Merge pull request AVSLab#599 from AVSLab/refactor/refactor-prescribedTransMsg

Refactor/refactor prescribed trans msg

Author: leahkiner

docs/source/Support/bskReleaseNotes.rst

@@ -42,6 +42,9 @@ Version |release|
  outside of the release cycle.
 - updated plotting of ``opNav`` example scenarios to work again with latest version of ``matplotlib``
 - fixed a slew of compiler warnings when compiling with Xcode 15
+- Refactored the :ref:`PrescribedTransMsgPayload` message by renaming the message to
+ :ref:`LinearTranslationRigidBodyMsgPayload` and renaming the message variables from ``scalarPos`` and ``scalarVel`` to
+ ``rho`` and ``rhoDot``
 
 Version 2.2.1 (Dec. 22, 2023)
 -----------------------------

src/architecture/msgPayloadDefC/PrescribedTransMsgPayload.h renamed to src/architecture/msgPayloadDefC/LinearTranslationRigidBodyMsgPayload.h

@@ -1,7 +1,7 @@
 /*
  ISC License
 
- Copyright (c) 2023, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+ Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
 
  Permission to use, copy, modify, and/or distribute this software for any
  purpose with or without fee is hereby granted, provided that the above
@@ -17,15 +17,15 @@
 
  */
 
-#ifndef prescribedTransSimMsg_h
-#define prescribedTransSimMsg_h
+#ifndef linearTranslationRigidBodySimMsg_h
+#define linearTranslationRigidBodySimMsg_h
 
 
- /*! @brief Structure used to define the data message*/
+ /*! @brief Structure used to define the translating rigid body data message*/
 typedef struct {
- double scalarPos; //!< [m], spinning body translational displacement
- double scalarVel; //!< [m/s], spinning body translational displacement rate
-}PrescribedTransMsgPayload;
+ double rho;  //!< [m], body linear displacement
+ double rhoDot; //!< [m/s], body linear displacement rate
+}LinearTranslationRigidBodyMsgPayload;
 
 
-#endif /* prescribedTransSimMsg_h */
+#endif /* linearTranslationRigidBodySimMsg_h */

src/fswAlgorithms/effectorInterfaces/prescribedTrans/_UnitTest/test_prescribedTrans.py

@@ -114,11 +114,11 @@ def prescribedTransTestFunction(show_plots, scalarPosInit, scalarPosRef, scalarA
 
  # Create input message
  scalarVelRef = 0.0 # [m/s]
- PrescribedTransMessageData = messaging.PrescribedTransMsgPayload()
- PrescribedTransMessageData.scalarPos = scalarPosRef
- PrescribedTransMessageData.scalarVel = scalarVelRef
- PrescribedTransMessage = messaging.PrescribedTransMsg().write(PrescribedTransMessageData)
- PrescribedTrans.prescribedTransInMsg.subscribeTo(PrescribedTransMessage)
+ linearTranslationRigidBodyMessageData = messaging.LinearTranslationRigidBodyMsgPayload()
+ linearTranslationRigidBodyMessageData.rho = scalarPosRef
+ linearTranslationRigidBodyMessageData.rhoDot = scalarVelRef
+ linearTranslationRigidBodyMessage = messaging.LinearTranslationRigidBodyMsg().write(linearTranslationRigidBodyMessageData)
+ PrescribedTrans.linearTranslationRigidBodyInMsg.subscribeTo(linearTranslationRigidBodyMessage)
 
  # Setup logging on the test module output message so that we get all the writes to it
  dataLog = PrescribedTrans.prescribedMotionOutMsg.recorder()

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.c

@@ -49,8 +49,8 @@ void SelfInit_prescribedTrans(PrescribedTransConfig *configData, int64_t moduleI
 void Reset_prescribedTrans(PrescribedTransConfig *configData, uint64_t callTime, int64_t moduleID)
 {
  // Check if the input message is connected
- if (!PrescribedTransMsg_C_isLinked(&configData->prescribedTransInMsg)) {
- _bskLog(configData->bskLogger, BSK_ERROR, "Error: prescribedTrans.prescribedTransInMsg wasn't connected.");
+ if (!LinearTranslationRigidBodyMsg_C_isLinked(&configData->linearTranslationRigidBodyInMsg)) {
+ _bskLog(configData->bskLogger, BSK_ERROR, "Error: prescribedTrans.linearTranslationRigidBodyInMsg wasn't connected.");
  }
 
  // Set the initial time
@@ -71,29 +71,29 @@ motion output message.
 void Update_prescribedTrans(PrescribedTransConfig *configData, uint64_t callTime, int64_t moduleID)
 {
  // Create the buffer messages
- PrescribedTransMsgPayload prescribedTransIn;
+ LinearTranslationRigidBodyMsgPayload linearTranslationRigidBodyIn;
  PrescribedMotionMsgPayload prescribedMotionOut;
 
  // Zero the output message
  prescribedMotionOut = PrescribedMotionMsg_C_zeroMsgPayload();
 
  // Read the input message
- prescribedTransIn = PrescribedTransMsg_C_zeroMsgPayload();
- if (PrescribedTransMsg_C_isWritten(&configData->prescribedTransInMsg))
+ linearTranslationRigidBodyIn = LinearTranslationRigidBodyMsg_C_zeroMsgPayload();
+ if (LinearTranslationRigidBodyMsg_C_isWritten(&configData->linearTranslationRigidBodyInMsg))
  {
- prescribedTransIn = PrescribedTransMsg_C_read(&configData->prescribedTransInMsg);
+ linearTranslationRigidBodyIn = LinearTranslationRigidBodyMsg_C_read(&configData->linearTranslationRigidBodyInMsg);
  }
 
