git.gag.com Git - debian/openrocket/blob - core/src/net/sf/openrocket/simulation/BasicEventSimulationEngine.java

   1 package net.sf.openrocket.simulation;
   2
   3 import java.util.HashSet;
   4 import java.util.Iterator;
   5 import java.util.Set;
   6
   7 import net.sf.openrocket.aerodynamics.FlightConditions;
   8 import net.sf.openrocket.aerodynamics.Warning;
   9 import net.sf.openrocket.logging.LogHelper;
  10 import net.sf.openrocket.motor.Motor;
  11 import net.sf.openrocket.motor.MotorId;
  12 import net.sf.openrocket.motor.MotorInstance;
  13 import net.sf.openrocket.motor.MotorInstanceConfiguration;
  14 import net.sf.openrocket.rocketcomponent.Configuration;
  15 import net.sf.openrocket.rocketcomponent.LaunchLug;
  16 import net.sf.openrocket.rocketcomponent.MotorMount;
  17 import net.sf.openrocket.rocketcomponent.RecoveryDevice;
  18 import net.sf.openrocket.rocketcomponent.RocketComponent;
  19 import net.sf.openrocket.rocketcomponent.Stage;
  20 import net.sf.openrocket.simulation.exception.MotorIgnitionException;
  21 import net.sf.openrocket.simulation.exception.SimulationException;
  22 import net.sf.openrocket.simulation.exception.SimulationLaunchException;
  23 import net.sf.openrocket.simulation.listeners.SimulationListenerHelper;
  24 import net.sf.openrocket.startup.Application;
  25 import net.sf.openrocket.unit.UnitGroup;
  26 import net.sf.openrocket.util.Coordinate;
  27 import net.sf.openrocket.util.MathUtil;
  28 import net.sf.openrocket.util.Pair;
  29 import net.sf.openrocket.util.Quaternion;
  30
  31
  32 public class BasicEventSimulationEngine implements SimulationEngine {
  33
  34         private static final LogHelper log = Application.getLogger();
  35
  36         // TODO: MEDIUM: Allow selecting steppers
  37         private SimulationStepper flightStepper = new RK4SimulationStepper();
  38         private SimulationStepper landingStepper = new BasicLandingStepper();
  39
  40         private SimulationStepper currentStepper;
  41
  42         private SimulationStatus status;
  43
  44
  45         @Override
  46         public FlightData simulate(SimulationConditions simulationConditions) throws SimulationException {
  47                 Set<MotorId> motorBurntOut = new HashSet<MotorId>();
  48
  49                 // Set up flight data
  50                 FlightData flightData = new FlightData();
  51
  52                 // Set up rocket configuration
  53                 Configuration configuration = setupConfiguration(simulationConditions);
  54                 MotorInstanceConfiguration motorConfiguration = setupMotorConfiguration(configuration);
  55                 if (motorConfiguration.getMotorIDs().isEmpty()) {
  56                         throw new MotorIgnitionException("No motors defined in the simulation.");
  57                 }
  58
  59                 // Initialize the simulation
  60                 currentStepper = flightStepper;
  61                 status = initialStatus(configuration, motorConfiguration, simulationConditions, flightData);
  62                 status = currentStepper.initialize(status);
  63
  64
  65                 SimulationListenerHelper.fireStartSimulation(status);
  66                 // Get originating position (in case listener has modified launch position)
  67                 Coordinate origin = status.getRocketPosition();
  68                 Coordinate originVelocity = status.getRocketVelocity();
  69
  70                 try {
  71                         double maxAlt = Double.NEGATIVE_INFINITY;
  72
  73                         // Start the simulation
  74                         while (handleEvents()) {
  75
  76                                 // Take the step
  77                                 double oldAlt = status.getRocketPosition().z;
  78
  79                                 if (SimulationListenerHelper.firePreStep(status)) {
  80                                         // Step at most to the next event
  81                                         double maxStepTime = Double.MAX_VALUE;
  82                                         FlightEvent nextEvent = status.getEventQueue().peek();
  83                                         if (nextEvent != null) {
  84                                                 maxStepTime = MathUtil.max(nextEvent.getTime() - status.getSimulationTime(), 0.001);
  85                                         }
  86                                         log.verbose("BasicEventSimulationEngine: Taking simulation step at t=" + status.getSimulationTime());
  87                                         currentStepper.step(status, maxStepTime);
  88                                 }
  89                                 SimulationListenerHelper.firePostStep(status);
  90
  91
  92                                 // Check for NaN values in the simulation status
