Initial commit

CHANGELOG

+**************************************
+* ARIEL FGS HFS Repository CHANGELOG *
+**************************************
+
+################################################################################
+V0.1:
+4.May, 2022   Gerald Mösenlechner   <gerald.moesenlechner@univie.ac.at>
+
+  Known open issues:
+
+    - HFS does not support centroid delays larger than the integration period of
+      the image. If a larger delay is configured, no centroid packet will be
+      sent, as the centroid is overwritten before it is sent, reseting the
+      delay.
+
+    - The error induced by random spacecraft jitter is only implemented as a
+      gaussian error term that is added at the end, which is configurable. This
+      will be adressed in a future version where the jitter error shall be based
+      of given power spectra.
+
+    - The transition between operating modes and channels is currently
+      implemented as a delay of a single integration period of the old mode
+      before the new mode/channel is applied. This will be changed once more
+      information on the detectors operation is available.
+
+    - The centroids are given with respect to the FBA and FBT reference frame
+      which are both centered on the center of the Detector reference frame.
+      Future version shall allow for configurable offsets between the frames.
+################################################################################

MANUAL

+************************
+* ARIEL FGS HFS MANUAL *
+************************
+
+The FGS HFS is based on the c++ object "FGS" defined in HFS_API.hpp. The
+constructor for this object has following notation:
+
+FGS(const char* config_file)
+
+The config_file is the name and relative path to the xml config file. An example
+of such a file is given in HFS_config.xml
+
+################################################################################
+
+To simulate measurement data, the method set_params is called. This method is
+defined as:
+
+int FGS::set_params(hfs_parameters update, centroid_packet *cent_packet)
+
+################################################################################
+
+The input signal coming from the simulation environment must be given in the
+from of a hfs_parameters struct update. The struct is defined as follows:
+
+  - double position_quat[4]: unit quaterion for the attitude of the SC
+                             (J2000-SC reference frame)
+
+  - double ang_rate[3]: angular rate of the SC in arcsec/s
+
+  - double time: simulation time of the update
+
+  - unsigned int sync_flag: 8Hz Sync flag comming from the environment
+
+  - unsigned int channel: FGS channel to be used (1 or 2)
+
+  - unsigned int save: Flag for generation of xml config file containing the
+                       current status of the HFS, named after the current
+                       simulation time (BEWARE: leaving this flag as 1 will
+                       cause the HFS to continuously generate xml-files)
+
+  - unsigned int reset: Flag to reset the HFS to the original configuration
+
+  - unsigned int set_invalid: Flag to set the validity of all measuremets to false
+
+  - unsigned int mode: Operational mode, defined as an interger due to Simulink
+                       not supporting chars. The equiviliant modes and numbers
+                       are:
+                         1:      Acquisition
+                         2:      Tracking
+                         Other:  Standby (will result in mode 0 in the output)
+
+################################################################################
+
+The HFS will the generate an image and calculate a centroid that will update
+the given output pointer once the simulation time matches the centroid packet
+time-stamp. The output is the pointer centroid_packet *cent_packet which is a
+cnetroid packet struct with following attributes:
+
+    - float x: Star position in x-direction of the FBT in mas
+
+    - float y: Star position in y-direction of the FBT in mas
+
+    - float time: time stamp of the measurement
+
+    - float last_sync: time stamp of the last excepted sync flag
+
+    - int validity_flag: flag if measurement shall be used for correction (0 or 1)
+
+    - float validity_index: Quality metric of the measurement: is either a float
+                            from 0 - 1 for valid measurements or a tree digit
+                            error code. The possible codes are:
+
+                            100: Measurement set to invalid
+                            111: image dimension is set to 0
+                            101: image is constant
+                            102: no star inside the image
+                            103: star is not distinct feature
+                            104: signal is below the given threshold
+                            105: signal sigma is below the given threshold
+                            106: Validity index is below the given threshold
+                            107: No star matched the defined signal
+                                 (Acq only, signal outside of set tolerance)
+
+    - unsigned int magnitude: magnitude of the star in ADU
+
+    - unsigned int channel: configured channel
+
+    - unsigned int mode: configured mode

