Integrated Modeling for the
Giant Magellan Telescope

use gmt_dos_actors::actorscript;
use gmt_dos_clients::signals::{OneSignal, Signal, Signals};
use gmt_dos_clients::smooth::{Smooth, Weight};
use gmt_dos_clients_io::{
    cfd_wind_loads::{CFDM1WindLoads, CFDM2WindLoads, CFDMountWindLoads},
    gmt_m1::M1RigidBodyMotions,
    gmt_m2::{M2RigidBodyMotions, asm::M2ASMReferenceBodyNodes},
    mount::{MountEncoders, MountSetPoint, MountTorques},
    optics::WfeRms,
};

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    // Sigmoid envelope ramps wind loads on smoothly
    let sigmoid = OneSignal::try_from(Signals::new(1, n_step).channel(0,
        Signal::Sigmoid { amplitude: 1.0,
                          sampling_frequency_hz: 8000.0 }))?;

    let cfd_loads      = CfdLoads::foh(".", 8000).build()?;
    let fem            = state_space;
    let mount          = Mount::new();
    let lom            = LinearOpticalModel::new()?;  // M1 + M2
    let m1_lom         = LinearOpticalModel::new()?;  // M1 only
    let asm_shell_lom  = LinearOpticalModel::new()?;  // ASM shell
    let asm_rb_lom     = LinearOpticalModel::new()?;  // ASM ref-body

    actorscript! {
        #[labels(fem = "GMT FEM", mount = "Mount\nControl")]

        // Mount feedback
        1: setpoint[MountSetPoint]
               -> mount[MountTorques]
               -> fem[MountEncoders]! -> mount

        // Wind loads tapered in via sigmoid × smoother
        1: cfd_loads[CFDM1WindLoads]    -> m1_smoother
        1: sigmoid[Weight]              -> m1_smoother[CFDM1WindLoads]    -> fem
        1: cfd_loads[CFDM2WindLoads]    -> m2_smoother
        1: sigmoid[Weight]              -> m2_smoother[CFDM2WindLoads]    -> fem
        1: cfd_loads[CFDMountWindLoads] -> mount_smoother
        1: sigmoid[Weight]              -> mount_smoother[CFDMountWindLoads] -> fem

        // Stream WFE RMS to scope every 8 samples (1 kHz)
        8: lom[WfeRms<-6>]~
        1: fem[M1RigidBodyMotions] -> lom
        1: fem[M2RigidBodyMotions] -> lom

        8: m1_lom[M1RbmWfeRms]~
        1: fem[M1RigidBodyMotions] -> m1_lom

        8: asm_shell_lom[AsmShellWfeRms]~
        1: fem[M2RigidBodyMotions] -> asm_shell_lom

        8: asm_rb_lom[AsmRefBodyWfeRms]~
        1: fem[M2ASMReferenceBodyNodes] -> asm_rb_lom
    }

    Ok(())
}

use gmt_dos_actors::{actorscript, system::Sys};
use gmt_dos_clients_io::{
    cfd_wind_loads::{CFDM1WindLoads, CFDM2WindLoads, CFDMountWindLoads},
    gmt_m1::M1RigidBodyMotions,
    gmt_m2::{M2RigidBodyMotions, asm::M2ASMReferenceBodyNodes},
    optics::WfeRms,
};
use gmt_dos_clients_lom::LinearOpticalModel;
use gmt_dos_clients_servos::{
    AsmsServo, GmtServoMechanisms, WindLoads, asms_servo::ReferenceBody,
};
use gmt_dos_clients_windloads::{CfdLoads, system::{M1, M2, Mount, SigmoidCfdLoads}};

const ACTUATOR_RATE: usize = 80; // actuators run at 8000/80 = 100 Hz

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    // Load (or build) pre-serialised system state
    let cfd_loads = Sys::<SigmoidCfdLoads>::from_data_repo_or_else("windloads.bin", || {
        CfdLoads::foh(".", 8000).duration(5.0).windloads(&fem, Default::default())
    })?;

    let gmt_servos = Sys::<GmtServoMechanisms<ACTUATOR_RATE, 1>>::from_data_repo_or_else(
        "servos.bin",
        || GmtServoMechanisms::<ACTUATOR_RATE, 1>::new(8000.0, fem)
               .wind_loads(WindLoads::default())
               .asms_servo(AsmsServo::new().reference_body(ReferenceBody::new())),
    )?;

    // Four optical models for independent WFE contributions
    let lom          = LinearOpticalModel::new()?; // M1 + M2 combined
    let m1_lom       = LinearOpticalModel::new()?; // M1 rigid-body only
    let asm_shell_lom = LinearOpticalModel::new()?; // ASM shell
    let asm_rb_lom   = LinearOpticalModel::new()?; // ASM reference body

    actorscript! {
        // Wind loads into the servo-mechanism system (FEM + controllers)
        1: {cfd_loads::M1}[CFDM1WindLoads]       -> {gmt_servos::GmtFem}
        1: {cfd_loads::M2}[CFDM2WindLoads]       -> {gmt_servos::GmtFem}
        1: {cfd_loads::Mount}[CFDMountWindLoads] -> {gmt_servos::GmtFem}

        // Stream combined WFE to scope every 8 samples (1 kHz)
        8: lom[WfeRms<-6>]~
        1: {gmt_servos::GmtFem}[M1RigidBodyMotions] -> lom
        1: {gmt_servos::GmtFem}[M2RigidBodyMotions] -> lom

        // M1 rigid-body contribution
        8: m1_lom[M1RbmWfeRms]~
        1: {gmt_servos::GmtFem}[M1RigidBodyMotions] -> m1_lom

        // ASM shell contribution
        8: asm_shell_lom[AsmShellWfeRms]~
        1: {gmt_servos::GmtFem}[M2RigidBodyMotions] -> asm_shell_lom

        // ASM reference-body contribution
        8: asm_rb_lom[AsmRefBodyWfeRms]~
        1: {gmt_servos::GmtFem}[M2ASMReferenceBodyNodes] -> asm_rb_lom
    }

    Ok(())
}