Source code for scenarioDataToViz

#
#  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
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#
#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#

r"""
Overview
--------

Demonstrates how to convert spacecraft states, stored in a text file from another program, into Basilisk
messages using :ref:`dataFileToViz`.  These messages are red by :ref:`vizInterface` to save a :ref:`Vizard <vizard>`
compatible data play for offline playback and analysis.  In this simulation a servicer is holding a relative
position with respect to an uncontrolled satellite.  Custom spacecraft models are specified for Vizard
in the folder ``dataForExamples``.

The script is found in the folder ``basilisk/examples`` and executed by using::

      python3 scenarioDataToViz.py

The simulation layout is shown in the following illustration.  A single simulation process is created
which contains both modules.

.. image:: /_images/static/test_scenarioDataToViz.svg
   :align: center

When the simulation completes several plots are shown for the MRP norm attitude history and the
inertial relative position vector components.  A servicer spacecraft approaches a target and holds a specific
target-frame fixed location even while the target itself is slowly rotating.  The servicer and target orientations
are controlled to be the same to prepare for a final docking maneuver.  If the data is saved to a Vizard file,
then the visualization should look like:

.. image:: /_images/static/vizard-DataFile.jpg
   :align: center

Illustration of Simulation Results
----------------------------------

::

    show_plots = True

.. image:: /_images/Scenarios/scenarioDataToViz1.svg
   :align: center

.. image:: /_images/Scenarios/scenarioDataToViz2.svg
   :align: center

"""

#
# Basilisk Scenario Script and Integrated Test
#
# Purpose:  Basic simulation showing a servicer (3-axis attitude controlled) and a tumbling debris object.
# Author:   Hanspeter Schaub
# Creation Date:  Dec. 29, 2019
#

import os

import matplotlib.pyplot as plt
import numpy as np
from Basilisk.simulation import dataFileToViz
from Basilisk.simulation import spacecraft
from Basilisk.utilities import (SimulationBaseClass, macros, simIncludeGravBody, vizSupport)
from Basilisk.utilities import unitTestSupport

try:
    from Basilisk.simulation import vizInterface
except ImportError:
    pass

# The path to the location of Basilisk
# Used to get the location of supporting data.
fileName = os.path.basename(os.path.splitext(__file__)[0])



