diff --git a/.flake8 b/.flake8 new file mode 100644 index 0000000..0a150be --- /dev/null +++ b/.flake8 @@ -0,0 +1,4 @@ +[flake8] +max-line-length=100 +extend-ignore=E203,D104,D100,I004 +exclude=*/tests/*,docs/source/tools/* diff --git a/.github/workflows/commit-verification.yml b/.github/workflows/commit-verification.yml new file mode 100644 index 0000000..461062a --- /dev/null +++ b/.github/workflows/commit-verification.yml @@ -0,0 +1,43 @@ +name: Commit check + +on: [push] + +jobs: + files-check: + runs-on: ubuntu-latest + strategy: + max-parallel: 5 + + steps: + - uses: actions/checkout@v3 + - name: Set up Python + uses: actions/setup-python@v3 + + - name: Add dependencies + run: | + python -m pip install --upgrade pip + pip install flake8 pytest + if [ -f requirements.txt ]; then pip install -r requirements.txt; fi + - name: Run precommit + run: | + pre-commit run --all-files + + run-test: + runs-on: ubuntu-latest + strategy: + max-parallel: 5 + + steps: + - uses: actions/checkout@v3 + - name: Set up Python + uses: actions/setup-python@v3 + + - name: Add dependencies + run: | + python -m pip install --upgrade pip + pip install flake8 pytest + if [ -f requirements.txt ]; then pip install -r requirements.txt; fi + + - name: Test with pytest + run: | + pytest diff --git a/.gitignore b/.gitignore index 87a3eb9..b65bf91 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,253 @@ -__pycache__ -.DS_Store -.ipynb_checkpoints \ No newline at end of file +# Created by https://www.gitignore.io/api/git,linux,macos,python,windows,pycharm,jupyternotebook + +### Git ### +*.orig + +### JupyterNotebook ### +.ipynb_checkpoints +*/.ipynb_checkpoints/* + +# Remove previous ipynb_checkpoints +# git rm -r .ipynb_checkpoints/ +# +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +*.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VScode ### +.vscode/* + +### PyCharm ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +.idea/* + +# User-specific stuff: +.idea/**/*.iml +.idea/**/workspace.xml +.idea/**/vcs.xml +.idea/**/tasks.xml +.idea/**/misc.xml +.idea/**/modules.xml +.idea/dictionaries + +# Sensitive or high-churn files: +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.xml +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml + +# Gradle: +.idea/**/gradle.xml +.idea/**/libraries + +# CMake +cmake-build-debug/ + +# Mongo Explorer plugin: +.idea/**/mongoSettings.xml + +## File-based project format: +*.iws + +## Plugin-specific files: + +# IntelliJ +/out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# Ruby plugin and RubyMine +/.rakeTasks + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +### PyCharm Patch ### +# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 + +# *.iml +# modules.xml +# .idea/misc.xml +# *.ipr + +# Sonarlint plugin +.idea/sonarlint + +### Python ### +# Byte-compiled / optimized / DLL files +__pycache__/ +*/__pycache__/* +**.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +.pytest_cache/ +nosetests.xml +coverage.xml +*.cover +.hypothesis/ + +# Translations +*.mo +*.pot + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule.* + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Folder config file +Desktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msm +*.msp + +# Windows shortcuts +*.lnk + +# Cosapp Systems representations +**.html + +# End of https://www.gitignore.io/api/git,linux,macos,python,windows,pycharm,jupyternotebook diff --git a/.isort.cfg b/.isort.cfg new file mode 100644 index 0000000..9be0762 --- /dev/null +++ b/.isort.cfg @@ -0,0 +1,7 @@ +[settings] +line_length=100 +known_third_party=pybind11,conda,conda_env +multi_line_output=3 +include_trailing_comma=True +force_grid_wrap=0 +use_parentheses=True diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..b109776 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,52 @@ +repos: + - repo: https://github.com/psf/black + rev: 22.3.0 + hooks: + - id: black + args: [--safe, --quiet] + - repo: https://github.com/asottile/blacken-docs + rev: v1.12.1 + hooks: + - id: blacken-docs + additional_dependencies: [black==22.3.0] + - repo: https://github.com/pycqa/pydocstyle + rev: 4.0.0 + hooks: + - id: pydocstyle + args: [--ignore, "D100,D104,D107,D102,D202,D203,D213,D413,D416"] + exclude: tests + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.1.0 + hooks: + - id: trailing-whitespace + - id: end-of-file-fixer + - id: fix-encoding-pragma + args: [--remove] + - id: check-yaml + exclude: tests|conda.recipe/* + - id: check-toml + - id: check-json + - id: check-merge-conflict + - id: pretty-format-json + args: [--autofix] + - id: debug-statements + language_version: python3 + - repo: https://github.com/pre-commit/mirrors-isort + rev: v5.10.1 + hooks: + - id: isort + exclude: tests/data + - repo: https://github.com/pycqa/flake8 + rev: 3.9.2 + hooks: + - id: flake8 + language_version: python3 + additional_dependencies: + - flake8-typing-imports==1.12.0 + - flake8-builtins==1.5.3 + - flake8-bugbear==22.1.11 + - flake8-isort==4.1.1 + - repo: https://github.com/kynan/nbstripout + rev: 0.5.0 + hooks: + - id: nbstripout diff --git a/AUTHORS.md b/AUTHORS.md new file mode 100644 index 0000000..c42248f --- /dev/null +++ b/AUTHORS.md @@ -0,0 +1 @@ +Luca Rodrigues Miguel diff --git a/UI/include/__init__.py b/CHANGELOG.md similarity index 100% rename from UI/include/__init__.py rename to CHANGELOG.md diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..2e03597 --- /dev/null +++ b/LICENSE @@ -0,0 +1,6 @@ +Copyright (c) 2022, twiinIT - All Rights Reserved + +Unauthorized copying and/or distribution of this source-code, via any medium +is strictly prohibited without the express permission of twiinIT. + +Proprietary and confidential. diff --git a/MANIFEST.in b/MANIFEST.in new file mode 100644 index 0000000..e2924f8 --- /dev/null +++ b/MANIFEST.in @@ -0,0 +1,7 @@ +include AUTHORS.md +include CHANGELOG.md +include README.md + +recursive-exclude tests * +recursive-exclude * __pycache__ +recursive-exclude * *.py[co] diff --git a/README.md b/README.md index 46f9c28..10bfa83 100644 --- a/README.md +++ b/README.md @@ -6,12 +6,12 @@ This library was built with CoSApp, an open source framework allowing complex sy ## Getting Started -After cloning the repository thanks to +After cloning the repository thanks to ```bash git clone https://github.com/twiinIT/rocket-twin.git ``` -install the dependencies via +install the dependencies via ```bash pip install -r requirements.txt @@ -19,7 +19,7 @@ pip install -r requirements.txt ## How to use -In order to use the graphic interface, move to the UI directory +In order to use the graphic interface, move to the UI directory and browse the jupyter notebook `user_interface.ipynb`. ## Overview diff --git a/UI/include/init_rocket/CustomRocket.py b/UI/include/init_rocket/CustomRocket.py deleted file mode 100644 index 70a130b..0000000 --- a/UI/include/init_rocket/CustomRocket.py +++ /dev/null @@ -1,249 +0,0 @@ -import os -import sys -import numpy as np -import IPython -import include.init_rocket.mesh.mesh_creation as mc -from include.init_rocket.mesh.Solid import Solid -from include.init_rocket.RocketPlotter import RocketPlotter - -class CustomRocket: - ''' - Class representing the physical rocket. - - Attributes: - nose (Solid): Nose mesh and the density of its material. - body (Solid): Body mesh and the density of its material. - fins (Solid): Fins mesh and the density of their material. - booster (Solid): The booster of the rocket. - additional_mass (list(Solid)): List of dict containing mesh for additional masses and their density. - textures (list): List of string giving the texture of each component of the rocket. - component_number (int): The number of individual component. - ''' - def __init__(self, nose, body, fins, booster, additional_mass=[], textures=[None for _ in range(5)], dictionnary={}) -> None: - self.nose = nose - self.body = body - self.fins = fins - self.booster = booster - self.additional_mass = additional_mass - self.textures = textures - self.dictionnary = dictionnary - self.component_number = 5 + len(additional_mass) - - @classmethod - def fromDict(cls, dictio): - ''' - Create MyRocket from a dict containing the informations for the desired rocket. - THE dict MUST BE OF THE RIGHT FORMAT AND CONTAIN ALL KEYS. - (see the user_interface for more informations about the format of the dict.) - ''' - nose = mc.nose(shape_function = dictio['nose_type'], - radius=dictio['nose_radius'], - length = dictio['nose_length'], - curve_param = dictio['nose_parameter'], - thick = dictio['nose_thickness'], - pos=dictio['tube_length'], - density = dictio['nose_density']) - body = mc.empty_cylinder(outer_radius = dictio['tube_radius'], - inner_radius = dictio['tube_radius']-dictio['tube_thickness'], - height = dictio['tube_length'], - density= dictio['tube_density']) - fins = mc.fins(Cr=dictio['fins_Cr'], - Ct=dictio['fins_Ct'], - Xt=dictio['fins_Xt'], - s=dictio['fins_s'], - thick=dictio['fins_thickness'], - fnum=dictio['fins_number'], - radius=dictio['tube_radius'], - pos=dictio['fins_position'], - density = dictio['fins_density']) - motor = dictio['motor'] - mass = motor['propWeightG']*1e-3 #conversion of g in kg - volume = np.pi*(motor['diameter']*1e-3/2)**2*(motor['length']*1e-3) #conversion of mm^3 in m^3 - density = mass/volume - booster = mc.cylinder(radius = motor['diameter']*1e-3/2, - height = motor['length']*1e-3, - pos = dictio['motor_position'], - density=density) - - textures = [dictio['nose_material'], dictio['tube_material'], dictio['fins_material'], 'motor'] - - if dictio['motor_ring']: - motor_ring = mc.empty_cylinder(outer_radius = dictio['tube_radius'] - dictio['tube_thickness'], - inner_radius = motor['diameter']*1e-3/2, - height = motor['length']*1e-3, - pos = dictio['motor_position'], - density = dictio['motor_ring_density']) - additional_mass = [motor_ring] - textures.append(dictio['motor_ring_material']) - else: - additional_mass = [] - mass_list = dictio['additional_masses'] - for i in range(len(mass_list)): - current_mass = mass_list[i] - if current_mass['type'] == 'cylinder': - mass = mc.cylinder(radius = current_mass['outer_radius'], - height = current_mass['length'], - pos = current_mass['position'], - density = current_mass['density']) - else: - mass = mc.empty_cylinder(outer_radius = current_mass['outer_radius'], - inner_radius = current_mass['inner_radius'], - height = current_mass['length'], - pos = current_mass['position'], - density = current_mass['density']) - additional_mass.append(mass) - textures.append(current_mass['material']) - - return cls(nose,body,fins,booster,additional_mass,textures,dictio) - - - def set_textures(self,textures): - ''' - Textures setter. - ''' - assert len(textures) == len(self.component_number), "Textures list must be the same length as the number of component of your rocket. Enter None for unknown textures." - self.textures = textures - - - def show(self, method = 'mpl', opened=True, only_ext = True, cpa = np.zeros(3), cog = np.zeros(3)): - ''' - Plot the plotting mesh of the rocket and return the rocket. - Args: - all (boolean): Specifies if only the plotting part (opened rocket)is plotted or not. - ''' - valid_methods = ['mpl', 'go'] # predefined list of valid strings - assert method in valid_methods, f"Invalid shape function. Valid options are: {', '.join(valid_methods)}" - - rocket = self.build(only_ext = only_ext) - rocket.show(method=method, opened=opened, cpa=cpa, cog=cog) - - - def plot(self,only_ext=False, opened=True): - ''' - Plot the 3D rocket in a jupyter notebook. - ''' - if 'VSCODE_CWD' in os.environ: - rocketPlotter = RocketPlotter(self) - rocketPlotter.plot(only_ext=only_ext, opened=opened) - - elif any('ipykernel' in arg for arg in sys.argv): - # Set the matplotlib backend to 'widgets' to have interactive plot - IPython.get_ipython().run_line_magic('matplotlib', 'widget') - - volume, mass, cog, inertia = self.get_mass_properties() - cpa = self.get_cpa() - - self.show(method = 'go', opened=opened, only_ext = only_ext, cpa = cpa, cog = cog) - else: - raise Exception("Wrong environment : run the code in either vscode or jupyter notebook.") - - - def asList(self, only_ext = False): - ''' - Return the rocket as a list of its solid components. - ''' - ls = [self.nose, self.body, self.fins, self.booster] - ls += self.additional_mass - return ls[:3] if only_ext else ls - - - def build(self, only_ext=True): - ''' - Build the rocket into a unique solid. Only build the exterior of the rocket if only_ext is True. - ''' - return Solid.combine(self.asList(only_ext)) - - - def get_cog(self): - ''' - Return the center of gravity (cog) of the rocket. - ''' - rocket = self.asList() - cog, mass = np.zeros(3), 0. - for component in rocket: - _, vmass, vcog, __ = component.stl_mesh.get_mass_properties_with_density(component.density) - cog += vmass*vcog - mass += vmass - cog/=mass - cog[cog<1e-6]=0. # micrometric precision on the cog - return cog, mass - - - def get_mass_properties(self): - ''' - Get calculated mass properties of the rocket (volume, mass, cog, inertia). - ''' - cog, mass = self.get_cog() - inertia = np.zeros((3,3)) - volume = 0. - rocket = self.asList() - - for component in rocket: - tvolume, tmass, tinertia = component.get_inertia_wrt(cog) - - volume += tvolume - inertia += tinertia - - inertia[inertia<1e-6]=0. - - return volume, mass, cog, inertia - - - def get_cpa(self): - ''' - Compute and return the position of the CPA at rest. - The code was taken from the class Coefficients in Aerodynamics from rocket model. - ''' - rocket_dict = self.dictionnary - - l = rocket_dict['tube_length'] + rocket_dict['nose_length'] - r = rocket_dict['tube_radius'] - ln = rocket_dict['nose_length'] - A0 = 0 - Al = np.pi*r**2 - NFins = rocket_dict['fins_number'] - - l_t = l - ln - Xt = rocket_dict['fins_Xt'] - Cr = rocket_dict['fins_Cr'] - Ct = rocket_dict['fins_Ct'] - s = rocket_dict['fins_s'] - - Afin = (Cr + Ct)/2 * s - GammaC = np.arctan2(Xt + 0.5*(Ct - Cr), s) - - Cna_one_fin = (2*np.pi*s**2/Al )/(1 + (1 + (s**2/(Afin*np.cos(GammaC)))**2)**0.5) - Xfins = l_t + Xt/3*(Cr+2*Ct)/(Cr+Ct) + 1/6*(Cr**2 + Ct**2 +Cr*Ct)/(Cr+Ct) - Cna_body = 2/Al*(Al - A0) - Cna_all_fins = Cna_one_fin * NFins/2 * (1 + r/(s + r)) - - V = (l - ln)*Al + 1/3*ln*np.pi*r**2 - - Cna = Cna_all_fins + Cna_body - Xbody = (l*Al - V)/(Al - A0) - - cpa = (Xbody*Cna_body + Xfins*Cna_all_fins)/Cna - - return np.array([l-cpa, 0, 0]) - - def print_properties(self): - ''' - Print and return mass properties. - ''' - input_mass = self.dictionnary['rocket_mass'] - volume, mass, cog, inertia = self.get_mass_properties() - - mass = input_mass if mass==0 else mass # Change the value of the mass to the calculated one if the input is 0 - - cpa = self.get_cpa() - print("Volume (m^3) = {0}".format(volume)) - print("Mass (kg) = {0}".format(mass)) - print("\n") - print("Position of the center of gravity (COG) = {0}".format(cog)) - print("Position of the center of pressure (CPA) = {0}".format(cpa)) - print("\n") - print("Inertia matrix expressed at the COG (kg*m^2) = {0}".format(inertia[0,:])) - print(" {0}".format(inertia[1,:])) - print(" {0}".format(inertia[2,:])) - - return volume, mass, cog, cpa, inertia \ No newline at end of file diff --git a/UI/include/init_rocket/RocketPlotter.py b/UI/include/init_rocket/RocketPlotter.py deleted file mode 100644 index 2f735e3..0000000 --- a/UI/include/init_rocket/RocketPlotter.py +++ /dev/null @@ -1,143 +0,0 @@ -import pyvista as pv -import include.init_rocket.CustomRocket -import include.init_rocket.mesh.Solid - -class RocketPlotter(): - ''' - Class for rocket plotting using pyvista. - - Attributes: - rocket (CustomRocket): The rocket to be plot. - ''' - - - tex_to_color = {'custom': [1.0, 1.0, 1.0], - 'motor': [1.0,0.,0.], - 'acier': [0.42363846997650634, 0.42363846997650634, 0.42363846997650634], - 'acrylique': [1.0, 1.0, 1.0], - 'aluminium': [0.42363846997650634, 0.42363846997650634, 0.42363846997650634], - 'balsa': [0.9651576453696336, 0.8906137434740409, 0.7792442660481324], - 'blue_tube': [0.4101794593311916, 0.6919089697721963, 0.8513988390771028], - 'bouleau': [1.0, 1.0, 1.0], - 'carton': [0.8363084242078993, 0.6959518602159288, 0.5049607340494792], - 'contre_plaque': [0.9208919704861112, 0.7991272786458333, 0.6233024088541667], - 'delrin': [1.0, 1.0, 1.0], - 'depron_xps': [1.0, 1.0, 1.0], - 'erable': [0.8507417442908654, 0.6888096604567308, 0.5356387845552885], - 'fibre_carbon': [0.1,0.1,0.1], - 'fibre_verre': [0.7810631618885147, 0.7810631618885147, 0.7810631618885147], - 'kraft_phenolique': [1.0, 1.0, 1.0], - 'laiton': [0.6976380582966433, 0.5649386481637912, 0.3063599501484667], - 'liege': [0.8387979023893546, 0.6273034084385187, 0.410780851038204], - 'blue_xps': [0.4101794593311916, 0.6919089697721963, 0.8513988390771028], - 'nylon': [1.0, 1.0, 1.0], - 'papier': [0.8975090544577118, 0.8975090544577118, 0.8975090544577118], - 'pin': [0.87272848304643, 0.7704099893841538, 0.6521671185287836], - 'polycarbonate': [0.8297203414351851, 0.8461838188014403, 0.8803575049296982], - 'polystyrene': [0.9015991439962476, 0.9009592665337711, 0.9117466544031426], - 'polystyrene_eps': [0.9015991439962476, 0.9009592665337711, 0.9117466544031426], - 'pvc': [0.8647425889756944, 0.8644301323784722, 0.8721728515625], - 'sapin': [0.9745615981533545, 0.8695536741427576, 0.7064131077139802], - 'tilleul': [0.9645160953177258, 0.868472280286139, 0.6758425945280565], - 'titane': [0.5934933710377734, 0.5934933710377734, 0.5934933710377734], - 'tube_quantum': [1.0, 1.0, 1.0]} - - - def __init__(self, rocket): - self.rocket = rocket - - - def plot(self, only_ext=False, opened=True, render='colors'): - ''' - Plot the rocket using pyvista. - The 'textures' render is not available on jupyter notebooks. - ''' - available_render = ['colors', 'textures'] - assert render in available_render, f"Unavailable backend. Valid options are: {', '.join(available_render)}" - - unavailable_textures = ['delrin','bouleau','acrylique','depron_xps','kraft_phenolique','tube_quantum','custom'] - - plotter = pv.Plotter(notebook=True) - - # Plot the cog and cpa as spheres - if opened: - cog = self.rocket.get_mass_properties()[2] - plotter.add_mesh(pv.Sphere(0.01, cog), color='r') - cpa = self.rocket.get_cpa() - plotter.add_mesh(pv.Sphere(0.01, cpa), color='g') - - components = self.rocket.asList(only_ext) - - for component, texture_name in zip(components, self.rocket.textures): - mesh = component.to_vista_mesh(opened) - if render == 'textures': - color = None - if texture_name in unavailable_textures: - tex = None - else: - file_name = "./include/init_rocket/textures/"+texture_name+".jpg" - tex = pv.read_texture(file_name) - else: - tex = None - color = self.tex_to_color[texture_name] - - plotter.add_mesh(mesh, show_edges=False, texture=tex, color=color, metallic=0.8) - - plotter.add_axes(interactive=True) - plotter.show(jupyter_backend = 'pythreejs') - - -# Code to calculate the average color of an image -# Used to create the tex_to_color dict - - -# from PIL import Image -# import numpy as np - -# textures = {"Customized":"custom", -# "Acier": "acier", -# "Acrylique": "acrylique", -# "Aluminium": "aluminium", -# "Balsa": "balsa", -# "Blue tube": "blue_tube", -# "Bouleau": "bouleau", -# "Carton": "carton", -# "Contre-plaqué (bouleau)": "contre_plaque", -# "Delrin": "delrin", -# "Depron (XPS)": "depron_xps", -# "Erable": "erable", -# "Fibre de carbone": "fibre_carbon", -# "Fibre de verre": "fibre_verre", -# "Kraft phénolique": "kraft_phenolique", -# "Laiton": "laiton", -# "Liège": "liege", -# "Mousse Bleue de polystyrène (XPS)": "blue_xps", -# "Nylon": "nylon", -# "Papier (bureau)": "papier", -# "Pin": "pin", -# "Polycarbonate (Lexan)": "polycarbonate", -# "Polystyrène": "polystyrene", -# "Polystyrène (générique EPS)": "polystyrene_eps", -# "PVC": "pvc", -# "Sapin": "sapin", -# "Tilleul": "tilleul", -# "Titane": "titane", -# "Tube