Revision e9fdba28bc24263664b236ea2fb026326c582d33 authored by Ron Burkey on 24 December 2017, 21:04:22 UTC, committed by Ron Burkey on 24 December 2017, 21:04:22 UTC
1 parent d7b4237
lm_simulator.tcl
# Copyright 2005-2007 Stephan Hotto <stephan.hotto@web.de>
#
# This file is part of yaAGC.
#
# yaAGC 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 2 of the License, or
# (at your option) any later version.
#
# yaAGC 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 yaAGC; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
# ***********************************************************************************************
# **** Program: LM Simulator ****
# **** Function: Simulates different LM Systems ****
# **** Language: TCL/TK ****
# **** Invoke: wish lm_simulator ****
# **** (As a pre-condition the TCL/TK package has to be installed) ****
# **** Date/Location: 21.04.2007/Germany ****
# **** Version: v1.0 ****
# **** Author: Stephan Hotto ****
#
# 03.01.2009 Ron Burkey This version has been provisionally modified from v1.0 in order to
# correct the invocation order of startup functions in order to
# make the Colossus simulations work again. This was broken at
# v0.91.
#
# ***********************************************************************************************
# --------------------------- Global Variables --------------------------------------------------
set tcl_precision 17
set font0 -adobe-courier-medium-r-normal--10-*-*-*-*-*-*-*
set font11 -adobe-courier-medium-r-normal--11-*-*-*-*-*-*-*
set font11b -adobe-courier-bold-r-normal--11-*-*-*-*-*-*-*
set font1 -adobe-courier-medium-r-normal--12-*-*-*-*-*-*-*
set font2 -adobe-courier-medium-r-normal--12-*-*-*-*-*-*-*
set font3 -adobe-courier-bold-b-normal--12-*-*-*-*-*-*-*
set font4 -adobe-courier-bold-b-normal--24-*-*-*-*-*-*-*
set serverIP "localhost"
set serverSock 19801
set Operating_System "linux"
set FDAI_Update_Rate 10
set FDAI_Mode 1
set sockChan ""
set JET_FLAG 0
set log_out_flag 0
set log_in_flag 0
set colb "gray90"
set colf "gray90"
set colb2 "gray80"
set colb3 "gray70"
set colb4 "gray67"
set colact "white"
set calcol ""
set DSKY_MEM(10) ""
set DSKY_MEM(11) ""
set DSKY_MEM(13) ""
set bytesReceived 0
set bytesSent 0
set bytesSentCount 0
set simcount1 0
set m2 0
set m3 0
set m4 0
set m5 0
set m6 0
set m7 0
set m8 0
set flash_flag 0
set s1p 0
set s2p 0
set s3p 0
set s1m 0
set s2m 0
set s3m 0
set R1 ""
set R2 ""
set R3 ""
set R4 ""
set pulse_count_x 0
set pulse_count_y 0
set pulse_count_z 0
set RHC "NEUTRAL"
set THC "NEUTRAL"
set DAPMODE "OFF"
set R(0,0) 0
set RA(0,0) 0
set V(0,0) 0
set widgtM(0) 0
set offsetx 150
set offsety 180
set magnify 100
set break_loop 0
set MeterToFeet 3.280948
set gimbalLock 0
set path "./"
#set path "/LM_Simulator/"
set docpath "${path}doc/"
set modulpath "${path}modules/"
set config_file "lm_simulator.ini/"
set source0 "${modulpath}AGC_DSKY.tcl"
set source1 "${modulpath}AGC_Outputs.tcl"
set source2 "${modulpath}AGC_System_Inputs.tcl"
set source3 "${modulpath}AGC_Crew_Inputs.tcl"
set source4 "${modulpath}AGC_IMU.tcl"
set source5 "${modulpath}AGC_Simulation_Monitor_Control.tcl"
set startup_create_dsky "off"
set startup_create_lmsys "off"
set startup_create_sysinp "off"
set startup_create_crewinp "off"
set startup_create_imugui "off"
set startup_create_attitude_gui "off"
# ---------------- Unprogrammed Sequences ----------------------------
# ---- IN ----
set unpSeq(PINC) 000000000000000
set unpSeq(MINC) 000000000000010
set unpSeq(DINC) 000000000000100
# ---- 400cps ----
set unpSeq(PCDU) 000000000000001
set unpSeq(MCDU) 000000000000011
# ---- 6400cps ----
set unpSeq(PCDU_FAST) 000000000010001
set unpSeq(MCDU_FAST) 000000000010011
# ---- OUT ----
set unpSeq(000000000001101) POUT
set unpSeq(000000000001110) MOUT
set unpSeq(000000000001111) ZOUT
# ---------------- IMU Simulation Initialization ---------------------
# ---- 39.55078125'' of arc ----
set ANGLE_INCR [expr 360.0 / 32768.0]
set CA_ANGLE 0.043948
set FA_ANGLE [expr 0.617981/3600.0]
set PIPA_INCR 0.0585
set NEEDLE_SCALE [expr 42.1875/384.0]
set IMUX_ANGLE 0
set IMUY_ANGLE 0
set IMUZ_ANGLE 0
set PIMUX 0
set PIMUY 0
set PIMUZ 0
set PIPAX_COUNT 0
set PIPAY_COUNT 0
set PIPAZ_COUNT 0
set xVelocity 0
set yVelocity 0
set zVelocity 0
set RHCRoll 0
set RHCPitch 0
set RHCYaw 0
# ---------------- Constant ------------------------------------------
set PI [expr 4.0 * atan(1)]
set 2PI [expr 2.0 * $PI]
set PI4 [expr $PI/4.0]
set RAD_TO_DEG [expr 180.0/$PI]
set DEG_TO_RAD [expr $PI/180.0]
set RAD_TO_DEG_PI4 [expr 180.0/$PI*$PI4]
