public byte Tick(SensorUpdate sensors, FlightState state)
{
if (state != lastState)
{
// Trigger ignition with state change
if (state == FlightState.LAUNCH)
{
flightStatusController.RequestFlightStateChange(FlightState.ASCENT_PHASE);
lastState = state;
return(Ignition(0x01, true));
}
}
switch (state)
{
case FlightState.DESCENT_PHASE:
return(HandleDescent(sensors));
case FlightState.ASCENT_PHASE:
case FlightState.LAUNCH:
case FlightState.MISSION_ENDED:
case FlightState.ON_PAD:
default:
return(Pyros);
}
}
private static SensorUpdate GetDynamics()
{
SensorUpdate newSense = new SensorUpdate();
// Calculate Acceleration Vectors
Vector3D <float> accel = new Vector3D <float>();
Vector3D <float> velocity = new Vector3D <float>();
Vector3D <float> dragForce = new Vector3D <float>();
// Compute drag force
velocity = accel.Multiply(Time.FLIGHT_RESOLUTION);
// dragForce = Cd * p * v^2 / 2 * A
dragForce = simRocket.GetDragCoefficients().Multiply(sensorPackage.BarometricPressure);
// RAY TRACING FOR DRAG ???
dragForce = dragForce * velocity * velocity;// * simRocket.GetSurfaceAreas(); <-- Need to find a way to do this...
dragForce = dragForce.Divide(2);
// Set new acceleration vectors
accel = currentControl.Thrust - dragForce;
newSense.AccelX = accel.X;
newSense.AccelY = accel.Y;
newSense.AccelZ = accel.Z;
// Calculate Gyro Vectors (no need for this right now)
newSense.RotX = 0;
newSense.RotY = 0;
newSense.RotZ = 0;
// Calculate Barometric Pressure (deltaH?)
newSense.BarometricPressure = sensorPackage.BarometricPressure + 0.1f;
return(newSense);
}
private async Task <bool> UpdateSecret(Sensor sensor, SensorUpdate update)
{
ApiKey key = null;
if (!string.IsNullOrEmpty(update.Secret))
{
key = await this.m_keys.GetAsync(update.Secret).ConfigureAwait(false);
}
if (key != null)
{
return(false); /* Key already exists */
}
var old = await this.m_keys.GetAsync(sensor.Secret).ConfigureAwait(false);
var oldSecret = sensor.Secret;
sensor.Secret = string.IsNullOrEmpty(update.Secret) ? NextStringWithSymbols(this.m_rng, SensorSecretLength) : update.Secret;
await Task.WhenAll(
this.m_mqtt.PublishCommandAsync(CommandType.FlushSensor, sensor.InternalId.ToString()),
this.m_mqtt.PublishCommandAsync(CommandType.FlushKey, oldSecret)
).ConfigureAwait(false);
var cache = this.m_cache.RemoveAsync(this.GenerateCacheKey(null, 0, 10, true));
await Task.WhenAll(
this.m_keys.UpdateAsync(old.Key, sensor.Secret),
this.m_sensors.UpdateSecretAsync(sensor.InternalId, sensor.Secret),
cache
).ConfigureAwait(false);
return(true);
}
public async Task <IActionResult> Put(string id, [FromBody] SensorUpdate update)
{
Sensor sensor;
if (!ObjectId.TryParse(id, out _))
{
var response = new Response <string>();
response.AddError("Unable to parse sensor ID");
return(this.UnprocessableEntity(response));
}
sensor = await this.m_sensors.GetAsync(id).ConfigureAwait(false);
if (!await this.AuthenticateUserForSensor(sensor, false).ConfigureAwait(false))
{
return(this.Forbidden());
}
if (sensor == null)
{
return(this.NotFound());
}
ApplyUpdate(sensor, update);
await this.m_mqtt.PublishCommandAsync(CommandType.FlushSensor, sensor.InternalId.ToString()).ConfigureAwait(false);
var cache = this.m_cache.RemoveAsync(this.GenerateCacheKey(null, 0, 10, true));
var sensordb = this.m_sensors.UpdateAsync(sensor);
await Task.WhenAll(cache, sensordb).ConfigureAwait(false);
await this.m_mqtt.PublishCommandAsync(CommandType.AddSensor, sensor.InternalId.ToString()).ConfigureAwait(false);
return(this.Ok(new Response <Sensor>(sensor)));
}
private static void Run()
{
rocket = new RocketController();
DefaultMakeRocket();
simRocket = rocketCreation();
currentControl = InitializeControlOutput();
sensorPackage = InitialSensorReadings();
while (rocket.GetFlightStatus() != FlightState.MISSION_ENDED)
{
sensorPackage = GetDynamics();
currentControl = rocket.Tick(sensorPackage);
}
}
private static void ApplyUpdate(Sensor sensor, SensorUpdate update)
{
if (!string.IsNullOrEmpty(update.Name))
{
sensor.Name = update.Name;
}
if (!string.IsNullOrEmpty(update.Description))
{
sensor.Description = update.Description;
}
if (update.StorageEnabled.HasValue)
{
sensor.StorageEnabled = update.StorageEnabled.Value;
}
}
public async Task <IActionResult> PutSecret(string id, [FromBody] SensorUpdate update)
{
Sensor sensor;
update ??= new SensorUpdate();
if (!ObjectId.TryParse(id, out _))
{
var response = new Response <string>();
response.AddError("Unable to parse sensor ID");
return(this.UnprocessableEntity(response));
}
sensor = await this.m_sensors.GetAsync(id).ConfigureAwait(false);
if (!await this.AuthenticateUserForSensor(sensor, false).ConfigureAwait(false))
{
return(this.Forbidden());
}
if (sensor == null)
{
return(this.NotFound());
}
var success = await this.UpdateSecret(sensor, update).ConfigureAwait(false);
if (!success)
{
var resp = new Response <string>();
resp.AddError("Unable to update sensor secret.");
return(this.BadRequest(resp));
}
ApplyUpdate(sensor, update);
await this.m_sensors.UpdateAsync(sensor).ConfigureAwait(false); /* Update other settings */
await Task.WhenAll(this.m_mqtt.PublishCommandAsync(CommandType.AddKey, sensor.Secret),
this.m_mqtt.PublishCommandAsync(CommandType.AddSensor, sensor.InternalId.ToString())
).ConfigureAwait(false);
return(this.Ok(new Response <Sensor>(sensor)));
}
public Vector3D <float> Tick(SensorUpdate sensors, FlightState flightState)
{
return(new Vector3D <float>());
}
public byte HandleDescent(SensorUpdate sensors)
{
return(0x00);
}
public FlightState Tick(SensorUpdate sensors)
{
FlightStatus += 1;
return(FlightStatus);
}
