//------------------------------------------------------------------------------
void EndFiniteBurn::ValidateThrusters()
{
thrusters.clear();
for (std::vector<Spacecraft*>::iterator current = sats.begin();
current != sats.end(); ++current)
{
#ifdef DEBUG_EFB_THRUSTER
MessageInterface::ShowMessage
("EndFiniteBurn::ValidateThrusters() entered, checking Spacecraft "
"<%p>'%s' for Thrusters\n", *current, (*current)->GetName().c_str());
#endif
StringArray thrusterNames = (*current)->GetStringArrayParameter(
(*current)->GetParameterID("Thrusters"));
StringArray engines = (maneuver)->GetStringArrayParameter(
(maneuver)->GetParameterID("Thrusters"));
#ifdef DEBUG_EFB_THRUSTER
MessageInterface::ShowMessage
(" Spacecraft has %d Thrusters and FiniteBurn has %d thrusters\n",
thrusterNames.size(), engines.size());
#endif
for (StringArray::iterator i = engines.begin(); i != engines.end(); ++i)
{
if (find(thrusterNames.begin(), thrusterNames.end(), *i) ==
thrusterNames.end())
{
thrusters.clear();
throw CommandException("EndFiniteBurn: Spacecraft " +
(*current)->GetName() + " does not have a thruster named \"" +
(*i) + "\"");
}
Thruster* th = (Thruster*)((*current)->GetRefObject(
Gmat::THRUSTER, *i));
if (th)
{
#ifdef DEBUG_EFB_THRUSTER
MessageInterface::ShowMessage
("EndFiniteBurn::ValidateThrusters() addding the Thruster "
"<%p>'%s' to thrusters\n", th, th->GetName().c_str());
#endif
thrusters.push_back(th);
}
else
{
thrusters.clear();
throw CommandException("EndFiniteBurn: Thruster object \"" + (*i) +
"\" was not set on Spacecraft \""
+ (*current)->GetName() + "\"");
}
}
}
#ifdef DEBUG_EFB_THRUSTER
MessageInterface::ShowMessage
("EndFiniteBurn::ValidateThrusters() leaving\n");
#endif
}
//------------------------------------------------------------------------------
bool BeginFiniteBurn::Execute()
{
ValidateThrusters();
// Turn on all of the referenced thrusters
#ifdef DEBUG_BEGIN_MANEUVER_EXE
MessageInterface::ShowMessage
("BeginFiniteBurn::Execute() <%p>'%s' entered\n "
"There are %d thruster(s) in use\n", this,
GetGeneratingString(Gmat::NO_COMMENTS).c_str(), thrusters.size());
#endif
for (std::vector<Thruster*>::iterator i = thrusters.begin();
i != thrusters.end(); ++i)
{
Thruster *th = *i;
#ifdef DEBUG_BEGIN_MANEUVER_EXE
MessageInterface::ShowMessage
("Activating engine <%p>'%s'\n", th, th->GetName().c_str());
#endif
th->SetBooleanParameter(th->GetParameterID("IsFiring"), true);
#ifdef DEBUG_BEGIN_MANEUVER_EXE
MessageInterface::ShowMessage
("Checking to see if engine is active: returned %s\n",
(th->GetBooleanParameter(th->GetParameterID("IsFiring")) ?
"true" : "false"));
#endif
}
// Tell active spacecraft that they are now firing
for (std::vector<Spacecraft*>::iterator s=sats.begin(); s!=sats.end(); ++s)
{
(*s)->IsManeuvering(true);
}
if (transientForces == NULL)
throw CommandException("Transient force list was NOT initialized; "
"ABORTING RUN!!!\n\n");
// Insert the force into the list of transient forces if not found
if (transientForces->size() == 0)
{
#ifdef DEBUG_TRANSIENT_FORCES
MessageInterface::ShowMessage
("BeginFiniteBurn::Execute() Adding first burnForce<%p>'%s' to "
"transientForces\n", burnForce, burnForce->GetName().c_str());
#endif
transientForces->push_back(burnForce);
}
else
{
bool alreadyThere = false;
for (std::vector<PhysicalModel*>::iterator i = transientForces->begin();
i !=transientForces->end(); ++i)
{
if ((*i)->IsOfType("FiniteThrust"))
{
FiniteThrust *transient = (FiniteThrust*)(*i);
if (transient == burnForce)
{
alreadyThere = true;
}
if ((*transient) == (*burnForce))
{
MessageInterface::ShowMessage("Burn activated by the line\n "
"%s\noverlaps with an active finite burn. No new finite "
"burn will be applied.\n",
GetGeneratingString(Gmat::NO_COMMENTS).c_str());
alreadyThere = true;
}
}
}
if (alreadyThere == false)
{
#ifdef DEBUG_TRANSIENT_FORCES
MessageInterface::ShowMessage("BeginFiniteBurn::Execute() Adding "
"burnForce<%p>'%s' to transientForces\n", burnForce,
burnForce->GetName().c_str());
#endif
transientForces->push_back(burnForce);
}
}
// Set maneuvering to Publisher so that any subscriber can do its own action
if (!sats.empty())
{
Real epoch = sats[0]->GetEpoch();
publisher->SetManeuvering(this, true, epoch, satNames,
"begin of finite maneuver");
}
#ifdef DEBUG_BEGIN_MANEUVER_EXE
MessageInterface::ShowMessage
("There are %d transient force(s)\n", transientForces->size());
MessageInterface::ShowMessage("Current TransientForces list:\n");
for (std::vector<PhysicalModel*>::iterator j = transientForces->begin();
j != transientForces->end(); ++j)
MessageInterface::ShowMessage(" %s\n", (*j)->GetName().c_str());
#endif
BuildCommandSummary(true);
return true;
}
//------------------------------------------------------------------------------
bool EndFiniteBurn::Execute()
{
ValidateThrusters();
// Only do this if the FiniteBurn is the one this command controls...
