-
Notifications
You must be signed in to change notification settings - Fork 81
/
42exec.c
403 lines (367 loc) · 12.1 KB
/
42exec.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
/* This file is distributed with 42, */
/* the (mostly harmless) spacecraft dynamics simulation */
/* created by Eric Stoneking of NASA Goddard Space Flight Center */
/* Copyright 2010 United States Government */
/* as represented by the Administrator */
/* of the National Aeronautics and Space Administration. */
/* No copyright is claimed in the United States */
/* under Title 17, U.S. Code. */
/* All Other Rights Reserved. */
#define DECLARE_GLOBALS
#include "42.h"
#undef DECLARE_GLOBALS
/* #ifdef __cplusplus
** namespace _42 {
** using namespace Kit;
** #endif
*/
#ifdef _USE_GUI_
extern int HandoffToGui(int argc, char **argv);
#endif
/**********************************************************************/
void ReportProgress(void)
{
#define PROGRESSPERCENT 10
static long ProgressPercent = 0;
static long ProgressCtr = 0;
static double ProgressTime = 0.0;
if (TimeMode == FAST_TIME) {
if (SimTime >= ProgressTime) {
ProgressCtr++;
ProgressTime = (double) (ProgressCtr*PROGRESSPERCENT)/100.0*STOPTIME;
printf(" 42 Case %s is %3.1li%% Complete at Time = %12.3f\n",
InOutPath,ProgressPercent,SimTime);
ProgressPercent += PROGRESSPERCENT;
}
}
}
/**********************************************************************/
void ManageFlags(void)
{
long nout,GLnout;
static long iout = 1000000;
static long GLiout = 1000000;
nout = ((long) (DTOUT/DTSIM + 0.5));
GLnout = ((long) (DTOUTGL/DTSIM + 0.5));
iout++;
if(iout >= nout) {
iout=0;
OutFlag = TRUE;
}
else OutFlag = FALSE;
GLiout++;
if(GLiout >= GLnout) {
GLiout=0;
GLOutFlag = TRUE;
}
else GLOutFlag = FALSE;
}
/**********************************************************************/
long AdvanceTime(void)
{
static long itime = 0;
static long PrevTick = 0;
static long CurrTick = 1;
long Done;
static long First = 1;
/* Advance time to next Timestep */
#if defined _USE_SYSTEM_TIME_
switch (TimeMode) {
case FAST_TIME :
SimTime += DTSIM;
itime = (long) ((SimTime+0.5*DTSIM)/(DTSIM));
SimTime = ((double) itime)*DTSIM;
AbsTime = AbsTime0 + SimTime;
break;
case REAL_TIME :
//while(CurrTick == PrevTick) {
// CurrTick = (long) (1.0E-6*usec()/DTSIM);
//}
//PrevTick = CurrTick;
usleep(1.0E6*DTSIM);
SimTime += DTSIM;
itime = (long) ((SimTime+0.5*DTSIM)/(DTSIM));
SimTime = ((double) itime)*DTSIM;
AbsTime = AbsTime0 + SimTime;
break;
case EXTERNAL_TIME :
while(CurrTick == PrevTick) {
CurrTick = (long) (1.0E-6*usec()/DTSIM);
}
PrevTick = CurrTick;
SimTime += DTSIM;
itime = (long) ((SimTime+0.5*DTSIM)/(DTSIM));
SimTime = ((double) itime)*DTSIM;
RealSystemTime(&Year,&doy,&Month,&Day,&Hour,&Minute,&Second,DTSIM);
AtomicTime = DateToAbsTime(Year,Month,Day,Hour,Minute,Second+LeapSec);
AbsTime = AtomicTime + 32.184;
JulDay = AbsTimeToJD(AbsTime);
JDToGpsTime(JulDay,&GpsRollover,&GpsWeek,&GpsSecond);
AbsTime0 = AbsTime - SimTime;
break;
case NOS3_TIME :
if (First) {
First = 0;
