/**
* The main control loop for the vehicle. Within this function we mainly call the
* periodic update functions for the various modules.
*/
void update(void *)
{
// Toggle LED just to let us know things are working
led.toggle();
// Update the thrust and rudder control loops
rudder.update();
thruster.update();
// Perform periodic updates for sensors
teSensor.update();
doSensor.update();
// depthSensor.update();
// esSensor.update();
// monitorSensor.update();
// Decay the desired velocities slightly
decayVelocity();
//Try reading analog sensor
adcUpdate();
}
/**
* The main setup function for the vehicle. Initalized the Amarino communications,
* then calls the various setup functions for the various modules.
*/
void setup()
{
// Core board initialization
initBoard();
// Arm thruster
thruster.arm();
// Reset all PID values to zero
resetPID();
// Load PID constants in from EEPROM
eeprom_read_block(&pid, &pidEeprom, sizeof(pidConstants_t));
// Set up serial communications
amarino.registerFunction(setVelocity, SET_VELOCITY_FN);
amarino.registerFunction(setPID, SET_PID_FN);
amarino.registerFunction(getPID, GET_PID_FN);
// Configure ADC
setupADC();
}
void GenericShip::fireThruster(const Thruster& thruster, double power)
{
applyBodyPointForce(thruster.getDirection() * power, thruster.getPosition());
}
//------------------------------------------------------------------------------
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 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 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 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;
}
void InterplanetarySC::createSubSystems()
{
/*
Erstellung der Treibstofftanks.
Es wurde hier bewusst darauf verzichtet die Treibstofftanks direkt in den
Subsystemen zu erstellen, da Orbiter ohnehin nicht zwischen propellant und oxidant
unterscheidet. Dennoch wird mitgerechnet mit einer stöchiometrischen Verbrennung,
das heißt dass es je 2 Tanks mit propellant und oxidant gibt, einmal für das
Haupttriebwerk und einmal für die Raktionsdüsen.
*/
double mainPropMass = 800000.0;
double rcsPropMass = 6000.0;
double stoechioMainHydro = mainPropMass * 2/10;
double stoechioMainOxy = mainPropMass * 8/10;
double stoechioRCSHydro = rcsPropMass * 2/10;
double stoechioRCSOxy = rcsPropMass * 8/10;
PROPELLANT_HANDLE orbiterMainTank = CreatePropellantResource(mainPropMass);
PROPELLANT_HANDLE orbiterRCSTank = CreatePropellantResource(rcsPropMass);
HydrogenTank *hydroMain = new HydrogenTank(this,"Wasserstoff Haupt",simTimePtr_,stoechioMainHydro,stoechioMainHydro);
OxygenTank *oxyMain = new OxygenTank(this,"Sauerstoff Haupt",simTimePtr_,stoechioMainOxy,stoechioMainOxy);
HydrogenTank *hydroRCS = new HydrogenTank(this,"WasserstoffTank1",simTimePtr_,stoechioMainHydro,stoechioMainHydro);
OxygenTank *oxyRCS = new OxygenTank(this,"SauerstoffTank1",simTimePtr_,stoechioMainOxy,stoechioMainOxy);
/*
Erstellung der Main Engine
*/
