Source code for fswSetupRW

# ISC License
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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import numpy
from Basilisk.architecture import messaging

#
#   FSW Setup Utilities for RW
#
rwList = []


[docs] def create( gsHat_B, Js, uMax = numpy.nan ): """ Create a FSW RW object 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. """ global rwList # create the blank RW object RW = messaging.RWConfigElementMsgPayload() norm = numpy.linalg.norm(gsHat_B) if norm > 1e-10: gsHat_B = gsHat_B / norm else: print('Error: RW gsHat input must be non-zero 3x1 vector') exit(1) RW.gsHat_B = gsHat_B RW.uMax = uMax RW.Js = Js # add RW to the list of RW devices rwList.append(RW) return
[docs] def writeConfigMessage(): """ Write FSW RW array msg 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 """ global rwList GsMatrix_B = [] JsList = [] uMaxList = [] for rw in rwList: GsMatrix_B.extend(rw.gsHat_B) JsList.extend([rw.Js]) uMaxList.extend([rw.uMax]) rwConfigParams = messaging.RWArrayConfigMsgPayload() rwConfigParams.GsMatrix_B = GsMatrix_B rwConfigParams.JsList = JsList rwConfigParams.uMax = uMaxList rwConfigParams.numRW = len(rwList) rwConfigMsg = messaging.RWArrayConfigMsg().write(rwConfigParams) rwConfigMsg.this.disown() return rwConfigMsg
def clearSetup(): global rwList rwList = [] return def getNumOfDevices(): return len(rwList)