@Override
public FlightData simulate(SimulationConditions simulationConditions) throws SimulationException {
// Set up flight data
FlightData flightData = new FlightData();
// Set up rocket configuration
this.fcid = simulationConditions.getFlightConfigurationID();
FlightConfiguration simulationConfig =
simulationConditions.getRocket().getFlightConfiguration(this.fcid).clone();
if (!simulationConfig.hasMotors()) {
throw new MotorIgnitionException(
trans.get("BasicEventSimulationEngine.error.noMotorsDefined"));
}
currentStatus = new SimulationStatus(simulationConfig, simulationConditions);
currentStatus
.getEventQueue()
.add(new FlightEvent(FlightEvent.Type.LAUNCH, 0, simulationConditions.getRocket()));
{
// main simulation branch
final String branchName = simulationConfig.getRocket().getTopmostStage().getName();
currentStatus.setFlightData(new FlightDataBranch(branchName, FlightDataType.TYPE_TIME));
}
toSimulate.add(currentStatus);
SimulationListenerHelper.fireStartSimulation(currentStatus);
do {
if (null == toSimulate.peek()) {
break;
}
currentStatus = toSimulate.pop();
log.info(">>Starting simulation of branch: " + currentStatus.getFlightData().getBranchName());
FlightDataBranch dataBranch = simulateLoop();
flightData.addBranch(dataBranch);
flightData.getWarningSet().addAll(currentStatus.getWarnings());
log.info(
String.format(
"<<Finished simulating branch: %s curTime:%s finTime:%s",
dataBranch.getBranchName(),
currentStatus.getSimulationTime(),
dataBranch.getLast(FlightDataType.TYPE_TIME)));
} while (!toSimulate.isEmpty());
SimulationListenerHelper.fireEndSimulation(currentStatus, null);
if (!flightData.getWarningSet().isEmpty()) {
log.info("Warnings at the end of simulation: " + flightData.getWarningSet());
}
return flightData;
}
/**
* Return the next flight event to handle, or null if no more events should be handled. This
* method jumps the simulation time forward in case no motors have been ignited. The flight event
* is removed from the event queue.
*
* @return the flight event to handle, or null
*/
private FlightEvent nextEvent() {
EventQueue queue = currentStatus.getEventQueue();
FlightEvent event = queue.peek();
if (event == null) return null;
// Jump to event if no motors have been ignited
if (!currentStatus.isMotorIgnited() && event.getTime() > currentStatus.getSimulationTime()) {
currentStatus.setSimulationTime(event.getTime());
}
if (event.getTime() <= currentStatus.getSimulationTime()) {
return queue.poll();
} else {
return null;
}
}
private FlightData computeCoastTime() {
try {
SimulationConditions conds = currentStatus.getSimulationConditions().clone();
conds.getSimulationListenerList().add(OptimumCoastListener.INSTANCE);
BasicEventSimulationEngine e = new BasicEventSimulationEngine();
FlightData d = e.simulate(conds);
return d;
} catch (Exception e) {
log.warn("Exception computing coast time: ", e);
return null;
}
}
private void checkNaN() throws SimulationException {
double d = 0;
boolean b = false;
d += currentStatus.getSimulationTime();
d += currentStatus.getPreviousTimeStep();
b |= currentStatus.getRocketPosition().isNaN();
b |= currentStatus.getRocketVelocity().isNaN();
b |= currentStatus.getRocketOrientationQuaternion().isNaN();
b |= currentStatus.getRocketRotationVelocity().isNaN();
d += currentStatus.getEffectiveLaunchRodLength();
if (Double.isNaN(d) || b) {
log.error(
"Simulation resulted in NaN value:"
+ " simulationTime="
+ currentStatus.getSimulationTime()
+ " previousTimeStep="
+ currentStatus.getPreviousTimeStep()
+ " rocketPosition="
+ currentStatus.getRocketPosition()
+ " rocketVelocity="
+ currentStatus.getRocketVelocity()
+ " rocketOrientationQuaternion="
+ currentStatus.getRocketOrientationQuaternion()
+ " rocketRotationVelocity="
+ currentStatus.getRocketRotationVelocity()
+ " effectiveLaunchRodLength="
+ currentStatus.getEffectiveLaunchRodLength());
throw new SimulationException(trans.get("BasicEventSimulationEngine.error.NaNResult"));
}
}
/**
* Add a flight event to the event queue unless a listener aborts adding it.
*
* @param event the event to add to the queue.
