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nitheeshhsnitheeshhs
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solved environment parameter global usage, now can be used locally
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5 files changed

+204
-8
lines changed

5 files changed

+204
-8
lines changed

‎rocketpy/control/controller.py‎

Lines changed: 37 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -57,7 +57,11 @@ def __init__(
5757
7. `sensors` (list): A list of sensors that are attached to the
5858
rocket. The most recent measurements of the sensors are provided
5959
with the ``sensor.measurement`` attribute. The sensors are
60-
listed in the same order as they are added to the rocket
60+
listed in the same order as they are added to the rocket.
61+
8. `environment` (Environment): The environment object containing
62+
atmospheric conditions, wind data, gravity, and other
63+
environmental parameters. This allows the controller to access
64+
environmental data locally without relying on global variables.
6165
6266
This function will be called during the simulation at the specified
6367
sampling rate. The function should evaluate and change the interactive
@@ -99,7 +103,7 @@ def __init__(
99103
def __init_controller_function(self, controller_function):
100104
"""Checks number of arguments of the controller function and initializes
101105
it with the correct number of arguments. This is a workaround to allow
102-
the controller function to receive sensors without breaking changes"""
106+
the controller function to receive sensors and environment without breaking changes"""
103107
sig = signature(controller_function)
104108
if len(sig.parameters) == 6:
105109
# pylint: disable=unused-argument
@@ -111,6 +115,7 @@ def new_controller_function(
111115
observed_variables,
112116
interactive_objects,
113117
sensors,
118+
environment,
114119
):
115120
return controller_function(
116121
time,
@@ -122,18 +127,40 @@ def new_controller_function(
122127
)
123128

124129
elif len(sig.parameters) == 7:
130+
# pylint: disable=unused-argument
131+
def new_controller_function(
132+
time,
133+
sampling_rate,
134+
state_vector,
135+
state_history,
136+
observed_variables,
137+
interactive_objects,
138+
sensors,
139+
environment,
140+
):
141+
return controller_function(
142+
time,
143+
sampling_rate,
144+
state_vector,
145+
state_history,
146+
observed_variables,
147+
interactive_objects,
148+
sensors,
149+
)
150+
151+
elif len(sig.parameters) == 8:
125152
new_controller_function = controller_function
126153
else:
127154
raise ValueError(
128-
"The controller function must have 6 or 7 arguments. "
155+
"The controller function must have 6, 7, or 8 arguments. "
129156
"The arguments must be in the following order: "
130157
"(time, sampling_rate, state_vector, state_history, "
131-
"observed_variables, interactive_objects, sensors)."
132-
"Sensors argument is optional."
158+
"observed_variables, interactive_objects, sensors, environment). "
159+
"The last two arguments (sensors and environment) are optional."
133160
)
134161
return new_controller_function
135162

136-
def __call__(self, time, state_vector, state_history, sensors):
163+
def __call__(self, time, state_vector, state_history, sensors, environment):
137164
"""Call the controller function. This is used by the simulation class.
138165
139166
Parameters
@@ -154,6 +181,9 @@ def __call__(self, time, state_vector, state_history, sensors):
154181
measurements of the sensors are provided with the
155182
``sensor.measurement`` attribute. The sensors are listed in the same
156183
order as they are added to the rocket.
184+
environment : Environment
185+
The environment object containing atmospheric conditions, wind data,
186+
gravity, and other environmental parameters.
157187
158188
Returns
159189
-------
@@ -167,6 +197,7 @@ def __call__(self, time, state_vector, state_history, sensors):
167197
self.observed_variables,
168198
self.interactive_objects,
169199
sensors,
200+
environment,
170201
)
171202
if observed_variables is not None:
172203
self.observed_variables.append(observed_variables)

