Source code for scenario_OpNavAttODMC

#
#  ISC License
#
#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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r"""
Overview
--------

This script is called by OpNavScenarios/OpNavMC/MonteCarlo.py in order to make MC data.

"""
# Get current file path
import inspect
import os
import subprocess
import sys

# Import utilities
from Basilisk.utilities import orbitalMotion, macros, unitTestSupport

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
import BSK_OpNavDynamics, BSK_OpNavFsw
import numpy as np

# Import plotting file for your scenario
sys.path.append(path + '/../../plottingOpNav')


# 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.name = 'scenario_opnav' self.configure_initial_conditions() self.msgRecList = {} self.retainedMessageNameSc = "scMsg" self.retainedMessageNameFilt = "filtMsg" self.retainedMessageNameOpNav = "opnavMsg" def configure_initial_conditions(self): # 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().gravFactory.gravBodies['mars barycenter'].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().relativeOD.stateInit = (rN + rError).tolist() + (vN + vError).tolist() self.get_DynModel().scObject.hub.r_CN_NInit = rN # m - r_CN_N self.get_DynModel().scObject.hub.v_CN_NInit = 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().relativeOD.qNoise = qNoiseIn.reshape(36).tolist() self.get_FswModel().imageProcessing.noiseSF = 1 self.get_FswModel().relativeOD.noiseSF = 5#7.5 def log_outputs(self): # Dynamics process outputs: log messages below if desired. FswModel = self.get_FswModel() DynModel = self.get_DynModel() # FSW process outputs samplingTime = self.get_FswModel().processTasksTimeStep self.msgRecList[self.retainedMessageNameSc] = DynModel.scObject.scStateOutMsg.recorder(samplingTime) self.AddModelToTask(DynModel.taskName, self.msgRecList[self.retainedMessageNameSc]) self.msgRecList[self.retainedMessageNameFilt] = FswModel.relativeOD.filtDataOutMsg.recorder(samplingTime) self.AddModelToTask(DynModel.taskName, self.msgRecList[self.retainedMessageNameFilt]) self.msgRecList[self.retainedMessageNameOpNav] = FswModel.opnavMsg.recorder(samplingTime) self.AddModelToTask(DynModel.taskName, self.msgRecList[self.retainedMessageNameOpNav]) 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", "-noDisplay"] vizard = subprocess.Popen( [TheScenario.vizPath, "--args", mode[TheScenario.get_DynModel().vizInterface.opNavMode], "tcp://localhost:5556"], stdout=subprocess.DEVNULL) print("Vizard spawned with PID = " + str(vizard.pid)) # Configure FSW mode TheScenario.modeRequest = 'prepOpNav' # Initialize simulation TheScenario.InitializeSimulation() # 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(100.) TheScenario.ConfigureStopTime(simulationTime) TheScenario.ExecuteSimulation() vizard.kill() spice = TheScenario.get_DynModel().spiceObject spice.unloadSpiceKernel(spice.SPICEDataPath, 'de430.bsp') spice.unloadSpiceKernel(spice.SPICEDataPath, 'naif0012.tls') spice.unloadSpiceKernel(spice.SPICEDataPath, 'de-403-masses.tpc') spice.unloadSpiceKernel(spice.SPICEDataPath, 'pck00010.tpc') return if __name__ == "__main__": # Instantiate base simulation # Configure a scenario in the base simulation TheScenario = scenario_OpNav() run(TheScenario)