Feature/controller #23

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JmcRobbie wants to merge 14 commits into develop from feature/Controller

README.md

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@@ Expand Up @@
     - cd into /simulator
     - $mvn compile
     - $mvn  mvn exec:java -D"exec.mainClass"="msp.simulator.Main"
+    - OR simply use bash runSim.sh
     ## Simple Test Execution:
     - In Eclipse, select the test to run in src/test/java/msp/simulator
     - Run As > JUnit Test
@@ Expand Down @@

simulator/runSim.sh

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		@@ -0,0 +1,2 @@
		mvn compile;
		mvn exec:java -D"exec.mainClass"="msp.simulator.Main"

simulator/src/main/java/msp/simulator/Main.java

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@@ Expand Up / @@ -47,8 +47,7 @@ public static void main(String[] args) { @@
     			Dashboard.setInitialRotAcceleration(new Vector3D(0,0,0));
     			Dashboard.setTorqueDisturbances(false);
-    			Dashboard.setCommandTorqueProvider(TorqueProviderEnum.MEMCACHED);
-    			Dashboard.setMemCachedConnection(true, "127.0.0.1:11211");
+    			Dashboard.setCommandTorqueProvider(TorqueProviderEnum.CONTROLLER);
     			Dashboard.setVtsConnection(false);
@@ Expand Down @@

simulator/src/main/java/msp/simulator/dynamic/torques/ControllerTorqueProvider.java

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@@ -0,0 +1,42 @@
+    /* Copyright 20017-2018 Melbourne Space Program
+     * Licensed under the Apache License, Version 2.0 (the "License");
+     * you may not use this file except in compliance with the License.
+     * You may obtain a copy of the License at
+     *
+     *   http://www.apache.org/licenses/LICENSE-2.0
+     *
+     * Unless required by applicable law or agreed to in writing, software
+     * distributed under the License is distributed on an "AS IS" BASIS,
+     * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     * See the License for the specific language governing permissions and
+     * limitations under the License.
+     */
+    package msp.simulator.dynamic.torques;
+    import org.hipparchus.geometry.euclidean.threed.Vector3D;
+    import org.orekit.time.AbsoluteDate;
+    import msp.simulator.NumericalSimulator;
+    import msp.simulator.dynamic.torques.TorqueOverTimeScenarioProvider.Step;
+    import msp.simulator.environment.Environment;
+    import msp.simulator.satellite.Satellite;
+    /**
+     *
+     * @author Jack McRobbie
+     * This class represents the satellites own method
+     * for providing stabilization and control
+     */
+    public class ControllerTorqueProvider implements TorqueProvider{
+    	private Satellite sat;
+    	private Vector3D steptorque;
+    	public ControllerTorqueProvider(Satellite satellite, AbsoluteDate date, Environment environment) {
+    		this.sat = satellite;
+    		this.steptorque = Vector3D.ZERO;
+    	}
+    	/** {@inheritDoc} */
+    	@Override
+    	public Vector3D getTorque(AbsoluteDate date) {
+    		this.steptorque = sat.getADCS().ComputeTorque();
+    		/* Finally returns the torque of the step (updated if needed). */
+    		return this.steptorque;
+    	}
+    }

simulator/src/main/java/msp/simulator/dynamic/torques/MemCachedTorqueProvider.java

            
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    @@ -29,7 +29,7 @@
  
    import msp.simulator.satellite.io.MemcachedRawTranscoder;

    import msp.simulator.utils.logs.CustomLoggingTools;

    import net.spy.memcached.MemcachedClient;

    import msp.simulator.satellite.sensors.Magnetometer;

    import msp.simulator.satellite.ADACS.sensors.*;;

    /**

     *

     * @author Florian CHAUBEYRE <chaubeyre.f@gmail.com>

    @@ -108,8 +108,8 @@ public MemCachedTorqueProvider(Satellite satellite) {
  
    			this.stepStart = this.satState.getCurrentState().getDate();

    			this.nextAcquisitionDate = this.satState.getInitialState().getDate();

    			this.stepTorque = Vector3D.ZERO;

    			this.b_field = satellite.getSensors().getMagnetometer().retrievePerfectField().getFieldVector();

    			this.magnetometer = satellite.getSensors().getMagnetometer(); 

    			this.b_field = satellite.getADCS().getSensors().getMagnetometer().retrievePerfectField().getFieldVector();

    			this.magnetometer = satellite.getADCS().getSensors().getMagnetometer(); 

    			this.torqueKey = MemCachedTorqueProvider.torqueCommandKey;