*/
private void addEvent(FlightEvent event) throws SimulationException {
if (SimulationListenerHelper.fireAddFlightEvent(currentStatus, event)) {
currentStatus.getEventQueue().add(event);
}
}
/**
* Handles events occurring during the flight from the event queue. Each event that has occurred
* before or at the current simulation time is processed. Suitable events are also added to the
* flight data.
*/
private boolean handleEvents() throws SimulationException {
boolean ret = true;
FlightEvent event;
log.trace("HandleEvents: current branch = " + currentStatus.getFlightData().getBranchName());
log.trace("EventQueue = " + currentStatus.getEventQueue().toString());
for (event = nextEvent(); event != null; event = nextEvent()) {
// Ignore events for components that are no longer attached to the rocket
if (event.getSource() != null
&& event.getSource().getParent() != null
&& !currentStatus.getConfiguration().isComponentActive(event.getSource())) {
continue;
}
// Call simulation listeners, allow aborting event handling
if (!SimulationListenerHelper.fireHandleFlightEvent(currentStatus, event)) {
continue;
}
if (event.getType() == FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT) {
RecoveryDevice device = (RecoveryDevice) event.getSource();
if (!SimulationListenerHelper.fireRecoveryDeviceDeployment(currentStatus, device)) {
continue;
}
}
// Check for motor ignition events, add ignition events to queue
for (MotorClusterState state : currentStatus.getActiveMotors()) {
if (state.testForIgnition(event)) {
final double simulationTime = currentStatus.getSimulationTime();
MotorClusterState sourceState = (MotorClusterState) event.getData();
double ignitionDelay = 0;
if ((event.getType() == FlightEvent.Type.BURNOUT)
|| (event.getType() == FlightEvent.Type.EJECTION_CHARGE)) {
ignitionDelay = sourceState.getEjectionDelay();
}
final double ignitionTime = currentStatus.getSimulationTime() + ignitionDelay;
final RocketComponent mount = (RocketComponent) state.getMount();
// TODO: this event seems to get enqueue'd multiple times ...
log.info("Queueing Ignition Event for: " + state.toDescription() + " @: " + ignitionTime);
// log.info(" Because of "+event.getType().name()+" @"+event.getTime()+" from:
// "+event.getSource().getName());
addEvent(new FlightEvent(FlightEvent.Type.IGNITION, ignitionTime, mount, state));
}
}
// Check for stage separation event
for (AxialStage stage : currentStatus.getConfiguration().getActiveStages()) {
int stageNo = stage.getStageNumber();
if (stageNo == 0) continue;
StageSeparationConfiguration separationConfig =
stage.getSeparationConfigurations().get(this.fcid);
if (separationConfig.getSeparationEvent().isSeparationEvent(event, stage)) {
addEvent(
new FlightEvent(
FlightEvent.Type.STAGE_SEPARATION,
event.getTime() + separationConfig.getSeparationDelay(),
stage));
}
}
// Check for recovery device deployment, add events to queue
for (RocketComponent c : currentStatus.getConfiguration().getActiveComponents()) {
if (!(c instanceof RecoveryDevice)) continue;
DeploymentConfiguration deployConfig =
((RecoveryDevice) c).getDeploymentConfigurations().get(this.fcid);
if (deployConfig.isActivationEvent(event, c)) {
// Delay event by at least 1ms to allow stage separation to occur first
addEvent(
new FlightEvent(
FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT,
event.getTime() + Math.max(0.001, deployConfig.getDeployDelay()),
c));
}
}
// Handle event
switch (event.getType()) {
case LAUNCH:
{
currentStatus.getFlightData().addEvent(event);
break;
}
case IGNITION:
{
MotorClusterState motorState = (MotorClusterState) event.getData();
log.info(
" Igniting motor: "
+ motorState.toDescription()
+ " @"
+ currentStatus.getSimulationTime());
motorState.ignite(event.getTime());
// Ignite the motor
currentStatus.setMotorIgnited(true);
currentStatus.getFlightData().addEvent(event);
// ... ignite ...uhh, again?
// TBH, I'm not sure what this call is for. It seems to be mostly a bunch of event
// distribution.