  93                                 checkNaN();
  94
  95                                 // Add altitude event
  96                                 addEvent(new FlightEvent(FlightEvent.Type.ALTITUDE, status.getSimulationTime(),
  97                                                 status.getConfiguration().getRocket(),
  98                                                 new Pair<Double, Double>(oldAlt, status.getRocketPosition().z)));
  99
 100                                 if (status.getRocketPosition().z > maxAlt) {
 101                                         maxAlt = status.getRocketPosition().z;
 102                                 }
 103
 104
 105                                 // Position relative to start location
 106                                 Coordinate relativePosition = status.getRocketPosition().sub(origin);
 107
 108                                 // Add appropriate events
 109                                 if (!status.isLiftoff()) {
 110
 111                                         // Avoid sinking into ground before liftoff
 112                                         if (relativePosition.z < 0) {
 113                                                 status.setRocketPosition(origin);
 114                                                 status.setRocketVelocity(originVelocity);
 115                                         }
 116                                         // Detect lift-off
 117                                         if (relativePosition.z > 0.02) {
 118                                                 addEvent(new FlightEvent(FlightEvent.Type.LIFTOFF, status.getSimulationTime()));
 119                                         }
 120
 121                                 } else {
 122
 123                                         // Check ground hit after liftoff
 124                                         if (status.getRocketPosition().z < 0) {
 125                                                 status.setRocketPosition(status.getRocketPosition().setZ(0));
 126                                                 addEvent(new FlightEvent(FlightEvent.Type.GROUND_HIT, status.getSimulationTime()));
 127                                                 addEvent(new FlightEvent(FlightEvent.Type.SIMULATION_END, status.getSimulationTime()));
 128                                         }
 129
 130                                 }
 131
 132                                 // Check for launch guide clearance
 133                                 if (!status.isLaunchRodCleared() &&
 134                                                 relativePosition.length() > status.getSimulationConditions().getLaunchRodLength()) {
 135                                         addEvent(new FlightEvent(FlightEvent.Type.LAUNCHROD, status.getSimulationTime(), null));
 136                                 }
 137
 138
 139                                 // Check for apogee
 140                                 if (!status.isApogeeReached() && status.getRocketPosition().z < maxAlt - 0.01) {
 141                                         addEvent(new FlightEvent(FlightEvent.Type.APOGEE, status.getSimulationTime(),
 142                                                         status.getConfiguration().getRocket()));
 143                                 }
 144
 145
 146                                 // Check for burnt out motors
 147                                 for (MotorId motorId : status.getMotorConfiguration().getMotorIDs()) {
 148                                         MotorInstance motor = status.getMotorConfiguration().getMotorInstance(motorId);
 149                                         if (!motor.isActive() && motorBurntOut.add(motorId)) {
 150                                                 addEvent(new FlightEvent(FlightEvent.Type.BURNOUT, status.getSimulationTime(),
 151                                                                 (RocketComponent) status.getMotorConfiguration().getMotorMount(motorId), motorId));
 152                                         }
 153                                 }
 154
 155                         }
 156
 157                 } catch (SimulationException e) {
 158                         SimulationListenerHelper.fireEndSimulation(status, e);
 159                         throw e;
 160                 }
 161
 162                 SimulationListenerHelper.fireEndSimulation(status, null);
 163
 164                 flightData.addBranch(status.getFlightData());
 165
 166                 if (!flightData.getWarningSet().isEmpty()) {
 167                         log.info("Warnings at the end of simulation:  " + flightData.getWarningSet());
 168                 }
 169
 170                 // TODO: HIGH: Simulate branches
 171                 return flightData;
 172         }
 173
 174
 175
 176         private SimulationStatus initialStatus(Configuration configuration,
