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Revert "Merge pull request #20 from cthunter01/propagator"
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This reverts commit 6280d9fb0184275843a8f4406c7293e41e65a639, reversing
changes made to 3c9c8b8c6a2b2e7430ff09efdc2cc0c1996b16ca.
This commit is contained in:
Travis Hunter 2025-04-16 18:23:28 -06:00
parent 152907beb2
commit e6bf1fea9b
101 changed files with 58982 additions and 240 deletions
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109
.gitignore vendored
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@ -1,76 +1,45 @@
# This file is used to ignore files which are generated
# ----------------------------------------------------------------------------
# Prerequisites
*.d
build/
*~
*.autosave
*.a
*.core
*.moc
# Compiled Object files
*.slo
*.lo
*.o
*.obj
*.orig
*.rej
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.so.*
*_pch.h.cpp
*_resource.rc
*.qm
.#*
*.*#
core
!core/
tags
.DS_Store
.directory
*.debug
Makefile*
*.prl
*.app
moc_*.cpp
ui_*.h
qrc_*.cpp
Thumbs.db
*.res
*.rc
/.qmake.cache
/.qmake.stash
# qtcreator generated files
*.pro.user*
CMakeLists.txt.user*
# xemacs temporary files
*.flc
# Vim temporary files
.*.swp
# Visual Studio generated files
*.ib_pdb_index
*.idb
*.ilk
*.pdb
*.sln
*.suo
*.vcproj
*vcproj.*.*.user
*.ncb
*.sdf
*.opensdf
*.vcxproj
*vcxproj.*
# MinGW generated files
*.Debug
*.Release
# Python byte code
*.pyc
# Binaries
# --------
*.dylib
*.dll
*.exe
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
# Build files and executable
build/
# Doxygen
docs/doxygen/*
# IDE
*.swp
qtrocket.pro.user
.qmake.stash
CMakeLists.txt.user

141
CMakeLists.txt
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@ -1,32 +1,122 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(qtrocket VERSION 0.1 LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
enable_testing()
include(FetchContent)
# Google Test framework
FetchContent_Declare(googletest
GIT_REPOSITORY https://github.com/google/googletest
GIT_TAG v1.13.0)
if(WIN32)
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
endif()
FetchContent_MakeAvailable(googletest)
# fmtlib dependency
#FetchContent_Declare(fmt
# GIT_REPOSITORY https://github.com/fmtlib/fmt
# GIT_TAG 9.1.0)
#FetchContent_MakeAvailable(fmt)
# jsoncpp dependency
FetchContent_Declare(jsoncpp
GIT_REPOSITORY https://github.com/open-source-parsers/jsoncpp
GIT_TAG 1.9.5)
set(JSONCPP_WITH_TESTS OFF)
set(JSONCPP_WITH_EXAMPLE OFF)
set(JSONCPP_WITH_PKGCONFIG_SUPPORT OFF)
set(JSONCPP_BUILD_SHARED_LIBS OFF)
set(JSONCPP_BUILD_OBJECT_LIBS OFF)
set(JSONCPP_BUILD_STATIC_LIBS ON)
FetchContent_MakeAvailable(jsoncpp)
# curl dependency
FetchContent_Declare(CURL
GIT_REPOSITORY https://github.com/curl/curl
GIT_TAG curl-8_0_1)
set(BUILD_CURL_EXE OFF)
set(BUILD_SHARED_LIBS OFF)
set(HTTP_ONLY ON)
set(SSL_ENABLED ON)
if(WIN32)
set(CURL_USE_SCHANNEL ON)
endif()
FetchContent_MakeAvailable(CURL)
# eigen dependency
FetchContent_Declare(Eigen
GIT_REPOSITORY https://gitlab.com/libeigen/eigen
GIT_TAG 3.4.0)
FetchContent_MakeAvailable(Eigen)
# boost dependency
FetchContent_Declare(Boost
GIT_REPOSITORY https://github.com/boostorg/boost
GIT_TAG boost-1.84.0)
set(BOOST_INCLUDE_LIBRARIES property_tree)
FetchContent_MakeAvailable(Boost)
# Add qtrocket subdirectories. These are components that will be linked in
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets LinguistTools)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets LinguistTools)
if(WIN32)
set(CMAKE_PREFIX_PATH $ENV{QTDIR})
# include_directories("C:\\boost\\boost_1_82_0\\")
# find_package(Qt6Core REQUIRED)
# find_package(Qt6Widgets REQUIRED)
endif()
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets LinguistTools PrintSupport)
find_package(Qt6 REQUIRED COMPONENTS Widgets LinguistTools PrintSupport)
#find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets LinguistTools PrintSupport)
#find_package(CURL)
#find_package(fmt)
set(TS_FILES qtrocket_en_US.ts)
include_directories(${PROJECT_SOURCE_DIR})
set(PROJECT_SOURCES
main.cpp
MainWindow.cpp
MainWindow.h
MainWindow.ui
QtRocket.cpp
QtRocket.h
gui/AboutWindow.cpp
gui/AboutWindow.h
gui/AboutWindow.ui
gui/AnalysisWindow.cpp
gui/AnalysisWindow.h
gui/AnalysisWindow.ui
gui/MainWindow.cpp
gui/MainWindow.h
gui/MainWindow.ui
gui/RocketTreeView.cpp
gui/RocketTreeView.h
gui/SimOptionsWindow.cpp
gui/SimOptionsWindow.h
gui/SimOptionsWindow.ui
gui/ThrustCurveMotorSelector.cpp
gui/ThrustCurveMotorSelector.h
gui/ThrustCurveMotorSelector.ui
gui/qcustomplot.cpp
gui/qcustomplot.h
${TS_FILES}
)
if(${QT_VERSION_MAJOR} GREATER_EQUAL 6)
qt_add_executable(qtrocket
qtrocket.qrc
MANUAL_FINALIZATION
${PROJECT_SOURCES}
Logger.cpp Logger.h RK4Solver.h
)
# Define target properties for Android with Qt 6 as:
# set_property(TARGET qtrocket APPEND PROPERTY QT_ANDROID_PACKAGE_SOURCE_DIR
@ -47,31 +137,38 @@ else()
)
endif()
qt5_create_translation(QM_FILES ${CMAKE_SOURCE_DIR} ${TS_FILES})
endif()
target_link_libraries(qtrocket PRIVATE Qt${QT_VERSION_MAJOR}::Widgets)
add_subdirectory(utils)
add_subdirectory(sim)
add_subdirectory(model)
#target_link_libraries(qtrocket PRIVATE
# Qt6::Widgets
# Qt6::PrintSupport
# libcurl
# jsoncpp_static
# fmt::fmt-header-only
# eigen)
target_link_libraries(qtrocket PRIVATE
Qt6::Widgets
Qt6::PrintSupport
utils
sim
model)
# Qt for iOS sets MACOSX_BUNDLE_GUI_IDENTIFIER automatically since Qt 6.1.
# If you are developing for iOS or macOS you should consider setting an
# explicit, fixed bundle identifier manually though.
if(${QT_VERSION} VERSION_LESS 6.1.0)
set(BUNDLE_ID_OPTION MACOSX_BUNDLE_GUI_IDENTIFIER com.example.qtrocket)
endif()
set_target_properties(qtrocket PROPERTIES
${BUNDLE_ID_OPTION}
MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com
MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
MACOSX_BUNDLE TRUE
WIN32_EXECUTABLE TRUE
)
include(GNUInstallDirs)
install(TARGETS qtrocket
BUNDLE DESTINATION .
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
if(QT_VERSION_MAJOR EQUAL 6)
qt_finalize_executable(qtrocket)

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If you want to help out and are looking for something to do, thank you! QtRocket is still in the early stages of development (as of 2023-04-24), but there are some
targets of development already that would be nice to have.
Here are some items that QtRocket needs help with and would probably take me a lot more time than someone already familiar:
* Windows build. I am not nearly as familiar with Windows development as I am with Linux/BSD, so if you can help in getting QtRocket to build and run in Windows that would be great!
I think it just needs a build of libcurl, libjson-cpp, and fmtlib to link against, and the Windows build of QtCreator can take care of the rest.
Having the source code to these libraries in a third-party subdirectory of the project that can be built along with the project may be the cleanest approach.
That way correct builds can be made on each platform without needing to track pre-built library versions, since those would be built and (statically) linked automatically.
* MacOS build. Same as with Windows. I don't own a Mac to actually try this out on, but would love to support that platform.
* Linux and xBSD builds. Testing on multiple distributions and BSDs is welcome. Fixing or reporting issues with a particular distribution/BSD would be welcome.

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GNU GENERAL PUBLIC LICENSE
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
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occurring solely as a consequence of using peer-to-peer transmission
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nothing other than this License grants you permission to propagate or
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11. Patents.
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work thus licensed is called the contributor's "contributor version".
A contributor's "essential patent claims" are all patent claims
owned or controlled by the contributor, whether already acquired or
hereafter acquired, that would be infringed by some manner, permitted
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but do not include claims that would be infringed only as a
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In the following three paragraphs, a "patent license" is any express
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then you must either (1) cause the Corresponding Source to be so
available, or (2) arrange to deprive yourself of the benefit of the
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If, pursuant to or in connection with a single transaction or
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you grant is automatically extended to all recipients of the covered
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A patent license is "discriminatory" if it does not include within
the scope of its coverage, prohibits the exercise of, or is
conditioned on the non-exercise of one or more of the rights that are
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contain the covered work, unless you entered into that arrangement,
or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
12. No Surrender of Others' Freedom.
If conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot convey a
covered work so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you may
not convey it at all. For example, if you agree to terms that obligate you
to collect a royalty for further conveying from those to whom you convey
the Program, the only way you could satisfy both those terms and this
License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have
permission to link or combine any covered work with a work licensed
under version 3 of the GNU Affero General Public License into a single
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License will continue to apply to the part which is the covered work,
but the special requirements of the GNU Affero General Public License,
section 13, concerning interaction through a network will apply to the
combination as such.
14. Revised Versions of this License.
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be similar in spirit to the present version, but may differ in detail to
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Each version is given a distinguishing version number. If the
Program specifies that a certain numbered version of the GNU General
Public License "or any later version" applies to it, you have the
option of following the terms and conditions either of that numbered
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Foundation. If the Program does not specify a version number of the
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If the Program specifies that a proxy can decide which future
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to choose that version for the Program.
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15. Disclaimer of Warranty.
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Program, unless a warranty or assumption of liability accompanies a
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How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

14
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#include "MainWindow.h"
#include "./ui_MainWindow.h"
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
, ui(new Ui::MainWindow)
{
ui->setupUi(this);
}
MainWindow::~MainWindow()
{
delete ui;
}

23
MainWindow.h
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#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QWidget *parent = nullptr);
~MainWindow();
private:
Ui::MainWindow *ui;
};
#endif // MAINWINDOW_H

31
MainWindow.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>600</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget"/>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>23</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>

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/// \cond
// C headers
// C++ headers
#include <thread>
// 3rd party headers
#include <QApplication>
#include <QLocale>
#include <QTranslator>
/// \endcond
// qtrocket headers
#include "QtRocket.h"
#include "utils/Logger.h"
#include "gui/MainWindow.h"
// Initialize static member data
QtRocket* QtRocket::instance = nullptr;
std::mutex QtRocket::mtx;
bool QtRocket::initialized = false;
// The gui worker thread
void guiWorker(int argc, char* argv[], int& ret)
{
utils::Logger* logger = utils::Logger::getInstance();
logger->info("Starting QApplication");
QApplication a(argc, argv);
a.setWindowIcon(QIcon(":/qtrocket.png"));
// Start translation component.
// TODO: Only support US English at the moment. Anyone want to help translate?
QTranslator translator;
const QStringList uiLanguages = QLocale::system().uiLanguages();
for (const QString &locale : uiLanguages)
{
const QString baseName = "qtrocket_" + QLocale(locale).name();
if (translator.load(":/i18n/" + baseName))
{
a.installTranslator(&translator);
break;
}
}
// Go!
MainWindow w(QtRocket::getInstance());
logger->debug("Showing MainWindow");
w.show();
ret = a.exec();
}
QtRocket* QtRocket::getInstance()
{
if(!initialized)
{
init();
}
return instance;
}
void QtRocket::init()
{
std::lock_guard<std::mutex> lck(mtx);
if(!initialized)
{
utils::Logger::getInstance()->debug("Instantiating new QtRocket");
instance = new QtRocket();
initialized = true;
}
}
QtRocket::QtRocket()
{
logger = utils::Logger::getInstance();
running = false;
// Need to set some sane defaults for the Environment
// The default constructor for Environment will do that for us, so just use that
setEnvironment(std::make_shared<sim::Environment>());
rocket.first =
std::make_shared<model::RocketModel>();
rocket.second =
std::make_shared<sim::Propagator>(rocket.first);
motorDatabase = std::make_shared<utils::MotorModelDatabase>();
logger->debug("Initial states vector size: " + std::to_string(states.capacity()) );
// Reserve at least 1024 spaces for StateData
if(states.capacity() < 1024)
{
states.reserve(1024);
}
logger->debug("New states vector size: " + std::to_string(states.capacity()) );
}
int QtRocket::run(int argc, char* argv[])
{
// Really should only start this thread once
if(!running)
{
running = true;
int ret = 0;
std::thread guiThread(guiWorker, argc, argv, std::ref(ret));
guiThread.join();
return ret;
}
return 0;
}
void QtRocket::launchRocket()
{
// initialize the propagator
rocket.first->clearStates();
rocket.second->setCurrentTime(0.0);
// start the rocket motor
rocket.first->launch();
// run the propagator until it terminates
rocket.second->runUntilTerminate();
}
void QtRocket::addMotorModels(std::vector<model::MotorModel>& m)
{
motorDatabase->addMotorModels(m);
// TODO: Now clear any duplicates?
}

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#ifndef QTROCKET_H
#define QTROCKET_H
/// \cond
// C headers
// C++ headers
#include <atomic>
#include <memory>
#include <mutex>
#include <utility>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
#include "model/RocketModel.h"
#include "sim/Environment.h"
#include "sim/Propagator.h"
#include "utils/Logger.h"
#include "utils/MotorModelDatabase.h"
#include "utils/math/MathTypes.h"
/**
* @brief The QtRocket class is the master controller for the QtRocket application.
* It is the singleton that controls the interaction of the various components of
* the QtRocket program
*/
class QtRocket
{
public:
static QtRocket* getInstance();
utils::Logger* getLogger() { return logger; }
// This will return when the main window returns;
// If called multiple times, subsequent calls, will simply
// immediately return with value 0
int run(int argc, char* argv[]);
void runSim();
std::shared_ptr<sim::Environment> getEnvironment() { return environment; }
void setTimeStep(double t) { rocket.second->setTimeStep(t); }
std::shared_ptr<model::RocketModel> getRocket() { return rocket.first; }
std::shared_ptr<utils::MotorModelDatabase> getMotorDatabase() { return motorDatabase; }
void addMotorModels(std::vector<model::MotorModel>& m);
void addRocket(std::shared_ptr<model::RocketModel> r) { rocket.first = r; rocket.second = std::make_shared<sim::Propagator>(r); }
void setEnvironment(std::shared_ptr<sim::Environment> e) { environment = e; }
void launchRocket();
/**
* @brief getStates returns a vector of time/state pairs generated during launch()
* @return vector of pairs of doubles, where the first value is a time and the second a state vector
*/
const std::vector<std::pair<double, StateData>>& getStates() const { return rocket.first->getStates(); }
/**
* @brief setInitialState sets the initial state of the Rocket.
* @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
*/
void setInitialState(const StateData& initState) { rocket.first->setInitialState(initState); }
private:
QtRocket();
static void init();
std::atomic_bool running;
static bool initialized;
static std::mutex mtx;
static QtRocket* instance;
utils::Logger* logger;
using Rocket = std::pair<std::shared_ptr<model::RocketModel>, std::shared_ptr<sim::Propagator>>;
Rocket rocket;
std::shared_ptr<sim::Environment> environment;
std::shared_ptr<utils::MotorModelDatabase> motorDatabase;
// Launch site
// ECEF coordinates
Vector3 launchSitePosition{0.0, 0.0, 0.0};
// Table of state data
std::vector<StateData> states;
};
#endif // QTROCKET_H

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README.md Normal file
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# qtrocket
An open source model Rocket Simulator written in C++ and Qt Toolkit, coming soon

9008
data/Aerotech.rse Executable file
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27
gui/AboutWindow.cpp Normal file
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#include "AboutWindow.h"
#include "ui_AboutWindow.h"
AboutWindow::AboutWindow(QWidget *parent) :
QDialog(parent),
ui(new Ui::AboutWindow)
{
ui->setupUi(this);
setWindowTitle(QString("About QtRocket"));
connect(ui->okButton,
SIGNAL(clicked()),
this,
SLOT(onButton_okButton_clicked()));
}
AboutWindow::~AboutWindow()
{
delete ui;
}
void AboutWindow::onButton_okButton_clicked()
{
this->close();
}

38
gui/AboutWindow.h Normal file
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#ifndef ABOUTWINDOW_H
#define ABOUTWINDOW_H
/// \cond
// C headers
// C++ headers
// 3rd party headers
#include <QDialog>
/// \endcond
// qtrocket headers
namespace Ui {
class AboutWindow;
}
/**
* @brief The AboutWindow class
*
* The AboutWindow just displays some copyright information.
*
*/
class AboutWindow : public QDialog
{
Q_OBJECT
public:
explicit AboutWindow(QWidget *parent = nullptr);
~AboutWindow();
private slots:
void onButton_okButton_clicked();
private:
Ui::AboutWindow *ui;
};
#endif // ABOUTWINDOW_H

48
gui/AboutWindow.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>AboutWindow</class>
<widget class="QDialog" name="AboutWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<widget class="QPlainTextEdit" name="plainTextEdit">
<property name="geometry">
<rect>
<x>80</x>
<y>60</y>
<width>261</width>
<height>151</height>
</rect>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="plainText">
<string>Copyright (c) 2023 by Travis Hunter</string>
</property>
</widget>
<widget class="QPushButton" name="okButton">
<property name="geometry">
<rect>
<x>250</x>
<y>240</y>
<width>80</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>OK</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