THGROUP_TYPE mainEngineType[] = {THGROUP_ATT_FORWARD};
Thruster *mainEngine = new Thruster(this,"Main Engine",simTimePtr_,_V(0,0,-290),_V(0,0,1),350000,orbiterMainTank,8300,mainEngineType,1,200,10);
/*
Erstellung der RCS Thruster
*/
double rcsTh = 50;
double rcsTh1 = 150;
double rcsIsp = 20000;
double rcsL = 20;
double rcsW = 1;
THGROUP_TYPE rcsGroup1[] = {THGROUP_ATT_PITCHUP};
THGROUP_TYPE rcsGroup2[] = {THGROUP_ATT_YAWRIGHT,THGROUP_ATT_BANKLEFT};
THGROUP_TYPE rcsGroup3[] = {THGROUP_ATT_YAWLEFT,THGROUP_ATT_BANKRIGHT};
THGROUP_TYPE rcsGroup4[] = {THGROUP_ATT_YAWLEFT,THGROUP_ATT_PITCHDOWN};
THGROUP_TYPE rcsGroup5[] = {THGROUP_ATT_YAWLEFT,THGROUP_ATT_PITCHUP,THGROUP_ATT_BANKLEFT};
THGROUP_TYPE rcsGroup6[] = {THGROUP_ATT_PITCHDOWN,THGROUP_ATT_BANKRIGHT};
THGROUP_TYPE rcsGroup7[] = {THGROUP_ATT_YAWRIGHT,THGROUP_ATT_PITCHDOWN};
THGROUP_TYPE rcsGroup8[] = {THGROUP_ATT_YAWRIGHT,THGROUP_ATT_PITCHUP,THGROUP_ATT_BANKRIGHT};
THGROUP_TYPE rcsGroup9[] = {THGROUP_ATT_PITCHDOWN,THGROUP_ATT_BANKLEFT};
THGROUP_TYPE rcsGroup10[] = {THGROUP_ATT_PITCHUP};
THGROUP_TYPE rcsGroup11[] = {THGROUP_ATT_YAWRIGHT,THGROUP_ATT_PITCHUP};
THGROUP_TYPE rcsGroup12[] = {THGROUP_ATT_YAWLEFT,THGROUP_ATT_PITCHUP};
THGROUP_TYPE rcsGroup13[] = {THGROUP_ATT_FORWARD};
THGROUP_TYPE rcsGroup14[] = {THGROUP_ATT_BACK};
THGROUP_TYPE rcsGroup15[] = {THGROUP_ATT_FORWARD};
THGROUP_TYPE rcsGroup16[] = {THGROUP_ATT_BACK};
THGROUP_TYPE rcsGroup17[] = {THGROUP_ATT_FORWARD};
THGROUP_TYPE rcsGroup18[] = {THGROUP_ATT_BACK};
Thruster *rcs1 = new Thruster(this,"RCS 1",simTimePtr_,_V(0,-30.9,52.9),_V(0,1,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup1,1,rcsL,rcsW);
Thruster *rcs2 = new Thruster(this,"RCS 2",simTimePtr_,_V(-0.5,-30.5,52.9),_V(1,0,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup2,2,rcsL,rcsW);
Thruster *rcs3 = new Thruster(this,"RCS 3",simTimePtr_,_V(0.5,-30.5,52.9),_V(-1,0,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup3,2,rcsL,rcsW);
Thruster *rcs4 = new Thruster(this,"RCS 4",simTimePtr_,_V(26.7,15.4,52.9),_V(-0.86,-0.5,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup4,2,rcsL,rcsW);
Thruster *rcs5 = new Thruster(this,"RCS 5",simTimePtr_,_V(26.7,14.8,52.9),_V(-0.5,0.86,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup5,3,rcsL,rcsW);
Thruster *rcs6 = new Thruster(this,"RCS 6",simTimePtr_,_V(26.1,15.7,52.9),_V(0.5,-0.86,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup6,2,rcsL,rcsW);
Thruster *rcs7 = new Thruster(this,"RCS 7",simTimePtr_,_V(-26.7,15.4,52.9),_V(0.86,-0.5,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup7,2,rcsL,rcsW);
Thruster *rcs8 = new Thruster(this,"RCS 8",simTimePtr_,_V(-26.7,14.8,52.9),_V(0.5,0.86,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup8,3,rcsL,rcsW);
Thruster *rcs9 = new Thruster(this,"RCS 9",simTimePtr_,_V(-26.1,15.7,52.9),_V(-0.5,-0.86,0),rcsTh,orbiterRCSTank,rcsIsp,rcsGroup9,2,rcsL,rcsW);
Thruster *rcs10 = new Thruster(this,"RCS 10",simTimePtr_,_V(0,-1.5,-232.7),_V(0,-1,0),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup10,1,rcsL,rcsW);
