def test_plotColumn(self):
# Load sim definition file
simDef = SimDefinition("MAPLEAF/Examples/Simulations/AdaptTimeStep.mapleaf", silent=True)
test.testUtilities.setUpSimDefForMinimalRunCheck(simDef)
simDef.setValue("SimControl.EndConditionValue", "0.03")
# Generate log file from a simulation
simDef.setValue("SimControl.loggingLevel", "2")
simDef.fileName = "test/tempTestFileasdf.txt"
simRunner = Main.Simulation(simDefinition=simDef, silent=True)
_, logfilePaths = simRunner.run()
# Try to plot one of its columns (AeroForce)
Plotting.tryPlottingFromLog(logfilePaths[1], ["AeroF"], showPlot=False)
ax = plt.gca()
nLines = len(ax.lines)
self.assertEqual(nLines, 3)
Plotting.tryPlottingFromLog(logfilePaths[0], ["Position"], showPlot=False)
ax = plt.gca()
nLines = len(ax.lines)
self.assertEqual(nLines, 3)
# Delete temp files
logDirectory = os.path.dirname(logfilePaths[0])
shutil.rmtree(logDirectory)
def test_plotFromLog(self):
# Load sim definition file
simDef = SimDefinition("MAPLEAF/Examples/Simulations/AdaptTimeStep.mapleaf", silent=True)
test.testUtilities.setUpSimDefForMinimalRunCheck(simDef)
simDef.setValue("SimControl.EndConditionValue", "0.03")
# Generate log file from a simulation
simDef.setValue("SimControl.loggingLevel", "2")
simDef.fileName = "test/tempTestFileasdf.txt"
simRunner = Main.Simulation(simDefinition=simDef, silent=True)
_, logfilePaths = simRunner.run()
# Try to plot one of its columns (AeroForce)
Plotting.plotFromLogFiles(logfilePaths, "Position&^Velocity", showPlot=False)
# The '^' in front of Velocity is for a Regex match, indicating the start of a line
# This will prevent it from also plotting the AngularVelocity along with the Position and Velocity columns
ax = plt.gca()
nLines = len(ax.lines)
self.assertEqual(nLines, 6)
# Try to plot one of its columns (AeroForce)
Plotting.plotFromLogFiles(logfilePaths, "Position&Velocity", showPlot=False)
ax = plt.gca()
nLines = len(ax.lines)
self.assertEqual(nLines, 9)
# Delete temp files
logDirectory = os.path.dirname(logfilePaths[0])
shutil.rmtree(logDirectory)
# Clear the plot
plt.clf()
def _plotSimulationResults(self, rocketStages, simDefinition, flights, logFilePaths):
''' Plot simulation results (as/if specified in sim definition) '''
plotsToMake = simDefinition.getValue("SimControl.plot").split()
if plotsToMake != ["None"]:
if "FlightAnimation" in plotsToMake:
print("Showing flight animation")
# Show animation
Plotting.flightAnimation(flights)
# Done, remove from plotsToMake
plotsToMake.remove("FlightAnimation")
if "FlightPaths" in plotsToMake:
earthModel = self.simDefinition.getValue("Environment.EarthModel")
if earthModel in [ "None", "Flat" ]:
Plotting.plotFlightPaths_NoEarth(flights)
else:
Plotting.plotFlightPaths_FullEarth(flights)
plotsToMake.remove("FlightPaths")
# Plot all other columns from log files
for plotDefinitionString in plotsToMake:
Plotting.plotFromLogFiles(logFilePaths, plotDefinitionString)
def postProcess(flight):
# Save results
landingLocations.append(flight.getLandingLocation())
apogees.append(flight.getApogee())
maxSpeeds.append(flight.getMaxSpeed())
flightTimes.append(flight.getFlightTime())
maxHorizontalVels.append(flight.getMaxHorizontalVel())
if "flightPaths" in resultsToOutput:
flight = Plotting._keepNTimeSteps(
flight, 900
) # Limit the number of time steps saved to avoid wasting memory
flights.append(flight)
def OptimizationFunction(logFilesList):
#print(logFilesList)
#print("HEEEEEYYYYYY!!!!!!", file=sys.__stdout__)
