#
# 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.
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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
# 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
--------
``OpNavScenarios/models/BSK_OpNavDynamics.py`` is similar to the :ref:`Folder_BskSim` versions seen previously.
The main additions are
the instantiation of :ref:`vizInterface`, and the camera module.
"""
import inspect
import math
import os
import numpy as np
from Basilisk import __path__
from Basilisk.simulation import (spacecraft, extForceTorque, simpleNav,
reactionWheelStateEffector, coarseSunSensor, eclipse,
thrusterDynamicEffector, ephemerisConverter, vizInterface,
camera)
from Basilisk.topLevelModules import pyswice
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.utilities import macros as mc
from Basilisk.utilities import simIncludeThruster, simIncludeRW, simIncludeGravBody
from Basilisk.utilities import unitTestSupport
from Basilisk.utilities import vizSupport
bskPath = __path__[0]
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
[docs]class BSKDynamicModels():
"""
BSK Dynamics model for the op nav simulations
"""
def __init__(self, SimBase, dynRate):
# define empty class variables
self.cameraRate = None
self.cameraSize = None
self.cameraFocal = None
self.sun = None
self.earth = None
self.mars = None
self.jupiter = None
# Define process name, task name and task time-step
self.processName = SimBase.DynamicsProcessName
self.taskName = "DynamicsTask"
self.taskCamera = "CameraTask"
self.processTasksTimeStep = mc.sec2nano(dynRate)
# Create task
SimBase.dynProc.addTask(SimBase.CreateNewTask(self.taskName, self.processTasksTimeStep), 1000)
SimBase.dynProc.addTask(SimBase.CreateNewTask(self.taskCamera, mc.sec2nano(60)), 999)
# Instantiate Dyn modules as objects
self.simBasePath = bskPath
self.cameraMRP_CB =[]
self.cameraRez = []
self.rwFactory = simIncludeRW.rwFactory()
self.scObject = spacecraft.Spacecraft()
self.gravFactory = simIncludeGravBody.gravBodyFactory()
self.extForceTorqueObject = extForceTorque.ExtForceTorque()
self.SimpleNavObject = simpleNav.SimpleNav()
self.vizInterface = vizInterface.VizInterface()
self.eclipseObject = eclipse.Eclipse()
self.CSSConstellationObject = coarseSunSensor.CSSConstellation()
self.rwStateEffector = reactionWheelStateEffector.ReactionWheelStateEffector()
self.thrustersDynamicEffector = thrusterDynamicEffector.ThrusterDynamicEffector()
self.cameraMod = camera.Camera()
self.cameraMod2 = camera.Camera()
self.ephemObject = ephemerisConverter.EphemerisConverter()
# Initialize all modules
self.InitAllDynObjects(SimBase)
# Assign initialized modules to tasks
SimBase.AddModelToTask(self.taskName, self.scObject, None, 201)
SimBase.AddModelToTask(self.taskName, self.SimpleNavObject, None, 109)
SimBase.AddModelToTask(self.taskName, self.gravFactory.spiceObject, None, 200)
SimBase.AddModelToTask(self.taskName, self.ephemObject, 199)
SimBase.AddModelToTask(self.taskName, self.CSSConstellationObject, None, 299)
SimBase.AddModelToTask(self.taskName, self.eclipseObject, None, 204)
SimBase.AddModelToTask(self.taskName, self.rwStateEffector, None, 301)
SimBase.AddModelToTask(self.taskName, self.extForceTorqueObject, None, 300)
SimBase.AddModelToTask(self.taskName, self.vizInterface, None, 100)
SimBase.AddModelToTask(self.taskCamera, self.cameraMod, None, 99)
SimBase.AddModelToTask(self.taskCamera, self.cameraMod2, None, 99)
# ------------------------------------------------------------------------------------------- #
# These are module-initialization methods
def SetCamera(self):
self.cameraMod.imageInMsg.subscribeTo(self.vizInterface.opnavImageOutMsgs[0])
self.cameraMod.ModelTag = "instrument"