Makefile

+ifeq ($(OS), Windows_NT)
+	DLLEXT := .dll
+else
+	DLLEXT := .so
+endif
+
+CC = gcc
+CFLAGS += -fPIC -shared -lm -lfftw3 -fopenmp -O3 -lfftw3_omp -Wall -Werror
+SRC_DIR = $(shell pwd)/src
+TEST_DIR = $(shell pwd)/test
+DEST_DIR = $(shell pwd)/src
+INCLUDE_DIR = $(shell pwd)/src
+
+TESTS = $(TEST_DIR)/HFSTest.o $(TEST_DIR)/HFSTestMain.o
+
+LIBRARIES = $(DEST_DIR)/libutilities$(DLLEXT) $(DEST_DIR)/libdetector_features$(DLLEXT) $(DEST_DIR)/libfcu_algorithms$(DLLEXT)
+TARGET_API = $(DEST_DIR)/libHFS_API$(DLLEXT)
+
+$(LIBRARIES): $(DEST_DIR)/lib%$(DLLEXT): $(SRC_DIR)/%.c
+	$(CC) $< -shared -o $@ $(CFLAGS)
+
+$(TARGET_API): $(DEST_DIR)/lib%$(DLLEXT): $(SRC_DIR)/%.cpp
+	$(CC) $< -shared -o $@ -L$(SRC_DIR) -lfcu_algorithms -lutilities -ldetector_features -ltinyxml2 -fopenmp -O3 -lstdc++ -xc++ -fPIC -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+$(TESTS): $(TEST_DIR)/%.o: $(TEST_DIR)/%.cpp
+	g++ -c $< -o $@ -L$(SRC_DIR) -lHFS_API -lcppunit -ltinyxml2 -lstdc++ -Wall -Wl,-rpath=$(SRC_DIR)
+
+API_Test: $(TEST_DIR)/HFSTest.o $(TEST_DIR)/HFSTestMain.o
+	g++ $(TEST_DIR)/HFSTestMain.o $(TEST_DIR)/HFSTest.o -o $(TEST_DIR)/API_Test -L$(SRC_DIR) -lHFS_API -lcppunit -ltinyxml2 -lstdc++ -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+example: $(TEST_DIR)/example.cpp
+	g++ $(TEST_DIR)/example.cpp -o ./example.out -L$(SRC_DIR) -lHFS_API -ltinyxml2 -lstdc++ -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+scan:
+	@echo "+-----------------------+"
+	@echo "| running static checks |"
+	@echo "+-----------------------+"
+	@echo
+
+	@echo "1. CLANG"
+	scan-build -V make all
+
+	@echo "+--------------------------------+"
+	@echo "| finished running static checks |"
+	@echo "+--------------------------------+"
+	@echo
+
+	@echo "+--------------------+"
+	@echo "| running unit tests |"
+	@echo "+--------------------+"
+	@echo
+
+	make API_Test
+	$(TEST_DIR)/API_Test
+
+	@echo "+---------------------+"
+	@echo "| finished unit tests |"
+	@echo "+---------------------+"
+	@echo
+
+
+all: $(LIBRARIES) $(TARGET_API)
+	@echo "finished building all targets"
+
+.PHONY: clean
+clean:
+	-${RM} $(SRC_DIR)/*.so
+	-${RM} $(TEST_DIR)/*.o
+	-${RM} example.out

