Repository: aidotse/PASEOS (language: python)

Issue:
Power/Battery Modeling
# Feature
## Desired Behavior / Functionality
We want to model the power consumption / availability during spacecraft operations. Thus, the following things should be considered:
* Is the spacecraft currently charging (solar power -> in central body's shadow?) (for high accuracy this would need a proper model of solar system ephemerides but we can probably make some simplifications to start)
* Battery level and capacity of the spacecraft
* Power consumption of activity (e.g. training)

## What Needs to Be Done

* Add battery levels and charging rates to actors
* Perform charging in certain interval (TBD)
* Add code to check for eclipse by central body
* Provide below API to user

Suggested user-space functions

### Register activity
Used to register an activity (e.g. train ML model, send data to other actor, etc.)
#### Inputs
* Power consumption [float in Watt] (optional, otherwise specified during activity if e.g. duration dependent) 
* Requres line-of-sight to other satellite [bool]
#### Outputs
N/A


### Perform activity
Used to perform an activity (e.g. train ML model, send data to other actor, etc.)
#### Inputs
* If not specified before: Total power consumption [float in Watt] (user needs to consider duration)
#### Outputs
* Performed successfully [bool] - False if not enough power / line of sight

## How Can It Be Tested
Create a simple actor and let them perform some actions. Should add dedicated tests.
Creating accurate State of Charge (SoC) curve modelling.
# Feature
We want to model a proper space battery SoC charge/discharge curve depending on the provided-power/power consumption in a dt.  We can create a simple battery model having typical Lithium ions SoC behaviour. The model can be used to improve #8.

## Desired Behavior / Functionality
* Modelling Lithium ions SoC behaviour (V almost independent of the SoC).
* Modelling proper SoC vs Energy provided/discharge.

## What Needs to Be Done
* Checking already available python packages/battery models
* Implementing battery charge/discharge models 
* Integrate model in #8 

## How Can It Be Tested
* TBD (it depends on the availability of previous sources)



Discussion / hints:
Modelling the state of charge of batteries could be tricky. We need to see if there is anything around for some batteries.
> Modelling the state of charge of batteries could be tricky. We need to see if there is anything around for some batteries.

I thought we'd agreed we just start with a simple linear model and go for something more involved later??
Maybe this is useful? Critical review of on-board capacity estimation techniques for lithium-ion batteries in electric and hybrid electric vehicles (https://www.sciencedirect.com/science/article/abs/pii/S0378775315001457)
[Mentioned in](https://github.com/aidotse/PASEOS/issues/8#issuecomment-1273075097) #8 

> Maybe this is useful? Critical review of on-board capacity estimation techniques for lithium-ion batteries in electric and hybrid electric vehicles (https://www.sciencedirect.com/science/article/abs/pii/S0378775315001457)

Fix patch:
diff --git a/README.md b/README.md
index b98c3306..f66e778b 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,24 @@
 # PASEOS
 PASEOS - PAseos Simulates the Environment for Operating multiple Spacecraft 
+
+This project is currently under development. Use at your own risk. :)
+
+## How PASEOS works
+
+<p align="center">
+  <a href="https://github.com/aidotse/PASEOS/">
+    <img src="resources/images/datastructure.svg" alt="Scheme"  width="910" height="459">
+  </a>
+  <p align="center">
+    Description of PASEOS data structure
+  </p>
+</p>
+
+<p align="center">
+  <a href="https://github.com/aidotse/PASEOS/">
+    <img src="resources/images/flowchart.svg" alt="Scheme"  width="910" height="459">
+  </a>
+  <p align="center">
+    Description of PASEOS workflow on an individual device
+  </p>
+</p>
\ No newline at end of file
diff --git a/paseos/__init__.py b/paseos/__init__.py
index 4196757d..68fe775f 100644
--- a/paseos/__init__.py
+++ b/paseos/__init__.py
@@ -1,5 +1,7 @@
 from loguru import logger
 
+from paseos.actors.base_actor import BaseActor
+
 from .utils.set_log_level import set_log_level
 from .paseos import PASEOS
 from .actors.spacecraft_actor import SpacecraftActor
@@ -10,9 +12,17 @@
 logger.debug("Loaded module.")
 
