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JmcRobbie wants to merge 57 commits into MelbourneSpaceProgram:master from JmcRobbie:develop

README.md

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@@ Expand Up / @@ -16,7 +16,13 @@ Optional, but advised: @@
     - Right click on simulator project > Maven > Update Project... > Select all > Force Update of Snapchots/Releases > OK
     The simulator project is now set up. You can launch the main method and some tests.
+    ## Command Line Execution of Simulation
+    ### Linux
+    - cd into /simulator
+    - $mvn compile
+    - $mvn  mvn exec:java -D"exec.mainClass"="msp.simulator.Main"
+    - OR simply use bash runSim.sh
+    - $mvn exec:java -D"exec.mainClass"="msp.simulator.Main"
     ## Simple Test Execution:
     - In Eclipse, select the test to run in src/test/java/msp/simulator
     - Run As > JUnit Test
@@ Expand Down @@

simulator/pom.xml

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@@ Expand Up / @@ -31,8 +31,6 @@ @@
     			<groupId>net.spy</groupId>
     			<artifactId>spymemcached</artifactId>
     			<version>2.12.3</version>
-    			<scope>system</scope>
-    			<systemPath>${project.basedir}/src/main/resources/jar/spymemcached-2.12.3.jar</systemPath>
     		</dependency>
     	</dependencies>
     	<issueManagement>
@@ Expand All / @@ -56,4 +54,4 @@ @@
     		</pluginManagement>
     	</build>
     	<groupId>msp.simulator</groupId>
-    </project>
+    </project>

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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    @@ -40,17 +40,16 @@ public static void main(String[] args) {
  
    			Dashboard.setSimulationDuration(1000000);

    			Dashboard.setIntegrationTimeStep(0.1);

    			Dashboard.setEphemerisTimeStep(1.0);

    			Dashboard.setSatelliteInertiaMatrix(SatelliteBody.satInertiaMatrix);

    			Dashboard.setEphemerisTimeStep(0.1);

    			Dashboard.setInitialAttitudeQuaternion(new Quaternion(1, 0, 0, 0));

    			Dashboard.setInitialSpin(new Vector3D(0.5, 0.5, 0.5));

    			Dashboard.setInitialSpin(new Vector3D(0.3, 0.3, 0.3)); // tip off 30 degrees per second

    			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(true);

    			Dashboard.setVtsConnection(false);

    			/* *** Creating and launching the simulation. *** */

    			NumericalSimulator simulator = new NumericalSimulator();

simulator/src/main/java/msp/simulator/dynamic/propagation/integration/RotAccProvider.java

            
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    @@ -138,8 +138,8 @@ public static double[] computeEulerEquations(
  
    		 * the Euler Equations of motion for a rotating rigid body. 

    		 */

    		rotAcc[0] = (M1 - (I3 - I2) * W2 * W3) / I1 ;

    		rotAcc[1] = (M2 - (I1 - I3) * W3 * W1) / I1 ; 

    		rotAcc[2] = (M3 - (I2 - I1) * W1 * W2) / I1 ;

    		rotAcc[1] = (M2 - (I1 - I3) * W3 * W1) / I2 ; 

    		rotAcc[2] = (M3 - (I2 - I1) * W1 * W2) / I3 ;

    		return rotAcc;

    	}

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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    @@ -12,9 +12,10 @@
  
     * limitations under the License.

     */

    package msp.simulator.dynamic.torques;

    package msp.simulator.dynamic.torques;

    import java.nio.ByteBuffer;

    import java.nio.ByteBuffer;

    import org.hipparchus.geometry.euclidean.threed.Vector3D;

    import org.orekit.time.AbsoluteDate;

    @@ -28,7 +29,7 @@
  
    import msp.simulator.satellite.io.MemcachedRawTranscoder;

    import msp.simulator.utils.logs.CustomLoggingTools;

    import net.spy.memcached.MemcachedClient;

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

    /**

     *

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

    @@ -39,12 +40,12 @@ public class MemCachedTorqueProvider implements TorqueProvider {
  
    	/** Public key to access the MemCached hash table. */

    	public static String torqueCommandKey = "Simulation_Torque_";

    	public static String pwmCommandKey = "Satellite_PWM_";

    	/* **************************************** */

    	/** Private Key to store the public key. */

    	private String torqueKey;

    	private String pwmKey; 

    	/** Logger of the class */

    	private static final Logger logger = LoggerFactory.getLogger(

    			MemCachedTorqueProvider.class);

