From c45693689cb5de41963f699bc9da0405e232f14f Mon Sep 17 00:00:00 2001
From: Uwe Fechner <uwe.fechner.msc@gmail.com>
Date: Fri, 4 Oct 2024 23:14:16 +0200
Subject: [PATCH] Stable branch, updated dependencies and examples (#79)

* improve test_init.jl

* add files to .gitignore

* add files to .gitignore

* add parking_4p.jl

* add KiteUtils

* add kite.obj

* use main version of KiteUtils

* cleanup

* Bump KiteUtils to 0.7.12

* fix Project.toml
---
 .gitignore                |    4 +-
 Project.toml              |    2 +-
 data/kite.obj             | 4746 +++++++++++++++++++++++++++++++++++++
 examples/test_init.jl     |   37 +-
 examples_3d/Project.toml  |   55 +
 examples_3d/parking_4p.jl |   93 +
 6 files changed, 4917 insertions(+), 20 deletions(-)
 create mode 100644 data/kite.obj
 create mode 100644 examples_3d/Project.toml
 create mode 100644 examples_3d/parking_4p.jl

diff --git a/.gitignore b/.gitignore
index 67eeded6..4e268346 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,5 +33,7 @@ bin/kps-image-1.10-1-Bart-1-main.so
 bin/kps-image-1.10-kps4_3l_example.so
 data/settings_v9.yaml
 data/system_v9.yaml
-data/tmp.arrow
 data/settings_v9b.yaml
+data/tmp.arrow
+examples_3d/Manifest.toml
+
diff --git a/Project.toml b/Project.toml
index 87ee1f52..e35ea25f 100644
--- a/Project.toml
+++ b/Project.toml
@@ -40,7 +40,7 @@ DiffEqBase = "6.152.2"
 DocStringExtensions = "0.8, 0.9"
 Documenter = "1.0"
 KitePodModels = "0.3.4"
-KiteUtils = "0.7.10"
+KiteUtils = "0.7.12"
 LaTeXStrings = "1.3.1"
 ModelingToolkit = "~9.38.0"
 NLsolve = "4.5"
diff --git a/data/kite.obj b/data/kite.obj
new file mode 100644
index 00000000..22af0e4e
--- /dev/null
+++ b/data/kite.obj
@@ -0,0 +1,4746 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object kite.obj
+#
+# Vertices: 944
+# Faces: 1860
+#
+####
+mtllib ./kite.obj.mtl
+
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+vt 0.048957 0.063901
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+vt 0.028002 0.023844
+vt 0.028001 0.060798
+vt 0.022831 0.028985
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+vt 0.018145 0.042321
+vt 0.019393 0.035347
+vt 0.019393 0.049295
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+vt 0.022831 0.055657
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+vt 0.034447 0.064105
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+f 667/963/667 932/977/932 695/978/695
+f 712/963/712 474/978/474 742/964/742
+# 1860 faces, 978 coords texture
+
+# End of File
diff --git a/examples/test_init.jl b/examples/test_init.jl
index d8527ac6..f1c6861d 100644
--- a/examples/test_init.jl
+++ b/examples/test_init.jl
@@ -27,22 +27,10 @@ STATISTIC = false
 DEPOWER = 0.47:-0.005:0.355
 # end of user parameter section #
 
-function quat2euler(q)
-    # Convert quaternion to RotXYZ
-    rot = RotXYZ(q)
-    
-    # Extract roll, pitch, and yaw from RotXYZ
-    roll = rot.theta1
-    pitch = rot.theta2
-    yaw = rot.theta3
-
-    return roll, pitch, yaw
-end
-
 elev = set.elevation
 i = 1
 set.v_wind = V_WIND # 25
-logger = Logger(set.segments + 5, STEPS)
+logger::Logger = Logger(set.segments + 5, STEPS)
 
 kcu::KCU = KCU(set)
 kps4::KPS4 = KPS4(kcu)
@@ -55,13 +43,26 @@ println("Lift: $lift, Drag: $drag, elev: $elev, Iterations: $(kps4.iter)")
 
 q = QuatRotation(sys_state.orient)
 # println(q)
-roll, pitch, yaw = rad2deg.(quat2euler(q))
+roll, pitch, yaw = rad2deg.(KiteUtils.quat2euler(q))
 println("roll: ", roll, " pitch: ", pitch, " yaw: ", yaw)
-println("x:", kps4.x)
-println("y:", kps4.y)
-println("z:", kps4.z)
+println("x:", kps4.x) # from trailing edge to leading edge in ENU reference frame
+println("y:", kps4.y) # to the right looking in flight direction
+println("z:", kps4.z) # down
+azimuth = calc_azimuth(kps4)
+println("azimuth: ", round(rad2deg(azimuth), digits = 2), "°")
 