 177                         MotorInstanceConfiguration motorConfiguration,
 178                         SimulationConditions simulationConditions, FlightData flightData) {
 179
 180                 SimulationStatus init = new SimulationStatus();
 181                 init.setSimulationConditions(simulationConditions);
 182                 init.setConfiguration(configuration);
 183                 init.setMotorConfiguration(motorConfiguration);
 184
 185                 init.setSimulationTime(0);
 186                 init.setPreviousTimeStep(simulationConditions.getTimeStep());
 187                 init.setRocketPosition(Coordinate.NUL);
 188                 init.setRocketVelocity(Coordinate.NUL);
 189                 init.setRocketWorldPosition(simulationConditions.getLaunchSite());
 190
 191                 // Initialize to roll angle with least stability w.r.t. the wind
 192                 Quaternion o;
 193                 FlightConditions cond = new FlightConditions(configuration);
 194                 simulationConditions.getAerodynamicCalculator().getWorstCP(configuration, cond, null);
 195                 double angle = -cond.getTheta() - simulationConditions.getLaunchRodDirection();
 196                 o = Quaternion.rotation(new Coordinate(0, 0, angle));
 197
 198                 // Launch rod angle and direction
 199                 o = o.multiplyLeft(Quaternion.rotation(new Coordinate(0, simulationConditions.getLaunchRodAngle(), 0)));
 200                 o = o.multiplyLeft(Quaternion.rotation(new Coordinate(0, 0, simulationConditions.getLaunchRodDirection())));
 201
 202                 init.setRocketOrientationQuaternion(o);
 203                 init.setRocketRotationVelocity(Coordinate.NUL);
 204
 205
 206                 /*
 207                  * Calculate the effective launch rod length taking into account launch lugs.
 208                  * If no lugs are found, assume a tower launcher of full length.
 209                  */
 210                 double length = simulationConditions.getLaunchRodLength();
 211                 double lugPosition = Double.NaN;
 212                 for (RocketComponent c : configuration) {
 213                         if (c instanceof LaunchLug) {
 214                                 double pos = c.toAbsolute(new Coordinate(c.getLength()))[0].x;
 215                                 if (Double.isNaN(lugPosition) || pos > lugPosition) {
 216                                         lugPosition = pos;
 217                                 }
 218                         }
 219                 }
 220                 if (!Double.isNaN(lugPosition)) {
 221                         double maxX = 0;
 222                         for (Coordinate c : configuration.getBounds()) {
 223                                 if (c.x > maxX)
 224                                         maxX = c.x;
 225                         }
 226                         if (maxX >= lugPosition) {
 227                                 length = Math.max(0, length - (maxX - lugPosition));
 228                         }
 229                 }
 230                 init.setEffectiveLaunchRodLength(length);
 231
 232
 233
 234                 init.setSimulationStartWallTime(System.nanoTime());
 235
 236                 init.setMotorIgnited(false);
 237                 init.setLiftoff(false);
 238                 init.setLaunchRodCleared(false);
 239                 init.setApogeeReached(false);
 240
 241                 init.getEventQueue().add(new FlightEvent(FlightEvent.Type.LAUNCH, 0, simulationConditions.getRocket()));
 242
 243                 init.setFlightData(new FlightDataBranch("MAIN", FlightDataType.TYPE_TIME));
 244                 init.setWarnings(flightData.getWarningSet());
 245
 246                 return init;
 247         }
 248
 249
 250
 251         /**
 252          * Create a rocket configuration from the launch conditions.
 253          *
 254          * @param simulation    the launch conditions.
 255          * @return                              a rocket configuration with all stages attached.
 256          */
 257         private Configuration setupConfiguration(SimulationConditions simulation) {
 258                 Configuration configuration = new Configuration(simulation.getRocket());
 259                 configuration.setAllStages();
 260                 configuration.setMotorConfigurationID(simulation.getMotorConfigurationID());
 261
 262                 return configuration;
 263         }
 264
 265
 266
 267         /**
 268          * Create a new motor instance configuration for the rocket configuration.
 269          *
 270          * @param configuration         the rocket configuration.
 271          * @return                                      a new motor instance configuration with all motors in place.
