# ISC License
#
# Copyright (c) 2016-2017, 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
import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import spacecraftLocation
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import orbitalMotion
from Basilisk.utilities import unitTestSupport
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)
[docs]
@pytest.mark.parametrize("defaultPolarRadius", [False, True])
@pytest.mark.parametrize("defaultPlanet", [False, True])
@pytest.mark.parametrize("latitude", [55, 65, 115])
@pytest.mark.parametrize("maxRange", [-1, 3000.*1000])
@pytest.mark.parametrize("cone", [0, 1, -1])
def test_spacecraftLocation(show_plots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone):
"""
Tests whether spacecraftLocation:
1. defaults planet polar radius to equatorial radius if the polar radius is not set
2. checks that the zero default planet states are used if the planet is not provided
3. checks that the planet oblateness is accounted for
4. checks if the optional sensor boresight axis is properly accounted for
:return:
"""
# each test method requires a single assert method to be called
[testResults, testMessage] = run(show_plots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone)
assert testResults < 1, testMessage
def run(showplots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone):
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
simTaskName = "simTask"
simProcessName = "simProcess"
scSim = SimulationBaseClass.SimBaseClass()
dynProcess = scSim.CreateNewProcess(simProcessName)
simulationTimeStep = macros.sec2nano(1.)
dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep))
# Initialize new atmosphere and drag model, add them to task
module = spacecraftLocation.SpacecraftLocation()
module.ModelTag = "scLocation"
module.rEquator = orbitalMotion.REQ_EARTH * 1000.
if not defaultPolarRadius:
module.rPolar = orbitalMotion.REQ_EARTH * 1000. * 0.5
if maxRange:
module.maximumRange = maxRange
if cone != 0:
module.aHat_B = [0, 0, cone]
module.theta = 80. * macros.D2R
scSim.AddModelToTask(simTaskName, module)
# create planet message
planetPos = np.array([0.0, 0.0, 0.0])
if not defaultPlanet:
planet_message = messaging.SpicePlanetStateMsgPayload()
planet_message.J20002Pfix = rbk.euler3(np.radians(-90.)).tolist()
planetPos = np.array([orbitalMotion.AU * 1000, 0.0, 0.0])
planet_message.PositionVector = planetPos
planetMsg = messaging.SpicePlanetStateMsg().write(planet_message)
module.planetInMsg.subscribeTo(planetMsg)
# create primary spacecraft state message
alt = 1000. * 1000 # meters
scMsgData = messaging.SCStatesMsgPayload()
r = orbitalMotion.REQ_EARTH * 1000. + alt
scMsgData.r_BN_N = planetPos + np.array([r, 0.0, 0.0])
scMsgData.sigma_BN = [1.0, 0.0, 0.0]
scMsg = messaging.SCStatesMsg().write(scMsgData)
module.primaryScStateInMsg.subscribeTo(scMsg)
sc1MsgData = messaging.SCStatesMsgPayload()
angle = np.radians(latitude)
sc1MsgData.r_BN_N = planetPos + np.array([r * np.cos(angle), 0.0, r * np.sin(angle)])
sc1Msg = messaging.SCStatesMsg().write(sc1MsgData)
module.addSpacecraftToModel(sc1Msg)
# Run the sim
scSim.InitializeSimulation()
# check polar planet radius default behavior
if defaultPolarRadius and module.rPolar < 0:
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed default polar radius check.")
scSim.TotalSim.SingleStepProcesses()
accessMsg = module.accessOutMsgs[0].read()
if latitude == 55 or (latitude == 65 and not defaultPolarRadius):
trueAccess = 1
if maxRange > 0:
if accessMsg.slantRange > maxRange:
trueAccess = 0
if cone == 1:
trueAccess = 0
if accessMsg.hasAccess != trueAccess:
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed access test.")
if accessMsg.slantRange <= 1e-6:
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed positive slant range test.")
if (latitude == 65 and defaultPolarRadius) or latitude == 115:
# should not have access
if accessMsg.hasAccess != 0:
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed negative have access test.")
if np.abs(accessMsg.slantRange) > 1e-6:
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed negative slant range test.")
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
else:
print(testMessages)
return [testFailCount, ''.join(testMessages)]
if __name__ == '__main__':
run(False
, False # defaultPolarRadius
, True # defaultPlanet
, 55 # true latitude angle (deg)
, -7000.*1000 # max range
, 1 # cone case, 0-> no cone, 1 -> [0, 1, 0], -1 -> [0, -1, 0]
)