 # print point C and point D
 pos_C, pos_D = kps4.pos[kps4.set.segments+4], kps4.pos[kps4.set.segments+5]
 
-println(kps4.alpha_2, " ", kps4.alpha_3, " ", kps4.alpha_4)
+# print alpha2, alpha3, alpha4
+println("alpha2, alpha3, alpha4: ", kps4.alpha_2, " ", kps4.alpha_3, " ", kps4.alpha_4)
+println("heading: ", round(rad2deg(calc_heading(kps4)), digits = 2), "°")
+
+# output on main branch
+# Lift: 1047.1795339611076, Drag: 281.39765463928745, elev: 72.77014, Iterations: 1552
+# roll: -0.0 pitch: 5.755691707832273 yaw: 90.00000250447816
+# x:[-0.9949585608372032, 0.0, 0.10028689952711267]
+# y:[0.0, 1.0, 0.0]
+# z:[-0.10028689952711267, -2.8981421002141166e-19, -0.9949585608372032]
+# alpha2, alpha3, alpha4: 7.546125780476343 10.000000853773646 10.000000853773646
+
diff --git a/examples_3d/Project.toml b/examples_3d/Project.toml
new file mode 100644
index 00000000..3318a2af
--- /dev/null
+++ b/examples_3d/Project.toml
@@ -0,0 +1,55 @@
+[deps]
+AtmosphericModels = "c59cac55-771d-4f45-b14d-1c681463a295"
+ControlPlots = "23c2ee80-7a9e-4350-b264-8e670f12517c"
+DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
+Dierckx = "39dd38d3-220a-591b-8e3c-4c3a8c710a94"
+DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e"
+DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+KiteModels = "b94af626-7959-4878-9336-2adc27959007"
+KitePodModels = "9de5dc81-f971-414a-927b-652b2f41c539"
+KiteUtils = "90980105-b163-44e5-ba9f-8b1c83bb0533"
+KiteViewers = "2e593061-95e7-45e4-95f4-df0491f2e601"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
+NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
+OrdinaryDiffEqBDF = "6ad6398a-0878-4a85-9266-38940aa047c8"
+OrdinaryDiffEqCore = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
+OrdinaryDiffEqSDIRK = "2d112036-d095-4a1e-ab9a-08536f3ecdbf"
+Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
+Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
+Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+Serialization = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+SteadyStateDiffEq = "9672c7b4-1e72-59bd-8a11-6ac3964bc41f"
+Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
+SymbolicIndexingInterface = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
+Timers = "21f18d07-b854-4dab-86f0-c15a3821819a"
+WinchModels = "7dcfa46b-7979-4771-bbf4-0aee0da42e1f"
+
+[compat]
+AtmosphericModels = "0.2"
+DataInterpolations = "6.2.0"
+Dierckx = "0.5"
+DiffEqBase = "6.152.2"
+DocStringExtensions = "0.8, 0.9"
+KitePodModels = "0.3.4"
+KiteUtils = "0.7.12"
+ModelingToolkit = "~9.35.1"
+NLsolve = "4.5"
+OrdinaryDiffEqBDF = "1.1.1"
+OrdinaryDiffEqCore = "1.4.0"
+OrdinaryDiffEqSDIRK = "1.1.0"
+Parameters = "0.12"
+Pkg = "1.10"
+PrecompileTools = "1.2"
+Reexport = "1.1, 1.2"
+Rotations = "1.3"
+StaticArrays = "1.9"
+SteadyStateDiffEq = "2.3.0"
+Sundials = "4.24"
+SymbolicIndexingInterface = "0.3.27"
+Timers = "0.1.5"
+WinchModels = "0.3.3"
+julia = "1.10"
diff --git a/examples_3d/parking_4p.jl b/examples_3d/parking_4p.jl
new file mode 100644
index 00000000..20bde9e3
--- /dev/null
+++ b/examples_3d/parking_4p.jl