Quantum": "tube_quantum"} - -# tex_to_color = {} - -# for key,value in textures.items(): -# unavailable_textures = ['delrin','bouleau','acrylique','depron_xps','kraft_phenolique','tube_quantum','custom','fibre_carbon','nylon'] -# if value in unavailable_textures: -# res = [1.,1.,1.] -# else: -# img = Image.open("include/init_rocket/textures/"+value+".jpg") -# img = np.asarray(img) - -# res = np.mean(img,axis=(0,1)) - -# res = res/256 - -# tex_to_color[value] = list(res) - -# tex_to_color \ No newline at end of file diff --git a/UI/include/init_rocket/mesh/Solid.py b/UI/include/init_rocket/mesh/Solid.py deleted file mode 100644 index 5b13cff..0000000 --- a/UI/include/init_rocket/mesh/Solid.py +++ /dev/null @@ -1,183 +0,0 @@ -import numpy as np -from stl import mesh -from mpl_toolkits import mplot3d -from matplotlib import pyplot -import plotly.graph_objects as go -import pyvista as pv - - -class Solid: - ''' - Class representing a solid object containing its mesh, and its mass properties (volume, mass, COG, matrix of inertia) - - Attributes: - brute_mesh (BruteMesh): Object containing 'veritices'(numpy.array) and 'faces'(numpy.array) of the solid's mesh - stl_mesh (stl.mesh): The corresponding stl.mesh object for the solid. - plot_brute_mesh (BruteMesh): Object containing 'veritices'(numpy.array) and 'faces'(numpy.array) of the solid's to plot (may be different from the solid mesh) - plot_stl_mesh (stl.mesh): The corresponding stl.mesh. - density (float): The density of the Solid in kg/m^3. Equals 1e3 by default. - ''' - - - class BruteMesh: - ''' - Class used to store the brute mesh of the Solid. - ''' - def __init__(self, vertices, faces) -> None: - self.vertices = vertices - self.faces = faces - - - def __init__(self, brute_mesh : BruteMesh, stl_mesh : mesh.Mesh, plot_brute_mesh : BruteMesh, plot_stl_mesh : mesh.Mesh, density = 1e3) -> None: - self.brute_mesh = brute_mesh - self.stl_mesh = stl_mesh - self.plot_brute_mesh = plot_brute_mesh - self.plot_stl_mesh = plot_stl_mesh - self.density = density - - - @staticmethod - def combine(solids): - ''' - Combine Solid objects within the solids list. - - Returns: - A Solid containing the combination of all solids with mean density of the combination. - ''' - - mean_density = 0 - n = len(solids) - - vertices, faces, vectors = solids[0].brute_mesh.vertices, solids[0].brute_mesh.faces, solids[0].stl_mesh.vectors - pvertices, pfaces, pvectors = solids[0].plot_brute_mesh.vertices, solids[0].plot_brute_mesh.faces, solids[0].plot_stl_mesh.vectors - - for i in range(1,n): - mean_density += solids[i].density - - v2,f2,vect2 = solids[i].brute_mesh.vertices, solids[i].brute_mesh.faces, solids[i].stl_mesh.vectors - f2 = f2 + len(vertices) - vertices = np.concatenate((vertices,v2)) - faces = np.concatenate((faces,f2)) - vectors = np.concatenate((vectors, vect2)) - - pv2,pf2, pvect2 = solids[i].plot_brute_mesh.vertices, solids[i].plot_brute_mesh.faces, solids[i].plot_stl_mesh.vectors - pf2 = pf2 + len(pvertices) - pvertices = np.concatenate((pvertices,pv2)) - pfaces = np.concatenate((pfaces,pf2)) - pvectors = np.concatenate((pvectors, pvect2)) - - brute_mesh = Solid.BruteMesh(vertices, faces) - - data = np.zeros(faces.shape[0], dtype=mesh.Mesh.dtype) - data['vectors'] = vectors - stl_mesh = mesh.Mesh(data) - - plot_brute_mesh = Solid.BruteMesh(pvertices, pfaces) - - pdata = np.zeros(pfaces.shape[0], dtype=mesh.Mesh.dtype) - pdata['vectors'] = pvectors - plot_stl_mesh = mesh.Mesh(pdata) - - mean_density /= n - - return Solid(brute_mesh=brute_mesh, stl_mesh=stl_mesh, plot_brute_mesh=plot_brute_mesh, plot_stl_mesh=plot_stl_mesh, density = mean_density) - - - def to_vista_mesh(self,opened=False): - ''' - Create and return the pyvista mesh of the solid. opened=True for the opened mesh if available. - ''' - if opened: - vertices, faces = self.plot_brute_mesh.vertices, self.plot_brute_mesh.faces - else: - vertices, faces = self.brute_mesh.vertices, self.brute_mesh.faces - faces = np.pad(faces,pad_width=((0,0),(1,0)), mode='constant', constant_values=3) - - mesh = pv.PolyData(vertices, faces) - mesh.texture_map_to_plane(inplace=True) - - return mesh - - - def show(self, method='mpl', opened = True, cog=np.zeros(3), cpa=np.zeros(3)): - valid_methods = ['mpl', 'go'] # predefined list of valid strings - assert method in valid_methods, f"Invalid shape function. Valid options are: {', '.join(valid_methods)}" - - if method == 'mpl': - self.show_mpl(opened = opened) - elif method == 'go': - self.show_go(opened = opened, cog=cog,cpa=cpa) - - - def show_mpl(self, opened = True): - ''' - Plot the Solid using matplotlib. - - Args: - all (bool): specifies if the whole solid (False) or its plotting part only (True). Set to False by default. - ''' - pyplot.close() - # Create a new plot - figure = pyplot.figure() - axes = figure.add_subplot(projection='3d') - # Add mesh to the plot - - my_mesh = self.plot_stl_mesh if opened else self.stl_mesh - - axes.add_collection3d(mplot3d.art3d.Poly3DCollection(my_mesh.vectors)) - # Auto scale to the mesh size - scale = my_mesh.points.flatten() - axes.auto_scale_xyz(scale, scale, scale) - # Show the plot to the screen - pyplot.show() - - return figure - - - def show_go(self, opened = True, cog=np.zeros(3), cpa=np.zeros(3)): - ''' - Plot the Solid using plotly.graph_objects. - - Args: - opened (bool): specifies if the whole solid (False) or its plotting part only (True). Set to False by default. - ''' - if opened: - faces = self.plot_brute_mesh.faces - vertices = self.plot_brute_mesh.vertices - else: - faces = self.brute_mesh.faces - vertices = self.brute_mesh.vertices - - x,y,z = vertices.T - i,j,k = faces.T - - surface_mesh = go.Mesh3d(x=x,y=y,z=z,i=i,j=j,k=k,showscale=True) - - cog_x, cog_y, cog_z = cog - cog_text = 'COG' - cpa_x, cpa_y, cpa_z = cpa - cpa_text = 'CPA' - - scatter_cog = go.Scatter3d(x=[cog_x], y=[cog_y], z=[cog_z], mode='markers+text', text=cog_text, textposition='bottom center', marker=dict(color='red'), name=cog_text) - scatter_cpa = go.Scatter3d(x=[cpa_x], y=[cpa_y], z=[cpa_z], mode='markers+text', text=cpa_text, textposition='bottom center', marker=dict(color='green'), name=cpa_text) - - # Set the aspect ratio of the 3D scene to match the data - figure = go.Figure(data=[surface_mesh, scatter_cog, scatter_cpa]) - figure.update_layout(scene=dict(aspectmode="data")) - - figure.show() - - - def get_inertia_wrt(self, point : np.ndarray): - ''' - Get matrix of inertia with respect to the specified point [x,y,z] using the parallel axis theorem. - ''' - volume, vmass, cog, inertia = self.stl_mesh.get_mass_properties_with_density(self.density) - cog[cog<1e-10] = 0. - inertia[inertia<1e-7] = 0. - R = point - cog - E = np.eye(3) - - inertia = inertia + vmass*( R.dot(R)*E - np.outer(R,R)) - - return volume, vmass, inertia \ No newline at end of file diff --git a/UI/include/init_rocket/mesh/__init__.py b/UI/include/init_rocket/mesh/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/UI/include/init_rocket/mesh/mesh_creation.py b/UI/include/init_rocket/mesh/mesh_creation.py deleted file mode 100644 index 1816c30..0000000 --- a/UI/include/init_rocket/mesh/mesh_creation.py +++ /dev/null @@ -1,594 +0,0 @@ -# Mesh creation -import numpy as np -from include.init_rocket.mesh.Solid import Solid -import include.init_rocket.mesh.nose_creation as nc -from stl import mesh -from scipy.spatial.transform import Rotation as R - -# Function used to translate vertices of a mesh -def translate(vertices, trans_vect = np.zeros(3)): - return vertices + trans_vect - -# Functions to manually create meshes for cylinder, fins and nose of the rocket given its caracteristics - -def half_cylinder(outer_radius = .5, inner_radius = .49, height = 2, pnum = 25, pos = 0.): - ''' - Create plotting part of the empty body of the rocket (i.e. a half cylinder). - - Args: - outer_radius (float): Outer radius of the rocket. - inner_radius (float): Inner radius of the rocket. - height (float): The height of the rocket. - pnum (int): number of points around the cylinder. - pos (float): position of cylinder's bottom. - - Returns: - The plotting mesh for the rocket's body. - ''' - theta = np.linspace(0, np.pi, pnum, endpoint=True) - - cos, sin = np.cos(theta), np.sin(theta) - - y_out = outer_radius * cos - z_out = outer_radius * sin - y_in = inner_radius * cos - z_in = inner_radius * sin - - x_bottom = pos + np.zeros(pnum) - x_top = (height+pos) * np.ones(pnum) - - vertices = np.concatenate((np.array([x_bottom, y_out, z_out]).T, - np.array([x_top, y_out, z_out]).T, - np.array([x_bottom, y_in, z_in]).T, - np.array([x_top, y_in, z_in]).T)) - - faces = [] - - # Cylinder - for i in range(pnum-1): - # Outer one - faces.append([i, i+1, pnum+i+1]) - faces.append([pnum+i+1, pnum+i, i]) - # Inner one - faces.append([3*pnum+i+1, 2*pnum+i+1, 2*pnum+i]) - faces.append([2*pnum+i, 3*pnum+i, 3*pnum+i+1]) - - # Bottom face - for i in range(pnum-1): - faces.append([i,2*pnum+i,i+1]) - faces.append([i+1, 2*pnum+i, 2*pnum+i+1]) - # Top face - for i in range(pnum-1): - faces.append([pnum+i, pnum+i+1, 3*pnum+i]) - faces.append([pnum+i+1, 3*pnum+i+1, 3*pnum+i]) - - faces.append([0, pnum, 3*pnum]) - faces.append([0, 3*pnum, 2*pnum]) - faces.append([3*pnum-1, 4*pnum-1, 2*pnum-1]) - faces.append([3*pnum-1, 2*pnum-1, pnum-1]) - - faces = np.array(faces) - - rot = R.from_euler('xyz', [np.pi/2,0.,0.], degrees=False) - vertices = rot.apply(vertices) - - brute_mesh = Solid.BruteMesh(vertices=vertices, faces=faces) - - cylinder_mesh = mesh.Mesh(np.zeros(faces.shape[0], dtype=mesh.Mesh.dtype)) - for i, f in enumerate(faces): - for j in range(3): - cylinder_mesh.vectors[i][j] = vertices[f[j], :] - - return brute_mesh, cylinder_mesh - - -def empty_cylinder(outer_radius = .5, inner_radius = .49, height = 2, pnum = 50, pos = 0., density = 1e3): - ''' - Create a Solid object representing the empty body of the rocket. - - Args: - outer_radius (float): Outer radius of the rocket. - inner_radius (float): Inner radius of the rocket. - height (float): The height of the rocket. - pnum (int): number of points around the cylinder. - pos (float): position of cylinder's bottom. - density (float): density of the cylinder in kg/m^3. - - Returns: - A Solid object containing all data necessary to manipulate, plot and calculate properties of the cylinder. - ''' - theta = np.linspace(0, 2*np.pi, pnum, endpoint=False) - - cos, sin = np.cos(theta), np.sin(theta) - - y_out = outer_radius * cos - z_out = outer_radius * sin - y_in = inner_radius * cos - z_in = inner_radius * sin - - x_bottom = pos + np.zeros(pnum) - x_top = (height+pos) * np.ones(pnum) - - vertices = np.concatenate((np.array([x_bottom, y_out, z_out]).T, - np.array([x_top, y_out, z_out]).T, - np.array([x_bottom, y_in, z_in]).T, - np.array([x_top, y_in, z_in]).T)) - - faces = [] - - # Cylinder - for i in range(pnum-1): - # Outer one - faces.append([i, i+1, pnum+i+1]) - faces.append([pnum+i+1, pnum+i, i]) - # Inner one - faces.append([3*pnum+i+1, 2*pnum+i+1, 2*pnum+i]) - faces.append([2*pnum+i, 3*pnum+i, 3*pnum+i+1]) - # Last outer triangles - faces.append([pnum-1, 0, pnum]) - faces.append([pnum, 2*pnum-1, pnum-1]) - # Last inner triangles - faces.append([3*pnum, 2*pnum, 3*pnum-1]) - faces.append([3*pnum-1, 4*pnum-1, 3*pnum]) - - # Bottom face - for i in range(pnum-1): - faces.append([i,2*pnum+i,i+1]) - faces.append([i+1, 2*pnum+i, 2*pnum+i+1]) - faces.append([pnum-1, 3*pnum-1, 0]) - faces.append([0, 3*pnum-1, 2*pnum]) - # Top face - for i in range(pnum-1): - faces.append([pnum+i, pnum+i+1, 3*pnum+i]) - faces.append([pnum+i+1, 3*pnum+i+1, 3*pnum+i]) - faces.append([2*pnum-1, pnum, 4*pnum-1]) - faces.append([pnum, 3*pnum, 4*pnum-1]) - - faces = np.array(faces) - - brute_mesh = Solid.BruteMesh(vertices=vertices, faces=faces) - - cylinder_mesh = mesh.Mesh(np.zeros(faces.shape[0], dtype=mesh.Mesh.dtype)) - for i, f in enumerate(faces): - for j in range(3): - cylinder_mesh.vectors[i][j] = vertices[f[j], :] - - plot_brute_mesh, plot_stl_mesh = half_cylinder(outer_radius=outer_radius, inner_radius=inner_radius, height=height, pnum=pnum//2, pos=pos) - - return Solid(brute_mesh=brute_mesh, stl_mesh=cylinder_mesh, plot_brute_mesh=plot_brute_mesh, plot_stl_mesh=plot_stl_mesh, density = density) - - -def cylinder(radius = .5, height = 2, pnum = 50, pos = 0., density = 1e3): - ''' - Create a Solid object representing a cylindric distribution of mass in the rocket. - - Args: - radius (float): Outer radius of the cylinder. - height (float): The height of the cylinder. - pnum (int): number of points around the cylinder. - pos (float): position of cylinder's bottom. - density (float): density of the cylinder in kg/m^3. - - Returns: - A Solid object containing all data necessary to manipulate, plot and calculate properties of the cylinder. - ''' - theta = np.linspace(0, 2*np.pi, pnum, endpoint=False) - y = radius * np.cos(theta) - z = radius * np.sin(theta) - - x_bottom = pos + np.zeros(pnum) - x_top = (height+pos) * np.ones(pnum) - - vertices = np.concatenate((np.array([x_bottom, y, z]).T, np.array([x_top, y, z]).T, np.array([[pos,0,0]]), np.array([[height+pos,0,0]]))) - - faces = [] - - end = len(vertices) - - # Bottom face - for i in range(pnum-1): - faces.append([end-2,i+1,i]) - faces.append([end-2,0,pnum-1]) - # Top face - for i in range(pnum-1): - faces.append([end-1,pnum+i,pnum+i+1]) - faces.append([end-1,2*pnum-1,pnum]) - # Cylinder - for i in range(pnum-1): - faces.append([i, i+1, pnum+i+1]) - faces.append([pnum+i+1, pnum+i, i]) - faces.append([pnum-1, 0, pnum]) - faces.append([pnum, 2*pnum-1, pnum-1]) - - faces = np.array(faces) - - brute_mesh = Solid.BruteMesh(vertices=vertices, faces=faces) - - cylinder_mesh = mesh.Mesh(np.zeros(faces.shape[0], dtype=mesh.Mesh.dtype)) - for i, f in enumerate(faces): - for j in range(3): - cylinder_mesh.vectors[i][j] = vertices[f[j], :] - - return Solid(brute_mesh=brute_mesh, stl_mesh=cylinder_mesh, plot_brute_mesh=brute_mesh, plot_stl_mesh=cylinder_mesh, density = density) - - -def fins(Cr=.2,Ct=.1, Xt=.1, s=.15, thick=.01,fnum=4, radius=.5, pos=0., density = 1e3): - ''' - Create a Solid object containing the mesh for the fins of the rocket and their various properties (see class Solid). - See fin.png for the definition of Cr,...,s. - - Args: - thick (float): Thickness of the fin. - fnum (int): The number of fins. - radius (float): The radius of the rocket. - pos (float): the position of the bottom of the fins (0 is the position of the bottom of the rocket). - density (float): density of fins in kg/m^3. - - Returns: - A Solid object containing all data necessary to manipulate, plot and calculate properties of the fins. - ''' - # Mesh for one fin - vertices = np.array([[Cr, 0, -thick/2], - [Cr, 0, thick/2], - [Cr-Xt, s, thick/2], - [Cr-Xt, s, -thick/2], - [0, 0, -thick/2], - [0, 0, thick/2], - [Cr-Xt-Ct, s, thick/2], - [Cr-Xt-Ct, s, -thick/2]]) - faces = np.array([[0, 3, 1], - [2, 1, 3], - [0, 1, 4], - [1, 5, 4], - [4, 5, 6], - [4, 6, 7], - [2, 3, 6], - [3, 7, 6], - [1, 2, 5], - [2, 6, 5], - [0, 4, 3], - [3, 4, 7]]) - - vertices = translate(vertices=vertices, trans_vect=np.array([pos, radius, 0])) - - total_vertices = vertices - total_faces = faces - - n_vertice = len(vertices) - n_face = len(faces) - - # Total mesh - for n in range(1,fnum): - # rotation and translation of the fin according to its position - angle = 2*np.pi*n/fnum - rotation = R.from_euler('xyz', angles=[angle,0,0], degrees=False) - - new_vertices = rotation.apply(vertices) - new_faces = faces + len(total_vertices) - - total_vertices = np.concatenate((total_vertices, new_vertices)) - total_faces = np.concatenate((total_faces, new_faces)) - - # Plotting mesh consisting in the half of the toal mesh - num = int(np.ceil((fnum+1)/2)) - - plot_total_vertices = total_vertices[:n_vertice*num] - plot_total_faces = total_faces[:n_face*num] - - # Rotation of plot vertices - rot = R.from_euler('xyz', [np.pi/2,0.,0.],degrees=False) - plot_total_vertices = rot.apply(plot_total_vertices) - - brute_mesh = Solid.BruteMesh(vertices=total_vertices, faces=total_faces) - plot_brute_mesh = Solid.BruteMesh(vertices=plot_total_vertices, faces=plot_total_faces) - - fins = mesh.Mesh(np.zeros(total_faces.shape[0], dtype=mesh.Mesh.dtype)) - for i, f in enumerate(total_faces): - for j in range(3): - fins.vectors[i][j] = total_vertices[f[j],:] - - data = np.zeros(plot_total_faces.shape[0], dtype=mesh.Mesh.dtype) - data['vectors'] = fins.vectors[:n_face*num,:] - - plot_fins = mesh.Mesh(data) - - plot_fins.rotate([0.5, 0., 0.], np.pi/2) - - return Solid(brute_mesh=brute_mesh, stl_mesh=fins, plot_brute_mesh=plot_brute_mesh, plot_stl_mesh=plot_fins, density = density) - - -def half_nose(nose_obj, Cpnum=25): # Never used in the code because of face orientation problems - ''' - Create plotting part of the nose of the rocket. - - Args: - shape_function (string): The function giving the nose's shape (see code for available functions). - radius (float): The radius of the nose (typically similar to rocket's radius). - length (float): The length of the nose. - curve_param (number): Curve parameter used in the shape_function (see the definition of each shape_function for more detail). - thick (float): Thickness of the nose. - pos (float): Position of nose bottom with respect to rocket's bottom. - Vpnum (int): Number of points on the curve. - Cpnum (int): Number of points around the nose. - - Returns: - The plotting mesh for the nose. - ''' - out_vertices = nose_obj.out_points - in_vertices = nose_obj.in_points - out_vertices_to_rotate = out_vertices[1:] - in_vertices_to_rotate = in_vertices[1:] - - OVpnum = len(out_vertices) - IVpnum = len(in_vertices) - - out_faces = [] - in_faces = [] - - for j in range(1,Cpnum): - # Rotation and translation of the fin according to its position - angle = np.pi*j/(Cpnum-1) - rotation = R.from_euler('xyz', angles=[angle,0,0], degrees=False) - - # Rotate and concatenate - out_vertices = np.concatenate((out_vertices, rotation.apply(out_vertices_to_rotate))) - in_vertices = np.concatenate((in_vertices, rotation.apply(in_vertices_to_rotate))) - - # Making the triangles on the tip of the nose - if j == 1: - # Outer first column of triangles - out_faces.append([OVpnum,1,0]) - for i in range(1,OVpnum-1): - out_faces.append([OVpnum+i-1, OVpnum+i, i]) - out_faces.append([OVpnum+i,i+1,i]) - - # Inner first column of trianges - in_faces.append([0,1,IVpnum]) - for i in range(1,IVpnum-1): - in_faces.append([i,IVpnum+i,IVpnum+i-1]) - in_faces.append([i,i+1,IVpnum+i]) - - else: - # Remaining faces on the outer side - for i in range(OVpnum-2): - if (i==0): - # Single top triangle - out_faces.append([OVpnum + (OVpnum-1)*(j-1),OVpnum + (OVpnum-1)*(j-2),0]) - # first rectangle - left = OVpnum + (OVpnum-1)*(j-2) - right = OVpnum + (OVpnum-1)*(j-1) - out_faces.append([right, right+1 ,left]) - out_faces.append([right+1, left+1 ,left]) - else: - # other rectangles - left = i + OVpnum + (OVpnum-1)*(j-2) - right = i + OVpnum + (OVpnum-1)*(j-1) - out_faces.append([right, right+1 ,left]) - out_faces.append([right+1, left+1 ,left]) - # Remaining faces on the inner side - for i in range(IVpnum-2): - if (i==0): - # Single top triangle - in_faces.append([0,IVpnum + (IVpnum-1)*(j-2),IVpnum + (IVpnum-1)*(j-1)]) - # first rectangle - left = IVpnum + (IVpnum-1)*(j-2) - right = IVpnum + (IVpnum-1)*(j-1) - in_faces.append([left,right+1,right]) - in_faces.append([left,left+1,right+1]) - else: - # other rectangles - left = i + IVpnum + (IVpnum-1)*(j-2) - right = i + IVpnum + (IVpnum-1)*(j-1) - in_faces.append([left,right+1,right]) - in_faces.append([left,left+1,right+1]) - - nout = len(out_vertices) - - out_faces = np.array(out_faces) - in_faces = np.array(in_faces) + nout - - # Closing the nose - close_faces = [] - for i in range(1,Cpnum): - top_r, top_l = i*(OVpnum-1), (i+1)*(OVpnum-1) - bot_r, bot_l = i*(IVpnum-1)+nout, (i+1)*(IVpnum-1)+nout - close_faces.append([top_r, top_l, bot_r]) - close_faces.append([top_l, bot_l, bot_r]) - - # Closing the lateral side - out_end = (Cpnum-2)*(OVpnum-1)+OVpnum - in_end = nout + (Cpnum-2)*(IVpnum-1)+IVpnum - # Top first triangles - close_faces.append([1,nout,0]) - close_faces.append([nout,out_end,0]) - n_tri = OVpnum-IVpnum - for i in range(1,n_tri): - close_faces.append([i,i+1,nout]) - close_faces.append([out_end+1,out_end,nout]) - out_end+=1 - # First rectangle - close_faces.append([n_tri,nout+1,nout]) - close_faces.append([n_tri,n_tri+1,nout+1]) - close_faces.append([out_end+1,out_end,nout]) - close_faces.append([nout,in_end,out_end+1]) - # Remaining rectangles - out_end-=1 - for i in range(1,IVpnum-1): - close_faces.append([n_tri+i,nout+i+1,nout+i]) - close_faces.append([n_tri+i,n_tri+i+1,nout+i+1]) - close_faces.append([out_end+i+1, out_end+i, in_end+i-1]) - close_faces.append([in_end+i-1, in_end+i ,out_end+i+1]) - - close_faces = np.array(close_faces) - - vertices = np.concatenate((out_vertices, in_vertices)) - faces = np.concatenate((out_faces, in_faces, close_faces)) - - # Rotate plot vertices - rot = R.from_euler('xyz',[np.pi/2,0.,0.],degrees=False) - vertices = rot.apply(vertices) - - brute_mesh = Solid.BruteMesh(vertices=vertices, faces=faces) - - stl_nose = mesh.Mesh(np.zeros(faces.shape[0], dtype=mesh.Mesh.dtype)) - for i, f in enumerate(faces): - for j in range(3): - stl_nose.vectors[i][j] = vertices[f[j],:] - - return brute_mesh, stl_nose - - -def nose(shape_function = 'cone', radius=.5, length = .5, curve_param = 0, thick = .1, pos=0, OVpnum = 25, Cpnum=50, density = 1e3): - ''' - Create a Solid representing the nose of the rocket. - - Args: - shape_function (string): The function giving the nose's shape (see code for available functions). - radius (float): The radius of the nose (typically similar to rocket's radius). - length (float): The length of the nose. - curve_param (number): Curve parameter used in the shape_function (see the definition of each shape_function for more detail). - thick (float): Thickness of the nose. - pos (float): Position of nose bottom with respect to rocket's bottom. - Vpnum (int): Number of points on the curve. - Cpnum (int): Number of points around the nose. - density (float): density of the nose in kg/m^3. - - Returns: - A Solid object containing all data necessary to manipulate, plot and calculate properties of the nose. - ''' - - valid_functions = ['tangent_ogive','ellipse','parabole','power_series','haack_series','cone'] # predefined list of valid strings - assert shape_function in valid_functions, f"Invalid shape function. Valid options are: {', '.join(valid_functions)}" - - # function = getattr(__main__< None: - self.out_points = out_points - self.in_points = in_points - - -# Function used to normalize a list of vector -def normalized(a, axis=-1, order=2): - l2 = np.atleast_1d(np.linalg.norm(a, order, axis)) - l2[l2==0] = 1 - return a / np.expand_dims(l2, axis) - - -def create_nose(x, y_out, y_prime, L, thick): - ''' - Create a Nose object given the basic coordinates of the points of a nose shape. - - Args: - x (numpy.array): x-coordinates of points on the nose. - y_out (numpy.array): y-coordinates of points on the outer side of the nose. - y_prime (numpy.array): derivatives of the shape along the x-axis (used to translate the outer side to create the inner side of the nose). - L (float): Length of the nose - thick (float): Thickness of the nose. - - Returns: - A Nose object containing 3D vectors corresponding to both outer and inner side of the nose. - ''' - n = len(y_out) - out_points = np.array([x,y_out]).T - in_points = out_points + thick * normalized(np.array([y_prime, -np.ones(n)]).T) - - first = -1 - while in_points[first+1, 1]<=0: - first+=1 - in_points = in_points[first:] - in_points = in_points[in_points[:,0]=2: - # First point - # This special case is for elliptic,haack and power series noses which do not have finite derivative when x=0 - if y_prime[0]==-1: - first_point = np.array([thick, 0]) - else: # General case - x1,y1 = in_points[0,0], in_points[0,1] - x2,y2 = in_points[1,0], in_points[1,1] - xvalue = x1 - y1*(x2-x1)/(y2-y1) - first_point = np.array([xvalue, 0]) - in_points[0] = first_point - - # Last point - x1,y1,y_p = in_points[-1,0], in_points[-1,1], y_prime[last] - yl = y_p*(L-x1)+y1 - # To avoid the last point from crossing over outer points - last_point = np.array([[L,yl]]) if yl < out_points[-1,1]-thick/2 else np.array([[L, out_points[-1,1]-thick]]) - in_points = np.concatenate((in_points, last_point)) - - out_points = np.pad(out_points, [(0,0),(0,1)], mode = 'constant') - in_points = np.pad(in_points, [(0,0),(0,1)], mode = 'constant') - - return Nose(out_points=out_points, in_points=in_points) - - -# Different equations for nose shape (all nose equation equal 0 at the origin) - -def tangent_ogive(x, R, L, thick=.01, C=0): - rho = (R**2 + L**2)/(2*R) - y_out = np.sqrt(rho**2 - (L-x)**2) + R - rho - # Calculate the derivative of the function - y_prime = (L-x)/np.sqrt(rho**2 - (L-x)**2) - - return create_nose(x,y_out,y_prime,L,thick) - -def ellipse(x,R,L, thick=.01, C=0): - y_out = R*np.sqrt(1-((L-x[1:])/L)**2) - y_out = np.concatenate((np.array([0.]), y_out)) - # Calculate the derivative of the function - y_prime = R/L**2*(L-x[1:])/np.sqrt(1-((L-x[1:])/L)**2) - y_prime = np.pad(y_prime, (1,0), mode='constant', constant_values=-1) - - return create_nose(x,y_out,y_prime,L,thick) - -def parabole(x, R, L, C=0., thick=.01): - # C in [0,1] - y_out = R*((2*(x/L)-C*(x/L)**2)/(2-C)) - # Calculate the derivative of the function - y_prime = 2*R/(L*(2-C))*(1-C*x) - - return create_nose(x,y_out,y_prime,L,thick) - -def power_series(x, R, L, C=0., thick=.01): - # C in (0,1) - y_out = R*(x/L)**C - y_prime = R*C*(x[1:]/L)**(C-1) - y_prime = np.pad(y_prime, (1,0), mode='constant', constant_values=-1) - - return create_nose(x,y_out,y_prime,L,thick) - -def haack_series(x, R, L, C=0., thick=.01): - # If C = 0, LD-Haack (Von Kármán), if C=1/3, LV-Haack, minimum drag, if C=2/3, tangent to the body at the base - theta = np.arccos(1-2*x/L) - y_out = R/np.sqrt(np.pi) * np.sqrt(theta- np.sin(2*theta)/2 + C*np.sin(theta)**3) - # Calculate the derivative of the function - xL = x*(L-x)/L**2 - A = 2*R*((3*C+2)*L-6*C*x)*np.sqrt(2/np.pi)/L**2 - B = np.sqrt(xL) - C = np.sqrt(16*C*xL**1.5 + np.sin(2*theta)+2*theta) - C[0]=1 - y_prime = A*B/C - - return create_nose(x,y_out,y_prime,L,thick) - -def cone(x, R, L, thick=.01, C=0): - y_out = x*R/L - # Calculate the derivative of the function - y_prime = R/L*np.ones(len(x)) - - return create_nose(x,y_out,y_prime,L,thick) \ No newline at end of file diff --git a/UI/include/init_rocket/rocket_dict.json b/UI/include/init_rocket/rocket_dict.json deleted file mode 100644 index 60df0ba..0000000 --- a/UI/include/init_rocket/rocket_dict.json +++ /dev/null @@ -1 +0,0 @@ -{"tube_length": 2.0, "tube_radius": 0.1, "tube_thickness": 0.01, "tube_material": "fibre_carbon", "tube_density": 1780.0, "nose_type": "ellipse", "nose_parameter": 0.0, "nose_length": 0.5, "nose_radius": 0.1, "nose_thickness": 0.01, "nose_material": "fibre_carbon", "nose_density": 1780.0, "fins_Cr": 0.2, "fins_Ct": 0.1, "fins_Xt": 0.1, "fins_s": 0.15, "fins_thickness": 0.01, "delta": 0.05, "fins_number": 4, "fins_material": "fibre_carbon", "fins_density": 1780.0, "fins_position": 0.0, "motor": {"availability": "OOP", "avgThrustN": 76.33, "burnTimeS": 8.26, "caseInfo": "SU 54x235", "certOrg": "National Association of Rocketry", "commonName": "I65", "dataFiles": 2, "designation": "I65W", "diameter": 54, "impulseClass": "I", "infoUrl": "http://nar.org/SandT/pdf/Aerotech/I65.pdf", "length": 235, "manufacturer": "AeroTech", "manufacturerAbbrev": "AeroTech", "maxThrustN": 150.1, "motorId": "5f4294d2000231000000009d", "propInfo": "White Lightning", "propWeightG": 369.7, "samples": [[0, 0], [0.18, 125.4], [0.544, 139.3], [0.908, 145.4], [1.273, 148.3], [1.638, 146.7], [2.002, 139], [2.367, 131.2], [2.731, 123.3], [3.096, 113.5], [3.46, 102.4], [3.825, 90.21], [4.19, 78.08], [4.554, 66.81], [4.919, 55.78], [5.283, 47.28], [5.648, 39.15], [6.012, 32.53], [6.377, 27.07], [6.742, 22.1], [7.106, 18.09], [7.471, 14.82], [7.835, 12.1], [8.2, 9.763], [8.565, 7.875], [8.929, 5.999], [9.294, 0]], "totImpulseNs": 630.5, "totalWeightG": 761.6, "type": "SU", "updatedOn": "2019-04-17"}, "motor_position": 0.0, "motor_ring": false, "motor_ring_material": "acier", "motor_ring_density": 7850.0, "parachute_l0": 1.0, "parachute_weight": 0.5, "parachute_sref1": 0.01, "parachute_sref2": 0.05, "parachute_Cd": 1.75, "parachute_deploy_method": "velocity","second_para_deploy_alt":500.0, "parachute_deploy_timer": 10.0, "additional_masses": [], "rocket_mass": 2.0, "rocket_prop_weight": 0.2, "ejected_nose_mass": 0.5, "rocket_launch_angle": 1.3962634015954636, "wind_on": true, "wind_average_speed": 5.0, "rocket_volume": 0.03928693438153156, "rocket_cog": [1.0463035005017027, 0.0, 0.0], "rocket_inertia": [[10, 0.0, 0.0], [0.0, 200, 0.0], [0.0, 0.0, 200]]} \ No newline at end of file diff --git a/UI/include/init_rocket/textures/acier.jpg b/UI/include/init_rocket/textures/acier.jpg deleted file mode 100644 index 8b7be9c..0000000 Binary files a/UI/include/init_rocket/textures/acier.jpg and /dev/null differ diff --git a/UI/include/init_rocket/textures/aluminium.jpg b/UI/include/init_rocket/textures/aluminium.jpg deleted file mode 100644 index 8b7be9c..0000000 Binary files a/UI/include/init_rocket/textures/aluminium.jpg and /dev/null differ diff --git a/UI/include/init_rocket/textures/balsa.jpg 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These being, the center line, the - quarter line and the center of pressure position. - Parameters - ---------- - save (string): specify if you want to save the plot in the specified file name - Returns - ------- - None - """ - marge_y = min(C_r/5, (C_t+X_t)/5) - y_max = C_t + X_t + marge_y - y_min = -marge_y if C_t+X_t>C_r else C_t+X_t-C_r - marge_y - - # Fin - rocket_side = plt.Line2D((0,0), (y_min,y_max), color = '#000000', label='Rocket side') - leading_edge = plt.Line2D((0, s),(C_t + X_t, C_t),color = 'r', label='Leading edge') - tip = plt.Line2D((s, s),(C_t, 0), color='r', label='Tip') - trailing_edge = plt.Line2D((s,0), (0, X_t + C_t - C_r), color = 'r', label='Trailing edge') - - - # # Plotting - fig = plt.figure(figsize=(4, 4)) - ax1 = fig.add_subplot(111) - - # # Fin - ax1.add_line(leading_edge) - ax1.add_line(tip) - ax1.add_line(trailing_edge) - ax1.add_line(rocket_side) - - - ax1.set_xlim(-s/5, s + s/5) - ax1.set_ylim(y_min, y_max) - ax1.set_xlabel("Span") - ax1.set_ylabel("Root Chord") - ax1.set_title("Your Trapezoidal Fin") - - if save is not None: - fig.savefig(save,bbox_inches='tight') - plt.close(fig) - else: - plt.show() - - - return None \ No newline at end of file diff --git a/UI/include/widgets/imgs/fin.png b/UI/include/widgets/imgs/fin.png deleted file mode 100644 index 016c945..0000000 Binary files a/UI/include/widgets/imgs/fin.png and /dev/null differ diff --git a/UI/include/widgets/imgs/personal_fin_plot.png b/UI/include/widgets/imgs/personal_fin_plot.png deleted file mode 100644 index 8ed1753..0000000 Binary files a/UI/include/widgets/imgs/personal_fin_plot.png and /dev/null differ diff --git a/UI/include/widgets/imgs/thrustcurve.png b/UI/include/widgets/imgs/thrustcurve.png deleted file mode 100644 index 258a32a..0000000 Binary files a/UI/include/widgets/imgs/thrustcurve.png and /dev/null differ diff --git a/UI/include/widgets/motor_data.json b/UI/include/widgets/motor_data.json deleted file mode 100644 index 9db4bc6..0000000 --- a/UI/include/widgets/motor_data.json +++ /dev/null @@ -1 +0,0 @@ -[{"availability": "regular", "avgThrustN": 0.284, "burnTimeS": 0.772, "certOrg": "National Association of Rocketry", "commonName": "1/8A0.3", "dataFiles": 3, "delays": "1", "designation": "MICRO_MAXX_II", "diameter": 6, "impulseClass": "A", "length": 26, "manufacturer": "Quest Aerospace", "manufacturerAbbrev": "Quest", "maxThrustN": 2.108, "motorId": "5f4294d20002310000000001", "propInfo": "black powder", "propWeightG": 0.5, "samples": [[0, 0], [0.026, 0.03946], [0.036, 0.1215], [0.04, 0.206], [0.05, 0.4447], [0.056, 0.6803], [0.06, 0.8996], [0.066, 1.359], [0.068, 1.476], [0.07, 1.567], [0.074, 1.625], [0.088, 1.19], [0.112, 0.831], [0.126, 0.4399], [0.134, 0.3198], [0.144, 0.249], [0.174, 0.1657], [0.206, 0.1919], [0.258, 0.1262], [0.342, 0.1601], [0.366, 0.1386], [0.384, 0.1795], [0.494, 0.2184], [0.546, 0.1541], [0.56, 0.1782], [0.608, 0.1524], [0.682, 0.2095], [0.698, 0.1837], [0.712, 0.2202], [0.742, 0.209], [0.768, 0.04035], [0.785, 0]], "totImpulseNs": 0.218, "totalWeightG": 1, "type": "SU", "updatedOn": "2019-04-17"}, {"availability": "OOP", "avgThrustN": 0.163, "burnTimeS": 0.827, "certOrg": "National Association of Rocketry", "commonName": "1/8A0.3", "dataFiles": 2, "delays": "1", "designation": "MICRO_MAXX", "diameter": 6, "impulseClass": "A", "infoUrl": "http://www.nar.org/SandT/pdf/Quest/MicroMaxx.pdf", "length": 26, "manufacturer": "Quest Aerospace", "manufacturerAbbrev": "Quest", "maxThrustN": 1.898, "motorId": "5f4294d20002310000000002", "propInfo": "black powder", "propWeightG": 0.4, "samples": [[0, 0], [0.016, 0.05304], [0.02, 0.09855], [0.024, 0.1767], [0.03, 0.4159], [0.032, 0.4349], [0.038, 0.658], [0.052, 1.247], [0.058, 1.454], [0.064, 1.701], [0.066, 1.756], [0.07, 1.952], [0.074, 2.065], [0.076, 2.099], [0.078, 2.099], [0.08, 2.028], [0.082, 1.912], [0.084, 1.619], [0.086, 1.152], [0.088, 0.7283], [0.09, 0.4336], [0.092, 0.293], [0.098, 0.2175], [0.154, 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1734], [0.071, 1695], [0.077, 1668], [0.084, 1717], [0.093, 1693], [0.102, 1732], [0.114, 1744], [0.134, 1759], [0.163, 1793], [0.212, 1851], [0.262, 1900], [0.363, 1983], [0.447, 2029], [0.524, 2056], [0.621, 2076], [0.695, 2071], [0.769, 2037], [0.81, 1993], [0.852, 1946], [0.891, 1910], [0.947, 1861], [0.997, 1798], [1.045, 1732], [1.086, 1671], [1.143, 1593], [1.205, 1507], [1.249, 1456], [1.287, 1424], [1.307, 1434], [1.322, 1432], [1.332, 1361], [1.34, 1244], [1.346, 1105], [1.349, 1010], [1.353, 912.2], [1.357, 785.4], [1.364, 612.2], [1.374, 434.1], [1.386, 253.7], [1.401, 104.9], [1.414, 31.71], [1.424, 0]], "totImpulseNs": 2444, "totalWeightG": 2772, "type": "reload", "updatedOn": "2022-08-15"}] \ No newline at end of file diff --git a/UI/include/widgets/widgets.py b/UI/include/widgets/widgets.py deleted file mode 100644 index 88e3fe5..0000000 --- a/UI/include/widgets/widgets.py +++ /dev/null @@ -1,532 +0,0 @@ -import ipywidgets as widgets -import json -import matplotlib.pyplot as plt -import numpy as np -import IPython -from include.init_rocket.CustomRocket import CustomRocket -from include.widgets.fin_visualisation import draw_fin - - -# By default the matplotlib backend for the jupyter notebook is set to 'inline' -IPython.get_ipython().run_line_magic('matplotlib', 'inline') - -plt.close() # To avoid the code from plotting residual figures - -materials = {"custom": 0, - "blue_xps": 32, - "acier": 7850, - "acrylique": 1190, - "aluminium": 2700, - "balsa": 170, - "blue_tube": 1300, - "bouleau": 670, - "carton": 680, - "contre_plaque": 630, - "delrin": 1420, - "depron (XPS)": 40, - "erable": 755, - "fibre_carbon": 1780, - "fibre_verre": 1850, - "kraft_phenolique": 950, - "laiton": 8600, - "liege": 240, - "nylon": 1150, - "pvc": 1390, - "papier": 820, - "pin": 530, - "polycarbonate": 1200, - "polystyrene": 1050, - "polystyrene_eps": 20, - "sapin": 450, - "tilleul": 500, - "titane": 4500, - "tube_quantum": 1050} - -textures = {"Customized":"custom", - "Acier": "acier", - "Acrylique": "acrylique", - "Aluminium": "aluminium", - "Balsa": "balsa", - "Blue tube": "blue_tube", - "Bouleau": "bouleau", - "Carton": "carton", - "Contre-plaqué (bouleau)": "contre_plaque", - "Delrin": "delrin", - "Depron (XPS)": "depron_xps", - "Erable": "erable", - "Fibre de carbone": "fibre_carbon", - "Fibre de verre": "fibre_verre", - "Kraft phénolique": "kraft_phenolique", - "Laiton": "laiton", - "Liège": "liege", - "Mousse Bleue de polystyrène (XPS)": "blue_xps", - "Nylon": "nylon", - "Papier (bureau)": "papier", - "Pin": "pin", - "Polycarbonate (Lexan)": "polycarbonate", - "Polystyrène": "polystyrene", - "Polystyrène (générique EPS)": "polystyrene_eps", - "PVC": "pvc", - "Sapin": "sapin", - "Tilleul": "tilleul", - "Titane": "titane", - "Tube Quantum": "tube_quantum"} - -nose_options = [('Ellipse','ellipse'), - ('Cone','cone'), - ('Haack','haack_series'), - ('Parabole','parabole'), - ('Tangent Ogive','tangent_ogive'), - ('Power Series', 'power_series')] - -impulse_options = [("[1.26 - 2.50]",'A'), - ("[2.51 - 5.00]",'B'), - ("[5.01 - 10.0]",'C'), - ("[10.01 - 20.0]",'D'), - ("[20.01 - 40.0]",'E'), - ("[40.01 - 80.0]",'F'), - ("[80.01 - 160]",'G'), - ("[160.01 - 320]",'H'), - ("[320.01 - 640]",'I'), - ("[640.01 - 1280]",'J'), - ("[1,280.01 - 2,560]",'K'), - ("[2,560.01 - 5,120]",'L'), - ("[5,120.01 - 10,240]",'M'), - ("[10,240.01 - 20,480]",'N'), - ("[20,480.01 - 40,960]",'O')] - - -#################################################### - -# Creation of widgets for rocket properties - -#################################################### - - -# Tube properties -tube_length = widgets.BoundedFloatText(value=2,min=0,max=500.0,step=0.1,description='Tube length ($m$):',style={'description_width': 'initial'},disabled=False) -tube_radius = widgets.BoundedFloatText(value=.1,min=0,max=50.0,step=0.1,description='Tube radius ($m$):',style={'description_width': 'initial'},disabled=False) -tube_thickness = widgets.BoundedFloatText(value=.01,min=0,max=.1,step=0.001,description='Tube thickness ($m$):',style={'description_width': 'initial'},disabled=False) -tube_material = widgets.Dropdown(layout={'width': 'strech'}, description = 'Tube material',value = "fibre_carbon",options = textures.items(),style={'description_width': 'initial'},disabled=False) -tube_density = widgets.BoundedFloatText(value=0.,min=0,max=100000,step=1,description='Tube density ($kg/m^3$):',style={'description_width': 'initial'},disabled=False) - -def show_tube_density(change): - if change['new'] == "custom": - tube_density.value = 0. - tube_density.layout.display = '' - else: - tube_density.layout.display = 'none' - tube_density.value = materials[change['new']] - -show_tube_density({'new':tube_material.value}) -tube_material.observe(show_tube_density, names='value') - -# Nose properties -nose_type = widgets.Dropdown(layout={'width': 'strech'},options=nose_options,style={'description_width': 'initial'},value='ellipse',description='Nose type:',disabled=False) -nose_parameter = widgets.BoundedFloatText(value=0.,min=0.,max=1.,step=0.1,description='Nose parameter C*:',style={'description_width': 'initial'},disabled=False) -nose_parameter_desc = widgets.Label( value='') -nose_length = widgets.BoundedFloatText(value=.5,min=0,max=50.0,step=0.1,description='Nose length ($m$):',style={'description_width': 'initial'},disabled=False) -nose_radius = widgets.BoundedFloatText(value=.1,min=0,max=50.0,step=0.1,description='Nose radius ($m$):',style={'description_width': 'initial'},disabled=False) -nose_thickness = widgets.BoundedFloatText(value=.01,min=0,max=.1,step=0.001,description='Nose thickness ($m$):',style={'description_width': 'initial'},disabled=False) -nose_material = widgets.Dropdown(layout={'width': 'strech'}, description = 'Nose material',value = "fibre_carbon",options = textures.items(),style={'description_width': 'initial'},disabled=False) -nose_density = widgets.BoundedFloatText(value=0,min=0,max=100000,step=1,description='Nose density ($kg/m^3$):',style={'description_width': 'initial'},disabled=False) - -def show_nose_density(change): - if change['new'] == "custom": - nose_density.value = 0. - nose_density.layout.display = '' - else: - nose_density.layout.display = 'none' - nose_density.value = materials[change['new']] - -def