Makefile_Centos

+ifeq ($(OS), Windows_NT)
+	DLLEXT := .dll
+else
+	DLLEXT := .so
+endif
+
+CC = gcc
+CFLAGS += -fPIC -shared -lm -lfftw3 -fopenmp -O3 -lfftw3_omp -Wall -Werror
+SRC_DIR = $(shell pwd)/src
+TEST_DIR = $(shell pwd)/test
+DEST_DIR = $(shell pwd)/src
+INCLUDE_DIR = $(shell pwd)/src
+
+TESTS = $(TEST_DIR)/HFSTest.o $(TEST_DIR)/HFSTestMain.o
+
+LIBRARIES = $(DEST_DIR)/libutilities$(DLLEXT) $(DEST_DIR)/libdetector_features$(DLLEXT) $(DEST_DIR)/libfcu_algorithms$(DLLEXT)
+TARGET_API = $(DEST_DIR)/libHFS_API$(DLLEXT)
+
+$(LIBRARIES): $(DEST_DIR)/lib%$(DLLEXT): $(SRC_DIR)/%.c
+	$(CC) $< -shared -o $@ $(CFLAGS)
+
+$(TARGET_API): $(DEST_DIR)/lib%$(DLLEXT): $(SRC_DIR)/%.cpp
+	$(CC) $< -shared -o $@ -L$(SRC_DIR) -lfcu_algorithms -lutilities -ldetector_features -l:libtinyxml2.so.2 -lstdc++ -xc++ -fPIC -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+$(TESTS): $(TEST_DIR)/%.o: $(TEST_DIR)/%.cpp
+	g++ -c $< -o $@ -L$(SRC_DIR) -lHFS_API -lcppunit -l:libtinyxml2.so.2 -lstdc++ -Wall -Wl,-rpath=$(SRC_DIR)
+
+API_Test: $(TEST_DIR)/HFSTest.o $(TEST_DIR)/HFSTestMain.o
+	g++ $(TEST_DIR)/HFSTestMain.o $(TEST_DIR)/HFSTest.o -o $(TEST_DIR)/API_Test -L$(SRC_DIR) -lHFS_API -lcppunit -l:libtinyxml2.so.2 -lstdc++ -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+example: $(TEST_DIR)/example.cpp
+	g++ $(TEST_DIR)/example.cpp -o ./example.out -L$(SRC_DIR) -lHFS_API -l:libtinyxml2.so.2 -lstdc++ -Wall -Werror -Wl,-rpath=$(SRC_DIR)
+
+scan:
+	@echo "+-----------------------+"
+	@echo "| running static checks |"
+	@echo "+-----------------------+"
+	@echo
+
+	@echo "1. CLANG"
+	scan-build -V make all
+
+	@echo "+--------------------------------+"
+	@echo "| finished running static checks |"
+	@echo "+--------------------------------+"
+	@echo
+
+	@echo "+--------------------+"
+	@echo "| running unit tests |"
+	@echo "+--------------------+"
+	@echo
+
+	make API_Test
+	$(TEST_DIR)/API_Test
+
+	@echo "+---------------------+"
+	@echo "| finished unit tests |"
+	@echo "+---------------------+"
+	@echo
+
+
+all: $(LIBRARIES) $(TARGET_API)
+	@echo "finished building all targets"
+
+.PHONY: clean
+clean:
+	-${RM} $(SRC_DIR)/*.so
+	-${RM} $(TEST_DIR)/*.o
+	-${RM} example.out

