def set_state(self, physical_state: PhysicsState):
self._stop_simthread()
physical_state = _reconcile_entity_dynamics(physical_state)
self._artificials = np.where(
np.array([entity.artificial for entity in physical_state]) >= 1)[0]
# We keep track of the PhysicalState because our simulation
# only simulates things that change like position and velocity,
# not things that stay constant like names and mass.
# self._last_physical_state contains these constants.
self._last_physical_state = physical_state.as_proto()
self.R = np.array([entity.r for entity in physical_state])
self.M = np.array([entity.mass for entity in physical_state])
self._start_simthread(physical_state.timestamp, physical_state)
def test_y_vector_init(self):
"""Test that initializing with a y-vector uses y-vector values."""
y0 = np.concatenate((
np.array([
10,
20, # x
30,
40, # y
50,
60, # vx
0,
0, # vy
0,
0, # heading
70,
80, # spin
90,
100, # fuel
0,
0, # throttle
1,
-1, # only First is landed on Second
0,
1, # Second is broken
common.SRB_EMPTY,
1 # time_acc
]),
np.zeros(EngineeringState.N_ENGINEERING_FIELDS)))
ps = PhysicsState(y0, self.proto_state)
self.assertTrue(np.array_equal(ps.y0(), y0.astype(ps.y0().dtype)))
self.assertEqual(ps['First'].landed_on, 'Second')
proto_state = ps.as_proto()
proto_state.timestamp = 50
self.assertEqual(proto_state.timestamp, 50)
self.assertEqual(proto_state.entities[0].fuel, 90)
self.assertTrue(proto_state.entities[1].broken)
def _one_request(request: Request, y0: PhysicsState) \
-> PhysicsState:
"""Interface to set habitat controls.
Use an argument to change habitat throttle or spinning, and simulation
will restart with this new information."""
log.info(f'At simtime={y0.timestamp}, '
f'Got command {MessageToString(request, as_one_line=True)}')
if request.ident != Request.TIME_ACC_SET:
# Reveal the type of y0.craft as str (not None).
assert y0.craft is not None
if request.ident == Request.HAB_SPIN_CHANGE:
if y0.navmode != Navmode['Manual']:
# We're in autopilot, ignore this command
return y0
craft = y0.craft_entity()
if not craft.landed():
craft.spin += request.spin_change
elif request.ident == Request.HAB_THROTTLE_CHANGE:
y0.craft_entity().throttle += request.throttle_change
elif request.ident == Request.HAB_THROTTLE_SET:
y0.craft_entity().throttle = request.throttle_set
elif request.ident == Request.TIME_ACC_SET:
assert request.time_acc_set >= 0
y0.time_acc = request.time_acc_set
elif request.ident == Request.ENGINEERING_UPDATE:
# Multiply this value by 100, because OrbitV considers engines at
# 100% to be 100x the maximum thrust.
common.craft_capabilities[HABITAT] = \
common.craft_capabilities[HABITAT]._replace(
thrust=100 * request.engineering_update.max_thrust)
hab = y0[HABITAT]
ayse = y0[AYSE]
hab.fuel = request.engineering_update.hab_fuel
ayse.fuel = request.engineering_update.ayse_fuel
y0[HABITAT] = hab
y0[AYSE] = ayse
if request.engineering_update.module_state == \
Request.DETACHED_MODULE and \
MODULE not in y0._entity_names and \
not hab.landed():
# If the Habitat is freely floating and engineering asks us to
# detach the Module, spawn in the Module.
module = Entity(protos.Entity(
name=MODULE, mass=100, r=10, artificial=True))
module.pos = (hab.pos - (module.r + hab.r) *
calc.heading_vector(hab.heading))
module.v = calc.rotational_speed(module, hab)
y0_proto = y0.as_proto()
y0_proto.entities.extend([module.proto])
y0 = PhysicsState(None, y0_proto)
elif request.ident == Request.UNDOCK:
habitat = y0[HABITAT]
if habitat.landed_on == AYSE:
ayse = y0[AYSE]
habitat.landed_on = ''
norm = habitat.pos - ayse.pos
unit_norm = norm / calc.fastnorm(norm)
habitat.v += unit_norm * common.UNDOCK_PUSH
habitat.spin = ayse.spin
y0[HABITAT] = habitat
elif request.ident == Request.REFERENCE_UPDATE:
y0.reference = request.reference
elif request.ident == Request.TARGET_UPDATE:
y0.target = request.target
elif request.ident == Request.LOAD_SAVEFILE:
y0 = common.load_savefile(common.savefile(request.loadfile))
elif request.ident == Request.NAVMODE_SET:
y0.navmode = Navmode(request.navmode)
if y0.navmode == Navmode['Manual']:
y0.craft_entity().spin = 0
elif request.ident == Request.PARACHUTE:
y0.parachute_deployed = request.deploy_parachute
elif request.ident == Request.IGNITE_SRBS:
if round(y0.srb_time) == common.SRB_FULL:
y0.srb_time = common.SRB_BURNTIME
elif request.ident == Request.TOGGLE_COMPONENT:
component = y0.engineering.components[request.component_to_toggle]
component.connected = not component.connected
elif request.ident == Request.TOGGLE_RADIATOR:
radiator = y0.engineering.radiators[request.radiator_to_toggle]
radiator.functioning = not radiator.functioning
elif request.ident == Request.CONNECT_RADIATOR_TO_LOOP:
radiator = y0.engineering.radiators[request.radiator_to_loop.rad]
radiator.attached_to_coolant_loop = request.radiator_to_loop.loop
elif request.ident == Request.TOGGLE_COMPONENT_COOLANT:
component = y0.engineering.components[request.component_to_loop.component]
# See comments on _component_coolant_cnxn_transitions for more info.
component.coolant_connection = (
_component_coolant_cnxn_transitions
[request.component_to_loop.loop]
[component.coolant_connection]
)
return y0