# ---------------- Simulation Start Values (LM-7 Configuration) ----------------------
set Simulation_Timer_Init [expr abs([clock clicks -milliseconds])]
set Simulation_Timer 0
set Delta_Time 0
set Delta_Time2 0
set Delta_Time3 0
set LM_Weight_KG 0
set LM_Weight_Ascent_KG 4670.0
set LM_Weight_Descent_KG 10694.0
# ---- Reaction Control System ----
set RCS_Propellant_Mass_KG 287.0
set RCS_Thrust_N 445.0
set RCS_Specific_Impulse_MS 2840.0
# ---- Descent Engine ----
set Descent_Propellant_Mass_KG 8355.0
set Descent_Propulsion_Max_N 45040.0
set Descent_Propulsion_Min_N 4560.0
set Descent_Specific_Impulse_MS 3050.0
set Descent_Propulsion_N 0
set Descent_Fuel_Flow_SEC 0
set Descent_Thrust_Procent 0
set Descent_Acceleration 0
set DESCENT_ENGINE_FLAG 0
# ---- Ascent Engine ----
set Ascent_Propellant_Mass_KG 2353.0
set Ascent_Thrust_N 15600.0
set Ascent_Specific_Impulse_MS 3050.0
set Ascent_Fuel_Flow_SEC 0
set Ascent_Acceleration 0
set ASCENT_ENGINE_FLAG 0
set ASCENT_SEPARATION 0
# ----
set Omega_Roll 0
set Omega_Pitch 0
set Omega_Yaw 0
set Alpha_Yaw 0
set Alpha_Pitch 0
set Alpha_Roll 0
set error_x 0
set error_y 0
set error_z 0
# ---- Parameter to calculate Moment of Inertia ----
set LM_CONFIG "DESCENT"
# ---- LM Ascent Configuration ----
set a(ASCENT,YAW) 0.0065443852
set b(ASCENT,YAW) 0.000032
set c(ASCENT,YAW) -0.006923
set a(ASCENT,PITCH) 0.0035784354
set b(ASCENT,PITCH) 0.162862
set c(ASCENT,PITCH) 0.002588
set a(ASCENT,ROLL) 0.0056946631
set b(ASCENT,ROLL) 0.009312
set c(ASCENT,ROLL) -0.023608
# ---- LM Descent Configuration ----
set a(DESCENT,YAW) 0.0059347674
set b(DESCENT,YAW) 0.002989
set c(DESCENT,YAW) 0.008721
set a(DESCENT,PITCH) 0.0014979264
set b(DESCENT,PITCH) 0.018791
set c(DESCENT,PITCH) -0.068163
set a(DESCENT,ROLL) 0.0010451889
set b(DESCENT,ROLL) 0.021345
set c(DESCENT,ROLL) -0.066027
# ---- Set RCS Thruster to 0 ----
set Q4U 0; set Q4D 0; set Q3U 0; set Q3D 0
set Q2U 0; set Q2D 0; set Q1U 0; set Q1D 0
set Q3A 0; set Q4F 0; set Q1F 0; set Q2A 0
set Q2L 0; set Q3R 0; set Q4R 0; set Q1L 0
# **********************************************************************************************
# **** Function: Build the User Interface ****
# **********************************************************************************************
proc create_gui {} {
global font0 font11 font1 font2 font3 log_in_flag log_out_flag cdata wdata bmask colb colf
global bytesReceived bytesSent Operating_System
wm title . "LM Simulator v1.0 by Stephan Hotto"
wm geometry . +0+0
if {$Operating_System == "linux"} {
wm geometry . 450x430; wm minsize . 450 430
} else {
wm geometry . 450x470; wm minsize . 450 470
}
wm iconname . "LM Simulator"
. configure -background $colb
create_menu
frame .fp1 -bg $colb; frame .fp2 -bg $colb
frame .fm1 -bg $colb; frame .fm2 -bg $colb; frame .fm3 -bg $colb
frame .f0 -bg $colb; frame .f01 -bg $colb; frame .f1 -bg $colb; frame .f2 -bg $colb
frame .f3 -bg $colb; frame .f4 -bg $colb; frame .f5 -bg $colb; frame .f6 -bg $colb
frame .f7 -bg $colb; frame .f8 -bg $colb; frame .f81 -bg $colb; frame .f9 -bg $colb;
frame .f10 -bg $colb; frame .f101 -bg $colb; frame .f11 -bg $colb
frame .f0r -bg $colb; frame .f01r -bg $colb; frame .f1r -bg $colb; frame .f2r -bg $colb
frame .f3r -bg $colb; frame .f4r -bg $colb; frame .f5r -bg $colb; frame .f6r -bg $colb
frame .f7r -bg $colb; frame .f8r -bg $colb; frame .f81r -bg $colb; frame .f9r -bg $colb
frame .f10r -bg $colb; frame .f101r -bg $colb
pack .fp1 .fp2 -side top -anchor w -pady 1 -padx 2
pack .fm1 .fm2 -in .fp1 -side left -anchor n -pady 1 -padx 10
pack .fm3 -in .fp2 -side top -anchor w -pady 0 -padx 1
pack .f0 .f01 .f1 .f2 .f3 .f4 .f5 .f6 .f7 .f8 .f81 .f9 .f10 -in .fm1 -side top -anchor w -pady 1 -padx 1
pack .f0r .f01r .f3r .f4r .f5r .f6r .f7r .f8r .f81r .f9r .f10r .f101r -in .fm2 -side top -anchor w -pady 1 -padx 1
pack .f101 .f11 -in .fm3 -side top -anchor w -pady 2 -padx 2
# ------------------------------- Output --------------------------------------
label .l0 -text " Output Channels" -font ${font3} -bg $colb
pack .l0 -side left -in .f0
# label .l01 -text " MSB <-----> LSB" -font ${font1} -bg $colb
# pack .l01 -side left -in .f01
label .l1 -text " 5:" -font ${font1} -bg $colb
entry .e1 -width 15 -relief groove -bd 2 -textvariable cdata(5) -font ${font1} -bg $colb
pack .l1 .e1 -side left -in .f1
label .l2 -text " 6:" -font ${font1} -bg $colb
entry .e2 -width 15 -relief groove -bd 2 -textvariable cdata(6) -font ${font1} -bg $colb
pack .l2 .e2 -side left -in .f2
label .l3 -text " 7:" -font ${font1} -bg $colb
entry .e3 -width 15 -relief groove -bd 2 -textvariable cdata(7) -font ${font1} -bg $colb