 
-def init_sim():
+def init_sim(local_actor: BaseActor):
+    """Initializes PASEOS
+
+    Args:
+        local_actor (BaseActor): The actor linked to the local device which is required to model anything.
+
+    Returns:
+        PASEOS: Instance of the simulation (only one can exist, singleton)
+    """
     logger.debug("Initializing simulation.")
-    sim = PASEOS()
+    sim = PASEOS(local_actor=local_actor)
     return sim
 
 
diff --git a/paseos/actors/base_actor.py b/paseos/actors/base_actor.py
index 91c0474f..219e47b9 100644
--- a/paseos/actors/base_actor.py
+++ b/paseos/actors/base_actor.py
@@ -15,16 +15,20 @@ class BaseActor(ABC):
     # Actor name, has to be unique
     name = None
 
+    # Timestep this actor's info is at (excl. pos/vel)
+    _local_time = None
+
     # Orbital parameters of the actor, stored in a pykep planet object
     _orbital_parameters = None
 
-    # Constraint for max bandwidth used when comms are available
-    _max_bandwidth_kbps = None
-
     # Earth as a sphere (for now)
     # TODO replace this in the future depending on central body
+    # Note that this needs to be specified in solar reference frame for now
     _central_body_sphere = Sphere([0, 0, 0], 6371000)
 
+    # Central body this actor is orbiting
+    _central_body = None
+
     def __init__(
         self, name: str, position, velocity, epoch: pk.epoch, central_body: pk.planet
     ) -> None:
@@ -38,8 +42,11 @@ def __init__(
             central_body (pk.planet): pykep central body
         """
         logger.trace("Instantiating Actor.")
+        BaseActor._check_init_value_sensibility(position, velocity)
         super().__init__()
         self.name = name
+        self._local_time = epoch
+        self._central_body = central_body
         self._orbital_parameters = pk.planet.keplerian(
             epoch,
             position,
@@ -51,9 +58,51 @@ def __init__(
             name,
         )
 
+    @staticmethod
+    def _check_init_value_sensibility(
+        position,
+        velocity,
+    ):
+        """A function to check user inputs for sensibility
+
+        Args:
+            position (list of floats): [x,y,z]
+            velocity (list of floats): [vx,vy,vz]
+        """
+        logger.trace("Checking constructor values for sensibility.")
+        assert len(position) == 3, "Position has to have 3 elements (x,y,z)"
+        assert len(velocity) == 3, "Velocity has to have 3 elements (vx,vy,vz)"
+
     def __str__(self):
         return self._orbital_parameters.name
 
+    def set_time(self, t: pk.epoch):
+        """Updates the local time of the actor.
+
+        Args:
+            t (pk.epoch): Local time to set to.
+        """
+        self._local_time = t
+
+    def charge(self, t0: pk.epoch, t1: pk.epoch):
+        """Charges the actor during that period. Not implemented by default.
+
+        Args:
+            t0 (pk.epoch): Start of the charging interval
+            t1 (pk.epoch): End of the charging interval
+
+        """
+        pass
+
+    def discharge(self, consumption_rate_in_W: float, duration_in_s: float):
+        """Discharge battery depending on power consumption. Not implemented by default.
+
+        Args:
+            consumption_rate_in_W (float): Consumption rate of the activity in Watt
+            duration_in_s (float): How long the activity is performed in seconds
+        """
+        pass
+
     def get_position_velocity(self, epoch: pk.epoch):
         logger.trace(
             "Computing "
@@ -100,7 +149,6 @@ def is_in_line_of_sight(
                 other_actor_pos[2] - my_pos[2],
             ],
         )
-        print(line_between_actors)
         if plot:
             from skspatial.plotting import plot_3d
 
diff --git a/paseos/actors/spacecraft_actor.py b/paseos/actors/spacecraft_actor.py
index c6e9df89..db3be7dc 100644
--- a/paseos/actors/spacecraft_actor.py
+++ b/paseos/actors/spacecraft_actor.py
@@ -2,18 +2,30 @@
 import pykep as pk
 
 from paseos.actors.base_actor import BaseActor
+from paseos.power import discharge_model
+from paseos.power import charge_model
+from paseos.power.is_in_eclipse import is_in_eclipse
 
 
 class SpacecraftActor(BaseActor):
     """This class models a spacecraft actor which in addition to pos,
     velocity also has additional constraints such as power/battery."""
 
