomize(); - // 平均値または最小値（使われ方はgen_[RandomizationType]関数のコメントを参照） - std::vector mean_or_min_; + private: + std::vector val_; //!< Randomized value - // 標準偏差または最大値（使われ方はgen_[RandomizationType]関数のコメントを参照） - std::vector sigma_or_max_; + std::vector mean_or_min_; //!< mean or minimum value. Refer comment in gen_[RandomizationType] function. + std::vector sigma_or_max_; //!< standard deviation or maximum value. Refer comment in gen_[RandomizationType] function. // For randomization - RandomizationType rnd_type_; // 乱数タイプ - static std::random_device rnd_; // 非決定的乱数生成器（時刻に基づいて乱数を生成し，非決定的なseedを生成する） - static std::mt19937 mt_; // 決定的乱数生成器 - static std::uniform_real_distribution<>* uniform_dist_; // 一様分布乱数生成器 - static std::normal_distribution<>* normal_dist_; // 正規分布乱数生成器 - - // 一様分布する1次元乱数を生成する + RandomizationType rnd_type_; //!< Randomization type + static std::random_device rnd_; //!< Non-deterministic random number generator with time information + static std::mt19937 mt_; //!< Deterministic random number generator + static std::uniform_real_distribution<>* uniform_dist_; //!< Uniform random number generator + static std::normal_distribution<>* normal_dist_; //!< Normal random number generator + + /** + * @fn Uniform_1d + * @brief Generate 1-dimensional uniform distribution random number + */ static double Uniform_1d(double lb, double ub); - - // 正規分布する1次元乱数を生成する + /** + * @fn Normal_1d + * @brief Generate 1-dimensional normal distribution random number + */ static double Normal_1d(double mean, double std); + // Generate randomized value + /** + * @fn gen_NoRandomization + * @brief Generate randomized value with NoRandomization mode + */ void gen_NoRandomization(); + /** + * @fn gen_CartesianUniform + * @brief Generate randomized value with CartesianUniform mode + * @note Support up to three dimensional value + * @note mean_or_min_[0]: minimum of x sigma_or_max_[0]: maximum of x + * mean_or_min_[1]: minimum of y sigma_or_max_[1]: maximum of y + * mean_or_min_[2]: minimum of z sigma_or_max_[2]: maximum of z + */ void gen_CartesianUniform(); + /** + * @fn gen_CartesianNormal + * @brief Generate randomized value with CartesianNormal mode + * @note Support up to three dimensional value + * @note mean_or_min_[0]: average of x sigma_or_max_[0]: sigma of x + * mean_or_min_[1]: average of y sigma_or_max_[1]: sigma of y + * mean_or_min_[2]: average of z sigma_or_max_[2]: sigma of z + */ void gen_CartesianNormal(); + /** + * @fn gen_CircularNormalUniform + * @brief Generate randomized value with CircularNormalUniform mode + * @note mean_or_min_[0]: average of r sigma_or_max_[0]: sigma of r + * mean_or_min_[1]: minimum of θ sigma_or_max_[1]: maximum of θ + */ void gen_CircularNormalUniform(); + /** + * @fn gen_CircularNormalNormal + * @brief Generate randomized value with CircularNormalNormal mode + * @details mean_or_min_[0]: average of r sigma_or_max_[0]: sigma of r + * @details mean_or_min_[1]: average of θ sigma_or_max_[1]: sigma of θ + */ void gen_CircularNormalNormal(); + /** + * @fn gen_SphericalNormalUniformUniform + * @brief Generate randomized value with SphericalNormalUniformUniform mode + * @note mean_or_min_[0]: average of r sigma_or_max_[0]: sigma of r + * mean_or_min_[1]: minimum of θ sigma_or_max_[1]: maximum of θ + * mean_or_min_[2]: minimum of φ sigma_or_max_[2]: maximum of φ + */ void gen_SphericalNormalUniformUniform(); + /** + * @fn gen_SphericalNormalNormal + * @brief Generate randomized value with SphericalNormalNormal mode + * @note mean_or_min_[0]: average of X sigma_or_max_[0]: sigma of r + * mean_or_min_[1]: average of Y sigma_or_max_[1]: sigma of θ + * mean_or_min_[2]: average of Z sigma_or_max_[2]: なし + */ void gen_SphericalNormalNormal(); + /** + * @fn gen_QuaternionUniform + * @brief Generate randomized value with QuaternionUniform mode + */ void gen_QuaternionUniform(); + /** + * @fn gen_QuaternionNormal + * @brief Generate randomized value with QuaternionNormal mode + * @note mean_or_min_[0]: NA sigma_or_max_[0]: standard deviation of θ [rad] + */ void gen_QuaternionNormal(); + // Get randomized value + /** + * @fn get_CircularNormalUniform + * @brief Calculate randomized value with CircularNormalUniform mode + */ void get_CircularNormalUniform(Vector<2>& dst, double r_mean, double r_sigma, double theta_min, double theta_max); + /** + * @fn get_CircularNormalNormal + * @brief Calculate randomized value with CircularNormalNormal mode + */ void get_CircularNormalNormal(Vector<2>& dst, double r_mean, double r_sigma, double theta_mean, double theta_sigma); + /** + * @fn get_SphericalNormalUniformUniform + * @brief Calculate randomized value with SphericalNormalUniformUniform mode + */ void get_SphericalNormalUniformUniform(Vector<3>& dst, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max); + /** + * @fn get_SphericalNormalNormal + * @brief Calculate randomized value with SphericalNormalNormal mode + */ void get_SphericalNormalNormal(Vector<3>& dst, const Vector<3>& mean_vec); + /** + * @fn get_QuaternionUniform + * @brief Calculate randomized value with QuaternionUniform mode + */ void get_QuaternionUniform(Quaternion& dst); + /** + * @fn get_QuaternionNormal + * @brief Calculate randomized value with QuaternionNormal mode + */ void get_QuaternionNormal(Quaternion& dst, double theta_sigma); }; diff --git a/src/Simulation/MCSim/MCSimExecutor.cpp b/src/Simulation/MCSim/MCSimExecutor.cpp index d1ce0328c..2ef9fb92d 100644 --- a/src/Simulation/MCSim/MCSimExecutor.cpp +++ b/src/Simulation/MCSim/MCSimExecutor.cpp @@ -1,3 +1,8 @@ +/** + * @file MCSimExecutor.cpp + * @brief Monte-Carlo Simulation Executor class + */ + #include "MCSimExecutor.h" using std::string; @@ -8,7 +13,6 @@ MCSimExecutor::MCSimExecutor(unsigned long long total_num_of_executions) : total log_history_ = !enabled_; } -// 次のcaseを実行するかどうか bool MCSimExecutor::WillExecuteNextCase() { if (!enabled_) { return (num_of_executions_done_ < 1); @@ -18,12 +22,12 @@ bool MCSimExecutor::WillExecuteNextCase() { } void MCSimExecutor::AtTheBeginningOfEachCase() { - // Randomization結果のcsv出力など + // Write CSV output of the randomization results ; } void MCSimExecutor::AtTheEndOfEachCase() { - // Simulation結果のcsv出力など + // Write CSV output of the simulation results num_of_executions_done_++; } @@ -32,10 +36,10 @@ void MCSimExecutor::GetInitParameterDouble(string so_name, string ip_name, doubl { string name = so_name + MCSimExecutor::separator_ + ip_name; if (ip_list_.find(name) == ip_list_.end()) { - // ip_listに登録されていない（MCSim.iniで定義されていない） + // Not registered in ip_list（Not defined in MCSim.ini） return; // return without any update of dst } else { - ip_list_.at(name)->GetDouble(dst); // const mapなのでoperator[]は使えない + ip_list_.at(name)->GetDouble(dst); // cannot use operator[] since it is const map } } } @@ -45,10 +49,10 @@ void MCSimExecutor::GetInitParameterQuaternion(string so_name, string ip_name, Q { string name = so_name + MCSimExecutor::separator_ + ip_name; if (ip_list_.find(name) == ip_list_.end()) { - // ip_listに登録されていない（MCSim.iniで定義されていない） + // Not registered in ip_list（Not defined in MCSim.ini） return; // return without any update of dst } else { - ip_list_.at(name)->GetQuaternion(dst_quat); // const mapなのでoperator[]は使えない + ip_list_.at(name)->GetQuaternion(dst_quat); // cannot use operator[] since it is const map } } } diff --git a/src/Simulation/MCSim/MCSimExecutor.h b/src/Simulation/MCSim/MCSimExecutor.h index 091a7c21e..3369b208e 100644 --- a/src/Simulation/MCSim/MCSimExecutor.h +++ b/src/Simulation/MCSim/MCSimExecutor.h @@ -1,3 +1,8 @@ +/** + * @file MCSimExecutor.h + * @brief Monte-Carlo Simulation Executor class + */ + #pragma once #include @@ -8,73 +13,122 @@ using libra::Vector; +/** + * @class MCSimExecutor + * @brief Monte-Carlo Simulation Executor class + */ class MCSimExecutor { private: - unsigned long long total_num_of_executions_; // シミュレーションケース数 - unsigned long long num_of_executions_done_; // 実行済みケース数 - bool enabled_; // Monte-Carlo Simulationを行うかどうかのflag - bool log_history_; // 1 caseごとのログを記録するかどうかのflag + unsigned long long total_num_of_executions_; //!< Total number of execution simulation case + unsigned long long num_of_executions_done_; //!< Number of executed case + bool enabled_; //!< Flag to execute Monte-Carlo Simulation or not + bool log_history_; //!< Flag to store the log for each case or not - // List of InitParameters read from MCSim.ini - std::map ip_list_; + std::map ip_list_; //!< List of InitParameters read from MCSim.ini public: - // MCSim.iniにおいてSimulationObjectとInitParameter名を区別するための文字 - static const char separator_ = '.'; + static const char separator_ = '.'; //!< Deliminator for name of SimulationObject and InitParameter in the initialization file - // コンストラクタ + /** + * @fn MCSimExecutor + * @brief Constructor + */ MCSimExecutor(unsigned long long total_num_of_executions); - // enable_のsetter + // Setter + /** + * @fn Enable + * @brief Set execute flag + */ inline void Enable(bool enabled); - - // enable_のgetter - inline bool IsEnabled() const; - - // total_num_of_executions_のsetter + /** + * @fn SetTotalNumOfExecutions + * @brief Set total number of execution simulation case + */ inline void SetTotalNumOfExecutions(unsigned long long num_of_executions); + /** + * @fn LogHistory + * @brief Set log history flag + */ + inline void LogHistory(bool set); + /** + * @fn SetSeed + * @brief Set seed of randomization. Use time infomation when is_deterministic = false. + */ + static void SetSeed(unsigned long seed = 0, bool is_deterministic = false); - // total_num_of_executions_のgetter + // Getter + /** + * @fn ISEnabled + * @brief Return execute flag + */ + inline bool IsEnabled() const; + /** + * @fn GetTotalNumOfExecutions + * @brief Return total number of execution simulation case + */ inline unsigned long long GetTotalNumOfExecutions() const; - + /** + * @fn GetNumOfExecutionsDone + * @brief Return number of executed case + */ inline unsigned long long GetNumOfExecutionsDone() const; - - // log_historyのsetter - inline void LogHistory(bool set); - - // log_history_のgetter + /** + * @fn LogHistory + * @brief Return log history flag + */ inline bool LogHistory() const; + /** + * @fn GetInitParameterVec + * @brief Get randomized vector value and store it in dest_vec + */ + template + void GetInitParameterVec(std::string so_name, std::string ip_name, Vector& dst_vec) const; + /** + * @fn GetInitParameterDouble + * @brief Get randomized value and store it in dest + */ + void GetInitParameterDouble(std::string so_name, std::string ip_name, double& dst) const; + /** + * @fn GetInitParameterQuaternion + * @brief Get randomized quaternion and store it in dest_quat + */ + void GetInitParameterQuaternion(std::string so_name, std::string ip_name, Quaternion& dst_quat) const; - // 次のcaseを実行するかどうかの判定 + // Calculation + /** + * @fn WillExecuteNextCase + * @brief Judge execution of next simulation case + */ bool WillExecuteNextCase(); - // 毎caseのrandomization後，Simulation実行前に行う処理（Randomiza結果のログ出力などを想定） + /** + * @fn AtTheBeginningOfEachCase + * @brief Process executed before the simulation execution after the randomization in each case. + * @details e.g. Log output of randomized results + */ void AtTheBeginningOfEachCase(); - // 毎caseのSimulation実行後に行う処理（Simulation結果（成功or失敗など）のログ出力などを想定） + /** + * @fn AtTheEndOfEachCase + * @brief Process executed after the each simulation case. + * @details e.g. Log output of simulation results + */ void AtTheEndOfEachCase(); - // Randomization seedの設定．is_deterministic = - // falaseの場合は引数seedは用いられず時刻情報が用いられる． - static void SetSeed(unsigned long seed = 0, bool is_deterministic = false); - template - // InitParameterの追加 + /** + * @fn AddInitParameter + * @brief Add initialized parameter + */ void AddInitParameter(std::string so_name, std::string ip_name, const Vector& mean_or_min, const Vector& sigma_or_max, InitParameter::RandomizationType rnd_type); - // 全てのInitParameterをRandomize + /** + * @fn RandomizeAllParameters + * @brief Randomize all initialized parameter + */ void RandomizeAllParameters(); - - template - // Randomizeされた後の値を取得しdst_vecに格納 - void GetInitParameterVec(std::string so_name, std::string ip_name, Vector& dst_vec) const; - - // Randomizeされた後の値を取得しdstに格納 - void GetInitParameterDouble(std::string so_name, std::string ip_name, double& dst) const; - - // Randomizeされた後の値を取得しdst_quatに格納 - void GetInitParameterQuaternion(std::string so_name, std::string ip_name, Quaternion& dst_quat) const; }; void MCSimExecutor::Enable(bool enabled) { enabled_ = enabled; } @@ -87,9 +141,8 @@ unsigned long long MCSimExecutor::GetTotalNumOfExecutions() const { return total inline unsigned long long MCSimExecutor::GetNumOfExecutionsDone() const { return num_of_executions_done_; } -// 1回1回のSimulationログを記録するか bool MCSimExecutor::LogHistory() const { - // MCSimでないか，LogHistory=ENABLEDの場合にはログをとる + // Save log if MCSim is disabled or LogHistory=ENABLED return (!enabled_ || log_history_); } @@ -100,10 +153,10 @@ void MCSimExecutor::GetInitParameterVec(std::string so_name, std::string ip_name if (!enabled_) return; std::string name = so_name + MCSimExecutor::separator_ + ip_name; if (ip_list_.find(name) == ip_list_.end()) { - // ip_listに登録されていない（MCSim.iniで定義されていない） + // Not registered in ip_list（Not defined in MCSim.ini） return; // return without update the dst_vec } else { - ip_list_.at(name)->GetVec(dst_vec); // const mapなのでoperator[]は使えない + ip_list_.at(name)->GetVec(dst_vec); // cannot use operator[] since it is const map } } @@ -112,12 +165,12 @@ void MCSimExecutor::AddInitParameter(std::string so_name, std::string ip_name, c const Vector& sigma_or_max, InitParameter::RandomizationType rnd_type) { std::string name = so_name + MCSimExecutor::separator_ + ip_name; if (ip_list_.find(name) == ip_list_.end()) { - // ip_listに登録されていない場合は登録 + // Register the parameter in ip_list if it is not registered yet auto newparam = new InitParameter(); newparam->SetRandomConfig(mean_or_min, sigma_or_max, rnd_type); ip_list_[name] = newparam; } else { - // 既に登録されている場合はエラー + // Throw error if the parameter is already registered throw "More than one definition of one InitParameter."; } } diff --git a/src/Simulation/MCSim/SimulationObject.cpp b/src/Simulation/MCSim/SimulationObject.cpp index 4d688f2f9..599dca9e3 100644 --- a/src/Simulation/MCSim/SimulationObject.cpp +++ b/src/Simulation/MCSim/SimulationObject.cpp @@ -1,23 +1,28 @@ +/** + * @file SimulationObject.cpp + * @brief Class to manage randomization of variables for Monte-Carlo simulation + */ + #include "SimulationObject.h" std::map SimulationObject::so_list_; SimulationObject::SimulationObject(std::string name) : name_(name) { - // so_listに登録されているかを調べる + // Check the name is already registered in so_list std::map::iterator itr = SimulationObject::so_list_.find(name); if (itr == SimulationObject::so_list_.end()) { - // so_listに未登録の場合，自分を登録する + // Register itself in so_list if it is not registered yet SimulationObject::so_list_[name] = this; } else { - // so_listに登録済みの場合．前回のcase終了時にdeleteされていないということなのでエラーを吐く - // または（考えにくいが）同名のSimulationObjectが2つ以上定義されている可能性もある． + // If it is already registered in so_list, throw error. It should be deleted in the finalize phase of previous case. + // Or there is a possibility that the same name SimulationObjects are registered in the list. throw "SimulationObject already defined. You may have forgotten to delete me in the previous simulation case, or defined two SimulationObjects with the same name."; } } SimulationObject::~SimulationObject() { - // so_listから自分を削除 + // Remove itself from so_list SimulationObject::so_list_.erase(name_); } diff --git a/src/Simulation/MCSim/SimulationObject.h b/src/Simulation/MCSim/SimulationObject.h index c502fa7d6..d757f8891 100644 --- a/src/Simulation/MCSim/SimulationObject.h +++ b/src/Simulation/MCSim/SimulationObject.h @@ -1,3 +1,8 @@ +/** + * @file SimulationObject.h + * @brief Class to manage randomization of variables for Monte-Carlo simulation + */ + #pragma once #include @@ -12,51 +17,64 @@ using libra::Vector; +/** + * @class SimulationObject + * @brief Class to manage randomization of variables for Monte-Carlo simulation + */ class SimulationObject { public: - // コンストラクタ + /** + * @fn SimulationObject + * @brief Constructor + */ explicit SimulationObject(std::string name); - //// コピーコンストラクタ - // SimulationObject(const SimulationObject& other); - - // デストラクタ + /** + * @fn ~SimulationObject + * @brief Deconstructor + */ virtual ~SimulationObject(); - //// 代入演算子 - // SimulationObject& operator=(const SimulationObject& other); - - //// アクセッサ - // string GetName() const; - - //// 等価演算子 - // bool operator==(const SimulationObject& other) const; - // bool operator!=(const SimulationObject& other) const; - + /** + * @fn GetInitParameterVec + * @brief Get randomized vector value and store it in dst_vec + */ template - // Randomizeされた後の値を取得しdst_vecに格納 void GetInitParameterVec(const MCSimExecutor& mc_sim, std::string ip_name, Vector& dst_vec) const; - // Randomizeされた後の値を取得しdstに格納 + /** + * @fn GetInitParameterDouble + * @brief Get randomized value and store it in dst + */ void GetInitParameterDouble(const MCSimExecutor& mc_sim, std::string ip_name, double& dst) const; - // Randomizeされた後の値を取得しdst_quatに格納 + /** + * @fn GetInitParameterQuaternion + * @brief Get randomized quaternion and store it in dst_quat + */ void GetInitParameterQuaternion(const MCSimExecutor& mc_sim, std::string ip_name, Quaternion& dst_quat) const; - // Randomize結果を実際に使われる変数へ格納する処理を行う関数．継承先において定義されるべき純粋仮想関数． + /** + * @fn SetParameters + * @brief Virtual function to set the randomized results to target variables + */ virtual void SetParameters(const MCSimExecutor& mc_sim) = 0; - // 全てのSimulationObejectのSetParameter関数を実行する + /** + * @fn SetAllParameters + * @brief Execute all SetParameter function for all SimulationObject instance + */ static void SetAllParameters(const MCSimExecutor& mc_sim); private: - // MCSim.iniにおいて区別するための名称．継承する際にはコンストラクタの引数として設定する． - std::string name_; - - // list of objects with simulation parameters - static std::map so_list_; + std::string name_; //!< Name to distinguish the target variable in initialize file for Monte-Carlo simulation + static std::map so_list_; //!< list of objects with simulation parameters }; +/** + * @fn GetInitParameterVec + * @brief Return initialized parameters for vector + */ template void SimulationObject::GetInitParameterVec(const MCSimExecutor& mc_sim, std::string ip_name, Vector& dst_vec) const { mc_sim.GetInitParameterVec(name_, ip_name, dst_vec); From c099b9ed204d8588b21e6a6dccee725ce964f6d2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 08:46:10 +0100 Subject: [PATCH 026/199] Fix comment in relative information --- .../RelativeInformation.cpp | 7 +- src/RelativeInformation/RelativeInformation.h | 112 ++++++++++++++++-- 2 files changed, 111 insertions(+), 8 deletions(-) diff --git a/src/RelativeInformation/RelativeInformation.cpp b/src/RelativeInformation/RelativeInformation.cpp index 67f93429f..4b7858e83 100644 --- a/src/RelativeInformation/RelativeInformation.cpp +++ b/src/RelativeInformation/RelativeInformation.cpp @@ -1,3 +1,8 @@ +/** + * @file RelativeInformation.cpp + * @brief Base class to manage relative information between spacecraft + */ + #include "RelativeInformation.h" RelativeInformation::RelativeInformation() {} @@ -14,7 +19,7 @@ void RelativeInformation::Update() { rel_pos_list_rtn_m_[target_sat_id][reference_sat_id] = CalcRelativePosition_rtn_m(target_sat_id, reference_sat_id); // Distance rel_distance_list_m_[target_sat_id][reference_sat_id] = norm(rel_pos_list_i_m_[target_sat_id][reference_sat_id]); - // Velociry + // Velocity libra::Vector<3> target_sat_vel_i = dynamics_database_.at(target_sat_id)->GetOrbit().GetSatVelocity_i(); libra::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_sat_id)->GetOrbit().GetSatVelocity_i(); rel_vel_list_i_m_s_[target_sat_id][reference_sat_id] = target_sat_vel_i - reference_sat_vel_i; diff --git a/src/RelativeInformation/RelativeInformation.h b/src/RelativeInformation/RelativeInformation.h index 9fd90eb02..278bec2f3 100644 --- a/src/RelativeInformation/RelativeInformation.h +++ b/src/RelativeInformation/RelativeInformation.h @@ -1,3 +1,8 @@ +/** + * @file RelativeInformation.h + * @brief Base class to manage relative information between spacecraft + */ + #pragma once #include @@ -5,49 +10,142 @@ #include "../Interface/LogOutput/ILoggable.h" #include "../Interface/LogOutput/Logger.h" +/** + * @class RelativeInformation + * @brief Base class to manage relative information between spacecraft + */ class RelativeInformation : public ILoggable { public: + /** + * @fn RelativeInformation + * @brief Constructor + */ RelativeInformation(); + /** + * @fn ~RelativeInformation + * @brief Destructor + */ ~RelativeInformation(); + /** + * @fn Update + * @brief Update all relative information + */ void Update(); + /** + * @fn RegisterDynamicsInfo + * @brief Register dynamics information of target spacecraft + * @param [in] sat_id: ID of target spacecraft + * @param [in] dynamics: Dynamics information of the target spacecraft + */ void RegisterDynamicsInfo(const int sat_id, const Dynamics* dynamics); + /** + * @fn RegisterDynamicsInfo + * @brief Remove dynamics information of target spacecraft + * @param [in] sat_id: ID of target spacecraft + */ void RemoveDynamicsInfo(const int sat_id); - // ILoggable + // Override classes for ILoggable + /** + * @fn GetLogHeader + * @brief Override function of GetLogHeader + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override function of GetLogValue + */ virtual std::string GetLogValue() const; + + /** + * @fn LogSetup + * @brief Logging setup for relative information + */ void LogSetup(Logger& logger); // Getter + /** + * @fn GetRelativeAttitudeQuaternion + * @brief Return relative attitude quaternion of the target spacecraft with respect to the reference spacecraft + * @params [in] target_sat_id: ID of target spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ inline libra::Quaternion GetRelativeAttitudeQuaternion(const int target_sat_id, const int reference_sat_id) const { return rel_att_quaternion_list_[target_sat_id][reference_sat_id]; } + /** + * @fn GetRelativePosition_i_m + * @brief Return relative position of the target spacecraft with respect to the reference spacecraft in the inertial frame and unit [m] + * @params [in] target_sat_id: ID of target spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ inline libra::Vector<3> GetRelativePosition_i_m(const int target_sat_id, const int reference_sat_id) const { return rel_pos_list_i_m_[target_sat_id][reference_sat_id]; } + /** + * @fn GetRelativeVelocity_i_m + * @brief Return relative velocity of the target spacecraft with respect to the reference spacecraft in the inertial frame and unit [m] + * @params [in] target_sat_id: ID of target spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ inline libra::Vector<3> GetRelativeVelocity_i_m_s(const int target_sat_id, const int reference_sat_id) const { return rel_vel_list_i_m_s_[target_sat_id][reference_sat_id]; } + /** + * @fn GetRelativeDistance_m + * @brief Return relative distance between the target spacecraft and the reference spacecraft in unit [m] + * @params [in] target_sat_id: ID of target spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ inline double GetRelativeDistance_m(const int target_sat_id, const int reference_sat_id) const { return rel_distance_list_m_[target_sat_id][reference_sat_id]; }; + /** + * @fn GetRelativePosition_rtn_m + * @brief Return relative position of the target spacecraft with respect to the reference spacecraft in the RTN frame of the reference spacecraft + * and unit [m] + * @params [in] target_sat_id: ID of target spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ inline libra::Vector<3> GetRelativePosition_rtn_m(const int target_sat_id, const int reference_sat_id) const { return rel_pos_list_rtn_m_[target_sat_id][reference_sat_id]; } + /** + * @fn GetReferenceSatDynamics + * @brief Return the dynamics information of a spacecraft + * and unit [m] + * @params [in] target_sat_id: ID of the spacecraft + */ inline const Dynamics* GetReferenceSatDynamics(const int reference_sat_id) const { return dynamics_database_.at(reference_sat_id); }; private: - std::map dynamics_database_; + std::map dynamics_database_; //!< Dynamics database of all spacecraft - std::vector>> rel_pos_list_i_m_; - std::vector>> rel_vel_list_i_m_s_; - std::vector>> rel_pos_list_rtn_m_; - std::vector> rel_distance_list_m_; - std::vector> rel_att_quaternion_list_; + std::vector>> rel_pos_list_i_m_; //!< Relative position list in the inertial frame in unit [m] + std::vector>> rel_vel_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] + std::vector>> rel_pos_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] + std::vector> rel_distance_list_m_; //!< Relative distance list in unit [m] + std::vector> rel_att_quaternion_list_; //!< Relative attitude quaternion list + /** + * @fn CalcRelativeAttitudeQuaternion + * @brief Calculate an return the relative attitude quaternion + * @params [in] target_sat_id: ID of the spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ libra::Quaternion CalcRelativeAttitudeQuaternion(const int target_sat_id, const int reference_sat_id); + /** + * @fn CalcRelativePosition_rtn_m + * @brief Calculate an return the relative position in RTN frame + * @params [in] target_sat_id: ID of the spacecraft + * @params [in] target_sat_id: ID of reference spacecraft + */ libra::Vector<3> CalcRelativePosition_rtn_m(const int target_sat_id, const int reference_sat_id); + /** + * @fn ResizeLists + * @brief Resize list suit with the dynamics database + */ void ResizeLists(); }; From 5e82e7eb16a7c6b4d96ceb76d48a5c65f9b8add3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 09:14:49 +0100 Subject: [PATCH 027/199] Fix comment in ThirdBodyGravity --- src/Disturbance/ThirdBodyGravity.cpp | 5 ++++ src/Disturbance/ThirdBodyGravity.h | 43 ++++++++++++++++++++++++++-- 2 files changed, 46 insertions(+), 2 deletions(-) diff --git a/src/Disturbance/ThirdBodyGravity.cpp b/src/Disturbance/ThirdBodyGravity.cpp index 9c7568a8d..035ea61f8 100644 --- a/src/Disturbance/ThirdBodyGravity.cpp +++ b/src/Disturbance/ThirdBodyGravity.cpp @@ -1,3 +1,8 @@ +/** + * @file ThirdBodyGravity.cpp + * @brief Class to calculate third body gravity disturbance + */ + #include "ThirdBodyGravity.h" ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list) : third_body_list_(third_body_list) { acceleration_i_ *= 0; } diff --git a/src/Disturbance/ThirdBodyGravity.h b/src/Disturbance/ThirdBodyGravity.h index 7e20f4c79..7bc527b29 100644 --- a/src/Disturbance/ThirdBodyGravity.h +++ b/src/Disturbance/ThirdBodyGravity.h @@ -1,3 +1,8 @@ +/** + * @file ThirdBodyGravity.h + * @brief Class to calculate third body gravity disturbance + */ + #pragma once #include #include @@ -7,18 +12,52 @@ #include "../Library/math/Vector.hpp" #include "AccelerationDisturbance.h" +/** + * @class ThirdBodyGravity + * @brief Class to calculate third body gravity disturbance + */ class ThirdBodyGravity : public AccelerationDisturbance { public: + /** + * @fn ThirdBodyGravity + * @brief Constructor + */ ThirdBodyGravity(std::set third_body_list); + /** + * @fn ~ThirdBodyGravity + * @brief Destructor + */ ~ThirdBodyGravity(); + + /** + * @fn Update + * @brief Update third body disturbance + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics); private: + // Override classes for ILoggable + /** + * @fn GetLogHeader + * @brief Override function of GetLogHeader + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override function of GetLogValue + */ virtual std::string GetLogValue() const; + /** + * @fn CalcAcceleration + * @brief Calculate and return the third body disturbance acceleration + * @param [in] s: Position vector of the third celestial body from the origin in the inertial frame in unit [m] + * @param [in] sr: Position vector of the third celestial body from the spacecraft in the inertial frame in unit [m] + * @param [in] GM: The gravitational constants of the third celestial body [m3/s2] + * @return Third body disturbance acceleration in the inertial frame in unit [m/s2] + */ libra::Vector<3> CalcAcceleration(libra::Vector<3> s, libra::Vector<3> sr, double GM); - std::set third_body_list_; - libra::Vector<3> thirdbody_acc_i_{0}; + std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances + libra::Vector<3> thirdbody_acc_i_{0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] }; From a2223a4bcbd91abff376b24fda1bd899376346da Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 09:21:24 +0100 Subject: [PATCH 028/199] Fix deconstructor ro destructor --- src/Simulation/Case/SampleCase.h | 2 +- src/Simulation/Case/SimulationCase.h | 2 +- src/Simulation/GroundStation/GroundStation.h | 2 +- src/Simulation/GroundStation/SampleGroundStation/SampleGS.h | 2 +- .../GroundStation/SampleGroundStation/SampleGSComponents.h | 2 +- src/Simulation/InterSatComm/InterSatComm.h | 2 +- src/Simulation/MCSim/SimulationObject.h | 2 +- src/Simulation/SimulationConfig.h | 2 +- src/Simulation/Spacecraft/InstalledComponents.hpp | 2 +- src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h | 2 +- src/Simulation/Spacecraft/Spacecraft.h | 2 +- src/Simulation/Spacecraft/Structure/KinematicsParams.h | 2 +- src/Simulation/Spacecraft/Structure/RMMParams.h | 2 +- src/Simulation/Spacecraft/Structure/Structure.h | 2 +- src/Simulation/Spacecraft/Structure/Surface.h | 2 +- 15 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/Simulation/Case/SampleCase.h b/src/Simulation/Case/SampleCase.h index d4b187a5a..fc96112f6 100644 --- a/src/Simulation/Case/SampleCase.h +++ b/src/Simulation/Case/SampleCase.h @@ -23,7 +23,7 @@ class SampleCase : public SimulationCase { /** * @fn ~SampleCase - * @brief Deconstructor + * @brief Destructor */ virtual ~SampleCase(); diff --git a/src/Simulation/Case/SimulationCase.h b/src/Simulation/Case/SimulationCase.h index 7a1970bb8..282a4e1f7 100644 --- a/src/Simulation/Case/SimulationCase.h +++ b/src/Simulation/Case/SimulationCase.h @@ -30,7 +30,7 @@ class SimulationCase : public ILoggable { SimulationCase(std::string ini_base, const MCSimExecutor& mc_sim, std::string log_path); /** * @fn ~SimulationCase - * @brief Deconstructor + * @brief Destructor */ virtual ~SimulationCase(); diff --git a/src/Simulation/GroundStation/GroundStation.h b/src/Simulation/GroundStation/GroundStation.h index fe6de9cec..475c5f0d7 100644 --- a/src/Simulation/GroundStation/GroundStation.h +++ b/src/Simulation/GroundStation/GroundStation.h @@ -26,7 +26,7 @@ class GroundStation : public ILoggable { GroundStation(SimulationConfig* config, int gs_id_); /** * @fn ~GroundStation - * @brief Deconstructor + * @brief Destructor */ virtual ~GroundStation(); diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h index 89e43378e..58c182d07 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGS.h @@ -28,7 +28,7 @@ class SampleGS : public GroundStation { SampleGS(SimulationConfig* config, int gs_id); /** * @fn ~SampleGS - * @brief Deconstructor + * @brief Destructor */ ~SampleGS(); diff --git a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h index 879f8d43a..c4bfac686 100644 --- a/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h +++ b/src/Simulation/GroundStation/SampleGroundStation/SampleGSComponents.h @@ -21,7 +21,7 @@ class SampleGSComponents { SampleGSComponents(const SimulationConfig* config); /** * @fn ~SampleGSComponents - * @brief Deconstructor + * @brief Destructor */ ~SampleGSComponents(); /** diff --git a/src/Simulation/InterSatComm/InterSatComm.h b/src/Simulation/InterSatComm/InterSatComm.h index 18dd79ee3..68d12e083 100644 --- a/src/Simulation/InterSatComm/InterSatComm.h +++ b/src/Simulation/InterSatComm/InterSatComm.h @@ -20,7 +20,7 @@ class InterSatComm { InterSatComm(const SimulationConfig* sim_config); /** * @fn ~InterSatComm - * @brief Deconstructor + * @brief Destructor */ ~InterSatComm(); diff --git a/src/Simulation/MCSim/SimulationObject.h b/src/Simulation/MCSim/SimulationObject.h index d757f8891..0ecdf6c9b 100644 --- a/src/Simulation/MCSim/SimulationObject.h +++ b/src/Simulation/MCSim/SimulationObject.h @@ -31,7 +31,7 @@ class SimulationObject { /** * @fn ~SimulationObject - * @brief Deconstructor + * @brief Destructor */ virtual ~SimulationObject(); diff --git a/src/Simulation/SimulationConfig.h b/src/Simulation/SimulationConfig.h index f5b8f7f6d..da96bc405 100644 --- a/src/Simulation/SimulationConfig.h +++ b/src/Simulation/SimulationConfig.h @@ -24,7 +24,7 @@ struct SimulationConfig { /** * @fn ~SimulationConfig - * @brief Deconstructor + * @brief Destructor */ ~SimulationConfig() { delete main_logger_; } }; diff --git a/src/Simulation/Spacecraft/InstalledComponents.hpp b/src/Simulation/Spacecraft/InstalledComponents.hpp index 524173827..e55f32d3b 100644 --- a/src/Simulation/Spacecraft/InstalledComponents.hpp +++ b/src/Simulation/Spacecraft/InstalledComponents.hpp @@ -16,7 +16,7 @@ class InstalledComponents { public: /** * @fn ~InstalledComponents - * @brief Deconstructor + * @brief Destructor */ virtual ~InstalledComponents() {} diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h index f1897ede7..e195950b6 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h @@ -52,7 +52,7 @@ class SampleComponents : public InstalledComponents { const SimulationConfig* config, ClockGenerator* clock_gen, const int sat_id); /** * @fn ~SampleComponents - * @brief Deconstructor + * @brief Destructor */ ~SampleComponents(); diff --git a/src/Simulation/Spacecraft/Spacecraft.h b/src/Simulation/Spacecraft/Spacecraft.h index d5a944482..93bcdef5c 100644 --- a/src/Simulation/Spacecraft/Spacecraft.h +++ b/src/Simulation/Spacecraft/Spacecraft.h @@ -33,7 +33,7 @@ class Spacecraft { /** * @fn ~Spacecraft - * @brief Deconstructor + * @brief Destructor */ virtual ~Spacecraft(); diff --git a/src/Simulation/Spacecraft/Structure/KinematicsParams.h b/src/Simulation/Spacecraft/Structure/KinematicsParams.h index 6629cbb30..4c1d20bdb 100644 --- a/src/Simulation/Spacecraft/Structure/KinematicsParams.h +++ b/src/Simulation/Spacecraft/Structure/KinematicsParams.h @@ -23,7 +23,7 @@ class KinematicsParams { KinematicsParams(Vector<3> cg_b, double mass, Matrix<3, 3> inertia_tensor); /** * @fn ~KinematicsParams - * @brief Deconstructor + * @brief Destructor */ ~KinematicsParams(){}; diff --git a/src/Simulation/Spacecraft/Structure/RMMParams.h b/src/Simulation/Spacecraft/Structure/RMMParams.h index c2494402f..500f2a874 100644 --- a/src/Simulation/Spacecraft/Structure/RMMParams.h +++ b/src/Simulation/Spacecraft/Structure/RMMParams.h @@ -20,7 +20,7 @@ class RMMParams { RMMParams(Vector<3> rmm_const_b, double rmm_rwdev, double rmm_rwlimit, double rmm_wnvar); /** * @fn ~RMMParams - * @brief Deconstructor + * @brief Destructor */ ~RMMParams(){}; diff --git a/src/Simulation/Spacecraft/Structure/Structure.h b/src/Simulation/Spacecraft/Structure/Structure.h index 8d348681c..78f3aa96f 100644 --- a/src/Simulation/Spacecraft/Structure/Structure.h +++ b/src/Simulation/Spacecraft/Structure/Structure.h @@ -26,7 +26,7 @@ class Structure { Structure(SimulationConfig* sim_config, const int sat_id); /** * @fn ~Structure - * @brief Deconstructor + * @brief Destructor */ ~Structure(); /** diff --git a/src/Simulation/Spacecraft/Structure/Surface.h b/src/Simulation/Spacecraft/Structure/Surface.h index a4454c658..a37799bfb 100644 --- a/src/Simulation/Spacecraft/Structure/Surface.h +++ b/src/Simulation/Spacecraft/Structure/Surface.h @@ -21,7 +21,7 @@ class Surface { Surface(Vector<3> position, Vector<3> normal, double area, double reflectivity, double specularity, double air_specularity); /** * @fn ~Surface - * @brief Deconstructor + * @brief Destructor */ ~Surface(){}; From cb4dc4ab67533333b109342ce9ed39be2eca7469 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 10:17:59 +0100 Subject: [PATCH 029/199] Fix comments in Disturbance base classes --- src/Disturbance/AccelerationDisturbance.h | 22 +++++++- src/Disturbance/Disturbance.h | 40 ++++++++++++-- src/Disturbance/Disturbances.cpp | 10 +++- src/Disturbance/Disturbances.h | 65 ++++++++++++++++++++--- 4 files changed, 122 insertions(+), 15 deletions(-) diff --git a/src/Disturbance/AccelerationDisturbance.h b/src/Disturbance/AccelerationDisturbance.h index 81584f8f9..ce644f0d0 100644 --- a/src/Disturbance/AccelerationDisturbance.h +++ b/src/Disturbance/AccelerationDisturbance.h @@ -1,13 +1,29 @@ +/** + * @file AccelerationDisturbance.h + * @brief Abstract class for a disturbance which generate acceleration only (not force) + */ + #pragma once #include "../Dynamics/Dynamics.h" #include "../Environment/Local/LocalEnvironment.h" #include "Disturbance.h" -// Abstract class for disturbances which generate acceleration (not force) +/** + * @class AccelerationDisturbance + * @brief Abstract class for a disturbance which generate acceleration only (not force) + */ class AccelerationDisturbance : public Disturbance, public ILoggable { public: + /** + * @fn ~AccelerationDisturbance + * @brief Destructor + */ virtual ~AccelerationDisturbance() {} + /** + * @fn UpdateIfEnabled + * @brief Update calculated disturbance when the calculation flag is true + */ virtual inline void UpdateIfEnabled(const LocalEnvironment& local_env, const Dynamics& dynamics) { if (IsCalcEnabled) { Update(local_env, dynamics); @@ -17,5 +33,9 @@ class AccelerationDisturbance : public Disturbance, public ILoggable { } } + /** + * @fn Update + * @brief Pure virtual function to define the disturbance calculation + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics) = 0; }; diff --git a/src/Disturbance/Disturbance.h b/src/Disturbance/Disturbance.h index 2eda19c5f..935c639a3 100644 --- a/src/Disturbance/Disturbance.h +++ b/src/Disturbance/Disturbance.h @@ -1,26 +1,56 @@ +/** + * @file Disturbance.h + * @brief Base class for a disturbance + */ + #pragma once #include "../Library/math/Vector.hpp" using libra::Vector; +/** + * @class Disturbance + * @brief Base class for a disturbance + */ class Disturbance { public: + /** + * @fn Disturbance + * @brief Constructor + */ Disturbance() { force_b_ = Vector<3>(0); torque_b_ = Vector<3>(0); acceleration_b_ = Vector<3>(0); acceleration_b_ = Vector<3>(0); } + + /** + * @fn GetTorque + * @brief Return the disturbance torque in the body frame [Nm] + */ virtual inline Vector<3> GetTorque() { return torque_b_; } + /** + * @fn GetTorque + * @brief Return the disturbance force in the body frame [N] + */ virtual inline Vector<3> GetForce() { return force_b_; } + /** + * @fn GetTorque + * @brief Return the disturbance acceleration in the body frame [m/s2] + */ virtual inline Vector<3> GetAccelerationB() { return acceleration_b_; } + /** + * @fn GetTorque + * @brief Return the disturbance acceleration in the inertial frame [m/s2] + */ virtual inline Vector<3> GetAccelerationI() { return acceleration_i_; } - bool IsCalcEnabled = true; + bool IsCalcEnabled = true; //!< Flag to calculate the disturbance protected: - Vector<3> force_b_; - Vector<3> torque_b_; - Vector<3> acceleration_b_; - Vector<3> acceleration_i_; + Vector<3> force_b_; //!< Disturbance force in the body frame [N] + Vector<3> torque_b_; //!< Disturbance torque in the body frame [Nm] + Vector<3> acceleration_b_; //!< Disturbance acceleration in the body frame [m/s2] + Vector<3> acceleration_i_; //!< Disturbance acceleration in the inertial frame [m/s2] }; diff --git a/src/Disturbance/Disturbances.cpp b/src/Disturbance/Disturbances.cpp index 2ed8c4b3f..818fe2810 100644 --- a/src/Disturbance/Disturbances.cpp +++ b/src/Disturbance/Disturbances.cpp @@ -1,3 +1,8 @@ +/** + * @file Disturbances.cpp + * @brief Class to manage all disturbances + */ + #include "Disturbances.h" #include @@ -63,7 +68,8 @@ Vector<3> Disturbances::GetForce() { return sum_force_; } Vector<3> Disturbances::GetAccelerationI() { return sum_acceleration_i_; } -void Disturbances::InitializeInstances(const SimulationConfig* sim_config, const int sat_id, const Structure* structure, const GlobalEnvironment* glo_env) { +void Disturbances::InitializeInstances(const SimulationConfig* sim_config, const int sat_id, const Structure* structure, + const GlobalEnvironment* glo_env) { IniAccess iniAccess = IniAccess(sim_config->sat_file_[sat_id]); ini_fname_ = iniAccess.ReadString("DISTURBANCE", "dist_file"); @@ -93,4 +99,4 @@ void Disturbances::InitializeForceAndTorque() { sum_force_ = Vector<3>(0); } -void Disturbances::InitializeAcceleration() { sum_acceleration_i_ = Vector<3>(0); } \ No newline at end of file +void Disturbances::InitializeAcceleration() { sum_acceleration_i_ = Vector<3>(0); } diff --git a/src/Disturbance/Disturbances.h b/src/Disturbance/Disturbances.h index 7f6b32407..39ade5315 100644 --- a/src/Disturbance/Disturbances.h +++ b/src/Disturbance/Disturbances.h @@ -1,3 +1,8 @@ +/** + * @file Disturbances.h + * @brief Class to manage all disturbances + */ + #pragma once #include @@ -9,26 +14,72 @@ class Logger; +/** + * @class Disturbances + * @brief Class to manage all disturbances + */ class Disturbances { public: + /** + * @fn Disturbances + * @brief Constructor + */ Disturbances(const SimulationConfig* sim_config, const int sat_id, const Structure* structure, const GlobalEnvironment* glo_env); + /** + * @fn ~Disturbances + * @brief Destructor + */ virtual ~Disturbances(); - void Update(const LocalEnvironment& local_env, const Dynamics& dynamics, const SimTime* sim_time); + /** + * @fn Update + * @brief Update all disturbance calculation + */ + void Update(const LocalEnvironment& local_env, const Dynamics& dynamics, const SimTime* sim_time); + /** + * @fn LogSetup + * @brief log setup for all disturbances + */ void LogSetup(Logger& logger); + /** + * @fn GetTorque + * @brief Return total disturbance torque in the body frame [Nm] + */ Vector<3> GetTorque(); + /** + * @fn GetTorque + * @brief Return total disturbance force in the body frame [N] + */ Vector<3> GetForce(); + /** + * @fn GetTorque + * @brief Return total disturbance acceleration in the inertial frame [m/s2] + */ Vector<3> GetAccelerationI(); private: - std::string ini_fname_; + std::string ini_fname_; //!< Initialization file name + + std::vector disturbances_; //!< List of disturbances + Vector<3> sum_torque_; //!< Total disturbance torque in the body frame [Nm] + Vector<3> sum_force_; //!< Total disturbance force in the body frame [N] + vector acc_disturbances_; //!< List of acceleration disturbances + Vector<3> sum_acceleration_i_; //!< Total disturbance acceleration in the inertial frame [m/s2] + + /** + * @fn InitializeInstances + * @brief Initialize all disturbance class + */ void InitializeInstances(const SimulationConfig* sim_config, const int sat_id, const Structure* structure, const GlobalEnvironment* glo_env); + /** + * @fn InitializeForceAndTorque + * @brief Initialize disturbance force and torque + */ void InitializeForceAndTorque(); + /** + * @fn InitializeAcceleration + * @brief Initialize disturbance acceleration + */ void InitializeAcceleration(); - std::vector disturbances_; - Vector<3> sum_torque_; - Vector<3> sum_force_; - vector acc_disturbances_; - Vector<3> sum_acceleration_i_; }; From c451882ce94babbd3d1d2740e2cf98c178ea96bb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 10:27:21 +0100 Subject: [PATCH 030/199] Fix comment in SimpleDisturbance --- src/Disturbance/SimpleDisturbance.h | 30 ++++++++++++++++++++++------- 1 file changed, 23 insertions(+), 7 deletions(-) diff --git a/src/Disturbance/SimpleDisturbance.h b/src/Disturbance/SimpleDisturbance.h index af7cfac9b..e97855939 100644 --- a/src/Disturbance/SimpleDisturbance.h +++ b/src/Disturbance/SimpleDisturbance.h @@ -1,14 +1,31 @@ +/** + * @file SimpleDisturbance.h + * @brief Abstract class for a disturbance + * @note It is better to use this abstract class for all disturbances, but it is difficult. (e.g. Gravity between spacecraft.) + * In the difficult case, users need to use the Disturbance class directory. + */ + #pragma once #include "../Dynamics/Dynamics.h" #include "../Environment/Local/LocalEnvironment.h" #include "Disturbance.h" -// The Abstract class for disturbance calculation with local environment and -// spacecraft dynamics トルクと並進力を発生する（どちらか片方だけでも良い） +/** + * @class SimpleDisturbance + * @brief Abstract class for a disturbance + */ class SimpleDisturbance : public Disturbance, public ILoggable { public: + /** + * @fn ~SimpleDisturbance + * @brief Destructor + */ virtual ~SimpleDisturbance() {} + /** + * @fn UpdateIfEnabled + * @brief Update calculated disturbance when the calculation flag is true + */ virtual inline void UpdateIfEnabled(const LocalEnvironment& local_env, const Dynamics& dynamics) { if (IsCalcEnabled) { Update(local_env, dynamics); @@ -18,10 +35,9 @@ class SimpleDisturbance : public Disturbance, public ILoggable { } } - // 環境とダイナミクスに応じて外乱のトルクと並進力を更新する + /** + * @fn Update + * @brief Pure virtual function to define the disturbance calculation + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics) = 0; }; - -// 全ての外乱がこのインターフェースで計算できれば良いのだが、そういうわけにもいかない -// 例えば宇宙機間の万有引力は、相手と自分両方の軌道情報が必要（あまり考慮することはないだろうが……） -// そういった外乱については、Disturbanceを継承して適切な実装をすることになる From 7b296f0d16211c2510f9894ec268d754d32cfb6d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 10:42:17 +0100 Subject: [PATCH 031/199] Fix comments in SurfaceForce --- src/Disturbance/SurfaceForce.cpp | 11 ++++---- src/Disturbance/SurfaceForce.h | 48 +++++++++++++++++++++++++++----- 2 files changed, 47 insertions(+), 12 deletions(-) diff --git a/src/Disturbance/SurfaceForce.cpp b/src/Disturbance/SurfaceForce.cpp index b40727aef..36ff7e90f 100644 --- a/src/Disturbance/SurfaceForce.cpp +++ b/src/Disturbance/SurfaceForce.cpp @@ -1,3 +1,8 @@ +/** + * @file SurfaceForce.h + * @brief Base class for disturbances acting on a spacecraft surface (e.g., SRP, Air drag, etc) + */ + #include "SurfaceForce.h" #include "../Library/math/Vector.hpp" @@ -18,9 +23,6 @@ SurfaceForce::SurfaceForce(const vector& surfaces, const Vector<3>& cg_ sinX.assign(num, 0.0); } -// input_b: direction of disturbance source @ body frame -// item: parameter which decide the magnitude of the disturbances (Solar flux, -// air density) Vector<3> SurfaceForce::CalcTorqueForce(Vector<3>& input_b, double item) { CalcTheta(input_b); CalcCoef(input_b, item); @@ -30,7 +32,7 @@ Vector<3> SurfaceForce::CalcTorqueForce(Vector<3>& input_b, double item) { normalize(input_b_normal); for (size_t i = 0; i < surfaces_.size(); i++) { - if (cosX[i] > 0) { // if the surface directs to the disturbance source (sun or air) + if (cosX[i] > 0) { // if the surface faces to the disturbance source (sun or air) // calc direction of in-plane force Vector<3> normal = surfaces_[i].GetNormal(); Vector<3> ncu = outer_product(input_b_normal, normal); @@ -49,7 +51,6 @@ Vector<3> SurfaceForce::CalcTorqueForce(Vector<3>& input_b, double item) { return torque_b_; } -// input_b: direction of disturbance source @ body frame void SurfaceForce::CalcTheta(Vector<3>& input_b) { Vector<3> input_b_normal(input_b); normalize(input_b_normal); diff --git a/src/Disturbance/SurfaceForce.h b/src/Disturbance/SurfaceForce.h index 3fab333ec..a4abcdedb 100644 --- a/src/Disturbance/SurfaceForce.h +++ b/src/Disturbance/SurfaceForce.h @@ -1,3 +1,8 @@ +/** + * @file SurfaceForce.h + * @brief Base class for disturbances acting on a spacecraft surface (e.g., SRP, Air drag, etc) + */ + #pragma once #ifndef __SurfaceForce_H__ @@ -12,27 +17,56 @@ using libra::Vector; #include +/** + * @class ThirdBodyGravity + * @brief Class to calculate third body gravity disturbance + */ class SurfaceForce : public SimpleDisturbance { public: + /** + * @fn SurfaceForce + * @brief Constructor + */ SurfaceForce(const vector& surfaces, const Vector<3>& cg_b); + /** + * @fn ~SurfaceForce + * @brief Destructor + */ virtual ~SurfaceForce() {} protected: // Spacecraft Structure parameters - const vector& surfaces_; - Vector<3> cg_b_; // Position vector of the center of mass @ Body frame + const vector& surfaces_; //!< List of surfaces + Vector<3> cg_b_; //!< Position vector of the center of mass at body frame [m] // Internal calculated variables - vector normal_coef_; // coefficients for out-plane force - vector tangential_coef_; // coefficients for in-plane force - vector cosX; - vector sinX; + vector normal_coef_; //!< coefficients for out-plane force for each surface + vector tangential_coef_; //!< coefficients for in-plane force for each surface + vector cosX; //!< cos(X) for each surface (X is the angle b/w normal vector and the direction of disturbance source) + vector sinX; //!< sin(X) for each surface (X is the angle b/w normal vector and the direction of disturbance source) // Functions + /** + * @fn CalcTorqueForce + * @brief Calculate the torque and force + * @param [in] input_b: Direction of disturbance source at the body frame + * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) + * @return Calculated disturbance torque in body frame [Nm] + */ Vector<3> CalcTorqueForce(Vector<3>& input_b, double item); + /** + * @fn CalcTheta + * @brief Calculate cosX and sinX + * @param [in] input_b: Direction of disturbance source at the body frame + */ void CalcTheta(Vector<3>& input_b); - // Functions to be defined by sub classes + /** + * @fn CalcCoef + * @brief Pure virtual function to define the calculation of the disturbance coefficients + * @param [in] input_b: Direction of disturbance source at the body frame + * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) + */ virtual void CalcCoef(Vector<3>& input_b, double item) = 0; }; #endif From 7f5bbc8636ada9872cff1ea88e141f3437b6590c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 10:53:47 +0100 Subject: [PATCH 032/199] Fix comments in AirDrag --- src/Disturbance/AirDrag.cpp | 7 ++-- src/Disturbance/AirDrag.h | 64 ++++++++++++++++++++++++++++++------- 2 files changed, 58 insertions(+), 13 deletions(-) diff --git a/src/Disturbance/AirDrag.cpp b/src/Disturbance/AirDrag.cpp index f47b42e3a..96c2ac6b9 100644 --- a/src/Disturbance/AirDrag.cpp +++ b/src/Disturbance/AirDrag.cpp @@ -1,3 +1,8 @@ +/** + * @file AirDrag.cpp + * @brief Class to calculate the air drag disturbance force and torque + */ + #include "AirDrag.h" #include @@ -27,8 +32,6 @@ void AirDrag::Update(const LocalEnvironment& local_env, const Dynamics& dynamics CalcTorqueForce(tmp, air_dens); } -// vel_b:Velocity vector at the body frame[m/s] -// air_dens:air density[kg/m^3] void AirDrag::CalcCoef(Vector<3>& vel_b, double air_dens) { double vel_b_norm_m = norm(vel_b); rho_ = air_dens; diff --git a/src/Disturbance/AirDrag.h b/src/Disturbance/AirDrag.h index 38225b9c6..c073c9fa2 100644 --- a/src/Disturbance/AirDrag.h +++ b/src/Disturbance/AirDrag.h @@ -1,3 +1,8 @@ +/** + * @file AirDrag.h + * @brief Class to calculate the air drag disturbance force and torque + */ + #ifndef __AirDrag_H__ #define __AirDrag_H__ @@ -13,35 +18,72 @@ using libra::Quaternion; using libra::Vector; #pragma once +/** + * @class AirDrag + * @brief Class to calculate the air drag disturbance force and torque + */ class AirDrag : public SurfaceForce { public: + /** + * @fn AirDrag + * @brief Constructor + */ AirDrag(const vector& surfaces, const Vector<3>& cg_b, const double t_w, const double t_m, const double molecular); - // Override SimpleDisturbance + /** + * @fn Update + * @brief Override Updates function of SimpleDisturbance + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics); - // Override Loggable + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // for debug + // for debug TODO: remove? void PrintParams(void); std::vector cnct; private: - vector Cn_; // coefficients for out-plane force - vector Ct_; // coefficients for in-plane force - double rho_; // Air density [kg/m^3] - double Tw_; // Temperature of surface [K] - double Tm_; // Temperature of atmosphere [K] - double M_; // Molecular weight [g/mol] - - // Override SurfaceForce + vector Cn_; //!< Coefficients for out-plane force + vector Ct_; //!< Coefficients for in-plane force + double rho_; //!< Air density [kg/m^3] + double Tw_; //!< Temperature of surface [K] + double Tm_; //!< Temperature of atmosphere [K] + double M_; //!< Molecular weight [g/mol] + + /** + * @fn CalcCoef + * @brief Override CalcCoef function of SurfaceForce + * @param [in] vel_b: Spacecraft's velocity vector in the body frame [m/s] + * @param [in] air_dens: Air density around the spacecraft [kg/m^3] + */ void CalcCoef(Vector<3>& vel_b, double air_dens); // internal function for calculation + /** + * @fn CalCnCt + * @brief Calculate the Cn and Ct + * @param [in] vel_b: Spacecraft's velocity vector in the body frame [m/s] + */ void CalCnCt(Vector<3>& vel_b); + /** + * @fn funcPi + * @brief Calculate The Pi function in the algorithm + */ double funcPi(double s); + /** + * @fn funcChi + * @brief Calculate The Chi function in the algorithm + */ double funcChi(double s); }; #endif From c3d5711be251da49ef57676ae11b6ee053482ce7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 10:58:55 +0100 Subject: [PATCH 033/199] Fix comments in SolarRadiation --- src/Disturbance/SolarRadiation.cpp | 15 ++++------- src/Disturbance/SolarRadiation.h | 41 ++++++++++++++++++++++-------- 2 files changed, 36 insertions(+), 20 deletions(-) diff --git a/src/Disturbance/SolarRadiation.cpp b/src/Disturbance/SolarRadiation.cpp index 10a5a58cd..7432ce373 100644 --- a/src/Disturbance/SolarRadiation.cpp +++ b/src/Disturbance/SolarRadiation.cpp @@ -1,10 +1,7 @@ -// -// SolarRadiation.cpp -// -// -// Created by KakiharaKota on 2016/02/26. -// -// +/** + * @file SolarRadiation.cpp + * @brief Class to calculate the solar radiation pressure disturbance force and torque + */ #include "SolarRadiation.h" @@ -21,12 +18,10 @@ void SolarRadiation::Update(const LocalEnvironment& local_env, const Dynamics& d CalcTorqueForce(tmp, local_env.GetSrp().CalcTruePressure()); } -// input_b:Direction vector of the sun at the body frame -// item: Solar pressure [N/m^2] void SolarRadiation::CalcCoef(Vector<3>& input_b, double item) { UNUSED(input_b); - for (size_t i = 0; i < surfaces_.size(); i++) { //各面で計算 + for (size_t i = 0; i < surfaces_.size(); i++) { // Calculate for each surface double area = surfaces_[i].GetArea(); double reflectivity = surfaces_[i].GetReflectivity(); double specularity = surfaces_[i].GetSpecularity(); diff --git a/src/Disturbance/SolarRadiation.h b/src/Disturbance/SolarRadiation.h index 3355c1bb0..a84caea19 100644 --- a/src/Disturbance/SolarRadiation.h +++ b/src/Disturbance/SolarRadiation.h @@ -1,10 +1,7 @@ -// -// SolarRadiation.h -// -// -// Created by KakiharaKota on 2016/02/26. -// -// +/** + * @file SolarRadiation.h + * @brief Class to calculate the solar radiation pressure disturbance force and torque + */ #ifndef __SolarRadiation_h__ #define __SolarRadiation_h__ @@ -16,19 +13,43 @@ #include "SurfaceForce.h" using libra::Vector; +/** + * @class SolarRadiation + * @brief Class to calculate the solar radiation pressure disturbance force and torque + */ class SolarRadiation : public SurfaceForce { public: + /** + * @fn SolarRadiation + * @brief Constructor + */ SolarRadiation(const vector& surfaces, const Vector<3>& cg_b); - // Override SimpleDisturbance + /** + * @fn Update + * @brief Override Updates function of SimpleDisturbance + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics); - // Override Loggable + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - // Override SurfaceForce + /** + * @fn CalcCoef + * @brief Override CalcCoef function of SurfaceForce + * @param [in] input_b: Direction vector of the sun at the body frame + * @param [in] item: Solar pressure [N/m^2] + */ virtual void CalcCoef(Vector<3>& input_b, double item); }; From 8ec900578c8cfd3a1e48a8a28b7a35dc5c3cd576 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 11:08:05 +0100 Subject: [PATCH 034/199] Fix comments in MagDisturbance --- src/Disturbance/MagDisturbance.cpp | 14 ++++---- src/Disturbance/MagDisturbance.h | 52 ++++++++++++++++++++++++++---- 2 files changed, 54 insertions(+), 12 deletions(-) diff --git a/src/Disturbance/MagDisturbance.cpp b/src/Disturbance/MagDisturbance.cpp index 30a1a0a87..42533c307 100644 --- a/src/Disturbance/MagDisturbance.cpp +++ b/src/Disturbance/MagDisturbance.cpp @@ -1,3 +1,8 @@ +/** + * @file MagDisturbance.cpp + * @brief Class to calculate the magnetic disturbance torque + */ + #include "MagDisturbance.h" #include "../Library/math/NormalRand.hpp" @@ -14,12 +19,11 @@ MagDisturbance::MagDisturbance(const Vector<3>& rmm_const_b, const double rmm_rw : rmm_const_b_(rmm_const_b), rmm_rwdev_(rmm_rwdev), rmm_rwlimit_(rmm_rwlimit), rmm_wnvar_(rmm_wnvar) { for (int i = 0; i < 3; ++i) { torque_b_[i] = 0; - } //残留磁気トルク値の初期化 - mag_unit_ = 1.0E-9; //磁気が[nT]単位であることによる単位合わせ([nT]→[T]) + } + mag_unit_ = 1.0E-9; // [nT] -> [T] rmm_b_ = rmm_const_b_; } -//残留磁気トルク（磁気外乱）の計算 Vector<3> MagDisturbance::CalcTorque(const Vector<3>& mag_b) { CalcRMM(); torque_b_ = mag_unit_ * outer_product(rmm_b_, mag_b); @@ -32,7 +36,6 @@ void MagDisturbance::Update(const LocalEnvironment& local_env, const Dynamics& d CalcTorque(local_env.GetMag().GetMag_b()); } -//残留磁気モーメントの計算 void MagDisturbance::CalcRMM() { static Vector<3> stddev(rmm_rwdev_); static Vector<3> limit(rmm_rwlimit_); @@ -43,10 +46,9 @@ void MagDisturbance::CalcRMM() { for (int i = 0; i < 3; ++i) { rmm_b_[i] += rw[i] + nr; } - ++rw; //ランダムウォーク更新 + ++rw; // Update random walk } -//コンソール表示用関数 void MagDisturbance::PrintTorque() { cout << "MgDist_Torque_b =(" << torque_b_[0] << "," << torque_b_[1] << "," << torque_b_[2] << ") Nm"; cout << endl; diff --git a/src/Disturbance/MagDisturbance.h b/src/Disturbance/MagDisturbance.h index 6e6460b81..c7fded470 100644 --- a/src/Disturbance/MagDisturbance.h +++ b/src/Disturbance/MagDisturbance.h @@ -1,3 +1,8 @@ +/** + * @file MagDisturbance.h + * @brief Class to calculate the magnetic disturbance torque + */ + #ifndef __MagDisturbance_H__ #define __MagDisturbance_H__ @@ -10,22 +15,57 @@ using libra::Vector; #include "../Simulation/Spacecraft/Structure/RMMParams.h" #include "SimpleDisturbance.h" +/** + * @class MagDisturbance + * @brief Class to calculate the magnetic disturbance torque + */ class MagDisturbance : public SimpleDisturbance { - Vector<3> rmm_b_; - double mag_unit_; - Vector<3> rmm_const_b_; - double rmm_rwdev_; - double rmm_rwlimit_; - double rmm_wnvar_; + Vector<3> rmm_b_; //!< True RMM of the spacecraft in the body frame [Am2] + double mag_unit_; //!< Constant value to change the unit [nT] -> [T] + Vector<3> rmm_const_b_; //!< Constant component of the RMM in the body frame [Am2] + double rmm_rwdev_; //!< Standard deviation of random walk component of the RMM [Am2] + double rmm_rwlimit_; //!< Limit of random walk component of the RMM [Am2] + double rmm_wnvar_; //!< Standard deviation of white noise of the RMM [Am2] public: + /** + * @fn MagDisturbance + * @brief Constructor + */ MagDisturbance(const Vector<3>& rmm_const_b, const double rmm_rwdev, const double rmm_rwlimit, const double rmm_wnvar); + + /** + * @fn CalcRMM + * @brief Calculate true RMM of the spacecraft + */ void CalcRMM(); + /** + * @fn CalcTorque + * @brief Calculate magnetic disturbance torque + * @param [in] mag_b: Magnetic field vector at the body frame [nT] + */ Vector<3> CalcTorque(const Vector<3>& mag_b); + /** + * @fn Update + * @brief Override Updates function of SimpleDisturbance + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics); + /** + * @fn PrintTorque + * @brief Debug TODO: remove? + */ void PrintTorque(); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; }; From b92ea36bac7c9f832d4e9644e757a364dd7c1d26 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 11:28:38 +0100 Subject: [PATCH 035/199] Fix comments in GeoPotential --- src/Disturbance/GeoPotential.cpp | 5 +++ src/Disturbance/GeoPotential.h | 66 ++++++++++++++++++++++++++++---- 2 files changed, 63 insertions(+), 8 deletions(-) diff --git a/src/Disturbance/GeoPotential.cpp b/src/Disturbance/GeoPotential.cpp index 6e7ef153a..74bd920d0 100644 --- a/src/Disturbance/GeoPotential.cpp +++ b/src/Disturbance/GeoPotential.cpp @@ -1,3 +1,8 @@ +/** + * @file GeoPotential.cpp + * @brief Class to calculate the high-order earth gravity acceleration + */ + #include "GeoPotential.h" #include diff --git a/src/Disturbance/GeoPotential.h b/src/Disturbance/GeoPotential.h index 892dad7a5..3bccb05f5 100644 --- a/src/Disturbance/GeoPotential.h +++ b/src/Disturbance/GeoPotential.h @@ -1,3 +1,8 @@ +/** + * @file GeoPotential.h + * @brief Class to calculate the high-order earth gravity acceleration + */ + #ifndef __GEOPOTENTIAL_H__ #define __GEOPOTENTIAL_H__ #include @@ -11,29 +16,74 @@ using libra::Matrix; using libra::Vector; +/** + * @class GeoPotential + * @brief Class to calculate the high-order earth gravity acceleration + */ class GeoPotential : public AccelerationDisturbance { public: + /** + * @fn GeoPotential + * @brief Constructor + */ GeoPotential(const int degree, const std::string file_path); + + /** + * @fn Update + * @brief Override Updates function of SimpleDisturbance + */ virtual void Update(const LocalEnvironment &local_env, const Dynamics &dynamics); + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; + /** + * @fn CalcAccelerationECEF + * @brief Calculate the high-order earth gravity in the ECEF frame + * @param [in] position_ecef: Position of the spacecraft in the ECEF fram [m] + */ void CalcAccelerationECEF(const Vector<3> &position_ecef); + + /** + * @fn ReadCoefficientsEGM96 + * @brief Read the geo-potential coefficients for the EGM96 model + * @param [in] file_name: Coefficient file name + */ bool ReadCoefficientsEGM96(std::string file_name); private: - int degree_; - vector> c_; - vector> s_; - Vector<3> acc_ecef_; + int degree_; //!< Maximum degree setting to calculate the geo-potential + vector> c_; //!< Cosine coefficients + vector> s_; //!< Sine coefficients + Vector<3> acc_ecef_; //!< Calculated acceleration in the ECEF frame [m/s2] // calculation - double r = 0.0, x = 0.0, y = 0.0, z = 0.0; - int n = 0, m = 0; + double r = 0.0; //!< Radius [m] + double x = 0.0, y = 0.0, z = 0.0; //!< Spacecraft position in ECEF frame [m] + int n = 0, m = 0; //!< Degree and order + + /** + * @fn v_w_nn_update + * @brief Calculate V and W function for n = m + */ void v_w_nn_update(double *v_nn, double *w_nn, const double v_prev, const double w_prev); + /** + * @fn v_w_nm_update + * @brief Calculate V and W function for n not equal m + */ void v_w_nm_update(double *v_nm, double *w_nm, const double v_prev, const double w_prev, const double v_prev2, const double w_prev2); + // debug - Vector<3> debug_pos_ecef_; - double time_ = 0.0; + Vector<3> debug_pos_ecef_; //!< Spacecraft position in ECEF frame [m] + double time_ = 0.0; //!< Calculation time [ms] }; #endif //__GEOPOTENTIAL_H__ From bf9fe4e363ea3900716c63f8ccb07715ba8dbff0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 11:33:50 +0100 Subject: [PATCH 036/199] Fix comments in Gravity Gradient --- src/Disturbance/GravityGradient.cpp | 5 ++++ src/Disturbance/GravityGradient.hpp | 44 +++++++++++++++++++++++++++-- 2 files changed, 46 insertions(+), 3 deletions(-) diff --git a/src/Disturbance/GravityGradient.cpp b/src/Disturbance/GravityGradient.cpp index c46da7dd9..c1d6715d0 100644 --- a/src/Disturbance/GravityGradient.cpp +++ b/src/Disturbance/GravityGradient.cpp @@ -1,3 +1,8 @@ +/** + * @file GravityGradient.cpp + * @brief Class to calculate the gravity gradient torque + */ + #include "GravityGradient.hpp" #include diff --git a/src/Disturbance/GravityGradient.hpp b/src/Disturbance/GravityGradient.hpp index 9d832c594..eaeea5c6d 100644 --- a/src/Disturbance/GravityGradient.hpp +++ b/src/Disturbance/GravityGradient.hpp @@ -1,3 +1,8 @@ +/** + * @file GravityGradient.hpp + * @brief Class to calculate the gravity gradient torque + */ + #ifndef __GravityGradient_H__ #define __GravityGradient_H__ #include @@ -11,20 +16,53 @@ using libra::Matrix; using libra::Vector; +/** + * @class GravityGradient + * @brief Class to calculate the gravity gradient torque + */ class GravityGradient : public SimpleDisturbance { public: - GravityGradient(); // mu is automatically set as earth's gravity + /** + * @fn GeoPotential + * @brief Default Constructor + * @note mu is automatically set as earth's gravitational constant + */ + GravityGradient(); + /** + * @fn GeoPotential + * @brief Constructor + * @param [in] mu_m3_s2: Gravitational constant [m3/s2] + */ GravityGradient(const double mu_m3_s2); + + /** + * @fn Update + * @brief Override Updates function of SimpleDisturbance + */ virtual void Update(const LocalEnvironment& local_env, const Dynamics& dynamics); - // r_b: Position vector of the earth [m] @ body frame, I_b: Inertia Tensor [kg*m^2] + /** + * @fn CalcTorque + * @brief Calculate gravity gradient torque + * @param [in] r_b: Position vector of the earth at body frame [m] + * @param [in] I_b: Inertia Tensor at body frame [kg*m^2] + */ Vector<3> CalcTorque(const Vector<3> r_b, const Matrix<3, 3> I_b); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - double mu_m3_s2_; + double mu_m3_s2_; //!< Gravitational constant [m3/s2] }; #endif //__GravityGradient_H__ From 3acf2f337f32a60e1876378020ca4e529070670b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 11:43:15 +0100 Subject: [PATCH 037/199] Fix comments in InitDisturbance --- src/Disturbance/InitDisturbance.cpp | 14 +++++---- src/Disturbance/InitDisturbance.hpp | 49 ++++++++++++++++++++++++++++- 2 files changed, 56 insertions(+), 7 deletions(-) diff --git a/src/Disturbance/InitDisturbance.cpp b/src/Disturbance/InitDisturbance.cpp index 11e50ccba..098459dbb 100644 --- a/src/Disturbance/InitDisturbance.cpp +++ b/src/Disturbance/InitDisturbance.cpp @@ -1,3 +1,8 @@ +/** + * @file InitDisturbance.cpp + * @brief Define initialize functions for disturbances + */ + #include "InitDisturbance.hpp" #include @@ -97,18 +102,15 @@ ThirdBodyGravity InitThirdBodyGravity(std::string ini_path, std::string ini_path selected_body_list.insert(conf_celes.ReadString(section_celes, selected_body_id.c_str())); } - // Generate a list of bodies to be calculated in "ThirdBodyGravity" from the - // list of bodies of "CelesInfo" + // Generate a list of bodies to be calculated in "ThirdBodyGravity" from the list of bodies of "CelesInfo" auto conf = IniAccess(ini_path); const char* section = "THIRD_BODY_GRAVITY"; const int num_of_third_body = conf.ReadInt(section, "num_of_third_body"); std::set third_body_list; - if (conf.ReadEnable(section, - CALC_LABEL)) // Generate the list of the third object if - // and only if "calculation=ENABLE" - { + // Generate the list of the third object if "calculation=ENABLE" + if (conf.ReadEnable(section, CALC_LABEL)) { for (int i = 0; i < num_of_third_body; i++) { std::string third_body_id = "third_body(" + std::to_string(i) + ")"; std::string third_body_name = conf.ReadString(section, third_body_id.c_str()); diff --git a/src/Disturbance/InitDisturbance.hpp b/src/Disturbance/InitDisturbance.hpp index b5b66199b..4bf266ab5 100644 --- a/src/Disturbance/InitDisturbance.hpp +++ b/src/Disturbance/InitDisturbance.hpp @@ -1,3 +1,8 @@ +/** + * @file InitDisturbance.hpp + * @brief Define initialize functions for disturbances + */ + #pragma once #include @@ -8,12 +13,54 @@ #include +/** + * @fn InitAirDrag + * @brief Initialize AirDrag class + * @param [in] ini_path: Initialize file path + * @param [in] surfaces: surface information of the spacecraft + * @param [in] cg_b: Center of gravity position vector at body frame [m] + */ AirDrag InitAirDrag(std::string ini_path, const std::vector& surfaces, const Vector<3> cg_b); +/** + * @fn InitSRDist + * @brief Initialize SolarRadiation class + * @param [in] ini_path: Initialize file path + * @param [in] surfaces: surface information of the spacecraft + * @param [in] cg_b: Center of gravity position vector at body frame [m] + */ SolarRadiation InitSRDist(std::string ini_path, const std::vector& surfaces, const Vector<3> cg_b); -GravityGradient InitGravityGradient(std::string ini_path); // Center body is automatically set as the Earth +/** + * @fn InitGravityGradient + * @brief Initialize GravityGradient class with earth gravitational constant + * @param [in] ini_path: Initialize file path + */ +GravityGradient InitGravityGradient(std::string ini_path); +/** + * @fn InitGravityGradient + * @brief Initialize GravityGradient class with earth gravitational constant + * @param [in] ini_path: Initialize file path + * @param [in] mu_m3_s2: Gravitational constant [m3/s2] + */ GravityGradient InitGravityGradient(std::string ini_path, const double mu_m3_s2); +/** + * @fn InitMagDisturbance + * @brief Initialize MagDisturbance class with earth gravitational constant + * @param [in] ini_path: Initialize file path + * @param [in] rmm_params: RMM parameters + */ MagDisturbance InitMagDisturbance(std::string ini_path, RMMParams rmm_params); +/** + * @fn InitGeoPotential + * @brief Initialize GeoPotential class with earth gravitational constant + * @param [in] ini_path: Initialize file path + */ GeoPotential InitGeoPotential(std::string ini_path); +/** + * @fn InitThirdBodyGravity + * @brief Initialize ThirdBodyGravity class with earth gravitational constant + * @param [in] ini_path: Initialize file path + * @param [in] ini_path_celes: Initialize file path for the celestial information + */ ThirdBodyGravity InitThirdBodyGravity(std::string ini_path, std::string ini_path_celes); From 2f8cbe31e97023ec2fe0ac68c9e9aca7029b1c4c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 14:46:08 +0100 Subject: [PATCH 038/199] Fix comments in IniAccess --- src/Interface/InitInput/IniAccess.cpp | 23 +++-- src/Interface/InitInput/IniAccess.h | 124 +++++++++++++++++++++++--- 2 files changed, 125 insertions(+), 22 deletions(-) diff --git a/src/Interface/InitInput/IniAccess.cpp b/src/Interface/InitInput/IniAccess.cpp index ac9138882..6d7b62f5a 100644 --- a/src/Interface/InitInput/IniAccess.cpp +++ b/src/Interface/InitInput/IniAccess.cpp @@ -1,6 +1,7 @@ #include "IniAccess.h" #include + #include #include #include @@ -9,8 +10,6 @@ using namespace std; #ifdef WIN32 IniAccess::IniAccess(string path) : file_path_(path) { - //読み出しファイル名の取得 - // TODO: Modify the codes for multi-platform support // strcpy_s(strPath_, (size_t)_countof(strPath_), file_path_.c_str()); strncpy(strPath_, file_path_.c_str(), MAX_PATH); } @@ -19,7 +18,7 @@ IniAccess::IniAccess(string path) : file_path_(path), reader(path) { strncpy(strPath_, file_path_.c_str(), MAX_PATH); std::string ext = ".ini"; - if(path.size() < 4 || !std::equal(std::rbegin(ext), std::rend(ext), std::rbegin(path))) { + if (path.size() < 4 || !std::equal(std::rbegin(ext), std::rend(ext), std::rbegin(path))) { // this is not ini file(csv) return; } @@ -38,13 +37,13 @@ double IniAccess::ReadDouble(const char* section_name, const char* key_name) { GetPrivateProfileStringA(section_name, key_name, 0, strText_, 1024, strPath_); - value << strText_; //文字列を入力 - value >> temp; // doubleで返却 + value << strText_; // input string + value >> temp; // return as double // cout << strText_; return temp; #else - return reader.GetReal(section_name, key_name, 0); //文字列を入力 + return reader.GetReal(section_name, key_name, 0); #endif } @@ -85,19 +84,19 @@ void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, Q Quaternion temp; double norm = 0.0; - for (int i = 0; i < 4; i++) { // 新しいフォーマットに沿ってQuaternionを読み込む + for (int i = 0; i < 4; i++) { // Read Quaternion as new format stringstream c_name; c_name << key_name << "_(" << i << ")"; temp[i] = ReadDouble(section_name, c_name.str().c_str()); norm += temp[i] * temp[i]; } - if (norm == 0.0) { // 新しいフォーマットが読み込めなかった（古いConfigファイルの場合） + if (norm == 0.0) { // If it is not new format, try to read old format for (int i = 0; i < 4; i++) { stringstream c_name; c_name << key_name << "(" << i << ")"; data[i] = ReadDouble(section_name, c_name.str().c_str()); } - } else { // 新しいフォーマットが読み込めた場合（新しいConfigファイルの場合） + } else { data[0] = temp[0]; data[1] = temp[1]; data[2] = temp[2]; @@ -141,11 +140,11 @@ vector IniAccess::ReadStrVector(const char* section_name, const char* ke stringstream c_name; c_name << key_name << "(" << i << ")"; ReadChar(section_name, c_name.str().c_str(), buf_size, temp); - #ifdef WIN32 +#ifdef WIN32 if (temp[0] == NULL) { - #else +#else if (!strcmp(temp, "NULL")) { - #endif +#endif break; } else { data.push_back(temp); diff --git a/src/Interface/InitInput/IniAccess.h b/src/Interface/InitInput/IniAccess.h index e916d9a38..b964a3845 100644 --- a/src/Interface/InitInput/IniAccess.h +++ b/src/Interface/InitInput/IniAccess.h @@ -1,3 +1,8 @@ +/** + * @file IniAccess.h + * @brief Class to read and get parameters for the `ini` format file + */ + #ifndef __IniAccess_H__ #define __IniAccess_H__ #define _CRT_SECURE_NO_WARNINGS @@ -22,39 +27,138 @@ using libra::Quaternion; using libra::Vector; +/** + * @class IniAccess + * @brief Class to read and get parameters for the `ini` format file + */ class IniAccess { - //変数 private: - std::string file_path_; //読み込みファイルパス - char strPath_[MAX_PATH]; //読み込みファイルパス - char strText_[1024]; //バッファ + std::string file_path_; //!< File path in string + char strPath_[MAX_PATH]; //!< File path in char + char strText_[1024]; //!< buffer #ifndef WIN32 - INIReader reader; + INIReader reader; //!< ini reader #endif public: + /** + * @fn IniAccess + * @brief Constructor + */ IniAccess(std::string path); - // iniファイル読み込み関数 + // Read functions + /** + * @fn ReadDouble + * @brief Read a scalar number as double type + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Read number + */ double ReadDouble(const char* section_name, const char* key_name); + /** + * @fn ReadInt + * @brief Read a scalar number as integer type + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Read number + */ int ReadInt(const char* section_name, const char* key_name); + /** + * @fn ReadBoolean + * @brief Read boolean + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Read number + */ bool ReadBoolean(const char* section_name, const char* key_name); + /** + * @fn ReadDoubleArray + * @brief Read an array of number as double type + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @param[in] id: ID in key name + * @param[in] num: Number of elements of the array + * @param[out] data: Read array data + */ void ReadDoubleArray(const char* section_name, const char* key_name, int id, int num, double* data); + /** + * @fn ReadVector + * @brief Read Vector type number + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @param[out] data: Read vector type data + */ template void ReadVector(const char* section_name, const char* key_name, Vector& data); + /** + * @fn ReadStrVector + * @brief Read list of string type + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Read list of string + */ std::vector ReadStrVector(const char* section_name, const char* key_name); + /** + * @fn ReadQuaternion + * @brief Read quaternion + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @param[out] data: Read quaternion data + */ void ReadQuaternion(const char* section_name, const char* key_name, Quaternion& data); + /** + * @fn ReadChar + * @brief Read characters data + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @param [in] size: Length of the character + * @param[out] data: Read character data + */ void ReadChar(const char* section_name, const char* key_name, int size, char* data); + /** + * @fn ReadString + * @brief Read string data + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Read string data + */ std::string ReadString(const char* section_name, const char* key_name); + + /** + * @fn ReadEnable + * @brief Return true when the read value is ENABLE or 1. + * @param[in] section_name: Section name + * @param[in] key_name: Key name + * @return Return true when the read value is ENABLE or 1. + */ bool ReadEnable(const char* section_name, const char* key_name); - // CSV読み込み関数 + + // Read CSV functions TODO: Make new class for CSV file + /** + * @fn Split + * @brief Return true when the read value is ENABLE or 1. + * @param[in] input: Input string + * @param[in] delimiter: Delimiter to split the string + * @return List of string splitted by the delimiter + */ std::vector Split(std::string& input, char delimiter); - void ReadCsvDouble(std::vector>& doublevec, int node_num); /*nxm行列を読み込む場合, - n,mの内大きい方を第二引数に代入する(メモリ事前確保のため)*/ + /** + * @fn ReadCsvDouble + * @brief Read matrix value in CSV file + * @param[out] doublevec: Read double matrix value + * @param[in] node_num: Number of node. When reading n * m matrix, please substitute bigger number. + */ + void ReadCsvDouble(std::vector>& doublevec, int node_num); + /** + * @fn ReadCsvString + * @brief Read matrix of string in CSV file + * @param[out] stringvec: Read matrix of string + * @param[in] node_num: Number of node. When reading n * m matrix, please substitute bigger number. + */ void ReadCsvString(std::vector>& stringvec, int node_num); }; -//テンプレートなのでヘッダに書く template void IniAccess::ReadVector(const char* section_name, const char* key_name, Vector& data) { for (size_t i = 0; i < NumElement; i++) { From c4053430ce8f02e723a9f7be8a957b6ec8c6a1b0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 14:49:48 +0100 Subject: [PATCH 039/199] Fix comments in IniAccess --- src/Interface/InitInput/IniAccess.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/Interface/InitInput/IniAccess.cpp b/src/Interface/InitInput/IniAccess.cpp index 6d7b62f5a..e35b3cbe7 100644 --- a/src/Interface/InitInput/IniAccess.cpp +++ b/src/Interface/InitInput/IniAccess.cpp @@ -1,3 +1,8 @@ +/** + * @file IniAccess.cpp + * @brief Class to read and get parameters for the `ini` format file + */ + #include "IniAccess.h" #include From 5b7fb816f32627ae66f0df7c0fc585e8cd03fc3b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 15:28:33 +0100 Subject: [PATCH 040/199] Fix comments in Logger --- src/Interface/LogOutput/ILoggable.h | 32 ++++++--- src/Interface/LogOutput/Logger.cpp | 5 ++ src/Interface/LogOutput/Logger.h | 104 +++++++++++++++++++++++++--- 3 files changed, 122 insertions(+), 19 deletions(-) diff --git a/src/Interface/LogOutput/ILoggable.h b/src/Interface/LogOutput/ILoggable.h index 51277ec45..2ce72e723 100644 --- a/src/Interface/LogOutput/ILoggable.h +++ b/src/Interface/LogOutput/ILoggable.h @@ -1,21 +1,33 @@ -#pragma once +/** + * @file ILoggable.h + * @brief Abstract class to manage logging + */ +#pragma once #include -// 必要ないが、利便性のためにinclude -#include "LogUtility.h" - -// ログに書けるクラス +#include "LogUtility.h" // This is not necessary but include here for convenience +/** + * @class ILoggable + * @brief Abstract class to manage logging + * @note We wan to make this as an interface class, but to handle enable flag, we made this as abstract class + */ class ILoggable { - // インターフェースにしたかったが、イネーブル周りの書き直しが面倒になるので - // 抽象クラスとします　多重継承してください public: - // csvのヘッダー行の文字列を取得する + /** + * @fn GetLogHeader + * @brief Get headers to write in CSV output file + * @return The headers + */ virtual std::string GetLogHeader() const = 0; - // csvの値行の文字列を取得する + /** + * @fn GetLogValue + * @brief Get values to write in CSV output file + * @return The output values + */ virtual std::string GetLogValue() const = 0; - bool IsLogEnabled = true; + bool IsLogEnabled = true; //!< Log enable flag }; diff --git a/src/Interface/LogOutput/Logger.cpp b/src/Interface/LogOutput/Logger.cpp index f0f3ace52..4d2ac9e72 100644 --- a/src/Interface/LogOutput/Logger.cpp +++ b/src/Interface/LogOutput/Logger.cpp @@ -1,3 +1,8 @@ +/** + * @file Logger.cpp + * @brief Class to manage log output file + */ + #include "Logger.h" #include diff --git a/src/Interface/LogOutput/Logger.h b/src/Interface/LogOutput/Logger.h index c645f73bd..204736b82 100644 --- a/src/Interface/LogOutput/Logger.h +++ b/src/Interface/LogOutput/Logger.h @@ -1,3 +1,8 @@ +/** + * @file Logger.h + * @brief Class to manage log output file + */ + #ifndef __LOGGER_H__ #define __LOGGER_H__ #define _CRT_SECURE_NO_WARNINGS @@ -8,33 +13,113 @@ #include "ILoggable.h" +/** + * @class Logger + * @brief Class to manage log output file + */ class Logger { public: + /** + * @fn Logger + * @brief Constructor + * @param [in] file_name: File name of the log output + * @param [in] data_path: Path to `data` directory + * @param [in] ini_file_name: Initialize file name + * @param [in] enable_inilog: Enable flag to save ini files + * @param [in] enable: Enable flag for logging + */ Logger(const std::string &file_name, const std::string &data_path, const std::string &ini_file_name, const bool enable_inilog, bool enable = true); + /** + * @fn ~Logger + * @brief Destructor + */ ~Logger(void); + /** + * @fn Write + * @brief Write string to the log + * @param [in] log: Write target + * @param [in] flag: Enable flag to write + */ void Write(std::string log, bool flag = true); + /** + * @fn AddLoggable + * @brief Add a loggable into the log list + * @param [in] loggable: loggable + */ void AddLoggable(ILoggable *loggable); + /** + * @fn ClearLoggable + * @brief Clear the log list + */ void ClearLoggables(); + + /** + * @fn WriteHeaders + * @brief Write all headers in the log list + * @param add_newline: Add newline or not + */ void WriteHeaders(bool add_newline = true); + /** + * @fn WriteValues + * @brief Write all values in the log list + * @param add_newline: Add newline or not + */ void WriteValues(bool add_newline = true); + /** + * @fn WriteNewline + * @brief Write newline + */ void WriteNewLine(); + + /** + * @fn IsEnabled + * @brief Return enable flag of the log + */ inline bool IsEnabled(); + /** + * @fn Enabled + * @brief Set enable flag of the log + */ inline void Enable(bool enable); + /** + * @fn CopyFileToLogDir + * @brief Copy a file (e.g., ini file) into the log directory + * @param [in] ini_file_name: The path to the target file to copy + */ void CopyFileToLogDir(const std::string &ini_file_name); + /** + * @fn GetLogPath + * @brief Return the path to the directory for log files + */ inline std::string GetLogPath() const; private: - std::ofstream csv_file_; - char registered_num_; - bool is_enabled_; - bool is_open_; - std::vector loggables_; - - bool is_enabled_inilog_; - bool is_success_make_dir_ = false; - std::string directory_path_; + std::ofstream csv_file_; //!< CSV file stream + char registered_num_; //!< Number of registered log? (Not used now. TODO: delete?) + bool is_enabled_; //!< Enable flag for logging + bool is_open_; //!< Is the CSV file opened? + std::vector loggables_; //!< Log list + + bool is_enabled_inilog_; //!< Enable flag to save ini files + bool is_success_make_dir_ = false; //!< Is success making a directory for log files + std::string directory_path_; //!< Path to the directory for log files + + /** + * @fn CreateDirectory + * @brief Create a directory to store the log files + * @param [in] data_path: Path to `data` directory + * @param[in] time: Time stamp (YYYYMMDD_hhmmss) + * @return Path to the created directory + */ std::string CreateDirectory(const std::string &data_path, const std::string &time); + + /** + * @fn GetFileName + * @brief Extract the file name from the name with directory path + * @param [in] path: Directory path including the file name + * @return The extracted file name + */ std::string GetFileName(const std::string &path); }; @@ -43,4 +128,5 @@ bool Logger::IsEnabled() { return is_enabled_; } void Logger::Enable(bool enable) { is_enabled_ = enable; } std::string Logger::GetLogPath() const { return directory_path_; } + #endif //__Logger_H__ From 99879e35ec714fb79fc426019a4b019625448146 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 15:54:57 +0100 Subject: [PATCH 041/199] Fix comments in InitLog --- src/Interface/LogOutput/InitLog.cpp | 5 +++ src/Interface/LogOutput/InitLog.hpp | 17 +++++++++ src/Interface/LogOutput/LogUtility.h | 56 +++++++++++++++++++++++++++- 3 files changed, 77 insertions(+), 1 deletion(-) diff --git a/src/Interface/LogOutput/InitLog.cpp b/src/Interface/LogOutput/InitLog.cpp index 048021ec3..cb715535d 100644 --- a/src/Interface/LogOutput/InitLog.cpp +++ b/src/Interface/LogOutput/InitLog.cpp @@ -1,3 +1,8 @@ +/** + * @file InitLog.cpp + * @brief Initialize function for Log output + */ + #include "InitLog.hpp" #include diff --git a/src/Interface/LogOutput/InitLog.hpp b/src/Interface/LogOutput/InitLog.hpp index b71dcd902..1a52219c6 100644 --- a/src/Interface/LogOutput/InitLog.hpp +++ b/src/Interface/LogOutput/InitLog.hpp @@ -1,6 +1,23 @@ +/** + * @file InitLog.hpp + * @brief Initialize function for Log output + */ + #pragma once #include +/** + * @fn InitLog + * @brief Initialize normal logger (default.csv) + * @param [in] file_name: File name of the log file + */ Logger* InitLog(std::string file_name); + +/** + * @fn InitLogMC + * @brief Initialize logger for Monte-Carlo simulation (mont.csv) + * @param [in] file_name: File name of the log file + * @param [in] enable: Enable flag for logging + */ Logger* InitLogMC(std::string file_name, bool enable); diff --git a/src/Interface/LogOutput/LogUtility.h b/src/Interface/LogOutput/LogUtility.h index f7cf1e4a1..975375b07 100644 --- a/src/Interface/LogOutput/LogUtility.h +++ b/src/Interface/LogOutput/LogUtility.h @@ -1,4 +1,9 @@ -#pragma once +/** + * @file LogUtility.h + * @brief Utility functions to support logging for users + */ + +#pragma once #include #include @@ -9,21 +14,70 @@ using libra::Matrix; using libra::Quaternion; using libra::Vector; +/** + * @fn WriteScalar + * @brief Write scalar value + * @param [in] scalar: scalar value + * @param [in] precision: precision for the value (number of digit) + */ template inline std::string WriteScalar(T scalar, int precision = 6); +/** + * @fn WriteScalar + * @brief Write header for scalar value + * @param [in] name: Name of the scalar value + * @param [in] unit: Unit of the scalar value + */ inline std::string WriteScalar(std::string name, std::string unit); +/** + * @fn WriteVector + * @brief Write Vector value + * @param [in] vec: vector value + * @param [in] precision: precision for the value (number of digit) + */ template inline std::string WriteVector(Vector vec, int precision = 6); +/** + * @fn WriteVector + * @brief Write header for vector value + * @param [in] name: Name of the vector value + * @param [in] frame: Frame of the vector value + * @param [in] unit: Unit of the vector value + * @param [in] n: Number of elements + */ inline std::string WriteVector(std::string name, std::string frame, std::string unit, size_t n); +/** + * @fn WriteMatrix + * @brief Write Matrix value + * @param [in] mat: matrix value + * @note TODO: add precision? + */ template inline std::string WriteMatrix(Matrix mat); +/** + * @fn WriteMatrix + * @brief Write header for matrix value + * @param [in] name: Name of the matrix value + * @param [in] frame: Frame of the matrix value + * @param [in] unit: Unit of the matrix value + * @param [in] r: Row length + * @param [in] c: Column length + */ inline std::string WriteMatrix(std::string name, std::string frame, std::string unit, size_t r, size_t c); +/** + * @fn WriteQuaternion + * @brief Write quaternion value + * @param [in] quat: Quaternion + * @note TODO: add function for headers? + */ inline std::string WriteQuaternion(Quaternion quat); +// // Libraries for log writing +// template std::string WriteScalar(T scalar, int precision) { std::stringstream str_tmp; From a641df55b35ec32b9218df7407766f6e2fe360f9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 16:04:36 +0100 Subject: [PATCH 042/199] Fix comments in TMTC --- src/Interface/SpacecraftInOut/TMTCDriver.cpp | 9 +++++++-- src/Interface/SpacecraftInOut/TMTCDriver.h | 17 +++++++++++------ .../SpacecraftInOut/Utils/ITCTMChannel.h | 12 ++++++++++-- 3 files changed, 28 insertions(+), 10 deletions(-) diff --git a/src/Interface/SpacecraftInOut/TMTCDriver.cpp b/src/Interface/SpacecraftInOut/TMTCDriver.cpp index 7a8e00ced..0825655e6 100644 --- a/src/Interface/SpacecraftInOut/TMTCDriver.cpp +++ b/src/Interface/SpacecraftInOut/TMTCDriver.cpp @@ -1,3 +1,8 @@ +/** + * @file TMTCDriver.cpp + * @brief Driver of TMTC + */ + #include "TMTCDriver.h" typedef cli::array arr; @@ -9,7 +14,7 @@ void TMTCDriver::Initialize() { ChannelFactory ^ pipeFactory = gcnew ChannelFactory(gcnew NetNamedPipeBinding(), gcnew EndpointAddress("net.pipe://localhost/TMTC_SILS")); tctm_if_ = pipeFactory->CreateChannel(); - tctm_if_->Cmd_to_SILS(); // 試し送信 つながってなかったらこれで例外吐く + tctm_if_->Cmd_to_SILS(); // Try to send } catch (Exception ^) { // Console::WriteLine("Failed to connect GSTOS interface..."); tctm_if_ = nullptr; @@ -26,7 +31,7 @@ void TMTCDriver::ReceiveCommand() { try { cmdbuf = tctm_if_->Cmd_to_SILS(); } catch (Exception ^) { - // 1回でも失敗したら、以後GSTOSとの通信を試みない（それで良いの？） + // Never try communication only one fail (Fixme?) tctm_if_ = nullptr; return; } diff --git a/src/Interface/SpacecraftInOut/TMTCDriver.h b/src/Interface/SpacecraftInOut/TMTCDriver.h index 9accc82e3..acf168da0 100644 --- a/src/Interface/SpacecraftInOut/TMTCDriver.h +++ b/src/Interface/SpacecraftInOut/TMTCDriver.h @@ -1,3 +1,8 @@ +/** + * @file TMTCDriver.h + * @brief Driver of TMTC + */ + #pragma once //#include "../../../stdafx.h" #include "SCIDriver.h" @@ -7,12 +12,12 @@ using namespace System; using namespace System::ServiceModel; using namespace System::ServiceModel::Channels; -// SILS_GSTOS_IFとプロセス間通信を行い、 -// ・テレメの送信（搭載ソフトが生成していれば） -// ・コマンドの受信（GSTOSから送られてきていれば） -// を行うクラス -// IPCのためにマネージドなクラスにしたが……なんとかなった -// gcrootを使うことでネイティブなクラスでの利用も可能 +/** + * @class TMTCDriver + * @brief Driver of TMTC + * @details Execute the process communication with SILS_GSTOS_IF to send telemetry and receive command + * @details Managed class for IPC. You can use as a native class by using gcroot. + */ ref class TMTCDriver { public: TMTCDriver(int port_id); diff --git a/src/Interface/SpacecraftInOut/Utils/ITCTMChannel.h b/src/Interface/SpacecraftInOut/Utils/ITCTMChannel.h index a3c809961..9afcb38c3 100644 --- a/src/Interface/SpacecraftInOut/Utils/ITCTMChannel.h +++ b/src/Interface/SpacecraftInOut/Utils/ITCTMChannel.h @@ -1,7 +1,15 @@ -#pragma once -using namespace System; +/** + * @file ITCTMChannel.h + * @brief + */ + +#pragma once using namespace System; using namespace System::ServiceModel; +/** + * @class ITCTMChannel.h + * @brief + */ [ServiceContract] interface class ITCTMChannel { [OperationContract] cli::array ^ Cmd_to_SILS(); From cf123121a72f59f36eefb1133430986c15053772 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Dec 2022 16:15:38 +0100 Subject: [PATCH 043/199] Fix comments in RingBuffer --- .../SpacecraftInOut/Utils/RingBuffer.cpp | 10 ++--- .../SpacecraftInOut/Utils/RingBuffer.h | 42 +++++++++++++++++-- 2 files changed, 44 insertions(+), 8 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Utils/RingBuffer.cpp b/src/Interface/SpacecraftInOut/Utils/RingBuffer.cpp index 0c0817a36..a7e9f5e40 100644 --- a/src/Interface/SpacecraftInOut/Utils/RingBuffer.cpp +++ b/src/Interface/SpacecraftInOut/Utils/RingBuffer.cpp @@ -1,3 +1,8 @@ +/** + * @file RingBuffer.cpp + * @brief Class to emulate ring buffer + */ + #include "RingBuffer.h" #include @@ -13,8 +18,6 @@ RingBuffer::RingBuffer(int bufSize) : kBufferSize(bufSize) { RingBuffer::~RingBuffer() { delete[] buf_; } -// Write count bytes from offset byte of the buffer to the RingBuffer -// Returns the number of bytes written int RingBuffer::Write(byte* buffer, int offset, int count) { int write_count = 0; while (write_count != count) { @@ -27,13 +30,10 @@ int RingBuffer::Write(byte* buffer, int offset, int count) { return write_count; } -// Read only count bytes from the offset byte of the buffer -// Return the number of bytes read int RingBuffer::Read(byte* buffer, int offset, int count) { int read_count = 0; // There are four behaviors depending on whether the RP overtakes the WP, or // whether all of the RP to the WP are requested by count. - // (RPがWPを追い越しているか、countでRPからWPまで全て要求されているかどうかにより、4通りの挙動) while (read_count != count && wp_ != rp_) { int read_len = (wp_ > rp_) ? std::min(wp_ - rp_, count - read_count) : std::min(kBufferSize - rp_, count - read_count); memcpy(&buffer[offset + read_count], &buf_[rp_], read_len); diff --git a/src/Interface/SpacecraftInOut/Utils/RingBuffer.h b/src/Interface/SpacecraftInOut/Utils/RingBuffer.h index 2344110ce..abcdf5139 100644 --- a/src/Interface/SpacecraftInOut/Utils/RingBuffer.h +++ b/src/Interface/SpacecraftInOut/Utils/RingBuffer.h @@ -1,16 +1,52 @@ +/** + * @file RingBuffer.h + * @brief Class to emulate ring buffer + */ + #pragma once typedef unsigned char byte; +/** + * @class RingBuffer + * @brief Class to emulate ring buffer + */ class RingBuffer { public: + /** + * @fn RingBuffer + * @brief Constructor + * @param [in] bufSize: Buffer size + */ RingBuffer(int bufSize); + /** + * @fn ~RingBuffer + * @brief Destructor + */ ~RingBuffer(); + + /** + * @fn Write + * @brief Write data of (buffer[offset] to buffer[offset + count]) to the ring buffer's write pointer + * @param [in] buffer: Data + * @param [in] offset: Data offset for buffer + * @param [in] count: Data length for buffer + * @return Number of bytes written + */ int Write(byte* buffer, int offset, int count); + /** + * @fn Read + * @brief Read data at the read pointer of the ring buffer and store the data to the buffer[offset] to buffer[offset + count] + * @param [in] buffer: Data + * @param [in] offset: Data offset for buffer + * @param [in] count: Data length for buffer + * @return Number of bytes read + */ int Read(byte* buffer, int offset, int count); private: - const int kBufferSize; - byte* buf_; - int rp_, wp_; + const int kBufferSize; //!< Buffer size + byte* buf_; //!< Buffer + int rp_; //!< Read pointer + int wp_; //!< Write pointer }; From 13d4b7e2babcbec8782121761c2d5581c4455d84 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 10:36:48 +0100 Subject: [PATCH 044/199] Fix comment in GPIO --- .../SpacecraftInOut/Ports/GPIOPort.cpp | 7 +++- .../SpacecraftInOut/Ports/GPIOPort.h | 38 +++++++++++++++++-- 2 files changed, 41 insertions(+), 4 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Ports/GPIOPort.cpp b/src/Interface/SpacecraftInOut/Ports/GPIOPort.cpp index 221b0d57c..a3a4b596e 100644 --- a/src/Interface/SpacecraftInOut/Ports/GPIOPort.cpp +++ b/src/Interface/SpacecraftInOut/Ports/GPIOPort.cpp @@ -1,3 +1,8 @@ +/** + * @file GPIOPort.cpp + * @brief Class to emulate GPIO(General Purpose Input and Output) port + */ + #include "GPIOPort.h" GPIOPort::GPIOPort(int port_id, IGPIOCompo* compo) : kPortId(port_id) { @@ -9,7 +14,7 @@ GPIOPort::~GPIOPort() {} int GPIOPort::DigitalWrite(bool isHigh) { if (hl_state_ != isHigh) { - // HIGH/LOWに変化があったら、割り込み関数を呼ぶ + // Call interaction function when detecting the change of the HIGH/LOW state if (component_ != nullptr) { component_->GPIOStateChanged(kPortId, isHigh); } diff --git a/src/Interface/SpacecraftInOut/Ports/GPIOPort.h b/src/Interface/SpacecraftInOut/Ports/GPIOPort.h index ef55fddc7..61a8bc78f 100644 --- a/src/Interface/SpacecraftInOut/Ports/GPIOPort.h +++ b/src/Interface/SpacecraftInOut/Ports/GPIOPort.h @@ -1,18 +1,50 @@ +/** + * @file GPIOPort.h + * @brief Class to emulate GPIO(General Purpose Input and Output) port + */ + #pragma once #include #define GPIO_HIGH true #define GPIO_LOW false +/** + * @class GPIOPort + * @brief Class to emulate GPIO(General Purpose Input and Output) port + */ class GPIOPort { public: + /** + * @fn GPIOPort + * @brief Constructor + * @param [in] port_id_: ID of the GPIO port + * @param [in] compo: Component which has the GPIO port + */ GPIOPort(int port_id_, IGPIOCompo* compo = nullptr); + /** + * @fn ~GPIOPort + * @brief Destructor + */ ~GPIOPort(); + + /** + * @fn DigitalWrite + * @brief Change the GPIO state + * @param [in] isHigh: Use GPIO_HIGH or GPIO_LOW + * @return always zero + */ int DigitalWrite(bool isHigh); + + /** + * @fn DigitalRead + * @brief Read the GPIO state + * @return GPIO_HIGH or GPIO_LOW + */ bool DigitalRead(); private: - const int kPortId; - IGPIOCompo* component_; - bool hl_state_; + const int kPortId; //!< Port ID + IGPIOCompo* component_; //!< Component which has the GPIO port + bool hl_state_; //!