pack .l3 .e3 -side left -in .f3
label .l4 -text "10:" -font ${font1} -bg $colb
entry .e4 -width 15 -relief groove -bd 2 -textvariable cdata(10) -font ${font1} -bg $colb
pack .l4 .e4 -side left -in .f4
label .l5 -text "11:" -font ${font1} -bg $colb
entry .e5 -width 15 -relief groove -bd 2 -textvariable cdata(11) -font ${font1} -bg $colb
pack .l5 .e5 -side left -in .f5
label .l6 -text "12:" -font ${font1} -bg $colb
entry .e6 -width 15 -relief groove -bd 2 -textvariable cdata(12) -font ${font1} -bg $colb
pack .l6 .e6 -side left -in .f6
label .l7 -text "13:" -font ${font1} -bg $colb
entry .e7 -width 15 -relief groove -bd 2 -textvariable cdata(13) -font ${font1} -bg $colb
pack .l7 .e7 -side left -in .f7
label .l8 -text "14:" -font ${font1} -bg $colb
entry .e8 -width 15 -relief groove -bd 2 -textvariable cdata(14) -font ${font1} -bg $colb
pack .l8 .e8 -side left -in .f8
label .l81 -text "33:" -font ${font1} -bg $colb
entry .e81 -width 15 -relief groove -bd 2 -textvariable cdata(33) -font ${font1} -bg $colb
pack .l81 .e81 -side left -in .f81
label .l9 -text "34:" -font ${font1} -bg $colb
entry .e9 -width 15 -relief groove -bd 2 -textvariable cdata(34) -font ${font1} -bg $colb
pack .l9 .e9 -side left -in .f9
label .l10 -text "35:" -font ${font1} -bg $colb
entry .e10 -width 15 -relief groove -bd 2 -textvariable cdata(35) -font ${font1} -bg $colb
pack .l10 .e10 -side left -in .f10
text .text -relief sunken -bd 2 -yscrollcommand ".scrolly set" -xscrollcommand ".scrollx set" -bg white -wrap none -font ${font1} -bg white
scrollbar .scrollx -command ".text xview" -orient horizontal -bg $colb
scrollbar .scrolly -command ".text yview" -bg $colb
pack .scrolly -in .f11 -side right -fill y
pack .scrollx -in .f11 -side bottom -fill x
pack .text -in .f11 -side top -fill x -fill y -ipady 400
# --------------------------------- Input -----------------------------------------
label .l0r -text " Input Channels Bitmask" -font ${font3} -bg $colb
pack .l0r -side left -in .f0r
label .l3r -text "15:" -font ${font1} -bg $colb
entry .e3r -width 15 -relief sunken -bd 2 -textvariable wdata(15) -bg white -font ${font1} -bg white
bind .e3r <Return> {write_socket w 15}
entry .e3r1 -width 15 -relief sunken -bd 2 -textvariable bmask(15) -bg white -font ${font1} -bg white
pack .l3r .e3r .e3r1 -side left -in .f3r
label .l4r -text "16:" -font ${font1} -bg $colb
entry .e4r -width 15 -relief sunken -bd 2 -textvariable wdata(16) -bg white -font ${font1} -bg white
bind .e4r <Return> {write_socket w 16}
entry .e4r1 -width 15 -relief sunken -bd 2 -textvariable bmask(16) -bg white -font ${font1} -bg white
pack .l4r .e4r .e4r1 -side left -in .f4r
label .l5r -text "30:" -font ${font1} -bg $colb
entry .e5r -width 15 -relief sunken -bd 2 -textvariable wdata(30) -bg white -font ${font1} -bg white
bind .e5r <Return> {write_socket w 30}
entry .e5r1 -width 15 -relief sunken -bd 2 -textvariable bmask(30) -bg white -font ${font1} -bg white
pack .l5r .e5r .e5r1 -side left -in .f5r
label .l6r -text "31:" -font ${font1} -bg $colb
entry .e6r -width 15 -relief sunken -bd 2 -textvariable wdata(31) -bg white -font ${font1} -bg white
bind .e6r <Return> {write_socket w 31}
entry .e6r1 -width 15 -relief sunken -bd 2 -textvariable bmask(31) -bg white -font ${font1} -bg white
pack .l6r .e6r .e6r1 -side left -in .f6r
label .l7r -text "32:" -font ${font1} -bg $colb
entry .e7r -width 15 -relief sunken -bd 2 -textvariable wdata(32) -bg white -font ${font1} -bg white
bind .e7r <Return> {write_socket w 32}
entry .e7r1 -width 15 -relief sunken -bd 2 -textvariable bmask(32) -bg white -font ${font1} -bg white
pack .l7r .e7r .e7r1 -side left -in .f7r
label .l8r -text "33:" -font ${font1} -bg $colb
entry .e8r -width 15 -relief sunken -bd 2 -textvariable wdata(33) -bg white -font ${font1} -bg white
bind .e8r <Return> {write_socket w 33}
entry .e8r1 -width 15 -relief sunken -bd 2 -textvariable bmask(33) -bg white -font ${font1} -bg white
pack .l8r .e8r .e8r1 -side left -in .f8r
checkbutton .cb101 -text "Log OUT " -variable log_out_flag -relief raised -borderwidth 2 -anchor w -font ${font11} -bg $colb -pady 4
checkbutton .cb102 -text "Log IN " -variable log_in_flag -relief raised -borderwidth 2 -anchor w -font ${font11} -bg $colb -pady 4
button .b101 -text "Clear" -command {.text delete 0.0 end} -font ${font11} -bg $colb -pady 3
pack .cb101 .cb102 .b101 -side left -in .f9r -pady 4 -padx 1 -anchor w
label .l_bytesout -text "Output Bytes/Sec.:" -font ${font1} -bg $colb
entry .e_bytesout -width 7 -relief groove -bd 2 -textvariable bytesReceived -font ${font1} -bg $colb
pack .l_bytesout .e_bytesout -side left -in .f10r
