Program Listing for File agent.h

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#pragma once

#include <memory>

#include "lupnt/core/asset_factory.h"
#include "lupnt/core/config.h"
#include "lupnt/core/constants.h"
#include "lupnt/core/data_logger.h"
#include "lupnt/core/object.h"
#include "lupnt/dynamics/attitude_dynamics.h"
#include "lupnt/dynamics/dynamics.h"
#include "lupnt/states/state.h"

namespace lupnt {

  class Simulation;
  class Channel;
  class Application;
  class Device;
  class Agent;

  using DeviceFactory = AssetFactory<Device, YAML::Node&>;
  using AgentFactory = AssetFactory<Agent, YAML::Node&>;
  using ApplicationFactory = AssetFactory<Application, YAML::Node&>;
  using DynamicsFactory = AssetFactory<Dynamics, YAML::Node&>;
  using ChannelFactory = AssetFactory<Channel, YAML::Node&>;

  class Agent : public Object<Agent>, public DataLogger {
  protected:
    // Config
    std::string name_;
    Simulation* sim_ = nullptr;
    Config config_;
    Real frequency_ = 0.0;
    Real time_ = 0.0;
    State state_ = State();

    // Devices
    std::map<std::string, Ptr<Device>> devices_;

    // Application
    Ptr<Application> application_;

  public:
    Agent() = default;

    Agent(Config& agent_config);

    Simulation* GetSimulation() const {
      LUPNT_CHECK(sim_, "Simulation not set", "Agent");
      return sim_;
    }
    void SetSimulation(Simulation* sim) { sim_ = sim; }

    Real GetTime() const { return time_; }
    void SetTime(Real t) { time_ = t; }

    std::string GetName() const { return name_; }
    void SetName(std::string name) { name_ = name; }

    std::map<std::string, Ptr<Device>> GetDevices() const { return devices_; }

    void AddDevice(Ptr<Device> device);

    Ptr<Device> GetDevice(const std::string& name) const;

    Ptr<Application> GetApplication() const { return application_; }
    void SetApplication(Ptr<Application> app) { application_ = app; }

    virtual void Setup();

    virtual void Step(Real time);

    State GetState() const { return State(); }
    void SetState(const State& state) { state_ = state; }

    virtual Cart6 GetStateAt(Real t) const = 0;

    virtual void Log(Real time);

    virtual void LogCesium();
  };

  class AgentWithDynamics : public Agent {
  protected:
    // Config
    BodyId body_id_;
    Real precompute_ = 0.0;  // [s]
    Real frequency_ = 0.0;   // [Hz]

    // State
    Real time_ = 0.0;  // [s]
    Cart6 state_;
    Attitude attitude_;
    State control_;

    // Dynamics
    Ptr<Dynamics> dynamics_;
    Ptr<AttitudeDynamics> attitude_dynamics_;

  public:
    AgentWithDynamics() = default;

    AgentWithDynamics(Config& agent_config);

    virtual void Setup() override;

    virtual void Step(Real time) override;

    Real GetTime() const { return time_; }
    void SetTime(Real t) { time_ = t; }

    Real GetFrequency() const { return frequency_; }
    void SetFrequency(Real frequency) { frequency_ = frequency; }

    State GetState() const { return state_; }
    void SetState(const State& x) { state_ = x; }

    Attitude GetAttitude() const { return attitude_; }
    void SetAttitude(const Attitude& attitude) { attitude_ = attitude; }

    State GetControl() const { return control_; }
    void SetControl(const State& control) { control_ = control; }

    Dynamics* GetDynamics() const {
      LUPNT_CHECK(dynamics_, "Dynamics not set", "Agent");
      return dynamics_.get();
    }
    void SetDynamics(Ptr<Dynamics> dyn) { dynamics_ = std::move(dyn); }

    AttitudeDynamics* GetAttitudeDynamics() const {
      LUPNT_CHECK(attitude_dynamics_, "Attitude dynamics not set", "Agent");
      return attitude_dynamics_.get();
    }
    void SetAttitudeDynamics(Ptr<AttitudeDynamics> dyn) { attitude_dynamics_ = std::move(dyn); }

    void SetBodyId(BodyId body_id) { body_id_ = body_id; }
    BodyId GetBodyId() const { return body_id_; }

    virtual void Propagate(Real t);

    virtual Cart6 GetStateAt(Real t) const override;

    virtual Attitude GetAttitudeAt(Real t) const;

    // Log

    virtual void Log(Real time) override;

    virtual void LogCesium() override;
  };

};  // namespace lupnt