Source code for test_thrForceMapping


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#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
#   Unit Test Script
#   Module Name:        thrForceMapping
#   Author:             Hanspeter Schaub
#   Creation Date:      July 4, 2016
#
import inspect
import os

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))

import pytest

# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport                  # general support file with common unit test functions
from Basilisk.fswAlgorithms import thrForceMapping
from Basilisk.utilities import macros
from Basilisk.utilities import fswSetupThrusters
from Basilisk.architecture import messaging

import numpy as np


# 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(conditionstring)
# Provide a unique test method name, starting with 'test_'.
# The following 'parametrize' function decorator provides the parameters and expected results for each
#   of the multiple test runs for this test.

[docs]@pytest.mark.parametrize("useDVThruster", [True, False]) @pytest.mark.parametrize(["useCOMOffset","dropThruster", "use2ndLoop"],[ (False, 0, False), (False, 1, True), (False, 2, True), # Any time we drop a thruster we should recompute the solution (True, 0, False)]) # We don't handle the case where there is a dropped thruster and and COM offset--see performance analysis. @pytest.mark.parametrize("asymmetricDrop", [False]) @pytest.mark.parametrize("numControlAxis", [1, 2, 3]) @pytest.mark.parametrize("saturateThrusters", [0,1,2]) @pytest.mark.parametrize("misconfigThruster", [False]) # update "module" in this function name to reflect the module name def test_module(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop, numControlAxis, saturateThrusters, misconfigThruster, use2ndLoop): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = thrusterForceTest(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop, numControlAxis, saturateThrusters, misconfigThruster, use2ndLoop) assert testResults < 1, testMessage
def thrusterForceTest(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop, numControlAxis, saturateThrusters, misconfigThruster,use2ndLoop): testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages 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(0.5) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Construct algorithm and associated C++ container module = thrForceMapping.thrForceMapping() module.ModelTag = "thrForceMapping" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) # Initialize the test module configuration data module.use2ndLoop = use2ndLoop # write vehicle configuration message vehicleConfigOut = messaging.VehicleConfigMsgPayload() if useCOMOffset == 1: CoM_B = [0.03,0.001,0.02] else: CoM_B = [0,0,0] vehicleConfigOut.CoM_B = CoM_B vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut) # Create input message and size it because the regular creator of that message # is not part of the test. inputMessageData = messaging.CmdTorqueBodyMsgPayload() # Create a structure for the input message requestedTorque = [1.0, -0.5, 0.7] # Set up a list as a 3-vector if saturateThrusters>0: # default angErrThresh is 0, thus this should trigger scaling requestedTorque = [10.0, -5.0, 7.0] if saturateThrusters==2: # angle is set and small enough to trigger scaling module.angErrThresh = 10.0*macros.D2R if saturateThrusters==3: # angle is too large enough to trigger scaling module.angErrThresh = 40.0*macros.D2R inputMessageData.torqueRequestBody = requestedTorque # write torque request to input message cmdTorqueInMsg = messaging.CmdTorqueBodyMsg().write(inputMessageData) module.epsilon = 0.0005 fswSetupThrusters.clearSetup() MAX_EFF_CNT = messaging.MAX_EFF_CNT rcsLocationData = np.zeros((MAX_EFF_CNT, 3)) rcsDirectionData = np.zeros((MAX_EFF_CNT, 3)) controlAxes_B = np.array([ [1, 0, 0], [0, 1, 0], [0, 0, 1] ]) controlAxes_B = controlAxes_B[0:numControlAxis] if len(controlAxes_B) == 0: controlAxes_B = np.array([[]]) controlAxes_B = np.reshape(controlAxes_B, (1, 3 * numControlAxis)) module.controlAxes_B = controlAxes_B[0].tolist() if useDVThruster: # DV thruster setup module.thrForceSign = -1 numThrusters = 6 rcsLocationData[0:6] = [ \ [0, 0.413, -0.1671], [0, -0.413, -0.1671], [0.35766849176297305, 0.20650000000000013, -0.1671], [0.3576684917629732, -0.20649999999999988, -0.1671], [-0.35766849176297333, 