SunlineSRuKF Wrapper Component

src/components/sunline_srukf/component-sunline_srukf-implementation.adb

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+--------------------------------------------------------------------------------
+-- Sunline_Srukf Component Implementation Body
+--------------------------------------------------------------------------------
+
+with Nav_Att.C;
+with Sunline_Srukf_Input.C;
+with Sunline_Srukf_Output.C;
+with Sunline_Srukf_Algorithm_C; use Sunline_Srukf_Algorithm_C;
+with Algorithm_Wrapper_Util;
+
+package body Component.Sunline_Srukf.Implementation is
+
+   --------------------------------------------------
+   -- Subprogram for implementation init method:
+   --------------------------------------------------
+   -- Initializes the sunline SRuKF algorithm.
+   overriding procedure Init (Self : in out Instance) is
+      pragma Unreferenced (Self);
+   begin
+      -- Stateless algorithm, nothing to initialize.
+      null;
+   end Init;
+
+   ---------------------------------------
+   -- Invokee connector primitives:
+   ---------------------------------------
+   -- Run the algorithm up to the current time.
+   overriding procedure Tick_T_Recv_Sync (Self : in out Instance; Arg : in Tick.T) is
+      use Data_Product_Enums;
+      use Data_Product_Enums.Data_Dependency_Status;
+      use Algorithm_Wrapper_Util;
+
+      -- Grab data dependencies:
+      Sc_Att : Nav_Att.T;
+      Sc_Att_Status : constant Data_Dependency_Status.E :=
+         Self.Get_Spacecraft_Attitude (Value => Sc_Att, Stale_Reference => Arg.Time);
+   begin
+      if Is_Dep_Status_Success (Sc_Att_Status) then
+         -- Call algorithm:
+         declare
+            Sc_Att_C : constant Nav_Att.C.U_C := Nav_Att.C.To_C (Nav_Att.Unpack (Sc_Att));
+
+            -- Build algorithm input from nav att data:
+            Input_C : aliased Sunline_Srukf_Input.C.U_C := (
+               Time_Tag        => Sc_Att_C.Time_Tag,
+               Sigma_Bn        => Sc_Att_C.Sigma_Bn,
+               Omega_Bn_B      => Sc_Att_C.Omega_Bn_B,
+               Veh_Sun_Pnt_Bdy => Sc_Att_C.Veh_Sun_Pnt_Bdy,
+               N_Css           => 0,
+               Cos_Values      => [others => 0.0]
+            );
+
+            -- Call the C algorithm:
+            Output_C : constant Sunline_Srukf_Output.C.U_C := Update_State (
+               Input => Input_C'Unchecked_Access
+            );
+         begin
+            -- Send out data product:
+            Self.Data_Product_T_Send (Self.Data_Products.Sunline_Srukf_State (
+               Arg.Time,
+               Sunline_Srukf_Output.Pack (Sunline_Srukf_Output.C.To_Ada (Output_C))
+            ));
+         end;
+      end if;
+   end Tick_T_Recv_Sync;
+
+   -----------------------------------------------
+   -- Data dependency handlers:
+   -----------------------------------------------
+   -- Description:
+   --    Data dependencies for the Sunline SRuKF component.
+   -- Invalid data dependency handler. This procedure is called when a data dependency's id or length are found to be invalid:
+   overriding procedure Invalid_Data_Dependency (Self : in out Instance; Id : in Data_Product_Types.Data_Product_Id; Ret : in Data_Product_Return.T) is
+      pragma Annotate (GNATSAS, Intentional, "subp always fails", "intentional assertion");
+   begin
+      -- None of the data dependencies should be invalid in this case.
+      pragma Assert (False);
+   end Invalid_Data_Dependency;
+
+end Component.Sunline_Srukf.Implementation;

