.. _simpleInstrumentController:

Module: simpleInstrumentController
==================================

Executive Summary
-----------------
This module generates a command in the form of a :ref:`DeviceCmdMsgPayload` that turns on a :ref:`simpleInstrument`
if the spacecraft a.) has access to a :ref:`groundLocation` and b.) the associated attitude error from an attitude
guidance message is within the given tolerance.

Message Connection Descriptions
-------------------------------
The following table lists all the module input and output messages.
The module msg connection is set by the user from python.
The msg type contains a link to the message structure definition, while the description
provides information on what this message is used for.

.. list-table:: Module I/O Messages
    :widths: 25 25 50
    :header-rows: 1

    * - Msg Variable Name
      - Msg Type
      - Description
    * - locationAccessInMsg
      - :ref:`AccessMsgPayload`
      - input msg containing the ground location access
    * - attGuidInMsg
      - :ref:`AttGuidMsgPayload`
      - input message containing the attitude guidance
    * - deviceCmdOutMsg
      - :ref:`DeviceCmdMsgPayload`
      - output message with the device command

Detailed Module Description
---------------------------
This module writes out a :ref:`DeviceCmdMsgPayload` to turn on an instrument, i.e. :ref:`simpleInstrument`.

.. note::

    This module assumes that the simulated data is generated instantaneously. Therefore, the ``baudRate`` of the
    simpleInstrument must be sized as such.

The module first checks if the target has already been imaged. If the target has not been imaged, the module then
checks if the norm of the attitude error is less than the user specified tolerance and if the :ref:`groundLocation` is
accessible. If both are true, the module sets the ``deviceCmd`` to 1. Otherwise, the ``deviceCmd`` is set to 0.

User Guide
----------
Two variables must be set. The variable ``attErrTolerance`` is the norm of the acceptable attitude error in MRPs.
It must be set at the beginning of the sim.

The ``imaged`` variable is always initialized to 0 (i.e. the target has not been imaged). However, if the simulation
is stopped and restarted again this variable should be reinitialized to 0 in between. If it is not and the previous
target was imaged, the new target will not be imaged.


----

.. autodoxygenfile:: simpleInstrumentController.h
   :project: simpleInstrumentController