diff --git a/README.md b/README.md index f66e778b..f7f13a9e 100644 --- a/README.md +++ b/README.md @@ -21,4 +21,22 @@ This project is currently under development. Use at your own risk. :)

Description of PASEOS workflow on an individual device

+

+ +## Visualising PASEOS +Navigate to paseos/visualization to find a jupyter notebook containing examples of how to visualize PASEOS. +Visualization can be done in interactive mode or as an animation that is saved to disc. +In the figure below, Earth is visualized in the center as a blue sphere with different spacecraft in orbit. +Each spacecraft has a name and if provided, a battery level and a communications device. +The local device is illustrated with white text. +In the upper-right corner, the status of the communication link between each spacecraft is shown. +Finally, the time in the lower left and lower right corners correspond to the epoch and the PASEOS local simulation time. + +

+ + Scheme + +

+ Snapshot of PASEOS visualization +

\ No newline at end of file diff --git a/environment.yml b/environment.yml index 971c8f68..b6704efa 100644 --- a/environment.yml +++ b/environment.yml @@ -2,14 +2,15 @@ name: paseos channels: - conda-forge dependencies: - - dotmap - - loguru - - myst-parser - - pykep - - pytest - - python - - scikit-spatial - - sphinx - - sphinx_rtd_theme - - toml - - tqdm +- dotmap +- loguru +- matplotlib +- myst-parser +- pykep +- pytest +- python +- scikit-spatial +- sphinx +- sphinx_rtd_theme +- toml +- tqdm \ No newline at end of file diff --git a/examples/visualization/example_jupyter.ipynb b/examples/visualization/example_jupyter.ipynb new file mode 100644 index 00000000..36d98b24 --- /dev/null +++ b/examples/visualization/example_jupyter.ipynb @@ -0,0 +1,1161 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Visualization of PASEOS\n", + "\n", + "First load the necessary packages" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[32m13:26:10\u001b[0m|PASEOS-\u001b[34mDEBUG\u001b[0m| \u001b[34m\u001b[1mSetting LogLevel to DEBUG\u001b[0m\n", + "\u001b[32m13:26:10\u001b[0m|PASEOS-\u001b[34mDEBUG\u001b[0m| \u001b[34m\u001b[1mLoaded module.\u001b[0m\n" + ] + } + ], + "source": [ + "%load_ext autoreload\n", + "%autoreload 2\n", + "\n", + "# If you haven't installed PASEOS\n", + "import sys\n", + "sys.path.append(\"../..\")\n", + "\n", + "# We use pykep for orbit determination\n", + "import pykep as pk\n", + "\n", + "import paseos\n", + "from paseos.actors.spacecraft_actor import SpacecraftActor\n", + "from paseos.actors.actor_builder import ActorBuilder\n", + "paseos.set_log_level(\"INFO\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "For animations in notebooks you currently need to use `%matplotlib notebook`. This is supported by Jupyter Notebook, but, e.g., VSCode currently does not support this." + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "%matplotlib notebook" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Create a PASEOS object. Add some actors" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + " # Define central body\n", + "earth = pk.planet.jpl_lp(\"earth\")\n", + "sat1 = ActorBuilder.get_actor_scaffold(\n", + " \"sat1\", SpacecraftActor, [0, 0, 0], pk.epoch(0)\n", + " )\n", + "sat2 = ActorBuilder.get_actor_scaffold(\n", + " \"sat2\", SpacecraftActor, [0, 0, 0], pk.epoch(0)\n", + ")\n", + "\n", + "# Define local actor\n", + "sat3 = ActorBuilder.get_actor_scaffold(\n", + " \"sat3\", SpacecraftActor, [10000000, 0, 0], pk.epoch(0)\n", + ")\n", + "ActorBuilder.set_orbit(sat3, [-10000000, 0.1, 0.1], [0, 8000.0, 0], pk.epoch(0), earth)\n", + "ActorBuilder.set_power_devices(sat3, 500, 10000, 1)\n", + "\n", + "sat4 = ActorBuilder.get_actor_scaffold(\n", + " \"sat4\", SpacecraftActor, [10000000, 0, 0], pk.epoch(0)\n", + ")\n", + "ActorBuilder.set_orbit(sat4, [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth)\n", + "\n", + "\n", + "ActorBuilder.set_orbit(\n", + " sat1,\n", + " position=[10000000, 1e-3, 1e-3],\n", + " velocity=[1e-3, 8000, 1e-3],\n", + " epoch=pk.epoch(0),\n", + " central_body=earth,\n", + ")\n", + "ActorBuilder.set_orbit(\n", + " sat2,\n", + " position=[10000000, 1e-3, 1e-3],\n", + " velocity=[1e-3, -8000, 1e-3],\n", + " epoch=pk.epoch(0),\n", + " central_body=earth,\n", + ")\n", + "\n", + "# Add communication link\n", + "ActorBuilder.add_comm_device(sat1, device_name=\"link1\", bandwidth_in_kbps=1)\n", + "ActorBuilder.add_comm_device(sat2, device_name=\"link1\", bandwidth_in_kbps=2)\n", + "ActorBuilder.set_power_devices(sat1, 500, 10000, 1)\n", + "ActorBuilder.set_power_devices(sat2, 500, 10000, 1)\n", + "sim = paseos.init_sim(sat1)\n", + "sim.add_known_actor(sat2)\n", + "sim.add_known_actor(sat3)\n", + "sim.add_known_actor(sat4)" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "data": { + "application/javascript": [ + "/* Put everything inside the global mpl namespace */\n", + "/* global mpl */\n", + "window.mpl = {};\n", + "\n", + "mpl.get_websocket_type = function () {\n", + " if (typeof WebSocket !== 'undefined') {\n", + " return WebSocket;\n", + " } else if (typeof MozWebSocket !== 'undefined') {\n", + " return MozWebSocket;\n", + " } else {\n", + " alert(\n", + " 'Your browser does not have WebSocket support. 