-    # Power constraints
-    # TODO
-    _available_power = None
+    # Power-related properties
+    battery_level_in_Ws = None
+    _max_battery_level_in_Ws = None
+    _charging_rate_in_W = None
 
     def __init__(
-        self, name: str, position, velocity, epoch: pk.epoch, central_body: pk.planet
+        self,
+        name: str,
+        position,
+        velocity,
+        epoch: pk.epoch,
+        central_body: pk.planet,
+        battery_level_in_Ws: float,
+        max_battery_level_in_Ws: float,
+        charging_rate_in_W: float,
     ) -> None:
         """Constructor for a spacecraft actor
 
@@ -23,6 +35,73 @@ def __init__(
             velocity (list of floats): [vx,vy,vz]
             epoch (pykep.epoch): Epoch at this pos / velocity
             central_body (pk.planet): pykep central body
+            battery_level_in_Ws (float): Current battery level in Watt seconds / Joule
+            max_battery_level_in_Ws (float): Maximum battery level in Watt seconds / Joule
+            charging_rate_in_W (float): Charging rate of the battery in Watt
         """
         logger.trace("Instantiating SpacecraftActor.")
+        SpacecraftActor._check_init_value_sensibility(
+            battery_level_in_Ws,
+            max_battery_level_in_Ws,
+            charging_rate_in_W,
+        )
+        self.battery_level_in_Ws = battery_level_in_Ws
+        self._max_battery_level_in_Ws = max_battery_level_in_Ws
+        self._charging_rate_in_W = charging_rate_in_W
         super().__init__(name, position, velocity, epoch, central_body)
+
+    def _check_init_value_sensibility(
+        battery_level_in_Ws: float,
+        max_battery_level_in_Ws: float,
+        charging_rate_in_W: float,
+    ):
+        """A function to check user inputs for sensibility
+
+        Args:
+            battery_level_in_Ws (float): Current battery level in Watt seconds / Joule
+            max_battery_level_in_Ws (float): Maximum battery level in Watt seconds / Joule
+            charging_rate_in_W (float): Charging rate of the battery in Watt
+        """
+        logger.trace("Checking constructor values for sensibility.")
+        assert battery_level_in_Ws > 0, "Battery level must be non-negative"
+        assert max_battery_level_in_Ws > 0, "Battery level must be non-negative"
+        assert charging_rate_in_W > 0, "Battery level must be non-negative"
+
+    def discharge(self, consumption_rate_in_W: float, duration_in_s: float):
+        """Discharge battery depending on power consumption.
+
+        Args:
+            consumption_rate_in_W (float): Consumption rate of the activity in Watt
+            duration_in_s (float): How long the activity is performed in seconds
+        """
+        assert duration_in_s > 0, "Duration has to be positive"
+        assert consumption_rate_in_W > 0, "Power consumption rate has to be positive"
+
+        power_consumption = consumption_rate_in_W * duration_in_s
+        logger.debug(f"Discharging {power_consumption}")
+
+        self = discharge_model.discharge(self, power_consumption)
+
+    def charge(self, t0: pk.epoch, t1: pk.epoch):
+        """Charges the actor during that period. Note that it is only
+        verified the actor is neither at start nor end of the period in eclipse,
+        thus short periods are preferable.
+
+        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.")
+        assert (
+            time_interval > 0
+        ), "Charging interval has to be positive but t1 was less or equal t0."
+
+        if is_in_eclipse(self, central_body=self._central_body, t=t0) or is_in_eclipse(
+            self, central_body=self._central_body, t=t1
+        ):
+            logger.debug("Actor is in eclipse, not charging.")
+        else:
+            self = charge_model.charge(self, time_interval)
+        logger.debug(f"New battery level is {self.battery_level_in_Ws}")
diff --git a/paseos/paseos.py b/paseos/paseos.py
index 7b754b61..9dbdcc7e 100644
--- a/paseos/paseos.py
+++ b/paseos/paseos.py
@@ -17,7 +17,17 @@ class PASEOS:
     # Stores the simulation state
     _state = None
 
-    def __new__(self):
+    # Storing actors we know as dictionary for easy access
+    # Does not include local actor.
+    _known_actors = None
+
+    # The actor of the device this is running on
+    _local_actor = None
+
+    # Stores registered activities
+    _activities = None
+
+    def __new__(self, local_actor: BaseActor):
         if not hasattr(self, "instance"):
             self.instance = super(PASEOS, self).__new__(self)
         else:
@@ -26,39 +36,144 @@ def __new__(self):
             )
         return self.instance
 
-    def __init__(self):
+    def __init__(self, local_actor: BaseActor):
         logger.trace("Initializing PASEOS")
         self._cfg = load_default_cfg()
         self._state = DotMap(_dynamic=False)
-        self._state.time = 0
-        self._state.actors = []
+        self._state.time = self._cfg.sim.start_time
+        self._known_actors = {}
+        self._local_actor = local_actor
+        self._activities = DotMap(_dynamic=False)
 
-    def advance_time(self, dt: float):
+    def advance_time(self, time_to_advance: float):
         """Advances the simulation by a specified amount of time
 
