/* Copyright 2002-2024 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.forces.maneuvers;
  
  import java.util.ArrayList;
  import java.util.Arrays;
  import java.util.List;
  import java.util.stream.Stream;
  
  import org.hipparchus.CalculusFieldElement;
  import org.hipparchus.Field;
  import org.hipparchus.geometry.euclidean.threed.FieldRotation;
  import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
  import org.hipparchus.geometry.euclidean.threed.Rotation;
  import org.hipparchus.geometry.euclidean.threed.Vector3D;
  import org.orekit.attitudes.Attitude;
  import org.orekit.attitudes.AttitudeProvider;
  import org.orekit.attitudes.FieldAttitude;
  import org.orekit.forces.ForceModel;
  import org.orekit.forces.maneuvers.propulsion.PropulsionModel;
  import org.orekit.forces.maneuvers.trigger.ManeuverTriggers;
  import org.orekit.propagation.FieldSpacecraftState;
  import org.orekit.propagation.SpacecraftState;
  import org.orekit.propagation.events.EventDetector;
  import org.orekit.propagation.events.FieldEventDetector;
  import org.orekit.propagation.numerical.FieldTimeDerivativesEquations;
  import org.orekit.propagation.numerical.TimeDerivativesEquations;
  import org.orekit.time.AbsoluteDate;
  import org.orekit.time.FieldAbsoluteDate;
  import org.orekit.utils.ParameterDriver;
  
  
  /** A generic model for maneuvers with finite-valued acceleration magnitude, as opposed to instantaneous changes
   * in the velocity vector which are defined via detectors (in {@link org.orekit.forces.maneuvers.ImpulseManeuver} and
   * {@link org.orekit.forces.maneuvers.FieldImpulseManeuver}).
   * It contains:
   *  - An attitude override, this is the attitude used during the maneuver, it can be different from the one
   *    used for propagation;
   *  - A maneuver triggers object from the trigger sub-package. It defines the triggers used to start and stop the maneuvers (dates or events for example).
   *  - A propulsion model from sub-package propulsion. It defines the thrust or ΔV, isp, flow rate etc..
   * Both the propulsion model and the maneuver triggers can contain parameter drivers (for estimation).
   * The convention here is that the propulsion model drivers are given before the maneuver triggers when calling the
   * method {@link #getParametersDrivers()}
   * @author Maxime Journot
   * @since 10.2
   */
  public class Maneuver implements ForceModel {
  
      /** The attitude to override during the maneuver, if set. */
      private final AttitudeProvider attitudeOverride;
  
      /** Propulsion model to use for the thrust. */
      private final PropulsionModel propulsionModel;
  
      /** Maneuver triggers. */
      private final ManeuverTriggers maneuverTriggers;
  
      /** Generic maneuver constructor.
       * @param attitudeOverride attitude provider for the attitude during the maneuver
       * @param maneuverTriggers maneuver triggers
       * @param propulsionModel propulsion model
       */
      public Maneuver(final AttitudeProvider attitudeOverride,
                      final ManeuverTriggers maneuverTriggers,
                      final PropulsionModel propulsionModel) {
          this.maneuverTriggers = maneuverTriggers;
          this.attitudeOverride = attitudeOverride;
          this.propulsionModel = propulsionModel;
      }
  
      /** Get the name of the maneuver.
       * The name can be in the propulsion model, in the maneuver triggers or both.
       * If it is in both it should be the same since it refers to the same maneuver.
       * The name is inferred from the propulsion model first, then from the maneuver triggers if
       * the propulsion model had an empty name.
       * @return the name
       */
      public String getName() {
  
          //FIXME: Potentially, throw an exception if both propulsion model
          // and maneuver triggers define a name but they are different
          String name = propulsionModel.getName();
  
          if (name.length() < 1) {
             name = maneuverTriggers.getName();
         }
         return name;
     }
 
     /** Get the attitude override used for the maneuver.
      * @return the attitude override
      */
     public AttitudeProvider getAttitudeOverride() {
         return attitudeOverride;
     }
 
     /** Get the control vector's cost type.
      * @return control cost type
      * @since 12.0
      */
     public Control3DVectorCostType getControl3DVectorCostType() {
         return propulsionModel.getControl3DVectorCostType();
     }
 
     /** Get the propulsion model.
      * @return the propulsion model
      */
     public PropulsionModel getPropulsionModel() {
         return propulsionModel;
     }
 
     /** Get the maneuver triggers.
      * @return the maneuver triggers
      */
     public ManeuverTriggers getManeuverTriggers() {
         return maneuverTriggers;
     }
 
     /** {@inheritDoc} */
     @Override
     public boolean dependsOnPositionOnly() {
         return false;
     }
 
