Propagator.cpp

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * THE SOFTWARE.
 */
 
#include "Propagator.h"
 
#include <drivers/timer/TimestampTimer.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/Debug.h>
 
using namespace Eigen;
 
namespace Boardcore
{
 
static constexpr bool useAcceleration =
    true;  // set true to use the propagator with acceleration
 
Propagator::Propagator(std::chrono::milliseconds pUpdatePeriod)
    : updatePeriod(static_cast<float>(pUpdatePeriod.count()) / 1000), state()
{
}
 
bool Propagator::init() { return true; }
 
void Propagator::step()
{
    miosix::Lock<miosix::FastMutex> lock(stateMutex);
    // Take new rocket data only if it has been just updated, otherwise take
    // last state available
 
    PropagatorState oldState = state;
 
    // updates with the last received NAS state if present, otherwise uses the
    // last Propagator state
    state = (oldState.nPropagations == 0
                 ? PropagatorState(
                       oldState.timestamp, oldState.nPropagations,
                       getRocketNasState())  // TODO: Uh? The timestamp? SUS
                 : oldState);
 
    if (state.nPropagations == 0)
    {
        // Update the timestamp of the last received packet
        lastReceivedTime = TimestampTimer::getTimestamp();
 
        // Compute the acceleration to change the velocity
        if (useAcceleration)  // Update Position assuming constant acceleration
        {
            t1       = TimestampTimer::getTimestamp();
            float dt = t1 - t0;
            if (dt > 0 && dt < MAX_ACCELERATION_TIME.count() && t0 != 0)
                state.setZAcceleration(
                    (state.getVelocity() - last_real_velocity) /
                    (dt / 1000000));
            t0                 = t1;
            last_real_velocity = state.getVelocity();
        }
    }
 
    // If we use the acceleration we update the velocity
    if (useAcceleration &&
        TimestampTimer::getTimestamp() < t0 + MAX_ACCELERATION_TIME.count())
        state.setVelocity(state.getVelocity() +
                          state.getAcceleration() * updatePeriod);
 
    // In case the time do not exceed the maximum propagation time or it is a
    // new packet we update the state
    if (TimestampTimer::getTimestamp() <
            lastReceivedTime + MAX_PROPAGATION_TIME.count() ||
        state.nPropagations == 0)
    {
        state.setPosition(state.getPosition() +
                          state.getVelocity() * updatePeriod);
        state.nPropagations++;
    }
    else
        state = oldState;
 
    state.timestamp = TimestampTimer::getTimestamp();
 
    // Log propagator state
    PropagatorState logState(state);
    Boardcore::Logger::getInstance().log(logState);
}
 
void Propagator::setRocketNasState(const NASState& newRocketNasState)
{
    miosix::Lock<miosix::FastMutex> lockState(stateMutex);
    miosix::Lock<miosix::FastMutex> lock(nasStateMutex);
 
    // Reset nPropagations to notify another received "real" packet
    state.nPropagations = 0;
    lastRocketNasState  = newRocketNasState;
 
    // Using as timestamp ARP timestamp
    state.timestamp = TimestampTimer::getTimestamp();
}
 
}  // namespace Boardcore