    			this.pwmKey = MemCachedTorqueProvider.pwmCommandKey;

simulator/src/main/java/msp/simulator/dynamic/torques/TorqueProviderEnum.java

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@@ Expand Up / @@ -23,7 +23,7 @@ public enum TorqueProviderEnum { @@
     	/* Command torque provider. */
     	MEMCACHED(0),
     	SCENARIO(0),
+    	CONTROLLER(0),
     	/* Disturbances. */
     	GRAVITY(1),
     	ATMOSPHERIC(2),
@@ Expand Down @@

simulator/src/main/java/msp/simulator/dynamic/torques/Torques.java

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@@ Expand Up / @@ -37,7 +37,7 @@ public class Torques { @@
     	/* ******* Public Static Attributes ******* */
     	/** Set the torque provider in use by the simulator. */
-    	public static TorqueProviderEnum commandTorqueProvider = TorqueProviderEnum.SCENARIO;
+    	public static TorqueProviderEnum commandTorqueProvider = TorqueProviderEnum.CONTROLLER;
     	/** Allow the torque disturbances in the simulation. */
     	public static boolean allowDisturbances = true;
@@ Expand Down Expand Up @@
     		this.isDisturbances = Torques.allowDisturbances;
     		/*  - Register the command provider.						*/
-    		switch (Torques.commandTorqueProvider) {
+    		switch (Torques.commandTorqueProvider) {
+    		case CONTROLLER:
+    			this.torqueProviders.add(
+    					TorqueProviderEnum.CONTROLLER.getIndex(), new ControllerTorqueProvider(
+    							satellite,
+    							satellite.getAssembly().getStates().getInitialState().getDate(),
+    							environment
+    							));
+    			break;
     		case MEMCACHED:
     			this.torqueProviders.add(
     					TorqueProviderEnum.MEMCACHED.getIndex(),
@@ Expand Down @@

...imulator/satellite/sensors/Gyrometer.java → ...or/satellite/ADACS/sensors/Gyrometer.java

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@@ Expand Up / @@ -11,7 +11,7 @@ @@
      * See the License for the specific language governing permissions and
      * limitations under the License.
      */
-    package msp.simulator.satellite.sensors;
+    package msp.simulator.satellite.ADACS.sensors;
     import org.hipparchus.geometry.euclidean.threed.Vector3D;
     import org.hipparchus.util.FastMath;
@@ Expand Down @@

...tor/satellite/sensors/InfraredSensor.java → ...tellite/ADACS/sensors/InfraredSensor.java

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@@ -1,4 +1,4 @@
-    package msp.simulator.satellite.sensors;
+    package msp.simulator.satellite.ADACS.sensors;
     import org.hipparchus.geometry.euclidean.threed.*;
     import org.hipparchus.util.FastMath;
@@ Expand Down @@

...lator/satellite/sensors/Magnetometer.java → ...satellite/ADACS/sensors/Magnetometer.java

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@@ Expand Up / @@ -12,7 +12,7 @@ @@
      * limitations under the License.
      */
-    package msp.simulator.satellite.sensors;
+    package msp.simulator.satellite.ADACS.sensors;
     import org.hipparchus.geometry.euclidean.threed.Vector3D;
     import org.hipparchus.util.FastMath;
@@ Expand Down @@

.../simulator/satellite/sensors/Sensors.java → ...ator/satellite/ADACS/sensors/Sensors.java

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@@ Expand Up / @@ -12,7 +12,7 @@ @@
      * limitations under the License.
      */
-    package msp.simulator.satellite.sensors;
+    package msp.simulator.satellite.ADACS.sensors;
     import org.hipparchus.geometry.euclidean.threed.Vector3D;
     import org.slf4j.Logger;
@@ Expand Down @@

...lator/satellite/sensors/package-info.java → ...satellite/ADACS/sensors/package-info.java

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@@ Expand Up / @@ -19,4 +19,4 @@ @@
      * @author Florian CHAUBEYRE <chaubeyre.f@gmail.com>
      * @author Braeden BORG
      */
-    package msp.simulator.satellite.sensors;
+    package msp.simulator.satellite.ADACS.sensors;