125
gui/AnalysisWindow.cpp Normal file
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#include "AnalysisWindow.h"
#include "ui_AnalysisWindow.h"
#include "QtRocket.h"
#include "model/MotorModel.h"
#include "model/ThrustCurve.h"
AnalysisWindow::AnalysisWindow(QWidget *parent) :
QDialog(parent),
ui(new Ui::AnalysisWindow)
{
ui->setupUi(this);
this->setWindowModality(Qt::NonModal);
this->hide();
this->show();
connect(ui->plotAltitudeBtn,
SIGNAL(clicked()),
this,
SLOT(onButton_plotAltitude_clicked()));
connect(ui->plotVelocityBtn,
SIGNAL(clicked()),
this,
SLOT(onButton_plotVelocity_clicked()));
connect(ui->plotMotorCurveBtn,
SIGNAL(clicked()),this,
SLOT(onButton_plotMotorCurve_clicked()));
}
AnalysisWindow::~AnalysisWindow()
{
delete ui;
}
void AnalysisWindow::onButton_plotAltitude_clicked()
{
QtRocket* qtRocket = QtRocket::getInstance();
const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
auto& plot = ui->plotWidget;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
plot->setInteraction(QCP::iRangeZoom, true);
// generate some data:
QVector<double> tData(res.size()), zData(res.size());
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
zData[i] = res[i].second.position[2];
}
// create graph and assign data to it:
plot->addGraph();
plot->graph(0)->setData(tData, zData);
// give the axes some labels:
plot->xAxis->setLabel("time");
plot->yAxis->setLabel("Z");
// set axes ranges, so we see all data:
plot->xAxis->setRange(*std::min_element(std::begin(tData), std::end(tData)), *std::max_element(std::begin(tData), std::end(tData)));
plot->yAxis->setRange(*std::min_element(std::begin(zData), std::end(zData)), *std::max_element(std::begin(zData), std::end(zData)));
plot->replot();
}
void AnalysisWindow::onButton_plotVelocity_clicked()
{
QtRocket* qtRocket = QtRocket::getInstance();
const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
auto& plot = ui->plotWidget;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
plot->setInteraction(QCP::iRangeZoom, true);
// generate some data:
QVector<double> tData(res.size()), zData(res.size());
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
zData[i] = res[i].second.velocity[2];
}
// create graph and assign data to it:
plot->addGraph();
plot->graph(0)->setData(tData, zData);
// give the axes some labels:
plot->xAxis->setLabel("time");
plot->yAxis->setLabel("Z Velocity");
// set axes ranges, so we see all data:
plot->xAxis->setRange(*std::min_element(std::begin(tData), std::end(tData)), *std::max_element(std::begin(tData), std::end(tData)));
plot->yAxis->setRange(*std::min_element(std::begin(zData), std::end(zData)), *std::max_element(std::begin(zData), std::end(zData)));
plot->replot();
}
void AnalysisWindow::onButton_plotMotorCurve_clicked()
{
std::shared_ptr<model::RocketModel> rocket = QtRocket::getInstance()->getRocket();
model::MotorModel motor = rocket->getMotorModel();
ThrustCurve tc = motor.getThrustCurve();
const std::vector<std::pair<double, double>>& res = tc.getThrustCurveData();
auto& plot = ui->plotWidget;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
plot->setInteraction(QCP::iRangeZoom, true);
// generate some data:
QVector<double> tData(res.size());
QVector<double> fData(res.size());
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
fData[i] = res[i].second;
}
// create graph and assign data to it:
plot->addGraph();
plot->graph(0)->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCircle, 5));
plot->graph(0)->setData(tData, fData);
// give the axes some labels:
plot->xAxis->setLabel("time");
plot->yAxis->setLabel("Thrust (N)");
// set axes ranges, so we see all data:
plot->xAxis->setRange(*std::min_element(std::begin(tData), std::end(tData)), *std::max_element(std::begin(tData), std::end(tData)));
plot->yAxis->setRange(*std::min_element(std::begin(fData), std::end(fData)), *std::max_element(std::begin(fData), std::end(fData)));
plot->replot();
}

49
gui/AnalysisWindow.h Normal file
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#ifndef ANALYSISWINDOW_H
#define ANALYSISWINDOW_H
/// \cond
// C
// C++
// 3rd party
#include <QDialog>
/// \endcond
// qtrocket headers
namespace Ui {
class AnalysisWindow;
}
/**
* @brief The AnalysisWindow class.
*
* The Analysis Window class shows a plot of rocket state data. This allows visual inspection of
* flight data such as altitude vs. time.
*/
class AnalysisWindow : public QDialog
{
Q_OBJECT
public:
/**
* @brief AnalysisWindow constructor.
* @param parent Parent widget
*
* @note The constructor will make a call to QtRocket and grab the current Rocket model
* and automatically plot altitude vs time
*/
explicit AnalysisWindow(QWidget *parent = nullptr);
~AnalysisWindow();
private slots:
void onButton_plotAltitude_clicked();
void onButton_plotVelocity_clicked();
void onButton_plotMotorCurve_clicked();
private:
Ui::AnalysisWindow *ui;
};
#endif // ANALYSISWINDOW_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>AnalysisWindow</class>
<widget class="QDialog" name="AnalysisWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>989</width>
<height>821</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<widget class="QCustomPlot" name="plotWidget" native="true">
<property name="geometry">
<rect>
<x>149</x>
<y>29</y>
<width>831</width>
<height>541</height>
</rect>
</property>
</widget>
<widget class="QPushButton" name="plotAltitudeBtn">
<property name="geometry">
<rect>
<x>20</x>
<y>50</y>
<width>121</width>
<height>36</height>
</rect>
</property>
<property name="text">
<string>Plot Altitude</string>
</property>
</widget>
<widget class="QPushButton" name="plotVelocityBtn">
<property name="geometry">
<rect>
<x>20</x>
<y>110</y>
<width>121</width>
<height>36</height>
</rect>
</property>
<property name="text">
<string>Plot Velocity</string>
</property>
</widget>
<widget class="QPushButton" name="plotAtmosphereBtn">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>20</x>
<y>170</y>
<width>121</width>
<height>36</height>
</rect>
</property>
<property name="text">
<string>Plot Atmosphere</string>
</property>
</widget>
<widget class="QPushButton" name="plotMotorCurveBtn">
<property name="geometry">
<rect>
<x>20</x>
<y>230</y>
<width>121</width>
<height>36</height>
</rect>
</property>
<property name="text">
<string>Motor Curve</string>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>QCustomPlot</class>
<extends>QWidget</extends>
<header>gui/qcustomplot.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
<slots>
<slot>plotAltitude()</slot>
</slots>
</ui>

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/// \cond
// C headers
// C++ headers
#include <cmath>
#include <iostream>
#include <memory>
// 3rd party headers
#include <QFileDialog>
/// \endcond
// qtrocket headers
#include "ui_MainWindow.h"
#include "gui/AboutWindow.h"
#include "gui/AnalysisWindow.h"
#include "gui/MainWindow.h"
#include "gui/ThrustCurveMotorSelector.h"
#include "gui/SimOptionsWindow.h"
#include "model/RocketModel.h"
#include "utils/RSEDatabaseLoader.h"
MainWindow::MainWindow(QtRocket* _qtRocket, QWidget *parent)
: QMainWindow(parent),
ui(new Ui::MainWindow),
qtRocket(_qtRocket)
{
ui->setupUi(this);
////////////////////////////////
// Menu signal/slot connections
////////////////////////////////
// File Menu Actions
connect(ui->actionQuit,
SIGNAL(triggered()),
this,
SLOT(onMenu_File_Quit_triggered()));
// Edit Menu Actions
connect(ui->actionSimulation_Options,
SIGNAL(triggered()),
this,
SLOT(onMenu_Edit_SimulationOptions_triggered()));
// Tools Menu Actions
connect(ui->actionSaveMotorDatabase,
SIGNAL(triggered()),
this,
SLOT(onMenu_Tools_SaveMotorDatabase()));
// Help Menu Actions
connect(ui->actionAbout,
SIGNAL(triggered()),
this,
SLOT(onMenu_Help_About_triggered()));
////////////////////////////////
// Button signal/slot connections
////////////////////////////////
connect(ui->calculateTrajectory_btn,
SIGNAL(clicked()),
this,
SLOT(onButton_calculateTrajectory_clicked()));
connect(ui->loadRSE_btn,
SIGNAL(clicked()),
this,
SLOT(onButton_loadRSE_button_clicked()));
connect(ui->setMotor_btn,
SIGNAL(clicked()),
this,
SLOT(onButton_setMotor_clicked()));
connect(ui->getTCMotorData_btn,
SIGNAL(clicked()),
this,
SLOT(onButton_getTCMotorData_clicked()));
ui->calculateTrajectory_btn->setDisabled(true);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::onMenu_Help_About_triggered()
{
AboutWindow about;
about.setModal(true);
about.exec();
}
void MainWindow::onMenu_Tools_SaveMotorDatabase()
{
qtRocket->getMotorDatabase()->saveMotorDatabase("qtrocket_motors.qmd");
}
void MainWindow::onButton_calculateTrajectory_clicked()
{
// Get the initial conditions
double initialVelocity =
ui->rocketPartButtons->findChild<QLineEdit*>(QString("initialVelocity"))->text().toDouble();
double mass =
ui->rocketPartButtons->findChild<QLineEdit*>(QString("mass"))->text().toDouble();
double initialAngle =
ui->rocketPartButtons->findChild<QLineEdit*>(QString("initialAngle"))->text().toDouble();
double dragCoeff =
ui->rocketPartButtons->findChild<QLineEdit*>(QString("dragCoeff"))->text().toDouble();
double initialVelocityX = initialVelocity * std::cos(initialAngle / 57.2958);
double initialVelocityZ = initialVelocity * std::sin(initialAngle / 57.2958);
//std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, 0.0, initialVelocityZ, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
StateData initialState;
initialState.position = {0.0, 0.0, 0.0};
initialState.velocity = {initialVelocityX, 0.0, initialVelocityZ};
auto rocket = QtRocket::getInstance()->getRocket();
rocket->setMass(mass);
rocket->setDragCoefficient(dragCoeff);
qtRocket->setInitialState(initialState);
qtRocket->launchRocket();
AnalysisWindow aWindow;
aWindow.setModal(false);
aWindow.exec();
}
void MainWindow::onButton_loadRSE_button_clicked()
{
QString rseFile = QFileDialog::getOpenFileName(this,
tr("Import RSE Database File"),
"/home",
tr("Rocksim Engine Files (*.rse)"));
if(!rseFile.isEmpty())
{
rseDatabase.reset(new utils::RSEDatabaseLoader(rseFile.toStdString()));
ui->rocketPartButtons->findChild<QLineEdit*>(QString("databaseFileLine"))->setText(rseFile);
QComboBox* engineSelector =
ui->rocketPartButtons->findChild<QComboBox*>(QString("engineSelectorComboBox"));
const std::vector<model::MotorModel>& motors = rseDatabase->getMotors();
for(const auto& motor : motors)
{
std::cout << "Adding: " << motor.data.commonName << std::endl;
engineSelector->addItem(QString(motor.data.commonName.c_str()));
}
}
}
void MainWindow::onButton_getTCMotorData_clicked()
{
ThrustCurveMotorSelector window;
window.setModal(false);
window.exec();
}
void MainWindow::onMenu_Edit_SimulationOptions_triggered()
{
if(!simOptionsWindow)
{
simOptionsWindow = new SimOptionsWindow(this);
}
simOptionsWindow->show();
}
void MainWindow::onButton_setMotor_clicked()
{
QString motorName = ui->engineSelectorComboBox->currentText();
model::MotorModel mm = rseDatabase->getMotorModelByName(motorName.toStdString());
QtRocket::getInstance()->getRocket()->setMotorModel(mm);
// Now that we have a motor selected, we can enable the calculateTrajectory button
ui->calculateTrajectory_btn->setDisabled(false);
/// TODO: Figure out if this is the right place to populate the motor database
/// or from RSEDatabaseLoader where it currently is populated.
//QtRocket::getInstance()->addMotorModels(rseDatabase->getMotors());
}
void MainWindow::onMenu_File_Quit_triggered()
{
this->close();
}

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#ifndef MAINWINDOW_H
#define MAINWINDOW_H
/// \cond
// C headers
// C++ headers
#include <memory>
// 3rd Party headers
#include <QMainWindow>
/// \endcond
// qtrocket headers
#include "QtRocket.h"
#include "gui/SimOptionsWindow.h"
#include "utils/RSEDatabaseLoader.h"
QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE
/**
* @brief The MainWindow class
*
* The MainWindow class holds the primary GUI window of the application. All user interactions
* with QtRocket begin with interactions in this window. This window can spawn other windows.
*/
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QtRocket* _qtRocket, QWidget *parent = nullptr);
~MainWindow();
private slots:
void onMenu_Help_About_triggered();
void onButton_calculateTrajectory_clicked();
void onButton_loadRSE_button_clicked();
void onButton_getTCMotorData_clicked();
void onMenu_Edit_SimulationOptions_triggered();
void onButton_setMotor_clicked();
void onMenu_File_Quit_triggered();
void onMenu_Tools_SaveMotorDatabase();
private:
Ui::MainWindow* ui;
QtRocket* qtRocket;
SimOptionsWindow* simOptionsWindow{nullptr};
std::unique_ptr<utils::RSEDatabaseLoader> rseDatabase;
};
#endif // MAINWINDOW_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1031</width>
<height>694</height>
</rect>
</property>
<property name="windowTitle">
<string>QtRocket</string>
</property>
<property name="windowIcon">
<iconset resource="../qtrocket.qrc">
<normaloff>:/images/resources/rocket64.png</normaloff>:/images/resources/rocket64.png</iconset>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QSplitter" name="splitter_2">
<property name="geometry">
<rect>
<x>6</x>
<y>6</y>
<width>1021</width>
<height>631</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="childrenCollapsible">
<bool>true</bool>
</property>
<widget class="QSplitter" name="splitter">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="childrenCollapsible">
<bool>true</bool>
</property>
<widget class="RocketTreeView" name="rocketTreeView">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
<widget class="QWidget" name="rocketPartButtons" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>2</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<widget class="QPushButton" name="calculateTrajectory_btn">
<property name="geometry">
<rect>
<x>240</x>
<y>440</y>
<width>191</width>
<height>25</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Calculate Trajectory</string>
</property>
</widget>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>260</x>
<y>80</y>
<width>161</width>
<height>196</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLineEdit" name="initialAngle">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>90.0</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="mass">
<property name="text">
<string>1.0</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Cd</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="initialVelocity">
<property name="text">
<string>5.0</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="dragCoeff">
<property name="text">
<string>0.5</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>mass</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Initial Velocity</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="timeStep">
<property name="text">
<string>0.01</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Time Step</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="gridLayoutWidget">
<property name="geometry">
<rect>
<x>90</x>
<y>290</y>
<width>421</width>
<height>80</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QPushButton" name="loadRSE_btn">
<property name="text">
<string>Load RSE Database File</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="databaseFileLine">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="engineSelectorComboBox"/>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="setMotor_btn">
<property name="text">
<string>Set Motor</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QPushButton" name="getTCMotorData_btn">
<property name="geometry">
<rect>
<x>240</x>
<y>390</y>
<width>201</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>Get Thrustcurve Motor Data</string>
</property>
</widget>
</widget>
</widget>
<widget class="QCustomPlot" name="plotWindow" native="true"/>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1031</width>
<height>32</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
<property name="title">
<string>File</string>
</property>
<addaction name="actionNew"/>
<addaction name="actionOpen"/>
<addaction name="actionSave"/>
<addaction name="actionSave_As"/>
<addaction name="actionClose"/>
<addaction name="separator"/>
<addaction name="actionQuit"/>
</widget>
<widget class="QMenu" name="menuEdit">
<property name="title">
<string>Edit</string>
</property>
<addaction name="actionSimulation_Options"/>
</widget>
<widget class="QMenu" name="menuTools">
<property name="title">
<string>Tools</string>
</property>
<addaction name="actionSaveMotorDatabase"/>
</widget>
<widget class="QMenu" name="menuHelp">
<property name="title">
<string>Help</string>
</property>
<addaction name="actionAbout"/>
</widget>
<addaction name="menuFile"/>
<addaction name="menuEdit"/>
<addaction name="menuTools"/>
<addaction name="menuHelp"/>
</widget>
<widget class="QStatusBar" name="statusbar"/>
<action name="actionAbout">
<property name="icon">
<iconset theme="help-about">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>About</string>
</property>
</action>
<action name="actionNew">
<property name="enabled">
<bool>false</bool>
</property>
<property name="icon">
<iconset theme="document-new">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>New</string>
</property>
</action>
<action name="actionOpen">
<property name="enabled">
<bool>false</bool>
</property>
<property name="icon">
<iconset theme="document-open">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>Open</string>
</property>
</action>
<action name="actionSave">
<property name="enabled">
<bool>false</bool>
</property>
<property name="icon">
<iconset theme="document-save">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>Save</string>
</property>
</action>
<action name="actionClose">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Close</string>
</property>
</action>
<action name="actionQuit">
<property name="icon">
<iconset theme="application-exit">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>Quit</string>
</property>
</action>
<action name="actionSave_As">
<property name="enabled">
<bool>false</bool>
</property>
<property name="icon">
<iconset theme="document-save-as">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="text">
<string>Save As</string>
</property>
</action>
<action name="actionSimulation_Options">
<property name="text">
<string>Simulation Options</string>
</property>
</action>
<action name="actionSaveMotorDatabase">
<property name="text">
<string>Save Motor Database</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
<class>RocketTreeView</class>
<extends>QTreeView</extends>
<header>gui/RocketTreeView.h</header>
</customwidget>
<customwidget>
<class>QCustomPlot</class>
<extends>QWidget</extends>
<header>gui/qcustomplot.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../qtrocket.qrc"/>
</resources>
<connections/>
</ui>

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#include "RocketTreeView.h"
RocketTreeView::RocketTreeView(QWidget* parent) : QTreeView(parent)
{
}

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#ifndef ROCKETTREEVIEW_H
#define ROCKETTREEVIEW_H
/// \cond
// C headers
// C++ headers
// 3rd party headers
#include <QTreeView>
/// \endcond
// qtrocket headers
/**
* @brief RocketTreeView basically just renames QTreeView with a specific
* memorable name.
*
* The purpose is to provide an exploded view of the components that make up the
* rocket design, and their relationships.
*/
class RocketTreeView : public QTreeView
{
Q_OBJECT
public:
RocketTreeView(QWidget* parent = nullptr);
};
#endif // ROCKETTREEVIEW_H