src/components/sunline_srukf/component-sunline_srukf-implementation.ads

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+--------------------------------------------------------------------------------
+-- Sunline_Srukf Component Implementation Spec
+--------------------------------------------------------------------------------
+
+-- Includes:
+with Tick;
+
+-- Sunline SRuKF pass-through algorithm wrapping the C++ SunlineSRuKFAlgorithm.
+package Component.Sunline_Srukf.Implementation is
+
+   -- The component class instance record:
+   type Instance is new Sunline_Srukf.Base_Instance with private;
+
+   --------------------------------------------------
+   -- Subprogram for implementation init method:
+   --------------------------------------------------
+   -- Initializes the sunline SRuKF algorithm.
+   overriding procedure Init (Self : in out Instance);
+
+private
+
+   -- The component class instance record:
+   type Instance is new Sunline_Srukf.Base_Instance with record
+      null;
+   end record;
+
+   ---------------------------------------
+   -- Set Up Procedure
+   ---------------------------------------
+   -- Null method which can be implemented to provide some component
+   -- set up code. This method is generally called by the assembly
+   -- main.adb after all component initialization and tasks have been started.
+   -- Some activities need to only be run once at startup, but cannot be run
+   -- safely until everything is up and running, ie. command registration, initial
+   -- data product updates. This procedure should be implemented to do these things
+   -- if necessary.
+   overriding procedure Set_Up (Self : in out Instance) is null;
+
+   ---------------------------------------
+   -- Invokee connector primitives:
+   ---------------------------------------
+   -- Run the algorithm up to the current time.
+   overriding procedure Tick_T_Recv_Sync (Self : in out Instance; Arg : in Tick.T);
+
+   ---------------------------------------
+   -- Invoker connector primitives:
+   ---------------------------------------
+   -- This procedure is called when a Data_Product_T_Send message is dropped due to a full queue.
+   overriding procedure Data_Product_T_Send_Dropped (Self : in out Instance; Arg : in Data_Product.T) is null;
+
+   -----------------------------------------------
+   -- Data dependency primitives:
+   -----------------------------------------------
+   -- Description:
+   --    Data dependencies for the Sunline SRuKF component.
+   -- Function which retrieves a data dependency.
+   -- The default implementation is to simply call the Data_Product_Fetch_T_Request connector. Change the implementation if this component
+   -- needs to do something different.
+   overriding function Get_Data_Dependency (Self : in out Instance; Id : in Data_Product_Types.Data_Product_Id) return Data_Product_Return.T is (Self.Data_Product_Fetch_T_Request ((Id => Id)));
+
+   -- Invalid data dependency handler. This procedure is called when a data dependency's id or length are found to be invalid:
+   overriding procedure Invalid_Data_Dependency (Self : in out Instance; Id : in Data_Product_Types.Data_Product_Id; Ret : in Data_Product_Return.T);
+
+end Component.Sunline_Srukf.Implementation;

src/components/sunline_srukf/sunline_srukf.component.yaml

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+---
+description: Sunline SRuKF pass-through algorithm wrapping the C++ SunlineSRuKFAlgorithm.
+execution: passive
+init:
+  description: Initializes the sunline SRuKF algorithm.
+connectors:
+  - description: Run the algorithm up to the current time.
+    type: Tick.T
+    kind: recv_sync
+  - description: Fetch a data product item from the database.
+    type: Data_Product_Fetch.T
+    return_type: Data_Product_Return.T
+    kind: request
+  - description: The data product invoker connector
+    type: Data_Product.T
+    kind: send

src/components/sunline_srukf/sunline_srukf.data_dependencies.yaml

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+---
+description: Data dependencies for the Sunline SRuKF component.
+data_dependencies:
+  - name: Spacecraft_Attitude
+    type: Nav_Att.T
+    description: Spacecraft attitude navigation state (sigma_BN, omega_BN_B, vehSunPntBdy, timeTag)

src/components/sunline_srukf/sunline_srukf.data_products.yaml

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+---
+description: Data products for the Sunline SRuKF component.
+data_products:
+  - name: Sunline_Srukf_State
+    type: Sunline_Srukf_Output.T
+    description: Output state from the sunline SRuKF algorithm (timeTag, sigma_BN, omega_BN_B, vehSunPntBdy).

