Top-level simulation coordinator. More...

#include <Simulator.hpp>

Public Types
using	InputSourceCallback = std::function<double(const std::string &)>
	Input source callback: (signal_name) -> value.
using	OutputObserverCallback = std::function<void(const std::string &, double)>
	Output observer callback: (signal_name, value) -> void.

Public Member Functions
	Simulator ()
	Default constructor for programmatic setup.
	~Simulator ()
	Destructor.
	Simulator (const Simulator &)=delete
Simulator &	operator= (const Simulator &)=delete
	Simulator (Simulator &&)=delete
Simulator &	operator= (Simulator &&)=delete
void	Stage ()
	Stage the simulation.
void	Stage (const StageConfig &config)
void	Step (double dt)
	Execute one simulation step.
void	Step ()
const std::string &	Name () const
	Get simulation name (from config).
double	Dt () const
	Get configured timestep.
double	EndTime () const
	Get configured end time.
double	Time () const
	Get current simulation time (MET - derived from epoch).
const vulcan::time::NumericEpoch &	Epoch () const
	Get current epoch (single source of truth for time).
double	JD_UTC () const
	Get Julian Date in UTC scale.
double	JD_TAI () const
	Get Julian Date in TAI scale.
double	JD_TT () const
	Get Julian Date in TT scale.
double	JD_GPS () const
	Get Julian Date in GPS scale.
int	GPSWeek () const
	Get GPS week number.
double	GPSSecondsOfWeek () const
	Get GPS seconds of week.
std::string	ISO8601 () const
	Get current time as ISO 8601 string.
Lifecycle	GetLifecycle () const
	Get current simulation lifecycle state.
int32_t	GetFlightPhase () const
	Get current flight phase value (from PhaseManager).
std::string	GetFlightPhaseName () const
	Get current flight phase name (from PhaseManager).
bool	IsInitialized () const
	Check if simulation is initialized (Staged or later).
double	Peek (const std::string &name) const
	Read a signal value by name.
DataDictionary	GetDataDictionary () const
	Get data dictionary for the simulation.
IntrospectionGraph	GetIntrospectionGraph () const
	Get introspection graph (data dictionary + topology edges).
const SignalRegistry< double > &	Registry () const
	Get signal registry (for recording, introspection).
void	Poke (const std::string &name, double value)
	Write a signal value by name.
MissionLogger &	GetLogger ()
	Get the mission logger.
const MissionLogger &	GetLogger () const
void	Reset ()
	Reset simulation to initial state Re-applies ICs, resets time to 0.
void	SetTime (double met)
	Set simulation time (MET).
void	SetInputSource (const std::string &signal_name, InputSourceCallback callback)
	Register an external input source for a signal.
void	SetOutputObserver (const std::string &signal_name, OutputObserverCallback callback)
	Register an output observer for a signal.
void	ClearInputSource (const std::string &signal_name)
	Remove an input source.
void	ClearOutputObserver (const std::string &signal_name)
	Remove an output observer.
Eigen::VectorXd	GetState () const
	Get current state vector.
void	SetState (const Eigen::VectorXd &X)
	Set state vector.
Eigen::VectorXd	ComputeDerivatives (double t)
	Compute derivatives for current state at time t.
AdaptiveStepResult< double >	AdaptiveStep (double dt_request)
	Execute adaptive step (requires RK45 integrator).
std::optional< janus::Function >	GetDynamicsGraph () const
	Get symbolic dynamics graph Available after Stage() if symbolics.enabled = true.
std::optional< janus::Function >	GetJacobian () const
	Get symbolic Jacobian Available after Stage() if symbolics.generate_jacobian = true.
const std::optional< staging::TrimResult > &	GetTrimResult () const
	Get trim result Available after Stage() if trim.enabled = true.
const std::optional< staging::LinearModel > &	GetLinearModel () const
	Get linear model Available after Stage() if linearization.enabled = true.
const SimulatorConfig &	GetConfig () const
	Get simulator configuration.
void	AddComponent (std::unique_ptr< Component< double > > component)
	Add a component to the simulation.
void	AddComponent (const ComponentConfig &config)
	Add a component from config (requires ComponentFactory).
void	Configure (const SimulatorConfig &config)
	Configure simulator with full config struct.
void	AddRoutes (const std::vector< signal::SignalRoute > &routes)
	Add signal routes.
std::size_t	NumComponents () const
	Get number of components.
Backplane< double > &	GetBackplane ()
	Get backplane for signal introspection (expert).
const Backplane< double > &	GetBackplane () const