< GPIO High/Low state }; From 51ca1f93d9b428b3ab1cbc6f7db38f2d3a969710 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 11:13:27 +0100 Subject: [PATCH 045/199] Fix comment in PowerPort --- .../SpacecraftInOut/Ports/PowerPort.cpp | 10 +- .../SpacecraftInOut/Ports/PowerPort.h | 107 ++++++++++++++++-- 2 files changed, 102 insertions(+), 15 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Ports/PowerPort.cpp b/src/Interface/SpacecraftInOut/Ports/PowerPort.cpp index d797fafb9..8d78da6d8 100644 --- a/src/Interface/SpacecraftInOut/Ports/PowerPort.cpp +++ b/src/Interface/SpacecraftInOut/Ports/PowerPort.cpp @@ -1,8 +1,12 @@ +/** + * @file PowerPort.cpp + * @brief Class to emulate electrical power port + */ + #include "PowerPort.h" #include -// Default constructor for users who don't want to use this feature PowerPort::PowerPort() : kPortId(-1), current_limit_(10.0), minimum_voltage_(3.3), assumed_power_consumption_(0.0) { is_on_ = true; // power on to work the component Initialize(); @@ -34,7 +38,7 @@ bool PowerPort::Update(void) { current_consumption_ = 0.0; is_on_ = false; } - // over curret protection + // over current protection if (current_consumption_ >= (current_limit_ - DBL_EPSILON)) { current_consumption_ = 0.0; voltage_ = 0.0; @@ -53,4 +57,4 @@ void PowerPort::SubtractAssumedPowerConsumption(const double power) { assumed_power_consumption_ -= power; if (assumed_power_consumption_ < 0.0) assumed_power_consumption_ = 0.0; return; -} \ No newline at end of file +} diff --git a/src/Interface/SpacecraftInOut/Ports/PowerPort.h b/src/Interface/SpacecraftInOut/Ports/PowerPort.h index 17c2168f2..060aebabe 100644 --- a/src/Interface/SpacecraftInOut/Ports/PowerPort.h +++ b/src/Interface/SpacecraftInOut/Ports/PowerPort.h @@ -1,43 +1,126 @@ +/** + * @file PowerPort.h + * @brief Class to emulate electrical power port + */ + #pragma once +/** + * @class PowerPort + * @brief Class to emulate electrical power port + * @details When the power switch is turned off, the component doesn't work same with the real world. + */ class PowerPort { public: + /** + * @fn PowerPort + * @brief Default Constructor for users who don't want to use this feature + * @note The power switch is turned on with the default parameters + */ PowerPort(); + /** + * @fn PowerPort + * @brief Constructor + * @param [in] port_id: ID of the power port + * @param [in] current_Limit: Threshold to detect over current [A] + */ PowerPort(int port_id, double current_Limit); + /** + * @fn PowerPort + * @brief Constructor + * @param [in] port_id: ID of the power port + * @param [in] current_Limit: Threshold to detect over current [A] + * @param [in] minimum_voltage: Minimum voltage to work the component [V] + * @param [in] assumed_power_consumption: Assumed power consumption of the component [W] + */ PowerPort(int port_id, double current_Limit, double minimum_voltage, double assumed_power_consumption); + /** + * @fn ~PowerPort + * @brief Destructor + */ ~PowerPort(); - bool Update(void); // return is_on_ + /** + * @fn Update + * @brief Update the power state considering the over current + * @return Power switch state + */ + bool Update(void); // Getters + /** + * @fn GetVoltage + * @brief Return the voltage of this power line [V] + */ inline double GetVoltage(void) const { return voltage_; } + /** + * @fn GetCurrentConsumption + * @brief Return the current consumption of this power line [A] + */ inline double GetCurrentConsumption() const { return current_consumption_; } + /** + * @fn GetAssumedPowerConsumption + * @brief Return the assumed power consumption of this power line [W] + */ inline double GetAssumedPowerConsumption() const { return assumed_power_consumption_; } + /** + * @fn GetIsOn + * @brief Return the power switch state + */ inline bool GetIsOn() const { return is_on_; } // Setters - bool SetVoltage(const double voltage); // return is_on_ + /** + * @fn SetVoltage + * @brief Set voltage to control the power switch state + * @return Power switch state + */ + bool SetVoltage(const double voltage); + /** + * @fn SetAssumedPowerConsumption + * @brief Set assumed power consumption [W] + * @note Users can use this function to change the power consumption of the component depending on the execution state. + */ inline void SetAssumedPowerConsumption(const double power) { assumed_power_consumption_ = power; } + /** + * @fn SetMinimumVoltage + * @brief Set minimum voltage to work the component [V] + */ inline void SetMinimumVoltage(const double minimum_voltage) { minimum_voltage_ = minimum_voltage; } + /** + * @fn SetCurrentLimit + * @brief Set threshold to detect over current [A] + */ inline void SetCurrentLimit(const double current_limit) { current_limit_ = current_limit; } // Others - inline void AddAssumedPowerConsumption(const double power) { assumed_power_consumption_ += power; } // for power line which has multiple loads - void SubtractAssumedPowerConsumption(const double power); // for power line which has multiple loads + /** + * @fn AddAssumedPowerConsumption + * @brief Add assumed power consumption [W] to emulate power line which has multiple loads + */ + inline void AddAssumedPowerConsumption(const double power) { assumed_power_consumption_ += power; } + /** + * @fn SubtractAssumedPowerConsumption + * @brief Subtract assumed power consumption [W] to emulate power line which has multiple loads + */ + void SubtractAssumedPowerConsumption(const double power); private: // PCU setting parameters - const int kPortId; - double current_limit_; // [A] for Over Current Protection + const int kPortId; //!< ID of the power port + double current_limit_; //!< Threshold to detect over current [A] // Components setting parameters - double minimum_voltage_; // [V] Minimum voltage for power on - double assumed_power_consumption_; // [W] Assumed power consumption when the - // switch is turned on + double minimum_voltage_; //!< Minimum voltage to work the component [V] + double assumed_power_consumption_; //!< Assumed power consumption of the component [W] - double voltage_; // [V] - double current_consumption_; // calculated by I = P/V[A] - bool is_on_; + double voltage_; //!< Voltage of the power line[V] + double current_consumption_; //!< Current consumption calculated by I = P/V[A] + bool is_on_; //!< Power switch state + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(void); }; From a2f792ea8e883efcb9220f6361f2f3f22578653e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 13:06:28 +0100 Subject: [PATCH 046/199] Fix comment in I2CPort --- .../SpacecraftInOut/Ports/I2CPort.cpp | 3 +- src/Interface/SpacecraftInOut/Ports/I2CPort.h | 89 +++++++++++++++++-- 2 files changed, 82 insertions(+), 10 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Ports/I2CPort.cpp b/src/Interface/SpacecraftInOut/Ports/I2CPort.cpp index 716055d0c..999d82a18 100644 --- a/src/Interface/SpacecraftInOut/Ports/I2CPort.cpp +++ b/src/Interface/SpacecraftInOut/Ports/I2CPort.cpp @@ -72,8 +72,7 @@ unsigned char I2CPort::WriteCommand(const unsigned char i2c_addr, const unsigned WriteRegister(i2c_addr, tx_data[0]); } - if (length == 2) // length ==2 means setting specific register. FIXME: this - // rule is not general. + if (length == 2) // length ==2 means setting specific register. FIXME: this rule is not general. { WriteRegister(i2c_addr, tx_data[0], tx_data[1]); } diff --git a/src/Interface/SpacecraftInOut/Ports/I2CPort.h b/src/Interface/SpacecraftInOut/Ports/I2CPort.h index f234fb94d..c08df445a 100644 --- a/src/Interface/SpacecraftInOut/Ports/I2CPort.h +++ b/src/Interface/SpacecraftInOut/Ports/I2CPort.h @@ -1,35 +1,108 @@ +/** + * @file I2CPort.h + * @brief Class to emulate I2C(Inter-Integrated Circuit) communication port + */ + #pragma once #include -const int kDefaultCmdBufferSize = 0xff; +const int kDefaultCmdBufferSize = 0xff; //!< Default command buffer size +/** + * @class I2CPort + * @brief Class to emulate I2C(Inter-Integrated Circuit) communication port + * @details The class has the register to store the parameters + */ class I2CPort { public: + /** + * @fn I2CPort + * @brief Default Constructor. Nothing happened. + */ I2CPort(void); + /** + * @fn I2CPort + * @brief Constructor. Just set the max_register_number. + * @param [in] max_register_number: Maximum register number + */ I2CPort(const unsigned char max_register_number); + /** + * @fn RegisterDevice + * @brief Register the device as an I2C port. + * @param [in] i2c_address: I2C address + */ void RegisterDevice(const unsigned char i2c_addr); + /** + * @fn WriteRegister + * @brief Set the register address to write a value in the next step + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address to write a value in the next step + * @return Return zero when an error is happened. + */ int WriteRegister(const unsigned char i2c_addr, const unsigned char reg_addr); + /** + * @fn WriteRegister + * @brief Write a value in the target device's register + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [in] value: 1 Byte value + * @return Return zero when an error is happened. + */ int WriteRegister(const unsigned char i2c_addr, const unsigned char reg_addr, const unsigned char value); - // int WriteRegister(const unsigned char i2c_addr, const unsigned char - // reg_addr, float value); // TODO 動作確認 + /** + * @fn WriteRegister + * @brief Write a value in the target device's register + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [in] value: float value + */ + // int WriteRegister(const unsigned char i2c_addr, const unsigned char reg_addr, float value); // TODO Check this works well + /** + * @fn ReadRegister + * @brief Read the register value of the target device. The register address is used as the previous accessed address + * @param [in] i2c_addr: I2C address of the target device + * @return Read data + */ unsigned char ReadRegister(const unsigned char i2c_addr); + /** + * @fn ReadRegister + * @brief Read the register value of the target device. + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @return Read data + */ unsigned char ReadRegister(const unsigned char i2c_addr, const unsigned char reg_addr); // OBC->Component Command emulation + /** + * @fn WriteCommand + * @brief Write command requested from an OBC to the component + * @param [in] i2c_addr: I2C address of the target device + * @param [in] tx_data: data from the OBC + * @param [in] length: length of the tx_data + * @return Length or zero when an error happened + */ unsigned char WriteCommand(const unsigned char i2c_addr, const unsigned char* tx_data, const unsigned char length); + /** + * @fn ReadCommand + * @brief Read command requested from an OBC to the component + * @param [in] i2c_addr: I2C address of the target device + * @param [in] rx_data: Data to the OBC + * @param [in] length: Length of the tx_data + * @return Length or zero when an error happened + */ unsigned char ReadCommand(const unsigned char i2c_addr, unsigned char* rx_data, const unsigned char length); private: - unsigned char max_register_number_ = 0xff; - unsigned char saved_reg_addr_ = 0x00; + unsigned char max_register_number_ = 0xff; //!< Maximum register number + unsigned char saved_reg_addr_ = 0x00; //!< Saved register address - // + /** @brief Device register: **/ std::map, unsigned char> device_registers_; - // OBC->Component Command emulation i2c_address, buffer_ - // + /** @brief Buffer for the command from OBC : **/ std::map, unsigned char> cmd_buffer_; }; From e47bec35e00850935181353aca5831d2c1e666a8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 13:21:35 +0100 Subject: [PATCH 047/199] Fix comment in SCIPort --- .../SpacecraftInOut/Ports/SCIPort.cpp | 5 ++ src/Interface/SpacecraftInOut/Ports/SCIPort.h | 71 ++++++++++++++++--- 2 files changed, 66 insertions(+), 10 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Ports/SCIPort.cpp b/src/Interface/SpacecraftInOut/Ports/SCIPort.cpp index 2d4798735..473d89151 100644 --- a/src/Interface/SpacecraftInOut/Ports/SCIPort.cpp +++ b/src/Interface/SpacecraftInOut/Ports/SCIPort.cpp @@ -1,3 +1,8 @@ +/** + * @file SCIPort.cpp + * @brief Class to emulate SCI(Serial Communication Interface) communication port + */ + #include "SCIPort.h" SCIPort::SCIPort() : SCIPort(kDefaultBufferSize, kDefaultBufferSize) {} diff --git a/src/Interface/SpacecraftInOut/Ports/SCIPort.h b/src/Interface/SpacecraftInOut/Ports/SCIPort.h index 59b2c0fbc..09c00e761 100644 --- a/src/Interface/SpacecraftInOut/Ports/SCIPort.h +++ b/src/Interface/SpacecraftInOut/Ports/SCIPort.h @@ -1,27 +1,78 @@ -#pragma once +/** + * @file SCIPort.h + * @brief Class to emulate SCI(Serial Communication Interface) communication port + */ +#pragma once #include "../Utils/RingBuffer.h" /** - * SCI(Serial Communication Interface) port. - * Compatible with anything that performs data communication (UART, I2C, SPI). - * The distinction of the area should be done where the upper port ID is - * assigned + * @class SCIPort + * @brief Class to emulate SCI(Serial Communication Interface) communication port + * @details Compatible with anything that performs data communication (UART, I2C, SPI). + * The distinction of the area should be done where the upper port ID is assigned. */ class SCIPort { public: + /** + * @fn SCIPort + * @brief Default Constructor. Initialized as default settings. + */ SCIPort(); + /** + * @fn SCIPort + * @brief Constructor + * @param [in] rx_buf_size: RX(Component -> OBC) buffer size + * @param [in] tx_buf_size: TX(OBC -> Component) buffer size + */ SCIPort(int rx_buf_size, int tx_buf_size); + /** + * @fn ~SCIPort + * @brief Destructor + */ ~SCIPort(); + + /** + * @fn WriteTx + * @brief Write data to the TX buffer from OBC to Component + * @param [in] buffer: Data buffer to write + * @param [in] offset: Start offset of the buffer to write (usually zero) + * @param [in] count: Length of the data to write + * @return Number of written byte + */ int WriteTx(unsigned char* buffer, int offset, int count); + /** + * @fn WriteRx + * @brief Write data to the RX buffer from Component to OBC + * @param [in] buffer: Data buffer to write + * @param [in] offset: Start offset of the buffer to write (usually zero) + * @param [in] count: Length of the data to write + * @return Number of written byte + */ int WriteRx(unsigned char* buffer, int offset, int count); + + /** + * @fn ReadTx + * @brief Read data from the TX buffer by Component + * @param [in] buffer: Data buffer to stored the read data + * @param [in] offset: Start offset of the buffer to read (usually zero) + * @param [in] count: Length of the data to read + * @return Number of read byte + */ int ReadTx(unsigned char* buffer, int offset, int count); + /** + * @fn ReadRx + * @brief Read data from the TX buffer by OBC + * @param [in] buffer: Data buffer to stored the read data + * @param [in] offset: Start offset of the buffer to read (usually zero) + * @param [in] count: Length of the data to read + * @return Number of read byte + */ int ReadRx(unsigned char* buffer, int offset, int count); private: - const static int kDefaultBufferSize = 1024; - RingBuffer* rxb_; /// Reception from the viewpoint of on-board software - /// (transmission from simulated component) - RingBuffer* txb_; /// Transmission from the viewpoint of the installed - /// software (reception from the simulated component) + const static int kDefaultBufferSize = 1024; //!< Default buffer size + + RingBuffer* rxb_; //!< Receive buffer (Component -> OBC) + RingBuffer* txb_; //!< Transmit buffer (OBC -> Component) }; From f4cfaf253f8aafae2323f4d6f8f8cb41034a42f0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 13:53:25 +0100 Subject: [PATCH 048/199] Fix comment in ComPortInterface --- src/Interface/HilsInOut/ComPortInterface.cpp | 41 +++++---- src/Interface/HilsInOut/ComPortInterface.h | 87 +++++++++++++++++--- 2 files changed, 95 insertions(+), 33 deletions(-) diff --git a/src/Interface/HilsInOut/ComPortInterface.cpp b/src/Interface/HilsInOut/ComPortInterface.cpp index 56d1eeebb..af5bc4876 100644 --- a/src/Interface/HilsInOut/ComPortInterface.cpp +++ b/src/Interface/HilsInOut/ComPortInterface.cpp @@ -1,50 +1,51 @@ +/** + * @file ComPortInterface.cpp + * @brief Class to manage PC's COM port + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * Reference: https://docs.microsoft.com/ja-jp/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 + */ + #include "ComPortInterface.h" ComPortInterface::ComPortInterface(int port_id, int baudrate, unsigned int tx_buffer_size, unsigned int rx_buffer_size) : kPortId(port_id), kPortName(PortName(port_id)), kBaudRate(baudrate), kTxBufferSize(tx_buffer_size), kRxBufferSize(rx_buffer_size) { - // Managed配列を確保 + // Allocate managed memory tx_buf_ = gcnew bytearray(kTxBufferSize); rx_buf_ = gcnew bytearray(kRxBufferSize); - // TODO: コンストラクタの中でInitialize関数を呼ぶかは要検討。 - // 今のところポートを開けたいタイミングでInitializeを読んでもらう設計思想。 - // int ret = Initialize(); + // int ret = Initialize(); // TODO: Consider to call the Initialize function here. } ComPortInterface::~ComPortInterface() { - // gcnewで確保したメモリは明示的にdeleteしなくてよい。 + // We don't need to delete the memory allocated by gcnew } -// COMポート番号（4）からCOMポート名（"COM4"）へ変換する静的メソッド std::string ComPortInterface::PortName(int port_id) { return "COM" + std::to_string(port_id); } int ComPortInterface::Initialize() { try { - // ポートを初期設定 + // Initial setting port_ = gcnew IO::Ports::SerialPort(msclr::interop::marshal_as(kPortName), kBaudRate); } catch (IO::IOException ^ e) { - // ポート初期設定失敗 + // Fault initial setting return -1; } - // ポートを開く。 + // Open the port try { OpenPort(); - // エラーの詳細は以下を参照： + // Reference of errors： // https://docs.microsoft.com/en-us/dotnet/api/system.io.ports.serialport.open?view=netframework-4.7.2 } catch (UnauthorizedAccessException ^ e) { - // Access is denied to the port. - // or + // Access is denied to the port. or // The current process, or another process on the system, already has the - // specified COM port open either by a SerialPort instance or in unmanaged - // code. + // specified COM port open either by a SerialPort instance or in unmanaged code. return -2; } catch (ArgumentOutOfRangeException ^ e) { // One or more of the properties for this instance are invalid. return -3; } catch (ArgumentException ^ e) { - // The port name does not begin with "COM". - // or + // The port name does not begin with "COM". or // The file type of the port is not supported. return -4; } catch (IO::IOException ^ e) { @@ -74,8 +75,7 @@ int ComPortInterface::OpenPort() { } int ComPortInterface::Send(unsigned char *buffer, size_t offset, size_t count) { - Marshal::Copy((IntPtr)(buffer + offset), tx_buf_, 0, - count); // 一旦マネージドメモリへコピー + Marshal::Copy((IntPtr)(buffer + offset), tx_buf_, 0, count); // Copy to managed memory try { port_->Write(tx_buf_, 0, count); } catch (Exception ^ e) { @@ -88,8 +88,7 @@ int ComPortInterface::Send(unsigned char *buffer, size_t offset, size_t count) { int ComPortInterface::Receive(unsigned char *buffer, size_t offset, size_t count) { try { int received_bytes = port_->Read(rx_buf_, 0, count); - Marshal::Copy(rx_buf_, 0, (IntPtr)(buffer + offset), - count); // マネージドメモリから引数のメモリへコピー + Marshal::Copy(rx_buf_, 0, (IntPtr)(buffer + offset), count); // Copy from managed memory return received_bytes; } catch (Exception ^ e) { return 0; @@ -101,7 +100,7 @@ int ComPortInterface::BytesToRead() { try { bytes2read = port_->BytesToRead; } catch (Exception ^ e) { - // ポートが開いていなかった + // Port is not opened return -1; } return bytes2read; // port_->BytesToRead; diff --git a/src/Interface/HilsInOut/ComPortInterface.h b/src/Interface/HilsInOut/ComPortInterface.h index 54addc9a7..45287737d 100644 --- a/src/Interface/HilsInOut/ComPortInterface.h +++ b/src/Interface/HilsInOut/ComPortInterface.h @@ -1,40 +1,103 @@ +/** + * @file ComPortInterface.h + * @brief Class to manage PC's COM port + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * Reference: https://docs.microsoft.com/ja-jp/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 + */ + #pragma once -// For multi-platform support, we have to modify the dependencies #include #include #include #include -// SerialPort Classリファレンス： -// https://docs.microsoft.com/ja-jp/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 - using namespace System; using namespace System::Runtime::InteropServices; typedef cli::array bytearray; +/** + * @class ComPortInterface + * @brief Class to manage PC's COM port + */ class ComPortInterface { public: + /** + * @fn ComPortInterface + * @brief Constructor. This function doesn't open the COM port. Users need to call Initialize function after. + * @param [in] port_id: COM port ID + * @param [in] baudrate: Baudrate of the COM port + * @param [in] tx_buffer_size: TX buffer size + * @param [in] rx_buffer_size: RX buffer size + */ ComPortInterface(int port_id, int baudrate, unsigned int tx_buffer_size, unsigned int rx_buffer_size); + /** + * @fn ~ComPortInterface + * @brief Deconstructor. + */ ~ComPortInterface(); + + /** + * @fn PortName + * @brief Convert port id to port name + * @param [in] port_id: Port ID like 4 + * @return Port name like "COM4" + */ static std::string PortName(int port_id); + + /** + * @fn Initialize + * @brief Open and initialize the COM port + */ int Initialize(); + /** + * @fn Finalize + * @brief Close and finalize the COM port + */ int Finalize(); + + /** + * @fn Send + * @brief Send data to COM port + * @param [in] buffer: Data buffer to send + * @param [in] offset: Start offset for the data buffer to send + * @param [in] count: Length of data to send + * @return 0: success, -1: error + */ int Send(unsigned char *buffer, size_t offset, size_t count); + /** + * @fn Receive + * @brief Receive data from COM port + * @param [in] buffer: Data buffer to send + * @param [in] offset: Start offset for the data buffer to send + * @param [in] count: Length of data to send + * @return received data length: success, 0: error + */ int Receive(unsigned char *buffer, size_t offset, size_t count); + + /** + * @fn DiscardInBuffer + * @brief Discard buffer + */ int DiscardInBuffer(); - const size_t kTxBufferSize; - const size_t kRxBufferSize; + /** + * @fn BytesToRead + * @brief Get length of byte to read + * @return Length of byte to read or -1 when error happened + */ int BytesToRead(); - const std::string kPortName; - const int kPortId; - const int kBaudRate; + + const size_t kTxBufferSize; //!< TX buffer size + const size_t kRxBufferSize; //!< RX buffer size + const std::string kPortName; //!< Port name like "COM4" + const int kPortId; //!< Port ID like 4 for "COM4" + const int kBaudRate; // port_; + msclr::gcroot port_; //!< Port // Byte tx_buf_[kTxBufferSize]; // Byte rx_buf_[kRxBufferSize]; - msclr::gcroot tx_buf_; - msclr::gcroot rx_buf_; + msclr::gcroot tx_buf_; //!< TX Buffer + msclr::gcroot rx_buf_; //!< RX Buffer }; From 5323a001139cf37c69a66f0b308ccfdf00bd5844 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:05:15 +0100 Subject: [PATCH 049/199] Fix comment in COSMOS_TCP_IF --- src/Interface/HilsInOut/COSMOS_TCP_IF.cpp | 36 ++++++++-------- src/Interface/HilsInOut/COSMOS_TCP_IF.h | 52 ++++++++++++++++++----- 2 files changed, 61 insertions(+), 27 deletions(-) diff --git a/src/Interface/HilsInOut/COSMOS_TCP_IF.cpp b/src/Interface/HilsInOut/COSMOS_TCP_IF.cpp index df2ff3e79..60b92917a 100644 --- a/src/Interface/HilsInOut/COSMOS_TCP_IF.cpp +++ b/src/Interface/HilsInOut/COSMOS_TCP_IF.cpp @@ -1,63 +1,65 @@ +/** + * @file COSMOS_TCP_IF.cpp + * @brief TCP interface to communicate with COSMOS software + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * @note This file is very old and recently not managed well... + */ + #include "COSMOS_TCP_IF.h" -// TCP通信に関しての参考URL -// - http://www.geocities.jp/playtown1056/program/index.htm // -// 2019/3/31以降閲覧不可能 -// - +// References for TCP communication (Written in Japanese) // https://web.archive.org/web/20181106125907/http://www.geocities.jp/playtown1056/program/index.htm -// // 上記Webページのアーカイブ -// - https://www.sbcr.jp/books/img/Linuxnet_02.pdf COSMOS_TCP_IF::COSMOS_TCP_IF() : kPortNum(COSMOS_TCP_PORT_DEFAULT) { is_connected_ = false; } COSMOS_TCP_IF::COSMOS_TCP_IF(unsigned short port_num, const char *server_ip) : kPortNum(port_num), kServerIP(server_ip) { is_connected_ = false; } COSMOS_TCP_IF::~COSMOS_TCP_IF() { - closesocket(sock_); // 忘れないように一応ここでも。 + closesocket(sock_); // Not to forget WSACleanup(); } int COSMOS_TCP_IF::Initialize() { int ret; - // Windowsの場合 + // Windows WSADATA data; - // winsock2の初期化 + // Initialize winsock2 ret = WSAStartup(MAKEWORD(2, 0), &data); if (ret != 0) { printf("WSAStartupに失敗しました。\n"); return ret; } - // ソケット設定 + // Setting socket sock_ = socket(AF_INET, SOCK_STREAM, 0); - // サーバー側の設定 + // Setting server server_.sin_family = AF_INET; server_.sin_port = htons(10005); - // サーバーのIPアドレスをlocalhost のアドレスに設定 + // Setting IP address of server as localhost address const char *ip = kServerIP.c_str(); server_.sin_addr.s_addr = inet_addr(ip); if (server_.sin_addr.s_addr == 0xffffffff) { struct hostent *host; - // 名前( DNS がつけた名前 )から IP をひく + // Get IP from name (named by DSN) host = gethostbyname(ip); if (host == NULL) { return 1; } - // host から IP( 32 bit )を取得可能. + // Possible to get 32 bit IP from the host server_.sin_addr.s_addr = *(unsigned int *)host->h_addr_list[0]; } - // サーバーに接続 + // Connect server ret = connect(sock_, (struct sockaddr *)&server_, sizeof(server_)); if (ret != 0) { printf("COSMOSサーバーとの接続に失敗しました。\n"); return ret; } else { - // 接続できた場合 + // Success to connect is_connected_ = true; printf("COSMOSサーバーとの接続に成功しました\n"); return 0; @@ -68,7 +70,7 @@ void COSMOS_TCP_IF::SendString(std::string str) { if (!is_connected_) return; std::string ret = str + ENDOFMSG; - // COSMOSに文字列を送信する。 + // Send string to COSMOS send(sock_, ret.c_str(), ret.length(), 0); } diff --git a/src/Interface/HilsInOut/COSMOS_TCP_IF.h b/src/Interface/HilsInOut/COSMOS_TCP_IF.h index be1ff41e0..61ad90c85 100644 --- a/src/Interface/HilsInOut/COSMOS_TCP_IF.h +++ b/src/Interface/HilsInOut/COSMOS_TCP_IF.h @@ -1,11 +1,15 @@ +/** + * @file COSMOS_TCP_IF.h + * @brief TCP interface to communicate with COSMOS software + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * @note This file is very old and recently not managed well... + */ + #pragma once #ifndef _WINSOCK_DEPRECATED_NO_WARNINGS #define _WINSOCK_DEPRECATED_NO_WARNINGS #endif #include - -// For multi-platform support, we have to modify the dependency -// TODO: put these dependencies in a DEFINE #include #include #include @@ -16,27 +20,55 @@ #define ENDOFMSG "\n" -// COSMOSとTCPで通信するクラス +/** + * @class COSMOS_TCP_IF + * @brief TCP interface to communicate with COSMOS software + */ class COSMOS_TCP_IF { public: + /** + * @fn COSMOS_TCP_IF + * @brief Default Constructor. + */ COSMOS_TCP_IF(); + /** + * @fn COSMOS_TCP_IF + * @brief Constructor + */ COSMOS_TCP_IF(unsigned short port_num, const char* server_ip); + /** + * @fn ~COSMOS_TCP_IF + * @brief Destructor + */ ~COSMOS_TCP_IF(); + + /** + * @fn Initialize + * @brief Open and initialize the TCP socket + */ int Initialize(); + /** + * @fn Finalize + * @brief Close and finalize the TCP socket + */ void Finalize(); protected: + /** + * @fn SendString + * @brief Send string to COSMOS + */ void SendString(std::string str); private: - const unsigned short kPortNum; - const std::string kServerIP; - SOCKET sock_; + const unsigned short kPortNum; //!< Port Number + const std::string kServerIP; //!< IP address of the server + SOCKET sock_; //!< socket // struct sockaddr_in srcAddr_; // struct sockaddr_in dstAddr_; - struct sockaddr_in server_; + struct sockaddr_in server_; //!< Server // int dstAddrSize_ = sizeof(dstAddr_); - int serverAddrSize = sizeof(server_); - bool is_connected_; + int serverAddrSize = sizeof(server_); //!< Server address size + bool is_connected_; //!< Is connected }; From a085315ac321d87b77087110b5c3ebdbd8199e04 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:17:26 +0100 Subject: [PATCH 050/199] Fix comment in COSMOSWrapper --- src/Interface/HilsInOut/COSMOSWrapper.cpp | 15 ++++-- src/Interface/HilsInOut/COSMOSWrapper.h | 64 ++++++++++++++++++++--- 2 files changed, 68 insertions(+), 11 deletions(-) diff --git a/src/Interface/HilsInOut/COSMOSWrapper.cpp b/src/Interface/HilsInOut/COSMOSWrapper.cpp index 66d73aa53..9aa5c8cb4 100644 --- a/src/Interface/HilsInOut/COSMOSWrapper.cpp +++ b/src/Interface/HilsInOut/COSMOSWrapper.cpp @@ -1,6 +1,11 @@ -#include "COSMOSWrapper.h" +/** + * @file COSMOSWrapper.cpp + * @brief Wrapper for COSMOS + * @details COSMOS Scripting Guide: https://cosmosrb.com/docs/scripting/ + * @note This file is very old and recently not managed well... + */ -// COSMOSのScripting Guide: https://cosmosrb.com/docs/scripting/ +#include "COSMOSWrapper.h" COSMOSWrapper::COSMOSWrapper(bool enable) : enable_(enable) { // cosmos_tcp_if_ = new COSMOS_TCP_IF(); @@ -15,7 +20,7 @@ COSMOSWrapper::~COSMOSWrapper() {} void COSMOSWrapper::Initialize() { if (!enable_) return; - //エラーメッセージは内部で出している + // Error messages are generated in side the Initialize function int ret = COSMOS_TCP_IF::Initialize(); } @@ -23,7 +28,7 @@ void COSMOSWrapper::Finalize() { COSMOS_TCP_IF::Finalize(); } bool COSMOSWrapper::Enable() const { return enable_; } -// COSMOSからRDPに送信するcmd関数のラッパー。 +// Wrapper of cmd function to send data from COSMOS to RDP void COSMOSWrapper::Cmd(std::string cmd_str) { if (!enable_) return; @@ -35,7 +40,7 @@ void COSMOSWrapper::Cmd(std::string cmd_str) { void COSMOSWrapper::CosmosEval(std::string expr) { if (!enable_) return; - // Ruby側で「受け取った文字列をそのままeval関数に渡している」想定。 + // Expected the Ruby side directly pass the string to eval function COSMOS_TCP_IF::SendString(expr); } diff --git a/src/Interface/HilsInOut/COSMOSWrapper.h b/src/Interface/HilsInOut/COSMOSWrapper.h index ee6f53e44..49618dd79 100644 --- a/src/Interface/HilsInOut/COSMOSWrapper.h +++ b/src/Interface/HilsInOut/COSMOSWrapper.h @@ -1,23 +1,75 @@ -#pragma once +/** + * @file COSMOSWrapper.h + * @brief Wrapper for COSMOS + * @details COSMOS Scripting Guide: https://cosmosrb.com/docs/scripting/ + * @note This file is very old and recently not managed well... + */ +#pragma once #include #include "COSMOS_TCP_IF.h" - -class COSMOSWrapper : private COSMOS_TCP_IF // SendString関数を使う目的で継承 -{ +/** + * @class COSMOSWrapper + * @brief Wrapper for COSMOS + */ +class COSMOSWrapper : private COSMOS_TCP_IF { public: + /** + * @fn COSMOSWrapper + * @brief Constructor. + */ COSMOSWrapper(bool enable); + /** + * @fn COSMOSWrapper + * @brief Constructor. + */ COSMOSWrapper(unsigned short port_num, bool enable, char* server_ip); - COSMOSWrapper(); // when not in use + /** + * @fn COSMOSWrapper + * @brief Default Constructor. When not in use + */ + COSMOSWrapper(); + /** + * @fn ~COSMOSWrapper + * @brief Destructor. + */ ~COSMOSWrapper(); + + /** + * @fn Cmd + * @brief Wrapper of cmd function to send data from COSMOS to RDP + * @param [in] cmd_str: String of command + */ void Cmd(std::string cmd_str); + /** + * @fn Cmd_RDP_SAT_CMD_EXTERNAL_TORQUE + * @brief Command to set external torque + */ void Cmd_RDP_SAT_CMD_EXTERNAL_TORQUE(uint8_t torque_frame, uint32_t duration_ms, float ext_torque_x, float ext_torque_y, float ext_torque_z); + + /** + * @fn Initialize + * @brief Initialize the TCP connection with COSMOS + */ void Initialize(); + /** + * @fn Finalize + * @brief Finalize the TCP connection with COSMOS + */ void Finalize(); + /** + * @fn Enable + * @brief Return enable flag + */ bool Enable() const; private: + /** + * @fn CosmosEval + * @brief Send string to COSMOS + */ void CosmosEval(std::string expr); - const bool enable_; + + const bool enable_; //!< Enable flag }; From dc0689db731a5ef94ec9da2d56562d0ed7b5c984 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:23:13 +0100 Subject: [PATCH 051/199] Fix comment in HardwareMessage --- src/Interface/HilsInOut/HardwareMessage.cpp | 7 +++++++ src/Interface/HilsInOut/HardwareMessage.h | 7 +++++++ 2 files changed, 14 insertions(+) diff --git a/src/Interface/HilsInOut/HardwareMessage.cpp b/src/Interface/HilsInOut/HardwareMessage.cpp index 6123645a2..ff78b9cc6 100644 --- a/src/Interface/HilsInOut/HardwareMessage.cpp +++ b/src/Interface/HilsInOut/HardwareMessage.cpp @@ -1,3 +1,10 @@ +/** + * @file HardwareMessage.cpp + * @brief An example of communication class for HILS + * @note This file is very old and recently not managed well... + * TODO: Add detailed comment... or Delete this file from s2e-core since this is user side code. + */ + #include "HardwareMessage.h" HardwareMessage::HardwareMessage(int port_id, bool enable, unsigned int baudrate, unsigned int obc_com_period) diff --git a/src/Interface/HilsInOut/HardwareMessage.h b/src/Interface/HilsInOut/HardwareMessage.h index 6fee8eb11..d8484d3c5 100644 --- a/src/Interface/HilsInOut/HardwareMessage.h +++ b/src/Interface/HilsInOut/HardwareMessage.h @@ -1,3 +1,10 @@ +/** + * @file HardwareMessage.h + * @brief An example of communication class for HILS + * @note This file is very old and recently not managed well... + * TODO: Add detailed comment... or Delete this file from s2e-core since this is user side code. + */ + #pragma once #include From c696d76452a1c7b11bc28cf8edeecf6e0ccd76f9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:26:14 +0100 Subject: [PATCH 052/199] Fix deconstructor --- src/Interface/HilsInOut/ComPortInterface.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Interface/HilsInOut/ComPortInterface.h b/src/Interface/HilsInOut/ComPortInterface.h index 45287737d..4c4235428 100644 --- a/src/Interface/HilsInOut/ComPortInterface.h +++ b/src/Interface/HilsInOut/ComPortInterface.h @@ -33,7 +33,7 @@ class ComPortInterface { ComPortInterface(int port_id, int baudrate, unsigned int tx_buffer_size, unsigned int rx_buffer_size); /** * @fn ~ComPortInterface - * @brief Deconstructor. + * @brief Destructor. */ ~ComPortInterface(); From 4529d8cc9df0cbf35b31aa0845b59bf70a36db21 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:33:53 +0100 Subject: [PATCH 053/199] Fix in/out direction --- src/Interface/HilsInOut/ComPortInterface.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Interface/HilsInOut/ComPortInterface.h b/src/Interface/HilsInOut/ComPortInterface.h index 4c4235428..8d5ae0b2f 100644 --- a/src/Interface/HilsInOut/ComPortInterface.h +++ b/src/Interface/HilsInOut/ComPortInterface.h @@ -68,9 +68,9 @@ class ComPortInterface { /** * @fn Receive * @brief Receive data from COM port - * @param [in] buffer: Data buffer to send - * @param [in] offset: Start offset for the data buffer to send - * @param [in] count: Length of data to send + * @param [out] buffer: Data buffer to receive + * @param [in] offset: Start offset for the data buffer to receive + * @param [in] count: Length of data to receive * @return received data length: success, 0: error */ int Receive(unsigned char *buffer, size_t offset, size_t count); From 174f2873d49a808645dbc315ce37aaa35658e940 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 14:59:34 +0100 Subject: [PATCH 054/199] Fix in/out --- src/Interface/SpacecraftInOut/Ports/I2CPort.h | 2 +- src/Interface/SpacecraftInOut/Ports/SCIPort.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Interface/SpacecraftInOut/Ports/I2CPort.h b/src/Interface/SpacecraftInOut/Ports/I2CPort.h index c08df445a..1a2bf83cf 100644 --- a/src/Interface/SpacecraftInOut/Ports/I2CPort.h +++ b/src/Interface/SpacecraftInOut/Ports/I2CPort.h @@ -90,7 +90,7 @@ class I2CPort { * @fn ReadCommand * @brief Read command requested from an OBC to the component * @param [in] i2c_addr: I2C address of the target device - * @param [in] rx_data: Data to the OBC + * @param [out] rx_data: Data to the OBC * @param [in] length: Length of the tx_data * @return Length or zero when an error happened */ diff --git a/src/Interface/SpacecraftInOut/Ports/SCIPort.h b/src/Interface/SpacecraftInOut/Ports/SCIPort.h index 09c00e761..cde580651 100644 --- a/src/Interface/SpacecraftInOut/Ports/SCIPort.h +++ b/src/Interface/SpacecraftInOut/Ports/SCIPort.h @@ -54,7 +54,7 @@ class SCIPort { /** * @fn ReadTx * @brief Read data from the TX buffer by Component - * @param [in] buffer: Data buffer to stored the read data + * @param [out] buffer: Data buffer to stored the read data * @param [in] offset: Start offset of the buffer to read (usually zero) * @param [in] count: Length of the data to read * @return Number of read byte @@ -63,7 +63,7 @@ class SCIPort { /** * @fn ReadRx * @brief Read data from the TX buffer by OBC - * @param [in] buffer: Data buffer to stored the read data + * @param [out] buffer: Data buffer to stored the read data * @param [in] offset: Start offset of the buffer to read (usually zero) * @param [in] count: Length of the data to read * @return Number of read byte From b95f6dbb2fe6f8b9e1598cc40d3d4d24a5bb89c6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 15:29:25 +0100 Subject: [PATCH 055/199] Fix comment in HilsI2CTargetPort --- .../HilsInOut/Ports/HilsI2cTargetPort.cpp | 31 ++++--- .../HilsInOut/Ports/HilsI2cTargetPort.h | 90 ++++++++++++++++--- 2 files changed, 92 insertions(+), 29 deletions(-) diff --git a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp index 00f457954..cf61c9843 100644 --- a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp +++ b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp @@ -1,17 +1,18 @@ -#include "HilsI2cTargetPort.h" +/** + * @file HilsI2cTargetPort.cpp + * @brief Class to control I2C-USB converter for the target(device) side from COM port + */ -// #define HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA +#include "HilsI2cTargetPort.h" -HilsI2cTargetPort::HilsI2cTargetPort(const unsigned int port_id) - : HilsUartPort(port_id, 115200, 512, - 512) // Fixme: The magic number. This is depending on the converter. -{} +// #define HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA //!< Remove comment when you want to show the debug message +// Fixme: The magic number. This is depending on the converter. +HilsI2cTargetPort::HilsI2cTargetPort(const unsigned int port_id) : HilsUartPort(port_id, 115200, 512, 512) {} + +// Fixme: The magic number. This is depending on the converter. HilsI2cTargetPort::HilsI2cTargetPort(const unsigned int port_id, const unsigned char max_register_number) - : max_register_number_(max_register_number), - HilsUartPort(port_id, 115200, 512, - 512) // Fixme: The magic number. This is depending on the converter. -{} + : max_register_number_(max_register_number), HilsUartPort(port_id, 115200, 512, 512) {} HilsI2cTargetPort::~HilsI2cTargetPort() {} @@ -27,14 +28,14 @@ void HilsI2cTargetPort::RegisterDevice() { int HilsI2cTargetPort::WriteRegister(const unsigned char reg_addr) { if (reg_addr >= max_register_number_) return 0; saved_reg_addr_ = reg_addr; - return 0; + return 0; // FIXME: return should be 1 when success } int HilsI2cTargetPort::WriteRegister(const unsigned char reg_addr, const unsigned char value) { if (reg_addr >= max_register_number_) return 0; saved_reg_addr_ = reg_addr; device_registers_[reg_addr] = value; - return 0; + return 0; // FIXME: return should be 1 when success } unsigned char HilsI2cTargetPort::ReadRegister(const unsigned char reg_addr) { @@ -61,8 +62,7 @@ int HilsI2cTargetPort::Receive() // from I2C-USB Target converter int received_bytes = ReadRx(rx_buf, 0, kDefaultCmdSize); if (received_bytes > kDefaultCmdSize) return -1; #ifdef HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA - for (int i = 0; i < received_bytes; i++) - { + for (int i = 0; i < received_bytes; i++) { printf("%02x ", rx_buf[i]); } printf("\n"); @@ -94,8 +94,7 @@ int HilsI2cTargetPort::Send(const unsigned char len) // to I2C-USB Target Conve tx_buf[i] = device_registers_[saved_reg_addr_ + i]; } #ifdef HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA - for (int i = 0; i < len; i++) - { + for (int i = 0; i < len; i++) { printf("%02x ", tx_buf[i]); } printf("\n"); diff --git a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.h b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.h index 0e9183326..7edbdb045 100644 --- a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.h +++ b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.h @@ -1,42 +1,106 @@ +/** + * @file HilsI2cTargetPort.h + * @brief Class to control I2C-USB converter for the target(device) side from COM port + */ + #pragma once #include #include "HilsUartPort.h" -// I2C-USB converter is assumed to be used. -// The emulated component transmits to and receives from the converter via the -// COM port. - -const int kDefaultCmdSize = 0xff; -const int kDefaultTxSize = 0xff; +const int kDefaultCmdSize = 0xff; //!< Default command size +const int kDefaultTxSize = 0xff; //!< Default TX size -// Communication between I2C-USB converter and emulated component via COM port -// is the same as UART. +/** + * @class HilsI2cTargetPort + * @brief Class to control I2C-USB converter for the target(device) side from COM port + * @details This class has a register to store data for S2E. It is different from the register inside the converter. + * We have Write/Read command for the register for S2E and Send/Receive command for the register in the converter. + */ class HilsI2cTargetPort : public HilsUartPort { public: + /** + * @fn HilsI2cTargetPort + * @brief Constructor + * @param [in] port_id: COM port ID + */ HilsI2cTargetPort(const unsigned int port_id); + /** + * @fn HilsI2cTargetPort + * @brief Constructor + * @param [in] port_id: COM port number connected to the I2C-USB converter + * @param [in] max_register_number: Maximum register number + */ HilsI2cTargetPort(const unsigned int port_id, const unsigned char max_register_number); + /** + * @fn ~HilsI2cTargetPort + * @brief Destructor + */ ~HilsI2cTargetPort(); + /** + * @fn RegisterDevice + * @brief Register the device as an I2C port. + */ void RegisterDevice(); + /** + * @fn WriteRegister + * @brief Set the register address to write a value in the next step + * @param [in] reg_addr: Register address to write a value in the next step + */ int WriteRegister(const unsigned char reg_addr); + /** + * @fn WriteRegister + * @brief Write a value in the register of this device + * @param [in] reg_addr: Register address of this device + * @param [in] value: 1 Byte value + */ int WriteRegister(const unsigned char reg_addr, const unsigned char value); + + /** + * @fn ReadRegister + * @brief Read the register value of the target device. The register address is used as the previous accessed address + * @param [in] reg_addr: Register address of the target device + * @return Read data + */ unsigned char ReadRegister(const unsigned char reg_addr); + /** + * @fn ReadCommand + * @brief Read command requested from the COM port to the component + * @param [out] rx_data: Data to the OBC + * @param [in] length: Length of the rx_data + * @return Length or zero when an error happened + */ int ReadCommand(unsigned char* rx_data, const unsigned int length); + /** + * @fn Receive + * @brief Receive data from the I2C-USB converter and store the data to the register. + * @return -1: an error happened, others: length of received data + */ int Receive(); + /** + * @fn Send + * @brief Send data in the register to the I2C-USB converter. + * @param [in] len: Length of the data + * @return -1: an error happened, others: length of sent data + */ int Send(const unsigned char len); + /** + * @fn GetStoredFrameCounter + * @brief Receive stored frame counter + */ int GetStoredFrameCounter(); private: - unsigned char max_register_number_ = 0xff; - unsigned char saved_reg_addr_ = 0x00; - unsigned int stored_frame_counter_ = 0; // Send a few frames of telemetry to the converter in advance. + unsigned char max_register_number_ = 0xff; //!< Maximum register number + unsigned char saved_reg_addr_ = 0x00; //!< Saved register address + unsigned int stored_frame_counter_ = 0; //!< Send a few frames of telemetry to the converter in advance. - // < register address, value> + /** @brief Device register: < register address, value> **/ std::map device_registers_; - // + /** @brief Buffer for the command from COM port : **/ std::map cmd_buffer_; }; From 81425e4287007413ac7c736a6b9355dd0e431f32 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 15:47:14 +0100 Subject: [PATCH 056/199] Fix comment in HilsUartPort --- .../HilsInOut/Ports/HilsUartPort.cpp | 33 +++--- src/Interface/HilsInOut/Ports/HilsUartPort.h | 101 +++++++++++++++--- 2 files changed, 105 insertions(+), 29 deletions(-) diff --git a/src/Interface/HilsInOut/Ports/HilsUartPort.cpp b/src/Interface/HilsInOut/Ports/HilsUartPort.cpp index 8225e1f35..d7bd73896 100644 --- a/src/Interface/HilsInOut/Ports/HilsUartPort.cpp +++ b/src/Interface/HilsInOut/Ports/HilsUartPort.cpp @@ -1,4 +1,12 @@ -#include "HilsUartPort.h" +/** + * @file HilsUartPort.h + * @brief Class to manage PC's COM port + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * Reference: https://docs.microsoft.com/en-us/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 + * @note TODO :We need to clarify the difference with ComPortInterface + */ + +#include "HilsUartPort.h" // # define HILS_UART_PORT_SHOW_DEBUG_DATA @@ -30,7 +38,7 @@ int HilsUartPort::Initialize() { port_->WriteTimeout = 10; // [ms] } catch (System::Exception ^ e) { // baudrate must be larger than zero - // port nameのチェックはここでは行われない + // port name is not checked here System::Console::Write(e->Message); return -1; } @@ -62,10 +70,9 @@ int HilsUartPort::OpenPort() { } catch (System::UnauthorizedAccessException ^ e) { // Access is denied to the port. - // or - // The current process, or another process on the system, already has the - // specified COM port open - // either by a SerialPort instance or in unmanaged code. + // or + // The current process, or another process on the system, already has the specified COM port open + // either by a SerialPort instance or in unmanaged code. #ifdef HILS_UART_PORT_SHOW_DEBUG_DATA System::Console::Write(e->Message); printf("\n"); @@ -80,7 +87,7 @@ int HilsUartPort::OpenPort() { return -3; } catch (System::ArgumentException ^ e) { // The port name does not begin with "COM". - // or + // or // The file type of the port is not supported. #ifdef HILS_UART_PORT_SHOW_DEBUG_DATA System::Console::Write(e->Message); @@ -100,12 +107,9 @@ int HilsUartPort::OpenPort() { int HilsUartPort::WriteTx(const unsigned char* buffer, int offset, int count) { unsigned char* buffer_tmp = new unsigned char[count]; - memcpy(buffer_tmp, buffer + offset, - count); // const unsigned char* -> unsigned char* - // Marshal::Copy : Copies data from an unmanaged memory pointer to a managed - // array. - System::Runtime::InteropServices::Marshal::Copy((System::IntPtr)(buffer_tmp), tx_buf_, 0, - count); // unsigned char* -> System::IntPtr + memcpy(buffer_tmp, buffer + offset, count); // const unsigned char* -> unsigned char* + // Marshal::Copy : Copies data from an unmanaged memory pointer to a managed array. + System::Runtime::InteropServices::Marshal::Copy((System::IntPtr)(buffer_tmp), tx_buf_, 0, count); // unsigned char* -> System::IntPtr delete[] buffer_tmp; try { port_->Write(tx_buf_, 0, count); @@ -122,8 +126,7 @@ int HilsUartPort::WriteTx(const unsigned char* buffer, int offset, int count) { int HilsUartPort::ReadRx(unsigned char* buffer, int offset, int count) { try { int received_bytes = port_->Read(rx_buf_, 0, count); - // Marshal::Copy : Copies data from a managed array to an unmanaged memory - // pointer. + // Marshal::Copy : Copies data from a managed array to an unmanaged memory pointer. System::Runtime::InteropServices::Marshal::Copy(rx_buf_, 0, (System::IntPtr)(buffer + offset), count); return received_bytes; // TODO: Add enum for exception diff --git a/src/Interface/HilsInOut/Ports/HilsUartPort.h b/src/Interface/HilsInOut/Ports/HilsUartPort.h index 62e4ad66c..46cbd0f1f 100644 --- a/src/Interface/HilsInOut/Ports/HilsUartPort.h +++ b/src/Interface/HilsInOut/Ports/HilsUartPort.h @@ -1,37 +1,110 @@ +/** + * @file HilsUartPort.h + * @brief Class to manage PC's COM port + * @details Currently, this feature supports Windows Visual Studio only.(FIXME) + * Reference: https://docs.microsoft.com/en-us/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 + * @note TODO :We need to clarify the difference with ComPortInterface + */ + #pragma once #include #include #include -// SerialPort Class Reference: -// https://docs.microsoft.com/en-us/dotnet/api/system.io.ports.serialport?view=netframework-4.7.2 -// System::Byte: an 8-bit unsigned integer -typedef cli::array bytearray; +typedef cli::array bytearray; //!< System::Byte: an 8-bit unsigned integer +/** + * @class HilsUartPort + * @brief Class to manage PC's COM port + * @note TX means S2E -> COM port -> External device + * RX means External device -> COM Port -> S2E + */ class HilsUartPort { public: + /** + * @fn HilsUartPort + * @brief Constructor. + * @param [in] port_id: COM port ID + * @param [in] baud_rate: Baudrate of the COM port + * @param [in] tx_buffer_size: TX buffer size + * @param [in] rx_buffer_size: RX buffer size + */ HilsUartPort(const unsigned int port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size); + /** + * @fn ~HilsUartPort + * @brief Destructor. + */ ~HilsUartPort(); + + /** + * @fn OpenPort + * @brief Open the COM port + */ int OpenPort(); + /** + * @fn ClosePort + * @brief Close the COM port + */ int ClosePort(); + + /** + * @fn WriteTx + * @brief Send data to COM port + * @param [in] buffer: Data buffer to send + * @param [in] offset: Start offset for the data buffer to send + * @param [in] count: Length of data to send + * @return 0: success, -1: error + */ int WriteTx(const unsigned char* buffer, int offset, int count); + /** + * @fn ReadRx + * @brief Read data from COM port + * @param [out] buffer: Data buffer to store read data + * @param [in] offset: Start offset for the data buffer to read + * @param [in] count: Length of data to read + * @return received data length: success, negative value: error + */ int ReadRx(unsigned char* buffer, int offset, int count); + /** + * @fn GetBytesToRead + * @brief Get length of byte to read + * @return Length of byte to read or -1 when error happened + */ int GetBytesToRead(); private: - const unsigned int kTxBufferSize; - const unsigned int kRxBufferSize; - const std::string kPortName; + const unsigned int kTxBufferSize; //!< TX Buffer size + const unsigned int kRxBufferSize; //!< RX Buffer size + const std::string kPortName; //!< Port name like "COM4" + unsigned int baud_rate_; //!< Baud rate ex. 9600, 115200 + + // gcroot is the type-safe wrapper template to refer to a CLR object from the c++ heap reference: + // https://docs.microsoft.com/en-us/cpp/dotnet/how-to-declare-handles-in-native-types?view=msvc-160 + msclr::gcroot port_; //!< Port + msclr::gcroot tx_buf_; //!< TX Buffer + msclr::gcroot rx_buf_; //!< RX Buffer + + /** + * @fn PortName + * @brief Convert port id to port name + * @param [in] port_id: Port ID like 4 + * @return Port name like "COM4" + */ static std::string PortName(unsigned int port_id); + /** + * @fn Initialize + * @brief Open and initialize the COM port + */ int Initialize(); + /** + * @fn DiscardInBuffer + * @brief Discard in buffer + */ int DiscardInBuffer(); + /** + * @fn DiscardOutBuffer + * @brief Discard out buffer + */ int DiscardOutBuffer(); - unsigned int baud_rate_; // [baud] ex. 9600, 115200 - // gcroot is the type-safe wrapper template to refer to a CLR object from the - // c++ heap reference: - // https://docs.microsoft.com/en-us/cpp/dotnet/how-to-declare-handles-in-native-types?view=msvc-160 - msclr::gcroot port_; - msclr::gcroot tx_buf_; - msclr::gcroot rx_buf_; }; From 0566e8cca77fbfd4defc4801b60d0d39debf852d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 16:00:58 +0100 Subject: [PATCH 057/199] Fix comment in HilsPortManager --- src/Interface/HilsInOut/HilsPortManager.cpp | 25 ++-- src/Interface/HilsInOut/HilsPortManager.h | 142 ++++++++++++++++++-- 2 files changed, 142 insertions(+), 25 deletions(-) diff --git a/src/Interface/HilsInOut/HilsPortManager.cpp b/src/Interface/HilsInOut/HilsPortManager.cpp index 988908419..fbf1e3291 100644 --- a/src/Interface/HilsInOut/HilsPortManager.cpp +++ b/src/Interface/HilsInOut/HilsPortManager.cpp @@ -1,3 +1,8 @@ +/** + * @file HilsPortManager.cpp + * @brief Class to manage COM ports for HILS test + */ + #include "HilsPortManager.h" #include @@ -57,11 +62,9 @@ int HilsPortManager::UartReceive(unsigned int port_id, unsigned char* buffer, in if (port == nullptr) return -1; int ret = port->ReadRx(buffer, offset, count); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA - if (ret > 0) - { + if (ret > 0) { printf("UART PORT ID: %d received %d bytes\n", port_id, ret); - for (int i = 0; i < ret; i++) - { + for (int i = 0; i < ret; i++) { printf("%02x ", buffer[i]); } printf("\n"); @@ -84,11 +87,9 @@ int HilsPortManager::UartSend(unsigned int port_id, const unsigned char* buffer, if (port == nullptr) return -1; int ret = port->WriteTx(buffer, offset, count); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA - if (count > 0) - { + if (count > 0) { printf("UART PORT ID: %d sent %d bytes\n", port_id, count); - for (int i = 0; i < count; i++) - { + for (int i = 0; i < count; i++) { printf("%02x ", buffer[i]); } printf("\n"); @@ -195,10 +196,9 @@ int HilsPortManager::I2cTargetReceive(unsigned int port_id) { #ifdef USE_HILS HilsI2cTargetPort* port = i2c_com_ports_[port_id]; if (port == nullptr) return -1; - int ret = port->Receive(); + int ret = port->Receive(); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA - if (ret > 0) - { + if (ret > 0) { printf("I2C PORT ID: %d received %d bytes\n", port_id, ret); } #endif @@ -216,8 +216,7 @@ int HilsPortManager::I2cTargetSend(unsigned int port_id, const unsigned char len if (port == nullptr) return -1; int ret = port->Send(len); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA - if (len > 0) - { + if (len > 0) { printf("I2C PORT ID: %d sent %d bytes\n", port_id, len); } #endif diff --git a/src/Interface/HilsInOut/HilsPortManager.h b/src/Interface/HilsInOut/HilsPortManager.h index 9138c40b7..a723b5ff5 100644 --- a/src/Interface/HilsInOut/HilsPortManager.h +++ b/src/Interface/HilsInOut/HilsPortManager.h @@ -1,3 +1,8 @@ +/** + * @file HilsPortManager.h + * @brief Class to manage COM ports for HILS test + */ + #pragma once #ifdef USE_HILS #include "Ports/HilsI2cTargetPort.h" @@ -5,44 +10,157 @@ #endif #include +/** + * @class HilsPortManager + * @brief Class to manage COM ports for HILS test + */ class HilsPortManager { public: + /** + * @fn HilsPortManager + * @brief Constructor. + */ HilsPortManager(); + /** + * @fn ~HilsPortManager + * @brief Destructor. + */ virtual ~HilsPortManager(); - // Uart Communication port functions - virtual int UartConnectComPort(unsigned int port_id, - unsigned int baud_rate, // [baud] ex 9600, 115200 - unsigned int tx_buf_size, unsigned int rx_buf_size); + // UART Communication port functions + /** + * @fn UartConnectComPort + * @brief Connect UART port + * @param [in] port_id: COM port ID + * @param [in] baud_rate: Baud rate ex 9600, 115200 + * @param [in] tx_buf_size: TX buffer size + * @param [in] rx_buf_size: RX buffer size + */ + virtual int UartConnectComPort(unsigned int port_id, unsigned int baud_rate, unsigned int tx_buf_size, unsigned int rx_buf_size); + /** + * @fn UartCloseComPort + * @brief Close UART port + * @param [in] port_id: COM port ID + */ virtual int UartCloseComPort(unsigned int port_id); - // Uart Com ports -> Components + /** + * @fn UartReceive + * @brief UART data receive from COM port (ex. OBC) to components in S2E + * @param [in] port_id: COM port ID + * @param [out] buffer: Data buffer to receive + * @param [in] offset: Start offset for the data buffer to receive + * @param [in] count: Length of data to receive + */ virtual int UartReceive(unsigned int port_id, unsigned char* buffer, int offset, int count); - // Uart Components -> Com ports + /** + * @fn UartSend + * @brief UART data send from components in S2E to COM port (ex. OBC) + * @param [in] port_id: COM port ID + * @param [in] buffer: Data buffer to send + * @param [in] offset: Start offset for the data buffer to send + * @param [in] count: Length of data to send + */ virtual int UartSend(unsigned int port_id, const unsigned char* buffer, int offset, int count); // I2C Target Communication port functions + /** + * @fn I2cTargetConnectComPort + * @brief Connect I2C port as target device + * @param [in] port_id: COM port ID + */ virtual int I2cTargetConnectComPort(unsigned int port_id); + /** + * @fn I2cTargetCloseComPort + * @brief Close I2C port as target device + * @param [in] port_id: COM port ID + */ virtual int I2cTargetCloseComPort(unsigned int port_id); + /** + * @fn I2cTargetReadRegister + * @brief Read I2C register in S2E + * @param [in] port_id: COM port ID + * @param [in] reg_addr: Register address to read + * @param [out] data: Data buffer to store the read data + * @param [in] len: Read data length + */ virtual int I2cTargetReadRegister(unsigned int port_id, const unsigned char reg_addr, unsigned char* data, const unsigned char len); + /** + * @fn I2cTargetWriteRegister + * @brief Write data to I2C register in S2E + * @param [in] port_id: COM port ID + * @param [in] reg_addr: Register address to write + * @param [in] data: Data to write + * @param [in] len: Write data length + */ virtual int I2cTargetWriteRegister(unsigned int port_id, const unsigned char reg_addr, const unsigned char* data, const unsigned char len); + /** + * @fn I2cTargetReadCommand + * @brief Read I2C command buffer in S2E + * @param [in] port_id: COM port ID + * @param [out] data: Data buffer to store the read data + * @param [in] len: Read data length + */ virtual int I2cTargetReadCommand(unsigned int port_id, unsigned char* data, const unsigned char len); - // I2c Com ports -> Components + + /** + * @fn I2cTargetReceive + * @brief Read data from the I2C-USB converter + * @param [in] port_id: COM port ID + */ virtual int I2cTargetReceive(unsigned int port_id); - // I2c Components -> Com ports + /** + * @fn I2cTargetSend + * @brief Send data to the I2C-USB converter + * @param [in] port_id: COM port ID + * @param [in] len: Data length to write + */ virtual int I2cTargetSend(unsigned int port_id, const unsigned char len); + /** + * @fn I2cTargetGetStoredFrameCounter + * @brief Get stored frame counter + * @param [in] port_id: COM port ID + * @return -1: error, others: stored frame counter + */ virtual int I2cTargetGetStoredFrameCounter(unsigned int port_id); // I2C Controller Communication port functions + /** + * @fn I2cControllerConnectComPort + * @brief Connect I2C controller side device on the COM port + * @param [in] port_id: COM port ID + * @param [in] baud_rate: Baud rate ex 9600, 115200 + * @param [in] tx_buf_size: TX buffer size + * @param [in] rx_buf_size: RX buffer size + */ virtual int I2cControllerConnectComPort(unsigned int port_id, unsigned int baud_rate, unsigned int tx_buf_size, unsigned int rx_buf_size); + /** + * @fn I2cControllerCloseComPort + * @brief Close I2C controller side device on the COM port + * @param [in] port_id: COM port ID + */ virtual int I2cControllerCloseComPort(unsigned int port_id); + /** + * @fn I2cControllerReceive + * @brief Data receive from I2C controller device connected a COM port + * @param [in] port_id: COM port ID + * @param [out] buffer: Data buffer to receive + * @param [in] offset: Start offset for the data buffer to receive + * @param [in] count: Length of data to receive + */ virtual int I2cControllerReceive(unsigned int port_id, unsigned char* buffer, int offset, int count); + /** + * @fn I2cControllerSend + * @brief Data send to I2C controller device connected a COM port + * @param [in] port_id: COM port ID + * @param [in] buffer: Data buffer to send + * @param [in] offset: Start offset for the data buffer to send + * @param [in] count: Length of data to send + */ virtual int I2cControllerSend(unsigned int port_id, const unsigned char* buffer, int offset, int count); private: #ifdef USE_HILS - // Uart ports - std::map uart_com_ports_; - // I2C ports - std::map i2c_com_ports_; + std::map uart_com_ports_; //!< UART ports + std::map i2c_com_ports_; //!< I2C ports #endif }; From 84ca5dd856b7904a299c50e31ec416c0ecf9355f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 16:03:47 +0100 Subject: [PATCH 058/199] Fix comment in Initialize for HILS --- src/Interface/HilsInOut/InitCosmosWrapper.cpp | 10 ++++++++++ src/Interface/HilsInOut/InitHardwareMessage.cpp | 10 ++++++++++ 2 files changed, 20 insertions(+) diff --git a/src/Interface/HilsInOut/InitCosmosWrapper.cpp b/src/Interface/HilsInOut/InitCosmosWrapper.cpp index c76233de9..30540e7ff 100644 --- a/src/Interface/HilsInOut/InitCosmosWrapper.cpp +++ b/src/Interface/HilsInOut/InitCosmosWrapper.cpp @@ -1,6 +1,16 @@ +/** + * @file InitCosmosWrapper.cpp + * @brief Initialize function for COSMOSWrapper + */ + #include "../HilsInOut/COSMOSWrapper.h" #include "Initialize.h" +/** + * @fn Init_COSMOSWrapper + * @brief Initialize function for COSMOSWrapper + * @param [in] file_name: File nama of the initialize file + */ COSMOSWrapper* Init_COSMOSWrapper(string file_name) { IniAccess ini_file(file_name); diff --git a/src/Interface/HilsInOut/InitHardwareMessage.cpp b/src/Interface/HilsInOut/InitHardwareMessage.cpp index d489c0092..2e05c6220 100644 --- a/src/Interface/HilsInOut/InitHardwareMessage.cpp +++ b/src/Interface/HilsInOut/InitHardwareMessage.cpp @@ -1,6 +1,16 @@ +/** + * @file InitHardwareMessage.cpp + * @brief Initialize function for HardwareMessage + */ + #include "../HilsInOut/HardwareMessage.h" #include "Initialize.h" +/** + * @fn Init_HardwareMessage + * @brief Initialize function for HardwareMessage + * @param [in] file_name: File nama of the initialize file + */ HardwareMessage* Init_HardwareMessage(string file_name) { IniAccess ini_file(file_name); From 69f6e16bf17a125fad1055d59899d1c28765d479 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 16:09:23 +0100 Subject: [PATCH 059/199] Fix target/reference misdescription --- src/RelativeInformation/RelativeInformation.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/RelativeInformation/RelativeInformation.h b/src/RelativeInformation/RelativeInformation.h index 278bec2f3..77e158fe4 100644 --- a/src/RelativeInformation/RelativeInformation.h +++ b/src/RelativeInformation/RelativeInformation.h @@ -69,7 +69,7 @@ class RelativeInformation : public ILoggable { * @fn GetRelativeAttitudeQuaternion * @brief Return relative attitude quaternion of the target spacecraft with respect to the reference spacecraft * @params [in] target_sat_id: ID of target spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ inline libra::Quaternion GetRelativeAttitudeQuaternion(const int target_sat_id, const int reference_sat_id) const { return rel_att_quaternion_list_[target_sat_id][reference_sat_id]; @@ -78,7 +78,7 @@ class RelativeInformation : public ILoggable { * @fn GetRelativePosition_i_m * @brief Return relative position of the target spacecraft with respect to the reference spacecraft in the inertial frame and unit [m] * @params [in] target_sat_id: ID of target spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ inline libra::Vector<3> GetRelativePosition_i_m(const int target_sat_id, const int reference_sat_id) const { return rel_pos_list_i_m_[target_sat_id][reference_sat_id]; @@ -87,7 +87,7 @@ class RelativeInformation : public ILoggable { * @fn GetRelativeVelocity_i_m * @brief Return relative velocity of the target spacecraft with respect to the reference spacecraft in the inertial frame and unit [m] * @params [in] target_sat_id: ID of target spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ inline libra::Vector<3> GetRelativeVelocity_i_m_s(const int target_sat_id, const int reference_sat_id) const { return rel_vel_list_i_m_s_[target_sat_id][reference_sat_id]; @@ -96,7 +96,7 @@ class RelativeInformation : public ILoggable { * @fn GetRelativeDistance_m * @brief Return relative distance between the target spacecraft and the reference spacecraft in unit [m] * @params [in] target_sat_id: ID of target spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ inline double GetRelativeDistance_m(const int target_sat_id, const int reference_sat_id) const { return rel_distance_list_m_[target_sat_id][reference_sat_id]; @@ -106,7 +106,7 @@ class RelativeInformation : public ILoggable { * @brief Return relative position of the target spacecraft with respect to the reference spacecraft in the RTN frame of the reference spacecraft * and unit [m] * @params [in] target_sat_id: ID of target spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ inline libra::Vector<3> GetRelativePosition_rtn_m(const int target_sat_id, const int reference_sat_id) const { return rel_pos_list_rtn_m_[target_sat_id][reference_sat_id]; @@ -133,14 +133,14 @@ class RelativeInformation : public ILoggable { * @fn CalcRelativeAttitudeQuaternion * @brief Calculate an return the relative attitude quaternion * @params [in] target_sat_id: ID of the spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ libra::Quaternion CalcRelativeAttitudeQuaternion(const int target_sat_id, const int reference_sat_id); /** * @fn CalcRelativePosition_rtn_m * @brief Calculate an return the relative position in RTN frame * @params [in] target_sat_id: ID of the spacecraft - * @params [in] target_sat_id: ID of reference spacecraft + * @params [in] reference_sat_id: ID of reference spacecraft */ libra::Vector<3> CalcRelativePosition_rtn_m(const int target_sat_id, const int reference_sat_id); /** From 81355a5a60a8187fb17c55bf7e48c6a82ed09de2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Dec 2022 16:16:52 +0100 Subject: [PATCH 060/199] Fix .h -> .cpp --- src/Disturbance/SurfaceForce.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Disturbance/SurfaceForce.cpp b/src/Disturbance/SurfaceForce.cpp index 36ff7e90f..7eebab51b 100644 --- a/src/Disturbance/SurfaceForce.cpp +++ b/src/Disturbance/SurfaceForce.cpp @@ -1,5 +1,5 @@ /** - * @file SurfaceForce.h + * @file SurfaceForce.cpp * @brief Base class for disturbances acting on a spacecraft surface (e.g., SRP, Air drag, etc) */ From 2dcb7f859e68f547d61b833df42ae6e2cbf35384 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Dec 2022 21:39:02 +0100 Subject: [PATCH 061/199] Fix Fixme -> FIXME --- src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp index cf61c9843..29079bdb7 100644 --- a/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp +++ b/src/Interface/HilsInOut/Ports/HilsI2cTargetPort.cpp @@ -7,10 +7,10 @@ // #define HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA //!< Remove comment when you want to show the debug message -// Fixme: The magic number. This is depending on the converter. +// FIXME: The magic number. This is depending on the converter. HilsI2cTargetPort::HilsI2cTargetPort(const unsigned int port_id) : HilsUartPort(port_id, 115200, 512, 512) {} -// Fixme: The magic number. This is depending on the converter. +// FIXME: The magic number. This is depending on the converter. HilsI2cTargetPort::HilsI2cTargetPort(const unsigned int port_id, const unsigned char max_register_number) : max_register_number_(max_register_number), HilsUartPort(port_id, 115200, 512, 512) {} From 0a5609fa4ac2d969af6062be09fe53ac691b8829 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Dec 2022 21:43:36 +0100 Subject: [PATCH 062/199] Fix link for COSMOS(OpenC3) --- src/Interface/HilsInOut/COSMOSWrapper.cpp | 2 +- src/Interface/HilsInOut/COSMOSWrapper.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Interface/HilsInOut/COSMOSWrapper.cpp b/src/Interface/HilsInOut/COSMOSWrapper.cpp index 9aa5c8cb4..6009e81d1 100644 --- a/src/Interface/HilsInOut/COSMOSWrapper.cpp +++ b/src/Interface/HilsInOut/COSMOSWrapper.cpp @@ -1,7 +1,7 @@ /** * @file COSMOSWrapper.cpp * @brief Wrapper for COSMOS - * @details COSMOS Scripting Guide: https://cosmosrb.com/docs/scripting/ + * @details COSMOS (Currently, called OpenC3) : https://openc3.com/ * @note This file is very old and recently not managed well... */ diff --git a/src/Interface/HilsInOut/COSMOSWrapper.h b/src/Interface/HilsInOut/COSMOSWrapper.h index 49618dd79..4c85f0c8e 100644 --- a/src/Interface/HilsInOut/COSMOSWrapper.h +++ b/src/Interface/HilsInOut/COSMOSWrapper.h @@ -1,7 +1,7 @@ /** * @file COSMOSWrapper.h * @brief Wrapper for COSMOS - * @details COSMOS Scripting Guide: https://cosmosrb.com/docs/scripting/ + * @details COSMOS (Currently, called OpenC3) : https://openc3.com/ * @note This file is very old and recently not managed well... */ From 97e0f02bb5194ec951c8a8cbb3b32240d3903380 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 8 Dec 2022 14:56:55 +0000 Subject: [PATCH 063/199] Update actions/setup-python action to v4.3.1 --- .github/workflows/build.yml | 2 +- .github/workflows/validate-scripts.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index ab3755f0e..d86ec49d6 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -217,7 +217,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=$ver" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v4.3.0 + - uses: actions/setup-python@v4.3.1 with: python-version: ${{ steps.python-version.outputs.version }} diff --git a/.github/workflows/validate-scripts.yml b/.github/workflows/validate-scripts.yml index b6b5670b6..3e0914148 100644 --- a/.github/workflows/validate-scripts.yml +++ b/.github/workflows/validate-scripts.yml @@ -28,7 +28,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=${ver}" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v4.3.0 + - uses: actions/setup-python@v4.3.1 with: python-version: ${{ steps.python-version.outputs.version }} From e69c73b35ae10473f609e13bffe8d7ab12b3db1d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 13:04:51 +0100 Subject: [PATCH 064/199] Fix comments in CelestialInformation --- .../Global/CelestialInformation.cpp | 6 + src/Environment/Global/CelestialInformation.h | 142 ++++++++++++++++-- 2 files changed, 137 insertions(+), 11 deletions(-) diff --git a/src/Environment/Global/CelestialInformation.cpp b/src/Environment/Global/CelestialInformation.cpp index 57db3200a..194bee7cb 100644 --- a/src/Environment/Global/CelestialInformation.cpp +++ b/src/Environment/Global/CelestialInformation.cpp @@ -1,3 +1,9 @@ +/** + * @file CelestialInformation.cpp + * @brief Class to manage the information related with the celestial bodies + * @details This class uses SPICE to get the information of celestial bodies + */ + #include "CelestialInformation.h" #include diff --git a/src/Environment/Global/CelestialInformation.h b/src/Environment/Global/CelestialInformation.h index aff3a6ca9..0d6e13ea5 100644 --- a/src/Environment/Global/CelestialInformation.h +++ b/src/Environment/Global/CelestialInformation.h @@ -1,3 +1,9 @@ +/** + * @file CelestialInformation.h + * @brief Class to manage the information related with the celestial bodies + * @details This class uses SPICE to get the information of celestial bodies + */ + #ifndef __celestial_information_H__ #define __celestial_information_H__ @@ -14,68 +20,182 @@ using libra::Quaternion; using libra::Vector; +/** + * @class CelestialInformation + * @brief Class to manage the information related with the celestial bodies + * @details This class uses SPICE to get the information of celestial bodies + */ class CelestialInformation : public ILoggable { public: + /** + * @fn CelestialInformation + * @brief Constructor + * @param [in] inertial_frame: Definition of inertial frame + * @param [in] aber_cor: Stellar aberration correction + * @param [in] center_obj: Center object of inertial frame + * @param [in] rotation_mode: Designation of rotation model + * @param [in] num_of_selected_body: Number of selected body + * @param [in] selected_body: SPICE IDs of selected bodies + */ CelestialInformation(std::string inertial_frame, std::string aber_cor, std::string center_obj, RotationMode rotation_mode, int num_of_selected_body, int* selected_body); + /** + * @fn CelestialInformation + * @brief Copy constructor + */ CelestialInformation(const CelestialInformation& obj); + /** + * @fn ~CelestialInformation + * @brief Destructor + */ virtual ~CelestialInformation(); - // ILoggable + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // Update the all selected celestial objects information + /** + * @fn UpdateAllObjectsInfo + * @brief Update the information of all selected celestial objects + */ void UpdateAllObjectsInfo(const double current_jd); // Getters // Orbit information + /** + * @fn GetPosFromCenter_i + * @brief Return position from the center body in the inertial frame [m] + * @param [in] id: ID of CelestialInformation list + */ Vector<3> GetPosFromCenter_i(const int id) const; - Vector<3> GetVelFromCenter_i(const int id) const; + /** + * @fn GetPosFromCenter_i + * @brief Return position from the center body in the inertial frame [m/s] + * @param [in] body_name: Name of the body defined in the SPICE + */ Vector<3> GetPosFromCenter_i(const char* body_name) const; + /** + * @fn GetVelFromCenter_i + * @brief Return velocity from the center body in the inertial frame [m/s] + * @param [in] id: ID of CelestialInformation list + */ + Vector<3> GetVelFromCenter_i(const int id) const; + /** + * @fn GetVelFromCenter_i + * @brief Return velocity from the center body in the inertial frame [m/s] + * @param [in] body_name: Name of the body defined in the SPICE + */ Vector<3> GetVelFromCenter_i(const char* body_name) const; + // Gravity constants + /** + * @fn GetGravityConstant + * @brief Return gravity constant of the celestial body [m^3/s^2] + * @param [in] body_name: Name of the body defined in the SPICE + */ double GetGravityConstant(const char* body_name) const; + /** + * @fn GetCenterBodyGravityConstant_m3_s2 + * @brief Return gravity constant of the center body [m^3/s^2] + */ double GetCenterBodyGravityConstant_m3_s2(void) const; + // Shape information + /** + * @fn GetRadii + * @brief Return 3 axis planetographic radii of a celestial body [m] + * @param [in] id: ID of CelestialInformation list + */ Vector<3> GetRadii(const int id) const; + /** + * @fn GetRadiiFromName + * @brief Return 3 axis planetographic radii of a celestial body [m] + * @param [in] body_name: Name of the body defined in the SPICE + */ Vector<3> GetRadiiFromName(const char* body_name) const; + /** + * @fn GetMeanRadiusFromName + * @brief Return mean radius of a celestial body [m] + * @param [in] id: ID of CelestialInformation list + */ double GetMeanRadiusFromName(const char* body_name) const; + // Parameters + /** + * @fn GetNumBody + * @brief Return number of selected body + */ inline int GetNumBody(void) const { return num_of_selected_body_; } + /** + * @fn GetSelectedBody + * @brief Return SPICE IDs of selected bodies + */ inline int* GetSelectedBody(void) const { return selected_body_; } + /** + * @fn GetCenterBodyName + * @brief Return name of the center body + */ inline std::string GetCenterBodyName(void) const { return center_obj_; } + // Members + /** + * @fn GetEarthRotation + * @brief Return EarthRotation information + */ inline CelestialRotation GetEarthRotation(void) const { return *EarthRotation_; }; // Calculation + /** + * @fn CalcBodyIdFromName + * @brief Acquisition of ID of CelestialInformation list from body name + * @param [in] body_name: Celestial body name + * @return ID of CelestialInformation list + */ int CalcBodyIdFromName(const char* body_name) const; + /** + * @fn DebugOutput + * @brief Debug output + */ void DebugOutput(void); private: // Setting parameters - int num_of_selected_body_; //!< number of selected body + int num_of_selected_body_; //!< Number of selected body int* selected_body_; //!< SPICE IDs of selected bodies std::string inertial_frame_; //!< Definition of inertial frame - std::string aber_cor_; //!< Stellar aberration correction - //（Ref：http://fermi.gsfc.nasa.gov/ssc/library/fug/051108/Aberration_Julie.ppt） + std::string aber_cor_; //!< Stellar aberration correction （Ref：http://fermi.gsfc.nasa.gov/ssc/library/fug/051108/Aberration_Julie.ppt） std::string center_obj_; //!< Center object of inertial frame // Calculated values double* celes_objects_pos_from_center_i_; //!< Position vector list at inertial frame [m] double* celes_objects_vel_from_center_i_; //!< Velocity vector list at inertial frame [m/s] double* celes_objects_gravity_constant_; //!< Gravity constant list [m^3/s^2] - double* celes_objects_mean_radius_m_; //!< mean radius list [m] r = (rx * ry * rz)^(1/3) - double* celes_objects_planetographic_radii_m_; //!< 3 axis planetographic radii. + double* celes_objects_mean_radius_m_; //!< Mean radius list [m] r = (rx * ry * rz)^(1/3) + double* celes_objects_planetographic_radii_m_; //!< 3 axis planetographic radii [m] // X-axis pass through the 0 degree latitude 0 degree longitude direction // Z-axis pass through the 90 degree latitude direction // Y-axis equal to the cross product of the unit Z-axis and X-axis vectors // Rotational Motion of each planets - CelestialRotation* EarthRotation_; - RotationMode rotation_mode_; //!< Designation of rotation model + CelestialRotation* EarthRotation_; //!< Instatnce of Earth rotation + RotationMode rotation_mode_; //!< Designation of rotation model - // Override function of SPICE + /** + * @fn GetPlanetOrbit + * @brief Get position/velocity of planet. + * @note This is an override function of SPICE's spkezr_c (https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/spkezr_c.html) + * @param [in] planet_name: Nama of planet defineed by SPICE + * @param [in] et: Ephemeris time + * @param [out] orbit: Cartesian state vector representing the position and velocity of the target body relative to the specified observer. + */ void GetPlanetOrbit(const char* planet_name, double et, double orbit[6]); }; From c21cd18453dc864e521b8668c2d6a2cf5279fc12 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 13:15:03 +0100 Subject: [PATCH 065/199] Fix small --- src/Environment/Global/CelestialInformation.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Environment/Global/CelestialInformation.h b/src/Environment/Global/CelestialInformation.h index 0d6e13ea5..a68422f26 100644 --- a/src/Environment/Global/CelestialInformation.h +++ b/src/Environment/Global/CelestialInformation.h @@ -118,8 +118,8 @@ class CelestialInformation : public ILoggable { /** * @fn GetRadiiFromName * @brief Return 3 axis planetographic radii of a celestial body [m] - * @param [in] body_name: Name of the body defined in the SPICE - */ + * @param [in] body_name: Name of the body defined in the SPICE + */ Vector<3> GetRadiiFromName(const char* body_name) const; /** * @fn GetMeanRadiusFromName From 5a5d126cf3159b78f6213ea83c572fa519884fae Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 14:20:00 +0100 Subject: [PATCH 066/199] Fix comments in Celestialrotation --- src/Environment/Global/CelestialRotation.cpp | 141 +++++++++--------- src/Environment/Global/CelestialRotation.h | 142 +++++++++++-------- 2 files changed, 145 insertions(+), 138 deletions(-) diff --git a/src/Environment/Global/CelestialRotation.cpp b/src/Environment/Global/CelestialRotation.cpp index 79b489909..93aa13019 100644 --- a/src/Environment/Global/CelestialRotation.cpp +++ b/src/Environment/Global/CelestialRotation.cpp @@ -1,7 +1,16 @@ -#include "CelestialRotation.h" +/** + * @file CelestialRotation.cpp + * @brief Class to calculate the celestial rotation + * @note Support earth rotation only now (TODO: add other planets) + * Refs: 福島,"天体の回転運動理論入門講義ノート", 2007 (in Japanese), + * 長沢,"天体の位置計算(増補版)", 2001 (in Japanese), + * IERS Conventions 2003 + */ -#include //for jday() -#include //for gstime() +#include "CelestialRotation.h" + +#include // for jday() +#include // for gstime() #include #include @@ -9,7 +18,7 @@ using namespace std; -// default constructor +// Default constructor CelestialRotation::CelestialRotation(const RotationMode rotation_mode, const string center_obj) { planet_name_ = "Anonymous"; rotation_mode_ = Idle; @@ -20,71 +29,58 @@ CelestialRotation::CelestialRotation(const RotationMode rotation_mode, const str } } -// initialize the class CelestialRotation instance as Earth +// Initialize the class CelestialRotation instance as Earth void CelestialRotation::Init_CelestialRotation_As_Earth(const RotationMode rotation_mode, const string center_obj) { planet_name_ = "EARTH"; if (center_obj == planet_name_) { if (rotation_mode == Simple) { rotation_mode_ = Simple; - - // 自転軸周りの回転だけなら，係数初期化は不要か + // For Simple mode, we don't need initialization of the coefficients } else if (rotation_mode == Full) { rotation_mode_ = Full; + // For Full mode, initialize the coefficients + // The hard coded values are consistent with the reference document. The unit deg and rad are mixed. - // フルダイナミクスを使う場合は，ひとまず直接，各種係数の初期化を実施 - // 文献との比較確認がし易い様に，単位系は(敢えて)文献に良くあるdeg,arcsec混在系で定義しておく - // coefficients for computing mean obliquity of the ecliptic - // the actual unit of c_epsi_rad_ is [rad/century^i], i is the index of - // the array + // Coefficients to compute mean obliquity of the ecliptic + // The actual unit of the coefficients are [rad/century^i], where i is the index of the array c_epsi_rad_[0] = 23.4392911 * libra::deg_to_rad; // [rad] c_epsi_rad_[1] = -46.8150000 * libra::arcsec_to_rad; // [rad/century] c_epsi_rad_[2] = -5.9000e-4 * libra::arcsec_to_rad; // [rad/century^2] c_epsi_rad_[3] = 1.8130e-3 * libra::arcsec_to_rad; // [rad/century^3] - // coefficients for computing five delauney angles(l=lm,l'=ls,F,D,Ω=O) - // lm means mean anomaly of the moon - // the actual unit of c_lm_rad_ is [rad/century^i], i is the index of the - // array + // Coefficients to compute delauney angles + // The actual unit of the coefficients are [rad/century^i], where i is the index of the array c_lm_rad_[0] = 134.96340251 * libra::deg_to_rad; // [rad] c_lm_rad_[1] = 1717915923.21780000 * libra::arcsec_to_rad; // [rad/century] c_lm_rad_[2] = 31.87920000 * libra::arcsec_to_rad; // [rad/century^2] c_lm_rad_[3] = 0.05163500 * libra::arcsec_to_rad; // [rad/century^3] c_lm_rad_[4] = -0.00024470 * libra::arcsec_to_rad; // [rad/century^4] - // ls means mean anomaly of the sun - // the actual unit of c_ls_rad_ is [rad/century^i], i is the index of the - // array + c_ls_rad_[0] = 357.52910918 * libra::deg_to_rad; // [rad] c_ls_rad_[1] = 129596581.04810000 * libra::arcsec_to_rad; // [rad/century] c_ls_rad_[2] = -0.55320000 * libra::arcsec_to_rad; // [rad/century^2] c_ls_rad_[3] = 0.00013600 * libra::arcsec_to_rad; // [rad/century^3] c_ls_rad_[4] = -0.00001149 * libra::arcsec_to_rad; // [rad/century^4] - // F means mean longitude of the moon - mean longitude of ascending node - // of the moon the actual unit of c_F_rad_ is [rad/century^i], i is the - // index of the array + c_F_rad_[0] = 93.27209062 * libra::deg_to_rad; // [rad] c_F_rad_[1] = 1739527262.84780000 * libra::arcsec_to_rad; // [rad/century] c_F_rad_[2] = -12.75120000 * libra::arcsec_to_rad; // [rad/century^2] c_F_rad_[3] = -0.00103700 * libra::arcsec_to_rad; // [rad/century^3] c_F_rad_[4] = 0.00000417 * libra::arcsec_to_rad; // [rad/century^4] - // D means mean elogation of the moon from the sun - // the actual unit of c_D_rad_ is [rad/century^i], i is the index of the - // array + c_D_rad_[0] = 297.85019547 * libra::deg_to_rad; // [rad] c_D_rad_[1] = 1602961601.20900000 * libra::arcsec_to_rad; // [rad/century] c_D_rad_[2] = -6.37060000 * libra::arcsec_to_rad; // [rad/century^2] c_D_rad_[3] = 0.00659300 * libra::arcsec_to_rad; // [rad/century^3] c_D_rad_[4] = -0.00003169 * libra::arcsec_to_rad; // [rad/century^4] - // O means mean longitude of ascending node of the moon - // the actual unit of c_O_rad_ is [rad/century^i], i is the index of the - // array + c_O_rad_[0] = 125.04455501 * libra::deg_to_rad; // [rad] c_O_rad_[1] = -6962890.54310000 * libra::arcsec_to_rad; // [rad/century] c_O_rad_[2] = 7.47220000 * libra::arcsec_to_rad; // [rad/century^2] c_O_rad_[3] = 0.00770200 * libra::arcsec_to_rad; // [rad/century^3] c_O_rad_[4] = -0.00005939 * libra::arcsec_to_rad; // [rad/century^4] - // coefficients for computing nutation angles - // delta epsilon + // Coefficients to compute nutation angles c_depsilon_rad_[0] = 9.2050 * libra::arcsec_to_rad; // [rad] c_depsilon_rad_[1] = 0.5730 * libra::arcsec_to_rad; // [rad] c_depsilon_rad_[2] = -0.0900 * libra::arcsec_to_rad; // [rad] @@ -94,7 +90,7 @@ void CelestialRotation::Init_CelestialRotation_As_Earth(const RotationMode rotat c_depsilon_rad_[6] = 0.0220 * libra::arcsec_to_rad; // [rad] c_depsilon_rad_[7] = 0.0130 * libra::arcsec_to_rad; // [rad] c_depsilon_rad_[8] = -0.0100 * libra::arcsec_to_rad; // [rad] - // delta psi + c_dpsi_rad_[0] = -17.2060 * libra::arcsec_to_rad; // [rad] c_dpsi_rad_[1] = -1.3170 * libra::arcsec_to_rad; // [rad] c_dpsi_rad_[2] = 0.2070 * libra::arcsec_to_rad; // [rad] @@ -105,46 +101,39 @@ void CelestialRotation::Init_CelestialRotation_As_Earth(const RotationMode rotat c_dpsi_rad_[7] = -0.0300 * libra::arcsec_to_rad; // [rad] c_dpsi_rad_[8] = 0.0220 * libra::arcsec_to_rad; // [rad] - // coefficients for computing precession angles(zeta, theta, z) - // the actual unit of c_zeta_rad_ is [rad/century^(i+1)], i is the index - // of the array + // Coefficients to compute precession angle + // The actual unit of the coefficients are [rad/century^i], where i is the index of the array c_zeta_rad_[0] = 2306.218100 * libra::arcsec_to_rad; // [rad/century] c_zeta_rad_[1] = 0.301880 * libra::arcsec_to_rad; // [rad/century^2] c_zeta_rad_[2] = 0.017998 * libra::arcsec_to_rad; // [rad/century^3] - // the actual unit of c_theta_rad_ is [rad/century^(i+1)], i is the index - // of the array + c_theta_rad_[0] = 2004.310900 * libra::arcsec_to_rad; // [rad/century] c_theta_rad_[1] = -0.426650 * libra::arcsec_to_rad; // [rad/century^2] c_theta_rad_[2] = -0.041833 * libra::arcsec_to_rad; // [rad/century^3] - // the actual unit of c_z_rad_ is [rad/century^(i+1)], i is the index of - // the array + c_z_rad_[0] = 2306.218100 * libra::arcsec_to_rad; // [rad/century] c_z_rad_[1] = 1.094680 * libra::arcsec_to_rad; // [rad/century^2] c_z_rad_[2] = 0.018203 * libra::arcsec_to_rad; // [rad/century^3] } else { - // if the rotation mode is neither Simple nor Full, disable the rotation - // calculation and make the DCM a unit matrix + // If the rotation mode is neither Simple nor Full, disable the rotation calculation and make the DCM a unit matrix rotation_mode_ = Idle; unitalize(DCM_J2000toXCXF_); } } else { - // if the center object is not the Earth, disable the Earth's rotation - // calculation and make the DCM a unit matrix + // If the center object is not the Earth, disable the Earth's rotation calculation and make the DCM a unit matrix rotation_mode_ = Idle; unitalize(DCM_J2000toXCXF_); } } void CelestialRotation::Update(const double JulianDate) { - double gmst_rad = gstime(JulianDate); //長沢のアルゴリズムと微妙に違う…？，他と合わせた方が良いので，暫定このままで行く． + double gmst_rad = gstime(JulianDate); // It is a bit different with 長沢(Nagasawa)'s algorithm. TODO: Check the correctness if (rotation_mode_ == Full) { - // compute Julian date for terestrial time - double jdTT_day = JulianDate + dtUT1UTC_ * kSec2Day; // 不正確かも(?)だが，S2E内部でグレゴリオ暦の伝播はしていないので，これで済ませる + // Compute Julian date for terestrial time + double jdTT_day = JulianDate + dtUT1UTC_ * kSec2Day; // TODO: Check the correctness. Problem is thtat S2E doesn't have Gregorian calendar. - // compute nth power of julian century for terrestrial time - // the actual unit of tTT_century is [century^(i+1)], i is the index of the - // array + // Compute nth power of julian century for terrestrial time the actual unit of tTT_century is [century^(i+1)], i is the index of the array double tTT_century[4]; tTT_century[0] = (jdTT_day - kJulianDateJ2000) / kDayJulianCentury; for (int i = 0; i < 3; i++) { @@ -161,23 +150,21 @@ void CelestialRotation::Update(const double JulianDate) { // updated in this proccedure // Axial Rotation - double Eq_rad = dpsi_rad_ * cos(epsi_rad_ + depsilon_rad_); // equation of equinoxes [rad] + double Eq_rad = dpsi_rad_ * cos(epsi_rad_ + depsilon_rad_); // Equation of equinoxes [rad] double gast_rad = gmst_rad + Eq_rad; // Greenwitch 'Appearent' Sidereal Time [rad] R = AxialRotation(gast_rad); - // polar motion (isnot considered so far, even without polar motion, the - // result agrees well with the matlab reference) + // Polar motion (isnot considered so far, even without polar motion, the result agrees well with the matlab reference) double Xp = 0.0; double Yp = 0.0; W = PolarMotion(Xp, Yp); - // total orientation + // Total orientation DCM_J2000toXCXF_ = W * R * N * P; } else if (rotation_mode_ == Simple) { - // In this case, only Axial Rotation is executed, with its argument replaced - // from G'A'ST to G'M'ST + // In this case, only Axial Rotation is executed, with its argument replaced from G'A'ST to G'M'ST DCM_J2000toXCXF_ = AxialRotation(gmst_rad); } else { - // leave the DCM as unit Matrix(diag{1,1,1}) + // Leave the DCM as unit Matrix(diag{1,1,1}) return; } } @@ -185,51 +172,51 @@ void CelestialRotation::Update(const double JulianDate) { Matrix<3, 3> CelestialRotation::AxialRotation(const double GAST_rad) { return libra::rotz(GAST_rad); } Matrix<3, 3> CelestialRotation::Nutation(const double (&tTT_century)[4]) { - // mean obliquity of the ecliptic - epsi_rad_ = c_epsi_rad_[0]; // [rad] + // Mean obliquity of the ecliptic + epsi_rad_ = c_epsi_rad_[0]; for (int i = 0; i < 3; i++) { epsi_rad_ += c_epsi_rad_[i + 1] * tTT_century[i]; } - // compute five delauney angles(l=lm,l'=ls,F,D,Ω=O) - // mean anomaly of the moon - double lm_rad = c_lm_rad_[0]; // [rad] + // Compute five delauney angles(l=lm,l'=ls,F,D,Ω=O) + // Mean anomaly of the moon + double lm_rad = c_lm_rad_[0]; for (int i = 0; i < 4; i++) { lm_rad += c_lm_rad_[i + 1] * tTT_century[i]; } - // mean anomaly of the sun - double ls_rad = c_ls_rad_[0]; // [rad] + // Mean anomaly of the sun + double ls_rad = c_ls_rad_[0]; for (int i = 0; i < 4; i++) { ls_rad += c_ls_rad_[i + 1] * tTT_century[i]; } - // mean longitude of the moon - mean longitude of ascending node of the moon - double F_rad = c_F_rad_[0]; // [rad] + // Mean longitude of the moon - mean longitude of ascending node of the moon + double F_rad = c_F_rad_[0]; for (int i = 0; i < 4; i++) { F_rad += c_F_rad_[i + 1] * tTT_century[i]; } - // mean elogation of the moon from the sun - double D_rad = c_D_rad_[0]; // [rad] + // Mean elogation of the moon from the sun + double D_rad = c_D_rad_[0]; for (int i = 0; i < 4; i++) { D_rad += c_D_rad_[i + 1] * tTT_century[i]; } - // mean longitude of ascending node of the moon - double O_rad = c_O_rad_[0]; // [rad] + // Mean longitude of ascending node of the moon + double O_rad = c_O_rad_[0]; for (int i = 0; i < 4; i++) { O_rad += c_O_rad_[i + 1] * tTT_century[i]; } - // additional angles + // Additional angles double L_rad = F_rad + O_rad; // F + Ω [rad] double Ld_rad = L_rad - D_rad; // F - D + Ω [rad] - // compute luni-solar nutation - // nutation in obliquity + // Compute luni-solar nutation + // Nutation in obliquity dpsi_rad_ = c_dpsi_rad_[0] * sin(O_rad) + c_dpsi_rad_[1] * sin(2 * Ld_rad) + c_dpsi_rad_[2] * sin(2 * O_rad) + c_dpsi_rad_[3] * sin(2 * L_rad) + c_dpsi_rad_[4] * sin(ls_rad); // [rad] dpsi_rad_ = dpsi_rad_ + c_dpsi_rad_[5] * sin(lm_rad) + c_dpsi_rad_[6] * sin(2 * Ld_rad + ls_rad) + c_dpsi_rad_[7] * sin(2 * L_rad + lm_rad) + c_dpsi_rad_[8] * sin(2 * Ld_rad - ls_rad); // [rad] - // nutation in longitude + // Nutation in longitude depsilon_rad_ = c_depsilon_rad_[0] * cos(O_rad) + c_depsilon_rad_[1] * cos(2 * Ld_rad) + c_depsilon_rad_[2] * cos(2 * O_rad) + c_depsilon_rad_[3] * cos(2 * L_rad) + c_depsilon_rad_[4] * cos(ls_rad); // [rad] depsilon_rad_ = depsilon_rad_ + c_depsilon_rad_[5] * cos(lm_rad) + c_depsilon_rad_[6] * cos(2 * Ld_rad + ls_rad) + @@ -247,21 +234,21 @@ Matrix<3, 3> CelestialRotation::Nutation(const double (&tTT_century)[4]) { } Matrix<3, 3> CelestialRotation::Precession(const double (&tTT_century)[4]) { - // compute precession angles(zeta, theta, z) - double zeta_rad = 0.0; // [rad] + // Compute precession angles(zeta, theta, z) + double zeta_rad = 0.0; for (int i = 0; i < 3; i++) { zeta_rad += c_zeta_rad_[i] * tTT_century[i]; } - double theta_rad = 0.0; // [rad] + double theta_rad = 0.0; for (int i = 0; i < 3; i++) { theta_rad += c_theta_rad_[i] * tTT_century[i]; } - double z_rad = 0.0; // [rad] + double z_rad = 0.0; for (int i = 0; i < 3; i++) { z_rad += c_z_rad_[i] * tTT_century[i]; } - // develop transformation matrix + // Develop transformation matrix Matrix<3, 3> Z_zeta = libra::rotz(-zeta_rad); Matrix<3, 3> Y_theta = libra::roty(theta_rad); Matrix<3, 3> Z_z = libra::rotz(-z_rad); diff --git a/src/Environment/Global/CelestialRotation.h b/src/Environment/Global/CelestialRotation.h index f5d063245..8db730ccb 100644 --- a/src/Environment/Global/CelestialRotation.h +++ b/src/Environment/Global/CelestialRotation.h @@ -1,4 +1,13 @@ -#ifndef __celestial_rotation_H__ +/** + * @file CelestialRotation.h + * @brief Class to calculate the celestial rotation + * @note Support earth rotation only now (TODO: add other planets) + * Refs: 福島,"天体の回転運動理論入門講義ノート", 2007 (in Japanese), + * 長沢,"天体の位置計算(増補版)", 2001 (in Japanese), + * IERS Conventions 2003 + */ + +#ifndef __celestial_rotation_H__ #define __celestial_rotation_H__ #include @@ -13,83 +22,94 @@ using libra::Quaternion; using libra::Vector; +/** + * @enum RotationMode + * @brief Definition of calculation mode of celestial rotation + */ enum RotationMode { - Idle, - Simple, - Full, + Idle, //!< No Rotation calculation + Simple, //!< Z axis rotation only + Full, //!< Rotation including precession and nutation }; -// class for describing the rotational motion of center objects，instantiated as -// private members of CelesInfo（ひとまず地球自転のみに対応） -// アルゴリズムは暫定的に，福島,"天体の回転運動理論入門講義ノート",2007, -// 及び，長沢,"天体の位置計算(増補版)",2001に従う.(IERS Conventions 2003) +/** + * @file CelestialRotation.h + * @brief Class to calculate the celestial rotation + * @note Support earth rotation only now (TODO: add other planets) + */ class CelestialRotation { public: // initialize DCM to unit matrix in the default constructor + /** + * @fn CelestialRotation + * @brief Constructor + * @param [in] rotation_mode: Designation of rotation model + * @param [in] center_obj: Center object of inertial frame + */ CelestialRotation(const RotationMode rotation_mode, const std::string center_obj); - // calculate rotation + /** + * @fn Update + * @brief Update rotation + * @param [in] JulianDate: Julian date + */ void Update(const double JulianDate); - // get the DCM between J2000 and the coordinate system attached to the surface - // of the target object X (X-Centered X-Fixed) + /** + * @fn GetDCMJ2000toXCXF + * @brief Return the DCM between J2000 inertial frame and the frame of fixed to the target object X (X-Centered X-Fixed) + */ inline const Matrix<3, 3> GetDCMJ2000toXCXF() const { return DCM_J2000toXCXF_; }; - // get the DCM between TEME (Inertial coordinate used in SGP4) and the - // coordinate system attached to the surface of the target object X - // (X-Centered X-Fixed) + /** + * @fn GetDCMJ2000toXCXF + * @brief Return the DCM between TEME (Inertial frame used in SGP4) and the frame of fixed to the target object X (X-Centered X-Fixed) + */ inline const Matrix<3, 3> GetDCMTEMEtoXCXF() const { return DCM_TEMEtoXCXF_; }; private: - // coefficient initialization function, 対象天体ごとに用意するか…？ + /** + * @fn Init_CelestialRotation_As_Earth + * @brief Initialize CelestialRotation as earth rotation + * @note TODO: Make functions for other planets? + * @param [in] rotation_mode: Rotation mode + * @param [in] center_obj: Name of center body + */ void Init_CelestialRotation_As_Earth(const RotationMode rotation_mode, const std::string center_obj); - Matrix<3, 3> AxialRotation(const double GAST_rad); // movement of the coordinate axes due to - // rotation around the rotation axis - Matrix<3, 3> Nutation(const double (&tTT_century)[4]); // movement of the coordinate axes due to Nutation - Matrix<3, 3> Precession(const double (&tTT_century)[4]); // movement of the coordinate axes due to Precession - Matrix<3, 3> PolarMotion(const double Xp, - const double Yp); // movement of the coordinate axes due to Polar Motion - double dpsi_rad_; // nutation in obliquity [rad] - double depsilon_rad_; // nutation in longitude [rad] - double epsi_rad_; // mean obliquity of the ecliptic [rad] - Matrix<3, 3> DCM_J2000toXCXF_; // DCM J2000 to XCXF(X-Centered X-Fixed) - Matrix<3, 3> DCM_TEMEtoXCXF_; // DCM TEME to XCXF(X-Centered X-Fixed) - RotationMode rotation_mode_; // designation of dynamics model, "Idle":no - // motion，"Simple":rotation only，"Full":full-dynamics - std::string planet_name_; // designate which solar planet the instance should work as - - // definitions of - // coefficeints(地球以外の天体の場合はケアすべき天体が変わりうる気もするが，ひとまず日月歳差の形式を前提とする) - // (実装時の理解では)頻繁に変わるものではなさそうなので暫定的に初期化関数内でべた書きで初期化 - // 将来的には設定ファイル読込にすることも視野に入れる - - // coefficients for computing mean obliquity of the ecliptic - double c_epsi_rad_[4]; - - // coefficients for computing five delauney angles(l=lm,l'=ls,F,D,Ω=O) - double c_lm_rad_[5]; - double c_ls_rad_[5]; - double c_F_rad_[5]; - double c_D_rad_[5]; - double c_O_rad_[5]; - - // coefficients for computing nutation angles(delta-epsilon, delta-psi) - double c_depsilon_rad_[9]; - double c_dpsi_rad_[9]; - - // coefficients for computing precession angles(zeta, theta, z) - double c_zeta_rad_[3]; - double c_theta_rad_[3]; - double c_z_rad_[2]; - - // time difference b/w UT1 and UTC [sec] - const double dtUT1UTC_ = 32.184; - - // definitions of constant names - const double kSec2Day = 1 / (24.0 * 60.0 * 60.0); - const double kJulianDateJ2000 = 2451545.0; // [day] - const double kDayJulianCentury = 36525; // [day/century] + Matrix<3, 3> AxialRotation(const double GAST_rad); //!< Movement of the coordinate axes due to rotation around the rotation axis + Matrix<3, 3> Nutation(const double (&tTT_century)[4]); //!< Movement of the coordinate axes due to Nutation + Matrix<3, 3> Precession(const double (&tTT_century)[4]); //!< Movement of the coordinate axes due to Precession + Matrix<3, 3> PolarMotion(const double Xp, const double Yp); //!< Movement of the coordinate axes due to Polar Motion + + double dpsi_rad_; //!< Nutation in obliquity [rad] + double depsilon_rad_; //!< Nutation in longitude [rad] + double epsi_rad_; //!< Mean obliquity of the ecliptic [rad] + Matrix<3, 3> DCM_J2000toXCXF_; //!< Direction Cosine Matrix J2000 to XCXF(X-Centered X-Fixed) + Matrix<3, 3> DCM_TEMEtoXCXF_; //!< Direction Cosine Matrix TEME to XCXF(X-Centered X-Fixed) + RotationMode rotation_mode_; //!< Designation of dynamics model + std::string planet_name_; //!< Designate which solar planet the instance should work as + + // Definitions of coefficeints + // They are handling as constant values + // TODO: Consider to read setting files for these coefficients + // TODO: Consider other formats for other planets + double c_epsi_rad_[4]; //!< Coefficients to compute mean obliquity of the ecliptic + double c_lm_rad_[5]; //!< Coefficients to compute delauney angle (l=lm: Mean anomaly of the moon) + double c_ls_rad_[5]; //!< Coefficients to compute delauney angle (l'=ls: Mean anomaly of the sun) + double c_F_rad_[5]; //!< Coefficients to compute delauney angle (F: Mean longitude of the moon - mean longitude of ascending node of the moon) + double c_D_rad_[5]; //!< Coefficients to compute delauney angle (D: Elogation of the moon from the sun) + double c_O_rad_[5]; //!< Coefficients to compute delauney angle (Ω=O: Mean longitude of ascending node of the moon) + double c_depsilon_rad_[9]; //!< Coefficients to compute nutation angle (delta-epsilon) + double c_dpsi_rad_[9]; //!< Coefficients to compute nutation angle (delta-psi) + double c_zeta_rad_[3]; //!< Coefficients to compute precession angle (zeta) + double c_theta_rad_[3]; //!< Coefficients to compute precession angle (theta) + double c_z_rad_[2]; //!< Coefficients to compute precession angle (z) + + const double dtUT1UTC_ = 32.184; //!< Time difference b/w UT1 and UTC [sec] + const double kSec2Day = 1 / (24.0 * 60.0 * 60.0); //!< Conversion constant from sec to day + const double kJulianDateJ2000 = 2451545.0; //!< Julian date of J2000 [day] + const double kDayJulianCentury = 36525; //!< Conversion constant from Julian century to day [day/century] }; #endif //__celestial_rotation_H__ From fedd4519af101f53649641d5c7c3e37543e243f2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 15:27:13 +0100 Subject: [PATCH 067/199] Fix small --- src/Environment/Global/CelestialRotation.