double JD = YMDHMS2JD(Year, Month, Day, Hour, Minute, Second);
AbsTime0 = JDToAbsTime(JD);
}
usleep(1.0E6*DTSIM);
NOS3Time(&Year,&doy,&Month,&Day,&Hour,&Minute,&Second);
AtomicTime = DateToAbsTime(Year,Month,Day,Hour,Minute,Second+LeapSec);
AbsTime = AtomicTime + 32.184;
JulDay = AbsTimeToJD(AbsTime);
JDToGpsTime(JulDay,&GpsRollover,&GpsWeek,&GpsSecond);
SimTime = AbsTime - AbsTime0;
break;
/* case SSUP_TIME:
** RealSystemTime(&Year,&doy,&Month,&Day,&Hour,&Minute,&Second);
** AtomicTime = DateToAbsTime(Year,Month,Day,Hour,Minute,Second+LeapSec);
** AbsTime = AtomicTime + 32.184;
** JulDay = AbsTimeToJD(AbsTime);
** SimTime = AbsTime - AbsTime0;
** break;
*/
}
#else
SimTime += DTSIM;
itime = (long) ((SimTime+0.5*DTSIM)/(DTSIM));
SimTime = ((double) itime)*DTSIM;
AbsTime = AbsTime0 + SimTime;
#endif
/* Check for end of run */
if (SimTime > STOPTIME) Done = 1;
else Done = 0;
return(Done);
}
/*********************************************************************/
/* The SC Bounding Box is referred to the origin of B0, */
/* and expressed in B0 */
void UpdateScBoundingBox(struct SCType *S)
{
#define REFPT_CM 0
struct BodyType *B, *B0;
struct BoundingBoxType *BBox;
struct GeomType *G;
double ctrB[3],ctrN[3],ctrB0[3],maxB0,minB0,r[3];
long Ib,i;
B0 = &S->B[0];
BBox = &S->BBox;
for(Ib=0;Ib<S->Nb;Ib++) {
B = &S->B[Ib];
G = &Geom[B->GeomTag];
for(i=0;i<3;i++) {
ctrB[i] = G->BBox.center[i];
if (S->RefPt == REFPT_CM) {
ctrB[i] -= B->cm[i];
}
}
MTxV(B->CN,ctrB,ctrN);
for(i=0;i<3;i++) {
ctrN[i] += (B->pn[i]-B0->pn[i]);
}
MxV(B0->CN,ctrN,ctrB0);
for(i=0;i<3;i++) {
if (S->RefPt == REFPT_CM) {
ctrB0[i] += B0->cm[i];
}
maxB0 = ctrB0[i] + G->BBox.radius;
minB0 = ctrB0[i] - G->BBox.radius;
if(BBox->max[i] < maxB0) BBox->max[i] = maxB0;
if(BBox->min[i] > minB0) BBox->min[i] = minB0;
}
}
for(i=0;i<3;i++) {
BBox->center[i] = 0.5*(BBox->max[i]+BBox->min[i]);
r[i] = BBox->max[i]-BBox->center[i];
}
BBox->radius = MAGV(r);
#undef REFPT_CM
}
/**********************************************************************/
void ManageBoundingBoxes(void)
{
static long BBoxCtr = 100;
long Isc;
struct SCType *S;
BBoxCtr++;
if (BBoxCtr > 100) {
BBoxCtr = 0;
for(Isc=0;Isc<Nsc;Isc++) {
S = &SC[Isc];
if (S->Exists) {
UpdateScBoundingBox(S);
}
}
}
}
/**********************************************************************/
/* Zero forces and torques */
void ZeroFrcTrq(void)
{
struct SCType *S;
struct BodyType *B;
struct JointType *G;
struct FlexNodeType *FN;
long Isc,Ib,Ig,In;
for(Isc=0;Isc<Nsc;Isc++) {
S = &SC[Isc];
S->Frc[0] = 0.0;
S->Frc[1] = 0.0;
S->Frc[2] = 0.0;
for(Ib=0;Ib<S->Nb;Ib++) {
B = &S->B[Ib];
B->Frc[0] = 0.0;
B->Frc[1] = 0.0;
B->Frc[2] = 0.0;
B->Trq[0] = 0.0;
B->Trq[1] = 0.0;
B->Trq[2] = 0.0;
}
for(Ig=0;Ig<S->Ng;Ig++) {
G = &S->G[Ig];
G->Frc[0] = 0.0;
G->Frc[1] = 0.0;
G->Frc[2] = 0.0;
G->Trq[0] = 0.0;
G->Trq[1] = 0.0;
G->Trq[2] = 0.0;
}
if (S->FlexActive) {
for(Ib=0;Ib<S->Nb;Ib++) {
B = &S->B[Ib];
for(In=0;In<B->NumFlexNodes;In++) {
FN = &B->FlexNode[In];
FN->Frc[0] = 0.0;
FN->Frc[1] = 0.0;
FN->Frc[2] = 0.0;
FN->Trq[0] = 0.0;
