| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "BaroSimulator.hpp" | ||
| 10 | |||
| 11 | #include <limits> | ||
| 12 | |||
| 13 | #include "util/Logger.hpp" | ||
| 14 | |||
| 15 | #include "internal/NodeManager.hpp" | ||
| 16 | namespace nm = NAV::NodeManager; | ||
| 17 | #include "internal/FlowManager.hpp" | ||
| 18 | |||
| 19 | #include "NodeData/State/Pos.hpp" | ||
| 20 | #include "NodeData/Baro/BaroPressObs.hpp" | ||
| 21 | |||
| 22 | #include "Navigation/Gravity/Gravity.hpp" | ||
| 23 | |||
| 24 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 25 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 26 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 27 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 28 | |||
| 29 | 112 | NAV::BaroSimulator::BaroSimulator() | |
| 30 |
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112 | : Node(typeStatic()) |
| 31 | { | ||
| 32 | LOG_TRACE("{}: called", name); | ||
| 33 | 112 | _hasConfig = true; | |
| 34 | 112 | _guiConfigDefaultWindowSize = { 710, 220 }; | |
| 35 | |||
| 36 |
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112 | std::mt19937_64 gen(static_cast<uint64_t>(std::chrono::system_clock::now().time_since_epoch().count())); |
| 37 |
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112 | std::uniform_int_distribution<uint64_t> dist(0, std::numeric_limits<uint64_t>::max() / 2); |
| 38 |
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112 | _pressureRng.seed = dist(gen); |
| 39 | |||
| 40 |
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448 | nm::CreateOutputPin(this, "BaroPressObs", Pin::Type::Flow, { NAV::BaroPressObs::type() }); |
| 41 | |||
| 42 |
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336 | nm::CreateInputPin(this, "Pos", Pin::Type::Flow, { NAV::Pos::type() }, &BaroSimulator::receiveObs); |
| 43 | 336 | } | |
| 44 | |||
| 45 | 224 | NAV::BaroSimulator::~BaroSimulator() | |
| 46 | { | ||
| 47 | LOG_TRACE("{}: called", nameId()); | ||
| 48 | 224 | } | |
| 49 | |||
| 50 | 224 | std::string NAV::BaroSimulator::typeStatic() | |
| 51 | { | ||
| 52 |
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448 | return "BaroSimulator"; |
| 53 | } | ||
| 54 | |||
| 55 | ✗ | std::string NAV::BaroSimulator::type() const | |
| 56 | { | ||
| 57 | ✗ | return typeStatic(); | |
| 58 | } | ||
| 59 | |||
| 60 | 112 | std::string NAV::BaroSimulator::category() | |
| 61 | { | ||
| 62 |
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224 | return "Data Simulator"; |
| 63 | } | ||
| 64 | |||
| 65 | ✗ | void NAV::BaroSimulator::guiConfig() | |
| 66 | { | ||
| 67 | ✗ | float columnWidth = 140.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 68 | |||
| 69 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level pressure##{}", size_t(id)).c_str(), &_pressure0, 0.0, 0.0, "%.3f hPa")) | |
| 70 | { | ||
| 71 | LOG_DATA("{}: pressure0 changed to {}", nameId(), _pressure0); | ||
| 72 | ✗ | flow::ApplyChanges(); | |
| 73 | } | ||
| 74 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level temperature##{}", size_t(id)).c_str(), &_temp0, 0.0, 0.0, "%.3f K")) | |
| 75 | { | ||
| 76 | LOG_DATA("{}: temo0 changed to {}", nameId(), _temp0); | ||
| 77 | ✗ | flow::ApplyChanges(); | |
| 78 | } | ||
| 79 | ✗ | if (ImGui::InputDouble(fmt::format("Temperature lapse rate##{}", size_t(id)).c_str(), &_lapserate, 0.0, 0.0, "%.6f K / m")) | |