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Environment/Global/CelestialRotation.h b/src/Environment/Global/CelestialRotation.h index 8db730ccb..8ae467ba4 100644 --- a/src/Environment/Global/CelestialRotation.h +++ b/src/Environment/Global/CelestialRotation.h @@ -33,7 +33,7 @@ enum RotationMode { }; /** - * @file CelestialRotation.h + * @class CelestialRotation * @brief Class to calculate the celestial rotation * @note Support earth rotation only now (TODO: add other planets) */ From f878a473011a8e66ed3ede30ee78f24a4e5936b4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 20:45:55 +0100 Subject: [PATCH 068/199] Fix comments in ClockGenerator --- src/Environment/Global/ClockGenerator.cpp | 8 +++- src/Environment/Global/ClockGenerator.h | 48 +++++++++++++++++++---- 2 files changed, 46 insertions(+), 10 deletions(-) diff --git a/src/Environment/Global/ClockGenerator.cpp b/src/Environment/Global/ClockGenerator.cpp index d514c3fa1..51874b7a1 100644 --- a/src/Environment/Global/ClockGenerator.cpp +++ b/src/Environment/Global/ClockGenerator.cpp @@ -1,3 +1,8 @@ +/** + * @file ClockGenerator.cpp + * @brief Class to generate clock for classes which have ITickable + */ + #include "ClockGenerator.h" ClockGenerator::~ClockGenerator() {} @@ -20,8 +25,7 @@ void ClockGenerator::TickToComponents() { for (auto itr = components_.begin(); itr != components_.end(); ++itr) { // Run MainRoutine (*itr)->Tick(timer_count_); - // Run FastUpdate (Processes that are executed more frequently than - // MainRoutine) + // Run FastUpdate (Processes that are executed more frequently than MainRoutine) if ((*itr)->GetNeedsFastUpdate()) { (*itr)->FastTick(timer_count_); } diff --git a/src/Environment/Global/ClockGenerator.h b/src/Environment/Global/ClockGenerator.h index 5b5ee38bd..f4b3bfd7d 100644 --- a/src/Environment/Global/ClockGenerator.h +++ b/src/Environment/Global/ClockGenerator.h @@ -1,3 +1,8 @@ +/** + * @file ClockGenerator.h + * @brief Class to generate clock for classes which have ITickable + */ + #pragma once #include @@ -5,23 +10,50 @@ #include "SimTime.h" -// ITickableを実装したクラスにクロック（Tick）を与えるクラス -// メインループなどで周期的にTickToComponentsを呼び出すという想定 +/** + * @class ClockGenerator + * @brief Class to generate clock for classes which have ITickable + */ class ClockGenerator { public: + /** + * @fn ~ClockGenerator + * @brief Destructor + */ ~ClockGenerator(); - // クロックの周期（ミリ秒） - const int IntervalMillisecond = 1; - + /** + * @fn RegisterComponent + * @brief Register component which has ITickable + * @param [in] ticlable: Component class + */ void RegisterComponent(ITickable* tickable); + /** + * @fn RemoveComponent + * @brief Removed registered component + * @param [in] ticlable: Registered component class + */ void RemoveComponent(ITickable* tickable); + /** + * @fn TickToComponents + * @brief Execute tick function of all registered components + */ void TickToComponents(); + /** + * @fn UpdateComponents + * @brief Execute TickToComponents when component update timing + * @param [in] sim_time: Simulation time + */ void UpdateComponents(const SimTime* sim_time); - + /** + * @fn ClearTimerCount + * @brief Clear time count + */ inline void ClearTimerCount(void) { timer_count_ = 0; } + const int IntervalMillisecond = 1; //!< Clock period [ms]. (Currenly, this is not used. TODO: Delete this.) + private: - std::vector components_; - int timer_count_; // TODO consider size, unsigned + std::vector components_; //!< Component list fot tick + int timer_count_; //!< Timer count TODO: consider size, unsigned }; From 57cc24647d42a9fcdfa62462e064ba9b01cf79d6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Dec 2022 20:56:29 +0100 Subject: [PATCH 069/199] Fix comments in GlobalEnvironment --- src/Environment/Global/GlobalEnvironment.cpp | 5 ++ src/Environment/Global/GlobalEnvironment.h | 61 ++++++++++++++++++-- 2 files changed, 62 insertions(+), 4 deletions(-) diff --git a/src/Environment/Global/GlobalEnvironment.cpp b/src/Environment/Global/GlobalEnvironment.cpp index fa655e08d..c79afcf70 100644 --- a/src/Environment/Global/GlobalEnvironment.cpp +++ b/src/Environment/Global/GlobalEnvironment.cpp @@ -1,3 +1,8 @@ +/** + * @file GlobalEnvironment.cpp + * @brief Class to manage the global environment + */ + #include "GlobalEnvironment.h" #include diff --git a/src/Environment/Global/GlobalEnvironment.h b/src/Environment/Global/GlobalEnvironment.h index baa4e9dc3..e5f5a112b 100644 --- a/src/Environment/Global/GlobalEnvironment.h +++ b/src/Environment/Global/GlobalEnvironment.h @@ -1,3 +1,8 @@ +/** + * @file GlobalEnvironment.h + * @brief Class to manage the global environment + */ + #pragma once #include @@ -8,23 +13,71 @@ #include "HipparcosCatalogue.h" #include "SimTime.h" +/** + * @class GlobalEnvironment + * @brief Class to manage the global environment + */ class GlobalEnvironment { public: + /** + * @fn ~GlobalEnvironment + * @brief Constructor + * @param [in] sim_config: Simulation configuration + */ GlobalEnvironment(SimulationConfig* sim_config); + /** + * @fn ~GlobalEnvironment + * @brief Destructor + */ ~GlobalEnvironment(); + + /** + * @fn Initialize + * @brief Initialize all global environment members + * @param [in] sim_config: Simulation configuration + */ void Initialize(SimulationConfig* sim_config); + /** + * @fn Update + * @brief Update states of all global environment + */ void Update(); + /** + * @fn LogSetup + * @brief Log setup of global environment information + */ void LogSetup(Logger& logger); + /** + * @fn Reset + * @brief Reset clock of SimTime + */ void Reset(void); + // Getter + /** + * @fn GetSimTime + * @brief Return SimTime + */ inline const SimTime& GetSimTime() const { return *sim_time_; } + /** + * @fn GetCelesInfo + * @brief Return CelestialInformation + */ inline const CelestialInformation& GetCelesInfo() const { return *celes_info_; } + /** + * @fn GetHippCatalog + * @brief Return HipparcosCatalogue + */ inline const HipparcosCatalogue& GetHippCatalog() const { return *hipp_; } + /** + * @fn GetGnssSatellites + * @brief Return GnssSatellites + */ inline const GnssSatellites& GetGnssSatellites() const { return *gnss_satellites_; } private: - SimTime* sim_time_; - CelestialInformation* celes_info_; - HipparcosCatalogue* hipp_; - GnssSatellites* gnss_satellites_; + SimTime* sim_time_; //!< Simulation time + CelestialInformation* celes_info_; //!< Celestial bodies information + HipparcosCatalogue* hipp_; //!< Hipparcos catalogue + GnssSatellites* gnss_satellites_; //!< GNSS satellites }; From d4c0086d1d9a16ca00ca646570334e239d86fe81 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 09:07:21 +0100 Subject: [PATCH 070/199] fix typo --- src/Interface/HilsInOut/COSMOSWrapper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Interface/HilsInOut/COSMOSWrapper.cpp b/src/Interface/HilsInOut/COSMOSWrapper.cpp index 6009e81d1..802d84cb2 100644 --- a/src/Interface/HilsInOut/COSMOSWrapper.cpp +++ b/src/Interface/HilsInOut/COSMOSWrapper.cpp @@ -20,7 +20,7 @@ COSMOSWrapper::~COSMOSWrapper() {} void COSMOSWrapper::Initialize() { if (!enable_) return; - // Error messages are generated in side the Initialize function + // Error messages are generated inside the Initialize function int ret = COSMOS_TCP_IF::Initialize(); } From 0d9545218e52cfe947f1705c9f7d6f8bda954813 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 12:35:06 +0100 Subject: [PATCH 071/199] Fix comments in GnssSatellite --- src/Environment/Global/GnssSatellites.cpp | 64 ++-- src/Environment/Global/GnssSatellites.h | 434 ++++++++++++++++++---- 2 files changed, 406 insertions(+), 92 deletions(-) diff --git a/src/Environment/Global/GnssSatellites.cpp b/src/Environment/Global/GnssSatellites.cpp index c345ce298..3f8c4c9ce 100644 --- a/src/Environment/Global/GnssSatellites.cpp +++ b/src/Environment/Global/GnssSatellites.cpp @@ -1,3 +1,8 @@ +/** + * @file GnssSatellites + * @brief Class to calculate GNSS satellite position and related states + */ + #include "GnssSatellites.h" #include @@ -14,22 +19,26 @@ const double nan99 = 999999.999999; -const int gps_sat_num_ = 32; -const int glonass_sat_num_ = 26; -const int galileo_sat_num_ = 36; -const int beidou_sat_num_ = 16; -const int qzss_sat_num_ = 7; +const int gps_sat_num_ = 32; //!< Number of GPS satellites +const int glonass_sat_num_ = 26; //!< Number of GLONASS satellites +const int galileo_sat_num_ = 36; //!< Number of Galileo satellites +const int beidou_sat_num_ = 16; //!< Number of BeiDou satellites +const int qzss_sat_num_ = 7; //!< Number of QZSS satellites TODO: 5 at this momen? -const int gps_index_bias_ = -1; -const int glonass_index_bias_ = gps_index_bias_ + gps_sat_num_; -const int galileo_index_bias_ = glonass_index_bias_ + glonass_sat_num_; -const int beidou_index_bias_ = galileo_index_bias_ + galileo_sat_num_; -const int qzss_index_bias_ = beidou_index_bias_ + beidou_sat_num_; +const int gps_index_bias_ = -1; //!< Bias of index for GPS satellites +const int glonass_index_bias_ = gps_index_bias_ + gps_sat_num_; //!< Bias of index for GLONASS satellites +const int galileo_index_bias_ = glonass_index_bias_ + glonass_sat_num_; //!< Bias of index for GALILEO satellites +const int beidou_index_bias_ = galileo_index_bias_ + galileo_sat_num_; //!< Bias of index for BeiDou satellites +const int qzss_index_bias_ = beidou_index_bias_ + beidou_sat_num_; //!< Bias of index for QZSS satellites -const int all_sat_num_ = gps_sat_num_ + glonass_sat_num_ + galileo_sat_num_ + beidou_sat_num_ + qzss_sat_num_; +const int all_sat_num_ = gps_sat_num_ + glonass_sat_num_ + galileo_sat_num_ + beidou_sat_num_ + qzss_sat_num_; //& s) { tm* time_tm = initilized_tm(); time_tm->tm_year = stoi(s.at(1)) - 1900; @@ -212,8 +227,8 @@ pair GnssSat_position::Init(vector>& file, int in interpolation_number_ = interpolation_number; - // 拡張 - gnss_sat_table_ecef_.resize(all_sat_num_); // first vectir size is the sat num + // Expansion + gnss_sat_table_ecef_.resize(all_sat_num_); // first vector size is the sat num gnss_sat_table_eci_.resize(all_sat_num_); unixtime_vector_.resize(all_sat_num_); @@ -488,7 +503,7 @@ libra::Vector<3> GnssSat_position::GetSatEci(int sat_id) const { void GnssSat_clock::Init(vector>& file, string file_extension, int interpolation_number, UR_KINDS ur_flag, pair unix_time_period) { interpolation_number_ = interpolation_number; - gnss_sat_clock_table_.resize(all_sat_num_); // first vectir size is the sat num + gnss_sat_clock_table_.resize(all_sat_num_); // first vector size is the sat num unixtime_vector_.resize(all_sat_num_); if (file_extension == ".sp3") { @@ -561,8 +576,7 @@ void GnssSat_clock::Init(vector>& file, string file_extension, in double clock = stod(s.at(4)); if (std::abs(clock - nan99) < 1.0) continue; - // in the file, clock bias is expressed in [micro second], so by - // multiplying by the speed_of_light & 1e-6, they are converted to [m] + // in the file, clock bias is expressed in [micro second], so by multiplying by the speed_of_light & 1e-6, they are converted to [m] clock *= (environment::speed_of_light_m_s * 1e-6); if (!unixtime_vector_.at(sat_id).empty() && std::abs(unix_time - unixtime_vector_.at(sat_id).back()) < 1.0) { unixtime_vector_.at(sat_id).back() = unix_time; @@ -607,8 +621,7 @@ void GnssSat_clock::Init(vector>& file, string file_extension, in time_tm->tm_mday = stoi(s.at(4)); time_tm->tm_hour = stoi(s.at(5)); time_tm->tm_min = stoi(s.at(6)); - time_tm->tm_sec = (int)(stod(s.at(7)) + 1e-4); // for the numerical error, plus 1e-4. - // tm_sec is tobe int + time_tm->tm_sec = (int)(stod(s.at(7)) + 1e-4); // for the numerical error, plus 1e-4. tm_sec is to be int double unix_time = (double)mktime(time_tm); const double interval = 6 * 60 * 60; if (start_unix_time < 0) { @@ -770,9 +783,8 @@ double GnssSat_clock::GetSatClock(int sat_id) const { GnssSat_Info::GnssSat_Info() {} void GnssSat_Info::Init(vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UR_KINDS position_ur_flag, - - vector>& clock_file, string clock_file_extension, int clock_interpolation_number, UR_KINDS clock_ur_flag) { + UR_KINDS position_ur_flag, vector>& clock_file, string clock_file_extension, int clock_interpolation_number, + UR_KINDS clock_ur_flag) { auto unix_time_period = position_.Init(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag); clock_.Init(clock_file, clock_file_extension, clock_interpolation_number, clock_ur_flag, unix_time_period); } @@ -790,7 +802,7 @@ void GnssSat_Info::Update(const double now_unix_time) { int GnssSat_Info::GetNumOfSatellites() const { if (position_.GetNumOfSatellites() == clock_.GetNumOfSatellites()) { return position_.GetNumOfSatellites(); - }else { + } else { cout << "Num Of Gnss Satellites has something wrong" << endl; return 0; } @@ -995,8 +1007,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const int sat_id, libra res -= ionospheric_delay; - // wavelength - // frequency is thought to be given by MHz + // wavelength frequency is thought to be given by MHz double lambda = environment::speed_of_light_m_s * 1e-6 / frequency; double cycle = res / lambda; @@ -1026,8 +1037,7 @@ pair GnssSatellites::GetCarrierPhaseECI(const int sat_id, libra: res -= ionospheric_delay; - // wavelength - // frequency is thought to be given by MHz + // wavelength frequency is thought to be given by MHz double lambda = environment::speed_of_light_m_s * 1e-6 / frequency; double cycle = res / lambda; @@ -1042,7 +1052,7 @@ double GnssSatellites::AddIonosphericDelay(const int sat_id, const libra::Vector // sat_id is wrong or not validate if (sat_id >= GetNumOfSatellites() || !GetWhetherValid(sat_id)) return 0.0; - const double Earth_hemisphere = 6378.1; //[km] + const double Earth_hemisphere = 6378.1; //[km] FIXME: Use Constant.hpp double altitude = 0.0; for (int i = 0; i < 3; ++i) altitude += pow(rec_position[i], 2.0); diff --git a/src/Environment/Global/GnssSatellites.h b/src/Environment/Global/GnssSatellites.h index 8660f0064..cfa2ab415 100644 --- a/src/Environment/Global/GnssSatellites.h +++ b/src/Environment/Global/GnssSatellites.h @@ -1,3 +1,8 @@ +/** + * @file GnssSatellites.h + * @brief Class to calculate GNSS satellite position and related states + */ + #ifndef __gnss_satellites_h__ #define __gnss_satellites_h__ @@ -13,30 +18,32 @@ #include "SimTime.h" -extern const double nan99; +extern const double nan99; //!< Not at Number TODO: Should be moved to another place -#define ECEF 0 -#define ECI 1 +// TODO: Use enum +#define ECEF 0 //!< Use ECEF frame for GNSS satellite position frame in Add_IonosphericDelay +#define ECI 1 //!< Use ECI frame for GNSS satellite position frame in Add_IonosphericDelay -#define Lagrange 0 -#define Trigonometric 1 +// TODO: Not used now. Remove? Use enum? +#define Lagrange 0 //!< Use Lagrange interpolation +#define Trigonometric 1 //!< Use Trigonometric interpolation -// #define GNSS_SATELLITES_DEBUG_OUTPUT // for debug output, Uncomment +// #define GNSS_SATELLITES_DEBUG_OUTPUT //!< For debug output, uncomment this /** * @enum UR_KINDS - * @enum When Using Ultra Rapid Calendar, decide to use which 6 hours in each - * observe and predict 24 hours calender + * @brief Ultra Rapid mode + * @details When Using Ultra Rapid ephemerides, decide to use which 6 hours in each observe and predict 24 hours */ typedef enum { - UR_NOT_UR, //!< don't use UR + UR_NOT_UR, //!< Don't use ultra rapid UR_OBSERVE1, //!< the most oldest observe 6 hours (most precise) UR_OBSERVE2, //!< the second oldest observe 6 hours (6 ~ 12) UR_OBSERVE3, UR_OBSERVE4, - UR_PREDICT1, //!< the most oldest presercve 6 hours (most precise) + UR_PREDICT1, //!< the most oldest preserve 6 hours (most precise) UR_PREDICT2, UR_PREDICT3, UR_PREDICT4, @@ -44,165 +51,462 @@ typedef enum { UR_UNKNOWN } UR_KINDS; +/** + * @class GnssSat_coordinate + * @brief GNSS satellite coordinate? + */ class GnssSat_coordinate { public: + /** + * @fn GetIndexFromID + * @brief Calculate index of GNSS satellite defined in this class from GNSS satellite number defined in GNSS system + * @return Index of GNSS satellite defined in this class + */ int GetIndexFromID(std::string sat_num) const; + /** + * @fn GetIDFromIndex + * @brief Calculate GNSS satellite number defined in GNSS system from index of GNSS satellite defined in this class + * @return GNSS satellite number defined in GNSS system + */ std::string GetIDFromIndex(int index) const; + /** + * @fn GetNumOfSatellites + * @brief Return total satellite number in all GNSS system (Constant value) + */ int GetNumOfSatellites() const; + /** + * @fn GetWhetherValid + * @brief Return true the GNSS satellite information is available + * @param [in] sat_id: Index of GNSS satellite + */ bool GetWhetherValid(int sat_id) const; protected: - /* - https://en.wikipedia.org/wiki/Trigonometric_interpolation# - http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - */ + /** + * @fn TrigonometricInterpolation + * @brief Interpolate with Trigonometric method + * @note Ref: http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf + * https://en.wikipedia.org/wiki/Trigonometric_interpolation# + * @param [in] time_vector: List of given time + * @param [in] values: List of given value + * @param [in] time: Time to calculate the interpolated value + * @return Interpolated value + */ template libra::Vector TrigonometricInterpolation(const std::vector& time_vector, const std::vector>& values, double time) const; double TrigonometricInterpolation(const std::vector& time_vector, const std::vector& values, double time) const; + + /** + * @fn LagrangeInterpolation + * @brief Interpolate with Lagrange method + * @param [in] time_vector: List of given time + * @param [in] values: List of given value + * @param [in] time: Time to calculate the interpolated value + * @return Interpolated value + */ template libra::Vector LagrangeInterpolation(const std::vector& time_vector, const std::vector>& values, double time) const; double LagrangeInterpolation(const std::vector& time_vector, const std::vector& values, double time) const; - std::vector> unixtime_vector_; // unixtime for all sat - - std::vector> time_period_; // for inter polation + std::vector> unixtime_vector_; //!< List of unixtime for all sat + std::vector> time_period_; //!< List of time period for interpolation + std::vector validate_; //!< List of whether the satellite is available at the time + std::vector nearest_index_; //!< Index list for update(in position, time_and_index_list_. in clock_bias, time_table_) - std::vector validate_; // whether available at the time - std::vector nearest_index_; // index list for update(in position, - // time_and_index_list_. in clock_bias, time_table_) - - double step_sec_ = 0.0; - double time_interval_ = 0.0; - int interpolation_number_ = 0; + double step_sec_ = 0.0; //!< Step width [sec] + double time_interval_ = 0.0; //!< Time interval + int interpolation_number_ = 0; //!< Interpolation number }; +/** + * @class GnssSat_position + * @brief Class to manage GNSS satellite position information + */ class GnssSat_position : public GnssSat_coordinate { public: + /** + * @fn GnssSat_position + * @brief Constructor + */ GnssSat_position() {} + /** + * @fn Init + * @brief Initialize GNSS satellite position + * @param[in] file: File path for position calculation + * @param[in] interpolation_method: Interpolation method for position calculation + * @param[in] interpolation_number: Interpolation number for position calculation + * @param[in] ur_flag: Ultra Rapid flag for position calculation + * @return Start unix time and end unix time + */ std::pair Init(std::vector>& file, int interpolation_method, int interpolation_number, UR_KINDS ur_flag); + + /** + * @fn Setup + * @brief Setup GNSS satellite position information + * @param [in] start_unix_time: Start unix time + * @param [in] step_sec: Step width [sec] + */ void SetUp(const double start_unix_time, const double step_sec); + /** + * @fn Update + * @brief Update GNSS satellite position information + * @param [in] now_unix_time: Current unix time + */ void Update(const double now_unix_time); + /** + * @fn GetSatEcef + * @brief Return GNSS satellite position vector in the ECEF frame [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ libra::Vector<3> GetSatEcef(int sat_id) const; + /** + * @fn GetSatEci + * @brief Return GNSS satellite position vector in the ECI frame [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ libra::Vector<3> GetSatEci(int sat_id) const; private: - // gnss_satellites_position [m] - std::vector> gnss_sat_ecef_; - std::vector> gnss_sat_eci_; + std::vector> gnss_sat_ecef_; //!< List of GNSS satellite position at specific time in the ECEF frame [m] + std::vector> gnss_sat_eci_; //!< List of GNSS satellite position at specific time in the ECI frame [m] - std::vector>> gnss_sat_table_ecef_; - std::vector>> gnss_sat_table_eci_; + std::vector>> gnss_sat_table_ecef_; //!< Time series of position of all GNSS satellites in the ECEF frame [m] + std::vector>> gnss_sat_table_eci_; //!< Time series of position of all GNSS satellites in the ECEF frame [m] - std::vector>> ecef_; - std::vector>> eci_; + std::vector>> ecef_; //!< Time series of position of all GNSS satellites in the ECEF frame before interpolation [m] + std::vector>> eci_; //!< Time series of position of all GNSS satellites in the ECEF frame before interpolation [m] }; +/** + * @class GnssSat_clock + * @brief Class to manage GNSS satellite clock information + */ class GnssSat_clock : public GnssSat_coordinate { public: + /** + * @fn GnssSat_clock + * @brief Constructor + */ GnssSat_clock() {} + /** + * @fn Init + * @brief Initialize GNSS satellite clock + * @param[in] ile: File path for clock calculation + * @param[in] file_extension: Extension of the clock file (ex. .sp3, .clk30s) + * @param[in] interpolation_number: Interpolation number for clock calculation + * @param[in] ur_flag: Ultra Rapid flag for clock calculation + */ void Init(std::vector>& file, std::string file_extension, int interpolation_number, UR_KINDS ur_flag, std::pair unix_time_period); + /** + * @fn SetUp + * @brief Setup GNSS satellite clock information + * @param [in] start_unix_time: Start unix time + * @param [in] step_sec: Step width [sec] + */ void SetUp(const double start_unix_time, const double step_sec); + /** + * @fn Update + * @brief Update GNSS satellite clock information + * @param [in] now_unix_time: Current unix time + */ void Update(const double now_unix_time); - + /** + * @fn GetSatClock + * @brief Return GNSS satellite clock in distance expression [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ double GetSatClock(int sat_id) const; private: - std::vector gnss_sat_clock_; // clock bias [m], not micro second - std::vector> gnss_sat_clock_table_; - std::vector> clock_bias_; + std::vector gnss_sat_clock_; //!< List of clock bias of all GNSS satellites at specific time expressed in distance [m] + std::vector> gnss_sat_clock_table_; //!< Time series of clock bias of all GNSS satellites expressed in distance [m] + std::vector> clock_bias_; //!< Time series of clock bias of all GNSS satellites expressed in distance before interpolation [m] }; +/** + * @class GnssSat_Info + * @brief Class to manage GNSS satellite information + */ class GnssSat_Info { public: + /** + * @fn GnssSat_Info + * @brief Constructor + */ GnssSat_Info(); + /** + * @fn Init + * @brief Initialize position and clock + * @param[in] position_file: File path for position calculation + * @param[in] position_interpolation_method: Interpolation method for position calculation + * @param[in] position_interpolation_number: Interpolation number for position calculation + * @param[in] position_ur_flag: Ultra Rapid flag for position calculation + * @param[in] clock_file: File path for clock calculation + * @param[in] clock_file_extension: Extension of the clock file (ex. .sp3, .clk30s) + * @param[in] clock_interpolation_number: Interpolation number for clock calculation + * @param[in] clock_ur_flag: Ultra Rapid flag for clock calculation + */ void Init(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UR_KINDS position_ur_flag, - - std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number, - UR_KINDS clock_ur_flag); + UR_KINDS position_ur_flag, std::vector>& clock_file, std::string clock_file_extension, + int clock_interpolation_number, UR_KINDS clock_ur_flag); + /** + * @fn SetUp + * @brief Setup GNSS satellite position and clock information + * @param [in] start_unix_time: Start unix time + * @param [in] step_sec: Step width [sec] + */ void SetUp(const double start_unix_time, const double step_sec); + /** + * @fn Update + * @brief Update GNSS satellite position and clock information + * @param [in] now_unix_time: Current unix time + */ void Update(const double now_unix_time); + /** + * @fn GetNumOfSatellites + * @brief Get total number of GNSS satellite (constant value) + * @note TODO: Consider this function is really needed. + */ int GetNumOfSatellites() const; + /** + * @fn GetWhetherValid + * @brief Return true the GNSS satellite information is available for both position and clock information + * @param [in] sat_id: Index of GNSS satellite + */ bool GetWhetherValid(int sat_id) const; + /** + * @fn GetSatellitePositionEcef + * @brief Return GNSS satellite position vector in the ECEF frame [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ libra::Vector<3> GetSatellitePositionEcef(int sat_id) const; + /** + * @fn GetSatellitePositionEci + * @brief Return GNSS satellite position vector in the ECEF frame [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ libra::Vector<3> GetSatellitePositionEci(int sat_id) const; + /** + * @fn GetSatelliteClock + * @brief Return GNSS satellite clock in distance expression [m] + * @param [in] sat_id: GNSS satellite ID defined in this class + */ double GetSatelliteClock(int sat_id) const; + /** + * @fn GetGnssSatPos + * @brief Return GNSS satellite position information class + */ const GnssSat_position& GetGnssSatPos() const; + /** + * @fn GetGnssSatClock + * @brief Return GNSS satellite clock information class + */ const GnssSat_clock& GetGnssSatClock() const; private: - GnssSat_position position_; - GnssSat_clock clock_; + GnssSat_position position_; //!< GNSS satellite position information + GnssSat_clock clock_; //!< GNSS satellite clock information }; +/** + * @class GnssSatellites + * @brief Class to calculate GNSS satellite position and related states + */ class GnssSatellites : public ILoggable { public: - // CONSTRUCTOR AND DECONSTRUCTOR + /** + * @fn GnssSatellites + * @brief Constructor + * @param [in] is_calc_enabled: Flag to manage the GNSS satellite position calculation + */ GnssSatellites(bool is_calc_enabled); + /** + * @fn ~GnssSatellites + * @brief Destructor + */ virtual ~GnssSatellites() {} + /** + * @fn Init + * @brief Initialize function + * @note Parameters are defined in GNSSSat_Info for true and estimated information + */ void Init(std::vector>& true_position_file, int true_position_interpolation_method, int true_position_interpolation_number, - UR_KINDS true_position_ur_flag, - - std::vector>& true_clock_file, std::string true_clock_file_extension, int true_clock_interpolation_number, - UR_KINDS true_clock_ur_flag, - - std::vector>& estimate_position_file, int estimate_position_interpolation_method, - int estimate_position_interpolation_number, UR_KINDS estimate_position_ur_flag, - + UR_KINDS true_position_ur_flag, std::vector>& true_clock_file, std::string true_clock_file_extension, + int true_clock_interpolation_number, UR_KINDS true_clock_ur_flag, std::vector>& estimate_position_file, + int estimate_position_interpolation_method, int estimate_position_interpolation_number, UR_KINDS estimate_position_ur_flag, std::vector>& estimate_clock_file, std::string estimate_clock_file_extension, int estimate_clock_interpolation_number, UR_KINDS estimate_clock_ur_flag); - + /** + * @fn IsCalcEnabled + * @brief Return calculated enabled flag + */ bool IsCalcEnabled() const; + /** + * @fn SetUp + * @brief Setup both true and estimated GNSS satellite information + * @param [in] sim_time: Simulation time information + */ void SetUp(const SimTime* sim_time); + /** + * @fn Update + * @brief Update both true and estimated GNSS satellite information + * @param [in] sim_time: Simulation time information + */ void Update(const SimTime* sim_time); - // GET FUNCTIONS + /** + * @fn GetIndexFromID + * @brief Calculate index of GNSS satellite defined in this class from GNSS satellite number defined in GNSS system + * @note TODO: Is this function really needed? This is just called other accessible function. + * @return Index of GNSS satellite defined in this class + */ int GetIndexFromID(std::string sat_num) const; + /** + * @fn GetIDFromIndex + * @brief Calculate GNSS satellite number defined in GNSS system from index of GNSS satellite defined in this class + * @note TODO: Is this function really needed? This is just called other accessible function. + * @return GNSS satellite number defined in GNSS system + */ std::string GetIDFromIndex(int index) const; + /** + * @fn GetNumOfSatellites + * @brief Return total number of GNSS satellite for estimated information + * @note TODO: Is this function really needed? This is just called other accessible function. + */ int GetNumOfSatellites() const; + /** + * @fn GetWhetherValid + * @brief Return true the GNSS satellite information is available for both position and clock for both true and estimated value + * @param [in] sat_id: Index of GNSS satellite + */ bool GetWhetherValid(int sat_id) const; + /** + * @fn GetStartUnixTime + * @brief Return start unix time + */ double GetStartUnixTime() const; + /** + * @fn Get_true_info + * @brief Return GNSS satellite information class for true value system + */ const GnssSat_Info& Get_true_info() const; + /** + * @fn Get_estimate_info + * @brief Return GNSS satellite information class for estimated value system + */ const GnssSat_Info& Get_estimate_info() const; + /** + * @fn GetSatellitePositionEcef + * @brief Return GNSS satellite position in the ECEF frame [m] + * @param [in] sat_id: GNSS satellite ID + */ libra::Vector<3> GetSatellitePositionEcef(const int sat_id) const; + /** + * @fn GetSatellitePositionEci + * @brief Return GNSS satellite position in the ECI frame [m] + * @param [in] sat_id: GNSS satellite ID + */ libra::Vector<3> GetSatellitePositionEci(const int sat_id) const; - + /** + * @fn GetSatelliteClock + * @brief Return GNSS satellite clock + * @param [in] sat_id: GNSS satellite ID + */ double GetSatelliteClock(const int sat_id) const; - // Get observation Range:[m] CarrierPhase:[no unit], frequency is thought to - // be expressed in MHz + /** + * @fn GetPseudoRangeECEF + * @brief Calculate pseudo range between receiver and a GNSS satellite + * @param [in] sat_id: GNSS satellite ID + * @param [in] rec_position: Receiver position vector in the ECEF frame [m] + * @param [in] rec_clock: Receiver clock + * @param [in] frequency: Frequency of the signal [MHz] + * @return Pseudo range [m] + */ double GetPseudoRangeECEF(const int sat_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + /** + * @fn GetPseudoRangeECI + * @brief Calculate pseudo range between receiver and a GNSS satellite + * @param [in] sat_id: GNSS satellite ID + * @param [in] rec_position: Receiver position vector in the ECI frame [m] + * @param [in] rec_clock: Receiver clock + * @param [in] frequency: Frequency of the signal [MHz] + * @return Pseudo range [m] + */ double GetPseudoRangeECI(const int sat_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + /** + * @fn GetCarrierPhaseECEF + * @brief Calculate carrier phase observed by a receiver for a GNSS satellite + * @param [in] sat_id: GNSS satellite ID + * @param [in] rec_position: Receiver position vector in the ECEF frame [m] + * @param [in] rec_clock: Receiver clock + * @param [in] frequency: Frequency of the signal [MHz] + * @return Carrier phase cycle and bias [-] + */ std::pair GetCarrierPhaseECEF(const int sat_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + /** + * @fn GetCarrierPhaseECI + * @brief Calculate carrier phase observed by a receiver for a GNSS satellite + * @param [in] sat_id: GNSS satellite ID + * @param [in] rec_position: Receiver position vector in the ECI frame [m] + * @param [in] rec_clock: Receiver clock + * @param [in] frequency: Frequency of the signal [MHz] + * @return Carrier phase cycle and bias [-] + */ std::pair GetCarrierPhaseECI(const int sat_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; - // FOR LOG OUTPUT // 継承のために + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ std::string GetLogValue() const override; - // FOR DEBUG OUTPUT + /** + * @fn DebugOutput + * @brief Debug output + */ void DebugOutput(void); private: + /** + * @fn TrigonometricInterpolation + * @brief Is this similar with GnssSat_coordinate's function? + */ double TrigonometricInterpolation(std::vector time_period, std::vector position, double time); - // for Ionospheric delay very Miscellaneous need to fix. + + /** + * @fn AddIonosphericDelay + * @brief Calculation of ionospheric delay + * @note TODO: Ionospheric delay very Miscellaneous need to fix + * @param [in] sat_id: GNSS satellite ID + * @param [in] rec_position: Receiver position [m] + * @param [in] frequency: Frequency [MHz] + * @param [in] flag: The frame definition of the receiver position (ECI or ECEF) + * @return Ionospheric delay [m] + */ double AddIonosphericDelay(const int sat_id, const libra::Vector<3> rec_position, const double frequency, const bool flag) const; - bool is_calc_enabled_ = true; - GnssSat_Info true_info_; - GnssSat_Info estimate_info_; - double start_unix_time_; + bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation + GnssSat_Info true_info_; //!< True information of GNSS satellites + GnssSat_Info estimate_info_; //!< Estimated information of GNSS satellites TODO: should be move out from GlobalEnvironment + double start_unix_time_; //!< Start unix time #ifdef GNSS_SATELLITES_DEBUG_OUTPUT - ofstream ofs_true; - ofstream ofs_esti; - ofstream ofs_sa; + ofstream ofs_true; //!< Debug output for true value + ofstream ofs_esti; //!< Debug output for estimated value + ofstream ofs_sa; //!< Debug output for difference between true and estimated value #endif }; #endif From 89d7063fd0175dbfe15d0cfa73844eb4675e602d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 12:54:55 +0100 Subject: [PATCH 072/199] Fix comment in Hipparcos --- src/Environment/Global/HipparcosCatalogue.cpp | 11 ++- src/Environment/Global/HipparcosCatalogue.h | 98 ++++++++++++++++--- 2 files changed, 90 insertions(+), 19 deletions(-) diff --git a/src/Environment/Global/HipparcosCatalogue.cpp b/src/Environment/Global/HipparcosCatalogue.cpp index a89fe0629..67e7b3547 100644 --- a/src/Environment/Global/HipparcosCatalogue.cpp +++ b/src/Environment/Global/HipparcosCatalogue.cpp @@ -1,3 +1,7 @@ +/** + *@file HipparcosCatalogue.cpp + *@brief Class to calculate star direction with Hipparcos catalogue + */ #include "HipparcosCatalogue.h" #include @@ -25,21 +29,20 @@ bool HipparcosCatalogue::ReadContents(const string& filename, const char delimit } string title; - ifs >> title; //タイトルを読み飛ばす + ifs >> title; // Skip title while (!ifs.eof()) { HipData hipdata; string line; ifs >> line; - replace(line.begin(), line.end(), delimiter, - ' '); // stringstreamで自動的に数値を抽出するために、スペース区切りに直す + replace(line.begin(), line.end(), delimiter, ' '); // Convert delimiter as space for stringstream istringstream streamline(line); streamline >> hipdata.hip_num >> hipdata.vmag >> hipdata.ra >> hipdata.de; if (hipdata.vmag > max_magnitude_) { return true; - } // max_magnitudeで指定したvmagより暗い星は読み込まない + } // Don't read stars darker than max_magnitude hip_catalogue.push_back(hipdata); } diff --git a/src/Environment/Global/HipparcosCatalogue.h b/src/Environment/Global/HipparcosCatalogue.h index 0b5e2ad4e..dd2d3c89f 100644 --- a/src/Environment/Global/HipparcosCatalogue.h +++ b/src/Environment/Global/HipparcosCatalogue.h @@ -1,42 +1,110 @@ +/** + *@file HipparcosCatalogue.h + *@brief Class to calculate star direction with Hipparcos catalogue + */ #pragma once #include -// HipDataを要素に持つベクタが欲しかったので，STLのベクタを使用している -//計算に使うベクタは歴代nlabのベクタを使用しているので，混在していてまずい... -#include #include #include #include +/** + *@struct HipData + *@brief Hipparcos catalogue data + */ struct HipData { - int hip_num; //番号 - double vmag; //視等級 - double ra; //赤経 - double de; //赤緯 + int hip_num; //!< Hipparcos number + double vmag; //!< Visible magnitude + double ra; //!< Right ascention [rad] + double de; //!< Declination [rad] }; +/** + *@class HipparcosCatalogue + *@brief Class to calculate star direction with Hipparcos catalogue + */ class HipparcosCatalogue : public ILoggable { public: + /** + *@fn HipparcosCatalogue + *@brief Constructor + *@param [in] max_magnitude: Maximum star magnitude managed in this class + *@param [in] catalogue_path: Path to Hipparcos catalogue file + */ HipparcosCatalogue(double max_magnitude, std::string catalogue_path); + /** + *@fn ~HipparcosCatalogue + *@brief Destructor + */ virtual ~HipparcosCatalogue(); + /** + *@fn ReadContents + *@brief Read Hipparcos catalogue file + *@param [in] file_name: Path to Hipparcos catalogue file + *@param [in] delimiter: Delimiter for the catalogue file + */ bool ReadContents(const std::string& filename, const char delimiter); - //ヒッパルコス星表のデータは視等級順に並べているので、等級の順位を引数に取る + + /** + *@fn GetCatalogueSize + *@brief Return read catalogue size + */ int GetCatalogueSize() const { return hip_catalogue.size(); } + /** + *@fn GetHipID + *@brief Return Hipparcos ID of a star + *@param [in] rank: Rank of star magnitude in read catalogue + */ int GetHipID(int rank) const { return hip_catalogue[rank].hip_num; } + /** + *@fn GetVmag + *@brief Return magnitude in visible wave length of a star + *@param [in] rank: Rank of star magnitude in read catalogue + */ double GetVmag(int rank) const { return hip_catalogue[rank].vmag; } + /** + *@fn GetRA + *@brief Return right ascension of a star + *@param [in] rank: Rank of star magnitude in read catalogue + */ double GetRA(int rank) const { return hip_catalogue[rank].ra; } + /** + *@fn GetDE + *@brief Return declination of a star + *@param [in] rank: Rank of star magnitude in read catalogue + */ double GetDE(int rank) const { return hip_catalogue[rank].de; } - libra::Vector<3> GetStarDir_i(int rank) const; //恒星の方向を返す - libra::Vector<3> GetStarDir_b(int rank, - Quaternion q_i2b) const; //恒星の方向を返す + /** + *@fn GetStarDir_i + *@brief Return direction vector of a star in the inertial frame + *@param [in] rank: Rank of star magnitude in read catalogue + */ + libra::Vector<3> GetStarDir_i(int rank) const; + /** + *@fn GetStarDir_b + *@brief Return direction vector of a star in the body-fixed frame + *@param [in] rank: Rank of star magnitude in read catalogue + *@param [in] rank: Quaternion from the inertial frame to the body-fixed frame + */ + libra::Vector<3> GetStarDir_b(int rank, Quaternion q_i2b) const; + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - bool IsCalcEnabled = true; + bool IsCalcEnabled = true; //!< Calculation enable flag private: - std::vector hip_catalogue; // CSVデータの格納先 - double max_magnitude_; - std::string catalogue_path_; + std::vector hip_catalogue; //!< Data base of the read Hipparcos catalogue + double max_magnitude_; //!< Maximum magnitude in the data base + std::string catalogue_path_; //!< Path to Hipparcos catalog file }; From fc4d4cf49b4ace5053597b723f0b6c60a87232b2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 12:57:12 +0100 Subject: [PATCH 073/199] Fix comment in InitGlobalEnvironemtn --- .../Global/InitGlobalEnvironment.cpp | 4 ++++ .../Global/InitGlobalEnvironment.hpp | 22 +++++++++++++++++++ 2 files changed, 26 insertions(+) diff --git a/src/Environment/Global/InitGlobalEnvironment.cpp b/src/Environment/Global/InitGlobalEnvironment.cpp index 9e0ebf46b..cb83a05ff 100644 --- a/src/Environment/Global/InitGlobalEnvironment.cpp +++ b/src/Environment/Global/InitGlobalEnvironment.cpp @@ -1,3 +1,7 @@ +/** + *@file InitGlobalEnvironment.cpp + *@brief Initialize functions for classes in global environment + */ #include "InitGlobalEnvironment.hpp" #include diff --git a/src/Environment/Global/InitGlobalEnvironment.hpp b/src/Environment/Global/InitGlobalEnvironment.hpp index b1e0f57cc..1048172fa 100644 --- a/src/Environment/Global/InitGlobalEnvironment.hpp +++ b/src/Environment/Global/InitGlobalEnvironment.hpp @@ -1,9 +1,31 @@ +/** + *@file InitGlobalEnvironment.hpp + *@brief Initialize functions for classes in global environment + */ + #pragma once #include #include #include +/** + *@fn InitSimTime + *@brief Initialize function for SimTime class +*@param [in] file_name: Path to the initialize function + */ SimTime* InitSimTime(std::string file_name); + +/** + *@fn InitHipCatalogue + *@brief Initialize function for HipparcosCatalogue class +*@param [in] file_name: Path to the initialize function + */ HipparcosCatalogue* InitHipCatalogue(std::string file_name); + +/** + *@fn InitCelesInfo + *@brief Initialize function for CelestialInformation class +*@param [in] file_name: Path to the initialize function + */ CelestialInformation* InitCelesInfo(std::string file_name); From 6b733e4fa8dd445dc039d129b3212fa5e4f8b836 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 12:58:11 +0100 Subject: [PATCH 074/199] Fix comment in InitGnssSatellites --- src/Environment/Global/InitGnssSatellites.cpp | 5 +++++ src/Environment/Global/InitGnssSatellites.hpp | 10 ++++++++++ 2 files changed, 15 insertions(+) diff --git a/src/Environment/Global/InitGnssSatellites.cpp b/src/Environment/Global/InitGnssSatellites.cpp index ca8677fd5..c6c58114a 100644 --- a/src/Environment/Global/InitGnssSatellites.cpp +++ b/src/Environment/Global/InitGnssSatellites.cpp @@ -1,3 +1,8 @@ +/** + *@file InitGnssSatellites.cpp + *@brief Initialize functions for GnssSatellites class + */ + #include "InitGnssSatellites.hpp" #include diff --git a/src/Environment/Global/InitGnssSatellites.hpp b/src/Environment/Global/InitGnssSatellites.hpp index 19076dc39..93ece4529 100644 --- a/src/Environment/Global/InitGnssSatellites.hpp +++ b/src/Environment/Global/InitGnssSatellites.hpp @@ -1,5 +1,15 @@ +/** + *@file InitGnssSatellites.hpp + *@brief Initialize functions for GnssSatellites class + */ + #pragma once #include +/** + *@fn InitGnssSatellites + *@brief Initialize function for GnssSatellites class +*@param [in] file_name: Path to the initialize function + */ GnssSatellites* InitGnssSatellites(std::string file_name); From de354ffd36b62a09465f31cdf7ff7bd74f5ce608 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 13:34:11 +0100 Subject: [PATCH 075/199] Fix comment in PhysicalConstants --- src/Environment/Global/PhysicalConstants.hpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/Environment/Global/PhysicalConstants.hpp b/src/Environment/Global/PhysicalConstants.hpp index 23a88ae7e..d818f7bab 100644 --- a/src/Environment/Global/PhysicalConstants.hpp +++ b/src/Environment/Global/PhysicalConstants.hpp @@ -19,20 +19,20 @@ using enable_if_float = std::enable_if_t, T>; inline constexpr double name = name##_v; inline namespace physics { -DEFINE_PHYSICAL_CONSTANT(speed_of_light_m_s, 299792458.0L) /* in vacuum m/s */ -DEFINE_PHYSICAL_CONSTANT(boltzmann_constant_J_K, 1.380649e-23L) /* J/K */ -DEFINE_PHYSICAL_CONSTANT(absolute_zero_degC, -273.15L) /* degC */ +DEFINE_PHYSICAL_CONSTANT(speed_of_light_m_s, 299792458.0L) //!< Speed of light in vacuum [m/s] +DEFINE_PHYSICAL_CONSTANT(boltzmann_constant_J_K, 1.380649e-23L) //!< Boltzmann constant [J/K] +DEFINE_PHYSICAL_CONSTANT(absolute_zero_degC, -273.15L) //!< Absolute zero [degC] } // namespace physics inline namespace astronomy { // Ref: https://iau-a3.gitlab.io/NSFA/ -DEFINE_PHYSICAL_CONSTANT(astronomical_unit_m, 1.49597870700e11L) /* fixed m */ -DEFINE_PHYSICAL_CONSTANT(gravitational_constant_Nm2_kg2, 6.67428e-11L) /* best estimates Nm2/kg2 */ -DEFINE_PHYSICAL_CONSTANT(earth_equatorial_radius_m, 6378136.6L) /* best estimates m */ -DEFINE_PHYSICAL_CONSTANT(earth_polar_radius_m, 6356752.0L) /* from NASA's fact sheet m */ -DEFINE_PHYSICAL_CONSTANT(earth_gravitational_constant_m3_s2, 3.986004415e14L) /* best estimates, TT m3/s2 */ -DEFINE_PHYSICAL_CONSTANT(earth_mean_angular_velocity_rad_s, 7.292115e-5L) /* best estimates, TT rad/s */ -DEFINE_PHYSICAL_CONSTANT(earth_flattening, 3.352797e-3L) /* calculated from the earth radius above */ +DEFINE_PHYSICAL_CONSTANT(astronomical_unit_m, 1.49597870700e11L) //!< Fixed value of the Astronomical unit [m] +DEFINE_PHYSICAL_CONSTANT(gravitational_constant_Nm2_kg2, 6.67428e-11L) //!< Best estimate of the Gravitational constants [Nm2/kg2] +DEFINE_PHYSICAL_CONSTANT(earth_equatorial_radius_m, 6378136.6L) //!< Best estimate of the Earth equatorial radius[m] +DEFINE_PHYSICAL_CONSTANT(earth_polar_radius_m, 6356752.0L) //!< The Earth polar radius from NASA's fact sheet [m] +DEFINE_PHYSICAL_CONSTANT(earth_gravitational_constant_m3_s2, 3.986004415e14L) //!< Best estimate of the Earth's gravitational constants, TT [m3/s2] +DEFINE_PHYSICAL_CONSTANT(earth_mean_angular_velocity_rad_s, 7.292115e-5L) //!< Best estimate of the Earth's mean angular velocity, TT [rad/s] +DEFINE_PHYSICAL_CONSTANT(earth_flattening, 3.352797e-3L) //!< The Earth flattening calculated from the earth radius above } // namespace astronomy #undef DEFINE_PHYSICAL_CONSTANT From a08626ee06e482cd3bf1ddbf9d5a8247fbf28635 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 13:37:02 +0100 Subject: [PATCH 076/199] Fix format --- src/Environment/Global/InitGlobalEnvironment.cpp | 3 +-- src/Environment/Global/InitGlobalEnvironment.hpp | 6 +++--- src/Environment/Global/InitGnssSatellites.cpp | 2 +- src/Environment/Global/InitGnssSatellites.hpp | 2 +- 4 files changed, 6 insertions(+), 7 deletions(-) diff --git a/src/Environment/Global/InitGlobalEnvironment.cpp b/src/Environment/Global/InitGlobalEnvironment.cpp index cb83a05ff..ca1e926d0 100644 --- a/src/Environment/Global/InitGlobalEnvironment.cpp +++ b/src/Environment/Global/InitGlobalEnvironment.cpp @@ -104,8 +104,7 @@ CelestialInformation* InitCelesInfo(std::string file_name) { rotation_mode = Simple; } else if (rotation_mode_temp == "Full") { rotation_mode = Full; - } else // if rotation_mode is neither Idle, Simple, nor Full, set - // rotation_mode to Idle + } else // if rotation_mode is neither Idle, Simple, nor Full, set rotation_mode to Idle { rotation_mode = Idle; } diff --git a/src/Environment/Global/InitGlobalEnvironment.hpp b/src/Environment/Global/InitGlobalEnvironment.hpp index 1048172fa..97ae28149 100644 --- a/src/Environment/Global/InitGlobalEnvironment.hpp +++ b/src/Environment/Global/InitGlobalEnvironment.hpp @@ -12,20 +12,20 @@ /** *@fn InitSimTime *@brief Initialize function for SimTime class -*@param [in] file_name: Path to the initialize function + *@param [in] file_name: Path to the initialize function */ SimTime* InitSimTime(std::string file_name); /** *@fn InitHipCatalogue *@brief Initialize function for HipparcosCatalogue class -*@param [in] file_name: Path to the initialize function + *@param [in] file_name: Path to the initialize function */ HipparcosCatalogue* InitHipCatalogue(std::string file_name); /** *@fn InitCelesInfo *@brief Initialize function for CelestialInformation class -*@param [in] file_name: Path to the initialize function + *@param [in] file_name: Path to the initialize function */ CelestialInformation* InitCelesInfo(std::string file_name); diff --git a/src/Environment/Global/InitGnssSatellites.cpp b/src/Environment/Global/InitGnssSatellites.cpp index c6c58114a..7319dcb58 100644 --- a/src/Environment/Global/InitGnssSatellites.cpp +++ b/src/Environment/Global/InitGnssSatellites.cpp @@ -100,7 +100,7 @@ void get_sp3_file_contents(std::string directory_path, std::string file_sort, st if (file_name == last) break; ++day; } - } else if (file_sort.substr(0, 3) == "IGU" || file_sort.find("Ultra") != std::string::npos) { // URの場合 + } else if (file_sort.substr(0, 3) == "IGU" || file_sort.find("Ultra") != std::string::npos) { // In case of UR ur_flag = UR_UNKNOWN; std::string file_header, file_footer; int gps_week = 0, day = 0; diff --git a/src/Environment/Global/InitGnssSatellites.hpp b/src/Environment/Global/InitGnssSatellites.hpp index 93ece4529..29ff7da3c 100644 --- a/src/Environment/Global/InitGnssSatellites.hpp +++ b/src/Environment/Global/InitGnssSatellites.hpp @@ -10,6 +10,6 @@ /** *@fn InitGnssSatellites *@brief Initialize function for GnssSatellites class -*@param [in] file_name: Path to the initialize function + *@param [in] file_name: Path to the initialize function */ GnssSatellites* InitGnssSatellites(std::string file_name); From 029696c842c53aad82198d9c44b17319cd711d42 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 14:10:44 +0100 Subject: [PATCH 077/199] Fix comment in SimTime --- src/Environment/Global/SimTime.cpp | 18 +- src/Environment/Global/SimTime.h | 299 +++++++++++++++++++++++------ 2 files changed, 253 insertions(+), 64 deletions(-) diff --git a/src/Environment/Global/SimTime.cpp b/src/Environment/Global/SimTime.cpp index 6a2752450..356818237 100644 --- a/src/Environment/Global/SimTime.cpp +++ b/src/Environment/Global/SimTime.cpp @@ -1,3 +1,8 @@ +/** + *@file SimTime.cpp + *@brief Class to manage simulation time related information + */ + #define _CRT_SECURE_NO_WARNINGS #include "SimTime.h" @@ -28,11 +33,10 @@ SimTime::SimTime(const double end_sec, const double step_sec, const double attit compo_update_interval_sec_ = compo_propagate_step_sec; compo_propagate_frequency_ = int(1.0 / compo_update_interval_sec_); sim_speed_ = sim_speed; - disp_period_ = (1.0 * end_sec / step_sec / 100); // 1%毎に更新 + disp_period_ = (1.0 * end_sec / step_sec / 100); // Update every 1% time_exceeds_continuously_limit_sec_ = 1.0; - // sscanf_s(start_ymdhms, "%d/%d/%d %d:%d:%lf", &start_year_, &start_mon_, - // &start_day_, &start_hr_, &start_min_, &start_sec_); + // sscanf_s(start_ymdhms, "%d/%d/%d %d:%d:%lf", &start_year_, &start_mon_, &start_day_, &start_hr_, &start_min_, &start_sec_); sscanf(start_ymdhms, "%d/%d/%d %d:%d:%lf", &start_year_, &start_mon_, &start_day_, &start_hr_, &start_min_, &start_sec_); jday(start_year_, start_mon_, start_day_, start_hr_, start_min_, start_sec_, start_jd_); current_jd_ = start_jd_; @@ -52,8 +56,7 @@ void SimTime::AssertTimeStepParams() { assert(orbit_rk_step_sec_ <= orbit_update_interval_sec_); assert(thermal_rk_step_sec_ <= thermal_update_interval_sec_); - // Step time for the entire simulation must be smaller than all of the - // subroutine step times + // Step time for the entire simulation must be smaller than all of the subroutine step times assert(step_sec_ <= attitude_update_interval_sec_); assert(step_sec_ <= orbit_update_interval_sec_); assert(step_sec_ <= thermal_update_interval_sec_); @@ -88,12 +91,11 @@ void SimTime::UpdateTime(void) { int exceeded_duration_ms = (int)chrono::duration_cast(clk.now() - clock_last_time_completed_step_in_time_).count(); if (exceeded_duration_ms > time_exceeds_continuously_limit_sec_ * 1000) { - // Skip time and warn only when execition time exceeds continuously for long time + // Skip time and warn only when execution time exceeds continuously for long time cout << "Error: the specified step_sec is too small for this computer.\r\n"; - // Forcibly set elapsed_tim_sec_ as actual elapced time - // Reason: to catch up with real time when resume from a breakpoint + // Forcibly set elapsed_tim_sec_ as actual elapsed time Reason: to catch up with real time when resume from a breakpoint elapsed_time_sec_ = (chrono::duration_cast>>(clk.now() - clock_start_time_millisec_).count() * sim_speed_); clock_last_time_completed_step_in_time_ = clk.now(); diff --git a/src/Environment/Global/SimTime.h b/src/Environment/Global/SimTime.h index 8889e8896..4e8de7451 100644 --- a/src/Environment/Global/SimTime.h +++ b/src/Environment/Global/SimTime.h @@ -1,3 +1,8 @@ +/** + *@file SimTime.h + *@brief Class to manage simulation time related information + */ + #ifndef __SIMULATION_TIME_H__ #define __SIMULATION_TIME_H__ @@ -14,6 +19,10 @@ #include +/** + *@struct TimeState + *@brief State of timing controller + */ struct TimeState { bool running = false; bool finish = false; @@ -21,7 +30,10 @@ struct TimeState { bool disp_output = true; }; -// UTC (calendar day) struct +/** + *@struct UTC + *@brief UTC (Coordinated Universal Time) calendar expression + */ struct UTC { unsigned int year = 2000; unsigned int month = 1; @@ -31,106 +43,281 @@ struct UTC { double sec = 0.0; }; -// シミュレーション上の時間を管理するシングルトン +/** + *@class SimTime + *@brief Class to manage simulation time related information + */ class SimTime : public ILoggable { public: + /** + *@fn SimTime + *@brief Constructor + *@param [in] end_sec: Simulation duration [sec] + *@param [in] step_sec: Simulation step [sec] + *@param [in] attitude_update_interval_sec: Attitude update interval [sec] + *@param [in] attitude_rk_step_sec: Attitude Runge-Kutta step time [sec] + *@param [in] orbit_update_interval_sec: Orbit update interval [sec] + *@param [in] orbit_rk_step_sec: Orbit Runge-Kutta step time [sec] + *@param [in] thermal_update_interval_sec: Thermal update interval [sec] + *@param [in] thermal_rk_step_sec: Thermal Runge-Kutta step time [sec] + *@param [in] compo_propagate_step_sec: Component propagate step time [sec] + *@param [in] log_output_interval_sec: Log output interval [sec] + *@param [in] start_ymdhms: Simulation start time in UTC [YYYYMMDD hh:mm:ss] + *@param [in] sim_speed: Simulation speed setting + */ SimTime(const double end_sec, const double step_sec, const double attitude_update_interval_sec, const double attitude_rk_step_sec, const double orbit_update_interval_sec, const double orbit_rk_step_sec, const double thermal_update_interval_sec, const double thermal_rk_step_sec, const double compo_propagate_step_sec, const double log_output_interval_sec, const char* start_ymdhms, const double sim_speed); + /** + *@fn ~SimTime + *@brief Destructor + */ virtual ~SimTime(); - void SetParameters(void); // Simulation開始前処理（Monte-Carlo - // Simulationの際は毎回呼ばれる予定） - void UpdateTime(void); // 時刻の更新 + /** + *@fn SetParameters + *@brief Set time related parameters for initializing simulation + *@note This function should be called all cases in the Monte-Carlo simulation + */ + void SetParameters(void); + /** + *@fn UpdateTime + *@brief Update simulation time + */ + void UpdateTime(void); + /** + *@fn ResetClock + *@brief Reset simulation start time as PC’s time + */ void ResetClock(void); - // Get functions + /** + *@fn GetState + *@brief Return time state + */ inline const TimeState GetState(void) const { return state_; }; + /** + *@fn GetElapsedSec + *@brief Return simulation elapsed time [sec] + */ inline double GetElapsedSec(void) const { return elapsed_time_sec_; }; + /** + *@fn GetStepSec + *@brief Return simulation step [sec] + */ inline double GetStepSec(void) const { return step_sec_; }; + /** + *@fn GetAttitudeUpdateIntervalSec + *@brief Return attitude update interval [sec] + */ inline double GetAttitudeUpdateIntervalSec(void) const { return attitude_update_interval_sec_; }; + /** + *@fn GetAttitudePropagateFlag + *@brief Return attitude propagate flag + */ inline bool GetAttitudePropagateFlag(void) const { return attitude_update_flag_; }; + /** + *@fn GetAttitudeRKStepSec + *@brief Return attitude Runge-Kutta step time [sec] + */ inline double GetAttitudeRKStepSec() const { return attitude_rk_step_sec_; } + + /** + *@fn GetOrbitUpdateIntervalSec + *@brief Return orbit update interval [sec] + */ inline double GetOrbitUpdateIntervalSec(void) const { return orbit_update_interval_sec_; }; + /** + *@fn GetOrbitPropagateFlag + *@brief Return orbit propagate flag + */ inline bool GetOrbitPropagateFlag(void) const { return orbit_update_flag_; }; + /** + *@fn GetOrbitRKStepSec + *@brief Return orbit Runge-Kutta step time [sec] + */ inline double GetOrbitRKStepSec() const { return orbit_rk_step_sec_; } + + /** + *@fn GetThermalUpdateIntervalSec + *@brief Return thermal update interval [sec] + */ inline double GetThermalUpdateIntervalSec(void) const { return thermal_update_interval_sec_; }; + /** + *@fn GetThermalPropagateFlag + *@brief Return thermal propagate flag + */ inline bool GetThermalPropagateFlag(void) const { return thermal_update_flag_; }; + /** + *@fn GetThermalRKStepSec + *@brief Return thermal Runge-Kutta step time [sec] + */ inline double GetThermalRKStepSec() const { return thermal_rk_step_sec_; } + + /** + *@fn GetCompoStepSec + *@brief Return component update step time [sec] + */ inline double GetCompoStepSec(void) const { return compo_update_interval_sec_; }; + /** + *@fn GetCompoUpdateFlag + *@brief Return component update flag + */ inline bool GetCompoUpdateFlag() const { return compo_update_flag_; } + /** + *@fn GetCompoPropagateFrequency + *@brief Return component propagate frequency [Hz] + */ inline int GetCompoPropagateFrequency(void) const { return compo_propagate_frequency_; }; + /** + *@fn GetEndSec + *@brief Return simulation end elapsed time [sec] + */ inline double GetEndSec(void) const { return end_sec_; }; + /** + *@fn GetProgressionRate + *@brief Return progression rate of the simulation [%] + */ inline int GetProgressionRate(void) const { return (int)floor((elapsed_time_sec_ / end_sec_ * 100)); }; + + /** + *@fn GetCurrentJd + *@brief Return current Julian day [day] + */ inline double GetCurrentJd(void) const { return current_jd_; }; + /** + *@fn GetCurrentSidereal + *@brief Return current sidereal day [day] + */ inline double GetCurrentSidereal(void) const { return current_sidereal_; }; + /** + *@fn GetCurrentDecyear + *@brief Return current decimal year [year] + */ inline double GetCurrentDecyear(void) const { return current_decyear_; }; + /** + *@fn GetCurrentUTC + *@brief Return current UTC calendar expression + */ inline const UTC GetCurrentUTC(void) const { return current_utc_; }; + + /** + *@fn GetStartYear + *@brief Return start time year [year] + */ inline int GetStartYear(void) const { return start_year_; }; + /** + *@fn GetStartMon + *@brief Return start time month [month] + */ inline int GetStartMon(void) const { return start_mon_; }; + /** + *@fn GetStartDay + *@brief Return start time day [day] + */ inline int GetStartDay(void) const { return start_day_; }; + /** + *@fn GetStartHr + *@brief Return start time hour [hour] + */ inline int GetStartHr(void) const { return start_hr_; }; + /** + *@fn GetStartMin + *@brief Return start time minute [minute] + */ inline int GetStartMin(void) const { return start_min_; }; + /** + *@fn GetStartSec + *@brief Return start time second [sec] + */ inline double GetStartSec(void) const { return start_sec_; }; - // logs + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // debug + + /** + * @fn PrintStartDateTime + * @brief Debug output of start date and time + */ void PrintStartDateTime(void) const; private: - //変動値 - double elapsed_time_sec_; - double current_jd_; //ユリウス日 - double current_sidereal_; //グリニッジ平均恒星時 - double current_decyear_; // Decimal Year(yearの小数点表記) - UTC current_utc_; // UTC calendar day - - int attitude_update_counter_; - bool attitude_update_flag_; - int orbit_update_counter_; - bool orbit_update_flag_; - int thermal_update_counter_; - bool thermal_update_flag_; - int compo_update_counter_; - bool compo_update_flag_; - int log_counter_; - int disp_counter_; - TimeState state_; - std::chrono::system_clock::time_point clock_start_time_millisec_; - // chrono::system_clock::time_point clock_elapsed_time_millisec_; - // //実時間でのシミュレーション実行時間 - std::chrono::system_clock::time_point clock_last_time_completed_step_in_time_; - - //固定値 - double end_sec_; // Time from start of simulation to end - double step_sec_; // simulation step time - double attitude_update_interval_sec_; - double attitude_rk_step_sec_; - double orbit_update_interval_sec_; - double orbit_rk_step_sec_; - double thermal_update_interval_sec_; - double thermal_rk_step_sec_; - double compo_update_interval_sec_; - int compo_propagate_frequency_; - double log_output_interval_sec_; - double disp_period_; // Output frequency to console - double start_jd_; - int start_year_; - int start_mon_; - int start_day_; - int start_hr_; - int start_min_; - double start_sec_; - double sim_speed_; // The speed of the simulation relative to real time (if - // negative, real time is not taken into account) - double time_exceeds_continuously_limit_sec_; // Maximum duration to allow actual step_sec to be larger than specified continuously + // Variables + double elapsed_time_sec_; //!< Elapsed time from start of simulation [sec] + double current_jd_; //!< Current Julian date [day] + double current_sidereal_; //!< Current Greenwich sidereal time (GST) [day] + double current_decyear_; //!< Current decimal year [year] + UTC current_utc_; //!< UTC calendar day + + // Timing controller + int attitude_update_counter_; //!< Update counter for attitude calculation + bool attitude_update_flag_; //!< Update flag for attitude calculation + int orbit_update_counter_; //!< Update counter for orbit calculation + bool orbit_update_flag_; //!< Update flag for orbit calculation + int thermal_update_counter_; //!< Update counter for thermal calculation + bool thermal_update_flag_; //!< Update flag for thermal calculation + int compo_update_counter_; //!< Update counter for component calculation + bool compo_update_flag_; //!< Update flag for component calculation + int log_counter_; //!< Update counter for log output + int disp_counter_; //!< Update counter for display output + TimeState state_; //!< State of timing controller + + // Calculation time measure + std::chrono::system_clock::time_point clock_start_time_millisec_; //!< Simulation start time [ms] + // chrono::system_clock::time_point clock_elapsed_time_millisec_; //!< Simulation elapsed time in real time simulation [ms] + std::chrono::system_clock::time_point clock_last_time_completed_step_in_time_; //!< Simulation finished time [ms] + + // Constants + double end_sec_; //!< Time from start of simulation to end [sec] + double step_sec_; //!< Simulation step width [sec] + double attitude_update_interval_sec_; //!< Update intercal for attitude calculation [sec] + double attitude_rk_step_sec_; //!< Runge-Kutta step width for attitude calculation [sec] + double orbit_update_interval_sec_; //!< Update intercal for orbit calculation [sec] + double orbit_rk_step_sec_; //!< Runge-Kutta step width for orbit calculation [sec] + double thermal_update_interval_sec_; //!< Update intercal for thermal calculation [sec] + double thermal_rk_step_sec_; //!< Runge-Kutta step width for thermal calculation [sec] + double compo_update_interval_sec_; //!< Update intercal for component calculation [sec] + int compo_propagate_frequency_; //!< Component propagation frequency [Hz] + double log_output_interval_sec_; //!< Log output interval [sec] + double disp_period_; //!< Display output period [sec] + + double start_jd_; //!< Simulation start Julian date [day] + int start_year_; //!< Simulation start year + int start_mon_; //!< Simulation start month + int start_day_; //!< Simulation start day + int start_hr_; //!< Simulation start hour + int start_min_; //!< Simulation start minute + double start_sec_; //!< Simulation start seconds + + double sim_speed_; //!< The speed of the simulation relative to real time (if negative, real time is not taken into account) + double time_exceeds_continuously_limit_sec_; //!< Maximum duration to allow actual step_sec to be larger than specified continuously + /** + * @fn InitializeState + * @brief Initialize timer state + */ void InitializeState(); + /** + * @fn AssertTimeStepParams + * @brief Check the timing setting parameters are correct + */ void AssertTimeStepParams(); - void ConvJDtoCalndarDay(const double JD); // wrapper function of invjday @ - // sgp4ext for interface adjustment + /** + * @fn ConvJDtoCalndarDay + * @brief Convert Julian date to UTC Calendar date + * @note wrapper function of invjday @ sgp4ext for interface adjustment + */ + void ConvJDtoCalndarDay(const double JD); }; #endif //__SIMULATION_TIME_H__ From aef4fb4263b39ca7d6d12a20fd656cf8f0705711 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 14:38:05 +0100 Subject: [PATCH 078/199] Fix comment in Atmosphere --- src/Environment/Local/Atmosphere.cpp | 23 +++--- src/Environment/Local/Atmosphere.h | 100 ++++++++++++++++++++++----- 2 files changed, 96 insertions(+), 27 deletions(-) diff --git a/src/Environment/Local/Atmosphere.cpp b/src/Environment/Local/Atmosphere.cpp index b7250653f..b8e910bae 100644 --- a/src/Environment/Local/Atmosphere.cpp +++ b/src/Environment/Local/Atmosphere.cpp @@ -1,3 +1,8 @@ +/** + * @file Atmosphere.cpp + * @brief Class to calculate earth's atmospheric density + */ + #include "Atmosphere.h" #include @@ -37,11 +42,11 @@ Atmosphere::Atmosphere(string model, string fname, double gauss_stddev, bool is_ } int Atmosphere::GetSpaceWeatherTable(double decyear, double endsec) { - // メモリ節約のためシミュレーション期間のみのテーブルを取得 + // Get table of simulation duration only to decrease memory return GetSpaceWeatherTable_(decyear, endsec, fname_, table_); } -double Atmosphere::GetAirDensity() const //値を返すだけの関数 +double Atmosphere::GetAirDensity() const { return air_density_; } @@ -70,7 +75,7 @@ double Atmosphere::CalcAirDensity(double decyear, double endsec, Vector<3> lat_l double alt = lat_lon_alt(2); air_density_ = CalcNRLMSISE00(decyear, latrad, lonrad, alt, table_, is_manual_param_used_, manual_daily_f107_, manual_average_f107_, manual_ap_); } else { - // 該当のモデルがない場合は0を返す + // No suitable model return air_density_ = 0.0; } @@ -79,12 +84,12 @@ double Atmosphere::CalcAirDensity(double decyear, double endsec, Vector<3> lat_l double Atmosphere::CalcStandard(double altitude_m) { // altitude_mの単位は[m] - double altitude = altitude_m / 1000.0; // kmへ変換 - double scaleHeight; //[km] - double baseHeight; //[km] - double baseRho; //[kg/m^3] + double altitude = altitude_m / 1000.0; // Convert to km + double scaleHeight; // [km] + double baseHeight; // [km] + double baseRho; // [kg/m^3] - // scaleHeightなどの値は，『ミッション解析と軌道設計の基礎』より + // scaleHeight values: Ref "ミッション解析と軌道設計の基礎" (in Japanese) if (altitude > 1000.0) { scaleHeight = 268.0; baseHeight = 1000.0; @@ -197,7 +202,7 @@ double Atmosphere::CalcStandard(double altitude_m) { scaleHeight = 7.249; baseHeight = 0.0; baseRho = 1.225; - } else { //高度がマイナスの場合，0を返して終了 + } else { // In case of altitude is minus value scaleHeight = 7.249; baseHeight = 0.0; baseRho = 0.0; diff --git a/src/Environment/Local/Atmosphere.h b/src/Environment/Local/Atmosphere.h index ae820d748..68f535199 100644 --- a/src/Environment/Local/Atmosphere.h +++ b/src/Environment/Local/Atmosphere.h @@ -1,3 +1,7 @@ +/** + * @file Atmosphere.h + * @brief Class to calculate earth's atmospheric density + */ #pragma once #ifndef __Atmosphere_H__ @@ -14,38 +18,98 @@ using libra::Quaternion; using libra::Vector; +/** + * @class Atmosphere + * @brief Class to calculate earth's atmospheric density + */ class Atmosphere : public ILoggable { public: - bool IsCalcEnabled = true; + bool IsCalcEnabled = true; //!< Calculation enable flag + /** + * @fn Atmosphere + * @brief Constructor + * @param [in] model: Atmospheric density model name + * @param [in] fname: Path and name of initialize file + * @param [in] gauss_stddev: Standard deviation of density noise (defined as percentage) + * @param [in] is_manual_param: Flag to use manual parameters + * @param [in] manual_f107: Manual value of daily F10.7 + * @param [in] manual_f107a: Manual value of averaged F10.7 (3-month averaged value) + * @param [in] manual_ap: Manual value of ap value + */ Atmosphere(std::string model, std::string fname, double gauss_stddev, bool is_manual_param, double manual_f107, double manual_f107a, double manual_ap); + /** + * @fn ~Atmosphere + * @brief Destructor + */ virtual ~Atmosphere() {} + /** + * @fn CalcAirDensity + * @brief Calculate atmospheric density + * @param [in] decyear: Decimal year of simulation start [year] + * @param [in] endsec: End time of simulation [sec] + * @param [in] lat_lon_alt: Latitude[rad], longitude[rad], and altitude[m] + * @return Atmospheric density [kg/m^3] + */ double CalcAirDensity(double decyear, double endsec, Vector<3> lat_lon_alt); + /** + * @fn GetAirDensity + * @brief Return Atmospheric density [kg/m^3] + */ double GetAirDensity() const; + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - std::string model_; // 大気密度モデル - std::string fname_; // iniファイルのパス - double air_density_; // 大気密度 kg/m^3 - double gauss_stddev_; // 空気密度の標準偏差(密度に対する割合で定義) - std::vector table_; // Space weather table - bool is_table_imported_; // tableが読み込まれたかどうか - bool is_manual_param_used_; // ユーザー指定の固定値（f10.7，ap値）を使うかどうか - // f10.7値については - // https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions - // 参照 - double manual_daily_f107_; // ユーザー指定のf10.7値（1日あたりの値） - double manual_average_f107_; // ユーザー指定のf10.7値（3ヶ月程度の平均値） - double manual_ap_; // ユーザー指定のap値 ap値については - // http://wdc.kugi.kyoto-u.ac.jp/kp/kpexp-j.html 参照 - // double rw_stepwidth_; - // double rw_stddev_; - // double rw_limit_; + std::string model_; //!< Atmospheric density model name + std::string fname_; //!< Path and name of initialize file + double air_density_; //!< Atmospheric density [kg/m^3] + double gauss_stddev_; //!< Standard deviation of density noise (defined as percentage) + std::vector table_; //!< Space weather table + bool is_table_imported_; //!< Flag of the space weather table is imported or not + bool is_manual_param_used_; //!< Flag to use manual parameters + + // Reference of the following setting parameters https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions + double manual_daily_f107_; //!< Manual daily f10.7 value + double manual_average_f107_; //!< Manual 3-month averaged f10.7 value + double manual_ap_; //!< Manual ap value Ref: http://wdc.kugi.kyoto-u.ac.jp/kp/kpexp-j.html + + // double rw_stepwidth_; + // double rw_stddev_; + // double rw_limit_; + + /** + * @fn CalcStandard + * @brief Calculate atmospheric density with simplest method + * @param [in] altitude_m: Altitude of spacecraft [m] + * @return Atmospheric density [kg/m^3] + */ double CalcStandard(double altitude_m); + /** + * @fn GetSpaceWeatherTable + * @param [in] decyear: Decimal year of simulation start [year] + * @param [in] endsec: End time of simulation [sec] + * @return Size of table + */ int GetSpaceWeatherTable(double decyear, double endsec); + + /** + * @fn AddNoise + * @brief Add atmospheric density noise + * @param [in] rho: True atmospheric density [kg/m^3] + * @return Atmospheric density with noise [kg/m^3] + */ double AddNoise(double rho); }; From ae5a8d1caf8e09366cd0c3c5f112cc827c61a29f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 14:43:16 +0100 Subject: [PATCH 079/199] Fix comment in InitLocalEnvironment --- .../Local/InitLocalEnvironment.cpp | 11 ++++++---- .../Local/InitLocalEnvironment.hpp | 20 +++++++++++++++++++ 2 files changed, 27 insertions(+), 4 deletions(-) diff --git a/src/Environment/Local/InitLocalEnvironment.cpp b/src/Environment/Local/InitLocalEnvironment.cpp index 232731998..67422fd7d 100644 --- a/src/Environment/Local/InitLocalEnvironment.cpp +++ b/src/Environment/Local/InitLocalEnvironment.cpp @@ -1,3 +1,8 @@ +/** + * @file InitLocalEnvironment.cpp + * @brief Initialize functions for local environment classes + */ + #include "InitLocalEnvironment.hpp" #include @@ -47,15 +52,13 @@ Atmosphere InitAtmosphere(std::string ini_path) { double manual_daily_f107 = conf.ReadDouble(section, "manual_daily_f107"); if (manual_daily_f107 < f107_threshold) { std::cerr << "Daily F10.7 may be too low. It is set as 150.0 in this simulation. " - "Check [ATMOSPHERE] section in LocalEnvironment.ini." - << std::endl; + "Check [ATMOSPHERE] section in LocalEnvironment.ini." << std::endl; manual_daily_f107 = f107_default; } double manual_average_f107 = conf.ReadDouble(section, "manual_average_f107"); if (manual_average_f107 < f107_threshold) { std::cerr << "Average F10.7 may be too low. It is set as 150.0 in this " - "simulation. Check [ATMOSPHERE] section in LocalEnvironment.ini." - << std::endl; + "simulation. Check [ATMOSPHERE] section in LocalEnvironment.ini." << std::endl; manual_average_f107 = f107_default; } double manual_ap = conf.ReadDouble(section, "manual_ap"); diff --git a/src/Environment/Local/InitLocalEnvironment.hpp b/src/Environment/Local/InitLocalEnvironment.hpp index f96e71e02..c82c936fb 100644 --- a/src/Environment/Local/InitLocalEnvironment.hpp +++ b/src/Environment/Local/InitLocalEnvironment.hpp @@ -1,9 +1,29 @@ +/** + * @file InitLocalEnvironment.h + * @brief Initialize functions for local environment classes + */ #pragma once #include #include #include +/** + * @fn InitMagEnvironment + * @brief Initialize magnetic field of the earth + * @param [in] ini_path: Path to initialize file + */ MagEnvironment InitMagEnvironment(std::string ini_path); +/** + * @fn InitSRPEnvironment + * @brief Initialize solar radiation pressure + * @param [in] ini_path: Path to initialize file + * @param [in] local_celes_info: Local celestial information + */ SRPEnvironment InitSRPEnvironment(std::string ini_path, LocalCelestialInformation* local_celes_info); +/** + * @fn InitAtmosphere + * @brief Initialize atmospheric density of the earth + * @param [in] ini_path: Path to initialize file + */ Atmosphere InitAtmosphere(std::string ini_path); From 4882140cafa72c68320e604c15e35a46a629f497 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 15:06:28 +0100 Subject: [PATCH 080/199] Fix comment in LocalCelesInfo --- .../Local/LocalCelestialInformation.cpp | 9 +- .../Local/LocalCelestialInformation.h | 107 +++++++++++++++--- 2 files changed, 97 insertions(+), 19 deletions(-) diff --git a/src/Environment/Local/LocalCelestialInformation.cpp b/src/Environment/Local/LocalCelestialInformation.cpp index 5dfa4968a..699170e3d 100644 --- a/src/Environment/Local/LocalCelestialInformation.cpp +++ b/src/Environment/Local/LocalCelestialInformation.cpp @@ -1,3 +1,8 @@ +/** + * @file LocalCelestialInformation.cpp + * @brief Class to manage celestial body information in the spacecraft body frame + */ + #include "LocalCelestialInformation.h" #include @@ -102,13 +107,13 @@ void Convert_i2b_velocity(const double* r_i, const double* v_i, double* v_b, Qua ri[i] = r_i[i]; } - // convert bodyrate vector into that in inertial coordinate + // convert body rate vector into that in inertial coordinate Vector<3> wb; for (int i = 0; i < 3; i++) { wb[i] = bodyrate_b[i]; } - // compute crossterm wxr + // compute cross term wxr Vector<3> wxr_i = outer_product(wb, ri); // compute dr/dt + wxr for (int i = 0; i < 3; i++) { diff --git a/src/Environment/Local/LocalCelestialInformation.h b/src/Environment/Local/LocalCelestialInformation.h index c5535ef32..001e674e5 100644 --- a/src/Environment/Local/LocalCelestialInformation.h +++ b/src/Environment/Local/LocalCelestialInformation.h @@ -1,47 +1,120 @@ +/** + * @file LocalCelestialInformation.h + * @brief Class to manage celestial body information in the spacecraft body frame + */ + #ifndef __local_celestial_information_H__ #define __local_celestial_information_H__ #include "../Global/CelestialInformation.h" +/** + * @class LocalCelestialInformation + * @brief Class to manage celestial body information in the spacecraft body frame + */ class LocalCelestialInformation : public ILoggable { public: + /** + * @fn LocalCelestialInformation + * @brief Constructor + * @param [in] glo_celes_info: Global celestial information + */ LocalCelestialInformation(const CelestialInformation* glo_celes_info); + /** + * @fn ~LocalCelestialInformation + * @brief Destructor + */ virtual ~LocalCelestialInformation(); - // UPDATE THE ALL SELECTED CELESTIAL OBJECTS INFORMATION + /** + * @fn UpdateAllObjectsInfo + * @brief Update the all selected celestial object local information + * @param [in] sc_pos_from_center_i: Spacecraft position from the center body in the inertial frame [m] + * @param [in] sc_vel_from_center_i: Spacecraft velocity from the center body in the inertial frame [m/s] + * @param [in] q_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame + * @param [in] sc_body_rate: Spacecraft angular velocity with respect to the inertial frame [rad/s] + */ void UpdateAllObjectsInfo(const Vector<3> sc_pos_from_center_i, const Vector<3> sc_vel_from_center_i, Quaternion q_i2b, const Vector<3> sc_body_rate); - // FRAME CONVERSION OF ALL BODIES + /** + * @fn CalcAllPosVel_b + * @brief Frame conversion to the body frame for all selected celestial bodies + * @param [in] q_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame + * @param [in] sc_body_rate: Spacecraft angular velocity with respect to the inertial frame [rad/s] + */ void CalcAllPosVel_b(Quaternion q_i2b, const Vector<3> sc_body_rate); - // GET POSITION OF A SELECTED BODY (ORIGIN: S/C, IN INERTIAL FRAME) + + /** + * @fn GetPosFromSC_i + * @brief Return position of a selected body (Origin: Spacecraft, Frame: Inertial frame) + * @param [in] body_name Celestial body name + */ Vector<3> GetPosFromSC_i(const char* body_name) const; - // GET POSITION OF THE CENTER BODY (ORIGIN: S/C, IN INERTIAL FRAME) + /** + * @fn GetCenterBodyPosFromSC_i + * @brief Return position of the center body (Origin: Spacecraft, Frame: Inertial frame) + */ Vector<3> GetCenterBodyPosFromSC_i(void) const; - // GET POSITION OF A SELECTED BODY (ORIGIN: S/C, IN S/C BODY FRAME) + /** + * @fn GetPosFromSC_b + * @brief Return position of a selected body (Origin: Spacecraft, Frame: Body fixed frame) + * @param [in] body_name Celestial body name + */ Vector<3> GetPosFromSC_b(const char* body_name) const; - // GET POSITION OF THE CENTER BODY (ORIGIN: S/C, IN S/C BODY FRAME) + /** + * @fn GetCenterBodyPosFromSC_b + * @brief Return position of the center body (Origin: Spacecraft, Frame: Body fixed frame) + */ Vector<3> GetCenterBodyPosFromSC_b(void) const; - // Get Global CelesInfo for gravitational constant + /** + * @fn GetGlobalInfo + * @brief Return global celestial information + */ inline const CelestialInformation& GetGlobalInfo() const { return *glo_celes_info_; } - // FOR LOG OUTPUT + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - const CelestialInformation* glo_celes_info_; - // Local Info - double* celes_objects_pos_from_sc_i_; - double* celes_objects_vel_from_sc_i_; - double* celes_objects_pos_from_center_b_; - double* celes_objects_pos_from_sc_b_; - double* celes_objects_vel_from_center_b_; - double* celes_objects_vel_from_sc_b_; + const CelestialInformation* glo_celes_info_; //!< Global celestial information + // Local Information + double* celes_objects_pos_from_sc_i_; //!< Celestial body position from spacecraft in the inertial frame [m] + double* celes_objects_vel_from_sc_i_; //!< Celestial body velocity from spacecraft in the inertial frame [m/s] + double* celes_objects_pos_from_center_b_; //!< Celestial body position from the center body in the spacecraft body fixed frame [m] + double* celes_objects_pos_from_sc_b_; //!< Celestial body position from the spacecraft in the spacecraft body fixed frame [m] + double* celes_objects_vel_from_center_b_; //!< Celestial body velocity from the center body in the spacecraft body fixed frame [m/s] + double* celes_objects_vel_from_sc_b_; //!< Celestial body velocity from the spacecraft in the spacecraft body fixed frame [m/s] }; + +/** + * @fn Convert_i2b + * @brief Convert position vector in the inertial frame to the body fixed frame + * @param [in] src_i: Source vector in the inertial frame + * @param [out] dst_b: Output vector in the body fixed frame + * @param [in] q_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame + */ void Convert_i2b(const double* src_i, double* dst_b, const Quaternion q_i2b); -// subroutine for velocity vector conversion +/** + * @fn Convert_i2b_velocity + * @brief Convert velocity vector in the inertial frame to the body fixed frame + * @param [in] r_i: Position vector in the inertial frame + * @param [in] v_i: Velocity vector in the inertial frame + * @param [out] v_b: Output Velocity vector in the body fixed frame + * @param [in] q_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame + * @param [in] sc_body_rate: Spacecraft angular velocity with respect to the inertial frame [rad/s] + */ void Convert_i2b_velocity(const double* r_i, const double* v_i, double* v_b, const Quaternion q_i2b, const Vector<3> bodyrate_b); #endif //__local_celestial_information_H__ From d0f02efb81101e866f4bb894f6a338963eab90d5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 15:13:18 +0100 Subject: [PATCH 081/199] Fix format --- src/Environment/Local/Atmosphere.cpp | 5 +---- src/Environment/Local/InitLocalEnvironment.cpp | 6 ++++-- src/Environment/Local/LocalCelestialInformation.cpp | 4 ++-- src/Environment/Local/LocalEnvironment.h | 8 ++++++++ 4 files changed, 15 insertions(+), 8 deletions(-) diff --git a/src/Environment/Local/Atmosphere.cpp b/src/Environment/Local/Atmosphere.cpp index b8e910bae..25859617e 100644 --- a/src/Environment/Local/Atmosphere.cpp +++ b/src/Environment/Local/Atmosphere.cpp @@ -46,10 +46,7 @@ int Atmosphere::GetSpaceWeatherTable(double decyear, double endsec) { return GetSpaceWeatherTable_(decyear, endsec, fname_, table_); } -double Atmosphere::GetAirDensity() const -{ - return air_density_; -} +double Atmosphere::GetAirDensity() const { return air_density_; } double Atmosphere::CalcAirDensity(double decyear, double endsec, Vector<3> lat_lon_alt) { if (!IsCalcEnabled) return 0; diff --git a/src/Environment/Local/InitLocalEnvironment.cpp b/src/Environment/Local/InitLocalEnvironment.cpp index 67422fd7d..1245a3834 100644 --- a/src/Environment/Local/InitLocalEnvironment.cpp +++ b/src/Environment/Local/InitLocalEnvironment.cpp @@ -52,13 +52,15 @@ Atmosphere InitAtmosphere(std::string ini_path) { double manual_daily_f107 = conf.ReadDouble(section, "manual_daily_f107"); if (manual_daily_f107 < f107_threshold) { std::cerr << "Daily F10.7 may be too low. It is set as 150.0 in this simulation. " - "Check [ATMOSPHERE] section in LocalEnvironment.ini." << std::endl; + "Check [ATMOSPHERE] section in LocalEnvironment.ini." + << std::endl; manual_daily_f107 = f107_default; } double manual_average_f107 = conf.ReadDouble(section, "manual_average_f107"); if (manual_average_f107 < f107_threshold) { std::cerr << "Average F10.7 may be too low. It is set as 150.0 in this " - "simulation. Check [ATMOSPHERE] section in LocalEnvironment.ini." << std::endl; + "simulation. Check [ATMOSPHERE] section in LocalEnvironment.ini." + << std::endl; manual_average_f107 = f107_default; } double manual_ap = conf.ReadDouble(section, "manual_ap"); diff --git a/src/Environment/Local/LocalCelestialInformation.cpp b/src/Environment/Local/LocalCelestialInformation.cpp index 699170e3d..083ad41b9 100644 --- a/src/Environment/Local/LocalCelestialInformation.cpp +++ b/src/Environment/Local/LocalCelestialInformation.cpp @@ -170,7 +170,7 @@ string LocalCelestialInformation::GetLogHeader() const { string name = namebuf; string body_pos = name + "_pos"; string body_vel = name + "_vel"; - //　OUTPUT ONLY POS/VEL LOOKED FROM S/C AT THIS MOMENT + // 　OUTPUT ONLY POS/VEL LOOKED FROM S/C AT THIS MOMENT str_tmp += WriteVector(body_pos, "b", "m", 3); str_tmp += WriteVector(body_vel, "b", "m/s", 3); } @@ -180,7 +180,7 @@ string LocalCelestialInformation::GetLogHeader() const { string LocalCelestialInformation::GetLogValue() const { string str_tmp = ""; for (int i = 0; i < glo_celes_info_->GetNumBody(); i++) { - //　OUTPUT ONLY POS/VEL LOOKED FROM S/C AT THIS MOMENT + // 　OUTPUT ONLY POS/VEL LOOKED FROM S/C AT THIS MOMENT for (int j = 0; j < 3; j++) { str_tmp += WriteScalar(celes_objects_pos_from_sc_b_[i * 3 + j]); } diff --git a/src/Environment/Local/LocalEnvironment.h b/src/Environment/Local/LocalEnvironment.h index cedb7382b..f71f4e057 100644 --- a/src/Environment/Local/LocalEnvironment.h +++ b/src/Environment/Local/LocalEnvironment.h @@ -1,3 +1,7 @@ +/** + * @file LocalEnvironment.h + * @brief Class to manage local environments + */ #pragma once #include @@ -12,6 +16,10 @@ class Logger; class SimTime; +/** + * @class LocalEnvironment + * @brief Class to manage local environments + */ class LocalEnvironment { public: LocalEnvironment(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); From 0127bc1d65c84bba012ed3c2d05e83c2f235d4d6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 15:19:42 +0100 Subject: [PATCH 082/199] Fix comment in LocalEnvironment --- src/Environment/Local/LocalEnvironment.cpp | 4 ++ src/Environment/Local/LocalEnvironment.h | 55 ++++++++++++++++++++-- 2 files changed, 54 insertions(+), 5 deletions(-) diff --git a/src/Environment/Local/LocalEnvironment.cpp b/src/Environment/Local/LocalEnvironment.cpp index 75fcc69eb..9be225242 100644 --- a/src/Environment/Local/LocalEnvironment.cpp +++ b/src/Environment/Local/LocalEnvironment.cpp @@ -1,3 +1,7 @@ +/** + * @file LocalEnvironment.cpp + * @brief Class to manage local environments + */ #include "LocalEnvironment.h" #include diff --git a/src/Environment/Local/LocalEnvironment.h b/src/Environment/Local/LocalEnvironment.h index f71f4e057..66ae514b5 100644 --- a/src/Environment/Local/LocalEnvironment.h +++ b/src/Environment/Local/LocalEnvironment.h @@ -22,21 +22,66 @@ class SimTime; */ class LocalEnvironment { public: + /** + * @fn LocalEnvironment + * @brief Constructor + * @param [in] sim_config: Simulation configuration + * @param [in] glo_env: Global environment + * @param [in] sat_id: Satellite ID + */ LocalEnvironment(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); + /** + * @fn ~LocalEnvironment + * @brief Destructor + */ ~LocalEnvironment(); + /** + * @fn Initialize + * @brief Initialize function + * @param [in] sim_config: Simulation configuration + * @param [in] glo_env: Global environment + * @param [in] sat_id: Satellite ID + */ void Initialize(SimulationConfig* sim_config, const GlobalEnvironment* glo_env, const int sat_id); + + /** + * @fn Update + * @brief Update all states + * @param [in] dynamics: Dynamics information of the satellite + * @param [in] sim_time: Simulation time + */ void Update(const Dynamics* dynamics, const SimTime* sim_time); + + /** + * @fn LogSetup + * @brief Log setup for local environments + */ void LogSetup(Logger& logger); - // Get functions + /** + * @fn GetAtmosphere + * @brief Return Atmosphere class + */ inline const Atmosphere& GetAtmosphere() const { return *atmosphere_; } + /** + * @fn GetMag + * @brief Return MagEnvironment class + */ inline const MagEnvironment& GetMag() const { return *mag_; } + /** + * @fn GetSrp + * @brief Return SRPEnvironment class + */ inline const SRPEnvironment& GetSrp() const { return *srp_; } + /** + * @fn GetCelesInfo + * @brief Return LocalCelestialInformation class + */ inline const LocalCelestialInformation& GetCelesInfo() const { return *celes_info_; } private: - Atmosphere* atmosphere_; - MagEnvironment* mag_; - SRPEnvironment* srp_; - LocalCelestialInformation* celes_info_; + Atmosphere* atmosphere_; //!< Atmospheric density of the earth + MagEnvironment* mag_; //!< Magnetic field of the earth + SRPEnvironment* srp_; //!< Solar radiation pressure + LocalCelestialInformation* celes_info_; //!< Celestial information }; From 11338a9974e82e440bc90aed8c572233c7c6ea8c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 18:01:16 +0100 Subject: [PATCH 083/199] Fix comment in MagEnvironment --- src/Environment/Local/MagEnvironment.cpp | 11 ++-- src/Environment/Local/MagEnvironment.h | 66 +++++++++++++++++++++--- 2 files changed, 65 insertions(+), 12 deletions(-) diff --git a/src/Environment/Local/MagEnvironment.cpp b/src/Environment/Local/MagEnvironment.cpp index 7d40852c5..cf5572788 100644 --- a/src/Environment/Local/MagEnvironment.cpp +++ b/src/Environment/Local/MagEnvironment.cpp @@ -1,3 +1,8 @@ +/** + * @file MagEnvironment.cpp + * @brief Class to calculate magnetic field of the earth + */ + #include "MagEnvironment.h" #include @@ -12,7 +17,6 @@ using namespace std; MagEnvironment::MagEnvironment(string fname, double mag_rwdev, double mag_rwlimit, double mag_wnvar) : mag_rwdev_(mag_rwdev), mag_rwlimit_(mag_rwlimit), mag_wnvar_(mag_wnvar), fname_(fname) { - //初期化コンストラクタ for (int i = 0; i < 3; ++i) { Mag_i_[i] = 0; } @@ -38,7 +42,6 @@ void MagEnvironment::CalcMag(double decyear, double side, Vector<3> lat_lon_alt, Mag_b_ = q_i2b.frame_conv(Mag_i_); } -//磁場真値のIGRFからのズレを加える関数 void MagEnvironment::AddNoise(double* mag_i_array) { static Vector<3> stddev(mag_rwdev_); static Vector<3> limit(mag_rwlimit_); @@ -47,13 +50,11 @@ void MagEnvironment::AddNoise(double* mag_i_array) { for (int i = 0; i < 3; ++i) { mag_i_array[i] += rw[i] + nr; } - ++rw; // ランダムウォーク更新 + ++rw; // Update random walk } -//地磁気ベクトル(ECI座標系)[nT]の取得用関数 Vector<3> MagEnvironment::GetMag_i() const { return Mag_i_; } -//地磁気ベクトル(body座標系)[nT]の取得用関数 Vector<3> MagEnvironment::GetMag_b() const { return Mag_b_; } string MagEnvironment::GetLogHeader() const { diff --git a/src/Environment/Local/MagEnvironment.h b/src/Environment/Local/MagEnvironment.h index 09da0c679..bb1e2702d 100644 --- a/src/Environment/Local/MagEnvironment.h +++ b/src/Environment/Local/MagEnvironment.h @@ -1,3 +1,7 @@ +/** + * @file MagEnvironment.h + * @brief Class to calculate magnetic field of the earth + */ #ifndef __MagEnvironment_H__ #define __MagEnvironment_H__ @@ -8,27 +12,75 @@ using libra::Quaternion; #include +/** + * @class MagEnvironment + * @brief Class to calculate magnetic field of the earth + */ class MagEnvironment : public ILoggable { public: - bool IsCalcEnabled = true; + bool IsCalcEnabled = true; //!< Calculation flag + /** + * @fn MagEnvironment + * @brief Constructor + * @param [in] fname: Path to initialize file + * @param [in] mag_rwdev: Standard deviation of Random Walk [nT] + * @param [in] mag_rwlimit: Limit of Random Walk [nT] + * @param [in] mag_wnvar: Standard deviation of white noise [nT] + */ MagEnvironment(std::string fname, double mag_rwdev, double mag_rwlimit, double mag_wnvar); + /** + * @fn ~MagEnvironment + * @brief Destructor + */ virtual ~MagEnvironment() {} + + /** + * @fn CalcMag + * @brief Calculate magnetic field vector + * @param [in] decyear: Decimal year [year] + * @param [in] side: Sidereal day [day] + * @param [in] lat_lon_alt: Latitude [rad], longitude [rad], and altitude [m] + * @param [in] q_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame + */ void CalcMag(double decyear, double side, Vector<3> lat_lon_alt, Quaternion q_i2b); + + /** + * @fn GetMag_i + * @brief Return magnetic field vector in the inertial frame [nT] + */ Vector<3> GetMag_i() const; + /** + * @fn GetMag_b + * @brief Return magnetic field vector in the body fixed frame [nT] + */ Vector<3> GetMag_b() const; + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - Vector<3> Mag_i_; - Vector<3> Mag_b_; - double mag_rwdev_; - double mag_rwlimit_; - double mag_wnvar_; - std::string fname_; + Vector<3> Mag_i_; //!< Magnetic field vector at the inertial frame + Vector<3> Mag_b_; //!< Magnetic field vector at the spacecraft body fixed frame + double mag_rwdev_; //!< Standard deviation of Random Walk [nT] + double mag_rwlimit_; //!< Limit of Random Walk [nT] + double mag_wnvar_; //!< Standard deviation of white noise [nT] + std::string fname_; //!< Path to the initialize file + /** + * @fn AddNoise + * @brief Add magnetic field noise + * @param [in/out] mag_i_array: input true magnetic field, output magnetic field with noise + */ void AddNoise(double* mag_i_array); }; From 9e424e31d0b635e0dc69217279b90fbf95577f02 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 18:17:47 +0100 Subject: [PATCH 084/199] Fix comment in SRPEnvironment --- src/Environment/Local/SRPEnvironment.cpp | 22 +++--- src/Environment/Local/SRPEnvironment.h | 99 +++++++++++++++++++----- 2 files changed, 94 insertions(+), 27 deletions(-) diff --git a/src/Environment/Local/SRPEnvironment.cpp b/src/Environment/Local/SRPEnvironment.cpp index fa040a74d..5ac90f797 100644 --- a/src/Environment/Local/SRPEnvironment.cpp +++ b/src/Environment/Local/SRPEnvironment.cpp @@ -1,3 +1,7 @@ +/** + * @file SRPEnvironment.cpp + * @brief Class to calculate Solar Radiation Pressure + */ #include "SRPEnvironment.h" #include @@ -75,14 +79,14 @@ void SRPEnvironment::CalcShadowCoefficient(string shadow_source_name) { const double sd_sun = asin(sun_radius_m_ / distance_sat_to_sun); // Apparent radius of the sun const double sd_source = asin(shadow_source_radius_m / norm(r_sc2source_eci)); // Apparent radius of the shadow source - const double delta = acos(inner_product(r_sc2source_eci, r_sc2sun_eci - r_sc2source_eci) / norm(r_sc2source_eci) / - norm(r_sc2sun_eci - r_sc2source_eci)); // Angle of deviation from shadow - // source center to sun center - const double x = - (delta * delta + sd_sun * sd_sun - sd_source * sd_source) / (2.0 * delta); // The angle between the center of the sun and the common chord - const double y = sqrt(max(sd_sun * sd_sun - x * x, - 0.0)); // The length of the common chord of the apparent solar - // disk and apparent tellestial disk + // Angle of deviation from shadow source center to sun center + const double delta = + acos(inner_product(r_sc2source_eci, r_sc2sun_eci - r_sc2source_eci) / norm(r_sc2source_eci) / norm(r_sc2sun_eci - r_sc2source_eci)); + // The angle between the center of the sun and the common chord + const double x = (delta * delta + sd_sun * sd_sun - sd_source * sd_source) / (2.0 * delta); + // The length of the common chord of the apparent solar disk and apparent telestial disk + const double y = sqrt(max(sd_sun * sd_sun - x * x, 0.0)); + const double a = sd_sun; const double b = sd_source; const double c = delta; @@ -93,7 +97,7 @@ void SRPEnvironment::CalcShadowCoefficient(string shadow_source_name) { } else if (c < fabs(a - b) && a > b) // The occultation is partial but maximum { shadow_coefficient_ = 1.0 - (b * b) / (a * a); - } else if (fabs(a - b) <= c && c <= (a + b)) // spacecraft is in penunbra + } else if (fabs(a - b) <= c && c <= (a + b)) // spacecraft is in penumbra { double A = a * a * acos(x / a) + b * b * acos((c - x) / b) - c * y; // The area of the occulted segment of the apparent solar disk shadow_coefficient_ = 1.0 - A / (libra::pi * a * a); diff --git a/src/Environment/Local/SRPEnvironment.h b/src/Environment/Local/SRPEnvironment.h index 89fc79ed3..fb4caf296 100644 --- a/src/Environment/Local/SRPEnvironment.h +++ b/src/Environment/Local/SRPEnvironment.h @@ -1,3 +1,7 @@ +/** + * @file SRPEnvironment.h + * @brief Class to calculate Solar Radiation Pressure + */ #ifndef __SRPEnvironment_h__ #define __SRPEnvironment_h__ #include @@ -7,35 +11,94 @@ using libra::Vector; +/** + * @class SRPEnvironment + * @brief Class to calculate Solar Radiation Pressure + */ class SRPEnvironment : public ILoggable { public: - bool IsCalcEnabled = true; + bool IsCalcEnabled = true; //!< Calculation flag - SRPEnvironment(LocalCelestialInformation* local_celes_info); // Default constructor + /** + * @fn SRPEnvironment + * @brief Constructor + * @param [in] local_celes_info: Local celestial information + */ + SRPEnvironment(LocalCelestialInformation* local_celes_info); + /** + * @fn ~SRPEnvironment + * @brief Destructor + */ virtual ~SRPEnvironment() {} + + /** + * @fn UpdateAllStates + * @brief Update pressure and shadow coefficients + */ void UpdateAllStates(); + /** + * @fn UpdatePressure + * @brief Update pressure with solar distance + */ void UpdatePressure(); - double CalcTruePressure() const; // Obtaining solar radiation pressure that - // takes into account eclipse [N/m^2] - double CalcPowerDensity() const; // Get solar power per unit area considering eclipse [W/m^2] - double GetPressure() const; // Get solar pressure without eclipse effect [N/m^2] - double GetSolarConstant() const; // Get solar constant value [W/m^2] - double GetShadowCoefficient() const; // Get Shadow function - inline bool GetIsEclipsed() const { return (shadow_coefficient_ >= 1.0 ? false : true); } // Returns true if the shadow function is less than 1 - virtual std::string GetLogHeader() const; // log of header - virtual std::string GetLogValue() const; // log of value + /** + * @fn CalcTruePressure + * @brief Calculate and return solar radiation pressure that takes into account eclipse [N/m^2] + */ + double CalcTruePressure() const; + /** + * @fn CalcPowerDensity + * @brief Calculate and return solar power per unit area considering eclipse [W/m^2] + */ + double CalcPowerDensity() const; + /** + * @fn GetPressure + * @brief Return solar pressure without eclipse effect [N/m^2] + */ + double GetPressure() const; + /** + * @fn GetSolarConstant + * @brief Return solar constant value [W/m^2] + */ + double GetSolarConstant() const; + /** + * @fn GetShadowCoefficient + * @brief Return shadow function + */ + double GetShadowCoefficient() const; + /** + * @fn GetIsEclipsed + * @brief Returns true if the shadow function is less than 1 + */ + inline bool GetIsEclipsed() const { return (shadow_coefficient_ >= 1.0 ? false : true); } + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const; private: - double pressure_; // solar radiation pressure [N/m^2] - double solar_constant_; // solar constant [W/m^2] - // TODO: This value is not a constant value in real. We need to change the value depends on sun activity. - double shadow_coefficient_ = 1.0; // shadow function - double sun_radius_m_; - std::string shadow_source_name_; + double pressure_; //!< Solar radiation pressure [N/m^2] + double solar_constant_; //!< solar constant [W/m^2] TODO: We need to change the value depends on sun activity. + double shadow_coefficient_ = 1.0; //!< shadow function + double sun_radius_m_; //!< Sun radius [m] + std::string shadow_source_name_; //!< Shadow source name - LocalCelestialInformation* local_celes_info_; + LocalCelestialInformation* local_celes_info_; //!< Local celestial information + /** + * @fn CalcShadowCoefficient + * @brief Calculate shadow coefficient + * @param [in] shadow_source_name_: Shadow source name + */ void CalcShadowCoefficient(std::string shadow_source_name); }; From 1316e23c32a04013209bde321931bcf50af24d73 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 18:22:52 +0100 Subject: [PATCH 085/199] Fix for format --- src/Environment/Global/CelestialRotation.h | 12 ++++++------ src/Environment/Global/SimTime.cpp | 5 +++-- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/src/Environment/Global/CelestialRotation.h b/src/Environment/Global/CelestialRotation.h index 8ae467ba4..be0303f69 100644 --- a/src/Environment/Global/CelestialRotation.h +++ b/src/Environment/Global/CelestialRotation.h @@ -94,12 +94,12 @@ class CelestialRotation { // They are handling as constant values // TODO: Consider to read setting files for these coefficients // TODO: Consider other formats for other planets - double c_epsi_rad_[4]; //!< Coefficients to compute mean obliquity of the ecliptic - double c_lm_rad_[5]; //!< Coefficients to compute delauney angle (l=lm: Mean anomaly of the moon) - double c_ls_rad_[5]; //!< Coefficients to compute delauney angle (l'=ls: Mean anomaly of the sun) - double c_F_rad_[5]; //!< Coefficients to compute delauney angle (F: Mean longitude of the moon - mean longitude of ascending node of the moon) - double c_D_rad_[5]; //!< Coefficients to compute delauney angle (D: Elogation of the moon from the sun) - double c_O_rad_[5]; //!< Coefficients to compute delauney angle (Ω=O: Mean longitude of ascending node of the moon) + double c_epsi_rad_[4]; //!< Coefficients to compute mean obliquity of the ecliptic + double c_lm_rad_[5]; //!< Coefficients to compute delauney angle (l=lm: Mean anomaly of the moon) + double c_ls_rad_[5]; //!