Thruster *rcs11 = new Thruster(this,"RCS 11",simTimePtr_,_V(1.3,0.7,-232.6),_V(-0.86,-0.5,0),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup11,2,rcsL,rcsW);
Thruster *rcs12 = new Thruster(this,"RCS 12",simTimePtr_,_V(-1.3,0.7,-232.6),_V(0.86,-0.5,0),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup12,2,rcsL,rcsW);
Thruster *rcs13 = new Thruster(this,"RCS 13",simTimePtr_,_V(0,-30.5,52.3),_V(0,0,1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup13,1,rcsL,rcsW);
Thruster *rcs14 = new Thruster(this,"RCS 14",simTimePtr_,_V(0,-30.5,53.4),_V(0,0,-1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup14,1,rcsL,rcsW);
Thruster *rcs15 = new Thruster(this,"RCS 15",simTimePtr_,_V(26.4,15.3,52.3),_V(0,0,1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup15,1,rcsL,rcsW);
Thruster *rcs16 = new Thruster(this,"RCS 16",simTimePtr_,_V(26.4,15.3,53.4),_V(0,0,-1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup16,1,rcsL,rcsW);
Thruster *rcs17 = new Thruster(this,"RCS 17",simTimePtr_,_V(-26.4,15.3,52.3),_V(0,0,1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup17,1,rcsL,rcsW);
Thruster *rcs18 = new Thruster(this,"RCS 18",simTimePtr_,_V(-26.4,15.3,53.4),_V(0,0,-1),rcsTh1,orbiterRCSTank,rcsIsp,rcsGroup18,1,rcsL,rcsW);
WaterTank *water1 = new WaterTank(this,"WasserTank1",simTimePtr_,4000,50000);
FuelCell *fc1 = new FuelCell(this,"Brennstoffzelle1",simTimePtr_,0.4,4,3000);
fc1->deactivate();
hydroMain->setStatus(STATUS_ACTIVE_WARNING);
Battery *bat1 = new Battery(this,"Batterie1",simTimePtr_,50000,900000,1000,10000,0.9,0.9,300,270,320,5000,400,5);
Radiator *radiator1 = new Radiator(this,"Radiator1",simTimePtr_,5000,1000000,100);
Heater *heater1 = new Heater(this,"Heater1",simTimePtr_,5000000,0.8,0.8);
subsys_.push_back(water1);
subsys_.push_back(oxyMain);
subsys_.push_back(hydroMain);
subsys_.push_back(oxyRCS);
subsys_.push_back(hydroRCS);
subsys_.push_back(mainEngine);
subsys_.push_back(fc1);
subsys_.push_back(bat1);
subsys_.push_back(radiator1);
subsys_.push_back(heater1);
// Diese zuweisungen sind auskommentiert, um die Visualisierung übersichtlicher zu machen
//subsys_.push_back(rcs1);
//subsys_.push_back(rcs2);
//subsys_.push_back(rcs3);
//subsys_.push_back(rcs4);
//subsys_.push_back(rcs5);
//subsys_.push_back(rcs6);
//subsys_.push_back(rcs7);
//subsys_.push_back(rcs8);
//subsys_.push_back(rcs9);
//subsys_.push_back(rcs10);
//subsys_.push_back(rcs11);
//subsys_.push_back(rcs12);
//subsys_.push_back(rcs13);
//subsys_.push_back(rcs14);
//subsys_.push_back(rcs15);
//subsys_.push_back(rcs16);
//subsys_.push_back(rcs17);
//subsys_.push_back(rcs18);
//Links instanzieren
Link *h2a = new Link("H2");
Link *h2b = new Link("H2");
Link *o2a = new Link("O2");
Link *o2b = new Link("O2");
Link *h2oa = new Link("H2O");
Link *h2ob = new Link("H2O");
Link *power1 = new Link("Energy[J]");
Link *power2 = new Link("Energy[J]");
Link *heat1 = new Link("Heat[J]");