src/components/sunline_srukf/sunline_srukf_algorithm_c.ads

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+pragma Ada_2012;
+
+pragma Style_Checks (Off);
+pragma Warnings     (Off, "-gnatwu");
+
+with Interfaces.C; use Interfaces; use Interfaces.C;
+with Sunline_Srukf_Input.C;
+with Sunline_Srukf_Output.C;
+
+package Sunline_Srukf_Algorithm_C is
+
+   -- MAX_NUM_CSS must match the #define in sunlineSRuKFAlgorithm_c.h:12
+   -- Re-run h2ads if the C header changes to regenerate this binding
+   MAX_NUM_CSS : constant := 32;
+
+   --* @brief Get the maximum number of CSS sensors.
+   --* @return The maximum CSS count (SUNLINE_SRUKF_MAX_NUM_CSS).
+   function Get_Max_Num_Css
+     return Unsigned_32
+     with Import       => True,
+          Convention   => C,
+          External_Name => "SunlineSRuKFAlgorithm_getMaxNumCss";
+
+   -- Runtime validation: ensure Ada constant matches C definition
+   pragma Assert (Unsigned_32 (MAX_NUM_CSS) = Get_Max_Num_Css);
+
+   --* @brief Run the sunline SRuKF update step (stateless).
+   --* @param Input Pointer to the input structure (read-only).
+   --* @return The computed output.
+   function Update_State
+     (Input : Sunline_Srukf_Input.C.U_C_Access)
+     return Sunline_Srukf_Output.C.U_C
+     with Import       => True,
+          Convention   => C,
+          External_Name => "SunlineSRuKFAlgorithm_updateState";
+
+end Sunline_Srukf_Algorithm_C;
+
+pragma Style_Checks (On);
+pragma Warnings     (On, "-gnatwu");

src/components/sunline_srukf/test/component-sunline_srukf-implementation-tester.adb