         Args:
-            dt (float): Time to advance in seconds
+            time_to_advance (float): Time to advance in seconds.
         """
-        logger.debug("Advancing time by " + str(dt) + " s.")
-        self._state.time += dt
+        logger.debug("Advancing time by " + str(time_to_advance) + " s.")
+        target_time = self._state.time + time_to_advance
+        dt = self._cfg.sim.dt
+
+        # Perform timesteps until target_time - dt reached,
+        # then final smaller or equal timestep to reach target_time
+        while self._state.time < target_time:
+            if self._state.time > target_time - dt:
+                # compute final timestep to catch up
+                dt = target_time - self._state.time
+            logger.trace(f"Time {self._state.time}, advancing {dt}")
+
+            # Perform updates for local actor (e.g. charging)
+            # Each actor only updates itself
+            # charge from current moment to time after timestep
+            self._local_actor.charge(
+                self._local_actor._local_time,
+                pk.epoch((self._state.time + dt) * pk.SEC2DAY),
+            )
+
+            self._state.time += dt
+            self._local_actor.set_time(pk.epoch(self._state.time * pk.SEC2DAY))
 
         logger.debug("New time is: " + str(self._state.time) + " s.")
 
-    def add_actor(self, actor: BaseActor):
+    def add_known_actor(self, actor: BaseActor):
         """Adds an actor to the simulation.
 
         Args:
             actor (BaseActor): Actor to add
         """
         logger.debug("Adding actor:" + str(actor))
+        logger.debug("Current actors: " + str(self._known_actors.keys()))
         # Check for duplicate actors by name
-        for existing_actor in self._state.actors:
-            if existing_actor.name == actor.name:
-                raise ValueError(
-                    "Trying to add actor with already existing name: " + actor.name
-                )
+        if actor.name in self._known_actors.keys():
+            raise ValueError(
+                "Trying to add already existing actor with name: " + actor.name
+            )
         # Else add
-        self._state.actors.append(actor)
+        self._known_actors[actor.name] = actor
+
+    def emtpy_known_actors(self):
+        self._known_actors = {}
+
+    def register_activity(
+        self,
+        name: str,
+        requires_line_of_sight_to: list = None,
+        power_consumption_in_watt: float = None,
+    ):
+        """Registers an activity that can then be performed on the local actor.
+
+        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.
+            power_consumption_in_watt (float, optional): Power consumption of performing
+            the activity (per second). Defaults to None.
+        """
+        if name in self._activities.keys():
+            raise ValueError(
+                "Trying to add already existing activity with name: "
+                + name
+                + ". Already have "
+                + str(self._activities[name])
+            )
+
+        self._activities[name] = DotMap(
+            requires_line_of_sight_to=requires_line_of_sight_to,
+            power_consumption_in_watt=power_consumption_in_watt,
+            _dynamic=False,
+        )
+
+        logger.debug(f"Registered activity {self._activities[name]}")
+
+    def perform_activity(
+        self,
+        name: str,
+        power_consumption_in_watt: float = None,
+        duration_in_s: float = 1.0,
+    ):
+        """Perform the activity and discharge battery accordingly
+
+        Args:
+            name (str): Name of the activity
+            power_consumption_in_watt (float, optional): Power consumption of the
+            activity in seconds if not specified. Defaults to None.
+            duration_in_s (float, optional): Time to perform this activity. Defaults to 1.0.
+
+        Returns:
+            bool: Whether the activity was performed successfully.
+        """
+        # Check if activity exists and if it already had consumption specified
+        assert name in self._activities.keys(), (
+            "Activity not found. Declared activities are" + self._activities.keys()
+        )
+        activity = self._activities[name]
+        logger.debug(f"Performing activity {activity}")
+
+        if power_consumption_in_watt is None:
+            power_consumption_in_watt = activity.power_consumption_in_watt
+
+        assert power_consumption_in_watt > 0, (
+            "Power consumption has to be positive but was either in activity or call specified as "
+            + str(power_consumption_in_watt)
+        )
+
+        assert duration_in_s > 0, "Duration has to be positive."
+
+        # TODO
+        # Check if line of sight requirement is fulfilled and if enough power available
+        assert (
+            activity.requires_line_of_sight_to is None
+        ), "Line of Sight for activities is not implemented"
+
+        # TODO
+        # Perform activity, maybe we allow the user pass a function to be executed?
+
+        # Discharge power for the activity
+        self._local_actor.discharge(power_consumption_in_watt, duration_in_s)
+
+        logger.trace(f"Activity {activity} completed.")
+
+        return True
 
