Merge pull request #576 from AVSLab/refactor-prescribed-messages

Refactor prescribed messages

docs/source/Support/bskReleaseNotes.rst

@@ -46,6 +46,8 @@ Version |release|
 - Refactored the :ref:`PrescribedTransMsgPayload` message by renaming the message to
   :ref:`LinearTranslationRigidBodyMsgPayload` and renaming the message variables from ``scalarPos`` and ``scalarVel`` to
   ``rho`` and ``rhoDot``
+- Deprecated the :ref:`prescribedMotionMsgPayload` message and replaced with two separate
+  :ref:`prescribedTranslationMsgPayload` and :ref:`prescribedRotationMsgPayload` messages.
 
 Version 2.2.1 (Dec. 22, 2023)
 -----------------------------

src/architecture/msgPayloadDefC/PrescribedRotationMsgPayload.h

@@ -0,0 +1,32 @@
+/*
+ ISC License
+
+ Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+
+ Permission to use, copy, modify, and/or distribute this software for any
+ purpose with or without fee is hereby granted, provided that the above
+ copyright notice and this permission notice appear in all copies.
+
+ THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+ */
+
+#ifndef prescribedRotationSimMsg_h
+#define prescribedRotationSimMsg_h
+
+
+ /*! @brief Structure used to define the prescribed motion state effector rotational state data message */
+typedef struct {
+    double omega_FM_F[3];                      //!< [rad/s] Angular velocity of the F frame wrt the M frame in F frame components
+    double omegaPrime_FM_F[3];                 //!< [rad/s^2] B/M frame time derivative of omega_FM_F
+    double sigma_FM[3];                        //!< MRP attitude parameters for the F frame relative to the M frame
+}PrescribedRotationMsgPayload;
+
+
+#endif /* prescribedRotationSimMsg_h */

src/architecture/msgPayloadDefC/PrescribedTranslationMsgPayload.h

@@ -0,0 +1,32 @@
+/*
+ ISC License
+
+ Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+
+ Permission to use, copy, modify, and/or distribute this software for any
+ purpose with or without fee is hereby granted, provided that the above
+ copyright notice and this permission notice appear in all copies.
+
+ THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+ */
+
+#ifndef prescribedTranslationSimMsg_h
+#define prescribedTranslationSimMsg_h
+
+
+ /*! @brief Structure used to define the prescribed motion state effector translational state data message */
+typedef struct {
+    double r_FM_M[3];                          //!< [m] Position vector from the M frame origin to the F frame origin expressed in M frame components
+    double rPrime_FM_M[3];                     //!< [m/s] B/M frame time derivative of r_FM_M
+    double rPrimePrime_FM_M[3];                //!< [m/s^2] B/M frame time derivative of rPrime_FM_M
+}PrescribedTranslationMsgPayload;
+
+
+#endif /* prescribedTranslationSimMsg_h */

src/fswAlgorithms/effectorInterfaces/prescribedRot1DOF/_UnitTest/test_prescribedRot1DOF.py

@@ -52,7 +52,7 @@ def test_prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDo
     r"""
     **Validation Test Description**
 
-    This unit test ensures that the profiled 1 DOF attitude maneuver for a secondary rigid body connected
+    This unit test ensures that the profiled 1 DOF rotation for a secondary rigid body connected
     to the spacecraft hub is properly computed for a series of initial and reference PRV angles and maximum
     angular accelerations. The final prescribed attitude and angular velocity magnitude are compared with
     the reference values.
@@ -67,8 +67,8 @@ def test_prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDo
 
     **Description of Variables Being Tested**
 
-    This unit test ensures that the profiled 1 DOF rotational attitude maneuver is properly computed for a series of
-    initial and reference PRV angles and maximum angular accelerations. The final prescribed angle ``theta_FM_Final``
+    This unit test ensures that the profiled 1 DOF rotation is properly computed for a series of initial and
+    reference PRV angles and maximum angular accelerations. The final prescribed angle ``theta_FM_Final``
     and angular velocity magnitude ``thetaDot_Final`` are compared with the reference values ``theta_Ref`` and
     ``thetaDot_Ref``, respectively.
     """
@@ -79,8 +79,8 @@ def test_prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDo
 
 def prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDotMax, accuracy):
     """Call this routine directly to run the unit test."""
-    testFailCount = 0                                        # Zero the unit test result counter
-    testMessages = []                                        # Create an empty array to store the test log messages
+    testFailCount = 0
+    testMessages = []
     unitTaskName = "unitTask"
     unitProcessName = "TestProcess"
     bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
@@ -89,7 +89,7 @@ def prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDotMax,
     unitTestSim = SimulationBaseClass.SimBaseClass()
 
