#
# 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.
"""
# Get current file path
import inspect
import os
import subprocess
import sys
# Import utilities
from Basilisk.utilities import orbitalMotion, macros, unitTestSupport
from Basilisk.utilities.supportDataTools.dataFetcher import get_path, DataFile
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 = 25.0 * macros.D2R
oe.omega = 190.0 * macros.D2R
oe.f = 80.0 * 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([10000.0, 10000.0, -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.liveStream = True
vizard = subprocess.Popen(
[TheScenario.vizPath, "--args", "-directComm", "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(3.0)
TheScenario.ConfigureStopTime(simulationTime)
TheScenario.ExecuteSimulation()
TheScenario.modeRequest = "OpNavAttOD"
# TheBSKSim.get_DynModel().SetLocalConfigData(TheBSKSim, 60, True)
simulationTime = macros.min2nano(100.0)
TheScenario.ConfigureStopTime(simulationTime)
TheScenario.ExecuteSimulation()
vizard.kill()
spice = TheScenario.get_DynModel().spiceObject
de430_path = get_path(DataFile.EphemerisData.de430)
naif0012_path = get_path(DataFile.EphemerisData.naif0012)
de403masses_path = get_path(DataFile.EphemerisData.de_403_masses)
pck00010_path = get_path(DataFile.EphemerisData.pck00010)
spice.unloadSpiceKernel(str(de430_path))
spice.unloadSpiceKernel(str(naif0012_path))
spice.unloadSpiceKernel(str(de403masses_path))
spice.unloadSpiceKernel(str(pck00010_path))
return
if __name__ == "__main__":
# Instantiate base simulation
# Configure a scenario in the base simulation
TheScenario = scenario_OpNav()
run(TheScenario)