#print(logFilesList, file=sys.__stdout__)
filePath = None
for logFile in logFilesList:
if ("ControlSystem_Log.csv" in logFile):
filePath = logFile
break
if filePath == None:
raise ValueError("ERROR: could not find controlSystemEvaluationLog. Make sure logging level is at least 4. Available log files: {}".format(logFilesList))
columnSpecs = ["Time","Error"]
columns, columnNames = Plotting.getLoggedColumns(filePath, columnSpecs, enableCache=False)
pitchErrorIntegral = 0
yawErrorIntegral = 0
rollErrorIntegral = 0
#print(columnNames,file=sys.__stdout__)
#print(columns,file=sys.__stdout__)
for i in range(len(columns[0])):
if i == 0:
pass
else:
deltaT = columns[0][i] - columns[0][i-1]
pitchErrorIntegral += ((columns[1][i])**2)*deltaT
yawErrorIntegral += ((columns[2][i])**2)*deltaT
rollErrorIntegral += ((columns[3][i])**2)*deltaT
#print(deltaT, file=sys.__stdout__)
#print(pitchErrorIntegral, file=sys.__stdout__)
#print(yawErrorIntegral, file=sys.__stdout__)
#print(rollErrorIntegral, file=sys.__stdout__)
cost = 100*(0.5*pitchErrorIntegral + 0.5*yawErrorIntegral + rollErrorIntegral)
print(cost, file=sys.__stdout__)
for logFileName in logFilesList:
os.remove(logFileName)
return cost
def test_flightAnimation(self):
Plotting.flightAnimation([self.flight], showPlot=False)
plt.clf()
maxDimension = 1
centerOfPlot = Vector(0,0,0)
refAxis, perpVectors = Plotting._createReferenceVectors(3, maxDimension)
fig, ax = Plotting._createAnimationFigure(maxDimension, centerOfPlot)
cgPoints, flightPathLines, longitudinalRocketLines, allCanardLines, allPerpLines = Plotting._createInitialFlightAnimationPlot(ax, 3, [self.flight], refAxis, perpVectors)
# Try updating the plot
Plotting._update_plot(2, [self.flight], refAxis, perpVectors, cgPoints, flightPathLines, longitudinalRocketLines, allCanardLines, allPerpLines)
def postProcess(rayObject):
''' Gets sim results from worker, appends results to outputLists '''
# Get sim results
stagePaths, logPaths = ray.get(rayObject)
# Save results from the top stage
flight = stagePaths[0]
landingLocations.append(flight.getLandingLocation())
apogees.append(flight.getApogee())
maxSpeeds.append(flight.getMaxSpeed())
flightTimes.append(flight.getFlightTime())
maxHorizontalVels.append(flight.getMaxHorizontalVel())
if "flightPaths" in resultsToOutput:
flight = Plotting._keepNTimeSteps(
flight, 900
) # Limit the number of time steps saved to avoid wasting memory
flights.append(flight)
def main(argv=None) -> int:
'''
Main function to run a MAPLEAF simulation.
Expects to be called from the command line, usually using the `mapleaf` command
For testing purposes, can also pass a list of command line arguments into the argv parameter
'''
startTime = time.time()
# Parse command line call, check for errors
parser = buildParser()
args = parser.parse_args(argv)
if len(args.plotFromLog):
# Just plot a column from a log file, and not run a whole simulation
Plotting.plotFromLogFiles([args.plotFromLog[1]], args.plotFromLog[0])
print("Exiting")
sys.exit()
# Load simulation definition file
simDefPath = findSimDefinitionFile(args.simDefinitionFile)
simDef = SimDefinition(simDefPath)
#### Run simulation(s) ####
if args.parallel:
try:
import ray
except:
print("""
Error importing ray.
Ensure ray is installed (`pip install -U ray`) and importable (`import ray` should not throw an error).
If on windows, consider trying Linux or running in WSL, at the time this was written, ray on windows was still in beta and unreliable.