0.20649999999999968, -0.1671], [-0.35766849176297305, -0.20650000000000018, -0.1671] \ ] rcsDirectionData[0:6] = [ \ [0.0, 0.0, 1.0], [0.0, 0.0, 1.0], [0.0, 0.0, 1.0], [0.0, 0.0, 1.0], [0.0, 0.0, 1.0], [0.0, 0.0, 1.0] \ ] else: # RCS thruster setup module.thrForceSign = +1 numThrusters = 8 rcsLocationData[0:8] = [ \ [-0.86360, -0.82550, 1.79070], [-0.82550, -0.86360, 1.79070], [0.82550, 0.86360, 1.79070], [0.86360, 0.82550, 1.79070], [-0.86360, -0.82550, -1.79070], [-0.82550, -0.86360, -1.79070], [0.82550, 0.86360, -1.79070], [0.86360, 0.82550, -1.79070] \ ] rcsDirectionData[0:8] = [ \ [1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, -1.0, 0.0], [-1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, -1.0, 0.0], [-1.0, 0.0, 0.0] \ ] if dropThruster > 0: if (dropThruster % 2==0) and asymmetricDrop: # Drop thrusters that don't share the same torque direction removedThrusters = 0 for i in range(0, numThrusters, 2): rcsLocationData[i] = [0.0, 0.0, 0.0] rcsDirectionData[i] = [0.0, 0.0, 0.0] removedThrusters += 1 if removedThrusters < dropThruster: rcsLocationData[1] = [0.0, 0.0, 0.0] removedThrusters += 1 else: for i in range(dropThruster): rcsLocationData[numThrusters - 1 - i, :] = [0.0, 0.0, 0.0] rcsDirectionData[numThrusters - 1 - i, :] = [0.0, 0.0, 0.0] indices = [] for i in range(numThrusters): if np.linalg.norm(rcsLocationData[i]) == 0: indices = np.append(indices, i) offset = 0 for i in indices: idx = (int) (i - offset) rcsLocationData = np.delete(rcsLocationData, idx, axis=0) rcsDirectionData = np.delete(rcsDirectionData, idx, axis=0) rcsLocationData = np.append(rcsLocationData,[[0.0, 0.0, 0.0]], axis=0) rcsDirectionData = np.append(rcsDirectionData, [[0.0, 0.0, 0.0]], axis=0) offset = offset + 1 numThrusters = numThrusters - dropThruster maxThrust = 0.95 if useDVThruster: maxThrust = 10.0 for i in range(numThrusters): if misconfigThruster and i == 0: maxThrustConfig = 0.0 else: maxThrustConfig = maxThrust fswSetupThrusters.create(rcsLocationData[i], rcsDirectionData[i], maxThrustConfig) thrConfigInMsg = fswSetupThrusters.writeConfigMessage() # Setup logging on the test module output message so that we get all the writes to it dataLog = module.thrForceCmdOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) # connect messages module.cmdTorqueInMsg.subscribeTo(cmdTorqueInMsg) module.thrConfigInMsg.subscribeTo(thrConfigInMsg) module.vehConfigInMsg.subscribeTo(vcInMsg) # Need to call the self-init and cross-init methods unitTestSim.InitializeSimulation() # Set the simulation time. # NOTE: the total simulation time may be longer than this value. The # simulation is stopped at the next logging event on or after the # simulation end time. unitTestSim.ConfigureStopTime(macros.sec2nano(0.5)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. moduleOutput = dataLog.thrForce if misconfigThruster: return [testFailCount, ''.join(testMessages)] # We don't handle cases where a thruster is configured incorrectly. if useDVThruster and numControlAxis == 3: return [testFailCount, ''.join(testMessages)] # 3 control axes doesn't work for dv thrusters (only two axes controllable) results = thrForceMapping.Results_thrForceMapping(requestedTorque, module.controlAxes_B, vehicleConfigOut.CoM_B, rcsLocationData, rcsDirectionData, module.thrForceSign, module.thrForcMag, module.angErrThresh, numThrusters, module.epsilon, use2ndLoop) F, DNew = results.results_thrForceMapping() trueVector = np.zeros((2, MAX_EFF_CNT)) trueVector[0,:] = F trueVector[1,:] = F C = np.reshape(controlAxes_B, (numControlAxis, 3)) CT = np.transpose(C) D = np.cross(rcsDirectionData,rcsLocationData-CoM_B) receivedTorque = -1.0*np.array([np.matmul(np.transpose(D), np.transpose(moduleOutput[0]))]) receivedTorque = np.append(np.array([]), receivedTorque) Lr_offset = np.array([0.0, 0.0, 0.0]) Lr_B = np.array([0.0, 0.0, 0.0]) for i in range(0,numThrusters): if module.thrForceSign < 0 and module.thrForcMag[i] >= 0: Lr_offset -= module.thrForcMag[i]*np.cross(rcsLocationData[i,:]-CoM_B,rcsDirectionData[i,:]) # off pulsing Lr_B = requestedTorque + Lr_offset # This computes the requested torque direction and the received torque directions Lr_Req_B_Unit = Lr_B / np.linalg.norm(Lr_B) Lr_Rec_B_Unit = receivedTorque / np.linalg.norm(receivedTorque) # This is the requested and recieved torque