simulator/src/main/java/msp/simulator/satellite/ADCS/ADCS.java

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@@ -0,0 +1,63 @@
+    /* Copyright 20017-2018 Melbourne Space Program
+     * Licensed under the Apache License, Version 2.0 (the "License");
+     * you may not use this file except in compliance with the License.
+     * You may obtain a copy of the License at
+     *
+     *   http://www.apache.org/licenses/LICENSE-2.0
+     *
+     * Unless required by applicable law or agreed to in writing, software
+     * distributed under the License is distributed on an "AS IS" BASIS,
+     * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     * See the License for the specific language governing permissions and
+     * limitations under the License.
+     */
+    package msp.simulator.satellite.ADCS;
+    import java.util.function.Consumer;
+    import org.hipparchus.geometry.euclidean.threed.Vector3D;
+    import org.slf4j.Logger;
+    import org.slf4j.LoggerFactory;
+    import msp.simulator.environment.Environment;
+    import msp.simulator.satellite.Satellite;
+    import msp.simulator.satellite.ADACS.sensors.Sensors;
+    import msp.simulator.satellite.ADCS.ADCSPhysics.ADCSPhysics;
+    import msp.simulator.satellite.ADCS.Actuators.Actuators;
+    import msp.simulator.satellite.ADCS.Controller.Controller;
+    import msp.simulator.satellite.ADCS.Estimators.Estimators;
+    import msp.simulator.utils.logs.CustomLoggingTools;
+    /**
+     *
+     * @author Jack McRobbie
+     */
+    public class ADCS {
+    	private static final Logger logger = LoggerFactory.getLogger(ADCS.class);
+    	private Sensors sensors;
+    	private Estimators estimators;
+    	private Controller controllers;
+    	private Actuators actuators;
+    	private ADCSPhysics physics;
+    	public ADCS(Satellite sat,Environment environment) {
+    		this.sensors = new Sensors(environment, sat.getAssembly());
+    		this.estimators = new Estimators(sat);
+    		this.controllers = new Controller(sat);
+    		this.physics = new ADCSPhysics(sat, environment);
+    		ADCS.logger.info(CustomLoggingTools.indentMsg(ADCS.logger,
+    				"Building the ADCS Module: Success..."));
+    	}
+    	public Vector3D ComputeTorque() {
+    		Vector3D magneticDipole = this.controllers.getDipole();
+    		return this.physics.ComputeMagnetorquerTorque(magneticDipole);
+    //		return new Vector3D(0.01,0.01,0.01);
+    	}
+    	/**
+    	 * @return
+    	 */
+    	public Sensors getSensors() {
+    		return sensors;
+    	}
+    }

simulator/src/main/java/msp/simulator/satellite/ADCS/ADCSPhysics/ADCSPhysics.java

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+    /* Copyright 20017-2018 Melbourne Space Program
+     * Licensed under the Apache License, Version 2.0 (the "License");
+     * you may not use this file except in compliance with the License.
+     * You may obtain a copy of the License at
+     *
+     *   http://www.apache.org/licenses/LICENSE-2.0
+     *
+     * Unless required by applicable law or agreed to in writing, software
+     * distributed under the License is distributed on an "AS IS" BASIS,
+     * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     * See the License for the specific language governing permissions and
+     * limitations under the License.
+     */
+    package msp.simulator.satellite.ADCS.ADCSPhysics;
+    import org.hipparchus.geometry.euclidean.threed.Vector3D;
+    import org.slf4j.Logger;
+    import org.slf4j.LoggerFactory;
+    import msp.simulator.environment.Environment;
+    import msp.simulator.satellite.Satellite;
+    import msp.simulator.satellite.ADACS.sensors.Sensors;
+    import msp.simulator.satellite.ADCS.Actuators.MagnetoTorquers;
+    import msp.simulator.satellite.assembly.SatelliteBody;
+    import msp.simulator.utils.logs.CustomLoggingTools;
+    /**
+     *
+     * @author Jack McRobbie
+     */
+    public class ADCSPhysics {
+    	/** Logger of the class. */
+    	private static final Logger logger =
+    			LoggerFactory.getLogger(ADCSPhysics.class);
+    	private Satellite satellite;
+    	private Environment environment;
+    	private Sensors sensor;
+    	public ADCSPhysics(Satellite satellite, Environment environemt) {
+    		this.satellite = satellite;
+    		this.environment = environment;
+    		ADCSPhysics.logger.info(CustomLoggingTools.indentMsg(ADCSPhysics.logger,
+    				" -> Building the ADCS Physics engine: Success."));
+    	}
+    	public Vector3D ComputeMagnetorquerTorque(Vector3D magneticDipole) {
+    		Vector3D magfield = this.satellite.getADCS().getSensors().getMagnetometer()
+    				.retrievePerfectField().getFieldVector().scalarMultiply(0.000000001);
+    		Vector3D result = Vector3D.crossProduct(magneticDipole,magfield );
+    		return result;
+    	}
+    }

...ulator/satellite/actuators/Actuators.java → ...r/satellite/ADCS/Actuators/Actuators.java

            
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    @@ -12,7 +12,7 @@
  
     * limitations under the License.

