# 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 math
import os
import matplotlib.pyplot as plt
import numpy
from Basilisk.architecture import messaging
from Basilisk.simulation import simpleNav
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport
def listNorm(inputList):
normValue = 0.0
for elem in inputList:
normValue += elem*elem
normValue = math.sqrt(normValue)
i=0
while i<len(inputList):
inputList[i] = inputList[i]/normValue
i += 1
# 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(True)
[docs]
def test_unitSimpleNav(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitSimpleNav(show_plots)
assert testResults < 1, testMessage
def unitSimpleNav(show_plots):
path = os.path.dirname(os.path.abspath(__file__))
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
unitTestSim = SimulationBaseClass.SimBaseClass()
unitTestProc = unitTestSim.CreateNewProcess(unitProcessName)
# create the task and specify the integration update time
unitTestProc.addTask(unitTestSim.CreateNewTask(unitTaskName, int(1E8)))
#Now initialize the modules that we are using. I got a little better as I went along
sNavObject = simpleNav.SimpleNav()
unitTestSim.AddModelToTask(unitTaskName, sNavObject)
spiceMessage = messaging.SpicePlanetStateMsgPayload()
stateMessage = messaging.SCStatesMsgPayload()
vehPosition = [10000.0, 0.0, 0.0]
sunPosition = [10000.0, 1000.0, 0.0]
stateMessage.r_BN_N = vehPosition
spiceMessage.PositionVector = sunPosition
spiceMessage.PlanetName = "sun"
# Inertial State output Message
scStateMsg = messaging.SCStatesMsg().write(stateMessage)
sNavObject.scStateInMsg.subscribeTo(scStateMsg)
# Sun Planet Data Message
sunStateMsg = messaging.SpicePlanetStateMsg().write(spiceMessage)
sNavObject.sunStateInMsg.subscribeTo(sunStateMsg)
sNavObject.ModelTag = "SimpleNavigation"
posBound = numpy.array([1000.0] * 3)
velBound = numpy.array([1.0] * 3)
attBound = numpy.array([5E-3] * 3)
rateBound = numpy.array([0.02] * 3)
sunBound = numpy.array([5.0 * math.pi / 180.0] * 3)
dvBound = numpy.array([0.053] * 3)
posSigma = 5.0
velSigma = 0.035
attSigma = 1.0 / 360.0 * math.pi / 180.0
rateSigma = 0.05 * math.pi / 180.0
sunSigma = math.pi / 180.0
dvSigma = 0.1 * math.pi / 180.0
pMatrix = [[posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma, 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma, 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma],
]
errorBounds = [[1000.], [1000.], [1000.], [1.], [1.], [1.], [0.005], [0.005], [0.005], [0.02], [0.02], [0.02],
[5.0 * math.pi / 180.0], [5.0 * math.pi / 180.0], [5.0 * math.pi / 180.0], [0.053], [0.053], [0.053]]
sNavObject.walkBounds = errorBounds
sNavObject.PMatrix = pMatrix
sNavObject.crossTrans = True
sNavObject.crossAtt = False
# setup logging
dataAttLog = sNavObject.attOutMsg.recorder()
dataTransLog = sNavObject.transOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataAttLog)
unitTestSim.AddModelToTask(unitTaskName, dataTransLog)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(int(60 * 144.0 * 1E9))
unitTestSim.ExecuteSimulation()
# pull simulation data
posNav = dataTransLog.r_BN_N
velNav = dataTransLog.v_BN_N
attNav = dataAttLog.sigma_BN
rateNav = dataAttLog.omega_BN_B
dvNav = dataTransLog.vehAccumDV
sunNav = dataAttLog.vehSunPntBdy
sunHatPred = numpy.array(sunPosition)-numpy.array(vehPosition)
listNorm(sunHatPred)
countAllow = posNav.shape[0] * 0.3/100.