MotorConfigurationId motorId = motorState.getID();
MotorMount mount = (MotorMount) event.getSource();
if (!SimulationListenerHelper.fireMotorIgnition(
currentStatus, motorId, mount, motorState)) {
continue;
}
// and queue up the burnout for this motor, as well.
double duration = motorState.getMotor().getBurnTimeEstimate();
double burnout = currentStatus.getSimulationTime() + duration;
addEvent(
new FlightEvent(FlightEvent.Type.BURNOUT, burnout, event.getSource(), motorState));
break;
}
case LIFTOFF:
{
// Mark lift-off as occurred
currentStatus.setLiftoff(true);
currentStatus.getFlightData().addEvent(event);
break;
}
case LAUNCHROD:
{
// Mark launch rod as cleared
currentStatus.setLaunchRodCleared(true);
currentStatus.getFlightData().addEvent(event);
break;
}
case BURNOUT:
{
// If motor burnout occurs without lift-off, abort
if (!currentStatus.isLiftoff()) {
throw new SimulationLaunchException(
trans.get("BasicEventSimulationEngine.error.earlyMotorBurnout"));
}
// Add ejection charge event
MotorClusterState motorState = (MotorClusterState) event.getData();
motorState.burnOut(event.getTime());
AxialStage stage = motorState.getMount().getStage();
log.debug(
" adding EJECTION_CHARGE event for stage "
+ stage.getStageNumber()
+ ": "
+ stage.getName());
log.debug(
" .... for motor "
+ motorState.getMotor().getDesignation());
double delay = motorState.getEjectionDelay();
if (motorState.hasEjectionCharge()) {
addEvent(
new FlightEvent(
FlightEvent.Type.EJECTION_CHARGE,
currentStatus.getSimulationTime() + delay,
stage,
event.getData()));
}
currentStatus.getFlightData().addEvent(event);
break;
}
case EJECTION_CHARGE:
{
MotorClusterState motorState = (MotorClusterState) event.getData();
motorState.expend(event.getTime());
currentStatus.getFlightData().addEvent(event);
break;
}
case STAGE_SEPARATION:
{
// Record the event.
currentStatus.getFlightData().addEvent(event);
RocketComponent boosterStage = event.getSource();
final int stageNumber = boosterStage.getStageNumber();
// Mark the status as having dropped the booster
currentStatus.getConfiguration().clearStage(stageNumber);
// Prepare the simulation branch
SimulationStatus boosterStatus = new SimulationStatus(currentStatus);
boosterStatus.setFlightData(
new FlightDataBranch(boosterStage.getName(), FlightDataType.TYPE_TIME));
// Mark the booster status as only having the booster.
boosterStatus.getConfiguration().setOnlyStage(stageNumber);
toSimulate.add(boosterStatus);
log.info(
String.format(
"==>> @ %g; from Branch: %s ---- Branching: %s ---- \n",
currentStatus.getSimulationTime(),
currentStatus.getFlightData().getBranchName(),
boosterStatus.getFlightData().getBranchName()));
break;
}
case APOGEE:
// Mark apogee as reached
currentStatus.setApogeeReached(true);
currentStatus.getFlightData().addEvent(event);
// This apogee event might be the optimum if recovery has not already happened.
if (currentStatus.getSimulationConditions().isCalculateExtras()
&& currentStatus.getDeployedRecoveryDevices().size() == 0) {
currentStatus.getFlightData().setOptimumAltitude(currentStatus.getMaxAlt());
currentStatus.getFlightData().setTimeToOptimumAltitude(currentStatus.getMaxAltTime());
}
break;
case RECOVERY_DEVICE_DEPLOYMENT:
RocketComponent c = event.getSource();
int n = c.getStageNumber();
// Ignore event if stage not active
if (currentStatus.getConfiguration().isStageActive(n)) {
// TODO: HIGH: Check stage activeness for other events as well?
// Check whether any motor in the active stages is active anymore
for (MotorClusterState state : currentStatus.getActiveMotors()) {
if (state.isSpent()) {
continue;
}
currentStatus.getWarnings().add(Warning.RECOVERY_DEPLOYMENT_WHILE_BURNING);
}
// Check for launch rod
if (!currentStatus.isLaunchRodCleared()) {
currentStatus.getWarnings().add(Warning.RECOVERY_LAUNCH_ROD);
}
// Check current velocity
if (currentStatus.getRocketVelocity().length() > 20) {
currentStatus
.getWarnings()
.add(new Warning.HighSpeedDeployment(currentStatus.getRocketVelocity().length()));
}
currentStatus.setLiftoff(true);
currentStatus.getDeployedRecoveryDevices().add((RecoveryDevice) c);
// If we haven't already reached apogee, then we need to compute the actual coast time
// to determine the optimum altitude.