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Matplotlib will then trigger a resize in the client,\n", + " // which will in turn request a refresh of the image.\n", + " this.send_message('resize', { width: x_pixels, height: y_pixels });\n", + "};\n", + "\n", + "mpl.figure.prototype.send_message = function (type, properties) {\n", + " properties['type'] = type;\n", + " properties['figure_id'] = this.id;\n", + " this.ws.send(JSON.stringify(properties));\n", + "};\n", + "\n", + "mpl.figure.prototype.send_draw_message = function () {\n", + " if (!this.waiting) {\n", + " this.waiting = true;\n", + " this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " var format_dropdown = fig.format_dropdown;\n", + " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n", + " fig.ondownload(fig, format);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_resize = function (fig, msg) {\n", + " var size = msg['size'];\n", + " if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n", + " fig._resize_canvas(size[0], size[1], msg['forward']);\n", + " fig.send_message('refresh', {});\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n", + " var x0 = msg['x0'] / fig.ratio;\n", + " var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n", + " var x1 = msg['x1'] / fig.ratio;\n", + " var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n", + " x0 = Math.floor(x0) + 0.5;\n", + " y0 = Math.floor(y0) + 0.5;\n", + " x1 = Math.floor(x1) + 0.5;\n", + " y1 = Math.floor(y1) + 0.5;\n", + " var min_x = Math.min(x0, x1);\n", + " var min_y = Math.min(y0, y1);\n", + " var width = Math.abs(x1 - x0);\n", + " var height = Math.abs(y1 - y0);\n", + "\n", + " fig.rubberband_context.clearRect(\n", + " 0,\n", + " 0,\n", + " fig.canvas.width / fig.ratio,\n", + " fig.canvas.height / fig.ratio\n", + " );\n", + "\n", + " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n", + " // Updates the figure title.\n", + " fig.header.textContent = msg['label'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n", + " fig.rubberband_canvas.style.cursor = msg['cursor'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_message = function (fig, msg) {\n", + " fig.message.textContent = msg['message'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n", + " // Request the server to send over a new figure.\n", + " fig.send_draw_message();\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n", + " fig.image_mode = msg['mode'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n", + " for (var key in msg) {\n", + " if (!(key in fig.buttons)) {\n", + " continue;\n", + " }\n", + " fig.buttons[key].disabled = !msg[key];\n", + " fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n", + " if (msg['mode'] === 'PAN') {\n", + " fig.buttons['Pan'].classList.add('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " } else if (msg['mode'] === 'ZOOM') {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.add('active');\n", + " } else {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Called whenever the canvas gets updated.\n", + " this.send_message('ack', {});\n", + "};\n", + "\n", + "// A function to construct a web socket function for onmessage handling.\n", + "// Called in the figure constructor.\n", + "mpl.figure.prototype._make_on_message_function = function (fig) {\n", + " return function socket_on_message(evt) {\n", + " if (evt.data instanceof Blob) {\n", + " var img = evt.data;\n", + " if (img.type !== 'image/png') {\n", + " /* FIXME: We get \"Resource interpreted as Image but\n", + " * transferred with MIME type text/plain:\" errors on\n", + " * Chrome. But how to set the MIME type? It doesn't seem\n", + " * to be part of the websocket stream */\n", + " img.type = 'image/png';\n", + " }\n", + "\n", + " /* Free the memory for the previous frames */\n", + " if (fig.imageObj.src) {\n", + " (window.URL || window.webkitURL).revokeObjectURL(\n", + " fig.imageObj.src\n", + " );\n", + " }\n", + "\n", + " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n", + " img\n", + " );\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " } else if (\n", + " typeof evt.data === 'string' &&\n", + " evt.data.slice(0, 21) === 'data:image/png;base64'\n", + " ) {\n", + " fig.imageObj.src = evt.data;\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " }\n", + "\n", + " var msg = JSON.parse(evt.data);\n", + " var msg_type = msg['type'];\n", + "\n", + " // Call the \"handle_{type}\" callback, which takes\n", + " // the figure and JSON message as its only arguments.\n", + " try {\n", + " var callback = fig['handle_' + msg_type];\n", + " } catch (e) {\n", + " console.log(\n", + " \"No handler for the '\" + msg_type + \"' message type: \",\n", + " msg\n", + " );\n", + " return;\n", + " }\n", + "\n", + " if (callback) {\n", + " try {\n", + " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n", + " callback(fig, msg);\n", + " } catch (e) {\n", + " console.log(\n", + " \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n", + " e,\n", + " e.stack,\n", + " msg\n", + " );\n", + " }\n", + " }\n", + " };\n", + "};\n", + "\n", + "// from https://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n", + "mpl.findpos = function (e) {\n", + " //this section is from http://www.quirksmode.org/js/events_properties.html\n", + " var targ;\n", + " if (!e) {\n", + " e = window.event;\n", + " }\n", + " if (e.target) {\n", + " targ = e.target;\n", + " } else if (e.srcElement) {\n", + " targ = e.srcElement;\n", + " }\n", + " if (targ.nodeType === 3) {\n", + " // defeat Safari bug\n", + " targ = targ.parentNode;\n", + " }\n", + "\n", + " // pageX,Y are the mouse positions relative to the document\n", + " var boundingRect = targ.getBoundingClientRect();\n", + " var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n", + " var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n", + "\n", + " return { x: x, y: y };\n", + "};\n", + "\n", + "/*\n", + " * return a copy of an object with only non-object keys\n", + " * we need this to avoid circular references\n", + " * https://stackoverflow.com/a/24161582/3208463\n", + " */\n", + "function simpleKeys(original) {\n", + " return Object.keys(original).reduce(function (obj, key) {\n", + " if (typeof original[key] !== 'object') {\n", + " obj[key] = original[key];\n", + " }\n", + " return obj;\n", + " }, {});\n", + "}\n", + "\n", + "mpl.figure.prototype.mouse_event = function (event, name) {\n", + " var canvas_pos = mpl.findpos(event);\n", + "\n", + " if (name === 'button_press') {\n", + " this.canvas.focus();\n", + " this.canvas_div.focus();\n", + " }\n", + "\n", + " var x = canvas_pos.x * this.ratio;\n", + " var y = canvas_pos.y * this.ratio;\n", + "\n", + " this.send_message(name, {\n", + " x: x,\n", + " y: y,\n", + " button: event.button,\n", + " step: event.step,\n", + " guiEvent: simpleKeys(event),\n", + " });\n", + "\n", + " /* This prevents the web browser from automatically changing to\n", + " * the text insertion cursor when the button is pressed. We want\n", + " * to control all of the cursor setting manually through the\n", + " * 'cursor' event from matplotlib */\n", + " event.preventDefault();\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n", + " // Handle any extra behaviour associated with a key event\n", + "};\n", + "\n", + "mpl.figure.prototype.key_event = function (event, name) {\n", + " // Prevent repeat events\n", + " if (name === 'key_press') {\n", + " if (event.key === this._key) {\n", + " return;\n", + " } else {\n", + " this._key = event.key;\n", + " }\n", + " }\n", + " if (name === 'key_release') {\n", + " this._key = null;\n", + " }\n", + "\n", + " var value = '';\n", + " if (event.ctrlKey && event.key !== 'Control') {\n", + " value += 'ctrl+';\n", + " }\n", + " else if (event.altKey && event.key !== 'Alt') {\n", + " value += 'alt+';\n", + " }\n", + " else if (event.shiftKey && event.key !== 'Shift') {\n", + " value += 'shift+';\n", + " }\n", + "\n", + " value += 'k' + event.key;\n", + "\n", + " this._key_event_extra(event, name);\n", + "\n", + " this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n", + " if (name === 'download') {\n", + " this.handle_save(this, null);\n", + " } else {\n", + " this.send_message('toolbar_button', { name: name });\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n", + " this.message.textContent = tooltip;\n", + "};\n", + "\n", + "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n", + "// prettier-ignore\n", + "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n", + "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n", + "\n", + "mpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n", + "\n", + "mpl.default_extension = \"png\";/* global mpl */\n", + "\n", + "var comm_websocket_adapter = function (comm) {\n", + " // Create a \"websocket\"-like object which calls the given IPython comm\n", + " // object with the appropriate methods. Currently this is a non binary\n", + " // socket, so there is still some room for performance tuning.\n", + " var ws = {};\n", + "\n", + " ws.binaryType = comm.kernel.ws.binaryType;\n", + " ws.readyState = comm.kernel.ws.readyState;\n", + " function updateReadyState(_event) {\n", + " if (comm.kernel.ws) {\n", + " ws.readyState = comm.kernel.ws.readyState;\n", + " } else {\n", + " ws.readyState = 3; // Closed state.\n", + " }\n", + " }\n", + " comm.kernel.ws.addEventListener('open', updateReadyState);\n", + " comm.kernel.ws.addEventListener('close', updateReadyState);\n", + " comm.kernel.ws.addEventListener('error', updateReadyState);\n", + "\n", + " ws.close = function () {\n", + " comm.close();\n", + " };\n", + " ws.send = function (m) {\n", + " //console.log('sending', m);\n", + " comm.send(m);\n", + " };\n", + " // Register the callback with on_msg.\n", + " comm.on_msg(function (msg) {\n", + " //console.log('receiving', msg['content']['data'], msg);\n", + " var data = msg['content']['data'];\n", + " if (data['blob'] !== undefined) {\n", + " data = {\n", + " data: new Blob(msg['buffers'], { type: data['blob'] }),\n", + " };\n", + " }\n", + " // Pass the mpl event to the overridden (by mpl) onmessage function.\n", + " ws.onmessage(data);\n", + " });\n", + " return ws;\n", + "};\n", + "\n", + "mpl.mpl_figure_comm = function (comm, msg) {\n", + " // This is the function which gets called when the mpl process\n", + " // starts-up an IPython Comm through the \"matplotlib\" channel.\n", + "\n", + " var id = msg.content.data.id;\n", + " // Get hold of the div created by the display call when the Comm\n", + " // socket was opened in Python.\n", + " var element = document.getElementById(id);\n", + " var ws_proxy = comm_websocket_adapter(comm);\n", + "\n", + " function ondownload(figure, _format) {\n", + " window.open(figure.canvas.toDataURL());\n", + " }\n", + "\n", + " var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n", + "\n", + " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n", + " // web socket which is closed, not our websocket->open comm proxy.\n", + " ws_proxy.onopen();\n", + "\n", + " fig.parent_element = element;\n", + " fig.cell_info = mpl.find_output_cell(\"