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/// \cond
// C headers
// C++ headers
#include <memory>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "QtRocket.h"
#include "SimOptionsWindow.h"
#include "ui_SimOptionsWindow.h"
#include "sim/Environment.h"
SimOptionsWindow::SimOptionsWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::SimOptionsWindow)
{
ui->setupUi(this);
connect(ui->buttonBox,
SIGNAL(rejected()),
this,
SLOT(on_buttonBox_rejected()));
connect(ui->buttonBox,
SIGNAL(accepted()),
this,
SLOT(on_buttonBox_accepted()));
// populate the combo boxes
std::shared_ptr<sim::Environment> options(new sim::Environment);
std::vector<std::string> atmosphereModels = options->getAvailableAtmosphereModels();
std::vector<std::string> gravityModels = options->getAvailableGravityModels();
for(const auto& i : atmosphereModels)
{
ui->atmosphereModelCombo->addItem(QString::fromStdString(i));
}
for(const auto& i : gravityModels)
{
ui->gravityModelCombo->addItem(QString::fromStdString(i));
}
}
SimOptionsWindow::~SimOptionsWindow()
{
delete ui;
}
void SimOptionsWindow::on_buttonBox_rejected()
{
this->close();
}
void SimOptionsWindow::on_buttonBox_accepted()
{
QtRocket* qtrocket = QtRocket::getInstance();
std::shared_ptr<sim::Environment> environment(new sim::Environment);
qtrocket->setTimeStep(ui->timeStep->text().toDouble());
environment->setGravityModel(ui->gravityModelCombo->currentText().toStdString());
environment->setAtmosphereModel(ui->atmosphereModelCombo->currentText().toStdString());
qtrocket->setEnvironment(environment);
this->close();
}

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#ifndef SIMOPTIONSWINDOW_H
#define SIMOPTIONSWINDOW_H
#include <QMainWindow>
namespace Ui {
class SimOptionsWindow;
}
class SimOptionsWindow : public QMainWindow
{
Q_OBJECT
public:
explicit SimOptionsWindow(QWidget *parent = nullptr);
~SimOptionsWindow();
private slots:
void on_buttonBox_rejected();
void on_buttonBox_accepted();
private:
Ui::SimOptionsWindow *ui;
};
#endif // SIMOPTIONSWINDOW_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SimOptionsWindow</class>
<widget class="QMainWindow" name="SimOptionsWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>381</width>
<height>289</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="windowTitle">
<string>Simulation Options</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QWidget" name="formLayoutWidget">
<property name="geometry">
<rect>
<x>60</x>
<y>20</y>
<width>261</width>
<height>156</height>
</rect>
</property>
<layout class="QFormLayout" name="formLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Time Step (s)</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="timeStep">
<property name="placeholderText">
<string>0.01</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Atmosphere Model</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="atmosphereModelCombo"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Gravity Model</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="gravityModelCombo"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Integrator</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="integratorCombo"/>
</item>
</layout>
</widget>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="geometry">
<rect>
<x>200</x>
<y>200</y>
<width>166</width>
<height>25</height>
</rect>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>381</width>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
<property name="title">
<string>File</string>
</property>
</widget>
<addaction name="menuFile"/>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>

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/// \cond
// C headers
// C++ headers
#include <algorithm>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "ThrustCurveMotorSelector.h"
#include "ui_ThrustCurveMotorSelector.h"
#include "QtRocket.h"
ThrustCurveMotorSelector::ThrustCurveMotorSelector(QWidget *parent) :
QDialog(parent),
ui(new Ui::ThrustCurveMotorSelector),
tcApi(new utils::ThrustCurveAPI)
{
ui->setupUi(this);
connect(ui->getMetadata,
SIGNAL(clicked()),
this,
SLOT(onButton_getMetadata_clicked()));
connect(ui->searchButton,
SIGNAL(clicked()),
this,
SLOT(onButton_searchButton_clicked()));
connect(ui->setMotor,
SIGNAL(clicked()),
this,
SLOT(onButton_setMotor_clicked()));
this->setWindowModality(Qt::NonModal);
this->hide();
this->show();
}
ThrustCurveMotorSelector::~ThrustCurveMotorSelector()
{
delete ui;
}
void ThrustCurveMotorSelector::onButton_getMetadata_clicked()
{
// When the user clicks "Get Metadata", we want to pull in Metadata from thrustcurve.org
// and populate the Manufacturer, Diameter, and Impulse Class combo boxes
utils::ThrustcurveMetadata metadata = tcApi->getMetadata();
for(const auto& i : metadata.diameters)
{
ui->diameter->addItem(QString::number(i));
}
for(const auto& i : metadata.manufacturers)
{
ui->manufacturer->addItem(QString::fromStdString(i.first));
}
for(const auto& i : metadata.impulseClasses)
{
ui->impulseClass->addItem(QString::fromStdString(i));
}
}
void ThrustCurveMotorSelector::onButton_searchButton_clicked()
{
//double diameter = ui->diameter->
std::string diameter = ui->diameter->currentText().toStdString();
std::string manufacturer = ui->manufacturer->currentText().toStdString();
std::string impulseClass = ui->impulseClass->currentText().toStdString();
utils::SearchCriteria c;
c.addCriteria("diameter", diameter);
c.addCriteria("manufacturer", manufacturer);
c.addCriteria("impulseClass", impulseClass);
std::vector<model::MotorModel> motors = tcApi->searchMotors(c);
std::copy(std::begin(motors), std::end(motors), std::back_inserter(motorModels));
for(const auto& i : motors)
{
ui->motorSelection->addItem(QString::fromStdString(i.data.commonName));
}
}
void ThrustCurveMotorSelector::onButton_setMotor_clicked()
{
//asdf
std::string commonName = ui->motorSelection->currentText().toStdString();
// get motor
model::MotorModel mm = *std::find_if(
std::begin(motorModels),
std::end(motorModels),
[&commonName](const auto& item)
{
return item.data.commonName == commonName;
});
ThrustCurve tc = tcApi->getMotorData(mm.data.motorIdTC).getThrustCurve();
mm.addThrustCurve(tc);
QtRocket::getInstance()->getRocket()->setMotorModel(mm);
const std::vector<std::pair<double, double>>& res = tc.getThrustCurveData();
auto& plot = ui->plot;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
plot->setInteraction(QCP::iRangeZoom, true);
// generate some data:
QVector<double> tData(res.size());
QVector<double> fData(res.size());
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
fData[i] = res[i].second;
}
// create graph and assign data to it:
plot->addGraph();
plot->graph(0)->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCircle, 5));
plot->graph(0)->setData(tData, fData);
// give the axes some labels:
plot->xAxis->setLabel("time");
plot->yAxis->setLabel("Thrust (N)");
// set axes ranges, so we see all data:
plot->xAxis->setRange(*std::min_element(std::begin(tData), std::end(tData)), *std::max_element(std::begin(tData), std::end(tData)));
plot->yAxis->setRange(*std::min_element(std::begin(fData), std::end(fData)), *std::max_element(std::begin(fData), std::end(fData)));
plot->replot();
}

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#ifndef THRUSTCURVEMOTORSELECTOR_H
#define THRUSTCURVEMOTORSELECTOR_H
/// \cond
// C headers
// C++ headers
#include <memory>
// 3rd party headers
#include <QDialog>
/// \endcond
// qtrocket headers
#include "utils/ThrustCurveAPI.h"
#include "model/MotorModel.h"
namespace Ui {
class ThrustCurveMotorSelector;
}
/**
* @brief The ThrustCurveMotorSelector class is a Window that provides an interface to Thrustcurve.org
*/
class ThrustCurveMotorSelector : public QDialog
{
Q_OBJECT
public:
explicit ThrustCurveMotorSelector(QWidget *parent = nullptr);
~ThrustCurveMotorSelector();
private slots:
void onButton_getMetadata_clicked();
void onButton_searchButton_clicked();
void onButton_setMotor_clicked();
private:
Ui::ThrustCurveMotorSelector *ui;
std::unique_ptr<utils::ThrustCurveAPI> tcApi;
std::vector<model::MotorModel> motorModels;
};
#endif // THRUSTCURVEMOTORSELECTOR_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ThrustCurveMotorSelector</class>
<widget class="QDialog" name="ThrustCurveMotorSelector">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>622</width>
<height>878</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<widget class="QWidget" name="formLayoutWidget">
<property name="geometry">
<rect>
<x>170</x>
<y>90</y>
<width>160</width>
<height>101</height>
</rect>
</property>
<layout class="QFormLayout" name="formLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Manufacturer</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Diameter</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Impulse Class</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="manufacturer"/>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="diameter"/>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="impulseClass"/>
</item>
</layout>
</widget>
<widget class="QPushButton" name="getMetadata">
<property name="geometry">
<rect>
<x>200</x>
<y>40</y>
<width>91</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>Get Metadata</string>
</property>
</widget>
<widget class="QCustomPlot" name="plot" native="true">
<property name="geometry">
<rect>
<x>10</x>
<y>320</y>
<width>601</width>
<height>551</height>
</rect>
</property>
</widget>
<widget class="QPushButton" name="searchButton">
<property name="geometry">
<rect>
<x>210</x>
<y>210</y>
<width>80</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>Search</string>
</property>
</widget>
<widget class="QWidget" name="formLayoutWidget_2">
<property name="geometry">
<rect>
<x>140</x>
<y>240</y>
<width>221</width>
<height>41</height>
</rect>
</property>
<layout class="QFormLayout" name="formLayout_2">
<item row="0" column="1">
<widget class="QComboBox" name="motorSelection"/>
</item>
</layout>
</widget>
<widget class="QPushButton" name="setMotor">
<property name="geometry">
<rect>
<x>200</x>
<y>290</y>
<width>80</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>setMotor</string>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>QCustomPlot</class>
<extends>QWidget</extends>
<header>gui/qcustomplot.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>

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54
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/// \cond
// C Headers
// C++ Headers
#include <functional>
#include <utility>
// C headers
// C++ headers
// 3rd party headers
#include <QApplication>
#include <QLocale>
#include <QTranslator>
/// \endcond
#include "MainWindow.h"
#include "Logger.h"
#include "RK4Solver.h"
#include "QtRocket.h"
#include "utils/Logger.h"
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
auto* logger = Logger::getInstance();
logger->setLogLevel(Logger::LogLevel::PERF);
QTranslator translator;
const QStringList uiLanguages = QLocale::system().uiLanguages();
for (const QString &locale : uiLanguages) {
const QString baseName = "untitled_" + QLocale(locale).name();
if (translator.load(":/i18n/" + baseName)) {
a.installTranslator(&translator);
break;
}
}
logger->debug("Starting MainWindow");
MainWindow w;
// Instantiate logger
utils::Logger* logger = utils::Logger::getInstance();
logger->setLogLevel(utils::Logger::PERF_);
logger->info("Logger instantiated at PERF level");
// instantiate QtRocket
logger->debug("Starting QtRocket");
QtRocket* qtrocket = QtRocket::getInstance();
w.show();
return a.exec();
}
void test_RK4()
{
auto ode = [](double& x, double& r) -> std::pair<double, double>
{
}
// Run QtRocket. This'll start the GUI thread and block until the user
// exits the program
logger->debug("QtRocket->run()");
int retVal = qtrocket->run(argc, argv);
logger->debug("Returning");
return retVal;
}

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model/CMakeLists.txt Normal file
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add_library(model
MotorModel.cpp
MotorModel.h
MotorModelDatabase.cpp
MotorModelDatabase.h
Part.cpp
Part.h
Propagatable.cpp
Propagatable.h
RocketModel.cpp
RocketModel.h
ThrustCurve.cpp
ThrustCurve.h
InertiaTensors.h)
target_link_libraries(model PRIVATE
utils)
# Unit tests
add_subdirectory(tests)

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#ifndef INERTIATENSORS_H
#define INERTIATENSORS_H
#include "utils/math/MathTypes.h"
namespace model
{
/**
* @brief The InertiaTensors class provides a collection of methods to
* deliver some common inertia tensors centered about the center of mass
*/
class InertiaTensors
{
public:
/**
* @brief SolidSphere
* @param radius (meters)
* @return
*/
static Matrix3 SolidSphere(double radius)
{
double xx = 0.4*radius*radius;
double yy = xx;
double zz = xx;
return Matrix3{{xx, 0, 0},
{0, yy, 0},
{0, 0, zz}};
}
/**
* @brief HollowSphere
* @param radius (meters)
* @return
*/
static Matrix3 HollowSphere(double radius)
{
double xx = (2.0/3.0)*radius*radius;
double yy = xx;
double zz = xx;
return Matrix3{{xx, 0, 0},
{0, yy, 0},
{0, 0, zz}};
}
/**
* @brief Tube - The longitudinal axis is the z-axis. Can also be used for a solid cylinder
* when innerRadius = 0.0
* @param innerRadius (meters)
* @param outerRadius (meters)
* @param length (meters)
* @return
*/
static Matrix3 Tube(double innerRadius, double outerRadius, double length)
{
double xx = (1.0/12.0)*(3.0*(innerRadius*innerRadius + outerRadius*outerRadius) + length*length);
double yy = xx;
double zz = (1.0/2.0)*(innerRadius*innerRadius + outerRadius*outerRadius);
return Matrix3{{xx, 0.0, 0.0},
{0.0, yy, 0.0},
{0.0, 0.0, zz}};
}
};
}
#endif // INERTIATENSORS_H

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/// \cond
// C headers
// C++ headers
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
#include "utils/math/Constants.h"
#include "utils/math/UtilityMathFunctions.h"
#include "utils/Logger.h"
namespace model
{
MotorModel::MotorModel()
{
}
MotorModel::~MotorModel()
{
}
double MotorModel::getMass(double simTime) const
{
// the current mass is the emptyMass + the current prop mass
// If ignition hasn't occurred, return the totalMass
if(!ignitionOccurred)
{
return data.totalWeight;
}
else if(simTime - ignitionTime <= data.burnTime)
{
double thrustTime = simTime - ignitionTime;
// Find the right interval in the massCurve
auto i = massCurve.cbegin();
while(i->first <= thrustTime)
{
// If thrustTime is equal to a data point that we have, then just return
// the mass at that time. Otherwise it fell between two points and we
// will interpolate
if(utils::math::floatingPointEqual(i->first, thrustTime))
{
// return empty mass + remaining propellant mass
return emptyMass + i->second;
}
else
{
i++;
}
}
// linearly interpolate the propellant mass. Then return the empty mass + remaining prop mass
double tStart = std::prev(i)->first;
double tEnd = i->first;
double propMassStart = std::prev(i)->second;
double propMassEnd = i->second;
double slope = (propMassEnd - propMassStart) / (tEnd - tStart);
double currentMass = emptyMass + propMassStart + (thrustTime - tStart) * slope;
utils::Logger::getInstance()->info("simTime: " + std::to_string(simTime) + ": motor mass: " + std::to_string(currentMass));
return currentMass;
}
// motor has burned out
else
{
return emptyMass;
}
}
double MotorModel::getThrust(double simTime)
{
if(simTime > thrust.getMaxTime() + ignitionTime)
{
if(!burnOutOccurred)
{
utils::Logger::getInstance()->info("motor burnout occurred: " + std::to_string(simTime));
burnOutOccurred = true;
}
return 0.0;
}
utils::Logger::getInstance()->info("simTime: " + std::to_string(simTime) + ": thrust: " + std::to_string(thrust.getThrust(simTime)));
return thrust.getThrust(simTime);
}
void MotorModel::setMetaData(const MetaData& md)
{
data = md;
computeMassCurve();
}
void MotorModel::moveMetaData(MetaData&& md)
{
data = std::move(md);
computeMassCurve();
}
void MotorModel::computeMassCurve()
{
emptyMass = data.totalWeight - data.propWeight;
// Calculate the Isp for the motor, as we'll need this for the computing the mass flow rate.
// This will be the total impulse in Newton-seconds over
// the propellant weight. The prop mass is in grams, hence the division by 1000.0 to get kg
isp = data.totalImpulse / (utils::math::Constants::g0 * data.propWeight / 1000.0);
// Precompute the mass curve. Having this precomputed will ensure multiple calls to getMass()
// or getThrust() during the same time step don't accidentally decrement the mass multiple times.
// Having a lookup table will ensure consistent mass values, as well as speed up the simulation,
// just at the cost of some extra space
// Most motor data in the RASP format has a limitation of 32 data points. We're not going to
// match that, so we can pick whatever we want and just interpolate values. We can have 128
// for example
massCurve.reserve(128);
double timeStep = data.burnTime / 127.0;
double t = 0.0;
double propMass{data.propWeight};
for(std::size_t i = 0; i < 127; ++i)
{
massCurve.push_back(std::make_pair(t + i*timeStep, propMass));
propMass -= thrust.getThrust(t + i*timeStep) * timeStep * data.propWeight / data.totalImpulse;
}
massCurve.push_back(std::make_pair(data.burnTime, 0.0));
}
} // namespace model