if (currentStatus.getSimulationConditions().isCalculateExtras()
&& !currentStatus.isApogeeReached()) {
FlightData coastStatus = computeCoastTime();
currentStatus.getFlightData().setOptimumAltitude(coastStatus.getMaxAltitude());
currentStatus.getFlightData().setTimeToOptimumAltitude(coastStatus.getTimeToApogee());
}
this.currentStepper = this.landingStepper;
this.currentStatus = currentStepper.initialize(currentStatus);
currentStatus.getFlightData().addEvent(event);
}
break;
case GROUND_HIT:
currentStatus.getFlightData().addEvent(event);
break;
case SIMULATION_END:
ret = false;
currentStatus.getFlightData().addEvent(event);
break;
case ALTITUDE:
log.trace("BasicEventSimulationEngine: Handling event " + event);
break;
case TUMBLE:
this.currentStepper = this.tumbleStepper;
this.currentStatus = currentStepper.initialize(currentStatus);
currentStatus.getFlightData().addEvent(event);
break;
}
}
if (1200 < currentStatus.getSimulationTime()) {
ret = false;
log.error("Simulation hit max time (1200s): aborting.");
currentStatus
.getFlightData()
.addEvent(
new FlightEvent(FlightEvent.Type.SIMULATION_END, currentStatus.getSimulationTime()));
}
// If no motor has ignited, abort
if (!currentStatus.isMotorIgnited()) {
throw new MotorIgnitionException(trans.get("BasicEventSimulationEngine.error.noIgnition"));
}
return ret;
}
private FlightDataBranch simulateLoop() {
// Initialize the simulation
currentStepper = flightStepper;
currentStatus = currentStepper.initialize(currentStatus);
// Get originating position (in case listener has modified launch position)
Coordinate origin = currentStatus.getRocketPosition();
Coordinate originVelocity = currentStatus.getRocketVelocity();
try {
// Start the simulation
while (handleEvents()) {
// Take the step
double oldAlt = currentStatus.getRocketPosition().z;
if (SimulationListenerHelper.firePreStep(currentStatus)) {
// Step at most to the next event
double maxStepTime = Double.MAX_VALUE;
FlightEvent nextEvent = currentStatus.getEventQueue().peek();
if (nextEvent != null) {
maxStepTime =
MathUtil.max(nextEvent.getTime() - currentStatus.getSimulationTime(), 0.001);
}
log.trace(
"BasicEventSimulationEngine: Taking simulation step at t="
+ currentStatus.getSimulationTime());
currentStepper.step(currentStatus, maxStepTime);
}
SimulationListenerHelper.firePostStep(currentStatus);
// Check for NaN values in the simulation status
checkNaN();
// Add altitude event
addEvent(
new FlightEvent(
FlightEvent.Type.ALTITUDE,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket(),
new Pair<Double, Double>(oldAlt, currentStatus.getRocketPosition().z)));
if (currentStatus.getRocketPosition().z > currentStatus.getMaxAlt()) {
currentStatus.setMaxAlt(currentStatus.getRocketPosition().z);
}
// Position relative to start location
Coordinate relativePosition = currentStatus.getRocketPosition().sub(origin);
// Add appropriate events
if (!currentStatus.isLiftoff()) {
// Avoid sinking into ground before liftoff
if (relativePosition.z < 0) {
currentStatus.setRocketPosition(origin);
currentStatus.setRocketVelocity(originVelocity);
}
// Detect lift-off
if (relativePosition.z > 0.02) {
addEvent(new FlightEvent(FlightEvent.Type.LIFTOFF, currentStatus.getSimulationTime()));
}
} else {
// Check ground hit after liftoff
if (currentStatus.getRocketPosition().z < 0) {
currentStatus.setRocketPosition(currentStatus.getRocketPosition().setZ(0));
addEvent(
new FlightEvent(FlightEvent.Type.GROUND_HIT, currentStatus.getSimulationTime()));
addEvent(
new FlightEvent(
FlightEvent.Type.SIMULATION_END, currentStatus.getSimulationTime()));
}
}
// Check for launch guide clearance
if (!currentStatus.isLaunchRodCleared()
&& relativePosition.length()
> currentStatus.getSimulationConditions().getLaunchRodLength()) {
addEvent(
new FlightEvent(FlightEvent.Type.LAUNCHROD, currentStatus.getSimulationTime(), null));