label .l_bytesin -text "Input Bytes/Sec.:" -font ${font1} -bg $colb
entry .e_bytesin -width 7 -relief groove -bd 2 -textvariable bytesSent -font ${font1} -bg $colb
pack .l_bytesin .e_bytesin -side left -in .f101r
focus .e3r
update
}
# **********************************************************************************************
# **** Function: Build the Menu ****
# **********************************************************************************************
proc create_menu {} {
global font2 colb
frame .men -relief raised -bd 2 -bg $colb
pack .men -side top -fill x
# ----------------------------------------- Edit ----------------------------------------------
menubutton .men.edit -text "Edit" -menu .men.edit.m -font $font2 -bg $colb
pack .men.edit -side left -padx 2m
menu .men.edit.m
.men.edit.m add command -label "Clear Message Window" -command {.text delete 0.0 end} -font $font2
.men.edit.m add separator
.men.edit.m add command -label "Exit " -underline 0 -accelerator Ctrl+x -command {exit_program} -font $font2
# ------------------------------------- Systems Menu --------------------------------------------
menubutton .men.ctr -text "Systems" -menu .men.ctr.m -font $font2 -bg $colb
pack .men.ctr -side left -padx 2m
menu .men.ctr.m
.men.ctr.m add command -label "DSKY Lite" -command {create_dsky} -font $font2
.men.ctr.m add separator
.men.ctr.m add command -label "AGC Outputs" -command {create_lmsys} -font $font2
.men.ctr.m add separator
.men.ctr.m add command -label "AGC LM System Inputs" -command {create_sysinp} -font $font2
.men.ctr.m add command -label "AGC Crew Inputs" -command {create_crewinp} -font $font2
.men.ctr.m add separator
.men.ctr.m add command -label "FDAI / IMU (Inertial Measurement Unit)" -command {create_imugui} -font $font2
.men.ctr.m add separator
.men.ctr.m add command -label "Simulation Monitor & Control" -command {create_attitude_gui} -font $font2
# ------------------------------------- Info Menu -----------------------------------------------
menubutton .men.inf -text "Info" -menu .men.inf.m -font $font2 -bg $colb
pack .men.inf -side left -padx 2m
menu .men.inf.m
.men.inf.m add command -label "Help" -command {open_text "help.txt"} -font $font2
.men.inf.m add command -label "Tutorial" -command {open_text "tutorial.txt"} -font $font2
.men.inf.m add separator
.men.inf.m add command -label "Verbs & Nouns" -command {open_text "verb_noun.txt"} -font $font2
.men.inf.m add command -label "Alarm Codes" -command {open_text "alarm_codes.txt"} -font $font2
.men.inf.m add separator
.men.inf.m add command -label "About" -command {open_text "about.txt"} -font $font2
.men.inf.m add command -label "License" -command {open_text "license.txt"} -font $font2
}
# *********************************************************************************************
# **** Function: Open Text Files (About, Help, Licence) ****
# *********************************************************************************************
proc open_text {file} {
global docpath font2 colb
if {[winfo exists .op] == 1} {destroy .op}
if {$file == "about.txt"} {
set wmtxt "ABOUT LM System Simulator"
} elseif {$file == "help.txt"} {
set wmtxt "HELP of LM System Simulator"
} elseif {$file == "license.txt"} {
set wmtxt "GPL LICENSE of the LM System Simulator"
} elseif {$file == "verb_noun.txt"} {
set wmtxt "VERBS & NOUNS for LUMINARY 131/1C"
} elseif {$file == "tutorial.txt"} {
set wmtxt "Tutorial for LM System Simulator"
} elseif {$file == "alarm_codes.txt"} {
set wmtxt "ALARM CODES for LUMINARY 131/1C"
}
toplevel .op
wm title .op $wmtxt
wm geometry .op +300+300
wm geometry .op 600x400
wm minsize .op 200 200
wm iconname .op "HELP"
.op configure -background $colb
frame .op.f1 -bg $colb
pack .op.f1 -side top -pady 1m
text .op.text -relief sunken -bd 2 -yscrollcommand ".op.scrolly set" -xscrollcommand ".op.scrollx set" -bg white -font $font2 -wrap none
scrollbar .op.scrollx -command ".op.text xview" -orient horizontal -bg $colb
scrollbar .op.scrolly -command ".op.text yview" -bg $colb
pack .op.scrolly -in .op.f1 -side right -fill y
pack .op.scrollx -in .op.f1 -side bottom -fill x
pack .op.text -in .op.f1 -side top -fill x -fill y -ipadx 1000 -ipady 1000
set datei [open ${docpath}${file}]
while {[gets $datei zeile] >= 0} {
.op.text insert end "$zeile\n"
}
close $datei
}
# *********************************************************************************************
# **** Function: Read Config File and Command Line Parameter ****
# *********************************************************************************************
proc read_config_file {} {