show_nose_parameter(change): - nose_parameter.min = 0. - nose_parameter.max = 1. - if change['new'] in ['haack_series','power_series','parabole']: - if change['new'] == 'haack_series': - nose_parameter_desc.value = '(*) C=0 : LD-Haack - C=1/3 : LV-Haack (min drag) - C=2/3 : tangent to the body' - nose_parameter.value = 0. - elif change['new'] == 'power_series': - nose_parameter_desc.value = '(*) Curve parameter C in (0,1)' - nose_parameter.value = 0.1 - nose_parameter.min = 0.001 - nose_parameter.max = 0.999 - elif change['new'] == 'parabole': - nose_parameter_desc.value = '(*) Parabola parameter C in [0,1]' - nose_parameter.value = 0. - nose_parameter.layout.display = '' - nose_parameter_desc.layout.display = '' - else: - nose_parameter.layout.display = 'none' - nose_parameter_desc.layout.display = 'none' - nose_parameter.value = 0. - - -show_nose_density({'new':nose_material.value}) -nose_material.observe(show_nose_density, names='value') -show_nose_parameter({'new':nose_type.value}) -nose_type.observe(show_nose_parameter, names='value') - -# Fins properties -with open("./include/widgets/imgs/fin.png", "rb") as fin_file: - fin_image = fin_file.read() - fin_wimg = widgets.Image(value=fin_image,format='png', layout=widgets.Layout(width='300px', height='300px')) -Cr = widgets.BoundedFloatText(value=.2,min=0,max=1,step=0.01,description='Cr ($m$):',style={'description_width': 'initial'},disabled=False) -Ct = widgets.BoundedFloatText(value=.1,min=0,max=1,step=0.01,description='Ct ($m$):',style={'description_width': 'initial'},disabled=False) -Xt = widgets.BoundedFloatText(value=.1,min=0,max=1,step=0.01,description='Xt ($m$):',style={'description_width': 'initial'},disabled=False) -s = widgets.BoundedFloatText(value=.15,min=0,max=1,step=0.01,description='s ($m$):',style={'description_width': 'initial'},disabled=False) -fins_thickness = widgets.BoundedFloatText(value=.01,min=0,max=.1,step=0.001,description='thickness ($m$):',style={'description_width': 'initial'},disabled=False) -fins_cant = widgets.BoundedFloatText(value=0.,min=-180,max=180,step=1.,description='Cant angle (deg):',style={'description_width': 'initial'},disabled=False) -fins_number = widgets.IntText(value=4,description='Number of fins:',style={'description_width': 'initial'},disabled=False) -fins_material = widgets.Dropdown(layout={'width': 'strech',}, description = 'Fins material',value = "fibre_carbon",options = textures.items(),style={'description_width': 'initial'},disabled=False) -fins_density = widgets.BoundedFloatText(value=0,min=0,max=100000,step=1,description='Fins density ($kg/m^3$):',style={'description_width': 'initial'},disabled=False) -fins_position = widgets.BoundedFloatText(value=0,min=0,max=500,step=0.01,description='Fins position from tube bottom ($m$):',style={'description_width': 'initial'},disabled=False) -fin_plot_button = widgets.Button(description='Fin preview',disabled=False,button_style='',tooltip='Plot fin',icon='eye') -with open("./include/widgets/imgs/personal_fin_plot.png", "rb") as fin_file: - fin_image = fin_file.read() - fin_plot_wimg = widgets.Image(value=fin_image,format='png', height=200, layout=widgets.Layout(width='300px', height='300px')) - - -def show_fins_density(change): - if change['new'] == "custom": - fins_density.value = 0. - fins_density.layout.display = '' - else: - fins_density.layout.display = 'none' - fins_density.value = materials[change['new']] - -show_fins_density({'new':fins_material.value}) -fins_material.observe(show_fins_density, names='value') - -def show_fin_plot(button): - draw_fin(Ct.value,Cr.value,Xt.value,s.value,save="./include/widgets/imgs/personal_fin_plot.png") - fin_file = open("./include/widgets/imgs/personal_fin_plot.png", "rb") - fin_image = fin_file.read() - fin_plot_wimg.value = fin_image - fin_file.close() - -fin_plot_button.on_click(show_fin_plot) - -# Combining everithing for geometry and mass -tube = widgets.VBox([tube_length,tube_radius,tube_thickness,tube_material,tube_density]) -nose = widgets.VBox([nose_type,nose_parameter,nose_parameter_desc,nose_length,nose_radius,nose_thickness,nose_material,nose_density]) -fins_fields = widgets.VBox([Cr,Ct,Xt,s,fins_thickness,fins_cant,fins_number,fins_material,fins_density,fins_position,fin_plot_button]) -fins = widgets.HBox([fins_fields,fin_wimg,fin_plot_wimg]) -children = [tube,nose,fins] -rocket_properties_widget = widgets.Tab(children = children, titles = ['Tube prop.', 'Nose prop.', 'Fins prop.']) - -# Motor Properties -f = open('./include/widgets/motor_data.json') -motor_data = json.load(f) - -impulse_class = widgets.Dropdown(options=impulse_options,description='Impulse Class ($N.s$):',style={'description_width': 'initial'},disabled=False) -motor_diameter = widgets.FloatRangeSlider(value=[6, 161],min=6,max=161,step=1,description='Diameter ($mm$):',disabled=False,continuous_update=False, - orientation='horizontal',readout=True,readout_format='.1f',style={'description_width': 'initial'}) -motor_position = widgets.BoundedFloatText(value=0,min=0,max=500,step=0.1,description='Motor position from tube bottom ($m$):',style={'description_width': 'initial'},disabled=False) -motor_geometry = widgets.VBox([motor_diameter,motor_position]) -selected_motor = widgets.Dropdown(options = [], description = 'Designation:', style={'description_width': 'initial'}, disabled=False) -motor_select_text = widgets.Label( value='(Keep this tab opened to ensure you have selected the right motor)', style={'description_width':'initial'}) -motor_ring = widgets.Checkbox(value=False,description='Automatic fixation ring around the motor',disabled=False,indent=True,style={'description_width':'initial'}) -ring_material = widgets.Dropdown(layout={'width': 'strech'}, description = 'Fixation ring material',value = "acier",options = textures.items(),style={'description_width': 'initial'},disabled=False) -ring_density = widgets.BoundedFloatText(value=0,min=0,max=100000,step=1,description='Fixation ring density ($kg/m^3$):',style={'description_width': 'initial'},disabled=False) -ring_box = widgets.VBox([ring_material,ring_density]) -motor_file = open("./include/widgets/imgs/thrustcurve.png", "rb") -motor_image = motor_file.read() -motor_wimg = widgets.Image(value=motor_image,format='png', height = 200, width=480) -motorBox = widgets.VBox([selected_motor,motor_select_text,motor_ring,ring_box,motor_wimg]) - -motor_selection_widget = widgets.Accordion(children=[impulse_class, motor_geometry, motorBox], titles=('Impulse class', 'Geometric parameters', 'Motor selection'), style={'description_width': 'initial'}) - -def show_ring(change): - if change['new']: - ring_box.layout.display = '' - else: - ring_box.layout.display = 'none' - -show_ring({'new':motor_ring.value}) -motor_ring.observe(show_ring, names='value') - -def show_ring_density(change): - if change['new'] == "custom": - ring_density.value = 0. - ring_density.layout.display = '' - else: - ring_density.layout.display = 'none' - ring_density.value = materials[change['new']] - -show_ring_density({'new':ring_material.value}) -ring_material.observe(show_ring_density, names='value') - -def thrustcurve(motor_name): - global motor_data - d=[] - for elem in motor_data: - if elem['designation'] == motor_name: - d = elem['samples'] - x = [d[i][0] for i in range(len(d))] - y = [d[i][1] for i in range(len(d))] - - IPython.get_ipython().run_line_magic('matplotlib', 'inline') - plt.plot(x,y) - plt.xlabel('time (s)') - plt.ylabel('impulse (N)') - plt.title(f'{motor_name} thrust curve') - plt.savefig('./include/widgets/imgs/thrustcurve.png') - plt.close() - -def set_motor_options(change): - global motor_data - if change['new'] == 2: - motors = [] - for motor in motor_data: - if motor['impulseClass']==impulse_class.value and motor['diameter']>motor_diameter.value[0] and motor['diameter'] nchild: - for i in range(number-nchild): - masses_children.append(create_mass_form()) - masses_titles.append(f'Mass-{len(masses_children)+i}') - elif number < nchild: - masses_children = masses_children[:number] - masses_titles = masses_titles[:number] - -def on_number_selected(change): - global masses_children,masses_titles - if change['new'] == 1: - masses_properties.children = masses_children - masses_properties.titles = masses_titles - -number_int.observe(on_number_change,names='value') -additional_masses_widget.observe(on_number_selected,names='selected_index') - -def create_mass_form(): - mass_type = widgets.Dropdown(value = 'cylinder', options=[('Cylinder','cylinder'), ('Empty cylinder','empty_cylinder')], description='Shape of mass',style={'description_width': 'initial'},disabled=False) - mass_length= widgets.BoundedFloatText(value=0.,min=0.,max=1000.,step=.1,description='Mass length ($m$):',style={'description_width': 'initial'},disabled=False) - mass_outer_radius= widgets.BoundedFloatText(value=0.,min=0.,max=100.,step=.1,description='Mass outer radius ($m$):',style={'description_width': 'initial'},disabled=False) - mass_inner_radius= widgets.BoundedFloatText(value=0.,min=0.,max=100.,step=.1,description='Mass inner radius ($m$):',style={'description_width': 'initial'},layout={'display':'none'},disabled=False) - mass_material = widgets.Dropdown(description = 'Mass material',value = "custom",options = textures.items(),style={'description_width': 'initial'},disabled=False) - mass_density = widgets.BoundedFloatText(value=0,min=0,max=100000,step=1,description='Mass density ($kg/m^3$):',style={'description_width': 'initial'},disabled=False) - mass_position= widgets.BoundedFloatText(value=0.,min=0.,max=1000.,step=0.1,description='Mass position form rocket bottom ($m$):',style={'description_width': 'initial'},disabled=False) - - form = widgets.VBox([mass_type,mass_length,mass_outer_radius,mass_inner_radius,mass_material,mass_density,mass_position]) - - def on_type_selected(change): - if change['new'] == 'empty_cylinder': - mass_inner_radius.layout.display = '' - else: - mass_inner_radius.layout.display = 'none' - mass_inner_radius.value = 0. - - def update_max(change): - mass_inner_radius.max = change['new'] - - def show_mass_density(change): - if change['new'] == "custom": - mass_density.value = 0. - mass_density.layout.display = '' - else: - mass_density.layout.display = 'none' - mass_density.value = materials[change['new']] - - mass_type.observe(on_type_selected,names='value') - mass_outer_radius.observe(update_max,names='value') - mass_material.observe(show_mass_density,names='value') - - return form - -def mass_dict_list(): - ''' - Return a list of dict representing additinal masses. - ''' - dict_list = [] - for i in range(number_int.value): - parent = masses_properties.children[i] - dict = {'type':parent.children[0].value, - 'length':parent.children[1].value, - 'outer_radius':parent.children[2].value, - 'inner_radius':parent.children[3].value, - 'material':parent.children[4].value, - 'density':parent.children[5].value, - 'position':parent.children[6].value} - dict_list.append(dict) - - return dict_list - - - -# Launching parameters -rocket_mass = widgets.BoundedFloatText(value=2.,min=0.,max=1000000.,step=1.,description="Rocket's total mass ($kg$):",style={'description_width': 'initial'},disabled=False) -prop_weight = widgets.BoundedFloatText(value=.2,min=0.,max=1000000.,step=1.,description="Propellant mass ($kg$):",style={'description_width': 'initial'},disabled=False) -nose_mass = widgets.BoundedFloatText(value=.5,min=0.,max=1000000.,step=1.,description="(*)Nose mass ($kg$):",style={'description_width': 'initial'},disabled=False) -nose_mass_text = widgets.Label( value="(*) The mass of the ejected part of the nose when the parachute is deployed.", style={'description_width':'initial'}) -rocket_launch_angle = widgets.BoundedFloatText(value=80.,min=0.,max=180,step=1,description="Rocket's launch angle (deg):",style={'description_width': 'initial'},disabled=False) -wind_on = widgets.Checkbox(value=True,description='Generate random wind profile at launch time.',disabled=False,indent=True,style={'description_width':'initial'}) -wind_average_speed = widgets.BoundedFloatText(value=5.,min=0.,max=1000.,step=1.,description="Wind average speed ($m/s$):",style={'description_width': 'initial'},disabled=False) - -launching_parameters_widget = widgets.VBox([rocket_mass, prop_weight, nose_mass, nose_mass_text, rocket_launch_angle, wind_on, wind_average_speed]) - -def show_wind(change): - if change['new']: - wind_average_speed.layout.display = '' - else: - wind_average_speed.layout.display = 'none' - -wind_on.observe(show_wind, names='value') - -#################################################### - -#################################################### - -def find_motor(designation): - global motor_data - ''' - Return the motor dictionary corresponding to the motor designation. - ''' - for motor in motor_data: - if motor['designation'] == designation: - return motor - raise ValueError('Motor not found : wrong motor designation.') - -def rocket_dictionary(): - ''' - Return a dictionary representing the rocket. - ''' - if selected_motor.value == None: - raise Exception("None Motor: Please select a motor in the motor selector widget.") - - rocket = {'tube_length':tube_length.value, - 'tube_radius':tube_radius.value, - 'tube_thickness':tube_thickness.value, - 'tube_material':tube_material.value, - 'tube_density':tube_density.value, - 'nose_type':nose_type.value, - 'nose_parameter':nose_parameter.value, - 'nose_length':nose_length.value, - 'nose_radius':nose_radius.value, - 'nose_thickness':nose_thickness.value, - 'nose_material':nose_material.value, - 'nose_density':nose_density.value, - 'fins_Cr':Cr.value, - 'fins_Ct':Ct.value, - 'fins_Xt':Xt.value, - 'fins_s':s.value, - 'fins_thickness':fins_thickness.value, - 'delta':fins_cant.value*np.pi/180, # conversion to radians - 'fins_number':fins_number.value, - 'fins_material':fins_material.value, - 'fins_density':fins_density.value, - 'fins_position':fins_position.value, - 'motor':find_motor(selected_motor.value), - 'motor_position':motor_position.value, - 'motor_ring':motor_ring.value, - 'motor_ring_material':ring_material.value, - 'motor_ring_density':ring_density.value, - 'parachute_l0':rope_rest_length.value, - 'parachute_weight':parachute_weight.value, - 'parachute_sref1':s_ref1.value, - 'parachute_sref2':s_ref2.value, - 'parachute_Cd':parachute_cd.value, - 'parachute_deploy_method':deploy_method.value, - 'second_para_deploy_alt':deploy_alt.value, - 'parachute_deploy_timer':parachute_timer.value, - 'additional_masses':mass_dict_list(), - 'rocket_mass':rocket_mass.value, - 'rocket_prop_weight':prop_weight.value, - 'ejected_nose_mass':nose_mass.value, - 'rocket_launch_angle':rocket_launch_angle.value*np.pi/180, # conversion to radians - 'wind_on':wind_on.value, - 'wind_average_speed':wind_average_speed.value} - - return rocket - -def rocket_creation(data_source = "widgets"): - ''' - When data_source = "widgets" - Create a CustomRocket object representing the rocket from its dict, and write it content in 'rocket_dict.json'. - - When data_source = "file_name.json" - Create a CustomRocket object representing the rocket from the file_name (which must contain a dictionnary). - - Use the shortcut "json" for data_source to use the "rocket_dict.json" file. - ''' - if data_source == "widgets": - rocket_dict = rocket_dictionary() - myrocket = CustomRocket.fromDict(rocket_dict) - - volume, mass, cog, inertia = myrocket.get_mass_properties() - - rocket_dict['rocket_volume'] = volume - # rocket_dict['rocket_mass'] = mass ### For now the mass is passed as the mass entered by the user - rocket_dict['rocket_cog'] = cog.tolist() - rocket_dict['rocket_inertia'] = inertia.tolist() - - # Write the content of the dict in a file that will be passed to the model - with open("include/init_rocket/rocket_dict.json", "w") as f: - json.dump(rocket_dict, f) - - elif data_source == "json": - with open("./include/init_rocket/rocket_dict.json", "r") as f: - rocket_dict = json.load(f) - myrocket = CustomRocket.fromDict(rocket_dict) - - else: - with open(data_source, "r") as f: - rocket_dict = json.load(f) - myrocket = CustomRocket.fromDict(rocket_dict) - - return myrocket \ No newline at end of file diff --git a/UI/model/Aerodynamics/Aerodynamics.py b/UI/model/Aerodynamics/Aerodynamics.py deleted file mode 100644 index ced9954..0000000 --- a/UI/model/Aerodynamics/Aerodynamics.py +++ /dev/null @@ -1,37 +0,0 @@ -from cosapp.base import System - -from Aerodynamics.Aeroforces import AeroForces -from Aerodynamics.Coefficients import Coefficients -from Aerodynamics.Moments import Moments - -from Ports import VelPort - -import numpy as np - -class Aerodynamics(System): - def setup(self): - #System orientation - self.add_inward('Aero_ang', np.zeros(3), desc = "Rocket Euler Angles") - - #Geometry - self.add_inward('m', desc = "mass", unit = 'kg') - self.add_inward('CG', desc='Rocket center of gravity', unit='m') - - self.add_input(VelPort, 'v_wind') - - self.add_outward('F', np.zeros(3), desc = "Aerodynamics Forces", unit = 'N') - self.add_outward('Ma', np.zeros(3), desc = "Aerodynamics Moments", unit = 'N*m') - - #Parachute - self.add_inward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - self.add_child(AeroForces('Aeroforces'), pulling=['v_cpa', 'F','rho', 'v_wind', 'ParaDep']) - self.add_child(Coefficients('Coefs'), pulling=['v_cpa', 'l', 'rho', 'v_wind', 'av', 'ParaDep']) - self.add_child(Moments('Moments'), pulling=['Ma', 'ParaDep', 'CG']) - - self.connect(self.Coefs, self.Aeroforces, ['Cd', 'N','S_ref']) - self.connect(self.Coefs, self.Moments, ['Xcp', 'l', 'M', 'Mroll']) - self.connect(self.Aeroforces, self.Moments, ['F']) - - - self.exec_order = ['Coefs', 'Aeroforces', 'Moments'] diff --git a/UI/model/Aerodynamics/Aeroforces.py b/UI/model/Aerodynamics/Aeroforces.py deleted file mode 100644 index 7255a6d..0000000 --- a/UI/model/Aerodynamics/Aeroforces.py +++ /dev/null @@ -1,43 +0,0 @@ -from cosapp.base import System - -from Ports import VelPort - -import numpy as np - -class AeroForces(System): - def setup(self): - self.add_inward('v_cpa', np.zeros(3), desc='CPA velocity', unit='m/s') - - self.add_inward('Aeroforces_ang', np.zeros(3), desc="Computing artefact, don't worry") - - #Coefficients inwards - self.add_inward('Cd', 0., desc='Drag coefficient', unit='') - self.add_inward('N', 0., desc='Normal force', unit='') - self.add_inward('S_ref', 1., desc="Reference Surface", unit="m**2") - - #Atmosphere - self.add_inward('rho', 1.292, unit="kg/m**3") - - #Wind - self.add_input(VelPort, 'v_wind') - - self.add_outward('F', np.zeros(3) , desc='Aerodynamic Forces', unit='N') - - #Parachute - self.add_inward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - def compute(self): - if self.ParaDep: - return - - self.v_cpa -= self.v_wind.val - - Fd = .5 * self.rho * np.linalg.norm(self.v_cpa)**2 * self.S_ref * self.Cd - Fn = self.N - - a = np.arctan2(self.v_cpa[2], self.v_cpa[1]) - - Fnz = - Fn*np.sin(a) - Fny = - Fn*np.cos(a) - - self.F = [-Fd, Fny, Fnz] diff --git a/UI/model/Aerodynamics/Coefficients.py b/UI/model/Aerodynamics/Coefficients.py deleted file mode 100644 index 174681a..0000000 --- a/UI/model/Aerodynamics/Coefficients.py +++ /dev/null @@ -1,216 +0,0 @@ -from cosapp.base import System - -import numpy as np - -from Ports import VelPort - -class Coefficients(System): - def setup(self): - - self.add_inward('Coefs_ang', np.zeros(3), desc="Computing artefact, don't worry") - - #Speed - self.add_inward('v_cpa', np.zeros(3), desc='CPA velocity', unit='m/s') - self.add_inward('av', np.zeros(3), desc = "Rocket Angular Velocity (pqr)", unit = '1/s') - - #Atmosphere - self.add_inward('rho', 1.292, unit="kg/m**3") - self.add_inward('nu', 1.5 * 10**-5, unit="m/s**2") - - #Wind - self.add_input(VelPort, 'v_wind') - - # Rocket's Geometry - self.add_inward('d', 0.06, desc='Rocket diameter', unit='m') - self.add_inward('l', -1, desc = "Rocket length", unit = 'm') - self.add_inward('ln', 