Propagator.h

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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
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <algorithms/Algorithm.h>
#include <logger/Logger.h>
#include <miosix.h>
 
#include <chrono>
 
#include "PropagatorData.h"
#include "algorithms/NAS/NASState.h"
#include "sensors/SensorData.h"
 
namespace Boardcore
{
 
static constexpr std::chrono::microseconds MAX_PROPAGATION_TIME =
    std::chrono::seconds(5);  
 
static constexpr std::chrono::microseconds MAX_ACCELERATION_TIME =
    std::chrono::seconds(5);  
 
class Propagator : public Algorithm
{
public:
    explicit Propagator(std::chrono::milliseconds updatePeriod);
 
    bool init() override;
 
    void setRocketNasState(const NASState& newRocketNasState);
 
    inline NASState getRocketNasState()
    {
        miosix::Lock<miosix::FastMutex> lock(nasStateMutex);
        return lastRocketNasState;
    }
 
    inline PropagatorState getState()
    {
        miosix::Lock<miosix::FastMutex> lock(stateMutex);
        return state;
    }
 
private:
    void step() override;
 
    float updatePeriod;               
    PropagatorState state;            
    NASState lastRocketNasState;      
    miosix::FastMutex nasStateMutex;  
    miosix::FastMutex stateMutex;     
    Eigen::Vector3f
        last_real_velocity;  
    uint64_t t0 = 0, t1 = 0;  
    uint64_t lastReceivedTime =
        0;  
};
 
}  // namespace Boardcore