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#ifndef MODEL_MOTORMODEL_H
#define MODEL_MOTORMODEL_H
/// \cond
// C headers
// C++ headers
#include <string>
// 3rd party headers
// For boost serialization. We're using boost::serialize to save
// and load Motor data to file. (CURRENTLY UNUSED)
//#include <boost/archive/text_iarchive.hpp>
//#include <boost/archive/text_oarchive.hpp>
/// \endcond
// qtrocket theaders
#include "ThrustCurve.h"
namespace model
{
/**
* @brief The MotorModel class
*
* The MotorModel class defines a structure that holds data relating to a hobby
* rocket motor such as the manufacturer, burn time, maximum thrust, propellant
* weight, etc. It also holds a ThrustCurve object that contains thrust sample data
* for that motor.
*
* There are several additional classes defined within the MotorModel class designed
* to encapsulate and define several pieces of motor related data as well.
*/
class MotorModel
{
public:
/**
* @brief MotorModel constructor
*/
MotorModel();
/**
* @brief MotorModel copy constructor is defaulted
*/
MotorModel(const MotorModel&) = default;
/**
* @brief MotorModel move constructor is defaulted
*/
MotorModel(MotorModel&&) = default;
~MotorModel();
/**
* @brief Copy assignment operator is defaulted
* @return Copy of MotorModel
*/
MotorModel& operator=(const MotorModel&) = default;
/**
* @brief Move assignment operator is defaulted
* @return Moved MotorModel
*/
MotorModel& operator=(MotorModel&&) = default;
/**
* @brief The AVAILABILITY enum class identifies whether a motor is
* out of production, or still available
*/
enum class AVAILABILITY
{
REGULAR, /// available
OOP /// Out of Production
};
/**
* @brief The MOTORMANUFACTURER enum class identifies the motor
* manufacturer
*/
enum class MOTORMANUFACTURER
{
AEROTECH,
AMW,
APOGEE,
CESARONI,
CONTRAIL,
ESTES,
HYPERTEK,
KLIMA,
LOKI,
QUEST,
UNKNOWN
};
/**
* @brief The CERTORG enum class identifies the Certification Organization
* that certified the motor
*/
enum class CERTORG
{
AMRS, /// Australian Model Rocket Society
CAR, /// Canadian Association of Rocketry
NAR, /// National Association of Rocketry
TRA, /// Tripoli
UNC, /// Uncertified
UNK /// Unknown Certification
};
/**
* @brief The MOTORTYPE enum class identifies the motor type, either
* Single-Use, Reload, or Hybrid
*/
enum class MOTORTYPE
{
SU,
RELOAD,
HYBRID
};
/**
* @brief The MotorAvailability struct wraps the AVAILABILITY enum and
* provides a helper function to return a string representation
* of the AVAILABILITY enum.
*/
struct MotorAvailability
{
MotorAvailability(const AVAILABILITY& a) : availability(a) {}
MotorAvailability(const MotorAvailability&) = default;
MotorAvailability(MotorAvailability&&) = default;
MotorAvailability() : MotorAvailability(AVAILABILITY::REGULAR) {}
MotorAvailability& operator=(const MotorAvailability&) = default;
MotorAvailability& operator=(MotorAvailability&&) = default;
AVAILABILITY availability{AVAILABILITY::REGULAR};
/**
* @brief str Returns a string representation of AVAILABILITY enum
* @return string representation
*/
std::string str() const
{
if(availability == AVAILABILITY::REGULAR)
return std::string("regular");
else
return std::string("OOP");
}
/**
* @brief toEnum returns AVAILABILITY enum from string name
* @param name Name of enum
* @return AVAILABILITY enum corresponding to name
*/
static AVAILABILITY toEnum(const std::string& name)
{
if(name == "regular")
return AVAILABILITY::REGULAR;
else
return AVAILABILITY::OOP;
}
};
/**
* @brief The CertOrg struct wraps the CERTORG enum and
* provides a helper function to return a string representation
* of the CERTORG enum.
*/
struct CertOrg
{
CertOrg(const CERTORG& c) : org(c) {}
CertOrg(const CertOrg&) = default;
CertOrg(CertOrg&&) = default;
CertOrg() : CertOrg(CERTORG::UNC) {}
CertOrg& operator=(const CertOrg&) = default;
CertOrg& operator=(CertOrg&&) = default;
CERTORG org{CERTORG::UNC};
/**
* @brief str Returns a string representation of CERTORG enum
* @return string representation
*/
std::string str() const
{
if(org == CERTORG::AMRS)
return std::string("Austrialian Model Rocket Society Inc.");
else if(org == CERTORG::CAR)
return std::string("Canadian Association of Rocketry");
else if(org == CERTORG::NAR)
return std::string("National Association of Rocketry");
else if(org == CERTORG::TRA)
return std::string("Tripoli Rocketry Association, Inc.");
else if(org == CERTORG::UNC)
return std::string("Uncertified");
else // UNK - Unknown
return std::string("Unkown");
}
/**
* @brief toEnum returns CERTORG enum corresponding to name
* @param name Name of enumeration
* @return enumeration value corresponding to name
*/
static CERTORG toEnum(const std::string& name)
{
if(name == "AMRS")
return CERTORG::AMRS;
else if(name == "CAR")
return CERTORG::CAR;
else if(name == "NAR")
return CERTORG::NAR;
else if(name == "TRA")
return CERTORG::TRA;
else if(name == "UNC")
return CERTORG::UNC;
else // Unknown
return CERTORG::UNK;
}
};
/**
* @brief The MotorType struct wraps the MOTORTYPE enum and
* provides a helper function to return a string representation
* of the MOTORTYPE enum.
*/
struct MotorType
{
MotorType(const MOTORTYPE& t) : type(t) {}
MotorType(const MotorType&) = default;
MotorType(MotorType&&) = default;
MotorType() : MotorType(MOTORTYPE::SU) {}
MotorType& operator=(const MotorType&) = default;
MotorType& operator=(MotorType&&) = default;
MOTORTYPE type;
/**
* @brief str Returns a string representation of MOTORTYPE enum
* @return string representation
*/
std::string str() const
{
if(type == MOTORTYPE::SU)
return std::string("Single Use");
else if(type == MOTORTYPE::RELOAD)
return std::string("Reload");
else
return std::string("Hybrid");
}
/**
* @brief toEnum returns enumeration corresponding to name
* @param name Name of enumeration
* @return enumeration corresponding to name
*/
static MOTORTYPE toEnum(const std::string& name)
{
if(name == "SU" ||
name == "Single Use" ||
name == "single-use")
return MOTORTYPE::SU;
else if(name == "reload" ||
name == "Reload" ||
name == "reloadable")
return MOTORTYPE::RELOAD;
else // It's a hybrid
return MOTORTYPE::HYBRID;
}
};
/**
* @brief The MotorManufacturer struct wraps the MOTORMANUFACTURER enum and
* provides a helper function to return a string representation
* of the MOTORMANUFACTURER enum.
*/
struct MotorManufacturer
{
MotorManufacturer(const MOTORMANUFACTURER& m) : manufacturer(m) {}
MotorManufacturer() : manufacturer(MOTORMANUFACTURER::UNKNOWN) {}
MotorManufacturer(const MotorManufacturer&) = default;
MotorManufacturer(MotorManufacturer&&) = default;
MotorManufacturer& operator=(const MotorManufacturer&) = default;
MotorManufacturer& operator=(MotorManufacturer&&) = default;
MOTORMANUFACTURER manufacturer;
/**
* @brief str Returns a string representation of MOTORMANUFACTURER enum
* @return string representation
*/
std::string str() const
{
switch(manufacturer)
{
case MOTORMANUFACTURER::AEROTECH:
return std::string("AeroTech");
case MOTORMANUFACTURER::AMW:
return std::string("AMW");
case MOTORMANUFACTURER::CESARONI:
return std::string("Cesaroni");
case MOTORMANUFACTURER::ESTES:
return std::string("Estes");
case MOTORMANUFACTURER::LOKI:
return std::string("Loki");
case MOTORMANUFACTURER::APOGEE:
return std::string("Apogee");
case MOTORMANUFACTURER::CONTRAIL:
return std::string("Contrail");
case MOTORMANUFACTURER::HYPERTEK:
return std::string("Hypertek");
case MOTORMANUFACTURER::KLIMA:
return std::string("Klima");
case MOTORMANUFACTURER::QUEST:
return std::string("Quest");
case MOTORMANUFACTURER::UNKNOWN:
default:
return std::string("Unknown");
}
}
/**
* @brief toEnum returns MOTORMANUFACTURER enum value corresponding to a name
* @param name Name of enumeration
* @return enumeration corresponding to name
*/
static MOTORMANUFACTURER toEnum(const std::string& name)
{
if(name == "AeroTech" ||
name == "Aerotech")
return MOTORMANUFACTURER::AEROTECH;
else if(name == "AMW" ||
name == "Animal Motor Works")
return MOTORMANUFACTURER::AMW;
else if(name == "Cesaroni" ||
name == "Cesaroni Technology Inc.")
return MOTORMANUFACTURER::CESARONI;
else if(name == "Estes" ||
name == "Estes Industries, Inc.")
return MOTORMANUFACTURER::ESTES;
else if(name == "Loki")
return MOTORMANUFACTURER::LOKI;
else if(name == "Apogee")
return MOTORMANUFACTURER::APOGEE;
else if(name == "Contrail")
return MOTORMANUFACTURER::CONTRAIL;
else if(name == "Hypertek")
return MOTORMANUFACTURER::HYPERTEK;
else if(name == "Klima")
return MOTORMANUFACTURER::QUEST;
else if(name == "Quest")
return MOTORMANUFACTURER::KLIMA;
else
return MOTORMANUFACTURER::UNKNOWN;
}
};
/// TODO: make these MotorModel members private. Public just for testing
//private:
struct MetaData
{
MetaData() = default;
~MetaData() = default;
MetaData(const MetaData&) = default;
MetaData(MetaData&&) = default;
MetaData& operator=(const MetaData&) = default;
MetaData& operator=(MetaData&&) = default;
MotorAvailability availability{AVAILABILITY::REGULAR}; /// Motor Availability
double avgThrust{0.0}; /// Average thrust in Newtons
double burnTime{0.0}; /// Burn time in seconds
CertOrg certOrg{CERTORG::UNC}; /// The certification organization, defaults to Uncertified
std::string commonName{""}; /// Common name, e.g. A8 or J615
// int dataFiles
std::vector<int> delays; /// 1000 delay means no ejection charge
std::string designation{""}; /// Other name, usually includes prop type, e.g. H110W
double diameter{0}; /// motor diameter in mm
std::string impulseClass; /// Motor letter, e.g. 'A', 'B', '1/2A', 'M', etc
std::string infoUrl{""}; /// TODO: ???
double length{0.0}; /// motor length in mm
MotorManufacturer manufacturer{MOTORMANUFACTURER::UNKNOWN}; /// Motor Manufacturer
double maxThrust{0.0}; /// Max thrust in Newtons
std::string motorIdTC{""}; /// 24 character hex string used by thrustcurve.org to ID a motor
std::string propType{""}; /// Propellant type, e.g. black powder
double propWeight{0.0}; /// Propellant weight in grams
bool sparky{false}; /// true if the motor is "sparky", false otherwise
double totalImpulse{0.0}; /// Total impulse in Newton-seconds
double totalWeight{0.0}; /// Total weight in grams
MotorType type{MOTORTYPE::SU}; /// Motor type, e.g. single-use, reload, or hybrid
std::string lastUpdated{""}; /// Date last updated on ThrustCurve.org
};
double getMass(double simTime) const;
double getThrust(double simTime);
void setMetaData(const MetaData& md);
void moveMetaData(MetaData&& md);
void startMotor(double startTime) { ignitionOccurred = true; ignitionTime = startTime; }
void addThrustCurve(const ThrustCurve& tc) { thrust = tc; }
const ThrustCurve& getThrustCurve() const { return thrust; }
// Thrust parameters
MetaData data;
private:
bool ignitionOccurred{false};
bool burnOutOccurred{false};
double emptyMass;
double isp;
double maxTime;
double ignitionTime;
ThrustCurve thrust; /// The measured motor thrust curve
std::vector<std::pair<double, double>> massCurve;
void computeMassCurve();
};
} // namespace model
#endif // MODEL_MOTORMODEL_H

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#include "MotorModelDatabase.h"
MotorModelDatabase::MotorModelDatabase()
{
}

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#ifndef MOTORMODELDATABASE_H
#define MOTORMODELDATABASE_H
/// \cond
// C headers
// C++ headers
#include <vector>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
/**
* @brief The MotorModelDatabase class provides a storage and search mechanism for
* MotorModels
*/
class MotorModelDatabase
{
public:
/**
* @brief MotorModelDatabase constructor
*/
MotorModelDatabase();
/**
* @brief MotorModelDatabase destructor is defaulted
*/
~MotorModelDatabase() = default;
/**
* @brief findMotorsByManufacturer returns a vector of MotorModel from a given
* manufacturer
* @param manufacturer The manufacturer to search for
* @return vector of MotorModels from a given manufacturer
*/
std::vector<model::MotorModel> findMotorsByManufacturer(const std::string& manufacturer);
/**
* @brief findMotersByImpulseClass returns a vector of MotorModels with a given
* impulse class
* @param imClass Impulse class to search for
* @return vector of MotorModels with a given Impulse class
*/
std::vector<model::MotorModel> findMotersByImpulseClass(const std::string& imClass);
private:
std::vector<model::MotorModel> motors;
};
#endif // MOTORMODELDATABASE_H

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#include "Part.h"
#include "utils/Logger.h"
namespace model
{
Part::Part(const std::string& n,
const Matrix3& I,
double m,
const Vector3& centerMass)
: parent(nullptr),
name(n),
inertiaTensor(I),
compositeInertiaTensor(I),
mass(m),
compositeMass(m),
cm(centerMass),
needsRecomputing(false),
childParts()
{ }
Part::~Part()
{}
Part::Part(const Part& orig)
: parent(orig.parent),
name(orig.name),
inertiaTensor(orig.inertiaTensor),
compositeInertiaTensor(orig.compositeInertiaTensor),
mass(orig.mass),
compositeMass(orig.compositeMass),
cm(orig.cm),
needsRecomputing(orig.needsRecomputing),
childParts()
{
// We are copying the whole tree. If the part we're copying itself has child
// parts, we are also copying all of them! This may be inefficient and not what
// is desired, but it is less likely to lead to weird bugs with the same part
// appearing in multiple locations of the rocket
utils::Logger::getInstance()->debug("Calling model::Part copy constructor. Recursively copying all child parts. Check Part names for uniqueness");
for(const auto& i : orig.childParts)
{
Part& x = *std::get<0>(i);
std::shared_ptr<Part> tempPart = std::make_shared<Part>(x);
childParts.emplace_back(tempPart, std::get<1>(i));;
}
}
double Part::getChildMasses(double t)
{
double childMasses{0.0};
for(const auto& i : childParts)
{
childMasses += std::get<0>(i)->getMass(t);
}
return childMasses;
}
void Part::addChildPart(const Part& childPart, Vector3 position)
{
double childMass = childPart.compositeMass;
Matrix3 childInertiaTensor = childPart.compositeInertiaTensor;
std::shared_ptr<Part> newChild = std::make_shared<Part>(childPart);
// Set the parent pointer
newChild->parent = this;
// Recompute inertia tensor
childInertiaTensor += childMass * ( position.dot(position) * Matrix3::Identity() - position*position.transpose());
compositeInertiaTensor += childInertiaTensor;
compositeMass += childMass;
childParts.emplace_back(std::move(newChild), std::move(position));
if(parent)
{
parent->markAsNeedsRecomputing();
parent->recomputeInertiaTensor();
}
}
void Part::recomputeInertiaTensor()
{
if(!needsRecomputing)
{
return;
}
// recompute the whole composite inertia tensor
// Reset the composite inertia tensor
compositeInertiaTensor = inertiaTensor;
compositeMass = mass;
for(auto& [child, pos] : childParts)
{
child->recomputeInertiaTensor();
compositeInertiaTensor += child->compositeInertiaTensor + child->compositeMass * ( pos.dot(pos) * Matrix3::Identity() - pos*pos.transpose());
compositeMass += child->compositeMass;
}
needsRecomputing = false;
}
} // namespace model

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#ifndef MODEL_PART_H
#define MODEL_PART_H
/// \cond
// C headers
// C++ headers
#include <vector>
#include <memory>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/math/MathTypes.h"
namespace model
{
class Part
{
public:
Part(const std::string& name,
const Matrix3& I,
double m,
const Vector3& centerMass);
virtual ~Part();
Part(const Part&);
Part& operator=(Part other)
{
if(this != &other)
{
std::swap(parent, other.parent);
std::swap(name, other.name);
std::swap(inertiaTensor, other.inertiaTensor);
std::swap(compositeInertiaTensor, other.compositeInertiaTensor);
std::swap(mass, other.mass);
std::swap(compositeMass, other.compositeMass);
std::swap(cm, other.cm);
std::swap(needsRecomputing, other.needsRecomputing);
std::swap(childParts, other.childParts);
}
return *this;
}
Part& operator=(Part&& other)
{
parent = std::move(other.parent);
name = std::move(other.name);
inertiaTensor = std::move(other.inertiaTensor);
compositeInertiaTensor = std::move(other.compositeInertiaTensor);
mass = std::move(other.mass);
compositeMass = std::move(other.compositeMass);
cm = std::move(other.cm);
needsRecomputing = std::move(other.needsRecomputing);
childParts = std::move(other.childParts);
return *this;
}
void setMass(double m) { mass = m; }
// Set the inertia tensor
void setI(const Matrix3& I) { inertiaTensor = I; }
Matrix3 getI() { return inertiaTensor; }
Matrix3 getCompositeI() { return compositeInertiaTensor; }
void setCm(const Vector3& x) { cm = x; }
// Special version of setCM that assumes the cm lies along the body x-axis
void setCm(double x) { cm = {x, 0.0, 0.0}; }
double getMass(double t)
{
return mass;
}
double getCompositeMass(double t)
{
return compositeMass;
}
/**
* @brief Add a child part to this part.
*
* @param childPart Child part to add
* @param position Relative position of the child part's center-of-mass w.r.t the
* parent's center of mass
*/
void addChildPart(const Part& childPart, Vector3 position);
/**
* @brief Recomputes the inertia tensor. If the change is due to the change in inertia
* of a child part, an optional name of the child part can be given to
* only recompute that change rather than recompute all child inertia
* tensors
*
* @param name Optional name of the child part to recompute. If empty, it will
* recompute all child inertia tensors
*/
//void recomputeInertiaTensor(std::string name = "");
void recomputeInertiaTensor();
private:
// This is a pointer to the parent Part, if it has one. Purpose is to be able to
// tell the parent if it needs to recompute anything if this part changes. e.g.
// if a change to this part's inertia tensor occurs, the parent needs to recompute
// it's total inertia tensor.
Part* parent{nullptr};
std::string name;
double getChildMasses(double t);
void markAsNeedsRecomputing()
{ needsRecomputing = true; if(parent) { parent->markAsNeedsRecomputing(); }}
// Because a part is both a simple part and the composite of itself with all of it's children,
// we will keep track of this object's inertia tensor (without children), and the composite
// one with all of it's children attached
Matrix3 inertiaTensor; // moment of inertia tensor with respect to the part's center of mass and
Matrix3 compositeInertiaTensor;
double mass; // The moment of inertia tensor also has this, so don't double compute
double compositeMass; // The mass of this part along with all attached parts
Vector3 cm; // center of mass wrt middle of component
bool needsRecomputing{false};
/// @brief child parts and the relative positions of their center of mass w.r.t.
/// the center of mass of this part
std::vector<std::tuple<std::shared_ptr<Part>, Vector3>> childParts;
};
}
#endif // MODEL_PART_H

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#ifndef MODEL_PROPAGATABLE_H
#define MODEL_PROPAGATABLE_H
/// \cond
// C headers
// C++ headers
#include <utility>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "sim/Aero.h"
#include "sim/StateData.h"
#include "utils/math/MathTypes.h"
namespace model
{
class Propagatable
{
public:
Propagatable() {}
virtual ~Propagatable() {}
virtual Vector3 getForces(double t) = 0;
virtual Vector3 getTorques(double t) = 0;
virtual double getMass(double t) = 0;
virtual Matrix3 getInertiaTensor(double t) = 0;
virtual bool terminateCondition(double t) = 0;
void setCurrentState(const StateData& st) { currentState = st; }
const StateData& getCurrentState() { return currentState; }
const StateData& getInitialState() { return initialState; }
void setInitialState(const StateData& init) { initialState = init; }
void appendState(double t, const StateData& st) { states.emplace_back(t, st); }
const std::vector<std::pair<double, StateData>>& getStates() { return states; }
void clearStates() { states.clear(); }
protected:
sim::Aero aeroData;
StateData initialState;
StateData currentState;
StateData nextState;
std::vector<std::pair<double, StateData>> states;
};
}
#endif // MODEL_PROPAGATABLE_H

