Update for s2e v8

README.md

@@ -32,5 +32,5 @@ This repository provides the following samples.
 
 ## How to use this branch
 
-- This branch is a sample code for [How To Make New Simulation Scenario](https://github.com/ut-issl/s2e-documents/blob/develop/Tutorials/HowToMakeNewSimulationScenario.md) in the `s2e-documents`.
+- This branch is a sample code for [How To Make New Components](https://github.com/ut-issl/s2e-documents/blob/develop/Tutorials/HowToMakeNewComponents.md) in the `s2e-documents`.
 - Please follow the tutorial to learn how to use the sample code.

settings/user_satellite/components/clock_sensor.ini

@@ -0,0 +1,3 @@
+[ClockSensor]
+prescaler = 10  // period = prescaler * CompoUpdateIntervalSec [s]
+bias_s = 0.005  // [s]

settings/user_satellite/satellite.ini

@@ -147,3 +147,4 @@ structure_file = SETTINGS_DIR_FROM_EXE/user_satellite/structure.ini
 
 [COMPONENT_FILES]
 // Users can add the path for component initialize files here.
+clock_sensor_file = SETTINGS_DIR_FROM_EXE/user_satellite/components/clock_sensor.ini

src/components/clock_sensor.cpp

@@ -0,0 +1,44 @@
+/**
+ * @file clock_sensor.cpp
+ * @brief An example to emulate a sensor to measure simulation elapsed time
+ */
+
+#include "clock_sensor.hpp"
+
+#include <setting_file_reader/initialize_file_access.hpp>
+
+ClockSensor::ClockSensor(const int prescaler, s2e::environment::ClockGenerator* clock_generator,
+                         const s2e::environment::SimulationTime& simulation_time, const double bias_s)
+    : Component(prescaler, clock_generator), simulation_time_(simulation_time), bias_s_(bias_s), time_output_s_(0.0) {}
+
+void ClockSensor::MainRoutine(const int time_count) {
+  UNUSED(time_count);
+  time_output_s_ = simulation_time_.GetElapsedTime_s() + bias_s_;
+}
+
+std::string ClockSensor::GetLogHeader() const {
+  std::string str_tmp = "";
+  std::string section = "clock_sensor_";
+  str_tmp += s2e::logger::WriteScalar(section + "observed_time", "sec");
+
+  return str_tmp;
+}
+
+std::string ClockSensor::GetLogValue() const {
+  std::string str_tmp = "";
+
+  str_tmp += s2e::logger::WriteScalar(time_output_s_);
+
+  return str_tmp;
+}
+
+ClockSensor InitClockSensor(s2e::environment::ClockGenerator* clock_generator, const s2e::environment::SimulationTime& simulation_time,
+                            const std::string file_name) {
+  s2e::setting_file_reader::IniAccess ini_file(file_name);
+
+  const double bias_s = ini_file.ReadDouble("ClockSensor", "bias_s");
+  const int prescaler = ini_file.ReadInt("ClockSensor", "prescaler");
+  ClockSensor clock_sensor(prescaler, clock_generator, simulation_time, bias_s);
+
+  return clock_sensor;
+}

src/components/clock_sensor.hpp

@@ -0,0 +1,65 @@
+/**
+ * @file clock_sensor.hpp
+ * @brief An example to emulate a sensor to measure simulation elapsed time
+ */
+
+#ifndef S2E_COMPONENTS_CLOCK_SENSOR_HPP_
+#define S2E_COMPONENTS_CLOCK_SENSOR_HPP_
+
+#include <components/base/component.hpp>
+#include <environment/global/simulation_time.hpp>
+#include <logger/loggable.hpp>
+
+/**
+ * @class ClockSensor
+ * @brief An example to emulate a sensor to measure simulation elapsed time
+ */
+class ClockSensor : public s2e::components::Component, public s2e::logger::ILoggable {
+ public:
+  /**
+   * @fn ClockSensor
+   * @brief Constructor
+   * @param [in] prescaler: Frequency scale factor for update
+   * @param [in] clock_generator: Clock generator
+   * @param [in] simulation_time: Simulation time information
+   * @param [in] bias_s: Bias value for clock observation [s]
+   */
+  ClockSensor(const int prescaler, s2e::environment::ClockGenerator* clock_generator, const s2e::environment::SimulationTime& simulation_time,
+              const double bias_s);
+
+ private:
+  // Override functions for Component
+  /**
+   * @fn MainRoutine
+   * @brief Main routine for sensor observation
+   */
+  void MainRoutine(const int time_count) override;
+
+  // Override ILoggable
+  /**
+   * @fn GetLogHeader
+   * @brief Override GetLogHeader function of ILoggable
+   */
+  virtual std::string GetLogHeader() const override;
+  /**
+   * @fn GetLogValue
+   * @brief Override GetLogValue function of ILoggable
+   */
+  virtual std::string GetLogValue() const override;
+
+  const s2e::environment::SimulationTime& simulation_time_;  //!< Simulation time information
+  double bias_s_;                                            //!< Bias value for clock observation [s]
+  double time_output_s_;                                     //!< Output of measured time information [s]
+};
+
+/**
+ * @fn InitGyroSensor
+ * @brief Initialize functions for gyro sensor without power port
+ * @param [in] clock_generator: Clock generator
+ * @param [in] simulation_time: Simulation time information
+ * @param [in] file_name: Path to the initialize file
+ */
+ClockSensor InitClockSensor(s2e::environment::ClockGenerator* clock_generator, const s2e::environment::SimulationTime& simulation_time,
+                            const std::string file_name);
+
+#endif  // S2E_COMPONENTS_CLOCK_SENSOR_HPP_

