Updated sensors and added empty logger for speedup

nominal_wind.csv

@@ -1,4 +1,4 @@
- Time (s), X (m), Y (m), Z (m), Vx (m/s), Vy (m/s), Vz (m/s), Ax (m/s²), Ay (m/s²), Az (m/s²), e0, e1, e2, e3, ω1 (rad/s), ω2 (rad/s), ω3 (rad/s), α1 (rad/s²), α2 (rad/s²), α3 (rad/s²), Pressure (Pa), Latitude (°), Longitude (°)
+ Time (s), X (m), Y (m), Z (m), Vx (m/s), Vy (m/s), Vz (m/s), Ax (m/s²), Ay (m/s²), Az (m/s²), e0, e1, e2, e3, ω1 (rad/s), ω2 (rad/s), ω3 (rad/s), α1 (rad/s²), α2 (rad/s²), α3 (rad/s²), Pressure (Pa), Longitude (°), Latitude (°)
 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-0.706864,0.018510,0.018510,-0.706864,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,101325.000000,55.910000,3.370000
 0.000991,-0.000000,-0.000000,0.000002,-0.000092,-0.000000,0.001753,-0.092689,-0.000000,1.768612,-0.706864,0.018510,0.018510,-0.706864,-0.000000,-0.000000,-0.000000,-0.000000,-0.000000,0.000000,101324.999979,55.910000,3.370000
 0.001335,-0.000000,-0.000000,0.000003,-0.000197,-0.000000,0.003751,-0.304004,-0.000000,5.800733,-0.706864,0.018510,0.018510,-0.706864,0.000000,-0.000000,0.000000,0.000000,0.000000,-0.000000,101324.999964,55.910000,3.370000

rework_test.py

@@ -1,12 +1,16 @@
 import cProfile
 import numpy as np
 import tqdm
+import math
+import matplotlib.pyplot as plt
 
 from spatz.simulation import Simulation
 from spatz.simulations.rocketpy import RocketPyCSV
 from spatz.sensors.pressure.ms5611 import MS5611
 from spatz.sensors.imu.wsen_isds import WSEN_ISDS_ACC, WSEN_ISDS_GYRO
 from spatz.sensors.imu.h3lis100dl import H3LIS100DL
+from spatz.sensors.gps.erinome1 import Erinome_I
+from spatz.observer import Observer
 
 
 simulation = Simulation().load(RocketPyCSV('nominal_wind.csv'))
@@ -15,13 +19,20 @@ barometer = simulation.add_sensor(MS5611)
 
 # Orientation matrix of the WSEN-ISDS IMU on the rocket.
 orientation = np.array([
-    [ 1,  0,  0],
+    [ 0,  1,  0],
-    [ 0,  0, -1],
+    [ 0,  0,  1],
-    [ 0, -1,  0]
+    [-1,  0,  0]
 ])
 accelerometer = simulation.add_sensor(WSEN_ISDS_ACC, orientation=orientation)
 gyroscope = simulation.add_sensor(WSEN_ISDS_GYRO)
+
+orientation = np.array([
+    [0, 1,  0],
+    [0, 0, -1],
+    [1, 0,  0]
+])
 high_g = simulation.add_sensor(H3LIS100DL)
+erinome = simulation.add_sensor(Erinome_I)
 
 
 for i in tqdm.tqdm(range(5000)):
@@ -30,7 +41,7 @@ for i in tqdm.tqdm(range(5000)):
     acc = accelerometer()
     omegas = gyroscope()
     g = high_g()
-
+    gps = erinome()
 
 df = simulation.get_logger().get_dataframe()
 df.to_csv('dummy2.csv')

spatz/__init__.py

@@ -8,4 +8,5 @@ import spatz.transforms as transforms
 from spatz.transforms import *
 
 from spatz.dataset import *
-from spatz.simulation import *
+from spatz.simulation import *
+from spatz.simulations import *

spatz/logger.py

@@ -1,6 +1,7 @@
 import numpy as np
 import pandas as pd
 
+from abc import abstractmethod
 from typing import Any, Tuple, List
 from numpy.typing import ArrayLike
 
@@ -10,6 +11,35 @@ from spatz.simulations.advanceable import Advanceable
 class Logger(Advanceable):
     def __init__(self) -> None:
         super().__init__()
+
+    @abstractmethod
+    def write(self, attrib: str | List[str], value: Any | List[Any] | List[ArrayLike], domain: str = 'all'):
+        pass
+        
+
+class EmptyLogger(Logger):
+    def __init__(self) -> None:
+        super().__init__()
+
+        self.__idx = -1
+
+    def _on_step(self, _: float):
+        pass
+
+    def _on_reset(self):
+        pass
+
+    def write(self, attrib: str | List[str], value: Any | List[Any] | List[ArrayLike], domain: str = 'all'):
+        pass
+
+    def get_dataframe(self) -> pd.DataFrame:
+        pass
+
+
+class CSVLogger(Logger):
+    def __init__(self) -> None:
+        super().__init__()
+
         self.__idx = -1
 
     def _on_step(self, _: float):

spatz/sensors/gps/erinome1.py

@@ -3,12 +3,13 @@ from typing import List
 from numpy.typing import ArrayLike
 from spatz.sensors.gps import GPS
 from spatz.dataset import ArrayLike, Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.logger import ArrayLike, Logger
 from spatz.transforms import Transform
 
 
 class Erinome_I(GPS):
-    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, logger: Logger, transforms: List[Transform] = []):
         super().__init__(dataset, logger, transforms)
 