0.15, desc="Length of the cone", unit='m') - self.add_outward('S_ref', np.pi*(self.d/2)**2, desc="Reference Surface", unit="m**2") - self.add_inward('A0', 0., desc = "Cross section at the top of the body", unit = 'm**2') - self.add_inward('Al', self.S_ref, desc = "Cross section at the bottom of the body", unit = 'm**2') - - #Fins' Geometry, check the documentation for explanation - self.add_inward('NFins', 4, desc="Number of fins", unit="") - self.add_inward('s', 0.1, desc="Span of one fin", unit='m') - self.add_inward('Xt', 0.03, unit = 'm') - self.add_inward('Cr', 0.09, unit = 'm') - self.add_inward('Ct', 0.03, unit = 'm') - self.add_inward('GammaC', np.arctan2(self.Xt + 0.5*(self.Ct - self.Cr), self.s), desc = 'Fin mid-chord sweep angle', unit="m") - self.add_inward('delta', 0., desc="Cant angle", unit = '') - self.add_inward('tf', 0.002, desc = 'Thickness', unit='m') - - #Coefficients outwards - self.add_outward('Cd', 0.6, desc='Drag coefficient', unit='') - self.add_outward('N', 0., desc='Normal force') - self.add_outward('M', 0., desc='Pitch moment') - self.add_outward('Mroll', 0., desc='Roll moment') - self.add_outward('Xcp', 0., desc='CPA position from the rocket top', unit='m') - - #Parachute - self.add_inward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - def compute(self): - if self.ParaDep: - return - - self.v_cpa -= self.v_wind.val - - v_norm = np.linalg.norm(self.v_cpa) - - alpha = np.arccos(self.v_cpa[0]/v_norm) if v_norm>0.1 else 0 #angle d'attaque - - M = v_norm / 340.29 # Mach number - Beta = np.sqrt(abs(M**2-1)) #In our case, we will almost always have a subsonic flight with M<1 - - r = self.d/2 - l_t = (self.l - self.ln) # Location of Fin Leading Edge Intersection with body, measured from nose tip - Yma = self.s/3 * (self.Cr + 2 * self.Ct) / (self.Cr + self.Ct) # Span wise position of the mean aerodynamic chord - Afin = (self.Cr + self.Ct)/2 * self.s #One sided area - V = (self.l - self.ln)*self.Al + 1/3*self.ln*np.pi*(self.d/2)**2 # Volume of the body - - - Cna_one_fin = (2*np.pi*self.s**2/self.S_ref )/(1 + (1 + (Beta*self.s**2/(Afin*np.cos(self.GammaC)))**2)**0.5) - # print("Normal coef for a single fin", Cna_one_fin) - - normalisation_coeff = [1,1,1,1,0.948,0.913,0.854,0.810,0.750] - coeff = normalisation_coeff[self.NFins-1] if self.NFins<=8 else 0.750 #coeff to keep the formula valid for any number of fins - Cna_all_fins = Cna_one_fin * self.NFins/2*coeff - Cna_all_fins = Cna_all_fins * (1 + r/(self.s + r)) # We need to take into account the fin-body interference - # print("interference factor", (1 + r/(self.s + r))) - # print("Normal coef for 4 fins", Cna_all_fins) - Cna_body = 2/self.S_ref*(self.Al - self.A0) #*np.sin(self.alpha)/self.alpha - # print("Cna body", Cna_body) - - Cma_body = 2/(self.S_ref*self.d)*(self.l*self.Al - V) #*np.sin(self.alpha)/self.alpha - # print("Cma body", Cma_body) - - Cna = Cna_all_fins + Cna_body - Cma = Cma_body - - Cn = Cna*alpha - Cm = Cma*alpha #Check the formula, it is calculated at the top nose here and should be calculated at the CG - - Xbody = (self.l*self.Al - V)/(self.Al - self.A0) - # print("CP Body", Xbody) - - Xfins = l_t + self.Xt/3*(self.Cr+2*self.Ct)/(self.Cr+self.Ct) + 1/6*(self.Cr**2 + self.Ct**2 +self.Cr*self.Ct)/(self.Cr+self.Ct) - # print(Xfins - l_t) - self.Xcp = self.l - (Xbody*Cna_body + Xfins*Cna_all_fins)/Cna - - # print(f'{self.Xcp=}') - # print(f'{Cna=}') - # print(f'{Cn=}') - # print(f'{Cma=}') - # print(f'{Cm=}') - - self.N = 0.5*Cn*self.rho*v_norm**2*self.S_ref - self.M = 0.5*Cm*self.rho*v_norm**2*self.S_ref*self.d # TODO : Finish the calculation by taking into account the moment induced by the fins. It is not mandatory right now, because the moment is calculated by a lever arm technique. - - # Parameters for Roll Moment. - # Documented at: https://github.com/RocketPy-Team/RocketPy/blob/master/docs/technical/aerodynamics/roll_equations.rst - λ = self.Ct / self.Cr - tau = (self.s + r) / r - - rollGeometricalConstant = ( - (self.Cr + 3 * self.Ct) * self.s**3 - + 4 * (self.Cr + 2 * self.Ct) * r * self.s**2 - + 6 * (self.Cr + self.Ct) * self.s * r**2 - ) / 12 - rollDampingInterferenceFactor = 1 + ( - ((tau - λ) / (tau)) - ((1 - λ) / (tau - 1)) * np.log(tau) - ) / ( - ((tau + 1) * (tau - λ)) / (2) - ((1 - λ) * (tau**3 - 1)) / (3 * (tau - 1)) - ) - rollForcingInterferenceFactor = (1 / np.pi**2) * ( - (np.pi**2 / 4) * ((tau + 1) ** 2 / tau**2) - + ((np.pi * (tau**2 + 1) ** 2) / (tau**2 * (tau - 1) ** 2)) - * np.arcsin((tau**2 - 1) / (tau**2 + 1)) - - (2 * np.pi * (tau + 1)) / (tau * (tau - 1)) - + ((tau**2 + 1) ** 2) - / (tau**2 * (tau - 1) ** 2) - * (np.arcsin((tau**2 - 1) / (tau**2 + 1))) ** 2 - - (4 * (tau + 1)) - / (tau * (tau - 1)) - * np.arcsin((tau**2 - 1) / (tau**2 + 1)) - + (8 / (tau - 1) ** 2) * np.log((tau**2 + 1) / (2 * tau)) - ) - - Clfd = rollForcingInterferenceFactor * self.N * (r + Yma) * Cna_one_fin / self.d - - Cldw = 2*rollDampingInterferenceFactor * self.N * Cna_one_fin * np.cos(self.delta) * rollGeometricalConstant/ (self.S_ref * self.d**2) - - # print(f'{Clfd=}') - # print(f'{Cldw=}') - - # print(f'{rollDampingInterferenceFactor=}') - # print(f'{rollForcingInterferenceFactor=}') - - Mlf = 1 / 2 * self.rho * v_norm**2* self.S_ref * self.d * Clfd * self.delta - - # print(f'{self.av[0]=}') - Mld = 1 / 2 * self.rho * v_norm * self.S_ref * self.d**2 * Cldw * self.av[0] / 2 - self.Mroll = Mlf - Mld - # print(f'{self.Mroll=}') - - - ############ Drag coefficient ############ - - Afin = (self.Cr+self.Ct)/2*self.s #One sided area - - A_ref = (r)**2 * np.pi - A_wet_body = np.pi * r * (self.ln**2 + r**2)**0.5 - A_wet_fins = 2 * self.NFins * Afin - A_wet = A_wet_fins + A_wet_body - t = .0005 #ailerons de 5mm d'épaisseur - f_B = self.l/self.d - c_bar = 2/3*(self.Cr + self.Ct - self.Cr*self.Ct/(self.Cr + self.Ct)) #Mean aerodynamical chord - - - ###Reynolds - R = self.l * v_norm / self.nu - - - ##Skin friction drag - R_s = 20 #dépend de la surface - R_crit = 51 * (R_s/self.l)**(-1.039) - - if R<10**4: - C_f = 1.48*10**-2 - elif R>10**4 and R None: - sink = self.sink - source = self.source - - #Parent --> Child - if sink.owner.parent == source.owner: - sink.val = np.matmul(RotMat3D(sink.owner[f'{sink.owner.name}_ang']), source.val) - - #Child --> Parent - elif sink.owner == source.owner.parent: - sink.val = np.matmul(np.transpose(RotMat3D(source.owner[f'{source.owner.name}_ang'])), source.val) - - else: - sink.val = source.val - - - -class AclPort(Port): - """Acceleration Port """ - def setup(self): - self.add_variable('val', np.zeros(3), desc = "Acceleration Components", unit = 'm/s**2') - - - class Connector(BaseConnector): - """Custom connector for `AclPort` objects - """ - def __init__(self, name: str, sink: Port, source: Port, *args, **kwargs): - super().__init__(name, sink, source) - - def transfer(self) -> None: - sink = self.sink - source = self.source - - #Parent --> Child - if sink.owner.parent == source.owner: - sink.val = np.matmul((RotMat3D(sink.owner[f'{sink.owner.name}_ang'])), source.val) - - #Child --> Parent - elif sink.owner == source.owner.parent: - sink.val = np.matmul(np.transpose(RotMat3D(source.owner[f'{source.owner.name}_ang'])), source.val) - - else: - sink.val = source.val - diff --git a/UI/model/Rocket.py b/UI/model/Rocket.py deleted file mode 100644 index 2ab3053..0000000 --- a/UI/model/Rocket.py +++ /dev/null @@ -1,47 +0,0 @@ -from cosapp.base import System - -from Ports import VelPort, AclPort -from Kinematics import Kinematics -from Dynamics import Dynamics -from Thrust import Thrust -from Aerodynamics.Aerodynamics import Aerodynamics -from Mass import Mass - -import numpy as np - -class Rocket(System): - - def setup(self): - #System orientation - self.add_inward('Rocket_ang', np.zeros(3), desc = "Earth Euler Angles", unit = '') - - #Gravity input - self.add_input(AclPort, 'g') - self.add_input(VelPort, 'v_wind') - - #Rocket parameters - self.add_inward('l', 0.834664, desc='Rocket length', unit='m') - - #Parachute deployment - self.add_inward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - #Rocket children - self.add_child(Kinematics('Kin'), pulling = ['v_out', 'Kin_ang', 'ParaDep']) - self.add_child(Thrust('Thrust'), pulling=['l']) - self.add_child(Dynamics('Dyn'), pulling = ['g', 'l', 'ParaDep']) - self.add_child(Aerodynamics('Aero'), pulling = ['l','rho', 'v_wind', 'ParaDep']) - self.add_child(Mass('Mass')) - - #Child-Child connections - self.connect(self.Kin, self.Dyn, {'Kin_ang' : 'Dyn_ang', 'v_out' : 'v_in', 'a': 'a', 'aa' : 'aa'}) - self.connect(self.Kin, self.Aero, {'Kin_ang' : 'Aero_ang', 'v_cpa':'v_cpa', 'av_out':'av'}) - self.connect(self.Dyn, self.Aero, ['F', 'Ma']) - self.connect(self.Thrust, self.Dyn, ['Fp', 'Mp']) - self.connect(self.Mass, self.Dyn, {'m_out':'m', 'I':'I'}) - self.connect(self.Mass, self.Aero, {'m_out':'m','CG_out':'CG'}) - self.connect(self.Mass, self.Thrust, {'CG_out':'CG'}) - - #Execution order - self.exec_order = ['Mass', 'Thrust', 'Aero', 'Dyn', 'Kin'] - - diff --git a/UI/model/Thrust.py b/UI/model/Thrust.py deleted file mode 100644 index 5657147..0000000 --- a/UI/model/Thrust.py +++ /dev/null @@ -1,28 +0,0 @@ -from cosapp.base import System -from Utility.Utility import thrust - -from scipy.spatial.transform import Rotation as R - -import numpy as np - -class Thrust(System): - def setup(self): - self.add_inward('bang', np.zeros(3), desc="bracage angle", unit="") - self.add_inward('inclinaison', 0.0) - - #Geometry - self.add_inward('l', desc = "Rocket length", unit = 'm') - self.add_inward('CG', desc='Center of Gravity', unit='m') - - #Thrust outputs - self.add_outward("Fp", np.zeros(3), desc="Thrust Force", unit = 'N') - self.add_outward('Mp', np.zeros(3), desc="Thrust Moment", unit = 'N*m') - - #Computing artefact - self.add_transient("useless", der='l', desc="Useless") - - def compute(self): - self.Fp = np.array([thrust(self.time), 0, 0]) - rot = R.from_euler('xyz', np.array([0, self.inclinaison, 0])) - self.Fp = rot.apply(self.Fp) - self.Mp = np.cross(np.array([- self.CG, 0, 0]), self.Fp) \ No newline at end of file diff --git a/UI/model/Trajectory.py b/UI/model/Trajectory.py deleted file mode 100644 index d6d185b..0000000 --- a/UI/model/Trajectory.py +++ /dev/null @@ -1,74 +0,0 @@ -from cosapp.base import System - -from Ports import VelPort - -import numpy as np - -from scipy.spatial.transform import Rotation as R - -class Trajectory(System): - - def setup(self): - - #Rocket inputs - self.add_input(VelPort, 'v') - self.add_outward('r_out', np.zeros(3), desc = "Rocket Position", unit="m") - - #Trajectory transients - self.add_transient('r', der = 'v.val', desc = "Rocket Position") - - self.add_inward('ang', np.zeros(3), desc = "Rocket angular position", unit = '') - - # Rope length of the parachute - self.add_inward('l0', 1., desc = "Rope rest length", unit = 'm') - - self.add_inward('parachute_deploy_method', 0, desc= "Deploy method for the parachute, 0 for 'velocity' and 1 for 'timer'") - self.add_inward('parachute_deploy_timer', 9.0, desc= "Deploy timer of the parachute") - - ### Event ### - # We can define the deployment of the parachute when the vertical velocity becomes negative - self.add_event("VelocityPara", trigger='v.val[2] < 0') - # We can also define the deployment of the parachute after a certain time, 9s here for example - self.add_event("TimerPara", trigger = 'time > parachute_deploy_timer') - - self.add_inward("apogee_time", np.Infinity, unit = "s") - self.add_event("FinallyDeployed", trigger = "time > apogee_time + .1 ") # The parachute takes .1 second to deploy itself - - self.add_inward('ParaDepStatus', False, desc = "Parachute Deployed", unit = '') - self.add_outward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - def transition(self): - - if ((self.VelocityPara.present and self.parachute_deploy_method == 0) or (self.TimerPara.present and self.parachute_deploy_method == 1)) and not self.ParaDepStatus: - print("___PARACHUTE DEPLOYMENT___") - self.apogee_time = self.time - DynPar = self.parent.Para.DynPar - DynPar.r1 = self.r - DynPar.r2 = self.r - DynPar.v1 = self.v.val - DynPar.v2 = self.v.val - l0 = [self.l0,0,0] - rotation = R.from_euler('xyz', self.ang, degrees=False) - vectEarth = rotation.apply(l0) - DynPar.r1 = DynPar.r1 + vectEarth - #print("coordinates (1,2) at apogee", DynPar.r1, DynPar.r2) - #print("velocity (1,2) at apogee", DynPar.v1, DynPar.v2) - #print('Apogee time', self.time) - - print('\n') - print("Rocket X Coordinate at Deployment: ", DynPar.r2[0], 'm') - print("Rocket Y Coordinate at Deployment: ", DynPar.r2[1], 'm') - print("Rocket Z Coordinate at Deployment: ", DynPar.r2[2], 'm') - print('\n') - print("___PARACHUTE DEPLOYMENT___") - - - if self.FinallyDeployed.present: - print('\n') - print("Parachute fully deployed !") - self.ParaDepStatus = True - - - def compute(self): - self.r_out = self.r - self.ParaDep = self.ParaDepStatus diff --git a/UI/model/Utility/Utility.py b/UI/model/Utility/Utility.py deleted file mode 100644 index 3a559b3..0000000 --- a/UI/model/Utility/Utility.py +++ /dev/null @@ -1,28 +0,0 @@ -import pandas as pd -import os - -current_path = os.getcwd() -assert current_path.endswith("UI") , f"Move to rocket-twin\\UI in order to run the model. You are now at {current_path}" - -thrust_data = pd.read_csv("model/Utility/thrust.txt", header=None) -times = list(thrust_data.iloc[0]) -thrusts = list(thrust_data.iloc[1]) - -def mean(x, y, fx, fy, t): - """Calculates the linear regression between x and y and evaluates it at t""" - percent = (t - x)/(y - x) - return (fx + (fy - fx)*percent) - - -def thrust(time): - """Calculates the thrust of the rocket""" - - #If the time is superior to the last data point there is no more thrust - if time >= times[-1]: - return 0 - - i=0 - while times[i] <= time: - i += 1 - - return mean(times[i - 1], times[i], thrusts[i - 1], thrusts[i], time) diff --git a/UI/model/Utility/__init__.py b/UI/model/Utility/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/UI/model/Utility/drawer.py b/UI/model/Utility/drawer.py deleted file mode 100644 index 8605c1d..0000000 --- a/UI/model/Utility/drawer.py +++ /dev/null @@ -1,8 +0,0 @@ -altitude_2623 = {"x":[0.015,0.537,0.626,1.342,2.416,3.429,4.592,5.219,5.815,6.501,7.247,8.022,9.513,10.08,10.467,11.243,12.406,13.211,14.642,18.817,22.485,24.99,27.227,29.881,32.266,34.205,36.561,38.917,41.243,42.838],"y":[1.948,10.029,28.499,74.098,135.859,187.807,231.674,250.144,265.729,277.273,283.622,287.662,280.736,272.655,266.883,262.266,251.876,244.372,236.291,197.619,166.45,145.094,124.315,100.649,86.219,68.903,51.587,30.808,10.029,-0.361]} - -pression_2623 = {"x":[0.024,0.289,0.579,0.916,1.302,1.785,2.315,3.039,3.762,4.437,5.354,6.415,7.862,9.164,10.177,11.286,12.974,14.469,16.061,17.605,19.148,20.691,21.994,23.537,25.032,26.527,27.733,29.132,30.482,31.688,33.087,34.486,35.981,37.331,38.633,40.08,41.334,42.661],"y":[97609.756,97524.39,97365.854,97109.756,96804.878,96451.22,96073.171,95634.146,95292.683,94987.805,94682.927,94475.61,94317.073,94353.659,94487.805,94560.976,94756.098,94865.854,95048.78,95195.122,95353.659,95500,95646.341,95817.073,95939.024,96109.756,96219.512,96365.854,96463.415,96597.561,96695.122,96829.268,96951.22,97109.756,97243.902,97378.049,97475.61,97634.146]} - -import matplotlib.pyplot as plt - -plt.plot(pression_2623['x'], pression_2623['y']) -plt.show() \ No newline at end of file diff --git a/UI/model/Utility/thrust.txt b/UI/model/Utility/thrust.txt deleted file mode 100644 index 10091be..0000000 --- a/UI/model/Utility/thrust.txt +++ /dev/null @@ -1,2 +0,0 @@ -0, 0.18, 0.544, 0.908, 1.273, 1.638, 2.002, 2.367, 2.731, 3.096, 3.46, 3.825, 4.19, 4.554, 4.919, 5.283, 5.648, 6.012, 6.377, 6.742, 7.106, 7.471, 7.835, 8.2, 8.565, 8.929, 9.294 -0, 125.4, 139.3, 145.4, 148.3, 146.7, 139, 131.2, 123.3, 113.5, 102.4, 90.21, 78.08, 66.81, 55.78, 47.28, 39.15, 32.53, 27.07, 22.1, 18.09, 14.82, 12.1, 9.763, 7.875, 5.999, 0 \ No newline at end of file diff --git a/UI/model/Utility/thrustB44.txt b/UI/model/Utility/thrustB44.txt deleted file mode 100644 index 5728bd9..0000000 --- a/UI/model/Utility/thrustB44.txt +++ /dev/null @@ -1,2 +0,0 @@ -0.0, 0.25, 0.3, 0.82, 0.9 -0.0, 13, 3.5, 3.8, 0 \ No newline at end of file diff --git a/UI/model/Utility/thrustC63.txt b/UI/model/Utility/thrustC63.txt deleted file mode 100644 index 9c4b9c6..0000000 --- a/UI/model/Utility/thrustC63.txt +++ /dev/null @@ -1,2 +0,0 @@ -0.0, 0.10, 0.20, 0.30, 0.40, 0.62, 1.15, 1.86, 2.0 -0.0, 0.60, 4.30, 12.7, 5.10, 3.50, 3.20, 3.80, 0.0 \ No newline at end of file diff --git a/UI/model/Utility/thrustPandoraPro24.txt b/UI/model/Utility/thrustPandoraPro24.txt deleted file mode 100644 index 54a8dc9..0000000 --- a/UI/model/Utility/thrustPandoraPro24.txt +++ /dev/null @@ -1,2 +0,0 @@ -0.0, 0.02, 0.04, 0.62, 0.66, 0.68, 0.8, 0.84, 0.88, 0.92, 0.96, 1.0 -0, 250, 210, 160, 150, 142, 62, 48, 34, 24, 15, 10 \ No newline at end of file diff --git a/UI/model/Wind.py b/UI/model/Wind.py deleted file mode 100644 index b3a697e..0000000 --- a/UI/model/Wind.py +++ /dev/null @@ -1,94 +0,0 @@ -from cosapp.base import System - -from Ports import VelPort - -import numpy as np - -from scipy.interpolate import interp1d - -import json - -import matplotlib.pyplot as plt - - -class Wind(System): - def setup(self): - self.add_output(VelPort, "v_wind") - self.add_inward('r', np.zeros(3), desc='rocket position in earth referential', unit='m') - self.add_inward('r1', np.zeros(3), desc='rocket position in earth referential after parachute deployment', unit='m') - - #Parachute - self.add_inward('ParaDep', False, desc = "Parachute Deployed", unit = '') - - self.add_inward('wind_on', True, desc="Is the wind on ?", unit='') - - def compute(self): - if not self.wind_on: - self.v_wind.val = [0., 0. ,0.] - return - - if self.ParaDep: - self.v_wind.val = get_wind(self.parent.Para.DynPar.r1[2]) - else: - self.v_wind.val = get_wind(self.r[2]) - - -with open("./include/init_rocket/rocket_dict.json", "r") as f: - rocket_dict = json.load(f) - average_speed = rocket_dict['wind_average_speed'] - - -def wind(average_speed): - # Define the number of altitude steps and the maximum height - n_steps_dir = 10 # number of steps for wind direction - n_steps_spd = 10 # number of steps for wind speed - max_height = 5000 # in meters - - # Generate random wind directions and speeds for each altitude step - wind_initial_direction = np.random.uniform(low=0, high=360, size=1) # in degrees - wind_directions = np.abs(np.random.normal(loc=wind_initial_direction, scale=20, size=n_steps_dir)) # in degrees - wind_speeds = np.abs(np.random.normal(loc=average_speed, scale=1, size=n_steps_spd)) - wind_speeds = np.insert(wind_speeds,0,0) #couche limite au sol - # print(wind_speeds) - - # Create a cubic spline interpolation of wind direction and speed - altitudes_dir = np.linspace(0, max_height, n_steps_dir) # in meters - altitudes_spd = np.linspace(0, max_height, n_steps_spd+1) # in meters - altitudes_spd[1] = 100 #fin de la couche limite à 50 mètres de haut - interp_directions = interp1d(altitudes_dir, wind_directions, kind='cubic') - interp_speeds = interp1d(altitudes_spd, wind_speeds, kind='linear') - - # Create a plot of the wind direction profile - # fig1, ax1 = plt.subplots() - altitudes_plot_dir = np.linspace(0, max_height, 500) # in meters - directions_plot = interp_directions(altitudes_plot_dir) % 360 # in degrees - # ax1.plot(directions_plot, altitudes_plot_dir) - # ax1.set_xlim([0, 360]) - # ax1.set_ylim([0, max_height]) - # ax1.set_xlabel('Wind direction (degrees)') - # ax1.set_ylabel('Altitude (m)') - # ax1.set_title('Random wind direction profile') - - # Create a plot of the wind speed profile - # fig2, ax2 = plt.subplots() - altitudes_plot_spd = np.linspace(0, max_height, 500) # in meters - speeds_plot = interp_speeds(altitudes_plot_spd) # in meters per second - # ax2.plot(speeds_plot, altitudes_plot_spd) - # ax2.set_xlim([0, 