src/simulation/spacecraft/user_components.cpp

@@ -9,9 +9,10 @@
 #include <utilities/macros.hpp>
 
 UserComponents::UserComponents(const s2e::dynamics::Dynamics *dynamics, s2e::spacecraft::Structure *structure,
-                 const s2e::environment::LocalEnvironment *local_environment, const s2e::environment::GlobalEnvironment *global_environment,
-                 const s2e::simulation::SimulationConfiguration *configuration, s2e::environment::ClockGenerator *clock_generator,
-                 const unsigned int spacecraft_id)
+                               const s2e::environment::LocalEnvironment *local_environment,
+                               const s2e::environment::GlobalEnvironment *global_environment,
+                               const s2e::simulation::SimulationConfiguration *configuration, s2e::environment::ClockGenerator *clock_generator,
+                               const unsigned int spacecraft_id)
     : configuration_(configuration),
       dynamics_(dynamics),
       structure_(structure),
@@ -23,13 +24,22 @@ UserComponents::UserComponents(const s2e::dynamics::Dynamics *dynamics, s2e::spa
   UNUSED(dynamics_);
   UNUSED(structure_);
   UNUSED(local_environment_);
-  UNUSED(global_environment_);
+
+  // ini file access
+  s2e::setting_file_reader::IniAccess spacecraft_ini_file = s2e::setting_file_reader::IniAccess(configuration_->spacecraft_file_list_[spacecraft_id]);
+  std::string component_file_name;
 
   // Component instances
   obc_ = new s2e::components::OnBoardComputer(clock_generator);
+
+  // Clock Sensor
+  component_file_name = spacecraft_ini_file.ReadString("COMPONENT_FILES", "clock_sensor_file");
+  configuration_->main_logger_->CopyFileToLogDirectory(component_file_name);
+  clock_sensor_ = new ClockSensor(InitClockSensor(clock_generator, global_environment->GetSimulationTime(), component_file_name));
 }
 
 UserComponents::~UserComponents() {
+  delete clock_sensor_;
   // OBC must be deleted the last since it has com ports
   delete obc_;
 }
@@ -48,5 +58,5 @@ s2e::math::Vector<3> UserComponents::GenerateTorque_b_Nm() {
 
 void UserComponents::LogSetup(s2e::logger::Logger &logger) {
   // Users can set log output when they need component log
-  UNUSED(logger);
+  logger.AddLogList(clock_sensor_);
 }

src/simulation/spacecraft/user_components.hpp

@@ -15,6 +15,8 @@
 // include for components
 #include <components/real/cdh/on_board_computer.hpp>
 
+#include "../../components/clock_sensor.hpp"
+
 class UserComponents : public s2e::spacecraft::InstalledComponents {
  public:
   UserComponents(const s2e::dynamics::Dynamics *dynamics, s2e::spacecraft::Structure *structure,
@@ -29,6 +31,7 @@ class UserComponents : public s2e::spacecraft::InstalledComponents {
  private:
   // Components
   s2e::components::OnBoardComputer *obc_;  //!< Onboard Computer
+  ClockSensor *clock_sensor_;              //!< Clock sensor
 
   // States
   const s2e::simulation::SimulationConfiguration *configuration_;  //!< Simulation settings

src/simulation/spacecraft/user_satellite.hpp

@@ -7,24 +7,23 @@
 #define S2E_SIMULATION_SPACECRAFT_USER_SATELLITE_HPP_
 
 #include <simulation/spacecraft/spacecraft.hpp>
+
 #include "user_components.hpp"
 
 /**
  * @class UserSatellite
  * @brief An example of user side spacecraft class
  */
-class UserSatellite : public s2e::spacecraft::Spacecraft
-{
-public:
+class UserSatellite : public s2e::spacecraft::Spacecraft {
+ public:
   /**
    * @fn UserSatellite
    * @brief Constructor
    */
-  UserSatellite(const s2e::simulation::SimulationConfiguration *simulation_configuration, const s2e::environment::GlobalEnvironment *global_environment,
-                const unsigned int spacecraft_id);
+  UserSatellite(const s2e::simulation::SimulationConfiguration *simulation_configuration,
+                const s2e::environment::GlobalEnvironment *global_environment, const unsigned int spacecraft_id);
 
-private:
+ private:
 };
 
-#endif // S2E_SIMULATION_SPACECRAFT_USER_SATELLITE_HPP_
-
+#endif  // S2E_SIMULATION_SPACECRAFT_USER_SATELLITE_HPP_