# ISC License
#
# Copyright (c) 2021, 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 numpy as np
#
# Spice Unit Test
#
# Purpose: Test the proper function of the Spice Ephemeris module for spacecraft information.
# Proper function is tested by comparing Spice Ephemeris to
# JPL Horizons Database for different planets and times of year
# Author: Hanspeter Schaub
# Creation Date: Dec. 17, 2021
#
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
from Basilisk import __path__
bskPath = __path__[0]
from Basilisk.utilities import unitTestSupport
from Basilisk.utilities import SimulationBaseClass
from Basilisk.simulation import spiceInterface
from Basilisk.utilities import macros
# provide a unique test method name, starting with test_
[docs]def test_unitSpiceSc(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitSpiceSc(show_plots)
assert testResults < 1, testMessage
# Run unit test
def unitSpiceSc(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
TotalSim = SimulationBaseClass.SimBaseClass()
DynUnitTestProc = TotalSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
DynUnitTestProc.addTask(TotalSim.CreateNewTask(unitTaskName, macros.sec2nano(0.1)))
dateSpice = "2015 February 10, 00:00:00.0 TDB"
# Initialize the spice modules that we are using.
spiceObject = spiceInterface.SpiceInterface()
spiceObject.ModelTag = "SpiceInterfaceData"
spiceObject.SPICEDataPath = bskPath + '/supportData/EphemerisData/'
scNames = ["HUBBLE SPACE TELESCOPE"]
spiceObject.addSpacecraftNames(spiceInterface.StringVector(scNames))
spiceObject.UTCCalInit = dateSpice
spiceObject.zeroBase = "earth"
spiceObject.loadSpiceKernel("hst_edited.bsp", bskPath + '/supportData/EphemerisData/')
TotalSim.AddModelToTask(unitTaskName, spiceObject)
# Configure simulation
TotalSim.ConfigureStopTime(macros.sec2nano(0.1))
# Execute simulation
TotalSim.InitializeSimulation()
TotalSim.ExecuteSimulation()
# unload spice kernel
spiceObject.unloadSpiceKernel("hst_edited.bsp", bskPath + '/supportData/EphemerisData/')
# set truth
truthPosition = np.array([-5855529.540348052, 1986110.860522791, -3116764.7117067943])
truthVelocity = np.array([-1848.9038338503085, -7268.515626753905, -1155.3578832725618])
truthAtt = np.array([0., 0., 0.])
truthZero = np.array([0., 0., 0.])
scStateMsg = spiceObject.scStateOutMsgs[0].read()
# print(scStateMsg.r_BN_N)
# print(scStateMsg.v_BN_N)
# print(scStateMsg.sigma_BN)
accuracy = 0.01
testFailCount, testMessages = unitTestSupport.compareVector(truthPosition,
scStateMsg.r_BN_N,
accuracy, "scState-r_BN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthPosition,
scStateMsg.r_CN_N,
accuracy, "scState-r_CN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthVelocity,
scStateMsg.v_BN_N,
accuracy, "scState-v_BN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthVelocity,
scStateMsg.v_CN_N,
accuracy, "scState-v_CN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthAtt,
scStateMsg.sigma_BN,
accuracy, "scState-sigma_BN",
testFailCount, testMessages)
attStateMsg = spiceObject.attRefStateOutMsgs[0].read()
testFailCount, testMessages = unitTestSupport.compareVector(truthAtt,
attStateMsg.sigma_RN,
accuracy, "scState-sigma_RN",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthZero,
attStateMsg.omega_RN_N,
accuracy, "scState-omega_RN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthZero,
attStateMsg.domega_RN_N,
accuracy, "scState-domega_RN_N",
testFailCount, testMessages)
transStateMsg = spiceObject.transRefStateOutMsgs[0].read()
testFailCount, testMessages = unitTestSupport.compareVector(truthPosition,
transStateMsg.r_RN_N,
accuracy, "scState-r_RN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthVelocity,
transStateMsg.v_RN_N,
accuracy, "scState-v_RN_N",
testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(truthZero,
transStateMsg.a_RN_N,
accuracy, "scState-a_RN_N",
testFailCount, testMessages)
# print out success message if no error were found
if testFailCount == 0:
print(" \n PASSED ")
# 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_unitSpiceSc(
False # show_plots
)