| 80 | { | ||
| 81 | LOG_DATA("{}: lapserate changed to {}", nameId(), _lapserate); | ||
| 82 | ✗ | flow::ApplyChanges(); | |
| 83 | } | ||
| 84 | ✗ | if (ImGui::InputDouble(fmt::format("Geoid undulation##{}", size_t(id)).c_str(), &_geoidhgt, 0.0, 0.0, "%.3f m")) | |
| 85 | { | ||
| 86 | LOG_DATA("{}: geoidhgt changed to {}", nameId(), _geoidhgt); | ||
| 87 | ✗ | flow::ApplyChanges(); | |
| 88 | } | ||
| 89 | ✗ | ImGui::SetNextItemWidth(columnWidth); | |
| 90 | ✗ | if (gui::widgets::EnumCombo(fmt::format("Gravity input##{}", size_t(id)).c_str(), _gravityInput)) | |
| 91 | { | ||
| 92 | LOG_DATA("{}: gravity input changed to {}", nameId(), fmt::underlying(_gravityInput)); | ||
| 93 | ✗ | flow::ApplyChanges(); | |
| 94 | } | ||
| 95 | ✗ | ImGui::SameLine(); | |
| 96 | ✗ | gui::widgets::HelpMarker("The 'position' input calculates the gravity magnitude from EGM96.\n\n"); | |
| 97 | ✗ | if (_gravityInput == GravityInput::Manual) | |
| 98 | { | ||
| 99 | ✗ | if (ImGui::InputDouble(fmt::format("Gravity##{}", size_t(id)).c_str(), &_gravity, 0.0, 0.0, "%.5f m / s²")) | |
| 100 | { | ||
| 101 | LOG_DATA("{}: gravity changed to {}", nameId(), _gravity); | ||
| 102 | ✗ | flow::ApplyChanges(); | |
| 103 | } | ||
| 104 | } | ||
| 105 | else // (_gravityInput == GravityInput::position) | ||
| 106 | { | ||
| 107 | ✗ | if (ImGui::InputDouble3(fmt::format("Position LLA [deg, deg, m]##{}", size_t(id)).c_str(), _initPos.data())) | |
| 108 | { | ||
| 109 | ✗ | flow::ApplyChanges(); | |
| 110 | } | ||
| 111 | } | ||
| 112 | ✗ | if (ImGui::InputDouble(fmt::format("Std. Dev. of Pressure noise##{}", size_t(id)).c_str(), &_pressurenoise, 0.0, 0.0, "%.3f hPa")) | |
| 113 | { | ||
| 114 | ✗ | LOG_DEBUG("{}: pressurenoise changed to {}", nameId(), _pressurenoise); | |
| 115 | ✗ | flow::ApplyChanges(); | |
| 116 | } | ||
| 117 | ✗ | float itemWidth = 470 * gui::NodeEditorApplication::windowFontRatio(); | |
| 118 | ✗ | auto rngInput = [&](const char* title, RandomNumberGenerator& rng) { | |
| 119 | ✗ | float currentCursorX = ImGui::GetCursorPosX(); | |
| 120 | ✗ | if (ImGui::Checkbox(fmt::format("##rng.useSeed {} {}", title, size_t(id)).c_str(), &rng.useSeed)) | |
| 121 | { | ||
| 122 | ✗ | LOG_DEBUG("{}: {} rng.useSeed changed to {}", nameId(), title, rng.useSeed); | |
| 123 | ✗ | flow::ApplyChanges(); | |
| 124 | } | ||
| 125 | ✗ | if (ImGui::IsItemHovered()) { ImGui::SetTooltip("Use seed?"); } | |
| 126 | ✗ | ImGui::SameLine(); | |
| 127 | ✗ | if (!rng.useSeed) | |
| 128 | { | ||
| 129 | ✗ | ImGui::BeginDisabled(); | |
| 130 | } | ||
| 131 | ✗ | ImGui::SetNextItemWidth(itemWidth - (ImGui::GetCursorPosX() - currentCursorX)); | |
| 132 | ✗ | if (ImGui::SliderULong(fmt::format("{} Seed##{}", title, size_t(id)).c_str(), &rng.seed, 0, std::numeric_limits<uint64_t>::max() / 2, "%lu")) | |
| 133 | { | ||
| 134 | ✗ | LOG_DEBUG("{}: {} rng.seed changed to {}", nameId(), title, rng.seed); | |
| 135 | ✗ | flow::ApplyChanges(); | |
| 136 | } | ||
| 137 | ✗ | if (!rng.useSeed) | |
| 138 | { | ||
| 139 | ✗ | ImGui::EndDisabled(); | |
| 140 | } | ||
| 141 | ✗ | }; | |
| 142 | ✗ | rngInput("Pressure Noise seed", _pressureRng); | |
| 143 | ✗ | } | |
| 144 | |||
| 145 | ✗ | bool NAV::BaroSimulator::initialize() | |
| 146 | { | ||
| 147 | LOG_TRACE("{}: called", nameId()); | ||
