/* Copyright 2002-2019 CS Systèmes d'Information
    * Licensed to CS Systèmes d'Information (CS) under one or more
    * contributor license agreements.  See the NOTICE file distributed with
    * this work for additional information regarding copyright ownership.
    * CS licenses this file to You under the Apache License, Version 2.0
    * (the "License"); you may not use this file except in compliance with
    * the License.  You may obtain a copy of the License at
    *
    *   http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package org.orekit.gnss.attitude;
  
  import org.hipparchus.Field;
  import org.hipparchus.RealFieldElement;
  import org.hipparchus.util.FastMath;
  import org.orekit.frames.Frame;
  import org.orekit.time.AbsoluteDate;
  import org.orekit.utils.ExtendedPVCoordinatesProvider;
  import org.orekit.utils.TimeStampedAngularCoordinates;
  import org.orekit.utils.TimeStampedFieldAngularCoordinates;
  
  /**
   * Attitude providers for GPS block IIF navigation satellites.
   * <p>
   * This class is based on the May 2017 version of J. Kouba eclips.f
   * subroutine available at <a href="http://acc.igs.org/orbits">IGS Analysis
   * Center Coordinator site</a>. The eclips.f code itself is not used ; its
   * hard-coded data are used and its low level models are used, but the
   * structure of the code and the API have been completely rewritten.
   * </p>
   * @author J. Kouba original fortran routine
   * @author Luc Maisonobe Java translation
   * @since 9.2
   */
  public class GPSBlockIIR extends AbstractGNSSAttitudeProvider {
  
      /** Default yaw rates for all spacecrafts in radians per seconds. */
      public static final double DEFAULT_YAW_RATE = FastMath.toRadians(0.2);
  
      /** Serializable UID. */
      private static final long serialVersionUID = 20171114L;
  
      /** Margin on turn end. */
      private final double END_MARGIN = 1800.0;
  
      /** Yaw rate. */
      private final double yawRate;
  
      /** Simple constructor.
       * @param yawRate yaw rate to use in radians per seconds (typically {@link #DEFAULT_YAW_RATE})
       * @param validityStart start of validity for this provider
       * @param validityEnd end of validity for this provider
       * @param sun provider for Sun position
       * @param inertialFrame inertial frame where velocity are computed
       */
      public GPSBlockIIR(final double yawRate,
                         final AbsoluteDateDate">AbsoluteDate validityStart, final AbsoluteDate validityEnd,
                         final ExtendedPVCoordinatesProvider sun, final Frame inertialFrame) {
          super(validityStart, validityEnd, sun, inertialFrame);
          this.yawRate = yawRate;
      }
  
      /** {@inheritDoc} */
      @Override
      protected TimeStampedAngularCoordinates correctedYaw(final GNSSAttitudeContext context) {
  
          // noon beta angle limit from yaw rate
          final double aNoon  = FastMath.atan(context.getMuRate() / yawRate);
          final double cNoon  = FastMath.cos(aNoon);
          final double cNight = -cNoon;
  
          if (context.setUpTurnRegion(cNight, cNoon)) {
  
              final double absBeta = FastMath.abs(context.beta(context.getDate()));
              context.setHalfSpan(absBeta * FastMath.sqrt(aNoon / absBeta - 1.0), END_MARGIN);
              if (context.inTurnTimeRange()) {
  
                  // we need to ensure beta sign does not change during the turn
                  final double beta     = context.getSecuredBeta();
                  final double phiStart = context.getYawStart(beta);
                  final double dtStart  = context.timeSinceTurnStart();
                  final double phiDot;
                  final double linearPhi;
  
                  if (context.inSunSide()) {
                      // noon turn
                      phiDot    = -FastMath.copySign(yawRate, beta);
                      linearPhi = phiStart + phiDot * dtStart;
                  } else {
                      // midnight turn
                      phiDot    = FastMath.copySign(yawRate, beta);
                      linearPhi = phiStart + phiDot * dtStart;
                  }
 
                 if (context.linearModelStillActive(linearPhi, phiDot)) {
                     // we are still in the linear model phase
                     return context.turnCorrectedAttitude(linearPhi, phiDot);
                 }
 
             }
 
         }
 
         // in nominal yaw mode
         return context.nominalYaw(context.getDate());
 
     }
 
     /** {@inheritDoc} */
     @Override
     protected <T extends RealFieldElement<T>> TimeStampedFieldAngularCoordinates<T> correctedYaw(final GNSSFieldAttitudeContext<T> context) {
 
         final Field<T> field = context.getDate().getField();
 
         // noon beta angle limit from yaw rate
         final T      aNoon  = FastMath.atan(context.getMuRate().divide(yawRate));
         final double cNoon  = FastMath.cos(aNoon.getReal());
         final double cNight = -cNoon;
 
         if (context.setUpTurnRegion(cNight, cNoon)) {
 
             final T absBeta = FastMath.abs(context.beta(context.getDate()));
             context.setHalfSpan(absBeta.multiply(FastMath.sqrt(aNoon.divide(absBeta).subtract(1.0))), END_MARGIN);
             if (context.inTurnTimeRange()) {
 
                 // we need to ensure beta sign does not change during the turn
                 final T beta     = context.getSecuredBeta();
                 final T phiStart = context.getYawStart(beta);
                 final T dtStart  = context.timeSinceTurnStart();
                 final T phiDot;
                 final T linearPhi;
 
                 if (context.inSunSide()) {
                     // noon turn
                     phiDot    = field.getZero().add(-FastMath.copySign(yawRate, beta.getReal()));
                     linearPhi = phiStart.add(phiDot.multiply(dtStart));
                 } else {
                     // midnight turn
                     phiDot    = field.getZero().add(FastMath.copySign(yawRate, beta.getReal()));
                     linearPhi = phiStart.add(phiDot.multiply(dtStart));
                 }
 
                 if (context.linearModelStillActive(linearPhi, phiDot)) {
                     // we are still in the linear model phase
                     return context.turnCorrectedAttitude(linearPhi, phiDot);
                 }
 
             }
 
         }
 
         // in nominal yaw mode
         return context.nominalYaw(context.getDate());
 
     }
 
 }