 272          */
 273         private MotorInstanceConfiguration setupMotorConfiguration(Configuration configuration) {
 274                 MotorInstanceConfiguration motors = new MotorInstanceConfiguration();
 275                 final String motorId = configuration.getMotorConfigurationID();
 276
 277                 Iterator<MotorMount> iterator = configuration.motorIterator();
 278                 while (iterator.hasNext()) {
 279                         MotorMount mount = iterator.next();
 280                         RocketComponent component = (RocketComponent) mount;
 281                         Motor motor = mount.getMotor(motorId);
 282
 283                         if (motor != null) {
 284                                 Coordinate[] positions = component.toAbsolute(mount.getMotorPosition(motorId));
 285                                 for (int i = 0; i < positions.length; i++) {
 286                                         Coordinate position = positions[i];
 287                                         MotorId id = new MotorId(component.getID(), i + 1);
 288                                         motors.addMotor(id, motor.getInstance(), mount, position);
 289                                 }
 290                         }
 291                 }
 292                 return motors;
 293         }
 294
 295         /**
 296          * Handles events occurring during the flight from the event queue.
 297          * Each event that has occurred before or at the current simulation time is
 298          * processed.  Suitable events are also added to the flight data.
 299          */
 300         private boolean handleEvents() throws SimulationException {
 301                 boolean ret = true;
 302                 FlightEvent event;
 303
 304                 for (event = nextEvent(); event != null; event = nextEvent()) {
 305
 306                         // Ignore events for components that are no longer attached to the rocket
 307                         if (event.getSource() != null && event.getSource().getParent() != null &&
 308                                         !status.getConfiguration().isStageActive(event.getSource().getStageNumber())) {
 309                                 continue;
 310                         }
 311
 312                         // Call simulation listeners, allow aborting event handling
 313                         if (!SimulationListenerHelper.fireHandleFlightEvent(status, event)) {
 314                                 continue;
 315                         }
 316
 317                         if (event.getType() != FlightEvent.Type.ALTITUDE) {
 318                                 log.verbose("BasicEventSimulationEngine:  Handling event " + event);
 319                         }
 320
 321                         if (event.getType() == FlightEvent.Type.IGNITION) {
 322                                 MotorMount mount = (MotorMount) event.getSource();
 323                                 MotorId motorId = (MotorId) event.getData();
 324                                 MotorInstance instance = status.getMotorConfiguration().getMotorInstance(motorId);
 325                                 if (!SimulationListenerHelper.fireMotorIgnition(status, motorId, mount, instance)) {
 326                                         continue;
 327                                 }
 328                         }
 329
 330                         if (event.getType() == FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT) {
 331                                 RecoveryDevice device = (RecoveryDevice) event.getSource();
 332                                 if (!SimulationListenerHelper.fireRecoveryDeviceDeployment(status, device)) {
 333                                         continue;
 334                                 }
 335                         }
 336
 337
 338
 339                         // Check for motor ignition events, add ignition events to queue
 340                         for (MotorId id : status.getMotorConfiguration().getMotorIDs()) {
 341                                 MotorMount mount = status.getMotorConfiguration().getMotorMount(id);
 342                                 RocketComponent component = (RocketComponent) mount;
 343
 344                                 if (mount.getIgnitionEvent().isActivationEvent(event, component)) {
 345                                         addEvent(new FlightEvent(FlightEvent.Type.IGNITION,
 346                                                         status.getSimulationTime() + mount.getIgnitionDelay(),
 347                                                         component, id));
 348                                 }
 349                         }
 350
 351
 352                         // Check for stage separation event
 353                         for (int stageNo : status.getConfiguration().getActiveStages()) {
 354                                 if (stageNo == 0)
 355                                         continue;
 356
 357                                 Stage stage = (Stage) status.getConfiguration().getRocket().getChild(stageNo);
 358                                 if (stage.getSeparationEvent().isSeparationEvent(event, stage)) {
 359                                         addEvent(new FlightEvent(FlightEvent.Type.STAGE_SEPARATION,
 360                                                         event.getTime() + stage.getSeparationDelay(), stage));
 361                                 }
 362                         }
 363
 364
 365                         // Check for recovery device deployment, add events to queue
 366                         Iterator<RocketComponent> rci = status.getConfiguration().iterator();
 367                         while (rci.hasNext()) {
 368                                 RocketComponent c = rci.next();
 369                                 if (!(c instanceof RecoveryDevice))
 370                                         continue;
 371                                 if (((RecoveryDevice) c).getDeployEvent().isActivationEvent(event, c)) {
 372                                         // Delay event by at least 1ms to allow stage separation to occur first
 373                                         addEvent(new FlightEvent(FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT,