     */

    package msp.simulator.satellite.actuators;

    package msp.simulator.satellite.ADCS.Actuators;

    import org.slf4j.Logger;

    import org.slf4j.LoggerFactory;

    @@ -27,13 +27,20 @@ public class Actuators {
  
    	/** Logger of the class */

    	private static final Logger logger = LoggerFactory.getLogger(Actuators.class);

    	private MagnetoTorquers magnetorquer;

    	/**

    	 * 

    	 */

    	public Actuators() {

    		logger.info(CustomLoggingTools.indentMsg(logger,

    		this.magnetorquer = new MagnetoTorquers();

    		Actuators.logger.info(CustomLoggingTools.indentMsg(Actuators.logger,

    				"Building the Actuators..."));

    	}

    	/**

    	 * @return

    	 */

    	public MagnetoTorquers getMagnetorquers() {

    		return this.magnetorquer;

    	}

    }

simulator/src/main/java/msp/simulator/satellite/ADCS/Actuators/MagnetoTorquers.java

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@@ -0,0 +1,74 @@
+    /* Copyright 20017-2018 Melbourne Space Program
+     * Licensed under the Apache License, Version 2.0 (the "License");
+     * you may not use this file except in compliance with the License.
+     * You may obtain a copy of the License at
+     *
+     *   http://www.apache.org/licenses/LICENSE-2.0
+     *
+     * Unless required by applicable law or agreed to in writing, software
+     * distributed under the License is distributed on an "AS IS" BASIS,
+     * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     * See the License for the specific language governing permissions and
+     * limitations under the License.
+     */
+    package msp.simulator.satellite.ADCS.Actuators;
+    import org.hipparchus.geometry.euclidean.threed.Vector3D;
+    import org.slf4j.Logger;
+    import org.slf4j.LoggerFactory;
+    import msp.simulator.utils.logs.CustomLoggingTools;
+    /**
+     *
+     * @author Florian CHAUBEYRE <chaubeyre.f@gmail.com>
+     * @author Jack McRobbie
+     */
+    public class MagnetoTorquers {
+    	private Vector3D orientation;
+    	private Vector3D MaxDipole;
+    	/** Logger of the class */
+    	private static final Logger logger = LoggerFactory.getLogger(MagnetoTorquers.class);
+    	/**
+    	 *
+    	 */
+    	public MagnetoTorquers() {
+    		MagnetoTorquers.logger.info(CustomLoggingTools.indentMsg(logger,
+    				"Building the MagnetoTorquers..."));
+    		this.orientation = new Vector3D(1,1,1);
+    		this.MaxDipole = new Vector3D(0.1,0.1,0.1); //TODO make configurable from simulation initialization
+    	}
+    	public Vector3D computeDipole(Vector3D dutyCycle) {
+    		return this.constrainDipole(dutyCycle);
+    	}
+    	/**
+    	 * @param dutyCycle requested duty cycle for the magnetorquers
+    	 */
+    	private Vector3D constrainDipole(Vector3D dutyCycle) {
+    		double x = dutyCycle.getX();
+    		double y = dutyCycle.getY();
+    		double z = dutyCycle.getZ();
+    		int sign;
+    		Vector3D result = new Vector3D(x,y,z);
+    		if(Math.abs(x)>this.MaxDipole.getX()) {
+    			sign = (0 > dutyCycle.getX())?-1:1;
+    			x = this.MaxDipole.getX() * sign;
+    		}
+    		if(Math.abs(y)>this.MaxDipole.getY()) {
+    			sign = (0 > dutyCycle.getY())?-1:1;
+    			y = this.MaxDipole.getY() * sign;
+    		}
+    		if(Math.abs(z)>this.MaxDipole.getZ()) {
+    			sign = (0 > dutyCycle.getZ())?-1:1;
+    			z = this.MaxDipole.getZ() * sign;
+    		}
+    		result = new Vector3D(x,y,z);
+    		return result;
+    	}
+    }

...tor/satellite/actuators/package-info.java → ...atellite/ADCS/Actuators/package-info.java

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@@ Expand Up / @@ -17,4 +17,4 @@ @@
      *
      * @author Florian CHAUBEYRE <chaubeyre.f@gmail.com>
      */
-    package msp.simulator.satellite.actuators;
+    package msp.simulator.satellite.ADCS.Actuators;

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