self.cameraMod.cameraIsOn = 1
self.cameraMod.cameraID = 1
self.cameraMod.saveImages = 0
# Note, the `saveDir` variable is a path to a file. This file name is then
# appended with the frame number.
imgFolder = os.path.abspath(os.path.dirname(__file__)) + "/img/"
imgFileName = "cameraImages"
self.cameraMod.saveDir = imgFolder + imgFileName
if self.cameraMod.saveImages:
if not os.path.exists(imgFolder):
os.makedirs(imgFolder)
print("Saving camera ID:" + str(self.cameraMod.cameraID) + " Images to: " + self.cameraMod.saveDir)
# Noise parameters
# self.cameraMod.gaussian = 2
# self.cameraMod.darkCurrent = 0
# self.cameraMod.saltPepper = 0.5
# self.cameraMod.cosmicRays = 1
self.cameraMod.blurParam = 3
# Camera config
self.cameraRate = 60
self.cameraMod.renderRate = int(mc.sec2nano(self.cameraRate)) # in
self.cameraMRP_CB = [0., 0., 0.] # Arbitrary camera orientation
self.cameraMod.sigma_CB = self.cameraMRP_CB
self.cameraMod.cameraPos_B = [0., 0.2, 2.2] # in meters
self.cameraRez = [512, 512] # [1024,1024] # in pixels
self.cameraSize = [10.*1E-3, self.cameraRez[1]/self.cameraRez[0]*10.*1E-3] # in m
self.cameraMod.resolution = self.cameraRez
self.cameraMod.fieldOfView = np.deg2rad(55)
self.cameraMod.parentName = self.scObject.ModelTag
self.cameraMod.skyBox = 'black'
self.cameraFocal = self.cameraSize[1]/2./np.tan(self.cameraMod.fieldOfView/2.) # in m
def SetCamera2(self):
# this 2nd camera is setup, but not used in the FSW image processing
self.cameraMod2.imageInMsg.subscribeTo(self.vizInterface.opnavImageOutMsgs[1])
self.cameraMod2.ModelTag = "cam2"
self.cameraMod2.cameraIsOn = 1
self.cameraMod2.cameraID = 3
self.cameraMod2.saveImages = 0
self.cameraMod2.UpdateState(0)
imgFolder = os.path.abspath(os.path.dirname(__file__)) + "/imgTest/"
imgFileName = "instr2Images"
self.cameraMod2.saveDir = imgFolder + imgFileName
if self.cameraMod2.saveImages:
if not os.path.exists(imgFolder):
os.makedirs(imgFolder)
print("Saving camera ID:" + str(self.cameraMod2.cameraID) + " Images to: " + self.cameraMod2.saveDir)
self.cameraMod2.blurParam = 3
# Camera config
self.cameraMod2.renderRate = int(mc.sec2nano(self.cameraRate)) # in
self.cameraMod2.sigma_CB = [0., 0.5, 0.]
self.cameraMod2.cameraPos_B = [0., 0.2, 2.2] # in meters
self.cameraMod2.resolution = self.cameraRez
self.cameraMod2.fieldOfView = np.deg2rad(55)
self.cameraMod2.parentName = self.scObject.ModelTag
self.cameraMod2.skyBox = 'black'
def SetVizInterface(self, SimBase):
self.vizInterface = vizSupport.enableUnityVisualization(
SimBase, self.taskName, [self.scObject]
# , saveFile=__file__
, rwEffectorList=[self.rwStateEffector]
)
# setup OpNav behavior by connecting camera module config message
self.vizInterface.addCamMsgToModule(self.cameraMod.cameraConfigOutMsg)
self.vizInterface.addCamMsgToModule(self.cameraMod2.cameraConfigOutMsg)
self.vizInterface.opNavMode = 2
self.vizInterface.settings.skyBox = "black"
self.vizInterface.settings.ambient = 0.5
def SetSpacecraftHub(self):
self.scObject.ModelTag = "bskSat"
# -- Crate a new variable for the sim sc inertia I_sc. Note: this is currently accessed from FSWClass
self.I_sc = [900., 0., 0.,
0., 800., 0.,
0., 0., 600.]