Quaternion_Calculator.py

+"""
+file    calculate_quaternion.py
+author  Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
+date    May, 2022
+
+Copyright
+---------
+This program is free software; you can redistribute it and/or modify it
+under the terms and conditions of the GNU General Public License,
+version 2, as published by the Free Software Foundation.
+
+This program is distributed in the hope it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more details.
+
+Brief
+-----
+Small command line tool for calculation of a quaternion
+
+Overview
+--------
+This python script takes the star-name as given in the catalouge as a command
+line input and calculates the quaternion needed to place the star in the center
+of the detector. Requires pandas and numpy
+"""
+
+import numpy as np
+import pandas as pd
+import sys
+
+def dot(vec1, vec2):
+    if len(vec1) != len(vec2):
+        raise Exception("Vectors must have the same size")
+    sum = 0
+    for i in range(len(vec1)):
+        sum += vec1[i]*vec2[i]
+
+    return sum
+
+def cross3d(vec1, vec2):
+    if len(vec1) != len(vec2):
+        raise Exception("Vectors must have the same size")
+
+    output = np.zeros(3)
+    output[0] = vec1[1]*vec2[2] - vec1[2]*vec2[1]
+    output[1] = vec1[2]*vec2[0] - vec1[0]*vec2[2]
+    output[2] = vec1[0]*vec2[1] - vec1[1]*vec2[0]
+
+    return output
+
+def norm(vec):
+
+    sum = 0
+    for i in range(len(vec)):
+        sum += vec[i]**2
+
+    return np.sqrt(sum)
+
+
+def mult_quaternion(q1, q2):
+
+    q_out = np.zeros(4)
+
+    q_out[0] = q1[0]*q2[0] + dot(q1,q2)
+    vec = q1[0]*q2[1:] + q2[0]*q1[1:] + cross3d(q1[1:], q2[1:])
+
+    q_out[1] = vec[0]
+    q_out[2] = vec[1]
+    q_out[3] = vec[2]
+
+    return q_out
+
+
+def calc_quaternion(star, sc):
+
+    quaternion_vector = cross3d(sc, star)
+
+    quaternion = np.zeros(4)
+
+    quaternion[0] = norm(sc)*norm(star)+dot(sc, star)
+    quaternion[1] = quaternion_vector[0]
+    quaternion[2] = quaternion_vector[1]
+    quaternion[3] = quaternion_vector[2]
+
+    quaternion = quaternion/norm(quaternion)
+
+    return quaternion
+
+if __name__ == "__main__":
+    star_cat = pd.read_csv("./src/Star_catalouge.csv")
+    id = sys.argv[1]
+
+    star = star_cat.loc[star_cat['Name'] == id]
+    print("Quaternion for Star:", id)
+    star_vec = np.array((np.cos(star.dec)*np.cos(star.ra), np.cos(star.dec)*np.sin(star.ra), np.sin(star.dec)))
+
+    sc_vec = np.array((1.00000197, 0, -0.00017)) #target sc-vector
+
+    quat = calc_quaternion(sc_vec, star_vec)
+
+    print("\ts  =", quat[0])
+    print("\tv1 =", quat[1])
+    print("\tv2 =", quat[2])
+    print("\tv3 =", quat[3])
+
+    print("Expected Signals:")
+    print("\tFGS1:")
+    print("\t\tTracking:", float(star.FGS1*0.125))
+    print("\t\tAcquisition:", float(star.FGS1*0.5))
+    print("\tFGS2:")
+    print("\t\tTracking:", float(star.FGS2*0.125))
+    print("\t\tAcquisition:", float(star.FGS2*0.5))

