#
# 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 called by OpNavScenarios/OpNavMC/MonteCarlo.py in order to make MC data.
"""
# Import utilities
from Basilisk.utilities import orbitalMotion, macros, unitTestSupport
from Basilisk.utilities import RigidBodyKinematics as rbk
# Get current file path
import sys, os, inspect, time, signal, subprocess
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_OpNav import BSKSim, BSKScenario
import BSK_OpNavDynamics, BSK_OpNavFsw
import numpy as np
from sys import platform
# Import plotting file for your scenario
sys.path.append(path + '/../../plottingOpNav')
import OpNav_Plotting as BSK_plt
# Create your own scenario child class
[docs]class scenario_OpNav(BSKSim):
"""Main Simulation Class"""
def __init__(self):
super(scenario_OpNav, self).__init__(BSKSim)
self.fswRate = 0.5
self.dynRate = 0.5
self.set_DynModel(BSK_OpNavDynamics)
self.set_FswModel(BSK_OpNavFsw)
self.initInterfaces()
self.name = 'scenario_opnav'
self.configure_initial_conditions()
def configure_initial_conditions(self):
print('%s: configure_initial_conditions' % self.name)
# Configure Dynamics initial conditions
oe = orbitalMotion.ClassicElements()
oe.a = 18000 * 1E3 # meters
oe.e = 0.6
oe.i = 10 * macros.D2R
oe.Omega = 25. * macros.D2R
oe.omega = 190. * macros.D2R
oe.f = 80. * macros.D2R # 90 good
mu = self.get_DynModel().marsGravBody.mu
rN, vN = orbitalMotion.elem2rv(mu, oe)
orbitalMotion.rv2elem(mu, rN, vN)
bias = [0, 0, -2]
rError= np.array([10000.,10000., -10000])
vError= np.array([100, -10, 10])
MRP= [0,0,0]
self.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist()
self.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN) # m - r_CN_N
self.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN) # m/s - v_CN_N
self.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]] # sigma_BN_B
self.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]] # rad/s - omega_BN_B
qNoiseIn = np.identity(6)
qNoiseIn[0:3, 0:3] = qNoiseIn[0:3, 0:3] * 1E-3 * 1E-3
qNoiseIn[3:6, 3:6] = qNoiseIn[3:6, 3:6] * 1E-4 * 1E-4
self.get_FswModel().relativeODData.qNoise = qNoiseIn.reshape(36).tolist()
self.get_FswModel().imageProcessing.noiseSF = 1
self.get_FswModel().relativeODData.noiseSF = 5#7.5
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().trackingErrorCamData.outputDataName, samplingTime)
# self.TotalSim.logThisMessage(self.get_FswModel().trackingErrorData.outputDataName, samplingTime)
self.TotalSim.logThisMessage(self.get_FswModel().relativeODData.filtDataOutMsgName, samplingTime)
self.TotalSim.logThisMessage(self.get_FswModel().pixelLineData.opNavOutMsgName, samplingTime)
self.TotalSim.logThisMessage(self.get_DynModel().scObject.scStateOutMsgName,samplingTime)
self.TotalSim.logThisMessage(self.get_FswModel().imageProcessing.opnavCirclesOutMsgName, samplingTime)
return
def run(TheScenario):
TheScenario.log_outputs()
TheScenario.configure_initial_conditions()
TheScenario.get_FswModel().imageProcessing.saveImages = 0
TheScenario.get_DynModel().vizInterface.opNavMode = 1
mode = ["None", "-directComm", "-opNavMode"]
# The following code spawns the Vizard application from python as a function of the mode selected above, and the platform.
if platform != "darwin":
child = subprocess.Popen([TheScenario.vizPath, "--args", mode[TheScenario.get_DynModel().vizInterface.opNavMode],
"tcp://localhost:5556"])
else:
child = subprocess.Popen(
["open", TheScenario.vizPath, "--args", mode[TheScenario.get_DynModel().vizInterface.opNavMode],
"tcp://localhost:5556"])
print("Vizard spawned with PID = " + str(child.pid))
# Configure FSW mode
TheScenario.modeRequest = 'prepOpNav'
# Initialize simulation
TheScenario.InitializeSimulationAndDiscover()
# Configure run time and execute simulation
simulationTime = macros.min2nano(3.)
TheScenario.ConfigureStopTime(simulationTime)
TheScenario.ExecuteSimulation()
TheScenario.modeRequest = 'OpNavAttOD'
# TheBSKSim.get_DynModel().SetLocalConfigData(TheBSKSim, 60, True)
simulationTime = macros.min2nano(600.)
TheScenario.ConfigureStopTime(simulationTime)
TheScenario.ExecuteSimulation()
TheScenario.get_DynModel().SpiceObject.unloadSpiceKernel(TheScenario.get_DynModel().SpiceObject.SPICEDataPath, 'de430.bsp')
TheScenario.get_DynModel().SpiceObject.unloadSpiceKernel(TheScenario.get_DynModel().SpiceObject.SPICEDataPath, 'naif0012.tls')
TheScenario.get_DynModel().SpiceObject.unloadSpiceKernel(TheScenario.get_DynModel().SpiceObject.SPICEDataPath,
'de-403-masses.tpc')
TheScenario.get_DynModel().SpiceObject.unloadSpiceKernel(TheScenario.get_DynModel().SpiceObject.SPICEDataPath, 'pck00010.tpc')
return
if __name__ == "__main__":
# Instantiate base simulation
# Configure a scenario in the base simulation
TheScenario = scenario_OpNav()
run(TheScenario)