\");\n", + " if (!fig.cell_info) {\n", + " console.error('Failed to find cell for figure', id, fig);\n", + " return;\n", + " }\n", + " fig.cell_info[0].output_area.element.on(\n", + " 'cleared',\n", + " { fig: fig },\n", + " fig._remove_fig_handler\n", + " );\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_close = function (fig, msg) {\n", + " var width = fig.canvas.width / fig.ratio;\n", + " fig.cell_info[0].output_area.element.off(\n", + " 'cleared',\n", + " fig._remove_fig_handler\n", + " );\n", + " fig.resizeObserverInstance.unobserve(fig.canvas_div);\n", + "\n", + " // Update the output cell to use the data from the current canvas.\n", + " fig.push_to_output();\n", + " var dataURL = fig.canvas.toDataURL();\n", + " // Re-enable the keyboard manager in IPython - without this line, in FF,\n", + " // the notebook keyboard shortcuts fail.\n", + " IPython.keyboard_manager.enable();\n", + " fig.parent_element.innerHTML =\n", + " '';\n", + " fig.close_ws(fig, msg);\n", + "};\n", + "\n", + "mpl.figure.prototype.close_ws = function (fig, msg) {\n", + " fig.send_message('closing', msg);\n", + " // fig.ws.close()\n", + "};\n", + "\n", + "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n", + " // Turn the data on the canvas into data in the output cell.\n", + " var width = this.canvas.width / this.ratio;\n", + " var dataURL = this.canvas.toDataURL();\n", + " this.cell_info[1]['text/html'] =\n", + " '';\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Tell IPython that the notebook contents must change.\n", + " IPython.notebook.set_dirty(true);\n", + " this.send_message('ack', {});\n", + " var fig = this;\n", + " // Wait a second, then push the new image to the DOM so\n", + " // that it is saved nicely (might be nice to debounce this).\n", + " setTimeout(function () {\n", + " fig.push_to_output();\n", + " }, 1000);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'btn-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " var button;\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " continue;\n", + " }\n", + "\n", + " button = fig.buttons[name] = document.createElement('button');\n", + " button.classList = 'btn btn-default';\n", + " button.href = '#';\n", + " button.title = name;\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " // Add the status bar.\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message pull-right';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "\n", + " // Add the close button to the window.\n", + " var buttongrp = document.createElement('div');\n", + " buttongrp.classList = 'btn-group inline pull-right';\n", + " button = document.createElement('button');\n", + " button.classList = 'btn btn-mini btn-primary';\n", + " button.href = '#';\n", + " button.title = 'Stop Interaction';\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', function (_evt) {\n", + " fig.handle_close(fig, {});\n", + " });\n", + " button.addEventListener(\n", + " 'mouseover',\n", + " on_mouseover_closure('Stop Interaction')\n", + " );\n", + " buttongrp.appendChild(button);\n", + " var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n", + " titlebar.insertBefore(buttongrp, titlebar.firstChild);\n", + "};\n", + "\n", + "mpl.figure.prototype._remove_fig_handler = function (event) {\n", + " var fig = event.data.fig;\n", + " if (event.target !== this) {\n", + " // Ignore bubbled events from children.\n", + " return;\n", + " }\n", + " fig.close_ws(fig, {});\n", + "};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (el) {\n", + " el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (el) {\n", + " // this is important to make the div 'focusable\n", + " el.setAttribute('tabindex', 0);\n", + " // reach out to IPython and tell the keyboard manager to turn it's self\n", + " // off when our div gets focus\n", + "\n", + " // location in version 3\n", + " if (IPython.notebook.keyboard_manager) {\n", + " IPython.notebook.keyboard_manager.register_events(el);\n", + " } else {\n", + " // location in version 2\n", + " IPython.keyboard_manager.register_events(el);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (event, _name) {\n", + " // Check for shift+enter\n", + " if (event.shiftKey && event.which === 13) {\n", + " this.canvas_div.blur();\n", + " // select the cell after this one\n", + " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n", + " IPython.notebook.select(index + 1);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " fig.ondownload(fig, null);\n", + "};\n", + "\n", + "mpl.find_output_cell = function (html_output) {\n", + " // Return the cell and output element which can be found *uniquely* in the notebook.\n", + " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n", + " // IPython event is triggered only after the cells have been serialised, which for\n", + " // our purposes (turning an active figure into a static one), is too late.