#
# 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.
#
# Get current file path
import inspect
import os
import sys
# Import architectural modules
from Basilisk.utilities import SimulationBaseClass
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# Import Dynamics and FSW models
sys.path.append(path + '/models')
[docs]
class BSKSim(SimulationBaseClass.SimBaseClass):
"""Main bskSim simulation class"""
def __init__(self, fswRate=0.1, dynRate=0.1):
self.dynRate = dynRate
self.fswRate = fswRate
# Create a sim module as an empty container
SimulationBaseClass.SimBaseClass.__init__(self)
self.DynModels = []
self.FSWModels = []
self.DynamicsProcessName = None
self.FSWProcessName = None
self.dynProc = None
self.fswProc = None
self.oneTimeRWFaultFlag = 0
self.oneTimeFaultTime = -1
self.repeatRWFaultFlag = 0
self.dynamics_added = False
self.fsw_added = False
def get_DynModel(self):
assert (self.dynamics_added is True), "It is mandatory to use a dynamics model as an argument"
return self.DynModels
def set_DynModel(self, dynModel):
self.dynamics_added = True
self.DynamicsProcessName = 'DynamicsProcess' # Create simulation process name
self.dynProc = self.CreateNewProcess(self.DynamicsProcessName) # Create process
self.DynModels = dynModel.BSKDynamicModels(self, self.dynRate) # Create Dynamics and FSW classes
def get_FswModel(self):
assert (self.fsw_added is True), "A flight software model has not been added yet"
return self.FSWModels
def set_FswModel(self, fswModel):
self.fsw_added = True
self.FSWProcessName = "FSWProcess" # Create simulation process name
self.fswProc = self.CreateNewProcess(self.FSWProcessName) # Create process
self.FSWModels = fswModel.BSKFswModels(self, self.fswRate) # Create Dynamics and FSW classes
class BSKScenario(object):
def __init__(self):
self.name = "scenario"
def configure_initial_conditions(self):
"""
Developer must override this method in their BSK_Scenario derived subclass.
"""
pass
def log_outputs(self):
"""
Developer must override this method in their BSK_Scenario derived subclass.
"""
pass
def pull_outputs(self):
"""
Developer must override this method in their BSK_Scenario derived subclass.
"""
pass