}
// Check for apogee
if (!currentStatus.isApogeeReached()
&& currentStatus.getRocketPosition().z < currentStatus.getMaxAlt() - 0.01) {
currentStatus.setMaxAltTime(currentStatus.getSimulationTime());
addEvent(
new FlightEvent(
FlightEvent.Type.APOGEE,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket()));
}
// //@Obsolete
// //@Redundant
// // Check for burnt out motors
// for( MotorClusterState state : currentStatus.getActiveMotors()){
// if ( state.isSpent()){
// addEvent(new FlightEvent(FlightEvent.Type.BURNOUT,
// currentStatus.getSimulationTime(),
// (RocketComponent) state.getMount(), state));
// }
// }
// Check for Tumbling
// Conditions for transision are:
// apogee reached (if sustainer stage)
// and is not already tumbling
// and not stable (cg > cp)
// and aoa > AOA_TUMBLE_CONDITION threshold
// and thrust < THRUST_TUMBLE_CONDITION threshold
if (!currentStatus.isTumbling()) {
final double t = currentStatus.getFlightData().getLast(FlightDataType.TYPE_THRUST_FORCE);
final double cp = currentStatus.getFlightData().getLast(FlightDataType.TYPE_CP_LOCATION);
final double cg = currentStatus.getFlightData().getLast(FlightDataType.TYPE_CG_LOCATION);
final double aoa = currentStatus.getFlightData().getLast(FlightDataType.TYPE_AOA);
final boolean wantToTumble = (cg > cp && aoa > AOA_TUMBLE_CONDITION);
if (wantToTumble) {
final boolean tooMuchThrust = t > THRUST_TUMBLE_CONDITION;
// final boolean isSustainer = status.getConfiguration().isStageActive(0);
final boolean isApogee = currentStatus.isApogeeReached();
if (tooMuchThrust) {
currentStatus.getWarnings().add(Warning.TUMBLE_UNDER_THRUST);
} else if (isApogee) {
addEvent(new FlightEvent(FlightEvent.Type.TUMBLE, currentStatus.getSimulationTime()));
currentStatus.setTumbling(true);
}
}
}
}
} catch (SimulationException e) {
SimulationListenerHelper.fireEndSimulation(currentStatus, e);
// Add FlightEvent for Abort.
currentStatus
.getFlightData()
.addEvent(
new FlightEvent(
FlightEvent.Type.EXCEPTION,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket(),
e.getLocalizedMessage()));
currentStatus.getWarnings().add(e.getLocalizedMessage());
}
return currentStatus.getFlightData();
}
private void checkNaN() throws SimulationException {
double d = 0;
boolean b = false;
d += status.getSimulationTime();
d += status.getPreviousTimeStep();
b |= status.getRocketPosition().isNaN();
b |= status.getRocketVelocity().isNaN();
b |= status.getRocketOrientationQuaternion().isNaN();
b |= status.getRocketRotationVelocity().isNaN();
d += status.getEffectiveLaunchRodLength();
if (Double.isNaN(d) || b) {
log.error(
"Simulation resulted in NaN value:"
+ " simulationTime="
+ status.getSimulationTime()
+ " previousTimeStep="
+ status.getPreviousTimeStep()
+ " rocketPosition="
+ status.getRocketPosition()
+ " rocketVelocity="
+ status.getRocketVelocity()
+ " rocketOrientationQuaternion="
+ status.getRocketOrientationQuaternion()
+ " rocketRotationVelocity="
+ status.getRocketRotationVelocity()
+ " effectiveLaunchRodLength="
+ status.getEffectiveLaunchRodLength());
throw new SimulationException(
"Simulation resulted in not-a-number (NaN) value, please report a bug.");
}
}
@Override
public FlightData simulate(SimulationConditions simulationConditions) throws SimulationException {
Set<MotorId> motorBurntOut = new HashSet<MotorId>();
// Set up flight data
FlightData flightData = new FlightData();
// Set up rocket configuration
Configuration configuration = setupConfiguration(simulationConditions);
MotorInstanceConfiguration motorConfiguration = setupMotorConfiguration(configuration);
if (motorConfiguration.getMotorIDs().isEmpty()) {
throw new MotorIgnitionException("No motors defined in the simulation.");
}
// Initialize the simulation
currentStepper = flightStepper;
status = initialStatus(configuration, motorConfiguration, simulationConditions, flightData);