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// qtrocket headers
#include "RocketModel.h"
#include "QtRocket.h"
#include "InertiaTensors.h"
namespace model
{
RocketModel::RocketModel()
: topPart("NoseCone", InertiaTensors::SolidSphere(1.0), 1.0, {0.0, 0.0, 1.0})
{
}
double RocketModel::getMass(double t)
{
double mass = mm.getMass(t);
mass += topPart.getCompositeMass(t);
return mass;
}
Matrix3 RocketModel::getInertiaTensor(double)
{
return topPart.getCompositeI();
}
bool RocketModel::terminateCondition(double)
{
// Terminate propagation when the z coordinate drops below zero
if(currentState.position[2] < 0)
return true;
else
return false;
}
Vector3 RocketModel::getForces(double t)
{
// Get thrust
// Assume that thrust is always through the center of mass and in the rocket's Z-axis
Vector3 forces{0.0, 0.0, mm.getThrust(t)};
// Get gravity
auto gravityModel = QtRocket::getInstance()->getEnvironment()->getGravityModel();
Vector3 gravity = gravityModel->getAccel(currentState.position)*getMass(t);
forces += gravity;
// Calculate aero forces
return forces;
}
Vector3 RocketModel::getTorques(double t)
{
return Vector3{0.0, 0.0, 0.0};
}
double RocketModel::getThrust(double t)
{
return mm.getThrust(t);
}
void RocketModel::launch()
{
mm.startMotor(0.0);
}
void RocketModel::setMotorModel(const model::MotorModel& motor)
{
mm = motor;
}
} // namespace model

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#ifndef ROCKETMODEL_H
#define ROCKETMODEL_H
/// \cond
// C headers
// C++ headers
#include <vector>
#include <memory>
#include <string>
#include <utility> // std::move
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/Part.h"
#include "sim/Propagator.h"
#include "model/MotorModel.h"
#include "model/Propagatable.h"
// Not yet
//#include "model/Stage.h"
namespace model
{
/**
* @brief The Rocket class holds all rocket components
*
*/
class RocketModel : public Propagatable
{
public:
/**
* @brief Rocket class constructor
*/
RocketModel();
/**
* @brief Rocket class destructor
*
*/
virtual ~RocketModel() {}
/**
* @brief launch Propagates the Rocket object until termination,
* normally when altitude crosses from positive to negative
*/
void launch();
Vector3 getForces(double t) override;
Vector3 getTorques(double t) override;
/**
* @brief getMass returns current rocket mass
* @param t current simulation time
* @return mass in kg
*/
double getMass(double t) override;
/**
* @brief terminateCondition returns true or false, whether the passed-in time/state matches the terminate condition
* @param cond time/state pair
* @return true if the passed-in time/state satisfies the terminate condition
*/
bool terminateCondition(double t) override;
Matrix3 getInertiaTensor(double t) override;
/**
* @brief getThrust returns current motor thrust
* @param t current simulation time
* @return thrust in Newtons
*/
double getThrust(double t);
/**
* @brief setMotorModel
* @param motor
*/
void setMotorModel(const model::MotorModel& motor);
/**
* @brief getMotorModel
*/
MotorModel getMotorModel() { return mm; }
/**
* @brief Returns the current motor model.
* @return The current motor model
*/
//const model::MotorModel& getCurrentMotorModel() const { return mm; }
/**
* @brief setName sets the rocket name
* @param n name to set the Rocket
*/
void setName(const std::string& n) { name = n; }
double getDragCoefficient() { return 1.0; }
void setDragCoefficient(double d) { }
void setMass(double m) { }
private:
std::string name; /// Rocket name
model::MotorModel mm; /// Current Motor Model
model::Part topPart;
};
} // namespace model
#endif // ROCKETMODEL_H

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/// \cond
// C headers
// C++ headers
#include <algorithm>
// 3rd party headers
/// \endcond
#include "model/ThrustCurve.h"
ThrustCurve::ThrustCurve(std::vector<std::pair<double, double>>& tc)
: thrustCurve(tc),
maxTime(0.0),
ignitionTime(0.0)
{
maxTime = std::max_element(thrustCurve.begin(),
thrustCurve.end(),
[](const auto& a, const auto& b)
{
return a.first < b.first;
})->first;
}
ThrustCurve::ThrustCurve()
{
thrustCurve.emplace_back(0.0, 0.0);
maxTime = 0.0;
}
ThrustCurve::~ThrustCurve()
{}
void ThrustCurve::setThrustCurveVector(const std::vector<std::pair<double, double>>& v)
{
thrustCurve.clear();
thrustCurve.resize(v.size());
std::copy(v.begin(), v.end(), thrustCurve.begin());
maxTime = std::max_element(thrustCurve.begin(),
thrustCurve.end(),
[](const auto& a, const auto& b)
{
return a.first < b.first;
})->first;
}
void ThrustCurve::setIgnitionTime(double t)
{
ignitionTime = t;
//maxTime += ignitionTime;
}
double ThrustCurve::getThrust(double t)
{
// calculate t relative to the start time of the motor
t -= ignitionTime;
if(t < 0.0 || t > maxTime)
{
return 0.0;
}
// Find the right interval
auto i = thrustCurve.cbegin();
while(i->first <= t)
{
// If t is equal to a data point that we have, then just return
// the thrust we know. Otherwise it fell between two points and we
// will interpolate
if(i->first == t)
{
return i->second;
}
else
{
i++;
}
}
// linearly interpolate the thrust and return
// tStart and tEnd are the start time and the end time
// of the current interval. thrustStart is the thrust at
// the start of the interval.
double tStart = std::prev(i)->first;
double thrustStart = std::prev(i)->second;
double thrustEnd = i->second;
double tEnd = i->first;
double slope = (thrustEnd - thrustStart) /
(tEnd - tStart);
return thrustStart + (t - tStart) * slope;
}

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#ifndef MODEL_THRUSTCURVE_H
#define MODEL_THRUSTCURVE_H
/// \cond
// C headers
// C++ headers
#include <vector>
// 3rd party headers
/// \endcond
class ThrustCurve
{
public:
/**
* Constructor takes a vector of pairs. The first item a timestamp,
* the second the thrust in newtons.
*/
ThrustCurve(std::vector<std::pair<double, double>>& tc);
/**
* Default constructor. Will create an empty thrustcurve, always returning 0.0
* for all requested times.
*/
ThrustCurve();
ThrustCurve(const ThrustCurve&) = default;
ThrustCurve(ThrustCurve&&) = default;
~ThrustCurve();
ThrustCurve& operator=(const ThrustCurve& rhs) = default;
ThrustCurve& operator=(ThrustCurve&& rhs) = default;
/**
* Assuming that the thrust is one dimensional. Seems reasonable, but just
* documenting that for the record. For timesteps between known points the thrust
* is interpolated linearly
* @param t The time in seconds. For t > burntime or < 0, this will return 0.0
* @return Thrust in Newtons
*/
double getThrust(double t);
void setIgnitionTime(double t);
double getMaxTime() const { return maxTime; }
/**
* TODO: Get rid of this. This is for temporary testing
*/
void setThrustCurveVector(const std::vector<std::pair<double, double>>& v);
const std::vector<std::pair<double, double>> getThrustCurveData() const { return thrustCurve; }
private:
std::vector<std::pair<double, double>> thrustCurve;
double maxTime{0.0};
double ignitionTime{0.0};
};
#endif // MODEL_THRUSTCURVE_H

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add_executable(model_tests
PartTests.cpp
)
target_link_libraries(model_tests PRIVATE
model
utils
GTest::gtest_main
)
include(GoogleTest)
gtest_discover_tests(model_tests)
add_test(NAME qtrocket_model_tests COMMAND model_tests)

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#include <gtest/gtest.h>
#include "model/Part.h"
class PartTest : public testing::Test
{
protected:
// Per-test-suite set-up.
// Called before the first test in this test suite.
// Can be omitted if not needed.
static void SetUpTestSuite()
{
//shared_resource_ = new ...;
// If `shared_resource_` is **not deleted** in `TearDownTestSuite()`,
// reallocation should be prevented because `SetUpTestSuite()` may be called
// in subclasses of FooTest and lead to memory leak.
//
// if (shared_resource_ == nullptr) {
// shared_resource_ = new ...;
// }
}
// Per-test-suite tear-down.
// Called after the last test in this test suite.
// Can be omitted if not needed.
static void TearDownTestSuite()
{
//delete shared_resource_;
//shared_resource_ = nullptr;
}
// You can define per-test set-up logic as usual.
void SetUp() override { }
// You can define per-test tear-down logic as usual.
void TearDown() override { }
// Some expensive resource shared by all tests.
//static T* shared_resource_;
};
//T* FooTest::shared_resource_ = nullptr;
TEST(PartTest, CreationTests)
{
Matrix3 inertia;
inertia << 1, 0, 0,
0, 1, 0,
0, 0, 1;
Vector3 cm{1, 0, 0};
model::Part testPart("testPart",
inertia,
1.0,
cm);
Matrix3 inertia2;
inertia2 << 1, 0, 0,
0, 1, 0,
0, 0, 1;
Vector3 cm2{1, 0, 0};
model::Part testPart2("testPart2",
inertia2,
1.0,
cm2);
Vector3 R{2.0, 2.0, 2.0};
testPart.addChildPart(testPart2, R);
}

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<RCC>
<qresource prefix="/"/>
<qresource prefix="/images">
<file>resources/rocket64.png</file>
</qresource>
</RCC>

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#ifndef SIM_AERO_H
#define SIM_AERO_H
/// \cond
// C headers
// C++ headers
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/math/MathTypes.h"
namespace sim
{
class Aero
{
public:
private:
Vector3 cp; /// center of pressure
double Cx; /// longitudinal coefficient
double Cy; /// These are probably the same for axial symmetric
double Cz; /// rockets. The coeffients in the y and z body directions
double Cl; // roll moment coefficient
double Cm; // pitch moment coefficient
double Cn; // yaw moment coefficient
double baseCd; // coefficient of drag due to base drag
double Cd; // total coeffient of drag
};
}
#endif // SIM_AERO_H

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#ifndef SIM_ATMOSPHERICMODEL_H
#define SIM_ATMOSPHERICMODEL_H
namespace sim
{
class AtmosphericModel
{
public:
AtmosphericModel() {}
virtual ~AtmosphericModel() {}
virtual double getDensity(double altitude) = 0;
virtual double getPressure(double altitude) = 0;
virtual double getTemperature(double altitude) = 0;
virtual double getSpeedOfSound(double altitude) = 0;
virtual double getDynamicViscosity(double altitude) = 0;
};
} // namespace sim
#endif // SIM_ATMOSPHERICMODEL_H

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add_library(sim
Aero.cpp
Aero.h
AtmosphericModel.h
ConstantAtmosphere.h
ConstantGravityModel.h
DESolver.h
Environment.h
GeoidModel.h
GravityModel.h
Propagator.cpp
Propagator.h
RK4Solver.h
SphericalGeoidModel.cpp
SphericalGeoidModel.h
SphericalGravityModel.cpp
SphericalGravityModel.h
StateData.h
USStandardAtmosphere.cpp
USStandardAtmosphere.h
WindModel.cpp
WindModel.h)
target_link_libraries(sim PRIVATE
utils)
# Unit tests
add_subdirectory(tests)

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#ifndef SIM_CONSTANTATMOSPHERE_H
#define SIM_CONSTANTATMOSPHERE_H
// qtrocket headers
#include "AtmosphericModel.h"
namespace sim {
class ConstantAtmosphere : public AtmosphericModel
{
public:
ConstantAtmosphere() {}
virtual ~ConstantAtmosphere() {}
double getDensity(double) override { return 1.225; }
double getPressure(double) override { return 101325.0; }
double getTemperature(double) override { return 288.15; }
double getSpeedOfSound(double) override { return 340.294; }
double getDynamicViscosity(double) override { return 1.78938e-5; }
};
} // namespace sim
#endif // SIM_CONSTANTATMOSPHERE_H

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#ifndef SIM_CONSTANTGRAVITYMODEL_H
#define SIM_CONSTANTGRAVITYMODEL_H
// qtrocket headers
#include "sim/GravityModel.h"
#include "utils/math/MathTypes.h"
namespace sim {
class ConstantGravityModel : public GravityModel
{
public:
ConstantGravityModel() {}
virtual ~ConstantGravityModel() {}
Vector3 getAccel(double, double, double) override
{
return Vector3(0.0, 0.0, -9.8);
}
};
} // namespace sim
#endif // SIM_CONSTANTGRAVITYMODEL_H

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#ifndef SIM_DESOLVER_H
#define SIM_DESOLVER_H
/// \cond
// C headers
// C++ headers
#include <utility>
// 3rd party headers
/// \endcond
// qtrocket headers
namespace sim
{
template<typename T>
class DESolver
{
public:
DESolver() {}
virtual ~DESolver() {}
virtual void setTimeStep(double ts) = 0;
/**
* @brief
*
* @param curVal
* @param res
* @param t Optional parameter, but not used in QtRocket. Some generic solvers take time as
* a parameter to ODEs, but QtRocket's kinematic equations don't. Since I wrote
* the RK4 solver independently as a general tool, this interface is needed
* here unfortunately.
*/
virtual std::pair<T, T> step(T& state, T& rate) = 0;
};
} // namespace sim
#endif // SIM_DESOLVER_H

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#ifndef SIM_ENVIRONMENT_H
#define SIM_ENVIRONMENT_H
/// \cond
// C headers
// C++ headers
#include <algorithm>
#include <map>
#include <memory>
#include <vector>
#include <iterator>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "sim/ConstantGravityModel.h"
#include "sim/SphericalGravityModel.h"
#include "sim/ConstantAtmosphere.h"
#include "sim/USStandardAtmosphere.h"
namespace sim
{
/**
* @brief Holds simulation environment information, such as the gravity model, atmosphere model,
* Geoid model
*
*/
class Environment
{
public:
Environment()
{
setGravityModel("Constant Gravity");
setAtmosphereModel("Constant Atmosphere");
}
~Environment() = default;
Environment(const Environment&) = delete;
Environment(Environment&&) = delete;
Environment& operator=(const Environment&) = delete;
Environment& operator=(Environment&&) = delete;
std::vector<std::string> getAvailableGravityModels()
{
std::vector<std::string> retVal(gravityModels.size());
std::transform(gravityModels.begin(), gravityModels.end(), std::back_inserter(retVal),
[](auto& i) { return i.first; });
return retVal;
}
std::vector<std::string> getAvailableAtmosphereModels()
{
std::vector<std::string> retVal(atmosphereModels.size());
std::transform(atmosphereModels.begin(), atmosphereModels.end(), std::back_inserter(retVal),
[](auto& i) { return i.first; });
return retVal;
}
void setGravityModel(const std::string& model)
{
if(model == "Constant Gravity")
{
gravityModel = model;
gravityModels[gravityModel].reset(new sim::ConstantGravityModel);
}
else if(model == "Spherical Gravity")
{
gravityModel = model;
gravityModels[gravityModel].reset(new sim::SphericalGravityModel);
}
}
void setAtmosphereModel(const std::string& model)
{
if(model == "Constant Atmosphere")
{
atmosphereModel = model;
atmosphereModels[atmosphereModel].reset(new sim::ConstantAtmosphere);
}
else if(model == "US Standard 1976")
{
atmosphereModel = model;
atmosphereModels[atmosphereModel].reset(new sim::USStandardAtmosphere);
}
}
std::shared_ptr<sim::AtmosphericModel> getAtmosphericModel()
{
auto retVal = atmosphereModels[atmosphereModel];
return retVal;
}
std::shared_ptr<sim::GravityModel> getGravityModel() { return gravityModels[gravityModel]; }
private:
std::map<std::string, std::shared_ptr<sim::AtmosphericModel>> atmosphereModels{
{"Constant Atmosphere", std::shared_ptr<sim::AtmosphericModel>()},
{"US Standard 1976", std::shared_ptr<sim::AtmosphericModel>()}};
std::map<std::string, std::shared_ptr<GravityModel>> gravityModels{
{"Constant Gravity", std::shared_ptr<sim::GravityModel>()},
{"Spherical Gravity", std::shared_ptr<sim::GravityModel>()}};
std::string gravityModel{"Constant Gravity"}; /// Constant Gravity Model is the default
std::string atmosphereModel{"Constant Atmosphere"}; /// Constant Atmosphere Model is the default
};
} // namespace sim
#endif // SIM_ENVIRONMENT_H

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#ifndef SIM_GEOIDMODEL_H
#define SIM_GEOIDMODEL_H
namespace sim
{
/**
* @brief The GeoidModel represents the physical ellipsoid of the earth. It is used
* to determin the distance of the local ground level from the center of mass
* of the earth.
*
*/
class GeoidModel
{
public:
GeoidModel() {}
virtual ~GeoidModel() {}
virtual double getGroundLevel(double latitude, double longitude) = 0;
};
} // namespace sim
#endif // SIM_GEOIDMODEL_H

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#ifndef SIM_GRAVITYMODEL_H
#define SIM_GRAVITYMODEL_H
// qtrocket headers
#include "utils/math/MathTypes.h"
namespace sim
{
class GravityModel
{
public:
GravityModel() {}
virtual ~GravityModel() {}
virtual Vector3 getAccel(double x, double y, double z) = 0;
Vector3 getAccel(const Vector3& t) { return this->getAccel(t.x(), t.y(), t.z()); }
};
} // namespace sim
#endif // SIM_GRAVITYMODEL_H

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/// \cond
// C headers
// C++ headers
#include <chrono>
#include <iostream>
#include <sstream>
#include <utility>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "Propagator.h"
#include "sim/RK4Solver.h"
#include "utils/Logger.h"
namespace sim
{
Propagator::Propagator(std::shared_ptr<model::Propagatable> r)
: linearIntegrator(),
object(r),
saveStates(true),
timeStep(0.01)
{
// Linear velocity and acceleration
std::function<std::pair<Vector3, Vector3>(Vector3&, Vector3&)> linearODEs = [this](Vector3& state, Vector3& rate) -> std::pair<Vector3, Vector3>
{
Vector3 dPosition;
Vector3 dVelocity;
// dx/dt
dPosition = rate;
// dvx/dt
dVelocity = object->getForces(currentTime) / object->getMass(currentTime);
return std::make_pair(dPosition, dVelocity);
};
linearIntegrator.reset(new RK4Solver<Vector3>(linearODEs));
linearIntegrator->setTimeStep(timeStep);
saveStates = true;
}
Propagator::~Propagator()
{
}
void Propagator::runUntilTerminate()
{
std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
std::chrono::steady_clock::time_point endTime;
Vector3 currentPosition;
Vector3 currentVelocity;
Vector3 nextPosition;
Vector3 nextVelocity;
while(true)
{
currentPosition = object->getCurrentState().position;
currentVelocity = object->getCurrentState().velocity;
std::tie(nextPosition, nextVelocity) = linearIntegrator->step(currentPosition, currentVelocity);
StateData nextState;
nextState.position = nextPosition;
nextState.velocity = nextVelocity;
object->setCurrentState(nextState);
if(saveStates)
{
object->appendState(currentTime, nextState);
}
if(object->terminateCondition(currentTime))
break;
currentTime += timeStep;
}
endTime = std::chrono::steady_clock::now();
std::stringstream duration;
duration << "runUntilTerminate time (microseconds): ";
duration << std::chrono::duration_cast<std::chrono::microseconds>(endTime - startTime).count();
utils::Logger::getInstance()->debug(duration.str());
}
} // namespace sim