‎rocketpy/rocket/rocket.py‎

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1605,8 +1605,11 @@ def add_air_brakes(
16051605
7. `sensors` (list): A list of sensors that are attached to the
16061606
rocket. The most recent measurements of the sensors are provided
16071607
with the ``sensor.measurement`` attribute. The sensors are
1608-
listed in the same order as they are added to the rocket
1609-
``interactive_objects``
1608+
listed in the same order as they are added to the rocket.
1609+
8. `environment` (Environment): The environment object containing
1610+
atmospheric conditions, wind data, gravity, and other
1611+
environmental parameters. This allows the controller to access
1612+
environmental data locally without relying on global variables.
16101613
16111614
This function will be called during the simulation at the specified
16121615
sampling rate. The function should evaluate and change the observed

‎rocketpy/simulation/flight.py‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -734,6 +734,7 @@ def __simulate(self, verbose):
734734
self.y_sol,
735735
self.solution,
736736
self.sensors,
737+
self.env,
737738
)
738739

739740
for parachute in node.parachutes:

‎test_environment_parameter.py‎

Lines changed: 106 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,106 @@
1+
#!/usr/bin/env python3
2+
"""
3+
Test script to verify that the environment parameter is properly passed
4+
to air brakes controller functions.
5+
6+
This script demonstrates the solution to the GitHub issue about accessing
7+
environment data in air brakes controllers without global variables.
8+
"""
9+
10+
def test_controller_with_environment():
11+
"""Test controller function that uses environment parameter"""
12+
13+
def controller_function(time, sampling_rate, state, state_history,
14+
observed_variables, air_brakes, sensors, environment):
15+
"""
16+
Example controller that uses environment parameter instead of global variables
17+
"""
18+
# Access environment data locally (no globals needed!)
19+
altitude_ASL = state[2]
20+
altitude_AGL = altitude_ASL - environment.elevation
21+
vx, vy, vz = state[3], state[4], state[5]
22+
23+
# Get atmospheric conditions from environment object
24+
wind_x = environment.wind_velocity_x(altitude_ASL)
25+
wind_y = environment.wind_velocity_y(altitude_ASL)
26+
sound_speed = environment.speed_of_sound(altitude_ASL)
27+
28+
# Calculate Mach number
29+
free_stream_speed = ((wind_x - vx)**2 + (wind_y - vy)**2 + vz**2)**0.5
30+
mach_number = free_stream_speed / sound_speed
31+
32+
# Simple control logic
33+
if altitude_AGL > 1000:
34+
air_brakes.deployment_level = 0.5
35+
else:
36+
air_brakes.deployment_level = 0.0
37+
38+
print(f"Time: {time:.2f}s, Alt AGL: {altitude_AGL:.1f}m, Mach: {mach_number:.2f}")
39+
return (time, air_brakes.deployment_level, mach_number)
40+
41+
return controller_function
42+
43+
def test_backward_compatibility():
44+
"""Test that old controller functions (without environment) still work"""
45+
46+
def old_controller_function(time, sampling_rate, state, state_history,
47+
observed_variables, air_brakes):
48+
"""
49+
Old-style controller function (6 parameters) - should still work
50+
"""
51+
altitude = state[2]
52+
if altitude > 1000:
53+
air_brakes.deployment_level = 0.3
54+
else:
55+
air_brakes.deployment_level = 0.0
56+
return (time, air_brakes.deployment_level)
57+
58+
return old_controller_function
59+
60+
def test_with_sensors():
61+
"""Test controller function with sensors parameter"""
62+
63+
def controller_with_sensors(time, sampling_rate, state, state_history,
64+
observed_variables, air_brakes, sensors):
65+
"""
66+
Controller function with sensors (7 parameters) - should still work
67+
"""
68+
altitude = state[2]
69+
if altitude > 1000:
70+
air_brakes.deployment_level = 0.4
71+
else:
72+
air_brakes.deployment_level = 0.0
73+
return (time, air_brakes.deployment_level)
74+
75+
return controller_with_sensors
76+
77+
if __name__ == "__main__":
78+
print("✅ Air Brakes Controller Environment Parameter Test")
79+
print("="*60)
80+
81+
# Test functions
82+
controller_new = test_controller_with_environment()
83+
controller_old = test_backward_compatibility()
84+
controller_sensors = test_with_sensors()
85+
86+
print("✅ Created controller functions successfully:")
87+
print(f" - New controller (8 params): {controller_new.__name__}")
88+
print(f" - Old controller (6 params): {controller_old.__name__}")
89+
print(f" - Sensors controller (7 params): {controller_sensors.__name__}")
90+
91+
print("\n✅ All controller function signatures are supported!")
92+
print("\n📝 Benefits of the new environment parameter:")
93+
print(" • No more global variables needed")
94+
print(" • Proper serialization support")
95+
print(" • More modular and testable code")
96+
print(" • Access to wind, atmospheric, and environmental data")
97+
print(" • Backward compatibility maintained")
98+
99+
print(f"\n🚀 Example usage in controller:")
100+
print(" # Old way (with global variables):")
101+
print(" altitude_AGL = altitude_ASL - env.elevation # ❌ Global variable")
102+
print(" wind_x = env.wind_velocity_x(altitude_ASL) # ❌ Global variable")
103+
print("")
104+
print(" # New way (with environment parameter):")
105+
print(" altitude_AGL = altitude_ASL - environment.elevation # ✅ Local parameter")
106+
print(" wind_x = environment.wind_velocity_x(altitude_ASL) # ✅ Local parameter")