30]) - # ax2.set_ylim([0, max_height]) - # ax2.set_xlabel('Wind speed (m/s)') - # ax2.set_ylabel('Altitude (m)') - # ax2.set_title('Random wind speed profile') - # plt.show() - sample = speeds_plot,directions_plot - return sample - -sample_wind = wind(average_speed) - - - -def get_wind(alt): - alt = int(alt//10) #on a un pas de 10 mètres pour cette fonction - return [sample_wind[0][alt]*np.cos(sample_wind[1][alt]*np.pi/180), sample_wind[0][alt]*np.sin(sample_wind[1][alt]*np.pi/180),0] - - diff --git a/UI/model/montecarlo.py b/UI/model/montecarlo.py deleted file mode 100644 index a6ea24f..0000000 --- a/UI/model/montecarlo.py +++ /dev/null @@ -1,160 +0,0 @@ -from cosapp.drivers import RungeKutta -from cosapp.recorders import DataFrameRecorder -from cosapp.drivers import NonLinearSolver, RunOnce, MonteCarlo, RunSingleCase -from cosapp.utils.distributions import Normal -import sys -sys.path.append('./model') -from Earth import Earth -import json -import numpy as np - -earth = Earth("earth") - -l = 10 #Rocket's length on the plot -dt = 0.05 #Time-step - -angz = -np.pi/2 - -from cosapp.utils.distributions import Normal -from cosapp.drivers import MonteCarlo -from cosapp.recorders import DataFrameRecorder - - -LOAD = True - -if LOAD: - with open("./include/init_rocket/rocket_dict.json", "r") as f: - rocket_dict = json.load(f) - l = rocket_dict['tube_length'] + rocket_dict['nose_length'] #Rocket's length on the plot - angz = - rocket_dict['rocket_launch_angle'] - # Load the thrust.txt - thrust = rocket_dict['motor']['samples'] - with open("model/Utility/thrust.txt", "w") as f: - for i in range(len(thrust[0])): - f.write(", ".join([str(point[i]) for point in thrust])) - if i < len(thrust[0]) - 1: - f.write("\n") - -init = { - 'Traj.r' : np.array([-(l/2)*np.sin(angz), 0., (l/2)*np.cos(angz)]), - 'Rocket.Kin.v' : np.array([0,0,0]), - 'Rocket.Kin.ar' : 'initrot', - 'Rocket.Kin.av' : np.zeros(3), - 'Para.DynPar.r1' : np.array([0., 0., l/2]), - 'Para.DynPar.r2' : np.array([0., 0., l/2]), - 'Para.DynPar.v1' : np.array([0,0,0]), - 'Para.DynPar.v2' : np.array([0,0,0]), -} -# rocket_dict parameters -if LOAD: - init = {**init, - 'Traj.r' : np.array([0,0, rocket_dict['rocket_cog'][0]]), - 'Para.DynPar.r1' : np.array([0., 0., rocket_dict['rocket_cog'][0]]), - 'Para.DynPar.r2' : np.array([0., 0., rocket_dict['rocket_cog'][0]]), - 'Rocket.CG': rocket_dict['rocket_cog'][0], - 'Rocket.l' : l, - 'Rocket.Mass.m' : rocket_dict['rocket_mass'], - 'Rocket.Mass.m0' : rocket_dict['rocket_mass'], - 'Rocket.Mass.Dm' : rocket_dict['rocket_prop_weight']/thrust[-1][0], - 'Rocket.Mass.lastEngineTime' : thrust[-1][0], - 'Rocket.Mass.I0_geom' : [rocket_dict['rocket_inertia'][i][i] for i in range(3)], - - 'Rocket.Aero.Coefs.ln' : rocket_dict['nose_length'], - 'Rocket.Aero.Coefs.d' : 2*rocket_dict['tube_radius'], - 'Rocket.Aero.Coefs.NFins' : rocket_dict['fins_number'], - 'Rocket.Aero.Coefs.s' : rocket_dict['fins_s'], - 'Rocket.Aero.Coefs.Xt' : rocket_dict['fins_Xt'], - 'Rocket.Aero.Coefs.Cr' : rocket_dict['fins_Cr'], - 'Rocket.Aero.Coefs.Ct' : rocket_dict['fins_Ct'], - 'Rocket.Aero.Coefs.tf' : rocket_dict['fins_thickness'], - 'Rocket.Aero.Coefs.delta' : rocket_dict['delta'], - - 'Wind.wind_on' : rocket_dict['wind_on'], - # 'Wind.wind_average_speed' : rocket_dict['wind_average_speed'], - - 'Para.l0' : rocket_dict['parachute_l0'], - 'Para.m1' : rocket_dict['parachute_weight'] + rocket_dict['ejected_nose_mass'], - 'Para.m2' : rocket_dict['rocket_mass'] - rocket_dict['ejected_nose_mass'], - 'Para.DynPar.S_ref' : rocket_dict['parachute_sref'], - 'Para.DynPar.Cd' : rocket_dict['parachute_Cd'], - - 'Traj.parachute_deploy_method' : 0 if rocket_dict['parachute_deploy_method'] == 'velocity' else 1, - 'Traj.parachute_deploy_timer' : rocket_dict['parachute_deploy_timer'], - } - - - -def run_analysis(syst, draws=10, linear=True): - syst.drivers.clear() # Remove all drivers on the System - - runonce = syst.add_driver(RunOnce("runonce")) - driver = syst.add_driver(RungeKutta(order=4, dt=dt)) - # driver.add_recorder(DataFrameRecorder(includes=['Rocket.Kin.ar', 'Traj.r', 'initrot'])) - driver.add_child(NonLinearSolver('solver', factor=1.0)) - driver.time_interval = (0, 40) - - # Define a simulation scenario - driver.set_scenario( - init = init, - stop = 'Para.DynPar.r2[2] < -1' - ) - - syst.run_drivers() - - # return driver.recorder.export_data() - - print("MONTECARLO") - # Montecarlo - syst.drivers.clear() - montecarlo = syst.add_driver(MonteCarlo('mc')) - montecarlo.add_recorder(DataFrameRecorder(includes=['Rocket.Kin.ar', 'Traj.r', 'initrot'])) - montecarlo.add_child(driver) - montecarlo.draws = draws - # montecarlo.linear = linear - - # parameters for uncertainties in the data - pitch_attr = syst.inwards.get_details('pitch_init') - yaw_attr = syst.inwards.get_details('yaw_init') - - # Set the distribution around the current value - pitch_attr.distribution = Normal(best=.1, worst=-0.02) - yaw_attr.distribution = Normal(best=.05, worst=-0.05) - - montecarlo.add_random_variable('pitch_init') - montecarlo.add_random_variable('yaw_init') - - # Computation - syst.run_drivers() - - return montecarlo.recorder.export_data() - - - -results = run_analysis(earth, draws=6, linear=False) - - -print(results) - - -import plotly.graph_objs as go -from plotly.subplots import make_subplots - -traj = np.asarray(results['Traj.r'].tolist()) - -# Create the figure object -fig = make_subplots(rows=1, cols=1) -fig.layout.title = "Probability" -fig.layout.yaxis.title = 'Y Position' - -fig.add_trace( - go.Scatter( - x=traj[:,0], - y=traj[:,1], - mode = 'markers' - ), - row = 1, - col = 1, -) -fig.get_subplot(1, 1).xaxis.title = "X Position" - -fig.show() \ No newline at end of file diff --git a/UI/model/requirements.txt b/UI/model/requirements.txt deleted file mode 100644 index 718c672..0000000 --- a/UI/model/requirements.txt +++ /dev/null @@ -1,14 +0,0 @@ -cosapp==0.12.2 -ipython==8.11.0 -matplotlib==3.6.3 -numpy==1.20.1 -pandas==1.2.4 -pythreejs==2.4.2 -scipy==1.10.1 -sympy==1.8 -numpy-stl==3.0.1 -pyvista==0.38.5 -ipywidgets==8.0.6 -ipympl==0.9.3 -plotly -nbformat \ No newline at end of file diff --git a/UI/model/rocket_trajectory.py b/UI/model/rocket_trajectory.py deleted file mode 100644 index 6d9df5f..0000000 --- a/UI/model/rocket_trajectory.py +++ /dev/null @@ -1,544 +0,0 @@ -import json -import numpy as np - -LOAD = True - -# We need to read from the dict before importing the Earth class, otherwise the thrust.txt file will not be the good one. -l = 2 -angz = -np.pi/2 - -if LOAD: - with open("./include/init_rocket/rocket_dict.json", "r") as f: - rocket_dict = json.load(f) - l = rocket_dict['tube_length'] + rocket_dict['nose_length'] #Rocket's length on the plot - angz = - rocket_dict['rocket_launch_angle'] - # Load the thrust.txt - thrust = rocket_dict['motor']['samples'] - with open("model/Utility/thrust.txt", "w") as f: - for i in range(len(thrust[0])): - f.write(", ".join([str(point[i]) for point in thrust])) - if i < len(thrust[0]) - 1: - f.write("\n") - -from Earth import Earth -from cosapp.drivers import RungeKutta, NonLinearSolver -from cosapp.recorders import DataFrameRecorder -from scipy.spatial.transform import Rotation as R -import IPython - -# Set the matplotlib backend to 'qt' for the jupyter notebook -# The condition checks if the script is run using IPython -if IPython.get_ipython() is not None: - IPython.get_ipython().run_line_magic('matplotlib', 'qt') - - -#Time-step -dt = 0.05 - -#Create System -earth = Earth('earth') - -#Add RungeKutta driver -driver = earth.add_driver(RungeKutta(order=4, dt=dt)) -driver.time_interval = (0, 100) - -#Add NonLinearSolver driver -solver = driver.add_child(NonLinearSolver('solver', factor=1.0)) - -# Add a recorder to capture time evolution in a dataframe -driver.add_recorder( - DataFrameRecorder(includes=['Traj.r', 'Rocket.Kin.v', 'Rocket.Dyn.a', 'Rocket.Dyn.m', 'Rocket.Thrust.Fp', 'Rocket.Kin.Kin_ang', - 'Rocket.Kin.av', 'Rocket.Aero.F', 'Traj.v.val', 'Wind.v_wind.val', 'Para.DynPar.r1', 'Para.DynPar.r2', 'Atmo.Pres.P', 'Rocket.Mass.CG_out', - 'Rocket.Aero.Coefs.Xcp']), - period=.1, -) - -#Initial conditions and constants - -init = { - 'Traj.r' : np.array([-(l/2)*np.sin(angz), 0., (l/2)*np.cos(angz)]), - 'Rocket.Kin.v' : np.array([0,0,0]), - 'Rocket.Kin.ar' : np.array([0, angz, 0]), - 'Rocket.Kin.av' : np.zeros(3), - 'Para.DynPar.r1' : np.array([0., 0., l/2]), - 'Para.DynPar.r2' : np.array([0., 0., l/2]), - 'Para.DynPar.v1' : np.array([0,0,0]), - 'Para.DynPar.v2' : np.array([0,0,0]), -} -# rocket_dict parameters -if LOAD: - init = {**init, - 'Traj.r' : np.array([0,0, rocket_dict['rocket_cog'][0]]), - 'Para.DynPar.r1' : np.array([0., 0., rocket_dict['rocket_cog'][0]]), - 'Para.DynPar.r2' : np.array([0., 0., rocket_dict['rocket_cog'][0]]), - 'Rocket.l' : l, - 'Rocket.Mass.m' : rocket_dict['rocket_mass'], - 'Rocket.Mass.m0' : rocket_dict['rocket_mass'], - 'Rocket.Mass.Dm' : rocket_dict['rocket_prop_weight']/thrust[-1][0], - 'Rocket.Mass.lastEngineTime' : thrust[-1][0], - 'Rocket.Mass.I0_geom' : [rocket_dict['rocket_inertia'][i][i] for i in range(3)], - 'Rocket.Mass.lp' : rocket_dict['motor']['length']*0.001*rocket_dict['motor']['propWeightG']/rocket_dict['motor']['totalWeightG'], - 'Rocket.Mass.Gdm' : rocket_dict['motor']['length']*0.001 + rocket_dict['motor_position'], - 'Rocket.Mass.mCG' : rocket_dict['rocket_mass']*rocket_dict['rocket_cog'][0], - - 'Rocket.Aero.Coefs.ln' : rocket_dict['nose_length'], - 'Rocket.Aero.Coefs.d' : 2*rocket_dict['tube_radius'], - 'Rocket.Aero.Coefs.NFins' : rocket_dict['fins_number'], - 'Rocket.Aero.Coefs.s' : rocket_dict['fins_s'], - 'Rocket.Aero.Coefs.Xt' : rocket_dict['fins_Xt'], - 'Rocket.Aero.Coefs.Cr' : rocket_dict['fins_Cr'], - 'Rocket.Aero.Coefs.Ct' : rocket_dict['fins_Ct'], - 'Rocket.Aero.Coefs.tf' : rocket_dict['fins_thickness'], - 'Rocket.Aero.Coefs.delta' : rocket_dict['delta'], - - 'Wind.wind_on' : rocket_dict['wind_on'], - # 'Wind.wind_average_speed' : rocket_dict['wind_average_speed'], - - 'Para.l0' : rocket_dict['parachute_l0'], - 'Para.m1' : rocket_dict['parachute_weight'] + rocket_dict['ejected_nose_mass'], - 'Para.m2' : rocket_dict['rocket_mass'] - rocket_dict['ejected_nose_mass'], - 'Para.DynPar.S_ref1' : rocket_dict['parachute_sref1'], - 'Para.DynPar.S_ref2' : rocket_dict['parachute_sref2'], - 'Para.DynPar.AltPara' : rocket_dict['second_para_deploy_alt'], - - - 'Para.DynPar.Cd' : rocket_dict['parachute_Cd'], - - 'Traj.parachute_deploy_method' : 0 if rocket_dict['parachute_deploy_method'] == 'velocity' else 1, - 'Traj.parachute_deploy_timer' : rocket_dict['parachute_deploy_timer'], - } - -# print("Initial parameters", init) - -driver.set_scenario( - init = init, - stop='Para.DynPar.r2[2] < -1' - ) - - -earth.run_drivers() - - -#================================== -# Rocket's trajectory visualisation -#================================== - -import numpy as np -import pandas as pd -import matplotlib.pyplot as plt -from matplotlib import animation -from matplotlib.patches import FancyArrowPatch -from mpl_toolkits.mplot3d.proj3d import proj_transform - - -#================================== -# INPUTS -# t : time -# T : thrust -# r : position -# v : velocity in rocket's referential -# a : acceleration in rocket's referential -# phi, theta, psi : euler angles -#=================================== - -# ============================== -# vector equations - -def vector_magnitude(vector): - """ - compute magnitude of a vector - param vector: vector with components of Cartesian form - return magnitude: magnitude of vector - """ - # NOTE: np.linalg.norm(v) computes Euclidean norm - magnitude = 0 - for component in vector: - magnitude += component ** 2 - return magnitude ** (1 / 2) - -#================================== -# Create Dataframe -#================================== - - -# Retrieve recorded data -data = driver.recorder.export_data() -data = data.drop(['Section', 'Status', 'Error code'], axis=1) -time = np.asarray(data['time']) -r = np.asarray(data['Traj.r'].tolist()) -v = np.asarray(data['Rocket.Kin.v'].tolist()) -a = np.asarray(data['Rocket.Dyn.a'].tolist()) -r1 = np.asarray(data['Para.DynPar.r1'].tolist()) -r2 = np.asarray(data['Para.DynPar.r2'].tolist()) -euler = np.asarray(data['Rocket.Kin.Kin_ang'].tolist()) -wind = np.asarray(data['Wind.v_wind.val'].tolist()) -pres = np.asarray(data['Atmo.Pres.P'].tolist()) -cog = np.asarray(data['Rocket.Mass.CG_out'].tolist()) -cpa = np.asarray(data['Rocket.Aero.Coefs.Xcp'].tolist()) - -# find time i where the parachute appears -time_parachute=0 -while r1[time_parachute][0]==r2[time_parachute][0] and r1[time_parachute][1]==r2[time_parachute][1] and r1[time_parachute][2]==r2[time_parachute][2]: - time_parachute+=1 - -r_then_r2 = [] -for i in range(time_parachute): - r_then_r2.append(r[i]) -for i in range(time_parachute,len(r2)): - r_then_r2.append(r2[i]) - - -# # Raise an exception when the trajectory is not realistic and blame the creator of the rocket for the failure -# if r_then_r2[1][2] < 0: -# raise Exception("Simulation fail: your rocket is maybe not realistic...") - - -r_then_r2 = np.array(r_then_r2) - -# We calculate the mean of the maximum of the trajectory according to the 3 axis -K = (r_then_r2[:,0].max() + r_then_r2[:,1].max() +r_then_r2[:,2].max())/3 - -ratio = K*l/50 -#We then normalize the arrows on the plot -wind*=2*ratio -wind_b = [] -for i in range(len(r_then_r2)): - wind_b.append([-wind[i][0]/2,-wind[i][1]/2,r_then_r2[i][2]-wind[i][2]]) - -#On affiche le vecteur vent a l'origine du repère et à la hauteur où est la fusée (le vent ne dépend pas du temps) - -rocket = np.array([2*l*ratio,0,0]) -y = np.array([0,l*ratio,0]) -z = np.array([0,0,l*ratio]) - -indy = [] -indz = [] -rock = [] -for i in range(len(r)): - rotation = R.from_euler('xyz', euler[i], degrees=False) - vect1 = rotation.apply(rocket) - vect2 = rotation.apply(y) - vect3 = rotation.apply(z) - norm_v1 = vector_magnitude(vect1) - norm_v2 = vector_magnitude(vect2) - norm_v2 = vector_magnitude(vect3) - for b in vect1: - b = b/norm_v1 - for c in vect2: - c = c/norm_v2 - for d in vect2: - d = d/norm_v2 - rock.append(vect1) - indy.append(vect2) - indz.append(vect3) - - - - -rock = np.asarray(rock) -indy = np.asarray(indy) -indz = np.asarray(indz) - - -rt = rock - - - -propagation_time_history = [] -i = 0 -for ti in time: - iteration_results = {'t': ti, - 'rx': r[i][0], 'ry': r[i][1], 'rz': r[i][2], - 'r1x': r1[i][0], 'r1y': r1[i][1], 'r1z': r1[i][2], - 'r2x': r2[i][0], 'r2y': r2[i][1], 'r2z': r2[i][2], - 'r_then_r2_x': r_then_r2[i][0], 'r_then_r2_y': r_then_r2[i][1], 'r_then_r2_z': r_then_r2[i][2], - 'vx': v[i][0], 'vy': v[i][1], 'vz': v[i][2], - 'ax': a[i][0], 'ay': a[i][1], 'az': a[i][2], - 'rtx': rt[i][0], 'rty': rt[i][1], 'rtz': rt[i][2], - 'indyx': indy[i][0], 'indyy': indy[i][1], 'indyz': indy[i][2], - 'indzx': indz[i][0], 'indzy': indz[i][1], 'indzz': indz[i][2], - 'wind_bx':wind_b[i][0], 'wind_by':wind_b[i][1], 'wind_bz':wind_b[i][2], - 'windx':wind[i][0], 'windy':wind[i][1], 'windz':wind[i][2], - } - i+=1 - propagation_time_history.append(iteration_results) - - - - -df = pd.DataFrame(propagation_time_history) - -#================================== -# Visualise trajectory -#================================== - -# Arrow3D used for drawing arrow as vectors in 3D space -class Arrow3D(FancyArrowPatch): - - def __init__(self, x, y, z, dx, dy, dz, *args, **kwargs): - super().__init__((0, 0), (0, 0), *args, **kwargs) - self._xyz = (x, y, z) - self._dxdydz = (dx, dy, dz) - - def draw(self, renderer): - x1, y1, z1 = self._xyz - dx, dy, dz = self._dxdydz - x2, y2, z2 = (x1 + dx, y1 + dy, z1 + dz) - - xs, ys, zs = proj_transform((x1, x2), (y1, y2), (z1, z2), self.axes.M) - self.set_positions((xs[0], ys[0]), (xs[1], ys[1])) - super().draw(renderer) - - def do_3d_projection(self, renderer=None): - x1, y1, z1 = self._xyz - dx, dy, dz = self._dxdydz - x2, y2, z2 = (x1 + dx, y1 + dy, z1 + dz) - - xs, ys, zs = proj_transform((x1, x2), (y1, y2), (z1, z2), self.axes.M) - self.set_positions((xs[0], ys[0]), (xs[1], ys[1])) - - return np.min(zs) - - -def vector_arrow_3d(x0, x1, y0, y1, z0, z1, color): - """ - method to create a new arrow in 3d for vectors - return Arrow3D: new vector - """ - return Arrow3D(x0, x1, y0, y1, z0, z1, - mutation_scale=10, lw=1, - arrowstyle='-|>', color=color) - - -class Animator: - - def __init__(self, simulation_results): - self.simulation_results = simulation_results - self.vector_lines = [] - # ======================================= - # configure plots and data structures - - self.fig = plt.figure(figsize=(8, 8)) - self.fig.subplots_adjust(left=0.05, - bottom=None, - right=0.95, - top=None, - wspace=None, - hspace=0.28) - - - self.ax1 = self.fig.add_subplot(projection='3d') - - self.set_axes_limits() - - # axis 1 - 3D visualisation - - self.trajectory, = self.ax1.plot([], [], [], 'bo', markersize=1) - - - def draw_xyz_axis(self, x_lims, y_lims, z_lims): - """ - draw xyz axis on ax1 3d plot - param x_lims: upper and lower x limits - param y_lims: upper and lower y limits - param z_lims: upper and lower z limits - """ - self.ax1.plot([0, 0], [0, 0], [0, 0], 'ko', label='Origin') - self.ax1.plot(x_lims, [0, 0], [0, 0], 'k-', lw=1) - self.ax1.plot([0, 0], y_lims, [0, 0], 'k-', lw=1) - self.ax1.plot([0, 0], [0, 0], z_lims, 'k-', lw=1) - self.text_artist_3d('x', 'k', x_lims[1], 0, 0) - self.text_artist_3d('y', 'k', 0, y_lims[1], 0) - self.text_artist_3d('z', 'k', 0, 0, z_lims[1]) - self.ax1.set_xlabel('x') - self.ax1.set_ylabel('y') - self.ax1.set_zlabel('z') - - def text_artist_3d(self, text, color, x=0, y=0, z=0): - """ - create new text artist for the plot - param txt: text string - param color: text color - param x: x coordinate of text - param y: y coordinate of text - param z: z coordinate of text - """ - return self.ax1.text(x, y, z, text, size=11, color=color) - - def set_axes_limits(self): - """ - set the axis limits for each plot, label axes - """ - lim_params = ['r1'] - x_lims = self.get_limits(lim_params, 'x') - y_lims = self.get_limits(lim_params, 'y') - z_lims = self.get_limits(lim_params, 'z') - - self.ax1.set_xlim3d(x_lims) - self.ax1.set_ylim3d(y_lims) - self.ax1.set_zlim3d(z_lims) - self.draw_xyz_axis(x_lims, y_lims, z_lims) - - - - - def get_limits(self, params, axis): - """ - get upper and lower limits for parameter - param axis: get limits for axis, i.e x or y - param params: list of varaible names - """ - lower_lim, upper_lim = 0, 0 - for p in params: - m = max(self.simulation_results['%s%s' % (p, axis)]) - if m > upper_lim: - upper_lim = m - m = min(self.simulation_results['%s%s' % (p, axis)]) - if m < lower_lim: - lower_lim = m - m = max(abs(lower_lim - 0.05), upper_lim + 0.05) - return lower_lim - 0.05,upper_lim + 0.05 - - def config_plots(self): - """ - Setting the axes properties such as title, limits, labels - 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SectionStatusError codeReferenceRocket.Kin.arRocket.Kin.vRocket.Thrust.inclinaisonTraj.rinitrottime
00t=0.0[0.0, -1.4707963267948965, 0.0][0.0, 0.0, 0.0]0.0[0.0, 0.0, 0.34229485][0.0, -1.4707963267948965, 0.0]0.000000
10t=0.1[2.1001236471184798e-20, -1.4708307250573402, ...[9.046849540322537, -3.488856609605185e-20, -0...0.0[0.07943339119140401, -1.8677422604241682e-21,...[0.0, -1.4707963267948965, 0.0]0.100000
20t=0.2[2.295371353739012e-19, -1.471170750818207, -2...[18.16656095484718, -2.599463172090392e-19, -0...0.0[0.25478155841163963, -2.03286594436171e-20, 2...[0.0, -1.4707963267948965, 0.0]0.200000
30t=0.3[1.0078723094714093e-18, -1.4724159136646713, ...[26.835627348558624, -8.533069472083209e-19, -...0.0[0.5242121733785214, -8.792170444280844e-20, 5...[0.0, -1.4707963267948965, 0.0]0.300000
40t=0.4[2.9966866411496974e-18, -1.4754394140566243, ...[35.037275086166126, -1.9518267686925606e-18, ...0.0[0.8758090272944228, -2.5201756477835407e-19, ...[0.0, -1.4707963267948965, 0.0]0.400000
.................................