     def set_central_body(self, planet: pk.planet):
         """Sets the central body of the simulation for the orbit simulation
diff --git a/paseos/power/charge_model.py b/paseos/power/charge_model.py
new file mode 100644
index 00000000..8e186e4b
--- /dev/null
+++ b/paseos/power/charge_model.py
@@ -0,0 +1,30 @@
+"""This file contains models of the battery charge via e.g. solar power"""
+from loguru import logger
+
+
+def charge(
+    actor,
+    charging_time_in_s: float,
+    model="simple",
+):
+    """Models the charging via solar panels or similar.
+
+    Args:
+        actor (SpacecraftActor): Actor to apply this to.
+        charging_time_in_s (float): Charging period in s.
+        model (str, optional): Model to use, amt only "simple". Defaults to "simple".
+
+    Returns:
+        SpacecraftActor: Modified actor after charging.
+    """
+    logger.trace("Charging actor" + str(actor) + " for " + str(charging_time_in_s) + " seconds using model " + model)
+    assert charging_time_in_s > 0, "Charging time has to be positive."
+
+    if model == "simple":
+        actor.battery_level_in_Ws += actor._charging_rate_in_W * charging_time_in_s
+        actor.battery_level_in_Ws = min(
+            actor.battery_level_in_Ws, actor._max_battery_level_in_Ws
+        )
+        return actor
+    else:
+        raise NotImplementedError("Unknown charging model " + model)
diff --git a/paseos/power/discharge_model.py b/paseos/power/discharge_model.py
new file mode 100644
index 00000000..0db20010
--- /dev/null
+++ b/paseos/power/discharge_model.py
@@ -0,0 +1,34 @@
+"""This file contains models of the battery discharge due to power consumption"""
+
+
+def discharge(
+    actor,
+    power_consumption_in_Ws: float,
+    battery_model="simple",
+):
+    """Models the reduction of battery energy on the actor
+
+    Args:
+        actor (SpacecraftActor): Actor to apply this
+        power_consumption_in_Ws (float): Consumed power in Ws
+        battery_model (str, optional): Defines which model to use, atm only "simple". Defaults to "simple".
+
+    Returns:
+        SpacecraftActor: Modified actor after power consumption.
+    """
+
+    if battery_model == "simple":
+        if actor.battery_level_in_Ws < power_consumption_in_Ws:
+            raise ValueError(
+                "Insufficient Battery. Actor "
+                + str(actor)
+                + " has battery level: "
+                + str(actor.battery_level_in_Ws)
+                + " - trying to discharge "
+                + str(power_consumption_in_Ws)
+            )
+        else:
+            actor.battery_level_in_Ws -= power_consumption_in_Ws
+            return actor
+    else:
+        raise NotImplementedError("Unknown battery model " + battery_model)
diff --git a/paseos/power/is_in_eclipse.py b/paseos/power/is_in_eclipse.py
new file mode 100644
index 00000000..1bfd9632
--- /dev/null
+++ b/paseos/power/is_in_eclipse.py
@@ -0,0 +1,86 @@
+"""This file provides method for computing whether an actor is currently in eclipse"""
+import pykep as pk
+import numpy as np
+from skspatial.objects import LineSegment, Line, Sphere
+from loguru import logger
+
+from paseos.actors.base_actor import BaseActor
+
+
+def is_in_eclipse(
+    actor: BaseActor, central_body: pk.planet, t: pk.epoch, plot=False
+) -> bool:
+    """Checks whether the actor is currently in eclipse of central body.
+
+    Args:
+        actor (BaseActor): Actor to check
+        central_body (pk.planet): Central body of the actor
+        t (pk.epoch): Current time to check at
+        plot (bool, optional): If true will plot visualization. Defaults to False.
+
+    Returns:
+        bool: True if actor is in eclipse
+    """
+    logger.debug(f"Checking whether {actor} is in eclipse at {t}.")
+
+    # Compute central body position in solar reference frame
+    r_central_body_heliocentric, _ = np.array(central_body.eph(t))
+    logger.trace("r_central_body_heliocentric is" + str(r_central_body_heliocentric))
+    central_body_sphere = Sphere(
+        r_central_body_heliocentric, actor._central_body_sphere.radius
+    )
+
+    # Compute satellite / actor position in solar reference frame
+    r_sat_central_body_frame = np.array(actor.get_position_velocity(t)[0])
+    logger.trace("r_sat_central_body_frame is" + str(r_sat_central_body_frame))
+    r_sat_heliocentric = r_central_body_heliocentric + r_sat_central_body_frame
+    logger.trace("r_sat_heliocentric is" + str(r_sat_heliocentric))
+
+    # Compute line between actor and sun
+    line_between_sun_and_actor = Line(
+        [0, 0, 0],
+        r_sat_heliocentric,
+    )
+
+    # Specify line segment to see if intersections are on this segment
+    linesegment_between_sun_and_actor = LineSegment(
+        [0, 0, 0],
+        r_sat_heliocentric,
+    )
+
+    if plot:
+        from skspatial.plotting import plot_3d
+        from skspatial.objects import Point
+
+    # Currently skspatial throws a ValueError if there is no intersection so we have to use this rather ugly way.
+    try:
+        p1, p2 = central_body_sphere.intersect_line(line_between_sun_and_actor)
+        logger.trace("Intersections observed at " + str(p1) + " and " + str(p2))
+        if plot:
+            sat_point = Point(r_sat_heliocentric)
+            plot_3d(
+                line_between_sun_and_actor.plotter(t_1=0, t_2=0.001, c="k"),
+                central_body_sphere.plotter(alpha=0.4),
+                sat_point.plotter(c="b", s=100),
+                p1.plotter(c="r", s=100),
+                p2.plotter(c="r", s=100),
+            )
+    except ValueError:
+        if plot:
+            sat_point = Point(r_sat_heliocentric)
+            plot_3d(
+                line_between_sun_and_actor.plotter(c="k"),
+                central_body_sphere.plotter(alpha=0.4),
+                sat_point.plotter(c="b", s=100),
+            )
+        # No intersection, no eclipse
+        return False
+    # Check that the computed intersection is actually on the linesegment not infinite line
+    if linesegment_between_sun_and_actor.contains_point(p1):
+        logger.trace(f"p1={p1} is on the line between Sun and actor.")
+        return True
+    elif linesegment_between_sun_and_actor.contains_point(p2):
+        logger.trace(f"p2={p2} is on the line between Sun and actor.")
+        return True
+    else:
+        return False
diff --git a/resources/default_cfg.toml b/resources/default_cfg.toml
index b8c9fa2a..27a7696a 100644
--- a/resources/default_cfg.toml
+++ b/resources/default_cfg.toml
@@ -1,5 +1,8 @@
 [sim]
-startDate = "0" # Start of the simulation, relevant for propagation with SGP4 / pykep, in MJD2000
+start_time = 0 # [s] Start time of the simulation in seconds after MJD2000
+dt = 1 # [s] Internal timestep used for computing charging, etc.
+
+[power]
 