< Coefficients to compute delauney angle (l'=ls: Mean anomaly of the sun) + double c_F_rad_[5]; //!< Coefficients to compute delauney angle (F: Mean longitude of the moon - mean longitude of ascending node of the moon) + double c_D_rad_[5]; //!< Coefficients to compute delauney angle (D: Elogation of the moon from the sun) + double c_O_rad_[5]; //!< Coefficients to compute delauney angle (Ω=O: Mean longitude of ascending node of the moon) double c_depsilon_rad_[9]; //!< Coefficients to compute nutation angle (delta-epsilon) double c_dpsi_rad_[9]; //!< Coefficients to compute nutation angle (delta-psi) double c_zeta_rad_[3]; //!< Coefficients to compute precession angle (zeta) diff --git a/src/Environment/Global/SimTime.cpp b/src/Environment/Global/SimTime.cpp index 356818237..f1be4bd75 100644 --- a/src/Environment/Global/SimTime.cpp +++ b/src/Environment/Global/SimTime.cpp @@ -92,11 +92,12 @@ void SimTime::UpdateTime(void) { int exceeded_duration_ms = (int)chrono::duration_cast(clk.now() - clock_last_time_completed_step_in_time_).count(); if (exceeded_duration_ms > time_exceeds_continuously_limit_sec_ * 1000) { // Skip time and warn only when execution time exceeds continuously for long time - + cout << "Error: the specified step_sec is too small for this computer.\r\n"; // Forcibly set elapsed_tim_sec_ as actual elapsed time Reason: to catch up with real time when resume from a breakpoint - elapsed_time_sec_ = (chrono::duration_cast>>(clk.now() - clock_start_time_millisec_).count() * sim_speed_); + elapsed_time_sec_ = + (chrono::duration_cast>>(clk.now() - clock_start_time_millisec_).count() * sim_speed_); clock_last_time_completed_step_in_time_ = clk.now(); } From 21d42ca700e685b17651b42534fbba451d51be44 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 18:36:53 +0100 Subject: [PATCH 086/199] Fix comment in Dynamics --- src/Dynamics/Dynamics.cpp | 10 ++-- src/Dynamics/Dynamics.h | 104 +++++++++++++++++++++++++++++++++----- 2 files changed, 99 insertions(+), 15 deletions(-) diff --git a/src/Dynamics/Dynamics.cpp b/src/Dynamics/Dynamics.cpp index 14dcd36f0..e3eb8cf5b 100644 --- a/src/Dynamics/Dynamics.cpp +++ b/src/Dynamics/Dynamics.cpp @@ -1,3 +1,8 @@ +/** + * @file Dynamics.cpp + * @brief Class to manage dynamics of spacecraft + */ + #include "Dynamics.h" #include "../RelativeInformation/RelativeInformation.h" @@ -46,8 +51,7 @@ void Dynamics::Update(const SimTime* sim_time, const LocalCelestialInformation* if (sim_time->GetThermalPropagateFlag()) { std::string sun_str = "SUN"; char* c_sun = new char[sun_str.size() + 1]; - std::char_traits::copy(c_sun, sun_str.c_str(), - sun_str.size() + 1); // string -> char* + std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* temperature_->Propagate(local_celes_info->GetPosFromSC_b(c_sun), sim_time->GetElapsedSec()); delete[] c_sun; } @@ -72,4 +76,4 @@ void Dynamics::AddAcceleration_i(Vector<3> acceleration_i) { orbit_->AddAccelera Vector<3> Dynamics::GetPosition_i() const { return orbit_->GetSatPosition_i(); } -Quaternion Dynamics::GetQuaternion_i2b() const { return attitude_->GetQuaternion_i2b(); } \ No newline at end of file +Quaternion Dynamics::GetQuaternion_i2b() const { return attitude_->GetQuaternion_i2b(); } diff --git a/src/Dynamics/Dynamics.h b/src/Dynamics/Dynamics.h index d61f67053..458254903 100644 --- a/src/Dynamics/Dynamics.h +++ b/src/Dynamics/Dynamics.h @@ -1,3 +1,7 @@ +/** + * @file Dynamics.h + * @brief Class to manage dynamics of spacecraft + */ #ifndef __dynamics_H__ #define __dynamics_H__ @@ -20,43 +24,119 @@ using libra::Vector; class RelativeInformation; +/** + * @class Dynamics + * @brief Class to manage dynamics of spacecraft + */ class Dynamics { public: + /** + * @fn Dynamics + * @brief Constructor + * @param [in] sim_config: Simulation config + * @param [in] sim_time: Simulation time + * @param [in] local_celes_info: Local celestial information + * @param [in] sat_id: Spacecraft ID of the spacecraft + * @param [in] structure: Structure of the spacecraft + * @param [in] rel_info: Relative information + */ Dynamics(SimulationConfig* sim_config, const SimTime* sim_time, const LocalCelestialInformation* local_celes_info, const int sat_id, Structure* structure, RelativeInformation* rel_info = (RelativeInformation*)nullptr); + /** + * @fn ~Dynamics + * @brief Destructor + */ virtual ~Dynamics(); + /** + * @fn Initialize + * @brief Initialize function + * @param [in] sim_config: Simulation config + * @param [in] sim_time: Simulation time + * @param [in] local_celes_info: Local celestial information + * @param [in] sat_id: Spacecraft ID of the spacecraft + * @param [in] structure: Structure of the spacecraft + * @param [in] rel_info: Relative information + */ void Initialize(SimulationConfig* sim_config, const SimTime* sim_time, const LocalCelestialInformation* local_celes_info, const int sat_id, Structure* structure, RelativeInformation* rel_info = (RelativeInformation*)nullptr); + + /** + * @fn Update + * @brief Update states of all dynamics calculations + * @param [in] sim_time: Simulation time + * @param [in] local_celes_info: Local celestial information + */ void Update(const SimTime* sim_time, const LocalCelestialInformation* local_celes_info); + /** + * @fn LogSetup + * @brief Log setup for dynamics calculation + */ void LogSetup(Logger& logger); - // Set + /** + * @fn AddTorque_b + * @brief Add input torque for the attitude dynamics propagation + * @param [in] torue_b: Torque in the body fixed frame [Nm] + */ void AddTorque_b(Vector<3> torque_b); + /** + * @fn AddForce_b + * @brief Add input force for the orbit dynamics propagation + * @param [in] force_b: Force in the body fixed frame [N] + */ void AddForce_b(Vector<3> force_b); + /** + * @fn AddAcceleratione_b + * @brief Add input acceleration for the orbit dynamics propagation + * @param [in] acceleration_b: Force in the body fixed frame [N] + */ void AddAcceleration_i(Vector<3> acceleration_i); + /** + * @fn ClearForceTorque + * @brief Clear force, acceleration, and torque for the dynamics propagation + */ void ClearForceTorque(void); - // Get + /** + * @fn GetAttitude + * @brief Return Attitude class + */ inline const Attitude& GetAttitude() const { return *attitude_; } + /** + * @fn GetOrbit + * @brief Return Orbit class + */ inline const Orbit& GetOrbit() const { return *orbit_; } + /** + * @fn GetTemperature + * @brief Return Temperature class + */ inline const Temperature& GetTemperature() const { return *temperature_; } - // Setter + /** + * @fn SetAttitude + * @brief Return Attitude class to change the Attitude + */ inline Attitude& SetAttitude() const { return *attitude_; } - //必要性に疑問を感じる物たち - double mass_; // これはここは不適切なきがする．設定ファイルも - // 慣性系における位置を取得する関数 - // オーバーライドしてセンサーによる推定値を返すのも良い + double mass_; //!< Mass of spacecraft FIXME: Move to structure + + /** + * @fn GetPosition_i + * @brief Return spacecraft position in the inertial frame [m] + */ virtual Vector<3> GetPosition_i() const; - // 宇宙機の姿勢を示すクォータニオンを取得する関数 - // オーバーライドしてセンサーによる推定値を返すのも良い + + /** + * @fn GetQuaternion_i2b + * @brief Return spacecraft attitude quaternion from the inertial frame to the body fixed frame + */ virtual Quaternion GetQuaternion_i2b() const; private: - Attitude* attitude_; - Orbit* orbit_; - Temperature* temperature_; + Attitude* attitude_; //!< Attitude dynamics + Orbit* orbit_; //!< Orbit dynamics + Temperature* temperature_; //!< Thermal dynamics }; #endif //__dynamics_H__ From d472721bb4ec048dfc5353ba6ef8151bc7726db2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 19:08:02 +0100 Subject: [PATCH 087/199] Fix comment in Attitude --- src/Dynamics/Attitude/Attitude.cpp | 4 + src/Dynamics/Attitude/Attitude.h | 137 +++++++++++++++++++++++++---- src/Dynamics/Dynamics.h | 2 +- 3 files changed, 127 insertions(+), 16 deletions(-) diff --git a/src/Dynamics/Attitude/Attitude.cpp b/src/Dynamics/Attitude/Attitude.cpp index b338fe0ae..aa410b5e6 100644 --- a/src/Dynamics/Attitude/Attitude.cpp +++ b/src/Dynamics/Attitude/Attitude.cpp @@ -1,3 +1,7 @@ +/** + * @file Attitude.cpp + * @brief Class to manage attitude of spacecraft + */ #include "Attitude.h" #include diff --git a/src/Dynamics/Attitude/Attitude.h b/src/Dynamics/Attitude/Attitude.h index 3941aba1c..88865deef 100644 --- a/src/Dynamics/Attitude/Attitude.h +++ b/src/Dynamics/Attitude/Attitude.h @@ -1,3 +1,7 @@ +/** + * @file Attitude.h + * @brief Class to manage attitude of spacecraft + */ #ifndef __attitude_H__ #define __attitude_H__ @@ -8,64 +12,167 @@ #include #include +/** + * @class Attitude + * @brief Class to manage attitude of spacecraft + */ class Attitude : public ILoggable, public SimulationObject { public: + /** + * @fn Attitude + * @brief Constructor + * @param [in] sim_object_name: Simulation object name for Monte-Carlo simulation + */ Attitude(const std::string& sim_object_name = "Attitude"); + /** + * @fn ~Attitude + * @brief Destructor + */ virtual ~Attitude() {} // Getter + /** + * @fn GetPropStep + * @brief Return propagation step [sec] + */ inline double GetPropStep() const { return prop_step_s_; } + /** + * @fn GetOmega_b + * @brief Return angular velocity of spacecraft body-fixed frame with respect to the inertial frame [rad/s] + */ inline libra::Vector<3> GetOmega_b() const { return omega_b_rad_s_; } + /** + * @fn GetQuaternion_i2b + * @brief Return attitude quaternion from the inertial frame to the body fixed frame + */ inline libra::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } + /** + * @fn GetDCM_b2i + * @brief Return attitude direction cosine matrix from the body fixed frame to the inertial frame + * @note TODO: Check correctness i2b? b2i? + */ inline libra::Matrix<3, 3> GetDCM_b2i() const { return quaternion_i2b_.toDCM(); } + /** + * @fn GetDCM_i2b + * @brief Return attitude direction cosine matrix from the inertial frame to the body fixed frame + * @note TODO: Check correctness i2b? b2i? + */ inline libra::Matrix<3, 3> GetDCM_i2b() const { libra::Matrix<3, 3> DCM_b2i = quaternion_i2b_.toDCM(); return transpose(DCM_b2i); } + /** + * @fn GetTotalAngMomNorm + * @brief Return norm of total angular momentum of the spacecraft [Nms] + */ inline double GetTotalAngMomNorm() const { return libra::norm(h_total_b_Nms_); } + /** + * @fn GetEnergy + * @brief Return rotational Kinetic Energy of Spacecraft [J] + * @note TODO: Consider to use k_sc_J_ + */ inline double GetEnergy() const { return 0.5f * libra::inner_product(omega_b_rad_s_, inertia_tensor_kgm2_ * omega_b_rad_s_); } + /** + * @fn GetInertiaTensor + * @brief Return inertia tensor [kg m^2] + */ inline libra::Matrix<3, 3> GetInertiaTensor() const { return inertia_tensor_kgm2_; } + /** + * @fn GetInvInertiaTensor + * @brief Return inverse matrix of inertia tensor + */ inline libra::Matrix<3, 3> GetInvInertiaTensor() const { return inv_inertia_tensor_; } // Setter + /** + * @fn SetPropStep + * @brief Set propagation step [sec] + */ inline void SetPropStep(double set) { prop_step_s_ = set; } + /** + * @fn SetOmega_b + * @brief Set angular velocity of the body fixed frame with respect to the inertial frame [rad/s] + */ inline void SetOmega_b(const libra::Vector<3> set) { omega_b_rad_s_ = set; } + /** + * @fn SetQuaternion_i2b + * @brief Set attitude quaternion from the inertial frame to the body frame + */ inline void SetQuaternion_i2b(const libra::Quaternion set) { quaternion_i2b_ = set; } + /** + * @fn AddQuaternionOffset + * @brief Add quaternion offset rotation + */ inline void AddQuaternionOffset(const libra::Quaternion offset) { quaternion_i2b_ = quaternion_i2b_ * offset; } + /** + * @fn SetTorque_b + * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] + */ inline void SetTorque_b(const libra::Vector<3> set) { torque_b_Nm_ = set; } + /** + * @fn AddTorque_b + * @brief Add torque acting on the spacecraft on the body fixed frame [Nm] + */ inline void AddTorque_b(const libra::Vector<3> set) { torque_b_Nm_ += set; } + /** + * @fn SetAngMom_rw + * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] + */ inline void SetAngMom_rw(const libra::Vector<3> set) { h_rw_b_Nms_ = set; } + /** + * @fn SetInertiaTensor + * @brief Set inertia tensor of the spacecraft [kg m2] + */ inline void SetInertiaTensor(const Matrix<3, 3>& set) { inertia_tensor_kgm2_ = set; inv_inertia_tensor_ = libra::invert(inertia_tensor_kgm2_); } - // base function for derived class + /** + * @fn Propagate + * @brief Pure virtual function of attitude propagation + */ virtual void Propagate(const double endtime_s) = 0; - // Loggable + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; // SimulationObject for McSim virtual void SetParameters(const MCSimExecutor& mc_sim); protected: - bool is_calc_enabled_ = true; - double prop_step_s_; // TODO: consider is it really need here - libra::Vector<3> omega_b_rad_s_; - libra::Quaternion quaternion_i2b_; - libra::Vector<3> torque_b_Nm_; - libra::Matrix<3, 3> inertia_tensor_kgm2_; - libra::Matrix<3, 3> inv_inertia_tensor_; // inverse matrix of Iner_ - libra::Vector<3> h_sc_b_Nms_; - libra::Vector<3> h_rw_b_Nms_; - libra::Vector<3> h_total_b_Nms_; - libra::Vector<3> h_total_i_Nms_; - double h_total_Nms_; - double k_sc_J_; // Rotational Kinetic Energy of Spacecraft [J] + bool is_calc_enabled_ = true; //!< Calculation flag + double prop_step_s_; //!< Propagation step [sec] TODO: consider is it really need here + libra::Vector<3> omega_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] + libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame + libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] + libra::Matrix<3, 3> inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] TODO: Move to Structure + libra::Matrix<3, 3> inv_inertia_tensor_; //!< Inverse matrix of the inertia tensor + libra::Vector<3> h_sc_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] + libra::Vector<3> h_rw_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + libra::Vector<3> h_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] + libra::Vector<3> h_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] + double h_total_Nms_; //!< Norm of total angular momentum [Nms] + double k_sc_J_; //!< Rotational Kinetic Energy of Spacecraft [J] + /** + * @fn CalcAngMom + * @brief Calculate angular momentum + */ void CalcAngMom(void); + /** + * @fn CalcSatRotationalKineticEnergy + * @brief Calculate rotational Kinetic Energy of Spacecraft + */ void CalcSatRotationalKineticEnergy(void); }; diff --git a/src/Dynamics/Dynamics.h b/src/Dynamics/Dynamics.h index 458254903..e6adbebc8 100644 --- a/src/Dynamics/Dynamics.h +++ b/src/Dynamics/Dynamics.h @@ -119,7 +119,7 @@ class Dynamics { */ inline Attitude& SetAttitude() const { return *attitude_; } - double mass_; //!< Mass of spacecraft FIXME: Move to structure + double mass_; //!< Mass of spacecraft [kg] FIXME: Move to Structure /** * @fn GetPosition_i From b857aa3703483d386fa4961989881f6916b0aa5f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 19:23:40 +0100 Subject: [PATCH 088/199] Fix comment in AttitudeRK4 --- src/Dynamics/Attitude/Attitude.cpp | 2 +- src/Dynamics/Attitude/Attitude.h | 5 ++- src/Dynamics/Attitude/AttitudeRK4.cpp | 8 +++- src/Dynamics/Attitude/AttitudeRK4.h | 63 +++++++++++++++++++++++++-- 4 files changed, 69 insertions(+), 9 deletions(-) diff --git a/src/Dynamics/Attitude/Attitude.cpp b/src/Dynamics/Attitude/Attitude.cpp index aa410b5e6..88524013e 100644 --- a/src/Dynamics/Attitude/Attitude.cpp +++ b/src/Dynamics/Attitude/Attitude.cpp @@ -1,6 +1,6 @@ /** * @file Attitude.cpp - * @brief Class to manage attitude of spacecraft + * @brief Base class for attitude of spacecraft */ #include "Attitude.h" diff --git a/src/Dynamics/Attitude/Attitude.h b/src/Dynamics/Attitude/Attitude.h index 88865deef..4c45f7fa8 100644 --- a/src/Dynamics/Attitude/Attitude.h +++ b/src/Dynamics/Attitude/Attitude.h @@ -1,6 +1,6 @@ /** * @file Attitude.h - * @brief Class to manage attitude of spacecraft + * @brief Base class for attitude of spacecraft */ #ifndef __attitude_H__ #define __attitude_H__ @@ -14,7 +14,7 @@ /** * @class Attitude - * @brief Class to manage attitude of spacecraft + * @brief Base class for attitude of spacecraft */ class Attitude : public ILoggable, public SimulationObject { public: @@ -131,6 +131,7 @@ class Attitude : public ILoggable, public SimulationObject { /** * @fn Propagate * @brief Pure virtual function of attitude propagation + * @param [in] endtime_s: Propagation endtime [sec] */ virtual void Propagate(const double endtime_s) = 0; diff --git a/src/Dynamics/Attitude/AttitudeRK4.cpp b/src/Dynamics/Attitude/AttitudeRK4.cpp index 4d7625d8e..764cd1f27 100644 --- a/src/Dynamics/Attitude/AttitudeRK4.cpp +++ b/src/Dynamics/Attitude/AttitudeRK4.cpp @@ -1,3 +1,7 @@ +/** + * @file AttitudeRK4.cpp + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ #include "AttitudeRK4.h" #include @@ -28,10 +32,10 @@ void AttitudeRK4::SetParameters(const MCSimExecutor& mc_sim) { Attitude::SetParameters(mc_sim); GetInitParameterVec(mc_sim, "Omega_b", omega_b_rad_s_); - // TODO この部分の必要性を考える + // TODO: Consider the following calculation is needed here? prop_time_s_ = 0.0; inv_inertia_tensor_ = libra::invert(inertia_tensor_kgm2_); - h_rw_b_Nms_ = Vector<3>(0.0); //どう取り扱うか要検討，Propagateで参照しているのも良くないかも + h_rw_b_Nms_ = Vector<3>(0.0); //!< Consider how to handle this variable CalcAngMom(); CalcSatRotationalKineticEnergy(); } diff --git a/src/Dynamics/Attitude/AttitudeRK4.h b/src/Dynamics/Attitude/AttitudeRK4.h index 51a871bed..3d871586e 100644 --- a/src/Dynamics/Attitude/AttitudeRK4.h +++ b/src/Dynamics/Attitude/AttitudeRK4.h @@ -1,29 +1,84 @@ +/** + * @file AttitudeRK4.h + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ #ifndef __attitude_rk4_H__ #define __attitude_rk4_H__ #include "Attitude.h" +/** + * @class AttitudeRK4 + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ class AttitudeRK4 : public Attitude { public: + /** + * @fn AttitudeRK4 + * @brief Constructor + * @param [in] omega_b_ini: Initial value of spacecraft angular velocity of the body fixed frame [rad/s] + * @param [in] quaternion_i2b_ini: Initial value of attitude quaternion from the inertial frame to the body fixed frame + * @param [in] InertiaTensor_ini: Initial value of inertia tensor of the spacecraft [kg m^2] + * @param [in] torque_b_ini: Initial torque acting on the spacecraft in the body fixed frame [Nm] + * @param [in] prop_step_ini: Initial value of propagation step width [sec] + * @param [in] sim_object_name: Simulation object name for Monte-Carlo simulation + */ AttitudeRK4(const Vector<3>& omega_b_ini, const Quaternion& quaternion_i2b_ini, const Matrix<3, 3>& InertiaTensor_ini, const Vector<3>& torque_b_ini, const double prop_step_ini, const std::string& sim_object_name = "Attitude"); + /** + * @fn ~AttitudeRK4 + * @brief Destructor + */ ~AttitudeRK4(); - // Getter + /** + * @fn GetPropTime + * @brief Return propagation time (current time) [sec] + */ inline double GetPropTime() const { return prop_time_s_; } - // Setter + /** + * @fn SetTime + * @brief Set propagation time (current time) [sec] + */ inline void SetTime(double set) { prop_time_s_ = set; } - // Attitude + /** + * @fn Propagate + * @brief Attitude propagation + * @param [in] endtime_s: Propagation endtime [sec] + */ virtual void Propagate(const double endtime_s); + + /** + * @fn SetParameters + * @brief Set parameters for Monte-Carlo simulation + * @param [in] mc_sim: Monte-Carlo simulation executor + */ virtual void SetParameters(const MCSimExecutor& mc_sim); private: - double prop_time_s_; // current time + double prop_time_s_; //!< current time [sec] + /** + * @fn Omega4Kinematics + * @brief Generate angular velocity matrix for kinematics calculation + * @param [in] omega: Angular velocity [rad/s] + */ Matrix<4, 4> Omega4Kinematics(Vector<3> omega); + /** + * @fn DynamicsKinematics + * @brief Dynamics equation with kinematics + * @param [in] x: State vector (angular velocity and quaternion) + * @param [in] t: Unused TODO: remove? + */ Vector<7> DynamicsKinematics(Vector<7> x, double t); + /** + * @fn RungeOneStep + * @brief Equation for one step of Runge-Kutta method + * @param [in] t: Unused TODO: remove? + * @param [in] dt: Step width [sec] + */ void RungeOneStep(double t, double dt); }; From 04ad1bee8a63f7dfba1aa0c4fb48e789ec7557b9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 20:21:28 +0100 Subject: [PATCH 089/199] Fix comment in ControlledAttitude --- src/Dynamics/Attitude/ControlledAttitude.cpp | 5 +- src/Dynamics/Attitude/ControlledAttitude.h | 119 ++++++++++++++++--- 2 files changed, 106 insertions(+), 18 deletions(-) diff --git a/src/Dynamics/Attitude/ControlledAttitude.cpp b/src/Dynamics/Attitude/ControlledAttitude.cpp index 237468d75..e76f23e98 100644 --- a/src/Dynamics/Attitude/ControlledAttitude.cpp +++ b/src/Dynamics/Attitude/ControlledAttitude.cpp @@ -1,3 +1,7 @@ +/** + * @file ControlledAttitude.h + * @brief Class to calculate spacecraft attitude with Controlled Attitude mode + */ #include "ControlledAttitude.h" #include @@ -33,7 +37,6 @@ void ControlledAttitude::Initialize(void) { if (main_mode_ >= NO_CTRL) is_calc_enabled_ = false; if (sub_mode_ >= NO_CTRL) is_calc_enabled_ = false; if (main_mode_ == INERTIAL_STABILIZE) { - // } else // Pointing control { // sub mode check diff --git a/src/Dynamics/Attitude/ControlledAttitude.h b/src/Dynamics/Attitude/ControlledAttitude.h index 20ae2f167..5dc64e1f0 100644 --- a/src/Dynamics/Attitude/ControlledAttitude.h +++ b/src/Dynamics/Attitude/ControlledAttitude.h @@ -1,3 +1,7 @@ +/** + * @file ControlledAttitude.h + * @brief Class to calculate spacecraft attitude with Controlled Attitude mode + */ #ifndef __controlled_attitude_H__ #define __controlled_attitude_H__ @@ -8,52 +12,133 @@ #include "../Orbit/Orbit.h" #include "Attitude.h" +/** + * @enum AttCtrlMode + * @brief Attitude control mode + */ enum AttCtrlMode { - INERTIAL_STABILIZE, - SUN_POINTING, - EARTH_CENTER_POINTING, - VELOCITY_DIRECTION_POINTING, - ORBIT_NORMAL_POINTING, - NO_CTRL, + INERTIAL_STABILIZE, //!< Inertial stabilize + SUN_POINTING, //!< Sun pointing + EARTH_CENTER_POINTING, //!< Earth center pointing + VELOCITY_DIRECTION_POINTING, //!< Spacecraft velocity direction pointing + ORBIT_NORMAL_POINTING, //!< Orbit normal direction pointing + NO_CTRL, // No Control }; +/** + * @fn ConvertStringToCtrlMode + * @brief Convert string to AttCtrlMode + * @param [in] mode: Control mode in string + * @return Attitude control mode + */ AttCtrlMode ConvertStringToCtrlMode(const std::string mode); +/** + * @class ControlledAttitude + * @brief Class to calculate spacecraft attitude with Controlled Attitude mode + */ class ControlledAttitude : public Attitude { public: + /** + * @fn ControlledAttitude + * @brief Constructor + * @param [in] main_mode: Main control mode + * @param [in] sub_mode: Sub control mode + * @param [in] quaternion_i2b: Quaternion for INERTIAL_STABILIZE mode + * @param [in] pointing_t_b: Main target direction on the body fixed frame + * @param [in] pointing_sub_t_b: Sun target direction on the body fixed frame + * @param [in] inertia_tensor_kgm2: Inertia tensor of the spacecraft [kg m^2] + * @param [in] local_celes_info: Local celestial information + * @param [in] orbit: Orbit + * @param [in] sim_object_name: Simulation object name for Monte-Carlo simulation + */ ControlledAttitude(const AttCtrlMode main_mode, const AttCtrlMode sub_mode, const Quaternion quaternion_i2b, const Vector<3> pointing_t_b, const Vector<3> pointing_sub_t_b, const Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celes_info, const Orbit* orbit, const std::string& sim_object_name = "Attitude"); + /** + * @fn ~ControlledAttitude + * @brief Destructor + */ ~ControlledAttitude(); // Setter + /** + * @fn SetMainMode + * @brief Set main control mode + */ inline void SetMainMode(const AttCtrlMode main_mode) { main_mode_ = main_mode; } + /** + * @fn SetSubMode + * @brief Set sub control mode + */ inline void SetSubMode(const AttCtrlMode sub_mode) { sub_mode_ = sub_mode; } + /** + * @fn SetQuaternionI2T + * @brief Set quaternion for INERTIAL_STABILIZE mode + */ inline void SetQuaternionI2T(const Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } + /** + * @fn SetPointingTb + * @brief Set main target direction on the body fixed frame + */ inline void SetPointingTb(Vector<3> pointing_t_b) { pointing_t_b_ = pointing_t_b; } + /** + * @fn SetPointingSubTb + * @brief Set sub target direction on the body fixed frame + */ inline void SetPointingSubTb(Vector<3> pointing_sub_t_b) { pointing_sub_t_b_ = pointing_sub_t_b; } - // Attitude + /** + * @fn Propagate + * @brief Attitude propagation + * @param [in] endtime_s: Propagation endtime [sec] + */ virtual void Propagate(const double endtime_s); private: - AttCtrlMode main_mode_; - AttCtrlMode sub_mode_; //!< for control around pointing direction - libra::Vector<3> pointing_t_b_; //!< Pointing target on body frame - libra::Vector<3> pointing_sub_t_b_; //!< Pointing sub target on body frame - double previous_calc_time_s_ = -1.0; //!< previous time of velocity calculation - libra::Quaternion prev_quaternion_i2b_; //!< previous quaternion - libra::Vector<3> prev_omega_b_rad_s_; //!< previous angular velocity - + AttCtrlMode main_mode_; //!< Main control mode + AttCtrlMode sub_mode_; //!< Sub control mode + libra::Vector<3> pointing_t_b_; //!< Main target direction on the body fixed frame + libra::Vector<3> pointing_sub_t_b_; //!< Sub target direction on tge body fixed frame + double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] + libra::Quaternion prev_quaternion_i2b_; //!< Previous quaternion + libra::Vector<3> prev_omega_b_rad_s_; //!< Previous angular velocity [rad/s] + // Inputs - const LocalCelestialInformation* local_celes_info_; - const Orbit* orbit_; + const LocalCelestialInformation* local_celes_info_; //!< Local celestial information + const Orbit* orbit_; //!< Orbit information // Local functions + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(void); + /** + * @fn CalcTargetDirection + * @brief Calculate target direction from attitude control mode + * @param [in] mode: Attitude control mode + */ Vector<3> CalcTargetDirection(AttCtrlMode mode); + /** + * @fn PointingCtrl + * @brief Calculate attitude quaternion + * @param [in] main_direction_i: Main target direction in the inertial frame + * @param [in] main_direction_i: Sub target direction in the inertial frame + */ void PointingCtrl(const Vector<3> main_direction_i, const Vector<3> sub_direction_i); + /** + * @fn CalcAngularVelocity + * @brief Calculate angular velocity + * @param [in] current_time_s: Current time [sec] + */ void CalcAngularVelocity(const double current_time_s); + /** + * @fn CalcDCM + * @brief Calculate direction cosine matrix with tow direction vectors + * @param [in] main_direction: Main target direction + * @param [in] main_direction: Sub target direction + */ Matrix<3, 3> CalcDCM(const Vector<3> main_direction, const Vector<3> sub_direction); }; From 97169efdc278e02edf3c5b8ff33513b652e83650 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 20:25:44 +0100 Subject: [PATCH 090/199] Fix comment in InitAttitude --- src/Dynamics/Attitude/InitAttitude.cpp | 7 ++++++- src/Dynamics/Attitude/InitAttitude.hpp | 14 ++++++++++++++ 2 files changed, 20 insertions(+), 1 deletion(-) diff --git a/src/Dynamics/Attitude/InitAttitude.cpp b/src/Dynamics/Attitude/InitAttitude.cpp index a4896cfdd..a203a7c29 100644 --- a/src/Dynamics/Attitude/InitAttitude.cpp +++ b/src/Dynamics/Attitude/InitAttitude.cpp @@ -1,3 +1,7 @@ +/** + * @file InitAttitude.hpp + * @brief Initialize function for attitude + */ #include "InitAttitude.hpp" #include @@ -35,7 +39,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel Vector<3> pointing_t_b, pointing_sub_t_b; ini_file_ca.ReadVector(section_ca_, "pointing_t_b", pointing_t_b); ini_file_ca.ReadVector(section_ca_, "pointing_sub_t_b", pointing_sub_t_b); - attitude = new ControlledAttitude(main_mode, sub_mode, quaternion_i2b, pointing_t_b, pointing_sub_t_b, inertia_tensor, celes_info, orbit, mc_name); + attitude = + new ControlledAttitude(main_mode, sub_mode, quaternion_i2b, pointing_t_b, pointing_sub_t_b, inertia_tensor, celes_info, orbit, mc_name); } else { std::cerr << "ERROR: attitude propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The attitude mode is automatically set as RK4" << std::endl; diff --git a/src/Dynamics/Attitude/InitAttitude.hpp b/src/Dynamics/Attitude/InitAttitude.hpp index d87af3a2a..c38c0a099 100644 --- a/src/Dynamics/Attitude/InitAttitude.hpp +++ b/src/Dynamics/Attitude/InitAttitude.hpp @@ -1,8 +1,22 @@ +/** + * @file InitAttitude.hpp + * @brief Initialize function for attitude + */ #pragma once #include "Attitude.h" #include "AttitudeRK4.h" #include "ControlledAttitude.h" +/** + * @fn InitAttitude + * @brief Initialize function for Attitude + * @param [in] file_name: Path to the initialize file + * @param [in] orbit: Orbit information + * @param [in] celes_info: Celestial information + * @param [in] step_sec: Step width [sec] + * @param [in] inertia_tensor: Inertia tensor [kg m^2] + * @param [in] sat_id: Satellite ID + */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* celes_info, const double step_sec, const Matrix<3, 3> inertia_tensor, const int sat_id); From 76d90759608208952dddc922477eaa966cb4fe07 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 21:03:53 +0100 Subject: [PATCH 091/199] Fix comment in EnckeOrbit --- src/Dynamics/Orbit/EnckeOrbitPropagation.cpp | 5 ++ src/Dynamics/Orbit/EnckeOrbitPropagation.h | 84 +++++++++++++++++--- 2 files changed, 78 insertions(+), 11 deletions(-) diff --git a/src/Dynamics/Orbit/EnckeOrbitPropagation.cpp b/src/Dynamics/Orbit/EnckeOrbitPropagation.cpp index e57b80775..513d09331 100644 --- a/src/Dynamics/Orbit/EnckeOrbitPropagation.cpp +++ b/src/Dynamics/Orbit/EnckeOrbitPropagation.cpp @@ -1,3 +1,8 @@ +/** + * @file EnckeOrbitPropagation.cpp + * @brief Class to propagate spacecraft orbit with Encke's method + */ + #include "EnckeOrbitPropagation.h" #include diff --git a/src/Dynamics/Orbit/EnckeOrbitPropagation.h b/src/Dynamics/Orbit/EnckeOrbitPropagation.h index f19c27bb6..a89a91bdf 100644 --- a/src/Dynamics/Orbit/EnckeOrbitPropagation.h +++ b/src/Dynamics/Orbit/EnckeOrbitPropagation.h @@ -1,40 +1,102 @@ +/** + * @file EnckeOrbitPropagation.h + * @brief Class to propagate spacecraft orbit with Encke's method + */ #pragma once #include "../../Library/Orbit/KeplerOrbit.h" #include "../../Library/math/ODE.hpp" #include "Orbit.h" +/** + * @class EnckeOrbitPropagation + * @brief Class to propagate spacecraft orbit with Encke's method + */ class EnckeOrbitPropagation : public Orbit, public libra::ODE<6> { public: + /** + * @fn EnckeOrbitPropagation + * @brief Constructor + * @param [in] celes_info: Celestial information + * @param [in] mu_m3_s2: Gravity constant of the center body [m3/s2] + * @param [in] prop_step_s: Propagation step width [sec] + * @param [in] current_jd: Current Julian day [day] + * @param [in] init_position_i_m: Initial value of position in the inertial frame [m] + * @param [in] init_velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] + * @param [in] error_tolerance: Error tolerance threshold + */ EnckeOrbitPropagation(const CelestialInformation* celes_info, const double mu_m3_s2, const double prop_step_s, const double current_jd, const Vector<3> init_position_i_m, const Vector<3> init_velocity_i_m_s, const double error_tolerance); + /** + * @fn ~EnckeOrbitPropagation + * @brief Destructor + */ ~EnckeOrbitPropagation(); - // Orbit class + // Override Orbit + /** + * @fn Propagate + * @brief Propagate orbit + * @param [in] endtime: + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd); + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // ODE class + // Override ODE + /** + * @fn RHS + * @brief Right Hand Side of ordinary difference equation + * @param [in] t: Time as independent variable + * @param [in] state: Position and velocity as state vector + * @param [out] rhs: Output of the function + */ virtual void RHS(double t, const Vector<6>& state, Vector<6>& rhs); private: // General - const double mu_m3_s2_; - const double error_tolerance_; // error ratio - double prop_step_s_; // Δt for RK4 - double prop_time_s_; // Simulation current time for numerical integration by RK4 + const double mu_m3_s2_; //!< Gravity constant of the center body [m3/s2] + const double error_tolerance_; //!< Error tolerance ratio + double prop_step_s_; //!< Propagation step width for RK4 + double prop_time_s_; //!< Simulation current time for numerical integration by RK4 // reference orbit - Vector<3> ref_position_i_m_; - Vector<3> ref_velocity_i_m_s_; - KeplerOrbit ref_kepler_orbit; + Vector<3> ref_position_i_m_; //!< Reference orbit position in the inertial frame [m] + Vector<3> ref_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] + KeplerOrbit ref_kepler_orbit; //!< Reference Kepler orbital element // difference orbit - Vector<3> diff_position_i_m_; - Vector<3> diff_velocity_i_m_s_; + Vector<3> diff_position_i_m_; //!< Difference orbit position in the inertial frame [m] + Vector<3> diff_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] // functions + /** + * @fn Initialize + * @brief Initialize function + * @param [in] current_jd: Current Julian day [day] + * @param [in] init_ref_position_i_m: Initial value of reference orbit position in the inertial frame [m] + * @param [in] init_ref_velocity_i_m_s: Initial value of reference orbit position in the inertial frame [m] + */ void Initialize(double current_jd, Vector<3> init_ref_position_i_m, Vector<3> init_ref_velocity_i_m_s); + /** + * @fn UpdateSatOrbit + * @brief Update satellite orbit + */ void UpdateSatOrbit(); + /** + * @fn CalcQFunction + * @brief Calculate Q function + * @param [in] diff_pos_i: Difference of position in the inertial frame [m] + */ double CalcQFunction(Vector<3> diff_pos_i); }; From 0268d28303b96008c32f48cdaa2dec14f09d4dca Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 21:46:22 +0100 Subject: [PATCH 092/199] Fix comment in InitOrbit --- src/Dynamics/Orbit/InitOrbit.cpp | 10 ++++++---- src/Dynamics/Orbit/InitOrbit.hpp | 15 +++++++++++++++ 2 files changed, 21 insertions(+), 4 deletions(-) diff --git a/src/Dynamics/Orbit/InitOrbit.cpp b/src/Dynamics/Orbit/InitOrbit.cpp index b4099db6d..b2a811242 100644 --- a/src/Dynamics/Orbit/InitOrbit.cpp +++ b/src/Dynamics/Orbit/InitOrbit.cpp @@ -1,3 +1,7 @@ +/** + * @file InitOrbit.cpp + * @brief Initialize function for Orbit class + */ #include "InitOrbit.hpp" #include @@ -43,10 +47,8 @@ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, d Vector<3> init_relative_velocity_lvlh; conf.ReadVector<3>(section_, "init_relative_velocity_lvlh", init_relative_velocity_lvlh); - // There is a possibility that the orbit of the reference sat is not - // initialized when RelativeOrbit initialization is called To ensure that - // the orbit of the reference sat is initialized, create temporary initial - // orbit of the reference sat + // There is a possibility that the orbit of the reference sat is not initialized when RelativeOrbit initialization is called To ensure that + // the orbit of the reference sat is initialized, create temporary initial orbit of the reference sat int reference_sat_id = conf.ReadInt(section_, "reference_sat_id"); orbit = new RelativeOrbit(celes_info, gravity_constant, stepSec, reference_sat_id, init_relative_position_lvlh, init_relative_velocity_lvlh, diff --git a/src/Dynamics/Orbit/InitOrbit.hpp b/src/Dynamics/Orbit/InitOrbit.hpp index b0ac72cbc..769378db1 100644 --- a/src/Dynamics/Orbit/InitOrbit.hpp +++ b/src/Dynamics/Orbit/InitOrbit.hpp @@ -1,8 +1,23 @@ +/** + * @file InitOrbit.h + * @brief Initialize function for Orbit class + */ #pragma once #include "Orbit.h" class RelativeInformation; +/** + * @fn InitOrbit + * @brief Initialize function for Orbit class + * @param [in] celes_info: Celestial information + * @param [in] ini_path: Path to initialize file + * @param [in] stepSec: Step width [sec] + * @param [in] current_jd: Current Julian day [day] + * @param [in] gravity_constant: Gravity constant [m3/s2] + * @param [in] section: Section name + * @param [in] rel_info: Relative information + */ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, double stepSec, double current_jd, double gravity_constant, std::string section = "ORBIT", RelativeInformation* rel_info = (RelativeInformation*)nullptr); From 8906fd025721395a4783ff97a8c16c3e4ade6025 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 21:52:39 +0100 Subject: [PATCH 093/199] Fix comment in KeplerOrbit --- src/Dynamics/Orbit/EnckeOrbitPropagation.h | 2 +- src/Dynamics/Orbit/KeplerOrbitPropagation.cpp | 4 ++ src/Dynamics/Orbit/KeplerOrbitPropagation.h | 42 ++++++++++++++++++- 3 files changed, 46 insertions(+), 2 deletions(-) diff --git a/src/Dynamics/Orbit/EnckeOrbitPropagation.h b/src/Dynamics/Orbit/EnckeOrbitPropagation.h index a89a91bdf..40cc7f03c 100644 --- a/src/Dynamics/Orbit/EnckeOrbitPropagation.h +++ b/src/Dynamics/Orbit/EnckeOrbitPropagation.h @@ -36,7 +36,7 @@ class EnckeOrbitPropagation : public Orbit, public libra::ODE<6> { /** * @fn Propagate * @brief Propagate orbit - * @param [in] endtime: + * @param [in] endtime: End time of simulation [sec] * @param [in] current_jd: Current Julian day [day] */ virtual void Propagate(double endtime, double current_jd); diff --git a/src/Dynamics/Orbit/KeplerOrbitPropagation.cpp b/src/Dynamics/Orbit/KeplerOrbitPropagation.cpp index f90b6b7b4..775c2d234 100644 --- a/src/Dynamics/Orbit/KeplerOrbitPropagation.cpp +++ b/src/Dynamics/Orbit/KeplerOrbitPropagation.cpp @@ -1,3 +1,7 @@ +/** + * @file KeplerOrbitPropagation.cpp + * @brief Class to propagate spacecraft orbit with Kepler equation + */ #include "KeplerOrbitPropagation.h" #include diff --git a/src/Dynamics/Orbit/KeplerOrbitPropagation.h b/src/Dynamics/Orbit/KeplerOrbitPropagation.h index a8ec1b308..5ae4fba68 100644 --- a/src/Dynamics/Orbit/KeplerOrbitPropagation.h +++ b/src/Dynamics/Orbit/KeplerOrbitPropagation.h @@ -1,18 +1,58 @@ +/** + * @file KeplerOrbitPropagation.h + * @brief Class to propagate spacecraft orbit with Kepler equation + */ #pragma once #include "../../Library/Orbit/KeplerOrbit.h" #include "Orbit.h" +/** + * @class KeplerOrbitPropagation + * @brief Class to propagate spacecraft orbit with Kepler equation + */ class KeplerOrbitPropagation : public Orbit, public KeplerOrbit { public: // Initialize with orbital elements + /** + * @fn KeplerOrbitPropagation + * @brief Constructor + * @param [in] celes_info: Celestial information + * @param [in] current_jd: Current Julian day [day] + * @param [in] kepler_orbit: Kepler orbit + */ KeplerOrbitPropagation(const CelestialInformation* celes_info, const double current_jd, KeplerOrbit kepler_orbit); + /** + * @fn ~KeplerOrbitPropagation + * @brief Destructor + */ ~KeplerOrbitPropagation(); - // Orbit class + // Override Orbit + /** + * @fn Propagate + * @brief Propagate orbit + * @param [in] endtime: End time of simulation [sec] + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd); + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: + /** + * @fn UpdateState + * @brief Propagate orbit + * @param [in] current_jd: Current Julian day [day] + */ void UpdateState(const double current_jd); }; From 96f82ab3d09f92747429681e2c16f9800082c57e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 22:13:32 +0100 Subject: [PATCH 094/199] Fix comment in Orbit --- src/Dynamics/Orbit/Orbit.cpp | 11 +-- src/Dynamics/Orbit/Orbit.h | 142 +++++++++++++++++++++++++++++++---- 2 files changed, 133 insertions(+), 20 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.cpp b/src/Dynamics/Orbit/Orbit.cpp index 6c9b7c6ad..735a8c570 100644 --- a/src/Dynamics/Orbit/Orbit.cpp +++ b/src/Dynamics/Orbit/Orbit.cpp @@ -1,12 +1,13 @@ +/** + * @file Orbit.cpp + * @brief Base class of orbit propagation + */ #include "Orbit.h" Quaternion Orbit::CalcQuaternionI2LVLH() const { - Vector<3> lvlh_x = sat_position_i_; // x-axis in LVLH frame is position vector direction - // from geocenter to satellite + Vector<3> lvlh_x = sat_position_i_; // x-axis in LVLH frame is position vector direction from geocenter to satellite Vector<3> lvlh_ex = normalize(lvlh_x); - Vector<3> lvlh_z = outer_product(sat_position_i_, - sat_velocity_i_); // z-axis in LVLH frame is angular - // momentum vector direction of orbit + Vector<3> lvlh_z = outer_product(sat_position_i_, sat_velocity_i_); // z-axis in LVLH frame is angular momentum vector direction of orbit Vector<3> lvlh_ez = normalize(lvlh_z); Vector<3> lvlh_y = outer_product(lvlh_z, lvlh_x); Vector<3> lvlh_ey = normalize(lvlh_y); diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 0c2fbdf2d..109297f14 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -1,3 +1,7 @@ +/** + * @file Orbit.h + * @brief Base class of orbit propagation + */ #ifndef __orbit_H__ #define __orbit_H__ @@ -17,30 +21,93 @@ using libra::Vector; #include #include +/** + * @class Orbit + * @brief Base class of orbit propagation + */ class Orbit : public ILoggable { public: + /** + * @fn Orbit + * @brief Constructor + * @param [in] celes_info: Celestial information + */ Orbit(const CelestialInformation* celes_info) : celes_info_(celes_info) {} + /** + * @fn ~Orbit + * @brief Destructor + */ virtual ~Orbit() {} + /** + * @enum PROPAGATE_MODE + * @brief Propagation mode of orbit + */ enum class PROPAGATE_MODE { RK4 = 0, SGP4, RELATIVE_ORBIT, KEPLER, ENCKE }; - // propagation of orbit + /** + * @fn Propagate + * @brief Pure virtual function for orbit propagation + * @param [in] endtime: End time of simulation [sec] + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd) = 0; - // update of attitude information + /** + * @fn UpdateAtt + * @brief Update attitude information + * @param [in] q_i2b: End time of simulation [sec] + */ inline void UpdateAtt(Quaternion q_i2b) { sat_velocity_b_ = q_i2b.frame_conv(sat_velocity_i_); } - // Shift the position of the spacecraft by the offset vector in the inertial frame + /** + * @fn AddPositionOffset + * @brief Shift the position of the spacecraft + * @note Is this really needed? + * @param [in] offset_i: Offset vector in the inertial frame [m] + */ inline virtual void AddPositionOffset(Vector<3> offset_i) { (void)offset_i; } // Getters + /** + * @fn GetIsCalcEnabled + * @brief Return calculate flag + */ inline bool GetIsCalcEnabled() const { return is_calc_enabled_; } + /** + * @fn GetPropagateMode + * @brief Return propagate mode + */ inline PROPAGATE_MODE GetPropagateMode() const { return propagate_mode_; } + /** + * @fn GetSatPosition_i + * @brief Return spacecraft position in the inertial frame [m] + */ inline Vector<3> GetSatPosition_i() const { return sat_position_i_; } + /** + * @fn GetSatPosition_ecef + * @brief Return spacecraft position in the ECEF frame [m] + */ inline Vector<3> GetSatPosition_ecef() const { return sat_position_ecef_; } + /** + * @fn GetSatVelocity_i + * @brief Return spacecraft velocity in the inertial frame [m/s] + */ inline Vector<3> GetSatVelocity_i() const { return sat_velocity_i_; } + /** + * @fn GetSatVelocity_b + * @brief Return spacecraft velocity in the body fixed frame [m/s] + */ inline Vector<3> GetSatVelocity_b() const { return sat_velocity_b_; } + /** + * @fn GetSatVelocity_ecef + * @brief Return spacecraft velocity in the ECEF frame [m/s] + */ inline Vector<3> GetSatVelocity_ecef() const { return sat_velocity_ecef_; } + /** + * @fn GetGeodeticPosition + * @brief Return spacecraft position in the geodetic frame [m] + */ inline GeodeticPosition GetGeodeticPosition() const { return sat_position_geo_; } // TODO delete the following functions @@ -56,44 +123,89 @@ class Orbit : public ILoggable { } // Setters + /** + * @fn SetIsCalcEnabled + * @brief Set calculate flag + */ inline void SetIsCalcEnabled(bool is_calc_enabled) { is_calc_enabled_ = is_calc_enabled; } + /** + * @fn SetAcceleration_i + * @brief Set acceleration in the inertial frame [m/s2] + */ inline void SetAcceleration_i(Vector<3> acceleration_i) { acc_i_ = acceleration_i; } + /** + * @fn AddForce_i + * @brief Add force + * @param [in] force_i: Force in the inertial frame [N] + * @param [in] spacecraft_mass: Mass of spacecraft [kg] + */ inline void AddForce_i(Vector<3> force_i, double spacecraft_mass) { force_i /= spacecraft_mass; acc_i_ += force_i; } + /** + * @fn AddAcceleration_i + * @brief Add acceleration in the inertial frame [m/s2] + */ inline void AddAcceleration_i(Vector<3> acceleration_i) { acc_i_ += acceleration_i; } + /** + * @fn AddForce_i + * @brief Add force + * @param [in] force_b: Force in the body fixed frame [N] + * @param [in] q_i2b: Quaternion from the inertial frame to the body fixed frame + * @param [in] spacecraft_mass: Mass of spacecraft [kg] + */ inline void AddForce_b(Vector<3> force_b, Quaternion q_i2b, double spacecraft_mass) { auto force_i = q_i2b.frame_conv_inv(force_b); AddForce_i(force_i, spacecraft_mass); } + /** + * @fn CalcQuaternionI2LVLH + * @brief Calculate quaternion from the inertial frame to the LVLH frame + */ Quaternion CalcQuaternionI2LVLH() const; + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const = 0; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const = 0; protected: - const CelestialInformation* celes_info_; + const CelestialInformation* celes_info_; //!< Celestial information // Settings - bool is_calc_enabled_ = false; - PROPAGATE_MODE propagate_mode_; + bool is_calc_enabled_ = false; //!< Calculate flag + PROPAGATE_MODE propagate_mode_; //!< Propagation mode - Vector<3> sat_position_i_; //! spacecraft position in inertial frame [m] - Vector<3> sat_position_ecef_; //! spacecraft position in ECEF frame [m] - GeodeticPosition sat_position_geo_; //! spacecraft position in Geodetic frame + Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] + Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] + GeodeticPosition sat_position_geo_; //!< Spacecraft position in the Geodetic frame - Vector<3> sat_velocity_i_; //! spacecraft velocity in inertial frame [m/s] - Vector<3> sat_velocity_b_; //! spacecraft velocity in body frame [m/s] - Vector<3> sat_velocity_ecef_; //! spacecraft velocity in ECEF frame [m/s] + Vector<3> sat_velocity_i_; //!< Spacecraft velocity in the inertial frame [m/s] + Vector<3> sat_velocity_b_; //!< Spacecraft velocity in the body frame [m/s] + Vector<3> sat_velocity_ecef_; //!< Spacecraft velocity in the ECEF frame [m/s] - // spacecraft acceleration in inertial frame [m/s2] - // NOTE: Clear to zero at the end of the Propagate function - Vector<3> acc_i_; + Vector<3> acc_i_; //!< Spacecraft acceleration in the inertial frame [m/s2] + //!< NOTE: Clear to zero at the end of the Propagate function // Frame Conversion TODO: consider other planet + /** + * @fn TransEciToEcef + * @brief Transform states from the ECI frame to ECEF frame + */ void TransEciToEcef(void); + /** + * @fn TransEcefToGeo + * @brief Transform states from the ECEF frame to the geodetic frame + */ void TransEcefToGeo(void); }; From 3e9db31a2e5ed8d5030e9a884d86ccc375863124 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 22:29:10 +0100 Subject: [PATCH 095/199] Fix comment in RelativeOrbit --- src/Dynamics/Orbit/RelativeOrbit.cpp | 10 ++- src/Dynamics/Orbit/RelativeOrbit.h | 114 +++++++++++++++++++++++---- 2 files changed, 105 insertions(+), 19 deletions(-) diff --git a/src/Dynamics/Orbit/RelativeOrbit.cpp b/src/Dynamics/Orbit/RelativeOrbit.cpp index f68b2204f..ee03bf107 100644 --- a/src/Dynamics/Orbit/RelativeOrbit.cpp +++ b/src/Dynamics/Orbit/RelativeOrbit.cpp @@ -1,3 +1,7 @@ +/** + * @file RelativeOrbit.cpp + * @brief Class to propagate relative orbit + */ #include "RelativeOrbit.h" #include @@ -90,8 +94,7 @@ void RelativeOrbit::Propagate(double endtime, double current_jd) { if (!is_calc_enabled_) return; - acc_i_ *= 0; // Disturbance acceleration are not considered in relative orbit - // propagation + acc_i_ *= 0; // Disturbance acceleration are not considered in relative orbit propagation if (update_method_ == RK4) { PropagateRK4(endtime); @@ -142,8 +145,7 @@ void RelativeOrbit::PropagateSTM(double elapsed_sec) { relative_velocity_lvlh_[2] = current_state[5]; } -void RelativeOrbit::RHS(double t, const Vector<6>& state, - Vector<6>& rhs) // only for RK4 relative dynamics propagation +void RelativeOrbit::RHS(double t, const Vector<6>& state, Vector<6>& rhs) // only for RK4 relative dynamics propagation { rhs = system_matrix_ * state; (void)t; diff --git a/src/Dynamics/Orbit/RelativeOrbit.h b/src/Dynamics/Orbit/RelativeOrbit.h index 63c185314..6f3e4972a 100644 --- a/src/Dynamics/Orbit/RelativeOrbit.h +++ b/src/Dynamics/Orbit/RelativeOrbit.h @@ -1,3 +1,7 @@ +/** + * @file RelativeOrbit.h + * @brief Class to propagate relative orbit + */ #pragma once #include #include @@ -7,45 +11,125 @@ #include "Orbit.h" +/** + * @class RelativeOrbit + * @brief Class to propagate relative orbit + */ class RelativeOrbit : public Orbit, public libra::ODE<6> { public: + /** + * @enum RelativeOrbitUpdateMethod + * @brief Relative orbit update method + */ typedef enum { RK4 = 0, STM = 1 } RelativeOrbitUpdateMethod; + /** + * @fn RelativeOrbit + * @brief Constructor + * @param [in] celes_info: Celestial information + * @param [in] timestep: Time step [sec] + * @param [in] reference_sat_id: Reference satellite ID + * @param [in] initial_relative_position_lvlh: Initial value of relative position at the LVLH frame of reference satellite + * @param [in] initial_relative_velocity_lvlh: Initial value of relative velocity at the LVLH frame of reference satellite + * @param [in] update_method: Update method + * @param [in] relative_dynamics_model_type: Relative dynamics model type + * @param [in] stm_model_type: State transition matrix type + * @param [in] rel_info: Relative information + */ RelativeOrbit(const CelestialInformation* celes_info, double mu, double timestep, int reference_sat_id, Vector<3> initial_relative_position_lvlh, Vector<3> initial_relative_velocity_lvlh, RelativeOrbitUpdateMethod update_method, RelativeOrbitModel relative_dynamics_model_type, STMModel stm_model_type, RelativeInformation* rel_info); + /** + * @fn ~RelativeOrbit + * @brief Destructor + */ ~RelativeOrbit(); + // Override Orbit + /** + * @fn Propagate + * @brief Propagate orbit + * @param [in] endtime: End time of simulation [sec] + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd); + // Override ODE + /** + * @fn RHS + * @brief Right Hand Side of ordinary difference equation + * @param [in] t: Time as independent variable + * @param [in] state: Position and velocity as state vector + * @param [out] rhs: Output of the function + */ virtual void RHS(double t, const Vector<6>& state, Vector<6>& rhs); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - double mu_; - int reference_sat_id_; + double mu_; //!< Gravity constant of the center body [m3/s2] + int reference_sat_id_; //!< Reference satellite ID + double prop_time_; //!< Simulation current time for numerical integration by RK4 [sec] + double prop_step_; //!< Step width for RK4 [sec] - double prop_time_; // Simulation current time for numerical integration by RK4 - double prop_step_; // delta t for RK4 + Matrix<6, 6> system_matrix_; //!< System matrix + Matrix<6, 6> stm_; //!< State transition matrix - Matrix<6, 6> system_matrix_; - Matrix<6, 6> stm_; + Vector<6> initial_state_; //!< Initial state (Position and Velocity) + Vector<3> relative_position_lvlh_; //!< Relative position in the LVLH frame + Vector<3> relative_velocity_lvlh_; //!< Relative velocity in the LVLH frame - Vector<6> initial_state_; - Vector<3> relative_position_lvlh_; - Vector<3> relative_velocity_lvlh_; - - RelativeOrbitUpdateMethod update_method_; - RelativeOrbitModel relative_dynamics_model_type_; - STMModel stm_model_type_; - RelativeInformation* rel_info_; + RelativeOrbitUpdateMethod update_method_; //!< Update method + RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type + STMModel stm_model_type_; //!< State Transition Matrix model type + RelativeInformation* rel_info_; //!< Relative information + /** + * @fn InitializeState + * @brief Initialize state variables + * @param [in] initial_relative_position_lvlh: Initial value of relative position at the LVLH frame of reference satellite + * @param [in] initial_relative_velocity_lvlh: Initial value of relative velocity at the LVLH frame of reference satellite + * @param [in] mu: Gravity constant of the center body [m3/s2] + * @param [in] init_time: Initialize time [sec] + */ void InitializeState(Vector<3> initial_relative_position_lvlh, Vector<3> initial_relative_velocity_lvlh, double mu, double init_time = 0); - + /** + * @fn CalculateSystemMatrix + * @brief Calculate system matrix + * @param [in] relative_dynamics_model_type: Relative dynamics model type + * @param [in] reference_sat_orbit: Orbit information of reference satellite + * @param [in] mu: Gravity constant of the center body [m3/s2] + */ void CalculateSystemMatrix(RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double mu); + /** + * @fn CalculateSTM + * @brief Calculate State Transition Matrix + * @param [in] stm_model_type: STM model type + * @param [in] reference_sat_orbit: Orbit information of reference satellite + * @param [in] mu: Gravity constant of the center body [m3/s2] + * @param [in] elapsed_sec: Elapsed time [sec] + */ void CalculateSTM(STMModel stm_model_type, const Orbit* reference_sat_orbit, double mu, double elapsed_sec); + /** + * @fn PropagateRK4 + * @brief Propagate relative orbit with RK4 + * @param [in] elapsed_sec: Elapsed time [sec] + */ void PropagateRK4(double elapsed_sec); + /** + * @fn PropagateSTM + * @brief Propagate relative orbit with STM + * @param [in] elapsed_sec: Elapsed time [sec] + */ void PropagateSTM(double elapsed_sec); }; From 4e0ccdc2c853cd157335bc9275499faf6fa27c38 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 22:37:43 +0100 Subject: [PATCH 096/199] Fix comment in Rk4Orbit --- src/Dynamics/Orbit/Rk4OrbitPropagation.cpp | 4 ++ src/Dynamics/Orbit/Rk4OrbitPropagation.h | 68 ++++++++++++++++++++-- 2 files changed, 67 insertions(+), 5 deletions(-) diff --git a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp index 907aba91e..c26ac5517 100644 --- a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp @@ -1,3 +1,7 @@ +/** + * @file Rk4OrbitPropagation.cpp + * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method + */ #include "Rk4OrbitPropagation.h" #include diff --git a/src/Dynamics/Orbit/Rk4OrbitPropagation.h b/src/Dynamics/Orbit/Rk4OrbitPropagation.h index 852b479aa..d5b2cf90f 100644 --- a/src/Dynamics/Orbit/Rk4OrbitPropagation.h +++ b/src/Dynamics/Orbit/Rk4OrbitPropagation.h @@ -1,32 +1,90 @@ +/** + * @file Rk4OrbitPropagation.h + * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method + */ #include #include #include "Orbit.h" +/** + * @class Rk4OrbitPropagation + * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method + */ class Rk4OrbitPropagation : public Orbit, public libra::ODE<6> { private: - static const int N = 6; - double mu; + static const int N = 6; //!< Degrees of freedom in 3D space + double mu; //!< Gravity constant [m3/s2] public: + /** + * @fn Rk4OrbitPropagation + * @brief Constructor + * @param [in] celes_info: Celestial information + * @param [in] mu: Gravity constant [m3/s2] + * @param [in] timestep: Step width [sec] + * @param [in] init_position: Initial value of position in the inertial frame [m] + * @param [in] init_velocity: Initial value of velocity in the inertial frame [m/s] + * @param [in] init_time: Initial time [sec] + */ Rk4OrbitPropagation(const CelestialInformation* celes_info, double mu, double timestep, Vector<3> init_position, Vector<3> init_velocity, double init_time = 0); + /** + * @fn ~Rk4OrbitPropagation + * @brief Destructor + */ ~Rk4OrbitPropagation(); + // Override ODE + /** + * @fn RHS + * @brief Right Hand Side of ordinary difference equation + * @param [in] t: Time as independent variable + * @param [in] state: Position and velocity as state vector + * @param [out] rhs: Output of the function + */ virtual void RHS(double t, const Vector& state, Vector& rhs); + // Override Orbit + /** + * @fn Propagate + * @brief Propagate orbit + * @param [in] endtime: End time of simulation [sec] + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd); + /** + * @fn AddPositionOffset + * @brief Shift the position of the spacecraft + * @note Is this really needed? + * @param [in] offset_i: Offset vector in the inertial frame [m] + */ virtual void AddPositionOffset(Vector<3> offset_i); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - double prop_time_; // Simulation current time for numerical integration by - // RK4 - double prop_step_; //Δt for RK4 + double prop_time_; //!< Simulation current time for numerical integration by RK4 [sec] + double prop_step_; //!< Step width for RK4 [sec] + /** + * @fn Initialize + * @brief Initialize function + * @param [in] init_position: Initial value of position in the inertial frame [m] + * @param [in] init_velocity: Initial value of velocity in the inertial frame [m/s] + * @param [in] init_time: Initial time [sec] + */ void Initialize(Vector<3> init_position, Vector<3> init_velocity, double init_time = 0); }; From 6ffa6f7429e08a2d07a862ea422e832373224159 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 12 Dec 2022 22:48:49 +0100 Subject: [PATCH 097/199] Fix comment in Sgp4Orbit --- src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp | 11 ++++-- src/Dynamics/Orbit/Sgp4OrbitPropagation.h | 44 +++++++++++++++++++-- 2 files changed, 49 insertions(+), 6 deletions(-) diff --git a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp index 82a228c13..70a007b2c 100644 --- a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp @@ -1,3 +1,8 @@ +/** + * @file Sgp4OrbitPropagation.cpp + * @brief Class to propagate spacecraft orbit with SGP4 method with TLE + */ + #include "Sgp4OrbitPropagation.h" #include @@ -24,7 +29,7 @@ Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celes_inf acc_i_ *= 0; - // To calculate initial position and verocity + // To calculate initial position and velocity is_calc_enabled_ = true; Propagate(0.0, current_jd); is_calc_enabled_ = false; @@ -87,9 +92,9 @@ Vector<3> Sgp4OrbitPropagation::GetESIOmega() { omega_peri[1] = 0.0; omega_peri[2] = satrec_.no / 60; - double i = satrec_.inclo; // inclo + double i = satrec_.inclo; // inclination double OMEGA = satrec_.nodeo; // raan - double omega = satrec_.argpo; // argpo + double omega = satrec_.argpo; // argment of perigee double comega = cos(omega); double cOMEGA = cos(OMEGA); diff --git a/src/Dynamics/Orbit/Sgp4OrbitPropagation.h b/src/Dynamics/Orbit/Sgp4OrbitPropagation.h index 9f3e259e0..383926557 100644 --- a/src/Dynamics/Orbit/Sgp4OrbitPropagation.h +++ b/src/Dynamics/Orbit/Sgp4OrbitPropagation.h @@ -1,3 +1,7 @@ +/** + * @file Sgp4OrbitPropagation.h + * @brief Class to propagate spacecraft orbit with SGP4 method with TLE + */ #pragma once #include #include @@ -5,19 +9,53 @@ #include "Orbit.h" +/** + * @class Sgp4OrbitPropagation + * @brief Class to propagate spacecraft orbit with SGP4 method with TLE + */ class Sgp4OrbitPropagation : public Orbit { public: + /** + * @fn Sgp4OrbitPropagation + * @brief Constructor + * @param [in] celes_info: Celestial information + * @param [in] tle1: The first line of TLE + * @param [in] tle2: The second line of TLE + * @param [in] wgs: Wold Geodetic System + * @param [in] current_jd: Current Julian day [day] + */ Sgp4OrbitPropagation(const CelestialInformation* celes_info, char* tle1, char* tle2, int wgs, double current_jd); + // Override Orbit + /** + * @fn Propagate + * @brief Propagate orbit + * @param [in] endtime: End time of simulation [sec] + * @param [in] current_jd: Current Julian day [day] + */ virtual void Propagate(double endtime, double current_jd); + /** + * @fn GetESIOmega + * @brief Calculate and return ? + * @note Is this function needed? + */ Vector<3> GetESIOmega(); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; private: - gravconsttype whichconst_; - elsetrec satrec_; - const CelestialInformation* celes_info_; + gravconsttype whichconst_; //!< Gravity constant value type + elsetrec satrec_; //!< Structure data for SGP4 library + const CelestialInformation* celes_info_; //!< Celestial information }; From 07c93e07035e32467c1c4426466e283bf1eff5d6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 11:07:48 +0100 Subject: [PATCH 098/199] Fix comments in GeodeticPostition --- src/Library/Geodesy/GeodeticPosition.cpp | 4 ++ src/Library/Geodesy/GeodeticPosition.hpp | 48 ++++++++++++++++++++++-- 2 files changed, 49 insertions(+), 3 deletions(-) diff --git a/src/Library/Geodesy/GeodeticPosition.cpp b/src/Library/Geodesy/GeodeticPosition.cpp index b1bf47131..874e263c9 100644 --- a/src/Library/Geodesy/GeodeticPosition.cpp +++ b/src/Library/Geodesy/GeodeticPosition.cpp @@ -1,3 +1,7 @@ +/** + * @file GeodeticPosition.cpp + * @brief Class to mange geodetic position expression + */ #include "GeodeticPosition.hpp" #include // TODO: do not to use the functions in SGP4 library diff --git a/src/Library/Geodesy/GeodeticPosition.hpp b/src/Library/Geodesy/GeodeticPosition.hpp index 0058fbcf0..259489b6c 100644 --- a/src/Library/Geodesy/GeodeticPosition.hpp +++ b/src/Library/Geodesy/GeodeticPosition.hpp @@ -1,21 +1,63 @@ +/** + * @file GeodeticPosition.hpp + * @brief Class to mange geodetic position expression + */ #pragma once #include +/** + * @class GeodeticPosition + * @brief Class to mange geodetic position expression + */ class GeodeticPosition { public: + /** + * @fn GeodeticPosition + * @brief Default constructor + */ GeodeticPosition(); + /** + * @fn GeodeticPosition + * @brief Constructor with initialize + * @param [in] latitude_rad: Latitude [rad] + * @param [in] longitude_rad: Longitude [rad] + * @param [in] altitude_m: Altitude [m] + */ GeodeticPosition(const double latitude_rad, const double longitude_rad, const double altitude_m); + + /** + * @fn UpdateFromEcef + * @brief Update geodetic position with position vector in the ECEF frame + * @param [in] position_ecef_m: Position vector in the ECEF frame [m] + */ void UpdateFromEcef(const libra::Vector<3> position_ecef_m); + + /** + * @fn CalcEcefPosition + * @brief Calculate and return the ECEF position from the geodetic position + */ libra::Vector<3> CalcEcefPosition() const; // Getter + /** + * @fn GetLat_rad + * @brief Return latitude [rad] + */ inline double GetLat_rad() const { return latitude_rad_; } + /** + * @fn GetLon_rad + * @brief Return longitude [rad] + */ inline double GetLon_rad() const { return longitude_rad_; } + /** + * @fn GetAlt_m + * @brief Return altitude [m] + */ inline double GetAlt_m() const { return altitude_m_; } private: - double latitude_rad_; //! South: -π/2 to 0, North: 0 to π/2 - double longitude_rad_; //! East longitude: 0 to π, West longitude: 2π to π (i.e., defined as 0 to 2π [rad] east of the Greenwich meridian) - double altitude_m_; //! Altitude + double latitude_rad_; //! Latitude [rad] South: -π/2 to 0, North: 0 to π/2 + double longitude_rad_; //! Longitude [rad] East: 0 to π, West: 2π to π (i.e., defined as 0 to 2π [rad] east of the Greenwich meridian) + double altitude_m_; //! Altitude [m] }; From 5206a4d073f43594e80e3cb83932127885e124be Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 11:20:03 +0100 Subject: [PATCH 099/199] Fix comments in IGRF --- src/Library/igrf/igrf.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/Library/igrf/igrf.h b/src/Library/igrf/igrf.h index c816077d0..5d895e6c5 100644 --- a/src/Library/igrf/igrf.h +++ b/src/Library/igrf/igrf.h @@ -1,3 +1,9 @@ +/** + * @file igrf.h + * @brief Functions for IGRF (International Geo-magnetic reference frame) calculation + * @note The most of this code was copied from https://www.gsj.jp/data/openfile/no0423/index.html + */ + #ifndef __igrf_H__ #define __igrf_H__ From a0125050281eb10559629441c68b049cbcfa7fd6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 12:59:04 +0100 Subject: [PATCH 100/199] Fix comments in Wrapper_nrlmsise00 --- src/Library/nrlmsise00/Wrapper_nrlmsise00.cpp | 22 ++++---- src/Library/nrlmsise00/Wrapper_nrlmsise00.h | 55 ++++++++++++++----- 2 files changed, 53 insertions(+), 24 deletions(-) diff --git a/src/Library/nrlmsise00/Wrapper_nrlmsise00.cpp b/src/Library/nrlmsise00/Wrapper_nrlmsise00.cpp index 80a808d32..dc8f8eac4 100644 --- a/src/Library/nrlmsise00/Wrapper_nrlmsise00.cpp +++ b/src/Library/nrlmsise00/Wrapper_nrlmsise00.cpp @@ -1,3 +1,7 @@ +/** + * @file Wrapper_nrlmsise00.cpp + * @brief Functions to wrap NRLMSISE-00 air density model in the ExternalLibrary + */ /* ------------------------------------------------------------------- */ /* ------------------------------ INCLUDES --------------------------- */ @@ -161,7 +165,6 @@ int ConvertMonthStrToMonthNum(string month_str) { /* ------------------------------------------------------------------- */ /* --------------------------CalcNRLMSISE00--------------------------- */ /* ------------------------------------------------------------------- */ -/* GTD7 Wrapper */ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, const vector& table, bool is_manual_param, double manual_f107, double manual_f107a, double manual_ap) { struct nrlmsise_output output; @@ -194,7 +197,7 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, input.ap = manual_ap; } else { // f10.7 and ap from table - // テーブルサイズが0なら，0を返して終了 + // If the table size is zero, return 0 if (table.size() == 0) { return 0.0; } @@ -202,13 +205,13 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, // search table index for (i = 0; i < table.size(); i++) { if (decyear < decyear_monthly) { - // 年月日が一致 + // Match year, month, date if ((date[0] == table[i].year) && (date[1] == table[i].month) && (date[2] == table[i].day)) { idx = i; break; } } else { - // 年月が一致 + // Match year, month if ((date[0] == table[i].year) && (date[1] == table[i].month)) { idx = i; break; @@ -233,9 +236,6 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, /* ------------------------------------------------------------------- */ /* -----------------------ReadSpaceWeatherTable----------------------- */ /* ------------------------------------------------------------------- */ -/* URL for SpaceWeather.txt */ -/* ftp://ftp.agi.com/pub/DynamicEarthData/SpaceWeather-v1.2.txt */ - int GetSpaceWeatherTable_(double decyear, double endsec, const string& filename, vector& table) { ifstream ifs(filename); @@ -268,10 +268,10 @@ int GetSpaceWeatherTable_(double decyear, double endsec, const string& filename, int month_updated = ConvertMonthStrToMonthNum(month_updated_str); int day_updated = atoi(line.substr(17, 2).c_str()); - // テーブルの更新日時を取得 + // Get table update date double decyear_updated = ConvertDateToDecyear(year_updated, month_updated, day_updated); - // 更新日時から1カ月半以降は一日毎ではなく一月毎にデータが更新されるので，その日時をdecyearで計算しておく + // After 1.5 month from the update date, the data is updated once per month. So calculate the decimal year of the date int days_month[12] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31}; decyear_monthly = decyear_updated + (days_month[month_updated] + 14) / 365.0; } @@ -282,8 +282,8 @@ int GetSpaceWeatherTable_(double decyear, double endsec, const string& filename, int month = atoi(line.substr(5, 2).c_str()); int day = atoi(line.substr(8, 2).c_str()); double decyear_line = ConvertDateToDecyear(year, month, day); - // 少なくとも1カ月分はデータを確保するため，シミュレーション開始時刻の一ヶ月前からテーブル値を確保する - double decyear_ini_ymd = ConvertDateToDecyear(date_ini[0], date_ini[1], date_ini[2]) - 31.0 / 365.0; // 一ヶ月引く + // To get 1 month data, read the data before a month from the simulation starting date + double decyear_ini_ymd = ConvertDateToDecyear(date_ini[0], date_ini[1], date_ini[2]) - 31.0 / 365.0; // Subtract one month double decyear_end_ymd = ConvertDateToDecyear(date_end[0], date_end[1], date_end[2]); if (decyear_line < decyear_ini_ymd || decyear_line > decyear_end_ymd) continue; diff --git a/src/Library/nrlmsise00/Wrapper_nrlmsise00.h b/src/Library/nrlmsise00/Wrapper_nrlmsise00.h index 9ad0ac321..e3731f849 100644 --- a/src/Library/nrlmsise00/Wrapper_nrlmsise00.h +++ b/src/Library/nrlmsise00/Wrapper_nrlmsise00.h @@ -1,3 +1,7 @@ +/** + * @file Wrapper_nrlmsise00.h + * @brief Functions to wrap NRLMSISE-00 air density model in the ExternalLibrary + */ #pragma once #ifndef __wrapper_nrlmsise00_H__ @@ -9,25 +13,50 @@ #include #include +/** + * @struct nrlmsise_table + * @brief Parameters for NRLMSISE calculation + * @note Ref: https://celestrak.org/SpaceData/SpaceWx-format.php + */ struct nrlmsise_table { - int year; - int month; - int day; - double Ap_avg; - double F107_adj; - double Ctr81_adj; - double Lst81_adj; - double F107_obs; - double Ctr81_obs; - double Lst81_obs; + int year; //!< Year + int month; //!< Month + int day; //!< Day + double Ap_avg; //!< Average of Ap-index (Planetary Equivalent Amplitude) for the day + double F107_adj; //!< F10.7 (10.7-cm Solar Radio Flux) adjusted to 1AU + double Ctr81_adj; //!< Centered 81-day arithmetic average of F10.7 (adjusted) + double Lst81_adj; //!< Last 81-day arithmetic average of F10.7 (adjusted). + double F107_obs; //!< Observed F10.7 + double Ctr81_obs; //!< Centered 81-day arithmetic average of F10.7 (observed) + double Lst81_obs; //!< Last 81-day arithmetic average of F10.7 (observed). }; -/* CalcNRLMSISE00 */ -/* GTD7 Wrapper */ +/** + * @fn CalcNRLMSISE00 + * @brief Read the space weather table file + * @param [in] decyear: Decimal year of the simulation start time + * @param [in] latrad: Latitude [rad] + * @param [in] lonrad: Longitude [rad] + * @param [in] alt: Altitude [m] + * @param [in] table: Space Weather table + * @param [in] is_manual_param: Flag to use manual parameters + * @param [in] manual_f107: Manual setting F10.7 + * @param [in] manual_f107a: Manual setting averaged F10.7 + * @param [in] manual_ap: Manual setting Ap-index + * @return Atmospheric density [kg/m3] + */ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, const std::vector& table, bool is_manual_param, double manual_f107, double manual_f107a, double manual_ap); -/* GetSpaceWeatherTable_*/ +/** + * @fn GetSpaceWeatherTable_ + * @brief Read the space weather table file + * @param [in] decyear: Decimal year of the simulation start time + * @param [in] endsec: Simulation end time [sec] + * @param [in] filename: Path to the SpaceWeather file (Ex: ftp://ftp.agi.com/pub/DynamicEarthData/SpaceWeather-v1.2.txt) + * @param [out] table: Space weather table + * @return Size of table + */ int GetSpaceWeatherTable_(double decyear, double endsec, const std::string& filename, std::vector& table); /* ------------------------------------------------------------------- */ From ccc97def6d41d02a796e7c4d5a61b4085d1b05a7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 13:14:00 +0100 Subject: [PATCH 101/199] Fix comments in GaussianBeamBase --- src/Library/optics/GaussianBeamBase.cpp | 4 +- src/Library/optics/GaussianBeamBase.h | 87 +++++++++++++++++++++++-- 2 files changed, 82 insertions(+), 9 deletions(-) diff --git a/src/Library/optics/GaussianBeamBase.cpp b/src/Library/optics/GaussianBeamBase.cpp index 8bbcf540f..0dfa9d42b 100644 --- a/src/Library/optics/GaussianBeamBase.cpp +++ b/src/Library/optics/GaussianBeamBase.cpp @@ -1,6 +1,6 @@ /** - * @file GaussianBeamBase.cpp - * @brief definition of the class "GaussianBeamBase" + * @file GaussianBeamBase.cpp + * @brief Class to express gaussian beam laser */ #include "GaussianBeamBase.h" diff --git a/src/Library/optics/GaussianBeamBase.h b/src/Library/optics/GaussianBeamBase.h index db1cfe9da..1a88dec74 100644 --- a/src/Library/optics/GaussianBeamBase.h +++ b/src/Library/optics/GaussianBeamBase.h @@ -1,33 +1,106 @@ +/** + * @file GaussianBeamBase.h + * @brief Class to express gaussian beam laser + */ + #pragma once #include "../math/Vector.hpp" +/** + * @class GaussianBeamBase + * @brief Class to express gaussian beam laser + */ class GaussianBeamBase { public: + /** + * @fn GaussianBeamBase + * @brief Constructor + * @param [in] wavelength_m: Wavelength [m] + * @param [in] r_beam_waist_m: Radius of beam waist [m] + * @param [in] total_power_watt: Total power [W] + */ GaussianBeamBase(double wavelength_m, double r_beam_waist_m, double total_power_watt); + /** + * @fn ~GaussianBeamBase + * @brief Destructor + */ ~GaussianBeamBase(); - // setter + // Setter + /** + * @fn SetWaveLength + * @brief Set wavelength [m] + */ void SetWaveLength(const double wavelength_m); + /** + * @fn SetBeamWaistRadius + * @brief Set radius of beam waist [m] + */ void SetBeamWaistRadius(const double r_beam_waist_m); + /** + * @fn SetTotalPower + * @brief Set total power [W] + */ void SetTotalPower(const double total_power_watt); + /** + * @fn SetPointingVector_i + * @brief Set pointing direction vector in the inertial frame + */ void SetPointingVector_i(const libra::Vector<3> pointing_vector_i); + /** + * @fn SetBeamWaistPos_i + * @brief Set position of beam waist in the inertial frame [m] (Not used?) + */ void SetBeamWaistPos_i(const libra::Vector<3> pos_beamwaist_i); - // getter + // Getter + /** + * @fn GetWaveLength + * @brief Return wavelength [m] + */ inline double GetWaveLength() const { return wavelength_m_; } + /** + * @fn GetBeamWaistRadius + * @brief Return radius of beam waist [m] + */ inline double GetBeamWaistRadius() const { return r_beam_waist_m_; } + /** + * @fn GetTotalPower + * @brief Return total power [W] + */ inline double GetTotalPower() const { return total_power_watt_; } + /** + * @fn GetPointingVector_i + * @brief Return pointing direction vector in the inertial frame + */ inline const libra::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } + /** + * @fn GetBeamWaistPos_i + * @brief Return position of beam waist in the inertial frame [m] (Not used?) + */ inline const libra::Vector<3> GetBeamWaistPos_i() const { return pos_beamwaist_i_; } // Calculate functions + /** + * @fn CalcBeamWidthRadius + * @brief + * @param [in] distance_from_beamwaist_m: Distance from beamwaist [m] + * @return Beam width radius + */ double CalcBeamWidthRadius(double distance_from_beamwaist_m); + /** + * @fn CalcIntensity + * @brief + * @param [in] distance_from_beamwaist_m: Distance from beamwaist [m] + * @param [in] deviation_from_optical_axis_m: Deviation from optical axis [m] + * @return Intensity + */ double CalcIntensity(double distance_from_beamwaist_m, double deviation_from_optical_axis_m); private: - double wavelength_m_; - double r_beam_waist_m_; - double total_power_watt_; - libra::Vector<3> pointing_vector_i_{0.0}; - libra::Vector<3> pos_beamwaist_i_{0.0}; + double wavelength_m_; //!< Wavelength [m] + double r_beam_waist_m_; //!< Radius of beam waist [m] + double total_power_watt_; //!< Total power [W] + libra::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame + libra::Vector<3> pos_beamwaist_i_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; From d679792231720e4a27e130e936c334a15bd31b69 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 13:24:12 +0100 Subject: [PATCH 102/199] Fix comments in KeplerOrbit --- src/Library/Orbit/KeplerOrbit.cpp | 4 ++ src/Library/Orbit/KeplerOrbit.h | 64 ++++++++++++++++++++++++++----- 2 files changed, 58 insertions(+), 10 deletions(-) diff --git a/src/Library/Orbit/KeplerOrbit.cpp b/src/Library/Orbit/KeplerOrbit.cpp index 129ce93ea..7aee99c95 100644 --- a/src/Library/Orbit/KeplerOrbit.cpp +++ b/src/Library/Orbit/KeplerOrbit.cpp @@ -1,3 +1,7 @@ +/** + * @file KeplerOrbit.cpp + * @brief Class to calculate Kepler orbit calculation + */ #include "KeplerOrbit.h" #include "../math/MatVec.hpp" diff --git a/src/Library/Orbit/KeplerOrbit.h b/src/Library/Orbit/KeplerOrbit.h index f1256b09b..02b41df6e 100644 --- a/src/Library/Orbit/KeplerOrbit.h +++ b/src/Library/Orbit/KeplerOrbit.h @@ -1,32 +1,76 @@ +/** + * @file KeplerOrbit.h + * @brief Class to calculate Kepler orbit calculation + */ #pragma once #include "../math/Matrix.hpp" #include "../math/Vector.hpp" #include "./OrbitalElements.h" +/** + * @class KeplerOrbit + * @brief Class to calculate Kepler orbit calculation + */ class KeplerOrbit { public: + /** + * @fn KeplerOrbit + * @brief Default Constructor + */ KeplerOrbit(); - // Initialize with orbital elements + /** + * @fn KeplerOrbit + * @brief Constructor + * @param [in] mu_m3_s2: Gravity constant of the center body [m3/s2] + * @param [in] oe: Orbital elements + */ KeplerOrbit(const double mu_m3_s2, const OrbitalElements oe); + /** + * @fn ~KeplerOrbit + * @brief Destructor + */ ~KeplerOrbit(); - void CalcPosVel(double time_jday); // Calculation of Position and Velocity from Orbital Elements + /** + * @fn CalcPosVel + * @brief Calculate position and velocity with Kepler orbit propagation + * @param [in] time_jday: Time expressed as Julian day [day] + */ + void CalcPosVel(double time_jday); + /** + * @fn GetPosition_i_m + * @brief Return position vector in the inertial frame [m] + */ inline const libra::Vector<3> GetPosition_i_m() const { return position_i_m_; } + /** + * @fn GetVelocity_i_m_s + * @brief Return velocity vector in the inertial frame [m/s] + */ inline const libra::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } protected: - libra::Vector<3> position_i_m_; - libra::Vector<3> velocity_i_m_s_; + libra::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] + libra::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] private: - double mu_m3_s2_; - OrbitalElements oe_; - double mean_motion_rad_s_; - libra::Matrix<3, 3> dcm_inplane_to_i_; + double mu_m3_s2_; //!< Gravity constant of the center body [m3/s2] + OrbitalElements oe_; //!< Orbital elements + double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] + libra::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame - // Calculation of constants for kepler motion calculation + /** + * @fn CalcConstKeplerMotion + * @brief Calculate constants for kepler motion calculation + */ void CalcConstKeplerMotion(); - // Solve Kepler Equation + /** + * @fn SolveKeplerFirstOrder + * @brief Solve Kepler Equation with the first order approximation + * @param [in] eccentricity: Eccentricity + * @param [in] mean_anomaly_rad: Mean motion of the orbit [rad/s] + * @param [in] angle_limit_rad: Limit of angle error for the approximation + * @param [in] iteration_limit: Limit of iteration + */ double SolveKeplerFirstOrder(const double eccentricity, const double mean_anomaly_rad, const double angle_limit_rad, const int iteration_limit); }; From aca8392ee0af37d58b4fbfa82d9081b4c7cf6b46 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 13:36:31 +0100 Subject: [PATCH 103/199] Fix comments in OrbitalElements --- src/Library/Orbit/OrbitalElements.cpp | 5 ++ src/Library/Orbit/OrbitalElements.h | 69 ++++++++++++++++++++++++--- 2 files changed, 68 insertions(+), 6 deletions(-) diff --git a/src/Library/Orbit/OrbitalElements.cpp b/src/Library/Orbit/OrbitalElements.cpp index d09f15e75..c2e14eeeb 100644 --- a/src/Library/Orbit/OrbitalElements.cpp +++ b/src/Library/Orbit/OrbitalElements.cpp @@ -1,3 +1,8 @@ +/** + * @file OrbitalElements.cpp + * @brief Class for classical orbital elements + */ + #include "OrbitalElements.h" #include diff --git a/src/Library/Orbit/OrbitalElements.h b/src/Library/Orbit/OrbitalElements.h index fd23a4448..af4604d5d 100644 --- a/src/Library/Orbit/OrbitalElements.h +++ b/src/Library/Orbit/OrbitalElements.h @@ -1,31 +1,88 @@ +/** + * @file OrbitalElements.h + * @brief Class for classical orbital elements + */ + #pragma once #include "../math/Vector.hpp" +/** + * @class OrbitalElements + * @brief Class for classical orbital elements + */ class OrbitalElements { public: + /** + * @fn OrbitalElements + * @brief Default Constructor + */ OrbitalElements(); - // initialize with OE + /** + * @fn OrbitalElements + * @brief Constructor: Initialize with OE + * @param[in] epoch_jday: epoch (time at the perigee) [julian day] + * @param[in] semi_major_axis_m: Semi major axis [m] + * @param[in] eccentricity: Eccentricity + * @param[in] inclination_rad: Inclination [rad] + * @param[in] raan_rad: Right Ascension of the Ascending Node [rad] + * @param[in] arg_perigee_rad: Argument of Perigee [rad] + */ OrbitalElements(const double epoch_jday, const double semi_major_axis_m, const double eccentricity, const double inclination_rad, const double raan_rad, const double arg_perigee_rad); - // initialize with position and velocity + /** + * @fn OrbitalElements + * @brief Constructor: Initialize with position and velocity + * @param[in] mu_m3_s2: Gravity constant [m3/s2] + * @param[in] time_jday: Time expressed as Julian day + * @param[in] position_i_m: Position vector in the inertial frame [m] + * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] + */ OrbitalElements(const double mu_m3_s2, const double time_jday, const libra::Vector<3> position_i_m, const libra::Vector<3> velocity_i_m_s); + /** + * @fn ~OrbitalElements + * @brief Destructor + */ ~OrbitalElements(); // Getter + /** + * @fn GetSemiMajor + * @brief Return semi major axis [m] + */ inline double GetSemiMajor() const { return semi_major_axis_m_; } + /** + * @fn GetEccentricity + * @brief Return eccentricity + */ inline double GetEccentricity() const { return eccentricity_; } + /** + * @fn GetInclination + * @brief Return inclination [rad] + */ inline double GetInclination() const { return inclination_rad_; } + /** + * @fn GetRaan + * @brief Return Right Ascension of the Ascending Node [rad] + */ inline double GetRaan() const { return raan_rad_; } + /** + * @fn GetArgPerigee + * @brief Return argument of Perigee [rad] + */ inline double GetArgPerigee() const { return arg_perigee_rad_; } + /** + * @fn GetEpoch + * @brief Return epoch (time at the perigee) [julian day] + */ inline double GetEpoch() const { return epoch_jday_; } private: // Common Variables // Shape - double semi_major_axis_m_; - double eccentricity_; - // Corrdinate - double inclination_rad_; + double semi_major_axis_m_; //!< Semi major axis [m] + double eccentricity_; //!< Eccentricity + // Coordinate + double inclination_rad_; //!< Inclination [rad] double raan_rad_; //!< Right Ascension of the Ascending Node [rad] double arg_perigee_rad_; //!< Argument of Perigee [rad] // Time, phase From ca8e477b04f21b57e52ae47d48df9a65c4a34be2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 13:42:31 +0100 Subject: [PATCH 104/199] Fix comments in RelativeOrbit --- .../RelativeOrbit/RelativeOrbitModels.cpp | 6 +++- .../RelativeOrbit/RelativeOrbitModels.h | 28 +++++++++++++++++++ 2 files changed, 33 insertions(+), 1 deletion(-) diff --git a/src/Library/RelativeOrbit/RelativeOrbitModels.cpp b/src/Library/RelativeOrbit/RelativeOrbitModels.cpp index f3e3bcb46..70e326310 100644 --- a/src/Library/RelativeOrbit/RelativeOrbitModels.cpp +++ b/src/Library/RelativeOrbit/RelativeOrbitModels.cpp @@ -1,3 +1,7 @@ +/** + * @file RelativeOrbitModels.cpp + * @brief Functions for relative orbit + */ #include "RelativeOrbitModels.h" libra::Matrix<6, 6> CalculateHillSystemMatrix(double orbit_radius, double mu) { @@ -86,4 +90,4 @@ libra::Matrix<6, 6> CalculateHCWSTM(double orbit_radius, double mu, double elaps stm[5][4] = 0.0; stm[5][5] = cos(n * t); return stm; -} \ No newline at end of file +} diff --git a/src/Library/RelativeOrbit/RelativeOrbitModels.h b/src/Library/RelativeOrbit/RelativeOrbitModels.h index 80d6f2013..cca335685 100644 --- a/src/Library/RelativeOrbit/RelativeOrbitModels.h +++ b/src/Library/RelativeOrbit/RelativeOrbitModels.h @@ -1,13 +1,41 @@ +/** + * @file RelativeOrbitModels.h + * @brief Functions for relative orbit + */ + #pragma once #include "../math/Matrix.hpp" #include "../math/Vector.hpp" +/** + * @enum RelativeOrbitModel + * @brief Relative orbit model + */ enum class RelativeOrbitModel { Hill = 0 }; +/** + * @enum STMModel + * @brief State Transition Matrix for the relative orbit + */ enum class STMModel { HCW = 0 }; // Dynamics Models +/** + * @fn CalculateHillSystemMatrix + * @brief Calculate Hill System Matrix + * @param [in] orbit_radius: Orbit radius [m] + * @param [in] mu: Gravity constant of the center body [m3/s2] + * @return System matrix + */ libra::Matrix<6, 6> CalculateHillSystemMatrix(double orbit_radius, double mu); // STMs +/** + * @fn CalculateHCWSTM + * @brief Calculate HCW State Transition Matrix + * @param [in] orbit_radius: Orbit radius [m] + * @param [in] mu: Gravity constant of the center body [m3/s2] + * @param [in] mu: Elapsed time [s] + * @return State Transition Matrix + */ libra::Matrix<6, 6> CalculateHCWSTM(double orbit_radius, double mu, double elapsed_sec); \ No newline at end of file From da1af27e95414312b4d9fda6930dd122a3f4faf1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 13:54:41 +0100 Subject: [PATCH 105/199] Fix comments in utils --- src/Library/utils/ENDIAN_DEFINE.h | 11 ++++++++-- src/Library/utils/Macros.hpp | 7 ++++++- src/Library/utils/endian.cpp | 7 ++++++- src/Library/utils/endian.h | 12 +++++++++++ src/Library/utils/slip.cpp | 14 ++++++++----- src/Library/utils/slip.h | 34 ++++++++++++++++++++++++++++--- 6 files changed, 73 insertions(+), 12 deletions(-) diff --git a/src/Library/utils/ENDIAN_DEFINE.h b/src/Library/utils/ENDIAN_DEFINE.h index 530a82d61..8f6de1adc 100644 --- a/src/Library/utils/ENDIAN_DEFINE.h +++ b/src/Library/utils/ENDIAN_DEFINE.h @@ -1,8 +1,15 @@ +/** + * @file ENDIAN_DEFINE.h + * @brief Define macro to change the endian definition + */ + #ifndef ENDIAN_DEFINE_H_ #define ENDIAN_DEFINE_H_ #ifndef IS_LITTLE_ENDIAN -#define IS_LITTLE_ENDIAN // Little-endian環境で実行する場合はここでdefineする！ -#endif // IS_LITTLE_ENDIAN + +#define IS_LITTLE_ENDIAN //!< Activate the define for Little-endian environment + +#endif // IS_LITTLE_ENDIAN #endif // ENDIAN_DEFINE_H_ diff --git a/src/Library/utils/Macros.hpp b/src/Library/utils/Macros.hpp index 1a9ee9793..23e95a3cb 100644 --- a/src/Library/utils/Macros.hpp +++ b/src/Library/utils/Macros.hpp @@ -1,3 +1,8 @@ +/** + * @file Macros.h + * @brief Definition of commonly used macros + */ + #pragma once -#define UNUSED(x) (void)(x) +#define UNUSED(x) (void)(x) //!< Macro to avoid unused warnings diff --git a/src/Library/utils/endian.cpp b/src/Library/utils/endian.cpp index 5611aa8ab..bdc1e5cc1 100644 --- a/src/Library/utils/endian.cpp +++ b/src/Library/utils/endian.cpp @@ -1,3 +1,8 @@ +/** + * @file endian.h + * @brief Function to consider the endian + */ + #include "endian.h" #include @@ -16,6 +21,6 @@ void *endian_memcpy(void *dst, const void *src, size_t size) { return dst; #else - return memcpy(dst, src, size); // 基本ここは使われないはず。 + return memcpy(dst, src, size); #endif // IS_LITTLE_ENDIAN } \ No newline at end of file diff --git a/src/Library/utils/endian.h b/src/Library/utils/endian.h index 73978babd..de734c3b8 100644 --- a/src/Library/utils/endian.h +++ b/src/Library/utils/endian.h @@ -1,3 +1,8 @@ +/** + * @file endian.h + * @brief Function to consider the endian + */ + #pragma once #include @@ -5,4 +10,11 @@ #include "ENDIAN_DEFINE.h" // for IS_LITTLE_ENDIAN +/** + * @fn endian_memcpy + * @brief Memory copy considering endian + * @param [out] dst: Copy destination + * @param [in] src: Copy source + * @param [in] count: Copy data size + */ void *endian_memcpy(void *dst, const void *src, size_t count); \ No newline at end of file diff --git a/src/Library/utils/slip.cpp b/src/Library/utils/slip.cpp index 9c8c3058e..ae7d21bb5 100644 --- a/src/Library/utils/slip.cpp +++ b/src/Library/utils/slip.cpp @@ -1,13 +1,17 @@ +/** + * @file slip.cpp + * @brief Functions for SLIP(Serial Line Internet Protocol) encoding + */ #include "slip.h" #include #include -static uint8_t kSlipFend_ = 0xc0; -static uint8_t kSlipFesc_ = 0xdb; -static uint8_t kSlipTfend_ = 0xdc; -static uint8_t kSlipTfesc_ = 0xdd; +static uint8_t kSlipFend_ = 0xc0; //!< FEND: Frame End +static uint8_t kSlipFesc_ = 0xdb; //!< FESC: Frame Escape +static uint8_t kSlipTfend_ = 0xdc; //!< TFEND: Transposed Frame End +static uint8_t kSlipTfesc_ = 0xdd; //!< TFESC: Transposed Frame Escape std::vector decode_slip(const std::vector in) { std::vector out = in; @@ -72,4 +76,4 @@ std::vector encode_slip_with_header(const std::vector in) { std::vector out = encode_slip(in); out.insert(out.begin(), kSlipFend_); return out; -} \ No newline at end of file +} diff --git a/src/Library/utils/slip.h b/src/Library/utils/slip.h index e580d99f8..cde0a26f2 100644 --- a/src/Library/utils/slip.h +++ b/src/Library/utils/slip.h @@ -1,12 +1,40 @@ -#pragma once +/** + * @file slip.h + * @brief Functions for SLIP(Serial Line Internet Protocol) encoding + */ -// SLIP encoding +#pragma once #include #include +/** + * @fn decode_slip + * @brief Decode SLIP data + * @param [in] in: Input data + * @return Decoded data + */ std::vector decode_slip(std::vector in); +/** + * @fn decode_slip_with_header + * @brief Decode SLIP data with Header + * @param [in] in: Input data + * @return Decoded data + */ std::vector decode_slip_with_header(std::vector in); + +/** + * @fn encode_slip + * @brief Encode SLIP data + * @param [in] in: Input data + * @return Encoded data + */ std::vector encode_slip(std::vector in); -std::vector encode_slip_with_header(std::vector in); \ No newline at end of file +/** + * @fn encode_slip_with_header + * @brief Encode SLIP data + * @param [in] in: Input data + * @return Encoded data + */ +std::vector encode_slip_with_header(std::vector in); From b00577c4467c9ebc4f72777033b51e975c6cb0b5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 14:03:34 +0100 Subject: [PATCH 106/199] Fix comments in GlobalRand --- src/Library/math/GlobalRand.cpp | 8 +++++++- src/Library/math/GlobalRand.h | 30 ++++++++++++++++++++++++++---- 2 files changed, 33 insertions(+), 5 deletions(-) diff --git a/src/Library/math/GlobalRand.cpp b/src/Library/math/GlobalRand.cpp index efb69dc02..c5d5bb88e 100644 --- a/src/Library/math/GlobalRand.cpp +++ b/src/Library/math/GlobalRand.cpp @@ -1,11 +1,17 @@ +/** + * @class GlobalRand.cpp + * @brief Class to manage global randomization + */ + #include "GlobalRand.h" GlobalRand g_rand; GlobalRand::GlobalRand() { seed_ = 0xdeadbeef; } + void GlobalRand::SetSeed(long seed) { base_rand_.init(seed); - // double dl = base_rand_; //慣らし + // double dl = base_rand_; } long GlobalRand::MakeSeed() { diff --git a/src/Library/math/GlobalRand.h b/src/Library/math/GlobalRand.h index 70065fb8e..a16322bc0 100644 --- a/src/Library/math/GlobalRand.h +++ b/src/Library/math/GlobalRand.h @@ -1,19 +1,41 @@ +/** + * @file GlobalRand.h + * @brief Class to manage global randomization + */ + #ifndef GLOBALRAND_HPP_ #define GLOBALRAND_HPP_ #include "./Ran0.hpp" +/** + * @class GlobalRand.h + * @brief Class to manage global randomization + * @note Used to make randomized seed for other randomization + */ class GlobalRand { public: + /** + * @fn GlobalRand + * @brief Constructor + */ GlobalRand(); + /** + * @fn SetSeed + * @brief Set randomized seed value + */ void SetSeed(long seed); + /** + * @fn MakeSeed + * @brief Set randomized seed value + */ long MakeSeed(); private: - static const unsigned int MAX_SEED = 0xffffffff; - libra::Ran0 base_rand_; - long seed_; + static const unsigned int MAX_SEED = 0xffffffff; //!< Maximum value of seed + libra::Ran0 base_rand_; //!< Base of global randomization + long seed_; //!< Seed of global randomization }; -extern GlobalRand g_rand; +extern GlobalRand g_rand; //!< Global randomization #endif \ No newline at end of file From 99d2f418a4045f017487e1ff7654ccae5d75ecc2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 14:52:00 +0100 Subject: [PATCH 107/199] Fix comments in Matrix --- src/Library/math/Matrix.hpp | 351 ++++++++++++++++---------------- src/Library/math/Matrix_ifs.hpp | 13 +- src/Library/math/Matrix_tfs.hpp | 10 +- 3 files changed, 184 insertions(+), 190 deletions(-) diff --git a/src/Library/math/Matrix.hpp b/src/Library/math/Matrix.hpp index dc542dd54..cf30845c4 100644 --- a/src/Library/math/Matrix.hpp +++ b/src/Library/math/Matrix.hpp @@ -1,10 +1,8 @@ -/*! - \file Matrix.hpp - \author TAKISAWA, Jun'ichi. - \date Sat Oct 23 00:07:48 2010 - \brief テンプレート行列クラス - テンプレートを用いた行列クラス。数学の行列を取り扱う。 -*/ +/** + * @file Matrix.hpp + * @brief Matrix class to handle math matrix with template + */ + #ifndef MATRIX_HPP_ #define MATRIX_HPP_ @@ -13,246 +11,243 @@ namespace libra { +/** + * @class Matrix + * @brief Matrix class to handle math matrix with template + */ template class Matrix { public: - //! コンストラクタ - /*! - 要素初期化を一切行わないコンストラクタ。 - */ + /** + * @fn Matrix + * @brief Default constructor without any initialization + */ inline Matrix(); - //! コンストラクタ(一括初期化版) - /*! - 全要素を引数で指定された値で初期化する。 - ゼロクリアなどが必要な場合に用いる。 - */ + /** + * @fn Matrix + * @brief Constructor with initialize the elements as all same value + * @param [in] n: The value for initializing + */ Matrix(const T& n); - //! 行列格納配列へのポインタをTP型として定義。 - typedef T (*TP)[C]; - //! 行列格納配列へのconstポインタをCTP型として定義。 - typedef const T (*CTP)[C]; + typedef T (*TP)[C]; //!< Define the pointer of the array as TP type + typedef const T (*CTP)[C]; //!< Define the const pointer of the array as CTP type - //! 行数取得関数 - /*! - 行列の行数を返す。 - \return 行数 - */ + /** + * @fn row + * @brief Return row number + */ inline size_t row() const; - //! 列数取得関数 - /*! - 行列の列数を返す。 - \return 列数 - */ + /** + * @fn row + * @brief Return column number + */ inline size_t column() const; - //! 要素直接アセス用のキャスト演算子 - /*! - 行列各要素を2次元配列と同様にアクセスする為のキャスト演算子。 - 内部で保持しているデータ記録配列へのポインタを返す。 - 利用側は2次元配列同様[]演算子を利用して要素へのアクセスが可能になる。 - \return 行列データ記録配列へのポインタ - */ + /** + * @fn Cast operator to directly access the elements + * @brief Operator to access the elements similar with the 2D-array using `[]` + * @return Pointer to the data storing array + */ inline operator TP(); - //! 要素直接アクセス用のキャスト演算子 const版 - /*! - constが指定されている場合でも行列各要素の参照を可能にする。 - \return 行列データ記録配列へのconstポインタ - */ + /** + * @fn Cast operator to directly access the elements (const ver.) + * @brief Operator to access the elements similar with the 2D-array using `[]` + * @return Const pointer to the data storing array + */ inline operator CTP() const; - //! 要素アクセス用()演算子 - /*! - 行列各要素へのアクセスを提供する。 - キャスト演算子の場合と異なり、この関数では領域外指定に対する検知機構が - 実装されている。行列の範囲外を指定した場合には"invalid_argumnet"例外 - が発生する。 - \param row 行列の行指定 - \param column 行列の列指定 - \return 指定された位置の要素 - */ + /** + * @fn Operator () + * @brief Operator to access the element value + * @details This operator has assertion to detect range over + * @param [in] row: Target row number + * @param [in] column: Target column number + * @return Value of the target element + */ inline T& operator()(size_t row, size_t column); - //! 要素アクセス用()演算子 const版 - /*! - constが指定されている場合でも、要素の参照を可能にする。 - 非const版と同様領域外指定に対する検知機構が実装されている。 - \param row 行列の行指定 - \param column 行列の列指定 - \return 指定された位置の要素 - */ + /** + * @fn Operator () + * @brief Operator to access the element value (const ver.) + * @details This operator has assertion to detect range over + * @param [in] row: Target row number + * @param [in] column: Target column number + * @return Value of the target element + */ inline const T& operator()(size_t row, size_t column) const; - //! 加算代入演算子 - /*! - 自身に引数で指定されたMatrixを加える。 - この操作を行うには行列の要素型について+=演算子が定義されている必要がある。 - */ + /** + * @fn Operator += + * @brief Operator to add Matrix + * @note The element type should has += operator + * @param [in] m: Adding matrix + * @return Result of added matrix + */ const Matrix& operator+=(const Matrix& m); - //! 減算代入演算子 - /*! - 自身から引数で指定されたMatrixを減じる。 - この操作を行うには行列の要素型について-=演算子が定義されている必要がある。 - */ + /** + * @fn Operator -= + * @brief Operator to subtract Matrix + * @note The element type should has -= operator + * @param [in] m: Subtracting matrix + * @return Result of subtracted matrix + */ const Matrix& operator-=(const Matrix& m); - //! 乗算代入演算子 - /*! - 自身の各要素に引数で指定された係数を乗じる。 - この操作を行うには行列の要素型について*=演算子が定義されている必要がある。 - */ + /** + * @fn Operator *= + * @brief Operator to multiply scalar for all elements + * @note The element type should has *= operator + * @param [in] n: Multiplying scalar value + * @return Result of multiplied matrix + */ const Matrix& operator*=(const T& n); - //! 除算代入演算子 - /*! - 自身の各要素を引数で指定された係数で除する。 - この操作を行うには行列の要素型について/=演算子が定義されている必要がある。 - */ + /** + * @fn Operator /= + * @brief Operator to divide scalar for all elements + * @note The element type should has /= operator + * @param [in] n: Dividing scalar value + * @return Result of multiplied matrix + */ const Matrix& operator/=(const T& n); private: - //! 行列要素記録用配列 - T matrix_[R][C]; - - //! 行列領域確認関数 - /*! - 引数で指定された要素が行列の範囲内かどうかを判定する。 - \param row 行列の列指定 - \param column 行列の行指定 - \return 範囲内であればtrue それ以外はfalse + T matrix_[R][C]; //!< Array to save the elements + + /** + * @fn is_valid_range_ + * @brief Judge the target row/column number is in the range + * @param [in] row: Target row number + * @param [in] column: Target column number + * @return True: row/column number is in the range */ inline bool is_valid_range_(size_t row, size_t column); }; -//! 全要素一括設定関数 -/*! - Matrixの全要素を指定された値に設定する。 - \param m 設定対象Matrix - \param t 設定値 -*/ +/** + * @fn fill_up + * @brief Fill up all elements with same value + * @param [in] m: Target matrix + * @param [in] t: Scalar value to fill up + */ template void fill_up(Matrix& m, const T& t); -//! 固有和計算関数 -/*! - Matrixの固有和を計算する。 - \param m 計算対象Matrix - \return 固有和計算結果 -*/ +/** + * @fn trace + * @brief Calculate and return the trace of matrix + * @param [in] m: Target matrix + * @return Trace of the matrix + */ template T trace(const Matrix& m); -//! 要素出力関数 -/*! - Matrixの全要素を指定された出力先(ostream)へ出力する。 - デフォルトの出力先はcoutである。 - 各要素は引数で指定された区切り文字区切りで出力され、各行ごとに改行が行われる。 - 区切り文字のデフォルトはtabである。 - \param m 出力対象Matrix - \param delimiter 要素の区切り文字(デフォルトはtab) - \param stream 出力先(デフォルトはcout) -*/ +/** + * @fn print + * @brief Generate all elements to outstream + * @param [in] m: Target matrix + * @param [in] delimiter: Delimiter (Default: tab) + * @param [out] stream: Output target(Default: cout) + */ template void print(const Matrix& m, char delimiter = '\t', std::ostream& stream = std::cout); -//! Matrix加算演算子 -/*! - 2つのMatrixの加算を行う。 - \param lhs +演算子の左辺 - \param rhs +演算子の右辺 - \return 加算結果 -*/ +/** + * @fn operator + + * @brief Add two matrices + * @param [in] lhs: Left hand side matrix + * @param [in] rhs: Right hand side matrix + * @return Result of added matrix + */ template const Matrix operator+(const Matrix& lhs, const Matrix& rhs); -//! Matrix減算演算子 -/*! - 2つのMatrixの減算を行う - \param lhs -演算子の左辺 - \param rhs -演算子の右辺 - \return 減算結果 -*/ +/** + * @fn operator - + * @brief Subtract two matrices + * @param [in] lhs: Left hand side matrix + * @param [in] rhs: Right hand side matrix + * @return Result of subtracted matrix + */ template const Matrix operator-(const Matrix& lhs, const Matrix& rhs); -//! Matrix係数倍演算子 -/*! - Matrixの各要素に指定された係数を乗じる。 - \param lhs 係数 - \param rhs Matrix - \return 係数乗算結果 -*/ +/** + * @fn operator * + * @brief Multiply scar and matrix + * @param [in] lhs: Left hand side scalar + * @param [in] rhs: Right hand side matrix + * @return Result of multiplied matrix + */ template const Matrix operator*(const T& lhs, const Matrix& rhs); -//! Matrix乗算演算子 -/*! - 2つのMatrixの乗算を行う - \param lhs *演算子の左辺 - \param rhs *演算子の右辺 - \return 乗算結果 -*/ +/** + * @fn operator * + * @brief Multiply two matrices + * @param [in] lhs: Left hand side matrix + * @param [in] rhs: Right hand side matrix + * @return Result of multiplied matrix + */ template const Matrix operator*(const Matrix& lhs, const Matrix& rhs); -//! 転置行列計算関数 -/*! - 指定された行列の転置行列を計算する。 - \param m 転置対象 - \return 転置結果 -*/ +/** + * @fn transpose + * @brief Calculate and return transposed matrix + * @param [in] m: Target matrix + * @return Result of transposed matrix + */ template const Matrix transpose(const Matrix& m); -//! 単行列生成関数 -/*! - 指定された正方行列を単位行列に設定する。 - 引数で指定されたMatrixを直接単位行列へ書き換え、結果を返り値の形でも返す。 - \param m 単位行列設定対象 - \return 設定結果 -*/ +/** + * @fn unitalize + * @brief Rewrite the input matrix as the identity matrix + * @note Warning: m is overwritten. + * @param [in/out] m: Target matrix + * @return The identity matrix + */ template Matrix& unitalize(Matrix& m); -//! 単行列生成関数 -/*! -指定された大きさの単位行列を生成する。 -\return 生成結果 -*/ +/** + * @fn eye + * @brief Generate identity matrix + * @return The identity matrix + */ template Matrix eye(); -//! x軸回転行列生成関数 -/*! - x軸周りの3*3の回転行列を生成する。 - 引数で指定された角度[rad]だけx軸周りに回転する回転行列を返す。 - \param theta x軸周り回転角[rad] - \return 生成結果 -*/ +/** + * @fn rotx + * @brief Generate 3*3 rotation matrix around X-axis + * @param [in] theta: Rotation angle [rad] + * @return Rotation matrix + */ template Matrix rotx(const double& theta); -//! y軸回転行列生成関数 -/*! - y軸周りの3*3の回転行列を生成する。 - 引数で指定された角度[rad]だけy軸周りに回転する回転行列を返す。 - \param theta y軸周り回転角[rad] - \return 生成結果 -*/ +/** + * @fn roty + * @brief Generate 3*3 rotation matrix around Y-axis + * @param [in] theta: Rotation angle [rad] + * @return Rotation matrix + */ template Matrix roty(const double& theta); -//! z軸回転行列生成関数 -/*! - z軸周りの3*3の回転行列を生成する。 - 引数で指定された角度[rad]だけz軸周りに回転する回転行列を返す。 - \param theta z軸周り回転角[rad] - \return 生成結果 -*/ +/** + * @fn rotz + * @brief Generate 3*3 rotation matrix around Z-axis + * @param [in] theta: Rotation angle [rad] + * @return Rotation matrix + */ template Matrix rotz(const double& theta); diff --git a/src/Library/math/Matrix_ifs.hpp b/src/Library/math/Matrix_ifs.hpp index 98a7f9d35..b68e0c1a5 100644 --- a/src/Library/math/Matrix_ifs.hpp +++ b/src/Library/math/Matrix_ifs.hpp @@ -1,9 +1,8 @@ -/*! - \file Matrix_ifs.hpp - \author TAKISAWA, Jun'ichi. - \date Sun Apr 24 14:21:50 2011 - \brief Matrix.hppのinline関数実装 -*/ +/** + * @file Matrix_ifs.hpp + * @brief Matrix class to handle math matrix with template + */ + #ifndef MATRIX_IFS_HPP_ #define MATRIX_IFS_HPP_ @@ -12,7 +11,7 @@ namespace libra { template -Matrix::Matrix(){} +Matrix::Matrix() {} template size_t Matrix::row() const { diff --git a/src/Library/math/Matrix_tfs.hpp b/src/Library/math/Matrix_tfs.hpp index cb60eab18..ccb9cf433 100644 --- a/src/Library/math/Matrix_tfs.hpp +++ b/src/Library/math/Matrix_tfs.hpp @@ -1,8 +1,8 @@ -/*! - \file Matrix_tfs.hpp - \author TAKISAWA Jun'ichi. - \brief Matrix.hppのtemplate関数実装 -*/ +/** + * @file Matrix_tfs.hpp + * @brief Matrix class to handle math matrix with template + */ + #ifndef MATRIX_TFS_HPP_ #define MATRIX_TFS_HPP_ From d551fdd8e2909dfbe699782cc6137e828b31c469 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 15:21:28 +0100 Subject: [PATCH 108/199] Fix comments in MatVec --- src/Library/math/MatVec.hpp | 67 ++++++++++++++++---------------- src/Library/math/MatVec_impl.hpp | 10 ++--- 2 files changed, 39 insertions(+), 38 deletions(-) diff --git a/src/Library/math/MatVec.hpp b/src/Library/math/MatVec.hpp index da4d7caee..89e4ed754 100644 --- a/src/Library/math/MatVec.hpp +++ b/src/Library/math/MatVec.hpp @@ -1,9 +1,8 @@ -/*! - \file MatVec.hpp - \author TAKISAWA Jun'ichi. - \date Wed Oct 27 21:12:14 2010 - \brief 行列-ベクトル関連テンプレートライブラリ -*/ +/** + * @file MatVec.hpp + * @brief Template library for Matrix-Vector calculation + */ + #ifndef MAT_VEC_HPP_ #define MAT_VEC_HPP_ @@ -12,42 +11,44 @@ namespace libra { -//! MatrixとVectorの乗算演算子 -/*! - \param m 乗算対象Matrix - \param v 乗算対象Vector - \return 乗算結果 -*/ +/** + * @fn operator* + * @brief Multiply matrix and vector + * @param [in] m: Target matrix + * @param [in] m: Target vector + * @return Result of multiplied matrix + */ template Vector operator*(const Matrix& m, const Vector& v); -//! 逆行列計算関数 -/*! - Matrixの逆行列を計算する。 - \param a 逆行列計算対象。 - \return 逆行列 -*/ +/** + * @fn invert + * @brief Calculate inverse matrix + * @param [in] a: Target matrix + * @return Result of invert matrix + */ template Matrix invert(const Matrix& a); -//! LU分解関数 -/*! - MatrixをLU分解する。 - \param a LU分解対象 - \param index 行入れ替え情報格納配列 - \return LU分解結果 -*/ +/** + * @fn ludcmp + * @brief LU decomposition + * @note Warning: a is overwritten. + * @param [in/out] a: Target matrix + * @param [in] index: Array to store row/column switch information + * @return Result of LU decomposed matrix + */ template Matrix& ludcmp(Matrix& a, unsigned int index[]); -//! 一次連立方程式求解関数 -/*! - LU分解結果を利用して一次連立方程式の解を求める。 - \param a LU分解された一次連立方程式の係数Matrix - \param index LU分解の行入れ替え情報 - \param b 一次連立方程式の右辺ベクトル - \return 求解結果 -*/ +/** + * @fn lubksb + * @brief Solve linear system of equation with LU decomposition + * @param [in] a: LU decomposed coefficient matrix + * @param [in] index: Array to store row/column switch information + * @param [in] b: Right hand side vector of the linear system + * @return Result vector + */ template Vector& lubksb(const Matrix& a, const unsigned int index[], Vector& b); diff --git a/src/Library/math/MatVec_impl.hpp b/src/Library/math/MatVec_impl.hpp index 33a29c2ef..c4877ed88 100644 --- a/src/Library/math/MatVec_impl.hpp +++ b/src/Library/math/MatVec_impl.hpp @@ -1,8 +1,8 @@ -/*! - \file MatVec_impl.hpp - \author TAKISAWA Jun'ichi. - \brief MatVec.hppの実装 -*/ +/** + * @file MatVec_impl.hpp + * @brief Template library for Matrix-Vector calculation + */ + #ifndef MAT_VEC_IMPL_HPP_ #define MAT_VEC_IMPL_HPP_ #include // for invalid_argument. From d8df6d590c3a389db932344ed65d5834781ddbf9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 15:35:46 +0100 Subject: [PATCH 109/199] Fix comments in NormalRand --- src/Library/math/NormalRand.cpp | 11 ++- src/Library/math/NormalRand.hpp | 134 ++++++++++++++-------------- src/Library/math/NormalRand_ifs.hpp | 11 ++- 3 files changed, 78 insertions(+), 78 deletions(-) diff --git a/src/Library/math/NormalRand.cpp b/src/Library/math/NormalRand.cpp index d1831611e..2165e0cd3 100644 --- a/src/Library/math/NormalRand.cpp +++ b/src/Library/math/NormalRand.cpp @@ -1,9 +1,8 @@ -/*! - \file NormalRand.cpp - \author TAKISAWA Jun'ichi. - \date Sat Oct 3 02:53:44 2009 - \brief NormalRand.hppの実装 -*/ +/** + * @file NormalRand.cpp + * @brief Class to generate random value with normal distribution with Box-Muller method + * @note Ref: NUMERICAL RECIPES in C, p.216-p.217 + */ #include "NormalRand.hpp" using libra::NormalRand; diff --git a/src/Library/math/NormalRand.hpp b/src/Library/math/NormalRand.hpp index 7241def10..28e829e6c 100644 --- a/src/Library/math/NormalRand.hpp +++ b/src/Library/math/NormalRand.hpp @@ -1,11 +1,8 @@ -/*! - \file NormalRand.hpp - \author TAKISAWA Jun'ichi. - \date Sat Oct 3 02:44:23 2009 - \brief 正規分布に従う乱数を生成する乱数クラス - "NUMERICAL RECIPES in C" p.216-p.217に掲載されている、 - Box-Muller法を用いた正規ガウス分布生成アルゴリズムのC++実装。 -*/ +/** + * @file NormalRand.hpp + * @brief Class to generate random value with normal distribution with Box-Muller method + * @note Ref: NUMERICAL RECIPES in C, p.216-p.217 + */ #ifndef NORMAL_RAND_HPP_ #define NORMAL_RAND_HPP_ @@ -14,86 +11,91 @@ using libra::Ran1; namespace libra { +/** + * @class NormalRand + * @brief Class to generate random value with normal distribution with Box-Muller method + */ class NormalRand { public: - //! コンストラクタ - /*! - 平均0.0, 標準偏差1.0の標準正規乱数を出力するオブジェクトを生成する。 - 乱数の種にはデフォルト値が利用される。 - */ + /** + * @fn NormalRand + * @brief Default constructor initialized as zero average, 1.0 standard deviation + * @note Used default seed + */ NormalRand(); - //! コンストラクタ (平均・標準偏差指定版) - /*! - 指定された平均と標準偏差で正規乱数を出力するオブジェクトを生成する。 - 乱数の種にはデフォルト値が利用される。 - \param avg 正規乱数の平均値 - \param stddev 正規乱数の標準偏差 - */ + /** + * @fn NormalRand + * @brief Constructor + * @param avg: Average of normal distribution + * @param stddev: Standard deviation of normal distribution + */ NormalRand(double avg, double stddev); - //! コンストラクタ - /*! - 引数として指定された平均値、標準偏差の正規乱数を生成するオブジェクトを生成する。 - 最後の引数は乱数の種である。 - 全ての引数を省略した場合、オブジェクトは標準正規乱数を発生するよう初期化される。 - \param avg 正規乱数の平均値 - \param stddev 正規乱数の標準偏差 - \param seed 乱数の種 - */ + /** + * @fn NormalRand + * @brief Constructor + * @param avg: Average of normal distribution + * @param stddev: Standard deviation of normal distribution + * @param seed: Seed of randomization + */ NormalRand(double avg, double stddev, long seed) throw(); - //! double型へのキャスト演算子 - /*! - double型へのキャストが発生するたび、Box-Muller法を用いて正規乱数 - を生成する。 - \return 生成した正規乱数値 - */ + /** + * @fn Cast operator to double type + * @brief Generate random value with the Box-Muller method + * @return Randomized value + */ operator double(); - //! 平均値Getter + /** + * @fn avg + * @brief Return average + */ inline double avg() const; - //! 平均値Setter + /** + * @fn avg + * @brief Set average + */ inline void avg(double avg); - //! 標準偏差Getter + /** + * @fn stddev + * @brief Return standard deviation + */ inline double stddev() const; - //! 標準偏差Setter + /** + * @fn stddev + * @brief Set standard deviation + */ inline void stddev(double stddev); - //! 平均・標準偏差設定関数 - /*! - 正規乱数の平均値と標準偏差を設定する。 - \param avg 正規乱数の平均値 - \param stddev 正規乱数の標準偏差 - */ + /** + * @fn set_param + * @brief Set parameters + * @param avg: Average of normal distribution + * @param stddev: Standard deviation of normal distribution + */ inline void set_param(double avg, double stddev); - + /** + * @fn set_param + * @brief Set parameters + * @param avg: Average of normal distribution + * @param stddev: Standard deviation of normal distribution + * @param seed: Seed of randomization + */ inline void set_param(double avg, double stddev, long seed); private: - //! 平均値を保持するメンバ - double avg_; - - //! 標準偏差を保持するメンバ - double stddev_; - - //! Box-Muller法で利用する乱数源 - Ran1 rand_; - - //! 第二乱数保持メンバ - /*! - Box-Muller法では1度で2つの正規乱数が生成される。 - このメンバはその1つを次回呼び出しまで保持する。 - 次回の呼び出しではこの値が正規乱数として返却されるので、Box-Muller法は2回に - 1回の頻度で実行される。 - */ - double holder_; - - //! メンバholder_が有効な値を持っているかを示すフラグ。 - bool is_empty_; + double avg_; //!< Average + double stddev_; //!< Standard deviation + Ran1 rand_; //!< Randomized origin to use Box-Muller method + double holder_; //!< Second random value. Box-Muller method generates two value at once. + //!< The second value is stored and used in the next call. + //!< It means that Box-Muller method is executed once per two call + bool is_empty_; //!< Flag to show the holder_ has available value }; } // namespace libra diff --git a/src/Library/math/NormalRand_ifs.hpp b/src/Library/math/NormalRand_ifs.hpp index b8bdc6497..39851e42f 100644 --- a/src/Library/math/NormalRand_ifs.hpp +++ b/src/Library/math/NormalRand_ifs.hpp @@ -1,9 +1,8 @@ -/*! - \file NormalRand_ifs.hpp - \author TAKISAWA, Jun'ichi. - \date Sat May 14 00:25:14 2011 - \brief NormalRandクラスのinline関数実装 -*/ +/** + * @file NormalRand_ifs.hpp + * @brief Class to generate random value with normal distribution with Box-Muller method + * @note Inline functions + */ #ifndef NORMAL_RAND_IFS_HPP_ #define NORMAL_RAND_IFS_HPP_ From e2f4e5c3696e6756cd80afdcb285ec2ba6b60b0e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 15:54:36 +0100 Subject: [PATCH 110/199] Fix comments in ODE --- src/Library/math/ODE.hpp | 145 +++++++++++++++++----------------- src/Library/math/ODE_ifs.hpp | 11 ++- src/Library/math/ODE_impl.hpp | 21 +++-- src/Library/math/ODE_tfs.hpp | 16 ++-- 4 files changed, 93 insertions(+), 100 deletions(-) diff --git a/src/Library/math/ODE.hpp b/src/Library/math/ODE.hpp index 242152caf..81e988a37 100644 --- a/src/Library/math/ODE.hpp +++ b/src/Library/math/ODE.hpp @@ -1,9 +1,7 @@ -/*! - \file ODE.hpp - \author TAKISAWA Jun'ichi. - \date Sat Mar 7 10:14:04 2009 - \brief 常微分方程式を扱うクラス。 -*/ +/** + * @file ODE.hpp + * @brief Class for Ordinary Difference Equation + */ #ifndef ODE_HPP_ #define ODE_HPP_ @@ -11,102 +9,103 @@ namespace libra { +/** + * @class ODE + * @brief Class for Ordinary Difference Equation + */ template class ODE { public: - //! コンストラクタ - /*! - 第1引数にステップ幅をとる。 - \param step_width 計算ステップ幅 - */ - + /** + * @fn ODE + * @brief Constructor + * @param [in] step_width: Step width + */ ODE(double step_width); - - //! デストラクタ + /** + * @fn ~ODE + * @brief Destructor + */ inline virtual ~ODE(); - //! 微分方程式 - /*! - 解くべき微分方程式を継承側が実装する - \param x 独立変数 - \param state 状態量 - \return 状態量微分値 - */ + /** + * @fn RHS + * @brief Pure virtual function to define the difference equation + * @param [in] x: Independent variable (e.g. time) + * @param [in] state: State vector + * @param [out] rhs: Differentiated value of state vector + */ virtual void RHS(double x, const Vector& state, Vector& rhs) = 0; - //! 状態初期化メソッド - /*! - 微分方程式の状態初期化を行う - \param init_x 初期独立変数値 - \param init_cond 初期条件 - */ + /** + * @fn setup + * @brief Initialize the state vector + * @param [in] init_x: Initial value of independent variable + * @param [in] init_cond: Initial condition of the state vector + */ void setup(double init_x, const Vector& init_cond); - + /** + * @fn setStepWidth + * @brief Initialize the state vector + * @param [in] new_step: Initial value of independent variable + */ void setStepWidth(double new_step); - //! 刻み幅取得メソッド - /*! - 独立変数の刻み幅を返す。 - */ + /** + * @fn step_width + * @brief Return step width + */ inline double step_width() const; - //! 独立変数取得メソッド - /*! - 現在の独立変数値を返す。 - 独立変数はシミュレーションの経過とともに変化するものであり、 - 独自に設定を行う関数は設けない仕様とする。 - 初期条件の指定にはsetup()関数を用いること。 - \return 現在の独立変数値。 - */ + /** + * @fn x + * @brief Return current independent variable + */ inline double x() const; - //! 状態量ベクトル取得メソッド - /*! - 状態量ベクトルへのconst参照を返す。 - 状態量はシミュレーションの過程に従って変化するものであり、 - 独自に設定を行う関数は設けない仕様とする。 - 初期条件の指定にはsetup()関数を用いること。 - \return 状態量ベクトルへのconst参照 - */ + /** + * @fn state + * @brief Return current state vector + */ inline const Vector& state() const; - //! 状態量ベクトルの要素値を取得する - /*! - 状態量ベクトルの要素値を返す。 - \param n 参照したい状態量の位置 - \return 引数に対応する位置の状態量 - */ + /** + * @fn operator [] + * @brief Return element of current state vector + * @param [in] n: Target element number + */ inline double operator[](int n) const; - //! 状態量微分値取得メソッド - /*! - 状態量微分値のベクトルへのconst参照を返す。 - このベクトルはシミュレーションの結果として生成される情報 - であり、外部からの直接設定は行えない仕様とする。 - ただし継承先のクラスについてはprotectedなメソッドで変更を - 許可する。 - \return 状態量微分値ベクトルへのconst参照 - */ + /** + * @fn rhs + * @brief Return const reference of differentiate state vector + */ inline const Vector& rhs() const; - //! 状態更新メソッド + /** + * @fn operator ++ + * @brief Update the state + */ ODE& operator++(); - //! 状態更新メソッド + /** + * @fn Update + * @brief Update the state + */ void Update(); protected: + /** + * @fn state + * @brief Return current state vector for inheriting class + */ inline libra::Vector& state(); private: - //! 最新の独立変数値 - double x_; - //! 最新の状態量 - Vector state_; - //! 最新の状態量微分値(微分方程式の右辺値) - Vector rhs_; - //! 計算刻み幅 - double step_width_; + double x_; //!< Latest value of independent variable + Vector state_; //!< Latest state vector + Vector rhs_; //!< Latest differentiate of the state vector + double step_width_; //!< Step width }; } // namespace libra diff --git a/src/Library/math/ODE_ifs.hpp b/src/Library/math/ODE_ifs.hpp index d0f680c2e..a14953122 100644 --- a/src/Library/math/ODE_ifs.hpp +++ b/src/Library/math/ODE_ifs.hpp @@ -1,9 +1,8 @@ -/*! - \file ODE_ifs.hpp - \author TAKISAWA Jun'ichi. - \date Tue May 10 10:19:13 2011 - \brief ODEクラスのinline関数定義 -*/ +/** + * @file ODE_ifs.hpp + * @brief Class for Ordinary Difference Equation (inline functions) + */ + #ifndef ODE_IFS_HPP_ #define ODE_IFS_HPP_ diff --git a/src/Library/math/ODE_impl.hpp b/src/Library/math/ODE_impl.hpp index b7e531384..f1c4656c0 100644 --- a/src/Library/math/ODE_impl.hpp +++ b/src/Library/math/ODE_impl.hpp @@ -1,10 +1,8 @@ /*! - \file ODE_impl.hpp - \author TAKISAWA Jun'ichi. - \date Sat Mar 7 10:19:50 2009 - - \brief ODE.hppの実装 -*/ +/** + * @file ODE_impl.hpp + * @brief Class for Ordinary Difference Equation + */ namespace libra { @@ -19,10 +17,10 @@ void ODE::setup(double init_x, const Vector& init_cond) { template ODE& ODE::operator++() { - RHS(x_, state_, rhs_); // 現在の導関数計算 - write_log(); // 現状態をログに記録 + RHS(x_, state_, rhs_); // Calculation of current derivative + write_log(); // Write log - // 4次のRunge-Kutta係数計算 + // 4th order Runge-Kutta method Vector k1(rhs_); k1 *= step_width_; Vector k2(state_.dim()); @@ -35,9 +33,8 @@ ODE& ODE::operator++() { RHS(x_ + step_width_, state_ + k3, k4); k4 *= step_width_; - state_ += (1.0 / 6.0) * (k1 + 2.0 * (k2 + k3) + k4); // 状態量更新 - x_ += step_width_; // 時刻更新 - + state_ += (1.0 / 6.0) * (k1 + 2.0 * (k2 + k3) + k4); // Update state vector + x_ += step_width_; // Update independent variable return *this; } diff --git a/src/Library/math/ODE_tfs.hpp b/src/Library/math/ODE_tfs.hpp index 5840d3b1f..be02b5946 100644 --- a/src/Library/math/ODE_tfs.hpp +++ b/src/Library/math/ODE_tfs.hpp @@ -1,9 +1,7 @@ -/*! - \file ODE_tfs.hpp - \author TAKISAWA Jun'ichi. - \date Sat Mar 7 10:19:50 2009 - \brief ODE.hppの実装 -*/ +/** + * @file ODE_tfs.hpp + * @brief Class for Ordinary Difference Equation (template functions) + */ #ifndef ODE_TFS_HPP_ #define ODE_TFS_HPP_ @@ -28,7 +26,7 @@ template void ODE::Update() { RHS(x_, state_, rhs_); // Current derivative calculation - // 4次のRunge-Kutta係数計算 + // 4th order Runge-Kutta method Vector k1(rhs_); k1 *= step_width_; Vector k2(state_.dim()); @@ -41,8 +39,8 @@ void ODE::Update() { RHS(x_ + step_width_, state_ + k3, k4); k4 *= step_width_; - state_ += (1.0 / 6.0) * (k1 + 2.0 * (k2 + k3) + k4); // 状態量更新 - x_ += step_width_; // 時刻更新 + state_ += (1.0 / 6.0) * (k1 + 2.0 * (k2 + k3) + k4); // Update state vector + x_ += step_width_; // Update independent variable } template From 6a6b21b5f215dce1cf5bb085528eef372e4aff69 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 15:57:53 +0100 Subject: [PATCH 111/199] Fix comments in Quantization --- src/Library/math/Quantization.cpp | 9 ++++++--- src/Library/math/Quantization.h | 32 +++++++++++++++++++------------ 2 files changed, 26 insertions(+), 15 deletions(-) diff --git a/src/Library/math/Quantization.cpp b/src/Library/math/Quantization.cpp index 0e948f059..be716c359 100644 --- a/src/Library/math/Quantization.cpp +++ b/src/Library/math/Quantization.cpp @@ -1,3 +1,8 @@ +/** + * @file Quantization.cpp + * @brief Functions for quantization + */ + #include "Quantization.h" double quantization(double continuous_num, double resolution) { @@ -5,6 +10,4 @@ double quantization(double continuous_num, double resolution) { return (double)bin_num * resolution; } -float quantization_f(double continuous_num, double resolution) { - return (float)quantization(continuous_num, resolution); -} +float quantization_f(double continuous_num, double resolution) { return (float)quantization(continuous_num, resolution); } diff --git a/src/Library/math/Quantization.h b/src/Library/math/Quantization.h index fb963ca3b..2abf12de8 100644 --- a/src/Library/math/Quantization.h +++ b/src/Library/math/Quantization.h @@ -1,19 +1,27 @@ -/*! -\file Quantization.h -\author TAKISAWA Jun'ichi. -\date Sat Oct 3 02:44:23 2009 -\brief 量子化するための関数を格納． -*/ +/** + * @file Quantization.h + * @brief Functions for quantization + */ + #ifndef QUANTIZATION_H_ #define QUANTIZATION_H_ -//!入力 -//! continuous_num : 連続する実数(double) -//! resolution : 解像度 -//!出力 -// quantized_num : 量子化された数(double) - +/** + * @fn quantization + * @brief Default constructor without any initialization + * @param [in] continuous_num: Target number + * @param [in] resolution: Resolution of the quantization + * @return Quantized value (double) + */ double quantization(double continuous_num, double resolution); + +/** + * @fn quantization_f + * @brief Default constructor without any initialization + * @param [in] continuous_num: Target number + * @param [in] resolution: Resolution of the quantization + * @return Quantized value (float) + */ float quantization_f(double continuous_num, double resolution); #endif // QUANTIZATION_H_ From bbf7359f4ba8609371a54a0564f5c650b7389665 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 18:49:44 +0100 Subject: [PATCH 112/199] Fix comments in Quanternion --- src/Library/math/Quaternion.cpp | 22 +-- src/Library/math/Quaternion.hpp | 273 +++++++++++++++------------- src/Library/math/Quaternion_ifs.hpp | 11 +- 3 files changed, 164 insertions(+), 142 deletions(-) diff --git a/src/Library/math/Quaternion.cpp b/src/Library/math/Quaternion.cpp index 82b0af6f5..fcc18390f 100644 --- a/src/Library/math/Quaternion.cpp +++ b/src/Library/math/Quaternion.cpp @@ -1,9 +1,7 @@ -/*! - \file Quaternion.cpp - \author TAKISAWA, Jun'ichi. - \date Fri Jul 10 23:55:34 2009 - \brief Quaternion.hppの実装 -*/ +/** + * @file Quaternion.hpp + * @brief Class for Quaternion + */ #include "Quaternion.hpp" @@ -14,7 +12,7 @@ namespace libra { Quaternion::Quaternion(const Vector<3>& axis, double rot) { - rot *= 0.5; // 回転角の1/2を計算 + rot *= 0.5; q_[3] = cos(rot); // Vector<3> norm = normalize(axis); @@ -41,8 +39,8 @@ Quaternion::Quaternion(const Vector<3>& v_before, const Vector<3>& v_after) { q_[1] = 0.0; q_[2] = 0.0; q_[3] = 1.0; - } else if (ip < -1.0 + DBL_EPSILON) { // if theta=180deg, the rotation axis can't - // be defined, so rotate v_before manually + } else if (ip < -1.0 + DBL_EPSILON) { + // if theta=180deg, the rotation axis can't be defined, so rotate v_before manually Vector<3> rotation_axis = GenerateOrthoUnitVector(v_before); q_[0] = rotation_axis[0], q_[1] = rotation_axis[1], q_[2] = rotation_axis[2], q_[3] = 0.0; } else { @@ -109,7 +107,7 @@ Quaternion Quaternion::normalize(void) { } if (n == 0.0) { return q_; - } //零Quaternion + } // zero Quaternion n = 1.0 / sqrt(n); for (int i = 0; i < 4; ++i) { @@ -154,13 +152,13 @@ Quaternion Quaternion::fromDCM(Matrix<3, 3> dcm) { double maxval = 0; int maxidx = 0; for (int i = 0; i < 4; i++) { - // 最大値のインデックスをスキャン + // Scan maximum value index if (std::abs(q[i]) > maxval) { maxval = std::abs(q[i]); maxidx = i; } } - // 最大値を分母にして変換 + // Use the maximum value as denominator switch (maxidx) { case 0: q[1] = (dcm[0][1] + dcm[1][0]) / (4 * q[0]); diff --git a/src/Library/math/Quaternion.hpp b/src/Library/math/Quaternion.hpp index d9f87ddff..1f51a73ff 100644 --- a/src/Library/math/Quaternion.hpp +++ b/src/Library/math/Quaternion.hpp @@ -1,11 +1,8 @@ -/*! - \file Quaternion.hpp - \author TAKISAWA, Jun'ichi. - \date Fri Jul 10 23:36:06 2009 - \brief Quaternionクラス - - Quaternionを取り扱う上で必要となる操作をまとめたクラス。 -*/ +/** + * @file Quaternion.hpp + * @brief Class for Quaternion + */ + #ifndef QUATERNION_HPP_ #define QUATERNION_HPP_ @@ -14,171 +11,199 @@ namespace libra { +/** + * @class Quaternion + * @brief Class for Quaternion + */ class Quaternion { public: - //! コンストラクタ - /*! - デフォルトコンストラクタ。一切の初期化処理を行わない。 + /** + * @fn Quaternion + * @brief Default constructor without any initialization */ inline Quaternion(); - - //! コンストラクタ - /*! - 指定された4値でQuaternionを生成する。 - \param q0 Quaternion第1成分 - \param q1 Quaternion第2成分 - \param q2 Quaternion第3成分 - \param q3 Quaternion第4成分 - */ + /** + * @fn Quaternion + * @brief Constructor with initialization + * @param [in] q0: The first element of Quaternion (X) + * @param [in] q1: The second element of Quaternion (Y) + * @param [in] q2: The third element of Quaternion (Z) + * @param [in] q3: The fourth element of Quaternion (W) + */ inline Quaternion(double q0, double q1, double q2, double q3); - - //! コンストラクタ - /*! - Vectorで指定された値でQuaternionをオブジェクトを生成する。 - \param cv Quaternion値を格納したVector - */ + /** + * @fn Quaternion + * @brief Constructor initialized with vector + * @param [in] cv: Vector storing quaternion + */ inline Quaternion(const Vector<4>& cv); - - //! コンストラクタ - /*! - 回転角度と回転軸から座標変換を表すQuaternionを生成する。 - 回転軸は内部で正規化処理を行うため単位ベクトルである必要はない。 - \param axis 回転軸 - \param rot 回転角度[rad] - */ + /** + * @fn Quaternion + * @brief Constructor initialized with rotation expression + * @param [in] axis: Rotation axis normalized vector + * @param [in] rot: Rotation angle [rad] + */ Quaternion(const Vector<3>& axis, double rot); - - //! Constructor - /*! - Generate a Quaternion that rotates v_before to match v_after - \param v_before Vector before rotation - \param v_after Vector after rotation - */ + /** + * @fn Quaternion + * @brief Constructor initialized with rotates v_before to match v_after + * @param [in] v_before: Vector before rotation + * @param [in] v_after: Vector after rotation + */ Quaternion(const Vector<3>& v_before, const Vector<3>& v_after); - //! Vectorからの代入演算子 - /*! - Vectorで指定された値をQuaternionへ代入する。 - \param cv Quaternion値を格納したVector<4> - \return 代入後の自身への参照 - */ + /** + * @fn Operator = + * @brief Substitute Vector value to Quaternion + * @param [in] cv: Vector + * @return Quaternion + */ inline Quaternion& operator=(const Vector<4>& cv); - //! const Vector<4>&へのキャスト演算子 - /*! - Quaternion情報を保持するVector<4>へのconst参照を返す。 - QuaternionをVector<4>オブジェクトとして扱いたい場合に - 暗黙的な変換を行う。 - \return Quaternion内部のVector<4>へのconst参照 - */ + /** + * @fn Cast operator to const Vector<4> + * @brief Return const reference to the internal Vector<4> + * @note Users can use Quaternion as Vector<4> object + * @return Const reference to the internal Vector<4> + */ inline operator const Vector<4>&() const; - //! Quaternion値設定メソッド - /*! - Quaternionの値を引数で指定された値に設定する。 - 引数指定を省略した場合は(1.0, 0.0, 0.0, 0.0)^Tに設定される。 - \param q0 Quaternionの第1成分 - \param q1 Quaternionの第2成分 - \param q2 Quaternionの第3成分 - \param q3 Quaternionの第4成分 - */ + /** + * @fn set + * @brief Set the quaternion elements + * @param [in] q0: The first element of Quaternion (X) + * @param [in] q1: The second element of Quaternion (Y) + * @param [in] q2: The third element of Quaternion (Z) + * @param [in] q3: The fourth element of Quaternion (W) + */ void set(double q0 = 0.0, double q1 = 0.0, double q2 = 0.0, double q3 = 1.0); - //! 要素直接アクセス用キャスト演算子 - /*! - Quaternionの各要素に配列と同様にアクセスする為のキャスト演算子。 - 利用側は配列と同様[]演算子を用いて要素へのアクセスが可能となる。 - */ + /** + * @fn Cast operator + * @brief Operator to directly access the element like array with [] operator + */ inline operator double*(); - //! 要素直接アクセス用キャスト演算子 const版 - /*! - constが指定されている場合でも各要素への参照を可能にする為の演算子定義。 - 利用側は配列と同様[]演算子を用いて要素の参照が可能となる。 - */ + /** + * @fn Cast operator (const ver.) + * @brief Operator to directly access the element like array with [] operator + */ inline operator const double*() const; - //! 正規化実行関数 - /*! - Quaternionのノルムを1.0に正規化する。 - */ + /** + * @fn normalize + * @brief Normalize the quaternion + * @return Normalized quaternion + */ Quaternion normalize(void); - //! 共役Quaternion計算関数 - /*! - 与えられたQuaternionの共役Quaternionを返す - \return 共役Quaternion - */ + /** + * @fn conjugate + * @brief Calculate conjugate quaternion + * @return Conjugated quaternion + */ Quaternion conjugate(void) const; - //! DCM生成関数 - /*! - 現在のQuaternionに対応するDCM(Discrete Cosine Matrix)を返す。 - \return Quaternionから計算されたDCM。 - */ + /** + * @fn toDCM + * @brief Convert quaternion to Direction Cosine Matrix + * @return DCM + */ Matrix<3, 3> toDCM(void) const; - //! DCM生成関数 - /*! - 与えられたDCMに対応するQuaternionを返す。 - \return DCMから計算されたQuaternion。 - */ + /** + * @fn fromDCM + * @brief Convert Direction Cosine Matrix to quaternion + * @param [in] dcm: DCM + * @return Quaternion + */ static Quaternion fromDCM(Matrix<3, 3> dcm); - //! オイラー角生成関数 - /*! - 現在のQuaternionに対応する3-2-1のオイラー角を返す。 - \return Quaternionから計算されたオイラー角（1,2,3の順） - */ + /** + * @fn toEuler + * @brief Convert quaternion to 3-2-1 Euler angles + * @return Euler angle (1, 2, 3 order) + */ Vector<3> toEuler(void) const; - //! オイラー角からQuaternionを生成する関数 - /*! - 与えられた3-2-1のオイラー角（1,2,3の順に与える）に対応するQuaternionを返す。 - \return オイラー角から計算されたQuaternion - */ + /** + * @fn fromEuler + * @brief Convert Euler angle to quaternion + * @param [in] euler: 3-2-1 Euler angle (1, 2, 3 order) + * @return Quaternion + */ static Quaternion fromEuler(Vector<3> euler); - //! 座標変換計算関数 - /*! - 渡されたVectorをQuaternionで座標変換し、結果を返す。 - \param cv 変換対象Vector - \return 変換結果のVector - */ + /** + * @fn frame_conv + * @brief Frame conversion for the given target vector with the quaternion + * @param [in] cv: Target vector + * @return Converted vector + */ Vector<3> frame_conv(const Vector<3>& cv); - //! 座標変換計算関数 - /*! - 渡されたVectorをQuaternionの共役で座標変換し、結果を返す。 - \param cv 変換対象Vector - \return 変換結果のVector - */ + /** + * @fn frame_conv_inv + * @brief Frame conversion for the given target vector with the inverse quaternion + * @param [in] cv: Target vector + * @return Converted vector + */ Vector<3> frame_conv_inv(const Vector<3>& cv); - //! Quaternion to vector representation - /*! - \return Quaternion vector + /** + * @fn toVector + * @brief Convert quaternion to Vector<4> + * @return Vector<4> */ Vector<4> toVector(); private: - //! Quaternionの要素を格納する列ベクトル - Vector<4> q_; + Vector<4> q_; //!< Vector to store the element of quaternion }; -//! Quaternion同士の和演算子 +/** + * @fn operator+ + * @brief Add quaternions + * @param [in] lhs: Left hand side quaternion + * @param [in] rhs: Right hand side quaternion + * @return Quaternion + */ Quaternion operator+(const Quaternion& lhs, const Quaternion& rhs); -//! Quaternion同士の差演算子 +/** + * @fn operator- + * @brief Subtract quaternions + * @param [in] lhs: Left hand side quaternion + * @param [in] rhs: Right hand side quaternion + * @return Quaternion + */ Quaternion operator-(const Quaternion& lhs, const Quaternion& rhs); -//! Quaternion同士の積演算子 +/** + * @fn operator* + * @brief Multiply quaternions + * @param [in] lhs: Left hand side quaternion + * @param [in] rhs: Right hand side quaternion + * @return Quaternion + */ Quaternion operator*(const Quaternion& lhs, const Quaternion& rhs); -//! QuaternionとVectorの積演算子 +/** + * @fn operator* + * @brief Multiply quaternion and vector + * @param [in] lhs: Left hand side quaternion + * @param [in] rhs: Right hand side vector + * @return Quaternion + */ Quaternion operator*(const Quaternion& lhs, const Vector<3>& rhs); -//! Quaternionとスカラーの積演算子 +/** + * @fn operator* + * @brief Multiply scalar and quaternion + * @param [in] lhs: Left hand side scalar + * @param [in] rhs: Right hand side quaternion + * @return Quaternion + */ Quaternion operator*(const double& lhs, const Quaternion& rhs); } // namespace libra diff --git a/src/Library/math/Quaternion_ifs.hpp b/src/Library/math/Quaternion_ifs.hpp index dc9889ad1..9de3ec451 100644 --- a/src/Library/math/Quaternion_ifs.hpp +++ b/src/Library/math/Quaternion_ifs.hpp @@ -1,9 +1,8 @@ -/*! - \file Quaternion_ifs.hpp - \author TAKISAWA, Jun'ichi. - \date Wed May 18 22:59:03 2011 - \brief Quaternionクラスのinline関数実装 -*/ +/** + * @file Quaternion_ifs.hpp + * @brief Class for Quaternion (Inline functions) + */ + #ifndef QUATERNION_IFS_HPP_ #define QUATERNION_IFS_HPP_ From 588db9eaf44d9abaafe3575ad84151f4e6eee1db Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 19:33:53 +0100 Subject: [PATCH 113/199] Fix comments in Ran --- src/Library/math/Ran0.cpp | 12 +++---- src/Library/math/Ran0.hpp | 71 ++++++++++++++++++++------------------- src/Library/math/Ran1.cpp | 18 +++++----- src/Library/math/Ran1.hpp | 68 ++++++++++++++++++++----------------- 4 files changed, 88 insertions(+), 81 deletions(-) diff --git a/src/Library/math/Ran0.cpp b/src/Library/math/Ran0.cpp index 23972c335..d473221ec 100644 --- a/src/Library/math/Ran0.cpp +++ b/src/Library/math/Ran0.cpp @@ -1,9 +1,9 @@ -/*! - \file Ran0.cpp - \author TAKISAWA Jun'ichi. - \date Tue Sep 29 20:34:49 2009 - \brief Ran0.hppの実装 -*/ +/** + * @file Ran0.cpp + * @brief Randomization with Park and Miller's multiplicative congruential method + * @note ran0 function in "NUMERICAL RECIPES in C, p.206" + */ + #include "Ran0.hpp" using libra::Ran0; diff --git a/src/Library/math/Ran0.hpp b/src/Library/math/Ran0.hpp index e06ed82a1..1f567b7bb 100644 --- a/src/Library/math/Ran0.hpp +++ b/src/Library/math/Ran0.hpp @@ -1,54 +1,55 @@ -/*! - \file Ran0.hpp - \author TAKISAWA Jun'ichi. - \date Tue Sep 29 20:27:54 2009 - \brief 乱数生成ルーチン0 - "NUMERICAL RECIPES in C"のp.206に記載されている関数ran0のC++実装。 - Park and Millerの乗算合同法。 -*/ +/** + * @file Ran0.hpp + * @brief Randomization with Park and Miller's multiplicative congruential method + * @note ran0 function in "NUMERICAL RECIPES in C, p.206" + */ + #ifndef RAN0_HPP_ #define RAN0_HPP_ namespace libra { +/** + * @class Ran0 + * @brief Randomization with Park and Miller's multiplicative congruential and mixed method + */ class Ran0 { public: - //! 乗算の係数a。 - static const long A = 16807; - //! mod m。 - static const long M = 2147483647; - - //! コンストラクタ - /*! - デフォルトのシードで乱数クラスを生成する。 + static const long A = 16807; //!< Coefficient a for multiplication + static const long M = 2147483647; //!< Divisor for modulo + + /** + * @fn Ran0 + * @brief Default constructor with default seed value */ Ran0(); - - //! コンストラクタ - /*! - 引数で乱数列のseedを指定する。 - 指定を省略した場合はデフォルト値0xdeadbeefが利用される。 - */ + /** + * @fn Ran0 + * @brief Default constructor with seed value + * @param [in] seed: Seed of randomization + */ explicit Ran0(long seed); - //! 初期化 - /* - 指定した引数にseedを設定しなおす - */ + /** + * @fn init + * @brief Set seed value + * @param [in] seed: Seed of randomization + */ void init(long seed); - //! double型へのキャスト演算子 - /*! - double型へのキャストが実行されるたびに新たな乱数を生成する。 - \return 生成した乱数値 - */ + + /** + * @fn Cast operator of double type + * @brief Generate randomized value when casting + * @return Generated randomized value + */ operator double(); private: - static const double AM_; - static const long Q_ = 127773; - static const long R_ = 2836; + static const double AM_; //!< A/M + static const long Q_ = 127773; //!< Integer part of A/M + static const long R_ = 2836; //!< m mod a - long seed_; + long seed_; //!< Seed of randomization }; } // namespace libra diff --git a/src/Library/math/Ran1.cpp b/src/Library/math/Ran1.cpp index 3cced4cc8..c75b97725 100644 --- a/src/Library/math/Ran1.cpp +++ b/src/Library/math/Ran1.cpp @@ -1,9 +1,9 @@ -/*! - \file Ran1.cpp - \author TAKISAWA - \date Wed Sep 30 23:13:41 2009 - \brief Ran1.hppの実装 -*/ +/** + * @file Ran1.cpp + * @brief Randomization with Park and Miller's multiplicative congruential method combined with mixed method + * @note ran1 function in "NUMERICAL RECIPES in C, p.207-208" + */ + #include "Ran1.hpp" using libra::Ran1; @@ -17,12 +17,12 @@ void Ran1::init_seed(long seed) { } void Ran1::init_() { - // ran0_のウォームアップ + // Warmup of ran0_ for (int i = 0; i < 8; i++) { double temp = ran0_; static_cast(temp); } - // 切り混ぜ表を埋める。 + // Fill mixing table for (size_t i = 0; i < V_SIZE_; i++) { vec_[i] = ran0_; } @@ -31,7 +31,7 @@ void Ran1::init_() { Ran1::operator double() { double out = vec_[y_]; - vec_[y_] = ran0_; // 次の乱数を補填 + vec_[y_] = ran0_; // Compensate next random value y_ = (size_t)out * Ran0::M; y_ %= V_SIZE_; // y <- [0 : V_SIZE_-1] diff --git a/src/Library/math/Ran1.hpp b/src/Library/math/Ran1.hpp index b5a9e523f..67b24b114 100644 --- a/src/Library/math/Ran1.hpp +++ b/src/Library/math/Ran1.hpp @@ -1,11 +1,9 @@ -/*! - \file Ran1.hpp - \author TAKISAWA Jun'ichi. - \date Wed Sep 30 22:54:03 2009 - \brief 乱数生成ルーチン1 - "NUMERICAL RECIPES in C"のp.207-p.208に記載されている関数ran1のC++実装。 - Park and Miller の乗算合同法に切り混ぜを加えたもの。 -*/ +/** + * @file Ran1.hpp + * @brief Randomization with Park and Miller's multiplicative congruential method combined with mixed method + * @note ran1 function in "NUMERICAL RECIPES in C, p.207-208" + */ + #ifndef RAN1_HPP_ #define RAN1_HPP_ @@ -15,42 +13,50 @@ namespace libra { +/** + * @class Ran1 + * @brief Randomization with Park and Miller's multiplicative congruential method combined with mixed method + */ class Ran1 { public: - //! コンストラクタ - /*! - デフォルトの種で乱数オブジェクトを生成する。 - */ + /** + * @fn Ran1 + * @brief Default constructor with default seed value + */ Ran1(); - - //! コンストラクタ (種指定版) - /*! - 乱数の種を引数として指定する。 - 0は種に指定できず、指定した場合にはstd::invalid_argument例外が発生する。 - \param seed 乱数の種 - */ + /** + * @fn Ran1 + * @brief Default constructor with seed value + * @param [in] seed: Seed of randomization + */ explicit Ran1(long seed); - //! double型へのキャスト演算子 - /*! - オブジェクトがdouble型へキャストされるたびに、新たな乱数を生成する。 + /** + * @fn Cast operator of double type + * @brief Generate randomized value when casting + * @return Generated randomized value */ operator double(); + /** + * @fn init_seed + * @brief Set seed value + * @param [in] seed: Seed of randomization + */ void init_seed(long seed); private: - //! 切り混ぜ表の初期化処理を行う関数 + /** + * @fn init_ + * @brief Initialize function + */ void init_(); - Ran0 ran0_; - //! 切り混ぜ表の要素数 - static const std::size_t V_SIZE_ = 32; - //! 切り混ぜ表 - double v_[V_SIZE_]; - //! 切り混ぜ表の取得位置を格納するメンバ。 - std::size_t y_; - double vec_[V_SIZE_]; + Ran0 ran0_; //!< Randomization with Park and Miller's multiplicative congruential method + static const std::size_t V_SIZE_ = 32; //!< Number of elements for mixing table + double v_[V_SIZE_]; //!< Mixing table (Not used now) + std::size_t y_; //!< Position of mixing table + double vec_[V_SIZE_]; //!< Mixing table }; } // namespace libra From 4f6325ef4bf1d4f868a8d11bb007ea8dd769d6cf Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 19:40:08 +0100 Subject: [PATCH 114/199] Fix comments in RandomWalk --- src/Library/math/RandomWalk.hpp | 37 ++++++++++++++++++++--------- src/Library/math/RandomWalk_tfs.hpp | 12 +++++++--- 2 files changed, 35 insertions(+), 14 deletions(-) diff --git a/src/Library/math/RandomWalk.hpp b/src/Library/math/RandomWalk.hpp index 369a94d3e..8e8020f85 100644 --- a/src/Library/math/RandomWalk.hpp +++ b/src/Library/math/RandomWalk.hpp @@ -1,27 +1,42 @@ +/** + * @file RandomWalk.hpp + * @brief Class to calculate random wark value + */ + #pragma once #include "./NormalRand.hpp" #include "./ODE.hpp" #include "./Vector.hpp" +/** + * @class RandomWalk + * @brief Class to calculate random wark value + */ template class RandomWalk : public libra::ODE { public: - //! コンストラクタ - /*! - \param step_width シミュレーションステップ幅 - \param stddev ランダムウォーク励起ノイズ標準偏差 - \param limit ランダムウォーク制限値 - */ + /** + * @fn RandomWalk + * @brief Constructor + * @param step_width: Step width + * @param stddev: Standard deviation of random walk excitation noise + * @param limit: Limit of random walk + */ RandomWalk(double step_width, const libra::Vector& stddev, const libra::Vector& limit); + /** + * @fn RHS + * @brief Override function of ODE to define the difference equation + * @param [in] x: Independent variable (e.g. time) + * @param [in] state: State vector + * @param [out] rhs: Differentiated value of state vector + */ virtual void RHS(double x, const libra::Vector& state, libra::Vector& rhs); private: - //! ランダムウォーク制限値 - libra::Vector limit_; - //! ランダムウォーク励起ノイズ源 - libra::NormalRand nrs_[N]; + libra::Vector limit_; //!< Limit of random walk + libra::NormalRand nrs_[N]; //!< Random walk excitation noise }; -#include "./RandomWalk_tfs.hpp" // template function definisions. \ No newline at end of file +#include "./RandomWalk_tfs.hpp" // template function definisions. diff --git a/src/Library/math/RandomWalk_tfs.hpp b/src/Library/math/RandomWalk_tfs.hpp index 6843109b8..c08281a68 100644 --- a/src/Library/math/RandomWalk_tfs.hpp +++ b/src/Library/math/RandomWalk_tfs.hpp @@ -1,12 +1,18 @@ +/** + * @file RandomWalk_tfs.hpp + * @brief Class to calculate random wark value (template functions) + */ + #pragma once -#include #include +#include + template RandomWalk::RandomWalk(double step_width, const libra::Vector& stddev, const libra::Vector& limit) : libra::ODE(step_width), limit_(limit) { - // 標準偏差設定 + // Set standard deviation for (size_t i = 0; i < N; ++i) { nrs_[i].set_param(0.0, stddev[i], g_rand.MakeSeed()); } @@ -24,4 +30,4 @@ void RandomWalk::RHS(double x, const libra::Vector& state, libra::Vector Date: Tue, 13 Dec 2022 19:42:59 +0100 Subject: [PATCH 115/199] Fix comments in s2e_math --- src/Library/math/s2e_math.cpp | 5 +++++ src/Library/math/s2e_math.hpp | 12 +++++++++++- 2 files changed, 16 insertions(+), 1 deletion(-) diff --git a/src/Library/math/s2e_math.cpp b/src/Library/math/s2e_math.cpp index 1276e7f56..5cf6e1a0a 100644 --- a/src/Library/math/s2e_math.cpp +++ b/src/Library/math/s2e_math.cpp @@ -1,3 +1,8 @@ +/** + * @file s2e_math.cpp + * @brief Math functions + */ + #include "s2e_math.hpp" #include diff --git a/src/Library/math/s2e_math.hpp b/src/Library/math/s2e_math.hpp index cd2757809..26a63b1cf 100644 --- a/src/Library/math/s2e_math.hpp +++ b/src/Library/math/s2e_math.hpp @@ -1,8 +1,18 @@ +/** + * @file s2e_math.hpp + * @brief Math functions + */ + #pragma once #include namespace libra { +/** + * @fn WrapTo2Pi + * @brief Wrap angle value into [0, 2pi] + * @param angle: Angle [rad] + */ double WrapTo2Pi(const double angle); -} +} // namespace libra From c6dcc50ef2bafc1d6b71087feeeb036583dad3fb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 19:43:52 +0100 Subject: [PATCH 116/199] Fix comments in TestQuaternion --- src/Library/math/TestQuaternion.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/Library/math/TestQuaternion.cpp b/src/Library/math/TestQuaternion.cpp index 515927c3a..79c8b7a23 100644 --- a/src/Library/math/TestQuaternion.cpp +++ b/src/Library/math/TestQuaternion.cpp @@ -1,3 +1,7 @@ +/** + * @file TestQuaternion.cpp + * @brief Test codes for Quaternion class with GoogleTest + */ #include #include "Quaternion.hpp" From ef4eb709a8327fe389f3e59039111662779e6434 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 13 Dec 2022 20:15:21 +0100 Subject: [PATCH 117/199] Fix comments in Vector --- src/Library/math/Vector.cpp | 21 +- src/Library/math/Vector.hpp | 342 ++++++++++++++++---------------- src/Library/math/Vector_ifs.hpp | 10 +- src/Library/math/Vector_tfs.hpp | 11 +- 4 files changed, 188 insertions(+), 196 deletions(-) diff --git a/src/Library/math/Vector.cpp b/src/Library/math/Vector.cpp index 21d9b0623..9b3a7d360 100644 --- a/src/Library/math/Vector.cpp +++ b/src/Library/math/Vector.cpp @@ -1,26 +1,23 @@ -/*! - \file Vector.cpp - \author TAKISAWA Jun'ichi. - \date Sat Nov 6 02:44:24 2010 +/** + * @file Vector.cpp + * @brief Class for mathematical vector + */ - \brief Vector.hppで宣言された非template関数の定義 -*/ #include "Vector.hpp" #include "Constant.hpp" namespace libra { Vector<3, double> ortho2spher(const Vector<3, double>& ortho) { - // 球座標結果格納先。全て0.0で初期化する。 - Vector<3, double> spher; + Vector<3, double> spher; // vector on the polar coordinate fill_up(spher, 0.0); spher[0] = norm(ortho); - // 零ベクトルの場合角度計算をスキップする。 + // Skip when zero vector if (spher[0] == 0.0) { return spher; } spher[1] = acos(ortho[2] / spher[0]); - // ベクトルがz軸上の場合phi計算をスキップする。 + // Skip phi calculation when the ortho is on the Z-axis if ((ortho[0] == 0.0) && (ortho[1] == 0.0)) { return spher; } @@ -36,12 +33,12 @@ Vector<3, double> ortho2lonlat(const Vector<3, double>& ortho) { Vector<3, double> lonlat; fill_up(lonlat, 0.0); lonlat[0] = norm(ortho); - // 零ベクトルの場合角度計算をスキップする。 + // Skip when zero vector if (lonlat[0] == 0.0) { return lonlat; } lonlat[1] = numbers::pi_2 - acos(ortho[2] / lonlat[0]); - // ベクトルがz軸上の場合phi計算をスキップする。 + // Skip phi calculation when the ortho is on the Z-axis if ((ortho[0] == 0.0) && (ortho[1] == 0.0)) { return lonlat; } diff --git a/src/Library/math/Vector.hpp b/src/Library/math/Vector.hpp index e0e87bbe0..db27bb75e 100644 --- a/src/Library/math/Vector.hpp +++ b/src/Library/math/Vector.hpp @@ -1,9 +1,8 @@ -/*! - \file Vector.hpp - \author TAKISAWA Jun'ichi. - \date Sun Oct 24 13:49:13 2010 - \brief 数学のベクトルを扱うクラス -*/ +/** + * @file Vector.hpp + * @brief Class for mathematical vector + */ + #ifndef VECTOR_HPP_ #define VECTOR_HPP_ @@ -14,235 +13,234 @@ #define cross outer_product namespace libra { +/** + * @class Vector + * @brief Class for mathematical vector + */ template class Vector { public: - //! コンストラクタ - /*! - ベクトル要素の初期化を一切行わないコンストラクタ。 - */ + /** + * @fn Vector + * @brief Constructor without any initialization + */ inline Vector(); - - //! コンストラクタ(一括初期化版) - /*! - ベクトル要素を指定した引数値で初期化する。 - ゼロクリアが必要な場合などに用いる。 - \param n 要素初期化値 - */ + /** + * @fn Vector + * @brief Constructor with initialize the elements as all same value + * @param [in] n: The value for initializing + */ explicit Vector(const T& n); - //! 要素数取得関数 - /*! - 自身の要素数(次元数)を返す関数。 - \return 要素数 - */ + /** + * @fn dim + * @brief Return number of elements + */ inline size_t dim() const; - //! 要素直アクセス用のキャスト演算子 - /*! - ベクトル各要素を配列と同様にアクセスする為のキャスト演算子。 - 内部で保持しているデータ記録配列の先頭ポインタを返す。 - 利用側は配列と同様[]演算子を利用して要素アクセスが可能になる。 - \return ベクトル先頭要素へのポインタ - */ + /** + * @fn Cast operator to directly access the elements + * @brief Operator to access the elements similar with the 1D-array using `[]` + * @return Pointer to the data storing array + */ inline operator T*(); - //! 要素直アクセス用のキャスト演算子 const版 - /*! - constが指定されている場合であってもベクトル各要素の参照を - 可能にするための演算子定義。 - \return ベクトル先頭要素へのconstポインタ - */ + /** + * @fn Cast operator to directly access the elements (const ver.) + * @brief Operator to access the elements similar with the 1D-array using `[]` + * @return Pointer to the data storing array + */ inline operator const T*() const; - //! 要素アクセス用()演算子 - /*! - ベクトル各要素へのアクセスを提供する。キャスト演算子の場合と異なり、 - こちらは領域外指定に対する検知機構が実装されている。ベクトルの要素 - 数を超えた範囲を指定した場合にはinvalid_argument例外が発生する。 - \param pos 参照したい要素番号 - \return 指定した位置の要素への参照 - */ + /** + * @fn Operator () + * @brief Operator to access the element value + * @details This operator has assertion to detect range over + * @param [in] pos: Target element number + * @return Value of the target element + */ inline T& operator()(std::size_t pos); - //! 要素アクセス用()演算子 const版 - /*! - constが指定されている場合でも要素の参照を可能にする。 - 非const版と同様領域外指定に対する検知機能が実装されている。 - \param pos 参照したい要素番号 - \return 指定した位置の要素 - */ + /** + * @fn Operator () + * @brief Operator to access the element value (const ver.) + * @details This operator has assertion to detect range over + * @param [in] pos: Target element number + * @return Value of the target element + */ inline T operator()(std::size_t pos) const; - //! 加算代入演算子 - /*! - 自身に指定されたVectorを加える。この動作にはVectorの要素の型 - について+=演算子が定義されている必要がある。 - */ + /** + * @fn Operator += + * @brief Operator to add Vector + * @note The element type should has += operator + * @param [in] v: Adding vector + * @return Result of added vector + */ Vector& operator+=(const Vector& v); - //! 減算代入演算子 - /*! - 自身から指定されたVectorを引く。この動作にはVectorの要素の型 - について-=演算子が定義されている必要がある。 - */ + /** + * @fn Operator -= + * @brief Operator to subtract Vector + * @note The element type should has -= operator + * @param [in] v: Subtracting vector + * @return Result of subtracted vector + */ Vector& operator-=(const Vector& v); - //! 乗算代入演算子 - /*! - 自身の各要素に指定された値を乗じる。この動作にはVectorの要素の型 - について*=演算子が定義されている必要がある。 - */ + /** + * @fn Operator *= + * @brief Operator to multiply scalar for all elements + * @note The element type should has *= operator + * @param [in] n: Multiplying scalar value + * @return Result of multiplied vector + */ Vector& operator*=(const T& n); - //! 除算代入演算子 - /*! - 自身の各要素を指定された値で除する。この動作にはVectorの要素の型 - について/=演算子が定義されている必要がある。 - */ + /** + * @fn Operator /= + * @brief Operator to divide scalar for all elements + * @note The element type should has /= operator + * @param [in] n: Dividing scalar value + * @return Result of multiplied vector + */ Vector& operator/=(const T& n); - //! Vector減算演算子 - /*! - Vectorの負反転を行う。 - */ + /** + * @fn Operator - + * @brief Return negative value of the vector + * @return negative vector + */ Vector operator-() const; private: - //! 要素格納配列 - T vector_[N]; + T vector_[N]; //!< Array to store elements }; -//! 全要素一括設定関数 -/*! - Vector全要素を指定された値に設定する。 - \param v 設定対象Vector - \param n 設定値 -*/ +/** + * @fn fill_up + * @brief Fill up all elements with same value + * @param [in] v: Target vector + * @param [in] n: Scalar value to fill up + */ template void fill_up(Vector& v, const T& n); -//! 要素出力関数 -/*! - Vectorの全要素を指定された出力先(ostream)へ出力する。 - デフォルトの出力先はcoutである。 - 各要素は引数で指定された区切り文字で区切って出力される。 - 区切り文字のデフォルトはtabである。 - 行末に改行などは出力されない。 - \param v 出力対象ベクトル - \param delimiter 要素の区切り文字(デフォルトはtab) - \param stream 出力先(デフォルトはcout) -*/ +/** + * @fn print + * @brief Generate all elements to outstream + * @param [in] v: Target vector + * @param [in] delimiter: Delimiter (Default: tab) + * @param [out] stream: Output target(Default: cout) + */ template void print(const Vector& v, char delimiter = '\t', std::ostream& stream = std::cout); -//! Vector加算演算子 -/*! - 2つのVectorの加算を行う。 - \param lhs +演算子の左辺 - \param rhs +演算子の右辺 - \return 加算結果 -*/ +/** + * @fn operator + + * @brief Add two vectors + * @param [in] lhs: Left hand side vector + * @param [in] rhs: Right hand side vector + * @return Result of added vector + */ template const Vector operator+(const Vector& lhs, const Vector& rhs); -//! Vector減算演算子 -/*! - 2つのVectorの減算を行う。 - \param lhs -演算子の左辺 - \param rhs -演算子の右辺 - \return 減算結果 -*/ +/** + * @fn operator - + * @brief Subtract two vectors + * @param [in] lhs: Left hand side vector + * @param [in] rhs: Right hand side vector + * @return Result of subtracted vector + */ template const Vector operator-(const Vector& lhs, const Vector& rhs); -//! Vector係数倍演算子 -/*! - Vectorの各要素に指定された係数を乗じる - \param lhs 係数 - \param rhs Vector - \return 乗算結果 -*/ +/** + * @fn operator * + * @brief Multiply scar and vector + * @param [in] lhs: Left hand side scalar + * @param [in] rhs: Right hand side vector + * @return Result of multiplied vector + */ template const Vector operator*(const T& lhs, const Vector& rhs); -//! 内積計算関数 -/*! - 2つのVectorの内積を計算する - \param lhs 左辺 - \param rhs 右辺 - \return 内積計算結果 -*/ +/** + * @fn inner_product + * @brief Inner product of two vectors + * @param [in] lhs: Left hand side vector + * @param [in] rhs: Right hand side vector + * @return Result of scalar value + */ template const T inner_product(const Vector& lhs, const Vector& rhs); -//! 外積計算結果 -/*! - 2つのVectorの外積を計算する - \param lhs 左辺 - \param rhs 右辺 - \return 外積計算結果 -*/ +/** + * @fn outer_product + * @brief Outer product of two vectors + * @param [in] lhs: Left hand side vector + * @param [in] rhs: Right hand side vector + * @return Result vector + */ template const Vector<3, T> outer_product(const Vector<3, T>& lhs, const Vector<3, T>& rhs); -//! ノルム計算関数 -/*! - Vectorのノルムを計算する - \param v 計算対象Vector - \return ノルム計算結果 -*/ +/** + * @fn norm + * @brief Calculate norm of vector + * @param [in] v: Target vector + * @return Norm of the vector + */ template double norm(const Vector& v); -//! Vector正規化関数 -/*! - 指定されたVectorをノルム1に正規化する。 - \param v 正規化対象Vector - \return 正規化結果 -*/ +/** + * @fn normalize + * @brief Normalize the target vector + * @note Warning: v is overwritten. + * @param [in/out] v: Target vector + * @return Normalized vector + */ template Vector& normalize(Vector& v); -//! ベクトル間角度計算関数 -/*! -Vector同士の角度を計算する -\param v1,v2 計算対象Vector -\return 角度計算結果 -*/ +/** + * @fn angle + * @brief Calculate angle between two vectors + * @param [in] v1: First vector + * @param [in] v2: Second vector + * @return Angle between v1 and v2 [rad] + */ template double angle(const Vector& v1, const Vector& v2); -//! 直交座標->球座標変換 -/*! - 直交座標(Orthogonal Cordinates)表記のベクトルを球座標(Spherical - Polar Cordinates)表記のベクトルへ変換する。 - ベクトル表記は(x, y, z) -> (r, theta, phi)である。thetaはベクトルとz - 軸のなす角、phiはベクトルのx-y平面への投影がx軸となす角度である。 - thetaの定義域は0<=theta ortho2spher(const Vector<3, double>& ortho); -//! 直交座標 -> 経度緯度座標変換 -/*! - 直交座標(Orthogonal Cordinates)表記のベクトルを経度緯度(lonlat)表記の - ベクトルへ変換する。 - ベクトル表記は(x, y, z) -> (h, lat, lon)である。 - \param ortho 直交座標表記ベクトル(変換元) - \return 経度緯度座標表記ベクトル(変換結果) -*/ +/** + * @fn ortho2lonlat + * @brief Convert orthogonal coordinate (x, y, z) to Geodetic coordinate (altitude, latitude, longitude) + * @note TODO: Consider merge with GeodeticPosition class + * @param [in] ortho: Vector in orthogonal coordinate + * @return Vector in Geodetic coordinate + */ Vector<3, double> ortho2lonlat(const Vector<3, double>& ortho); -//! Generate one unit vector orthogonal to the given 3D vector -/*! - NOTE: Vectors orthogonal to the other vector have rotational degree of - freedom, which are determined arbitrarily in this function. \param v Given - vector \return v_ortho Generated unit vector that is orthogonal to v -*/ +/** + * @fn GenerateOrthoUnitVector + * @brief Generate one unit vector orthogonal to the given 3D vector + * @note Vectors orthogonal to the other vector have rotational degree of freedom, which are determined arbitrarily in this function. + * @param [in] v: Given vector + * @return Generated unit vector that is orthogonal to v + */ Vector<3, double> GenerateOrthoUnitVector(const Vector<3, double>& v); } // namespace libra diff --git a/src/Library/math/Vector_ifs.hpp b/src/Library/math/Vector_ifs.hpp index 4ffc54e3b..7301a0a8a 100644 --- a/src/Library/math/Vector_ifs.hpp +++ b/src/Library/math/Vector_ifs.hpp @@ -1,9 +1,7 @@ -/*! - \file Vector_ifs.hpp - \author TAKISAWA, Jun'ichi. - \date Sun Apr 24 00:55:31 2011 - \brief Vector.hppのinline関数実装 -*/ +/** + * @file Vector_ifs.hpp + * @brief Class for mathematical vector (inline functions) + */ #ifndef VECTOR_IFS_HPP_ #define VECTOR_IFS_HPP_ diff --git a/src/Library/math/Vector_tfs.hpp b/src/Library/math/Vector_tfs.hpp index 5b07ecfee..a5a77e4c7 100644 --- a/src/Library/math/Vector_tfs.hpp +++ b/src/Library/math/Vector_tfs.hpp @@ -1,8 +1,7 @@ -/*! - \file Vector_impl.hpp - \author TAKISAWA Jun'ichi. - \brief Vector.hppのテンプレート実装 -*/ +/** + * @file Vector_tfs.hpp + * @brief Class for mathematical vector (template functions) + */ #ifndef VECTOR_HPP_TFS_HPP_ #define VECTOR_HPP_TFS_HPP_ @@ -127,7 +126,7 @@ Vector& normalize(Vector& v) { double n = norm(v); if (n == 0.0) { return v; - } //零ベクトル + } // 零ベクトル // 正規化 n = 1.0 / n; From 0504c7817d01e6294aa5e722b22caf244481d329 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 09:40:40 +0100 Subject: [PATCH 118/199] Fix comments in ComponentBase --- src/Component/Abstract/ComponentBase.cpp | 5 ++ src/Component/Abstract/ComponentBase.h | 67 ++++++++++++++++++++---- 2 files changed, 63 insertions(+), 9 deletions(-) diff --git a/src/Component/Abstract/ComponentBase.cpp b/src/Component/Abstract/ComponentBase.cpp index dc633e146..06d151606 100644 --- a/src/Component/Abstract/ComponentBase.cpp +++ b/src/Component/Abstract/ComponentBase.cpp @@ -1,3 +1,8 @@ +/** + * @file ComponentBase.cpp + * @brief Base class for component emulation. All components have to inherit this. + */ + #include "ComponentBase.h" ComponentBase::ComponentBase(int prescaler, ClockGenerator* clock_gen, int fast_prescaler) : clock_gen_(clock_gen) { diff --git a/src/Component/Abstract/ComponentBase.h b/src/Component/Abstract/ComponentBase.h index c43b7d72b..011e4831a 100644 --- a/src/Component/Abstract/ComponentBase.h +++ b/src/Component/Abstract/ComponentBase.h @@ -1,3 +1,8 @@ +/** + * @file ComponentBase.h + * @brief Base class for component emulation. All components have to inherit this. + */ + #pragma once #include #include @@ -6,33 +11,77 @@ #include "ITickable.h" -// Base class for components with clock and power on/off features +/** + * @class ComponentBase + * @brief Base class for component emulation. All components have to inherit this. + * @details CompoentBase ha clock and power on/off features + */ class ComponentBase : public ITickable { public: + /** + * @fn ComponentBase + * @brief Constructor without power port + * @note Power port is used as power on state + * @param [in] prescaler: Frequency scale factor for normal update + * @param [in] clocl_gen: Clock generator + * @param [in] fast_prescaler: Frequency scale factor for fast update (used only for component faster than component update period) + */ ComponentBase(int prescaler, ClockGenerator* clock_gen, int fast_prescaler = 1); + /** + * @fn ComponentBase + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for normal update + * @param [in] clocl_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] fast_prescaler: Frequency scale factor for fast update (used only for component faster than component update period) + */ ComponentBase(int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, int fast_prescaler = 1); + /** + * @fn ComponentBase + * @brief Copy constructor + */ ComponentBase(const ComponentBase& obj); + /** + * @fn ~ComponentBase + * @brief Destructor + */ virtual ~ComponentBase(); - // The methods to input clock. This will be called periodically. + /** + * @fn Tick + * @brief The methods to input clock. This will be called periodically. + */ virtual void Tick(int count); + /** + * @fn FastTick + * @brief The methods to input fast clock. This will be called periodically. + */ virtual void FastTick(int fast_count); protected: int prescaler_; //!< Frequency scale factor for normal update int fast_prescaler_ = 1; //!< Frequency scale factor for fast update - // The method periodically executed when the power switch is on. - // The period is decided with the prescaler_ and the base clock. + /** + * @fn MainRoutine + * @brief Pure virtual function periodically executed when the power switch is on. + * @note The period is decided with the prescaler_ and the base clock. + */ virtual void MainRoutine(int time_count) = 0; - // Method used to calculate high-frequency disturbances(e.g. RW jitter) - // Override only when high-frequency disturbances need to be calculated. + /** + * @fn FastUpdate + * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) + * @note Override only when high-frequency disturbances need to be calculated. + */ virtual void FastUpdate(){}; - // The method executed when the power switch is off. + /** + * @fn PowerOffRoutine + * @brief Pure virtual function executed when the power switch is off. + */ virtual void PowerOffRoutine(){}; - ClockGenerator* clock_gen_; - PowerPort* power_port_; + ClockGenerator* clock_gen_; //!< Clock generator + PowerPort* power_port_; //!< Power port }; From 10a04e593ed38f3d3ea8aeb51d7fb913f7de4a60 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 10:04:53 +0100 Subject: [PATCH 119/199] Fix comments in EXP --- src/Component/Abstract/EXP.cpp | 9 +++- src/Component/Abstract/EXP.h | 89 ++++++++++++++++++++++++++-------- 2 files changed, 77 insertions(+), 21 deletions(-) diff --git a/src/Component/Abstract/EXP.cpp b/src/Component/Abstract/EXP.cpp index 7d9cf9ca3..153692f81 100644 --- a/src/Component/Abstract/EXP.cpp +++ b/src/Component/Abstract/EXP.cpp @@ -1,9 +1,16 @@ +/** + * @file EXP.cpp + * @brief Example of component emulation with communication between OBC Flight software + */ + #include "EXP.h" #include EXP::EXP(ClockGenerator* clock_gen, int port_id, OBC* obc) : ComponentBase(1000, clock_gen), ObcCommunicationBase(port_id, obc) { Initialize(); } -EXP::EXP(ClockGenerator* clock_gen, int port_id, int prescaler, OBC* obc) : ComponentBase(prescaler, clock_gen), ObcCommunicationBase(port_id, obc) { Initialize(); } +EXP::EXP(ClockGenerator* clock_gen, int port_id, int prescaler, OBC* obc) : ComponentBase(prescaler, clock_gen), ObcCommunicationBase(port_id, obc) { + Initialize(); +} int EXP::Initialize() { for (int i = 0; i < MAX_MEMORY_LEN; i++) { diff --git a/src/Component/Abstract/EXP.h b/src/Component/Abstract/EXP.h index 58df79cba..7efecd390 100644 --- a/src/Component/Abstract/EXP.h +++ b/src/Component/Abstract/EXP.h @@ -1,3 +1,8 @@ +/** + * @file EXP.h + * @brief Example of component emulation with communication between OBC Flight software + */ + #pragma once #include @@ -5,38 +10,82 @@ #include "IGPIOCompo.h" #include "ObcCommunicationBase.h" -// 研修用の模擬コンポーネント -// # コンポ「EXP」の仕様 -// * コマンドは5バイト: -// * 最初の3バイト: “SET” -// * 次の1バイト: セットするデータ ASCIIの0x21~0x7e -// * 次の1バイト: “\n” -// * テレメは100バイト: -// * 今までSETされたデータの蓄積を返す -// * SETされたデータが100バイトを超えると、古い方から切り捨てていく -// * 空のときは\0で埋められている -// * 100バイト目は必ず ’\n’ -// * テレメは定期的に自動で送出される -// * その他の仕様は都合良く仮定して良い +/** + * @class EXP + * @brief Example of component emulation with communication between OBC Flight software + * @details Command to EXP is 5 bytes. + * - The first 3 bytes: "SET" + * - The Fourth byte: Set data (ASCII 0x21~0x7e) + * - The last byte: "\n" + * Telemetry from EXP is 100 bytes. + * - Send the accumulated data set by the SET command. + * - Unset data is filled with '\0' + * - The last byte: "\n" + * - The telemetry is automatically generated + */ class EXP : public ComponentBase, public ObcCommunicationBase, public IGPIOCompo { public: + /** + * @fn EXP + * @brief Constructor without prescaler + * @note The prescaler is set as 1000 + * @param [in] clock_gen: Clock generator + * @param [in] port_id: Port ID for communication line b/w OBC + * @param [in] obc:The communication target OBC + */ EXP(ClockGenerator* clock_gen, int port_id, OBC* obc); + /** + * @fn EXP + * @brief Constructor + * @param [in] clock_gen: Clock generator + * @param [in] port_id: Port ID for communication line b/w OBC + * @param [in] prescaler: Frequency scale factor for update + * @param [in] obc:The communication target OBC + */ EXP(ClockGenerator* clock_gen, int port_id, int prescaler, OBC* obc); + /** + * @fn ~EXP + * @brief Destructor + */ ~EXP(); protected: + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to receive command and send telemetry + */ void MainRoutine(int count); + + // Override functions for IGPIOCompo + /** + * @fn GPIOStateChanged + * @brief Interrupt function for GPIO + */ void GPIOStateChanged(int port_id, bool isPosedge); private: - const static int MAX_MEMORY_LEN = 100; - std::vector memory; - char memoryc[100]; - unsigned char tx_buff[MAX_MEMORY_LEN]; - unsigned char rx_buff[MAX_MEMORY_LEN]; - // override ObcComunication + const static int MAX_MEMORY_LEN = 100; //!< Maximum memory length + std::vector memory; //!< Memory for telemetry generation + char memoryc[100]; //!< Memory in char array + unsigned char tx_buff[MAX_MEMORY_LEN]; //!< TX (Telemetry send) buffer + unsigned char rx_buff[MAX_MEMORY_LEN]; //!< RX (Command receive) buffer + + // Override functions for ObcComunication + /** + * @fn ParseCommand + * @brief Parse command received from OBC + */ int ParseCommand(const int cmd_size) override; + /** + * @fn GenerateTelemetry + * @brief Generate telemetry send to OBC + */ int GenerateTelemetry() override; - // internal function + + /** + * @fn Initialize + * @brief Initialize function + */ int Initialize(); }; \ No newline at end of file From a5e37c22729e157c4aea48399ecd05f27b9b58e8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 10:21:31 +0100 Subject: [PATCH 120/199] Fix comments in ExpHils --- src/Component/Abstract/ExpHils.cpp | 7 +++- src/Component/Abstract/ExpHils.h | 65 ++++++++++++++++++++++-------- 2 files changed, 54 insertions(+), 18 deletions(-) diff --git a/src/Component/Abstract/ExpHils.cpp b/src/Component/Abstract/ExpHils.cpp index c2f154d48..cce161fdb 100644 --- a/src/Component/Abstract/ExpHils.cpp +++ b/src/Component/Abstract/ExpHils.cpp @@ -1,3 +1,7 @@ +/** + * @file ExpHils.cpp + * @brief Example of component emulation for UART communication in HILS environment + */ #include "ExpHils.h" #include @@ -16,8 +20,7 @@ int ExpHils::ParseCommand(const int cmd_size) { memory_[i] = (unsigned char)rx_buffer_[i]; } memory_[kMemorySize - 1] = '\0'; - } else if (mode_id_ == 0) // data returned from the responder component to - // the sender component + } else if (mode_id_ == 0) // data returned from the responder component to the sender component { // the first row will overwrite the progress output in SampleCase.cpp std::cout << std::endl << rx_buffer_[0] << rx_buffer_[1] << rx_buffer_[2] << std::endl; diff --git a/src/Component/Abstract/ExpHils.h b/src/Component/Abstract/ExpHils.h index f09a7594e..7081888ec 100644 --- a/src/Component/Abstract/ExpHils.h +++ b/src/Component/Abstract/ExpHils.h @@ -1,36 +1,69 @@ +/** + * @file ExpHils.h + * @brief Example of component emulation for UART communication in HILS environment + */ #pragma once #include #include "ComponentBase.h" #include "ObcCommunicationBase.h" -// mock components for training -// # Specification for ExpHils -// * Checking UART communication for HILS exam -// compo_id = 0 : the sender compo which sends out a new massage -// compo_id = 1 : the responder compo which returns the message as received -// * message size is 4 bytes -// the first 3 bytes : ASCII(ABC, BCD, CDE,...) -// the last byte : \0 - +/** + * @class ExpHils + * @brief Example of component emulation for communication in HILS environment + * @details The sender mode: ExpHils sends out a new massage + * - message size is 4 bytes + * - the first 3 bytes : ASCII(ABC, BCD, CDE,...) + * - the last byte : \0 + * The responder mode: ExpHils returns the message as received + */ class ExpHils : public ComponentBase, public ObcCommunicationBase { public: + /** + * @fn ExpHils + * @brief Constructor + * @note prescaler is set as 300. + * @param [in] clock_gen: Clock generator + * @param [in] sils_port_id: Port ID for communication line b/w OBC + * @param [in] obc: The communication target OBC + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] hils_port_manager: HILS port manager + * @param [in] mode_id: Mode ID to select sender(0) or responder(1) + */ ExpHils(ClockGenerator* clock_gen, const int sils_port_id, OBC* obc, const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager, const int mode_id); + /** + * @fn ~ExpHils + * @brief Destructor + */ ~ExpHils(); protected: + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to receive command and send telemetry + */ void MainRoutine(int count); private: - const static int kMemorySize = 4; - const int kNumAlphabet = 26; - char memory_[kMemorySize] = {0, 0, 0, '\0'}; // for the responder compo - char tx_[kMemorySize] = {0, 0, 0, '\0'}; - const int mode_id_; - int counter_ = 0; + const static int kMemorySize = 4; //!< Memory size + const int kNumAlphabet = 26; //!< Number of Alphabet + char memory_[kMemorySize] = {0, 0, 0, '\0'}; //!< Memory + char tx_[kMemorySize] = {0, 0, 0, '\0'}; //!< TX(Telemetry send) buffer + const int mode_id_; //!< Mode ID to select sender(0) or responder(1) + int counter_ = 0; //!< Internal counter - // override ObcComunication + // Override functions for ObcComunication + /** + * @fn ParseCommand + * @brief Parse command received from OBC + */ int ParseCommand(const int cmd_size) override; + /** + * @fn GenerateTelemetry + * @brief Generate telemetry send to OBC + */ int GenerateTelemetry() override; }; From 93d16f4cf53c092fab89161f8a4bd89b2e901356 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 10:36:40 +0100 Subject: [PATCH 121/199] Fix comments in ExpHilsI2cController --- .../Abstract/ExpHilsI2cController.cpp | 4 ++ src/Component/Abstract/ExpHilsI2cController.h | 54 +++++++++++++++---- 2 files changed, 48 insertions(+), 10 deletions(-) diff --git a/src/Component/Abstract/ExpHilsI2cController.cpp b/src/Component/Abstract/ExpHilsI2cController.cpp index 2d9ff8feb..64c2368d5 100644 --- a/src/Component/Abstract/ExpHilsI2cController.cpp +++ b/src/Component/Abstract/ExpHilsI2cController.cpp @@ -1,3 +1,7 @@ +/** + * @file ExpHilsI2cController.cpp + * @brief Example of component emulation for I2C controller side communication in HILS environment + */ #include "ExpHilsI2cController.h" ExpHilsI2cController::ExpHilsI2cController(const int prescaler, ClockGenerator* clock_gen, const unsigned int hils_port_id, diff --git a/src/Component/Abstract/ExpHilsI2cController.h b/src/Component/Abstract/ExpHilsI2cController.h index 4d7e66398..4357f2c27 100644 --- a/src/Component/Abstract/ExpHilsI2cController.h +++ b/src/Component/Abstract/ExpHilsI2cController.h @@ -1,29 +1,63 @@ +/** + * @file ExpHilsI2cController.h + * @brief Example of component emulation for I2C controller side communication in HILS environment + */ #pragma once #include #include "ComponentBase.h" #include "I2cControllerCommunicationBase.h" -// Example of the I2C Controller side communication. -// This helps I2C communication for HILS testing. -// Supposed to be used in connection with an I2C-USB Controller converter: -// SC18IM700 Data Sheet: https://www.nxp.com/docs/en/data-sheet/SC18IM700.pdf -// telemetry size = 5 bytes(ASCII) - +/** + * @class ExpHilsI2cController + * @brief Example of component emulation for I2C controller side communication in HILS environment + * @details Supposed to be used in connection with the following I2C-USB Controller converter + * SC18IM700 Data Sheet: https://www.nxp.com/docs/en/data-sheet/SC18IM700.pdf + * telemetry size = 5 bytes(ASCII) + */ class ExpHilsI2cController : public ComponentBase, public I2cControllerCommunicationBase { public: + /** + * @fn ExpHilsI2cController + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] tx_buf_size: TX (Controller to Target) buffer size + * @param [in] rx_buf_size: RX (Target to Controller) buffer size + * @param [in] hils_port_manager: HILS port manager + */ ExpHilsI2cController(const int prescaler, ClockGenerator* clock_gen, const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buf_size, const unsigned int rx_buf_size, HilsPortManager* hils_port_manager); + /** + * @fn ~ExpHilsI2cController + * @brief Destructor + */ ~ExpHilsI2cController(); protected: + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to receive command and send telemetry + */ void MainRoutine(int count); private: + /** + * @fn RequestTlm + * @brief Send command to the I2C-USB converter to send telemetry request command to the I2C Target + */ void RequestTlm(); + /** + * @fn Receive + * @brief Send command to the I2C-USB converter to read received data + */ void Receive(); - static const uint8_t kCmdHeader_ = 0x53; // S - static const uint8_t kReadCmd_ = 0x45; - static const uint8_t kWriteCmd_ = 0x44; - static const uint8_t kCmdFooter_ = 0x50; // P + + static const uint8_t kCmdHeader_ = 0x53; //!< 'S' Header for SC18IM700 + static const uint8_t kReadCmd_ = 0x45; //!< Read command for SC18IM700 + static const uint8_t kWriteCmd_ = 0x44; //!< Write command for SC18IM700 + static const uint8_t kCmdFooter_ = 0x50; //!< 'P' Footer for SC18IM700 }; From 7ac1d3071900761921ae5576658c334da06e3312 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 10:42:39 +0100 Subject: [PATCH 122/199] Fix comments in ExpHilsI2cTarget --- src/Component/Abstract/ExpHilsI2cTarget.cpp | 5 +++ src/Component/Abstract/ExpHilsI2cTarget.h | 47 ++++++++++++++++----- 2 files changed, 41 insertions(+), 11 deletions(-) diff --git a/src/Component/Abstract/ExpHilsI2cTarget.cpp b/src/Component/Abstract/ExpHilsI2cTarget.cpp index eb2a75c85..a1ac75e60 100644 --- a/src/Component/Abstract/ExpHilsI2cTarget.cpp +++ b/src/Component/Abstract/ExpHilsI2cTarget.cpp @@ -1,3 +1,8 @@ +/** + * @file ExpHilsI2cTarget.cpp + * @brief Example of component emulation for I2C target side communication in HILS environment + */ + #include "ExpHilsI2cTarget.h" ExpHilsI2cTarget::ExpHilsI2cTarget(const int prescaler, ClockGenerator* clock_gen, const int sils_port_id, unsigned char i2c_address, OBC* obc, diff --git a/src/Component/Abstract/ExpHilsI2cTarget.h b/src/Component/Abstract/ExpHilsI2cTarget.h index 6f696b23c..e274621fa 100644 --- a/src/Component/Abstract/ExpHilsI2cTarget.h +++ b/src/Component/Abstract/ExpHilsI2cTarget.h @@ -1,28 +1,53 @@ +/** + * @file ExpHilsI2cTarget.h + * @brief Example of component emulation for I2C target side communication in HILS environment + */ + #pragma once #include #include "ComponentBase.h" #include "ObcI2cTargetCommunicationBase.h" -// Example of the I2C Target side communication. -// This helps I2C communication for HILS testing. -// Supposed to be used in connection with I2C-USB Target converter: MFT200XD -// Data Sheet: -// https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT200XD.pdf -// telemetry size = 5 bytes(ASCII) -// Telemetry changes; ABCDE, BCDEF, ..., VWXYZ, ABCDE, ... - +/** + * @class ExpHilsI2cTarget + * @brief Example of component emulation for I2C target side communication in HILS environment + * @details Supposed to be used in connection with the following I2C-USB Controller converter + * MFT200XD Data Sheet:https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT200XD.pdf + * Telemetry size = 5 bytes(ASCII) + * Telemetry changes; ABCDE, BCDEF, ..., VWXYZ, ABCDE, ... + */ class ExpHilsI2cTarget : public ComponentBase, public ObcI2cTargetCommunicationBase { public: + /** + * @fn ExpHilsI2cTarget + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] sils_port_id: Port ID for communication line b/w OBC + * @param [in] i2c_address: I2C address of the target device (This value should be compatible with MFT200XD's setting) + * @param [in] obc: The communication target OBC + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] hils_port_manager: HILS port manager + */ ExpHilsI2cTarget(const int prescaler, ClockGenerator* clock_gen, const int sils_port_id, unsigned char i2c_address, OBC* obc, const unsigned int hils_port_id, HilsPortManager* hils_port_manager); + /** + * @fn ~ExpHilsI2cTarget + * @brief Destructor + */ ~ExpHilsI2cTarget(); protected: + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to receive command and send telemetry + */ void MainRoutine(int count); private: - unsigned char tlm_counter_ = 0; - const unsigned int kStoredFrameSize = 3; - const unsigned char kNumAlphabet = 26; + unsigned char tlm_counter_ = 0; //!< Telemetry counter + const unsigned int kStoredFrameSize = 3; //!< Frame size + const unsigned char kNumAlphabet = 26; //!< Number of alphabet }; From 1aedf4e47122817e947e224a4f645923a91a4b02 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:04:56 +0100 Subject: [PATCH 123/199] Fix comments in I2cControllerCommunicationBase --- .../I2cControllerCommunicationBase.cpp | 4 ++ .../Abstract/I2cControllerCommunicationBase.h | 57 +++++++++++++++---- 2 files changed, 49 insertions(+), 12 deletions(-) diff --git a/src/Component/Abstract/I2cControllerCommunicationBase.cpp b/src/Component/Abstract/I2cControllerCommunicationBase.cpp index 5c9d0adc3..245609028 100644 --- a/src/Component/Abstract/I2cControllerCommunicationBase.cpp +++ b/src/Component/Abstract/I2cControllerCommunicationBase.cpp @@ -1,3 +1,7 @@ +/** + * @file I2cControllerCommunicationBase.cpp + * @brief This class simulates the I2C Controller communication with the I2C Target. + */ #include "I2cControllerCommunicationBase.h" #include diff --git a/src/Component/Abstract/I2cControllerCommunicationBase.h b/src/Component/Abstract/I2cControllerCommunicationBase.h index ab216040d..6ac901798 100644 --- a/src/Component/Abstract/I2cControllerCommunicationBase.h +++ b/src/Component/Abstract/I2cControllerCommunicationBase.h @@ -1,29 +1,62 @@ +/** + * @file I2cControllerCommunicationBase.h + * @brief This class simulates the I2C Controller communication with the I2C Target. + */ #pragma once #include "../../Interface/HilsInOut/HilsPortManager.h" #include "ObcCommunicationBase.h" -// This class simulates the I2C Controller communication with the I2C Target. -// The main purpose is to validate the emulated I2C Target component in the HILS -// test. - +/** + * @class I2cControllerCommunicationBase + * @brief This class simulates the I2C Controller communication with the I2C Target. + * @note Generally, I2C controller side is OBC, and components are target side. + * The main purpose is to validate the emulated I2C Target component in the HILS test. + * This class works only HILS mode + */ class I2cControllerCommunicationBase { public: + /** + * @fn I2cControllerCommunicationBase + * @brief Constructor + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] tx_buf_size: TX (Controller to Target) buffer size + * @param [in] rx_buf_size: RX (Target to Controller) buffer size + * @param [in] hils_port_manager: HILS port manager + */ I2cControllerCommunicationBase(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buf_size, const unsigned int rx_buf_size, HilsPortManager* hils_port_manager); + /** + * @fn ~I2cControllerCommunicationBase + * @brief Destructor + */ ~I2cControllerCommunicationBase(); protected: + /** + * @fn ReceiveTelemetry + * @brief Receive telemetry + * @note This function works only HILS mode + * @param [in] len: Length of data + */ int ReceiveTelemetry(const unsigned char len); + /** + * @fn SendCommand + * @brief Send command + * @note This function works only HILS mode + * @param [in] len: Length of data + */ int SendCommand(const unsigned char len); - std::vector tx_buffer_; - std::vector rx_buffer_; + + std::vector tx_buffer_; //!< TX (Controller to Target) buffer + std::vector rx_buffer_; //!< RX (Target to Controller) buffer private: - unsigned int hils_port_id_; - int baud_rate_; // [baud] ex. 9600, 115200 - unsigned int tx_buf_size_; - unsigned int rx_buf_size_; - OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; + unsigned int hils_port_id_; //!< ID of HILS communication port + int baud_rate_; //!< Baud rate of HILS communication port ex. 9600, 115200 + unsigned int tx_buf_size_; //!< TX (Controller to Target) buffer size + unsigned int rx_buf_size_; //!< RX (Target to Controller) buffer size + OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; //!< Simulation mode (SILS or HILS) - HilsPortManager* hils_port_manager_; + HilsPortManager* hils_port_manager_; //!< HILS port manager }; From a09c7254a00470fc7cf5a72919d0433c3b0efde9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:08:46 +0100 Subject: [PATCH 124/199] Fix comments in IGPIOCompo --- src/Component/Abstract/IGPIOCompo.h | 23 ++++++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/src/Component/Abstract/IGPIOCompo.h b/src/Component/Abstract/IGPIOCompo.h index d88514f04..d3626ce51 100644 --- a/src/Component/Abstract/IGPIOCompo.h +++ b/src/Component/Abstract/IGPIOCompo.h @@ -1,9 +1,26 @@ +/** + * @file IGPIOCompo.h + * @brief Interface class for components which have GPIO port + */ + #pragma once +/** + * @class IGPIOCompo + * @brief Interface class for components which have GPIO port + */ class IGPIOCompo { public: + /** + * @fn ~IGPIOCompo + * @brief Destructor + */ virtual ~IGPIOCompo(){}; - // GPIOのHIGH/LOWが変化したときに呼び出される - // GPIOはしばしば割り込み的に使われるので、用意した - // ポートにより振る舞いを変更する必要がある可能性があるので、引数にport_idを含める + + /** + * @fn GPIOStateChanged + * @brief Pure virtual function called at the GPIO state is changed like interrupt function. + * @param[in] port_id: GPIO port ID + * @param[in] isPosedge: Flag to express positive edge or not + */ virtual void GPIOStateChanged(int port_id, bool isPosedge) = 0; }; From a65089ad2764e5a9c73325954a94bced31a807d2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:12:11 +0100 Subject: [PATCH 125/199] Fix comments in InitializeSensorBase --- src/Component/Abstract/InitializeSensorBase.hpp | 12 ++++++++++++ src/Component/Abstract/InitializeSensorBase_tfs.hpp | 5 +++++ 2 files changed, 17 insertions(+) diff --git a/src/Component/Abstract/InitializeSensorBase.hpp b/src/Component/Abstract/InitializeSensorBase.hpp index 3f0acca92..98ecd9137 100644 --- a/src/Component/Abstract/InitializeSensorBase.hpp +++ b/src/Component/Abstract/InitializeSensorBase.hpp @@ -1,7 +1,19 @@ +/** + * @file InitializeSensorBase.hpp + * @brief Initialize functions for SensorBase class + */ + #pragma once #include "SensorBase.h" +/** + * @fn ReadSensorBaseInformation + * @brief Read information from initialize file for SensorBase class + * @note It is recommended to use this function for all sensors inherits the SensorBase class + * @param [in] file_name: Path to the initialize file + * @param [in] step_width_s: Step width of component updata [sec] + */ template SensorBase ReadSensorBaseInformation(const std::string file_name, const double step_width_s); diff --git a/src/Component/Abstract/InitializeSensorBase_tfs.hpp b/src/Component/Abstract/InitializeSensorBase_tfs.hpp index 9baaa024e..6abed329f 100644 --- a/src/Component/Abstract/InitializeSensorBase_tfs.hpp +++ b/src/Component/Abstract/InitializeSensorBase_tfs.hpp @@ -1,3 +1,8 @@ +/** + * @file InitializeSensorBase_tfs.hpp + * @brief Initialize functions for SensorBase class (template functions) + */ + #pragma once #include "Interface/InitInput/IniAccess.h" From 683dc516986b9a709126f69110b73a0338b9b312 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:19:39 +0100 Subject: [PATCH 126/199] Fix comments in ITickable --- src/Component/Abstract/ComponentBase.h | 1 + src/Component/Abstract/ITickable.h | 31 ++++++++++++++++++++++---- 2 files changed, 28 insertions(+), 4 deletions(-) diff --git a/src/Component/Abstract/ComponentBase.h b/src/Component/Abstract/ComponentBase.h index 011e4831a..74257c082 100644 --- a/src/Component/Abstract/ComponentBase.h +++ b/src/Component/Abstract/ComponentBase.h @@ -47,6 +47,7 @@ class ComponentBase : public ITickable { */ virtual ~ComponentBase(); + // Override functions for ITickable /** * @fn Tick * @brief The methods to input clock. This will be called periodically. diff --git a/src/Component/Abstract/ITickable.h b/src/Component/Abstract/ITickable.h index 1e333dbc3..4eddb12c0 100644 --- a/src/Component/Abstract/ITickable.h +++ b/src/Component/Abstract/ITickable.h @@ -1,16 +1,39 @@ +/** + * @file ITickable.h + * @brief Interface class for time update of components + */ + #pragma once +/** + * @class ITickable + * @brief Interface class for time update of components + */ class ITickable { public: + /** + * @fn Tick + * @brief Pure virtual function to update clock of components + */ virtual void Tick(int count) = 0; - // Calculate high-frequency disturbances - // Override this only for components that need fast updates. + /** + * @fn FastTick + * @brief Pure virtual function to update clock faster than the base component update period of components + * @note Usec ase: Calculate high-frequency disturbances + */ virtual void FastTick(int fast_count) = 0; // Whether or not high-frequency disturbances need to be calculated + /** + * @fn GetNeedsFastUpdate + * @brief Return fast update flag + */ inline bool GetNeedsFastUpdate() { return needs_fast_update_; } + /** + * @fn SetNeedsFastUpdate + * @brief Set fast update flag + */ inline void SetNeedsFastUpdate(bool need_fast_update) { needs_fast_update_ = need_fast_update; } protected: - // Whether or not high-frequency disturbances need to be calculated - bool needs_fast_update_ = false; + bool needs_fast_update_ = false; //!< Whether or not high-frequency disturbances need to be calculated }; \ No newline at end of file From b267aa146324ff0e1e59e23a826334ca412a0fa5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:38:32 +0100 Subject: [PATCH 127/199] Fix comments in ObcCommunicationBase --- src/Component/Abstract/EXP.h | 4 +- .../Abstract/ObcCommunicationBase.cpp | 5 + src/Component/Abstract/ObcCommunicationBase.h | 113 +++++++++++++++--- 3 files changed, 102 insertions(+), 20 deletions(-) diff --git a/src/Component/Abstract/EXP.h b/src/Component/Abstract/EXP.h index 7efecd390..601427007 100644 --- a/src/Component/Abstract/EXP.h +++ b/src/Component/Abstract/EXP.h @@ -31,7 +31,7 @@ class EXP : public ComponentBase, public ObcCommunicationBase, public IGPIOCompo * @note The prescaler is set as 1000 * @param [in] clock_gen: Clock generator * @param [in] port_id: Port ID for communication line b/w OBC - * @param [in] obc:The communication target OBC + * @param [in] obc: The communication target OBC */ EXP(ClockGenerator* clock_gen, int port_id, OBC* obc); /** @@ -40,7 +40,7 @@ class EXP : public ComponentBase, public ObcCommunicationBase, public IGPIOCompo * @param [in] clock_gen: Clock generator * @param [in] port_id: Port ID for communication line b/w OBC * @param [in] prescaler: Frequency scale factor for update - * @param [in] obc:The communication target OBC + * @param [in] obc: The communication target OBC */ EXP(ClockGenerator* clock_gen, int port_id, int prescaler, OBC* obc); /** diff --git a/src/Component/Abstract/ObcCommunicationBase.cpp b/src/Component/Abstract/ObcCommunicationBase.cpp index 4c8e3dfef..486980708 100644 --- a/src/Component/Abstract/ObcCommunicationBase.cpp +++ b/src/Component/Abstract/ObcCommunicationBase.cpp @@ -1,3 +1,8 @@ +/** + * @file ObcCommunicationBase.cpp + * @brief Base class for serial communication (e.g., UART) with OBC flight software + */ + #include "ObcCommunicationBase.h" #include diff --git a/src/Component/Abstract/ObcCommunicationBase.h b/src/Component/Abstract/ObcCommunicationBase.h index b149de07b..00fe21792 100644 --- a/src/Component/Abstract/ObcCommunicationBase.h +++ b/src/Component/Abstract/ObcCommunicationBase.h @@ -1,25 +1,87 @@ +/** + * @file ObcCommunicationBase.h + * @brief Base class for serial communication (e.g., UART) with OBC flight software + */ #pragma once #include #include "../CDH/OBC.h" +/** + * @enum OBC_COM_UART_MODE + * @brief Simulation mode (SILS or HILS) + * @details In the SILS mode, S2E does not need to communicate with OBC in S2E + */ enum class OBC_COM_UART_MODE { - SILS, - HILS, - MODE_ERROR, + SILS, //!< Software In the Loop Simulation + HILS, //!< Hardware In the Loop Simulation + MODE_ERROR, //!< Error }; +/** + * @class ObcCommunicationBase + * @brief Base class for serial communication (e.g., UART) with OBC flight software + */ class ObcCommunicationBase { public: + /** + * @fn ObcCommunicationBase + * @brief Constructor for SILS mode + * @note Default buffer size is used + * @param [in] sils_port_id: Port ID for communication line b/w OBC in the SILS mode + * @param [in] obc: The communication target OBC + */ ObcCommunicationBase(const int sils_port_id, OBC* obc); + /** + * @fn ObcCommunicationBase + * @brief Constructor for SILS mode + * @param [in] sils_port_id: Port ID for communication line b/w OBC in the SILS mode + * @param [in] tx_buf_size: TX (Component to OBC) buffer size + * @param [in] rx_buf_size: RX (OBC to Component) buffer size + * @param [in] obc: The communication target OBC + */ ObcCommunicationBase(const int sils_port_id, const int tx_buf_size, const int rx_buf_size, OBC* obc); + /** + * @fn ObcCommunicationBase + * @brief Constructor for HILS mode + * @note Default buffer size is used + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] hils_port_manager: HILS port manager + */ ObcCommunicationBase(const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager); + /** + * @fn ObcCommunicationBase + * @brief Constructor for HILS mode + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] tx_buf_size: TX (Component to OBC) buffer size + * @param [in] rx_buf_size: RX (OBC to Component) buffer size + * @param [in] hils_port_manager: HILS port manager + */ ObcCommunicationBase(const unsigned int hils_port_id, const unsigned int baud_rate, const int tx_buf_size, const int rx_buf_size, HilsPortManager* hils_port_manager); + /** + * @fn ObcCommunicationBase + * @brief Constructor for both SILS and HILS mode + * @note Default buffer size is used + * @param [in] sils_port_id: Port ID for communication line b/w OBC in the SILS mode + * @param [in] obc: The communication target OBC + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] baud_rate: Baud rate of HILS communication port + * @param [in] hils_port_manager: HILS port manager + */ ObcCommunicationBase(const int sils_port_id, OBC* obc, const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager); + /** + * @fn ~ObcCommunicationBase + * @brief Destructor + */ ~ObcCommunicationBase(); - + /** + * @fn IsConnected + * @brief Return connection flag + */ inline bool IsConnected() const { return is_connected_; } protected: @@ -29,20 +91,35 @@ class ObcCommunicationBase { std::vector rx_buffer_; private: - const int kDefaultBufferSize = 1024; // Fixme: The magic number. This is depending on SCIPort.h. - int sils_port_id_; - int hils_port_id_; - int baud_rate_; // [baud] ex. 9600, 115200 - int tx_buf_size_; - int rx_buf_size_; - bool is_connected_ = false; - OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; - - OBC* obc_; - HilsPortManager* hils_port_manager_; + const int kDefaultBufferSize = 1024; //!< Default buffer size Fixme: The magic number. This is depending on SCIPort.h. + + int sils_port_id_; //!< Port ID for SILS + int hils_port_id_; //!< Port ID for HILS + int baud_rate_; //!< Baudrate for HILS ex. 9600, 115200 + int tx_buf_size_; //!< TX (Component to OBC) buffer size + int rx_buf_size_; //!< RX (OBC to Component) buffer size + bool is_connected_ = false; // Connection flag + + OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; //!< Simulation mode + + OBC* obc_; //!< Communication target OBC + HilsPortManager* hils_port_manager_; //!< HILS port manager + /** + * @fn InitializeObcComBase + * @brief Initialize function + */ void InitializeObcComBase(); - virtual int ParseCommand(const int cmd_size) = 0; // return value should be error code (ret<=0 - // means error, ret>0 means fine) - virtual int GenerateTelemetry() = 0; // return value should be the telemetry size + /** + * @fn ParseCommand + * @brief Pure virtual function for parse command feature + * @return Error code (ret<=0 means error, ret>0 means fine) + */ + virtual int ParseCommand(const int cmd_size) = 0; + /** + * @fn GenerateTelemetry + * @brief Pure virtual function for generate telemetry feature + * @return Telemetry size + */ + virtual int GenerateTelemetry() = 0; }; From b4e9afebe74db3aca489dc3cc4ccdb3a923cdc10 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 11:50:23 +0100 Subject: [PATCH 128/199] Fix comments in ObcGpioBase --- src/Component/Abstract/ObcCommunicationBase.h | 1 + src/Component/Abstract/ObcGpioBase.cpp | 6 +++ src/Component/Abstract/ObcGpioBase.h | 43 ++++++++++++++++--- 3 files changed, 43 insertions(+), 7 deletions(-) diff --git a/src/Component/Abstract/ObcCommunicationBase.h b/src/Component/Abstract/ObcCommunicationBase.h index 00fe21792..20e3b4e2e 100644 --- a/src/Component/Abstract/ObcCommunicationBase.h +++ b/src/Component/Abstract/ObcCommunicationBase.h @@ -21,6 +21,7 @@ enum class OBC_COM_UART_MODE { /** * @class ObcCommunicationBase * @brief Base class for serial communication (e.g., UART) with OBC flight software + * @note Components which want to communicate with OBC using serial communication have to inherit this. */ class ObcCommunicationBase { public: diff --git a/src/Component/Abstract/ObcGpioBase.cpp b/src/Component/Abstract/ObcGpioBase.cpp index 507af8a5e..64e2512b4 100644 --- a/src/Component/Abstract/ObcGpioBase.cpp +++ b/src/Component/Abstract/ObcGpioBase.cpp @@ -1,3 +1,9 @@ +/** + * @file ObcGpioBase.cpp + * @brief Base class for GPIO communication with OBC flight software + * TODO: consider relation with IGPIOCompo + */ + #include "ObcGpioBase.h" ObcGpioBase::ObcGpioBase(const std::vector port_id, OBC* obc) : port_id_(port_id), obc_(obc) { diff --git a/src/Component/Abstract/ObcGpioBase.h b/src/Component/Abstract/ObcGpioBase.h index ca5c2df6d..5b6d4e648 100644 --- a/src/Component/Abstract/ObcGpioBase.h +++ b/src/Component/Abstract/ObcGpioBase.h @@ -1,19 +1,48 @@ +/** + * @file ObcGpioBase.h + * @brief Base class for GPIO communication with OBC flight software + * TODO: consider relation with IGPIOCompo + */ #pragma once #include "../CDH/OBC.h" +/** + * @class ObcGpioBase + * @brief Base class for GPIO communication with OBC flight software + * @note Components which want to communicate with OBC using GPIO have to inherit this. + */ class ObcGpioBase { public: + /** + * @fn ObcGpioBase + * @brief Constructor for SILS mode + * @param [in] port_id: Port ID GPIO line + * @param [in] obc: The communication target OBC + */ ObcGpioBase(const std::vector port_id, OBC* obc); + /** + * @fn ~ObcGpioBase + * @brief Destructor + */ ~ObcGpioBase(); protected: - bool Read(const int idx); // The first arg is the element index for port_id_ - // vector, not the GPIO port ID for OBC. - void Write(const int idx, - const bool is_high); // The first arg is the element index for port_id_ - // vector, not the GPIO port ID for OBC. + /** + * @fn Read + * @brief Read the GPIO state + * @param [in] idx: element index for port_id_ vector, not the GPIO port ID for OBC. + * @return High(True) or Low(False) of GPIO state + */ + bool Read(const int idx); + /** + * @fn Write + * @brief Write the GPIO state + * @param [in] idx: element index for port_id_ vector, not the GPIO port ID for OBC. + * @param [in] is_high: High(True) or Low(False) of GPIO state + */ + void Write(const int idx, const bool is_high); private: - std::vector port_id_; - OBC* obc_; + std::vector port_id_; //!< Port ID GPIO line + OBC* obc_; //!< The communication target OBC }; From 8e822f78660692c29de99f9b9433afbd73946c72 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 14:00:26 +0100 Subject: [PATCH 129/199] Fix comments in ObcI2cTargetCommunicationBase --- .../ObcI2cTargetCommunicationBase.cpp | 10 +- .../Abstract/ObcI2cTargetCommunicationBase.h | 100 ++++++++++++++++-- 2 files changed, 98 insertions(+), 12 deletions(-) diff --git a/src/Component/Abstract/ObcI2cTargetCommunicationBase.cpp b/src/Component/Abstract/ObcI2cTargetCommunicationBase.cpp index fc277e48e..64d1bfda7 100644 --- a/src/Component/Abstract/ObcI2cTargetCommunicationBase.cpp +++ b/src/Component/Abstract/ObcI2cTargetCommunicationBase.cpp @@ -1,3 +1,7 @@ +/** + * @file ObcI2cTargetCommunicationBase.cpp + * @brief Base class for I2C communication as target side with OBC flight software + */ #include "ObcI2cTargetCommunicationBase.h" #include @@ -67,8 +71,7 @@ ObcI2cTargetCommunicationBase::~ObcI2cTargetCommunicationBase() { if (ret != 0) { // TODO: Add a flag to select whether to show or hide warnings // std::cout << "Already closed or not used: ObcI2cTargetCommunication " - // "CloseComPort ID:" - // << sils_port_id_ << "\n"; + // "CloseComPort ID:" << sils_port_id_ << "\n"; } break; case OBC_COM_UART_MODE::HILS: @@ -76,8 +79,7 @@ ObcI2cTargetCommunicationBase::~ObcI2cTargetCommunicationBase() { if (ret != 0) { // TODO: Add a flag to select whether to show or hide warnings // std::cout << "Already closed or not used: ObcI2cTargetCommunication " - // "CloseComPort ID:" - // << hils_port_id_ << "\n"; + // "CloseComPort ID:" << hils_port_id_ << "\n"; } break; default: diff --git a/src/Component/Abstract/ObcI2cTargetCommunicationBase.h b/src/Component/Abstract/ObcI2cTargetCommunicationBase.h index c183ec886..11b16e004 100644 --- a/src/Component/Abstract/ObcI2cTargetCommunicationBase.h +++ b/src/Component/Abstract/ObcI2cTargetCommunicationBase.h @@ -1,35 +1,119 @@ +/** + * @file ObcI2cTargetCommunicationBase.h + * @brief Base class for I2C communication as target side with OBC flight software + */ #pragma once #include "../../Interface/HilsInOut/HilsPortManager.h" #include "../CDH/OBC.h" #include "ObcCommunicationBase.h" +/** + * @class ObcI2cTargetCommunicationBase + * @brief Base class for I2C communication as target side with OBC flight software + * @note Generally, components are the target side of I2C (OBC is the controller side). + */ class ObcI2cTargetCommunicationBase { public: + /** + * @fn ObcI2cTargetCommunicationBase + * @brief Constructor for SILS mode + * @param [in] sils_port_id: Port ID for communication line b/w OBC in the SILS mode + * @param [in] i2c_address: I2C address for the target + * @param [in] obc: The communication target OBC + */ ObcI2cTargetCommunicationBase(const unsigned int sils_port_id, const unsigned char i2c_address, OBC* obc); + /** + * @fn ObcI2cTargetCommunicationBase + * @brief Constructor for HILS mode + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] i2c_address: I2C address for the target + * @param [in] hils_port_manager: HILS port manager + */ ObcI2cTargetCommunicationBase(const unsigned int hils_port_id, const unsigned char i2c_address, HilsPortManager* hils_port_manager); + /** + * @fn ObcI2cTargetCommunicationBase + * @brief Constructor for both SILS and HILS mode + * @param [in] sils_port_id: Port ID for communication line b/w OBC in the SILS mode + * @param [in] hils_port_id: ID of HILS communication port + * @param [in] i2c_address: I2C address for the target + * @param [in] obc: The communication target OBC + * @param [in] hils_port_manager: HILS port manager + */ ObcI2cTargetCommunicationBase(const unsigned int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address, OBC* obc, HilsPortManager* hils_port_manager); - // prevent double freeing of memory when this class is copied + /** + * @fn ObcI2cTargetCommunicationBase + * @brief Prevent double freeing of memory when this class is copied + */ ObcI2cTargetCommunicationBase(ObcI2cTargetCommunicationBase&& obj) noexcept; + /** + * @fn ~ObcI2cTargetCommunicationBase + * @brief Destructor + */ ~ObcI2cTargetCommunicationBase(); protected: + /** + * @fn ReadRegister + * @brief Read register of I2C port + * @param [in] reg_addr: Address of the target register + * @param [out] data: Buffer to store the read data + * @param [in] len: Length of the data + */ void ReadRegister(const unsigned char reg_addr, unsigned char* data, const unsigned char len); + /** + * @fn WriteRegister + * @brief Read register of I2C port + * @param [in] reg_addr: Address of the target register + * @param [in] data: Write data + * @param [in] len: Length of the data + */ void WriteRegister(const unsigned char reg_addr, const unsigned char* data, const unsigned char len); + /** + * @fn ReadCommand + * @brief Read command from I2C controller + * @param [out] data: Buffer to store the read command data + * @param [in] len: Length of the data + */ void ReadCommand(unsigned char* data, const unsigned char len); + /** + * @fn ReceiveCommand + * @brief Receive command (HILS only) + * @note This wraps I2cTargetReceive in HilsPortManager + */ int ReceiveCommand(); + /** + * @fn SendTelemetry + * @brief Send Telemetry (HILS only) + * @param [in] len: Data length to write + * @note This wraps I2cTargetSend in HilsPortManager + */ int SendTelemetry(const unsigned char len); + /** + * @fn GetStoredFrameCounter + * @brief Return stored frame count (HILS only) + * @note This wraps I2cTargetGetStoredFrameCounter in HilsPortManager + */ int GetStoredFrameCounter(); + /** + * @fn StoreTelemetry + * @brief Store telemetry in converter up to stored_frame_num (HILS only) + */ int StoreTelemetry(const unsigned int stored_frame_num, const unsigned char tlm_size); + /** + * @fn GetI2cAddress + * @brief Return I2C address + */ unsigned char GetI2cAddress() const { return i2c_address_; } private: - unsigned int sils_port_id_; - unsigned int hils_port_id_; - unsigned char i2c_address_; - bool is_moved_ = false; - OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; + unsigned int sils_port_id_; //!< Port ID for SILS + unsigned int hils_port_id_; //!< Port ID for HILS + unsigned char i2c_address_; //!< I2C address for the target + bool is_moved_ = false; //!