status = currentStepper.initialize(status);
SimulationListenerHelper.fireStartSimulation(status);
// Get originating position (in case listener has modified launch position)
Coordinate origin = status.getRocketPosition();
Coordinate originVelocity = status.getRocketVelocity();
try {
double maxAlt = Double.NEGATIVE_INFINITY;
// Start the simulation
while (handleEvents()) {
// Take the step
double oldAlt = status.getRocketPosition().z;
if (SimulationListenerHelper.firePreStep(status)) {
// Step at most to the next event
double maxStepTime = Double.MAX_VALUE;
FlightEvent nextEvent = status.getEventQueue().peek();
if (nextEvent != null) {
maxStepTime = MathUtil.max(nextEvent.getTime() - status.getSimulationTime(), 0.001);
}
log.verbose(
"BasicEventSimulationEngine: Taking simulation step at t="
+ status.getSimulationTime());
currentStepper.step(status, maxStepTime);
}
SimulationListenerHelper.firePostStep(status);
// Calculate values for custom expressions
FlightDataBranch data = status.getFlightData();
ArrayList<CustomExpression> allExpressions =
status.getSimulationConditions().getSimulation().getCustomExpressions();
for (CustomExpression expression : allExpressions) {
data.setValue(expression.getType(), expression.evaluate(status));
}
// Check for NaN values in the simulation status
checkNaN();
// Add altitude event
addEvent(
new FlightEvent(
FlightEvent.Type.ALTITUDE,
status.getSimulationTime(),
status.getConfiguration().getRocket(),
new Pair<Double, Double>(oldAlt, status.getRocketPosition().z)));
if (status.getRocketPosition().z > maxAlt) {
maxAlt = status.getRocketPosition().z;
}
// Position relative to start location
Coordinate relativePosition = status.getRocketPosition().sub(origin);
// Add appropriate events
if (!status.isLiftoff()) {
// Avoid sinking into ground before liftoff
if (relativePosition.z < 0) {
status.setRocketPosition(origin);
status.setRocketVelocity(originVelocity);
}
// Detect lift-off
if (relativePosition.z > 0.02) {
addEvent(new FlightEvent(FlightEvent.Type.LIFTOFF, status.getSimulationTime()));
}
} else {
// Check ground hit after liftoff
if (status.getRocketPosition().z < 0) {
status.setRocketPosition(status.getRocketPosition().setZ(0));
addEvent(new FlightEvent(FlightEvent.Type.GROUND_HIT, status.getSimulationTime()));
addEvent(new FlightEvent(FlightEvent.Type.SIMULATION_END, status.getSimulationTime()));
}
}
// Check for launch guide clearance
if (!status.isLaunchRodCleared()
&& relativePosition.length() > status.getSimulationConditions().getLaunchRodLength()) {
addEvent(new FlightEvent(FlightEvent.Type.LAUNCHROD, status.getSimulationTime(), null));
}
// Check for apogee
if (!status.isApogeeReached() && status.getRocketPosition().z < maxAlt - 0.01) {
addEvent(
new FlightEvent(
FlightEvent.Type.APOGEE,
status.getSimulationTime(),
status.getConfiguration().getRocket()));
}
// Check for burnt out motors
for (MotorId motorId : status.getMotorConfiguration().getMotorIDs()) {
MotorInstance motor = status.getMotorConfiguration().getMotorInstance(motorId);
if (!motor.isActive() && motorBurntOut.add(motorId)) {
addEvent(
new FlightEvent(
FlightEvent.Type.BURNOUT,
status.getSimulationTime(),
(RocketComponent) status.getMotorConfiguration().getMotorMount(motorId),
motorId));
}
}
}
} catch (SimulationException e) {
SimulationListenerHelper.fireEndSimulation(status, e);
throw e;
}
SimulationListenerHelper.fireEndSimulation(status, null);
flightData.addBranch(status.getFlightData());
if (!flightData.getWarningSet().isEmpty()) {
log.info("Warnings at the end of simulation: " + flightData.getWarningSet());
}
// TODO: HIGH: Simulate branches
return flightData;
}
/**
* Handles events occurring during the flight from the event queue. Each event that has occurred
* before or at the current simulation time is processed. Suitable events are also added to the
* flight data.