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+--------------------------------------------------------------------------------
+-- Sunline_Srukf Component Tester Body
+--------------------------------------------------------------------------------
+
+package body Component.Sunline_Srukf.Implementation.Tester is
+
+   ---------------------------------------
+   -- Initialize heap variables:
+   ---------------------------------------
+   procedure Init_Base (Self : in out Instance) is
+   begin
+      -- Initialize tester heap:
+      -- Connector histories:
+      Self.Data_Product_Fetch_T_Service_History.Init (Depth => 100);
+      Self.Data_Product_T_Recv_Sync_History.Init (Depth => 100);
+      -- Data product histories:
+      Self.Sunline_Srukf_State_History.Init (Depth => 100);
+   end Init_Base;
+
+   procedure Final_Base (Self : in out Instance) is
+   begin
+      -- Destroy tester heap:
+      -- Connector histories:
+      Self.Data_Product_Fetch_T_Service_History.Destroy;
+      Self.Data_Product_T_Recv_Sync_History.Destroy;
+      -- Data product histories:
+      Self.Sunline_Srukf_State_History.Destroy;
+   end Final_Base;
+
+   ---------------------------------------
+   -- Test initialization functions:
+   ---------------------------------------
+   procedure Connect (Self : in out Instance) is
+   begin
+      Self.Component_Instance.Attach_Data_Product_Fetch_T_Request (To_Component => Self'Unchecked_Access, Hook => Self.Data_Product_Fetch_T_Service_Access);
+      Self.Component_Instance.Attach_Data_Product_T_Send (To_Component => Self'Unchecked_Access, Hook => Self.Data_Product_T_Recv_Sync_Access);
+      Self.Attach_Tick_T_Send (To_Component => Self.Component_Instance'Unchecked_Access, Hook => Self.Component_Instance.Tick_T_Recv_Sync_Access);
+   end Connect;
+
+   -- Helper function for returning data dependencies:
+   function Return_Data_Dependency (Self : in out Instance; Arg : in Data_Product_Fetch.T) return Data_Product_Return.T is
+      use Data_Product_Types;
+      use Data_Product_Enums.Fetch_Status;
+      use Sys_Time;
+      -- Set default return values. These will be overridden below based on test configuration and
+      -- the ID requested.
+      Id_To_Return : Data_Product_Types.Data_Product_Id := Self.Data_Dependency_Return_Id_Override;
+      Length_To_Return : Data_Product_Types.Data_Product_Buffer_Length_Type := Self.Data_Dependency_Return_Length_Override;
+      Return_Status : Data_Product_Enums.Fetch_Status.E := Self.Data_Dependency_Return_Status_Override;
+      Buffer_To_Return : Data_Product_Types.Data_Product_Buffer_Type;
+      Time_To_Return : Sys_Time.T := Self.Data_Dependency_Timestamp_Override;
+   begin
+      -- Determine return data product ID:
+      if Id_To_Return = 0 then
+         case Arg.Id is
+            -- ID for Spacecraft_Attitude:
+            when 0 => Id_To_Return := 0;
+            -- If ID can not be found, then return ID out of range error.
+            when others =>
+               if Return_Status = Data_Product_Enums.Fetch_Status.Success then
+                  Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
+               end if;
+         end case;
+      end if;
+
+      -- Determine return data product length:
+      if Length_To_Return = 0 then
+         case Arg.Id is
+            -- Length for Spacecraft_Attitude:
+            when 0 => Length_To_Return := Nav_Att.Size_In_Bytes;
+            -- If ID can not be found, then return ID out of range error.
+            when others =>
+               if Return_Status = Data_Product_Enums.Fetch_Status.Success then
+                  Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
+               end if;
+         end case;
+      end if;
+
+      -- Determine return timestamp:
+      if Time_To_Return = (0, 0) then
+         Time_To_Return := Self.System_Time;
+      end if;
+
+      -- Fill the data product buffer:
+      if Return_Status = Data_Product_Enums.Fetch_Status.Success then
+         case Arg.Id is
+            -- Length for Spacecraft_Attitude:
+            when 0 =>
+               Buffer_To_Return (Buffer_To_Return'First .. Buffer_To_Return'First + Nav_Att.Size_In_Bytes - 1) :=
+                  Nav_Att.Serialization.To_Byte_Array (Self.Spacecraft_Attitude);
+            -- Do not fill. The ID is not recognized.
+            when others =>
+               Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
+         end case;
+      end if;
+
+      -- Return the data product with the status:
+      return (
+         The_Status => Return_Status,
+         The_Data_Product => (
+            Header => (
+               Time => Time_To_Return,
+               Id => Id_To_Return,
+               Buffer_Length => Length_To_Return
+            ),
+            Buffer => Buffer_To_Return
+         )
+      );
+   end Return_Data_Dependency;
+
+   ---------------------------------------
+   -- Invokee connector primitives:
+   ---------------------------------------
+   -- Fetch a data product item from the database.
+   overriding function Data_Product_Fetch_T_Service (Self : in out Instance; Arg : in Data_Product_Fetch.T) return Data_Product_Return.T is
+      To_Return : constant Data_Product_Return.T := Self.Return_Data_Dependency (Arg);
+   begin
+      -- Push the argument onto the test history for looking at later:
+      Self.Data_Product_Fetch_T_Service_History.Push (Arg);
+      return To_Return;
+   end Data_Product_Fetch_T_Service;
+
+   -- The data product invoker connector
+   overriding procedure Data_Product_T_Recv_Sync (Self : in out Instance; Arg : in Data_Product.T) is
+   begin
+      -- Push the argument onto the test history for looking at later:
+      Self.Data_Product_T_Recv_Sync_History.Push (Arg);
+      -- Dispatch the data product to the correct handler:
+      Self.Dispatch_Data_Product (Arg);
+   end Data_Product_T_Recv_Sync;
+
+   -----------------------------------------------
+   -- Data product handler primitive:
+   -----------------------------------------------
+   -- Description:
+   --    Data products for the Sunline SRuKF component.
+   -- Output state from the sunline SRuKF algorithm (timeTag, sigma_BN, omega_BN_B,
+   -- vehSunPntBdy).
+   overriding procedure Sunline_Srukf_State (Self : in out Instance; Arg : in Sunline_Srukf_Output.T) is
+   begin
+      -- Push the argument onto the test history for looking at later:
+      Self.Sunline_Srukf_State_History.Push (Arg);
+   end Sunline_Srukf_State;
+
+end Component.Sunline_Srukf.Implementation.Tester;