bool forceActive = false;
for (std::vector<PhysicalModel*>::iterator j = transientForces->begin();
j != transientForces->end(); ++j)
{
if (((*j)->GetName()) == thrustName)
{
// ... and if it is set for the right spacecraft
StringArray burnSatNames = (*j)->GetRefObjectNameArray(Gmat::SPACECRAFT);
bool foundSats = false;
UnsignedInt numberFound = 0;
for (UnsignedInt i = 0; i < satNames.size(); ++i)
{
if (find(burnSatNames.begin(), burnSatNames.end(), satNames[i]) != burnSatNames.end())
{
foundSats = true;
++numberFound;
}
}
if (foundSats)
{
#ifdef DEBUG_TRANSIENT_FORCES
MessageInterface::ShowMessage("EndFiniteBurn::Execute(): The burn "
"is active\n");
#endif
forceActive = true;
if (numberFound != satNames.size())
MessageInterface::ShowMessage("*** WARNING *** Turning off the "
"finite burn %s, but the EndFiniteBurn command did not "
"list all of the spacecraft that are no longer "
"maneuvering.\n", burnName.c_str());
break;
}
}
}
if (forceActive)
{
// Turn off all of the referenced thrusters
for (std::vector<Thruster*>::iterator i = thrusters.begin();
i != thrusters.end(); ++i)
{
Thruster *th = *i;
#ifdef DEBUG_END_MANEUVER_EXE
MessageInterface::ShowMessage
("EndFiniteBurn::Execute() Deactivating engine <%p>'%s'\n", th,
th->GetName().c_str());
#endif
th->SetBooleanParameter(th->GetParameterID("IsFiring"), false);
#ifdef DEBUG_END_MANEUVER_EXE
MessageInterface::ShowMessage
("Checking to see if engine is inactive: returned %s\n",
(th->GetBooleanParameter(th->GetParameterID("IsFiring")) ?
"true" : "false"));
#endif
}
// Tell active spacecraft that they are no longer firing
for (std::vector<Spacecraft*>::iterator s=sats.begin(); s!=sats.end(); ++s)
{
#ifdef DEBUG_END_MANEUVER_EXE
MessageInterface::ShowMessage
("EndFiniteBurn::Execute() Deactivating maneuvers on Spacecraft "
"<%p>'%s'\n", *s, (*s)->GetName().c_str());
#endif
/// todo: Be sure that no other maneuver has the spacecraft maneuvering;
/// for R2013a this is not an issue since only 1 burn per spacecraft is
/// allowed. We'll need to fix this when that restriction is removed.