*/
private boolean handleEvents() throws SimulationException {
boolean ret = true;
FlightEvent event;
for (event = nextEvent(); event != null; event = nextEvent()) {
// Ignore events for components that are no longer attached to the rocket
if (event.getSource() != null
&& event.getSource().getParent() != null
&& !status.getConfiguration().isStageActive(event.getSource().getStageNumber())) {
continue;
}
// Call simulation listeners, allow aborting event handling
if (!SimulationListenerHelper.fireHandleFlightEvent(status, event)) {
continue;
}
if (event.getType() != FlightEvent.Type.ALTITUDE) {
log.verbose("BasicEventSimulationEngine: Handling event " + event);
}
if (event.getType() == FlightEvent.Type.IGNITION) {
MotorMount mount = (MotorMount) event.getSource();
MotorId motorId = (MotorId) event.getData();
MotorInstance instance = status.getMotorConfiguration().getMotorInstance(motorId);
if (!SimulationListenerHelper.fireMotorIgnition(status, motorId, mount, instance)) {
continue;
}
}
if (event.getType() == FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT) {
RecoveryDevice device = (RecoveryDevice) event.getSource();
if (!SimulationListenerHelper.fireRecoveryDeviceDeployment(status, device)) {
continue;
}
}
// Check for motor ignition events, add ignition events to queue
for (MotorId id : status.getMotorConfiguration().getMotorIDs()) {
MotorMount mount = status.getMotorConfiguration().getMotorMount(id);
RocketComponent component = (RocketComponent) mount;
if (mount.getIgnitionEvent().isActivationEvent(event, component)) {
addEvent(
new FlightEvent(
FlightEvent.Type.IGNITION,
status.getSimulationTime() + mount.getIgnitionDelay(),
component,
id));
}
}
// Check for stage separation event
for (int stageNo : status.getConfiguration().getActiveStages()) {
if (stageNo == 0) continue;
Stage stage = (Stage) status.getConfiguration().getRocket().getChild(stageNo);
if (stage.getSeparationEvent().isSeparationEvent(event, stage)) {
addEvent(
new FlightEvent(
FlightEvent.Type.STAGE_SEPARATION,
event.getTime() + stage.getSeparationDelay(),
stage));
}
}
// Check for recovery device deployment, add events to queue
Iterator<RocketComponent> rci = status.getConfiguration().iterator();
while (rci.hasNext()) {
RocketComponent c = rci.next();
if (!(c instanceof RecoveryDevice)) continue;
if (((RecoveryDevice) c).getDeployEvent().isActivationEvent(event, c)) {
// Delay event by at least 1ms to allow stage separation to occur first
addEvent(
new FlightEvent(
FlightEvent.Type.RECOVERY_DEVICE_DEPLOYMENT,
event.getTime() + Math.max(0.001, ((RecoveryDevice) c).getDeployDelay()),
c));
}
}
// Handle event
switch (event.getType()) {
case LAUNCH:
{
status.getFlightData().addEvent(event);
break;
}
case IGNITION:
{
// Ignite the motor
MotorMount mount = (MotorMount) event.getSource();
RocketComponent component = (RocketComponent) mount;
MotorId motorId = (MotorId) event.getData();
MotorInstanceConfiguration config = status.getMotorConfiguration();
config.setMotorIgnitionTime(motorId, event.getTime());
status.setMotorIgnited(true);
status.getFlightData().addEvent(event);
break;
}
case LIFTOFF:
{
// Mark lift-off as occurred
status.setLiftoff(true);
status.getFlightData().addEvent(event);
break;
}
case LAUNCHROD:
{
// Mark launch rod as cleared
status.setLaunchRodCleared(true);
status.getFlightData().addEvent(event);
break;
}
case BURNOUT:
{
// If motor burnout occurs without lift-off, abort
if (!status.isLiftoff()) {
throw new SimulationLaunchException("Motor burnout without liftoff.");
}
// Add ejection charge event
String id = status.getConfiguration().getMotorConfigurationID();
MotorMount mount = (MotorMount) event.getSource();
double delay = mount.getMotorDelay(id);
if (delay != Motor.PLUGGED) {
addEvent(
new FlightEvent(
FlightEvent.Type.EJECTION_CHARGE,
status.getSimulationTime() + delay,
event.getSource(),
event.getData()));
}
status.getFlightData().addEvent(event);
break;
}
case EJECTION_CHARGE:
{
status.getFlightData().addEvent(event);
break;
}
case STAGE_SEPARATION:
{
// TODO: HIGH: Store lower stages to be simulated later
RocketComponent stage = event.getSource();
int n = stage.getStageNumber();
status.getConfiguration().setToStage(n - 1);
status.getFlightData().addEvent(event);
break;
}
case APOGEE:
// Mark apogee as reached
status.setApogeeReached(true);
status.getFlightData().addEvent(event);
break;
case RECOVERY_DEVICE_DEPLOYMENT:
RocketComponent c = event.getSource();
int n = c.getStageNumber();
// Ignore event if stage not active
if (status.getConfiguration().isStageActive(n)) {
// TODO: HIGH: Check stage activeness for other events as well?