Link *heat2 = new Link("Heat[J]");
Link *heat3 = new Link("Heat[J]");
links_.push_back(h2a);
links_.push_back(h2b);
links_.push_back(o2a);
links_.push_back(o2b);
links_.push_back(h2oa);
links_.push_back(h2ob);
links_.push_back(heat1);
links_.push_back(power1);
links_.push_back(power2);
links_.push_back(heat2);
links_.push_back(heat3);
//Ports verbinden
hydroMain->connectPortToOutput(h2a->getPort());
hydroMain->connectPortToOutput(h2b->getPort());
oxyMain->connectPortToOutput(o2a->getPort());
oxyMain->connectPortToOutput(o2b->getPort());
water1->connectPortToOutput(h2oa->getPort());
water1->connectPortToInput(h2ob->getPort());
mainEngine->connectPortToInput(h2a->getPort());
mainEngine->connectPortToInput(o2a->getPort());
//rcs1->connectPortToInput(h2a->getPort());
//rcs1->connectPortToInput(o2a->getPort());
//rcs2->connectPortToInput(h2a->getPort());
//rcs2->connectPortToInput(o2a->getPort());
//rcs3->connectPortToInput(h2a->getPort());
//rcs3->connectPortToInput(o2a->getPort());
//rcs4->connectPortToInput(h2a->getPort());
//rcs4->connectPortToInput(o2a->getPort());
//rcs5->connectPortToInput(h2a->getPort());
//rcs5->connectPortToInput(o2a->getPort());
//rcs6->connectPortToInput(h2a->getPort());
//rcs6->connectPortToInput(o2a->getPort());
//rcs7->connectPortToInput(h2a->getPort());
//rcs7->connectPortToInput(o2a->getPort());
//rcs8->connectPortToInput(h2a->getPort());
//rcs8->connectPortToInput(o2a->getPort());
//rcs9->connectPortToInput(h2a->getPort());
//rcs9->connectPortToInput(o2a->getPort());
//rcs10->connectPortToInput(h2a->getPort());
//rcs10->connectPortToInput(o2a->getPort());
//rcs11->connectPortToInput(h2a->getPort());
//rcs11->connectPortToInput(o2a->getPort());
//rcs12->connectPortToInput(h2a->getPort());
//rcs12->connectPortToInput(o2a->getPort());
//rcs13->connectPortToInput(h2a->getPort());
//rcs13->connectPortToInput(o2a->getPort());
//rcs14->connectPortToInput(h2a->getPort());
//rcs14->connectPortToInput(o2a->getPort());
//rcs15->connectPortToInput(h2a->getPort());
//rcs15->connectPortToInput(o2a->getPort());
//rcs16->connectPortToInput(h2a->getPort());
//rcs16->connectPortToInput(o2a->getPort());
//rcs17->connectPortToInput(h2a->getPort());
//rcs17->connectPortToInput(o2a->getPort());
//rcs18->connectPortToInput(h2a->getPort());
//rcs18->connectPortToInput(o2a->getPort());
fc1->connectPortToInput(h2b->getPort());
fc1->connectPortToInput(o2b->getPort());
fc1->connectPortToInput(h2oa->getPort());
fc1->connectPortToOutput(h2ob->getPort());
fc1->connectPortToOutput(power1->getPort());
fc1->connectPortToOutput(heat1->getPort());
fc1->connectPortToOutput(power2->getPort());
bat1->connectPortToInput(power1->getPort());
bat1->connectPortToInput(heat2->getPort());
bat1->connectPortToOutput(heat3->getPort());
heater1->connectPortToInput(power2->getPort());
heater1->connectPortToOutput(heat2->getPort());
radiator1->connectPortToInput(heat1->getPort());
radiator1->connectPortToInput(heat3->getPort());
}
