# 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.
import inspect
import os
import sys
import matplotlib.pyplot as plt
import numpy
import pytest
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
splitPath = path.split('SimCode')
sys.path.append(splitPath[0] + '/modules')
sys.path.append(splitPath[0] + '/PythonModules')
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport
from Basilisk.simulation import spacecraft
from Basilisk.simulation import nHingedRigidBodyStateEffector
from Basilisk.simulation import gravityEffector
from Basilisk.utilities import macros
from Basilisk.utilities import pythonVariableLogger
[docs]@pytest.mark.parametrize("testCase", [
('NoGravity'),
('Gravity')
])
# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
# @pytest.mark.skipif(conditionstring)
# uncomment this line if this test has an expected failure, adjust message as needed
# @pytest.mark.xfail() # need to update how the RW states are defined
# provide a unique test method name, starting with test_
def test_nHingedRigidBodyAllTest(show_plots, testCase):
"""
In this integrated test there are two hinged rigid bodies connected to the spacecraft hub, one with 4 \
interconnected panels and one with 3 interconnected panels. Depending on the scenario, there are different \
success criteria. Each scenario checks the conservation of orbital angular momentum, the conservation of orbital \
energy, the conservation of rotational angular momentum and the conservation of rotational energy.
**Test Parameters:**
- testCase: [string]
defines whether or not the gravity is included in this test.
**Description of Variables Being Tested**
This test checks the conservation of the spacecraft orbital angular momentum, the rotational angular momentum, \
the orbital energy and the rotational energy.
**Test Descriptions:**
testCase == 'Gravity'
In this test the simulation is placed into orbit around Earth with point gravity and has no damping in \
the hinged rigid bodies.
testCase == 'NoGravity'
In this test, the spacecraft is placed in free space (no gravity) and has no damping in the hinged rigid bodies.
The following figures show the conservation of the quantities described in the success criteria for each scenario. \
The conservation plots are all relative difference plots. All conservation plots show integration error which is the \
desired result. In the python test these values are automatically checked therefore when the tests pass, these \
values have all been confirmed to be conserved.
"""
[testResults, testMessage] = nHingedRigidBody(show_plots, testCase)
assert testResults < 1, testMessage
def nHingedRigidBody(show_plots, testCase):
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
scObject = spacecraft.Spacecraft()
scObject.ModelTag = "spacecraftBody"
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.0001) # update process rate update time
plottingRate = 0.01
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
unitTestSim.effector1 = nHingedRigidBodyStateEffector.NHingedRigidBodyStateEffector()
unitTestSim.effector2 = nHingedRigidBodyStateEffector.NHingedRigidBodyStateEffector()
unitTestSim.panel = nHingedRigidBodyStateEffector.HingedPanel()
unitTestSim.effector1.r_HB_B = [[0.5], [0.0], [1.0]]
unitTestSim.effector1.dcm_HB = [[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 1.0]]
unitTestSim.effector2.r_HB_B = [[-0.5], [0.0], [1.0]]
unitTestSim.effector2.dcm_HB = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
# Define Variable for a panel
unitTestSim.panel.mass = 50.0
unitTestSim.panel.IPntS_S = [[50.0, 0.0, 0.0], [0.0, 25.0, 0.0], [0.0, 0.0, 25.0]]
unitTestSim.panel.d = 0.75
unitTestSim.panel.k = 500.0
unitTestSim.panel.c = 0.0
unitTestSim.panel.thetaInit = 5*numpy.pi/180.0
unitTestSim.panel.thetaDotInit = 0.0
unitTestSim.panel.theta_0 = 0.0
# Add panels to effector 4 to one 3 to the other
unitTestSim.effector1.addHingedPanel(unitTestSim.panel)
unitTestSim.panel.thetaInit = 0.0
unitTestSim.effector1.addHingedPanel(unitTestSim.panel)
unitTestSim.effector1.addHingedPanel(unitTestSim.panel)
unitTestSim.effector1.addHingedPanel(unitTestSim.panel)
# 3 on effector 2
unitTestSim.effector2.addHingedPanel(unitTestSim.panel)
unitTestSim.effector2.addHingedPanel(unitTestSim.panel)
unitTestSim.effector2.addHingedPanel(unitTestSim.panel)
# Add effector to spaceCraft
scObject.addStateEffector(unitTestSim.effector1)
scObject.addStateEffector(unitTestSim.effector2)
scObject.hub.mHub = 750.0
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]]
# Set the initial values for the states
scObject.hub.r_CN_NInit = [[0.1], [-0.4], [0.3]]
scObject.hub.v_CN_NInit = [[-0.2], [0.5], [0.1]]
scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
scObject.hub.omega_BN_BInit = [[0.1], [-0.1], [0.1]]
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, scObject)
if testCase == 'Gravity':
unitTestSim.earthGravBody = gravityEffector.GravBodyData()
unitTestSim.earthGravBody.planetName = "earth_planet_data"
unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
unitTestSim.earthGravBody.isCentralBody = True
scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody])
scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]]
scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]]
dataLog = scObject.scStateOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
scObjectLog = scObject.logger(["totOrbEnergy", "totOrbAngMomPntN_N", "totRotAngMomPntC_N", "totRotEnergy"])
unitTestSim.AddModelToTask(unitTaskName, scObjectLog)