| 148 | ✗ | if (_gravityInput == GravityInput::Position) | |
| 149 | { | ||
| 150 | ✗ | _gravity = n_calcGravitation_EGM96(_initPos).norm(); | |
| 151 | LOG_DATA("{}: PressToHgt - Local gravity magnitude: {} m/s² at initial position: {} [deg, deg, m]", nameId(), _gravity, _initPos.transpose()); | ||
| 152 | } | ||
| 153 | ✗ | _exponent = _gravity * InsConst::dMtr / InsConst::Rg / _lapserate; | |
| 154 | ✗ | _pressureRng.resetSeed(); | |
| 155 | ✗ | return true; | |
| 156 | } | ||
| 157 | |||
| 158 | ✗ | void NAV::BaroSimulator::deinitialize() | |
| 159 | { | ||
| 160 | LOG_TRACE("{}: called", nameId()); | ||
| 161 | ✗ | } | |
| 162 | |||
| 163 | ✗ | [[nodiscard]] json NAV::BaroSimulator::save() const | |
| 164 | { | ||
| 165 | LOG_TRACE("{}: called", nameId()); | ||
| 166 | |||
| 167 | ✗ | json j; | |
| 168 | |||
| 169 | ✗ | j["temp0"] = _temp0; | |
| 170 | ✗ | j["pressure0"] = _pressure0; | |
| 171 | ✗ | j["lapserate"] = _lapserate; | |
| 172 | ✗ | j["geoidhgt"] = _geoidhgt; | |
| 173 | ✗ | j["gravity"] = _gravity; | |
| 174 | ✗ | j["initPos"] = _initPos; | |
| 175 | ✗ | j["gravityInput"] = _gravityInput; | |
| 176 | ✗ | j["pressurenoise"] = _pressurenoise; | |
| 177 | ✗ | j["pressureRng"] = _pressureRng; | |
| 178 | ✗ | return j; | |
| 179 | ✗ | } | |
| 180 | |||
| 181 | ✗ | void NAV::BaroSimulator::restore(json const& j) | |
| 182 | { | ||
| 183 | LOG_TRACE("{}: called", nameId()); | ||
| 184 | |||
| 185 | ✗ | if (j.contains("temp0")) | |
| 186 | { | ||
| 187 | ✗ | j.at("temp0").get_to(_temp0); | |
| 188 | } | ||
| 189 | ✗ | if (j.contains("pressure0")) | |
| 190 | { | ||
| 191 | ✗ | j.at("pressure0").get_to(_pressure0); | |
| 192 | } | ||
| 193 | ✗ | if (j.contains("lapserate")) | |
| 194 | { | ||
| 195 | ✗ | j.at("lapserate").get_to(_lapserate); | |
| 196 | } | ||
| 197 | ✗ | if (j.contains("geoidhgt")) | |
| 198 | { | ||
| 199 | ✗ | j.at("geoidhgt").get_to(_geoidhgt); | |
| 200 | } | ||
| 201 | ✗ | if (j.contains("gravity")) | |
| 202 | { | ||
| 203 | ✗ | j.at("gravity").get_to(_gravity); | |
| 204 | } | ||
| 205 | ✗ | if (j.contains("initPos")) | |
| 206 | { | ||
| 207 | ✗ | j.at("initPos").get_to(_initPos); | |
| 208 | } | ||
| 209 | ✗ | if (j.contains("gravityInput")) | |
| 210 | { | ||
| 211 | ✗ | j.at("gravityInput").get_to(_gravityInput); | |
| 212 | } | ||
| 213 | ✗ | if (j.contains("pressurenoise")) | |
| 214 | { | ||
| 215 | ✗ | j.at("pressurenoise").get_to(_pressurenoise); | |
| 216 | } | ||
| 217 | ✗ | if (j.contains("pressureRng")) | |
| 218 | { | ||
| 219 | ✗ | j.at("pressureRng").get_to(_pressureRng); | |
| 220 | } | ||
| 221 | ✗ | } | |
| 222 | |||
| 223 | ✗ | void NAV::BaroSimulator::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 224 | { | ||
| 225 | ✗ | auto PosObs = std::static_pointer_cast<const Pos>(queue.extract_front()); | |
| 226 | |||
| 227 | ✗ | auto pressureObs = std::make_shared<BaroPressObs>(); | |
| 228 | |||
| 229 | ✗ | pressureObs->insTime = PosObs->insTime; | |
| 230 | |||
| 231 | ✗ | pressureObs->baro_pressure = _pressure0 * std::pow(1 - _lapserate * (PosObs->altitude() - _geoidhgt) / _temp0, _exponent) + _pressureRng.getRand_normalDist(0.0, _pressurenoise); | |
| 232 | |||
| 233 | ✗ | pressureObs->baro_pressureStdev = _pressurenoise; | |
| 234 | |||
| 235 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_BAROPRESSURE, pressureObs); | |
| 236 | ✗ | } | |
| 237 |