Add 2D Satellite Simulation. Ref #387

trick_sims/SIM_sat2d/Modified_data/realtime.py

@@ -0,0 +1,11 @@
+
+trick.frame_log_on()
+trick.real_time_enable()
+trick.exec_set_software_frame(0.1)
+trick.itimer_enable()
+
+trick.exec_set_enable_freeze(True)
+trick.exec_set_freeze_command(True)
+
+simControlPanel = trick.SimControlPanel()
+trick.add_external_application(simControlPanel)

trick_sims/SIM_sat2d/Modified_data/satellite.dr

@@ -0,0 +1,21 @@
+global DR_GROUP_ID
+global drg
+try:
+    if DR_GROUP_ID >= 0:
+        DR_GROUP_ID += 1
+except NameError:
+    DR_GROUP_ID = 0
+    drg = []
+
+drg.append(trick.DRBinary("satellite"))
+drg[DR_GROUP_ID].set_freq(trick.DR_Always)
+drg[DR_GROUP_ID].set_cycle(1.0)
+drg[DR_GROUP_ID].set_single_prec_only(False)
+drg[DR_GROUP_ID].add_variable("dyn.satellite.pos[0]")
+drg[DR_GROUP_ID].add_variable("dyn.satellite.pos[1]")
+drg[DR_GROUP_ID].add_variable("dyn.satellite.vel[0]")
+drg[DR_GROUP_ID].add_variable("dyn.satellite.vel[1]")
+drg[DR_GROUP_ID].add_variable("dyn.satellite.acc[0]")
+drg[DR_GROUP_ID].add_variable("dyn.satellite.acc[1]")
+trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
+drg[DR_GROUP_ID].enable()

trick_sims/SIM_sat2d/RUN_test/input.py

@@ -0,0 +1,26 @@
+execfile("Modified_data/realtime.py")
+execfile("Modified_data/satellite.dr")
+
+dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 6)
+
+#==========================================
+# Start the Satellite Graphics Client
+#==========================================
+varServerPort = trick.var_server_get_port();
+SatDisplay_path = "models/graphics/dist/SatDisplay.jar"
+
+if (os.path.isfile(SatDisplay_path)) :
+    SatDisplay_cmd = "java -jar " \
+                   + SatDisplay_path \
+                   + " " + str(varServerPort) + " &" ;
+    print(SatDisplay_cmd)
+    os.system( SatDisplay_cmd);
+else :
+    print('==================================================================================')
+    print('SatDisplay needs to be built. Please \"cd\" into ../models/graphics and type \"make\".')
+    print('==================================================================================')
+
+trick.stop(5400);
+
+
+

trick_sims/SIM_sat2d/S_define

@@ -0,0 +1,22 @@
+/************************************************************
+PURPOSE:
+    ( Simulate a satellite orbiting the Earth. )
+LIBRARY DEPENDENCIES:
+    ((satellite/src/Satellite.cpp))
+*************************************************************/
+#include "sim_objects/default_trick_sys.sm"
+##include "satellite/include/Satellite.hh"
+class SatelliteSimObject : public Trick::SimObject {
+    public:
+    Satellite satellite;
+
+    SatelliteSimObject() {
+        ("default_data")     satellite.default_data() ;
+        ("initialization")   satellite.state_init() ;
+        ("derivative")   satellite.state_deriv() ;
+        ("integration")   trick_ret = satellite.state_integ() ;
+    }
+};
+
+SatelliteSimObject dyn;
+IntegLoop dyn_integloop(0.002) dyn;

