| 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/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "NodeData/State/Pos.hpp" | ||
| 18 | #include "NodeData/Baro/BaroPressObs.hpp" | ||
| 19 | |||
| 20 | #include "Navigation/Gravity/Gravity.hpp" | ||
| 21 | |||
| 22 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 23 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 24 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 25 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 26 | |||
| 27 | 114 | NAV::BaroSimulator::BaroSimulator() | |
| 28 |
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114 | : Node(typeStatic()) |
| 29 | { | ||
| 30 | LOG_TRACE("{}: called", name); | ||
| 31 | 114 | _hasConfig = true; | |
| 32 | 114 | _guiConfigDefaultWindowSize = { 710, 220 }; | |
| 33 | |||
| 34 |
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114 | std::mt19937_64 gen(static_cast<uint64_t>(std::chrono::system_clock::now().time_since_epoch().count())); |
| 35 |
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114 | std::uniform_int_distribution<uint64_t> dist(0, std::numeric_limits<uint64_t>::max() / 2); |
| 36 |
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114 | _pressureRng.seed = dist(gen); |
| 37 | |||
| 38 |
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456 | CreateOutputPin("BaroPressObs", Pin::Type::Flow, { NAV::BaroPressObs::type() }); |
| 39 | |||
| 40 |
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342 | CreateInputPin("Pos", Pin::Type::Flow, { NAV::Pos::type() }, &BaroSimulator::receiveObs); |
| 41 | 342 | } | |
| 42 | |||
| 43 | 228 | NAV::BaroSimulator::~BaroSimulator() | |
| 44 | { | ||
| 45 | LOG_TRACE("{}: called", nameId()); | ||
| 46 | 228 | } | |
| 47 | |||
| 48 | 228 | std::string NAV::BaroSimulator::typeStatic() | |
| 49 | { | ||
| 50 |
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456 | return "BaroSimulator"; |
| 51 | } | ||
| 52 | |||
| 53 | ✗ | std::string NAV::BaroSimulator::type() const | |
| 54 | { | ||
| 55 | ✗ | return typeStatic(); | |
| 56 | } | ||
| 57 | |||
| 58 | 114 | std::string NAV::BaroSimulator::category() | |
| 59 | { | ||
| 60 |
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228 | return "Data Simulator"; |
| 61 | } | ||
| 62 | |||
| 63 | ✗ | void NAV::BaroSimulator::guiConfig() | |
| 64 | { | ||
| 65 | ✗ | float columnWidth = 140.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 66 | |||
| 67 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level pressure##{}", size_t(id)).c_str(), &_pressure0, 0.0, 0.0, "%.3f hPa")) | |
| 68 | { | ||
| 69 | LOG_DATA("{}: pressure0 changed to {}", nameId(), _pressure0); | ||
| 70 | ✗ | flow::ApplyChanges(); | |
| 71 | } | ||
| 72 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level temperature##{}", size_t(id)).c_str(), &_temp0, 0.0, 0.0, "%.3f K")) | |
| 73 | { | ||
| 74 | LOG_DATA("{}: temo0 changed to {}", nameId(), _temp0); | ||
| 75 | ✗ | flow::ApplyChanges(); | |
| 76 | } | ||
| 77 | ✗ | if (ImGui::InputDouble(fmt::format("Temperature lapse rate##{}", size_t(id)).c_str(), &_lapserate, 0.0, 0.0, "%.6f K / m")) | |
| 78 | { | ||
| 79 | LOG_DATA("{}: lapserate changed to {}", nameId(), _lapserate); | ||
| 80 | ✗ | flow::ApplyChanges(); | |
| 81 | } | ||
