/* Copyright 2013-2025 CS GROUP
    * Licensed to CS GROUP (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.rugged.linesensor;
  
  import java.util.stream.Stream;
  
  import org.hipparchus.analysis.differentiation.Derivative;
  import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
  import org.hipparchus.geometry.euclidean.threed.Vector3D;
  import org.hipparchus.util.FastMath;
  import org.orekit.rugged.errors.DumpManager;
  import org.orekit.rugged.los.TimeDependentLOS;
  import org.orekit.rugged.utils.DerivativeGenerator;
  import org.orekit.time.AbsoluteDate;
  import org.orekit.utils.ParameterDriver;
  
  /** Line sensor model.
   * @author Luc Maisonobe
   * @author Guylaine Prat
   */
  public class LineSensor {
  
      /** Name of the sensor. */
      private final String name;
  
      /** Datation model. */
      private final LineDatation datationModel;
  
      /** Sensor position. */
      private final Vector3D position;
  
      /** Pixels lines-of-sight. */
      private final TimeDependentLOS los;
  
      /** Simple constructor.
       * @param name name of the sensor
       * @param datationModel datation model
       * @param position sensor position in spacecraft frame
       * @param los pixels lines-of-sight in spacecraft frame
       * @see org.orekit.rugged.los.LOSBuilder
       */
      public LineSensor(final String name, final LineDatation datationModel,
                        final Vector3D position, final TimeDependentLOS los) {
  
          this.name          = name;
          this.datationModel = datationModel;
          this.position      = position;
          this.los           = los;
  
      }
  
      /** Get the name of the sensor.
       * @return name of the sensor
       */
      public String getName() {
          return name;
      }
  
      /** Get the number of pixels.
       * @return number of pixels
       */
      public int getNbPixels() {
          return los.getNbPixels();
      }
  
      /** Get the drivers for LOS parameters.
       * @return drivers for LOS parameters
       * @since 2.0
       */
      public Stream<ParameterDriver> getParametersDrivers() {
          return los.getParametersDrivers();
      }
  
      /** Get the pixel normalized line-of-sight at some date.
       * @param date current date
       * @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
       * @return pixel normalized line-of-sight
       */
      public Vector3D getLOS(final AbsoluteDate date, final int i) {
          final Vector3D l = los.getLOS(i, date);
          DumpManager.dumpSensorLOS(this, date, i, l);
          return l;
      }
  
      /** Get the pixel normalized interpolated line-of-sight at some date.
      * @param date current date
      * @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
      * @return pixel normalized line-of-sight
      * @since 2.0
      */
     public Vector3D getLOS(final AbsoluteDate date, final double i) {
 
         final int iInf = FastMath.max(0, FastMath.min(getNbPixels() - 2, (int) FastMath.floor(i)));
         final int iSup = iInf + 1;
         final Vector3D interpolatedLos     = new Vector3D(iSup - i, los.getLOS(iInf, date),
                                                   i - iInf, los.getLOS(iSup, date));
         return interpolatedLos;
     }
 
     /** Get the pixel normalized line-of-sight at some date,
      * and their derivatives with respect to estimated parameters.
      * @param <T> derivative type
      * @param date current date
      * @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
      * @param generator generator to use for building {@link Derivative} instances
      * @return pixel normalized line-of-sight
      */
     public <T extends Derivative<T>> FieldVector3D<T> getLOSDerivatives(final AbsoluteDate date, final int i,
                                                                         final DerivativeGenerator<T> generator) {
         return los.getLOSDerivatives(i, date, generator);
     }
 
     /** Get the pixel normalized line-of-sight at some date,
      * and their derivatives with respect to estimated parameters.
      * @param <T> derivative type
      * @param date current date
      * @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
      * @param generator generator to use for building {@link Derivative} instances
      * @return pixel normalized line-of-sight
      * @since 2.0
      */
     public <T extends Derivative<T>> FieldVector3D<T> getLOSDerivatives(final AbsoluteDate date, final double i,
                                                                         final DerivativeGenerator<T> generator) {
 
         // find surrounding pixels of pixelB (in order to interpolate LOS from pixelB (that is not an integer)
         final int iInf = FastMath.max(0, FastMath.min(getNbPixels() - 2, (int) FastMath.floor(i)));
         final int iSup = iInf + 1;
 
         final FieldVector3D<T> interpolatedLos =
                         new FieldVector3D<> (iSup - i, los.getLOSDerivatives(iInf, date, generator),
                                              i - iInf, los.getLOSDerivatives(iSup, date, generator)).normalize();
         return interpolatedLos;
     }
 
     /** Get the date.
      * @param lineNumber line number
      * @return date corresponding to line number
      */
     public AbsoluteDate getDate(final double lineNumber) {
         final AbsoluteDate date = datationModel.getDate(lineNumber);
         DumpManager.dumpSensorDatation(this, lineNumber, date);
         return date;
     }
 
     /** Get the line number.
      * @param date date
      * @return line number corresponding to date
      */
     public double getLine(final AbsoluteDate date) {
         final double lineNumber = datationModel.getLine(date);
         DumpManager.dumpSensorDatation(this, lineNumber, date);
         return lineNumber;
     }
 
     /** Get the rate of lines scanning.
      * @param lineNumber line number
      * @return rate of lines scanning (lines / seconds)
      */
     public double getRate(final double lineNumber) {
         final double rate = datationModel.getRate(lineNumber);
         DumpManager.dumpSensorRate(this, lineNumber, rate);
         return rate;
     }
 
     /** Get the sensor position.
      * @return position
      */
     public Vector3D getPosition() {
         return position;
     }
 
     /** Dump the rate for the current line number.
      * @param lineNumber line number
      */
     public void dumpRate(final double lineNumber) {
         final double rate = datationModel.getRate(lineNumber);
         DumpManager.dumpSensorRate(this, lineNumber, rate);
     }
 }