Communicating with separate program to determine control law

Simulator/mocksat.js

@@ -0,0 +1,35 @@
+const readline = require('readline')
+
+// while(true){
+//     console.log('hello world')
+// }
+console.log('hello world, from mocksatjs')
+
+let ω = []
+let b = []
+
+const rl = readline.createInterface({
+    input: process.stdin,
+    output: process.stdout
+})
+rl.on('line', input => {
+    if (input.length < 4 || input.slice(0, 3) != ">>>") return
+    input = input.slice(3)
+    let key = input[0]
+    let value = input.slice(1)
+    if (key == 'ω') {
+        ω = JSON.parse(value)
+    } else if (key == 'b') {
+        b = JSON.parse(value)
+    } else if (key == '?') {
+        let control = ω.map(v => -v * 0.001)
+        control = JSON.stringify(control)
+        console.log(`>>>M${control}`)
+    }
+    // console.log(ω, b)
+    // console.log(key, value)
+})
+
+rl.on('close', e => {
+    console.log(`eee${e}`)
+})

Simulator/simulator.jl

@@ -224,26 +224,35 @@ module Simulator
 
     function my_sim(control_fn)
         x₀ = initialize_orbit() 
+        println("intialized orbit!")
         # x₀[11:13] .=0
         # x₀[11:13] *= x₀[11:13].*10.0 # Spinning very fast
 
         J  = [0.3 0 0; 0 0.3 0; 0 0 0.3]  # Arbitrary inertia matrix for the Satellite 
         t  = Epoch(2020, 11, 30)          # Starting time is Nov 30, 2020
         dt = 0.5                          # Time step, in seconds
 
-        N = 10000
+        N = 1000000
         q_hist = zeros(N, 4)
-        q_hist[1, :] .= x₀[7:10]
+        q_hist[1, 1:3] .= x₀[11:13]
+        q_hist[1, 4] = norm(x₀[11:13])
         x = x₀
         for i = 1:N - 1
             r, v, q, ω = x[1:3], x[4:6], x[7:10], x[11:13]
             b = IGRF13(r, t)
             x = rk4(x, J, control_fn(ω, b), t, dt)
             t += dt                      # Don't forget to update time (not that it really matters...)
-            q_hist[i + 1, :] .= x[7:10]
+            # q_hist[i + 1, :] .= x[7:10]
+            q_hist[i + 1, 1:3] .= x[11:13]
+            ω = norm(x[11:13])
+            if ω < 0.001
+                q_hist = q_hist[1:i, :]
+                break
+            end
+            q_hist[i + 1, 4] = ω
         end
 
-        return (q_hist, "Satellite Attitude Test", "Time", "Quaternion magic")
+        return q_hist
 
     end
 end

Simulator/tests/tests.jl

@@ -1,11 +1,12 @@
 # [Simulator/test/tests.jl]
 
-using Test, LinearAlgebra, SatelliteDynamics, Plots
+using Test, LinearAlgebra, SatelliteDynamics, Plots, JSON
 include("../simulator.jl");   using .Simulator
 
 
 @testset "General Function Call" begin 
     """ Test general function calls and ensure that everything looks as it should """
+    # println("General Function Call")
     x₀ = initialize_orbit() 
 
     # Ensure that r and v are orthogonal 
@@ -113,11 +114,54 @@ end
         # M = -k * (identity(3) - dot(b̂,b̂))*ω
         M = -k * (I(3) - b̂*b̂')*ω
         # print(M, ω, b)
-        print(dot(ω,ω),'\n')
+        # print(dot(ω,ω),'\n')
         return M 
     end
 
-    (data, title, xlablel, ylabel) = my_sim(control_law)
-    display(plot(data, title="DeTumbling", xlabel=xlablel, ylabel=ylabel))
+    data = my_sim(control_law)
+    display(plot(data, title="DeTumbling", xlabel="Time (s)", ylabel="Angular Velocity (rad/s)", labels=["ω1" "ω2" "ω3" "ω"]))
 
-end
+end
+
+
+@testset "DeTumbleIO" begin 
+    println("DeTumbleIO")
+    inp = Pipe()
+    out = Pipe()
+    err = Pipe()
+    proc = run(Cmd(`python3 -u main.py`, dir = "/home/thetazero/Documents/pycubed/software_example_beepsat/state_machine/build/" ), inp, out, err, wait = false)
+    close(out.in)
+    close(err.in)
+    Base.start_reading(out.out)
+    Base.start_reading(err.out)
+
+    println(readline(proc.out))
+
+    i=0
+
+    function control_law(ω, b)
+        println("wrote to sensors")
+        control = [0,0,0]
+        while true
+            write(inp, ">>>ω"*string(ω)*"\n")
+            write(inp, ">>>b"*string(b)*"\n")
+            write(inp, ">>>?\n")
+            input = readline(proc.out)
+            println(input)
+            if length(input) >= 4 && input[1:3] == ">>>"
+                if input[4] == 'M'
+                    control = (input[5:length(input)])
+                    control = JSON.parse(control)
+                end
+                break
+            end
+        end
+        i+=1
+        println(i)
+        return control
+    end
+
+    data = my_sim(control_law)
+    display(plot(data, title="DeTumbleIO", xlabel="Time (s)", ylabel="Angular Velocity (rad/s)"))
+
+end