     def _get_name(self):

spatz/sensors/gps/gps.py

@@ -8,6 +8,7 @@ from numpy.typing import ArrayLike
 from pandas import NA
 
 from spatz.dataset import ArrayLike, Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.logger import ArrayLike, Logger
 from spatz.sensors import Sensor
 from spatz.transforms import Transform
@@ -17,25 +18,24 @@ from spatz.transforms import Transform
 
 
 class GPS(Sensor):
-    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, logger: Logger, transforms: List[Transform] = []):
         """GPS Module which provides the following information:
         - Longitude (in °)
         - Latitiude (in °)
         - Altitude (in m)
+        - Lock (1 or 0)
         """
         super().__init__(dataset, logger, transforms)
 
     def _get_data(self) -> ArrayLike:
-        vel = self._dataset.get_total_velocity()
+        long = self._dataset.get_longitude()
+        lat = self._dataset.get_latitude()
+        alt = self._dataset.get_altitude()
+        lock = 1
 
-        # TODO: At which speed do we assume that GPS becomes unreliable?
+        self._log('longitude', long)
-        if vel / self._dataset.get_speed_of_sound() > 1:
+        self._log('latitude', lat)
-            return np.array([0, 0, 0])
+        self._log('altitude', alt)
-        
+        self._log('lock', lock)
-        x = self._dataset.fetch_values(['latitude', 'longitude', 'altitude'])
-        x = self._sensor_specific_effects(x)
 
-        # Convert to degrees.
+        return np.array([long, lat, alt, lock])
-        x *= 180 / math.pi
-
-        return x

spatz/sensors/imu/wsen_isds.py

@@ -27,6 +27,11 @@ class WSEN_ISDS_ACC(Accelerometer):
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
         t = self._dataset.get_time()
 
+        g = 9.81
+
+        # Convert to milli-g.
+        x = x / g * 1000
+
         # Apply noise to the true values.
         y = self.__noise(t, x)
         noise = y - x
@@ -37,8 +42,7 @@ class WSEN_ISDS_ACC(Accelerometer):
         self._logger.write('acc_z_noise', noise[2], self._get_name())
 
         # The WSEN-ISDS accelerometer only measures acceleration between -16g and 16g. 
-        g = 9.81
+        y = np.clip(y, -16000, +16000)
-        y = np.clip(y, -16*g, +16*g)
 
         return y
     
@@ -51,8 +55,8 @@ class WSEN_ISDS_GYRO(Gyroscope):
         return 'WSEN_ISDS_GYRO'
 
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
-        # Convert to degrees per second.
+        # Convert to milli-degrees per second.
-        x = (x / np.pi) * 180
+        x = (x / np.pi) * 180 * 1000
 
         # TODO: Noise model.
 

spatz/sensors/sensor.py

@@ -50,7 +50,7 @@ class Sensor:
     def _get_data(self) -> ArrayLike | float:
         raise NotImplementedError()
 
-    def get_init_data() -> ArrayLike:
+    def get_init_data(self) -> ArrayLike:
         pass
 
     def __call__(self) -> ArrayLike | float:

spatz/sensors/temperature/ms5611.py

@@ -3,12 +3,13 @@ from typing import List, AnyStr
 
 from spatz.transforms.noise import GaussianNoise
 from spatz.dataset import Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.sensors import TemperatureSensor
 from spatz.transforms import Transform
 
 
 class MS5611Temperature(TemperatureSensor):
-    def __init__(self, dataset: Dataset, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, transforms: List[Transform] = []):
         super().__init__(dataset, transforms)
 
         self.__noise = GaussianNoise(0, 0.5)

spatz/simulation.py

@@ -8,7 +8,7 @@ from spatz.dataset import Dataset
 from spatz.logger import Logger
 from spatz.sensors import Sensor
 from spatz.dataset import Dataset, Phase
-from spatz.logger import Logger
+from spatz.logger import Logger, EmptyLogger
 from spatz.sensors import Sensor
 from spatz.observer import Observer
 
@@ -84,7 +84,7 @@ class Simulation(Advanceable):
 
     def load(self, source: DataSource):
         self.__data_source = source
-        self.__logger = Logger()
+        self.__logger = EmptyLogger()
         
         for sensor in self.__sensors:
             sensor.set_dataset(self.__data_source)

spatz/simulations/__init__.py

@@ -0,0 +1 @@
+from spatz.simulations.rocketpy import RocketPyCSV

spatz/simulations/data_source.py

@@ -20,6 +20,9 @@ class DataSource(Advanceable):
         speed = np.linalg.norm(self.get_velocity('global'))
 
         return speed / self.get_speed_of_sound()
+    
+    def get_temperature(self) -> float:
+        return Atmosphere(self.get_altitude()).temperature
 
     @abstractmethod
     def get_length(self) -> float:
@@ -57,10 +60,6 @@ class DataSource(Advanceable):
     def get_static_pressure(self) -> float:
         pass
 
-    @abstractmethod
-    def get_temperature(self) -> float:
-        pass
-
     @abstractmethod
     def get_longitude(self) -> float:
         pass

spatz/simulations/rocketpy.py

@@ -72,9 +72,6 @@ class RocketPyCSV(CSVSource):
     def get_static_pressure(self) -> float:
         return self.fetch_value(' Pressure (Pa)')
 
-    def get_temperature(self) -> float:
-        raise NotImplementedError()
-
     def get_longitude(self) -> float:
         return self.fetch_value(' Longitude (°)')