 374                                                         event.getTime() + Math.max(0.001, ((RecoveryDevice) c).getDeployDelay()), c));
 375                                 }
 376                         }
 377
 378
 379                         // Handle event
 380                         switch (event.getType()) {
 381
 382                         case LAUNCH: {
 383                                 status.getFlightData().addEvent(event);
 384                                 break;
 385                         }
 386
 387                         case IGNITION: {
 388                                 // Ignite the motor
 389                                 MotorMount mount = (MotorMount) event.getSource();
 390                                 RocketComponent component = (RocketComponent) mount;
 391                                 MotorId motorId = (MotorId) event.getData();
 392                                 MotorInstanceConfiguration config = status.getMotorConfiguration();
 393                                 config.setMotorIgnitionTime(motorId, event.getTime());
 394                                 status.setMotorIgnited(true);
 395                                 status.getFlightData().addEvent(event);
 396
 397                                 break;
 398                         }
 399
 400                         case LIFTOFF: {
 401                                 // Mark lift-off as occurred
 402                                 status.setLiftoff(true);
 403                                 status.getFlightData().addEvent(event);
 404                                 break;
 405                         }
 406
 407                         case LAUNCHROD: {
 408                                 // Mark launch rod as cleared
 409                                 status.setLaunchRodCleared(true);
 410                                 status.getFlightData().addEvent(event);
 411                                 break;
 412                         }
 413
 414                         case BURNOUT: {
 415                                 // If motor burnout occurs without lift-off, abort
 416                                 if (!status.isLiftoff()) {
 417                                         throw new SimulationLaunchException("Motor burnout without liftoff.");
 418                                 }
 419                                 // Add ejection charge event
 420                                 String id = status.getConfiguration().getMotorConfigurationID();
 421                                 MotorMount mount = (MotorMount) event.getSource();
 422                                 double delay = mount.getMotorDelay(id);
 423                                 if (delay != Motor.PLUGGED) {
 424                                         addEvent(new FlightEvent(FlightEvent.Type.EJECTION_CHARGE, status.getSimulationTime() + delay,
 425                                                         event.getSource(), event.getData()));
 426                                 }
 427                                 status.getFlightData().addEvent(event);
 428                                 break;
 429                         }
 430
 431                         case EJECTION_CHARGE: {
 432                                 status.getFlightData().addEvent(event);
 433                                 break;
 434                         }
 435
 436                         case STAGE_SEPARATION: {
 437                                 // TODO: HIGH: Store lower stages to be simulated later
 438                                 RocketComponent stage = event.getSource();
 439                                 int n = stage.getStageNumber();
 440                                 status.getConfiguration().setToStage(n - 1);
 441                                 status.getFlightData().addEvent(event);
 442                                 break;
 443                         }
 444
 445                         case APOGEE:
 446                                 // Mark apogee as reached
 447                                 status.setApogeeReached(true);
 448                                 status.getFlightData().addEvent(event);
 449                                 break;
 450
 451                         case RECOVERY_DEVICE_DEPLOYMENT:
 452                                 RocketComponent c = event.getSource();
 453                                 int n = c.getStageNumber();
 454                                 // Ignore event if stage not active
 455                                 if (status.getConfiguration().isStageActive(n)) {
 456                                         // TODO: HIGH: Check stage activeness for other events as well?
 457
 458                                         // Check whether any motor in the active stages is active anymore
 459                                         for (MotorId motorId : status.getMotorConfiguration().getMotorIDs()) {
 460                                                 int stage = ((RocketComponent) status.getMotorConfiguration().
 461                                                                 getMotorMount(motorId)).getStageNumber();
 462                                                 if (!status.getConfiguration().isStageActive(stage))
 463                                                         continue;
 464                                                 if (!status.getMotorConfiguration().getMotorInstance(motorId).isActive())
 465                                                         continue;
 466                                                 status.getWarnings().add(Warning.RECOVERY_DEPLOYMENT_WHILE_BURNING);
 467                                         }
 468
 469                                         // Check for launch rod
 470                                         if (!status.isLaunchRodCleared()) {
 471                                                 status.getWarnings().add(Warning.fromString("Recovery device device deployed while on " +
 472                                                                 "the launch guide."));
 473                                         }
 474
 475                                         // Check current velocity
 476                                         if (status.getRocketVelocity().length() > 20) {
 477                                                 // TODO: LOW: Custom warning.
