gmt_dos-clients_servos 3.2.0

GMT DOS Servo-Mechanisms Client
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/*!
# GMT Servo-Mechanisms

A dos-actors [system] that combines together a few clients:
  * the GMT [FEM]
  * the GMT [mount] control system
  * the GMT [M1] control system
  * the GMT [M2] control system

Per default, only a few inputs and outputs of the FEM are made available:
 * FEM inputs:
   * [`MountTorques`](gmt_dos_clients_io::mount::MountTorques)
   * [`M1HardpointsForces`](gmt_dos_clients_io::gmt_m1::assembly::M1HardpointsForces)
   * [`HardpointsForces<ID>`](gmt_dos_clients_io::gmt_m1::segment::HardpointsForces)
   * [`M1ActuatorAppliedForces`](gmt_dos_clients_io::gmt_m1::assembly::M1ActuatorAppliedForces)
   * [`ActuatorAppliedForces<ID>`](gmt_dos_clients_io::gmt_m1::segment::ActuatorAppliedForces)
   * [`M2ASMVoiceCoilsForces`](gmt_dos_clients_io::gmt_m2::asm::M2ASMVoiceCoilsForces)
   * [`VoiceCoilsForces<ID>`](gmt_dos_clients_io::gmt_m2::asm::segment::VoiceCoilsForces)
   * [`M2ASMFluidDampingForces`](gmt_dos_clients_io::gmt_m2::asm::M2ASMFluidDampingForces)
   * [`FluidDampingForces<ID>`](gmt_dos_clients_io::gmt_m2::asm::segment::FluidDampingForces)
   * [`M2PositionerForces`](gmt_dos_clients_io::gmt_m2::M2PositionerForces)
 * FEM outputs
   * [`MountEncoders`](gmt_dos_clients_io::mount::MountEncoders)
   * [`M1HardpointsMotion`](gmt_dos_clients_io::gmt_m1::assembly::M1HardpointsMotion)
   * [`HardpointsMotion<ID>`](gmt_dos_clients_io::gmt_m1::segment::HardpointsMotion)
   * [`M1RigidBodyMotions`](gmt_dos_clients_io::gmt_m1::M1RigidBodyMotions)
   * [`M2ASMVoiceCoilsMotion`](gmt_dos_clients_io::gmt_m2::asm::M2ASMVoiceCoilsMotion)
   * [`VoiceCoilsMotion<ID>`](gmt_dos_clients_io::gmt_m2::asm::segment::VoiceCoilsMotion)
   * [`M2RigidBodyMotions`](gmt_dos_clients_io::gmt_m2::M2RigidBodyMotions)
   * [`M2PositionerNodes`](gmt_dos_clients_io::gmt_m2::M2PositionerNodes)

Other builders will add extra inputs and outputs to the FEM.
These builders are:
  * [`AsmsServo`]
     * [`Facesheet`][asms_servo::Facesheet]
     * [`ReferenceBody`][asms_servo::ReferenceBody]
     * [`VoiceCoils`][asms_servo::VoiceCoils]
  * [`WindLoads`]
  * [`EdgeSensors`]

## Warning

The `gmt_dos-clients_servos` crate depends on  some code that is generated at compile timed
based on the value of the environment variables `FEM_REPO` and `MOUNT_MODEL`.
To get the full documentation, you need to set the `FEM_REPO` environment variable and
recompile the docs locally with:
```shell
FEM_REPO=<path-to-fem>  cargo doc --no-deps --package gmt_dos-clients_servos --open
```

## Example

```no_run
use gmt_dos_clients_servos::GmtServoMechanisms;
use gmt_fem::FEM;

const ACTUATOR_RATE: usize = 80; // 100Hz

let frequency = 8000_f64; // Hz
let fem = FEM::from_env()?;

let gmt_servos =
    GmtServoMechanisms::<ACTUATOR_RATE, 1>::new(frequency, fem).build()?;
# Ok::<(), Box<dyn std::error::Error>>(())
```