FN->Trq[1] = 0.0;
FN->Trq[2] = 0.0;
}
}
}
}
}
/**********************************************************************/
long SimStep(void)
{
long Isc;
static long First = 1;
struct SCType *S;
long SimComplete;
double TotalRunTime;
if (First) {
First = 0;
SimTime = 0.0;
#if defined _USE_SYSTEM_TIME_
/* First call just initializes timer */
RealRunTime(&TotalRunTime,DTSIM);
#endif
ManageFlags();
Ephemerides(); /* Sun, Moon, Planets, Spacecraft, Useful Auxiliary Frames */
ZeroFrcTrq();
for(Isc=0;Isc<Nsc;Isc++) {
S = &SC[Isc];
if (S->Exists) {
Environment(S); /* Magnetic Field, Atmospheric Density */
Perturbations(S); /* Environmental Forces and Torques */
Sensors(S);
FlightSoftWare(S);
Actuators(S);
PartitionForces(S); /* Orbit-affecting and "internal" */
}
}
Report(); /* File Output */
}
ReportProgress();
ManageFlags();
/* Read and Interpret Command Script File */
CmdInterpreter();
/* Update Dynamics to next Timestep */
for(Isc=0;Isc<Nsc;Isc++) {
if (SC[Isc].Exists) Dynamics(&SC[Isc]);
}
OrbitMotion();
SimComplete = AdvanceTime();
/* Update SC Bounding Boxes occasionally */
ManageBoundingBoxes();
InterProcessComm(); /* Send and receive from external processes */
Ephemerides(); /* Sun, Moon, Planets, Spacecraft, Useful Auxiliary Frames */
ZeroFrcTrq();
for(Isc=0;Isc<Nsc;Isc++) {
S = &SC[Isc];
if (S->Exists) {
Environment(S); /* Magnetic Field, Atmospheric Density */
Perturbations(S); /* Environmental Forces and Torques */
Sensors(S);
FlightSoftWare(S);
Actuators(S);
PartitionForces(S); /* Orbit-affecting and "internal" */
}
}
Report(); /* File Output */
/* Exit when Stoptime is reached */
if (SimComplete) {
#if defined _USE_SYSTEM_TIME_
if (TimeMode == FAST_TIME) {
RealRunTime(&TotalRunTime,DTSIM);
printf(" Total Run Time = %9.2lf sec\n", TotalRunTime);
printf(" Sim Speed = %8.2lf x Real\n",
STOPTIME/TotalRunTime);
}
#endif
}
return(SimComplete);
}
/**********************************************************************/
int exec(int argc,char **argv)
{
long Isc;
long Done = 0;
MapTime = 0.0;
JointTime = 0.0;
PathTime = 0.0;
PVelTime = 0.0;
FrcTrqTime = 0.0;
AssembleTime = 0.0;
LockTime = 0.0;
TriangleTime = 0.0;
SubstTime = 0.0;
SolveTime = 0.0;
InitSim(argc,argv);
for (Isc=0;Isc<Nsc;Isc++) {
if (SC[Isc].Exists) {
InitSpacecraft(&SC[Isc]);
}
}
CmdInterpreter();
InitInterProcessComm();
#ifdef _USE_GUI_
if (GLEnable) HandoffToGui(argc,argv);
else {
while(!Done) {
Done = SimStep();
}
}
#else
/* Crunch numbers till done */
while(!Done) {
Done = SimStep();
}
#endif
//printf("\n\nMap Time = %lf sec\n",MapTime);
//printf("Joint Partial Time = %lf sec\n",JointTime);
//printf("Path Time = %lf sec\n",PathTime);
//printf("PVel Time = %lf sec\n",PVelTime);
//printf("FrcTrq Time = %lf sec\n",FrcTrqTime);
//printf("Assemble Time = %lf sec\n",AssembleTime);
//printf("Lock Time = %lf sec\n",LockTime);
//printf("Triangularize Time = %lf sec\n",TriangleTime);
//printf("Fwd Substitution Time = %lf sec\n",SubstTime);
//printf("Solve Time = %lf sec\n",SolveTime);
return(0);
}
/* #ifdef __cplusplus
** }
** #endif
*/