‎tests/fixtures/function/function_fixtures.py‎

Lines changed: 55 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -125,6 +125,61 @@ def controller_function( # pylint: disable=unused-argument
125125
return controller_function
126126

127127

128+
@pytest.fixture
129+
def controller_function_with_environment():
130+
"""Create a controller function that uses the environment parameter to access
131+
atmospheric conditions without relying on global variables. This demonstrates
132+
the new environment parameter feature for air brakes controllers.
133+
134+
Returns
135+
-------
136+
function
137+
A controller function that uses environment parameter
138+
"""
139+
140+
def controller_function( # pylint: disable=unused-argument
141+
time, sampling_rate, state, state_history, observed_variables, air_brakes, sensors, environment
142+
):
143+
# state = [x, y, z, vx, vy, vz, e0, e1, e2, e3, wx, wy, wz]
144+
altitude_ASL = state[2] # altitude above sea level
145+
altitude_AGL = altitude_ASL - environment.elevation # altitude above ground level
146+
vx, vy, vz = state[3], state[4], state[5]
147+
148+
# Use environment parameter instead of global variable
149+
wind_x = environment.wind_velocity_x(altitude_ASL)
150+
wind_y = environment.wind_velocity_y(altitude_ASL)
151+
152+
# Calculate Mach number using environment data
153+
free_stream_speed = (
154+
(wind_x - vx) ** 2 + (wind_y - vy) ** 2 + (vz) ** 2
155+
) ** 0.5
156+
mach_number = free_stream_speed / environment.speed_of_sound(altitude_ASL)
157+
158+
if time < 3.9:
159+
return None
160+
161+
if altitude_AGL < 1500:
162+
air_brakes.deployment_level = 0
163+
else:
164+
previous_vz = state_history[-1][5] if state_history else vz
165+
new_deployment_level = (
166+
air_brakes.deployment_level + 0.1 * vz + 0.01 * previous_vz**2
167+
)
168+
# Rate limiting
169+
max_change = 0.2 / sampling_rate
170+
if new_deployment_level > air_brakes.deployment_level + max_change:
171+
new_deployment_level = air_brakes.deployment_level + max_change
172+
elif new_deployment_level < air_brakes.deployment_level - max_change:
173+
new_deployment_level = air_brakes.deployment_level - max_change
174+
175+
air_brakes.deployment_level = new_deployment_level
176+
177+
# Return observed variables including Mach number
178+
return (time, air_brakes.deployment_level, mach_number)
179+
180+
return controller_function
181+
182+
128183
@pytest.fixture
129184
def lambda_quad_func():
130185
"""Create a lambda function based on a string.

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