     # Create the test thread
-    testProcessRate = macros.sec2nano(0.1)     # update process rate update time
+    testProcessRate = macros.sec2nano(0.1)
     testProc = unitTestSim.CreateNewProcess(unitProcessName)
     testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
 
@@ -103,9 +103,6 @@ def prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDotMax,
     # Initialize the prescribedRot1DOF test module configuration data
     rotAxisM = np.array([1.0, 0.0, 0.0])
     prvInit_FM = thetaInit * rotAxisM
-    PrescribedRot1DOF.r_FM_M = np.array([1.0, 0.0, 0.0])
-    PrescribedRot1DOF.rPrime_FM_M = np.array([0.0, 0.0, 0.0])
-    PrescribedRot1DOF.rPrimePrime_FM_M = np.array([0.0, 0.0, 0.0])
     PrescribedRot1DOF.rotAxis_M = rotAxisM
     PrescribedRot1DOF.thetaDDotMax = thetaDDotMax
     PrescribedRot1DOF.omega_FM_F = np.array([0.0, 0.0, 0.0])
@@ -121,7 +118,7 @@ def prescribedRot1DOFTestFunction(show_plots, thetaInit, thetaRef, thetaDDotMax,
     PrescribedRot1DOF.spinningBodyInMsg.subscribeTo(HingedRigidBodyMessage)
 
     # Log the test module output message for data comparison
-    dataLog = PrescribedRot1DOF.prescribedMotionOutMsg.recorder()
+    dataLog = PrescribedRot1DOF.prescribedRotationOutMsg.recorder()
     unitTestSim.AddModelToTask(unitTaskName, dataLog)
 
     # Initialize the simulation

src/fswAlgorithms/effectorInterfaces/prescribedRot1DOF/prescribedRot1DOF.c

@@ -35,7 +35,7 @@
 void SelfInit_prescribedRot1DOF(PrescribedRot1DOFConfig *configData, int64_t moduleID)
 {
     // Initialize the output messages
-    PrescribedMotionMsg_C_init(&configData->prescribedMotionOutMsg);
+    PrescribedRotationMsg_C_init(&configData->prescribedRotationOutMsg);
     HingedRigidBodyMsg_C_init(&configData->spinningBodyOutMsg);
 }
 
@@ -74,11 +74,11 @@ void Update_prescribedRot1DOF(PrescribedRot1DOFConfig *configData, uint64_t call
     // Create the buffer messages
     HingedRigidBodyMsgPayload spinningBodyIn;
     HingedRigidBodyMsgPayload spinningBodyOut;
-    PrescribedMotionMsgPayload prescribedMotionOut;
+    PrescribedRotationMsgPayload prescribedRotationOut;
 
     // Zero the output messages
     spinningBodyOut = HingedRigidBodyMsg_C_zeroMsgPayload();
-    prescribedMotionOut = PrescribedMotionMsg_C_zeroMsgPayload();
+    prescribedRotationOut = PrescribedRotationMsg_C_zeroMsgPayload();
 
     // Read the input message
     spinningBodyIn = HingedRigidBodyMsg_C_zeroMsgPayload();
@@ -146,11 +146,6 @@ void Update_prescribedRot1DOF(PrescribedRot1DOFConfig *configData, uint64_t call
         configData->convergence = true;
     }
 
-    // Determine the prescribed parameters: omega_FM_F and omegaPrime_FM_F
-    v3Normalize(configData->rotAxis_M, configData->rotAxis_M);
-    v3Scale(thetaDot, configData->rotAxis_M, configData->omega_FM_F);
-    v3Scale(thetaDDot, configData->rotAxis_M, configData->omegaPrime_FM_F);
-
     // Determine dcm_FF0
     double dcm_FF0[3][3];
     double prv_FF0_array[3];
@@ -171,19 +166,16 @@ void Update_prescribedRot1DOF(PrescribedRot1DOFConfig *configData, uint64_t call
     // Determine the prescribed parameter: sigma_FM
     C2MRP(dcm_FM, configData->sigma_FM);
 