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#ifndef SIM_PROPAGATOR_H
#define SIM_PROPAGATOR_H
/// \cond
// C headers
// C++ headers
#include <memory>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "sim/RK4Solver.h"
#include "utils/math/MathTypes.h"
#include "sim/StateData.h"
#include "model/Propagatable.h"
// Forward declare
namespace model
{
class Rocket;
}
class QtRocket;
namespace sim
{
class Propagator
{
public:
Propagator(std::shared_ptr<model::Propagatable> o);
~Propagator();
void setInitialState(const StateData& initialState)
{
object->setInitialState(initialState);
}
const StateData& getCurrentState() const
{
return object->getCurrentState();
}
void runUntilTerminate();
void retainStates(bool s)
{
saveStates = s;
}
void setCurrentTime(double t) { currentTime = t; }
void setTimeStep(double ts) { timeStep = ts; }
void setSaveStats(bool s) { saveStates = s; }
private:
std::unique_ptr<sim::RK4Solver<Vector3>> linearIntegrator;
// std::unique_ptr<sim::RK4Solver<Quaternion>> orientationIntegrator;
std::shared_ptr<model::Propagatable> object;
bool saveStates{true};
double currentTime{0.0};
double timeStep{0.01};
};
} // namespace sim
#endif // SIM_PROPAGATOR_H

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@ -12,7 +12,11 @@
/// \endcond
// qtrocket headers
#include "Logger.h"
#include "sim/DESolver.h"
#include "utils/Logger.h"
#include "utils/math/MathTypes.h"
namespace sim {
/**
* @brief Runge-Kutta 4th order coupled ODE solver.
@ -24,28 +28,31 @@
* @tparam Ts
*/
template<typename T>
class RK4Solver
class RK4Solver : public DESolver<T>
{
public:
RK4Solver(std::function<std::pair<T, T>(T&, T&)> func, double ts=0.1)
RK4Solver(std::function<std::pair<T, T>(T&, T&)> func)
{
// static_assert(std::is_same<T, Vector3>::value,
// "You can only use Vector3 or Quaternion valued functions in RK4Solver");
// This only works for Eigen Vector types.
// TODO: Figure out how to make this slightly more generic, but for now
// we're only using this for Vector3 and Quaternion types
static_assert(std::is_same<T, Vector3>::value
|| std::is_same<T, Quaternion>::value,
"You can only use Vector3 or Quaternion valued functions in RK4Solver");
odes = func;
setTimeStep(ts);
}
~RK4Solver() {}
virtual ~RK4Solver() {}
void setTimeStep(double inTs) { dt = inTs; halfDT = dt / 2.0; }
void setTimeStep(double inTs) override { dt = inTs; halfDT = dt / 2.0; }
std::pair<T, T> step(T& state, T& rate)
std::pair<T, T> step(T& state, T& rate) override
{
std::pair<T, T> res;
if(dt == std::numeric_limits<double>::quiet_NaN())
{
Logger::getInstance()->error("Calling RK4Solver without setting dt first is an error");
utils::Logger::getInstance()->error("Calling RK4Solver without setting dt first is an error");
return res;
}
@ -87,4 +94,6 @@ private:
};
} // namespace sim
#endif // SIM_RK4SOLVER_H

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// qtrocket headers
#include "sim/SphericalGeoidModel.h"
#include "utils/math/Constants.h"
namespace sim
{
SphericalGeoidModel::SphericalGeoidModel()
{
}
SphericalGeoidModel::~SphericalGeoidModel()
{
}
double SphericalGeoidModel::getGroundLevel(double, double)
{
return utils::math::Constants::meanEarthRadiusWGS84;
}
} // namespace sim

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#ifndef SIM_SPHERICALGEOIDMODEL_H
#define SIM_SPHERICALGEOIDMODEL_H
// qtrocket headers
#include "GeoidModel.h"
namespace sim
{
/**
* @brief The SphericalGeoidModel returns the average of the polar radius and equatorial
* radius of the Earth, based on WGS84
*
*/
class SphericalGeoidModel : public GeoidModel
{
public:
SphericalGeoidModel();
virtual ~SphericalGeoidModel();
double getGroundLevel(double latitude, double longitude) override;
};
} // namespace sim
#endif // SIM_SPHERICALGEOIDMODEL_H

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/// \cond
// C headers
// C++ headers
#include <cmath>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "sim/SphericalGravityModel.h"
#include "utils/math/Constants.h"
namespace sim
{
SphericalGravityModel::SphericalGravityModel()
{
}
SphericalGravityModel::~SphericalGravityModel()
{
}
Vector3 SphericalGravityModel::getAccel(double x, double y, double z)
{
// Convert x, y, z from meters to km. This is to avoid potential precision losses
// with using the earth's gravitation parameter in meters (14 digit number).
// GM in kilometers is much more manageable.
// An alternative is to use quadruple precision, but that may
// take a lot more computation time and I think this will be fine.
double x_km = x / 1000.0;
double y_km = y / 1000.0;
double z_km = z / 1000.0;
double r_km = std::sqrt(x_km * x_km + y_km * y_km + z_km * z_km);
double accelFactor = - utils::math::Constants::earthGM_km / std::sqrt(r_km * r_km * r_km);
double ax = accelFactor * x_km * 1000.0;
double ay = accelFactor * y_km * 1000.0;
double az = accelFactor * z_km * 1000.0;
return Vector3(ax, ay, az);
}
}

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#ifndef SIM_SPHERICALGRAVITYMODEL_H
#define SIM_SPHERICALGRAVITYMODEL_H
// qtrocket headers
#include "sim/GravityModel.h"
namespace sim
{
class SphericalGravityModel : public GravityModel
{
public:
SphericalGravityModel();
virtual ~SphericalGravityModel();
Vector3 getAccel(double x, double y, double z) override;
};
} // namespace sim
#endif // SIM_SPHERICALGRAVITYMODEL_H

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#ifndef STATEDATA_H
#define STATEDATA_H
/// \cond
// C headers
// C++ headers
#include <vector>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/math/MathTypes.h"
/**
* @brief The StateData class holds physical state data. Things such as position, velocity,
* and acceleration of the center of mass, as well as orientation and orientation
* change rates.
*/
class StateData
{
public:
StateData() {}
~StateData() {}
StateData(const StateData&) = default;
StateData(StateData&&) = default;
StateData& operator=(const StateData& rhs)
{
if(this != &rhs)
{
position = rhs.position;
velocity = rhs.velocity;
orientation = rhs.orientation;
orientationRate = rhs.orientationRate;
dcm = rhs.dcm;
eulerAngles = rhs.eulerAngles;
}
return *this;
}
StateData& operator=(StateData&& rhs)
{
if(this != &rhs)
{
position = std::move(rhs.position);
velocity = std::move(rhs.velocity);
orientation = std::move(rhs.orientation);
orientationRate = std::move(rhs.orientationRate);
dcm = std::move(rhs.dcm);
eulerAngles = std::move(rhs.eulerAngles);
}
return *this;
}
std::vector<double> getPosStdVector() const
{
return std::vector<double>{position[0], position[1], position[2]};
}
std::vector<double> getVelStdVector() const
{
return std::vector<double>{velocity[0], velocity[1], velocity[2]};
}
/// TODO: Put these behind an interface
//Vector3 getPosition() const
//{
// return position;
//}
//Vector3 getVelocity() const
//{
// return velocity;
//}
// private:
// Intended to be used as world state data
Vector3 position{0.0, 0.0, 0.0};
Vector3 velocity{0.0, 0.0, 0.0};
// Orientation of body coordinates w.r.t. world coordinates
Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)
Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)
Matrix3 dcm{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
/// Euler angles are yaw-pitch-roll, and (3-2-1) order
/// yaw - psi
/// pitch - theta
/// roll - phi
Vector3 eulerAngles{0.0, 0.0, 0.0};
};
#endif // STATEDATA_H

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/// \cond
// C headers
// C++ headers
#include <cmath>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "sim/USStandardAtmosphere.h"
#include "utils/math/Constants.h"
#include "utils/math/UtilityMathFunctions.h"
using namespace utils::math;
namespace sim
{
// Populate static data
utils::Bin initTemps()
{
utils::Bin map;
map.insert(std::make_pair(0.0, 288.15));
map.insert(std::make_pair(11000.0, 216.65));
map.insert(std::make_pair(20000.0, 216.65));
map.insert(std::make_pair(32000.0, 228.65));
map.insert(std::make_pair(47000.0, 270.65));
map.insert(std::make_pair(51000.0, 270.65));
map.insert(std::make_pair(71000.0, 214.65));
return map;
}
utils::Bin initLapseRates()
{
utils::Bin map;
map.insert(std::make_pair(0.0, 0.0065));
map.insert(std::make_pair(11000.0, 0.0));
map.insert(std::make_pair(20000.0, -0.001));
map.insert(std::make_pair(32000.0, -0.0028));
map.insert(std::make_pair(47000.0, 0.0));
map.insert(std::make_pair(51000.0, 0.0028));
map.insert(std::make_pair(71000.0, 0.002));
return map;
}
utils::Bin initDensities()
{
utils::Bin map;
map.insert(std::make_pair(0.0, 1.225));
map.insert(std::make_pair(11000.0, 0.36391));
map.insert(std::make_pair(20000.0, 0.08803));
map.insert(std::make_pair(32000.0, 0.01322));
map.insert(std::make_pair(47000.0, 0.00143));
map.insert(std::make_pair(51000.0, 0.00086));
map.insert(std::make_pair(71000.0, 0.000064));
return map;
}
utils::Bin initPressures()
{
utils::Bin map;
map.insert(std::make_pair(0.0, 101325));
map.insert(std::make_pair(11000.0, 22632.1));
map.insert(std::make_pair(20000.0, 5474.89));
map.insert(std::make_pair(32000.0, 868.02));
map.insert(std::make_pair(47000.0, 110.91));
map.insert(std::make_pair(51000.0, 66.94));
map.insert(std::make_pair(71000.0, 3.96));
return map;
}
utils::Bin USStandardAtmosphere::temperatureLapseRate(initLapseRates());
utils::Bin USStandardAtmosphere::standardTemperature(initTemps());
utils::Bin USStandardAtmosphere::standardDensity(initDensities());
utils::Bin USStandardAtmosphere::standardPressure(initPressures());
USStandardAtmosphere::USStandardAtmosphere()
{
}
USStandardAtmosphere::~USStandardAtmosphere()
{
}
double USStandardAtmosphere::getDensity(double altitude)
{
if(utils::math::floatingPointEqual(temperatureLapseRate[altitude], 0.0))
{
return standardDensity[altitude] * std::exp(
(-Constants::g0 * Constants::airMolarMass * (altitude - standardDensity.getBinBase(altitude)))
/ (Constants::Rstar * standardTemperature[altitude]));
}
else
{
double base = (standardTemperature[altitude] - temperatureLapseRate[altitude] *
(altitude - standardDensity.getBinBase(altitude))) / standardTemperature[altitude];
double exponent = (Constants::g0 * Constants::airMolarMass) /
(Constants::Rstar * temperatureLapseRate[altitude]) - 1.0;
return standardDensity[altitude] * std::pow(base, exponent);
}
}
double USStandardAtmosphere::getTemperature(double altitude)
{
double baseTemp = standardTemperature[altitude];
double baseAltitude = standardTemperature.getBinBase(altitude);
return baseTemp - (altitude - baseAltitude) * temperatureLapseRate[altitude];
}
double USStandardAtmosphere::getPressure(double altitude)
{
if(utils::math::floatingPointEqual(temperatureLapseRate[altitude], 0.0))
{
return standardPressure[altitude] * std::exp(
(-Constants::g0 * Constants::airMolarMass * (altitude - standardPressure.getBinBase(altitude)))
/ (Constants::Rstar * standardTemperature[altitude]));
}
else
{
double base = (standardTemperature[altitude] - temperatureLapseRate[altitude] *
(altitude - standardPressure.getBinBase(altitude))) / standardTemperature[altitude];
double exponent = (Constants::g0 * Constants::airMolarMass) /
(Constants::Rstar * temperatureLapseRate[altitude]);
return standardPressure[altitude] * std::pow(base, exponent);
}
}
double USStandardAtmosphere::getSpeedOfSound(double altitude)
{
return std::sqrt( (Constants::gamma * Constants::Rstar * getTemperature(altitude))
/
Constants::airMolarMass);
}
double USStandardAtmosphere::getDynamicViscosity(double altitude)
{
double temperature = getTemperature(altitude);
return (Constants::beta * std::pow(temperature, 1.5)) / ( temperature + Constants::S);
}
} // namespace sim

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#ifndef SIM_USSTANDARDATMOSPHERE_H
#define SIM_USSTANDARDATMOSPHERE_H
// qtrocket headers
#include "sim/AtmosphericModel.h"
#include "utils/Bin.h"
namespace sim
{
class USStandardAtmosphere : public AtmosphericModel
{
public:
USStandardAtmosphere();
virtual ~USStandardAtmosphere();
/**
* @brief Get the density of the air at a given altitude above mean sea level
* This is overly simplistic and wrong implementation.
*
* @todo Fix this implementation. See the 1976 NOAA paper for the right way to
* do it
*
* @param altitude the altitude above sea level
* @return the density in kg/m^3
*/
double getDensity(double altitude) override;
double getPressure(double altitude) override;
double getTemperature(double altitude) override;
double getSpeedOfSound(double altitude) override;
double getDynamicViscosity(double altitude) override;
private:
static utils::Bin temperatureLapseRate;
static utils::Bin standardTemperature;
static utils::Bin standardDensity;
static utils::Bin standardPressure;
};
} // namespace sim
#endif // SIM_USSTANDARDATMOSPHERE_H

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// qtrocket headers
#include "WindModel.h"
namespace sim
{
WindModel::WindModel()
{
}
WindModel::~WindModel()
{
}
Vector3 WindModel::getWindSpeed(double /* x */, double /* y */ , double /* z */)
{
return Vector3(0.0, 0.0, 0.0);
}
} // namespace sim

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#ifndef SIM_WINDMODEL_H
#define SIM_WINDMODEL_H
// qtrocket headers
#include "utils/math/MathTypes.h"
namespace sim
{
class WindModel
{
public:
WindModel();
virtual ~WindModel();
virtual Vector3 getWindSpeed(double x, double y, double z);
};
} // namespace sim
#endif // SIM_WINDMODEL_H

15
sim/tests/CMakeLists.txt Normal file
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@ -0,0 +1,15 @@
add_executable(sim_tests
USStandardAtmosphereTests.cpp
)
target_link_libraries(sim_tests
sim
GTest::gtest_main
)
include(GoogleTest)
gtest_discover_tests(sim_tests)
add_test(NAME qtrocket_sim_tests COMMAND sim_tests)

90
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#include <gtest/gtest.h>
#include "sim/USStandardAtmosphere.h"
TEST(USStandardAtmosphereTests, DensityTests)
{
sim::USStandardAtmosphere atmosphere;
// Test that the calucated values are with 0.1% of the published values in the NOAA report
EXPECT_NEAR(atmosphere.getDensity(0.0) / 1.225, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(1000.0) / 1.112, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(2000.0) / 1.007, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(3000.0) / 0.9093, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(4000.0) / 0.8194, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(5000.0) / 0.7364, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(6000.0) / 0.6601, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(7000.0) / 0.5900, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(15000.0) / 0.19367, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(20000.0) / 0.088035, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(25000.0) / 0.039466, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(30000.0) / 0.018012, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getDensity(40000.0) / 0.0038510, 1.0, 0.001);
// These are generally accurate to ~0.5%. Slight deviation of calculated
// density from the given density in the report table
EXPECT_NEAR(atmosphere.getDensity(8000.0) / 0.52579, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(9000.0) / 0.46706, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(10000.0) / 0.41351, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(50000.0) / 0.00097752, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(60000.0) / 0.00028832, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(70000.0) / 0.000074243, 1.0, 0.005);
EXPECT_NEAR(atmosphere.getDensity(80000.0) / 0.000015701, 1.0, 0.005);
}
TEST(USStandardAtmosphereTests, PressureTests)
{
sim::USStandardAtmosphere atmosphere;
// Test that the calucated values are with 0.1% of the published values in the NOAA report
EXPECT_NEAR(atmosphere.getPressure(0.0) / 101325.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(1000.0) / 89876.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(2000.0) / 79501.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(3000.0) / 70108.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(4000.0) / 61640.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(5000.0) / 54019.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(6000.0) / 47181.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(7000.0) / 41060.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(8000.0) / 35599.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(9000.0) / 30742.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(10000.0) / 26436.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(15000.0) / 12044.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(20000.0) / 5474.8, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(25000.0) / 2511.0, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(30000.0) / 1171.8, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(40000.0) / 277.52, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(50000.0) / 75.944, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(60000.0) / 20.314, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(70000.0) / 4.6342, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getPressure(80000.0) / 0.88627, 1.0, 0.001);
}
TEST(USStandardAtmosphereTests, TemperatureTests)
{
sim::USStandardAtmosphere atmosphere;
// Test that the calucated values are with 0.1% of the published values in the NOAA report
EXPECT_NEAR(atmosphere.getTemperature(0.0) / 288.15, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(1000.0) / 281.651, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(2000.0) / 275.154, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(3000.0) / 268.659, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(4000.0) / 262.166, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(5000.0) / 255.676, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(6000.0) / 249.187, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(7000.0) / 242.7, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(8000.0) / 236.215, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(9000.0) / 229.733, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(10000.0) / 223.252, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(15000.0) / 216.65, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(20000.0) / 216.65, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(25000.0) / 221.552, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(30000.0) / 226.509, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(40000.0) / 251.05, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(50000.0) / 270.65, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(60000.0) / 245.45, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(70000.0) / 217.450, 1.0, 0.001);
EXPECT_NEAR(atmosphere.getTemperature(80000.0) / 196.650, 1.0, 0.001);
}

