1   /* Copyright 2002-2025 CS GROUP
2    * Licensed to CS GROUP (CS) under one or more
3    * contributor license agreements.  See the NOTICE file distributed with
4    * this work for additional information regarding copyright ownership.
5    * CS licenses this file to You under the Apache License, Version 2.0
6    * (the "License"); you may not use this file except in compliance with
7    * the License.  You may obtain a copy of the License at
8    *
9    *   http://www.apache.org/licenses/LICENSE-2.0
10   *
11   * Unless required by applicable law or agreed to in writing, software
12   * distributed under the License is distributed on an "AS IS" BASIS,
13   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14   * See the License for the specific language governing permissions and
15   * limitations under the License.
16   */
17  
18  package org.orekit.files.ccsds.ndm.adm.apm;
19  
20  import java.io.IOException;
21  
22  import org.orekit.files.ccsds.definitions.Units;
23  import org.orekit.files.ccsds.ndm.adm.AttitudeEndpoints;
24  import org.orekit.files.ccsds.section.AbstractWriter;
25  import org.orekit.files.ccsds.utils.generation.Generator;
26  import org.orekit.utils.units.Unit;
27  
28  /** Writer for Euler data.
29   * @author Luc Maisonobe
30   * @since 11.0
31   */
32  class EulerWriter extends AbstractWriter {
33  
34      /** Suffix for angles. */
35      private static String ANGLE = "_ANGLE";
36  
37      /** Suffix for rates. */
38      private static String RATE = "_RATE";
39  
40      /** Format version.
41       * @since 12.0
42       */
43      private final double formatVersion;
44  
45      /** Euler block. */
46      private final Euler euler;
47  
48      /** Create a writer.
49       * @param formatVersion format version
50       * @param xmlTag name of the XML tag surrounding the section
51       * @param kvnTag name of the KVN tag surrounding the section (may be null)
52       * @param euler Euler data to write
53       */
54      EulerWriter(final double formatVersion, final String xmlTag, final String kvnTag,
55                  final Euler euler) {
56          super(xmlTag, kvnTag);
57          this.formatVersion = formatVersion;
58          this.euler         = euler;
59      }
60  
61      /** {@inheritDoc} */
62      @Override
63      protected void writeContent(final Generator generator) throws IOException {
64  
65          generator.writeComments(euler.getComments());
66  
67          // endpoints
68          if (formatVersion < 2.0) {
69              generator.writeEntry(EulerKey.EULER_FRAME_A.name(), euler.getEndpoints().getFrameA().getName(), null, true);
70              generator.writeEntry(EulerKey.EULER_FRAME_B.name(), euler.getEndpoints().getFrameB().getName(), null, true);
71              generator.writeEntry(EulerKey.EULER_DIR.name(),
72                                   euler.getEndpoints().isA2b() ? AttitudeEndpoints.A2B : AttitudeEndpoints.B2A,
73                                   null, true);
74          } else {
75              generator.writeEntry(EulerKey.REF_FRAME_A.name(), euler.getEndpoints().getFrameA().getName(), null, true);
76              generator.writeEntry(EulerKey.REF_FRAME_B.name(), euler.getEndpoints().getFrameB().getName(), null, true);
77          }
78  
79          // angles
80          final String   seq    = euler.getEulerRotSeq().name();
81          final double[] angles = euler.getRotationAngles();
82          if (formatVersion < 2.0) {
83              generator.writeEntry(EulerKey.EULER_ROT_SEQ.name(),
84                                   seq.replace('X', '1').replace('Y', '2').replace('Z', '3'),
85                                   null, true);
86              generator.writeEntry(EulerKey.RATE_FRAME.name(),
87                                   euler.rateFrameIsA() ? EulerKey.EULER_FRAME_A.name() : EulerKey.EULER_FRAME_B.name(),
88                                   null, euler.hasRates());
89          } else {
90              generator.writeEntry(EulerKey.EULER_ROT_SEQ.name(), seq, null, true);
91          }
92  
93          // if we don't have rates, at least we need angles
94          // (we may have only rates, as orientation is already given by mandatory quaternion)
95          final boolean needsAngles = !euler.hasRates();
96          if (formatVersion < 2.0) {
97              generator.writeEntry(seq.charAt(0) + ANGLE, angles[0], Unit.DEGREE, needsAngles);
98              generator.writeEntry(seq.charAt(1) + ANGLE, angles[1], Unit.DEGREE, needsAngles);
99              generator.writeEntry(seq.charAt(2) + ANGLE, angles[2], Unit.DEGREE, needsAngles);
100         } else {
101             generator.writeEntry(EulerKey.ANGLE_1.name(), angles[0], Unit.DEGREE, needsAngles);
102             generator.writeEntry(EulerKey.ANGLE_2.name(), angles[1], Unit.DEGREE, needsAngles);
103             generator.writeEntry(EulerKey.ANGLE_3.name(), angles[2], Unit.DEGREE, needsAngles);
104         }
105 
106         // rates
107         if (euler.hasRates()) {
108             final double[] rates = euler.getRotationRates();
109             if (formatVersion < 2.0) {
110                 generator.writeEntry(seq.charAt(0) + RATE, rates[0], Units.DEG_PER_S, true);
111                 generator.writeEntry(seq.charAt(1) + RATE, rates[1], Units.DEG_PER_S, true);
112                 generator.writeEntry(seq.charAt(2) + RATE, rates[2], Units.DEG_PER_S, true);
113             } else {
114                 generator.writeEntry(EulerKey.ANGLE_1_DOT.name(), rates[0], Units.DEG_PER_S, true);
115                 generator.writeEntry(EulerKey.ANGLE_2_DOT.name(), rates[1], Units.DEG_PER_S, true);
116                 generator.writeEntry(EulerKey.ANGLE_3_DOT.name(), rates[2], Units.DEG_PER_S, true);
117             }
118         }
119 
120     }
121 
122 }