global path config_file serverSock serverIP config_file Operating_System
global Descent_Propellant_Mass_KG LM_Weight_Ascent_KG LM_Weight_Descent_KG
global Descent_Propulsion_Max_N Descent_Propulsion_Min_N Descent_Specific_Impulse_MS
global RCS_Specific_Impulse_MS RCS_Thrust_N RCS_Propellant_Mass_KG
global Ascent_Propellant_Mass_KG Ascent_Thrust_N Ascent_Specific_Impulse_MS FDAI_Update_Rate
global argv argc
global startup_create_dsky startup_create_lmsys startup_create_sysinp startup_create_crewinp
global startup_create_imugui startup_create_attitude_gui
set serverSock_flag 0
# ------------ Read Command Line Parameter --------------
if {$argc > 0} {
for {set i 0} {$i < $argc} {incr i 1} {
set res [string tolower [lindex $argv $i]]
if {[string range $res 0 6] == "--port="} {set serverSock_flag 1; set serverSock [string range $res 7 end]}
if {[string range $res 0 5] == "--cfg="} {set config_file [string range $res 6 end]}
}
}
# ------------ Read Config File -------------------------
set err [catch {set datei [open ${config_file}]}]
if {$err == 0} {
while {[gets $datei zeile] >= 0} {
set t1 [string tolower [lindex $zeile 0]]
set t2 [string tolower [lindex $zeile 1]]
# ---- Load Simulation Initialization Values ----
if {$t1 == "lm_weight_ascent_kg"} {set LM_Weight_Ascent_KG $t2}
if {$t1 == "lm_weight_descent_kg"} {set LM_Weight_Descent_KG $t2}
if {$t1 == "ascent_propellant_mass_kg"} {set Ascent_Propellant_Mass_KG $t2}
if {$t1 == "ascent_thrust_n"} {set Ascent_Thrust_N $t2}
if {$t1 == "ascent_specific_impulse_ms"} {set Ascent_Specific_Impulse_MS $t2}
if {$t1 == "descent_propellant_mass_kg"} {set Descent_Propellant_Mass_KG $t2}
if {$t1 == "descent_propulsion_min_n"} {set Descent_Propulsion_Min_N $t2}
if {$t1 == "descent_propulsion_max_n"} {set Descent_Propulsion_Max_N $t2}
if {$t1 == "descent_specific_impulse_ms"} {set Descent_Specific_Impulse_MS $t2}
if {$t1 == "rcs_specific_impulse_ms"} {set RCS_Specific_Impulse_MS $t2}
if {$t1 == "rcs_thrust_n"} {set RCS_Thrust_N $t2}
if {$t1 == "rcs_propellant_mass_kg"} {set RCS_Propellant_Mass_KG $t2}
# ---- Load Program Configuration Parameter ----
if {$t1 == "serverip"} {set serverIP $t2}
if {$t1 == "serversocket" && $serverSock_flag == 0} {set serverSock $t2}
if {$t1 == "dsky"} {if {$t2 == "on"} { set startup_create_dsky "on" }}
if {$t1 == "output"} {if {$t2 == "on"} { set startup_create_lmsys "on" }}
if {$t1 == "system"} {if {$t2 == "on"} { set startup_create_sysinp "on" }}
if {$t1 == "crew"} {if {$t2 == "on"} { set startup_create_crewinp "on" }}
if {$t1 == "imu"} {if {$t2 == "on"} { set startup_create_imugui "on" }}
if {$t1 == "attitude"} {if {$t2 == "on"} { set startup_create_attitude_gui "on" }}
if {$t1 == "operating_system"} {set Operating_System $t2}
if {$t1 == "fdai_update_rate"} {set FDAI_Update_Rate $t2}
}
close $datei
}
}
# **********************************************************************************************
# **** Function: Set useful Start Values ****
# **********************************************************************************************
proc set_ini_values {} {
global wdata bmask b bo
# ------------------ Set Initial Data ----------------------------
set wdata(15) "000000000000000"; set wdata(16) "000000000000000"
set wdata(30) "011110011011001"; set wdata(31) "111111111111111"
set wdata(32) "010001111111111"; set wdata(33) "101111111111110"
# ------------------ Set Initial Input Bit Masks -----------------
set bmask(15) "000000000000000"; set bmask(16) "000000001111100"
set bmask(30) "111111111111111"; set bmask(31) "111111111111111"
set bmask(32) "000001111111111"; set bmask(33) "111111111111110"
# ------------------ Initialize Output Array ---------------------
foreach i {5 6 7 10 11 12 13 14 15 16 30 31 32 33 34 35 164 165 166 167 170 171 172 173 174 175 176 177} {
for {set j 0} {$j <= 15} {incr j 1} {
set bo($i,$j) 0
}
}
}
# **********************************************************************************************
# **** Function: Write Start Values into the AGC ****
# **********************************************************************************************
proc write_ini_values {} {
global wdata bmask b bo
foreach i {16 30 31 32 33} {
write_socket w $i
for {set j 0} {$j <= 15} {incr j 1} {
set b($i,[expr 15-$j]) [string index $wdata($i) $j]
}
}
}
# *********************************************************************************************
# **** Function: Convert Binary (11 or 14 Bits) to Decimal ****
# *********************************************************************************************
proc convert_bin_dec {par1} {