Alternatively, run without parallelization.
""")
if isOptimizationProblem(simDef):
optSimRunner = optimizationRunnerFactory(simDefinition=simDef,
silent=args.silent,
parallel=args.parallel)
optSimRunner.runOptimization()
elif isMonteCarloSimulation(simDef):
if not args.parallel:
nCores = 1
else:
import multiprocessing
nCores = multiprocessing.cpu_count()
runMonteCarloSimulation(simDefinition=simDef,
silent=args.silent,
nCores=nCores)
elif args.parallel:
raise ValueError(
"ERROR: Can only run Monte Carlo of Optimization-type simulations in multi-threaded mode. Support for multi-threaded batch simulations coming soon."
)
elif isBatchSim(simDef):
print("Batch Simulation\n")
batchMain([simDef.fileName])
elif args.converge or args.compareIntegrationSchemes or args.compareAdaptiveIntegrationSchemes:
cSimRunner = ConvergenceSimRunner(simDefinition=simDef,
silent=args.silent)
if args.converge:
cSimRunner.convergeSimEndPosition()
elif args.compareIntegrationSchemes:
cSimRunner.compareClassicalIntegrationSchemes(
convergenceResultFilePath='convergenceResult.csv')
elif args.compareAdaptiveIntegrationSchemes:
cSimRunner.compareAdaptiveIntegrationSchemes(
convergenceResultFilePath='adaptiveConvergenceResult.csv')
else:
# Run a regular, single simulation
sim = Simulation(simDefinition=simDef, silent=args.silent)
sim.run()
Logging.removeLogger()
print("Run time: {:1.2f} seconds".format(time.time() - startTime))
print("Exiting")
def test_plotAndSummarizeScalarResult(self):
scalarList = [ 1, 2, 3 ]
Plotting.plotAndSummarizeScalarResult(scalarList, showPlot=False)
def test_plotAndSummarizeVectorResult(self):
vectorList = [ Vector(0,1,2), Vector(1,2,3)]
Plotting.plotAndSummarizeVectorResult(vectorList, showPlot=False)
def test_KeepNTimeSteps(self):
Plotting._keepNTimeSteps([self.flight], nFramesToKeep=2)
def test_plotFlightPaths(self):
Plotting.plotFlightPaths_NoEarth([self.flight], showPlot=False)
def _showResults(simDefinition, outputLists, mCLogger):
landingLocations, apogees, maxSpeeds, flightTimes, maxHorizontalVels, flights = outputLists
resultsToOutput = simDefinition.getValue("MonteCarlo.output")
mCLogger.log("")
mCLogger.log("Monte Carlo results:")
if "landingLocations" in resultsToOutput:
Plotting.plotAndSummarizeVectorResult(landingLocations,
name="Landing location",
monteCarloLogger=mCLogger)
if "apogees" in resultsToOutput:
Plotting.plotAndSummarizeScalarResult(apogees,
name="Apogee",
monteCarloLogger=mCLogger)
if "maxSpeeds" in resultsToOutput:
Plotting.plotAndSummarizeScalarResult(maxSpeeds,
name="Max speed",
monteCarloLogger=mCLogger)
if "flightTimes" in resultsToOutput:
Plotting.plotAndSummarizeScalarResult(flightTimes,
name="Flight time",
monteCarloLogger=mCLogger)
if "maxHorizontalVels" in resultsToOutput:
Plotting.plotAndSummarizeScalarResult(maxHorizontalVels,
name="Max horizontal speed",
monteCarloLogger=mCLogger)
if "flightPaths" in resultsToOutput:
Plotting.plotFlightPaths_NoEarth(flights)
if resultsToOutput != "None" and len(resultsToOutput) > 0:
dotIndex = simDefinition.fileName.rfind('.')
extensionFreeSimDefFileName = simDefinition.fileName[0:dotIndex]
logFilePath = extensionFreeSimDefFileName + "_monteCarloLog_run"
logPath = mCLogger.writeToFile(fileBaseName=logFilePath)
print("Wrote Monte Carlo Log to: {}".format(logPath))