# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
# Ephemeris Converter Unit Test
#
# Purpose: Test the proper function of the ephemeris_converter module.
# Author: Thibaud Teil
#
import numpy as np
from Basilisk import __path__
from Basilisk.simulation import ephemerisConverter
from Basilisk.simulation import spiceInterface
from Basilisk.utilities import RigidBodyKinematics
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
bskPath = __path__[0]
# provide a unique test method name, starting with test_
[docs]def test_ephemConvert(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitephemeris_converter(show_plots)
assert testResults < 1, testMessage
def unitephemeris_converter(show_plots):
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
# Create a sim module as an empty container
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
sim = SimulationBaseClass.SimBaseClass()
simulationTime = macros.sec2nano(30.)
numDataPoints = 600
samplingTime = simulationTime // (numDataPoints-1)
DynUnitTestProc = sim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
DynUnitTestProc.addTask(sim.CreateNewTask(unitTaskName, samplingTime))
# List of planets tested
planets = ["earth", "mars barycenter", "sun"]
# Initialize the spice module
spiceObject = spiceInterface.SpiceInterface()
spiceObject.ModelTag = "SpiceInterfaceData"
spiceObject.SPICEDataPath = bskPath + '/supportData/EphemerisData/'
spiceObject.addPlanetNames(spiceInterface.StringVector(planets))
spiceObject.UTCCalInit = "2015 February 10, 00:00:00.0 TDB"
sim.AddModelToTask(unitTaskName, spiceObject)
# Initialize the ephemeris module
ephemObject = ephemerisConverter.EphemerisConverter()
ephemObject.ModelTag = 'EphemData'
ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[0]) # earth
ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[1]) # mars
ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[2]) # sun
sim.AddModelToTask(unitTaskName, ephemObject)
# Configure simulation
sim.ConfigureStopTime(int(simulationTime))
dataSpiceLog = []
dataEphemLog = []
for i in range(0, len(planets)):
dataSpiceLog.append(spiceObject.planetStateOutMsgs[i].recorder())
dataEphemLog.append(ephemObject.ephemOutMsgs[i].recorder())
sim.AddModelToTask(unitTaskName, dataSpiceLog[-1])
sim.AddModelToTask(unitTaskName, dataEphemLog[-1])
# Execute simulation
sim.InitializeSimulation()
sim.ExecuteSimulation()
# Initialize sigma_BN and omega_BN_B spice message truth data
sigma_BN = np.zeros((len(planets), numDataPoints, 3))
omega_BN_B = np.zeros((len(planets), numDataPoints, 3))
# Loop through planets and data points to compute sigma_BN and omega_BN_B
for i in range(0, len(planets)):
spicePlanetDCM_PN = dataSpiceLog[i].J20002Pfix
spicePlanetDCM_PN_dot = dataSpiceLog[i].J20002Pfix_dot
for j in range(0, numDataPoints):
dcm_PN = spicePlanetDCM_PN[j,:]
dcm_PN_dot = spicePlanetDCM_PN_dot[j,:]
sigma_BN[i,j,0:3] = RigidBodyKinematics.C2MRP(dcm_PN)
omega_BN_B_tilde = -np.matmul(dcm_PN_dot, dcm_PN.T)
omega_BN_B[i,j,0] = omega_BN_B_tilde[2,1]
omega_BN_B[i,j,1] = omega_BN_B_tilde[0,2]
omega_BN_B[i,j,2] = omega_BN_B_tilde[1,0]
# Get the position, velocities, attitude, attitude rate, and time for the message before and after the copy
accuracy = 1e-12
for i in range(0, len(planets)):
ephemPlanetPosData = dataEphemLog[i].r_BdyZero_N
spicePlanetPosData = dataSpiceLog[i].PositionVector
ephemPlanetVelData = dataEphemLog[i].v_BdyZero_N
spicePlanetVelData = dataSpiceLog[i].VelocityVector
ephemPlanetAttData = dataEphemLog[i].sigma_BN
ephemePlanetAngVelData = dataEphemLog[i].omega_BN_B
testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetPosData[:,0:3], ephemPlanetPosData, accuracy, "Position", testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetVelData[:,0:3], ephemPlanetVelData, accuracy, "Velocity", testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayRelative(sigma_BN[i,:,:], ephemPlanetAttData, accuracy, "Attitude", testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArray(omega_BN_B[i,:], ephemePlanetAngVelData, accuracy, "Angular Velocity", testFailCount, testMessages)
# print out success message if no error were found
if testFailCount == 0:
print(" \n PASSED ")
else:
print(testMessages)
# each test method requires a single assert method to be called
# this check below just makes sure no sub-test failures were found
return [testFailCount, ''.join(testMessages)]
# This statement below ensures that the unit test scrip can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_ephemConvert(False)