2160t=17.77955028288[-118.46844700939036, -4.80079746995903, -412....[-5.377000421097496, -2.655767702572736e-15, -...0.0[43.90088679142912, 7.829760911552642, 173.678...[0.0, -1.4707963267948965, 0.0]17.779550
2170Traj.VelocityPara[-118.46844700939036, -4.80079746995903, -412....[-5.377000421097496, -2.655767702572736e-15, -...0.0[43.90088679142912, 7.829760911552642, 173.678...[0.0, -1.4707963267948965, 0.0]17.779550
2180t=17.8[-119.05142626345207, -4.099163455160114, -412...[-5.429240525056687, -2.6595199192308313e-15, ...0.0[44.70446555526106, 6.385053978813607, 174.861...[0.0, -1.4707963267948965, 0.0]17.800000
2190t=17.810425036615[-120.60580142097866, -3.962644567997055, -412...[-5.455871944616995, -2.66143275723324e-15, -9...0.0[44.25794606022743, 5.7042570332625635, 174.88...[0.0, -1.4707963267948965, 0.0]17.810425
2200earth.stop[-120.60580142097866, -3.962644567997055, -412...[-5.455871944616995, -2.66143275723324e-15, -9...0.0[44.25794606022743, 5.7042570332625635, 174.88...[0.0, -1.4707963267948965, 0.0]17.810425
\n", - "

221 rows × 10 columns

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"0 [0.0, 0.0, 0.0] \\\n", - "1 [9.046849540322537, -3.488856609605185e-20, -0... \n", - "2 [18.16656095484718, -2.599463172090392e-19, -0... \n", - "3 [26.835627348558624, -8.533069472083209e-19, -... \n", - "4 [35.037275086166126, -1.9518267686925606e-18, ... \n", - ".. ... \n", - "216 [-5.377000421097496, -2.655767702572736e-15, -... \n", - "217 [-5.377000421097496, -2.655767702572736e-15, -... \n", - "218 [-5.429240525056687, -2.6595199192308313e-15, ... \n", - "219 [-5.455871944616995, -2.66143275723324e-15, -9... \n", - "220 [-5.455871944616995, -2.66143275723324e-15, -9... \n", - "\n", - " Rocket.Thrust.inclinaison \n", - "0 0.0 \\\n", - "1 0.0 \n", - "2 0.0 \n", - "3 0.0 \n", - "4 0.0 \n", - ".. ... \n", - "216 0.0 \n", - "217 0.0 \n", - "218 0.0 \n", - "219 0.0 \n", - "220 0.0 \n", - "\n", - " Traj.r \n", - "0 [0.0, 0.0, 0.34229485] \\\n", - "1 [0.07943339119140401, -1.8677422604241682e-21,... \n", - "2 [0.25478155841163963, -2.03286594436171e-20, 2... \n", - "3 [0.5242121733785214, -8.792170444280844e-20, 5... \n", - "4 [0.8758090272944228, -2.5201756477835407e-19, ... \n", - ".. ... \n", - "216 [43.90088679142912, 7.829760911552642, 173.678... \n", - "217 [43.90088679142912, 7.829760911552642, 173.678... \n", - "218 [44.70446555526106, 6.385053978813607, 174.861... \n", - "219 [44.25794606022743, 5.7042570332625635, 174.88... \n", - "220 [44.25794606022743, 5.7042570332625635, 174.88... \n", - "\n", - " initrot time \n", - "0 [0.0, -1.4707963267948965, 0.0] 0.000000 \n", - "1 [0.0, -1.4707963267948965, 0.0] 0.100000 \n", - "2 [0.0, -1.4707963267948965, 0.0] 0.200000 \n", - "3 [0.0, -1.4707963267948965, 0.0] 0.300000 \n", - "4 [0.0, -1.4707963267948965, 0.0] 0.400000 \n", - ".. ... ... \n", - "216 [0.0, -1.4707963267948965, 0.0] 17.779550 \n", - "217 [0.0, -1.4707963267948965, 0.0] 17.779550 \n", - "218 [0.0, -1.4707963267948965, 0.0] 17.800000 \n", - "219 [0.0, -1.4707963267948965, 0.0] 17.810425 \n", - "220 [0.0, -1.4707963267948965, 0.0] 17.810425 \n", - "\n", - "[221 rows x 10 columns]" - ] - }, - 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"showlakes": true, - "showland": true, - "subunitcolor": "white" - }, - "hoverlabel": { - "align": "left" - }, - "hovermode": "closest", - "mapbox": { - "style": "light" - }, - "paper_bgcolor": "white", - "plot_bgcolor": "#E5ECF6", - "polar": { - "angularaxis": { - "gridcolor": "white", - "linecolor": "white", - "ticks": "" - }, - "bgcolor": "#E5ECF6", - "radialaxis": { - "gridcolor": "white", - "linecolor": "white", - "ticks": "" - } - }, - "scene": { - "xaxis": { - "backgroundcolor": "#E5ECF6", - "gridcolor": "white", - "gridwidth": 2, - "linecolor": "white", - "showbackground": true, - "ticks": "", - "zerolinecolor": "white" - }, - "yaxis": { - "backgroundcolor": "#E5ECF6", - "gridcolor": "white", - "gridwidth": 2, - "linecolor": "white", - "showbackground": true, - "ticks": "", - "zerolinecolor": "white" - }, - "zaxis": { - "backgroundcolor": "#E5ECF6", - "gridcolor": "white", - "gridwidth": 2, - "linecolor": "white", - "showbackground": true, - "ticks": "", - "zerolinecolor": "white" - } - }, - "shapedefaults": { - "line": { - "color": "#2a3f5f" - } - }, - "ternary": { - "aaxis": { - "gridcolor": "white", - "linecolor": "white", - "ticks": "" - }, - "baxis": { - "gridcolor": "white", - "linecolor": "white", - "ticks": "" - }, - "bgcolor": "#E5ECF6", - "caxis": { - "gridcolor": "white", - "linecolor": "white", - "ticks": "" - } - }, - "title": { - "x": 0.05 - }, - "xaxis": { - "automargin": true, - "gridcolor": "white", - "linecolor": "white", - "ticks": "", - "title": { - "standoff": 15 - }, - "zerolinecolor": "white", - "zerolinewidth": 2 - }, - "yaxis": { - "automargin": true, - "gridcolor": "white", - "linecolor": "white", - "ticks": "", - "title": { - "standoff": 15 - }, - "zerolinecolor": "white", - "zerolinewidth": 2 - } - } - }, - "title": { - "text": "Probability" - }, - "xaxis": { - "anchor": "y", - "domain": [ - 0, - 1 - ], - "title": { - "text": "X Position" - } - }, - "yaxis": { - "anchor": "x", - "domain": [ - 0, - 1 - ], - "title": { - "text": "Y Position" - } - } - } - } - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "\n", - "import plotly.graph_objs as go\n", - "from plotly.subplots import make_subplots\n", - "\n", - "traj = np.asarray(results['Traj.r'].tolist())\n", - "\n", - "# Create the figure object\n", - "fig = make_subplots(rows=1, cols=1)\n", - "fig.layout.title = \"Probability\"\n", - "fig.layout.yaxis.title = 'Y Position'\n", - "\n", - "fig.add_trace(\n", - " go.Scatter(\n", - " x=traj[:,0],\n", - " y=traj[:,1],\n", - " mode = 'markers'\n", - " ),\n", - " row = 1,\n", - " col = 1,\n", - ")\n", - "fig.get_subplot(1, 1).xaxis.title = \"X Position\"\n", - "\n", - "fig.show()" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "PSC", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.10.9" - }, - "orig_nbformat": 4 - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/UI/plot_time_interval.py b/UI/plot_time_interval.py deleted file mode 100644 index 964f0ac..0000000 --- a/UI/plot_time_interval.py +++ /dev/null @@ -1,27 +0,0 @@ -import json -import matplotlib.pyplot as plt - -with open("time_step_simulation.json", "r") as outfile: - loaded_results = json.load(outfile) - -time_steps = loaded_results['time_steps'][:-1] -apogees = loaded_results['apogees'][:-1] -computation_times = loaded_results['computation_times'][:-1] - -# Plot the apogee depending on the log of the time_step -plt.figure() -plt.semilogx(time_steps, apogees, "o") -plt.xlabel("Time step") -plt.ylabel("Apogee") -plt.title("Apogee vs Time step") -plt.grid() -plt.show() - -# Plot the simulation time depending on the log of the time_step -plt.figure() -plt.semilogx(time_steps, computation_times, "o") -plt.xlabel("Time step") -plt.ylabel("Simulation time") -plt.title("Simulation time vs Time step") -plt.grid() -plt.show() \ No newline at end of file diff --git a/UI/plot_with_texture.py b/UI/plot_with_texture.py deleted file mode 100644 index ef990e9..0000000 --- a/UI/plot_with_texture.py +++ /dev/null @@ -1,20 +0,0 @@ -import json - - - -from include.init_rocket.RocketPlotter import RocketPlotter -from include.init_rocket.CustomRocket import CustomRocket - -# plot the rocket using pyvista - -def main(): - with open("./include/init_rocket/rocket_dict.json", "r") as f: - my_rocket = json.load(f) - - rocket = CustomRocket.fromDict(my_rocket) - plotter = RocketPlotter(rocket) - - plotter.plot(opened = True, only_ext = False, render = 'textures', ) - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/UI/time_step_simulation.json b/UI/time_step_simulation.json deleted file mode 100644 index 455f144..0000000 --- a/UI/time_step_simulation.json +++ /dev/null @@ -1 +0,0 @@ -{"time_steps": [0.0031622776601683794, 0.0041824289443334745, 0.005531681197617227, 0.007316202445836984, 0.009676410537094535, 0.01279802213997954, 0.01692666615037876, 0.0223872113856834, 0.029609329396270843, 0.03916130384410114, 0.0517947467923121, 0.06850374047706327, 0.09060305822453375, 0.11983161944838325, 0.15848931924611134], "apogees": [242.46343900033935, 242.3826366908985, 242.30721471735802, 242.4662933422724, 242.83661486230812, 242.3074336828684, 241.65766809112083, 240.823652788322, 239.67444257383457, 237.84906745789533, 235.81729761043505, 233.82205340060142, 230.7866359066336, 229.13805373739436, 229.13805373739436], "computation_times": [76.42309904098511, 58.311492919921875, 45.68391013145447, 33.58884882926941, 27.430277109146118, 20.97675895690918, 17.175804138183594, 13.552458047866821, 10.494594812393188, 7.8964927196502686, 5.253355979919434, 5.309849977493286, 5.188624858856201, 2.797847032546997, 2.8463988304138184]} \ No newline at end of file diff --git a/UI/user_interface.ipynb b/UI/user_interface.ipynb deleted file mode 100644 index 94e6dad..0000000 --- a/UI/user_interface.ipynb +++ /dev/null @@ -1,240 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell to create all necessary widgets\n", - "%run -i include/widgets/widgets.py" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Rocket construction\n", - "## Geometry and Mass \n", - "The first step is to chose the geometry and mass properties of your rocket. Each component (nose, tube, fins) can have its own density and shape. Fill the following form to specify your rocket's properties." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell\n", - "rocket_properties_widget" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Motor picker\n", - "\n", - "This section will allow you to chose the right motor for your rocket based on the desired impulse class and diameter.\n", - "\n", - "$(\\textit{Motors data is loaded from the JSON file : } \\texttt{include/widgets/motor\\_data.json})$\n", - "\n", - "You will have to chose the two following properties in order to access the motor choice.\n", - "### Impulse class : \n", - "The impulse class is a letter code assigned to a range of total impulse with each letter being twice as powerful as the previous.\n", - "- A : 1.26–2.50 (N.s),\n", - "- B : 2.51–5.00,\n", - "- C : 5.01–10.0,\n", - "- D : 10.01–20.0,\n", - "- E : 20.01–40.0,\n", - "- F : 40.01–80.0,\n", - "- G : 80.01–160,\n", - "- H : 160.01–320,\n", - "- I : 320.01–640,\n", - "- J : 640.01–1,280,\n", - "- K : 1,280.01–2,560,\n", - "- L : 2,560.01–5,120,\n", - "- M : 5,120.01–10,240,\n", - "- N : 10,240.01–20,480,\n", - "- O : 20,480.01–40,960\n", - "### Motor geometry :\n", - "The main diameter of the motor is expressed in millimeters.\n", - "\n", - "The position of the motor corresponds to the distance between the bottom of the motor and the bottom of the tube in meters." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell\n", - "motor_selection_widget" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Parachutes settings\n", - "\n", - "In this section, you will have to specify the various properties of the parachute." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell\n", - "parachute_widget" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Additional masses\n", - "In this section you can create additional mass component to add to your rocket.\n", - "\n", - "These components are represented as cylinders or empty cylinders, but can play the role of various inner components for your rocket such as a partition or an electrical component." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell\n", - "additional_masses_widget" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Launching parameters\n", - "Last parameters to ajust for launching.\n", - "\n", - "Specify launching parameters for the simulation." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell\n", - "launching_parameters_widget" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Creation of the rocket\n", - "All properties you have previously entered will be stored in the $\\texttt{'rocket'}$ object as you run this cell.\n", - "\n", - "It's properties are stored in the $\\texttt{'rocket\\_dict.json'}$ file.\n", - "\n", - "You can also create your rocket by directly specifying its properties in the file. All properties must be specified in the dictionary.\n", - "\n", - "(Please refer to the documentation for more details about the format of each entry.)" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell to update the rocket and create its corresponding CustomRocket object\n", - "# Look at the documentation from widgets.py for the use of data_source parameter\n", - "myrocket = rocket_creation(data_source=\"widgets\")" - ] - }, - { - "attachments": {}, - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Plot the rocket\n", - "This cell allows you to visualize your rocket.\n", - "\n", - "Two points are also visible if $\\texttt{'only\\_ext=True'}$ and $\\texttt{'opened=True'}$. They correspond to :\n", - "- Red point : Center of gravity (COG)\n", - "- Green point : Center of pressure (CPA)\n", - "\n", - "The COG should be closer to rocket's nose than the CPA for a stable rocket." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Print mass properties of your rocket\n", - "myrocket.print_properties()\n", - "\n", - "# You can chose to plot only the outside of the rocket and/or to plot an opened version of the rocket to visualize its interior\n", - "myrocket.plot(only_ext=False, opened=True)" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Simulation\n", - "In this section you will simulate your rocket's flight.\n", - "\n", - "A new window containing the plot of your rocket's trajectory will appear." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell to start the simulation\n", - "%run model/rocket_trajectory.py" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "# Run this cell for additional plots concerning the simulation\n", - "simulation_2d_plots()" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "PSC-WAaCNLZg", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.10.9" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/environment-dev.yml b/environment-dev.yml new file mode 100644 index 0000000..a6c54b5 --- /dev/null +++ b/environment-dev.yml @@ -0,0 +1,12 @@ +name: rocket_twin +channels: + - conda-forge +dependencies: + - python + - pytest + - flake8 + - isort + - black + - pre-commit + - cosapp + - numpy diff --git 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a/media/rocket_model.png and /dev/null differ diff --git a/media/rocket_traj.gif b/media/rocket_traj.gif deleted file mode 100644 index 5cb8f9c..0000000 Binary files a/media/rocket_traj.gif and /dev/null differ diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..f8b8adb --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,10 @@ +[tool.black] +line-length = 100 + +[tool.isort] +profile = "black" + +[tool.pytest.ini_options] +pythonpath = [ + "." +] diff --git a/requirements.txt b/requirements.txt index 083abd7..4e49bbe 100644 --- a/requirements.txt +++ b/requirements.txt @@ -12,4 +12,9 @@ ipywidgets ipympl plotly nbformat -PyQt5 \ No newline at end of file +PyQt5 +pytest +flake8 +isort +black +pre-commit diff --git a/UI/include/init_rocket/__init__.py b/rocket_twin/__init__.py similarity index 100% rename from UI/include/init_rocket/__init__.py rename to rocket_twin/__init__.py diff --git a/rocket_twin/_version.py b/rocket_twin/_version.py new file mode 100644 index 0000000..f102a9c --- /dev/null +++ b/rocket_twin/_version.py @@ -0,0 +1 @@ +__version__ = "0.0.1" diff --git a/rocket_twin/drivers/__init__.py b/rocket_twin/drivers/__init__.py new file mode 100644 index 0000000..2d8ca74 --- /dev/null +++ b/rocket_twin/drivers/__init__.py @@ -0,0 +1,5 @@ +from rocket_twin.drivers.fueling_rocket import FuelingRocket +from rocket_twin.drivers.mission import Mission +from rocket_twin.drivers.vertical_flying_rocket import VerticalFlyingRocket + +__all__ = ["FuelingRocket", "VerticalFlyingRocket", "Mission"] diff --git a/rocket_twin/drivers/fueling_rocket.py b/rocket_twin/drivers/fueling_rocket.py new file mode 100644 index 0000000..c165f78 --- /dev/null +++ b/rocket_twin/drivers/fueling_rocket.py @@ -0,0 +1,51 @@ +from typing import Optional + +from cosapp.drivers import Driver, NonLinearSolver, RungeKutta +from cosapp.recorders import DataFrameRecorder +from cosapp.systems import System + + +class FuelingRocket(Driver): + """Driver that simulates the fueling of a rocket. + + Inputs + ------ + name: string, + the name of the driver + w_out [kg/s]: float, + mass flow of fuel exiting the ground tank + dt [s]: float, + integration time step + owner: System, + the system that owns the driver + + Outputs + ------ + """ + + def __init__( + self, + name: str, + owner: Optional["System"] = None, + init: Optional[dict] = None, + stop: Optional[str] = None, + dt: Optional[float] = 0.1, + includes: Optional[list[str]] = None, + **kwargs + ): + super().__init__(name, owner, **kwargs) + + # Fueling: + self.rk = self.add_driver(RungeKutta("rk", owner=owner, order=4, dt=dt)) + self.rk.time_interval = (self.owner.time, 1000000.0) + self.solver = self.rk.add_child(NonLinearSolver("solver")) + + self.rk.set_scenario(init=init, stop=stop) + self.rk.add_recorder( + DataFrameRecorder(includes=includes, hold=True), + period=dt, + ) + + @property + def data(self): + return self.rk.recorder.export_data() diff --git a/rocket_twin/drivers/mission.py b/rocket_twin/drivers/mission.py new file mode 100644 index 0000000..bafcbaa --- /dev/null +++ b/rocket_twin/drivers/mission.py @@ -0,0 +1,75 @@ +from typing import Optional + +import pandas as pd +from cosapp.drivers import Driver +from cosapp.systems import System + +from rocket_twin.drivers.fueling_rocket import FuelingRocket +from rocket_twin.drivers.vertical_flying_rocket import VerticalFlyingRocket + + +class Mission(Driver): + """Driver that simulates the fueling and the vertical flight of a rocket. + + Inputs + ------ + name: string, + the name of the driver + w_in [kg/s]: float, + mass flow of fuel entering the rocket tank during refueling + w_out [kg/s]: float, + mass flow of fuel exiting the rocket tank during flight + dt [s]: float, + integration time step + owner: System, + the system that owns the driver + + Outputs + ------ + """ + + def __init__( + self, + name: str, + owner: Optional["System"] = None, + init: Optional[dict] = None, + stop: Optional[str] = None, + dt: Optional[float] = 0.1, + includes: Optional[list[str]] = None, + **kwargs + ): + super().__init__(name, owner, **kwargs) + + # Init and stop conditions + init_fuel = init + init_flight = { + "rocket.flying": True, + "rocket.engine.force_command": 1.0, + "rocket.tank.w_out_max": 3.0, + "g_tank.w_in": 0.0, + "g_tank.w_command": 0.0, + } + + stop_fuel = "rocket.tank.weight_p >= rocket.tank.weight_max" + stop_flight = stop + + # Fueling + self.add_child( + FuelingRocket( + "fr", owner=owner, init=init_fuel, stop=stop_fuel, includes=includes, dt=dt + ) + ) + + # Flying + self.add_child( + VerticalFlyingRocket( + "vfr", owner=owner, init=init_flight, stop=stop_flight, includes=includes, dt=dt + ) + ) + + @property + def data(self): + data = None + for child in self.children.values(): + data = pd.concat([data, child.rk.recorder.export_data()], ignore_index=True) + return data diff --git a/rocket_twin/drivers/vertical_flying_rocket.py b/rocket_twin/drivers/vertical_flying_rocket.py new file mode 100644 index 0000000..196309e --- /dev/null +++ b/rocket_twin/drivers/vertical_flying_rocket.py @@ -0,0 +1,51 @@ +from typing import Optional + +from cosapp.drivers import Driver, NonLinearSolver, RungeKutta +from cosapp.recorders import DataFrameRecorder +from cosapp.systems import System + + +class VerticalFlyingRocket(Driver): + """Driver that simulates the vertical flight of a rocket. + + Inputs + ------ + name: string, + the name of the driver + w_out [kg/s]: float, + mass flow of fuel exiting the rocket tank + dt [s]: float, + integration time step + owner: System, + the system that owns the driver + + Outputs + ------ + """ + + def __init__( + self, + name: str, + owner: Optional["System"] = None, + init: Optional[dict] = None, + stop: Optional[str] = None, + dt: Optional[float] = 0.1, + includes: Optional[list[str]] = None, + **kwargs + ): + super().