     /** {@inheritDoc} */
     @Override
     public void init(final SpacecraftState initialState, final AbsoluteDate target) {
         propulsionModel.init(initialState, target);
         maneuverTriggers.init(initialState, target);
     }
 
     /** {@inheritDoc} */
     @Override
     public <T extends CalculusFieldElement<T>> void init(final FieldSpacecraftState<T> initialState, final FieldAbsoluteDate<T> target) {
         propulsionModel.init(initialState, target);
         maneuverTriggers.init(initialState, target);
     }
 
     /** {@inheritDoc} */
     @Override
     public void addContribution(final SpacecraftState s, final TimeDerivativesEquations adder) {
 
         // Get the parameters associated to the maneuver (from ForceModel)
         final double[] parameters = getParameters(s.getDate());
 
         // If the maneuver is active, compute and add its contribution
         // Maneuver triggers are used to check if the maneuver is currently firing or not
         // Specific drivers for the triggers are extracted from the array given by the ForceModel interface
         if (maneuverTriggers.isFiring(s.getDate(), getManeuverTriggersParameters(parameters))) {
 
             // Compute thrust acceleration in inertial frame
             adder.addNonKeplerianAcceleration(acceleration(s, parameters));
 
             // Compute flow rate using the propulsion model
             // Specific drivers for the propulsion model are extracted from the array given by the ForceModel interface
             adder.addMassDerivative(propulsionModel.getMassDerivatives(s, getPropulsionModelParameters(parameters)));
         }
     }
 
     /** {@inheritDoc} */
     @Override
     public <T extends CalculusFieldElement<T>> void addContribution(final FieldSpacecraftState<T> s,
                         final FieldTimeDerivativesEquations<T> adder) {
 
         // Get the parameters associated to the maneuver (from ForceModel)
         final T[] parameters = getParameters(s.getDate().getField(), s.getDate());
 
         // If the maneuver is active, compute and add its contribution
         // Maneuver triggers are used to check if the maneuver is currently firing or not
         // Specific drivers for the triggers are extracted from the array given by the ForceModel interface
         if (maneuverTriggers.isFiring(s.getDate(), getManeuverTriggersParameters(parameters))) {
 
             // Compute thrust acceleration in inertial frame
             // the acceleration method extracts the parameter in its core, that is why we call it with
             // parameters and not extracted parameters
             adder.addNonKeplerianAcceleration(acceleration(s, parameters));
 
             // Compute flow rate using the propulsion model
             // Specific drivers for the propulsion model are extracted from the array given by the ForceModel interface
             adder.addMassDerivative(propulsionModel.getMassDerivatives(s, getPropulsionModelParameters(parameters)));
         }
     }
 
     @Override
     public Vector3D acceleration(final SpacecraftState s, final double[] parameters) {
 
         // If the maneuver is active, compute and add its contribution
         // Maneuver triggers are used to check if the maneuver is currently firing or not
         // Specific drivers for the triggers are extracted from the array given by the ForceModel interface
         if (maneuverTriggers.isFiring(s.getDate(), getManeuverTriggersParameters(parameters))) {
 
             // Attitude during maneuver
             final Attitude maneuverAttitude;
             if (attitudeOverride == null) {
                 maneuverAttitude = s.getAttitude();
             } else {
                 final Rotation rotation = attitudeOverride.getAttitudeRotation(s.getOrbit(), s.getDate(), s.getFrame());
                 // use dummy rates to build full attitude as they should not be used
                 maneuverAttitude = new Attitude(s.getDate(), s.getFrame(), rotation, Vector3D.ZERO, Vector3D.ZERO);
             }
 
             // Compute acceleration from propulsion model
             // Specific drivers for the propulsion model are extracted from the array given by the ForceModel interface
             return propulsionModel.getAcceleration(s, maneuverAttitude, getPropulsionModelParameters(parameters));
         } else {
             // Constant (and null) acceleration when not firing
             return Vector3D.ZERO;
         }
     }
 
     @Override
     public <T extends CalculusFieldElement<T>> FieldVector3D<T> acceleration(final FieldSpacecraftState<T> s, final T[] parameters) {
 
         // If the maneuver is active, compute and add its contribution
         // Maneuver triggers are used to check if the maneuver is currently firing or not
         // Specific drivers for the triggers are extracted from the array given by the ForceModel interface
         if (maneuverTriggers.isFiring(s.getDate(), getManeuverTriggersParameters(parameters))) {
 
             // Attitude during maneuver
             final FieldAttitude<T> maneuverAttitude;
             if (attitudeOverride == null) {
                 maneuverAttitude = s.getAttitude();
             } else {
                 final FieldRotation<T> rotation = attitudeOverride.getAttitudeRotation(s.getOrbit(), s.getDate(), s.getFrame());
                 // use dummy rates to build full attitude as they should not be used
                 final FieldVector3D<T> zeroVector3D = FieldVector3D.getZero(s.getDate().getField());
                 maneuverAttitude = new FieldAttitude<>(s.getDate(), s.getFrame(), rotation, zeroVector3D, zeroVector3D);
             }
 