Static Public Member Functions
static std::unique_ptr< Simulator >	FromConfig (const std::string &config_path)
	Create simulator from configuration file.
static std::unique_ptr< Simulator >	FromConfig (const SimulatorConfig &config)
	Create simulator from configuration struct.

Detailed Description

Top-level simulation coordinator.

NOT templated on Scalar - user sees one class. Provides clean 4-operation external interface:

FromConfig() - Initialize from YAML
Stage() - Prepare for execution (validation, optional trim/linearization)
Step() - Advance simulation
~Simulator() - Cleanup (RAII)

Member Typedef Documentation

◆ InputSourceCallback

using icarus::Simulator::InputSourceCallback = std::function<double(const std::string &)>

Input source callback: (signal_name) -> value.

◆ OutputObserverCallback

using icarus::Simulator::OutputObserverCallback = std::function<void(const std::string &, double)>

Output observer callback: (signal_name, value) -> void.

Constructor & Destructor Documentation

◆ Simulator() [1/3]

icarus::Simulator::Simulator ( )

inline

Default constructor for programmatic setup.

◆ ~Simulator()

icarus::Simulator::~Simulator ( )

inline

Destructor.

◆ Simulator() [2/3]

icarus::Simulator::Simulator ( const Simulator & )

delete

◆ Simulator() [3/3]

icarus::Simulator::Simulator ( Simulator && )

delete

Member Function Documentation

◆ AdaptiveStep()

AdaptiveStepResult< double > icarus::Simulator::AdaptiveStep ( double dt_request )

inline

Execute adaptive step (requires RK45 integrator).

◆ AddComponent() [1/2]

void icarus::Simulator::AddComponent ( const ComponentConfig & config )

inline

Add a component from config (requires ComponentFactory).

◆ AddComponent() [2/2]

void icarus::Simulator::AddComponent ( std::unique_ptr< Component< double > > component )

inline

Add a component to the simulation.

◆ AddRoutes()

void icarus::Simulator::AddRoutes ( const std::vector< signal::SignalRoute > & routes )

inline

Add signal routes.

◆ ClearInputSource()

void icarus::Simulator::ClearInputSource ( const std::string & signal_name )

inline

Remove an input source.

◆ ClearOutputObserver()

void icarus::Simulator::ClearOutputObserver ( const std::string & signal_name )

inline

Remove an output observer.

◆ ComputeDerivatives()

Eigen::VectorXd icarus::Simulator::ComputeDerivatives ( double t )

inline

Compute derivatives for current state at time t.

◆ Configure()

void icarus::Simulator::Configure ( const SimulatorConfig & config )

inline

Configure simulator with full config struct.

◆ Dt()

double icarus::Simulator::Dt ( ) const

inlinenodiscard

Get configured timestep.

◆ EndTime()

double icarus::Simulator::EndTime ( ) const

inlinenodiscard

Get configured end time.

◆ Epoch()

const vulcan::time::NumericEpoch & icarus::Simulator::Epoch ( ) const

inlinenodiscard

Get current epoch (single source of truth for time).

◆ FromConfig() [1/2]

std::unique_ptr< Simulator > icarus::Simulator::FromConfig ( const SimulatorConfig & config )

inlinestaticnodiscard

Create simulator from configuration struct.

◆ FromConfig() [2/2]

std::unique_ptr< Simulator > icarus::Simulator::FromConfig ( const std::string & config_path )

inlinestaticnodiscard

Create simulator from configuration file.

Loads component configs and routes from YAML, creates components, provisions them. Ready for Stage() after this.

Parameters

config_path Path to simulation YAML configuration

Returns: Configured Simulator ready for Stage()

◆ GetBackplane() [1/2]

Backplane< double > & icarus::Simulator::GetBackplane ( )

inlinenodiscard

Get backplane for signal introspection (expert).