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/// \cond
// C headers
// C++ headers
#include <algorithm>
#include <format>
#include <stdexcept>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "Bin.h"
// TODO: Check on the availability of this in Clang.
// Replace libfmt with format when LLVM libc++ supports it
//#include <format>
namespace utils
{
Bin::Bin()
: bins()
{
}
Bin::Bin(Bin&& o)
: bins(std::move(o.bins))
{
}
Bin::~Bin()
{
}
// TODO: Very low priority, but if anyone wants to make this more efficient it could be
// interesting
void Bin::insert(const std::pair<double, double>& toInsert)
{
bins.push_back(toInsert);
std::sort(bins.begin(), bins.end(),
[](const auto& a, const auto& b){ return a.first < b.first; });
}
double Bin::operator[](double key)
{
auto iter = bins.begin();
// If the key is less than the lowest bin value, then it is out of range
// This should be an error. It's also possible to interpret this as simply
// the lowest bin, but I think that invites a logic error so we'll throw
// instead
if(key < iter->first)
{
throw std::out_of_range(
std::format("{} less than lower bound {} of BinMap", key, iter->first));
}
// Increment it and start searching If we reach the end without finding an existing key
// greater than our search term, then we've just hit the last bin and return that
iter++;
double retVal = bins.back().second;
while(iter != bins.end())
{
if(key < iter->first)
{
retVal = std::prev(iter)->second;
break;
}
iter++;
}
return retVal;
}
double Bin::getBinBase(double key)
{
auto iter = bins.begin();
// If the key is less than the lowest bin value, then it is out of range
// This should be an error. It's also possible to interpret this as simply
// the lowest bin, but I think that invites a logic error so we'll throw
// instead
if(key < iter->first)
{
throw std::out_of_range(
std::format("{} less than lower bound {} of BinMap", key, iter->first));
}
// Increment it and start searching If we reach the end without finding an existing key
// greater than our search term, then we've just hit the last bin and return that
iter++;
double retVal = bins.back().first;
while(iter != bins.end())
{
if(key < iter->first)
{
retVal = std::prev(iter)->first;
break;
}
iter++;
}
return retVal;
}
} // namespace utils

43
utils/Bin.h Normal file
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#ifndef UTILS_BIN_H
#define UTILS_BIN_H
/// \cond
// C headers
// C++ headers
#include <utility>
#include <vector>
// 3rd party headers
/// \endcond
namespace utils {
/**
* @brief This is a utility class that operates as a map. Instead of a regular map
* this one maps a range of key values to a single value. Like a bin, where
* each key represents the bottom of the bin, and the next key represents the
* bottom of the next bin, etc. When dereferencing the BinMap, it checks for
* where the passed in key falls and returns the value in that bin.
*
* @todo Make this class behave more like a proper STL container. Templetize it for one
*
*/
class Bin
{
public:
Bin();
Bin(Bin&& o);
~Bin();
void insert(const std::pair<double, double>& toInsert);
double operator[](double key);
double getBinBase(double key);
private:
std::vector<std::pair<double, double>> bins;
};
} // namespace utils
#endif // UTILS_BIN_H

30
utils/CMakeLists.txt Normal file
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@ -0,0 +1,30 @@
add_library(utils
Bin.cpp
Bin.h
CurlConnection.cpp
CurlConnection.h
Logger.cpp
Logger.h
MotorModelDatabase.cpp
MotorModelDatabase.h
RSEDatabaseLoader.cpp
RSEDatabaseLoader.h
ThreadPool.cpp
ThreadPool.h
ThrustCurveAPI.cpp
ThrustCurveAPI.h
TSQueue.h
math/Constants.h
math/MathTypes.h
math/UtilityMathFunctions.h)
#target_include_directories(utils PRIVATE
# ${Boost_INCLUDE_DIRS})
target_link_libraries(utils PUBLIC
libcurl
Boost::property_tree
jsoncpp_static
eigen)

75
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@ -0,0 +1,75 @@
/// \cond
// C headers
// C++ headers
#include <iostream>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/CurlConnection.h"
namespace
{
size_t curlCallback(void* content, size_t size, size_t nmemb, std::string* buffer)
{
buffer->append(static_cast<char*>(content), size*nmemb);
return size*nmemb;
}
}
namespace utils
{
CurlConnection::CurlConnection()
{
curl_global_init(CURL_GLOBAL_ALL);
curl = curl_easy_init();
}
std::string CurlConnection::get(const std::string& url,
const std::vector<std::string>& extraHttpHeaders)
{
std::string str_result;
std::string post_data = "";
std::string action = "GET";
if(curl)
{
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, curlCallback);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &str_result);
curl_easy_setopt(curl, CURLOPT_SSL_VERIFYPEER, false);
curl_easy_setopt(curl, CURLOPT_ENCODING, "gzip");
if(!extraHttpHeaders.empty())
{
struct curl_slist *chunk = NULL;
for(size_t i = 0; i < extraHttpHeaders.size(); ++i)
{
chunk = curl_slist_append(chunk, extraHttpHeaders[i].c_str());
}
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, chunk);
}
if(post_data.size() > 0 || action == "POST" || action == "PUT" || action == "DELETE")
{
if(action == "PUT" || action == "DELETE")
{
curl_easy_setopt(curl, CURLOPT_CUSTOMREQUEST, action.c_str());
}
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, post_data.c_str());
}
res = curl_easy_perform(curl);
if(res != CURLE_OK)
{
std::cout << "There was an error: " << curl_easy_strerror(res) << "\n";
}
}
return str_result;
}
} // namespace utils

33
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@ -0,0 +1,33 @@
#ifndef UTILS_CURLCONNECTION_H
#define UTILS_CURLCONNECTION_H
/// \cond
// C headers
#include <curl/curl.h>
// C++ headers
#include <string>
#include <vector>
// 3rd party headers
/// \endcond
namespace utils {
class CurlConnection
{
public:
CurlConnection();
std::string get(const std::string& url, const std::vector<std::string>& extraHttpHeaders);
private:
CURL* curl;
CURLcode res;
};
} // namespace utils
#endif // UTILS_CURLCONNECTION_H

47
Logger.cpp → utils/Logger.cpp
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@ -10,57 +10,59 @@
// qtrocket headers
#include "Logger.h"
namespace utils
{
Logger* Logger::instance = nullptr;
Logger* Logger::getInstance()
{
if(!instance)
{
instance = new Logger();
}
return instance;
if(!instance)
{
instance = new Logger();
}
return instance;
}
Logger::Logger()
{
outFile.open("log.txt");
outFile.open("log.txt");
}
Logger::~Logger()
{
outFile.close();
outFile.close();
}
void Logger::log(std::string_view msg, const LogLevel& lvl)
{
std::lock_guard<std::mutex> lck(mtx);
// The fallthrough is intentional. Logging is automatically enabled for
// all levels at or lower than the current level.
switch(currentLevel)
{
case LogLevel::PERF:
if(lvl == LogLevel::PERF)
std::lock_guard<std::mutex> lck(mtx);
// The fallthrough is intentional. Logging is automatically enabled for
// all levels at or lower than the current level.
switch(currentLevel)
{
case PERF_:
if(lvl == PERF_)
{
outFile << "[PERF] " << msg << std::endl;
std::cout << "[PERF] " << msg << "\n";
std::cout << "[PERF] " << msg << "\n";
}
[[fallthrough]];
case LogLevel::DEBUG:
if(lvl == LogLevel::DEBUG)
case DEBUG_:
if(lvl == DEBUG_)
{
outFile << "[DEBUG] " << msg << std::endl;
std::cout << "[DEBUG] " << msg << "\n";
}
[[fallthrough]];
case LogLevel::INFO:
if(lvl == LogLevel::INFO)
case INFO_:
if(lvl == INFO_)
{
outFile << "[INFO] " << msg << std::endl;
std::cout << "[INFO] " << msg << "\n";
}
[[fallthrough]];
case LogLevel::WARN:
if(lvl == LogLevel::WARN)
case WARN_:
if(lvl == WARN_)
{
outFile << "[WARN] " << msg << std::endl;
std::cout << "[WARN] " << msg << "\n";
@ -69,7 +71,7 @@ void Logger::log(std::string_view msg, const LogLevel& lvl)
// Regardless of what level is set, ERROR is always logged, so
// rather than explicitly check for the ERROR case, we just use default case
default:
if(lvl == LogLevel::ERROR)
if(lvl == ERROR_)
{
outFile << "[ERROR] " << msg << std::endl;
std::cout << "[ERROR] " << msg << "\n";
@ -88,3 +90,4 @@ void Logger::log(std::ostream& o, const std::string& msg)
o << msg << std::endl;
}
} // namespace utils

26
Logger.h → utils/Logger.h
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@ -11,19 +11,22 @@
// 3rd party headers
/// \endcond
namespace utils
{
/**
* @todo write docs
*/
class Logger
{
public:
enum class LogLevel
enum LogLevel
{
ERROR,
WARN,
INFO,
DEBUG,
PERF
ERROR_,
WARN_,
INFO_,
DEBUG_,
PERF_
};
static Logger* getInstance();
@ -36,11 +39,11 @@ public:
void setLogLevel(const LogLevel& lvl);
inline void error(std::string_view msg) { log(msg, LogLevel::ERROR); }
inline void warn(std::string_view msg) { log(msg, LogLevel::WARN); }
inline void info(std::string_view msg) { log(msg, LogLevel::INFO); }
inline void debug(std::string_view msg) { log(msg, LogLevel::DEBUG); }
inline void perf(std::string_view msg) { log(msg, LogLevel::PERF); }
inline void error(std::string_view msg) { log(msg, ERROR_); }
inline void warn(std::string_view msg) { log(msg, WARN_); }
inline void info(std::string_view msg) { log(msg, INFO_); }
inline void debug(std::string_view msg) { log(msg, DEBUG_); }
inline void perf(std::string_view msg) { log(msg, PERF_); }
void log(std::ostream& o, const std::string& msg);
@ -55,4 +58,5 @@ private:
Logger();
};
} // namespace utils
#endif // UTILS_LOGGER_H

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// class header
#include "utils/MotorModelDatabase.h"
/// \cond
// C headers
// C++ headers
// 3rd party headers
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
/// \endcond
// qtrocket project headers
#include "QtRocket.h"
namespace utils
{
MotorModelDatabase::MotorModelDatabase()
: motorModelMap()
{
}
MotorModelDatabase::~MotorModelDatabase()
{
}
void MotorModelDatabase::addMotorModel(const model::MotorModel& m)
{
utils::Logger* logger = QtRocket::getInstance()->getLogger();
std::string name = m.data.commonName;
if(motorModelMap.find(name) != motorModelMap.end())
{
logger->debug("Replacing MotorModel " + name + " in MotorModelDatabase");
}
else
{
logger->info("Adding MotorModel " + name + " to MotorModelDatabase");
}
motorModelMap[name] = m;
}
void MotorModelDatabase::addMotorModels(const std::vector<model::MotorModel>& models)
{
utils::Logger* logger = QtRocket::getInstance()->getLogger();
for(const auto& i : models)
{
addMotorModel(i);
}
}
std::optional<model::MotorModel> MotorModelDatabase::getMotorModel(const std::string& name)
{
auto mm = motorModelMap.find(name);
if(mm == motorModelMap.end())
{
Logger::getInstance()->debug("Unable to locate " + name + " in MotorModel database");
return std::nullopt;
}
else
{
Logger::getInstance()->debug("Retrieved " + name + " from MotorModel database");
return motorModelMap[name];
}
}
void MotorModelDatabase::saveMotorDatabase(const std::string& filename)
{
namespace pt = boost::property_tree;
// top-level tree
pt::ptree tree;
tree.put("QtRocketMotorDatabase.<xmlattr>.version", "0.1");
for(const auto& i : motorModelMap)
{
pt::ptree motor;
const auto& m = i.second;
motor.put("<xmlattr>.name", m.data.commonName);
motor.put("availability", m.data.availability.str());
motor.put("avgThrust", m.data.avgThrust);
motor.put("burnTime", m.data.burnTime);
motor.put("certOrg", m.data.certOrg.str());
motor.put("commonName", m.data.commonName);
motor.put("designation", m.data.designation);
motor.put("diameter", m.data.diameter);
motor.put("impulseClass", m.data.impulseClass);
motor.put("infoUrl", m.data.infoUrl);
motor.put("length", m.data.length);
motor.put("manufacturer", m.data.manufacturer.str());
motor.put("maxThrust", m.data.maxThrust);
motor.put("motorIdTC", m.data.motorIdTC);
motor.put("propType", m.data.propType);
motor.put("sparky", m.data.sparky ? "true" : "false");
motor.put("totalImpulse", m.data.totalImpulse);
motor.put("totalWeight", m.data.totalWeight);
motor.put("type", m.data.type.str());
motor.put("lastUpdated", m.data.lastUpdated);
// delays tag is in the form of a csv string
std::stringstream delays;
for (std::size_t i = 0; i < m.data.delays.size() - 1; ++i)
{
delays << std::to_string(m.data.delays[i]) << ",";
}
delays << std::to_string(m.data.delays[m.data.delays.size() - 1]);
motor.put("delays", delays.str());
// thrust data
{
pt::ptree tc;
std::vector<std::pair<double, double>> thrust = m.getThrustCurve().getThrustCurveData();
for(const auto& j : thrust)
{
pt::ptree thrustNode;
thrustNode.put("<xmlattr>.time", j.first);
thrustNode.put("<xmlattr>.force", j.second);
tc.add_child("thrust", thrustNode);
}
motor.add_child("thrustCurve", tc);
}
tree.add_child("QtRocketMotorDatabase.MotorModels.motor", motor);
}
pt::xml_writer_settings<std::string> settings(' ', 2);
pt::write_xml(filename, tree, std::locale(), settings);
}
void MotorModelDatabase::loadMotorDatabase(const std::string& filename)
{
}
} // namespace utils

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#ifndef UTILS_MOTORMODELDATABASE_H
#define UTILS_MOTORMODELDATABASE_H
/// \cond
// C headers
// C++ headers
#include <vector>
#include <string>
#include <map>
#include <optional>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
namespace utils
{
/**
* @brief MotorModelDatabase is a simple storage, search, and retrieval mechanism for Model Rocket
* motors.
*
*/
class MotorModelDatabase
{
public:
MotorModelDatabase();
~MotorModelDatabase();
// No copies
MotorModelDatabase(const MotorModelDatabase&) = delete;
MotorModelDatabase(MotorModelDatabase&&) = delete;
MotorModelDatabase& operator=(const MotorModelDatabase&) = delete;
MotorModelDatabase& operator=(MotorModelDatabase&&) = delete;
/**
* @brief Adds a single MotorModel to the database. If that MotorModel already exists, it is
* replaced.
*
* @param model MotorModel to add
*
*/
void addMotorModel(const model::MotorModel& m);
/**
* @brief Adds multiple motor models at once. Any duplicates already in the datbase are replaced.
*
* @param model MotorModels to add
*
*/
void addMotorModels(const std::vector<model::MotorModel>& models);
/**
* @brief Get the Motor Model by Common Name
*
* @param name Motor Common name
* @return std::optional<model::MotorModel>
*/
std::optional<model::MotorModel> getMotorModel(const std::string& name);
void saveMotorDatabase(const std::string& filename);
void loadMotorDatabase(const std::string& filename);
private:
// The "database" is really just a map. :)
/// motorModelMap is keyed off of the motor commonName
std::map<std::string, model::MotorModel> motorModelMap;
};
} // namespace utils
#endif // UTILS_MOTORMODELDATABASE_H

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/// \cond
// C headers
// C++ headers
#include <iostream>
#include <algorithm>
#include <cmath>
#include <cstring>
// 3rd party headers
#include <boost/property_tree/xml_parser.hpp>
/// \endcond
// qtrocket headers
#include "utils/RSEDatabaseLoader.h"
#include "QtRocket.h"
#include "Logger.h"
namespace utils {
RSEDatabaseLoader::RSEDatabaseLoader(const std::string& filename)
: motors(),
tree()
{
boost::property_tree::read_xml(filename, tree);
// Get the first engine
for(boost::property_tree::ptree::value_type& v : tree.get_child("engine-database.engine-list"))
{
buildAndAppendMotorModel(v.second);
}
QtRocket::getInstance()->addMotorModels(motors);
}
RSEDatabaseLoader::~RSEDatabaseLoader()
{}
model::MotorModel RSEDatabaseLoader::getMotorModelByName(const std::string &name)
{
auto mm = std::find_if(motors.begin(), motors.end(),
[&name](const auto& i) { return name == i.data.commonName; });
if(mm == motors.end())
{
Logger::getInstance()->error("Unable to locate " + name + " in RSE database");
return model::MotorModel();
}
return *mm;
}
void RSEDatabaseLoader::buildAndAppendMotorModel(boost::property_tree::ptree& v)
{
model::MotorModel::MetaData mm;
mm.availability = model::MotorModel::MotorAvailability(model::MotorModel::AVAILABILITY::REGULAR);
mm.avgThrust = v.get<double>("<xmlattr>.avgThrust", 0.0);
mm.burnTime = v.get<double>("<xmlattr>.burn-time", 0.0);
mm.certOrg = model::MotorModel::CertOrg(model::MotorModel::CERTORG::UNK);
mm.commonName = v.get<std::string>("<xmlattr>.code", "");
// mm.delays = extract vector from csv list
std::string delays = v.get<std::string>("<xmlattr>.delays", "1000");
std::size_t pos{0};
std::string tok;
while ((pos = delays.find(",")) != std::string::npos)
{
tok = delays.substr(0, pos);
mm.delays.push_back(std::atoi(tok.c_str()));
delays.erase(0, pos + 1);
}
mm.delays.push_back(std::atoi(delays.c_str()));
// mm.designation = What is this?
mm.diameter = v.get<double>("<xmlattr>.dia", 0.0);
// impulse class is the motor letter designation. extract from the first character
// of the commonName since it isn't given explicity in the RSE file
mm.impulseClass = mm.commonName[0];
// infoUrl not present in RSE file
mm.infoUrl = "";
mm.length = v.get<double>("<xmlattr>.len", 0.0);
mm.manufacturer = model::MotorModel::MotorManufacturer::toEnum(v.get<std::string>("<xmlattr>.mfg", ""));
mm.maxThrust = v.get<double>("<xmlattr>.peakThrust", 0.0);
mm.totalWeight = v.get<double>("<xmlattr>.initWt", 0.0) / 1000.0; // convert g -> kg
mm.propWeight = v.get<double>("<xmlattr>.propWt", 0.0) / 1000.0; // convert g -> kg
mm.totalImpulse = v.get<double>("<xmlattr>.Itot", 0.0);
mm.type = model::MotorModel::MotorType::toEnum(v.get<std::string>("<xmlattr>.Type"));
// Now get the thrust data
std::vector<std::pair<double, double>> thrustData;
for(boost::property_tree::ptree::value_type& w : v.get_child("data"))
{
double tdata = w.second.get<double>("<xmlattr>.t");
double fdata = w.second.get<double>("<xmlattr>.f");
thrustData.push_back(std::make_pair(tdata, fdata));
}
ThrustCurve tc(thrustData);
model::MotorModel motorModel;
motorModel.addThrustCurve(tc);
motorModel.moveMetaData(std::move(mm));
motors.emplace_back(std::move(motorModel));
}
} // namespace utils

