#
# 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
--------
This script is base BSK Sim script used for the MC examples.
"""
from Basilisk.utilities import orbitalMotion, macros, vizSupport
# Get current file path
import sys, os, inspect
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# Import master classes: simulation base class and scenario base class
sys.path.append(path + '/..')
from BSK_masters import BSKSim, BSKScenario
import BSK_Dynamics, BSK_Fsw
# Import plotting file for your scenario
sys.path.append(path + '/../plotting')
import BSK_Plotting as BSK_plt
# Create your own scenario child class
[docs]class scenario_AttFeedback(BSKSim, BSKScenario):
def __init__(self):
super(scenario_AttFeedback, self).__init__()
self.name = 'scenario_AttFeedbackMC'
self.set_DynModel(BSK_Dynamics)
self.set_FswModel(BSK_Fsw)
self.initInterfaces()
self.configure_initial_conditions()
self.log_outputs()
# if this scenario is to interface with the BSK Viz, uncomment the following line
# vizSupport.enableUnityVisualization(self, self.DynModels.taskName, self.DynamicsProcessName,
# gravBodies=self.DynModels.gravFactory,
# saveFile=__file__,
# numRW=self.DynModels.rwFactory.getNumOfDevices())
[docs] def log_outputs(self):
print('%s: log_outputs' % self.name)
# Dynamics process outputs: log messages below if desired.
# FSW process outputs
samplingTime = self.get_FswModel().processTasksTimeStep
self.TotalSim.logThisMessage(self.get_FswModel().mrpFeedbackRWsData.inputRWSpeedsName, samplingTime)
self.TotalSim.logThisMessage(self.get_FswModel().rwMotorTorqueData.outputDataName, samplingTime)
self.TotalSim.logThisMessage(self.get_FswModel().trackingErrorData.outputDataName, samplingTime)
return
[docs] def pull_outputs(self, showPlots):
print('%s: pull_outputs' % self.name)
num_RW = 4 # number of wheels used in the scenario
# Dynamics process outputs: pull log messages below if any
# FSW process outputs
sigma_BR = self.pullMessageLogData(
self.get_FswModel().trackingErrorData.outputDataName + ".sigma_BR", list(range(3)))
omega_BR_B = self.pullMessageLogData(
self.get_FswModel().trackingErrorData.outputDataName + ".omega_BR_B", list(range(3)))
# Plot results
#BSK_plt.clear_all_plots()
timeData = sigma_BR[:, 0] * macros.NANO2MIN
BSK_plt.plot_attitude_error(timeData, sigma_BR)
BSK_plt.plot_rate_error(timeData, omega_BR_B)
figureList = {}
if showPlots:
BSK_plt.show_all_plots()
else:
fileName = os.path.basename(os.path.splitext(__file__)[0])
figureNames = ["attitudeErrorNorm", "rwMotorTorque", "rateError", "rwSpeed"]
figureList = BSK_plt.save_all_plots(fileName, figureNames)
return figureList
def runScenario(TheScenario):
print('Starting Execution')
simulationTime = macros.min2nano(10.)
TheScenario.InitializeSimulationAndDiscover()
TheScenario.modeRequest = 'inertial3D'
TheScenario.ConfigureStopTime(simulationTime)
TheScenario.ExecuteSimulation()
return
[docs]def run():
"""
The scenarios can be run with the followings setups parameters:
Args:
showPlots (bool): Determines if the script should display plots
"""
scenario = scenario_AttFeedback()
runScenario(scenario)
scenario.pull_outputs(True)
return
if __name__ == "__main__":
run()