README

+****************************
+* ARIEL FGS HFS Repository *
+****************************
+
+This repository contains the HFS, the simulator SW used to simulate the
+behaviour of the FGS IASW for the AOCS closed loop test.
+
+Files:
+
+    src/detector_features ........... Library for detector simulation (.c/.h)
+    src/utilities ................... Utility functions used by HFS (.c/.h)
+    src/fcu_algorithms .............. Implementation of IASW methods and algorithms (.c/.h)
+    src/HFS_API ..................... Main simulator and interface (.cpp/.hpp)
+    src/HFS_bus.mat ................. Simulink bus object definitions for HFS
+    src/HFS.config.xml .............. Config file for the HFS
+    src/Star_catalouge.csv .......... Catalouge containing the star data
+    matlab_model/HFS_Wrapper ........ Simulink implementation example using legacy code tools (.cpp/.hpp/.m)
+    matlab_model/Example_model.slx .. Simulink example showing the bus usage
+    test/HFSTest .................... Unit tests for the HFS library (.cpp/.hpp)
+    test/example.cpp ................ Example script showing the function of the library
+    Quaternion_Calulator.pxy ........ Python command-line tool for quaternion determination
+    CHANGELOG
+    README
+    MANUAL
+
+
+Dependencies:
+
+  - tinyxml2 (2.6.2)
+  - fftw3-devel (3.3.3)
+  - openmpi-devel (1.10.7)
+  - cppunit (optional, needed by unit tests)
+  - doxygen (optional, needed by documenation)
+  - plantuml (optional, needed by documentation)
+  - python numpy (optional, needed by Quaternion_Calulator)
+  - python pandas (optional, needed by Quaternion_Calulator)
+
+Build Library on CentOs 7.9
+  > make all -f Makefile_Centos
+
+Run example:
+  > make example -f Makefile_Centos
+  > ./example.out
+
+Build S-Function block example:
+  Build library:
+  > make all -f Makefile_Centos
+  Run HFS_Wrapper.m in Matlab
+
+Run Quaternion_Calulator:
+  > python3 Quaternion_Calulator.py TARGET_STAR_ID
+
+The software provided here is ©University of Vienna.
+
+
+GM 5.May, 2022

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doc/README

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matlab_model/HFS_Wrapper.cpp

+/**
+* @file    HFS_Wrapper.cpp
+* @author  Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
+* @date    May, 2022
+*
+* @copyright
+* This program is free software; you can redistribute it and/or modify it
+* under the terms and conditions of the GNU General Public License,
+* version 2, as published by the Free Software Foundation.
+*
+* This program is distributed in the hope it will be useful, but WITHOUT
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+* FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+* more details.
+* @brief Code for the Matlab Simulink S-function implementation example
+*
+*
+* ## Overview
+* This file contains functions to be used for the implementation of the HFS
+* using the Matlab legacy code tool
+*
+*/
+
+#include "../src/HFS_API.hpp"
+
+FGS* fgsSim;
+
+/**
+ * @brief Method to be used in legacy code tool of Matlab for creating FGS obj.
+ *
+ * @param config: Configuration file
+ *
+ */
+
+void createFGS()
+{
+  fgsSim = new FGS("./HFS_config_model.xml");
+}
+
+/**
+ * @brief Method to be used in legacy code tool of Matlab for deleting FGS obj.
+ *
+ */
+
+void deleteFGS()
+{
+  delete fgsSim;
+}
+
+/**
+ * @brief Method to be used in legacy code tool of Matlab
+ *
+ * @param fgs: FGS object to store state of simulation
+ * @param update: hfs parameters for update of state
+ *
+ * @return centroid packet containing the measurement
+ */
+
+void updateFGS(hfs_parameters *update, centroid_packet *output)
+{
+  hfs_parameters u_new;
+  
+  u_new.mode = update -> mode;
+  u_new.channel = update -> channel;
+  u_new.ang_rate[0] = update -> ang_rate[0];
+  u_new.ang_rate[1] = update -> ang_rate[1];
+  u_new.ang_rate[2] = update -> ang_rate[2];
+  u_new.position_quat[0] = update -> position_quat[0];
+  u_new.position_quat[1] = update -> position_quat[1];
+  u_new.position_quat[2] = update -> position_quat[2];
+  u_new.position_quat[3] = update -> position_quat[3];
+  u_new.time = update -> time;
+  u_new.reset = update -> reset;
+  u_new.save = update -> save;
+  u_new.set_invalid = update -> set_invalid;
+  u_new.sync_flag = update -> sync_flag;
+  
+  fgsSim -> set_params(u_new, output);
+     
+}

matlab_model/HFS_Wrapper.hpp

+#include "../src/HFS_API.hpp"
+
+extern FGS *fgsSim;
+
+extern void createFGS();
+
+extern void deleteFGS();
+
+extern void updateFGS(hfs_parameters*, centroid_packet*);