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#ifndef UTILS_RSEDATABASELOADER_H
#define UTILS_RSEDATABASELOADER_H
/// \cond
// C headers
// C++ headers
#include <string>
#include <vector>
// 3rd party headers
#include <boost/property_tree/ptree.hpp>
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
namespace utils {
class RSEDatabaseLoader
{
public:
RSEDatabaseLoader(const std::string& filename);
~RSEDatabaseLoader();
std::vector<model::MotorModel>& getMotors() { return motors; }
model::MotorModel getMotorModelByName(const std::string& name);
private:
std::vector<model::MotorModel> motors;
void buildAndAppendMotorModel(boost::property_tree::ptree& v);
boost::property_tree::ptree tree;
};
} // namespace utils
#endif // UTILS_RSEDATABASELOADER_H

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#ifndef TSQUEUE_H
#define TSQUEUE_H
/// \cond
// C headers
// C++ headers
#include <condition_variable>
#include <memory>
#include <mutex>
#include <queue>
// 3rd party headers
/// \endcond
/**
* @brief The TSQueue class is a very basic thread-safe queue
*/
template<typename T>
class TSQueue
{
public:
TSQueue()
: mtx(),
q(),
cv()
{}
void push(T newVal)
{
std::lock_guard<std::mutex> lck(mtx);
q.push(newVal);
cv.notify_one();
}
void waitAndPop(T& val)
{
std::unique_lock<std::mutex> lck(mtx);
cv.wait(lck, [this]{return !q.empty(); });
val = std::move(q.front());
q.pop();
}
std::shared_ptr<T> waitAndPop()
{
std::unique_lock<std::mutex> lck(mtx);
cv.wait(lck, [this] { return !q.empty(); });
std::shared_ptr<T> res(std::make_shared<T>(std::move(q.front())));
q.pop();
return res;
}
bool tryPop(T& val)
{
std::unique_lock<std::mutex> lck(mtx);
if(q.empty())
{
return false;
}
val = std::move(q.front());
q.pop();
return true;
}
std::shared_ptr<T> tryPop()
{
std::unique_lock<std::mutex> lck(mtx);
if(q.empty())
{
return std::shared_ptr<T>(); // nullptr
}
std::shared_ptr<T> retVal(std::move(q.front()));
q.pop();
return retVal;
}
bool empty() const
{
std::lock_guard<std::mutex> lck(mtx);
return q.empty();
}
private:
mutable std::mutex mtx;
std::queue<T> q;
std::condition_variable cv;
};
#endif // TSQUEUE_H

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/// \cond
// C headers
// C++ headers
#include <cstdint>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "ThreadPool.h"
ThreadPool::ThreadPool()
: done(false),
q(),
threads(),
joiner(threads)
{
const std::size_t threadCount = std::thread::hardware_concurrency();
try
{
for(size_t i = 0; i < threadCount; ++i)
{
threads.push_back(std::thread(&ThreadPool::worker, this));
}
}
catch(...)
{
done = true;
throw;
}
}
ThreadPool::~ThreadPool()
{
done = true;
}
void ThreadPool::worker()
{
while(!done)
{
std::function<void()> task;
if(q.tryPop(task))
{
task();
}
else
{
std::this_thread::yield();
}
}
}

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#ifndef THREADPOOL_H
#define THREADPOOL_H
/// \cond
// C headers
// C++ headers
#include <atomic>
#include <functional>
#include <thread>
#include <vector>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/TSQueue.h"
/**
* @brief A basic ThreadPool class
*/
class ThreadPool
{
public:
ThreadPool();
~ThreadPool();
template<typename FunctionType>
void submit(FunctionType f)
{
q.push(std::function<void()>(f));
}
private:
class JoinThreads
{
public:
explicit JoinThreads(std::vector<std::thread>& inThreads)
: threads(inThreads)
{}
~JoinThreads()
{
for(auto& i : threads)
{
if(i.joinable())
{
i.join();
}
}
}
private:
std::vector<std::thread>& threads;
};
std::atomic_bool done;
TSQueue<std::function<void()>> q;
std::vector<std::thread> threads;
JoinThreads joiner;
void worker();
};
#endif // THREADPOOL_H

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/// \cond
// C headers
// C++ headers
// 3rd party headers
#include <json/json.h>
#include <optional>
/// \endcond
// qtrocket headers
#include "utils/ThrustCurveAPI.h"
#include "utils/Logger.h"
namespace utils
{
ThrustCurveAPI::ThrustCurveAPI()
: hostname("https://www.thrustcurve.org/"),
curlConnection()
{
}
ThrustCurveAPI::~ThrustCurveAPI()
{
}
std::optional<ThrustCurve> ThrustCurveAPI::getThrustCurve(const std::string& id)
{
std::stringstream endpoint;
endpoint << hostname << "api/v1/download.json?motorId=" << id << "&data=samples";
std::vector<std::string> extraHeaders = {};
std::string res = curlConnection.get(endpoint.str(), extraHeaders);
model::MotorModel mm;
if(!res.empty())
{
try
{
Json::Reader reader;
Json::Value jsonResult;
reader.parse(res, jsonResult);
std::vector<std::pair<double, double>> samples;
for(Json::ValueConstIterator iter = jsonResult["results"].begin();
iter != jsonResult["results"].end();
++iter)
{
// if there are more than 1 items in the results list, we only want the RASP data
// Otherwise just take whatever is there
if(std::next(iter) != jsonResult["results"].end())
{
if( (*iter)["format"].asString() != "RASP")
continue;
}
for(Json::ValueConstIterator samplesIter = (*iter)["samples"].begin();
samplesIter != (*iter)["samples"].end();
++samplesIter)
{
samples.push_back(std::make_pair((*samplesIter)["time"].asDouble(),
(*samplesIter)["thrust"].asDouble()));
}
}
return ThrustCurve(samples);
}
catch(const std::exception& e)
{
std::string err("Unable to parse JSON from Thrustcurve motor data request. Error: ");
err += e.what();
Logger::getInstance()->error(err);
}
}
return std::nullopt;
}
model::MotorModel ThrustCurveAPI::getMotorData(const std::string& motorId)
{
std::stringstream endpoint;
endpoint << hostname << "api/v1/download.json?motorId=" << motorId << "&data=samples";
std::vector<std::string> extraHeaders = {};
std::string res = curlConnection.get(endpoint.str(), extraHeaders);
model::MotorModel mm;
if(!res.empty())
{
try
{
Json::Reader reader;
Json::Value jsonResult;
reader.parse(res, jsonResult);
std::vector<std::pair<double, double>> samples;
for(Json::ValueConstIterator iter = jsonResult["results"].begin();
iter != jsonResult["results"].end();
++iter)
{
// if there are more than 1 items in the results list, we only want the RASP data
// Otherwise just take whatever is there
if(std::next(iter) != jsonResult["results"].end())
{
if( (*iter)["format"].asString() != "RASP")
continue;
}
for(Json::ValueConstIterator samplesIter = (*iter)["samples"].begin();
samplesIter != (*iter)["samples"].end();
++samplesIter)
{
samples.push_back(std::make_pair((*samplesIter)["time"].asDouble(),
(*samplesIter)["thrust"].asDouble()));
}
}
ThrustCurve tc(samples);
mm.addThrustCurve(tc);
}
catch(const std::exception& e)
{
std::string err("Unable to parse JSON from Thrustcurve motor data request. Error: ");
err += e.what();
Logger::getInstance()->error(err);
}
}
return mm;
}
ThrustcurveMetadata ThrustCurveAPI::getMetadata()
{
std::string endpoint = hostname;
endpoint += "api/v1/metadata.json";
std::string result = curlConnection.get(endpoint, extraHeaders);
ThrustcurveMetadata ret;
if(!result.empty())
{
try
{
Json::Reader reader;
Json::Value jsonResult;
reader.parse(result, jsonResult);
for(Json::ValueConstIterator iter = jsonResult["certOrgs"].begin();
iter != jsonResult["certOrgs"].end();
++iter)
{
std::string org = (*iter)["abbrev"].asString();
if(org == "AMRS")
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::AMRS);
else if(org == "CAR")
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::CAR);
else if(org == "NAR")
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::NAR);
else if(org == "TRA")
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::TRA);
else if(org == "UNC")
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::UNC);
else
ret.certOrgs.emplace_back(model::MotorModel::CERTORG::UNK);
}
for(Json::ValueConstIterator iter = jsonResult["diameters"].begin();
iter != jsonResult["diameters"].end();
++iter)
{
ret.diameters.push_back((*iter).asDouble());
}
for(Json::ValueConstIterator iter = jsonResult["impulseClasses"].begin();
iter != jsonResult["impulseClasses"].end();
++iter)
{
ret.impulseClasses.emplace_back((*iter).asString());
}
for(Json::ValueConstIterator iter = jsonResult["manufacturers"].begin();
iter != jsonResult["manufacturers"].end();
++iter)
{
ret.manufacturers[(*iter)["abbrev"].asString()] = (*iter)["name"].asString();
}
for(Json::ValueConstIterator iter = jsonResult["types"].begin();
iter != jsonResult["types"].end();
++iter)
{
std::string type = (*iter)["types"].asString();
if(type == "SU")
ret.types.emplace_back(model::MotorModel::MOTORTYPE::SU);
else if(type == "reload")
ret.types.emplace_back(model::MotorModel::MOTORTYPE::RELOAD);
else
ret.types.emplace_back(model::MotorModel::MOTORTYPE::HYBRID);
}
}
catch(const std::exception& e)
{
std::string err("Unable to parse JSON from Thrustcurve metadata request. Error: ");
err += e.what();
Logger::getInstance()->error(err);
}
}
return ret;
}
std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria& c)
{
std::vector<model::MotorModel> retVal;
std::string endpoint = hostname;
endpoint += "api/v1/search.json?";
for(const auto& i : c.criteria)
{
endpoint += i.first;
endpoint += "=";
endpoint += i.second;
endpoint += "&";
}
endpoint = endpoint.substr(0, endpoint.length() - 1);
Logger::getInstance()->debug("endpoint: " + endpoint);
std::string result = curlConnection.get(endpoint, extraHeaders);
if(!result.empty())
{
try
{
Json::Reader reader;
Json::Value jsonResult;
Logger::getInstance()->debug("1");
reader.parse(result, jsonResult);
Logger::getInstance()->debug("2");
for(Json::ValueConstIterator iter = jsonResult["results"].begin();
iter != jsonResult["results"].end();
++iter)
{
model::MotorModel motorModel;
model::MotorModel::MetaData mm;
mm.commonName = (*iter)["commonName"].asString();
Logger::getInstance()->debug("3");
std::string availability = (*iter)["availability"].asString();
if(availability == "regular")
mm.availability = model::MotorModel::MotorAvailability(model::MotorModel::AVAILABILITY::REGULAR);
else
mm.availability = model::MotorModel::MotorAvailability(model::MotorModel::AVAILABILITY::OOP);
mm.avgThrust = (*iter)["avgThrustN"].asDouble();
mm.burnTime = (*iter)["burnTimeS"].asDouble();
Logger::getInstance()->debug("4");
// TODO fill in certOrg
// TODO fill in delays
mm.designation = (*iter)["designation"].asString();
mm.diameter = (*iter)["diameter"].asDouble();
mm.impulseClass = (*iter)["impulseClass"].asString();
mm.length = (*iter)["length"].asDouble();
std::string manu = (*iter)["manufacturer"].asString();
if(manu == "AeroTech")
mm.manufacturer = model::MotorModel::MOTORMANUFACTURER::AEROTECH;
//mm.manufacturer = (*iter)["manufacturer"].asString();
mm.maxThrust = (*iter)["maxThrustN"].asDouble();
mm.motorIdTC = (*iter)["motorId"].asString();
mm.propType = (*iter)["propInfo"].asString();
mm.propWeight = (*iter)["propWeightG"].asDouble();
mm.sparky = (*iter)["sparky"].asBool();
mm.totalImpulse = (*iter)["totImpulseNs"].asDouble();
mm.totalWeight = (*iter)["totalWeightG"].asDouble();
std::string type = (*iter)["type"].asString();
if(type == "SU")
mm.type = model::MotorModel::MotorType(model::MotorModel::MOTORTYPE::SU);
else if(type == "reload")
mm.type = model::MotorModel::MotorType(model::MotorModel::MOTORTYPE::RELOAD);
else
mm.type = model::MotorModel::MotorType(model::MotorModel::MOTORTYPE::HYBRID);
Logger::getInstance()->debug("5");
auto tc = getThrustCurve(mm.motorIdTC);
motorModel.moveMetaData(std::move(mm));
Logger::getInstance()->debug("6");
if(tc)
{
motorModel.addThrustCurve(*tc);
}
retVal.push_back(motorModel);
}
}
catch(const std::exception& e)
{
std::string err("Unable to parse JSON from Thrustcurve metadata request. Error: ");
err += e.what();
Logger::getInstance()->error(err);
}
}
return retVal;
}
void SearchCriteria::addCriteria(const std::string& name,
const std::string& value)
{
criteria[name] = value;
}
} // namespace utils

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#ifndef UTILS_THRUSTCURVEAPI_H
#define UTILS_THRUSTCURVEAPI_H
/// \cond
// C headers
// C++ headers
#include <map>
#include <string>
#include <optional>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "utils/CurlConnection.h"
#include "model/MotorModel.h"
namespace utils
{
class ThrustcurveMetadata
{
public:
ThrustcurveMetadata() = default;
~ThrustcurveMetadata() = default;
ThrustcurveMetadata(const ThrustcurveMetadata&) = default;
ThrustcurveMetadata(ThrustcurveMetadata&&) = default;
ThrustcurveMetadata& operator=(const ThrustcurveMetadata&) = default;
ThrustcurveMetadata& operator=(ThrustcurveMetadata&&) = default;
//private:
std::vector<model::MotorModel::CertOrg> certOrgs;
std::vector<double> diameters;
std::vector<std::string> impulseClasses;
std::map<std::string, std::string> manufacturers;
std::vector<model::MotorModel::MotorType> types;
};
class SearchCriteria
{
public:
SearchCriteria() = default;
~SearchCriteria() = default;
SearchCriteria(const SearchCriteria&) = default;
SearchCriteria(SearchCriteria&&) = default;
SearchCriteria& operator=(const SearchCriteria&) = default;
SearchCriteria& operator=(SearchCriteria&&) = default;
void addCriteria(const std::string& name,
const std::string& vaue);
std::map<std::string, std::string> criteria;
};
/**
* @brief This API for Thrustcurve.org - It will provide an interface for querying thrustcurve.org
* for motor data
*
*/
class ThrustCurveAPI
{
public:
ThrustCurveAPI();
~ThrustCurveAPI();
/**
* @brief getThrustCurve will download the thrust data for the given Motor using the motorId
* @param m MotorModel to populate
*/
model::MotorModel getMotorData(const std::string& motorId);
/**
* @brief getMetaData
*/
ThrustcurveMetadata getMetadata();
std::vector<model::MotorModel> searchMotors(const SearchCriteria& c);
private:
const std::string hostname;
CurlConnection curlConnection;
std::optional<ThrustCurve> getThrustCurve(const std::string& id);
// no extra headers, but CurlConnection library wants them
const std::vector<std::string> extraHeaders{};
};
} // namespace utils
#endif // UTILS_THRUSTCURVEAPI_H

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#ifndef UTILS_MATH_CONSTANTS_H
#define UTILS_MATH_CONSTANTS_H
namespace utils::math
{
namespace Constants
{
constexpr double Rstar = 8.31432;
constexpr const double g0 = 9.80665;
constexpr const double airMolarMass = 0.0289644;
// gamma is the ratio of the specific heat of air at constant pressure to that at
// constant volume. Used in computing the speed of sound
constexpr const double gamma = 1.4;
// beta is used in calculating the dynamic viscosity of air. Based on the 1976 US Standard
// Atmosphere report, it is empirically measured to be:
constexpr const double beta = 1.458e-6;
// Sutherland's constant
constexpr const double S = 110.4;
constexpr const double standardTemperature = 288.15;
constexpr const double standardDensity = 1.2250;
constexpr const double meanEarthRadiusWGS84 = 6371008.8;
constexpr const long double earthGM = 398600441800000.0;
constexpr const double earthGM_km = 398600.4418;
};
} // namespace utils::math
#endif // UTILS_MATH_CONSTANTS_H

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#ifndef UTILS_MATH_MATHTYPES_H
#define UTILS_MATH_MATHTYPES_H
#include <Eigen/Dense>
#include <vector>
/// This is not in any namespace. These typedefs are intended to be used throughout QtRocket,
/// so keeping them in the global namespace seems to make sense.
template <int Size>
using MyMatrix = Eigen::Matrix<double, Size, Size>;
template <int Size>
using MyVector = Eigen::Matrix<double, Size, 1>;
typedef Eigen::Quaterniond Quaternion;
using Matrix3 = MyMatrix<3>;
using Matrix4 = MyMatrix<4>;
using Vector3 = MyVector<3>;
using Vector6 = MyVector<6>;
/*
namespace utils
{
std::vector<double> myVectorToStdVector(const Vector3& x)
{
return std::vector<double>{x.coeff(0), x.coeff(1), x.coeff(2)};
}
std::vector<double> myVectorToStdVector(const Vector6& x)
{
return std::vector<double>{x.coeff(0),
x.coeff(1),
x.coeff(2),
x.coeff(3),
x.coeff(4),
x.coeff(5)};
}
}
class Vector3 : public MyVector<3>
{
public:
template<typename... Args>
Vector3(Args&&... args) : MyVector<3>(std::forward<Args>(args)...)
{}
operator std::vector<double>()
{
return std::vector<double>{this->coeff(0), this->coeff(1), this->coeff(2)};
}
};
class Vector6 : public MyVector<6>
{
public:
template<typename... Args>
Vector6(Args&&... args) : MyVector<6>(std::forward<Args>(args)...)
{}
operator std::vector<double>()
{
return std::vector<double>{this->coeff(0),
this->coeff(1),
this->coeff(2),
this->coeff(3),
this->coeff(4),
this->coeff(5)};
}
};
*/
#endif // UTILS_MATH_MATHTYPES_H

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