self.scObject.hub.mHub = 750.0 # kg - spacecraft mass
self.scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] # m - position vector of body-fixed point B relative to CM
self.scObject.hub.IHubPntBc_B = unitTestSupport.np2EigenMatrix3d(self.I_sc)
[docs] def SetGravityEffector(self):
"""
Specify what gravitational bodies to include in the simulation
"""
timeInitString = "2019 DECEMBER 12 18:00:00.0"
gravBodies = self.gravFactory.createBodies(['sun', 'earth', 'mars barycenter', 'jupiter barycenter'])
gravBodies['mars barycenter'].isCentralBody = True
self.sun = 0
self.earth = 1
self.mars = 2
self.jupiter = 3
simIncludeGravBody.loadGravFromFile(bskPath + '/supportData/LocalGravData/GGM2BData.txt'
, gravBodies['mars barycenter'].spherHarm
, 2
)
self.scObject.gravField.gravBodies = spacecraft.GravBodyVector(list(self.gravFactory.gravBodies.values()))
self.gravFactory.createSpiceInterface(bskPath + '/supportData/EphemerisData/',
timeInitString,
epochInMsg=True)
self.gravFactory.spiceObject.referenceBase = "J2000"
self.gravFactory.spiceObject.zeroBase = 'mars barycenter'
pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'de430.bsp') # solar system bodies
pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'naif0012.tls') # leap second file
pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'de-403-masses.tpc') # solar system masses
pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'pck00010.tpc') # generic Planetary Constants
def SetEclipseObject(self):
self.eclipseObject.sunInMsg.subscribeTo(self.gravFactory.spiceObject.planetStateOutMsgs[self.sun])
for c in range(1, len(self.gravFactory.spiceObject.planetStateOutMsgs)):
self.eclipseObject.addPlanetToModel(self.gravFactory.spiceObject.planetStateOutMsgs[c])
self.eclipseObject.addSpacecraftToModel(self.scObject.scStateOutMsg)
def SetExternalForceTorqueObject(self):
self.extForceTorqueObject.ModelTag = "externalDisturbance"
self.scObject.addDynamicEffector(self.extForceTorqueObject)
def SetSimpleNavObject(self):
self.SimpleNavObject.ModelTag = "SimpleNavigation"
posSigma = 10.0
velSigma = 0.001
attSigma = 1.0 / 36000.0 * math.pi / 180.0
attRateSig = 0.00005 * math.pi / 180.0
sunSig = 0.1 * math.pi / 180.0
DVsig = 0.005
PMatrix = np.diag(
[posSigma, posSigma, posSigma, velSigma, velSigma, velSigma, attSigma, attSigma, attSigma, attRateSig,
attRateSig, attRateSig, sunSig, sunSig, sunSig, DVsig, DVsig, DVsig])
errorBounds = [100000.0, 100000.0, 100000.0, # Position
0.1, 0.1, 0.1, # Velocity
1E-18 * math.pi / 180.0, 1E-18 * math.pi / 180.0, 1E-18 * math.pi / 180.0, # Attitude
1E-18 * math.pi / 180.0, 1E-18 * math.pi / 180.0, 1E-18 * math.pi / 180.0, # Attitude Rate
5.0 * math.pi / 180.0, 5.0 * math.pi / 180.0, 5.0 * math.pi / 180.0, # Sun vector
0.5, 0.5, 0.5] # Accumulated DV
# PMatrix = np.zeros_like(np.eye(18))
# errorBounds = [0.0] * 18 # Accumulated DV
self.SimpleNavObject.walkBounds = np.array(errorBounds)
self.SimpleNavObject.PMatrix = PMatrix
self.SimpleNavObject.crossTrans = True
self.SimpleNavObject.crossAtt = False
self.SimpleNavObject.scStateInMsg.subscribeTo(self.scObject.scStateOutMsg)
[docs] def SetReactionWheelDynEffector(self):
"""Set the 4 reaction wheel devices."""
