# 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.
from Basilisk.architecture import messaging
from Basilisk.simulation import fuelTank
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spacecraft
from Basilisk.simulation import thrusterDynamicEffector
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import simIncludeThruster
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
# 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_thrusterIntegratedTest(show_plots):
[testResults, testMessage] = thrusterIntegratedTest(show_plots)
assert testResults < 1, testMessage
[docs]def thrusterIntegratedTest(show_plots):
"""Module Unit Test"""
# 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(0.1) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# add thruster devices
thFactory = simIncludeThruster.thrusterFactory()
TH1 = thFactory.create(
'MOOG_Monarc_1',
[1,0,0], # location in B-frame
[0,1,0] # thruster force direction in B-frame
)
# create thruster object container and tie to spacecraft object
thrustersDynamicEffector = thrusterDynamicEffector.ThrusterDynamicEffector()
thFactory.addToSpacecraft("Thrusters",
thrustersDynamicEffector,
scObject)
# create tank object container
unitTestSim.fuelTankStateEffector = fuelTank.FuelTank()
unitTestSim.fuelTankStateEffector.setTankModel(fuelTank.TANK_MODEL_CONSTANT_VOLUME)
tankModel = fuelTank.cvar.FuelTankModelConstantVolume
tankModel.propMassInit = 40.0
tankModel.r_TcT_TInit = [[0.0],[0.0],[0.0]]
unitTestSim.fuelTankStateEffector.r_TB_B = [[0.0],[0.0],[0.0]]
tankModel.radiusTankInit = 46.0 / 2.0 / 3.2808399 / 12.0
unitTestSim.fuelTankStateEffector.addThrusterSet(thrustersDynamicEffector)
scObject.addStateEffector(unitTestSim.fuelTankStateEffector)
# set thruster commands
ThrustMessage = messaging.THRArrayOnTimeCmdMsgPayload()
ThrustMessage.OnTimeRequest = [9.9]
thrCmdMsg = messaging.THRArrayOnTimeCmdMsg().write(ThrustMessage)
thrustersDynamicEffector.cmdsInMsg.subscribeTo(thrCmdMsg)
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, thrustersDynamicEffector)
unitTestSim.AddModelToTask(unitTaskName, scObject)
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])
# Define initial conditions of the spacecraft
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]]
scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]]
scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]]
scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]]
scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]]
unitTestSim.InitializeSimulation()
# Get access to dynManager's translational state
posRef = scObject.dynManager.getStateObject("hubPosition")
sigmaRef = scObject.dynManager.getStateObject("hubSigma")
stopTime = 60.0*10.0
unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
unitTestSim.ExecuteSimulation()
dataPos = posRef.getState()
dataSigma = sigmaRef.getState()
dataPos = [[dataPos[0][0], dataPos[1][0], dataPos[2][0]]]
dataSigma = [[dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]]
truePos = [
[-6.7815933935338277e+06, 4.9468685979815889e+06, 5.4867416696776701e+06]
]
trueSigma = [
[1.4401781243854264e-01, -6.4168702021364002e-02, 3.0166086824900967e-01]
]
accuracy = 1e-8
for i in range(0,len(truePos)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Thruster Integrated Test failed pos unit test")
accuracy = 1e-7
for i in range(0,len(trueSigma)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Thruster Integrated Test failed attitude unit test")
if testFailCount == 0:
print("PASSED: " + " Thruster Integrated Sim Test")
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__":
test_thrusterIntegratedTest(False)