projected onto the control axes Lr_Req_Bar_B = np.matmul(CT, np.matmul(C, Lr_B)) Lr_Rec_Bar_B = np.matmul(CT, np.matmul(C, receivedTorque)) # This computes the projected requested and received control torque directions Lr_Req_Bar_B_Unit = Lr_Req_Bar_B/np.linalg.norm(Lr_Req_Bar_B) Lr_Rec_Bar_B_Unit = Lr_Rec_Bar_B/np.linalg.norm(Lr_Rec_Bar_B) if np.linalg.norm(Lr_Rec_Bar_B) == 0.0: Lr_Rec_Bar_B_Unit = [0.0, 0.0, 0.0] accuracy = 1E-6 # Check that Python Math and C Math are Identical testFailCount, testMessages = unitTestSupport.compareArrayND(np.array([F]), np.array([moduleOutput[0]]), accuracy, "CompareForces", MAX_EFF_CNT, testFailCount, testMessages) # Checks to make sure that no forces are negative if not useDVThruster and np.any(moduleOutput[0] < 0): testFailCount += 1 print("A negative force exists in the C RCS solution. This is not allowed!\n") if not useDVThruster and np.any(F < 0): testFailCount += 1 print("A negative force exists in the Python RCS solution. This is not allowed!\n") if testFailCount > 0: return [testFailCount, ''.join(testMessages)] # Check that Torques are Sensible print("\nReq Lr_Bar [B]: " + str(Lr_Req_Bar_B)) print("Rec Lr_Bar [B]: " + str(Lr_Rec_Bar_B)) testFailCount, testMessages = unitTestSupport.compareArrayND(np.array([Lr_Req_Bar_B_Unit]), np.array([Lr_Rec_Bar_B_Unit]), accuracy, "CompareTorques", 3, testFailCount, testMessages) snippetName = "LrData_" + str(useDVThruster) + "_" + str(dropThruster) + "_" + str(numControlAxis) + "_" + str(useCOMOffset) + "____" + str(asymmetricDrop) + "_" + str(saturateThrusters) + "_" + str(misconfigThruster) snippetTex = "DV Thrusters:\t" + str(useDVThruster) + "\n" snippetTex += "Number of Dropped Thrusters:\t" + str(dropThruster)+ "\n" snippetTex += "Number of Control Axes:\t" + str(numControlAxis) + "\n" snippetTex += "COM Offset:\t" + str(useCOMOffset) + "\n\n" snippetTex += "Was the drop asymmetric about the COM?\t" + str(asymmetricDrop) + "\n" snippetTex += "Number of Saturated Thrusters:\t" + str(saturateThrusters) + "\n" snippetTex += "Misconfigured Thruster?:\t" + str(misconfigThruster) + "\n\n" snippetTex += "Original [B]:\t" + str(requestedTorque) + "\n" snippetTex += "Requested (Original + Offset) [B]:\t" + str(Lr_B) + "\n" snippetTex += "Received [B]:\t\t" + str(receivedTorque) + "\n\n" snippetTex += "Requested Unit:\t\t" + str(Lr_Req_B_Unit) + "\n" snippetTex += "Received Unit:\t\t" + str(Lr_Rec_B_Unit) + "\n\n" snippetTex += "Requested On Control Axes (Original + Offset) [B]:\t" + str(Lr_Req_Bar_B) + "\n" snippetTex += "Received On Control Axes [B]:\t\t" + str(Lr_Rec_Bar_B) + "\n\n" snippetTex += "Requested On Control Axes Unit:\t\t" + str(Lr_Req_Bar_B_Unit) + "\n" snippetTex += "Received On Control Axes Unit:\t\t" + str(Lr_Rec_Bar_B_Unit) + "\n\n" snippetTex += "D-Matrix:\n" + str(D) + "\n\n" snippetTex += "Forces:\n" + str(np.transpose(F)) + "\n\n" directory = "Nom/UnitVec/" # Any solutions that dont have the correct torque, but do have the correct unit direction are called successful. if testFailCount > 0: unitTestSupport.writeTeXSnippet(directory+"Failed/"+snippetName, snippetTex, path) print("FAILED: " + module.ModelTag) testMessages.append("FAILED: " + module.ModelTag + " Module failed unit test at t=" + str(dataLog.times()[0] * macros.NANO2SEC) + "sec\n") else: unitTestSupport.writeTeXSnippet(directory+"/Passed/" + snippetName, snippetTex, path) print("PASSED: " + module.ModelTag) unitTestSupport.writeTeXSnippet('toleranceValue', str(accuracy), path) snippentName = "passFail_" + str(useDVThruster) + "_" + str(useCOMOffset) + "_" + str(dropThruster) + "_" + str( numControlAxis) + "_" + str(saturateThrusters) + "_" + str(misconfigThruster) if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' print("Failed: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippentName, passedText, path) if testFailCount > 0: print("Python:\t " + str(F)) print("C: \t:" + str(moduleOutput[0])) return [testFailCount, ''.join(testMessages)] # # This statement below ensures that the unitTestScript can be run as a # stand-along python script # if __name__ == "__main__": test_module( # update "module" in function name False, False, # useDVThruster False, # use COM offset 2, # num drop thruster(s) False, # asymmetric drop 3, # num control axis 2, # saturateThrusters False, # misconfigThruster False # Use 2nd loop )