< Flag to show the object is copied or not - OBC* obc_; - HilsPortManager* hils_port_manager_; + OBC_COM_UART_MODE sim_mode_ = OBC_COM_UART_MODE::MODE_ERROR; //!< Simulation mode + + OBC* obc_; //!< Communication target OBC + HilsPortManager* hils_port_manager_; //!< HILS port manager }; From 3f88ba97ff89fa4597a0c81ccfe0a32170508ae0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 14:12:03 +0100 Subject: [PATCH 130/199] Fix comments in SensorBase --- src/Component/Abstract/SensorBase.h | 53 ++++++++++++++++++++--- src/Component/Abstract/SensorBase_tfs.hpp | 5 +++ 2 files changed, 52 insertions(+), 6 deletions(-) diff --git a/src/Component/Abstract/SensorBase.h b/src/Component/Abstract/SensorBase.h index 1c76cac8c..1431ddc69 100644 --- a/src/Component/Abstract/SensorBase.h +++ b/src/Component/Abstract/SensorBase.h @@ -1,3 +1,7 @@ +/** + * @file SensorBase.h + * @brief Base class for sensor emulation to add noises + */ #pragma once #include @@ -5,26 +9,63 @@ #include #include +/** + * @class SensorBase + * @brief Base class for sensor emulation to add noises + * @note All sensors should inherit this class + */ template class SensorBase { public: + /** + * @fn SensorBase + * @brief Constructor + * @param [in] scale_factor: Scale factor matrix + * @param [in] range_to_const_c: Output range limit to be constant output value at the component frame + * @param [in] range_to_zero_c: Output range limit to be zero output value at the component frame + * @param [in] bias_c: Constant bias noise at the component frame + * @param [in] nr_stddev_c: Standard deviation of normal random noise at the component frame + * @param [in] rw_stepwidth: Step width for random walk calculation [sec] + * @param [in] rw_stddev_c: Standard deviation of random wark at the component frame + * @param [in] rw_limit_c: Limit of random walk at the component frame + */ SensorBase(const libra::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, const libra::Vector& bias_c, const libra::Vector& nr_stddev_c, double rw_stepwidth, const libra::Vector& rw_stddev_c, const libra::Vector& rw_limit_c); + /** + * @fn ~SensorBase + * @brief Destructor + */ ~SensorBase(); protected: + /** + * @fn Measure + * @brief Return the observed data after adding the noise + * @param [in] true_value_c: True value at the component frame + * @return Observed value with noise at the component frame + */ libra::Vector Measure(const libra::Vector true_value_c); private: - libra::Matrix scale_factor_; // Scale factor matrix - libra::Vector range_to_const_c_; - libra::Vector range_to_zero_c_; - libra::Vector bias_c_; // Constant noise vector - libra::NormalRand nrs_c_[N]; // Normal random - RandomWalk n_rw_c_; // Random Walk + libra::Matrix scale_factor_; //!< Scale factor matrix + libra::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + libra::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + libra::Vector bias_c_; //!< Constant bias noise at the component frame + libra::NormalRand nrs_c_[N]; //!< Normal random + RandomWalk n_rw_c_; //!< Random Walk + /** + * @fn Clip + * @brief Clipping according to the range information + * @param [in] input_c: Input value at the component frame + * @return Clipped value + */ libra::Vector Clip(const libra::Vector input_c); + /** + * @fn RangeCheck + * @brief Check the range_to_const_c_ and range_to_zero_c_ is correct and fixed the values + */ void RangeCheck(void); }; diff --git a/src/Component/Abstract/SensorBase_tfs.hpp b/src/Component/Abstract/SensorBase_tfs.hpp index a4c8b1793..2b2d84555 100644 --- a/src/Component/Abstract/SensorBase_tfs.hpp +++ b/src/Component/Abstract/SensorBase_tfs.hpp @@ -1,3 +1,8 @@ +/** + * @file SensorBase.cpp + * @brief Base class for sensor emulation to add noises + */ + #pragma once #include From 6773768c62f60867367015d644ca0838f73b1722 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 14:20:21 +0100 Subject: [PATCH 131/199] Fix comments in Singleton and StateMachine --- src/Component/Abstract/Singleton.h | 8 ++++++-- src/Component/Abstract/StateMachine.h | 28 ++++++++++++++++----------- 2 files changed, 23 insertions(+), 13 deletions(-) diff --git a/src/Component/Abstract/Singleton.h b/src/Component/Abstract/Singleton.h index 5f4fd5f19..85a1a2753 100644 --- a/src/Component/Abstract/Singleton.h +++ b/src/Component/Abstract/Singleton.h @@ -1,7 +1,11 @@ +/** + * @file Singleton.h + * @brief Class to restrict that class that the class can have only one instance at a time + * @note TODO: Is this needed? Currently this is used in StateMachine only. And we need to use other library if we want to use. + */ + #pragma once -// インスタンスがただ一つに定まるときに継承させることで，制約をかけている． -// オレオレ実装なので，なんかライブラリとか使って肩に乗りたいが．． template class Singleton { protected: diff --git a/src/Component/Abstract/StateMachine.h b/src/Component/Abstract/StateMachine.h index e14dc7c34..68a1ec2a7 100644 --- a/src/Component/Abstract/StateMachine.h +++ b/src/Component/Abstract/StateMachine.h @@ -1,3 +1,9 @@ +/** + * @file StateMachine.h + * @brief State Machine + * @note TODO: Is this needed? Currently this is not used. And we need to use other library if we want to use. + */ + #pragma once #include #include @@ -63,7 +69,7 @@ class StateInterface { protected: context_t* context_; state_t* parent_; // 親状態（状態は階層化されている） - string name_; //デバッグ用 + string name_; // デバッグ用 transition_map transition_; action_map action_; @@ -107,12 +113,12 @@ class StateMachine { typedef ActionInterface action_t; protected: - //開始状態．一意なので，Singletonを継承． + // 開始状態．一意なので，Singletonを継承． class Start : public state_t, public Singleton { friend class Singleton; Start() : state_t("Start") {} // デバッグ用にStateに命名 }; - //終了状態．一意なので，Singletonを継承． + // 終了状態．一意なので，Singletonを継承． class End : public state_t, public Singleton { friend class Singleton; End() : state_t("End") {} @@ -123,7 +129,7 @@ class StateMachine { public: StateMachine() - : current_(Start::GetInstance()) //　Startステートで初期化 + : current_(Start::GetInstance()) // 　Startステートで初期化 {} public: @@ -132,7 +138,7 @@ class StateMachine { void ChangeState(state_t* dest_state, state_t* src_state = 0) { if (src_state == 0) src_state = current_; - //自己遷移 + // 自己遷移 if (src_state == dest_state) { src_state->Exit(); dest_state->Entry(); @@ -149,7 +155,7 @@ class StateMachine { state_list dest_top; for (state_t* s = dest_state; s != 0; s = s->GetParent()) dest_top.push_front(s); - //最も近い共通の親をrootから検索する + // 最も近い共通の親をrootから検索する state_t* parent = 0; typename state_list::iterator it_src = src_top.begin(); typename state_list::iterator it_dest = dest_top.begin(); @@ -164,10 +170,10 @@ class StateMachine { parent = *it_src; } - //退場動作．子→親の順にExit + // 退場動作．子→親の順にExit for (state_t* s = current_; s != parent; s = s->GetParent()) s->Exit(); - //入場動作．親→子の順にEntry + // 入場動作．親→子の順にEntry for (; it_dest != dest_top.end(); ++it_dest) (*it_dest)->Entry(); current_ = dest_state; @@ -176,9 +182,9 @@ class StateMachine { context_t* Derived() { return static_cast(this); } void ProcessEvent(Event const& e) { - //イベントによるtransition - // Exit & Entry でカバーできない特殊処理が必要な遷移を実施． - // ChangeStateした上で，自分で処理できない場合は親に渡す + // イベントによるtransition + // Exit & Entry でカバーできない特殊処理が必要な遷移を実施． + // ChangeStateした上で，自分で処理できない場合は親に渡す state_t* s = current_; while (s != 0 && !s->Transit(e)) // Transitはtransition_が存在するかどうかをBoolで返す．ので，Transitに関しては子は親の処理を実行しない（はず）． s = s->GetParent(); From 65728c6e88d18b8a24dce85a68232404e2d6a3da Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 14:31:38 +0100 Subject: [PATCH 132/199] Fix comments in EMDS --- src/Component/AOCS/EMDS.cpp | 6 ++++++ src/Component/AOCS/EMDS.h | 10 ++++++++-- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/src/Component/AOCS/EMDS.cpp b/src/Component/AOCS/EMDS.cpp index 564f01d5d..c40d30945 100644 --- a/src/Component/AOCS/EMDS.cpp +++ b/src/Component/AOCS/EMDS.cpp @@ -1,3 +1,9 @@ +/** + * @file EMDS.cpp + * @brief Class to emulate Electro Magnetic Docking System + * @note This class is not managed now. TODO: Consider to delete. + */ + #include "EMDS.h" #include diff --git a/src/Component/AOCS/EMDS.h b/src/Component/AOCS/EMDS.h index 863d4859c..dac25d25c 100644 --- a/src/Component/AOCS/EMDS.h +++ b/src/Component/AOCS/EMDS.h @@ -1,10 +1,16 @@ +/** + * @file EMDS.h + * @brief Class to emulate Electro Magnetic Docking System + * @note This class is not managed now. TODO: Consider to delete. + */ + #pragma once +#include + #include #include -#include - class EMDS : public ILoggable { public: bool IsCalcEnabled = true; From 4f12beaa881f051dddb3fff55cbf5bf6ebceaeec Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 15:19:40 +0100 Subject: [PATCH 133/199] Fix comments in GNSSReceiver --- src/Component/AOCS/GNSSReceiver.cpp | 13 ++- src/Component/AOCS/GNSSReceiver.h | 119 ++++++++++++++++++++-------- 2 files changed, 96 insertions(+), 36 deletions(-) diff --git a/src/Component/AOCS/GNSSReceiver.cpp b/src/Component/AOCS/GNSSReceiver.cpp index cff3cec06..0fd3020cf 100644 --- a/src/Component/AOCS/GNSSReceiver.cpp +++ b/src/Component/AOCS/GNSSReceiver.cpp @@ -1,3 +1,8 @@ +/** + * @file GNSSReceiver.cpp + * @brief Class to emulate GNSS receiver + */ + #include "GNSSReceiver.h" #include @@ -58,9 +63,8 @@ void GNSSReceiver::MainRoutine(int count) { utc_ = simtime_->GetCurrentUTC(); ConvertJulianDayToGPSTime(simtime_->GetCurrentJd()); } else { - // position information will not be updated in this case - // only time information will be updated in this case (according to the - // receiver's internal clock) + // position information will not be updated in this case only time information will be updated in this case + // (according to the receiver's internal clock) utc_ = simtime_->GetCurrentUTC(); ConvertJulianDayToGPSTime(simtime_->GetCurrentJd()); } @@ -76,7 +80,7 @@ void GNSSReceiver::CheckAntenna(const Vector<3> pos_true_eci_, Quaternion q_i2b) void GNSSReceiver::CheckAntennaSimple(const Vector<3> pos_true_eci_, Quaternion q_i2b) { // Simplest model // GNSS sats are visible when antenna directs anti-earth direction - // antenna normal vector at inertial frame + // antenna normal vector at inertial frame Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; Vector<3> antenna_direction_b = q_b2c_.frame_conv_inv(antenna_direction_c); @@ -169,6 +173,7 @@ void GNSSReceiver::AddNoise(Vector<3> location_true_eci, Vector<3> location_true position_eci_[1] = location_true_eci[1] + nrs_eci_y_; position_eci_[2] = location_true_eci[2] + nrs_eci_z_; + // FIXME: noise in ECI frame is added to ECEF frame value position_ecef_[0] = location_true_ecef[0] + nrs_eci_x_; position_ecef_[1] = location_true_ecef[1] + nrs_eci_y_; position_ecef_[2] = location_true_ecef[2] + nrs_eci_z_; diff --git a/src/Component/AOCS/GNSSReceiver.h b/src/Component/AOCS/GNSSReceiver.h index fccea821a..e22521c57 100644 --- a/src/Component/AOCS/GNSSReceiver.h +++ b/src/Component/AOCS/GNSSReceiver.h @@ -1,3 +1,8 @@ +/** + * @file GNSSReceiver.h + * @brief Class to emulate GNSS receiver + */ + #pragma once #include @@ -12,18 +17,30 @@ using libra::Vector; +/** + * @enum AntennaModel + * @brief Antenna pattern model to emulate GNSS antenna + */ enum AntennaModel { - SIMPLE, - CONE, + SIMPLE, //!< Simple model which can get navigation data when the antenna points anti-earth direction + CONE, //!< Cone antenna pattern }; +/** + * @struct GnssInfo + * @brief Information of GNSS satellites + */ typedef struct _gnssinfo { - std::string ID; - double latitude; - double longitude; - double distance; + std::string ID; //!< ID of GNSS satellites + double latitude; //!< Latitude on the antenna frame [rad] + double longitude; //!< Longitude on the antenna frame [rad] + double distance; //!< Distance between the GNSS satellite and the GNSS receiver antenna [m] } GnssInfo; +/** + * @class GNSSReceiver + * @brief Class to emulate GNSS receiver + */ class GNSSReceiver : public ComponentBase, public ILoggable { public: GNSSReceiver(const int prescaler, ClockGenerator* clock_gen, const int id, const std::string gnss_id, const int ch_max, @@ -47,41 +64,79 @@ class GNSSReceiver : public ComponentBase, public ILoggable { protected: // Parameters for receiver - const int id_; // ID - const int ch_max_; // Number of channels - Vector<3> antenna_position_b_; // GNSS antenna position at body-fixed frame - Quaternion q_b2c_; // Quaternion from body frame to component frame - libra::NormalRand nrs_eci_x_, nrs_eci_y_, - nrs_eci_z_; // Random Error for each axis - double half_width_ = 0.0; - std::string gnss_id_; - AntennaModel antenna_model_; + const int id_; //!< Receiver ID (not used now) + const int ch_max_; //!< Maximum number of channels + Vector<3> antenna_position_b_; //!< GNSS antenna position at the body-fixed frame + Quaternion q_b2c_; //!< Quaternion from body frame to component frame (antenna frame) + + libra::NormalRand nrs_eci_x_, nrs_eci_y_, nrs_eci_z_; //!< Random noise for each axis + + double half_width_ = 0.0; //!< Half width of the antenna cone model + std::string gnss_id_; //!< GNSS ID + AntennaModel antenna_model_; //!< Antenna model // Calculated values - Vector<3> position_eci_{0.0}; - Vector<3> velocity_eci_{0.0}; // [m] - Vector<3> position_ecef_{0.0}; // [m/s] - Vector<3> velocity_ecef_{0.0}; // [m/s] - Vector<3> position_llh_{0.0}; // [rad,rad,m] - UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; // [year, month, day, hour, min, sec] - unsigned int gpstime_week_ = 0; - double gpstime_sec_ = 0.0; - int is_gnss_sats_visible_ = 0; - int gnss_sats_visible_num_ = 0; - std::vector vec_gnssinfo_; + Vector<3> position_eci_{0.0}; //!< Observed position in the ECI frame [m] + Vector<3> velocity_eci_{0.0}; //!< Observed velocity in the ECI frame [m/s] + Vector<3> position_ecef_{0.0}; //!< Observed position in the ECEF frame [m] + Vector<3> velocity_ecef_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + Vector<3> position_llh_{0.0}; //!< Observed position in the geodetic frame [rad,rad,m] TODO: use GeodeticPosition class + UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] + unsigned int gpstime_week_ = 0; //!< Observed GPS time week part + double gpstime_sec_ = 0.0; //!< Observed GPS time second part + int is_gnss_sats_visible_ = 0; //!< Flag for GNSS satellite is visible or not + int gnss_sats_visible_num_ = 0; //!< Number of visible GNSS satellites + std::vector vec_gnssinfo_; //!< Information List of visible GNSS satellites // References - const Dynamics* dynamics_; - const GnssSatellites* gnss_satellites_; - const SimTime* simtime_; + const Dynamics* dynamics_; //!< Dynamics of spacecraft + const GnssSatellites* gnss_satellites_; //!< Information of GNSS satellites + const SimTime* simtime_; //!< Simulation time // Internal Functions + /** + * @fn CheckAntenna + * @brief Check the antenna can detect GNSS signal + * @note This function just calls other check functions according to the antenna mode + * @param [in] location_true: True position of the spacecraft in the ECI frame [m] + * @param [in] q_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame + */ void CheckAntenna(Vector<3> location_true, Quaternion q_i2b); + /** + * @fn CheckAntennaSimple + * @brief Check the antenna can detect GNSS signal with Simple mode + * @note GNSS satellites are visible when antenna directs anti-earth direction + * @param [in] location_true: True position of the spacecraft in the ECI frame [m] + * @param [in] q_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame + */ void CheckAntennaSimple(Vector<3> location_true, Quaternion q_i2b); + /** + * @fn CheckAntennaCone + * @brief Check the antenna can detect GNSS signal with Cone mode + * @note The visible GNSS satellites are counted by using GNSS satellite position and the antenna direction with cone antenna pattern + * @param [in] location_true: True position of the spacecraft in the ECI frame [m] + * @param [in] q_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame + */ void CheckAntennaCone(Vector<3> location_true, Quaternion q_i2b); + /** + * @fn SetGnssInfo + * @brief Calculate and set the GnssInfo values of target GNSS satellite + * @param [in] ant2gnss_i: Position vector from the antenna to the GNSS satellites in the ECI frame + * @param [in] q_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame + * @param [in] gnss_id: ID of target GNSS satellite + */ void SetGnssInfo(Vector<3> ant2gnss_i, Quaternion q_i2b, std::string gnss_id); - void AddNoise(Vector<3> location_true_eci, - Vector<3> location_true_ecef); // substitutional method for "Measure" in other - // sensor modles inherited SensorBase class + /** + * @fn AddNoise + * @brief Substitutional method for "Measure" in other sensor models inherited SensorBase class + * @param [in] location_true_eci: True position of the spacecraft in the ECI frame [m] + * @param [in] location_true_ecef: True position of the spacecraft in the ECEF frame [m] + */ + void AddNoise(Vector<3> location_true_eci, Vector<3> location_true_ecef); + /** + * @fn ConvertJulianDayToGPSTime + * @brief Convert Julian day to GPS time + * @param [in] JulianDay: Julian day + */ void ConvertJulianDayToGPSTime(const double JulianDay); }; From dd083e6c4f247b0494fd5465ada6d473ab4e1df0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 16:17:48 +0100 Subject: [PATCH 134/199] Fix comments in GNSSReceiver --- src/Component/AOCS/GNSSReceiver.h | 34 +++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/src/Component/AOCS/GNSSReceiver.h b/src/Component/AOCS/GNSSReceiver.h index e22521c57..3af093fa3 100644 --- a/src/Component/AOCS/GNSSReceiver.h +++ b/src/Component/AOCS/GNSSReceiver.h @@ -52,14 +52,48 @@ class GNSSReceiver : public ComponentBase, public ILoggable { void MainRoutine(int count); // Getter + /** + * @fn GetGnssInfo + * @brief Return GNSS satellite information + * @param [in] ch: Channel number + */ inline const GnssInfo GetGnssInfo(int ch) const { return vec_gnssinfo_[ch]; }; + /** + * @fn GetPositionECI + * @brief Return Observed position in the ECI frame [m] + */ inline const Vector<3> GetPositionECI(void) const { return position_eci_; } + /** + * @fn GetPositionECEF + * @brief Return Observed position in the ECEF frame [m] + */ inline const Vector<3> GetPositionECEF(void) const { return position_ecef_; } + /** + * @fn GetPositionLLH + * @brief Return Observed position in the LLH frame [m] + */ inline const Vector<3> GetPositionLLH(void) const { return position_llh_; } + /** + * @fn GetVelocityECI + * @brief Return Observed velocity in the ECI frame [m/s] + */ inline const Vector<3> GetVelocityECI(void) const { return velocity_eci_; } + /** + * @fn GetVelocityECEF + * @brief Return Observed velocity in the ECEF frame [m/s] + */ inline const Vector<3> GetVelocityECEF(void) const { return velocity_ecef_; } + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; protected: From 38da40ef904c748e59d8f0466536241104944371 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 16:28:19 +0100 Subject: [PATCH 135/199] Fix comments in GNSSReceiver --- src/Component/AOCS/GNSSReceiver.h | 45 ++++++++++++++++++++++++++++--- 1 file changed, 42 insertions(+), 3 deletions(-) diff --git a/src/Component/AOCS/GNSSReceiver.h b/src/Component/AOCS/GNSSReceiver.h index 3af093fa3..4a6c49f46 100644 --- a/src/Component/AOCS/GNSSReceiver.h +++ b/src/Component/AOCS/GNSSReceiver.h @@ -43,12 +43,51 @@ typedef struct _gnssinfo { */ class GNSSReceiver : public ComponentBase, public ILoggable { public: + /** + * @fn GNSSReceiver + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] gnss_id: GNSS satellite number defined by GNSS system + * @param [in] ch_max: Maximum number of channels + * @param [in] antenna_model: Antenna model + * @param [in] ant_pos_b: GNSS antenna position at the body-fixed frame [m] + * @param [in] q_b2c: Quaternion from body frame to component frame (antenna frame) + * @param [in] half_width: Half width of the antenna cone model [rad] + * @param [in] noise_std: Standard deviation of normal random noise in the ECI frame [m] + * @param [in] dynamics: Dynamics information + * @param [in] gnss_satellites: GNSS Satellites information + * @param [in] simtime: Simulation time information + */ GNSSReceiver(const int prescaler, ClockGenerator* clock_gen, const int id, const std::string gnss_id, const int ch_max, const AntennaModel antenna_model, const Vector<3> ant_pos_b, const Quaternion q_b2c, const double half_width, const Vector<3> noise_std, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimTime* simtime); + /** + * @fn GNSSReceiver + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] gnss_id: GNSS satellite number defined by GNSS system + * @param [in] ch_max: Maximum number of channels + * @param [in] antenna_model: Antenna model + * @param [in] ant_pos_b: GNSS antenna position at the body-fixed frame [m] + * @param [in] q_b2c: Quaternion from body frame to component frame (antenna frame) + * @param [in] half_width: Half width of the antenna cone model [rad] + * @param [in] noise_std: Standard deviation of normal random noise in the ECI frame [m] + * @param [in] dynamics: Dynamics information + * @param [in] gnss_satellites: GNSS Satellites information + * @param [in] simtime: Simulation time information + */ GNSSReceiver(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const int id, std::string gnss_id, const int ch_max, const AntennaModel antenna_model, const Vector<3> ant_pos_b, const Quaternion q_b2c, const double half_width, const Vector<3> noise_std, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimTime* simtime); + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ void MainRoutine(int count); // Getter @@ -100,13 +139,13 @@ class GNSSReceiver : public ComponentBase, public ILoggable { // Parameters for receiver const int id_; //!< Receiver ID (not used now) const int ch_max_; //!< Maximum number of channels - Vector<3> antenna_position_b_; //!< GNSS antenna position at the body-fixed frame + Vector<3> antenna_position_b_; //!< GNSS antenna position at the body-fixed frame [m] Quaternion q_b2c_; //!< Quaternion from body frame to component frame (antenna frame) libra::NormalRand nrs_eci_x_, nrs_eci_y_, nrs_eci_z_; //!< Random noise for each axis - double half_width_ = 0.0; //!< Half width of the antenna cone model - std::string gnss_id_; //!< GNSS ID + double half_width_ = 0.0; //!< Half width of the antenna cone model [rad] + std::string gnss_id_; //!< GNSS satellite number defined by GNSS system AntennaModel antenna_model_; //!< Antenna model // Calculated values From 7bdd56ff1e6bcd84909632f20a8f4fb7fe8bedd0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 16:35:40 +0100 Subject: [PATCH 136/199] Fix comments in Gyro --- src/Component/AOCS/Gyro.cpp | 5 +++ src/Component/AOCS/Gyro.h | 67 +++++++++++++++++++++++++++++++++---- 2 files changed, 65 insertions(+), 7 deletions(-) diff --git a/src/Component/AOCS/Gyro.cpp b/src/Component/AOCS/Gyro.cpp index 52b396f97..55e6b7302 100644 --- a/src/Component/AOCS/Gyro.cpp +++ b/src/Component/AOCS/Gyro.cpp @@ -1,3 +1,8 @@ +/** + * @file Gyro.cpp + * @brief Class to emulate gyro sensor (angular velocity sensor) + */ + #include "Gyro.h" #include "../CDH/OBC_C2A.h" diff --git a/src/Component/AOCS/Gyro.h b/src/Component/AOCS/Gyro.h index a31b0b30c..770a351e8 100644 --- a/src/Component/AOCS/Gyro.h +++ b/src/Component/AOCS/Gyro.h @@ -1,3 +1,8 @@ +/** + * @file Gyro.h + * @brief Class to emulate gyro sensor (angular velocity sensor) + */ + #ifndef Gyro_H_ #define Gyro_H_ @@ -9,29 +14,77 @@ #include "../Abstract/ComponentBase.h" #include "../Abstract/SensorBase.h" -const size_t kGyroDim = 3; +const size_t kGyroDim = 3; //!< Dimension of gyro sensor +/** + * @file Gyro.h + * @brief Class to emulate gyro sensor + */ class Gyro : public ComponentBase, public SensorBase, public ILoggable { public: + /** + * @fn Gyro + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] sensor_base: Sensor base information + * @param [in] sensor_id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] dynamics: Dynamics information + */ Gyro(const int prescaler, ClockGenerator* clock_gen, SensorBase& sensor_base, const int sensor_id, const libra::Quaternion& q_b2c, const Dynamics* dynamics); + /** + * @fn Gyro + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_base: Sensor base information + * @param [in] sensor_id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] dynamics: Dynamics information + */ Gyro(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, SensorBase& sensor_base, const int sensor_id, const libra::Quaternion& q_b2c, const Dynamics* dynamics); + /** + * @fn ~Gyro + * @brief Destructor + */ ~Gyro(); - // ComponentBase + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ void MainRoutine(int count) override; - // ILoggable + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; + // Getter + /** + * @fn GetOmegaC + * @brief Return observed angular velocity of the body fixed frame with respect to the inertial frame + */ inline const libra::Vector& GetOmegaC(void) const { return omega_c_; } protected: - libra::Vector omega_c_{0.0}; - int sensor_id_ = 0; - libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //! Quaternion from body frame to component frame + libra::Vector omega_c_{0.0}; //!< Observed angular velocity of the body fixed frame with respect to the inertial frame + int sensor_id_ = 0; //!< Sensor ID + libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - const Dynamics* dynamics_; + const Dynamics* dynamics_; //!< Dynamics information }; #endif From eb00cc28aee6eaf926b16963fe8247eea12dc593 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 19:05:19 +0100 Subject: [PATCH 137/199] Fix comments in Initialize functions --- src/Component/AOCS/InitEmds.cpp | 4 ++++ src/Component/AOCS/InitEmds.hpp | 9 +++++++++ src/Component/AOCS/InitGnssReceiver.cpp | 4 ++++ src/Component/AOCS/InitGnssReceiver.hpp | 25 ++++++++++++++++++++++++ src/Component/AOCS/InitGyro.cpp | 6 ++++++ src/Component/AOCS/InitGyro.hpp | 23 ++++++++++++++++++++++ src/Component/AOCS/InitMagSensor.cpp | 6 ++++++ src/Component/AOCS/InitMagSensor.hpp | 23 ++++++++++++++++++++++ src/Component/AOCS/InitMagTorquer.cpp | 4 ++++ src/Component/AOCS/InitMagTorquer.hpp | 23 ++++++++++++++++++++++ src/Component/AOCS/InitRwModel.cpp | 13 +++++++------ src/Component/AOCS/InitRwModel.hpp | 23 ++++++++++++++++++++++ src/Component/AOCS/InitStt.cpp | 4 ++++ src/Component/AOCS/InitStt.hpp | 26 +++++++++++++++++++++++++ src/Component/AOCS/InitSunSensor.cpp | 4 ++++ src/Component/AOCS/InitSunSensor.hpp | 23 ++++++++++++++++++++++ src/Component/AOCS/InitUwbSensor.cpp | 4 ++++ src/Component/AOCS/InitUwbSensor.hpp | 9 +++++++++ 18 files changed, 227 insertions(+), 6 deletions(-) diff --git a/src/Component/AOCS/InitEmds.cpp b/src/Component/AOCS/InitEmds.cpp index e181c9d27..ceb7e7750 100644 --- a/src/Component/AOCS/InitEmds.cpp +++ b/src/Component/AOCS/InitEmds.cpp @@ -1,3 +1,7 @@ +/** + * @file InitEmds.cpp + * @brief Initialize functions for EMDS + */ #include "InitEmds.hpp" #include "Interface/InitInput/IniAccess.h" diff --git a/src/Component/AOCS/InitEmds.hpp b/src/Component/AOCS/InitEmds.hpp index f17b9dd79..62d874188 100644 --- a/src/Component/AOCS/InitEmds.hpp +++ b/src/Component/AOCS/InitEmds.hpp @@ -1,5 +1,14 @@ +/** + * @file InitEmds.hpp + * @brief Initialize functions for EMDS + */ #pragma once #include +/** + * @fn InitEMDS + * @brief Initialize functions for EMDS + * @param [in] actuator_id: Actuator ID + */ EMDS InitEMDS(int actuator_id); diff --git a/src/Component/AOCS/InitGnssReceiver.cpp b/src/Component/AOCS/InitGnssReceiver.cpp index 5a510d79b..105af8e69 100644 --- a/src/Component/AOCS/InitGnssReceiver.cpp +++ b/src/Component/AOCS/InitGnssReceiver.cpp @@ -1,3 +1,7 @@ +/** + * @file InitGnssReceiver.cpp + * @brief Initialize functions for GNSS Receiver + */ #include "InitGnssReceiver.hpp" #include diff --git a/src/Component/AOCS/InitGnssReceiver.hpp b/src/Component/AOCS/InitGnssReceiver.hpp index 401fff876..f497f8490 100644 --- a/src/Component/AOCS/InitGnssReceiver.hpp +++ b/src/Component/AOCS/InitGnssReceiver.hpp @@ -1,8 +1,33 @@ +/** + * @file InitGnssReceiver.hpp + * @brief Initialize functions for GNSS Receiver + */ #pragma once #include +/** + * @fn InitGNSSReceiver + * @brief Initialize functions for GNSS Receiver without power port + * @param [in] clock_gen: Clock generator + * @param [in] id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] dynamics: Dynamics information + * @param [in] gnss_satellites: GNSS satellites information + * @param [in] simtime: Simulation time information + */ GNSSReceiver InitGNSSReceiver(ClockGenerator* clock_gen, int id, const std::string fname, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimTime* simtime); +/** + * @fn InitGNSSReceiver + * @brief Initialize functions for GNSS Receiver with power port + * @param [in] clock_gen: Clock generator + * @param [in] id: Sensor ID + * @param [in] power_port: Power port + * @param [in] fname: Path to the initialize file + * @param [in] dynamics: Dynamics information + * @param [in] gnss_satellites: GNSS satellites information + * @param [in] simtime: Simulation time information + */ GNSSReceiver InitGNSSReceiver(ClockGenerator* clock_gen, PowerPort* power_port, int id, const std::string fname, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimTime* simtime); diff --git a/src/Component/AOCS/InitGyro.cpp b/src/Component/AOCS/InitGyro.cpp index 641656442..e11dbb143 100644 --- a/src/Component/AOCS/InitGyro.cpp +++ b/src/Component/AOCS/InitGyro.cpp @@ -1,3 +1,7 @@ +/** + * @file InitGyro.cpp + * @brief Initialize functions for gyro sensor + */ #include "InitGyro.hpp" #include @@ -12,6 +16,7 @@ Gyro InitGyro(ClockGenerator* clock_gen, int sensor_id, const std::string fname, if (prescaler <= 1) prescaler = 1; // SensorBase + // TODO: Use InitializeSensorBase Vector sf_vec; gyro_conf.ReadVector(GSection, "ScaleFactor", sf_vec); Matrix scale_factor; @@ -54,6 +59,7 @@ Gyro InitGyro(ClockGenerator* clock_gen, PowerPort* power_port, int sensor_id, c if (prescaler <= 1) prescaler = 1; // SensorBase + // TODO: Use InitializeSensorBase Vector sf_vec; gyro_conf.ReadVector(GSection, "ScaleFactor", sf_vec); Matrix scale_factor; diff --git a/src/Component/AOCS/InitGyro.hpp b/src/Component/AOCS/InitGyro.hpp index 2a0ae151c..cd32949d9 100644 --- a/src/Component/AOCS/InitGyro.hpp +++ b/src/Component/AOCS/InitGyro.hpp @@ -1,7 +1,30 @@ +/** + * @file InitGyro.hpp + * @brief Initialize functions for gyro sensor + */ #pragma once #include +/** + * @fn InitGyro + * @brief Initialize functions for gyro sensor without power port + * @param [in] clock_gen: Clock generator + * @param [in] sensor_id: Sensor ID + * @param [in] compo_step_time: Component step time [sec] + * @param [in] fname: Path to the initialize file + * @param [in] dynamics: Dynamics information + */ Gyro InitGyro(ClockGenerator* clock_gen, int sensor_id, const std::string fname, double compo_step_time, const Dynamics* dynamics); +/** + * @fn InitGyro + * @brief Initialize functions for gyro sensor with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_id: Sensor ID + * @param [in] compo_step_time: Component step time [sec] + * @param [in] fname: Path to the initialize file + * @param [in] dynamics: Dynamics information + */ Gyro InitGyro(ClockGenerator* clock_gen, PowerPort* power_port, int sensor_id, const std::string fname, double compo_step_time, const Dynamics* dynamics); diff --git a/src/Component/AOCS/InitMagSensor.cpp b/src/Component/AOCS/InitMagSensor.cpp index bc24af77a..4092f8ebf 100644 --- a/src/Component/AOCS/InitMagSensor.cpp +++ b/src/Component/AOCS/InitMagSensor.cpp @@ -1,3 +1,7 @@ +/** + * @file InitMagSensor.cpp + * @brief Initialize functions for magnetometer + */ #include "InitMagSensor.hpp" #include "Interface/InitInput/IniAccess.h" @@ -13,6 +17,7 @@ MagSensor InitMagSensor(ClockGenerator* clock_gen, int sensor_id, const std::str magsensor_conf.ReadQuaternion(MSSection, "q_b2c", q_b2c); // SensorBase + // TODO: Use InitializeSensorBase Vector sf_vec; magsensor_conf.ReadVector(MSSection, "ScaleFactor", sf_vec); Matrix scale_factor; @@ -54,6 +59,7 @@ MagSensor InitMagSensor(ClockGenerator* clock_gen, PowerPort* power_port, int se magsensor_conf.ReadQuaternion(MSSection, "q_b2c", q_b2c); // SensorBase + // TODO: Use InitializeSensorBase Vector sf_vec; magsensor_conf.ReadVector(MSSection, "ScaleFactor", sf_vec); Matrix scale_factor; diff --git a/src/Component/AOCS/InitMagSensor.hpp b/src/Component/AOCS/InitMagSensor.hpp index da14494b0..90c981e62 100644 --- a/src/Component/AOCS/InitMagSensor.hpp +++ b/src/Component/AOCS/InitMagSensor.hpp @@ -1,7 +1,30 @@ +/** + * @file InitMagSensor.hpp + * @brief Initialize functions for magnetometer + */ #pragma once #include +/** + * @fn InitMagSensor + * @brief Initialize functions for magnetometer without power port + * @param [in] clock_gen: Clock generator + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] mgnet: Geomegnetic environment + */ MagSensor InitMagSensor(ClockGenerator* clock_gen, int sensor_id, const std::string fname, double compo_step_time, const MagEnvironment* magnet); +/** + * @fn InitMagSensor + * @brief Initialize functions for magnetometer with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] mgnet: Geomegnetic environment + */ MagSensor InitMagSensor(ClockGenerator* clock_gen, PowerPort* power_port, int sensor_id, const std::string fname, double compo_step_time, const MagEnvironment* magnet); diff --git a/src/Component/AOCS/InitMagTorquer.cpp b/src/Component/AOCS/InitMagTorquer.cpp index 2db1a8864..2750eed5b 100644 --- a/src/Component/AOCS/InitMagTorquer.cpp +++ b/src/Component/AOCS/InitMagTorquer.cpp @@ -1,3 +1,7 @@ +/** + * @file InitMagTorquer.cpp + * @brief Initialize functions for magnetorquer + */ #include "InitMagTorquer.hpp" #include "Interface/InitInput/IniAccess.h" diff --git a/src/Component/AOCS/InitMagTorquer.hpp b/src/Component/AOCS/InitMagTorquer.hpp index b1e9eea18..f1d35557d 100644 --- a/src/Component/AOCS/InitMagTorquer.hpp +++ b/src/Component/AOCS/InitMagTorquer.hpp @@ -1,7 +1,30 @@ +/** + * @file InitMagTorquer.hpp + * @brief Initialize functions for magnetorquer + */ #pragma once #include +/** + * @fn InitMagTorquer + * @brief Initialize functions for magnetometer without power port + * @param [in] clock_gen: Clock generator + * @param [in] actuator_id: Actuator ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] mag_env: Geomegnetic environment + */ MagTorquer InitMagTorquer(ClockGenerator* clock_gen, int actuator_id, const std::string fname, double compo_step_time, const MagEnvironment* mag_env); +/** + * @fn InitMagTorquer + * @brief Initialize functions for magnetometer with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] actuator_id: Actuator ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] mag_env: Geomegnetic environment + */ MagTorquer InitMagTorquer(ClockGenerator* clock_gen, PowerPort* power_port, int actuator_id, const std::string fname, double compo_step_time, const MagEnvironment* mag_env); diff --git a/src/Component/AOCS/InitRwModel.cpp b/src/Component/AOCS/InitRwModel.cpp index 934386206..6fc48df6e 100644 --- a/src/Component/AOCS/InitRwModel.cpp +++ b/src/Component/AOCS/InitRwModel.cpp @@ -1,11 +1,14 @@ +/** + * @file InitRwModel.cpp + * @brief Initialize functions for Reaction Wheel + */ #include "InitRwModel.hpp" #include #include "Interface/InitInput/IniAccess.h" -// In order to share processing among initialization functions, variables should -// also be shared. These variables have internal linkages and cannot be +// In order to share processing among initialization functions, variables should also be shared. These variables have internal linkages and cannot be // referenced from the outside. namespace { int prescaler; @@ -66,10 +69,8 @@ void InitParams(int actuator_id, std::string file_name, double prop_step, double rwmodel_conf.ReadVector(RWsection, "pos_b", pos_b); dead_time = rwmodel_conf.ReadDouble(RWsection, "dead_time"); - // rwmodel_conf.ReadVector(RWsection, "firstorder_lag_coef", - // ordinary_lag_coef);　バグが修正できるまで読み込まない - // rwmodel_conf.ReadVector(RWsection, "coasting_lag_coef", - // coasting_lag_coef);　バグが修正できるまで読み込まない + // rwmodel_conf.ReadVector(RWsection, "firstorder_lag_coef", ordinary_lag_coef);　// TODO: Fix bug + // rwmodel_conf.ReadVector(RWsection, "coasting_lag_coef", coasting_lag_coef); // TODO: Fix bug is_calc_jitter_enabled = rwmodel_conf.ReadEnable(RWsection, "jitter_calculation"); is_log_jitter_enabled = rwmodel_conf.ReadEnable(RWsection, "jitter_logging"); diff --git a/src/Component/AOCS/InitRwModel.hpp b/src/Component/AOCS/InitRwModel.hpp index 8d53e86b9..2a4efd174 100644 --- a/src/Component/AOCS/InitRwModel.hpp +++ b/src/Component/AOCS/InitRwModel.hpp @@ -1,7 +1,30 @@ +/** + * @file InitRwModel.hpp + * @brief Initialize functions for Reaction Wheel + */ #pragma once #include +/** + * @fn InitRWModel + * @brief Initialize functions for reaction wheel without power port + * @param [in] clock_gen: Clock generator + * @param [in] actuator_id: Actuator ID + * @param [in] file_name: Path to the initialize file + * @param [in] prop_step: Propagation step for RW dynamics [sec] + * @param [in] compo_update_step: Component step time [sec] + */ RWModel InitRWModel(ClockGenerator* clock_gen, int actuator_id, std::string file_name, double prop_step, double compo_update_step); +/** + * @fn InitRWModel + * @brief Initialize functions for reaction wheel with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] actuator_id: Actuator ID + * @param [in] file_name: Path to the initialize file + * @param [in] prop_step: Propagation step for RW dynamics [sec] + * @param [in] compo_update_step: Component step time [sec] + */ RWModel InitRWModel(ClockGenerator* clock_gen, PowerPort* power_port, int actuator_id, std::string file_name, double prop_step, double compo_update_step); diff --git a/src/Component/AOCS/InitStt.cpp b/src/Component/AOCS/InitStt.cpp index 34f02a4a4..ca7b577df 100644 --- a/src/Component/AOCS/InitStt.cpp +++ b/src/Component/AOCS/InitStt.cpp @@ -1,3 +1,7 @@ +/** + * @file InitStt.cpp + * @brief Initialize functions for star sensor + */ #include "InitStt.hpp" #include diff --git a/src/Component/AOCS/InitStt.hpp b/src/Component/AOCS/InitStt.hpp index ff2ca156c..6759d7a88 100644 --- a/src/Component/AOCS/InitStt.hpp +++ b/src/Component/AOCS/InitStt.hpp @@ -1,8 +1,34 @@ +/** + * @file InitStt.hpp + * @brief Initialize functions for star sensor + */ + #pragma once #include +/** + * @fn InitSTT + * @brief Initialize functions for STT without power port + * @param [in] clock_gen: Clock generator + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] dynamics: Dynamics information + * @param [in] local_env: Local environment information + */ STT InitSTT(ClockGenerator* clock_gen, int sensor_id, const std::string fname, double compo_step_time, const Dynamics* dynamics, const LocalEnvironment* local_env); +/** + * @fn InitSTT + * @brief Initialize functions for STT with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] compo_step_time: Component step time [sec] + * @param [in] dynamics: Dynamics information + * @param [in] local_env: Local environment information + */ STT InitSTT(ClockGenerator* clock_gen, PowerPort* power_port, int sensor_id, const std::string fname, double compo_step_time, const Dynamics* dynamics, const LocalEnvironment* local_env); diff --git a/src/Component/AOCS/InitSunSensor.cpp b/src/Component/AOCS/InitSunSensor.cpp index 7f3db5bd4..65d559910 100644 --- a/src/Component/AOCS/InitSunSensor.cpp +++ b/src/Component/AOCS/InitSunSensor.cpp @@ -1,3 +1,7 @@ +/** + * @file InitSunSensor.cpp + * @brief Initialize functions for sun sensor + */ #include "InitSunSensor.hpp" #include diff --git a/src/Component/AOCS/InitSunSensor.hpp b/src/Component/AOCS/InitSunSensor.hpp index e27b85bd6..4532cba3d 100644 --- a/src/Component/AOCS/InitSunSensor.hpp +++ b/src/Component/AOCS/InitSunSensor.hpp @@ -1,8 +1,31 @@ +/** + * @file InitSunSensor.hpp + * @brief Initialize functions for sun sensor + */ #pragma once #include +/** + * @fn InitSunSensor + * @brief Initialize functions for sun sensor without power port + * @param [in] clock_gen: Clock generator + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] srp: Solar radiation pressure environment + * @param [in] local_env: Local environment information + */ SunSensor InitSunSensor(ClockGenerator* clock_gen, int sensor_id, const std::string fname, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info); +/** + * @fn InitSunSensor + * @brief Initialize functions for sun sensor with power port + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to the initialize file + * @param [in] srp: Solar radiation pressure environment + * @param [in] local_env: Local environment information + */ SunSensor InitSunSensor(ClockGenerator* clock_gen, PowerPort* power_port, int sensor_id, const std::string fname, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info); diff --git a/src/Component/AOCS/InitUwbSensor.cpp b/src/Component/AOCS/InitUwbSensor.cpp index 48e70c9ab..a07ea0b01 100644 --- a/src/Component/AOCS/InitUwbSensor.cpp +++ b/src/Component/AOCS/InitUwbSensor.cpp @@ -1,3 +1,7 @@ +/** + * @file InitUwbSensor.cpp + * @brief Initialize functions for UWB distance sensor + */ #include "InitUwbSensor.hpp" #include "Interface/InitInput/IniAccess.h" diff --git a/src/Component/AOCS/InitUwbSensor.hpp b/src/Component/AOCS/InitUwbSensor.hpp index e354555a3..43bd5f30e 100644 --- a/src/Component/AOCS/InitUwbSensor.hpp +++ b/src/Component/AOCS/InitUwbSensor.hpp @@ -1,5 +1,14 @@ +/** + * @file InitUwbSensor.hpp + * @brief Initialize functions for UWB distance sensor + */ #pragma once #include +/** + * @fn InitUWBSensor + * @brief Initialize functions for UWB distance sensor + * @param [in] sensor_id: Sensor ID + */ UWBSensor InitUWBSensor(int sensor_id); From 5845760f41335bd286ade8b4e7c81866bb68bd0b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 19:12:19 +0100 Subject: [PATCH 138/199] Fix comments in MagSensor --- src/Component/AOCS/Gyro.h | 7 ++- src/Component/AOCS/MagSensor.cpp | 4 ++ src/Component/AOCS/MagSensor.h | 75 ++++++++++++++++++++++++++------ 3 files changed, 69 insertions(+), 17 deletions(-) diff --git a/src/Component/AOCS/Gyro.h b/src/Component/AOCS/Gyro.h index 770a351e8..b0de08d2d 100644 --- a/src/Component/AOCS/Gyro.h +++ b/src/Component/AOCS/Gyro.h @@ -17,7 +17,7 @@ const size_t kGyroDim = 3; //!< Dimension of gyro sensor /** - * @file Gyro.h + * @class Gyro * @brief Class to emulate gyro sensor */ class Gyro : public ComponentBase, public SensorBase, public ILoggable { @@ -72,15 +72,14 @@ class Gyro : public ComponentBase, public SensorBase, public ILoggable */ virtual std::string GetLogValue() const; - // Getter /** * @fn GetOmegaC - * @brief Return observed angular velocity of the body fixed frame with respect to the inertial frame + * @brief Return observed angular velocity of the component frame with respect to the inertial frame */ inline const libra::Vector& GetOmegaC(void) const { return omega_c_; } protected: - libra::Vector omega_c_{0.0}; //!< Observed angular velocity of the body fixed frame with respect to the inertial frame + libra::Vector omega_c_{0.0}; //!< Observed angular velocity of the component frame with respect to the inertial frame [rad/s] int sensor_id_ = 0; //!< Sensor ID libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame diff --git a/src/Component/AOCS/MagSensor.cpp b/src/Component/AOCS/MagSensor.cpp index a9d2f88e7..daa4b9a4d 100644 --- a/src/Component/AOCS/MagSensor.cpp +++ b/src/Component/AOCS/MagSensor.cpp @@ -1,3 +1,7 @@ +/** + * @file MagSensor.cpp + * @brief Class to emulate magnetometer + */ #include "MagSensor.h" #include diff --git a/src/Component/AOCS/MagSensor.h b/src/Component/AOCS/MagSensor.h index db55e68de..925574157 100644 --- a/src/Component/AOCS/MagSensor.h +++ b/src/Component/AOCS/MagSensor.h @@ -1,3 +1,8 @@ +/** + * @file MagSensor.h + * @brief Class to emulate magnetometer + */ + #ifndef MagSensor_H_ #define MagSensor_H_ @@ -9,32 +14,76 @@ #include "../Abstract/ComponentBase.h" #include "../Abstract/SensorBase.h" -const size_t kMagDim = 3; +const size_t kMagDim = 3; //!< Dimension of magnetometer +/** + * @class MagSensor + * @brief Class to emulate magnetometer + */ class MagSensor : public ComponentBase, public SensorBase, public ILoggable { public: + /** + * @fn MagSensor + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] sensor_base: Sensor base information + * @param [in] sensor_id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] magnet: Geomagnetic environment + */ MagSensor(const int prescaler, ClockGenerator* clock_gen, SensorBase& sensor_base, const int sensor_id, const libra::Quaternion& q_b2c, - const MagEnvironment* magnet // nT - ); + const MagEnvironment* magnet); + /** + * @fn MagSensor + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] sensor_base: Sensor base information + * @param [in] sensor_id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] magnet: Geomagnetic environment + */ MagSensor(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, SensorBase& sensor_base, const int sensor_id, - const libra::Quaternion& q_b2c, - const MagEnvironment* magnet // nT - ); + const libra::Quaternion& q_b2c, const MagEnvironment* magnet); + /** + * @fn ~MagSensor + * @brief Destructor + */ ~MagSensor(); - // ComponentBase + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ void MainRoutine(int count) override; - // ILoggable + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // Getter + + /** + * @fn GetMagC + * @brief Return observed magnetic field on the component frame + */ inline const libra::Vector& GetMagC(void) const { return mag_c_; } protected: - libra::Vector mag_c_{0.0}; // nT - int sensor_id_ = 0; - libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //! Quaternion from body frame to component frame + libra::Vector mag_c_{0.0}; // observed magnetic field on the component frame [nT] + int sensor_id_ = 0; //!< Sensor ID + libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - const MagEnvironment* magnet_; + const MagEnvironment* magnet_; //!< Geomagnetic environment }; #endif From 0b23eccec63990a599c870cf95ee602996c29b43 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 19:32:51 +0100 Subject: [PATCH 139/199] Fix comments in MagTorquer --- src/Component/AOCS/MagSensor.h | 2 +- src/Component/AOCS/MagTorquer.cpp | 5 ++ src/Component/AOCS/MagTorquer.h | 137 +++++++++++++++++++++--------- 3 files changed, 105 insertions(+), 39 deletions(-) diff --git a/src/Component/AOCS/MagSensor.h b/src/Component/AOCS/MagSensor.h index 925574157..9f581568c 100644 --- a/src/Component/AOCS/MagSensor.h +++ b/src/Component/AOCS/MagSensor.h @@ -36,7 +36,7 @@ class MagSensor : public ComponentBase, public SensorBase, public ILogg const MagEnvironment* magnet); /** * @fn MagSensor - * @brief Constructor without power port + * @brief Constructor with power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_gen: Clock generator * @param [in] power_port: Power port diff --git a/src/Component/AOCS/MagTorquer.cpp b/src/Component/AOCS/MagTorquer.cpp index c6eb4590f..27ccbe6e3 100644 --- a/src/Component/AOCS/MagTorquer.cpp +++ b/src/Component/AOCS/MagTorquer.cpp @@ -1,3 +1,8 @@ +/** + * @file MagTorquer.cpp + * @brief Class to emulate magnetorquer + */ + #include "MagTorquer.h" #include diff --git a/src/Component/AOCS/MagTorquer.h b/src/Component/AOCS/MagTorquer.h index 38abdf9f0..241c82b6f 100644 --- a/src/Component/AOCS/MagTorquer.h +++ b/src/Component/AOCS/MagTorquer.h @@ -1,3 +1,8 @@ +/** + * @file MagTorquer.h + * @brief Class to emulate magnetorquer + */ + #ifndef MTQ_H_ #define MTQ_H_ @@ -12,65 +17,121 @@ #include "../Abstract/ComponentBase.h" -const size_t kMtqDim = 3; +const size_t kMtqDim = 3; //!< Dimension of magnetorquer +/** + * @class MagTorquer + * @brief Class to emulate magnetorquer + */ class MagTorquer : public ComponentBase, public ILoggable { public: - //! Constructor - /*! - \prescaler, clock_gen : For ComponentBase - \id : ID for log output - \q_b2c : Quarternion from body frame to component frame - \max_c : Maximum magnetic moment [Am2] - \min_c : Minimum magnetic moment [Am2] - \bias_c : Constant bias noise [Am2] - \rw_stepwidth : Step width for Random Walk [s] - \rw_stddev: Standard deviation for Random Walk noise [Am2] - \rw_limit: Limit for Random Walk noise [Am2] - \nr_stddev: Standard deviation for the normal random noise [Am2] - \resolution: Output resolution [Am2] - */ + /** + * @fn MagTorquer + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id : Actuator ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] scale_facter: Scale factor matrix + * @param [in] max_c : Maximum magnetic moment in the component frame [Am2] + * @param [in] min_c : Minimum magnetic moment in the component frame [Am2] + * @param [in] bias_c : Constant bias noise in the component frame [Am2] + * @param [in] rw_stepwidth_c : Step width for random walk dynamics [s] + * @param [in] rw_stddev_c: Standard deviation of random walk noise in the component frame [Am2] + * @param [in] rw_limit_c: Limit for random walk noise in the component frame [Am2] + * @param [in] nr_stddev_c: Standard deviation for the normal random noise in the component frame [Am2] + * @param [in] magnet: Geomagnetic environment + */ MagTorquer(const int prescaler, ClockGenerator* clock_gen, const int id, const libra::Quaternion& q_b2c, const libra::Matrix& scale_facter, const libra::Vector& max_c, const libra::Vector& min_c, const libra::Vector& bias_c, double rw_stepwidth, const libra::Vector& rw_stddev_c, const libra::Vector& rw_limit_c, const libra::Vector& nr_stddev_c, const MagEnvironment* mag_env); + /** + * @fn MagTorquer + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] id : Actuator ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] scale_facter: Scale factor matrix + * @param [in] max_c : Maximum magnetic moment in the component frame [Am2] + * @param [in] min_c : Minimum magnetic moment in the component frame [Am2] + * @param [in] bias_c : Constant bias noise in the component frame [Am2] + * @param [in] rw_stepwidth_c : Step width for random walk dynamics [s] + * @param [in] rw_stddev_c: Standard deviation of random walk noise in the component frame [Am2] + * @param [in] rw_limit_c: Limit for random walk noise in the component frame [Am2] + * @param [in] nr_stddev_c: Standard deviation for the normal random noise in the component frame [Am2] + * @param [in] magnet: Geomagnetic environment + */ MagTorquer(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const int id, const libra::Quaternion& q_b2c, const libra::Matrix& scale_facter, const libra::Vector& max_c, const libra::Vector& min_c, const libra::Vector& bias_c, double rw_stepwidth, const libra::Vector& rw_stddev_c, const libra::Vector& rw_limit_c, const libra::Vector& nr_stddev_c, const MagEnvironment* mag_env); - // ComponentBase override functions + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to output torque + */ void MainRoutine(int count) override; + /** + * @fn PowerOffRoutine + * @brief Power off routine to stop actuation + */ void PowerOffRoutine() override; - // ILogabble override functions + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // Getter - inline const libra::Vector& GetMagMoment_b(void) const { return mag_moment_b_; }; // Am2 - inline const libra::Vector& GetTorque_b(void) const { return torque_b_; }; // Nm - // Setter - inline void SetMagMomentC(const libra::Vector mag_moment_c) { mag_moment_c_ = mag_moment_c; }; // Am2 + /** + * @fn GetMagMoment_b + * @brief Return output magnetic moment in the body fixed frame [Am2] + */ + inline const libra::Vector& GetMagMoment_b(void) const { return mag_moment_b_; }; + /** + * @fn GetTorque_b + * @brief Return output torque in the body fixed frame [Nm] + */ + inline const libra::Vector& GetTorque_b(void) const { return torque_b_; }; + + /** + * @fn SetMagMomentC + * @brief Set output magnetic moment in the component frame [Am2] + */ + inline void SetMagMomentC(const libra::Vector mag_moment_c) { mag_moment_c_ = mag_moment_c; }; protected: - const int id_ = 0; - const double knT2T = 1.0e-9; - libra::Vector torque_b_{0.0}; // Nm - libra::Vector mag_moment_c_{0.0}; // Am2 - libra::Vector mag_moment_b_{0.0}; // Am2 + const int id_ = 0; //!< Actuator ID + const double knT2T = 1.0e-9; //!< Constant to convert nT to T + libra::Vector torque_b_{0.0}; //!< Output torque in the body fixed frame [Nm] + libra::Vector mag_moment_c_{0.0}; //!< Output output magnetic moment in the component frame [Am2] + libra::Vector mag_moment_b_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] + libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + libra::Quaternion q_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame + libra::Matrix scale_factor_; //!< Scale factor matrix + libra::Vector max_c_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] + libra::Vector min_c_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] + libra::Vector bias_c_{0.0}; //!< Constant bias noise in the component frame [Am2] + RandomWalk n_rw_c_; //!< Random walk noise + libra::NormalRand nrs_c_[kMtqDim]; //!< Normal random noise - libra::Quaternion q_b2c_{0.0, 0.0, 0.0, 1.0}; // Quarternion from body frame to component frame - libra::Quaternion q_c2b_{0.0, 0.0, 0.0, 1.0}; // Quarternion from component frame to body frame - libra::Matrix scale_factor_; - libra::Vector max_c_{100.0}; // Am2 - libra::Vector min_c_{-100.0}; // Am2 - libra::Vector bias_c_{0.0}; // Am2; - //! Random Walk - RandomWalk n_rw_c_; - //! Normal random noise - libra::NormalRand nrs_c_[kMtqDim]; // Am2 + const MagEnvironment* mag_env_; //!< Geomagnetic environment - const MagEnvironment* mag_env_; + /** + * @fn CalcOutputTorque + * @brief Calculate output torque + * @return Output torque in the body fixed frame [Nm] + */ libra::Vector CalcOutputTorque(void); }; From 2122c42c755ba7b6e592bc0f42327956461791b4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 21:25:05 +0100 Subject: [PATCH 140/199] Fix comments in RW files --- src/Component/AOCS/RWJitter.cpp | 10 +- src/Component/AOCS/RWJitter.h | 93 +++++++++++--- src/Component/AOCS/RWModel.cpp | 7 +- src/Component/AOCS/RWModel.h | 213 ++++++++++++++++++++++++-------- src/Component/AOCS/RWModule.cpp | 6 + src/Component/AOCS/RWModule.h | 20 +-- src/Component/AOCS/rw_ode.cpp | 7 +- src/Component/AOCS/rw_ode.hpp | 66 +++++----- 8 files changed, 309 insertions(+), 113 deletions(-) diff --git a/src/Component/AOCS/RWJitter.cpp b/src/Component/AOCS/RWJitter.cpp index 29b2a4fa0..23f835032 100644 --- a/src/Component/AOCS/RWJitter.cpp +++ b/src/Component/AOCS/RWJitter.cpp @@ -1,3 +1,8 @@ +/* + * @file RWJitter.cpp + * @brief Class to calculate RW high-frequency jitter effect + */ + #include "RWJitter.h" #include @@ -26,8 +31,7 @@ RWJitter::RWJitter(std::vector> radial_force_harmonics_coef, for (size_t i = 0; i < radial_torque_harmonics_coef_.size(); i++) { jitter_torque_rot_phase_.push_back(dist(engine)); } - // Calculate the coefficients of the difference equation when structural - // resonance is considered + // Calculate the coefficients of the difference equation when structural resonance is considered if (considers_structural_resonance_) { CalcCoef(); } @@ -107,7 +111,7 @@ void RWJitter::ShiftTimeStep() { void RWJitter::CalcCoef() { // Pre-warping structural_resonance_angular_freq_ = 2.0 / jitter_update_interval_ * tan(structural_resonance_angular_freq_ * jitter_update_interval_ / 2.0); - // Calculate coefficients of difference equatiion + // Calculate coefficients of difference equation coef_[0] = 4.0 + 4.0 * bandwidth_ * damping_factor_ * jitter_update_interval_ * structural_resonance_angular_freq_ + pow(jitter_update_interval_, 2.0) * pow(structural_resonance_angular_freq_, 2.0); coef_[1] = -8.0 + 2.0 * pow(jitter_update_interval_, 2.0) * pow(structural_resonance_angular_freq_, 2.0); diff --git a/src/Component/AOCS/RWJitter.h b/src/Component/AOCS/RWJitter.h index f7f919807..e934ffc54 100644 --- a/src/Component/AOCS/RWJitter.h +++ b/src/Component/AOCS/RWJitter.h @@ -1,38 +1,88 @@ +/* + * @file RWJitter.h + * @brief Class to calculate RW high-frequency jitter effect + */ + #pragma once #include #include #include + +/* + * @class RWJitter + * @brief Class to calculate RW high-frequency jitter effect + */ class RWJitter { public: + /** + * @fn RWJitter + * @brief Constructor + * @param [in] radial_force_harmonics_coef: Coefficients for radial force harmonics + * @param [in] radial_torque_harmonics_coef: Coefficients for radial torque harmonics + * @param [in] jitter_update_interval: Jitter update interval [sec] + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] structural_resonance_freq: Frequency of structural resonance [Hz] + * @param [in] damping_factor: Damping factor of structural resonance + * @param [in] bandwidth: Bandwidth of structural resonance + * @param [in] considers_structural_resonance: Flag to consider structural resonance + */ RWJitter(std::vector> radial_force_harmonics_coef, std::vector> radial_torque_harmonics_coef, const double jitter_update_interval, const libra::Quaternion q_b2c, const double structural_resonance_freq, const double damping_factor, const double bandwidth, const bool considers_structural_resonance); + /** + * @fn ~RWJitter + * @brief Destructor + */ ~RWJitter(); + + /** + * @fn CalcJitter + * @brief Calculate Jitter + * @param [in] angular_velocity_rad: Current angular velocity of RW [rad/s] + */ void CalcJitter(double angular_velocity_rad); + + /** + * @fn GetJitterForceB + * @brief Return generated jitter force in the body fixed frame [N] + */ const libra::Vector<3> GetJitterForceB() const { return jitter_force_b_; } + /** + * @fn GetJitterTorqueB + * @brief Return generated jitter torque in the body fixed frame [Nm] + */ const libra::Vector<3> GetJitterTorqueB() const { return jitter_torque_b_; } + /** + * @fn GetJitterForceC + * @brief Return generated jitter force in the components frame [N] + */ const libra::Vector<3> GetJitterForceC() const { return considers_structural_resonance_ ? filtered_jitter_force_n_c_ : unfiltered_jitter_force_n_c_; } + /** + * @fn GetJitterTorqueC + * @brief Return generated jitter torque in the component frame [Nm] + */ const libra::Vector<3> GetJitterTorqueC() const { return considers_structural_resonance_ ? filtered_jitter_torque_n_c_ : unfiltered_jitter_torque_n_c_; } private: - std::vector> radial_force_harmonics_coef_; - std::vector> radial_torque_harmonics_coef_; - const double jitter_update_interval_; // sec - libra::Quaternion q_b2c_; - double structural_resonance_freq_; - double structural_resonance_angular_freq_; - double damping_factor_; - double bandwidth_; - bool considers_structural_resonance_; + std::vector> radial_force_harmonics_coef_; //!< Coefficients for radial force harmonics + std::vector> radial_torque_harmonics_coef_; //!< Coefficients for radial torque harmonics + + const double jitter_update_interval_; //!< Jitter update interval [sec] + libra::Quaternion q_b2c_; //!< Quaternion from body frame to component frame + + double structural_resonance_freq_; //!< Frequency of structural resonance [Hz] + double structural_resonance_angular_freq_; //!< Angular Frequency of structural resonance + double damping_factor_; //!< Damping factor of structural resonance + double bandwidth_; //!< Bandwidth of structural resonance + bool considers_structural_resonance_; //!< Flag to consider structural resonance // Jitter calculation variables - std::vector jitter_force_rot_phase_; // 2 * pi * h_i * Omega * t[rad] - std::vector jitter_torque_rot_phase_; // 2 * pi * h_i * Omega * - // t[rad] + std::vector jitter_force_rot_phase_; //!< 2 * pi * h_i * Omega * t [rad] + std::vector jitter_torque_rot_phase_; //!< 2 * pi * h_i * Omega * t [rad] // Variables for solving difference equations in compo frame libra::Vector<3> unfiltered_jitter_force_n_c_{0.0}; @@ -47,13 +97,24 @@ class RWJitter { libra::Vector<3> filtered_jitter_torque_n_c_{0.0}; libra::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; libra::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; - double coef_[6]; // Coefficients of difference equation + double coef_[6]; //!< Coefficients of difference equation - // Jitter force and torque in body frame - libra::Vector<3> jitter_force_b_{0.0}; - libra::Vector<3> jitter_torque_b_{0.0}; + libra::Vector<3> jitter_force_b_{0.0}; //!< Generated jitter force in the body frame [N] + libra::Vector<3> jitter_torque_b_{0.0}; //!< Generated jitter torque in the body frame [Nm] + /** + * @fn AddStructuralResonance + * @brief Add structural resonance effect + */ void AddStructuralResonance(); + /** + * @fn ShiftTimeStep + * @brief Shift time step + */ void ShiftTimeStep(); + /** + * @fn CalcCoef + * @brief Calculation coefficients + */ void CalcCoef(); }; diff --git a/src/Component/AOCS/RWModel.cpp b/src/Component/AOCS/RWModel.cpp index 7081d3167..898c1b8e7 100644 --- a/src/Component/AOCS/RWModel.cpp +++ b/src/Component/AOCS/RWModel.cpp @@ -1,3 +1,7 @@ +/* + * @file RWModel.cpp + * @brief Class to emulate Reaction Wheel + */ #include "RWModel.h" #include @@ -144,8 +148,7 @@ Vector<3> RWModel::CalcTorque() { const libra::Vector<3> RWModel::GetOutputTorqueB() const { if (is_calculated_jitter_) { - // Add jitter_force_b_-derived torque and jitter_torque_b_ to - // output_torqur_b + // Add jitter_force_b_-derived torque and jitter_torque_b_ to output_torqur_b return output_torque_b_ - libra::outer_product(pos_b_, rw_jitter_.GetJitterForceB()) - rw_jitter_.GetJitterTorqueB(); } else { return output_torque_b_; diff --git a/src/Component/AOCS/RWModel.h b/src/Component/AOCS/RWModel.h index 9754ed83d..8c9e0036a 100644 --- a/src/Component/AOCS/RWModel.h +++ b/src/Component/AOCS/RWModel.h @@ -1,3 +1,8 @@ +/* + * @file RWModel.h + * @brief Class to emulate Reaction Wheel + */ + #ifndef __RWModel_H__ #define __RWModel_H__ #include @@ -12,24 +17,41 @@ #include "RWJitter.h" #include "rw_ode.hpp" -/** - * @brief Class for a Reaction Wheel emulation - * @details For one reaction wheel, and it has rw_ode class +/* + * @class RWModel + * @brief Class to emulate Reaction Wheel + * @note For one reaction wheel */ class RWModel : public ComponentBase, public ILoggable { public: /** - * @brief Constructor - * @param[in] prescaler and clock_gen : arguments for ComponentBase: - * @param[in] step_width: step_width of integration by RwOde [sec] - * @param[in] dt_main_routine: period of execution of main routine [sec] - * @param[in] inertia: Moment of inertia of the RW [kgm2] - * @param[in] max_torque: Maximum output torque [Nm] - * @param[in] max_velocity_rpm: Maximum output angular velocity [RPM] - * @param[in] direction_b: Mounting direction of the Wheel at Body frame - * @param[in] dead_time: dead time [sec] - * @param[in] driving_lag_coef - * @param[in] coasting_lag_coef + * @fn RWModel + * @brief Constructor without power port + * @note TODO: argument is too long + * @param [in] prescaler: Frequency scale factor for update + * @param [in] fast_prescaler: Frequency scale factor for fast update + * @param [in] clock_gen: Clock generator + * @param [in] step_width: Step width of integration by reaction wheel ordinary differential equation [sec] + * @param [in] dt_main_routine: Period of execution of main routine of RW [sec] + * @param [in] jitter_update_interval: Update period of RW jitter [sec] + * @param [in] inertia: Moment of inertia of the RW [kgm2] + * @param [in] max_torque: Maximum output torque [Nm] + * @param [in] max_velocity_rpm: Maximum output angular velocity [RPM] + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] pos_b: Position of RW on the body fixed frame [m] + * @param [in] dead_time: Dead time of torque output [sec] + * @param [in] driving_lag_coef: Driving lag coefficients + * @param [in] coasting_lag_coef: Coasting lag coefficients + * @param [in] is_calc_jitter_enabled: Enable flag to calculate RW jitter + * @param [in] is_log_jitter_enabled: Enable flag to log output RW jitter + * @param [in] radial_force_harmonics_coef: Coefficients for radial force harmonics + * @param [in] radial_torque_harmonics_coef: Coefficients for radial torque harmonics + * @param [in] structural_resonance_freq: Frequency of structural resonance [Hz] + * @param [in] damping_factor: Damping factor of structural resonance + * @param [in] bandwidth: Bandwidth of structural resonance + * @param [in] considers_structural_resonance: Flag to consider structural resonance + * @param [in] drive_flag: RW drive flag + * @param [in] init_velocity: Initial value of angular velocity of RW */ RWModel(const int prescaler, const int fast_prescaler, ClockGenerator *clock_gen, const double step_width, const double dt_main_routine, const double jitter_update_interval, const double inertia, const double max_torque, const double max_velocity_rpm, const Quaternion q_b2c, @@ -37,6 +59,35 @@ class RWModel : public ComponentBase, public ILoggable { bool is_calc_jitter_enabled, bool is_log_jitter_enabled, std::vector> radial_force_harmonics_coef, std::vector> radial_torque_harmonics_coef, double structural_resonance_freq, double damping_factor, double bandwidth, bool considers_structural_resonance, const bool drive_flag = false, const double init_velocity = 0.0); + /** + * @fn RWModel + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] fast_prescaler: Frequency scale factor for fast update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] step_width: Step width of integration by reaction wheel ordinary differential equation [sec] + * @param [in] dt_main_routine: Period of execution of main routine of RW [sec] + * @param [in] jitter_update_interval: Update period of RW jitter [sec] + * @param [in] inertia: Moment of inertia of the RW [kgm2] + * @param [in] max_torque: Maximum output torque [Nm] + * @param [in] max_velocity_rpm: Maximum output angular velocity [RPM] + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] pos_b: Position of RW on the body fixed frame [m] + * @param [in] dead_time: Dead time of torque output [sec] + * @param [in] driving_lag_coef: Driving lag coefficients + * @param [in] coasting_lag_coef: Coasting lag coefficients + * @param [in] is_calc_jitter_enabled: Enable flag to calculate RW jitter + * @param [in] is_log_jitter_enabled: Enable flag to log output RW jitter + * @param [in] radial_force_harmonics_coef: Coefficients for radial force harmonics + * @param [in] radial_torque_harmonics_coef: Coefficients for radial torque harmonics + * @param [in] structural_resonance_freq: Frequency of structural resonance [Hz] + * @param [in] damping_factor: Damping factor of structural resonance + * @param [in] bandwidth: Bandwidth of structural resonance + * @param [in] considers_structural_resonance: Flag to consider structural resonance + * @param [in] drive_flag: RW drive flag + * @param [in] init_velocity: Initial value of angular velocity of RW [rad/s] + */ RWModel(const int prescaler, const int fast_prescaler, ClockGenerator *clock_gen, PowerPort *power_port, const double step_width, const double dt_main_routine, const double jitter_update_interval, const double inertia, const double max_torque, const double max_velocity_rpm, const Quaternion q_b2c, const Vector<3> pos_b, const double dead_time, const Vector<3> driving_lag_coef, @@ -45,76 +96,138 @@ class RWModel : public ComponentBase, public ILoggable { double structural_resonance_freq, double damping_factor, double bandwidth, bool considers_structural_resonance, const bool drive_flag = false, const double init_velocity = 0.0); - // ComponentBase override function + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to output torque of normal RW + */ void MainRoutine(int count) override; + /** + * @fn PowerOffRoutine + * @brief Power off routine to stop actuation + */ void PowerOffRoutine() override; - void FastUpdate() override; // Fast Update for jitter + /** + * @fn FastUpdate + * @brief Main routine to output torque of RW jitter + */ + void FastUpdate() override; - // Iloggable override function - std::string GetLogHeader() const; - std::string GetLogValue() const; + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const; // Getter + /** + * @fn GetOutputTorqueB + * @brief Return output torque in the body fixed frame [Nm] + */ const libra::Vector<3> GetOutputTorqueB() const; + /** + * @fn GetJitterForceB + * @brief Return output force by jitter in the body fixed frame [N] + */ const libra::Vector<3> GetJitterForceB() const { return rw_jitter_.GetJitterForceB(); } + /** + * @fn isMotorDrove + * @brief Return drive flag + */ inline bool isMotorDrove() const { return drive_flag_; }; + /** + * @fn GetVelocityRad + * @brief Return angular velocity of RW rotor [rad/s] + */ inline double GetVelocityRad() const { return angular_velocity_rad_; }; + /** + * @fn GetVelocityRpm + * @brief Return angular velocity of RW rotor [RPM] + */ inline double GetVelocityRpm() const { return angular_velocity_rpm_; }; + /** + * @fn GetAngMomB + * @brief Return angular momentum of RW [Nms] + */ inline const libra::Vector<3> GetAngMomB() const { return angular_momentum_b_; }; // Setter + /** + * @fn SetTargetTorqueRw + * @brief Set target torque on RW frame [Nm] + */ void SetTargetTorqueRw(double torque_rw); + /** + * @fn SetTargetTorqueBody + * @brief Set target torque on body frame (opposite of RW frame) [Nm] + */ void SetTargetTorqueBody(double torque_body); + /** + * @fn SetVelocityLimitRpm + * @brief Set velocity limit [RPM] + */ void SetVelocityLimitRpm(double velocity_limit_rpm); + /** + * @fn SetDriveFlag + * @brief Set drive flag + */ inline void SetDriveFlag(bool flag) { drive_flag_ = flag; }; protected: // Fixed Parameters - const double inertia_; // kg m2 - const double max_torque_; // Nm - const double max_velocity_rpm_; // rpm - libra::Quaternion q_b2c_; // Quaternion from body frame to component frame - const libra::Vector<3> pos_b_; - libra::Vector<3> direction_c_; // Definition of component frame : wheel rotation axis = (0 - // 0 1)^T. plus means direction of rotation (output torque - // is minus direction) - libra::Vector<3> direction_b_; // Wheel rotation vector in body frame. direction_b_ means - // direction of wheel rotation, so output torque direction - // is opposite to direction_b_. + const double inertia_; //!< Inertia of RW rotor [kgm2] + const double max_torque_; //!< Maximum output torque [Nm] + const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] + libra::Quaternion q_b2c_; //!< Quaternion from body frame to component frame + const libra::Vector<3> pos_b_; //!< Position of RW in the body fixed frame [m] + libra::Vector<3> direction_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) + libra::Vector<3> direction_b_; //!< Wheel rotation vector in the body fixed frame. // Fixed Parameters for control delay - const double step_width_; // step width for RwOde [sec] - const double dead_time_; // dead time [sec] - const libra::Vector<3> driving_lag_coef_; // delay coefficient for normal drive - const libra::Vector<3> coasting_lag_coef_; // delay coefficient for coasting drive(Power off) + const double step_width_; //!< step width for RwOde [sec] + const double dead_time_; //!< dead time [sec] + const libra::Vector<3> driving_lag_coef_; //!< delay coefficient for normal drive + const libra::Vector<3> coasting_lag_coef_; //!< delay coefficient for coasting drive(Power off) // Controlled Parameters - bool drive_flag_; //! drive flag(1: Drive 、0: Stop) - double velocity_limit_rpm_; //! velocity limit defined by users rpm - double target_accl_; + bool drive_flag_; //!< Drive flag(True: Drive, False: Stop) + double velocity_limit_rpm_; //!< Velocity limit defined by users [RPM] + double target_accl_; //!< Target acceleration [rad/s2] // Internal variables for control delay - std::vector delay_buffer_accl_; // delay buffer - double dt_main_routine_; // period of execution of main routine [sec] + std::vector delay_buffer_accl_; //!< Delay buffer for acceleration + double dt_main_routine_; //!< Period of execution of main routine [sec] // Output at RW frame - double angular_acceleration_ = 0.0; // rad/s2 - double angular_velocity_rpm_ = 0.0; // rpm - double angular_velocity_rad_ = 0.0; // rad/s + double angular_acceleration_ = 0.0; //!< Output angular acceleration [rad/s2] + double angular_velocity_rpm_ = 0.0; //!< Current angular velocity [rpm] + double angular_velocity_rad_ = 0.0; //!< Current angular velocity [rad/s] // Output at body frame - libra::Vector<3> output_torque_b_{0.0}; // Nm - libra::Vector<3> angular_momentum_b_{0.0}; // Nms + libra::Vector<3> output_torque_b_{0.0}; //!< Output torque in the body fixed frame [Nm] + libra::Vector<3> angular_momentum_b_{0.0}; //!< Angular momentum of RW [Nms] - RwOde ode_angular_velocity_; + RwOde ode_angular_velocity_; //!< Reaction Wheel ODE + RWJitter rw_jitter_; //!< RW jitter + bool is_calculated_jitter_ = false; //!< Flag for calculation of jitter + bool is_logged_jitter_ = false; //!< Flag for log output of jitter // Local functions + /** + * @fn CalcTorque + * @brief Calculation of generated torque + */ Vector<3> CalcTorque(); + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(); - - // RW jitter model - RWJitter rw_jitter_; - bool is_calculated_jitter_ = false; - bool is_logged_jitter_ = false; }; #endif //__RWModel_H__ diff --git a/src/Component/AOCS/RWModule.cpp b/src/Component/AOCS/RWModule.cpp index a79242929..7dca95002 100644 --- a/src/Component/AOCS/RWModule.cpp +++ b/src/Component/AOCS/RWModule.cpp @@ -1,3 +1,9 @@ +/* + * @file RWModule.cpp + * @brief Class to combine four reaction wheels + * @note We recommend not to use this class. Users can make multiple RW by making multiple instances of RWModel. TODO: Delete this class. + */ + #include "RWModule.h" #include diff --git a/src/Component/AOCS/RWModule.h b/src/Component/AOCS/RWModule.h index 8fe76ad21..6f460c78d 100644 --- a/src/Component/AOCS/RWModule.h +++ b/src/Component/AOCS/RWModule.h @@ -1,3 +1,9 @@ +/* + * @file RWModule.h + * @brief Class to combine four reaction wheels + * @note We recommend not to use this class. Users can make multiple RW by making multiple instances of RWModel. TODO: Delete this class. + */ + #include #include @@ -8,8 +14,8 @@ class RWModule { private: RWModel RW_[4]; - Matrix<3, 4> torque_transition_; //トルク変換行列 - Vector<3> RWtorque_b_; //出したトルク(ログ用) + Matrix<3, 4> torque_transition_; // トルク変換行列 + Vector<3> RWtorque_b_; // 出したトルク(ログ用) public: RWModule(); RWModule(double step_width, double angular_velocity_init_0, double inertia_0, double angular_velocity_upperlimit_init_0, @@ -19,12 +25,12 @@ class RWModule { double angular_velocity_lowerlimit_init_2, bool motor_drive_init_2, double angular_accelaration_init_2, double angular_velocity_init_3, double inertia_3, double angular_velocity_upperlimit_init_3, double angular_velocity_lowerlimit_init_3, bool motor_drive_init_3, double angular_accelaration_init_3, int number_of_RW, libra::Matrix<3, 4> torque_transition); - libra::Vector<3> GetTorque(); //トルク発生 + libra::Vector<3> GetTorque(); // トルク発生 void SetTorque(double angular_accelaration, - int module_number); //必要な角加速度の指定(単位はrpm/s) + int module_number); // 必要な角加速度の指定(単位はrpm/s) void SetLimits(double angular_velocity_upperlimit, double angular_velocity_lowerlimit, int module_number); // UL/LLの設定(単位はrpm) - void SetDrive(bool on, int module_number); //動作フラグの設定 - string WriteLogHeader(void); //ログofヘッダー - string WriteLogValue(void); //ログof値 + void SetDrive(bool on, int module_number); // 動作フラグの設定 + string WriteLogHeader(void); // ログofヘッダー + string WriteLogValue(void); // ログof値 }; diff --git a/src/Component/AOCS/rw_ode.cpp b/src/Component/AOCS/rw_ode.cpp index a961e74ca..fc54025ed 100644 --- a/src/Component/AOCS/rw_ode.cpp +++ b/src/Component/AOCS/rw_ode.cpp @@ -1,9 +1,6 @@ /* - * @file rw_ode.hpp - * @brief - * リアクションホイールの指定されたrpmまでの推移(一次遅れ系として実装されている) - * @author Shun Arahata - * @details rw_ode.cppの実装 + * @file rw_ode.cpp + * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ #include "rw_ode.hpp" diff --git a/src/Component/AOCS/rw_ode.hpp b/src/Component/AOCS/rw_ode.hpp index ef7bbefaa..32457f9c4 100644 --- a/src/Component/AOCS/rw_ode.hpp +++ b/src/Component/AOCS/rw_ode.hpp @@ -1,9 +1,6 @@ /* * @file rw_ode.hpp - * @brief リアクションホイールの指定された角速度までの推移の微分方程式(一時遅れ) - * @author Shun Arahata - * @date - * @details ODEクラスを継承 + * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ #ifndef __RW_ODE_H__ #define __RW_ODE_H__ @@ -11,55 +8,64 @@ #include #include -/** - * @brief RWのトルクを求める微分方程式 - * @details ODEの実装 +/* + * @file RwOde + * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ class RwOde : public libra::ODE<1> { public: /** - * @brief コンストラクタ - * @param[in] step_width 計算ステップ幅 - * @param[in] first_order_lag　一次遅れ用定数 - * @param[in] init_angular_velocity 初期角速度 - * @param[in] target_angular_velocity 目標角速度 + * @fn RwOde + * @brief Constructor + * @param [in] step_width: Step width for ODE calculation + * @param [in] init_angular_velocity: Initial angular velocity [rad/s] + * @param [in] target_angular_velocity: Target angular velocity [rad/s] + * @param [in] lag_coef: coefficients for first order lag */ RwOde(double step_width, double init_angular_velocity, double target_angular_velocity, libra::Vector<3> lag_coef); + /** - * @brief 微分方程式の実装 - * @param[in] x　時間 - * @param[out] rhs 右辺 - * @param[out] state - * @return void - * @detail ode.hppにて純粋仮想関数として宣言 + * @fn RHS + * @brief Definition of the difference equation (Override function of ODE class) + * @param [in] x: Independent variable (e.g. time) + * @param [in] state: State vector + * @param [out] rhs: Differentiated value of state vector */ void RHS(double x, const libra::Vector<1>& state, libra::Vector<1>& rhs) override; /** - *@brief 角速度の取得 - *@return 角速度 - *@detail 計算をさせているわけではないことに注意 + * @fn getAngularVelocity + * @brief Return current angular velocity of RW rotor [rad/s] */ double getAngularVelocity(void) const; /** - *@brief 目標角速度の取得 - *@return void + * @fn setTargetAngularVelocity + * @brief Set target angular velocity [rad/s] */ - void setTargetAngularVelocity(double angular_velocity); + /** + * @fn setFirstOrderLag + * @brief Set first order lag coefficient (Currently not used) + */ void setFirstOrderLag(double first_order_lag); - + /** + * @fn setSecondOrderCoef + * @brief Set second order lag coefficient (Currently not used) + */ void setSecondOrderCoef(double second_order_coef); - + /** + * @fn setLagCoef + * @brief Set lag coefficients + */ void setLagCoef(libra::Vector<3> lag_coef); private: - RwOde(double step_width); //!基底クラスのコンストラクタ呼び出しの禁止 - libra::Vector<3> lag_coef_; //!<一次遅れ用定数 - const double kInitAngularVelocity_; //!初期角速度 - double target_angular_velocity_; //!目標角速度 + RwOde(double step_width); //!< Prohibit calling constructor + libra::Vector<3> lag_coef_; //!< Coefficients for the first order lag + const double kInitAngularVelocity_; //!< Initial angular velocity [rad/s] + double target_angular_velocity_; //!< Target angular velocity [rad/s] }; #endif //__RW_ODE_H__ From a45df62fc1c711fe9bb9c3d69dedc07fcbeee0bd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 22:44:26 +0100 Subject: [PATCH 141/199] Fix comments in STT --- src/Component/AOCS/STT.cpp | 8 +- src/Component/AOCS/STT.h | 198 ++++++++++++++++++++++++++++--------- 2 files changed, 157 insertions(+), 49 deletions(-) diff --git a/src/Component/AOCS/STT.cpp b/src/Component/AOCS/STT.cpp index 97be7c246..e97c8b037 100644 --- a/src/Component/AOCS/STT.cpp +++ b/src/Component/AOCS/STT.cpp @@ -1,3 +1,8 @@ +/* + * @file STT.cpp + * @brief Class to emulate star tracker + */ + #include "STT.h" #include @@ -194,8 +199,7 @@ double STT::CalAngleVect_rad(const Vector<3>& vect1, const Vector<3>& vect2) { normalize(vect1_normal); // Normalize Vector1 Vector<3> vect2_normal(vect2); normalize(vect2_normal); // Normalize Vector2 - double cosTheta = inner_product(vect1_normal, vect2_normal); // Calc cos - // value + double cosTheta = inner_product(vect1_normal, vect2_normal); // Calc cos value double theta_rad = acos(cosTheta); return theta_rad; } diff --git a/src/Component/AOCS/STT.h b/src/Component/AOCS/STT.h index ebef33a94..3064bc4e4 100644 --- a/src/Component/AOCS/STT.h +++ b/src/Component/AOCS/STT.h @@ -1,3 +1,8 @@ +/* + * @file STT.h + * @brief Class to emulate star tracker + */ + #pragma once #ifndef __STT_H__ @@ -16,89 +21,188 @@ #include "../Abstract/ComponentBase.h" #include "Dynamics/Dynamics.h" +/* + * @class STT + * @brief Class to emulate star tracker + */ class STT : public ComponentBase, public ILoggable { public: /** - * @brief Constructor - * @param[in] prescaler and clock_gen : arguments for ComponentBase: - * @param[in] id ID for log output - * @param[in] q_b2c Quaternion from body frame to component frame - * @param[in] sigma_ortho Standard deviation for random noise in orthogonal - * direction of sight [rad] - * @param[in] sigma_sight Standard deviation for random noise in sight - * direction[rad] - * @param[in] step_time Step time [sec] - * @param[in] output_delay output delay. unit: step_time,[0-MAX_DELAY] - * @param[in] output_interval output intercal unit:step_time - * @param[in] forbidden_angles forbidden angles for each body [rad]． - * @param[in] capture_rate Angular rate limit to get correct attitude[rad/s] + * @fn STT + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] sigma_ortho: Standard deviation for random noise in orthogonal direction of sight [rad] + * @param [in] sigma_sight: Standard deviation for random noise in sight direction[rad] + * @param [in] step_time: Step time for delay calculation [sec] + * @param [in] output_delay: Output delay [0, MAX_DELAY] [step_sec] + * @param [in] output_interval: Output interval [step_sec] + * @param [in] sun_forbidden_angle: Sun forbidden angle [rad] + * @param [in] earth_forbidden_angle: Earth forbidden angle [rad] + * @param [in] moon_forbidden_angle: Moon forbidden angle [rad] + * @param [in] capture_rate: Angular rate limit to get correct attitude [rad/s] + * @param [in] dynamics: Dynamics information + * @param [in] local_env: Local environment information */ STT(const int prescaler, ClockGenerator* clock_gen, const int id, const libra::Quaternion& q_b2c, const double sigma_ortho, const double sigma_sight, const double step_time, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle, const double earth_forbidden_angle, const double moon_forbidden_angle, const double capture_rate, const Dynamics* dynamics, const LocalEnvironment* local_env); + /** + * @fn STT + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] sigma_ortho: Standard deviation for random noise in orthogonal direction of sight [rad] + * @param [in] sigma_sight: Standard deviation for random noise in sight direction[rad] + * @param [in] step_time: Step time for delay calculation [sec] + * @param [in] output_delay: Output delay [0, MAX_DELAY] [step_sec] + * @param [in] output_interval: Output interval [step_sec] + * @param [in] sun_forbidden_angle: Sun forbidden angle [rad] + * @param [in] earth_forbidden_angle: Earth forbidden angle [rad] + * @param [in] moon_forbidden_angle: Moon forbidden angle [rad] + * @param [in] capture_rate: Angular rate limit to get correct attitude [rad/s] + * @param [in] dynamics: Dynamics information + * @param [in] local_env: Local environment information + */ STT(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const int id, const libra::Quaternion& q_b2c, const double sigma_ortho, const double sigma_sight, const double step_time, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle, const double earth_forbidden_angle, const double moon_forbidden_angle, const double capture_rate, const Dynamics* dynamics, const LocalEnvironment* local_env); - // ComponentBase override functions + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ void MainRoutine(int count) override; - // ILogabble override functions + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // Getter + /** + * @fn GetObsQuaternion + * @brief Return observed quaternion from the inertial frame to the component frame + */ inline const libra::Quaternion GetObsQuaternion() const { return q_stt_i2c_; }; + /** + * @fn GetErrorFlag + * @brief Return error flag + */ inline bool GetErrorFlag() const { return error_flag_; } protected: // STT general parameters - const int id_; - libra::Quaternion q_b2c_; // Quaternion from body frame to component frame - libra::Quaternion q_stt_i2c_ = {0.0, 0.0, 0.0, 1.0}; // STT observed quaternion - libra::Vector<3> sight_; // sight direction vector at component frame - libra::Vector<3> ortho1_; // the first orthogonal direction of sight at component frame - libra::Vector<3> ortho2_; // the secont orthogonal direction of sight at component frame + const int id_; //!< Sensor ID + libra::Quaternion q_b2c_; //!< Quaternion from body frame to component frame + libra::Quaternion q_stt_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< STT observed quaternion + libra::Vector<3> sight_; //!< Sight direction vector at component frame + libra::Vector<3> ortho1_; //!< The first orthogonal direction of sight at component frame + libra::Vector<3> ortho2_; //!< The second orthogonal direction of sight at component frame // Noise parameters - libra::Ran1 rot_; // Randomize object for orthogonal direction - libra::NormalRand n_ortho_; // Random noise for orthogonal direction of sight [rad] - libra::NormalRand n_sight_; // Random noise for sight direction [rad] + libra::Ran1 rot_; //!< Randomize object for orthogonal direction + libra::NormalRand n_ortho_; //!< Random noise for orthogonal direction of sight [rad] + libra::NormalRand n_sight_; //!< Random noise for sight direction [rad] // Delay emulation parameters - int MAX_DELAY; - std::vector q_buffer_; // buffer for delay - int pos_; // buffer position - double step_time_; // sec - unsigned int output_delay_; // output delay. unit: step_time,[0-MAX_DELAY] - unsigned int output_interval_; // output interval. unit: step_time,[0-MAX_DELAY] - std::size_t count_; // output update counter + int MAX_DELAY; //!< Max delay + std::vector q_buffer_; //!< Buffer of quaternion for delay emulation + int pos_; //!< Buffer position + double step_time_; //!< Step time for delay calculation [sec] + unsigned int output_delay_; //!< Output delay [0, MAX_DELAY] [step_sec] + unsigned int output_interval_; //!< Output interval [step_sec] + std::size_t count_; //!< Output update counter // observation error parameters - bool error_flag_; // true: Error , false: No error - double sun_forbidden_angle_; // rad - double earth_forbidden_angle_; // rad - double moon_forbidden_angle_; // rad - double capture_rate_; // Angular rate limit to get correct attitude[rad/s] + bool error_flag_; //!< Error flag. true: Error, false: No error + double sun_forbidden_angle_; //!< Sun forbidden angle [rad] + double earth_forbidden_angle_; //!< Earth forbidden angle [rad] + double moon_forbidden_angle_; //!< Moon forbidden angle [rad] + double capture_rate_; //!< Angular rate limit to get correct attitude [rad/s] // Observed variables - const Dynamics* dynamics_; - const LocalEnvironment* local_env_; + const Dynamics* dynamics_; //!< Dynamics information + const LocalEnvironment* local_env_; //!< Local environment information // Internal functions - void update(const LocalCelestialInformation* local_celes_info, - const Attitude* attinfo); // update delay buffer - libra::Quaternion measure(const LocalCelestialInformation* local_celes_info, - const Attitude* attinfo); // Calc measured quaternion + /** + * @fn update + * @brief Update delay buffer + * @param [in] local_celes_info: Local celestial information + * @param [in] attinfo: Attitude information + */ + void update(const LocalCelestialInformation* local_celes_info, const Attitude* attinfo); + /** + * @fn measure + * @brief Calculate measured quaternion + * @param [in] local_celes_info: Local celestial information + * @param [in] attinfo: Attitude information + */ + libra::Quaternion measure(const LocalCelestialInformation* local_celes_info, const Attitude* attinfo); + /** + * @fn AllJudgement + * @brief Calculate all error judgement + * @param [in] local_celes_info: Local celestial information + * @param [in] attinfo: Attitude information + */ void AllJudgement(const LocalCelestialInformation* local_celes_info, const Attitude* attinfo); - int SunJudgement(const libra::Vector<3>& sun_b); // Judge sun forbidden angle - int EarthJudgement(const libra::Vector<3>& earth_b); // Judge earth forbidden angle - int MoonJudgement(const libra::Vector<3>& moon_b); // Judge moon forbidden angle - int CaptureRateJudgement(const libra::Vector<3>& omega_b); // Judge limit angular velocity + /** + * @fn SunJudgement + * @brief Judge violation of sun forbidden angle + * @param [in] sun_b: Sun direction vector in the body fixed frame + * @return 1: violated, 0: not violated + */ + int SunJudgement(const libra::Vector<3>& sun_b); + /** + * @fn EarthJudgement + * @brief Judge violation of earth forbidden angle + * @param [in] earth_b: Earth direction vector in the body fixed frame + * @return 1: violated, 0: not violated + */ + int EarthJudgement(const libra::Vector<3>& earth_b); + /** + * @fn MoonJudgement + * @brief Judge violation of moon forbidden angle + * @param [in] moon_b: Moon direction vector in the body fixed frame + * @return 1: violated, 0: not violated + */ + int MoonJudgement(const libra::Vector<3>& moon_b); + /** + * @fn CaptureRateJudgement + * @brief Judge violation of angular velocity limit + * @param [in] omega_b: Angular velocity of spacecraft in the body fixed frame + * @return 1: violated, 0: not violated + */ + int CaptureRateJudgement(const libra::Vector<3>& omega_b); + /** + * @fn CalAngleVect_rad + * @brief Calculate angle between two vectors + * @param [in] vect1: First vector + * @param [in] vect2: Second vector + * @return Angle between two vectors [rad] + */ double CalAngleVect_rad(const libra::Vector<3>& vect1, const libra::Vector<3>& vect2); + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(); }; From 7308333f5e8d2063177ec5238bc1ca407936cff4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 23:04:01 +0100 Subject: [PATCH 142/199] Fix comments in SunSensor --- src/Component/AOCS/SunSensor.cpp | 5 ++ src/Component/AOCS/SunSensor.h | 119 ++++++++++++++++++++++++------- 2 files changed, 99 insertions(+), 25 deletions(-) diff --git a/src/Component/AOCS/SunSensor.cpp b/src/Component/AOCS/SunSensor.cpp index 84f542b8a..863acf730 100644 --- a/src/Component/AOCS/SunSensor.cpp +++ b/src/Component/AOCS/SunSensor.cpp @@ -1,3 +1,8 @@ +/* + * @file SunSensor.cpp + * @brief Class to emulate sun sensor + */ + #include "SunSensor.h" #include diff --git a/src/Component/AOCS/SunSensor.h b/src/Component/AOCS/SunSensor.h index a20d03e2a..c5ea224f2 100644 --- a/src/Component/AOCS/SunSensor.h +++ b/src/Component/AOCS/SunSensor.h @@ -1,3 +1,8 @@ +/* + * @file SunSensor.h + * @brief Class to emulate sun sensor + */ + #ifndef __SunSensor_H__ #define __SunSensor_H__ @@ -11,20 +16,67 @@ #include "../Abstract/ComponentBase.h" +/* + * @class SunSensor + * @brief Class to emulate sun sensor + */ class SunSensor : public ComponentBase, public ILoggable { public: + /** + * @fn SunSensor + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] detectable_angle_rad: Detectable angle threshold [rad] + * @param [in] nr_stddev_c: Standard deviation of normal random noise in the component frame [rad] + * @param [in] nr_bias_stddev_c: Standard deviation of normal random noise for bias in the component frame [rad] + * @param [in] intensity_lower_threshold_percent: Solar intensity lower threshold [%] + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] local_celes_info: Local celestial information + */ SunSensor(const int prescaler, ClockGenerator* clock_gen, const int id, const libra::Quaternion& q_b2c, const double detectable_angle_rad, const double nr_stddev_c, const double nr_bias_stddev_c, const double intensity_lower_threshold_percent, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info); + /** + * @fn SunSensor + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] id: Sensor ID + * @param [in] q_b2c: Quaternion from body frame to component frame + * @param [in] detectable_angle_rad: Detectable angle threshold [rad] + * @param [in] nr_stddev_c: Standard deviation of normal random noise in the component frame [rad] + * @param [in] nr_bias_stddev_c: Standard deviation of normal random noise for bias in the component frame [rad] + * @param [in] intensity_lower_threshold_percent: Solar intensity lower threshold [%] + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] local_celes_info: Local celestial information + */ SunSensor(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const int id, const libra::Quaternion& q_b2c, const double detectable_angle_rad, const double nr_stddev_c, const double nr_bias_stddev_c, const double intensity_lower_threshold_percent, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info); - // ComponentBase override function + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ void MainRoutine(int count) override; - // ILogabble override functions + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; + // Getter inline bool GetSunDetectedFlag() const { return sun_detected_flag_; }; inline const Vector<3> GetMeasuredSun_c() const { return measured_sun_c_; }; @@ -34,40 +86,57 @@ class SunSensor : public ComponentBase, public ILoggable { inline double GetSolarIlluminance() const { return solar_illuminance_; }; protected: - const int id_; - libra::Quaternion q_b2c_; // Quaternion from body frame to component frame - // (Z-axis of the component is sight direction) - double intensity_lower_threshold_percent_; // If the light intensity becomes - // smaller than this, it becomes - // impossible to get the sun - // direction + const int id_; //!< Sensor ID + libra::Quaternion q_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) + double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction - libra::Vector<3> sun_c_{0.0}; - libra::Vector<3> measured_sun_c_{0.0}; - double alpha_ = 0.0; // Angle between Z-axis and the sun direction projected - // on XZ plane [rad] - double beta_ = 0.0; // Angle between Z-axis and the sun direction projected - // on YZ plane [rad] - double solar_illuminance_ = 0.0; // The energy of sunlight per unit area, taking into account the - // angle to the sun[W/m^2]. + libra::Vector<3> sun_c_{0.0}; //!< True value of sun vector in the component frame + libra::Vector<3> measured_sun_c_{0.0}; //!< Measured sun vector in the component frame - double detectable_angle_rad_; // half angle (>0) [rad] - bool sun_detected_flag_ = false; + double alpha_ = 0.0; //!< Angle between Z-axis and the sun direction projected on XZ plane [rad] + double beta_ = 0.0; //!< Angle between Z-axis and the sun direction projected on YZ plane [rad] + double solar_illuminance_ = 0.0; //!< The energy of sunlight per unit area, taking into account the angle to the sun [W/m^2] + double detectable_angle_rad_; //!< half angle (>0) [rad] + bool sun_detected_flag_ = false; //!< Sun detected flag // Noise parameters - libra::NormalRand nrs_alpha_; // Normal random - libra::NormalRand nrs_beta_; // Normal random - double bias_alpha_ = 0.0; // Normal random for bias - double bias_beta_ = 0.0; // Normal random for bias + libra::NormalRand nrs_alpha_; //!< Normal random for alpha angle + libra::NormalRand nrs_beta_; //!< Normal random for beta angle + double bias_alpha_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) + double bias_beta_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) // Measured variables - const SRPEnvironment* srp_; - const LocalCelestialInformation* local_celes_info_; + const SRPEnvironment* srp_; //!< Solar Radiation Pressure environment + const LocalCelestialInformation* local_celes_info_; //!