#
# 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.
#
#
# FSW Setup Utilities for Thrusters
#
from Basilisk.architecture import messaging
thrList = []
[docs]
def create(
rThrust_B,
tHatThrust_B,
Fmax
):
"""
This function is called to setup a FSW RW device in python, and adds it to the of RW
devices in rwList[]. This list is accessible from the parent python script that
imported this rw library script, and thus any particular value can be over-ridden
by the user.
Args:
rThrust_B: position of thruster in spacecraft body frame
tHatThrust_B: direction of thrust vector in B frame
Fmax: maximum thrust force value
"""
global thrList
# create the blank Thruster object
thrPointer = messaging.THRConfigMsgPayload()
thrPointer.rThrust_B = rThrust_B
thrPointer.tHatThrust_B = tHatThrust_B
thrPointer.maxThrust = Fmax
# add RW to the list of RW devices
thrList.append(thrPointer)
return
[docs]
def writeConfigMessage():
"""
This function should be called after all devices are created with create()
It creates the C-class container for the array of RW devices, and attaches
this container to the spacecraft object
:return:
"""
global thrList
thrClass = messaging.THRArrayConfigMsgPayload()
i = 0
for item in thrList:
messaging.ThrustConfigArray_setitem(thrClass.thrusters, i, item)
i += 1
thrClass.numThrusters = len(thrList)
thrConfigInMsg = messaging.THRArrayConfigMsg().write(thrClass)
thrConfigInMsg.this.disown()
return thrConfigInMsg
def clearSetup():
global thrList
thrList = []
return
def getNumOfDevices():
return len(thrList)