    @@ -70,7 +71,25 @@ public class MemCachedTorqueProvider implements TorqueProvider {
  
    	private Vector3D stepTorque;

    	/** Copy of the fixed integration time step. */

    	private final double stepSize = Integration.integrationTimeStep;

    	private static final double stepSize = Integration.integrationTimeStep;

    	/* Copy of the magnetic field*/

    	private Vector3D b_field; 

    	/* Copy of the sensor object*/ 

    	private Magnetometer magnetometer; 

    	private final double[] magnetorquerMaxDipole = {0.2,0.2,0.2};

    	private Vector3D Pwm2Torque(Vector3D pwm) {

    		double x = pwm.getX() * magnetorquerMaxDipole[0];

    		double y = pwm.getY() * magnetorquerMaxDipole[1]; 

    		double z = pwm.getZ() * magnetorquerMaxDipole[2]; 

    		Vector3D dipole = new Vector3D(x,y,z);

    		Vector3D torque; 

    		logger.info("PWM SIGNAL:"+dipole.toString());

    		torque = Vector3D.crossProduct(dipole,this.b_field);

    		return torque;

    	}

    	/**

    	 * Create the instance of memcached torque provider.

    @@ -88,9 +107,12 @@ public MemCachedTorqueProvider(Satellite satellite) {
  
    			this.satState = satellite.getStates();

    			this.stepStart = this.satState.getCurrentState().getDate();

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

    			this.stepTorque = Vector3D.ZERO;

    			this.torqueKey = MemCachedTorqueProvider.torqueCommandKey;

    			this.stepTorque = Vector3D.ZERO;

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

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

    			this.torqueKey = MemCachedTorqueProvider.torqueCommandKey;

    			this.pwmKey = MemCachedTorqueProvider.pwmCommandKey; 

    			this.memcached = satellite.getIO().getMemcached();

    			this.memcachedTranscoder = satellite.getIO().getRawTranscoder();

    @@ -114,7 +136,7 @@ public MemCachedTorqueProvider(Satellite satellite) {
  
    	public Vector3D getTorque(AbsoluteDate date) {

    		/* Flag to enable the acquisition of the torque for the step. */

    		boolean acquisition;

    		this.b_field = magnetometer.retrievePerfectField().getFieldVector().scalarMultiply(1E-9); // gets magnetic field (nT) then converts to SI 

    		/* As the torque is considered constant over a step, we only need 

    		 * to acquire the torque once at the very beginning of the step. */

    		this.stepStart = this.satState.getCurrentState().getDate();

    @@ -130,31 +152,32 @@ public Vector3D getTorque(AbsoluteDate date) {
  
    			/* Reading the torque command from MemCached. */

    			try {

    				Vector3D torqueCommand;

    				Vector3D pwmCommand;

    				double torque_x = ByteBuffer.wrap(

    				double pwm_x = ByteBuffer.wrap(

    						this.memcached.get(

    								this.torqueKey + "X",

    								this.pwmKey + "X",

    								this.memcachedTranscoder))

    						.getDouble();

    				double torque_y = ByteBuffer.wrap(

    				double pwm_y = ByteBuffer.wrap(

    						this.memcached.get(

    								this.torqueKey + "Y",

    								this.pwmKey + "Y",

    								this.memcachedTranscoder))

    						.getDouble();

    				double torque_z = ByteBuffer.wrap(

    				double pwm_z = ByteBuffer.wrap(

    						this.memcached.get(

    								this.torqueKey + "Z",

    								this.pwmKey + "Z",

    								this.memcachedTranscoder))

    						.getDouble();

    				torqueCommand = new Vector3D(

    						torque_x,

    						torque_y,

    						torque_z

    						);

    				pwmCommand = new Vector3D(

    						pwm_x,

    						pwm_y,

    						pwm_z

    						);

    				Vector3D torqueCommand = this.Pwm2Torque(pwmCommand);

    				/* Checking the data transmission. */

    				if (torqueCommand.isNaN() || torqueCommand.isInfinite()) {

    @@ -170,7 +193,7 @@ public Vector3D getTorque(AbsoluteDate date) {
  
    			}

    			/* Debug Information */

    			logger.debug("Torque Provider (Acquisition): " + date.toString() +" - " +

    			logger.info("Torque Provider (Acquisition): " + date.toString() +" - " +

    					this.stepTorque.toString());

    		} else {

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