#
# ISC License
#
# Copyright (c) 2021, 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.
#
# 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, # [s]
dynRate=0.1, # [s]
envRate=0.1, # [s]
relNavRate=0.1, # [s]
):
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 = None
self._dynModels = None
self._fswModels = None
self._environmentSetupAttempted = False
self._dynamicsSetupAttempted = False
self._fswSetupAttempted = False
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()
@property
def EnvModel(self):
"""Return the configured environment model.
:raises RuntimeError: If an environment model has not been added.
"""
if self._envModel is None:
raise RuntimeError("An environment model has not been added yet")
return self._envModel
[docs]
def get_EnvModel(self):
"""Return the configured environment model.
:raises RuntimeError: If an environment model has not been added.
"""
return self.EnvModel
[docs]
def set_EnvModel(self, envModel):
"""Construct and store the environment model.
:param envModel: Module containing the ``BSKEnvironmentModel`` class.
:raises RuntimeError: If environment setup has already been attempted.
"""
if self._environmentSetupAttempted:
if self._envModel is None:
raise RuntimeError("A previous environment model setup attempt failed")
raise RuntimeError("An environment model has already been added")
self._environmentSetupAttempted = True
self.EnvProcessName = "EnvironmentProcess"
self.envProc = self.CreateNewProcess(self.EnvProcessName, 300)
# Add the environment class
environmentModel = envModel.BSKEnvironmentModel(self, self.envRate)
self._envModel = environmentModel
self.environment_added = True
@property
def DynModels(self):
"""Return the configured dynamics models.
:raises RuntimeError: If dynamics models have not been added.
"""
if self._dynModels is None:
raise RuntimeError("Dynamics models have not been added yet")
return self._dynModels
[docs]
def get_DynModel(self):
"""Return the configured dynamics models.
:raises RuntimeError: If dynamics models have not been added.
"""
return self.DynModels
[docs]
def set_DynModel(self, dynModel):
"""Construct and store the dynamics models.
:param dynModel: Modules containing the ``BSKDynamicModels`` class.
:raises RuntimeError: If the environment is missing or dynamics setup was already attempted.
"""
if self._dynamicsSetupAttempted:
if self._dynModels is None:
raise RuntimeError("A previous dynamics model setup attempt failed")
raise RuntimeError("Dynamics models have already been added")
if self._envModel is None:
raise RuntimeError("An environment model must be added before the dynamics models")
self._dynamicsSetupAttempted = True
# Add the dynamics classes
dynamicsModels = []
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
dynamicsModels.append(dynModel[spacecraftIndex].BSKDynamicModels(self, self.dynRate, spacecraftIndex))
self._dynModels = dynamicsModels
self.dynamics_added = True
@property
def FSWModels(self):
"""Return the configured flight software models.
:raises RuntimeError: If flight software models have not been added.
"""
if self._fswModels is None:
raise RuntimeError("Flight software models have not been added yet")
return self._fswModels
[docs]
def get_FswModel(self):
"""Return the configured flight software models.
:raises RuntimeError: If flight software models have not been added.
"""
return self.FSWModels
[docs]
def set_FswModel(self, fswModel):
"""Construct and store the flight software models.
:param fswModel: Modules containing the ``BSKFswModels`` class.
:raises RuntimeError: If dynamics is missing or FSW setup was already attempted.
"""
if self._fswSetupAttempted:
if self._fswModels is None:
raise RuntimeError("A previous flight software model setup attempt failed")
raise RuntimeError("Flight software models have already been added")
if self._dynModels is None:
raise RuntimeError("Dynamics models must be added before the flight software models")
self._fswSetupAttempted = True
# Add the FSW classes
flightSoftwareModels = []
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
flightSoftwareModels.append(
fswModel[spacecraftIndex].BSKFswModels(self, self.fswRate, spacecraftIndex)
)
self._fswModels = flightSoftwareModels
self.fsw_added = True
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