 [comms]
 
diff --git a/resources/images/datastructure.svg b/resources/images/datastructure.svg
new file mode 100644
index 00000000..bd2f3e21
--- /dev/null
+++ b/resources/images/datastructure.svg
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Do not edit this file with editors other than diagrams.net -->
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font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div><b>PASEOS Instance</b></div><div><br /></div><div align="left">Name = <i>"Ground Station 1"</i></div><div align="left">Position = <i>[6371km,0,0]</i></div><div align="left">Velocity = <i>[0, 3.6km/s, 0]</i></div><div align="left">Battery Level = N/A<br /></div><div align="left">Comm Link 1 = 100 Mbps</div><div align="left">Current Charging Rate = N/A<br /></div></div></div></div></foreignObject><text x="385" y="454" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">PASEOS Instance...</text></switch></g><rect x="580" y="7" width="200" height="62" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 38px; margin-left: 581px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div><b>Known actors</b></div><div><b><br /></b></div><div>"Satellite 2": [Position, ...] <br /></div><div><br /></div></div></div></div></foreignObject><text x="680" y="42" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Known actors...</text></switch></g><rect x="580" y="74" width="200" height="109" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 129px; margin-left: 581px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div><b>Activity<br /></b></div><div>Name: "Update Model"<br /></div><div>Requires line of sight to: "Satellite 2"</div><div>Power Consumption: 10W<br /></div></div></div></div></foreignObject><text x="680" y="132" fill="rgb(0, 0, 0)" font-family="Helvetica" 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[Position, ...] <br /></div></div></div></div></foreignObject><text x="680" y="244" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Known actors...</text></switch></g><rect x="580" y="286" width="200" height="109" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 341px; margin-left: 581px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; 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new file mode 100644
index 00000000..79e31639
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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 153px; height: 1px; padding-top: 340px; margin-left: 237px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div>Advance local time</div><div>(end time)<br /></div></div></div></div></foreignObject><text x="314" y="344" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Advance local time...</text></switch></g><rect x="444" y="394" width="228" height="30" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 226px; height: 1px; padding-top: 409px; margin-left: 446px;"><div style="box-sizing: border-box; font-size: 0px; text-align: left;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div>Local PASEOS Instance - Internal</div></div></div></div></foreignObject><text x="446" y="413" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px">Local PASEOS Instance - Internal</text></switch></g><ellipse cx="559" cy="300" rx="93.75" ry="45" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 186px; height: 1px; padding-top: 300px; margin-left: 466px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div>Run necessary models</div><div>(e.g. power consumption, battery, line of sight, ...<br /></div></div></div></div></foreignObject><text x="559" y="304" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Run necessary models...</text></switch></g><path d="M 559 218 Q 559 218 559 248.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 559 253.88 L 555.5 246.88 L 559 248.63 L 562.5 246.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><ellipse cx="559" cy="178" rx="90" ry="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 178px; height: 1px; padding-top: 178px; margin-left: 470px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Update local time over several timesteps</div></div></div></foreignObject><text x="559" y="182" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Update local time over sev...</text></switch></g><ellipse cx="559" cy="77" rx="93.75" ry="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 186px; height: 1px; padding-top: 77px; margin-left: 466px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Update instance level variables (known actors, activities)</div></div></div></foreignObject><text x="559" y="81" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Update instance level varia...</text></switch></g><path d="M 80.5 20 Q 80.5 20 80.2 34.9" fill="none" stroke="#808080" stroke-width="3" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 80.07 41.65 L 75.75 32.56 L 80.2 34.9 L 84.75 32.74 Z" fill="#808080" stroke="#808080" stroke-width="3" stroke-miterlimit="10" pointer-events="all"/><ellipse cx="80.5" cy="10" rx="10" ry="10" fill="#808080" stroke="rgb(0, 0, 0)" pointer-events="all"/><ellipse cx="80" cy="165" rx="72.5" ry="45" fill="#dae8fc" stroke="#6c8ebf" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 143px; height: 1px; padding-top: 165px; margin-left: 9px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><div>Specify Local</div><div>Actor Parameters</div><div>(orbit, power, ...)<br /></div></div></div></div></foreignObject><text x="80" y="169" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Specify Local...</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
\ No newline at end of file


