templateController.cpp

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/************************************************************************************************/
/*! \file templateController.cpp
*  \brief A template file to run an attitude control simulation on Whrol-I and II. The specific 
*               controller and observer are specified in the configuration file (.xml).
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.1 $
*  \date    $Date: 2007/07/24 10:36:52 $
************************************************************************************************/
/*!
*
************************************************************************************************/

// Standard System includes
#include <iostream.h>
#include <iomanip.h>
#include <fstream.h>

// Simulator Interface Includes
#include "Base/Whorl.h"
#include "Base/WhorlSim.h"
#include "Logging/WhorlHistory.h"

// XML Parser Include
#include <dsacssinterface.h>

using namespace O_SESSAME;

// Specify Xml File to Parse
const char *fileName = "./DSACSSConfig.xml";

int main()
{


        /******************************************************************
        *  Load Configuration Parameters from xml file 
        *******************************************************************/
        // Declare TiXmlDocument
        TiXmlDocument config( fileName );
        // Load Xml File
        bool loadOkay = config.LoadFile();
        checkLoadFile(loadOkay, fileName, config);
        // Declare TiXmlHandle
        TiXmlHandle docHandle( &config );

        /******************************************************************
        * Setup Hardware-in-the-loop Attitude Simualation
        *******************************************************************/

        /* Setup WhorlHistory to collect data. Note must be changed for 
        each simulator. */
        WhorlHistory WhorlData( docHandle, "WHORL-I" );
        
        /* Create Whorl Object */
        Whorl whorlOne;
        /* Initialize Whorl Object */
        whorlOne.Initialize( docHandle );

        /* Create WhorlSim Object */
        WhorlSim whorlOneSim( &whorlOne );
        /* Initialize WhorlSim Object */
        whorlOneSim.Initialize( docHandle );

        /* Setup Time values */
        ssfTime currentTime;

        /* Setup Vectors */
        Vector attitudeState(7);
        Vector attitudeControl(3);
        Vector MRP(3);
        Vector referenceAttitudeState(7);
        Vector referenceMRP(3);
        Vector controlError(6);
        
        /******************************************************************
        * Run Attitude Control Simulation 
        *******************************************************************/
        cerr << "\n--------------------------------------------------------------" << endl;
        cerr << "Start of Program " << endl;
        cerr << "--------------------------------------------------------------" << endl;

        for ( int ii = 0; ii <= 200 ; ii++ ) 
        {
                /* Get Current attitude state */
                whorlOneSim.Observe();
        
                /* Control based on attitude state */
                whorlOneSim.Control();

                /* Get Current Time */
                currentTime = Now( );           

                /* Get attitude state vector (7x1) [ quaternion, angular rates [rad/s] ] */
                attitudeState = whorlOne.GetState( );

                /* Get attitude Control vector (3x1) [N-m]*/
                attitudeControl = whorlOne.GetControl( );
                
                /* Get MRP vector */
                MRP = whorlOne.GetMRP( );

                /* Get reference attitude state (7x1) */
                referenceAttitudeState( _(1,4) ) = whorlOne.GetReferenceQuaternion( );
                referenceAttitudeState( _(5,7) ) = whorlOne.GetReferenceOmegaBL( );
                referenceMRP = whorlOne.GetReferenceMRP( );

                /* Get control error */
                controlError = whorlOne.GetControlError( );

                cerr << "Error Vector: " << ~controlError << endl;

                /* Save data to file specified in configuration file */
                WhorlData.AppendHistory( currentTime, attitudeState, attitudeControl, MRP, 
                        referenceAttitudeState, referenceMRP, controlError );
        
                /* Pause */
                usleep( 500000 );
        };

        cout << "END of program " << endl;

        return( 0 );
}


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: templateController.cpp,v $
*       Revision 1.1  2007/07/24 10:36:52  jayhawk_hokie
*       Initial Submission.
*
*
*
*
******************************************************************************/

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