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