/**
* Create a new motor instance configuration for the rocket configuration.
*
* @param configuration the rocket configuration.
* @return a new motor instance configuration with all motors in place.
*/
private MotorInstanceConfiguration setupMotorConfiguration(Configuration configuration) {
MotorInstanceConfiguration motors = new MotorInstanceConfiguration();
final String motorId = configuration.getMotorConfigurationID();
Iterator<MotorMount> iterator = configuration.motorIterator();
while (iterator.hasNext()) {
MotorMount mount = iterator.next();
RocketComponent component = (RocketComponent) mount;
Motor motor = mount.getMotor(motorId);
if (motor != null) {
Coordinate[] positions = component.toAbsolute(mount.getMotorPosition(motorId));
for (int i = 0; i < positions.length; i++) {
Coordinate position = positions[i];
MotorId id = new MotorId(component.getID(), i + 1);
motors.addMotor(id, motor.getInstance(), mount, position);
}
}
}
return motors;
}
@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;
}