< Local celestial information // functions + /** + * @fn SunDetectionJudgement + * @brief Judge sun is detected or not + */ void SunDetectionJudgement(); + /** + * @fn measure + * @brief Calculate observed sun angle + */ void measure(); + /** + * @fn TanRange + * @brief Clip angle as tangent range + * @param [in] x: Input angle + * @return Clipped value + */ double TanRange(double x); + /** + * @fn TanRange + * @brief Clip angle as tangent range + * @param [in] nr_stddev_c: Standard deviation of normal random noise in the component frame [rad] + * @param [in] nr_bias_stddev_c: Standard deviation of normal random noise for bias in the component frame [rad] + */ void Initialize(const double nr_stddev_c, const double nr_bias_stddev_c); + /** + * @fn CalcSolarIlluminance + * @brief Calculate solar illuminance on the sun sensor surface + */ void CalcSolarIlluminance(); }; From 041d0a0514e11fc2a689c3c00761a5c2a24546b8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 23:04:59 +0100 Subject: [PATCH 143/199] Fix comments in UWBSensor --- src/Component/AOCS/UWBSensor.cpp | 6 ++++++ src/Component/AOCS/UWBSensor.h | 6 ++++++ 2 files changed, 12 insertions(+) diff --git a/src/Component/AOCS/UWBSensor.cpp b/src/Component/AOCS/UWBSensor.cpp index 2834cf44d..50fe33f75 100644 --- a/src/Component/AOCS/UWBSensor.cpp +++ b/src/Component/AOCS/UWBSensor.cpp @@ -1,3 +1,9 @@ +/** + * @file UWBSensor.cpp + * @brief Class to emulate Ultra Wide Band distance sensor + * @note This class is not managed now. TODO: Consider to delete. + */ + #include "UWBSensor.h" #include diff --git a/src/Component/AOCS/UWBSensor.h b/src/Component/AOCS/UWBSensor.h index c68acb744..4963095a0 100644 --- a/src/Component/AOCS/UWBSensor.h +++ b/src/Component/AOCS/UWBSensor.h @@ -1,3 +1,9 @@ +/** + * @file UWBSensor.h + * @brief Class to emulate Ultra Wide Band distance sensor + * @note This class is not managed now. TODO: Consider to delete. + */ + #pragma once #include #include From f5e74d24f21ff10f82b509e32e2157899e3bb02e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 14 Dec 2022 23:41:27 +0100 Subject: [PATCH 144/199] Fix comments in OBC --- src/Component/CDH/OBC.cpp | 4 + src/Component/CDH/OBC.h | 174 +++++++++++++++++++++++++++++++++++--- 2 files changed, 166 insertions(+), 12 deletions(-) diff --git a/src/Component/CDH/OBC.cpp b/src/Component/CDH/OBC.cpp index 638f99b53..a1d70c2af 100644 --- a/src/Component/CDH/OBC.cpp +++ b/src/Component/CDH/OBC.cpp @@ -1,3 +1,7 @@ +/* + * @file OBC.cpp + * @brief Class to emulate on board computer + */ #include "OBC.h" OBC::OBC(ClockGenerator* clock_gen) : ComponentBase(1, clock_gen) { Initialize(); } diff --git a/src/Component/CDH/OBC.h b/src/Component/CDH/OBC.h index 791fdb95b..e288dd62b 100644 --- a/src/Component/CDH/OBC.h +++ b/src/Component/CDH/OBC.h @@ -1,3 +1,7 @@ +/* + * @file OBC.h + * @brief Class to emulate on board computer + */ #pragma once #include #include @@ -7,48 +11,194 @@ #include "../Abstract/ComponentBase.h" +/* + * @class OBC + * @brief Class to emulate on board computer + * @note OBC is connected with other components to communicate, and flight software is executed in OBC. + */ class OBC : public ComponentBase { public: + /** + * @fn OBC + * @brief Constructor + * @param [in] clock_gen: Clock generator + */ OBC(ClockGenerator* clock_gen); + /** + * @fn OBC + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + */ OBC(int prescaler, ClockGenerator* clock_gen, PowerPort* power_port); + /** + * @fn OBC + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] minimum_voltage: Minimum voltage [V] + * @param [in] assumed_power_consumption: Assumed power consumption [W] + */ OBC(int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const double minimum_voltage, const double assumed_power_consumption); + /** + * @fn ~OBC + * @brief Destructor + */ virtual ~OBC(); - // TODO:Rename the following functions to UartHogeHoge - // UART Communication port functions + // UART Communication port functions. TODO:Rename the following functions to UartHogeHoge + /** + * @fn ConnectComPort + * @brief Connect UART communication port between OBC and a component + * @param [in] port_id: Port ID + * @param [in] tx_buf_size: TX (OBC -> Component) buffer size + * @param [in] rx_buf_size: RX (Component -> OBC) buffer size + * @return -1: error, 0: success + */ virtual int ConnectComPort(int port_id, int tx_buf_size, int rx_buf_size); + /** + * @fn ConnectComPort + * @brief Close UART communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ virtual int CloseComPort(int port_id); - // UART OBC -> Components + /** + * @fn SendFromObc + * @brief Send data from OBC to Components with UART used by OBC side. + * @param [in] port_id: Port ID + * @param [in] buffer: Send data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of send data + * @return Number of written byte + */ virtual int SendFromObc(int port_id, unsigned char* buffer, int offset, int count); + /** + * @fn ReceivedByCompo + * @brief Read data from OBC to Components with UART used by component side. + * @param [in] port_id: Port ID + * @param [out] buffer: Read data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of read data + * @return Number of read byte + */ virtual int ReceivedByCompo(int port_id, unsigned char* buffer, int offset, int count); - // UART Components -> OBC + + /** + * @fn SendFromComponent + * @brief Send data from component to OBC with UART used by component side. + * @param [in] port_id: Port ID + * @param [in] buffer: Send data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of send data + * @return Number of written byte + */ virtual int SendFromCompo(int port_id, unsigned char* buffer, int offset, int count); + /** + * @fn ReceivedByObc + * @brief Read data from component to OBC with UART used by OBC side. + * @param [in] port_id: Port ID + * @param [out] buffer: Read data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of read data + * @return Number of read byte + */ virtual int ReceivedByObc(int port_id, unsigned char* buffer, int offset, int count); // I2C Communication port functions + /** + * @fn I2cConnectPort + * @brief Connect I2C communication port between OBC (I2C controller) and a component (I2C target) + * @note Multiple target can be connected to one port ID + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of target device + * @return 0 + */ virtual int I2cConnectPort(int port_id, const unsigned char i2c_addr); + /** + * @fn I2cCloseComPort + * @brief Close I2C communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ virtual int I2cCloseComPort(int port_id); + /** + * @fn I2cComponentWriteRegister + * @brief Write value in the target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [in] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ virtual int I2cComponentWriteRegister(int port_id, const unsigned char i2c_addr, const unsigned char reg_addr, const unsigned char* data, const unsigned char len); + /** + * @fn I2cComponentReadRegister + * @brief Read value in the target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [out] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ virtual int I2cComponentReadRegister(int port_id, const unsigned char i2c_addr, const unsigned char reg_addr, unsigned char* data, const unsigned char len); + /** + * @fn I2cComponentReadCommand + * @brief Read command from OBC to target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [out] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ virtual int I2cComponentReadCommand(int port_id, const unsigned char i2c_addr, unsigned char* data, const unsigned char len); // GPIO port functions + /** + * @fn GpioConnectPort + * @brief Connect GPIO communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ virtual int GpioConnectPort(int port_id); + /** + * @fn GpioComponentWrite + * @brief Control GPIO state + * @param [in] port_id: Port ID + * @param [in] is_high: GPIO state + * @return -1: error, 0: success + */ virtual int GpioComponentWrite(int port_id, const bool is_high); - virtual bool GpioComponentRead(int port_id); // return false when the port_id is not used + /** + * @fn GpioComponentRead + * @brief Read GPIO state + * @param [in] port_id: Port ID + * @return GPIO state or return false when the port_id is not used + */ + virtual bool GpioComponentRead(int port_id); protected: - // function + /** + * @fn Initialize + * @brief Initialize function + */ virtual void Initialize(); + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ virtual void MainRoutine(int count); private: - // UART ports - std::map com_ports_; - // I2C ports - std::map i2c_com_ports_; - // GPIO ports - std::map gpio_ports_; + std::map com_ports_; //!< UART ports + std::map i2c_com_ports_; //!< I2C ports + std::map gpio_ports_; //!< GPIO ports }; From cf72944389967312b6f489251c98f18a82430b65 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 00:05:39 +0100 Subject: [PATCH 145/199] Fix comments in OBC_C2A --- src/Component/CDH/OBC.h | 3 +- src/Component/CDH/OBC_C2A.cpp | 5 + src/Component/CDH/OBC_C2A.h | 243 +++++++++++++++++++++++++++++++--- 3 files changed, 235 insertions(+), 16 deletions(-) diff --git a/src/Component/CDH/OBC.h b/src/Component/CDH/OBC.h index e288dd62b..d1001c84f 100644 --- a/src/Component/CDH/OBC.h +++ b/src/Component/CDH/OBC.h @@ -193,7 +193,8 @@ class OBC : public ComponentBase { // Override functions for ComponentBase /** * @fn MainRoutine - * @brief Main routine for sensor observation + * @brief Main routine to execute flight software + * @note Users need to write flight software */ virtual void MainRoutine(int count); diff --git a/src/Component/CDH/OBC_C2A.cpp b/src/Component/CDH/OBC_C2A.cpp index 0aa850150..80270583a 100644 --- a/src/Component/CDH/OBC_C2A.cpp +++ b/src/Component/CDH/OBC_C2A.cpp @@ -1,3 +1,8 @@ +/* + * @file OBC_C2A.cpp + * @brief Class to emulate on board computer with C2A flight software + */ + #include "OBC_C2A.h" #ifdef USE_C2A diff --git a/src/Component/CDH/OBC_C2A.h b/src/Component/CDH/OBC_C2A.h index d2c3a4647..62b9819b2 100644 --- a/src/Component/CDH/OBC_C2A.h +++ b/src/Component/CDH/OBC_C2A.h @@ -1,65 +1,278 @@ +/* + * @file OBC_C2A.h + * @brief Class to emulate on board computer with C2A flight software + */ + #pragma once #include #include "OBC.h" +/* + * @class OBC_C2A + * @brief Class to emulate on board computer with C2A flight software + */ class OBC_C2A : public OBC { public: + /** + * @fn OBC_C2A + * @brief Constructor + * @param [in] clock_gen: Clock generator + */ OBC_C2A(ClockGenerator* clock_gen); + /** + * @fn OBC_C2A + * @brief Constructor + * @param [in] clock_gen: Clock generator + * @param [in] timing_regulator: Timing regulator to update flight software faster than the component update + */ OBC_C2A(ClockGenerator* clock_gen, int timing_regulator); + /** + * @fn OBC_C2A + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] timing_regulator: Timing regulator to update flight software faster than the component update + * @param [in] power_port: Power port + */ OBC_C2A(int prescaler, ClockGenerator* clock_gen, int timing_regulator, PowerPort* power_port); + /** + * @fn ~OBC_C2A + * @brief Destructor + */ ~OBC_C2A(); - // Communication port functions + // UART Communication port functions. TODO:Rename the following functions to UartHogeHoge + /** + * @fn ConnectComPort + * @brief Connect UART communication port between OBC and a component + * @param [in] port_id: Port ID + * @param [in] tx_buf_size: TX (OBC -> Component) buffer size + * @param [in] rx_buf_size: RX (Component -> OBC) buffer size + * @return -1: error, 0: success + */ int ConnectComPort(int port_id, int tx_buf_size, int rx_buf_size) override; + /** + * @fn ConnectComPort + * @brief Close UART communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ int CloseComPort(int port_id) override; - // OBC -> Components + /** + * @fn SendFromObc + * @brief Send data from OBC to Components with UART used by OBC side. + * @param [in] port_id: Port ID + * @param [in] buffer: Send data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of send data + * @return Number of written byte + */ int SendFromObc(int port_id, unsigned char* buffer, int offset, int count) override; + /** + * @fn ReceivedByCompo + * @brief Read data from OBC to Components with UART used by component side. + * @param [in] port_id: Port ID + * @param [out] buffer: Read data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of read data + * @return Number of read byte + */ int ReceivedByCompo(int port_id, unsigned char* buffer, int offset, int count) override; - // Components -> OBC + + /** + * @fn SendFromComponent + * @brief Send data from component to OBC with UART used by component side. + * @param [in] port_id: Port ID + * @param [in] buffer: Send data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of send data + * @return Number of written byte + */ int SendFromCompo(int port_id, unsigned char* buffer, int offset, int count) override; + /** + * @fn ReceivedByObc + * @brief Read data from component to OBC with UART used by OBC side. + * @param [in] port_id: Port ID + * @param [out] buffer: Read data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of read data + * @return Number of read byte + */ int ReceivedByObc(int port_id, unsigned char* buffer, int offset, int count) override; + // Static function for C2A + /** + * @fn SendFromObc_C2A + * @brief Send data from OBC to Components with UART used by C2A flight software + * @param [in] port_id: Port ID + * @param [in] buffer: Send data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of send data + * @return Number of written byte + */ static int SendFromObc_C2A(int port_id, unsigned char* buffer, int offset, int count); + /** + * @fn ReceivedByObc_C2A + * @brief Read data from component to OBC with UART used by C2A flight software + * @param [in] port_id: Port ID + * @param [out] buffer: Read data buffer + * @param [in] offset: Data offset for the buffer + * @param [in] count: Length of read data + * @return Number of read byte + */ static int ReceivedByObc_C2A(int port_id, unsigned char* buffer, int offset, int count); // I2C + /** + * @fn I2cConnectPort + * @brief Connect I2C communication port between OBC (I2C controller) and a component (I2C target) + * @note Multiple target can be connected to one port ID + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of target device + * @return 0 + */ + int I2cConnectPort(int port_id, const unsigned char i2c_addr) override; + /** + * @fn I2cCloseComPort + * @brief Close I2C communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ int I2cCloseComPort(int port_id) override; - // For Component + /** + * @fn I2cComponentWriteRegister + * @brief Write value in the target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [in] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ int I2cComponentWriteRegister(int port_id, const unsigned char i2c_addr, const unsigned char reg_addr, const unsigned char* data, const unsigned char len) override; + /** + * @fn I2cComponentReadRegister + * @brief Read value in the target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] reg_addr: Register address of the target device + * @param [out] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ int I2cComponentReadRegister(int port_id, const unsigned char i2c_addr, const unsigned char reg_addr, unsigned char* data, const unsigned char len) override; + /** + * @fn I2cComponentReadCommand + * @brief Read command from OBC to target device's register + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [out] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ int I2cComponentReadCommand(int port_id, const unsigned char i2c_addr, unsigned char* data, const unsigned char len) override; // Static function for C2A + /** + * @fn I2cWriteCommand + * @brief Write command to target device used in C2A flight software + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ static int I2cWriteCommand(int port_id, const unsigned char i2c_addr, const unsigned char* data, const unsigned char len); + /** + * @fn I2cWriteRegister + * @brief Write value in the target device's register used in C2A flight software + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [in] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ static int I2cWriteRegister(int port_id, const unsigned char i2c_addr, const unsigned char* data, const unsigned char len); + /** + * @fn I2cComponentReadRegister + * @brief Read value in the target device's register used in C2A flight software + * @param [in] port_id: Port ID + * @param [in] i2c_addr: I2C address of the target device + * @param [out] data: Write data buffer + * @param [in] len: Length of data + * @return 0 + */ static int I2cReadRegister(int port_id, const unsigned char i2c_addr, unsigned char* data, const unsigned char len); // GPIO + /** + * @fn GpioConnectPort + * @brief Connect GPIO communication port between OBC and a component + * @param [in] port_id: Port ID + * @return -1: error, 0: success + */ int GpioConnectPort(int port_id) override; + /** + * @fn GpioComponentWrite + * @brief Control GPIO state + * @param [in] port_id: Port ID + * @param [in] is_high: GPIO state + * @return -1: error, 0: success + */ int GpioComponentWrite(int port_id, const bool is_high) override; - bool GpioComponentRead(int port_id) override; // return false when the port_id is not used - // Static function for C2A + /** + * @fn GpioComponentRead + * @brief Read GPIO state + * @param [in] port_id: Port ID + * @return GPIO state or return false when the port_id is not used + */ + bool GpioComponentRead(int port_id) override; + /** + * @fn GpioWrite_C2A + * @brief Control GPIO state used in C2A flight software + * @param [in] port_id: Port ID + * @param [in] is_high: GPIO state + * @return -1: error, 0: success + */ static int GpioWrite_C2A(int port_id, const bool is_high); - static bool GpioRead_C2A(int port_id); // return false when the port_id is not used + /** + * @fn GpioRead_C2A + * @brief Read GPIO state used in C2A flight software + * @param [in] port_id: Port ID + * @return GPIO state or return false when the port_id is not used + */ + static bool GpioRead_C2A(int port_id); private: - bool is_initialized = false; - const int timing_regulator_; + bool is_initialized = false; //!< Is initialized flag + const int timing_regulator_; //!< Timing regulator to update flight software faster than the component update + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to execute C2A + */ void MainRoutine(int count); + /** + * @fn Initialize + * @brief Initialize function + */ void Initialize(); - // ports - static std::map com_ports_c2a_; - static std::map i2c_com_ports_c2a_; - static std::map gpio_ports_c2a_; + + static std::map com_ports_c2a_; //!< UART ports + static std::map i2c_com_ports_c2a_; //!< I2C ports + static std::map gpio_ports_c2a_; //!< GPIO ports }; -// C2A communication functions -// If the character encoding of C2A is UTF-8, these functions are not necessary, +// If the character encoding of C2A is UTF-8, the following functions are not necessary, // and users can directory use SendFromObc_C2A and ReceivedByObc_C2A UART +// TODO: Delete these functions since C2A is changed to use UTF-8 + +// C2A communication functions int OBC_C2A_SendFromObc(int port_id, unsigned char* buffer, int offset, int count); int OBC_C2A_ReceivedByObc(int port_id, unsigned char* buffer, int offset, int count); From ec1722c809c144ec5aa0c1721f6b4afb06a0e367 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 00:09:16 +0100 Subject: [PATCH 146/199] Fix comments in TMTC Interface --- src/Component/CDH/TMTCInterface.cpp | 6 ++++++ src/Component/CDH/TMTCInterface.h | 8 ++++++-- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/Component/CDH/TMTCInterface.cpp b/src/Component/CDH/TMTCInterface.cpp index f34efca7a..12df540f1 100644 --- a/src/Component/CDH/TMTCInterface.cpp +++ b/src/Component/CDH/TMTCInterface.cpp @@ -1,3 +1,9 @@ +/* + * @file TMTCInterface.cpp + * @brief Class for telemetry command communication with SILS GSTOS IF + * @note TODO: Is this still needed? We can use normal serial communication port + */ + #include "TMTCInterface.h" TMTCInterface::TMTCInterface(ClockGenerator* clock_gen, int port_id) : ComponentBase(100, clock_gen) { tmtc_ = gcnew TMTCDriver(port_id); } diff --git a/src/Component/CDH/TMTCInterface.h b/src/Component/CDH/TMTCInterface.h index 213943c73..79b9f78b1 100644 --- a/src/Component/CDH/TMTCInterface.h +++ b/src/Component/CDH/TMTCInterface.h @@ -1,11 +1,15 @@ +/* + * @file TMTCInterface.h + * @brief Class for telemetry command communication with SILS GSTOS IF + * @note TODO: Is this still needed? We can use normal serial communication port + */ + #pragma once #include #include "..\..\Interface\SpacecraftInOut\TMTCDriver.h" #include "..\Abstract\ComponentBase.h" -// SILS_GSTOS_IFからのテレコマ送受信を行うクラス -// 宇宙機に搭載されるコンポーネントではないが、まあ、便宜上そうした class TMTCInterface : public ComponentBase { public: TMTCInterface(ClockGenerator* clock_gen, int port_id); From 941d104cd7cbd41da129778787fd3152ae10aec6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 00:24:15 +0100 Subject: [PATCH 147/199] Fix comments in Antenna --- src/Component/CommGS/Antenna.cpp | 3 +- src/Component/CommGS/Antenna.hpp | 80 ++++++++++++++++++++++++-------- 2 files changed, 62 insertions(+), 21 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index bfaa39fd3..30948a23c 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -1,7 +1,6 @@ /* * @file Antenna.cpp - * @brief Component emuration: RF antenna - * @author 山本 智貴 + * @brief Component emulation: RF antenna */ #include "Antenna.hpp" diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index d54c678e7..552d65573 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -1,7 +1,6 @@ /* * @file Antenna.hpp - * @brief Component emuration: RF antenna - * @author 山本 智貴 + * @brief Component emulation: RF antenna */ #pragma once @@ -10,40 +9,83 @@ using libra::Quaternion; using libra::Vector; +/* + * @class Antenna + * @brief Component emulation: RF antenna + */ class Antenna { public: + /** + * @fn Antenna + * @brief Constructor + * @param [in] clock_gen: Clock generator + */ Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, const Vector<4> tx_params, const Vector<4> rx_params); + /** + * @fn ~Antenna + * @brief Destructor + */ ~Antenna(); - // Calculations + /** + * @fn CalcTxEIRP + * @brief Calculation of TX EIRP + * @param theta: Target direction angle [rad] + * @return TX EIRP [dBW] + */ double CalcTxEIRP(double theta) const; + /** + * @fn CalcRxGT + * @brief Calculation of RX G/T + * @param theta: Target direction angle [rad] + * @return RX G/T [dB/K] + */ double CalcRxGT(double theta) const; // Getter + /** + * @fn GetFrequency + * @brief Return frequency [MHz] + */ inline double GetFrequency() const { return frequency_; } + /** + * @fn IsTransmitter + * @brief Return antenna for transmitter or not + */ inline bool IsTransmitter() const { return is_transmitter_; } + /** + * @fn IsReceiver + * @brief Return antenna for receiver or not + */ inline bool IsReceiver() const { return is_receiver_; } protected: // General info - int id_; //! ID - Quaternion q_b2c_; //! corrdinate transform from body to component - bool is_transmitter_; //! Antenna for transmitter or not - bool is_receiver_; //! Antenna for receiver or not - double frequency_; //! Center Frequency [MHz] + int id_; //!< Antenna ID + Quaternion q_b2c_; //!< Coordinate transform from body to component + bool is_transmitter_; //!< Antenna for transmitter or not + bool is_receiver_; //!< Antenna for receiver or not + double frequency_; //!< Center Frequency [MHz] // Tx info - double tx_output_; //! RF output power [W] - double tx_gain_; //! transmit maximum gain [dBi] - double tx_loss_feeder_; //! feeder loss [dB] - double tx_loss_pointing_; //! pointing loss [dB] - double tx_EIRP_; //! transmit EIRP[dBW] + double tx_output_; //!< RF output power [W] + double tx_gain_; //!< Transmit maximum gain [dBi] + double tx_loss_feeder_; //!< Feeder loss [dB] + double tx_loss_pointing_; //!< Pointing loss [dB] + double tx_EIRP_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] // Rx info - double rx_gain_; //! Receive maximum gain [dBi] - double rx_loss_feeder_; //! feeder loss [dB] - double rx_loss_pointing_; //! pointing loss [dB] - double rx_system_noise_temperature_; //! system noise temperature [K] - double rx_GT_; //! receive G/T [dB/K] + double rx_gain_; //!< Receive maximum gain [dBi] + double rx_loss_feeder_; //!< Feeder loss [dB] + double rx_loss_pointing_; //!< Pointing loss [dB] + double rx_system_noise_temperature_; //!< System noise temperature [K] + double rx_GT_; //!< Receive G/T [dB/K] - double CalcAntennaGain(double theta, bool is_tx) const; //! Calc antenna gain [dB] considering the target direction + /** + * @fn CalcAntennaGain + * @brief Calculation antenna gain considering the target direction + * @param [in] theta: Target direction angle [rad] + * @param [in] is_tx: Flag TX(True) or RX(False) + * @return Antenna gain [dB] + */ + double CalcAntennaGain(double theta, bool is_tx) const; }; From 300ab5ff058881f27e35ecf70d2c4ef5d1db9faa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 00:34:58 +0100 Subject: [PATCH 148/199] Fix comments in GSCalculator --- src/Component/CommGS/Antenna.hpp | 4 +- src/Component/CommGS/GScalculator.cpp | 3 +- src/Component/CommGS/GScalculator.h | 79 +++++++++++++++++++++------ 3 files changed, 66 insertions(+), 20 deletions(-) diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index 552d65573..c9df841ef 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -31,14 +31,14 @@ class Antenna { /** * @fn CalcTxEIRP * @brief Calculation of TX EIRP - * @param theta: Target direction angle [rad] + * @param [in] theta: Target direction angle [rad] * @return TX EIRP [dBW] */ double CalcTxEIRP(double theta) const; /** * @fn CalcRxGT * @brief Calculation of RX G/T - * @param theta: Target direction angle [rad] + * @param [in] theta: Target direction angle [rad] * @return RX G/T [dB/K] */ double CalcRxGT(double theta) const; diff --git a/src/Component/CommGS/GScalculator.cpp b/src/Component/CommGS/GScalculator.cpp index b5290322e..6545210fa 100644 --- a/src/Component/CommGS/GScalculator.cpp +++ b/src/Component/CommGS/GScalculator.cpp @@ -1,7 +1,6 @@ /* * @file GScalculator.cpp - * @brief Emuration of analysis and calculation for Ground Stations - * @author 山本 智貴 + * @brief Emulation of analysis and calculation for Ground Stations */ #include "GScalculator.h" diff --git a/src/Component/CommGS/GScalculator.h b/src/Component/CommGS/GScalculator.h index c497f893f..5b98b7f64 100644 --- a/src/Component/CommGS/GScalculator.h +++ b/src/Component/CommGS/GScalculator.h @@ -1,7 +1,6 @@ /* * @file GScalculator.h - * @brief Emuration of analysis and calculation for Ground Stations - * @author 山本 智貴 + * @brief Emulation of analysis and calculation for Ground Stations */ #pragma once @@ -18,32 +17,80 @@ using libra::Matrix; using libra::Vector; +/* + * @class GScalculator + * @brief Emulation of analysis and calculation for Ground Stations + */ class GScalculator : public ILoggable { public: + /** + * @fn GScalculator + * @brief Constructor + * @param [in] loss_polarization: Loss polarization [dB] + * @param [in] loss_atmosphere: Loss atmosphere [dB] + * @param [in] loss_rainfall: Loss rainfall [dB] + * @param [in] loss_others: Loss others [dB] + * @param [in] EbN0: EbN0 [dB] + * @param [in] hardware_deterioration: Hardware deterioration [dB] + * @param [in] coding_gain: Coding gain [dB] + * @param [in] margin_req: Margin requirement [dB] + */ GScalculator(const double loss_polarization, const double loss_atmosphere, const double loss_rainfall, const double loss_others, const double EbN0, const double hardware_deterioration, const double coding_gain, const double margin_req); + /** + * @fn ~GScalculator + * @brief Destructor + */ virtual ~GScalculator(); + + /** + * @fn Update + * @brief Update state + * @param [in] spacecraft: Spacecraft information + * @param [in] sc_ant: Antenna mounted on spacecraft + * @param [in] groundstation: Ground station information + * @param [in] gs_ant: Antenna mounted on ground station + * @return Max bitrate [kbps] + */ void Update(const Spacecraft& spacecraft, const Antenna& sc_ant, const GroundStation& groundstation, const Antenna& gs_ant); - // ILoggable + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - // Getter + /** + * @fn GetMaxBitrate + * @brief Return max bitrate [kbps] + */ inline bool GetMaxBitrate() const { return max_bitrate_; } protected: - double loss_polarization_; //[dB] - double loss_atmosphere_; //[dB] - double loss_rainfall_; //[dB] - double loss_others_; //[dB] - double EbN0_; //[dB] - double hardware_deterioration_; //[dB] - double coding_gain_; //[dB] - double margin_req_; //[dB] - - double max_bitrate_; //[kbps] - - // Calculate the maximum bitrate + double loss_polarization_; //!< Loss polarization [dB] + double loss_atmosphere_; //!< Loss atmosphere [dB] + double loss_rainfall_; //!< Loss rainfall [dB] + double loss_others_; //!< Loss others [dB] + double EbN0_; //!< EbN0 [dB] + double hardware_deterioration_; //!< Hardware deterioration [dB] + double coding_gain_; //!< Coding gain [dB] + double margin_req_; //!< Margin requirement [dB] + double max_bitrate_; //!< Max bitrate [kbps] + + /** + * @fn CalcMaxBitrate + * @brief Calculate the maximum bitrate + * @param [in] dynamics: Dynamics information + * @param [in] sc_ant: Antenna mounted on spacecraft + * @param [in] groundstation: Ground station information + * @param [in] gs_ant: Antenna mounted on ground station + * @return Max bitrate [kbps] + */ double CalcMaxBitrate(const Dynamics& dynamics, const Antenna& sc_ant, const GroundStation& groundstation, const Antenna& gs_ant); }; From 7d82e755774dfb181d2994fadf3522c4ee7002b2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 00:39:10 +0100 Subject: [PATCH 149/199] Fix comments in Initialize for GS --- src/Component/CommGS/InitAntenna.cpp | 6 +++++- src/Component/CommGS/InitAntenna.hpp | 10 ++++++++++ src/Component/CommGS/InitGsCalculator.cpp | 6 +++++- src/Component/CommGS/InitGsCalculator.hpp | 11 +++++++++++ 4 files changed, 31 insertions(+), 2 deletions(-) diff --git a/src/Component/CommGS/InitAntenna.cpp b/src/Component/CommGS/InitAntenna.cpp index 7e7ad697d..aa230c099 100644 --- a/src/Component/CommGS/InitAntenna.cpp +++ b/src/Component/CommGS/InitAntenna.cpp @@ -1,3 +1,8 @@ +/* + * @file InitAntenna.cpp + * @brief Initialize function for Antenna + */ + #define _CRT_SECURE_NO_WARNINGS #include "InitAntenna.hpp" @@ -9,7 +14,6 @@ using libra::Vector; -// アンテナ初期化，ant_idで対応するアンテナ読み込み Antenna InitAntenna(int ant_id, const std::string fname) { IniAccess ant_conf(fname); diff --git a/src/Component/CommGS/InitAntenna.hpp b/src/Component/CommGS/InitAntenna.hpp index ee77f9fd2..67a6535a8 100644 --- a/src/Component/CommGS/InitAntenna.hpp +++ b/src/Component/CommGS/InitAntenna.hpp @@ -1,5 +1,15 @@ +/* + * @file InitAntenna.hpp + * @brief Initialize function for Antenna + */ #pragma once #include +/* + * @fn InitAntenna + * @brief Initialize function for Antenna + * @param [in] ant_id: Antenna ID + * @param [in] fname: Path to initialize file + */ Antenna InitAntenna(int ant_id, const std::string fname); diff --git a/src/Component/CommGS/InitGsCalculator.cpp b/src/Component/CommGS/InitGsCalculator.cpp index af9f590d2..627c59d79 100644 --- a/src/Component/CommGS/InitGsCalculator.cpp +++ b/src/Component/CommGS/InitGsCalculator.cpp @@ -1,3 +1,8 @@ +/* + * @file InitGscalculator.cpp + * @brief Initialize function for Ground Station Calculator + */ + #define _CRT_SECURE_NO_WARNINGS #include "InitGsCalculator.hpp" @@ -5,7 +10,6 @@ #include "Interface/InitInput/IniAccess.h" -// 地上局計算クラス初期化 GScalculator InitGScalculator(const std::string fname) { IniAccess gs_conf(fname); diff --git a/src/Component/CommGS/InitGsCalculator.hpp b/src/Component/CommGS/InitGsCalculator.hpp index 74b4ee11e..e80e8cc58 100644 --- a/src/Component/CommGS/InitGsCalculator.hpp +++ b/src/Component/CommGS/InitGsCalculator.hpp @@ -1,5 +1,16 @@ +/* + * @file InitGscalculator.hpp + * @brief Initialize function for Ground Station Calculator + */ + #pragma once #include +/* + * @fn InitGscalculator + * @brief Initialize function for Ground Station Calculator + * @param [in] fname: Path to initialize file + */ + GScalculator InitGScalculator(const std::string fname); From b0f06d440b88a9f620ebb1bdb9d67fe9a1fcb29e Mon Sep 17 00:00:00 2001 From: Yoshinari Gyu <50069930+yngyu@users.noreply.github.com> Date: Thu, 15 Dec 2022 21:01:39 +0900 Subject: [PATCH 150/199] fix unit comment --- src/Environment/Global/CelestialInformation.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Environment/Global/CelestialInformation.h b/src/Environment/Global/CelestialInformation.h index a68422f26..5caf6aca8 100644 --- a/src/Environment/Global/CelestialInformation.h +++ b/src/Environment/Global/CelestialInformation.h @@ -78,7 +78,7 @@ class CelestialInformation : public ILoggable { Vector<3> GetPosFromCenter_i(const int id) const; /** * @fn GetPosFromCenter_i - * @brief Return position from the center body in the inertial frame [m/s] + * @brief Return position from the center body in the inertial frame [m] * @param [in] body_name: Name of the body defined in the SPICE */ Vector<3> GetPosFromCenter_i(const char* body_name) const; From 9d06ad312e9cb7aece8e8a9a192f3dcf69a39b7c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 22:36:53 +0100 Subject: [PATCH 151/199] Fix comments in ForceGenerato --- .../IdealComponents/ForceGenerator.cpp | 5 ++ .../IdealComponents/ForceGenerator.hpp | 88 ++++++++++++++++--- .../InitializeForceGenerator.cpp | 4 + .../InitializeForceGenerator.hpp | 11 +++ 4 files changed, 98 insertions(+), 10 deletions(-) diff --git a/src/Component/IdealComponents/ForceGenerator.cpp b/src/Component/IdealComponents/ForceGenerator.cpp index a85bc9800..1bd42e08b 100644 --- a/src/Component/IdealComponents/ForceGenerator.cpp +++ b/src/Component/IdealComponents/ForceGenerator.cpp @@ -1,3 +1,8 @@ +/* + * @file ForceGenerator.cpp + * @brief Ideal component which can generate for control algorithm test + */ + #include "ForceGenerator.hpp" #include diff --git a/src/Component/IdealComponents/ForceGenerator.hpp b/src/Component/IdealComponents/ForceGenerator.hpp index d5976ef6f..ca87eee41 100644 --- a/src/Component/IdealComponents/ForceGenerator.hpp +++ b/src/Component/IdealComponents/ForceGenerator.hpp @@ -1,3 +1,7 @@ +/* + * @file ForceGenerator.hpp + * @brief Ideal component which can generate for control algorithm test + */ #pragma once #include @@ -7,41 +11,105 @@ #include #include +/* + * @class ForceGenerator + * @brief Ideal component which can generate for control algorithm test + */ class ForceGenerator : public ComponentBase, public ILoggable { public: + /** + * @fn ForceGenerator + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] magnitude_error_standard_deviation_N: Standard deviation of magnitude error [N] + * @param [in] direction_error_standard_deviation_rad: Standard deviation of direction error [rad] + * @param [in] dynamics: Dynamics information + */ ForceGenerator(const int prescaler, ClockGenerator* clock_gen, const double magnitude_error_standard_deviation_N, const double direction_error_standard_deviation_rad, const Dynamics* dynamics); + /** + * @fn ~ForceGenerator + * @brief Destructor + */ ~ForceGenerator(); - // ComponentBase override function + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int count); + /** + * @fn PowerOffRoutine + * @brief Power off routine to stop force generation + */ void PowerOffRoutine(); - // ILogabble override function + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; // Getter + /** + * @fn GetGeneratedForce_b_N + * @brief Return generated force in the body fixed frame [N] + */ inline const Vector<3> GetGeneratedForce_b_N() const { return generated_force_b_N_; }; + /** + * @fn GetGeneratedForce_i_N + * @brief Return generated force in the inertial frame [N] + */ inline const Vector<3> GetGeneratedForce_i_N() const { return generated_force_i_N_; }; + /** + * @fn GetGeneratedForce_rtn_N + * @brief Return generated force in the RTN frame [N] + */ inline const Vector<3> GetGeneratedForce_rtn_N() const { return generated_force_rtn_N_; }; // Setter + /** + * @fn SetForce_b_N + * @brief Set ordered force in the body fixed frame [N] + */ inline void SetForce_b_N(const libra::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; + /** + * @fn SetForce_i_N + * @brief Set ordered force in the inertial frame [N] + */ void SetForce_i_N(const libra::Vector<3> force_i_N); + /** + * @fn SetForce_rtn_N + * @brief Set ordered force in the RTN frame [N] + */ void SetForce_rtn_N(const libra::Vector<3> force_rtn_N); protected: - libra::Vector<3> ordered_force_b_N_{0.0}; - libra::Vector<3> generated_force_b_N_{0.0}; - libra::Vector<3> generated_force_i_N_{0.0}; - libra::Vector<3> generated_force_rtn_N_{0.0}; + libra::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] + libra::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] + libra::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] + libra::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - libra::NormalRand magnitude_noise_; - libra::NormalRand direction_noise_; - double direction_error_standard_deviation_rad_; + libra::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + libra::NormalRand direction_noise_; //!< Normal random for direction noise + double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] + + /** + * @fn GenerateDirectionNoiseQuaternion + * @brief Generate direction noise quaternion + * @param [in] true_direction: True direction + * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] + */ libra::Quaternion GenerateDirectionNoiseQuaternion(libra::Vector<3> true_direction, const double error_standard_deviation_rad); - const Dynamics* dynamics_; + const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/Component/IdealComponents/InitializeForceGenerator.cpp b/src/Component/IdealComponents/InitializeForceGenerator.cpp index 93edaca91..6972c1040 100644 --- a/src/Component/IdealComponents/InitializeForceGenerator.cpp +++ b/src/Component/IdealComponents/InitializeForceGenerator.cpp @@ -1,3 +1,7 @@ +/* + * @file InitializeForceGenerator.cpp + * @brief Initialize function for ForceGenerator + */ #include "InitializeForceGenerator.hpp" #include diff --git a/src/Component/IdealComponents/InitializeForceGenerator.hpp b/src/Component/IdealComponents/InitializeForceGenerator.hpp index c4936cbe0..73cc9b540 100644 --- a/src/Component/IdealComponents/InitializeForceGenerator.hpp +++ b/src/Component/IdealComponents/InitializeForceGenerator.hpp @@ -1,5 +1,16 @@ +/* + * @file InitializeForceGenerator.hpp + * @brief Initialize function for ForceGenerator + */ #pragma once #include "ForceGenerator.hpp" +/** + * @fn InitializeForceGenerator + * @brief Initialize function for ForceGenerator + * @param [in] clock_gen: Clock generator + * @param [in] file_name: Path to initialize file + * @param [in] dynamics: Dynamics information + */ ForceGenerator InitializeForceGenerator(ClockGenerator* clock_gen, const std::string file_name, const Dynamics* dynamics); From 0caf5099ea8f6f0bacb393bcb613bbaf1a27eb19 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 23:13:06 +0100 Subject: [PATCH 152/199] Fix comments in Telescope --- .../Mission/Telescope/InitTelescope.cpp | 15 +- .../Mission/Telescope/InitTelescope.hpp | 14 ++ src/Component/Mission/Telescope/Telescope.cpp | 77 +++++----- src/Component/Mission/Telescope/Telescope.h | 138 ++++++++++++------ 4 files changed, 151 insertions(+), 93 deletions(-) diff --git a/src/Component/Mission/Telescope/InitTelescope.cpp b/src/Component/Mission/Telescope/InitTelescope.cpp index 156cc8bb8..bf0d09ec9 100644 --- a/src/Component/Mission/Telescope/InitTelescope.cpp +++ b/src/Component/Mission/Telescope/InitTelescope.cpp @@ -1,3 +1,8 @@ +/* + * @file InitTelescope.cpp + * @brief Initialize function of Telescope + */ + #include "InitTelescope.hpp" #include @@ -27,19 +32,19 @@ Telescope InitTelescope(ClockGenerator* clock_gen, int sensor_id, const string f Telescope_conf.ReadQuaternion(TelescopeSection, "q_b2c", q_b2c); double sun_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "sun_forbidden_angle"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * pi / 180; // deg→rad変換 + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * pi / 180; // deg to rad double earth_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "earth_forbidden_angle"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * pi / 180; // deg→rad変換 + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * pi / 180; // deg to rad double moon_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "moon_forbidden_angle"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * pi / 180; // deg→rad変換 + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * pi / 180; // deg to rad int x_num_of_pix = Telescope_conf.ReadInt(TelescopeSection, "x_num_of_pix"); int y_num_of_pix = Telescope_conf.ReadInt(TelescopeSection, "y_num_of_pix"); double x_fov_par_pix_deg = Telescope_conf.ReadDouble(TelescopeSection, "x_fov_par_pix"); - double x_fov_par_pix_rad = x_fov_par_pix_deg * pi / 180; // deg→rad変換 + double x_fov_par_pix_rad = x_fov_par_pix_deg * pi / 180; // deg to rad double y_fov_par_pix_deg = Telescope_conf.ReadDouble(TelescopeSection, "y_fov_par_pix"); - double y_fov_par_pix_rad = y_fov_par_pix_deg * pi / 180; // deg→rad変換 + double y_fov_par_pix_rad = y_fov_par_pix_deg * pi / 180; // deg to rad int num_of_logged_stars = Telescope_conf.ReadInt(TelescopeSection, "num_of_logged_stars"); diff --git a/src/Component/Mission/Telescope/InitTelescope.hpp b/src/Component/Mission/Telescope/InitTelescope.hpp index 9efacd459..935ba2bf0 100644 --- a/src/Component/Mission/Telescope/InitTelescope.hpp +++ b/src/Component/Mission/Telescope/InitTelescope.hpp @@ -1,6 +1,20 @@ +/* + * @file InitTelescope.hpp + * @brief Initialize function of Telescope + */ #pragma once #include +/* + * @fn InitTelescope + * @brief Initialize function of Telescope + * @param [in] clock_gen: Clock generator + * @param [in] sensor_id: Sensor ID + * @param [in] fname: Path to initialize file + * @param [in] attitude: Attitude information + * @param [in] hipp: Star information by Hipparcos catalogue + * @param [in] local_celes_info: Local celestial information + */ Telescope InitTelescope(ClockGenerator* clock_gen, int sensor_id, const std::string fname, const Attitude* attitude, const HipparcosCatalogue* hipp, const LocalCelestialInformation* local_celes_info); diff --git a/src/Component/Mission/Telescope/Telescope.cpp b/src/Component/Mission/Telescope/Telescope.cpp index 9842b609d..53f5c1dea 100644 --- a/src/Component/Mission/Telescope/Telescope.cpp +++ b/src/Component/Mission/Telescope/Telescope.cpp @@ -1,3 +1,8 @@ +/* + * @file Telescope.cpp + * @brief Component emulation: Telescope + */ + #include "Telescope.h" #include @@ -29,13 +34,13 @@ Telescope::Telescope(ClockGenerator* clock_gen, libra::Quaternion& q_b2c, double x_field_of_view_rad = x_num_of_pix_ * x_fov_par_pix_; y_field_of_view_rad = y_num_of_pix_ * y_fov_par_pix_; - assert(x_field_of_view_rad < libra::pi_2); //視野角90度以上だと計算が成り立たないので，その場合を弾く + assert(x_field_of_view_rad < libra::pi_2); // Avoid the case that the field of view is over 90 degrees assert(y_field_of_view_rad < libra::pi_2); sight_ = Vector<3>(0); - sight_[0] = 1; //(1,0,0)@コンポ座標，視線方向ベクトル + sight_[0] = 1; // (1,0,0) at component frame, Sight direction vector - // t=0のときの値として0を入れておく + // Set 0 when t=0 for (size_t i = 0; i < num_of_logged_stars_; i++) { Star star; star.hipdata.hip_num = -1; @@ -53,28 +58,23 @@ Telescope::~Telescope() {} void Telescope::MainRoutine(int count) { UNUSED(count); - - //禁止角判定 + // Check forbidden angle is_sun_in_forbidden_angle = JudgeForbiddenAngle(local_celes_info_->GetPosFromSC_b("SUN"), sun_forbidden_angle_); is_earth_in_forbidden_angle = JudgeForbiddenAngle(local_celes_info_->GetPosFromSC_b("EARTH"), earth_forbidden_angle_); is_moon_in_forbidden_angle = JudgeForbiddenAngle(local_celes_info_->GetPosFromSC_b("MOON"), moon_forbidden_angle_); - // CelesInfoから得られる各天体の像の位置の計算 + // Position calculation of celestial bodies from CelesInfo Observe(sun_pos_imgsensor, local_celes_info_->GetPosFromSC_b("SUN")); Observe(earth_pos_imgsensor, local_celes_info_->GetPosFromSC_b("EARTH")); Observe(moon_pos_imgsensor, local_celes_info_->GetPosFromSC_b("MOON")); - // HIP Catalogueから得られる、画角内の天体のHIP IDとセンサ上の位置の計算 - // HIP Catalogueがデータを読まなかった場合は，アップデートしない + // Position calculation of stars from Hipparcos Catalogue + // No update when Hipparocos Catalogue was not readed if (hipp_->IsCalcEnabled) ObserveStars(); - //以下デバッグ****************************************************************** - // sun_pos_c = - // q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("SUN")); - // earth_pos_c = - // q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("EARTH")); - // moon_pos_c = - // q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("MOON")); angle_sun - // = angle(sight_, sun_pos_c) * 180/libra::pi; angle_earth = angle(sight_, - // earth_pos_c) * 180 / libra::pi; angle_moon = angle(sight_, moon_pos_c) * - // 180 / libra::pi; + // Debug ****************************************************************** + // sun_pos_c = q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("SUN")); + // earth_pos_c = q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("EARTH")); + // moon_pos_c = q_b2c_.frame_conv(dynamics_->celestial_->GetPosFromSC_b("MOON")); + // angle_sun = angle(sight_, sun_pos_c) * 180/libra::pi; + // angle_earth = angle(sight_, earth_pos_c) * 180 / libra::pi; angle_moon = angle(sight_, moon_pos_c) * 180 / libra::pi; //****************************************************************************** } @@ -90,13 +90,13 @@ bool Telescope::JudgeForbiddenAngle(const libra::Vector<3>& target_b, const doub void Telescope::Observe(Vector<2>& pos_imgsensor, const Vector<3, double> target_b) { Vector<3, double> target_c = q_b2c_.frame_conv(target_b); - double arg_x = atan2(target_c[2], target_c[0]); //コンポ座標xz平面上でx軸から測った偏角 - double arg_y = atan2(target_c[1], target_c[0]); //コンポ座標xy平面上でx軸から測った偏角 + double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame + double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame if (abs(arg_x) < x_field_of_view_rad && abs(arg_y) < y_field_of_view_rad) { pos_imgsensor[0] = x_num_of_pix_ / 2 * tan(arg_x) / tan(x_field_of_view_rad) + x_num_of_pix_ / 2; pos_imgsensor[1] = y_num_of_pix_ / 2 * tan(arg_y) / tan(y_field_of_view_rad) + y_num_of_pix_ / 2; - } else { //天体が画角外の場合は-1を出力 + } else { // Return -1 when the body is in the out of FoV pos_imgsensor[0] = -1; pos_imgsensor[1] = -1; } @@ -105,17 +105,16 @@ void Telescope::Observe(Vector<2>& pos_imgsensor, const Vector<3, double> target void Telescope::ObserveStars() { Quaternion q_i2b = attitude_->GetQuaternion_i2b(); - star_in_sight.clear(); //最初にクリアしておく - int count = 0; // whileループのカウンタ + star_in_sight.clear(); // Clear first + int count = 0; // Counter for while loop while (star_in_sight.size() < num_of_logged_stars_) { Vector<3> target_b = hipp_->GetStarDir_b(count, q_i2b); Vector<3> target_c = q_b2c_.frame_conv(target_b); - double arg_x = atan2(target_c[2], - target_c[0]); //コンポ座標xz平面上でx軸から測った偏角 - double arg_y = atan2(target_c[1], - target_c[0]); //コンポ座標xy平面上でx軸から測った偏角 + double arg_x = atan2(target_c[2], target_c[0]); + double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame + double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame if (abs(arg_x) <= x_field_of_view_rad && abs(arg_y) <= y_field_of_view_rad) { Star star; @@ -131,7 +130,7 @@ void Telescope::ObserveStars() { count++; - //カタログをすべて見尽くしてしまった場合に，残りの各種パラメータを-1で埋めてループから抜ける + // If read all catalogue, fill -1 and break the loop if (count >= hipp_->GetCatalogueSize()) { while (star_in_sight.size() < num_of_logged_stars_) { Star star; @@ -158,8 +157,7 @@ string Telescope::GetLogHeader() const { str_tmp += WriteVector("sun_pos_imgsensor", " ", "pix", 2); str_tmp += WriteVector("earth_pos_imgsensor", " ", "pix", 2); str_tmp += WriteVector("moon_pos_imgsensor", " ", "pix", 2); - // Hip - // Catalogueがデータを読まなかった場合は，ObserveStarsに関する出力を行わない + // When Hipparcos Catalogue was not read, no output of ObserveStars if (hipp_->IsCalcEnabled) { for (size_t i = 0; i < num_of_logged_stars_; i++) { str_tmp += WriteScalar("HIP ID (" + to_string(i) + ")", " "); @@ -168,10 +166,10 @@ string Telescope::GetLogHeader() const { } } - //デバッグ出力********************************************** - // str_tmp += WriteScalar("angle_sun", ""); - // str_tmp += WriteScalar("angle_earth", ""); - // str_tmp += WriteScalar("angle_moon", ""); + // Debug output ********************************************** + // str_tmp += WriteScalar("angle_sun", ""); + // str_tmp += WriteScalar("angle_earth", ""); + // str_tmp += WriteScalar("angle_moon", ""); //********************************************************** return str_tmp; } @@ -184,8 +182,7 @@ string Telescope::GetLogValue() const { str_tmp += WriteVector(sun_pos_imgsensor); str_tmp += WriteVector(earth_pos_imgsensor); str_tmp += WriteVector(moon_pos_imgsensor); - // Hip - // Catalogueがデータを読まなかった場合は，ObserveStarsに関する出力を行わない + // When Hipparcos Catalogue was not read, no output of ObserveStars if (hipp_->IsCalcEnabled) { for (size_t i = 0; i < num_of_logged_stars_; i++) { str_tmp += WriteScalar(star_in_sight[i].hipdata.hip_num); @@ -194,10 +191,10 @@ string Telescope::GetLogValue() const { } } - //デバッグ出力********************************************** - // str_tmp += WriteScalar(angle_sun); - // str_tmp += WriteScalar(angle_earth); - // str_tmp += WriteScalar(angle_moon); + // Debug output ********************************************** + // str_tmp += WriteScalar(angle_sun); + // str_tmp += WriteScalar(angle_earth); + // str_tmp += WriteScalar(angle_moon); //********************************************************** return str_tmp; } diff --git a/src/Component/Mission/Telescope/Telescope.h b/src/Component/Mission/Telescope/Telescope.h index 17f12846c..81caa1da5 100644 --- a/src/Component/Mission/Telescope/Telescope.h +++ b/src/Component/Mission/Telescope/Telescope.h @@ -1,3 +1,8 @@ +/* + * @file Telescope.h + * @brief Component emulation: Telescope + */ + #pragma once #include #include @@ -9,12 +14,19 @@ #include #include -struct Star //望遠鏡視野内に入っている恒星の情報 -{ - HipData hipdata; - libra::Vector<2> pos_imgsensor; +/* + * @struct Star + * @brief Information of stars in the telescope's field of view + */ +struct Star { + HipData hipdata; //!< Hipparcos data + libra::Vector<2> pos_imgsensor; //!< Position of image sensor }; +/* + * @class Telescope + * @brief Component emulation: Telescope + */ class Telescope : public ComponentBase, public ILoggable { public: Telescope(ClockGenerator* clock_gen, libra::Quaternion& q_b2c, double sun_forbidden_angle, double earth_forbidden_angle, @@ -24,58 +36,88 @@ class Telescope : public ComponentBase, public ILoggable { ~Telescope(); // Getter - inline bool GetIsSunInForbiddenAngle() const {return is_sun_in_forbidden_angle;} - inline bool GetIsEarthInForbiddenAngle() const {return is_earth_in_forbidden_angle;} - inline bool GetIsMoonInForbiddenAngle() const {return is_moon_in_forbidden_angle;} + inline bool GetIsSunInForbiddenAngle() const { return is_sun_in_forbidden_angle; } + inline bool GetIsEarthInForbiddenAngle() const { return is_earth_in_forbidden_angle; } + inline bool GetIsMoonInForbiddenAngle() const { return is_moon_in_forbidden_angle; } protected: private: - //! 望遠鏡の姿勢b2c - libra::Quaternion q_b2c_; - //! 視線方向ベクトル(コンポ座標系表記) - libra::Vector<3> sight_; - - double sun_forbidden_angle_; - double earth_forbidden_angle_; - double moon_forbidden_angle_; - - int x_num_of_pix_; - int y_num_of_pix_; - double x_fov_par_pix_; //単位：rad - double y_fov_par_pix_; //単位：rad - double x_field_of_view_rad; - double y_field_of_view_rad; - - bool is_sun_in_forbidden_angle = false; - bool is_earth_in_forbidden_angle = false; - bool is_moon_in_forbidden_angle = false; - - size_t num_of_logged_stars_; //恒星観測でログに出力する恒星の個数 - - libra::Vector<2> sun_pos_imgsensor{-1}; //イメージセンサ上における太陽の像の位置 - libra::Vector<2> earth_pos_imgsensor{-1}; //イメージセンサ上における地球の像の位置 - libra::Vector<2> moon_pos_imgsensor{-1}; //イメージセンサ上における月の像の位置 - - std::vector star_in_sight; - + libra::Quaternion q_b2c_; //!< Quaternion from the body frame to component frame + libra::Vector<3> sight_; //!< Sight direction vector in the component frame + + double sun_forbidden_angle_; //!< Sun forbidden angle [rad] + double earth_forbidden_angle_; //!< Earth forbidden angle [rad] + double moon_forbidden_angle_; //!< Moon forbidden angle [rad] + + int x_num_of_pix_; //!< Number of pixel on X-axis in the image plane + int y_num_of_pix_; //!< Number of pixel on Y-axis in the image plane + double x_fov_par_pix_; //!< Field of view per pixel of X-axis in the image plane [rad/pix] + double y_fov_par_pix_; //!< Field of view per pixel of Y-axis in the image plane [rad/pix] + double x_field_of_view_rad; //!< Field of view of X-axis in the image plane [rad/pix] + double y_field_of_view_rad; //!< Field of view of Y-axis in the image plane [rad/pix] + + bool is_sun_in_forbidden_angle = false; //!< Is the sun in the forbidden angle + bool is_earth_in_forbidden_angle = false; //!< Is the earth in the forbidden angle + bool is_moon_in_forbidden_angle = false; //!< Is the moon in the forbidden angle + + size_t num_of_logged_stars_; //!< Number of logged stars + + libra::Vector<2> sun_pos_imgsensor{-1}; //!< Position of the sun on the image plane + libra::Vector<2> earth_pos_imgsensor{-1}; //!< Position of the earth on the image plane + libra::Vector<2> moon_pos_imgsensor{-1}; //!< Position of the moon on the image plane + + std::vector star_in_sight; //!< Star information in the field of view + + /** + * @fn JudgeForbiddenAngle + * @brief Judge the forbidden angles are violated + * @param [in] target_b: Direction vector of target on the body fixed frame + * @param [in] forbidden_angle: Forbidden angle [rad] + */ bool JudgeForbiddenAngle(const libra::Vector<3>& target_b, const double forbidden_angle); - void MainRoutine(int count); - void Observe(Vector<2>& pos_imgsensor, const Vector<3, double> target_b); - void ObserveStars(); // Hip Catalogueのデータからの観測 - const Attitude* attitude_; - const HipparcosCatalogue* hipp_; - const LocalCelestialInformation* local_celes_info_; + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ + void MainRoutine(int count); + /** + * @fn Observe + * @brief Convert body fixed direction vector to position on image sensor plane + * @param [out] pos_imgsensor: Position on image sensor plane + * @param [in] target_b: Direction vector of target on the body fixed frame + */ + void Observe(Vector<2>& pos_imgsensor, const Vector<3, double> target_b); + /** + * @fn ObserveStars + * @brief Observe stars from Hipparcos catalogue + */ + void ObserveStars(); + + const Attitude* attitude_; //!< Attitude information + const HipparcosCatalogue* hipp_; //!< Star information + const LocalCelestialInformation* local_celes_info_; //!< Local celestial information + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; - //デバッグ用変数********************************************** - // Vector<3> sun_pos_c; - // Vector<3> earth_pos_c; - // Vector<3> moon_pos_c; - // double angle_sun; - // double angle_earth; - // double angle_moon; + // For debug ********************************************** + // Vector<3> sun_pos_c; + // Vector<3> earth_pos_c; + // Vector<3> moon_pos_c; + // double angle_sun; + // double angle_earth; + // double angle_moon; //************************************************************* }; From 5f2b7aee3b7d0531a83384e59573f5277f1f8430 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 23:32:33 +0100 Subject: [PATCH 153/199] Fix comments in BAT --- src/Component/Power/BAT.cpp | 9 ++- src/Component/Power/BAT.h | 118 +++++++++++++++++++++++++++++++----- 2 files changed, 110 insertions(+), 17 deletions(-) diff --git a/src/Component/Power/BAT.cpp b/src/Component/Power/BAT.cpp index 035652b27..485b7306a 100644 --- a/src/Component/Power/BAT.cpp +++ b/src/Component/Power/BAT.cpp @@ -1,4 +1,9 @@ -#include "BAT.h" +/* + * @file BAT.cpp + * @brief Component emulation of battery + */ + +#include "BAT.h" #include @@ -75,7 +80,7 @@ void BAT::MainRoutine(int time_count) { UNUSED(time_count); double delta_time_query = compo_step_time_ * prescaler_; - dod_ -= charge_current_ * delta_time_query / 3600.0 / (cell_capacity_ * number_of_parallel_ ) * 100.0; + dod_ -= charge_current_ * delta_time_query / 3600.0 / (cell_capacity_ * number_of_parallel_) * 100.0; UpdateBatVoltage(); } diff --git a/src/Component/Power/BAT.h b/src/Component/Power/BAT.h index d4376bce9..346fea9cc 100644 --- a/src/Component/Power/BAT.h +++ b/src/Component/Power/BAT.h @@ -1,4 +1,8 @@ -#pragma once +/* + * @file BAT.h + * @brief Component emulation of battery + */ +#pragma once #include @@ -6,39 +10,123 @@ #include "../Abstract/ComponentBase.h" +/* + * @class BAT + * @brief Component emulation of battery + */ class BAT : public ComponentBase, public ILoggable { public: + /** + * @fn BAT + * @brief Constructor with prescaler + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] number_of_series: Number of series connected cells + * @param [in] number_of_parallel: Number of parallel connected cells + * @param [in] cell_capacity: Power capacity of a cell [Ah] + * @param [in] cell_discharge_curve_coeffs: Discharge curve coefficients for a cell + * @param [in] initial_dod: Initial depth of discharge + * @param [in] cc_charge_c_rate: Constant charge current [C] + * @param [in] cv_charge_voltage: Constant charge voltage [V] + * @param [in] bat_resistance: Battery internal resistance [Ohm] + * @param [in] compo_step_time: Component step time [sec] + */ BAT(const int prescaler, ClockGenerator* clock_gen, int number_of_series, int number_of_parallel, double cell_capacity, const std::vector cell_discharge_curve_coeffs, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage, double bat_resistance, double compo_step_time); + /** + * @fn BAT + * @brief Constructor without prescaler + * @note prescaler is set as 10 + * @param [in] clock_gen: Clock generator + * @param [in] number_of_series: Number of series connected cells + * @param [in] number_of_parallel: Number of parallel connected cells + * @param [in] cell_capacity: Power capacity of a cell [Ah] + * @param [in] cell_discharge_curve_coeffs: Discharge curve coefficients for a cell + * @param [in] initial_dod: Initial depth of discharge + * @param [in] cc_charge_c_rate: Constant charge current [C] + * @param [in] cv_charge_voltage: Constant charge voltage [V] + * @param [in] bat_resistance: Battery internal resistance [Ohm] + * @param [in] compo_step_time: Component step time [sec] + */ BAT(ClockGenerator* clock_gen, int number_of_series, int number_of_parallel, double cell_capacity, const std::vector cell_discharge_curve_coeffs, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage, double bat_resistance); + /** + * @fn BAT + * @brief Copy constructor + */ BAT(const BAT& obj); + /** + * @fn ~BAT + * @brief Destructor + */ ~BAT(); + + /** + * @fn SetChargeCurrent + * @brief Set charge current [A] + */ void SetChargeCurrent(const double current); + + /** + * @fn GetBatVoltage + * @brief Return battery voltage [V] + */ double GetBatVoltage() const; + /** + * @fn GetBatResistance + * @brief Return battery resistance [Ohm] + */ double GetBatResistance() const; - double GetCCChargeCurrent() const; //今後実装方法は変える？ - double GetCVChargeVoltage() const; //今後実装方法は変える？ + /** + * @fn GetCCChargeCurrent + * @brief Return constant charge current [C] + * @note TODO: Change implementation? + */ + double GetCCChargeCurrent() const; + /** + * @fn GetCVChargeVoltage + * @brief Return constant charge voltage [V] + * @note TODO: Change implementation? + */ + double GetCVChargeVoltage() const; - /*LOG出力用関数*/ + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ std::string GetLogValue() const override; private: - const int number_of_series_; - const int number_of_parallel_; - const double cell_capacity_; //[Ah] - const std::vector cell_discharge_curve_coeffs_; - const double cc_charge_current_; //[C] - const double cv_charge_voltage_; //[V] - double bat_voltage_; //[V] - double dod_; //[%] - double charge_current_; //[A] - double bat_resistance_; //[Ohm] - double compo_step_time_; //[sec] + const int number_of_series_; //!< Number of series connected cells + const int number_of_parallel_; //!< Number of parallel connected cells + const double cell_capacity_; //!< Power capacity of a cell [Ah] + const std::vector cell_discharge_curve_coeffs_; //!< Discharge curve coefficients for a cell + const double cc_charge_current_; //!< Constant charge current [C] + const double cv_charge_voltage_; //!< Constant charge voltage [V] + double bat_voltage_; //!< Battery voltage [V] + double dod_; //!< Depth of discharge [%] + double charge_current_; //!< Charge current [A] + double bat_resistance_; //!< Battery internal resistance [Ohm] + double compo_step_time_; //!< Component step time [sec] + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int count) override; + + /** + * @fn UpdateBatVoltage + * @brief Calculate battery voltage + */ void UpdateBatVoltage(); }; From e18a6cb1da8f67e76bf05fbf76338c071120868b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 23:44:07 +0100 Subject: [PATCH 154/199] Fix comments in CsvInterface --- src/Component/Power/CsvScenarioInterface.cpp | 7 ++- src/Component/Power/CsvScenarioInterface.h | 59 ++++++++++++++++++-- 2 files changed, 61 insertions(+), 5 deletions(-) diff --git a/src/Component/Power/CsvScenarioInterface.cpp b/src/Component/Power/CsvScenarioInterface.cpp index bd4d585be..a71c1f899 100644 --- a/src/Component/Power/CsvScenarioInterface.cpp +++ b/src/Component/Power/CsvScenarioInterface.cpp @@ -1,4 +1,9 @@ -#include "CsvScenarioInterface.h" +/* + * @file CsvScenarioInterface.cpp + * @brief Interface to read power related scenario in CSV file + */ + +#include "CsvScenarioInterface.h" #include diff --git a/src/Component/Power/CsvScenarioInterface.h b/src/Component/Power/CsvScenarioInterface.h index 923242335..c2de451bb 100644 --- a/src/Component/Power/CsvScenarioInterface.h +++ b/src/Component/Power/CsvScenarioInterface.h @@ -1,4 +1,8 @@ -#pragma once +/* + * @file CsvScenarioInterface.h + * @brief Interface to read power related scenario in CSV file + */ +#pragma once #include #include @@ -7,20 +11,67 @@ typedef std::map DoubleBuffer; +/* + * @class CsvScenarioInterface + * @brief Interface to read power related scenario in CSV file + */ class CsvScenarioInterface { public: + /** + * @fn Initialize + * @brief Initialize function + * @param [in] fname: Path to initialize file + */ static void Initialize(const std::string fname); + + /** + * @fn IsCsvScenarioEnabled + * @brief Return enable flag to use CSV scenario + */ static bool IsCsvScenarioEnabled(); + /** + * @fn GetSunDirectionBody + * @brief Return sun direction vector in the body fixed frame + * @param [in] time_query: Time query + */ static libra::Vector<3> GetSunDirectionBody(const double time_query); + /** + * @fn GetSunFlag + * @brief Return sun flag + * @param [in] time_query: Time query + */ static bool GetSunFlag(const double time_query); + /** + * @fn GetPowerConsumption + * @brief Return power consumption [W] + * @param [in] time_query: Time query + */ static double GetPowerConsumption(const double time_query); private: + /** + * @fn ReadCsvData + * @brief Read CSV data + * @param [in] filename: Path to CSV file + * @param [in] ignore_line_num: Number of ignore line + */ static std::vector> ReadCsvData(const std::string filename, const std::size_t ignore_line_num = 0); + /** + * @fn StoreBuffer + * @brief Store buffer + * @param [in] buffer_name: Buffer name + * @param [in] data: Data + */ static void StoreBuffer(const std::string buffer_name, const std::vector>& data); + /** + * @fn GetValueFromBuffer + * @brief Return value from buffer + * @param [in] buffer_name: Buffer name + * @param [in] time_query: Time query + */ static double GetValueFromBuffer(const std::string buffer_name, const double time_query); - static bool is_csv_senario_enabled_; - static std::map buffer_line_id_; - static std::map buffers_; + static bool is_csv_senario_enabled_; //!< Enable flag to use CSV scenario + static std::map buffer_line_id_; //!< Buffer line ID + static std::map buffers_; //!< Buffer }; From 2540fab3792b96c7001b54221e0274c290204d5f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 15 Dec 2022 23:51:29 +0100 Subject: [PATCH 155/199] Fix comments in Initialize in power --- src/Component/Power/InitBat.cpp | 6 ++++- src/Component/Power/InitBat.hpp | 12 ++++++++++ src/Component/Power/InitPcu_InitialStudy.cpp | 10 ++++++-- src/Component/Power/InitPcu_InitialStudy.hpp | 17 +++++++++++++- src/Component/Power/InitSap.cpp | 14 ++++++++---- src/Component/Power/InitSap.hpp | 24 ++++++++++++++++++++ 6 files changed, 74 insertions(+), 9 deletions(-) diff --git a/src/Component/Power/InitBat.cpp b/src/Component/Power/InitBat.cpp index 54597e5a0..20a7dca82 100644 --- a/src/Component/Power/InitBat.cpp +++ b/src/Component/Power/InitBat.cpp @@ -1,4 +1,8 @@ -#define _CRT_SECURE_NO_WARNINGS +/* + * @file InitBAT.cpp + * @brief Initialize function of BAT + */ +#define _CRT_SECURE_NO_WARNINGS #include "InitBat.hpp" #include diff --git a/src/Component/Power/InitBat.hpp b/src/Component/Power/InitBat.hpp index 9ac4368a8..dc124e48a 100644 --- a/src/Component/Power/InitBat.hpp +++ b/src/Component/Power/InitBat.hpp @@ -1,5 +1,17 @@ +/* + * @file InitBAT.hpp + * @brief Initialize function of BAT + */ #pragma once #include +/* + * @fn InitBAT + * @brief Initialize function of BAT + * @param [in] clock_gen: Clock generator + * @param [in] bat_id: Battery ID + * @param [in] fname: Path to initialize file + * @param [in] compo_step_time: Component step time [sec] + */ BAT InitBAT(ClockGenerator* clock_gen, int bat_id, const std::string fname, double compo_step_time); diff --git a/src/Component/Power/InitPcu_InitialStudy.cpp b/src/Component/Power/InitPcu_InitialStudy.cpp index 11a5c7c08..4df1a84ae 100644 --- a/src/Component/Power/InitPcu_InitialStudy.cpp +++ b/src/Component/Power/InitPcu_InitialStudy.cpp @@ -1,4 +1,9 @@ -#define _CRT_SECURE_NO_WARNINGS +/* + * @file InitPCU_InitialStudy.cpp + * @brief Initialize function of PCU_InitialStudy + */ + +#define _CRT_SECURE_NO_WARNINGS #include "InitPcu_InitialStudy.hpp" #include @@ -6,7 +11,8 @@ #include "Interface/InitInput/IniAccess.h" -PCU_InitialStudy InitPCU_InitialStudy(ClockGenerator* clock_gen, int pcu_id, const std::string fname, const std::vector saps, BAT* bat, double compo_step_time) { +PCU_InitialStudy InitPCU_InitialStudy(ClockGenerator* clock_gen, int pcu_id, const std::string fname, const std::vector saps, BAT* bat, + double compo_step_time) { IniAccess pcu_conf(fname); const std::string st_pcu_id = std::to_string(pcu_id); diff --git a/src/Component/Power/InitPcu_InitialStudy.hpp b/src/Component/Power/InitPcu_InitialStudy.hpp index 0e2662d08..872fccafa 100644 --- a/src/Component/Power/InitPcu_InitialStudy.hpp +++ b/src/Component/Power/InitPcu_InitialStudy.hpp @@ -1,5 +1,20 @@ +/* + * @file InitPCU_InitialStudy.hpp + * @brief Initialize function of PCU_InitialStudy + */ #pragma once #include -PCU_InitialStudy InitPCU_InitialStudy(ClockGenerator* clock_gen, int pcu_id, const std::string fname, const std::vector saps, BAT* bat, double compo_step_time); +/* + * @fn InitPCU_InitialStudy + * @brief Initialize function of BAT + * @param [in] clock_gen: Clock generator + * @param [in] pcu_id: Power Control Unit ID + * @param [in] fname: Path to initialize file + * @param [in] sap: Solar Array Panel infomation + * @param [in] bat: Battery information + * @param [in] compo_step_time: Component step time [sec] + */ +PCU_InitialStudy InitPCU_InitialStudy(ClockGenerator* clock_gen, int pcu_id, const std::string fname, const std::vector saps, BAT* bat, + double compo_step_time); diff --git a/src/Component/Power/InitSap.cpp b/src/Component/Power/InitSap.cpp index c33cbee1f..827226b9b 100644 --- a/src/Component/Power/InitSap.cpp +++ b/src/Component/Power/InitSap.cpp @@ -1,4 +1,8 @@ -#define _CRT_SECURE_NO_WARNINGS +/* + * @file InitSap.cpp + * @brief Initialize function of SAP (Solar Array Panel) + */ +#define _CRT_SECURE_NO_WARNINGS #include "InitSap.hpp" #include @@ -36,8 +40,8 @@ SAP InitSAP(ClockGenerator* clock_gen, int sap_id, const std::string fname, cons double transmission_efficiency; transmission_efficiency = sap_conf.ReadDouble(Section, "transmission_efficiency"); - SAP sap(prescaler, clock_gen, sap_id, number_of_series, number_of_parallel, cell_area, normal_vector, cell_efficiency, - transmission_efficiency, srp, local_celes_info, compo_step_time); + SAP sap(prescaler, clock_gen, sap_id, number_of_series, number_of_parallel, cell_area, normal_vector, cell_efficiency, transmission_efficiency, srp, + local_celes_info, compo_step_time); return sap; } @@ -72,8 +76,8 @@ SAP InitSAP(ClockGenerator* clock_gen, int sap_id, const std::string fname, cons double transmission_efficiency; transmission_efficiency = sap_conf.ReadDouble(Section, "transmission_efficiency"); - SAP sap(prescaler, clock_gen, sap_id, number_of_series, number_of_parallel, cell_area, normal_vector, cell_efficiency, - transmission_efficiency, srp, compo_step_time); + SAP sap(prescaler, clock_gen, sap_id, number_of_series, number_of_parallel, cell_area, normal_vector, cell_efficiency, transmission_efficiency, srp, + compo_step_time); return sap; } diff --git a/src/Component/Power/InitSap.hpp b/src/Component/Power/InitSap.hpp index 6b13d2b5a..7262f1069 100644 --- a/src/Component/Power/InitSap.hpp +++ b/src/Component/Power/InitSap.hpp @@ -1,7 +1,31 @@ +/* + * @file InitSap.hpp + * @brief Initialize function of SAP (Solar Array Panel) + */ #pragma once #include +/* + * @fn InitSAP + * @brief Initialize function of BAT + * @param [in] clock_gen: Clock generator + * @param [in] sap_id: SAP ID + * @param [in] fname: Path to initialize file + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] local_celes_info: Local celestial information + * @param [in] compo_step_time: Component step time [sec] + */ SAP InitSAP(ClockGenerator* clock_gen, int sap_id, const std::string fname, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info, double compo_step_time); + +/* + * @fn InitSAP + * @brief Initialize function of BAT + * @param [in] clock_gen: Clock generator + * @param [in] sap_id: SAP ID + * @param [in] fname: Path to initialize file + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] compo_step_time: Component step time [sec] + */ SAP InitSAP(ClockGenerator* clock_gen, int sap_id, const std::string fname, const SRPEnvironment* srp, double compo_step_time); From 4e339ba32a8a03efadbeb186499c00eca0897d4c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 16 Dec 2022 00:05:45 +0100 Subject: [PATCH 156/199] Fix comments in PCU InitialStudy --- src/Component/Power/PCU_InitialStudy.cpp | 35 +++++++------ src/Component/Power/PCU_InitialStudy.h | 66 ++++++++++++++++++++---- 2 files changed, 77 insertions(+), 24 deletions(-) diff --git a/src/Component/Power/PCU_InitialStudy.cpp b/src/Component/Power/PCU_InitialStudy.cpp index b0cf56e78..d06995b61 100644 --- a/src/Component/Power/PCU_InitialStudy.cpp +++ b/src/Component/Power/PCU_InitialStudy.cpp @@ -1,4 +1,9 @@ -#include "PCU_InitialStudy.h" +/* + * @file PCU_InitialStudy.cpp + * @brief Component emulation of Power Control Unit for initial study of spacecraft project + */ + +#include "PCU_InitialStudy.h" #include #include @@ -45,11 +50,11 @@ std::string PCU_InitialStudy::GetLogValue() const { void PCU_InitialStudy::MainRoutine(int time_count) { double time_query = compo_step_time_ * time_count; - power_consumption_ = - CalcPowerConsumption(time_query); // 時間はSimTimeから持ってきたほうが良い？そもそもtime_countがintなのでオーバーフローする可能性あり + power_consumption_ = CalcPowerConsumption(time_query); // Should use SimTime? time_count may over flow since it is int type, + UpdateChargeCurrentAndBusVoltage(); for (auto sap : saps_) { - sap->SetVoltage(16.0); // MPPTを想定 + sap->SetVoltage(16.0); // Assume MPPT control } } @@ -57,16 +62,16 @@ double PCU_InitialStudy::CalcPowerConsumption(double time_query) const { if (CsvScenarioInterface::IsCsvScenarioEnabled()) { return CsvScenarioInterface::GetPowerConsumption(time_query); } else { - //仮の実装． - // if (time_in_sec % 3600 < 600) { - // return 10.0; - // } else if (time_in_sec % 3600 < 2000) { - // return 5.0; - // } else if (time_in_sec % 3600 < 2500) { - // return 20.0; - // } else { - // return 5.0; - // } + // Examples + // if (time_in_sec % 3600 < 600) { + // return 10.0; + // } else if (time_in_sec % 3600 < 2000) { + // return 5.0; + // } else if (time_in_sec % 3600 < 2500) { + // return 20.0; + // } else { + // return 5.0; + // } return 5.0; } } @@ -92,7 +97,7 @@ void PCU_InitialStudy::UpdateChargeCurrentAndBusVoltage() { } } else { if (bat_voltage + current_temp * bat_resistance < cv_charge_voltage_) { - // 自然に充電or放電 + // Natural charge or discharge bat_->SetChargeCurrent(current_temp); bus_voltage_ = bat_voltage + bat_resistance * current_temp; } else { diff --git a/src/Component/Power/PCU_InitialStudy.h b/src/Component/Power/PCU_InitialStudy.h index e31e8feac..5f43ba351 100644 --- a/src/Component/Power/PCU_InitialStudy.h +++ b/src/Component/Power/PCU_InitialStudy.h @@ -1,4 +1,8 @@ -#pragma once +/* + * @file PCU_InitialStudy.h + * @brief Component emulation of Power Control Unit for initial study of spacecraft project + */ +#pragma once #include @@ -10,24 +14,68 @@ class PCU_InitialStudy : public ComponentBase, public ILoggable { public: + /** + * @fn PCU_InitialStudy + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] saps: Solar Array Panels + * @param [in] bat: Battery + * @param [in] compo_step_time: Component step time [sec] + */ PCU_InitialStudy(const int prescaler, ClockGenerator* clock_gen, const std::vector saps, BAT* bat, double compo_step_time); + /** + * @fn PCU_InitialStudy + * @brief Constructor + * @param [in] clock_gen: Clock generator + * @param [in] saps: Solar Array Panels + * @param [in] bat: Battery + */ PCU_InitialStudy(ClockGenerator* clock_gen, const std::vector saps, BAT* bat); + /** + * @fn ~PCU_InitialStudy + * @brief Destructor + */ ~PCU_InitialStudy(); - /*LOG出力用関数*/ + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ std::string GetLogValue() const override; private: - const std::vector saps_; - BAT* const bat_; - const double cc_charge_current_; //[A] - const double cv_charge_voltage_; //[V] - double bus_voltage_; //[V] - double power_consumption_; //[W] - double compo_step_time_; //[sec] + const std::vector saps_; //!< Solar Array Panels + BAT* const bat_; //!< Battery + const double cc_charge_current_; //!< Constant charge current [C] + const double cv_charge_voltage_; //!< Constant charge voltage [V] + double bus_voltage_; //!< Bus voltage [V] + double power_consumption_; //!< Power consumption [W] + double compo_step_time_; //!< Component step time [sec] + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int time_count) override; + + /** + * @fn CalcPowerConsumption + * @brief Calculate power consumption + * @param time_query: Time query + */ double CalcPowerConsumption(double time_query) const; + + /** + * @fn UpdateChargeCurrentAndBusVoltage + * @brief Update charge current and bus voltage + */ void UpdateChargeCurrentAndBusVoltage(); }; From cd48d29b2f60a508e23a19a5ad21fb38b46e5c26 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 16 Dec 2022 00:13:44 +0100 Subject: [PATCH 157/199] Fix comments in PCU --- src/Component/Power/PCU.cpp | 4 +++ src/Component/Power/PCU.h | 70 ++++++++++++++++++++++++++++++++++--- 2 files changed, 70 insertions(+), 4 deletions(-) diff --git a/src/Component/Power/PCU.cpp b/src/Component/Power/PCU.cpp index f0485295e..ec9f3cb27 100644 --- a/src/Component/Power/PCU.cpp +++ b/src/Component/Power/PCU.cpp @@ -1,3 +1,7 @@ +/* + * @file PCU.cpp + * @brief Component emulation of Power Control Unit + */ #include "PCU.h" PCU::PCU(ClockGenerator* clock_gen) : ComponentBase(1, clock_gen) {} diff --git a/src/Component/Power/PCU.h b/src/Component/Power/PCU.h index baccacfd5..f1f3049a9 100644 --- a/src/Component/Power/PCU.h +++ b/src/Component/Power/PCU.h @@ -1,3 +1,7 @@ +/* + * @file PCU.h + * @brief Component emulation of Power Control Unit + */ #pragma once #include @@ -7,26 +11,84 @@ #include "../Abstract/ComponentBase.h" +/* + * @class PCU + * @brief Component emulation of Power Control Unit + */ class PCU : public ComponentBase, public ILoggable { public: - // Constructor/Destractor + /** + * @fn PCU + * @brief Constructor + * @param [in] clock_gen: Clock generator + */ PCU(ClockGenerator* clock_gen); + /** + * @fn PCU + * @brief Constructor + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + */ PCU(int prescaler, ClockGenerator* clock_gen); + /** + * @fn ~PCU + * @brief Destructor + */ ~PCU(); - // Override ComponentBase + + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int count) override; + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ std::string GetLogValue() const override; - // Getter + /** + * @fn GetPowerPort + * @brief Return power port information + * @param port_id: Power port ID + */ inline PowerPort* GetPowerPort(int port_id) { return ports_[port_id]; }; // Port control functions + /** + * @fn ConnectPort + * @brief Connect power port between components and PCU + * @param port_id: Power port ID + * @param [in] current_Limit: Threshold to detect over current [A] + * @return 0: Success, -1: Error + */ int ConnectPort(const int port_id, const double current_Limit); + /** + * @fn ConnectPort + * @brief Connect power port between components and PCU + * @param port_id: Power port ID + * @param [in] current_Limit: Threshold to detect over current [A] + * @param [in] minimum_voltage: Minimum voltage to work the component [V] + * @param [in] assumed_power_consumption: Assumed power consumption of the component [W] + * @return 0: Success, -1: Error + */ int ConnectPort(const int port_id, const double current_Limit, const double minimum_voltage, const double assumed_power_consumption); + /** + * @fn ClosePort + * @brief Close power port between components and PCU + * @param port_id: Power port ID + * @return 0: Success, -1: Error + */ int ClosePort(const int port_id); private: - std::map ports_; + std::map ports_; //!< Power port list }; From 463897ec438554c7b84f55b67d52a29ed14cc98c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 16 Dec 2022 00:33:03 +0100 Subject: [PATCH 158/199] Fix comments in SAP --- src/Component/Power/SAP.cpp | 13 ++-- src/Component/Power/SAP.h | 127 +++++++++++++++++++++++++++++------- 2 files changed, 111 insertions(+), 29 deletions(-) diff --git a/src/Component/Power/SAP.cpp b/src/Component/Power/SAP.cpp index 7d0f1a958..6137c0264 100644 --- a/src/Component/Power/SAP.cpp +++ b/src/Component/Power/SAP.cpp @@ -3,8 +3,9 @@ #include #include -SAP::SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, libra::Vector<3> normal_vector, - double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info, double compo_step_time) +SAP::SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, + libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, + const LocalCelestialInformation* local_celes_info, double compo_step_time) : ComponentBase(prescaler, clock_gen), id_(id), number_of_series_(number_of_series), @@ -20,8 +21,8 @@ SAP::SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_s power_generation_ = 0.0; } -SAP::SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, libra::Vector<3> normal_vector, - double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, double compo_step_time) +SAP::SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, + libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, double compo_step_time) : ComponentBase(prescaler, clock_gen), id_(id), number_of_series_(number_of_series), @@ -100,8 +101,8 @@ void SAP::MainRoutine(int time_count) { libra::Vector<3> sun_pos_b = local_celes_info_->GetPosFromSC_b("SUN"); libra::Vector<3> sun_dir_b = libra::normalize(sun_pos_b); power_generation_ = cell_efficiency_ * transmission_efficiency_ * power_density * cell_area_ * number_of_parallel_ * number_of_series_ * - inner_product(normal_vector_, - sun_dir_b); //仮の実装．実際は太陽方向などからIVカーブを更新．動作電圧に応じた発電電力を求める + inner_product(normal_vector_, sun_dir_b); + // TODO: Improve implementation. For example, update IV curve with sun direction and calculate generated power } if (power_generation_ < 0) power_generation_ = 0.0; } diff --git a/src/Component/Power/SAP.h b/src/Component/Power/SAP.h index 6f20a2626..225aecb1a 100644 --- a/src/Component/Power/SAP.h +++ b/src/Component/Power/SAP.h @@ -1,4 +1,8 @@ -#pragma once +/* + * @file SAP.h + * @brief Component emulation of Solar Array Panel + */ +#pragma once #include #include @@ -10,39 +14,116 @@ class SAP : public ComponentBase, public ILoggable { public: - SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, libra::Vector<3> normal_vector, - double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info, double compo_step_time); - SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, libra::Vector<3> normal_vector, - double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, double compo_step_time); + /** + * @fn SAP + * @brief Constructor with prescaler + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id: SAP ID + * @param [in] number_of_series: Number of series connected solar cells + * @param [in] number_of_parallel: Number of parallel connected solar cells + * @param [in] cell_area: Area of a solar cell [m2] + * @param [in] normal_vector: Normal vector of SAP on the body fixed frame + * @param [in] cell_efficiency: Power generation efficiency of solar cell + * @param [in] transmission_efficiency: Efficiency of transmission to PCU + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] local_celes_info: Local celestial information + * @param [in] compo_step_time: Component step time [sec] + */ + SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, + libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, + const LocalCelestialInformation* local_celes_info, double compo_step_time); + /** + * @fn SAP + * @brief Constructor with prescaler + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id: SAP ID + * @param [in] number_of_series: Number of series connected solar cells + * @param [in] number_of_parallel: Number of parallel connected solar cells + * @param [in] cell_area: Area of a solar cell [m2] + * @param [in] normal_vector: Normal vector of SAP on the body fixed frame + * @param [in] cell_efficiency: Power generation efficiency of solar cell + * @param [in] transmission_efficiency: Efficiency of transmission to PCU + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] compo_step_time: Component step time [sec] + */ + SAP(const int prescaler, ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, + libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, double compo_step_time); + /** + * @fn SAP + * @brief Constructor without prescaler + * @note prescaler is set as 10, compo_step_sec is set as + * @param [in] clock_gen: Clock generator + * @param [in] id: SAP ID + * @param [in] number_of_series: Number of series connected solar cells + * @param [in] number_of_parallel: Number of parallel connected solar cells + * @param [in] cell_area: Area of a solar cell [m2] + * @param [in] normal_vector: Normal vector of SAP on the body fixed frame + * @param [in] cell_efficiency: Power generation efficiency of solar cell + * @param [in] transmission_efficiency: Efficiency of transmission to PCU + * @param [in] srp: Solar Radiation Pressure environment + * @param [in] local_celes_info: Local celestial information + */ SAP(ClockGenerator* clock_gen, int id, int number_of_series, int number_of_parallel, double cell_area, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SRPEnvironment* srp, const LocalCelestialInformation* local_celes_info); + /** + * @fn SAP + * @brief Copy constructor + */ SAP(const SAP& obj); + /** + * @fn ~SAP + * @brief Destructor + */ ~SAP(); + + /** + * @fn GetPowerGeneration + * @brief Return power generation [W] + */ double GetPowerGeneration() const; + /** + * @fn SetVoltage + * @brief Set voltage + */ void SetVoltage(const double voltage); - /*LOG出力用関数*/ + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ std::string GetLogValue() const override; private: - const int id_; //ここは文字列にした方が分かりやすい？ - const int number_of_series_; - const int number_of_parallel_; - const double cell_area_; //[m^2] - const libra::Vector<3> normal_vector_; - const double cell_efficiency_; - const double transmission_efficiency_; //各種損失を考慮したPCUへの伝達効率 - const SRPEnvironment* const srp_; - const LocalCelestialInformation* local_celes_info_; - double voltage_; //[V] - double power_generation_; //[W] - /* 他にIV曲線を決めるために必要なパラメータなど - コンポ依存のパラメータをconstで持つ - 太陽光強度などによって変化するパラメータは非constで持ち，MainRoutineで更新 */ - static const double solar_constant_; - static const double light_speed_; - double compo_step_time_; //[sec] + const int id_; //!< SAP ID TODO: Use string? + const int number_of_series_; //!< Number of series connected solar cells + const int number_of_parallel_; //!< Number of parallel connected solar cells + const double cell_area_; //!< Solar cell area [m^2] + const libra::Vector<3> normal_vector_; //!< Normal vector of SAP on the body fixed frame + const double cell_efficiency_; //!< Power generation efficiency of solar cell + const double transmission_efficiency_; //!< Efficiency of transmission to PCU + + const SRPEnvironment* const srp_; //!< Solar Radiation Pressure environment + const LocalCelestialInformation* local_celes_info_; //!< Local celestial information + + double voltage_; //!< Voltage [V] + double power_generation_; //!< Generated power [W] + + static const double solar_constant_; //!< Solar constant TODO: Use SRPEnvironment? + static const double light_speed_; //!< Speed of light TODO: Use PhysicalConstant? + double compo_step_time_; //!< Component step time [sec] + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int time_count) override; }; From edb08fee8da7d264ea870ff78b768033bb744eed Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 16 Dec 2022 00:52:07 +0100 Subject: [PATCH 159/199] Fix comments in Thruster --- .../Propulsion/InitSimpleThruster.cpp | 4 + .../Propulsion/InitSimpleThruster.hpp | 23 +++ src/Component/Propulsion/SimpleThruster.cpp | 4 + src/Component/Propulsion/SimpleThruster.h | 132 +++++++++++++++--- 4 files changed, 141 insertions(+), 22 deletions(-) diff --git a/src/Component/Propulsion/InitSimpleThruster.cpp b/src/Component/Propulsion/InitSimpleThruster.cpp index 39813bc9c..32f5d5b70 100644 --- a/src/Component/Propulsion/InitSimpleThruster.cpp +++ b/src/Component/Propulsion/InitSimpleThruster.cpp @@ -1,3 +1,7 @@ +/* + * @file InitSimpleThruster.cpp + * @brief Initialize function os SimpleThruster + */ #include "InitSimpleThruster.hpp" #include diff --git a/src/Component/Propulsion/InitSimpleThruster.hpp b/src/Component/Propulsion/InitSimpleThruster.hpp index 7e6cb0973..fb3b6e7b2 100644 --- a/src/Component/Propulsion/InitSimpleThruster.hpp +++ b/src/Component/Propulsion/InitSimpleThruster.hpp @@ -1,8 +1,31 @@ +/* + * @file InitSimpleThruster.hpp + * @brief Initialize function os SimpleThruster + */ #pragma once #include +/** + * @fn InitSimpleThruster + * @brief Initialize function os SimpleThruster + * @param [in] clock_gen: Clock generator + * @param [in] thruster_id: Thruster ID + * @param [in] fname: Path to initialize file + * @param [in] structure: Spacecraft structure information + * @param [in] dynamics: Spacecraft dynamics information + */ SimpleThruster InitSimpleThruster(ClockGenerator* clock_gen, int thruster_id, const std::string fname, const Structure* structure, const Dynamics* dynamics); +/** + * @fn InitSimpleThruster + * @brief Initialize function os SimpleThruster + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] thruster_id: Thruster ID + * @param [in] fname: Path to initialize file + * @param [in] structure: Spacecraft structure information + * @param [in] dynamics: Spacecraft dynamics information + */ SimpleThruster InitSimpleThruster(ClockGenerator* clock_gen, PowerPort* power_port, int thruster_id, const std::string fname, const Structure* structure, const Dynamics* dynamics); diff --git a/src/Component/Propulsion/SimpleThruster.cpp b/src/Component/Propulsion/SimpleThruster.cpp index ec3dc1066..dcdecca3f 100644 --- a/src/Component/Propulsion/SimpleThruster.cpp +++ b/src/Component/Propulsion/SimpleThruster.cpp @@ -1,3 +1,7 @@ +/* + * @file SimpleThruster.p + * @brief Component emulation of simple thruster + */ #include "SimpleThruster.h" #include diff --git a/src/Component/Propulsion/SimpleThruster.h b/src/Component/Propulsion/SimpleThruster.h index 94f43284b..8ed2d8fb5 100644 --- a/src/Component/Propulsion/SimpleThruster.h +++ b/src/Component/Propulsion/SimpleThruster.h @@ -1,3 +1,7 @@ +/* + * @file SimpleThruster.h + * @brief Component emulation of simple thruster + */ #pragma once #include @@ -10,55 +14,139 @@ #include "../Abstract/ComponentBase.h" +/* + * @class SimpleThruster + * @brief Component emulation of simple thruster + */ class SimpleThruster : public ComponentBase, public ILoggable { public: + /** + * @fn SimpleThruster + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] id: Thruster ID + * @param [in] thruster_pos_b: Position of thruster on the body fixed frame [m] + * @param [in] thrust_dir_b: Direction of thrust on the body fixed frame + * @param [in] max_mag: Maximum thrust magnitude [N] + * @param [in] mag_err: Standard deviation of thrust magnitude error [N] + * @param [in] dir_err: Standard deviation of thrust direction error [rad] + * @param [in] structure: Spacecraft structure information + * @param [in] dynamics: Spacecraft dynamics information + */ SimpleThruster(const int prescaler, ClockGenerator* clock_gen, const int id, const Vector<3> thruster_pos_b, const Vector<3> thrust_dir_b, - const double max_mag, // N - const double mag_err, // N - const double dir_err, // rad - const Structure* structure, const Dynamics* dynamics); + const double max_mag, const double mag_err, const double dir_err, const Structure* structure, const Dynamics* dynamics); + /** + * @fn SimpleThruster + * @brief Constructor with power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_gen: Clock generator + * @param [in] power_port: Power port + * @param [in] id: Thruster ID + * @param [in] thruster_pos_b: Position of thruster on the body fixed frame [m] + * @param [in] thrust_dir_b: Direction of thrust on the body fixed frame + * @param [in] max_mag: Maximum thrust magnitude [N] + * @param [in] mag_err: Standard deviation of thrust magnitude error [N] + * @param [in] dir_err: Standard deviation of thrust direction error [rad] + * @param [in] structure: Spacecraft structure information + * @param [in] dynamics: Spacecraft dynamics information + */ SimpleThruster(const int prescaler, ClockGenerator* clock_gen, PowerPort* power_port, const int id, const Vector<3> thruster_pos_b, - const Vector<3> thrust_dir_b, - const double max_mag, // N - const double mag_err, // N - const double dir_err, // rad - const Structure* structure, const Dynamics* dynamics); + const Vector<3> thrust_dir_b, const double max_mag, const double mag_err, const double dir_err, const Structure* structure, + const Dynamics* dynamics); + /** + * @fn ~SimpleThruster + * @brief Destructor + */ ~SimpleThruster(); - // ComponentBase override function + // Override functions for ComponentBase + /** + * @fn MainRoutine + * @brief Main routine to calculate force generation + */ void MainRoutine(int count); + /** + * @fn PowerOffRoutine + * @brief Power off routine to stop force generation + */ void PowerOffRoutine() override; - // ILogabble override function + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ virtual std::string GetLogValue() const; // Getter + /** + * @fn GetThrustB + * @brief Return generated thrust on the body fixed frame [N] + */ inline const Vector<3> GetThrustB() const { return thrust_b_; }; + /** + * @fn GetTorqueB + * @brief Return generated torque on the body fixed frame [Nm] + */ inline const Vector<3> GetTorqueB() const { return torque_b_; }; // Setter + /** + * @fn SetDuty + * @brief Set duty + */ inline void SetDuty(double duty) { duty_ = duty; }; protected: // parameters - const int id_; - Vector<3> thruster_pos_b_{0.0}; // Thruster position @ body frame - Vector<3> thrust_dir_b_{0.0}; // Thrust direction @ body frame - double duty_ = 0.0; // [0.0:1.0] - double thrust_magnitude_max_ = 0.0; // N - double thrust_dir_err_ = 0.0; // Thrust direction error rad - libra::NormalRand mag_nr_, dir_nr_; + const int id_; //!< Thruster ID + Vector<3> thruster_pos_b_{0.0}; //!< Thruster position @ body frame [m] + Vector<3> thrust_dir_b_{0.0}; //!< Thrust direction @ body frame + double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] + double thrust_magnitude_max_ = 0.0; //!< Maximum thrust magnitude [N] + double thrust_dir_err_ = 0.0; //!< Standard deviation of thrust direction error [rad] + libra::NormalRand mag_nr_; //!< Normal random for thrust magnitude error + libra::NormalRand dir_nr_; //!< Normal random for thrust direction error // outputs - Vector<3> thrust_b_{0.0}; - Vector<3> torque_b_{0.0}; + Vector<3> thrust_b_{0.0}; //!< Generated thrust on the body fixed frame [N] + Vector<3> torque_b_{0.0}; //!< Generated torque on the body fixed frame [N] + /** + * @fn CalcThrust + * @brief Calculate generated thrust + */ void CalcThrust(); + /** + * @fn CalcTorque + * @brief Calculate generated torque + */ void CalcTorque(Vector<3> center); + /** + * @fn CalcThrustMagnitude + * @brief Calculate thrust magnitude + * @return Thrust magnitude + */ double CalcThrustMagnitude(); + /** + * @fn CalcThrustDir + * @brief Calculate thrust direction + * @return Thrust direction + */ Vector<3> CalcThrustDir(); + /** + * @fn Initialize + * @brief Initialize function + * @param [in] mag_err: Standard deviation of thrust magnitude error [N] + * @param [in] dir_err: Standard deviation of thrust direction error [rad] + */ void Initialize(const double mag_err, const double dir_err); - const Structure* structure_; - const Dynamics* dynamics_; + const Structure* structure_; //!< Spacecraft structure information + const Dynamics* dynamics_; //!< Spacecraft dynamics information }; From 23313127d4593c8a2e6eb007cfbeddfa0a2dccb4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 16 Dec 2022 00:55:12 +0100 Subject: [PATCH 160/199] Revert unnecessary modification --- src/Component/Mission/Telescope/Telescope.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/Component/Mission/Telescope/Telescope.cpp b/src/Component/Mission/Telescope/Telescope.cpp index 53f5c1dea..548a5698c 100644 --- a/src/Component/Mission/Telescope/Telescope.cpp +++ b/src/Component/Mission/Telescope/Telescope.cpp @@ -112,8 +112,7 @@ void Telescope::ObserveStars() { Vector<3> target_b = hipp_->GetStarDir_b(count, q_i2b); Vector<3> target_c = q_b2c_.frame_conv(target_b); - double arg_x = atan2(target_c[2], target_c[0]); - double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame + double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame if (abs(arg_x) <= x_field_of_view_rad && abs(arg_y) <= y_field_of_view_rad) { From aed2a84cb952f194aa19f00deb617eea33362fac Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 19 Dec 2022 12:35:20 +0100 Subject: [PATCH 161/199] Fix small --- src/Component/AOCS/GNSSReceiver.cpp | 4 ++-- src/Component/Abstract/ExpHils.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Component/AOCS/GNSSReceiver.cpp b/src/Component/AOCS/GNSSReceiver.cpp index 0fd3020cf..4b79da210 100644 --- a/src/Component/AOCS/GNSSReceiver.cpp +++ b/src/Component/AOCS/GNSSReceiver.cpp @@ -63,8 +63,8 @@ void GNSSReceiver::MainRoutine(int count) { utc_ = simtime_->GetCurrentUTC(); ConvertJulianDayToGPSTime(simtime_->GetCurrentJd()); } else { - // position information will not be updated in this case only time information will be updated in this case - // (according to the receiver's internal clock) + // position information will not be updated in this case + // only time information will be updated in this case (according to the receiver's internal clock) utc_ = simtime_->GetCurrentUTC(); ConvertJulianDayToGPSTime(simtime_->GetCurrentJd()); } diff --git a/src/Component/Abstract/ExpHils.h b/src/Component/Abstract/ExpHils.h index 7081888ec..3889e4ef3 100644 --- a/src/Component/Abstract/ExpHils.h +++ b/src/Component/Abstract/ExpHils.h @@ -52,7 +52,7 @@ class ExpHils : public ComponentBase, public ObcCommunicationBase { const int kNumAlphabet = 26; //!< Number of Alphabet char memory_[kMemorySize] = {0, 0, 0, '\0'}; //!< Memory char tx_[kMemorySize] = {0, 0, 0, '\0'}; //!< TX(Telemetry send) buffer - const int mode_id_; //!< Mode ID to select sender(0) or responder(1) + const int mode_id_; //!< Mode ID to select sender(0) or responder(1) int counter_ = 0; //!< Internal counter // Override functions for ObcComunication From 6fae9c443cafdf28f197677d6601d20f81724841 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 22 Dec 2022 14:50:38 +0000 Subject: [PATCH 162/199] Update actions/setup-python action to v4.4.0 --- .github/workflows/build.yml | 2 +- .github/workflows/validate-scripts.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index d86ec49d6..b791c1512 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -217,7 +217,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=$ver" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v4.3.1 + - uses: actions/setup-python@v4.4.0 with: python-version: ${{ steps.python-version.outputs.version }} diff --git a/.github/workflows/validate-scripts.yml b/.github/workflows/validate-scripts.yml index 3e0914148..b9dbbf2ed 100644 --- a/.github/workflows/validate-scripts.yml +++ b/.github/workflows/validate-scripts.yml @@ -28,7 +28,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=${ver}" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v4.3.1 + - uses: actions/setup-python@v4.4.0 with: python-version: ${{ steps.python-version.outputs.version }} From e070ee3447b3fb2a5f13f0505a14793270b0c802 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 27 Dec 2022 19:48:49 +0100 Subject: [PATCH 163/199] Fix comment for Split --- src/Interface/InitInput/IniAccess.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Interface/InitInput/IniAccess.h b/src/Interface/InitInput/IniAccess.h index b964a3845..d81590371 100644 --- a/src/Interface/InitInput/IniAccess.h +++ b/src/Interface/InitInput/IniAccess.h @@ -137,7 +137,7 @@ class IniAccess { // Read CSV functions TODO: Make new class for CSV file /** * @fn Split - * @brief Return true when the read value is ENABLE or 1. + * @brief Split inputted strings with the delimiter. * @param[in] input: Input string * @param[in] delimiter: Delimiter to split the string * @return List of string splitted by the delimiter From 6fc6a6916a148228ab041d841050fcf5b14be5a8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 10:59:42 +0100 Subject: [PATCH 164/199] Add antenna pattern class --- src/Component/CMakeLists.txt | 1 + .../CommGS/AntennaRadiationPattern.cpp | 39 ++++++++++++++ .../CommGS/AntennaRadiationPattern.hpp | 53 +++++++++++++++++++ 3 files changed, 93 insertions(+) create mode 100644 src/Component/CommGS/AntennaRadiationPattern.cpp create mode 100644 src/Component/CommGS/AntennaRadiationPattern.hpp diff --git a/src/Component/CMakeLists.txt b/src/Component/CMakeLists.txt index 9045502c8..b458cdf99 100644 --- a/src/Component/CMakeLists.txt +++ b/src/Component/CMakeLists.txt @@ -37,6 +37,7 @@ add_library(${PROJECT_NAME} STATIC CDH/OBC_C2A.cpp CommGS/Antenna.cpp + CommGS/AntennaRadiationPattern.cpp CommGS/InitAntenna.cpp CommGS/GScalculator.cpp CommGS/InitGsCalculator.cpp diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp new file mode 100644 index 000000000..4331d65af --- /dev/null +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -0,0 +1,39 @@ +/* + * @file Antenna.cpp + * @brief Component emulation: RF antenna + */ + +#include "AntennaRadiationPattern.hpp" + +#include + +#include + +AntennaRadiationPattern::AntennaRadiationPattern() { + gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); +} + +AntennaRadiationPattern::AntennaRadiationPattern(std::string file_path) { + IniAccess gain_file(file_path); + gain_file.ReadCsvDouble(gain_dB_, std::max(length_theta_, length_phi_)); +} + +AntennaRadiationPattern::~AntennaRadiationPattern() {} + +double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) { + // Argument check + double theta_rad_clipped = theta_rad; + double phi_rad_clipped = phi_rad; + if (theta_rad_clipped < 0.0) theta_rad_clipped = 0.0; + if (theta_rad_clipped > theta_max_rad_) theta_rad_clipped = theta_max_rad_; + if (phi_rad_clipped < 0.0) phi_rad_clipped = 0.0; + if (phi_rad_clipped > phi_max_rad_) phi_rad_clipped = phi_max_rad_; + + // Calc index + size_t theta_idx = (size_t)(length_theta_ * theta_rad_clipped / theta_max_rad_); + if (theta_idx > length_theta_) theta_idx = length_theta_; + size_t phi_idx = (size_t)(length_phi_ * phi_rad_clipped / phi_max_rad_); + if (phi_idx > length_phi_) phi_idx = length_phi_; + + return gain_dB_[theta_idx][phi_idx]; +} diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp new file mode 100644 index 000000000..49880d513 --- /dev/null +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -0,0 +1,53 @@ +/* + * @file AntennaRadiationPattern.hpp + * @brief Class to manage antenna radiation pattern + */ + +#pragma once +#include +#include + +/* + * @class AntennaRadiationPattern + * @brief Antenna radiation pattern + * @details theta = [0, 2pi], theta = 0 is on the plus Z axis + * phi = [0, pi], phi = 0 is on the plus X axis, and phi = pi/2 is on the plus Y axis + */ +class AntennaRadiationPattern { + public: + /** + * @fn AntennaRadiationPattern + * @brief Default Constructor + */ + AntennaRadiationPattern(); + + /** + * @fn AntennaRadiationPattern + * @brief Constructor + * @param[in] file_path: Path to antenna pattern CSV file + */ + AntennaRadiationPattern(std::string file_path); + + /** + * @fn ~AntennaRadiationPattern + * @brief Destructor + */ + ~AntennaRadiationPattern(); + + /** + * @fn GetGain_dB + * @brief Get antenna gain [dB] + * @param[in] theta_rad: Angle for theta direction [rad] + * @param[in] phi_rad: Angle for phi direction [rad] + * @return Antenna gain [dB] + */ + double GetGain_dB(const double theta_rad, const double phi_rad); + + private: + size_t length_theta_ = 360; //!