// Check whether any motor in the active stages is active anymore
for (MotorId motorId : status.getMotorConfiguration().getMotorIDs()) {
int stage =
((RocketComponent) status.getMotorConfiguration().getMotorMount(motorId))
.getStageNumber();
if (!status.getConfiguration().isStageActive(stage)) continue;
if (!status.getMotorConfiguration().getMotorInstance(motorId).isActive()) continue;
status.getWarnings().add(Warning.RECOVERY_DEPLOYMENT_WHILE_BURNING);
}
// Check for launch rod
if (!status.isLaunchRodCleared()) {
status
.getWarnings()
.add(
Warning.fromString(
"Recovery device device deployed while on " + "the launch guide."));
}
// Check current velocity
if (status.getRocketVelocity().length() > 20) {
// TODO: LOW: Custom warning.
status
.getWarnings()
.add(
Warning.fromString(
"Recovery device deployment at high "
+ "speed ("
+ UnitGroup.UNITS_VELOCITY.toStringUnit(
status.getRocketVelocity().length())
+ ")."));
}
status.setLiftoff(true);
status.getDeployedRecoveryDevices().add((RecoveryDevice) c);
this.currentStepper = this.landingStepper;
this.status = currentStepper.initialize(status);
status.getFlightData().addEvent(event);
}
break;
case GROUND_HIT:
status.getFlightData().addEvent(event);
break;
case SIMULATION_END:
ret = false;
status.getFlightData().addEvent(event);
break;
case ALTITUDE:
break;
}
}
// If no motor has ignited, abort
if (!status.isMotorIgnited()) {
throw new MotorIgnitionException("No motors ignited.");
}
return ret;
}
private SimulationStatus initialStatus(
Configuration configuration,
MotorInstanceConfiguration motorConfiguration,
SimulationConditions simulationConditions,
FlightData flightData) {
SimulationStatus init = new SimulationStatus();
init.setSimulationConditions(simulationConditions);
init.setConfiguration(configuration);
init.setMotorConfiguration(motorConfiguration);
init.setSimulationTime(0);
init.setPreviousTimeStep(simulationConditions.getTimeStep());
init.setRocketPosition(Coordinate.NUL);
init.setRocketVelocity(Coordinate.NUL);
init.setRocketWorldPosition(simulationConditions.getLaunchSite());
// Initialize to roll angle with least stability w.r.t. the wind
Quaternion o;
FlightConditions cond = new FlightConditions(configuration);
simulationConditions.getAerodynamicCalculator().getWorstCP(configuration, cond, null);
double angle = -cond.getTheta() - simulationConditions.getLaunchRodDirection();
o = Quaternion.rotation(new Coordinate(0, 0, angle));
// Launch rod angle and direction
o =
o.multiplyLeft(
Quaternion.rotation(new Coordinate(0, simulationConditions.getLaunchRodAngle(), 0)));
o =
o.multiplyLeft(
Quaternion.rotation(
new Coordinate(0, 0, simulationConditions.getLaunchRodDirection())));
init.setRocketOrientationQuaternion(o);
init.setRocketRotationVelocity(Coordinate.NUL);
/*
* Calculate the effective launch rod length taking into account launch lugs.
* If no lugs are found, assume a tower launcher of full length.
*/
double length = simulationConditions.getLaunchRodLength();
double lugPosition = Double.NaN;
for (RocketComponent c : configuration) {
if (c instanceof LaunchLug) {
double pos = c.toAbsolute(new Coordinate(c.getLength()))[0].x;
if (Double.isNaN(lugPosition) || pos > lugPosition) {
lugPosition = pos;
}
}
}
if (!Double.isNaN(lugPosition)) {
double maxX = 0;
for (Coordinate c : configuration.getBounds()) {
if (c.x > maxX) maxX = c.x;
}
if (maxX >= lugPosition) {
length = Math.max(0, length - (maxX - lugPosition));
}
}
init.setEffectiveLaunchRodLength(length);
init.setSimulationStartWallTime(System.nanoTime());
init.setMotorIgnited(false);
init.setLiftoff(false);
init.setLaunchRodCleared(false);
init.setApogeeReached(false);
init.getEventQueue()
.add(new FlightEvent(FlightEvent.Type.LAUNCH, 0, simulationConditions.getRocket()));
init.setFlightData(new FlightDataBranch("MAIN", FlightDataType.TYPE_TIME));
init.setWarnings(flightData.getWarningSet());
return init;
}