 478                                                 status.getWarnings().add(Warning.fromString("Recovery device deployment at high " +
 479                                                                 "speed ("
 480                                                                 + UnitGroup.UNITS_VELOCITY.toStringUnit(status.getRocketVelocity().length())
 481                                                                 + ")."));
 482                                         }
 483
 484                                         status.setLiftoff(true);
 485                                         status.getDeployedRecoveryDevices().add((RecoveryDevice) c);
 486
 487                                         this.currentStepper = this.landingStepper;
 488                                         this.status = currentStepper.initialize(status);
 489
 490                                         status.getFlightData().addEvent(event);
 491                                 }
 492                                 break;
 493
 494                         case GROUND_HIT:
 495                                 status.getFlightData().addEvent(event);
 496                                 break;
 497
 498                         case SIMULATION_END:
 499                                 ret = false;
 500                                 status.getFlightData().addEvent(event);
 501                                 break;
 502
 503                         case ALTITUDE:
 504                                 break;
 505                         }
 506
 507                 }
 508
 509
 510                 // If no motor has ignited, abort
 511                 if (!status.isMotorIgnited()) {
 512                         throw new MotorIgnitionException("No motors ignited.");
 513                 }
 514
 515                 return ret;
 516         }
 517
 518         /**
 519          * Add a flight event to the event queue unless a listener aborts adding it.
 520          *
 521          * @param event         the event to add to the queue.
 522          */
 523         private void addEvent(FlightEvent event) throws SimulationException {
 524                 if (SimulationListenerHelper.fireAddFlightEvent(status, event)) {
 525                         status.getEventQueue().add(event);
 526                 }
 527         }
 528
 529
 530
 531         /**
 532          * Return the next flight event to handle, or null if no more events should be handled.
 533          * This method jumps the simulation time forward in case no motors have been ignited.
 534          * The flight event is removed from the event queue.
 535          *
 536          * @param status        the simulation status
 537          * @return                      the flight event to handle, or null
 538          */
 539         private FlightEvent nextEvent() {
 540                 EventQueue queue = status.getEventQueue();
 541                 FlightEvent event = queue.peek();
 542                 if (event == null)
 543                         return null;
 544
 545                 // Jump to event if no motors have been ignited
 546                 if (!status.isMotorIgnited() && event.getTime() > status.getSimulationTime()) {
 547                         status.setSimulationTime(event.getTime());
 548                 }
 549                 if (event.getTime() <= status.getSimulationTime()) {
 550                         return queue.poll();
 551                 } else {
 552                         return null;
 553                 }
 554         }
 555
 556
 557
 558         private void checkNaN() throws SimulationException {
 559                 double d = 0;
 560                 boolean b = false;
 561                 d += status.getSimulationTime();
 562                 d += status.getPreviousTimeStep();
 563                 b |= status.getRocketPosition().isNaN();
 564                 b |= status.getRocketVelocity().isNaN();
 565                 b |= status.getRocketOrientationQuaternion().isNaN();
 566                 b |= status.getRocketRotationVelocity().isNaN();
 567                 d += status.getEffectiveLaunchRodLength();
 568
 569                 if (Double.isNaN(d) || b) {
 570                         log.error("Simulation resulted in NaN value:" +
 571                                         " simulationTime=" + status.getSimulationTime() +
 572                                         " previousTimeStep=" + status.getPreviousTimeStep() +
 573                                         " rocketPosition=" + status.getRocketPosition() +
 574                                         " rocketVelocity=" + status.getRocketVelocity() +
 575                                         " rocketOrientationQuaternion=" + status.getRocketOrientationQuaternion() +
 576                                         " rocketRotationVelocity=" + status.getRocketRotationVelocity() +
 577                                         " effectiveLaunchRodLength=" + status.getEffectiveLaunchRodLength());
 578                         throw new SimulationException("Simulation resulted in not-a-number (NaN) value, please report a bug.");
 579                 }
 580         }
 581
 582
 583 }