Source code for BSK_MultiSatMasters

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#  Copyright (c) 2021, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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# Get current file path
import inspect
import os
import sys

from Basilisk import __path__
from Basilisk.fswAlgorithms import formationBarycenter
# Import architectural modules
from Basilisk.utilities import SimulationBaseClass, macros as mc

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskPath = __path__[0]

# Import Dynamics and FSW models
sys.path.append(path + '/models')


[docs] class BSKSim(SimulationBaseClass.SimBaseClass): """ Main bskSim simulation class Args: numberSpacecraft (int): number of spacecraft relativeNavigation (bool): whether the chief is the barycenter of the spacecraft formation fswRate (float): [s] FSW update rate dynRate (float): [s] dynamics update rate envRate (float): [s] environment update rate relNavRate (float): [s] relative navigation update rate """ def __init__(self, numberSpacecraft, relativeNavigation=False, fswRate=0.1, dynRate=0.1, envRate=0.1, relNavRate=0.1): self.dynRate = dynRate self.fswRate = fswRate self.envRate = envRate self.relNavRate = relNavRate self.numberSpacecraft = numberSpacecraft # Create a sim module as an empty container SimulationBaseClass.SimBaseClass.__init__(self) self.SetProgressBar(True) self.EnvModel = [] self.DynModels = [] self.FSWModels = [] self.EnvProcessName = None self.DynamicsProcessName = [] self.FSWProcessName = [] self.envProc = None self.dynProc = [] self.fswProc = [] self.environment_added = False self.dynamics_added = False self.fsw_added = False # Set the formationBarycenter module if the flag is set to True if relativeNavigation: self.relNavProc = None self.relativeNavigationModule = None self.relativeNavigationTaskName = None self.add_relativeNavigation() def get_EnvModel(self): assert (self.environment_added is True), "It is mandatory to use an environment model as an argument" return self.EnvModel def set_EnvModel(self, envModel): self.environment_added = True self.EnvProcessName = "EnvironmentProcess" self.envProc = self.CreateNewProcess(self.EnvProcessName, 300) # Add the environment class self.EnvModel = envModel.BSKEnvironmentModel(self, self.envRate) 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 # Add the dynamics classes for spacecraftIndex in range(self.numberSpacecraft): self.DynamicsProcessName.append("DynamicsProcess" + str(spacecraftIndex)) # Create simulation process name self.dynProc.append(self.CreateNewProcess(self.DynamicsProcessName[spacecraftIndex], 200)) # Create process self.DynModels.append(dynModel[spacecraftIndex].BSKDynamicModels(self, self.dynRate, spacecraftIndex)) 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 # Add the FSW classes for spacecraftIndex in range(self.numberSpacecraft): self.FSWProcessName.append("FSWProcess" + str(spacecraftIndex)) # Create simulation process name self.fswProc.append(self.CreateNewProcess(self.FSWProcessName[spacecraftIndex], 100)) # Create process self.FSWModels.append(fswModel[spacecraftIndex].BSKFswModels(self, self.fswRate, spacecraftIndex)) def add_relativeNavigation(self): processName = "RelativeNavigation" processTasksTimeStep = mc.sec2nano(self.relNavRate) self.relativeNavigationTaskName = "relativeNavigationTask" # Create an independt process for barycenter calculation self.relNavProc = self.CreateNewProcess(processName, 150) self.relNavProc.addTask(self.CreateNewTask(self.relativeNavigationTaskName, processTasksTimeStep), 20) # Add the formationBarycenter module self.relativeNavigationModule = formationBarycenter.FormationBarycenter() self.relativeNavigationModule.ModelTag = "RelativeNavigation" self.AddModelToTask(self.relativeNavigationTaskName, self.relativeNavigationModule, 0)
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, showPlots, spacecraftIndex): """ Developer must override this method in their BSK_Scenario derived subclass. """ pass