\n", + " var cells = IPython.notebook.get_cells();\n", + " var ncells = cells.length;\n", + " for (var i = 0; i < ncells; i++) {\n", + " var cell = cells[i];\n", + " if (cell.cell_type === 'code') {\n", + " for (var j = 0; j < cell.output_area.outputs.length; j++) {\n", + " var data = cell.output_area.outputs[j];\n", + " if (data.data) {\n", + " // IPython >= 3 moved mimebundle to data attribute of output\n", + " data = data.data;\n", + " }\n", + " if (data['text/html'] === html_output) {\n", + " return [cell, data, j];\n", + " }\n", + " }\n", + " }\n", + " }\n", + "};\n", + "\n", + "// Register the function which deals with the matplotlib target/channel.\n", + "// The kernel may be null if the page has been refreshed.\n", + "if (IPython.notebook.kernel !== null) {\n", + " IPython.notebook.kernel.comm_manager.register_target(\n", + " 'matplotlib',\n", + " mpl.mpl_figure_comm\n", + " );\n", + "}\n" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "text/html": [ + "" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Plot current status of PASEOS and get a plotter\n", + "plotter = paseos.plot(sim, paseos.PlotType.SpacePlot)" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": { + "scrolled": false + }, + "outputs": [], + "source": [ + "# Run some operations and inbetween update PASEOS\n", + "for i in range(100):\n", + " sim.advance_time(10)\n", + " plotter.update(sim)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "scrolled": true + }, + "outputs": [], + "source": [ + "# Write an animation of the next 50 steps a 100s to a file called test.mp4\n", + "plotter.animate(sim,dt=100,steps=50,save_to_file=\"test\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.6" + }, + "vscode": { + "interpreter": { + "hash": "cec805858b69cacb2b7ad611a1d16c309b9d5c2fd3283013a8f0cd0423ba3fc5" + } + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/paseos/__init__.py b/paseos/__init__.py index f4b0f3cf..962470b7 100644 --- a/paseos/__init__.py +++ b/paseos/__init__.py @@ -4,10 +4,12 @@ from .utils.set_log_level import set_log_level from .paseos import PASEOS +from .visualization.plot import plot, PlotType from .actors.actor_builder import ActorBuilder from .actors.spacecraft_actor import SpacecraftActor from .actors.ground_station_actor import GroundstationActor + set_log_level("DEBUG") logger.debug("Loaded module.") @@ -27,4 +29,11 @@ def init_sim(local_actor: BaseActor): return sim -__all__ = ["ActorBuilder", "GroundstationActor", "SpacecraftActor", "PASEOS"] +__all__ = [ + "ActorBuilder", + "GroundstationActor", + "PASEOS", + "plot", + "PlotType", + "SpacecraftActor", +] diff --git a/paseos/actors/ground_station_actor.py b/paseos/actors/ground_station_actor.py index da2d95e6..e6706a5a 100644 --- a/paseos/actors/ground_station_actor.py +++ b/paseos/actors/ground_station_actor.py @@ -7,9 +7,7 @@ class GroundstationActor(BaseActor): """This class models a groundstation actor.""" - def __init__( - self, name: str, position, epoch: pk.epoch - ) -> None: + def __init__(self, name: str, position, epoch: pk.epoch) -> None: """Constructor for a groundstation actor. Args: diff --git a/paseos/actors/spacecraft_actor.py b/paseos/actors/spacecraft_actor.py index 6e10d5f4..4006415b 100644 --- a/paseos/actors/spacecraft_actor.py +++ b/paseos/actors/spacecraft_actor.py @@ -82,7 +82,6 @@ def charge(self, t0: pk.epoch, t1: pk.epoch): Args: t0 (pk.epoch): Start of the charging interval t1 (pk.epoch): End of the charging interval - """ time_interval = (t1.mjd2000 - t0.mjd2000) * pk.DAY2SEC logger.debug(f"Charging actor {self} for {time_interval}s.") diff --git a/paseos/paseos.py b/paseos/paseos.py index 424d91da..ee6f2346 100644 --- a/paseos/paseos.py +++ b/paseos/paseos.py @@ -144,7 +144,8 @@ def register_activity( Args: name (str): Name of the activity - requires_line_of_sight_to (list): List of strings with names of actors which need to be visible for this activity. + requires_line_of_sight_to (list): List of strings with names of actors which + need to be visible for this activity. power_consumption_in_watt (float, optional): Power consumption of performing the activity (per second). Defaults to None. """ diff --git a/paseos/tests/visualization_test.py b/paseos/tests/visualization_test.py new file mode 100644 index 00000000..ee0ec513 --- /dev/null +++ b/paseos/tests/visualization_test.py @@ -0,0 +1,30 @@ +"""Tests to check visualization.""" +import sys + +sys.path.append("../..") +from paseos import ActorBuilder, SpacecraftActor +from paseos.visualization.space_animation import SpaceAnimation +from test_utils import get_default_instance +import pykep as pk + + +def test_animation(): + """Simple test to verify that the animation executes without errors.""" + sim, sat1, earth = get_default_instance() + + sat2 = ActorBuilder.get_actor_scaffold( + "sat2", SpacecraftActor, [10000000, 0, 0], pk.epoch(0) + ) + ActorBuilder.set_orbit(sat2, [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth) + ActorBuilder.set_power_devices(sat2, 5000, 10000, 1) + sim.add_known_actor(sat2) + + anim = SpaceAnimation(sim) + + dt = 100 + for t in range(10): + anim.animate(sim, dt) + + +if __name__ == "__main__": + test_animation() diff --git a/paseos/visualization/animation.py b/paseos/visualization/animation.py new