if {[string length $par1] < 13} {set par1 "000$par1"}
set dec [string index $par1 13]
set dec [expr $dec + [string index $par1 12] * 2]
set dec [expr $dec + [string index $par1 11] * 4]
set dec [expr $dec + [string index $par1 10] * 8]
set dec [expr $dec + [string index $par1 9] * 16]
set dec [expr $dec + [string index $par1 8] * 32]
set dec [expr $dec + [string index $par1 7] * 64]
set dec [expr $dec + [string index $par1 6] * 128]
set dec [expr $dec + [string index $par1 5] * 256]
set dec [expr $dec + [string index $par1 4] * 512]
set dec [expr $dec + [string index $par1 3] * 1024]
set dec [expr $dec + [string index $par1 2] * 2048]
set dec [expr $dec + [string index $par1 1] * 4096]
set dec [expr $dec + [string index $par1 0] * 8192]
return $dec
}
# *********************************************************************************************
# **** Function: Convert Binary (15 Bits) to Decimal ****
# *********************************************************************************************
proc convert_bin15_dec {par1} {
set dec [string index $par1 14]
set dec [expr $dec + [string index $par1 13] * 2]
set dec [expr $dec + [string index $par1 12] * 4]
set dec [expr $dec + [string index $par1 11] * 8]
set dec [expr $dec + [string index $par1 10] * 16]
set dec [expr $dec + [string index $par1 9] * 32]
set dec [expr $dec + [string index $par1 8] * 64]
set dec [expr $dec + [string index $par1 7] * 128]
set dec [expr $dec + [string index $par1 6] * 256]
set dec [expr $dec + [string index $par1 5] * 512]
set dec [expr $dec + [string index $par1 4] * 1024]
set dec [expr $dec + [string index $par1 3] * 2048]
set dec [expr $dec + [string index $par1 2] * 4096]
set dec [expr $dec + [string index $par1 1] * 8192]
set dec [expr $dec + [string index $par1 0] * 16384]
return $dec
}
# *********************************************************************************************
# **** Function: Convert Binary (7 Bits) to Octal ****
# *********************************************************************************************
proc convert_bin_oct {par1} {
set dec [string index $par1 6]
set dec [expr $dec + [string index $par1 5] * 2]
set dec [expr $dec + [string index $par1 4] * 4]
set dec [expr $dec + [string index $par1 3] * 8]
set dec [expr $dec + [string index $par1 2] * 16]
set dec [expr $dec + [string index $par1 1] * 32]
set dec [expr $dec + [string index $par1 0] * 64]
return [format %o $dec]
}
# *********************************************************************************************
# **** Function: Convert Octal to Binary (7 Bits) ****
# *********************************************************************************************
proc convert_oct_bin {par1} {
set res [format %d 0$par1]
set res2 [format %c $res]
binary scan $res2 B8 res
return [string range $res 1 7]
}
# *********************************************************************************************
# **** Function: Open Client Socket Connection ****
# *********************************************************************************************
proc open_socket {} {
global serverIP serverSock sockChan
set err [catch {set sockChan [socket $serverIP $serverSock]}]
if {$err != 0} {ShowMessageBox "error" "Can't connect to yaAGC!"; exit_program}
fconfigure ${sockChan} -blocking 0 -buffering none -buffersize 0 -encoding binary
}
# *********************************************************************************************
# **** Function: Read 4 Bytes (Sync: 00 01 10 11) from Socket (Main Loop) ****
# *********************************************************************************************
proc read_socket {} {
global sockChan ChanData
global Simulation_Timer Simulation_Timer_Init Delta_Time Delta_Time2
global JET_FLAG flash_flag button_flag bytesReceived bytesSent bytesSentCount FDAI_Update_Rate
set sync ""
set res2 ""
set Delta_Time_int 0
set Delta_Time3 0
set Delta_Time4 0
set Delta_Time5 0
set zeit 0
set i 5
set bytesReceivedCount 0
set FDAI_Update_Rate [expr 1.0 / $FDAI_Update_Rate]
# ---- Main Loop ----
while {1} {
# ---- Read Data from the Socket ----
set res [read $sockChan 1]
if {$res == ""} {
# ---- Dynamic CPU Load Control and Dynamic Simulation ----
set t [expr abs([clock clicks -milliseconds])]
set Delta_Time_int [expr abs($Simulation_Timer_Init - $t)]
set Delta_Time [expr $Delta_Time_int / 1000.0]
set Delta_Time2 [expr $Delta_Time2 + $Delta_Time]
set Simulation_Timer [expr $Simulation_Timer + $Delta_Time]
set Simulation_Timer_Init $t
if {$JET_FLAG == 1} {update_RCS; set zeit 5} else {set zeit 10}