trick_sims/SIM_sat2d/S_overrides.mk

@@ -0,0 +1,2 @@
+TRICK_CFLAGS += -Imodels
+TRICK_CXXFLAGS += -Imodels

trick_sims/SIM_sat2d/models/.gitignore

@@ -0,0 +1,3 @@
+build
+dist
+manifest

trick_sims/SIM_sat2d/models/graphics/Makefile

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+SHELL = /bin/sh
+
+PROJECT_NAME = SatDisplay
+SRC_DIR = src
+BUILD_DIR = build
+CLASSES_DIR = $(BUILD_DIR)/classes
+JAR_DIR = dist
+MAIN_CLASS = trick.SatDisplay
+
+all: jar
+
+clean:
+	rm -rf $(BUILD_DIR)
+	rm -f manifest
+
+spotless: clean
+	rm -rf dist
+
+$(CLASSES_DIR):
+	@ mkdir -p $(CLASSES_DIR)
+
+compile: | $(CLASSES_DIR)
+	javac -sourcepath $(SRC_DIR) -d $(CLASSES_DIR) $(SRC_DIR)/trick/SatDisplay.java
+
+manifest:
+	@ echo "Main-Class: $(MAIN_CLASS)" > $@
+
+$(JAR_DIR):
+	@ mkdir -p $(JAR_DIR)
+
+jar: compile manifest | $(JAR_DIR)
+	jar cvfm $(JAR_DIR)/$(PROJECT_NAME).jar manifest -C $(CLASSES_DIR) .
+	@ echo "-------------------------------------------------------------------------------"
+	@ echo "                              BUILD COMPLETE"
+	@ echo "The Java jar file (the Java Executable) is located at: $(JAR_DIR)/$(PROJECT_NAME).jar"
+	@ echo "-------------------------------------------------------------------------------"

trick_sims/SIM_sat2d/models/satellite/include/Satellite.hh

@@ -0,0 +1,28 @@
+/*************************************************************************
+PURPOSE: (Simulate a satellite orbiting the Earth.)
+LIBRARY DEPENDENCIES:
+    ((satellite/src/Satellite.o))
+**************************************************************************/
+#ifndef _satellite_hh_
+#define _satellite_hh_
+
+#define GRAVITATIONAL_CONSTANT 6.674e-11
+#define EARTH_MASS 5.9723e24
+#define EARTH_RADIUS 6367500.0
+
+class Satellite {
+
+    public:
+        double pos[2] ;    /* m     xyz-position */
+        double vel[2] ;    /* m/s   xyz-velocity */
+        double acc[2] ;    /* m/s2  xyz-acceleration  */
+
+        int default_data();
+        int state_init();
+        int state_deriv();
+        int state_integ();
+};
+#endif
+
+
+

trick_sims/SIM_sat2d/models/satellite/src/Satellite.cpp

@@ -0,0 +1,46 @@
+/********************************* TRICK HEADER *******************************
+PURPOSE: ( Simulate a satellite orbiting the Earth. )
+LIBRARY DEPENDENCY:
+    ((Satellite.o))
+*******************************************************************************/
+#include "../include/Satellite.hh"
+#include <math.h>
+#include <iostream>
+
+int Satellite::default_data() {
+
+    pos[0] = 0.0;
+    pos[1] = 6578000.0;
+    vel[0] = 7905.0;
+    vel[1] = 0.0;
+    return (0);
+}
+
+int Satellite::state_init() {
+    return (0);
+}
+
+int Satellite::state_deriv() {
+
+   double d = sqrt( pos[0]*pos[0] + pos[1]*pos[1]);
+   acc[0] = -pos[0] * GRAVITATIONAL_CONSTANT * EARTH_MASS / (d*d*d);
+   acc[1] = -pos[1] * GRAVITATIONAL_CONSTANT * EARTH_MASS / (d*d*d); 
+   return(0);
+}
+
+#include "sim_services/Integrator/include/integrator_c_intf.h"
+
+int Satellite::state_integ() {
+
+   int integration_step;
+
+   load_state ( &pos[0], &pos[1], &vel[0], &vel[1], (double*)0);
+   load_deriv ( &vel[0], &vel[1], &acc[0], &acc[1], (double*)0);
+
+   integration_step = integrate();
+
+   unload_state( &pos[0], &pos[1], &vel[0], &vel[1], (double*)0);
+
+   return(integration_step);
+}
+