  // This loop is entered when a new maneuver is requested after all previous maneuvers are completed
- if (PrescribedTransMsg_C_timeWritten(&configData->prescribedTransInMsg) <= callTime && configData->convergence)
+ if (LinearTranslationRigidBodyMsg_C_timeWritten(&configData->linearTranslationRigidBodyInMsg) <= callTime && configData->convergence)
  {
  // Store the initial information
  configData->tInit = callTime * NANO2SEC;
  configData->scalarPosInit = v3Norm(configData->r_FM_M);
  configData->scalarVelInit = v3Norm(configData->rPrime_FM_M);
 
  // Store the reference information
- configData->scalarPosRef = prescribedTransIn.scalarPos;
+ configData->scalarPosRef = linearTranslationRigidBodyIn.rho;
  configData->scalarVelRef = 0.0;
 
  // Define temporal information

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.h

@@ -23,7 +23,7 @@
 #include <stdbool.h>
 #include "architecture/utilities/bskLogging.h"
 #include "cMsgCInterface/PrescribedMotionMsg_C.h"
-#include "cMsgCInterface/PrescribedTransMsg_C.h"
+#include "cMsgCInterface/LinearTranslationRigidBodyMsg_C.h"
 
 /*! @brief Top level structure for the sub-module routines. */
 typedef struct {
@@ -51,10 +51,10 @@ typedef struct {
  double b; //!< Parabolic constant for the second half of the maneuver
 
  // Messages
- PrescribedTransMsg_C prescribedTransInMsg;  //!< Input message for the reference states
- PrescribedMotionMsg_C prescribedMotionOutMsg; //!< Output message for the prescribed states
+ LinearTranslationRigidBodyMsg_C linearTranslationRigidBodyInMsg; //!< Input message for the reference states
+ PrescribedMotionMsg_C prescribedMotionOutMsg;  //!< Output message for the prescribed states
 
- BSKLogger *bskLogger; //!< BSK Logging
+ BSKLogger *bskLogger;  //!< BSK Logging
 
 }PrescribedTransConfig;
 

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.i

@@ -27,8 +27,8 @@
 %include "architecture/msgPayloadDefC/PrescribedMotionMsgPayload.h"
 struct PrescribedMotionMsg_C;
 
-%include "architecture/msgPayloadDefC/PrescribedTransMsgPayload.h"
-struct PrescribedTransMsg_C;
+%include "architecture/msgPayloadDefC/LinearTranslationRigidBodyMsgPayload.h"
+struct LinearTranslationRigidBodyMsg_C;
 
 %pythoncode %{
 import sys

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.rst

@@ -35,12 +35,9 @@ provides information on what this message is used for.
  * - Msg Variable Name
  - Msg Type
  - Description
- * - prescribedTransInMsg
- - :ref:`PrescribedTransMsgPayload`
+ * - linearTranslationRigidBodyInMsg
+ - :ref:`LinearTranslationRigidBodyMsgPayload`
  - input msg with the prescribed body reference states
- * - prescribedTransOutMsg
- - :ref:`PrescribedTransMsgPayload`
- - output message with the scalar prescribed body states
  * - prescribedMotionOutMsg
  - :ref:`PrescribedMotionMsgPayload`
  - output message with the prescribed body states
@@ -132,11 +129,8 @@ the mount frame axis for the translational motion, the prescribed body's initial
 the mount frame :math:`\boldsymbol{r}_{F/M}(t_0)`, and the reference position vector of the prescribed body with respect
 to the mount frame :math:`\boldsymbol{r}_{F/M} (\text{ref})`.
 
-This module provides two output messages in the form of :ref:`PrescribedTransMsgPayload` and
-:ref:`PrescribedMotionMsgPayload`. The first guidance message, describing the prescribed body's scalar states relative to
-the hub-fixed mount frame can be directly connected to a feedback control module. The second prescribed
-motion output message can be connected to the :ref:`PrescribedMotionStateEffector` dynamics module to directly profile
-a state effector's translational motion.
+This module provides a :ref:`PrescribedMotionMsgPayload` output message that can be connected to the
+:ref:`PrescribedMotionStateEffector` dynamics module to directly profile a state effector's translational motion.
 
 This section is to outline the steps needed to setup a prescribed translational module in python using Basilisk.
 

src/simulation/dynamics/prescribedMotion/_UnitTest/test_PrescribedMotionStateEffector.py

@@ -425,11 +425,11 @@ def PrescribedMotionTestFunction(show_plots, rotTest, thetaInit, theta_Ref, posI
 
  # Create the prescribedTrans input message
  velRef = 0.0 # [m/s]
- PrescribedTransMessageData = messaging.PrescribedTransMsgPayload()
- PrescribedTransMessageData.scalarPos = posRef
- PrescribedTransMessageData.scalarVel = velRef
- PrescribedTransMessage = messaging.PrescribedTransMsg().write(PrescribedTransMessageData)
- PrescribedTrans.prescribedTransInMsg.subscribeTo(PrescribedTransMessage)
+ linearTranslationRigidBodyMessageData = messaging.LinearTranslationRigidBodyMsgPayload()
+ linearTranslationRigidBodyMessageData.rho = posRef
+ linearTranslationRigidBodyMessageData.rhoDot = velRef
+ linearTranslationRigidBodyMessage = messaging.LinearTranslationRigidBodyMsg().write(linearTranslationRigidBodyMessageData)
+ PrescribedTrans.linearTranslationRigidBodyInMsg.subscribeTo(linearTranslationRigidBodyMessage)
 
  # Connect the PrescribedTrans module's prescribedMotion output message to the prescribedMotion module's prescribedMotion input message
  platform.prescribedMotionInMsg.subscribeTo(PrescribedTrans.prescribedMotionOutMsg)