◆ GetBackplane() [2/2]

const Backplane< double > & icarus::Simulator::GetBackplane ( ) const

inlinenodiscard

◆ GetConfig()

const SimulatorConfig & icarus::Simulator::GetConfig ( ) const

inlinenodiscard

Get simulator configuration.

◆ GetDataDictionary()

DataDictionary icarus::Simulator::GetDataDictionary ( ) const

inlinenodiscard

Get data dictionary for the simulation.

◆ GetDynamicsGraph()

std::optional< janus::Function > icarus::Simulator::GetDynamicsGraph ( ) const

inlinenodiscard

Get symbolic dynamics graph Available after Stage() if symbolics.enabled = true.

◆ GetFlightPhase()

int32_t icarus::Simulator::GetFlightPhase ( ) const

inlinenodiscard

Get current flight phase value (from PhaseManager).

◆ GetFlightPhaseName()

std::string icarus::Simulator::GetFlightPhaseName ( ) const

inlinenodiscard

Get current flight phase name (from PhaseManager).

◆ GetIntrospectionGraph()

IntrospectionGraph icarus::Simulator::GetIntrospectionGraph ( ) const

inlinenodiscard

Get introspection graph (data dictionary + topology edges).

◆ GetJacobian()

std::optional< janus::Function > icarus::Simulator::GetJacobian ( ) const

inlinenodiscard

Get symbolic Jacobian Available after Stage() if symbolics.generate_jacobian = true.

◆ GetLifecycle()

Lifecycle icarus::Simulator::GetLifecycle ( ) const

inlinenodiscard

Get current simulation lifecycle state.

◆ GetLinearModel()

const std::optional< staging::LinearModel > & icarus::Simulator::GetLinearModel ( ) const

inlinenodiscard

Get linear model Available after Stage() if linearization.enabled = true.

◆ GetLogger() [1/2]

MissionLogger & icarus::Simulator::GetLogger ( )

inlinenodiscard

Get the mission logger.

◆ GetLogger() [2/2]

const MissionLogger & icarus::Simulator::GetLogger ( ) const

inlinenodiscard

◆ GetState()

Eigen::VectorXd icarus::Simulator::GetState ( ) const

inlinenodiscard

Get current state vector.

◆ GetTrimResult()

const std::optional< staging::TrimResult > & icarus::Simulator::GetTrimResult ( ) const

inlinenodiscard

Get trim result Available after Stage() if trim.enabled = true.

◆ GPSSecondsOfWeek()

double icarus::Simulator::GPSSecondsOfWeek ( ) const

inlinenodiscard

Get GPS seconds of week.

◆ GPSWeek()

int icarus::Simulator::GPSWeek ( ) const

inlinenodiscard

Get GPS week number.

◆ IsInitialized()

bool icarus::Simulator::IsInitialized ( ) const

inlinenodiscard

Check if simulation is initialized (Staged or later).

◆ ISO8601()

std::string icarus::Simulator::ISO8601 ( ) const

inlinenodiscard

Get current time as ISO 8601 string.

◆ JD_GPS()

double icarus::Simulator::JD_GPS ( ) const

inlinenodiscard

Get Julian Date in GPS scale.

◆ JD_TAI()

double icarus::Simulator::JD_TAI ( ) const

inlinenodiscard

Get Julian Date in TAI scale.

◆ JD_TT()

double icarus::Simulator::JD_TT ( ) const

inlinenodiscard

Get Julian Date in TT scale.

◆ JD_UTC()

double icarus::Simulator::JD_UTC ( ) const

inlinenodiscard

Get Julian Date in UTC scale.

◆ Name()

const std::string & icarus::Simulator::Name ( ) const

inlinenodiscard

Get simulation name (from config).

◆ NumComponents()

std::size_t icarus::Simulator::NumComponents ( ) const

inlinenodiscard

Get number of components.

◆ operator=() [1/2]

Simulator & icarus::Simulator::operator= ( const Simulator & )

delete

◆ operator=() [2/2]

Simulator & icarus::Simulator::operator= ( Simulator && )

delete

◆ Peek()

double icarus::Simulator::Peek ( const std::string & name ) const

inlinenodiscard

Read a signal value by name.

