''' '''
'''
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.
'''
# Import architectural modules
from Basilisk.utilities import SimulationBaseClass, macros
from Basilisk.simulation import sim_model
# Get current file path
import sys, os, inspect
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.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 processe
self.FSWModels = fswModel.BSKFswModels(self, self.fswRate) #Create Dynamics and FSW classes
def initInterfaces(self):
# Define process message interfaces.
assert (self.fsw_added is True and self.dynamics_added is True), "Must have dynamics and fsw modules to interface"
self.dyn2FSWInterface = sim_model.SysInterface()
self.fsw2DynInterface = sim_model.SysInterface()
# Discover interfaces between processes
self.dyn2FSWInterface.addNewInterface(self.DynamicsProcessName, self.FSWProcessName)
self.fsw2DynInterface.addNewInterface(self.FSWProcessName, self.DynamicsProcessName)
self.dynProc.addInterfaceRef(self.fsw2DynInterface)
self.fswProc.addInterfaceRef(self.dyn2FSWInterface)
class BSKScenario(object):
def __init__(self):
self.name = "scenario"
#self.masterSim = masterSim
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