# specify RW momentum capacity
maxRWMomentum = 50. # Nms
# Define orthogonal RW pyramid
# -- Pointing directions
rwElAngle = np.array([40.0, 40.0, 40.0, 40.0])*mc.D2R
rwAzimuthAngle = np.array([45.0, 135.0, 225.0, 315.0])*mc.D2R
rwPosVector = [[0.8, 0.8, 1.79070],
[0.8, -0.8, 1.79070],
[-0.8, -0.8, 1.79070],
[-0.8, 0.8, 1.79070]
]
for elAngle, azAngle, posVector in zip(rwElAngle, rwAzimuthAngle, rwPosVector):
gsHat = (rbk.Mi(-azAngle,3).dot(rbk.Mi(elAngle,2))).dot(np.array([1,0,0]))
self.rwFactory.create('Honeywell_HR16',
gsHat,
maxMomentum=maxRWMomentum,
rWB_B=posVector)
self.rwFactory.addToSpacecraft("RWStateEffector", self.rwStateEffector, self.scObject)
def SetACSThrusterStateEffector(self):
# Make a fresh TH factory instance, this is critical to run multiple times
thFactory = simIncludeThruster.thrusterFactory()
# 8 thrusters are modeled that act in pairs to provide the desired torque
thPos = [
[825.5/1000.0, 880.3/1000.0, 1765.3/1000.0],
[825.5/1000.0, 880.3/1000.0, 260.4/1000.0],
[880.3/1000.0, 825.5/1000.0, 1765.3/1000.0],
[880.3/1000.0, 825.5/1000.0, 260.4/1000.0],
[-825.5/1000.0, -880.3/1000.0, 1765.3/1000.0],
[-825.5/1000.0, -880.3/1000.0, 260.4/1000.0],
[-880.3/1000.0, -825.5/1000.0, 1765.3/1000.0],
[-880.3/1000.0, -825.5/1000.0, 260.4/1000.0]
]
thDir = [
[0.0, -1.0, 0.0],
[0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0],
[-1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 0.0, 0.0]
]
for pos_B, dir_B in zip(thPos, thDir):
thFactory.create(
'MOOG_Monarc_1'
, pos_B
, dir_B
)
# create thruster object container and tie to spacecraft object
thFactory.addToSpacecraft("Thrusters",
self.thrustersDynamicEffector,
self.scObject)
[docs] def SetCSSConstellation(self):
"""Set the 8 CSS sensors"""
self.CSSConstellationObject.ModelTag = "cssConstellation"
def setupCSS(cssDevice):
cssDevice.fov = 80. * mc.D2R # half-angle field of view value
cssDevice.scaleFactor = 2.0
cssDevice.sunInMsg.subscribeTo(self.gravFactory.spiceObject.planetStateOutMsgs[self.sun])
cssDevice.stateInMsg.subscribeTo(self.scObject.scStateOutMsg)
cssDevice.sunEclipseInMsg.subscribeTo(self.eclipseObject.eclipseOutMsgs[0])
cssDevice.this.disown()
# setup CSS sensor normal vectors in body frame components
nHat_B_List = [
[0.0, 0.707107, 0.707107],
[0.707107, 0., 0.707107],
[0.0, -0.707107, 0.707107],
[-0.707107, 0., 0.707107],
[0.0, -0.965926, -0.258819],
[-0.707107, -0.353553, -0.612372],
[0., 0.258819, -0.965926],
[0.707107, -0.353553, -0.612372]
]
numCSS = len(nHat_B_List)
# store all
cssList = []
for nHat_B, i in zip(nHat_B_List, list(range(1, numCSS+1))):
CSS = coarseSunSensor.CoarseSunSensor()
setupCSS(CSS)
CSS.ModelTag = "CSS" + str(i)
CSS.nHat_B = np.array(nHat_B)
cssList.append(CSS)
# assign the list of CSS devices to the CSS array class
self.CSSConstellationObject.sensorList = coarseSunSensor.CSSVector(cssList)
def SetEphemConvert(self):
# Initialize the ephemeris module
self.ephemObject.ModelTag = 'EphemData'
self.ephemObject.addSpiceInputMsg(self.gravFactory.spiceObject.planetStateOutMsgs[self.mars])
def SetSimpleGrav(self):
planet = self.gravFactory.createMarsBarycenter()
planet.isCentralBody = True
self.scObject.gravField.gravBodies = \
spacecraft.GravBodyVector(list(self.gravFactory.gravBodies.values()))
# Global call to initialize every module
def InitAllDynObjects(self, SimBase):
self.SetSpacecraftHub()
self.SetGravityEffector()
# self.SetSimpleGrav()
self.SetEclipseObject()
self.SetExternalForceTorqueObject()
self.SetSimpleNavObject()
self.SetReactionWheelDynEffector()
self.SetACSThrusterStateEffector()
self.SetCSSConstellation()
self.SetVizInterface(SimBase)
self.SetEphemConvert()
self.SetCamera()
self.SetCamera2()