posDiffCount = 0
velDiffCount = 0
attDiffCount = 0
rateDiffCount = 0
dvDiffCount = 0
sunDiffCount = 0
i=0
while i< posNav.shape[0]:
posVecDiff = posNav[i,0:] - vehPosition
velVecDiff = velNav[i,0:]
attVecDiff = attNav[i,0:]
rateVecDiff = rateNav[i,0:]
dvVecDiff = dvNav[i,0:]
sunVecDiff = math.acos(numpy.dot(sunNav[i, 0:], sunHatPred))
j=0
while j<3:
if(abs(posVecDiff[j]) > posBound[j]):
posDiffCount += 1
if(abs(velVecDiff[j]) > velBound[j]):
velDiffCount += 1
if(abs(attVecDiff[j]) > attBound[j]):
attDiffCount += 1
if(abs(rateVecDiff[j]) > rateBound[j]):
rateDiffCount += 1
if(abs(dvVecDiff[j]) > dvBound[j]):
dvDiffCount += 1
j+=1
if(abs(sunVecDiff) > 4.0*math.sqrt(3.0)*sunBound[0]):
sunDiffCount += 1
i+= 1
errorCounts = [posDiffCount, velDiffCount, attDiffCount, rateDiffCount,
dvDiffCount, sunDiffCount]
for count in errorCounts:
if count > countAllow:
testFailCount += 1
testMessages.append("FAILED: Too many error counts -" + str(count))
sigmaThreshold = 0.8
posDiffCount = 0
velDiffCount = 0
attDiffCount = 0
rateDiffCount = 0
dvDiffCount = 0
sunDiffCount = 0
i=0
while i< posNav.shape[0]:
posVecDiff = posNav[i,0:] - vehPosition
velVecDiff = velNav[i,0:]
attVecDiff = attNav[i,0:]
rateVecDiff = rateNav[i,0:]
dvVecDiff = dvNav[i,0:]
sunVecDiff = math.acos(numpy.dot(sunNav[i, 0:], sunHatPred))
j=0
while j<3:
if(abs(posVecDiff[j]) > posBound[j]*sigmaThreshold):
posDiffCount += 1
if(abs(velVecDiff[j]) > velBound[j]*sigmaThreshold):
velDiffCount += 1
if(abs(attVecDiff[j]) > attBound[j]*sigmaThreshold):
attDiffCount += 1
if(abs(rateVecDiff[j]) > rateBound[j]*sigmaThreshold):
rateDiffCount += 1
if(abs(dvVecDiff[j]) > dvBound[j]*sigmaThreshold):
dvDiffCount += 1
j+=1
if(abs(sunVecDiff) > 4.0*math.sqrt(3.0)*sunBound[0]*sigmaThreshold):
sunDiffCount += 1
i+= 1
errorCounts = [posDiffCount, velDiffCount, attDiffCount, rateDiffCount,
dvDiffCount, sunDiffCount]
for count in errorCounts:
if count < 1:
testFailCount += 1
testMessages.append("FAILED: Too few error counts -" + str(count))
plt.figure(1)
plt.clf()
plt.figure(1, figsize=(7, 5), dpi=80, facecolor='w', edgecolor='k')
plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,0], label='x-position')
plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,1], label='y-position')
plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,2], label='z-position')
plt.legend(loc='upper left')
plt.xlabel('Time (s)')
plt.ylabel('Position (m)')
unitTestSupport.writeFigureLaTeX('SimpleNavPos', 'Simple Navigation Position Signal', plt, r'height=0.4\textwidth, keepaspectratio', path)
if show_plots:
plt.show()
plt.close('all')
plt.figure(2)
plt.clf()
plt.figure(2, figsize=(7, 5), dpi=80, facecolor='w', edgecolor='k')
plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 0], label='x-rotation')
plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 1], label='y-rotation')
plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 2], label='z-rotation')
plt.legend(loc='upper left')
plt.xlabel('Time (s)')
plt.ylabel('Attitude (rad)')
unitTestSupport.writeFigureLaTeX('SimpleNavAtt', 'Simple Navigation Att Signal', plt, r'height=0.4\textwidth, keepaspectratio', path)
if show_plots:
plt.show()
plt.close('all')
# Corner case usage
pMatrixBad = [[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]]
# stateBoundsBad = [[0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.]]
stateBoundsBad = [[0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.]]
sNavObject.walkBounds = stateBoundsBad
sNavObject.PMatrix = pMatrixBad
# sNavObject.inputStateName = "random_name"
# sNavObject.inputSunName = "weirdly_not_the_sun"
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(int(1E8))
unitTestSim.ExecuteSimulation()
# print out success message if no error were found
if testFailCount == 0:
print("PASSED")
assert testFailCount < 1, testMessages
# 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__":
unitSimpleNav(True)