Test patch:
diff --git a/paseos/tests/activity_test.py b/paseos/tests/activity_test.py
new file mode 100644
index 00000000..b3ff6971
--- /dev/null
+++ b/paseos/tests/activity_test.py
@@ -0,0 +1,23 @@
+"""Simple test of starting an activity"""
+from test_utils import get_default_instance
+
+
+def test_activity():
+    """Test if performing activity consumes power as expected"""
+    sim, sat1, earth = get_default_instance()
+
+    # Initial power is 500
+    assert sat1.battery_level_in_Ws == 500
+
+    # Register an activity that draws 10 watt per second
+    sim.register_activity("Testing", power_consumption_in_watt=10)
+
+    # Run the activity for 5 seconds
+    sim.perform_activity("Testing", duration_in_s=5)
+
+    # Check power was depleted as expected
+    assert sat1.battery_level_in_Ws == 450
+
+
+if __name__ == "__main__":
+    test_activity()
diff --git a/paseos/tests/eclipse_test.py b/paseos/tests/eclipse_test.py
new file mode 100644
index 00000000..63f913a3
--- /dev/null
+++ b/paseos/tests/eclipse_test.py
@@ -0,0 +1,22 @@
+"""Test to check the eclipse function(s)"""
+import sys
+
+sys.path.append("../..")
+
+from paseos.power.is_in_eclipse import is_in_eclipse
+
+import pykep as pk
+
+from test_utils import get_default_instance
+
+
+def test_eclipse():
+    """Get the default satellite and see if is in eclipse and getting out of it"""
+    sim, sat1, earth = get_default_instance()
+
+    assert not is_in_eclipse(sat1, earth, pk.epoch(0), plot=True)
+    assert is_in_eclipse(sat1, earth, pk.epoch(0.5), plot=True)
+
+
+if __name__ == "__main__":
+    test_eclipse()
diff --git a/paseos/tests/init_test.py b/paseos/tests/init_test.py
index 23ce0747..52ec4efb 100644
--- a/paseos/tests/init_test.py
+++ b/paseos/tests/init_test.py
@@ -4,27 +4,28 @@
 
 sys.path.append("../..")
 
-import paseos
 from paseos import SpacecraftActor
 import pykep as pk
 import numpy as np
 
+from test_utils import get_default_instance
+
 
 def test_init():
-    sim = paseos.init_sim()
+    sim, sat1, earth = get_default_instance()  # noqa
     cfg = sim.get_cfg()  # noqa
-    print(cfg)
 
 
 def test_adding_sat():
-    earth = pk.planet.jpl_lp("earth")
-    actor = SpacecraftActor("sat1", [1000000, 0, 0], [0, 8000.0, 0], pk.epoch(0), earth)
-    sim = paseos.init_sim()
-    sim.add_actor(actor)
+    sim, _, earth = get_default_instance()
+
+    sat1 = SpacecraftActor(
+        "sat1", [1000000, 0, 0], [0, 8000.0, 0], pk.epoch(0), earth, 1, 1, 1
+    )
 