# ---- Update Dynamic Model - Every 25ms ----
if {$Delta_Time2 > 0.025} {
dynamic_simulation
set Delta_Time3 [expr $Delta_Time3 + $Delta_Time2]
set Delta_Time4 [expr $Delta_Time4 + $Delta_Time2]
set Delta_Time5 [expr $Delta_Time5 + $Delta_Time2]
set Delta_Time2 0
# ---- DSKY Flash Signal every 300ms ----
if {$Delta_Time3 > 0.3} {
if {$flash_flag == 0} {set flash_flag 1} else {set flash_flag 0}
set Delta_Time3 0
}
# ---- Update FDAI every 100ms ----
if {$Delta_Time4 > $FDAI_Update_Rate} {
move_fdai_marker
set Delta_Time4 0
}
# ---- Byte Received Counter ----
if {$Delta_Time5 > 1.0} {
set Delta_Time5 0
set bytesReceived $bytesReceivedCount
set bytesSent $bytesSentCount
set bytesReceivedCount 0
set bytesSentCount 0
}
}
# ---- Wait Cycle ----
after $zeit {set zeit 0}; tkwait variable zeit
} else {
# ---- Look for Sync. and Evaluate the Data ----
binary scan $res B2 sync
incr bytesReceivedCount
if {$sync == "00"} {set i 0}
if {$sync != 01 && $i == 1} {set i 5}
if {$sync != 10 && $i == 2} {set i 5}
if {$sync != 11 && $i == 3} {set i 5}
if {$i < 5} {binary scan $res B8 res2; set ChanData($i) $res2; incr i 1}
if {$i == 4} {
process_data
dsky_signals
update
}
}
}
}
# *********************************************************************************************
# **** Function: Process AGC Output (Channel Data and Unprogrammed Sequences) ****
# *********************************************************************************************
proc process_data {} {
global ChanData cdata log_out_flag bo unpSeq colb colact pulse_count_x pulse_count_y pulse_count_z
global m4 JET_FLAG
global Q4U Q4D Q3U Q3D
global Q2U Q2D Q1U Q1D
global Q3A Q4F Q1F Q2A
global Q2L Q3R Q4R Q1L
set data "$ChanData(0)$ChanData(1)$ChanData(2)$ChanData(3)"
set t [string index $data 3]
set channel [string range $data 4 7][string range $data 10 12]
set octChannel [convert_bin_oct $channel]
set tmp2 0
if {$t == 0} {
set cdata($octChannel) [string range $data 13 15][string range $data 18 23][string range $data 26 31]
# ---- Gyro Fine Align if Octal Channel = 0177 ----
if {$octChannel == 177} {gyro_fine_align}
# ----------------------------------------------
# ---- Gyro Coarse Align if Octal Channel = 0174; 0175; 0176 ----
if {$octChannel == 174 || $octChannel == 175 || $octChannel == 176} {gyro_coarse_align $octChannel}
# ---------------------------------------------------------------
# ---- Joystick Channel ----
#if {$octChannel == 31 || $octChannel == 166 || $octChannel == 167 || $octChannel == 170} {read_joystick $octChannel}
# ---- Heart Beat ----
#if {$octChannel == 165} {
# .text insert end "HB: $cdata(165)\n"
# .text yview moveto 1
#}
# ---- Check if there is a Jet Firing on Channel 5 or 6 ----
if {$octChannel == 5 || $octChannel == 6} {
set Q4U $bo(5,1); set Q4D $bo(5,2); set Q3U $bo(5,3); set Q3D $bo(5,4)
set Q2U $bo(5,5); set Q2D $bo(5,6); set Q1U $bo(5,7); set Q1D $bo(5,8)
set Q3A $bo(6,1); set Q4F $bo(6,2); set Q1F $bo(6,3); set Q2A $bo(6,4)
set Q2L $bo(6,5); set Q3R $bo(6,6); set Q4R $bo(6,7); set Q1L $bo(6,8)
if {$Q4U == 0 && $Q4D == 0 && $Q3U == 0 && $Q3D == 0 && $Q2U == 0 && $Q2D == 0 && $Q1U == 0 && $Q1D == 0 && $Q3A == 0 && $Q4F == 0 && $Q1F == 0 && $Q2A == 0 && $Q2L == 0 && $Q3R == 0 && $Q4R == 0 && $Q1L == 0} {set JET_FLAG 0} else {set JET_FLAG 1}
}
for {set j 0} {$j <= 15} {incr j 1} {
set bit [expr 15-$j]
set tmp [string index $cdata($octChannel) $j]
catch {set tmp2 $bo($octChannel,$bit)}
if {$tmp != $tmp2} {
set bo($octChannel,$bit) $tmp
# ---------------- Set Output Signals -------------------
if {[winfo exists .lmsys] == 1 && ($octChannel == 5 || $octChannel == 6 || $octChannel == 11 || $octChannel == 12 || $octChannel == 13 || $octChannel == 14)} {
if {$bo($octChannel,$bit) == 1} {
catch {.lmsys.l_${octChannel}_${bit} configure -background $colact}
} else {
catch {.lmsys.l_${octChannel}_${bit} configure -background $colb}
}
}
}
}
# ---------------- Check if Zero IMU CDU is active ------------------
if {$bo(12,5) == 1 && $m4 == 0} {zeroIMU; set m4 1} elseif {$bo(12,5) == 0 && $m4 == 1} {set m4 0}
if {$log_out_flag == 1} {
catch {.text insert end "Out: [format %2d $octChannel] $channel $cdata($octChannel)\n"}
.text yview moveto 1
}
} else {
if {$log_out_flag == 1} {
set temp [string range $data 13 15][string range $data 18 23][string range $data 26 31]
catch {.text insert end "Out: [format %2d $octChannel] $channel $temp US: $unpSeq($temp)\n"}
.text yview moveto 1
}
}
}
# *********************************************************************************************
# **** Function: Write to Socket (Bitmask; Input Channel and Unprogrammed Sequences) ****
# *********************************************************************************************
proc write_socket {par0 par1} {