file mode 100644 index 00000000..1be4e97d --- /dev/null +++ b/paseos/visualization/animation.py @@ -0,0 +1,44 @@ +from abc import ABC, abstractmethod +from paseos.paseos import PASEOS + + +class Animation(ABC): + """Abstract class for visualization.""" + + def __init__(self, sim: PASEOS) -> None: + """Initialize the animation + + Args: + sim (PASEOS): simulation object + """ + self._local_actor = sim.local_actor + self._other_actors = sim.known_actors + self.objects = list() + + def _sec_to_ddhhmmss(self, time: float) -> str: + """Convert seconds to ddhhmmss format + + Args: + time (float): time in seconds + + Returns: + str: time in ddhhmmss. + """ + m, s = divmod(time, 60) + h, m = divmod(m, 60) + d, h = divmod(h, 24) + return f"T={d:.0f}d{h:.0f}h{m:.0f}m{s:.0f}s" + + @abstractmethod + def _plot_actors(self) -> None: + """Function to plot all the actors""" + pass + + @abstractmethod + def update(self, sim: PASEOS) -> None: + """Function to update all the objects in the animation + + Args: + sim (PASEOS): simulation object + """ + pass diff --git a/paseos/visualization/plot.py b/paseos/visualization/plot.py new file mode 100644 index 00000000..580cae60 --- /dev/null +++ b/paseos/visualization/plot.py @@ -0,0 +1,33 @@ +from enum import Enum + +from ..paseos import PASEOS +from .space_animation import SpaceAnimation + + +class PlotType(Enum): + """Describes the different plot types + 1 - SpacePlot + """ + + SpacePlot = 1 + + +def plot(sim: PASEOS, plot_type: PlotType): + """Creates the animation object + + Args: + sim (PASEOS): simulation object + plot_type (PlotType): enum deciding what kind of plot object to be made + + Raises: + ValueError: supplied plot type not supported + + Returns: + Animation: Animation object + """ + if plot_type is PlotType.SpacePlot: + return SpaceAnimation(sim) + else: + raise ValueError( + f"PlotType {plot_type} not known. Available are {[e for e in PlotType]}" + ) diff --git a/paseos/visualization/space_animation.py b/paseos/visualization/space_animation.py new file mode 100644 index 00000000..058b79e6 --- /dev/null +++ b/paseos/visualization/space_animation.py @@ -0,0 +1,430 @@ +import numpy as np +from dotmap import DotMap +from typing import List +import matplotlib.pyplot as plt +import matplotlib.animation as animation +from matplotlib.artist import Artist +from matplotlib.colors import LinearSegmentedColormap +from mpl_toolkits.axes_grid1 import make_axes_locatable +from loguru import logger + +from paseos.actors.base_actor import BaseActor +from paseos.actors.spacecraft_actor import SpacecraftActor +from paseos.actors.ground_station_actor import GroundstationActor +from paseos.paseos import PASEOS +from paseos.visualization.animation import Animation + + +class SpaceAnimation(Animation): + """This class visualizes the central body, local actor and known actors over time.""" + + def __init__(self, sim: PASEOS, n_trajectory: int = 32) -> None: + """Initialize the space animation object + + Args: + sim (PASEOS): simulation object + n_trajectory (int): number of samples in tail of actor + """ + super().__init__(sim) + logger.debug("Initializing animation") + # Create list of objects to be plotted + current_actors = self._make_actor_list(sim) + self._norm_coeff = self._local_actor._central_body.radius + + for known_actor in current_actors: + pos, _ = known_actor.get_position_velocity(self._local_actor.local_time) + pos_norm = [x / self._norm_coeff for x in pos] + self.objects.append(DotMap(actor=known_actor, positions=np.array(pos_norm))) + + with plt.style.context("dark_background"): + + # Create figure for 3d animation + self.fig, default_ax = plt.subplots( + 1, + 2, + figsize=(10, 5), + facecolor="black", + dpi=100, + layout="constrained", + gridspec_kw={"width_ratios": [3.5, 1]}, + ) + + # Removing defaultax to add projection + default_ax[0].remove() + self.ax_3d = plt.subplot(121, projection="3d") + + # Get rid of the panes + self.ax_3d.xaxis.set_pane_color((1.0, 1.0, 1.0, 0.0)) + self.ax_3d.yaxis.set_pane_color((1.0, 1.0, 1.0, 0.0)) + self.ax_3d.zaxis.set_pane_color((1.0, 1.0, 1.0, 0.0)) + + # Get rid of the spines + self.ax_3d.xaxis.line.set_color((1.0, 1.0, 1.0, 0.0)) + self.ax_3d.yaxis.line.set_color((1.0, 1.0, 1.0, 0.0)) + self.ax_3d.zaxis.line.set_color((1.0, 1.0, 1.0, 0.0)) + self.ax_3d.get_xaxis().set_ticks([]) + self.ax_3d.get_yaxis().set_ticks([]) + self.ax_3d.get_zaxis().set_ticks([]) + + # how many samples from histories to visualize + self.n_trajectory = n_trajectory + self._textbox_offset = 0.1 + + # Create figure for LOS + default_ax[1].remove() + self.ax_los = plt.subplot(122) + xaxis = np.arange(len(current_actors)) + self.ax_los.set_position([0.75, 0.7, 0.2, 0.2]) + self.ax_los.set_xticks(xaxis) + self.ax_los.set_yticks(xaxis) + self.ax_los.set_xticklabels(current_actors, fontsize=8) + self.ax_los.set_yticklabels(current_actors, fontsize=8) + + # plot the objects + self._plot_central_body() + self._plot_actors() + los_matrix = self._get_los_matrix(current_actors) + self._plot_los(los_matrix) + + # Write text labels + self.date_label = plt.annotate( + self._local_actor.local_time, + xy=(0.01, 0.01), + xycoords="figure fraction", + ) + self.time_label = plt.annotate( + f"t={sim._state.time:<10.2e}", + xy=(0.99, 0.01), + xycoords="figure