< Length of grid for theta direction + size_t length_phi_ = 181; //!< Length of grid for phi direction + const double theta_max_rad_ = libra::tau; //!< Maximum value of theta + const double phi_max_rad_ = libra::pi; //!< Maximum value of phi + + std::vector> gain_dB_; //!< Antenna gain table +}; From b72aaa79795ca5a3bee25d6fdfe3b2ad4844060b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 11:26:15 +0100 Subject: [PATCH 165/199] Fix format --- src/Component/CommGS/AntennaRadiationPattern.cpp | 10 ++++------ src/Component/CommGS/AntennaRadiationPattern.hpp | 1 + 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 4331d65af..7b114b53e 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -5,17 +5,15 @@ #include "AntennaRadiationPattern.hpp" -#include - #include -AntennaRadiationPattern::AntennaRadiationPattern() { - gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); -} +#include + +AntennaRadiationPattern::AntennaRadiationPattern() { gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); } AntennaRadiationPattern::AntennaRadiationPattern(std::string file_path) { IniAccess gain_file(file_path); - gain_file.ReadCsvDouble(gain_dB_, std::max(length_theta_, length_phi_)); + gain_file.ReadCsvDouble(gain_dB_, std::max(length_theta_, length_phi_)); } AntennaRadiationPattern::~AntennaRadiationPattern() {} diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index 49880d513..5c35bff29 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -18,6 +18,7 @@ class AntennaRadiationPattern { /** * @fn AntennaRadiationPattern * @brief Default Constructor + * @note The gain table is initialized as all zero value */ AntennaRadiationPattern(); From f77780a3a89b3e173854ea6070be8b71ce58003d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 11:38:52 +0100 Subject: [PATCH 166/199] Fix bug in string --- src/Component/CommGS/AntennaRadiationPattern.cpp | 2 +- src/Component/CommGS/AntennaRadiationPattern.hpp | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 7b114b53e..f5d93d70a 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -11,7 +11,7 @@ AntennaRadiationPattern::AntennaRadiationPattern() { gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); } -AntennaRadiationPattern::AntennaRadiationPattern(std::string file_path) { +AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { IniAccess gain_file(file_path); gain_file.ReadCsvDouble(gain_dB_, std::max(length_theta_, length_phi_)); } diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index 5c35bff29..48c722292 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -6,6 +6,7 @@ #pragma once #include #include +#include /* * @class AntennaRadiationPattern @@ -27,7 +28,7 @@ class AntennaRadiationPattern { * @brief Constructor * @param[in] file_path: Path to antenna pattern CSV file */ - AntennaRadiationPattern(std::string file_path); + AntennaRadiationPattern(const std::string file_path); /** * @fn ~AntennaRadiationPattern From 586dabf518fb06bad8adf4d6ea9040229dabe07e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 12:35:20 +0100 Subject: [PATCH 167/199] Refactor private variables in antenna --- src/Component/CommGS/Antenna.cpp | 33 +++++++++++---------- src/Component/CommGS/Antenna.hpp | 51 +++++++++++++++++++++++++------- 2 files changed, 57 insertions(+), 27 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index 30948a23c..6e9fbe805 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -12,25 +12,26 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra const Vector<4> tx_params, const Vector<4> rx_params) : id_(id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_(frequency) { q_b2c_ = q_b2c; - tx_output_ = tx_params[0]; - tx_gain_ = tx_params[1]; - tx_loss_feeder_ = tx_params[2]; - tx_loss_pointing_ = tx_params[3]; - rx_gain_ = rx_params[0]; - rx_loss_feeder_ = rx_params[1]; - rx_loss_pointing_ = rx_params[2]; - rx_system_noise_temperature_ = rx_params[3]; + tx_output_power_W_ = tx_params[0]; + tx_params_.gain_dBi_ = tx_params[1]; + tx_params_.loss_feeder_dB_ = tx_params[2]; + tx_params_.loss_pointing_dB_ = tx_params[3]; + + rx_params_.gain_dBi_ = rx_params[0]; + rx_params_.loss_feeder_dB_ = rx_params[1]; + rx_params_.loss_pointing_dB_ = rx_params[2]; + rx_system_noise_temperature_K_ = rx_params[3]; // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { - tx_EIRP_ = 10 * log10(tx_output_) + tx_gain_ + tx_loss_feeder_ + tx_loss_pointing_; + tx_eirp_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; } else { - tx_EIRP_ = 0.0; + tx_eirp_ = 0.0; } if (is_receiver_) { - rx_GT_ = rx_gain_ + rx_loss_feeder_ + rx_loss_pointing_ - 10 * std::log10(rx_system_noise_temperature_); + rx_gt_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); } else { - rx_GT_ = 0.0; + rx_gt_ = 0.0; } } @@ -41,11 +42,11 @@ double Antenna::CalcAntennaGain(double theta, bool is_tx) const { // TODO: implement gain calculation considering the angle theta if (is_tx) { - return tx_gain_; + return tx_params_.gain_dBi_; } else { - return rx_gain_; + return rx_params_.gain_dBi_; } } -double Antenna::CalcTxEIRP(double theta) const { return tx_EIRP_ - tx_gain_ + CalcAntennaGain(theta, true); } -double Antenna::CalcRxGT(double theta) const { return rx_GT_ - rx_gain_ + CalcAntennaGain(theta, false); } +double Antenna::CalcTxEIRP(double theta) const { return tx_eirp_ - tx_params_.gain_dBi_ + CalcAntennaGain(theta, true); } +double Antenna::CalcRxGT(double theta) const { return rx_gt_ - rx_params_.gain_dBi_ + CalcAntennaGain(theta, false); } diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index c9df841ef..e0e041022 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -8,6 +8,30 @@ #include using libra::Quaternion; using libra::Vector; +#include + +#include "./AntennaRadiationPattern.hpp" + +/* + * @enum AntennaGainModel + * @brief Antenna gain model definition + */ +enum class AntennaGainModel { + ISOTROPIC, //!< Ideal isotropic antenna + RADIATION_PATTERN_CSV, //!< Radiation pattern obtained by CSV file +}; + +/* + * @struct AntennaParameters + * @brief Antenna parameters + */ +struct AntennaParameters { + double gain_dBi_; //!< Transmit maximum gain [dBi] + double loss_feeder_dB_; //!< Feeder loss [dB] + double loss_pointing_dB_; //!< Pointing loss [dB] + AntennaGainModel antenna_gain_model; //!< Antenna gain model + AntennaRadiationPattern radiation_pattern; //!< Radiation pattern +}; /* * @class Antenna @@ -18,7 +42,14 @@ class Antenna { /** * @fn Antenna * @brief Constructor - * @param [in] clock_gen: Clock generator + * @param [in] id: Antenna ID + * @param [in] q_b2c: Coordinate transform from body to component + * @param [in] is_transmitter: Antenna for transmitter or not + * @param [in] is_receiver: Antenna for receiver or not + * @param [in] frequency: Center Frequency [MHz] + * @param [in] tx_params: output, gain, loss_feeder, loss_pointing for TX + * @param [in] rx_params: gain, loss_feeder, loss_pointing, system_temperature for RX + * */ Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, const Vector<4> tx_params, const Vector<4> rx_params); @@ -67,18 +98,16 @@ class Antenna { bool is_transmitter_; //!< Antenna for transmitter or not bool is_receiver_; //!< Antenna for receiver or not double frequency_; //!< Center Frequency [MHz] + // Tx info - double tx_output_; //!< RF output power [W] - double tx_gain_; //!< Transmit maximum gain [dBi] - double tx_loss_feeder_; //!< Feeder loss [dB] - double tx_loss_pointing_; //!< Pointing loss [dB] - double tx_EIRP_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] + AntennaParameters tx_params_; //!< Tx parameters + double tx_output_power_W_; //!< Transmit output power [W] + double tx_eirp_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] + // Rx info - double rx_gain_; //!< Receive maximum gain [dBi] - double rx_loss_feeder_; //!< Feeder loss [dB] - double rx_loss_pointing_; //!< Pointing loss [dB] - double rx_system_noise_temperature_; //!< System noise temperature [K] - double rx_GT_; //!< Receive G/T [dB/K] + AntennaParameters rx_params_; //!< Rx parameters + double rx_system_noise_temperature_K_; //!< Receive system noise temperature [K] + double rx_gt_; //!< Receive G/T [dB/K] /** * @fn CalcAntennaGain From 8d98e12efe76d7b090096e6149815a17f7acc3af Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 12:53:51 +0100 Subject: [PATCH 168/199] Add new constructor --- src/Component/CommGS/Antenna.cpp | 23 +++++++++++++++++++++++ src/Component/CommGS/Antenna.hpp | 22 +++++++++++++++++++--- 2 files changed, 42 insertions(+), 3 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index 6e9fbe805..655084dc8 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -12,6 +12,8 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra const Vector<4> tx_params, const Vector<4> rx_params) : id_(id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_(frequency) { q_b2c_ = q_b2c; + + // Parameters tx_output_power_W_ = tx_params[0]; tx_params_.gain_dBi_ = tx_params[1]; tx_params_.loss_feeder_dB_ = tx_params[2]; @@ -22,6 +24,27 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra rx_params_.loss_pointing_dB_ = rx_params[2]; rx_system_noise_temperature_K_ = rx_params[3]; + // Antenna gain + tx_params_.antenna_gain_model = AntennaGainModel::ISOTROPIC; + rx_params_.antenna_gain_model = AntennaGainModel::ISOTROPIC; + + // Calculate the EIRP or GT for the maximum gain + if (is_transmitter_) { + tx_eirp_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; + } else { + tx_eirp_ = 0.0; + } + if (is_receiver_) { + rx_gt_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); + } else { + rx_gt_ = 0.0; + } +} + +Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, + const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, const AntennaParameters rx_params) + : id_(id), q_b2c_(q_b2c), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_(frequency), tx_output_power_W_(tx_output_power_W), tx_params_(tx_params), rx_system_noise_temperature_K_(rx_system_noise_temperature_K), rx_params_(rx_params) +{ // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { tx_eirp_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index e0e041022..dbc4fc7dc 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -42,6 +42,7 @@ class Antenna { /** * @fn Antenna * @brief Constructor + * @note TODO: This constructor will be removed. * @param [in] id: Antenna ID * @param [in] q_b2c: Coordinate transform from body to component * @param [in] is_transmitter: Antenna for transmitter or not @@ -49,10 +50,25 @@ class Antenna { * @param [in] frequency: Center Frequency [MHz] * @param [in] tx_params: output, gain, loss_feeder, loss_pointing for TX * @param [in] rx_params: gain, loss_feeder, loss_pointing, system_temperature for RX - * */ Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, const Vector<4> tx_params, const Vector<4> rx_params); + + /** + * @fn Antenna + * @brief Constructor + * @param [in] id: Antenna ID + * @param [in] q_b2c: Coordinate transform from body to component + * @param [in] is_transmitter: Antenna for transmitter or not + * @param [in] is_receiver: Antenna for receiver or not + * @param [in] frequency: Center Frequency [MHz] + * @param [in] tx_output_power_W: Transmit output power [W] + * @param [in] tx_params: TX antenna parameters + * @param [in] rx_system_noise_temperature_K: Receive system noise temperature [K] + * @param [in] rx_params: RX antenna parameters + */ + Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, + const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, const AntennaParameters rx_params); /** * @fn ~Antenna * @brief Destructor @@ -100,13 +116,13 @@ class Antenna { double frequency_; //!< Center Frequency [MHz] // Tx info - AntennaParameters tx_params_; //!< Tx parameters double tx_output_power_W_; //!< Transmit output power [W] + AntennaParameters tx_params_; //!< Tx parameters double tx_eirp_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] // Rx info - AntennaParameters rx_params_; //!< Rx parameters double rx_system_noise_temperature_K_; //!< Receive system noise temperature [K] + AntennaParameters rx_params_; //!< Rx parameters double rx_gt_; //!< Receive G/T [dB/K] /** From 88f8e0fbccd08d1d335a5148ee8bda97dee3c8e8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 13:13:06 +0100 Subject: [PATCH 169/199] Fix function arguments in Antenna --- src/Component/CommGS/Antenna.cpp | 23 +++++++++++------------ src/Component/CommGS/Antenna.hpp | 19 +++++++++++-------- 2 files changed, 22 insertions(+), 20 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index 655084dc8..f0a88f901 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -30,14 +30,14 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { - tx_eirp_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; + tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; } else { - tx_eirp_ = 0.0; + tx_eirp_dBW_ = 0.0; } if (is_receiver_) { - rx_gt_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); + rx_gt_dBK_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); } else { - rx_gt_ = 0.0; + rx_gt_dBK_ = 0.0; } } @@ -47,21 +47,20 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra { // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { - tx_eirp_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; + tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; } else { - tx_eirp_ = 0.0; + tx_eirp_dBW_ = 0.0; } if (is_receiver_) { - rx_gt_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); + rx_gt_dBK_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); } else { - rx_gt_ = 0.0; + rx_gt_dBK_ = 0.0; } } Antenna::~Antenna() {} -double Antenna::CalcAntennaGain(double theta, bool is_tx) const { - UNUSED(theta); +double Antenna::CalcAntennaGain(const bool is_tx, const double theta_rad, const double phi_rad) const { // TODO: implement gain calculation considering the angle theta if (is_tx) { @@ -71,5 +70,5 @@ double Antenna::CalcAntennaGain(double theta, bool is_tx) const { } } -double Antenna::CalcTxEIRP(double theta) const { return tx_eirp_ - tx_params_.gain_dBi_ + CalcAntennaGain(theta, true); } -double Antenna::CalcRxGT(double theta) const { return rx_gt_ - rx_params_.gain_dBi_ + CalcAntennaGain(theta, false); } +double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { return tx_eirp_dBW_ - tx_params_.gain_dBi_ + CalcAntennaGain(true, theta_rad, phi_rad); } +double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { return rx_gt_dBK_ - rx_params_.gain_dBi_ + CalcAntennaGain(false, theta_rad, phi_rad); } diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index dbc4fc7dc..4e42f893c 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -78,17 +78,19 @@ class Antenna { /** * @fn CalcTxEIRP * @brief Calculation of TX EIRP - * @param [in] theta: Target direction angle [rad] + * @param [in] theta: Angle from PZ axis on the antenna frame [rad] + * @param [in] phi: from PX axis on the antenna frame [rad] (Set zero for axial symmetry pattern) * @return TX EIRP [dBW] */ - double CalcTxEIRP(double theta) const; + double CalcTxEIRP(const double theta_rad, const double phi_rad = 0.0) const; /** * @fn CalcRxGT * @brief Calculation of RX G/T - * @param [in] theta: Target direction angle [rad] + * @param [in] theta: Angle from PZ axis on the antenna frame [rad] + * @param [in] phi: from PX axis on the antenna frame [rad] (Set zero for axial symmetry pattern) * @return RX G/T [dB/K] */ - double CalcRxGT(double theta) const; + double CalcRxGT(const double theta_rad, const double phi_rad = 0.0) const; // Getter /** @@ -118,19 +120,20 @@ class Antenna { // Tx info double tx_output_power_W_; //!< Transmit output power [W] AntennaParameters tx_params_; //!< Tx parameters - double tx_eirp_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] + double tx_eirp_dBW_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] // Rx info double rx_system_noise_temperature_K_; //!< Receive system noise temperature [K] AntennaParameters rx_params_; //!< Rx parameters - double rx_gt_; //!< Receive G/T [dB/K] + double rx_gt_dBK_; //!< Receive G/T [dB/K] /** * @fn CalcAntennaGain * @brief Calculation antenna gain considering the target direction - * @param [in] theta: Target direction angle [rad] * @param [in] is_tx: Flag TX(True) or RX(False) + * @param [in] theta: Angle from PZ axis on the antenna frame [rad] + * @param [in] phi: from PX axis on the antenna frame [rad] (Set zero for axial symmetry pattern) * @return Antenna gain [dB] */ - double CalcAntennaGain(double theta, bool is_tx) const; + double CalcAntennaGain(const bool is_tx, const double theta_rad, const double phi_rad = 0.0) const; }; From 5b52917c8556d34c46e5f0deb24803b9fc7dda05 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 13:24:45 +0100 Subject: [PATCH 170/199] Modify CalcAntennaGain function --- src/Component/CommGS/Antenna.cpp | 41 +++++++++++++------ src/Component/CommGS/Antenna.hpp | 4 +- .../CommGS/AntennaRadiationPattern.cpp | 2 +- .../CommGS/AntennaRadiationPattern.hpp | 2 +- 4 files changed, 33 insertions(+), 16 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index f0a88f901..be30aeff5 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -42,9 +42,17 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra } Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, - const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, const AntennaParameters rx_params) - : id_(id), q_b2c_(q_b2c), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_(frequency), tx_output_power_W_(tx_output_power_W), tx_params_(tx_params), rx_system_noise_temperature_K_(rx_system_noise_temperature_K), rx_params_(rx_params) -{ + const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, + const AntennaParameters rx_params) + : id_(id), + q_b2c_(q_b2c), + is_transmitter_(is_transmitter), + is_receiver_(is_receiver), + frequency_(frequency), + tx_output_power_W_(tx_output_power_W), + tx_params_(tx_params), + rx_system_noise_temperature_K_(rx_system_noise_temperature_K), + rx_params_(rx_params) { // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; @@ -60,15 +68,24 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra Antenna::~Antenna() {} -double Antenna::CalcAntennaGain(const bool is_tx, const double theta_rad, const double phi_rad) const { - // TODO: implement gain calculation considering the angle theta - - if (is_tx) { - return tx_params_.gain_dBi_; - } else { - return rx_params_.gain_dBi_; +double Antenna::CalcAntennaGain(const AntennaParameters ant_params, const double theta_rad, const double phi_rad) const { + double gain_dB = 0.0; + switch (ant_params.antenna_gain_model) { + case AntennaGainModel::ISOTROPIC: + gain_dB = ant_params.gain_dBi_; + break; + case AntennaGainModel::RADIATION_PATTERN_CSV: + gain_dB = ant_params.radiation_pattern.GetGain_dB(theta_rad, phi_rad); + break; + default: + break; } + return gain_dB; } -double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { return tx_eirp_dBW_ - tx_params_.gain_dBi_ + CalcAntennaGain(true, theta_rad, phi_rad); } -double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { return rx_gt_dBK_ - rx_params_.gain_dBi_ + CalcAntennaGain(false, theta_rad, phi_rad); } +double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { + return tx_eirp_dBW_ - tx_params_.gain_dBi_ + CalcAntennaGain(tx_params_, theta_rad, phi_rad); +} +double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { + return rx_gt_dBK_ - rx_params_.gain_dBi_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); +} diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index 4e42f893c..7c0dbb63f 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -130,10 +130,10 @@ class Antenna { /** * @fn CalcAntennaGain * @brief Calculation antenna gain considering the target direction - * @param [in] is_tx: Flag TX(True) or RX(False) + * @param [in] ant_params: Antenna parameters * @param [in] theta: Angle from PZ axis on the antenna frame [rad] * @param [in] phi: from PX axis on the antenna frame [rad] (Set zero for axial symmetry pattern) * @return Antenna gain [dB] */ - double CalcAntennaGain(const bool is_tx, const double theta_rad, const double phi_rad = 0.0) const; + double CalcAntennaGain(const AntennaParameters ant_params, const double theta_rad, const double phi_rad = 0.0) const; }; diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index f5d93d70a..7c9e7cdbf 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -18,7 +18,7 @@ AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { AntennaRadiationPattern::~AntennaRadiationPattern() {} -double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) { +double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) const{ // Argument check double theta_rad_clipped = theta_rad; double phi_rad_clipped = phi_rad; diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index 48c722292..015c2869a 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -43,7 +43,7 @@ class AntennaRadiationPattern { * @param[in] phi_rad: Angle for phi direction [rad] * @return Antenna gain [dB] */ - double GetGain_dB(const double theta_rad, const double phi_rad); + double GetGain_dB(const double theta_rad, const double phi_rad) const; private: size_t length_theta_ = 360; //!< Length of grid for theta direction From 905b2d0a8705f4df4bcb577b643683a8f822f3f9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 13:43:08 +0100 Subject: [PATCH 171/199] Fix variable names in InitAntenna --- src/Component/CommGS/InitAntenna.cpp | 34 ++++++++++++++-------------- src/Component/CommGS/InitAntenna.hpp | 6 ++--- 2 files changed, 20 insertions(+), 20 deletions(-) diff --git a/src/Component/CommGS/InitAntenna.cpp b/src/Component/CommGS/InitAntenna.cpp index aa230c099..e0c4cfc9e 100644 --- a/src/Component/CommGS/InitAntenna.cpp +++ b/src/Component/CommGS/InitAntenna.cpp @@ -14,37 +14,37 @@ using libra::Vector; -Antenna InitAntenna(int ant_id, const std::string fname) { - IniAccess ant_conf(fname); +Antenna InitAntenna(const int antenna_id, const std::string file_name) { + IniAccess antenna_conf(file_name); - const std::string st_ant_id = std::to_string(static_cast(ant_id)); + const std::string st_ant_id = std::to_string(static_cast(antenna_id)); const char *cs = st_ant_id.data(); char Section[30] = "ANT"; strcat(Section, cs); Quaternion q_b2c; - ant_conf.ReadQuaternion(Section, "q_b2c", q_b2c); + antenna_conf.ReadQuaternion(Section, "q_b2c", q_b2c); - bool is_transmitter = ant_conf.ReadBoolean(Section, "is_transmitter"); - bool is_receiver = ant_conf.ReadBoolean(Section, "is_receiver"); - double frequency = ant_conf.ReadDouble(Section, "frequency"); + bool is_transmitter = antenna_conf.ReadBoolean(Section, "is_transmitter"); + bool is_receiver = antenna_conf.ReadBoolean(Section, "is_receiver"); + double frequency = antenna_conf.ReadDouble(Section, "frequency"); Vector<4> tx_params; Vector<4> rx_params; if (is_transmitter) { - tx_params[0] = ant_conf.ReadDouble(Section, "tx_output"); - tx_params[1] = ant_conf.ReadDouble(Section, "tx_gain"); - tx_params[2] = ant_conf.ReadDouble(Section, "tx_loss_feeder"); - tx_params[3] = ant_conf.ReadDouble(Section, "tx_loss_pointing"); + tx_params[0] = antenna_conf.ReadDouble(Section, "tx_output"); + tx_params[1] = antenna_conf.ReadDouble(Section, "tx_gain"); + tx_params[2] = antenna_conf.ReadDouble(Section, "tx_loss_feeder"); + tx_params[3] = antenna_conf.ReadDouble(Section, "tx_loss_pointing"); } if (is_receiver) { - rx_params[0] = ant_conf.ReadDouble(Section, "rx_gain"); - rx_params[1] = ant_conf.ReadDouble(Section, "rx_loss_feeder"); - rx_params[2] = ant_conf.ReadDouble(Section, "rx_loss_pointing"); - rx_params[3] = ant_conf.ReadDouble(Section, "rx_system_noise_temperature"); + rx_params[0] = antenna_conf.ReadDouble(Section, "rx_gain"); + rx_params[1] = antenna_conf.ReadDouble(Section, "rx_loss_feeder"); + rx_params[2] = antenna_conf.ReadDouble(Section, "rx_loss_pointing"); + rx_params[3] = antenna_conf.ReadDouble(Section, "rx_system_noise_temperature"); } - Antenna ant(ant_id, q_b2c, is_transmitter, is_receiver, frequency, tx_params, rx_params); - return ant; + Antenna antenna(antenna_id, q_b2c, is_transmitter, is_receiver, frequency, tx_params, rx_params); + return antenna; } diff --git a/src/Component/CommGS/InitAntenna.hpp b/src/Component/CommGS/InitAntenna.hpp index 67a6535a8..f08e79709 100644 --- a/src/Component/CommGS/InitAntenna.hpp +++ b/src/Component/CommGS/InitAntenna.hpp @@ -9,7 +9,7 @@ /* * @fn InitAntenna * @brief Initialize function for Antenna - * @param [in] ant_id: Antenna ID - * @param [in] fname: Path to initialize file + * @param [in] antenna_id: Antenna ID + * @param [in] file_name: Path to initialize file */ -Antenna InitAntenna(int ant_id, const std::string fname); +Antenna InitAntenna(const int antenna_id, const std::string file_name); From 5022d6ed6f56a25a16b68b038198b6cfcd8e0fff Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 20:27:46 +0100 Subject: [PATCH 172/199] Add sample instance for Antenna --- data/SampleSat/ini/SampleSat.ini | 1 + data/SampleSat/ini/component/ANT.ini | 100 +++++++++++------- data/SampleSat/ini/component/ANT_GS.ini | 50 +++++---- data/SampleSat/ini/component/ANT_SC.ini | 49 +++++---- src/Component/CommGS/Antenna.cpp | 10 ++ src/Component/CommGS/Antenna.hpp | 11 +- .../CommGS/AntennaRadiationPattern.cpp | 2 +- .../CommGS/AntennaRadiationPattern.hpp | 13 ++- src/Component/CommGS/InitAntenna.cpp | 38 +++++-- .../SampleSpacecraft/SampleComponents.cpp | 5 + .../SampleSpacecraft/SampleComponents.h | 6 ++ 11 files changed, 192 insertions(+), 93 deletions(-) diff --git a/data/SampleSat/ini/SampleSat.ini b/data/SampleSat/ini/SampleSat.ini index c91a26e87..8169f1d9d 100644 --- a/data/SampleSat/ini/SampleSat.ini +++ b/data/SampleSat/ini/SampleSat.ini @@ -153,3 +153,4 @@ mag_torquer_file = ../../data/SampleSat/ini/component/magtorquer.ini rw_file = ../../data/SampleSat/ini/component/RW.ini thruster_file = ../../data/SampleSat/ini/component/Thruster.ini force_generator_file = ../../data/SampleSat/ini/component/ForceGenerator.ini +antenna_file = ../../data/SampleSat/ini/component/ANT.ini diff --git a/data/SampleSat/ini/component/ANT.ini b/data/SampleSat/ini/component/ANT.ini index bfd35a124..f3965b32b 100644 --- a/data/SampleSat/ini/component/ANT.ini +++ b/data/SampleSat/ini/component/ANT.ini @@ -1,94 +1,122 @@ [ANT1] -//衛星搭載アンテナの例 +// Example of antenna on spacecraft -//機体座標系(B)→コンポ座標系(C)変換Quaternion,(虚部，実部の順)，コンポ座標系は視線方向がX -//今はSTTと同じ方向の適当な値になってる +// Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 q_b2c(1) = 0 q_b2c(2) = 0 q_b2c(3) = 1 -//送信用かのフラグ +// Flag for transmitter or not is_transmitter = 1 -//受信用かのフラグ +// Flag for receiver or not is_receiver = 0 -//周波数[MHz] +// frequency [MHz] frequency = 8200.0 -// ↓送信用の場合に設定するパラメータ -//RF出力[W] +// Parameters for transmitter +// RF output power [W] tx_output = 1.0 -//送信ゲイン[dBi] +// Gain [dBi] tx_gain = 8.0 -//給電損失[dB] +// Feeder loss [dB] tx_loss_feeder = -1.5 -//ポインティング損失[dB] +// Pointing loss [dB] tx_loss_pointing = 0.0 -// ↑ -//↓受信用の場合に設定するパラメータ（つまり今の値は適当） -//受信ゲイン[dBi] +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +tx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv + + +// Parameters for receiver +// Gain [dBi] rx_gain = 43.27 -//給電損失[dB] +// Feeder loss [dB] rx_loss_feeder = -0.5 -//ポインティング損失[dB] +// Pointing loss [dB] rx_loss_pointing = -0.5 -//システム雑音温度[K] +// System noise temperature [K] rx_system_noise_temperature = 230 -// ↑ + +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +rx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv [ANT2] -//地上局アンテナの例 +// Example of antenna on spacecraft -//機体座標系(B)→コンポ座標系(C)変換Quaternion,(虚部，実部の順)，コンポ座標系は視線方向がX -//地上局アンテナではこの値を使うことはないので適当 +// Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 q_b2c(1) = 0 q_b2c(2) = 0 q_b2c(3) = 1 -//送信用かのフラグ +// Flag for transmitter or not is_transmitter = 0 -//受信用かのフラグ +// Flag for receiver or not is_receiver = 1 -//周波数[MHz] +// frequency [MHz] frequency = 8200.0 -// ↓送信用の場合に設定するパラメータ（つまり今の値は適当） -//RF出力[W] +// Parameters for transmitter +// RF output power [W] tx_output = 1.0 -//送信ゲイン[dBi] +// Gain [dBi] tx_gain = 12.0 -//給電損失[dB] +// Feeder loss [dB] tx_loss_feeder = -1.5 -//ポインティング損失[dB] +// Pointing loss [dB] tx_loss_pointing = 0.0 -// ↑ -//↓受信用の場合に設定するパラメータ -//受信ゲイン[dBi] +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +tx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv + + +// Parameters for receiver +// Gain [dBi] rx_gain = 43.27 -//給電損失[dB] +// Feeder loss [dB] rx_loss_feeder = -0.5 -//ポインティング損失[dB] +// Pointing loss [dB] rx_loss_pointing = -0.5 -//システム雑音温度[K] +// System noise temperature [K] rx_system_noise_temperature = 230 -// ↑ + +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +rx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv diff --git a/data/SampleSat/ini/component/ANT_GS.ini b/data/SampleSat/ini/component/ANT_GS.ini index ade1d9ce5..a06738e90 100644 --- a/data/SampleSat/ini/component/ANT_GS.ini +++ b/data/SampleSat/ini/component/ANT_GS.ini @@ -1,46 +1,60 @@ [ANT1] -//地上局アンテナの例 +// Example of antenna on spacecraft -//機体座標系(B)→コンポ座標系(C)変換Quaternion,(虚部，実部の順)，コンポ座標系は視線方向がX -//地上局アンテナではこの値を使うことはないので適当 +// Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 q_b2c(1) = 0 q_b2c(2) = 0 q_b2c(3) = 1 -//送信用かのフラグ +// Flag for transmitter or not is_transmitter = 0 -//受信用かのフラグ +// Flag for receiver or not is_receiver = 1 -//周波数[MHz] +// frequency [MHz] frequency = 8200.0 -// ↓送信用の場合に設定するパラメータ（つまり今の値は適当） -//RF出力[W] +// Parameters for transmitter +// RF output power [W] tx_output = 1.0 -//送信ゲイン[dBi] +// Gain [dBi] tx_gain = 12.0 -//給電損失[dB] +// Feeder loss [dB] tx_loss_feeder = -1.5 -//ポインティング損失[dB] +// Pointing loss [dB] tx_loss_pointing = 0.0 -// ↑ -//↓受信用の場合に設定するパラメータ -//受信ゲイン[dBi] +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +tx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv + + +// Parameters for receiver +// Gain [dBi] rx_gain = 43.27 -//給電損失[dB] +// Feeder loss [dB] rx_loss_feeder = -0.5 -//ポインティング損失[dB] +// Pointing loss [dB] rx_loss_pointing = -0.5 -//システム雑音温度[K] +// System noise temperature [K] rx_system_noise_temperature = 230 -// ↑ + +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +rx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv diff --git a/data/SampleSat/ini/component/ANT_SC.ini b/data/SampleSat/ini/component/ANT_SC.ini index ec5b71052..6cf77eda8 100644 --- a/data/SampleSat/ini/component/ANT_SC.ini +++ b/data/SampleSat/ini/component/ANT_SC.ini @@ -1,47 +1,60 @@ [ANT1] -//衛星搭載アンテナの例 +// Example of antenna on spacecraft -//機体座標系(B)→コンポ座標系(C)変換Quaternion,(虚部，実部の順)，コンポ座標系は視線方向がX -//今はSTTと同じ方向の適当な値になってる +// Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 q_b2c(1) = 0 q_b2c(2) = 0 q_b2c(3) = 1 -//送信用かのフラグ +// Flag for transmitter or not is_transmitter = 1 -//受信用かのフラグ +// Flag for receiver or not is_receiver = 0 -//周波数[MHz] +// frequency [MHz] frequency = 8200.0 -// ↓送信用の場合に設定するパラメータ -//RF出力[W] +// Parameters for transmitter +// RF output power [W] tx_output = 1.0 -//送信ゲイン[dBi] +// Gain [dBi] tx_gain = 8.0 -//給電損失[dB] +// Feeder loss [dB] tx_loss_feeder = -1.5 -//ポインティング損失[dB] +// Pointing loss [dB] tx_loss_pointing = 0.0 -// ↑ -//↓受信用の場合に設定するパラメータ（つまり今の値は適当） -//受信ゲイン[dBi] +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +tx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv + + +// Parameters for receiver +// Gain [dBi] rx_gain = 43.27 -//給電損失[dB] +// Feeder loss [dB] rx_loss_feeder = -0.5 -//ポインティング損失[dB] +// Pointing loss [dB] rx_loss_pointing = -0.5 -//システム雑音温度[K] +// System noise temperature [K] rx_system_noise_temperature = 230 -// ↑ +// Antenna gain model +// ISOTROPIC: Ideal isotropic antenna +// RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files +rx_antenna_gain_model = RADIATION_PATTERN_CSV + +// Antenna radiation pattern CSV file path +rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index be30aeff5..305963469 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -89,3 +89,13 @@ double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { return rx_gt_dBK_ - rx_params_.gain_dBi_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); } + +AntennaGainModel SetAntennaGainModel(const std::string gain_model_name) { + if (gain_model_name == "ISOTROPIC") { + return AntennaGainModel::ISOTROPIC; + } else if (gain_model_name == "RADIATION_PATTERN_CSV") { + return AntennaGainModel::RADIATION_PATTERN_CSV; + } else { + return AntennaGainModel::ISOTROPIC; + } +} diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index 7c0dbb63f..94b7b5a06 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -68,7 +68,8 @@ class Antenna { * @param [in] rx_params: RX antenna parameters */ Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_transmitter, const bool is_receiver, const double frequency, - const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, const AntennaParameters rx_params); + const double tx_output_power_W, const AntennaParameters tx_params, const double rx_system_noise_temperature_K, + const AntennaParameters rx_params); /** * @fn ~Antenna * @brief Destructor @@ -120,12 +121,12 @@ class Antenna { // Tx info double tx_output_power_W_; //!< Transmit output power [W] AntennaParameters tx_params_; //!< Tx parameters - double tx_eirp_dBW_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] + double tx_eirp_dBW_; //!< Transmit EIRP(Equivalent Isotropic Radiated Power) [dBW] // Rx info double rx_system_noise_temperature_K_; //!< Receive system noise temperature [K] AntennaParameters rx_params_; //!< Rx parameters - double rx_gt_dBK_; //!< Receive G/T [dB/K] + double rx_gt_dBK_; //!< Receive G/T [dB/K] /** * @fn CalcAntennaGain @@ -135,5 +136,7 @@ class Antenna { * @param [in] phi: from PX axis on the antenna frame [rad] (Set zero for axial symmetry pattern) * @return Antenna gain [dB] */ - double CalcAntennaGain(const AntennaParameters ant_params, const double theta_rad, const double phi_rad = 0.0) const; + double CalcAntennaGain(const AntennaParameters ant_params, const double theta_rad, const double phi_rad = 0.0) const; }; + +AntennaGainModel SetAntennaGainModel(const std::string gain_model_name); diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 7c9e7cdbf..66b4f6dbf 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -18,7 +18,7 @@ AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { AntennaRadiationPattern::~AntennaRadiationPattern() {} -double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) const{ +double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) const { // Argument check double theta_rad_clipped = theta_rad; double phi_rad_clipped = phi_rad; diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index 015c2869a..ddcf0aacc 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -5,8 +5,8 @@ #pragma once #include -#include #include +#include /* * @class AntennaRadiationPattern @@ -30,6 +30,9 @@ class AntennaRadiationPattern { */ AntennaRadiationPattern(const std::string file_path); + // AntennaRadiationPattern(const AntennaRadiationPattern & antenna_radiation_pattern); + // AntennaRadiationPattern operator=(const AntennaRadiationPattern &antenna_radiation_pattern); + /** * @fn ~AntennaRadiationPattern * @brief Destructor @@ -46,10 +49,10 @@ class AntennaRadiationPattern { double GetGain_dB(const double theta_rad, const double phi_rad) const; private: - size_t length_theta_ = 360; //!< Length of grid for theta direction - size_t length_phi_ = 181; //!< Length of grid for phi direction - const double theta_max_rad_ = libra::tau; //!< Maximum value of theta - const double phi_max_rad_ = libra::pi; //!< Maximum value of phi + size_t length_theta_ = 360; //!< Length of grid for theta direction + size_t length_phi_ = 181; //!< Length of grid for phi direction + double theta_max_rad_ = libra::tau; //!< Maximum value of theta + double phi_max_rad_ = libra::pi; //!< Maximum value of phi std::vector> gain_dB_; //!< Antenna gain table }; diff --git a/src/Component/CommGS/InitAntenna.cpp b/src/Component/CommGS/InitAntenna.cpp index e0c4cfc9e..b94552c4a 100644 --- a/src/Component/CommGS/InitAntenna.cpp +++ b/src/Component/CommGS/InitAntenna.cpp @@ -30,21 +30,37 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { bool is_receiver = antenna_conf.ReadBoolean(Section, "is_receiver"); double frequency = antenna_conf.ReadDouble(Section, "frequency"); - Vector<4> tx_params; - Vector<4> rx_params; + double tx_output_power_W = antenna_conf.ReadDouble(Section, "tx_output"); + double rx_system_noise_temperature_K = antenna_conf.ReadDouble(Section, "rx_system_noise_temperature"); + + AntennaParameters tx_params; if (is_transmitter) { - tx_params[0] = antenna_conf.ReadDouble(Section, "tx_output"); - tx_params[1] = antenna_conf.ReadDouble(Section, "tx_gain"); - tx_params[2] = antenna_conf.ReadDouble(Section, "tx_loss_feeder"); - tx_params[3] = antenna_conf.ReadDouble(Section, "tx_loss_pointing"); + tx_params.gain_dBi_ = antenna_conf.ReadDouble(Section, "tx_gain"); + tx_params.loss_feeder_dB_ = antenna_conf.ReadDouble(Section, "tx_loss_feeder"); + tx_params.loss_pointing_dB_ = antenna_conf.ReadDouble(Section, "tx_loss_pointing"); + tx_params.antenna_gain_model = SetAntennaGainModel(antenna_conf.ReadString(Section, "tx_antenna_gain_model")); + tx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "tx_antenna_radiation_pattern_file")); + } else { + tx_params.gain_dBi_ = 0.0; + tx_params.loss_feeder_dB_ = 0.0; + tx_params.loss_pointing_dB_ = 0.0; + tx_params.antenna_gain_model = AntennaGainModel::ISOTROPIC; } + + AntennaParameters rx_params; if (is_receiver) { - rx_params[0] = antenna_conf.ReadDouble(Section, "rx_gain"); - rx_params[1] = antenna_conf.ReadDouble(Section, "rx_loss_feeder"); - rx_params[2] = antenna_conf.ReadDouble(Section, "rx_loss_pointing"); - rx_params[3] = antenna_conf.ReadDouble(Section, "rx_system_noise_temperature"); + rx_params.gain_dBi_ = antenna_conf.ReadDouble(Section, "rx_gain"); + rx_params.loss_feeder_dB_ = antenna_conf.ReadDouble(Section, "rx_loss_feeder"); + rx_params.loss_pointing_dB_ = antenna_conf.ReadDouble(Section, "rx_loss_pointing"); + rx_params.antenna_gain_model = SetAntennaGainModel(antenna_conf.ReadString(Section, "rx_antenna_gain_model")); + rx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "rx_antenna_radiation_pattern_file")); + } else { + rx_params.gain_dBi_ = 0.0; + rx_params.loss_feeder_dB_ = 0.0; + rx_params.loss_pointing_dB_ = 0.0; + rx_params.antenna_gain_model = AntennaGainModel::ISOTROPIC; } - Antenna antenna(antenna_id, q_b2c, is_transmitter, is_receiver, frequency, tx_params, rx_params); + Antenna antenna(antenna_id, q_b2c, is_transmitter, is_receiver, frequency, tx_output_power_W, tx_params, rx_system_noise_temperature_K, rx_params); return antenna; } diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp index 7fb4295c3..b2489f797 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp @@ -73,6 +73,10 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, const Structure* st config_->main_logger_->CopyFileToLogDir(ini_path); force_generator_ = new ForceGenerator(InitializeForceGenerator(clock_gen, ini_path, dynamics_)); + ini_path = iniAccess.ReadString("COMPONENTS_FILE", "antenna_file"); + config_->main_logger_->CopyFileToLogDir(ini_path); + antenna_ = new Antenna(InitAntenna(1, ini_path)); + // PCU power port initial control pcu_->GetPowerPort(0)->SetVoltage(3.3); pcu_->GetPowerPort(1)->SetVoltage(3.3); @@ -114,6 +118,7 @@ SampleComponents::~SampleComponents() { delete rw_; delete thruster_; delete force_generator_; + delete antenna_; delete pcu_; // delete exp_hils_uart_responder_; // delete exp_hils_uart_sender_; diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h index e195950b6..bf7804bcc 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h @@ -24,6 +24,9 @@ #include #include +#include + + #include "../InstalledComponents.hpp" class OBC; @@ -89,6 +92,9 @@ class SampleComponents : public InstalledComponents { SimpleThruster* thruster_; //!< Thruster ForceGenerator* force_generator_; //!< Ideal Force Generator + // CommGs + Antenna* antenna_; + // HILS settings examples /* ExpHils* exp_hils_uart_responder_; //!< Example of HILS UART responder From 013477f19051b12d7a783aeb7e3b8e30ab4e791a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 21:17:06 +0100 Subject: [PATCH 173/199] Add sample CSV file --- .../SampleAntennaRadiationPattern.csv | 360 ++++++++++++++++++ 1 file changed, 360 insertions(+) create mode 100644 data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv diff --git a/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv b/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv new file mode 100644 index 000000000..a049bef33 --- /dev/null +++ b/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv @@ -0,0 +1,360 @@ 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\ No newline at end of file From 6d5a8cbf8412143fc52037ef7824634fc265b5e6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 21:25:47 +0100 Subject: [PATCH 174/199] Fix format --- src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h index bf7804bcc..b443d8339 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h @@ -20,13 +20,11 @@ #include #include #include +#include #include #include #include -#include - - #include "../InstalledComponents.hpp" class OBC; From 922390c04fd15b5da966d49e0bf964f03890222f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 21:43:50 +0100 Subject: [PATCH 175/199] Fix for windows --- src/Component/CommGS/AntennaRadiationPattern.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 66b4f6dbf..1851027ef 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -8,6 +8,7 @@ #include #include +#include AntennaRadiationPattern::AntennaRadiationPattern() { gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); } From 867b8eefec6d7638e01dd2dccda9e46d5dddea64 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 28 Dec 2022 22:19:28 +0100 Subject: [PATCH 176/199] Fix namespace collision of std::max function for Windows --- src/Component/CommGS/AntennaRadiationPattern.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 1851027ef..b02925225 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -14,7 +14,7 @@ AntennaRadiationPattern::AntennaRadiationPattern() { gain_dB_.assign(length_thet AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { IniAccess gain_file(file_path); - gain_file.ReadCsvDouble(gain_dB_, std::max(length_theta_, length_phi_)); + gain_file.ReadCsvDouble(gain_dB_, (std::max)(length_theta_, length_phi_)); } AntennaRadiationPattern::~AntennaRadiationPattern() {} From dc1868114579897b27aa9e7e6ed01437deaf08df Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 21:24:28 +0100 Subject: [PATCH 177/199] Move PROPAGATE_MODE enum --- src/Dynamics/Orbit/Orbit.h | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 109297f14..e45e80f87 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -21,6 +21,18 @@ using libra::Vector; #include #include +/** + * @enum PROPAGATE_MODE + * @brief Propagation mode of orbit + */ +enum class PROPAGATE_MODE { + RK4 = 0, //!< 4th order Runge-Kutta propagation with disturbances and thruster maneuver + SGP4, //!< SGP4 propagation using TLE without thruster maneuver + RELATIVE_ORBIT, //!< Relative dynamics (for formation flying simulation) + KEPLER, //!< Kepler orbit propagation without disturbances and thruster maneuver + ENCKE //!< Encke orbit propagation with disturbances and thruster maneuver +}; + /** * @class Orbit * @brief Base class of orbit propagation @@ -39,12 +51,6 @@ class Orbit : public ILoggable { */ virtual ~Orbit() {} - /** - * @enum PROPAGATE_MODE - * @brief Propagation mode of orbit - */ - enum class PROPAGATE_MODE { RK4 = 0, SGP4, RELATIVE_ORBIT, KEPLER, ENCKE }; - /** * @fn Propagate * @brief Pure virtual function for orbit propagation From ed396176a2a123fc4b64e9c8bae6817db3b93969 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 21:29:57 +0100 Subject: [PATCH 178/199] Fix enum name --- src/Dynamics/Orbit/Orbit.h | 6 +++--- src/Dynamics/Orbit/RelativeOrbit.cpp | 2 +- src/Dynamics/Orbit/Rk4OrbitPropagation.cpp | 2 +- src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index e45e80f87..013d7ca66 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -25,7 +25,7 @@ using libra::Vector; * @enum PROPAGATE_MODE * @brief Propagation mode of orbit */ -enum class PROPAGATE_MODE { +enum class ORBIT_PROPAGATE_MODE { RK4 = 0, //!< 4th order Runge-Kutta propagation with disturbances and thruster maneuver SGP4, //!< SGP4 propagation using TLE without thruster maneuver RELATIVE_ORBIT, //!< Relative dynamics (for formation flying simulation) @@ -84,7 +84,7 @@ class Orbit : public ILoggable { * @fn GetPropagateMode * @brief Return propagate mode */ - inline PROPAGATE_MODE GetPropagateMode() const { return propagate_mode_; } + inline ORBIT_PROPAGATE_MODE GetPropagateMode() const { return propagate_mode_; } /** * @fn GetSatPosition_i * @brief Return spacecraft position in the inertial frame [m] @@ -189,7 +189,7 @@ class Orbit : public ILoggable { // Settings bool is_calc_enabled_ = false; //!< Calculate flag - PROPAGATE_MODE propagate_mode_; //!< Propagation mode + ORBIT_PROPAGATE_MODE propagate_mode_; //!< Propagation mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] diff --git a/src/Dynamics/Orbit/RelativeOrbit.cpp b/src/Dynamics/Orbit/RelativeOrbit.cpp index ee03bf107..e3a7742fc 100644 --- a/src/Dynamics/Orbit/RelativeOrbit.cpp +++ b/src/Dynamics/Orbit/RelativeOrbit.cpp @@ -20,7 +20,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celes_info, double mu, relative_dynamics_model_type_(relative_dynamics_model_type), stm_model_type_(stm_model_type), rel_info_(rel_info) { - propagate_mode_ = PROPAGATE_MODE::RELATIVE_ORBIT; + propagate_mode_ = ORBIT_PROPAGATE_MODE::RELATIVE_ORBIT; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp index c26ac5517..a0ab2fe21 100644 --- a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp @@ -13,7 +13,7 @@ using std::string; Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celes_info, double mu, double timestep, Vector<3> init_position, Vector<3> init_velocity, double init_time) : Orbit(celes_info), ODE(timestep), mu(mu) { - propagate_mode_ = PROPAGATE_MODE::RK4; + propagate_mode_ = ORBIT_PROPAGATE_MODE::RK4; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp index 70a007b2c..137b30cc4 100644 --- a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp @@ -12,7 +12,7 @@ using namespace std; Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celes_info, char* tle1, char* tle2, int wgs, double current_jd) : Orbit(celes_info) { - propagate_mode_ = PROPAGATE_MODE::SGP4; + propagate_mode_ = ORBIT_PROPAGATE_MODE::SGP4; if (wgs == 0) { whichconst_ = wgs72old; From f325c559cad0a062ddee1be17e83d28222acd4ed Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 21:30:19 +0100 Subject: [PATCH 179/199] Fix comment --- src/Dynamics/Orbit/Orbit.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 013d7ca66..90d1b7791 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -22,7 +22,7 @@ using libra::Vector; #include /** - * @enum PROPAGATE_MODE + * @enum ORBIT_PROPAGATE_MODE * @brief Propagation mode of orbit */ enum class ORBIT_PROPAGATE_MODE { From 77f30207e429766232bfdcb405eaccd1f78a59d0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 21:40:57 +0100 Subject: [PATCH 180/199] Fix naming rule for OrbitPropagateMode --- src/Dynamics/Orbit/Orbit.h | 8 ++++---- src/Dynamics/Orbit/RelativeOrbit.cpp | 2 +- src/Dynamics/Orbit/Rk4OrbitPropagation.cpp | 2 +- src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp | 2 +- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 90d1b7791..56c7c23e8 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -22,10 +22,10 @@ using libra::Vector; #include /** - * @enum ORBIT_PROPAGATE_MODE + * @enum OrbitPropagateMode * @brief Propagation mode of orbit */ -enum class ORBIT_PROPAGATE_MODE { +enum class OrbitPropagateMode { RK4 = 0, //!< 4th order Runge-Kutta propagation with disturbances and thruster maneuver SGP4, //!< SGP4 propagation using TLE without thruster maneuver RELATIVE_ORBIT, //!< Relative dynamics (for formation flying simulation) @@ -84,7 +84,7 @@ class Orbit : public ILoggable { * @fn GetPropagateMode * @brief Return propagate mode */ - inline ORBIT_PROPAGATE_MODE GetPropagateMode() const { return propagate_mode_; } + inline OrbitPropagateMode GetPropagateMode() const { return propagate_mode_; } /** * @fn GetSatPosition_i * @brief Return spacecraft position in the inertial frame [m] @@ -189,7 +189,7 @@ class Orbit : public ILoggable { // Settings bool is_calc_enabled_ = false; //!< Calculate flag - ORBIT_PROPAGATE_MODE propagate_mode_; //!< Propagation mode + OrbitPropagateMode propagate_mode_; //!< Propagation mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] diff --git a/src/Dynamics/Orbit/RelativeOrbit.cpp b/src/Dynamics/Orbit/RelativeOrbit.cpp index e3a7742fc..925f65770 100644 --- a/src/Dynamics/Orbit/RelativeOrbit.cpp +++ b/src/Dynamics/Orbit/RelativeOrbit.cpp @@ -20,7 +20,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celes_info, double mu, relative_dynamics_model_type_(relative_dynamics_model_type), stm_model_type_(stm_model_type), rel_info_(rel_info) { - propagate_mode_ = ORBIT_PROPAGATE_MODE::RELATIVE_ORBIT; + propagate_mode_ = OrbitPropagateMode::RELATIVE_ORBIT; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp index a0ab2fe21..3e505abf8 100644 --- a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp @@ -13,7 +13,7 @@ using std::string; Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celes_info, double mu, double timestep, Vector<3> init_position, Vector<3> init_velocity, double init_time) : Orbit(celes_info), ODE(timestep), mu(mu) { - propagate_mode_ = ORBIT_PROPAGATE_MODE::RK4; + propagate_mode_ = OrbitPropagateMode::RK4; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp index 137b30cc4..2da5cda29 100644 --- a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp @@ -12,7 +12,7 @@ using namespace std; Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celes_info, char* tle1, char* tle2, int wgs, double current_jd) : Orbit(celes_info) { - propagate_mode_ = ORBIT_PROPAGATE_MODE::SGP4; + propagate_mode_ = OrbitPropagateMode::SGP4; if (wgs == 0) { whichconst_ = wgs72old; From f2ad1911d514268ea83da09e12f86b8f5ed2bd03 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 21:44:44 +0100 Subject: [PATCH 181/199] Fix name of enum to suit with the latest google rule --- src/Dynamics/Orbit/Orbit.h | 12 ++++++------ src/Dynamics/Orbit/RelativeOrbit.cpp | 2 +- src/Dynamics/Orbit/Rk4OrbitPropagation.cpp | 2 +- src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 56c7c23e8..2c488de13 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -26,11 +26,11 @@ using libra::Vector; * @brief Propagation mode of orbit */ enum class OrbitPropagateMode { - RK4 = 0, //!< 4th order Runge-Kutta propagation with disturbances and thruster maneuver - SGP4, //!< SGP4 propagation using TLE without thruster maneuver - RELATIVE_ORBIT, //!< Relative dynamics (for formation flying simulation) - KEPLER, //!< Kepler orbit propagation without disturbances and thruster maneuver - ENCKE //!< Encke orbit propagation with disturbances and thruster maneuver + kRk4 = 0, //!< 4th order Runge-Kutta propagation with disturbances and thruster maneuver + kSgp4, //!< SGP4 propagation using TLE without thruster maneuver + kRelativeOrbit, //!< Relative dynamics (for formation flying simulation) + kKepler, //!< Kepler orbit propagation without disturbances and thruster maneuver + kEncke //!< Encke orbit propagation with disturbances and thruster maneuver }; /** @@ -188,7 +188,7 @@ class Orbit : public ILoggable { const CelestialInformation* celes_info_; //!< Celestial information // Settings - bool is_calc_enabled_ = false; //!< Calculate flag + bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] diff --git a/src/Dynamics/Orbit/RelativeOrbit.cpp b/src/Dynamics/Orbit/RelativeOrbit.cpp index 925f65770..4c59eec1b 100644 --- a/src/Dynamics/Orbit/RelativeOrbit.cpp +++ b/src/Dynamics/Orbit/RelativeOrbit.cpp @@ -20,7 +20,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celes_info, double mu, relative_dynamics_model_type_(relative_dynamics_model_type), stm_model_type_(stm_model_type), rel_info_(rel_info) { - propagate_mode_ = OrbitPropagateMode::RELATIVE_ORBIT; + propagate_mode_ = OrbitPropagateMode::kRelativeOrbit; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp index 3e505abf8..d3d8e3d77 100644 --- a/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Rk4OrbitPropagation.cpp @@ -13,7 +13,7 @@ using std::string; Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celes_info, double mu, double timestep, Vector<3> init_position, Vector<3> init_velocity, double init_time) : Orbit(celes_info), ODE(timestep), mu(mu) { - propagate_mode_ = OrbitPropagateMode::RK4; + propagate_mode_ = OrbitPropagateMode::kRk4; prop_time_ = 0.0; prop_step_ = timestep; diff --git a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp index 2da5cda29..614142d0d 100644 --- a/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp +++ b/src/Dynamics/Orbit/Sgp4OrbitPropagation.cpp @@ -12,7 +12,7 @@ using namespace std; Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celes_info, char* tle1, char* tle2, int wgs, double current_jd) : Orbit(celes_info) { - propagate_mode_ = OrbitPropagateMode::SGP4; + propagate_mode_ = OrbitPropagateMode::kSgp4; if (wgs == 0) { whichconst_ = wgs72old; From a2b35e228233fd1862f2a02dd8b9ecfb5d184ee5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 23:15:02 +0100 Subject: [PATCH 182/199] Modify InitOrbit --- data/SampleSat/ini/SampleSat.ini | 18 ++++-- src/Dynamics/Orbit/InitOrbit.cpp | 106 ++++++++++++++++++++++++------- src/Dynamics/Orbit/InitOrbit.hpp | 12 ++++ src/Dynamics/Orbit/Orbit.cpp | 12 ++++ src/Dynamics/Orbit/Orbit.h | 17 ++++- 5 files changed, 133 insertions(+), 32 deletions(-) diff --git a/data/SampleSat/ini/SampleSat.ini b/data/SampleSat/ini/SampleSat.ini index c91a26e87..f1183e346 100644 --- a/data/SampleSat/ini/SampleSat.ini +++ b/data/SampleSat/ini/SampleSat.ini @@ -55,6 +55,12 @@ logging = ENABLE // ENCKE : Encke orbit propagation with disturbances and thruster maneuver propagate_mode = SGP4 +// Orbit initialize mode for RK4, KEPLER, and ENCKE +// DEFAULT : Use default initialize method (RK4 and ENCKE use pos/vel, KEPLER uses init_mode_kepler) +// POSITION_VELOCITY_I : Initialize with position and velocity in the inertial frame +// ORBITAL_ELEMENTS : Initialize with orbital elements +initialize_mode = ORBITAL_ELEMENTS + // Settings for SGP4 /////////////////////////////////////////////// // TLE // Example: ISS @@ -66,15 +72,13 @@ wgs = 2 // 0: wgs72old, 1: wgs72, 2: wgs84 // Initial value definition for RK4 ////////////////////////////////////// // * The coordinate system is defined in PlanetSelect.ini -// * For KEPLER or ENCKE method, orbit with i = 0 cannot be handled now. -// Users need to set with small inclination. (This issue will be solved.) // Initial satellite position[m] // Example: ISS init_position(0) = -2111769.7723711144 init_position(1) = -5360353.2254375768 init_position(2) = 3596181.6497774957 -//initial satellite velocity[m/s] +// Initial satellite velocity[m/s] // Example: ISS init_velocity(0) = 4200.4344740455268 init_velocity(1) = -4637.540129059361 @@ -92,7 +96,7 @@ relative_dynamics_model_type = 0 // 0: HCW stm_model_type = 0 // Initial satellite position relative to the reference satellite in LVLH frame[m] -// ＊The coordinate system is defined in PlanetSelect.ini +// * The coordinate system is defined in PlanetSelect.ini init_relative_position_lvlh(0) = 0.0 init_relative_position_lvlh(1) = 100.0 init_relative_position_lvlh(2) = 0.0 @@ -106,10 +110,12 @@ reference_sat_id = 1 // Information used for orbital propagation by the Kepler Motion /////////// -// initialize mode for kepler motion +// initialize mode for kepler motion. +// WARNINGS: init_mode_kepler will be integrated with initialize_mode mentioned above +// The initialize_mode has higher priority than init_mode_kepler // INIT_POSVEL : initialize with position and velocity defined for RK4 // INIT_OE : initialize with the following orbital elements -init_mode_kepler = INIT_POSVEL +init_mode_kepler = INIT_OE // Orbital Elements for INIT_OE semi_major_axis_m = 6794500.0 eccentricity = 0.0015 diff --git a/src/Dynamics/Orbit/InitOrbit.cpp b/src/Dynamics/Orbit/InitOrbit.cpp index b2a811242..5fc30287d 100644 --- a/src/Dynamics/Orbit/InitOrbit.cpp +++ b/src/Dynamics/Orbit/InitOrbit.cpp @@ -18,25 +18,32 @@ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, d const char* section_ = section.c_str(); Orbit* orbit; - std::string propagate_mode = conf.ReadString(section_, "propagate_mode"); + // Initialize mode + OrbitInitializeMode initialize_mode = SetOrbitInitializeMode(conf.ReadString(section_, "initialize_mode")); - if (propagate_mode == "RK4") // initialize RK4 orbit propagator - { - Vector<3> init_pos; - conf.ReadVector<3>(section_, "init_position", init_pos); - Vector<3> init_veloc; - conf.ReadVector<3>(section_, "init_velocity", init_veloc); + // Propagate mode + std::string propagate_mode = conf.ReadString(section_, "propagate_mode"); - orbit = new Rk4OrbitPropagation(celes_info, gravity_constant, stepSec, init_pos, init_veloc); - } else if (propagate_mode == "SGP4") { // Initialize SGP4 orbit propagator + if (propagate_mode == "RK4") { + // initialize RK4 orbit propagator + Vector<3> position_i_m; + Vector<3> velocity_i_m_s; + Vector<6> pos_vel = InitializePosVel(ini_path, current_jd, gravity_constant); + for (size_t i = 0; i < 3; i++) { + position_i_m[i] = pos_vel[i]; + velocity_i_m_s[i] = pos_vel[i + 3]; + } + orbit = new Rk4OrbitPropagation(celes_info, gravity_constant, stepSec, position_i_m, velocity_i_m_s); + } else if (propagate_mode == "SGP4") { + // Initialize SGP4 orbit propagator int wgs = conf.ReadInt(section_, "wgs"); char tle1[80], tle2[80]; conf.ReadChar(section_, "tle1", 80, tle1); conf.ReadChar(section_, "tle2", 80, tle2); orbit = new Sgp4OrbitPropagation(celes_info, tle1, tle2, wgs, current_jd); - } else if (propagate_mode == "RELATIVE") // initialize orbit for relative dynamics of formation flying - { + } else if (propagate_mode == "RELATIVE") { + // initialize orbit for relative dynamics of formation flying RelativeOrbit::RelativeOrbitUpdateMethod update_method = (RelativeOrbit::RelativeOrbitUpdateMethod)(conf.ReadInt(section_, "relative_orbit_update_method")); RelativeOrbitModel relative_dynamics_model_type = (RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); @@ -54,17 +61,21 @@ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, d orbit = new RelativeOrbit(celes_info, gravity_constant, stepSec, reference_sat_id, init_relative_position_lvlh, init_relative_velocity_lvlh, update_method, relative_dynamics_model_type, stm_model_type, rel_info); } else if (propagate_mode == "KEPLER") { + // initialize orbit for Kepler propagation std::string init_mode_kepler = conf.ReadString(section_, "init_mode_kepler"); double mu_m3_s2 = gravity_constant; OrbitalElements oe; - if (init_mode_kepler == "INIT_POSVEL") { + // TODO: init_mode_kepler should be removed in the next major update + if ((init_mode_kepler == "INIT_POSVEL" && initialize_mode == OrbitInitializeMode::kDefault) || + initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity Vector<3> init_pos_m; conf.ReadVector<3>(section_, "init_position", init_pos_m); Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "init_velocity", init_vel_m_s); oe = OrbitalElements(mu_m3_s2, current_jd, init_pos_m, init_vel_m_s); - } else if (init_mode_kepler == "INIT_OE") { + } else if ((init_mode_kepler == "INIT_OE" && initialize_mode == OrbitInitializeMode::kDefault) || + initialize_mode == OrbitInitializeMode::kOrbitalElements) { // initialize with orbital elements double semi_major_axis_m = conf.ReadDouble(section_, "semi_major_axis_m"); double eccentricity = conf.ReadDouble(section_, "eccentricity"); @@ -79,25 +90,72 @@ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, d KeplerOrbit kepler_orbit(mu_m3_s2, oe); orbit = new KeplerOrbitPropagation(celes_info, current_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { - Vector<3> init_pos_m; - conf.ReadVector<3>(section_, "init_position", init_pos_m); - Vector<3> init_vel_m_s; - conf.ReadVector<3>(section_, "init_velocity", init_vel_m_s); + // initialize orbit for Encke's method + Vector<3> position_i_m; + Vector<3> velocity_i_m_s; + Vector<6> pos_vel = InitializePosVel(ini_path, current_jd, gravity_constant); + for (size_t i = 0; i < 3; i++) { + position_i_m[i] = pos_vel[i]; + velocity_i_m_s[i] = pos_vel[i + 3]; + } + double error_tolerance = conf.ReadDouble(section_, "error_tolerance"); - orbit = new EnckeOrbitPropagation(celes_info, gravity_constant, stepSec, current_jd, init_pos_m, init_vel_m_s, error_tolerance); + orbit = new EnckeOrbitPropagation(celes_info, gravity_constant, stepSec, current_jd, position_i_m, velocity_i_m_s, error_tolerance); } else { std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as RK4" << std::endl; - Vector<3> init_pos; - conf.ReadVector<3>(section_, "init_position", init_pos); - Vector<3> init_veloc; - conf.ReadVector<3>(section_, "init_velocity", init_veloc); - - orbit = new Rk4OrbitPropagation(celes_info, gravity_constant, stepSec, init_pos, init_veloc); + Vector<3> position_i_m; + Vector<3> velocity_i_m_s; + Vector<6> pos_vel = InitializePosVel(ini_path, current_jd, gravity_constant); + for (size_t i = 0; i < 3; i++) { + position_i_m[i] = pos_vel[i]; + velocity_i_m_s[i] = pos_vel[i + 3]; + } + orbit = new Rk4OrbitPropagation(celes_info, gravity_constant, stepSec, position_i_m, velocity_i_m_s); } orbit->SetIsCalcEnabled(conf.ReadEnable(section_, "calculation")); orbit->IsLogEnabled = conf.ReadEnable(section_, "logging"); return orbit; } + +Vector<6> InitializePosVel(std::string ini_path, double current_jd, double mu_m3_s2, std::string section) { + auto conf = IniAccess(ini_path); + const char* section_ = section.c_str(); + Vector<3> position_i_m; + Vector<3> velocity_i_m_s; + Vector<6> pos_vel; + + OrbitInitializeMode initialize_mode = SetOrbitInitializeMode(conf.ReadString(section_, "initialize_mode")); + if (initialize_mode == OrbitInitializeMode::kOrbitalElements) { + double semi_major_axis_m = conf.ReadDouble(section_, "semi_major_axis_m"); + double eccentricity = conf.ReadDouble(section_, "eccentricity"); + double inclination_rad = conf.ReadDouble(section_, "inclination_rad"); + double raan_rad = conf.ReadDouble(section_, "raan_rad"); + double arg_perigee_rad = conf.ReadDouble(section_, "arg_perigee_rad"); + double epoch_jday = conf.ReadDouble(section_, "epoch_jday"); + OrbitalElements oe(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); + KeplerOrbit kepler_orbit(mu_m3_s2, oe); + + kepler_orbit.CalcPosVel(current_jd); + position_i_m = kepler_orbit.GetPosition_i_m(); + velocity_i_m_s = kepler_orbit.GetVelocity_i_m_s(); + } else if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { + conf.ReadVector<3>(section_, "init_position", position_i_m); + conf.ReadVector<3>(section_, "init_velocity", velocity_i_m_s); + } else { + std::cerr << "WARNINGS: orbit initialize mode is not defined!" << std::endl; + std::cerr << "The orbit is automatically initialized as default mode" << std::endl; + + conf.ReadVector<3>(section_, "init_position", position_i_m); + conf.ReadVector<3>(section_, "init_velocity", velocity_i_m_s); + } + + for (size_t i = 0; i < 3; i++) { + pos_vel[i] = position_i_m[i]; + pos_vel[i + 3] = velocity_i_m_s[i]; + } + + return pos_vel; +} diff --git a/src/Dynamics/Orbit/InitOrbit.hpp b/src/Dynamics/Orbit/InitOrbit.hpp index 769378db1..70f3fc05c 100644 --- a/src/Dynamics/Orbit/InitOrbit.hpp +++ b/src/Dynamics/Orbit/InitOrbit.hpp @@ -4,6 +4,8 @@ */ #pragma once +#include + #include "Orbit.h" class RelativeInformation; @@ -21,3 +23,13 @@ class RelativeInformation; */ Orbit* InitOrbit(const CelestialInformation* celes_info, std::string ini_path, double stepSec, double current_jd, double gravity_constant, std::string section = "ORBIT", RelativeInformation* rel_info = (RelativeInformation*)nullptr); + +/** + * @fn InitializePosVel + * @brief Initialize position and velocity depends on initialize mode + * @param [in] ini_path: Path to initialize file + * @param [in] current_jd: Current Julian day [day] + * @param [in] mu_m3_s2: Gravity constant [m3/s2] + * @param [in] section: Section name + */ +Vector<6> InitializePosVel(std::string ini_path, double current_jd, double mu_m3_s2, std::string section = "ORBIT"); diff --git a/src/Dynamics/Orbit/Orbit.cpp b/src/Dynamics/Orbit/Orbit.cpp index 735a8c570..b3bac865b 100644 --- a/src/Dynamics/Orbit/Orbit.cpp +++ b/src/Dynamics/Orbit/Orbit.cpp @@ -40,3 +40,15 @@ void Orbit::TransEciToEcef(void) { } void Orbit::TransEcefToGeo(void) { sat_position_geo_.UpdateFromEcef(sat_position_ecef_); } + +OrbitInitializeMode SetOrbitInitializeMode(const std::string initialize_mode) { + if (initialize_mode == "DEFAULT") { + return OrbitInitializeMode::kDefault; + } else if (initialize_mode == "POSITION_VELOCITY_I") { + return OrbitInitializeMode::kInertialPositionAndVelocity; + } else if (initialize_mode == "ORBITAL_ELEMENTS") { + return OrbitInitializeMode::kOrbitalElements; + } else { + return OrbitInitializeMode::kDefault; + } +} \ No newline at end of file diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 2c488de13..6fcdec287 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -33,6 +33,16 @@ enum class OrbitPropagateMode { kEncke //!< Encke orbit propagation with disturbances and thruster maneuver }; +/** + * @enum OrbitInitializeMode + * @brief Initialize mode of orbit + */ +enum class OrbitInitializeMode { + kDefault = 0, //!< Default + kInertialPositionAndVelocity, //!< Position and velocity in the inertial frame + kOrbitalElements, //!< Orbital elements +}; + /** * @class Orbit * @brief Base class of orbit propagation @@ -188,8 +198,9 @@ class Orbit : public ILoggable { const CelestialInformation* celes_info_; //!< Celestial information // Settings - bool is_calc_enabled_ = false; //!< Calculate flag - OrbitPropagateMode propagate_mode_; //!< Propagation mode + bool is_calc_enabled_ = false; //!< Calculate flag + OrbitPropagateMode propagate_mode_; //!< Propagation mode + OrbitInitializeMode initialize_mode_; // A< Initialize mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] @@ -215,4 +226,6 @@ class Orbit : public ILoggable { void TransEcefToGeo(void); }; +OrbitInitializeMode SetOrbitInitializeMode(const std::string initialize_mode); + #endif //__orbit_H__ From af421855ef89a51e97b06de6bd40a9962860816e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 23:31:11 +0100 Subject: [PATCH 183/199] Remove unnecesary variables --- src/Dynamics/Orbit/Orbit.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 6fcdec287..78c3c9e0b 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -200,7 +200,6 @@ class Orbit : public ILoggable { // Settings bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - OrbitInitializeMode initialize_mode_; // A< Initialize mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] From 4cc741dce88a6e89e9e9c3e3bf92b5718ee9e1c9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 29 Dec 2022 23:36:10 +0100 Subject: [PATCH 184/199] Fix format --- src/Dynamics/Orbit/Orbit.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Dynamics/Orbit/Orbit.h b/src/Dynamics/Orbit/Orbit.h index 78c3c9e0b..c41df166a 100644 --- a/src/Dynamics/Orbit/Orbit.h +++ b/src/Dynamics/Orbit/Orbit.h @@ -198,8 +198,8 @@ class Orbit : public ILoggable { const CelestialInformation* celes_info_; //!< Celestial information // Settings - bool is_calc_enabled_ = false; //!< Calculate flag - OrbitPropagateMode propagate_mode_; //!< Propagation mode + bool is_calc_enabled_ = false; //!< Calculate flag + OrbitPropagateMode propagate_mode_; //!< Propagation mode Vector<3> sat_position_i_; //!< Spacecraft position in the inertial frame [m] Vector<3> sat_position_ecef_; //!< Spacecraft position in the ECEF frame [m] From 4f3a4eb6987f14210d8baa79b7827d4cbd47db1a Mon Sep 17 00:00:00 2001 From: sksat Date: Fri, 30 Dec 2022 14:38:31 +0900 Subject: [PATCH 185/199] Revert "Set DOWNLOAD_EXTRACT_TIMESTAMP option to ExternalProject_Add()" --- ExtLibraries/cspice/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/ExtLibraries/cspice/CMakeLists.txt b/ExtLibraries/cspice/CMakeLists.txt index efefd64b8..3cd3c5a30 100644 --- a/ExtLibraries/cspice/CMakeLists.txt +++ b/ExtLibraries/cspice/CMakeLists.txt @@ -29,7 +29,6 @@ message("URL" ${CSPICE_URL}) ExternalProject_Add(cspice URL ${CSPICE_URL} URL_HASH SHA256=${CSPICE_SHA256} - DOWNLOAD_EXTRACT_TIMESTAMP false SOURCE_DIR "cspice" CONFIGURE_COMMAND "" BUILD_IN_SOURCE true From 0a9a9abca78845cdd6f95ab526a8d22dd00241a2 Mon Sep 17 00:00:00 2001 From: sksat Date: Fri, 30 Dec 2022 14:46:24 +0900 Subject: [PATCH 186/199] prepare for CMake 3.24 --- ExtLibraries/cspice/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/ExtLibraries/cspice/CMakeLists.txt b/ExtLibraries/cspice/CMakeLists.txt index 3cd3c5a30..b9ce88a20 100644 --- a/ExtLibraries/cspice/CMakeLists.txt +++ b/ExtLibraries/cspice/CMakeLists.txt @@ -29,6 +29,7 @@ message("URL" ${CSPICE_URL}) ExternalProject_Add(cspice URL ${CSPICE_URL} URL_HASH SHA256=${CSPICE_SHA256} + # DOWNLOAD_EXTRACT_TIMESTAMP false # prepare for CMake 3.24 SOURCE_DIR "cspice" CONFIGURE_COMMAND "" BUILD_IN_SOURCE true From 351e466859dad0020813b38a9eeee471b9f2918c Mon Sep 17 00:00:00 2001 From: sksat Date: Fri, 30 Dec 2022 15:58:56 +0900 Subject: [PATCH 187/199] update CMake minimum required version in ExtLibraries by FetchContent DOWNLOAD_NO_EXTRACT --- ExtLibraries/CMakeLists.txt | 2 +- ExtLibraries/cspice/CMakeLists.txt | 2 +- ExtLibraries/nrlmsise00/CMakeLists.txt | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ExtLibraries/CMakeLists.txt b/ExtLibraries/CMakeLists.txt index 7ad13932b..19b1b6a4c 100644 --- a/ExtLibraries/CMakeLists.txt +++ b/ExtLibraries/CMakeLists.txt @@ -1,6 +1,6 @@ project(ExtLibraries) -cmake_minimum_required(VERSION 3.13) +cmake_minimum_required(VERSION 3.18) # build config option(BUILD_64BIT "Build 64bit" OFF) diff --git a/ExtLibraries/cspice/CMakeLists.txt b/ExtLibraries/cspice/CMakeLists.txt index efefd64b8..e43f86259 100644 --- a/ExtLibraries/cspice/CMakeLists.txt +++ b/ExtLibraries/cspice/CMakeLists.txt @@ -1,6 +1,6 @@ project(cspice) -cmake_minimum_required(VERSION 3.13) +cmake_minimum_required(VERSION 3.18) include(ExternalProject) include(FetchContent) diff --git a/ExtLibraries/nrlmsise00/CMakeLists.txt b/ExtLibraries/nrlmsise00/CMakeLists.txt index 732592e49..3d683c47a 100644 --- a/ExtLibraries/nrlmsise00/CMakeLists.txt +++ b/ExtLibraries/nrlmsise00/CMakeLists.txt @@ -1,6 +1,6 @@ project(nrlmsise00) -cmake_minimum_required(VERSION 3.13) +cmake_minimum_required(VERSION 3.18) include(ExternalProject) include(FetchContent) From c98f3cad903ca4fe757bfc63815cab13e6ebada8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 08:33:09 +0100 Subject: [PATCH 188/199] Fix unit of antenna gain pattern --- src/Component/CommGS/Antenna.cpp | 2 +- src/Component/CommGS/Antenna.hpp | 3 ++- src/Component/CommGS/AntennaRadiationPattern.cpp | 8 ++++---- src/Component/CommGS/AntennaRadiationPattern.hpp | 7 ++++--- 4 files changed, 11 insertions(+), 9 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index 305963469..fc4d149ca 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -75,7 +75,7 @@ double Antenna::CalcAntennaGain(const AntennaParameters ant_params, const double gain_dB = ant_params.gain_dBi_; break; case AntennaGainModel::RADIATION_PATTERN_CSV: - gain_dB = ant_params.radiation_pattern.GetGain_dB(theta_rad, phi_rad); + gain_dB = ant_params.radiation_pattern.GetGain_dBi(theta_rad, phi_rad); break; default: break; diff --git a/src/Component/CommGS/Antenna.hpp b/src/Component/CommGS/Antenna.hpp index 94b7b5a06..f39ab226e 100644 --- a/src/Component/CommGS/Antenna.hpp +++ b/src/Component/CommGS/Antenna.hpp @@ -26,7 +26,8 @@ enum class AntennaGainModel { * @brief Antenna parameters */ struct AntennaParameters { - double gain_dBi_; //!< Transmit maximum gain [dBi] + double gain_dBi_; /*!< Gain used in ISOTROPIC mode [dBi] + Generally, it is zero but users can set any value for ideal analysis */ double loss_feeder_dB_; //!< Feeder loss [dB] double loss_pointing_dB_; //!< Pointing loss [dB] AntennaGainModel antenna_gain_model; //!< Antenna gain model diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index b02925225..f7921cbdd 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -10,16 +10,16 @@ #include #include -AntennaRadiationPattern::AntennaRadiationPattern() { gain_dB_.assign(length_theta_, std::vector(length_phi_, 0.0)); } +AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { IniAccess gain_file(file_path); - gain_file.ReadCsvDouble(gain_dB_, (std::max)(length_theta_, length_phi_)); + gain_file.ReadCsvDouble(gain_dBi_, (std::max)(length_theta_, length_phi_)); } AntennaRadiationPattern::~AntennaRadiationPattern() {} -double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double phi_rad) const { +double AntennaRadiationPattern::GetGain_dBi(const double theta_rad, const double phi_rad) const { // Argument check double theta_rad_clipped = theta_rad; double phi_rad_clipped = phi_rad; @@ -34,5 +34,5 @@ double AntennaRadiationPattern::GetGain_dB(const double theta_rad, const double size_t phi_idx = (size_t)(length_phi_ * phi_rad_clipped / phi_max_rad_); if (phi_idx > length_phi_) phi_idx = length_phi_; - return gain_dB_[theta_idx][phi_idx]; + return gain_dBi_[theta_idx][phi_idx]; } diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index ddcf0aacc..fb90878c7 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -13,6 +13,7 @@ * @brief Antenna radiation pattern * @details theta = [0, 2pi], theta = 0 is on the plus Z axis * phi = [0, pi], phi = 0 is on the plus X axis, and phi = pi/2 is on the plus Y axis + * The unit of gain values in the CSV file should be [dBi] */ class AntennaRadiationPattern { public: @@ -44,9 +45,9 @@ class AntennaRadiationPattern { * @brief Get antenna gain [dB] * @param[in] theta_rad: Angle for theta direction [rad] * @param[in] phi_rad: Angle for phi direction [rad] - * @return Antenna gain [dB] + * @return Antenna gain [dBi] */ - double GetGain_dB(const double theta_rad, const double phi_rad) const; + double GetGain_dBi(const double theta_rad, const double phi_rad) const; private: size_t length_theta_ = 360; //!< Length of grid for theta direction @@ -54,5 +55,5 @@ class AntennaRadiationPattern { double theta_max_rad_ = libra::tau; //!< Maximum value of theta double phi_max_rad_ = libra::pi; //!< Maximum value of phi - std::vector> gain_dB_; //!< Antenna gain table + std::vector> gain_dBi_; //!< Antenna gain table }; From 27d018750baab5eb5270cd2592ab03ef08e3d226 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 08:38:22 +0100 Subject: [PATCH 189/199] Fix antenna gain calculation --- src/Component/CommGS/Antenna.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index fc4d149ca..98c54f998 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -30,12 +30,12 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { - tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; + tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; } else { tx_eirp_dBW_ = 0.0; } if (is_receiver_) { - rx_gt_dBK_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); + rx_gt_dBK_ = rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); } else { rx_gt_dBK_ = 0.0; } @@ -55,12 +55,12 @@ Antenna::Antenna(const int id, const libra::Quaternion& q_b2c, const bool is_tra rx_params_(rx_params) { // Calculate the EIRP or GT for the maximum gain if (is_transmitter_) { - tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.gain_dBi_ + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; + tx_eirp_dBW_ = 10 * log10(tx_output_power_W_) + tx_params_.loss_feeder_dB_ + tx_params_.loss_pointing_dB_; } else { tx_eirp_dBW_ = 0.0; } if (is_receiver_) { - rx_gt_dBK_ = rx_params_.gain_dBi_ + rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); + rx_gt_dBK_ = rx_params_.loss_feeder_dB_ + rx_params_.loss_pointing_dB_ - 10 * std::log10(rx_system_noise_temperature_K_); } else { rx_gt_dBK_ = 0.0; } @@ -84,10 +84,10 @@ double Antenna::CalcAntennaGain(const AntennaParameters ant_params, const double } double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { - return tx_eirp_dBW_ - tx_params_.gain_dBi_ + CalcAntennaGain(tx_params_, theta_rad, phi_rad); + return tx_eirp_dBW_ + CalcAntennaGain(tx_params_, theta_rad, phi_rad); } double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { - return rx_gt_dBK_ - rx_params_.gain_dBi_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); + return rx_gt_dBK_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); } AntennaGainModel SetAntennaGainModel(const std::string gain_model_name) { From 1d92e3a3b499a3b5d987bcae8f0891cfe08baa28 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 08:52:15 +0100 Subject: [PATCH 190/199] Modify constructor to set length and max --- src/Component/CommGS/AntennaRadiationPattern.cpp | 4 +++- src/Component/CommGS/AntennaRadiationPattern.hpp | 14 ++++++-------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index f7921cbdd..8cbde2cb2 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -12,7 +12,9 @@ AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } -AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path) { +AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path, const size_t length_theta, const size_t length_phi, + const double theta_max_rad, const double phi_max_rad) + : length_theta_(length_theta), length_phi_(length_phi), theta_max_rad_(theta_max_rad), phi_max_rad_(phi_max_rad) { IniAccess gain_file(file_path); gain_file.ReadCsvDouble(gain_dBi_, (std::max)(length_theta_, length_phi_)); } diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index fb90878c7..354820107 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -29,10 +29,8 @@ class AntennaRadiationPattern { * @brief Constructor * @param[in] file_path: Path to antenna pattern CSV file */ - AntennaRadiationPattern(const std::string file_path); - - // AntennaRadiationPattern(const AntennaRadiationPattern & antenna_radiation_pattern); - // AntennaRadiationPattern operator=(const AntennaRadiationPattern &antenna_radiation_pattern); + AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, + const double theta_max_rad = libra::tau, const double phi_max_rad = libra::pi); /** * @fn ~AntennaRadiationPattern @@ -50,10 +48,10 @@ class AntennaRadiationPattern { double GetGain_dBi(const double theta_rad, const double phi_rad) const; private: - size_t length_theta_ = 360; //!< Length of grid for theta direction - size_t length_phi_ = 181; //!< Length of grid for phi direction - double theta_max_rad_ = libra::tau; //!< Maximum value of theta - double phi_max_rad_ = libra::pi; //!< Maximum value of phi + size_t length_theta_; //!< Length of grid for theta direction + size_t length_phi_; //!< Length of grid for phi direction + double theta_max_rad_; //!< Maximum value of theta + double phi_max_rad_; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table }; From d2583201208c7136db4a60c6538401183ebaff7b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 08:55:52 +0100 Subject: [PATCH 191/199] Fix comments --- src/Component/CommGS/AntennaRadiationPattern.hpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index 354820107..cd1cafb93 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -28,6 +28,10 @@ class AntennaRadiationPattern { * @fn AntennaRadiationPattern * @brief Constructor * @param[in] file_path: Path to antenna pattern CSV file + * @param[in] length_theta_: Length of grid for theta direction + * @param[in] length_phi_: Length of grid for phi direction + * @param[in] theta_max_rad_: Maximum value of theta + * @param[in] phi_max_rad_: Maximum value of phi */ AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, const double theta_max_rad = libra::tau, const double phi_max_rad = libra::pi); @@ -39,10 +43,10 @@ class AntennaRadiationPattern { ~AntennaRadiationPattern(); /** - * @fn GetGain_dB - * @brief Get antenna gain [dB] - * @param[in] theta_rad: Angle for theta direction [rad] - * @param[in] phi_rad: Angle for phi direction [rad] + * @fn GetGain_dBi + * @brief Get antenna gain [dBi] + * @param[in] theta_rad: theta = [0, max_theta], theta = 0 is on the plus Z axis + * @param[in] phi_rad: phi = [0, max_phi], phi = 0 is on the plus X axis, and phi = pi/2 is on the plus Y axis * @return Antenna gain [dBi] */ double GetGain_dBi(const double theta_rad, const double phi_rad) const; @@ -53,5 +57,5 @@ class AntennaRadiationPattern { double theta_max_rad_; //!< Maximum value of theta double phi_max_rad_; //!< Maximum value of phi - std::vector> gain_dBi_; //!< Antenna gain table + std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; From a7b4a79b638004a61011e3c7a5045a186e11027d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 09:19:50 +0100 Subject: [PATCH 192/199] Modify initialize function --- data/SampleSat/ini/component/ANT.ini | 22 ++++++++++++++++++- data/SampleSat/ini/component/ANT_GS.ini | 10 +++++++++ data/SampleSat/ini/component/ANT_SC.ini | 10 +++++++++ .../CommGS/AntennaRadiationPattern.hpp | 8 +++---- src/Component/CommGS/InitAntenna.cpp | 13 ++++++++++- 5 files changed, 57 insertions(+), 6 deletions(-) diff --git a/data/SampleSat/ini/component/ANT.ini b/data/SampleSat/ini/component/ANT.ini index f3965b32b..ddc172ca2 100644 --- a/data/SampleSat/ini/component/ANT.ini +++ b/data/SampleSat/ini/component/ANT.ini @@ -11,7 +11,7 @@ q_b2c(3) = 1 is_transmitter = 1 // Flag for receiver or not -is_receiver = 0 +is_receiver = 1 // frequency [MHz] frequency = 8200.0 @@ -36,6 +36,11 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +tx_length_theta = 360 +tx_length_phi = 181 +tx_theta_max_rad = 6.28 +tx_phi_max_rad = 3.14 // Parameters for receiver @@ -58,6 +63,11 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +rx_length_theta = 360 +rx_length_phi = 181 +rx_theta_max_rad = 6.28 +rx_phi_max_rad = 3.14 [ANT2] @@ -98,6 +108,11 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +tx_length_theta = 360 +tx_length_phi = 181 +tx_theta_max_rad = 6.28 +tx_phi_max_rad = 3.14 // Parameters for receiver @@ -120,3 +135,8 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +rx_length_theta = 360 +rx_length_phi = 181 +rx_theta_max_rad = 6.28 +rx_phi_max_rad = 3.14 diff --git a/data/SampleSat/ini/component/ANT_GS.ini b/data/SampleSat/ini/component/ANT_GS.ini index a06738e90..c088fdbec 100644 --- a/data/SampleSat/ini/component/ANT_GS.ini +++ b/data/SampleSat/ini/component/ANT_GS.ini @@ -36,6 +36,11 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +tx_length_theta = 360 +tx_length_phi = 181 +tx_theta_max_rad = 6.28 +tx_phi_max_rad = 3.14 // Parameters for receiver @@ -58,3 +63,8 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +rx_length_theta = 360 +rx_length_phi = 181 +rx_theta_max_rad = 6.28 +rx_phi_max_rad = 3.14 diff --git a/data/SampleSat/ini/component/ANT_SC.ini b/data/SampleSat/ini/component/ANT_SC.ini index 6cf77eda8..f0cb2a660 100644 --- a/data/SampleSat/ini/component/ANT_SC.ini +++ b/data/SampleSat/ini/component/ANT_SC.ini @@ -36,6 +36,11 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +tx_length_theta = 360 +tx_length_phi = 181 +tx_theta_max_rad = 6.28 +tx_phi_max_rad = 3.14 // Parameters for receiver @@ -58,3 +63,8 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +// General information of the CSV file +rx_length_theta = 360 +rx_length_phi = 181 +rx_theta_max_rad = 6.28 +rx_phi_max_rad = 3.14 diff --git a/src/Component/CommGS/AntennaRadiationPattern.hpp b/src/Component/CommGS/AntennaRadiationPattern.hpp index cd1cafb93..b180b99b1 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.hpp +++ b/src/Component/CommGS/AntennaRadiationPattern.hpp @@ -52,10 +52,10 @@ class AntennaRadiationPattern { double GetGain_dBi(const double theta_rad, const double phi_rad) const; private: - size_t length_theta_; //!< Length of grid for theta direction - size_t length_phi_; //!< Length of grid for phi direction - double theta_max_rad_; //!< Maximum value of theta - double phi_max_rad_; //!< Maximum value of phi + size_t length_theta_ = 360; //!< Length of grid for theta direction + size_t length_phi_ = 181; //!< Length of grid for phi direction + double theta_max_rad_ = libra::tau; //!< Maximum value of theta + double phi_max_rad_ = libra::pi; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; diff --git a/src/Component/CommGS/InitAntenna.cpp b/src/Component/CommGS/InitAntenna.cpp index b94552c4a..850d985b0 100644 --- a/src/Component/CommGS/InitAntenna.cpp +++ b/src/Component/CommGS/InitAntenna.cpp @@ -39,7 +39,12 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { tx_params.loss_feeder_dB_ = antenna_conf.ReadDouble(Section, "tx_loss_feeder"); tx_params.loss_pointing_dB_ = antenna_conf.ReadDouble(Section, "tx_loss_pointing"); tx_params.antenna_gain_model = SetAntennaGainModel(antenna_conf.ReadString(Section, "tx_antenna_gain_model")); - tx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "tx_antenna_radiation_pattern_file")); + size_t length_theta = antenna_conf.ReadInt(Section, "tx_length_theta"); + size_t length_phi = antenna_conf.ReadInt(Section, "tx_length_phi"); + double theta_max_rad = antenna_conf.ReadDouble(Section, "tx_theta_max_rad"); + double phi_max_rad = antenna_conf.ReadDouble(Section, "tx_phi_max_rad"); + tx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "tx_antenna_radiation_pattern_file"), length_theta, + length_phi, theta_max_rad, phi_max_rad); } else { tx_params.gain_dBi_ = 0.0; tx_params.loss_feeder_dB_ = 0.0; @@ -54,6 +59,12 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { rx_params.loss_pointing_dB_ = antenna_conf.ReadDouble(Section, "rx_loss_pointing"); rx_params.antenna_gain_model = SetAntennaGainModel(antenna_conf.ReadString(Section, "rx_antenna_gain_model")); rx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "rx_antenna_radiation_pattern_file")); + size_t length_theta = antenna_conf.ReadInt(Section, "rx_length_theta"); + size_t length_phi = antenna_conf.ReadInt(Section, "rx_length_phi"); + double theta_max_rad = antenna_conf.ReadDouble(Section, "rx_theta_max_rad"); + double phi_max_rad = antenna_conf.ReadDouble(Section, "rx_phi_max_rad"); + rx_params.radiation_pattern = AntennaRadiationPattern(antenna_conf.ReadString(Section, "rx_antenna_radiation_pattern_file"), length_theta, + length_phi, theta_max_rad, phi_max_rad); } else { rx_params.gain_dBi_ = 0.0; rx_params.loss_feeder_dB_ = 0.0; From 5e524bafc1ca69d941c100f1efd07e582cf9e91f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 09:39:49 +0100 Subject: [PATCH 193/199] Fix comment --- src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp | 1 + src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp index b2489f797..6ccd21d07 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.cpp @@ -73,6 +73,7 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, const Structure* st config_->main_logger_->CopyFileToLogDir(ini_path); force_generator_ = new ForceGenerator(InitializeForceGenerator(clock_gen, ini_path, dynamics_)); + // Antenna ini_path = iniAccess.ReadString("COMPONENTS_FILE", "antenna_file"); config_->main_logger_->CopyFileToLogDir(ini_path); antenna_ = new Antenna(InitAntenna(1, ini_path)); diff --git a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h index b443d8339..97d91f159 100644 --- a/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h +++ b/src/Simulation/Spacecraft/SampleSpacecraft/SampleComponents.h @@ -91,7 +91,7 @@ class SampleComponents : public InstalledComponents { ForceGenerator* force_generator_; //!< Ideal Force Generator // CommGs - Antenna* antenna_; + Antenna* antenna_; //!< Antenna // HILS settings examples /* From 1429b1783f96dcbacf7e03341796d578edf3293d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 09:40:02 +0100 Subject: [PATCH 194/199] Fix index calculation --- src/Component/CommGS/AntennaRadiationPattern.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/Component/CommGS/AntennaRadiationPattern.cpp b/src/Component/CommGS/AntennaRadiationPattern.cpp index 8cbde2cb2..7f7eaae0a 100644 --- a/src/Component/CommGS/AntennaRadiationPattern.cpp +++ b/src/Component/CommGS/AntennaRadiationPattern.cpp @@ -31,10 +31,10 @@ double AntennaRadiationPattern::GetGain_dBi(const double theta_rad, const double if (phi_rad_clipped > phi_max_rad_) phi_rad_clipped = phi_max_rad_; // Calc index - size_t theta_idx = (size_t)(length_theta_ * theta_rad_clipped / theta_max_rad_); - if (theta_idx > length_theta_) theta_idx = length_theta_; - size_t phi_idx = (size_t)(length_phi_ * phi_rad_clipped / phi_max_rad_); - if (phi_idx > length_phi_) phi_idx = length_phi_; + size_t theta_idx = (size_t)(length_theta_ * theta_rad_clipped / theta_max_rad_ + 0.5); + if (theta_idx >= length_theta_) theta_idx = length_theta_ - 1; + size_t phi_idx = (size_t)(length_phi_ * phi_rad_clipped / phi_max_rad_ + 0.5); + if (phi_idx >= length_phi_) phi_idx = length_phi_ - 1; return gain_dBi_[theta_idx][phi_idx]; } From 2f4fff22dcb632dfde1a161d369202c706648e50 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 09:42:07 +0100 Subject: [PATCH 195/199] Fix format --- src/Component/CommGS/Antenna.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/Component/CommGS/Antenna.cpp b/src/Component/CommGS/Antenna.cpp index 98c54f998..4b7e7ec06 100644 --- a/src/Component/CommGS/Antenna.cpp +++ b/src/Component/CommGS/Antenna.cpp @@ -86,9 +86,7 @@ double Antenna::CalcAntennaGain(const AntennaParameters ant_params, const double double Antenna::CalcTxEIRP(const double theta_rad, const double phi_rad) const { return tx_eirp_dBW_ + CalcAntennaGain(tx_params_, theta_rad, phi_rad); } -double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { - return rx_gt_dBK_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); -} +double Antenna::CalcRxGT(const double theta_rad, const double phi_rad) const { return rx_gt_dBK_ + CalcAntennaGain(rx_params_, theta_rad, phi_rad); } AntennaGainModel SetAntennaGainModel(const std::string gain_model_name) { if (gain_model_name == "ISOTROPIC") { From 571dc57aa215da1c76f3991e23eab1d398c996b0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 09:55:07 +0100 Subject: [PATCH 196/199] Fix comment in ini file --- data/SampleSat/ini/SampleSat.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/data/SampleSat/ini/SampleSat.ini b/data/SampleSat/ini/SampleSat.ini index f1183e346..a0460ffe8 100644 --- a/data/SampleSat/ini/SampleSat.ini +++ b/data/SampleSat/ini/SampleSat.ini @@ -71,7 +71,7 @@ wgs = 2 // 0: wgs72old, 1: wgs72, 2: wgs84 ////////////////////////////////////////////////////////////////////////// // Initial value definition for RK4 ////////////////////////////////////// -// * The coordinate system is defined in PlanetSelect.ini +// * The coordinate system is defined at [PLANET_SELECTION] in SampleSimBase.ini // Initial satellite position[m] // Example: ISS init_position(0) = -2111769.7723711144 @@ -96,7 +96,7 @@ relative_dynamics_model_type = 0 // 0: HCW stm_model_type = 0 // Initial satellite position relative to the reference satellite in LVLH frame[m] -// * The coordinate system is defined in PlanetSelect.ini +// * The coordinate system is defined at [PLANET_SELECTION] in SampleSimBase.ini init_relative_position_lvlh(0) = 0.0 init_relative_position_lvlh(1) = 100.0 init_relative_position_lvlh(2) = 0.0 From 99a75f0af3d11d12ee68355ddaaad4fda56b4e1e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 10:16:44 +0100 Subject: [PATCH 197/199] Fix comments in ini file --- data/SampleSat/ini/component/ANT.ini | 30 ++++++++++++++----------- data/SampleSat/ini/component/ANT_GS.ini | 16 +++++++------ data/SampleSat/ini/component/ANT_SC.ini | 16 +++++++------ 3 files changed, 35 insertions(+), 27 deletions(-) diff --git a/data/SampleSat/ini/component/ANT.ini b/data/SampleSat/ini/component/ANT.ini index ddc172ca2..fb3d07652 100644 --- a/data/SampleSat/ini/component/ANT.ini +++ b/data/SampleSat/ini/component/ANT.ini @@ -20,9 +20,6 @@ frequency = 8200.0 // RF output power [W] tx_output = 1.0 -// Gain [dBi] -tx_gain = 8.0 - // Feeder loss [dB] tx_loss_feeder = -1.5 @@ -34,6 +31,10 @@ tx_loss_pointing = 0.0 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files tx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +tx_gain = 8.0 + // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file @@ -44,9 +45,6 @@ tx_phi_max_rad = 3.14 // Parameters for receiver -// Gain [dBi] -rx_gain = 43.27 - // Feeder loss [dB] rx_loss_feeder = -0.5 @@ -61,6 +59,10 @@ rx_system_noise_temperature = 230 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files rx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +rx_gain = 43.27 + // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file @@ -71,7 +73,7 @@ rx_phi_max_rad = 3.14 [ANT2] -// Example of antenna on spacecraft +// Example of antenna on ground station // Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 @@ -92,9 +94,6 @@ frequency = 8200.0 // RF output power [W] tx_output = 1.0 -// Gain [dBi] -tx_gain = 12.0 - // Feeder loss [dB] tx_loss_feeder = -1.5 @@ -106,6 +105,10 @@ tx_loss_pointing = 0.0 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files tx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +tx_gain = 12.0 + // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file @@ -116,9 +119,6 @@ tx_phi_max_rad = 3.14 // Parameters for receiver -// Gain [dBi] -rx_gain = 43.27 - // Feeder loss [dB] rx_loss_feeder = -0.5 @@ -133,6 +133,10 @@ rx_system_noise_temperature = 230 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files rx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +rx_gain = 43.27 + // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file diff --git a/data/SampleSat/ini/component/ANT_GS.ini b/data/SampleSat/ini/component/ANT_GS.ini index c088fdbec..fd02404eb 100644 --- a/data/SampleSat/ini/component/ANT_GS.ini +++ b/data/SampleSat/ini/component/ANT_GS.ini @@ -1,5 +1,5 @@ [ANT1] -// Example of antenna on spacecraft +// Example of antenna on ground station // Quaternion converts body-fixed frame to component frame q_b2c(0) = 0 @@ -20,9 +20,6 @@ frequency = 8200.0 // RF output power [W] tx_output = 1.0 -// Gain [dBi] -tx_gain = 12.0 - // Feeder loss [dB] tx_loss_feeder = -1.5 @@ -34,6 +31,10 @@ tx_loss_pointing = 0.0 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files tx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +tx_gain = 12.0 + // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file @@ -44,9 +45,6 @@ tx_phi_max_rad = 3.14 // Parameters for receiver -// Gain [dBi] -rx_gain = 43.27 - // Feeder loss [dB] rx_loss_feeder = -0.5 @@ -61,6 +59,10 @@ rx_system_noise_temperature = 230 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files rx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +rx_gain = 43.27 + // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file diff --git a/data/SampleSat/ini/component/ANT_SC.ini b/data/SampleSat/ini/component/ANT_SC.ini index f0cb2a660..3e9a10ba4 100644 --- a/data/SampleSat/ini/component/ANT_SC.ini +++ b/data/SampleSat/ini/component/ANT_SC.ini @@ -11,7 +11,7 @@ q_b2c(3) = 1 is_transmitter = 1 // Flag for receiver or not -is_receiver = 0 +is_receiver = 1 // frequency [MHz] frequency = 8200.0 @@ -20,9 +20,6 @@ frequency = 8200.0 // RF output power [W] tx_output = 1.0 -// Gain [dBi] -tx_gain = 8.0 - // Feeder loss [dB] tx_loss_feeder = -1.5 @@ -34,6 +31,10 @@ tx_loss_pointing = 0.0 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files tx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +tx_gain = 8.0 + // Antenna radiation pattern CSV file path tx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file @@ -44,9 +45,6 @@ tx_phi_max_rad = 3.14 // Parameters for receiver -// Gain [dBi] -rx_gain = 43.27 - // Feeder loss [dB] rx_loss_feeder = -0.5 @@ -61,6 +59,10 @@ rx_system_noise_temperature = 230 // RADIATION_PATTERN_CSV: Radiation pattern obtained by CSV files rx_antenna_gain_model = RADIATION_PATTERN_CSV +// Gain for ISOTROPIC mode [dBi] +// Generally, it is zero but users can set any value for ideal analysis +rx_gain = 43.27 + // Antenna radiation pattern CSV file path rx_antenna_radiation_pattern_file = ../../data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv // General information of the CSV file From 8296373c8efa6a72c122811bc7bf250ec42a5780 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 10:26:48 +0100 Subject: [PATCH 198/199] Fix sample antenna pattern --- .../SampleAntennaRadiationPattern.csv | 720 +++++++++--------- 1 file changed, 360 insertions(+), 360 deletions(-) diff --git a/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv b/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv index a049bef33..4d9c8a515 100644 --- a/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv +++ b/data/SampleSat/ini/component/AntennaRadiationPatternCsv/SampleAntennaRadiationPattern.csv @@ -1,360 +1,360 @@ 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\ No newline at end of file From f8f1c3e3fefb37cdb3487d7ff62f54ca41b721ac Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 30 Dec 2022 13:03:49 +0100 Subject: [PATCH 199/199] update v5.2.0 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 40d0206a0..9df2bd958 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_policy(SET CMP0048 NEW) project(S2E LANGUAGES CXX DESCRIPTION "S2E: Spacecraft Simulation Environment" - VERSION 5.1.0 + VERSION 5.2.0 ) cmake_minimum_required(VERSION 3.13)