| 82 | ✗ | if (ImGui::InputDouble(fmt::format("Geoid undulation##{}", size_t(id)).c_str(), &_geoidhgt, 0.0, 0.0, "%.3f m")) | |
| 83 | { | ||
| 84 | LOG_DATA("{}: geoidhgt changed to {}", nameId(), _geoidhgt); | ||
| 85 | ✗ | flow::ApplyChanges(); | |
| 86 | } | ||
| 87 | ✗ | ImGui::SetNextItemWidth(columnWidth); | |
| 88 | ✗ | if (gui::widgets::EnumCombo(fmt::format("Gravity input##{}", size_t(id)).c_str(), _gravityInput)) | |
| 89 | { | ||
| 90 | LOG_DATA("{}: gravity input changed to {}", nameId(), fmt::underlying(_gravityInput)); | ||
| 91 | ✗ | flow::ApplyChanges(); | |
| 92 | } | ||
| 93 | ✗ | ImGui::SameLine(); | |
| 94 | ✗ | gui::widgets::HelpMarker("The 'position' input calculates the gravity magnitude from EGM96.\n\n"); | |
| 95 | ✗ | if (_gravityInput == GravityInput::Manual) | |
| 96 | { | ||
| 97 | ✗ | if (ImGui::InputDouble(fmt::format("Gravity##{}", size_t(id)).c_str(), &_gravity, 0.0, 0.0, "%.5f m / s²")) | |
| 98 | { | ||
| 99 | LOG_DATA("{}: gravity changed to {}", nameId(), _gravity); | ||
| 100 | ✗ | flow::ApplyChanges(); | |
| 101 | } | ||
| 102 | } | ||
| 103 | else // (_gravityInput == GravityInput::position) | ||
| 104 | { | ||
| 105 | ✗ | if (ImGui::InputDouble3(fmt::format("Position LLA [deg, deg, m]##{}", size_t(id)).c_str(), _initPos.data())) | |
| 106 | { | ||
| 107 | ✗ | flow::ApplyChanges(); | |
| 108 | } | ||
| 109 | } | ||
| 110 | ✗ | if (ImGui::InputDouble(fmt::format("Std. Dev. of Pressure noise##{}", size_t(id)).c_str(), &_pressurenoise, 0.0, 0.0, "%.3f hPa")) | |
| 111 | { | ||
| 112 | ✗ | LOG_DEBUG("{}: pressurenoise changed to {}", nameId(), _pressurenoise); | |
| 113 | ✗ | flow::ApplyChanges(); | |
| 114 | } | ||
| 115 | ✗ | float itemWidth = 470 * gui::NodeEditorApplication::windowFontRatio(); | |
| 116 | ✗ | auto rngInput = [&](const char* title, RandomNumberGenerator& rng) { | |
| 117 | ✗ | float currentCursorX = ImGui::GetCursorPosX(); | |
| 118 | ✗ | if (ImGui::Checkbox(fmt::format("##rng.useSeed {} {}", title, size_t(id)).c_str(), &rng.useSeed)) | |
| 119 | { | ||
| 120 | ✗ | LOG_DEBUG("{}: {} rng.useSeed changed to {}", nameId(), title, rng.useSeed); | |
| 121 | ✗ | flow::ApplyChanges(); | |
| 122 | } | ||
| 123 | ✗ | if (ImGui::IsItemHovered()) { ImGui::SetTooltip("Use seed?"); } | |
| 124 | ✗ | ImGui::SameLine(); | |
| 125 | ✗ | if (!rng.useSeed) | |
| 126 | { | ||
| 127 | ✗ | ImGui::BeginDisabled(); | |
| 128 | } | ||
| 129 | ✗ | ImGui::SetNextItemWidth(itemWidth - (ImGui::GetCursorPosX() - currentCursorX)); | |
| 130 | ✗ | if (ImGui::SliderULong(fmt::format("{} Seed##{}", title, size_t(id)).c_str(), &rng.seed, 0, std::numeric_limits<uint64_t>::max() / 2, "%lu")) | |
| 131 | { | ||
| 132 | ✗ | LOG_DEBUG("{}: {} rng.seed changed to {}", nameId(), title, rng.seed); | |
| 133 | ✗ | flow::ApplyChanges(); | |
| 134 | } | ||
| 135 | ✗ | if (!rng.useSeed) | |
| 136 | { | ||
| 137 | ✗ | ImGui::EndDisabled(); | |
| 138 | } | ||
| 139 | ✗ | }; | |
| 140 | ✗ | rngInput("Pressure Noise seed", _pressureRng); | |
| 141 | ✗ | } | |
| 142 | |||
| 143 | ✗ | bool NAV::BaroSimulator::initialize() | |
| 144 | { | ||
| 145 | LOG_TRACE("{}: called", nameId()); | ||
| 146 | ✗ | if (_gravityInput == GravityInput::Position) | |
| 147 | { | ||
| 148 | ✗ | _gravity = n_calcGravitation_EGM96(_initPos).norm(); | |