fraction", + horizontalalignment="right", + ) + + plt.ion() + plt.show() + plt.pause(0.0001) + + def _plot_central_body(self) -> None: + """Plot the central object as a sphere of radius 1""" + central_body = self._local_actor._central_body + central_body.radius + + u, v = np.mgrid[0 : 2 * np.pi : 30j, 0 : np.pi : 20j] + x = np.cos(u) * np.sin(v) + y = np.sin(u) * np.sin(v) + z = np.cos(v) + self.ax_3d.plot_surface(x, y, z, color="blue", alpha=0.5) + + def _get_los_matrix(self, current_actors: List[BaseActor]) -> np.ndarray: + """Compute line-of-sight (LOS) between all actors + + Args: + current_actors (List[BaseActor]): All actors in the simulation + + Returns: + np.ndarray: LOS matrix with nonzero elements if actors are in LOS + """ + local_time = self._local_actor.local_time + los_matrix = np.identity(len(current_actors)) + + for i, a1 in enumerate(current_actors): + for j, a2 in enumerate(current_actors[i + 1 :]): + if a1.is_in_line_of_sight(a2, local_time) is True: + los_matrix[i, j + i + 1] = 1.0 + + # make los_matrix symmetric with diagonal entries equal to 0.5 to make colorbar nicer + los_matrix = los_matrix + los_matrix.T - 1.5 * np.diag(np.diag(los_matrix)) + return los_matrix + + def _populate_textbox(self, actor: BaseActor) -> str: + """Extracts information from an actor and builds a string + + Args: + actor (BaseActor): an actor + + Returns: + str: text to populate the textbox. + """ + info_str = f"{actor.name}" + if isinstance(actor, SpacecraftActor): + if actor.battery_level_in_Ws is not None: + battery_level = actor.battery_level_ratio * 100 + info_str += f"\nBattery: {battery_level:.0f}%" + + for name in actor.communication_devices.keys(): + info = actor.communication_devices[name] + info_str += f"\nCommDevice1: {info.bandwidth_in_kbps} kbps" + elif isinstance(actor, GroundstationActor): + # TODO: implement textbox for groundstation + raise NotImplementedError( + "SpacePlot is currently not implemented for actor type" + type(actor) + ) + else: + raise NotImplementedError( + "SpacePlot is currently not implemented for actor type" + type(actor) + ) + + return info_str + + def _plot_los(self, los_matrix: np.ndarray) -> None: + """Plot the LOS links in a heat map + + Args: + los_matrix (np.ndarray): matrix telling what satellites can see each other. + """ + # Create new colormap, with black for two + colors = [(255, 0, 0), (0, 0, 0), (0, 255, 0)] + new_map = LinearSegmentedColormap.from_list("new_map", colors, N=3) + self._los_plot = self.ax_los.matshow(los_matrix, cmap=new_map, vmin=0, vmax=1) + + divider = make_axes_locatable(self.ax_los) + cax = divider.append_axes("right", size="5%", pad=0.05) + + cbar = self.fig.colorbar(self._los_plot, ticks=[0, 1], cax=cax) + cbar.ax.set_yticklabels(["no signal", "signal"]) + + def _plot_actors(self) -> None: + """Plots all the actors""" + logger.trace("Updating actors.") + + for obj in self.objects: + data = obj.positions + if data.ndim == 1: + data = data[..., np.newaxis].T + n_points = np.minimum(data.shape[0], self.n_trajectory) + + logger.trace(f"Position for object: {data}") + if "plot" in obj.keys(): + # spacecraft and ground stations behave differently and are plotted separately + if isinstance(obj.actor, SpacecraftActor): + logger.trace("Updating SpacecraftActor.") + + # update trajectory + obj.plot.trajectory.set_data(data[-n_points:, :2].T) + obj.plot.trajectory.set_3d_properties(data[-n_points:, 2].T) + + # update satellite position + obj.plot.point.set_data_3d(data[-1, :]) + + # update text box + actor_info = self._populate_textbox(obj.actor) + obj.plot.text.set_position_3d(data[-1, :] + self._textbox_offset) + obj.plot.text.set_text(actor_info) + + elif isinstance(obj.actor, GroundstationActor): + # TODO: implement update of groundstation object + pass + else: + if isinstance(obj.actor, SpacecraftActor): + trajectory = self.ax_3d.plot3D(data[0, 0], data[0, 1], data[0, 2])[ + 0 + ] + obj.plot.trajectory = trajectory + obj.plot.point = self.ax_3d.plot( + data[0, 0], + data[0, 1], + data[0, 2], + "x", + color=trajectory.get_color(), + )[0] + actor_info = self._populate_textbox(obj.actor) + if obj.actor == self._local_actor: + obj.plot.text = self.ax_3d.text( + data[0, 0] + self._textbox_offset, + data[0, 1] + self._textbox_offset, + data[0, 2] + self._textbox_offset, + actor_info, + # bbox=dict(facecolor="mediumspringgreen"), + verticalalignment="bottom", + clip_on=True, + fontsize=8, + ) + + else: + obj.plot.text = self.ax_3d.text( + data[0, 0] + self._textbox_offset, + data[0, 1] + self._textbox_offset, + data[0, 2] + self._textbox_offset, + actor_info, + # bbox=dict(facecolor="white"), + color="lightskyblue", + verticalalignment="bottom", + clip_on=True, + fontsize=8, + ) + + elif isinstance(obj.actor, GroundstationActor): + # TODO: implement initial rendering of groundstation object + raise NotImplementedError( + "SpacePlot is currently not implemented for actor type" + + type(obj.actor) + ) + + self.ax_3d.set_box_aspect( + ( + np.ptp(self.ax_3d.get_xlim()), + np.ptp(self.ax_3d.get_ylim()), + np.ptp(self.ax_3d.get_zlim()), + ) + ) + + def _make_actor_list(self, sim: PASEOS) -> List[BaseActor]: + """Arranges all actors (including the local) into a list + + Args: + sim (PASEOS): simulation object. + + Returns: + List[BaseActor]: list of all the actors known to local actor (including itself) + """ + if len(sim.known_actors) > 0: + current_actors = [sim.local_actor] + list(sim.known_actors.values()) + else: + current_actors = [sim.local_actor] + return current_actors + + def update(self, sim: PASEOS, creating_animation=False) -> None: + """Updates the animation with the current actor information + + Args: + sim (PASEOS): simulation object. + creating_animation (bool): If currently creating an animation. Then draw_idle will be used. Defaults to False. + """ + logger.trace("Updating animation") + # NOTE: the actors in sim are unique so make use of sets + objects_in_plot = set([obj.actor for obj in self.objects]) + current_actors = set(self._make_actor_list(sim)) + + # if objects do not exist in known actors, remove from plot next update. + objects_to_remove = list(objects_in_plot.difference(current_actors)) + + # if known_actor does not exist in objects, add the actors and update in plot + objects_to_add = list(current_actors.difference(objects_in_plot)) + + plot_objects_to_remove = [ + x for x in self.objects if x.actor in objects_to_remove + ] + for obj in plot_objects_to_remove: + obj.plot.trajectory.remove() + obj.plot.point.remove() + obj.plot.text.remove() + + self.objects = [x for x in self.objects if x.actor not in objects_to_remove] + + for obj_to_add in objects_to_add: + self.objects.append(DotMap(actor=obj_to_add)) + + # update positions of objects + for known_actor in current_actors: + for obj in self.objects: + if obj.actor == known_actor: + pos, _ = known_actor.get_position_velocity( + self._local_actor.local_time + ) + pos_norm = [x / self._norm_coeff for x in pos] + if "positions" in obj: + if obj.positions.shape[0] > self.n_trajectory: + obj.positions = np.roll(obj.positions, shift=-1, axis=0) + obj.positions[-1, :] = pos_norm + else: + obj.positions = np.vstack((obj.positions, pos_norm)) + else: + obj.positions = np.array(pos_norm) + self._plot_actors() + + # Step through trajectories to find max and min values in each direction + coords_max = [ + self.ax_3d.get_xlim()[1], + self.ax_3d.get_ylim()[1], + self.ax_3d.get_zlim()[1], + ] + coords_min = [ + self.ax_3d.get_xlim()[0], + self.ax_3d.get_ylim()[0], + self.ax_3d.get_zlim()[0], + ] + for obj in self.objects: + coords_max = np.maximum(obj.positions.max(axis=0), coords_max) + coords_min = np.minimum(obj.positions.min(axis=0), coords_min) + self.ax_3d.set_xlim(coords_min[0], coords_max[0]) + self.ax_3d.set_ylim(coords_min[1], coords_max[1]) + self.ax_3d.set_zlim(coords_min[2], coords_max[2]) + + # Update LOS heatmap + current_actors = list(current_actors) + los_matrix = self._get_los_matrix(current_actors) + self._los_plot.set_data(los_matrix) + xaxis = np.arange(len(current_actors)) + self.ax_los.set_xticks(xaxis) + self.ax_los.set_yticks(xaxis) + self.ax_los.set_xticklabels(current_actors, fontsize=8) + self.ax_los.set_yticklabels(current_actors, fontsize=8) + + if creating_animation: + self.fig.canvas.draw_idle() + else: + self.fig.canvas.draw() + plt.pause(0.0001) + + # on some systems the below line throws an error. presumably due to pykep? + try: + self.date_label.set_text(self._local_actor.local_time) + except RuntimeError: + logger.trace("Animation date label could not be updated.") + + self.time_label.set_text(f"t={sim._state.time:<10.2e}") + + logger.debug("Plot updated.") + + def _animate(self, sim: PASEOS, dt: float) -> List[Artist]: + """Advances the time of sim, updates the plot, and returns the axis objects + + Args: + sim (PASEOS): simulation object. + dt (float): size of time step + + Returns: + List[Artist]: list of Artist objects + """ + sim.advance_time(dt) + self.update(sim, creating_animation=True) + return self.ax_3d.get_children() + self.ax_los.get_children() + + def _animation_wrapper(self, step: int, sim: PASEOS, dt: float) -> List[Artist]: + """Wrapper to allow for frame numbers from animation + + Args: + step (int): current frame number of the animation + sim (PASEOS): simulation object. + dt (float): size of time step + + Returns: + List[Artist]: list of Artist objects + """ + return self._animate(sim, dt) + + def animate( + self, sim: PASEOS, dt: float, steps: int = 1, save_to_file: str = None + ) -> None: + """Animates paseos for a given number of steps with dt in each step. + + Args: + sim (PASEOS): simulation object. + dt (float): size of time step + steps (int, optional): number of steps to animate. Defaults to 1. + save_to_file (str, optional): filename to save the animation. Defaults to None. + """ + if save_to_file is None: + self._animate(sim, dt) + else: + anim = animation.FuncAnimation( + self.fig, + self._animation_wrapper, + frames=steps, + fargs=( + sim, + dt, + ), + interval=20, + blit=True, + ) # blit means to only redraw parts that changed + anim.save(f"{save_to_file}.mp4", writer="ffmpeg", fps=30) diff --git a/requirements.txt b/requirements.txt index 5d292ddb..16d05d7e 100644 --- a/requirements.txt +++ b/requirements.txt @@ -3,4 +3,5 @@ loguru pykep scikit-spatial toml -tqdm \ No newline at end of file +tqdm +matplotlib diff --git a/resources/images/animation.png b/resources/images/animation.png new file mode 100644 index 00000000..74660eed Binary files /dev/null and b/resources/images/animation.png differ