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# ISC License
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# Copyright (c) 2021, Autonomous Vehicle Systems Lab, University of Colorado Boulder
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import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import msmForceTorque
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
[docs]@pytest.mark.parametrize("accuracy", [1e-4])
def test_msmForceTorque(show_plots, accuracy):
r"""
**Validation Test Description**
The behavior of the MSM e-force and torque evaluation is tested. 3 space objects locations and
orientations are setup. Each object is assigned 2-3 sphere locations and radii. The voltage
input messages are setup such that each space object has its own potential. The simulation
is run for a single update cycle and the resulting forces and torques acting on each body
are compared to hand-computed truth values.
**Test Parameters**
Args:
accuracy (float): relative accuracy value used in the validation tests
**Description of Variables Being Tested**
The module output messages for the inertial force vector and body torque vector are compared to
hand-calculated truth values using their relative accuracy.
"""
[testResults, testMessage] = msmForceTorqueTestFunction(show_plots, accuracy)
assert testResults < 1, testMessage
[docs]def msmForceTorqueTestFunction(show_plots, accuracy):
"""Test method"""
testFailCount = 0
testMessages = []
unitTaskName = "unitTask"
unitProcessName = "TestProcess"
unitTestSim = SimulationBaseClass.SimBaseClass()
testProcessRate = macros.sec2nano(0.5)
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# setup module to be tested
module = msmForceTorque.MsmForceTorque()
module.ModelTag = "msmForceTorqueTag"
unitTestSim.AddModelToTask(unitTaskName, module)
# Configure space object state and voltage input messages
sc0StateInMsgsData = messaging.SCStatesMsgPayload()
sc0StateInMsgsData.r_BN_N = [10., 2., 3.]
sc0StateInMsgsData.sigma_BN = [0.1, 0.2, 0.3]
sc0StateInMsg = messaging.SCStatesMsg().write(sc0StateInMsgsData)
sc1StateInMsgsData = messaging.SCStatesMsgPayload()
sc1StateInMsgsData.r_BN_N = [-10., -2., 3.]
sc1StateInMsgsData.sigma_BN = [-0.1, 0.2, 0.3]
sc1StateInMsg = messaging.SCStatesMsg().write(sc1StateInMsgsData)
sc2StateInMsgsData = messaging.SCStatesMsgPayload()
sc2StateInMsgsData.r_BN_N = [1., 1., 0.]
sc2StateInMsgsData.sigma_BN = [0.1, 0.2, -0.3]
sc2StateInMsg = messaging.SCStatesMsg().write(sc2StateInMsgsData)
volt0InMsgData = messaging.VoltMsgPayload()
volt0InMsgData.voltage = 30000.
volt0InMsg = messaging.VoltMsg().write(volt0InMsgData)
volt1InMsgData = messaging.VoltMsgPayload()
volt1InMsgData.voltage = -10000.
volt1InMsg = messaging.VoltMsg().write(volt1InMsgData)
volt2InMsgData = messaging.VoltMsgPayload()
volt2InMsgData.voltage = 20000.
volt2InMsg = messaging.VoltMsg().write(volt2InMsgData)
# create a list of sphere body-fixed locations and associated radii
spPosList = [
[1., 2., 3.]
, [4., 5., 6.]
, [14., 5., 6.]
]
rList = [1., 2., 1.5]
# add spacecraft to state
module.addSpacecraftToModel(sc0StateInMsg
, messaging.DoubleVector(rList[:-1])
, unitTestSupport.npList2EigenXdVector(spPosList[:-1]))
module.addSpacecraftToModel(sc1StateInMsg
, messaging.DoubleVector(rList)
, unitTestSupport.npList2EigenXdVector(spPosList))
module.addSpacecraftToModel(sc2StateInMsg
, messaging.DoubleVector(rList[:-1])
, unitTestSupport.npList2EigenXdVector(spPosList[:-1]))
# subscribe input messages to module
module.voltInMsgs[0].subscribeTo(volt0InMsg)
module.voltInMsgs[1].subscribeTo(volt1InMsg)
module.voltInMsgs[2].subscribeTo(volt2InMsg)
unitTestSim.InitializeSimulation()
unitTestSim.TotalSim.SingleStepProcesses()
# set truth force and torque values
fTruth = [
[6.48179e-05, 0.00147205, 0.000924806]
, [0.00107182, -0.000240543, 0.000110224]
, [-0.00113664, -0.00123151, -0.00103503]
]
tauTruth = [
[-0.00268192, 0.00295288, -0.000603687]
, [0.00688387, -0.00209438, -0.00647544]
, [0.00581629, 0.007876, -0.00986612]
]
chargeTruth = [
[1.99932e-6, 5.73861e-6]
, [-1.06715e-6, -2.51072e-6, -1.94044e-6]
, [1.30148e-6, 3.23131e-6]
]
# pull module data and make sure it is correct
for i in range(3):
f = module.eForceOutMsgs[i].read().forceRequestInertial
testFailCount, testMessages = \
unitTestSupport.compareDoubleArrayRelative(f, fTruth[i],
accuracy, "sc" + str(i) + " force test",
testFailCount, testMessages)
tau = module.eTorqueOutMsgs[i].read().torqueRequestBody
testFailCount, testMessages = \
unitTestSupport.compareDoubleArrayRelative(tau, tauTruth[i],
accuracy, "sc" + str(i) + " torque test",
testFailCount, testMessages)
charge = unitTestSupport.columnToRowList(module.chargeMsmOutMsgs[i].read().q)
testFailCount, testMessages = \
unitTestSupport.compareListRelative(charge, chargeTruth[i],
accuracy, "sc" + str(i) + " charge test",
testFailCount, testMessages)
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
else:
print(testMessages)
return [testFailCount, "".join(testMessages)]
if __name__ == "__main__":
test_msmForceTorque(False, 1e-4)