Parameters

name	Full signal path: "Entity.Component.signal"

Read a scalar signal value by name

◆ Poke()

void icarus::Simulator::Poke	(	const std::string &	name,
		double	value )

inline

Write a signal value by name.

Write a scalar signal value by name

◆ Registry()

const SignalRegistry< double > & icarus::Simulator::Registry ( ) const

inlinenodiscard

Get signal registry (for recording, introspection).

◆ Reset()

void icarus::Simulator::Reset ( )

inline

Reset simulation to initial state Re-applies ICs, resets time to 0.

◆ SetInputSource()

void icarus::Simulator::SetInputSource	(	const std::string &	signal_name,
		InputSourceCallback	callback )

inline

Register an external input source for a signal.

◆ SetOutputObserver()

void icarus::Simulator::SetOutputObserver	(	const std::string &	signal_name,
		OutputObserverCallback	callback )

inline

Register an output observer for a signal.

◆ SetState()

void icarus::Simulator::SetState ( const Eigen::VectorXd & X )

inline

Set state vector.

◆ SetTime()

void icarus::Simulator::SetTime ( double met )

inline

Set simulation time (MET).

Used by warmstart to restore time from recording. Sets epoch_ = epoch_start_ + met.

Parameters

met	Mission Elapsed Time to set

◆ Stage() [1/2]

void icarus::Simulator::Stage ( )

inline

Stage the simulation.

Prepares the vehicle for launch:

Calls Stage() on all components (input wiring)
Validates all signal wiring
Generates symbolic graphs (if configured)
Runs trim optimization (if configured)

◆ Stage() [2/2]

void icarus::Simulator::Stage ( const StageConfig & config )

inline

◆ Step() [1/2]

void icarus::Simulator::Step ( )

inline

◆ Step() [2/2]

void icarus::Simulator::Step ( double dt )

inline

Execute one simulation step.

Uses scheduler for multi-rate execution. Advances time by dt using configured integrator.

Parameters

dt	Timestep (uses nominal dt if not specified)

◆ Time()

double icarus::Simulator::Time ( ) const

inlinenodiscard

Get current simulation time (MET - derived from epoch).

The documentation for this class was generated from the following file:

include/icarus/sim/Simulator.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ InputSourceCallback

◆ OutputObserverCallback

Constructor & Destructor Documentation

◆ Simulator() [1/3]

◆ ~Simulator()

◆ Simulator() [2/3]

◆ Simulator() [3/3]

Member Function Documentation

◆ AdaptiveStep()

◆ AddComponent() [1/2]

◆ AddComponent() [2/2]

◆ AddRoutes()

◆ ClearInputSource()

◆ ClearOutputObserver()

◆ ComputeDerivatives()

◆ Configure()

◆ Dt()

◆ EndTime()

◆ Epoch()

◆ FromConfig() [1/2]

◆ FromConfig() [2/2]

◆ GetBackplane() [1/2]

◆ GetBackplane() [2/2]

◆ GetConfig()

◆ GetDataDictionary()

◆ GetDynamicsGraph()

◆ GetFlightPhase()

◆ GetFlightPhaseName()

◆ GetIntrospectionGraph()

◆ GetJacobian()

◆ GetLifecycle()

◆ GetLinearModel()

◆ GetLogger() [1/2]

◆ GetLogger() [2/2]

◆ GetState()

◆ GetTrimResult()

◆ GPSSecondsOfWeek()

◆ GPSWeek()

◆ IsInitialized()

◆ ISO8601()

◆ JD_GPS()

◆ JD_TAI()

◆ JD_TT()

◆ JD_UTC()

◆ Name()

◆ NumComponents()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Peek()

◆ Poke()

◆ Registry()

◆ Reset()

◆ SetInputSource()

◆ SetOutputObserver()

◆ SetState()

◆ SetTime()

◆ Stage() [1/2]

◆ Stage() [2/2]

◆ Step() [1/2]

◆ Step() [2/2]

◆ Time()