[system]: https://docs.rs/gmt_dos-actors/latest/gmt_dos_actors/system
[FEM]: https://docs.rs/gmt_dos-clients_fem/latest/gmt_dos_clients_fem/
[mount]: https://docs.rs/gmt_dos-clients_mount/latest/gmt_dos_clients_mount/
[M1]: https://docs.rs/gmt_dos-clients_m1-ctrl/latest/gmt_dos_clients_m1_ctrl/
[M2]: https://docs.rs/gmt_dos-clients_m2-ctrl/latest/gmt_dos_clients_m2_ctrl/
*/

#[cfg(fem)]
mod builder;
#[cfg(fem)]
mod servos;
#[cfg(fem)]
mod fem {
    use crate::builder::ServosBuilderError;
    #[cfg(topend = "ASM")]
    pub use crate::builder::{AsmsServo, asms_servo};
    pub use crate::builder::{EdgeSensors, FemIO, M1SegmentFigure, ServosBuilder, WindLoads};
    pub use crate::servos::GmtServoMechanisms;
    use gmt_dos_actors::system::{Sys, SystemError};

    #[cfg(not(feature = "cuda"))]
    pub(crate) type FemSolver = gmt_dos_clients_fem::solvers::ExponentialMatrix;
    #[cfg(feature = "cuda")]
    pub(crate) type FemSolver = gmt_dos_clients_fem::solvers::CuStateSpace;

    /// GMT servo-mechanisms system
    // pub enum GmtServoMechanisms<const M1_RATE: usize, const M2_RATE: usize = 1> {}

    impl<const M1_RATE: usize, const M2_RATE: usize> GmtServoMechanisms<M1_RATE, M2_RATE> {
        /// Create a new [builder](ServosBuilder)
        pub fn new(
            sim_sampling_frequency: f64,
            fem: gmt_fem::FEM,
        ) -> ServosBuilder<M1_RATE, M2_RATE> {
            ServosBuilder {
                sim_sampling_frequency,
                fem,
                ..Default::default()
            }
        }
    }

    impl From<ServosBuilderError> for SystemError {
        fn from(value: ServosBuilderError) -> Self {
            SystemError::SubSystem(format!("{:?}", value))
        }
    }

    impl<const M1_RATE: usize, const M2_RATE: usize> ServosBuilder<M1_RATE, M2_RATE> {
        /// Build the system
        pub fn build(self) -> Result<Sys<GmtServoMechanisms<M1_RATE, M2_RATE>>, SystemError> {
            log::info!("building ServosBuilder");
            Ok(Sys::new(GmtServoMechanisms::<M1_RATE, M2_RATE>::try_from(self)?).build()?)
        }
    }

    impl<const M1_RATE: usize, const M2_RATE: usize> TryFrom<ServosBuilder<M1_RATE, M2_RATE>>
        for Sys<GmtServoMechanisms<M1_RATE, M2_RATE>>
    {
        type Error = SystemError;

        fn try_from(builder: ServosBuilder<M1_RATE, M2_RATE>) -> Result<Self, Self::Error> {
            builder.build()
        }
    }

    /// GMT FEM client
    pub type GmtFem = gmt_dos_clients_fem::DiscreteModalSolver<FemSolver>;
    /// GMT M1 client
    pub type GmtM1 = gmt_dos_systems_m1::assembly::DispatchIn;
    pub type GmtM1Out = gmt_dos_systems_m1::assembly::DispatchOut;
    /// GMT mount client
    pub type GmtMount = gmt_dos_clients_mount::Mount;
    /// GMT M2 positioners client
    pub type GmtM2Hex = gmt_dos_clients_m2_ctrl::Positioners;
    /// GMT M2 mirror client
    pub type GmtM2 = gmt_dos_systems_m2::DispatchIn;

    #[cfg(test)]
    mod tests {
        use std::error::Error;

        use gmt_dos_actors::actorscript;
        use gmt_dos_clients::timer::Timer;
        use interface::Tick;

        pub use super::*;

        #[test]
        fn builder() {
            let frequency = 1000_f64; // Hz
            let fem = gmt_fem::FEM::from_env().unwrap();
            assert!(
                GmtServoMechanisms::<10, 1>::new(frequency, fem)
                    .build()
                    .is_ok()
            );
        }
    }
}
#[cfg(fem)]
pub use fem::*;