     # check initial positions
     # r - position vector, v - velocity vector
-    r, v = actor.get_position_velocity(pk.epoch(0))
+    r, v = sat1.get_position_velocity(pk.epoch(0))
     assert np.isclose(r[0], 1000000)
     assert np.isclose(r[1], 0)
     assert np.isclose(r[2], 0)
@@ -33,7 +34,7 @@ def test_adding_sat():
     assert np.isclose(v[2], 0)
 
     # check positions one second later
-    r, v = actor.get_position_velocity(pk.epoch(1 * pk.SEC2DAY))
+    r, v = sat1.get_position_velocity(pk.epoch(1 * pk.SEC2DAY))
     assert np.isclose(r[0], 999800.6897266058)
     assert np.isclose(r[1], 7999.468463301808)
     assert np.isclose(r[2], 0.0)
diff --git a/paseos/tests/line_of_sight_test.py b/paseos/tests/line_of_sight_test.py
index f3ff135a..80063e86 100644
--- a/paseos/tests/line_of_sight_test.py
+++ b/paseos/tests/line_of_sight_test.py
@@ -3,27 +3,26 @@
 
 sys.path.append("../..")
 
-import paseos
 from paseos import SpacecraftActor
 
 import pykep as pk
 
+from test_utils import get_default_instance
+
 
 def test_los():
-    # init simulation
-    sim = paseos.init_sim()
-
-    # create satellites where sat1 and 2 are in sight of each other (as well as sat 1 and 3)
-    # but sat 2 and 3 are on opposite sides of the planet
-    earth = pk.planet.jpl_lp("earth")
-    sat1 = SpacecraftActor("sat1", [10000000, 0, 0], [0, 8000.0, 0], pk.epoch(0), earth)
-    sim.add_actor(sat1)
-    sat2 = SpacecraftActor("sat2", [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth)
-    sim.add_actor(sat2)
+    """create satellites where sat1 and 2 are in sight of each other (as well as sat 1 and 3)
+    but sat 2 and 3 are on opposite sides of the planet"""
+    sim, sat1, earth = get_default_instance()
+
+    sat2 = SpacecraftActor(
+        "sat2", [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth, 1, 1, 1
+    )
+    sim.add_known_actor(sat2)
     sat3 = SpacecraftActor(
-        "sat3", [0, -10000000, 0], [0, 0, -8000.0], pk.epoch(0), earth
+        "sat3", [0, -10000000, 0], [0, 0, -8000.0], pk.epoch(0), earth, 1, 1, 1
     )
-    sim.add_actor(sat3)
+    sim.add_known_actor(sat3)
 
     # check that LOS is correct
     assert sat1.is_in_line_of_sight(sat2, pk.epoch(0))
diff --git a/paseos/tests/power_test.py b/paseos/tests/power_test.py
new file mode 100644
index 00000000..e269f906
--- /dev/null
+++ b/paseos/tests/power_test.py
@@ -0,0 +1,19 @@
+"""This test checks whether power charging is performed correctly"""
+
+from test_utils import get_default_instance
+
+
+def test_power_charging():
+    """Checks whether we can charge an actor"""
+    sim, sat1, earth = get_default_instance()
+
+    # Initial power is 500m check charging works
+    assert sat1.battery_level_in_Ws == 500
+    sim.advance_time(42)
+    assert sat1.battery_level_in_Ws == 542
+
+    # TODO check charging doesn't work when in eclipse
+
+
+if __name__ == "__main__":
+    test_power_charging()
diff --git a/paseos/tests/test_utils.py b/paseos/tests/test_utils.py
new file mode 100644
index 00000000..4ad1095b
--- /dev/null
+++ b/paseos/tests/test_utils.py
@@ -0,0 +1,26 @@
+"""Utility for tests"""
+import sys
+
+sys.path.append("../..")
+
+import paseos
+from paseos import SpacecraftActor
+
+import pykep as pk
+
+
+def get_default_instance() -> (paseos.PASEOS, SpacecraftActor, pk.planet):
+    """Sets up a instance of paseos with a satellite in orbit around Earth"""
+
+    # Define central body
+    earth = pk.planet.jpl_lp("earth")
+
+    # Define local actor
+    sat1 = SpacecraftActor(
+        "sat1", [10000000, 0, 0], [0, 8000.0, 0], pk.epoch(0), earth, 500, 10000, 1
+    )
+
+    # init simulation
+    sim = paseos.init_sim(sat1)
+
+    return sim, sat1, earth