             // Compute acceleration from propulsion model
             // Specific drivers for the propulsion model are extracted from the array given by the ForceModel interface
             return propulsionModel.getAcceleration(s, maneuverAttitude, getPropulsionModelParameters(parameters));
         } else {
             // Constant (and null) acceleration when not firing
             return FieldVector3D.getZero(s.getMu().getField());
         }
     }
 
     /** {@inheritDoc} */
     @Override
     public Stream<EventDetector> getEventDetectors() {
         // Event detectors are extracted from both the maneuver triggers and the propulsion model
         return Stream.concat(maneuverTriggers.getEventDetectors(),
                              propulsionModel.getEventDetectors());
     }
 
     /** {@inheritDoc} */
     @Override
     public <T extends CalculusFieldElement<T>> Stream<FieldEventDetector<T>> getFieldEventDetectors(final Field<T> field) {
         // Event detectors are extracted from both the maneuver triggers and the propulsion model
         return Stream.concat(maneuverTriggers.getFieldEventDetectors(field),
                              propulsionModel.getFieldEventDetectors(field));
     }
 
     @Override
     public List<ParameterDriver> getParametersDrivers() {
 
         // Extract parameter drivers from propulsion model and maneuver triggers
         final List<ParameterDriver> propulsionModelDrivers  = propulsionModel.getParametersDrivers();
         final List<ParameterDriver> maneuverTriggersDrivers = maneuverTriggers.getParametersDrivers();
         final int propulsionModelDriversLength  = propulsionModelDrivers.size();
         final int maneuverTriggersDriversLength = maneuverTriggersDrivers.size();
 
         // Prepare final drivers' array
         final List<ParameterDriver> drivers = new ArrayList<>(propulsionModelDriversLength + maneuverTriggersDriversLength);
 
         // Convention: Propulsion drivers are given before maneuver triggers drivers
         // Add propulsion drivers first
         drivers.addAll(0, propulsionModelDrivers);
 
         // Then maneuver triggers' drivers
         drivers.addAll(propulsionModelDriversLength, maneuverTriggersDrivers);
 
         // Return full drivers' array
         return drivers;
     }
 
     /** Extract propulsion model parameters from the parameters' array called in by the ForceModel interface.
      *  Convention: Propulsion parameters are given before maneuver triggers parameters
      * @param parameters parameters' array called in by ForceModel interface
      * @return propulsion model parameters
      */
     public double[] getPropulsionModelParameters(final double[] parameters) {
         return Arrays.copyOfRange(parameters, 0, propulsionModel.getParametersDrivers().size());
     }
 
     /** Extract propulsion model parameters from the parameters' array called in by the ForceModel interface.
      *  Convention: Propulsion parameters are given before maneuver triggers parameters
      * @param parameters parameters' array called in by ForceModel interface
      * @param <T> extends CalculusFieldElement&lt;T&gt;
      * @return propulsion model parameters
      */
     public <T extends CalculusFieldElement<T>> T[] getPropulsionModelParameters(final T[] parameters) {
         return Arrays.copyOfRange(parameters, 0, propulsionModel.getParametersDrivers().size());
     }
 
     /** Extract maneuver triggers' parameters from the parameters' array called in by the ForceModel interface.
      *  Convention: Propulsion parameters are given before maneuver triggers parameters
      * @param parameters parameters' array called in by ForceModel interface
      * @return maneuver triggers' parameters
      */
     public double[] getManeuverTriggersParameters(final double[] parameters) {
         final int nbPropulsionModelDrivers = propulsionModel.getParametersDrivers().size();
         return Arrays.copyOfRange(parameters, nbPropulsionModelDrivers,
                                   nbPropulsionModelDrivers + maneuverTriggers.getParametersDrivers().size());
     }
 
     /** Extract maneuver triggers' parameters from the parameters' array called in by the ForceModel interface.
      *  Convention: Propulsion parameters are given before maneuver triggers parameters
      * @param parameters parameters' array called in by ForceModel interface
      * @param <T> extends CalculusFieldElement&lt;T&gt;
      * @return maneuver triggers' parameters
      */
     public <T extends CalculusFieldElement<T>> T[] getManeuverTriggersParameters(final T[] parameters) {
         final int nbPropulsionModelDrivers = propulsionModel.getParametersDrivers().size();
         return Arrays.copyOfRange(parameters, nbPropulsionModelDrivers,
                                   nbPropulsionModelDrivers + maneuverTriggers.getParametersDrivers().size());
     }
 }