@@ -0,0 +1,93 @@
+using Printf
+
+using Pkg
+if ! ("KiteViewers" ∈ keys(Pkg.project().dependencies))
+    Pkg.activate("examples_3d")
+    pkg"add ControlPlots#main"
+    pkg"add KiteModels#stable"
+end
+using KiteModels, KitePodModels, KiteUtils, Rotations, StaticArrays
+using ControlPlots, KiteViewers
+
+set = deepcopy(se())
+
+# the following values can be changed to match your interest
+dt = 0.05
+set.solver="DFBDF"              # IDA or DFBDF
+set.linear_solver="GMRES"       # GMRES, LapackDense or Dense
+STEPS = 352
+PRINT = false
+STATISTIC = false
+PLOT=true
+UPWIND_DIR2       = -pi/2+deg2rad(10)     # Zero is at north; clockwise positive
+ZOOM = true
+FRONT_VIEW = true
+SHOW_KITE = true
+# end of user parameter section #
+
+kcu::KCU = KCU(set)
+kps4::KPS4 = KPS4(kcu)
+viewer::Viewer3D = Viewer3D(SHOW_KITE)
+
+v_time = zeros(STEPS)
+v_speed = zeros(STEPS)
+v_force = zeros(STEPS)
+heading = zeros(STEPS)
+
+function simulate(integrator, steps, plot=true)
+    iter = 0
+    for i in 1:steps
+        acc = 0.0
+        v_time[i] = kps4.t_0
+        v_speed[i] = kps4.v_reel_out
+        v_force[i] = winch_force(kps4)
+        heading[i] = rad2deg(wrap2pi(calc_heading(kps4)))
+        set_speed = kps4.sync_speed+acc*dt
+        if PRINT
+            lift, drag = KiteModels.lift_drag(kps4)
+            @printf "%.2f: " round(integrator.t, digits=2)
+            println("lift, drag  [N]: $(round(lift, digits=2)), $(round(drag, digits=2))")
+        end
+        steering = 0
+        if i > 200
+            steering = -0.043
+        end
+        set_depower_steering(kps4.kcu, kps4.depower, steering)
+
+        KiteModels.next_step!(kps4, integrator; set_speed, dt, upwind_dir=UPWIND_DIR2)
+        iter += kps4.iter
+        if plot
+            reltime = i*dt-dt
+            if mod(i, 5) == 1
+                plot2d(kps4.pos, reltime; zoom=true, front=FRONT_VIEW, 
+                       segments=set.segments, fig="front_view") 
+                sleep(0.05)           
+            end
+        end
+        sys_state = SysState(kps4)
+        KiteViewers.update_system(viewer, sys_state; scale = 0.08, kite_scale=3)
+    end
+    iter / steps
+end
+
+integrator = KiteModels.init_sim!(kps4, delta=0, stiffness_factor=0.5, prn=STATISTIC)
+
+println("\nStarting simulation...")
+simulate(integrator, STEPS)
+if PLOT
+    p = plotx(v_time[1:STEPS-100], v_speed[1:STEPS-100], v_force[1:STEPS-100]; ylabels=["v_reelout  [m/s]","tether_force [N]"], fig="winch")
+    # display(p)
+end
+lift, drag = KiteModels.lift_drag(kps4)
+println("lift, drag  [N]: $(round(lift, digits=2)), $(round(drag, digits=2))")
+
+println("v_wind: $(kps4.v_wind)")
+println("UPWIND_DIR2: $(rad2deg(UPWIND_DIR2))°")
+pos = pos_kite(kps4)
+println("pos_y: $(round(pos[2], digits=2))")
+# for an  UPWIND_DIR2 of -80°, pos_y must be negative, also v_wind[2] must be negative
+# this is OK
+
+# print heading
+println("heading: $(round(heading[STEPS], digits=2))°")
+plot(v_time, heading; xlabel="time [s]", ylabel="heading [°]", fig="heading")
\ No newline at end of file