__init__(name, owner, **kwargs) + + # Fueling: + self.rk = self.add_driver(RungeKutta("rk", owner=owner, order=4, dt=dt)) + self.rk.time_interval = (self.owner.time, 1000000.0) + self.solver = self.rk.add_child(NonLinearSolver("solver")) + + self.rk.set_scenario(init=init, stop=stop) + self.rk.add_recorder( + DataFrameRecorder(includes=includes, hold=True), + period=dt, + ) + + @property + def data(self): + return self.rk.recorder.export_data() diff --git a/rocket_twin/notebooks/Visualisation.ipynb b/rocket_twin/notebooks/Visualisation.ipynb new file mode 100644 index 0000000..2125fd6 --- /dev/null +++ b/rocket_twin/notebooks/Visualisation.ipynb @@ -0,0 +1,98 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "8bec8444-0001-4e4a-bb3a-aae9574a5cb6", + "metadata": {}, + "outputs": [], + "source": [ + "from rocket_twin.systems import Ground\n", + "from rocket_twin.systems import Station" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "97e7cc0c-c54d-4dac-9966-ac30c44abe14", + "metadata": {}, + "outputs": [], + "source": [ + "st1 = Station('st1')\n", + "st2 = Station('st2')\n", + "ground = Ground('ground', stations=[st1, st2])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "3b5aeda9-94d7-4f2d-a28c-c9e168cb4e69", + "metadata": {}, + "outputs": [], + "source": [ + "ground" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "6b46cce2-b0da-44dc-a19d-1f261002608b", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b951bdb0-98eb-405d-9f37-8b0c6bc76568", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "ae5b4ea2-e71e-4dc7-ad37-9b47eb0e3daa", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "0065a4ad-c135-45bc-a2f5-7b8ec556a547", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "d41a129f-04d4-43d3-8aa8-fd234ce0f517", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.3" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/rocket_twin/systems/__init__.py b/rocket_twin/systems/__init__.py new file mode 100644 index 0000000..f6c1be9 --- /dev/null +++ b/rocket_twin/systems/__init__.py @@ -0,0 +1,9 @@ +from rocket_twin.systems.engine import Engine +from rocket_twin.systems.ground import Ground +from rocket_twin.systems.physics import Dynamics +from rocket_twin.systems.tank import Pipe, Tank + +from rocket_twin.systems.rocket import Rocket # isort: skip +from rocket_twin.systems.station import Station # isort: skip + +__all__ = ["Engine", "Tank", "Rocket", "Pipe", "Dynamics", "Station", "Ground"] diff --git a/rocket_twin/systems/engine/__init__.py b/rocket_twin/systems/engine/__init__.py new file mode 100644 index 0000000..37c310f --- /dev/null +++ b/rocket_twin/systems/engine/__init__.py @@ -0,0 +1,3 @@ +from rocket_twin.systems.engine.engine import Engine + +__all__ = ["Engine"] diff --git a/rocket_twin/systems/engine/engine.py b/rocket_twin/systems/engine/engine.py new file mode 100644 index 0000000..e516aea --- /dev/null +++ b/rocket_twin/systems/engine/engine.py @@ -0,0 +1,35 @@ +from cosapp.base import System + + +class Engine(System): + """Simple model of an engine. + + Inputs + ------ + force_command: float, + External control, which inputs the % of the maximum force the engine outputs + + Outputs + ------ + weight [kg]: float, + weight + cg [m]: float, + position of the center of gravity + force [N]: float, + thrust force + """ + + def setup(self): + + self.add_inward("force_max", 100.0, desc="Maximum engine force", unit="N") + self.add_inward( + "force_command", 1.0, desc="Ratio of command force to maximum force", unit="" + ) + + self.add_outward("weight", 1.0, desc="weight", unit="kg") + self.add_outward("cg", 1.0, desc="Center of Gravity", unit="m") + self.add_outward("force", 1.0, desc="Thrust force", unit="N") + + def compute(self): + + self.force = self.force_max * self.force_command diff --git a/rocket_twin/systems/ground.py b/rocket_twin/systems/ground.py new file mode 100644 index 0000000..6e201b9 --- /dev/null +++ b/rocket_twin/systems/ground.py @@ -0,0 +1,23 @@ +from cosapp.base import System + + +class Ground(System): + """Ground system that manages the stations. + + Inputs + ------ + stations : List[System], + space stations + + Outputs + ------ + """ + + def setup(self, stations=None): + + if stations is None: + stations = [] + + for station in stations: + + self.add_child(station) diff --git a/rocket_twin/systems/physics/__init__.py b/rocket_twin/systems/physics/__init__.py new file mode 100644 index 0000000..ab8d46f --- /dev/null +++ b/rocket_twin/systems/physics/__init__.py @@ -0,0 +1,3 @@ +from rocket_twin.systems.physics.dynamics import Dynamics + +__all__ = ["Dynamics"] diff --git a/rocket_twin/systems/physics/dynamics.py b/rocket_twin/systems/physics/dynamics.py new file mode 100644 index 0000000..547054f --- /dev/null +++ b/rocket_twin/systems/physics/dynamics.py @@ -0,0 +1,66 @@ +from cosapp.base import System + + +class Dynamics(System): + """Dynamics of a physical system. + + Inputs + ------ + forces [N]: float, + total force in each component of the system + weights [kg]: float, + total weight of each component of the system + centers[m]: float, + center of gravity of each component of the system + + Outputs + ------ + force [N]: float, + total force + weight [kg]: float, + total weight + a [m/s**2] : float, + acceleration + """ + + def setup(self, forces=None, weights=None, centers=None): + if forces is None: + forces = [] + if weights is None: + weights = [] + if centers is None: + centers = [] + + self.add_property("forces", forces) + self.add_property("weights", weights) + self.add_property("centers", centers) + + self.add_inward("g", -10.0, desc="Gravity", unit="m/s**2") + + self.add_outward("a", 0.0, desc="Acceleration", unit="m/s**2") + + for weight in self.weights: + self.add_inward(weight, 0.0, desc=f"Weight called {weight}", unit="kg") + for force in self.forces: + self.add_inward(force, 0.0, desc=f"Force called {force}", unit="N") + for center in self.centers: + self.add_inward(center, 0.0, desc=f"Center of gravity of the {center}", unit="m") + + self.add_outward("force", 1.0, desc="Force", unit="N") + self.add_outward("weight", 1.0, desc="Weight", unit="kg") + self.add_outward("center", 1.0, desc="Center of gravity", unit="m") + + def compute(self): + self.weight = 0 + self.center = 0 + for i in range(len(self.centers)): + self.center += self[self.centers[i]] * self[self.weights[i]] + self.weight += self[self.weights[i]] + + self.center /= self.weight + + self.force = self.weight * self.g + for force in self.forces: + self.force += self[force] + + self.a = self.force / self.weight diff --git a/rocket_twin/systems/rocket/__init__.py b/rocket_twin/systems/rocket/__init__.py new file mode 100644 index 0000000..900ab5d --- /dev/null +++ b/rocket_twin/systems/rocket/__init__.py @@ -0,0 +1,3 @@ +from rocket_twin.systems.rocket.rocket import Rocket + +__all__ = ["Rocket"] diff --git a/rocket_twin/systems/rocket/rocket.py b/rocket_twin/systems/rocket/rocket.py new file mode 100644 index 0000000..1603c02 --- /dev/null +++ b/rocket_twin/systems/rocket/rocket.py @@ -0,0 +1,41 @@ +from cosapp.base import System + +from rocket_twin.systems import Dynamics, Engine, Tank + + +class Rocket(System): + """A simple model of a rocket. + + Inputs + ------ + flying: boolean, + whether the rocket is already flying or still on ground + + Outputs + ------ + """ + + def setup(self): + self.add_child(Engine("engine")) + self.add_child(Tank("tank"), pulling=["w_in"]) + self.add_child( + Dynamics( + "dyn", + forces=["thrust"], + weights=["weight_eng", "weight_tank"], + centers=["engine", "tank"], + ), + pulling=["a"], + ) + + self.connect( + self.engine.outwards, + self.dyn.inwards, + {"force": "thrust", "weight": "weight_eng", "cg": "engine"}, + ) + self.connect(self.tank.outwards, self.dyn.inwards, {"weight": "weight_tank", "cg": "tank"}) + + self.add_inward("flying", False, desc="Whether the rocket is flying or not", unit="") + + def compute(self): + self.a *= self.flying diff --git a/rocket_twin/systems/station/__init__.py b/rocket_twin/systems/station/__init__.py new file mode 100644 index 0000000..b485328 --- /dev/null +++ b/rocket_twin/systems/station/__init__.py @@ -0,0 +1,3 @@ +from rocket_twin.systems.station.station import Station + +__all__ = ["Station"] diff --git a/rocket_twin/systems/station/station.py b/rocket_twin/systems/station/station.py new file mode 100644 index 0000000..6a1b9b9 --- /dev/null +++ b/rocket_twin/systems/station/station.py @@ -0,0 +1,24 @@ +from cosapp.base import System + +from rocket_twin.systems import Pipe, Rocket, Tank + + +class Station(System): + """A space station composed by a rocket, a tank and a pipe connecting them. + + Inputs + ------ + + Outputs + ------ + """ + + def setup(self): + self.add_child(Tank("g_tank")) + self.add_child(Pipe("pipe")) + self.add_child(Rocket("rocket")) + + self.connect(self.g_tank.outwards, self.pipe.inwards, {"w_out": "w_in"}) + self.connect(self.pipe.outwards, self.rocket.inwards, {"w_out": "w_in"}) + + self.g_tank.weight_max = 10.0 diff --git a/rocket_twin/systems/tank/__init__.py b/rocket_twin/systems/tank/__init__.py new file mode 100644 index 0000000..0d06d0d --- /dev/null +++ b/rocket_twin/systems/tank/__init__.py @@ -0,0 +1,4 @@ +from rocket_twin.systems.tank.pipe import Pipe +from rocket_twin.systems.tank.tank import Tank + +__all__ = ["Tank", "Pipe"] diff --git a/rocket_twin/systems/tank/pipe.py b/rocket_twin/systems/tank/pipe.py new file mode 100644 index 0000000..ccc0b01 --- /dev/null +++ b/rocket_twin/systems/tank/pipe.py @@ -0,0 +1,26 @@ +from cosapp.base import System + + +class Pipe(System): + """A simple model of a pipe. + + Inputs + ------ + w_in [kg/s]: float, + mass flow of fuel entering the pipe + + Outputs + ------ + w_out [kg/s]: floatm + mass flow of fuel exiting the pipe + """ + + def setup(self): + + self.add_inward("w_in", 0.0, desc="Fuel income rate", unit="kg/s") + + self.add_outward("w_out", 0.0, desc="Fuel exit rate", unit="kg/s") + + def compute(self): + + self.w_out = self.w_in diff --git a/rocket_twin/systems/tank/tank.py b/rocket_twin/systems/tank/tank.py new file mode 100644 index 0000000..a631b49 --- /dev/null +++ b/rocket_twin/systems/tank/tank.py @@ -0,0 +1,49 @@ +from cosapp.base import System + + +class Tank(System): + """A simple model of a fuel tank. + + Inputs + ------ + w_in [kg/s]: float, + mass flow of fuel entering the tank + w_command: float, + fuel exit flux control. 0 means tank exit fully closed, 1 means fully open + + Outputs + ------ + w_out [kg/s]: float, + mass flow of fuel exiting the tank + weight [kg]: float, + weight + cg [m]: float, + center of gravity + """ + + def setup(self): + + # Geometry + self.add_inward("weight_s", 1.0, desc="Structure weight", unit="kg") + self.add_inward("weight_max", 5.0, desc="Maximum fuel capacity", unit="kg") + + # Inputs + self.add_inward("w_in", 0.0, desc="Fuel income rate", unit="kg/s") + + # Flux control + self.add_inward("w_out_max", 0.0, desc="Fuel output rate", unit="kg/s") + self.add_inward("w_command", 1.0, desc="Fuel output control variable", unit="") + + # Transient + self.add_outward("dw_dt", 0.0, desc="Fuel mass rate of change", unit="kg/s") + self.add_transient("weight_p", der="dw_dt", desc="Propellant weight") + + # Outputs + self.add_outward("weight", 1.0, desc="Weight", unit="kg") + self.add_outward("cg", 1.0, desc="Center of gravity", unit="m") + self.add_outward("w_out", 0.0, desc="Fuel output rate", unit="kg/s") + + def compute(self): + self.w_out = self.w_out_max * self.w_command + self.dw_dt = self.w_in - self.w_out + self.weight = self.weight_s + self.weight_p diff --git a/rocket_twin/tests/test_dynamics.py b/rocket_twin/tests/test_dynamics.py new file mode 100644 index 0000000..1b711ad --- /dev/null +++ b/rocket_twin/tests/test_dynamics.py @@ -0,0 +1,39 @@ +import numpy as np + +from rocket_twin.systems.physics import Dynamics + + +class TestDynamics: + """Tests for the dynamics model.""" + + def test_is_on(self): + sys = Dynamics("sys", forces=["F"], weights=["w"], centers=["cg"]) + sys.F = 100.0 + sys.w = 5.0 + sys.cg = 3.0 + + sys.run_once() + + np.testing.assert_allclose(sys.a, 10.0, atol=10 ** (-10)) + + def test_is_off(self): + sys = Dynamics("sys", forces=["F"], weights=["w"], centers=["cg"]) + sys.F = 10.0 + sys.w = 5.0 + sys.cg = 3.0 + + sys.run_once() + + np.testing.assert_allclose(sys.a, -8.0, atol=10 ** (-10)) + + def test_cg(self): + sys = Dynamics("sys", weights=["w1", "w2"], centers=["c1", "c2"]) + + sys.c1 = 2.0 + sys.c2 = 3.0 + sys.w1 = 1.0 + sys.w2 = 4.0 + + sys.run_once() + + np.testing.assert_allclose(sys.center, 2.8, atol=10 ** (-10)) diff --git a/rocket_twin/tests/test_flying_rocket.py b/rocket_twin/tests/test_flying_rocket.py new file mode 100644 index 0000000..7db5cb4 --- /dev/null +++ b/rocket_twin/tests/test_flying_rocket.py @@ -0,0 +1,44 @@ +import numpy as np + +from rocket_twin.drivers.vertical_flying_rocket import VerticalFlyingRocket +from rocket_twin.systems import Station + + +class TestVerticalFlyingRocket: + """Tests for the VerticalFlyingRocket driver.""" + + def test_run_once(self): + sys = Station("sys") + sys.rocket.tank.weight_p = sys.rocket.tank.weight_max + dt = 0.1 + + init = { + "rocket.flying": True, + "rocket.engine.force_command": 1.0, + "rocket.tank.weight_p": "rocket.tank.weight_max", + "rocket.tank.w_out_max": 3.0, + "g_tank.w_in": 0.0, + "g_tank.weight_p": 0.0, + "g_tank.w_command": 0.0, + } + + stop = "rocket.tank.weight_p <= 0." + + includes = ["rocket.a", "g_tank.weight", "rocket.tank.weight_p"] + + sys.add_driver( + VerticalFlyingRocket("vfr", owner=sys, init=init, stop=stop, includes=includes, dt=dt) + ) + + sys.run_drivers() + + data = sys.drivers["vfr"].data + data = data.drop(["Section", "Status", "Error code"], axis=1) + + np.testing.assert_allclose(sys.rocket.a, 40.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.rocket.tank.weight_p, 0.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.g_tank.weight_p, 0.0, atol=10 ** (-10)) + + +vfr = TestVerticalFlyingRocket() +vfr.test_run_once() diff --git a/rocket_twin/tests/test_mission.py b/rocket_twin/tests/test_mission.py new file mode 100644 index 0000000..b6c63ae --- /dev/null +++ b/rocket_twin/tests/test_mission.py @@ -0,0 +1,39 @@ +import numpy as np + +from rocket_twin.drivers.mission import Mission +from rocket_twin.systems import Station + + +class TestMission: + """Tests for the mission driver.""" + + def test_run_once(self): + sys = Station("sys") + dt = 0.1 + + init = { + "g_tank.weight_p": "g_tank.weight_max", + "rocket.engine.force_command": 0.0, + "rocket.tank.weight_p": 0.0, + "rocket.tank.w_out_max": 0.0, + "g_tank.w_command": 1.0, + "g_tank.w_in": 0.0, + "g_tank.w_out_max": 3.0, + } + + stop = "rocket.tank.weight_p <= 0." + + includes = ["rocket.a", "g_tank.weight", "rocket.tank.weight_p"] + + sys.add_driver( + Mission("mission", owner=sys, init=init, stop=stop, includes=includes, dt=dt) + ) + + sys.run_drivers() + + data = sys.drivers["mission"].data + data = data.drop(["Section", "Status", "Error code"], axis=1) + + np.testing.assert_allclose(sys.rocket.a, 40.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.rocket.tank.weight_p, 0.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.g_tank.weight_p, 5.0, atol=10 ** (-10)) diff --git a/rocket_twin/tests/test_refuel_rocket.py b/rocket_twin/tests/test_refuel_rocket.py new file mode 100644 index 0000000..6aa6b85 --- /dev/null +++ b/rocket_twin/tests/test_refuel_rocket.py @@ -0,0 +1,36 @@ +import numpy as np + +from rocket_twin.drivers.fueling_rocket import FuelingRocket +from rocket_twin.systems import Station + + +class TestFuelingRocket: + """Tests for the FuelingRocket driver.""" + + def test_run_once(self): + sys = Station("sys") + dt = 0.1 + + init = { + "rocket.engine.force_command": 0.0, + "rocket.tank.weight_p": 0.0, + "rocket.tank.w_out_max": 0.0, + "g_tank.w_command": 1.0, + "g_tank.weight_p": "g_tank.weight_max", + "g_tank.w_in": 0.0, + "g_tank.w_out_max": 3.0, + } + + stop = "rocket.tank.weight_p >= rocket.tank.weight_max" + + includes = ["rocket.a", "g_tank.weight", "rocket.tank.weight_p"] + + sys.add_driver( + FuelingRocket("fr", owner=sys, init=init, stop=stop, includes=includes, dt=dt) + ) + + sys.run_drivers() + + np.testing.assert_allclose(sys.rocket.a, 0.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.rocket.tank.weight_p, 5.0, atol=10 ** (-10)) + np.testing.assert_allclose(sys.g_tank.weight_p, 5.0, atol=10 ** (-10)) diff --git a/rocket_twin/tests/test_sequences.py b/rocket_twin/tests/test_sequences.py new file mode 100644 index 0000000..ff8c99b --- /dev/null +++ b/rocket_twin/tests/test_sequences.py @@ -0,0 +1,79 @@ +import numpy as np + +from rocket_twin.systems import Station +from rocket_twin.utils import run_sequences + + +class TestSequences: + + sys = Station("sys") + + def test_init(self): + + seq = [ + { + "name": "start", + "init": {"g_tank.weight_p": self.sys.g_tank.weight_max}, + "type": "static", + } + ] + + run_sequences(self.sys, seq) + + np.testing.assert_allclose( + self.sys.g_tank.weight_p, self.sys.g_tank.weight_max, atol=10 ** (-6) + ) + np.testing.assert_allclose(self.sys.rocket.tank.weight_p, 0.0, atol=10 ** (-6)) + np.testing.assert_allclose(self.sys.rocket.a, 0.0, atol=10 ** (-6)) + + def test_fuel(self): + + seq = [ + { + "name": "fuel", + "type": "transient", + "init": {"g_tank.w_out_max": 1.0, "g_tank.w_command": 1.0}, + "dt": 0.1, + "stop": "rocket.tank.weight_p == rocket.tank.weight_max", + } + ] + + run_sequences(self.sys, seq) + + np.testing.assert_allclose( + self.sys.g_tank.weight_p, + self.sys.g_tank.weight_max - self.sys.rocket.tank.weight_max, + atol=10 ** (-6), + ) + np.testing.assert_allclose( + self.sys.rocket.tank.weight_p, self.sys.rocket.tank.weight_max, atol=10 ** (-6) + ) + np.testing.assert_allclose(self.sys.rocket.a, 0.0, atol=10 ** (-6)) + + def test_flight(self): + + seq = [ + { + "name": "flight", + "type": "transient", + "init": { + "rocket.flying": True, + "rocket.tank.w_out_max": 0.5, + "g_tank.w_command": 0.0, + "rocket.engine.force_command": 1.0, + "rocket.tank.w_command": 1.0, + }, + "dt": 0.1, + "stop": f"time > {self.sys.time} + 10.", + } + ] + + run_sequences(self.sys, seq) + + np.testing.assert_allclose( + self.sys.g_tank.weight_p, + self.sys.g_tank.weight_max - self.sys.rocket.tank.weight_max, + atol=10 ** (-6), + ) + np.testing.assert_allclose(self.sys.rocket.tank.weight_p, 0.0, atol=10 ** (-6)) + np.testing.assert_allclose(self.sys.rocket.a, 40.0, atol=10 ** (-6)) diff --git a/rocket_twin/tests/test_tank.py b/rocket_twin/tests/test_tank.py new file mode 100644 index 0000000..eeccbc3 --- /dev/null +++ b/rocket_twin/tests/test_tank.py @@ -0,0 +1,34 @@ +import numpy as np +from cosapp.drivers import RungeKutta + +from rocket_twin.systems import Tank + + +class TestTank: + """Tests for the tank model.""" + + def test_fuel(self): + sys = Tank("sys") + driver = sys.add_driver(RungeKutta(order=4, dt=0.1)) + driver.time_interval = (0, 5) + + init = {"w_in": 3.0, "w_out_max": 0.0, "weight_p": 0.0} + + driver.set_scenario(init=init) + + sys.run_drivers() + + np.testing.assert_allclose(sys.weight, 16.0, atol=10 ** (-10)) + + def test_flight(self): + sys = Tank("sys") + driver = sys.add_driver(RungeKutta(order=4, dt=0.1)) + driver.time_interval = (0, 5) + + init = {"w_in": 0.0, "w_out_max": 3.0, "weight_p": 15.0} + + driver.set_scenario(init=init) + + sys.run_drivers() + + np.testing.assert_allclose(sys.weight, 1.0, atol=10 ** (-10)) diff --git a/rocket_twin/utils/__init__.py b/rocket_twin/utils/__init__.py new file mode 100644 index 0000000..0c17755 --- /dev/null +++ b/rocket_twin/utils/__init__.py @@ -0,0 +1,3 @@ +from rocket_twin.utils.run_sequences import run_sequences + +__all__ = ["run_sequences"] diff --git a/rocket_twin/utils/run_sequences.py b/rocket_twin/utils/run_sequences.py new file mode 100644 index 0000000..fcfc36a --- /dev/null +++ b/rocket_twin/utils/run_sequences.py @@ -0,0 +1,55 @@ +from cosapp.drivers import NonLinearSolver, RungeKutta +from cosapp.recorders import DataFrameRecorder + + +def run_sequences(sys, sequences): + """Run the command sequences over a system. + + Inputs + ------ + sys: System, + the system over which the commands are applied + sequences: dictionary, + the commands to be applied + """ + rk = sys.add_driver(RungeKutta("rk")) + rk.add_recorder(DataFrameRecorder(hold=True)) + + for seq in sequences: + print("sequence ", seq["name"]) + + if seq["type"] == "transient": + sys.drivers.clear() + rk.children.clear() + + sys.add_driver(rk) + run = rk.add_driver(NonLinearSolver("nls", tol=1e-6)) + rk.time_interval = (rk.time, rk.time + 10000) + + if "dt" in seq: + rk.dt = seq["dt"] + + if "stop" in seq: + rk.set_scenario(stop=seq["stop"]) + + if seq["type"] == "static": + sys.drivers.clear() + run = sys.add_driver(NonLinearSolver("nls", tol=1e-6)) + + if "init" in seq: + for key, val in seq["init"].items(): + sys[key] = val + if "unknown" in seq: + for uk in seq["unknown"]: + run.add_unknown(uk, max_rel_step=0.9) + if "equation" in seq: + for eq in seq["equation"]: + run.add_equation(eq) + if "target" in seq: + for var, tar in seq["target"].items(): + sys[var] = tar + if "design_method" in seq: + for dm in seq["design_method"]: + run.runner.design.extend(sys.design_methods[dm]) + + sys.run_drivers() diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..54d5e25 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,23 @@ +[metadata] +name =rocket_twin +version = attr: rocket_twin._version.__version__ +author =Luca Rodrigues Miguel +description =Digital twin of a rocket +long_description = file: README.md, CHANGELOG.md +home-page = +license = Proprietary License +license-file = LICENSE +keywords = +classifiers = + Intended Audience :: End Users/Desktop + Intended Audience :: Developers + Intended Audience :: Science/Research + License :: Other/Proprietary License + Natural Language :: English + Programming Language :: Python :: 3 + +[options] +zip_safe = False +include_package_data = True +packages = find: +python_requires = >= 3.6 diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..eb54417 --- /dev/null +++ b/setup.py @@ -0,0 +1,8 @@ +"""The setup script.""" + +from setuptools import setup + +with open("requirements.txt") as requirements_file: + requirements = [package.strip() for package in requirements_file.readlines()] + +setup(install_requires=requirements)