| 149 | LOG_DATA("{}: PressToHgt - Local gravity magnitude: {} m/s² at initial position: {} [deg, deg, m]", nameId(), _gravity, _initPos.transpose()); | ||
| 150 | } | ||
| 151 | ✗ | _exponent = _gravity * InsConst::dMtr / InsConst::Rg / _lapserate; | |
| 152 | ✗ | _pressureRng.resetSeed(); | |
| 153 | ✗ | return true; | |
| 154 | } | ||
| 155 | |||
| 156 | ✗ | void NAV::BaroSimulator::deinitialize() | |
| 157 | { | ||
| 158 | LOG_TRACE("{}: called", nameId()); | ||
| 159 | ✗ | } | |
| 160 | |||
| 161 | ✗ | [[nodiscard]] json NAV::BaroSimulator::save() const | |
| 162 | { | ||
| 163 | LOG_TRACE("{}: called", nameId()); | ||
| 164 | |||
| 165 | ✗ | json j; | |
| 166 | |||
| 167 | ✗ | j["temp0"] = _temp0; | |
| 168 | ✗ | j["pressure0"] = _pressure0; | |
| 169 | ✗ | j["lapserate"] = _lapserate; | |
| 170 | ✗ | j["geoidhgt"] = _geoidhgt; | |
| 171 | ✗ | j["gravity"] = _gravity; | |
| 172 | ✗ | j["initPos"] = _initPos; | |
| 173 | ✗ | j["gravityInput"] = _gravityInput; | |
| 174 | ✗ | j["pressurenoise"] = _pressurenoise; | |
| 175 | ✗ | j["pressureRng"] = _pressureRng; | |
| 176 | ✗ | return j; | |
| 177 | ✗ | } | |
| 178 | |||
| 179 | ✗ | void NAV::BaroSimulator::restore(json const& j) | |
| 180 | { | ||
| 181 | LOG_TRACE("{}: called", nameId()); | ||
| 182 | |||
| 183 | ✗ | if (j.contains("temp0")) | |
| 184 | { | ||
| 185 | ✗ | j.at("temp0").get_to(_temp0); | |
| 186 | } | ||
| 187 | ✗ | if (j.contains("pressure0")) | |
| 188 | { | ||
| 189 | ✗ | j.at("pressure0").get_to(_pressure0); | |
| 190 | } | ||
| 191 | ✗ | if (j.contains("lapserate")) | |
| 192 | { | ||
| 193 | ✗ | j.at("lapserate").get_to(_lapserate); | |
| 194 | } | ||
| 195 | ✗ | if (j.contains("geoidhgt")) | |
| 196 | { | ||
| 197 | ✗ | j.at("geoidhgt").get_to(_geoidhgt); | |
| 198 | } | ||
| 199 | ✗ | if (j.contains("gravity")) | |
| 200 | { | ||
| 201 | ✗ | j.at("gravity").get_to(_gravity); | |
| 202 | } | ||
| 203 | ✗ | if (j.contains("initPos")) | |
| 204 | { | ||
| 205 | ✗ | j.at("initPos").get_to(_initPos); | |
| 206 | } | ||
| 207 | ✗ | if (j.contains("gravityInput")) | |
| 208 | { | ||
| 209 | ✗ | j.at("gravityInput").get_to(_gravityInput); | |
| 210 | } | ||
| 211 | ✗ | if (j.contains("pressurenoise")) | |
| 212 | { | ||
| 213 | ✗ | j.at("pressurenoise").get_to(_pressurenoise); | |
| 214 | } | ||
| 215 | ✗ | if (j.contains("pressureRng")) | |
| 216 | { | ||
| 217 | ✗ | j.at("pressureRng").get_to(_pressureRng); | |
| 218 | } | ||
| 219 | ✗ | } | |
| 220 | |||
| 221 | ✗ | void NAV::BaroSimulator::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 222 | { | ||
| 223 | ✗ | auto PosObs = std::static_pointer_cast<const Pos>(queue.extract_front()); | |
| 224 | |||
| 225 | ✗ | auto pressureObs = std::make_shared<BaroPressObs>(); | |
| 226 | |||
| 227 | ✗ | pressureObs->insTime = PosObs->insTime; | |
| 228 | |||
| 229 | ✗ | pressureObs->baro_pressure = _pressure0 * std::pow(1 - _lapserate * (PosObs->altitude() - _geoidhgt) / _temp0, _exponent) + _pressureRng.getRand_normalDist(0.0, _pressurenoise); | |
| 230 | |||
| 231 | ✗ | pressureObs->baro_pressureStdev = _pressurenoise; | |
| 232 | |||
| 233 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_BAROPRESSURE, pressureObs); | |
| 234 | ✗ | } | |
| 235 |