global sockChan wdata bmask b unpSeq log_in_flag bytesSentCount
if {$par0 == "b"} {
set wdata($par1) ""
for {set j 15} {$j >= 0} {incr j -1} {set wdata($par1) $wdata($par1)$b($par1,$j)}
}
if {$par0 == "w"} {
for {set j 0} {$j <= 15} {incr j 1} {set b($par1,[expr 15-$j]) [string index $wdata($par1) $j]}
}
set channel [convert_oct_bin $par1]
if {$par0 == "b" || $par0 == "w"} {
if {$log_in_flag == 1} {
.text insert end "In: [format %2d $par1] $channel $wdata($par1) $bmask($par1)\n"
.text yview moveto 1
}
set cd1 "0010[string range $channel 0 3]"
set cd2 "01[string range $channel 4 6][string range $bmask($par1) 0 2]"
set cd3 "10[string range $bmask($par1) 3 8]"
set cd4 "11[string range $bmask($par1) 9 14]"
puts -nonewline $sockChan [binary format B8 $cd1]
puts -nonewline $sockChan [binary format B8 $cd2]
puts -nonewline $sockChan [binary format B8 $cd3]
puts -nonewline $sockChan [binary format B8 $cd4]
set bytesSentCount [expr $bytesSentCount + 4]
set cd1 "0000[string range $channel 0 3]"
set cd2 "01[string range $channel 4 6][string range $wdata($par1) 0 2]"
set cd3 "10[string range $wdata($par1) 3 8]"
set cd4 "11[string range $wdata($par1) 9 14]"
} else {
if {$log_in_flag == 1} {
#.text insert end "IN: [format %2d $par1] $channel $unpSeq($par0) US: $par0\n"
#.text yview moveto 1
}
set cd1 "0001[string range $channel 0 3]"
set cd2 "01[string range $channel 4 6][string range $unpSeq($par0) 0 2]"
set cd3 "10[string range $unpSeq($par0) 3 8]"
set cd4 "11[string range $unpSeq($par0) 9 14]"
}
puts -nonewline $sockChan [binary format B8 $cd1]
puts -nonewline $sockChan [binary format B8 $cd2]
puts -nonewline $sockChan [binary format B8 $cd3]
puts -nonewline $sockChan [binary format B8 $cd4]
set bytesSentCount [expr $bytesSentCount + 4]
flush $sockChan
}
# *********************************************************************************************
# **** Function: Show Message Box ****
# *********************************************************************************************
proc ShowMessageBox {par1 par2} {
global font1
set reply [tk_messageBox -default ok -icon ${par1} -message ${par2} -parent . -title "LM System Simulator" -type ok]
}
# *********************************************************************************************
# **** Function: Start Subprocess yaAGC (for Windows stand-alone Version only) ****
# *********************************************************************************************
proc start_yaAGC {} {
global path
catch {exec cmd.exe /c ${path}yaAGC.bat &}
set zeit 200; after $zeit {set zeit 0}; tkwait variable zeit
}
# *********************************************************************************************
# **** Function: Exit Program ****
# *********************************************************************************************
proc exit_program {} {
exit 0
}
# *********************************************************************************************
# **** Read Sources ****
# *********************************************************************************************
# ----------------------------- Source: AGC DSKY ----------------------------------------------
source $source0
# ----------------------------- Source: AGC Outputs -------------------------------------------
source $source1
# ----------------------------- Source: AGC System Inputs -------------------------------------
source $source2
# ----------------------------- Source: AGC Crew Inputs ---------------------------------------
source $source3
# ----------------------------- Source: AGC IMU -----------------------------------------------
source $source4
# ----------------------------- Source: AGC Attitude ------------------------------------------
source $source5
# *********************************************************************************************
# **** Function: Main ****
# *********************************************************************************************
#start_yaAGC
set_ini_values
read_config_file
open_socket
write_ini_values
create_gui
if {$startup_create_dsky == "on"} {create_dsky; update}
if {$startup_create_lmsys == "on"} {create_lmsys; update}
if {$startup_create_sysinp == "on"} {create_sysinp; update}
if {$startup_create_crewinp == "on"} {create_crewinp; update}
if {$startup_create_imugui == "on"} {create_imugui; update}
if {$startup_create_attitude_gui == "on"} {create_attitude_gui; update}
read_socket
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