#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
r"""
Overview
--------
Demonstrates how to convert spacecraft states, stored in a text file from another program, into Basilisk
messages using :ref:`dataFileToViz`. These messages are red by :ref:`vizInterface` to save a :ref:`Vizard <vizard>`
compatible data play for offline playback and analysis. In this simulation a servicer is holding a relative
position with respect to an uncontrolled satellite. Custom spacecraft models are specified for Vizard
in the folder ``dataForExamples``.
The script is found in the folder ``basilisk/examples`` and executed by using::
python3 scenarioDataToViz.py
The simulation layout is shown in the following illustration. A single simulation process is created
which contains both modules.
.. image:: /_images/static/test_scenarioDataToViz.svg
:align: center
When the simulation completes several plots are shown for the MRP norm attitude history and the
inertial relative position vector components. A servicer spacecraft approaches a target and holds a specific
target-frame fixed location even while the target itself is slowly rotating. The servicer and target orientations
are controlled to be the same to prepare for a final docking maneuver. If the data is saved to a Vizard file,
then the visualization should look like:
.. image:: /_images/static/vizard-DataFile.jpg
:align: center
Illustration of Simulation Results
----------------------------------
::
show_plots = True
.. image:: /_images/Scenarios/scenarioDataToViz1.svg
:align: center
.. image:: /_images/Scenarios/scenarioDataToViz2.svg
:align: center
"""
#
# Basilisk Scenario Script and Integrated Test
#
# Purpose: Basic simulation showing a servicer (3-axis attitude controlled) and a tumbling debris object.
# Author: Hanspeter Schaub
# Creation Date: Dec. 29, 2019
#
import os
import matplotlib.pyplot as plt
import numpy as np
from Basilisk.simulation import dataFileToViz
from Basilisk.simulation import spacecraft
from Basilisk.utilities import (SimulationBaseClass, macros, simIncludeGravBody, vizSupport)
from Basilisk.utilities import unitTestSupport
try:
from Basilisk.simulation import vizInterface
except ImportError:
pass
# The path to the location of Basilisk
# Used to get the location of supporting data.
fileName = os.path.basename(os.path.splitext(__file__)[0])
[docs]def run(show_plots, attType):
"""
The scenarios can be run with the followings setups parameters:
Args:
show_plots (bool): Determines if the script should display plots
attType (int): Specify if MRP (0) or Quaternions (1) are used
"""
path = os.path.dirname(os.path.abspath(__file__))
if attType == 0:
dataFileName = os.path.join(path, "dataForExamples", "scHoldTraj_rotating_MRP.csv")
elif attType == 1:
dataFileName = os.path.join(path, "dataForExamples", "scHoldTraj_rotating_EP.csv")
else:
print("unknown attType variable")
exit()
file1 = open(dataFileName, 'r')
Lines = file1.readlines()
delimiter = ","
t0 = float(Lines[1].split(delimiter)[0])
t1 = float(Lines[2].split(delimiter)[0])
tN = float(Lines[-1].split(delimiter)[0])
timeStepSeconds = t1 - t0
simulationTimeSeconds = tN - t0
# Create simulation variable names
simTaskName = "simTask"
simProcessName = "simProcess"
# Create a sim module as an empty container
scSim = SimulationBaseClass.SimBaseClass()
#
# create the simulation process
#
dynProcess = scSim.CreateNewProcess(simProcessName)
# create the dynamics task and specify the simulation time step information
simulationTimeStep = macros.sec2nano(timeStepSeconds)
simulationTime = macros.sec2nano(simulationTimeSeconds)
dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep))
# setup Earth Gravity Body
gravFactory = simIncludeGravBody.gravBodyFactory()
earth = gravFactory.createEarth()
earth.isCentralBody = True # ensure this is the central gravitational body
# create SC dummy objects to setup basic Vizard settings. Only one has to have the Grav Bodies attached
# to show up in Vizard
scObject1 = spacecraft.Spacecraft()