(*s)->IsManeuvering(false);
}
// Remove the force from the list of transient forces
for (std::vector<PhysicalModel*>::iterator j = transientForces->begin();
j != transientForces->end(); ++j)
{
if (((*j)->GetName()) == thrustName)
{
#ifdef DEBUG_TRANSIENT_FORCES
MessageInterface::ShowMessage
("EndFiniteBurn::Execute() Removing burnForce<%p>'%s' from "
"transientForces\n", *j, (*j)->GetName().c_str());
#endif
transientForces->erase(j);
break;
}
}
// Reset maneuvering to Publisher so that any subscriber can do its own action
if (!sats.empty())
{
Real epoch = sats[0]->GetEpoch();
publisher->SetManeuvering(this, false, epoch, satNames, "end of finite "
"maneuver");
}
#ifdef DEBUG_END_MANEUVER_EXE
MessageInterface::ShowMessage("EndFiniteBurn::Execute() Current TransientForces list:\n");
for (std::vector<PhysicalModel*>::iterator j = transientForces->begin();
j != transientForces->end(); ++j)
MessageInterface::ShowMessage(" %s\n", (*j)->GetName().c_str());
#endif
}
BuildCommandSummary(true);
return true;
}
//------------------------------------------------------------------------------
bool FiniteBurn::Fire(Real *burnData, Real epoch)
{
#ifdef DEBUG_FINITEBURN_FIRE
MessageInterface::ShowMessage
("FiniteBurn::Fire() this<%p>'%s' entered, epoch=%f, spacecraft=<%p>'%s'\n",
this, instanceName.c_str(), epoch, spacecraft,
spacecraft ? spacecraft->GetName().c_str() : "NULL");
#endif
if (isInitialized == false)
Initialize();
if (!spacecraft)
throw BurnException("Maneuver initial state undefined (No spacecraft?)");
// Accumulate the individual accelerations from the thrusters
Real dm = 0.0, tMass, tOverM, *dir, norm;
deltaV[0] = deltaV[1] = deltaV[2] = 0.0;
Thruster *current;
tMass = spacecraft->GetRealParameter("TotalMass");
#ifdef DEBUG_BURN_ORIGIN
Real *satState = spacecraft->GetState().GetState();
MessageInterface::ShowMessage
("FiniteBurn Vectors:\n "
"Sat = [%.15f %.15f %.15f %.15f %.15f %.15f]\n "
"Frame = [%.15f %.15f %.15f\n "
" %.15f %.15f %.15f\n "
" %.15f %.15f %.15f]\n\n",
satState[0], satState[1], satState[2], satState[3], satState[4], satState[5],
frameBasis[0][0], frameBasis[0][1], frameBasis[0][2],
frameBasis[1][0], frameBasis[1][1], frameBasis[1][2],
frameBasis[2][0], frameBasis[2][1], frameBasis[2][2]);
#endif
for (StringArray::iterator i = thrusterNames.begin();
i != thrusterNames.end(); ++i)
{
#ifdef DEBUG_FINITE_BURN
MessageInterface::ShowMessage
(" Accessing thruster '%s' from spacecraft <%p>'%s'\n", (*i).c_str(),
spacecraft, spacecraft->GetName().c_str());
#endif
current = (Thruster *)spacecraft->GetRefObject(Gmat::THRUSTER, *i);
if (!current)
throw BurnException("FiniteBurn::Fire requires thruster named \"" +
(*i) + "\" on spacecraft " + spacecraft->GetName());
// Save current thruster so that GetRefObject() can return it (LOJ: 2009.08.28)
thrusterMap[current->GetName()] = current;
// FiniteBurn class is friend of Thruster class, so we can access
// member data directly
current->ComputeInertialDirection(epoch);
dir = current->inertialDirection;
norm = sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]);
#ifdef DEBUG_FINITE_BURN
MessageInterface::ShowMessage
(" Thruster Direction: %.15f %.15f %.15f\n"
" norm: %.15f\n", dir[0], dir[1], dir[2], norm);
#endif
if (norm == 0.0)
throw BurnException("FiniteBurn::Fire thruster " + (*i) +
" on spacecraft " + spacecraft->GetName() +
" has no direction.");
dm += current->CalculateMassFlow();
//tOverM = current->thrust / (tMass * norm * 1000.0); //old code
tOverM = current->thrust * current->thrustScaleFactor *
current->dutyCycle / (tMass * norm * 1000.0);
deltaV[0] += dir[0] * tOverM;
deltaV[1] += dir[1] * tOverM;
deltaV[2] += dir[2] * tOverM;
#ifdef DEBUG_FINITE_BURN
MessageInterface::ShowMessage(" Thruster %s = %s details:\n",
(*i).c_str(), current->GetName().c_str());
MessageInterface::ShowMessage(
" thrust = %.15f\n"
" dM = %.15e\n Mass = %.15f\n"
" TSF = %.15f\n |Acc| = %.15e\n "
"Acc = [%.15e %.15e %.15e]\n", current->thrust,
dm, tMass, current->thrustScaleFactor, tOverM,
deltaV[0], deltaV[1], deltaV[2]);
#endif
}
// Build the acceleration
burnData[0] = deltaV[0]*frameBasis[0][0] +
deltaV[1]*frameBasis[0][1] +
deltaV[2]*frameBasis[0][2];
burnData[1] = deltaV[0]*frameBasis[1][0] +
deltaV[1]*frameBasis[1][1] +
deltaV[2]*frameBasis[1][2];
burnData[2] = deltaV[0]*frameBasis[2][0] +
deltaV[1]*frameBasis[2][1] +
deltaV[2]*frameBasis[2][2];
burnData[3] = dm;
#ifdef DEBUG_FINITEBURN_FIRE
MessageInterface::ShowMessage(
"FiniteBurn::Fire() this<%p>'%s' returning\n"
" Acceleration: %.15e %.15e %.15e dm: %.15e\n", this,
GetName().c_str(), burnData[0], burnData[1], burnData[2], dm);
#endif
hasFired = true;
epochAtLastFire = epoch;
return true;
}