[docs] def run(show_plots, attType): """ The scenarios can be run with the followings setups parameters: Args: show_plots (bool): Determines if the script should display plots attType (int): Specify if MRP (0) or Quaternions (1) are used """ path = os.path.dirname(os.path.abspath(__file__)) if attType == 0: dataFileName = os.path.join(path, "dataForExamples", "scHoldTraj_rotating_MRP.csv") elif attType == 1: dataFileName = os.path.join(path, "dataForExamples", "scHoldTraj_rotating_EP.csv") else: print("unknown attType variable") exit() file1 = open(dataFileName, 'r') Lines = file1.readlines() delimiter = "," t0 = float(Lines[1].split(delimiter)[0]) t1 = float(Lines[2].split(delimiter)[0]) tN = float(Lines[-1].split(delimiter)[0]) timeStepSeconds = t1 - t0 simulationTimeSeconds = tN - t0 # Create simulation variable names simTaskName = "simTask" simProcessName = "simProcess" # Create a sim module as an empty container scSim = SimulationBaseClass.SimBaseClass() # # create the simulation process # dynProcess = scSim.CreateNewProcess(simProcessName) # create the dynamics task and specify the simulation time step information simulationTimeStep = macros.sec2nano(timeStepSeconds) simulationTime = macros.sec2nano(simulationTimeSeconds) dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep)) # setup Earth Gravity Body gravFactory = simIncludeGravBody.gravBodyFactory() earth = gravFactory.createEarth() earth.isCentralBody = True # ensure this is the central gravitational body # create SC dummy objects to setup basic Vizard settings. Only one has to have the Grav Bodies attached # to show up in Vizard scObject1 = spacecraft.Spacecraft() scObject1.ModelTag = "servicer" gravFactory.addBodiesTo(scObject1) scObject2 = spacecraft.Spacecraft() scObject2.ModelTag = "target" scList = [scObject1, scObject2] # setup the module to read in the simulation data dataModule = dataFileToViz.DataFileToViz() dataModule.ModelTag = "testModule" dataModule.setNumOfSatellites(2) # load the data path from the same folder where this python script is dataModule.attitudeType = attType dataModule.dataFileName = dataFileName dataModule.delimiter = delimiter scSim.AddModelToTask(simTaskName, dataModule) # # Setup data logging before the simulation is initialized # numDataPoints = 100 samplingTime = unitTestSupport.samplingTime(simulationTime, simulationTimeStep, numDataPoints) dataLog = [] for scCounter in range(2): dataLog.append(dataModule.scStateOutMsgs[scCounter].recorder(samplingTime)) scSim.AddModelToTask(simTaskName, dataLog[-1]) # if this scenario is to interface with the BSK Viz, uncomment the following lines # to save the BSK data to a file, uncomment the saveFile line below if vizSupport.vizFound: viz = vizSupport.enableUnityVisualization(scSim, simTaskName, scList # , saveFile=fileName ) viz.settings.showSpacecraftLabels = 1 viz.settings.spacecraftShadowBrightness = 0.2 # load CAD for target spacecraft vizSupport.createCustomModel(viz, modelPath=os.path.join(path, "dataForExamples", "Aura_27.obj"), shader=1, simBodiesToModify=[scList[1].ModelTag], rotation=[180. * macros.D2R, 0.0 * macros.D2R, -90. * macros.D2R], scale=[1, 1, 1]) # load CAD for servicer spacecraft vizSupport.createCustomModel(viz, modelPath=os.path.join(path, "dataForExamples", "Loral-1300Com-main.obj"), simBodiesToModify=[scList[0].ModelTag], rotation=[0. * macros.D2R, -90.0 * macros.D2R, 0. * macros.D2R], scale=[0.09, 0.09, 0.09]) # over-ride the default to not read the SC states from scObjects, but set them directly # to read from the dataFileToFiz output message viz.scData.clear() for c in range(len(scList)): scData = vizInterface.VizSpacecraftData() scData.spacecraftName = scList[c].ModelTag scData.scStateInMsg.subscribeTo(dataModule.scStateOutMsgs[c]) viz.scData.push_back(scData) # initialize Simulation scSim.InitializeSimulation() # configure a simulation stop time and execute the simulation run scSim.ConfigureStopTime(simulationTime) scSim.ExecuteSimulation() # retrieve logged data posB1N = dataLog[0].r_BN_N posB2N = dataLog[1].r_BN_N sigmaB1N = dataLog[0].sigma_BN sigmaB2N = dataLog[1].sigma_BN # # plot the results # timeData = dataLog[0].times() * macros.NANO2HOUR plt.close("all") # clears out plots from earlier test runs figureList = {} plt.figure(1) s1Data = [] for idx in sigmaB1N: sNorm = np.linalg.norm(idx) s1Data.append(sNorm) plt.plot(timeData, s1Data, color=unitTestSupport.getLineColor(1, 3), label=r'$|\sigma_{B1/N}|$') s2Data = [] for idx in sigmaB2N: sNorm = np.linalg.norm(idx) s2Data.append(sNorm) plt.plot(timeData, s2Data, color=unitTestSupport.getLineColor(2, 3), label=r'$|\sigma_{B2/N}|$') plt.xlabel('Time [h]') plt.ylabel(r'MRP Norm') plt.legend(loc='lower right') pltName = fileName + "1" figureList[pltName] = plt.figure(1) plt.figure(2) rhoData = [] for r1, r2 in zip(posB1N, posB2N): rhoData.append(r2 - r1) rhoData = np.array(rhoData) for idx in range(3): plt.plot(timeData, rhoData[:, idx], color=unitTestSupport.getLineColor(idx, 3), label=r'$\rho_{' + str(idx+1) + '}$') plt.legend(loc='lower right') plt.xlabel('Time [h]') plt.ylabel(r'$\rho_{S/T}$ (Inertial) [m]') plt.legend(loc='lower right') pltName = fileName + "2" figureList[pltName] = plt.figure(2) if show_plots: plt.show() # close the plots being saved off to avoid over-writing old and new figures plt.close("all") return figureList
# # This statement below ensures that the unit test scrip can be run as a # stand-along python script # if __name__ == "__main__": run( True, # show_plots 0 # attitude coordinate type, 0 - MRP, 1 - quaternions )