stateLog = pythonVariableLogger.PythonVariableLogger({
"theta1": lambda _: scObject.dynManager.getStateObject(f'nHingedRigidBody1Theta').getState(),
"theta2": lambda _: scObject.dynManager.getStateObject(f'nHingedRigidBody2Theta').getState(),
})
unitTestSim.AddModelToTask(unitTaskName, stateLog)
unitTestSim.InitializeSimulation()
stopTime = 1.0
unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
unitTestSim.ExecuteSimulation()
nHingedRigidBody1ThetasOut = unitTestSupport.addTimeColumn(stateLog.times(), stateLog.theta1)
nHingedRigidBody2ThetasOut = unitTestSupport.addTimeColumn(stateLog.times(), stateLog.theta2)
orbEnergy = unitTestSupport.addTimeColumn(scObjectLog.times(), scObjectLog.totOrbEnergy)
orbAngMom_N = unitTestSupport.addTimeColumn(scObjectLog.times(), scObjectLog.totOrbAngMomPntN_N)
rotAngMom_N = unitTestSupport.addTimeColumn(scObjectLog.times(), scObjectLog.totRotAngMomPntC_N)
rotEnergy = unitTestSupport.addTimeColumn(scObjectLog.times(), scObjectLog.totRotEnergy)
initialOrbAngMom_N = [[orbAngMom_N[0, 1], orbAngMom_N[0, 2], orbAngMom_N[0, 3]]]
finalOrbAngMom = [orbAngMom_N[-1]]
initialRotAngMom_N = [[rotAngMom_N[0, 1], rotAngMom_N[0, 2], rotAngMom_N[0, 3]]]
finalRotAngMom = [rotAngMom_N[-1]]
initialOrbEnergy = [[orbEnergy[0, 1]]]
finalOrbEnergy = [orbEnergy[-1]]
initialRotEnergy = [[rotEnergy[0, 1]]]
finalRotEnergy = [rotEnergy[-1]]
plt.close("all")
plt.figure()
plt.clf()
plt.plot(orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,1] - orbAngMom_N[0,1])/orbAngMom_N[0,1], orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,2] - orbAngMom_N[0,2])/orbAngMom_N[0,2], orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,3] - orbAngMom_N[0,3])/orbAngMom_N[0,3])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
plt.suptitle("Change in Orbital Angular Momentum ")
plt.figure()
plt.clf()
plt.plot(orbEnergy[:,0]*1e-9, (orbEnergy[:,1] - orbEnergy[0,1])/orbEnergy[0,1])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
plt.suptitle("Change in Orbital Energy ")
plt.figure()
plt.clf()
plt.plot(rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,1] - rotAngMom_N[0,1])/rotAngMom_N[0,1], rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,2] - rotAngMom_N[0,2])/rotAngMom_N[0,2], rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,3] - rotAngMom_N[0,3])/rotAngMom_N[0,3])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
plt.suptitle("Change in Rotational Angular Momentum")
plt.figure()
plt.clf()
plt.plot(rotEnergy[:,0]*1e-9, (rotEnergy[:,1] - rotEnergy[0,1])/rotEnergy[0,1])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
plt.suptitle("Change in Rotational Energy")
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody1ThetasOut[:,0]*1e-9, nHingedRigidBody1ThetasOut[:,1]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 1 Theta 1 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody1ThetasOut[:,0]*1e-9, nHingedRigidBody1ThetasOut[:,2]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 1 Theta 2 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody1ThetasOut[:,0]*1e-9, nHingedRigidBody1ThetasOut[:,3]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 1 Theta 3 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody1ThetasOut[:,0]*1e-9, nHingedRigidBody1ThetasOut[:,4]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 1 Theta 4 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody2ThetasOut[:,0]*1e-9, nHingedRigidBody2ThetasOut[:,1]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 2 Theta 1 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody2ThetasOut[:,0]*1e-9, nHingedRigidBody2ThetasOut[:,2]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 2 Theta 2 (deg)')
plt.figure()
plt.clf()
plt.plot(nHingedRigidBody2ThetasOut[:,0]*1e-9, nHingedRigidBody2ThetasOut[:,3]*180/numpy.pi,'-b')
plt.xlabel('Time (s)')
plt.ylabel('Panel 2 Theta 3 (deg)')
if show_plots:
plt.show()
plt.close("all")
accuracy = 1e-10
finalOrbAngMom = numpy.delete(finalOrbAngMom, 0, axis=1) # remove time column
finalRotAngMom = numpy.delete(finalRotAngMom, 0, axis=1) # remove time column
finalRotEnergy = numpy.delete(finalRotEnergy, 0, axis=1) # remove time column
finalOrbEnergy = numpy.delete(finalOrbEnergy, 0, axis=1) # remove time column
for i in range(0, len(initialOrbAngMom_N)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalOrbAngMom[i], initialOrbAngMom_N[i], 3, accuracy):
testFailCount += 1
testMessages.append("FAILED: N Hinged Rigid Body integrated test failed orbital angular momentum unit test")
for i in range(0, len(initialRotAngMom_N)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalRotAngMom[i], initialRotAngMom_N[i], 3, accuracy):
testFailCount += 1
testMessages.append(
"FAILED: N Hinged Rigid Body integrated test failed rotational angular momentum unit test")
for i in range(0, len(initialRotEnergy)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalRotEnergy[i], initialRotEnergy[i], 1, accuracy):
testFailCount += 1
testMessages.append("FAILED: N Hinged Rigid Body integrated test failed rotational energy unit test")
for i in range(0, len(initialOrbEnergy)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalOrbEnergy[i], initialOrbEnergy[i], 1, accuracy):
testFailCount += 1
testMessages.append("FAILED: N Hinged Rigid Body integrated test failed orbital energy unit test")
if testFailCount == 0:
print("PASSED: " + " N Hinged Rigid Body integrated test")
print("Error tolerance for all tests was" + str(accuracy))
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
nHingedRigidBody(True, "Gravity")