scObject1.ModelTag = "servicer"
gravFactory.addBodiesTo(scObject1)
scObject2 = spacecraft.Spacecraft()
scObject2.ModelTag = "target"
scList = [scObject1, scObject2]
# setup the module to read in the simulation data
dataModule = dataFileToViz.DataFileToViz()
dataModule.ModelTag = "testModule"
dataModule.setNumOfSatellites(2)
# load the data path from the same folder where this python script is
dataModule.attitudeType = attType
dataModule.dataFileName = dataFileName
dataModule.delimiter = delimiter
scSim.AddModelToTask(simTaskName, dataModule)
#
# Setup data logging before the simulation is initialized
#
numDataPoints = 100
samplingTime = unitTestSupport.samplingTime(simulationTime, simulationTimeStep, numDataPoints)
dataLog = []
for scCounter in range(2):
dataLog.append(dataModule.scStateOutMsgs[scCounter].recorder(samplingTime))
scSim.AddModelToTask(simTaskName, dataLog[-1])
# if this scenario is to interface with the BSK Viz, uncomment the following lines
# to save the BSK data to a file, uncomment the saveFile line below
if vizSupport.vizFound:
viz = vizSupport.enableUnityVisualization(scSim, simTaskName, scList
# , saveFile=fileName
)
viz.settings.showSpacecraftLabels = 1
viz.settings.spacecraftShadowBrightness = 0.2
# load CAD for target spacecraft
vizSupport.createCustomModel(viz,
modelPath=os.path.join(path, "dataForExamples", "Aura_27.obj"),
shader=1,
simBodiesToModify=[scList[1].ModelTag],
rotation=[180. * macros.D2R, 0.0 * macros.D2R, -90. * macros.D2R],
scale=[1, 1, 1])
# load CAD for servicer spacecraft
vizSupport.createCustomModel(viz,
modelPath=os.path.join(path, "dataForExamples", "Loral-1300Com-main.obj"),
simBodiesToModify=[scList[0].ModelTag],
rotation=[0. * macros.D2R, -90.0 * macros.D2R, 0. * macros.D2R],
scale=[0.09, 0.09, 0.09])
# over-ride the default to not read the SC states from scObjects, but set them directly
# to read from the dataFileToFiz output message
viz.scData.clear()
for c in range(len(scList)):
scData = vizInterface.VizSpacecraftData()
scData.spacecraftName = scList[c].ModelTag
scData.scStateInMsg.subscribeTo(dataModule.scStateOutMsgs[c])
viz.scData.push_back(scData)
# initialize Simulation
scSim.InitializeSimulation()
# configure a simulation stop time and execute the simulation run
scSim.ConfigureStopTime(simulationTime)
scSim.ExecuteSimulation()
# retrieve logged data
posB1N = dataLog[0].r_BN_N
posB2N = dataLog[1].r_BN_N
sigmaB1N = dataLog[0].sigma_BN
sigmaB2N = dataLog[1].sigma_BN
#
# plot the results
#
timeData = dataLog[0].times() * macros.NANO2HOUR
plt.close("all") # clears out plots from earlier test runs
figureList = {}
plt.figure(1)
s1Data = []
for idx in sigmaB1N:
sNorm = np.linalg.norm(idx)
s1Data.append(sNorm)
plt.plot(timeData, s1Data, color=unitTestSupport.getLineColor(1, 3), label=r'$|\sigma_{B1/N}|$')
s2Data = []
for idx in sigmaB2N:
sNorm = np.linalg.norm(idx)
s2Data.append(sNorm)
plt.plot(timeData, s2Data, color=unitTestSupport.getLineColor(2, 3), label=r'$|\sigma_{B2/N}|$')
plt.xlabel('Time [h]')
plt.ylabel(r'MRP Norm')
plt.legend(loc='lower right')
pltName = fileName + "1"
figureList[pltName] = plt.figure(1)
plt.figure(2)
rhoData = []
for r1, r2 in zip(posB1N, posB2N):
rhoData.append(r2 - r1)
rhoData = np.array(rhoData)
for idx in range(3):
plt.plot(timeData, rhoData[:, idx],
color=unitTestSupport.getLineColor(idx, 3),
label=r'$\rho_{' + str(idx+1) + '}$')
plt.legend(loc='lower right')
plt.xlabel('Time [h]')
plt.ylabel(r'$\rho_{S/T}$ (Inertial) [m]')
plt.legend(loc='lower right')
pltName = fileName + "2"
figureList[pltName] = plt.figure(2)
if show_plots:
plt.show()
# close the plots being saved off to avoid over-writing old and new figures
plt.close("all")
return figureList
#
# This statement below ensures that the unit test scrip can be run as a
# stand-along python script
#
if __name__ == "__main__":
run(
True, # show_plots
0 # attitude coordinate type, 0 - MRP, 1 - quaternions
)