-    // Copy the module variables to the prescribedMotionOut output message
-    v3Copy(configData->r_FM_M, prescribedMotionOut.r_FM_M);
-    v3Copy(configData->rPrime_FM_M, prescribedMotionOut.rPrime_FM_M);
-    v3Copy(configData->rPrimePrime_FM_M, prescribedMotionOut.rPrimePrime_FM_M);
-    v3Copy(configData->omega_FM_F, prescribedMotionOut.omega_FM_F);
-    v3Copy(configData->omegaPrime_FM_F, prescribedMotionOut.omegaPrime_FM_F);
-    v3Copy(configData->sigma_FM, prescribedMotionOut.sigma_FM);
+    // Copy the module variables to the prescribedRotationOut output message
+    v3Copy(configData->omega_FM_F, prescribedRotationOut.omega_FM_F);
+    v3Copy(configData->omegaPrime_FM_F, prescribedRotationOut.omegaPrime_FM_F);
+    v3Copy(configData->sigma_FM, prescribedRotationOut.sigma_FM);
 
     // Copy the local scalar variables to the spinningBodyOut output message
     spinningBodyOut.theta = theta;
     spinningBodyOut.thetaDot = thetaDot;
 
     // Write the output messages
     HingedRigidBodyMsg_C_write(&spinningBodyOut, &configData->spinningBodyOutMsg, moduleID, callTime);
-    PrescribedMotionMsg_C_write(&prescribedMotionOut, &configData->prescribedMotionOutMsg, moduleID, callTime);
+    PrescribedRotationMsg_C_write(&prescribedRotationOut, &configData->prescribedRotationOutMsg, moduleID, callTime);
 }

src/fswAlgorithms/effectorInterfaces/prescribedRot1DOF/prescribedRot1DOF.h

@@ -23,17 +23,14 @@
 #include <stdbool.h>
 #include "architecture/utilities/bskLogging.h"
 #include "cMsgCInterface/HingedRigidBodyMsg_C.h"
-#include "cMsgCInterface/PrescribedMotionMsg_C.h"
+#include "cMsgCInterface/PrescribedRotationMsg_C.h"
 
 /*! @brief Top level structure for the sub-module routines. */
 typedef struct {
 
     /* User configurable variables */
     double thetaDDotMax;                                        //!< [rad/s^2] Maximum angular acceleration of spinning body
     double rotAxis_M[3];                                        //!< Rotation axis for the maneuver in M frame components
-    double r_FM_M[3];                                           //!< [m] Position of the F frame origin with respect to the M frame origin in M frame components (fixed)
-    double rPrime_FM_M[3];                                      //!< [m/s] B frame time derivative of r_FM_M in M frame components (fixed)
-    double rPrimePrime_FM_M[3];                                 //!< [m/s^2] B frame time derivative of rPrime_FM_M in M frame components (fixed)
     double omega_FM_F[3];                                       //!< [rad/s] Angular velocity of frame F wrt frame M in F frame components
     double omegaPrime_FM_F[3];                                  //!< [rad/s^2] B frame time derivative of omega_FM_F in F frame components
     double sigma_FM[3];                                         //!< MRP attitude of frame F with respect to frame M
@@ -53,9 +50,9 @@ typedef struct {
     BSKLogger *bskLogger;                                       //!< BSK Logging
 
     /* Messages */
-    HingedRigidBodyMsg_C    spinningBodyInMsg;                  //!< Input msg for the spinning body reference angle and angle rate
-    HingedRigidBodyMsg_C    spinningBodyOutMsg;                 //!< Output msg for the spinning body angle and angle rate
-    PrescribedMotionMsg_C prescribedMotionOutMsg;               //!< Output msg for the spinning body prescribed states
+    HingedRigidBodyMsg_C spinningBodyInMsg;                     //!< Input msg for the spinning body reference angle and angle rate
+    HingedRigidBodyMsg_C spinningBodyOutMsg;                    //!< Output msg for the spinning body angle and angle rate
+    PrescribedRotationMsg_C prescribedRotationOutMsg;           //!< Output msg for the spinning body prescribed rotational states
 
 }PrescribedRot1DOFConfig;
 

src/fswAlgorithms/effectorInterfaces/prescribedRot1DOF/prescribedRot1DOF.i

@@ -26,8 +26,8 @@
 
 %include "architecture/msgPayloadDefC/HingedRigidBodyMsgPayload.h"
 struct HingedRigidBodyMsg_C;
-%include "architecture/msgPayloadDefC/PrescribedMotionMsgPayload.h"
-struct PrescribedMotionMsg_C;
+%include "architecture/msgPayloadDefC/PrescribedRotationMsgPayload.h"
+struct PrescribedRotationMsg_C;
 
 %pythoncode %{
 import sys