''' '''
'''
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.
'''
#
# Unit Test Script
# Module Name: MRP_Feedback
# Author: Hanspeter Schaub
# Creation Date: December 18, 2015
#
import pytest
import sys, os, inspect
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
import numpy as np
# Import all of the modules that we are going to call in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
from Basilisk.fswAlgorithms.MRP_Feedback import MRP_Feedback
from Basilisk.fswAlgorithms.fswMessages import fswMessages
# 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()
# provide a unique test method name, starting with test_
[docs]@pytest.mark.parametrize("intGain", [0.01, -1])
@pytest.mark.parametrize("rwNum", [4, 0])
@pytest.mark.parametrize("integralLimit", [0, 20])
@pytest.mark.parametrize("useRwAvailability", ["NO", "ON", "OFF"])
def test_MRP_Feedback(show_plots, intGain, rwNum, integralLimit, useRwAvailability):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = run(show_plots,intGain, rwNum, integralLimit, useRwAvailability)
assert testResults < 1, testMessage
def run(show_plots, intGain, rwNum, integralLimit, useRwAvailability):
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()
# this creates a fresh and consistent simulation environment for each test run
# 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
moduleConfig = MRP_Feedback.MRP_FeedbackConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "MRP_Feedback"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
# Initialize the test module configuration data
moduleConfig.inputGuidName = "inputGuidName"
moduleConfig.vehConfigInMsgName = "vehicleConfigName"
if rwNum > 0:
moduleConfig.rwParamsInMsgName = "rwa_config_data_parsed"
moduleConfig.inputRWSpeedsName = "reactionwheel_speeds"
moduleConfig.outputDataName = "outputName"
moduleConfig.K = 0.15
moduleConfig.Ki = intGain
moduleConfig.P = 150.0
moduleConfig.integralLimit = integralLimit
moduleConfig.knownTorquePntB_B = [1., 1., 1.]
# Create input message and size it because the regular creator of that message
# is not part of the test.
# AttGuidFswMsg Message:
guidCmdData = MRP_Feedback.AttGuidFswMsg() # Create a structure for the input message
sigma_BR = [0.3, -0.5, 0.7]
guidCmdData.sigma_BR = sigma_BR
omega_BR_B = [0.010, -0.020, 0.015]
guidCmdData.omega_BR_B = omega_BR_B
omega_RN_B = [-0.02, -0.01, 0.005]
guidCmdData.omega_RN_B = omega_RN_B
domega_RN_B = [0.0002, 0.0003, 0.0001]
guidCmdData.domega_RN_B = domega_RN_B
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.inputGuidName,
guidCmdData)
# vehicleConfigData Message:
vehicleConfigOut = MRP_Feedback.VehicleConfigFswMsg()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.vehConfigInMsgName,
vehicleConfigOut)
# wheelSpeeds Message
rwSpeedMessage = MRP_Feedback.RWSpeedIntMsg()
Omega = [10.0, 25.0, 50.0, 100.0] # rad/sec
rwSpeedMessage.wheelSpeeds = Omega
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.inputRWSpeedsName,
rwSpeedMessage)
# wheelConfigData message
jsList = []
GsMatrix_B = []
def writeMsgInWheelConfiguration():
rwConfigParams = MRP_Feedback.RWArrayConfigFswMsg()
rwConfigParams.GsMatrix_B = [
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
0.577350269190, 0.577350269190, 0.577350269190
]
rwConfigParams.JsList = [0.1, 0.1, 0.1, 0.1]
rwConfigParams.numRW = rwNum
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.rwParamsInMsgName,
rwConfigParams)
jsList = rwConfigParams.JsList
GsMatrix_B = rwConfigParams.GsMatrix_B
return jsList, GsMatrix_B
if len(moduleConfig.rwParamsInMsgName) > 0:
jsList, GsMatrix_B = writeMsgInWheelConfiguration()
# wheelAvailability message
rwAvailabilityMessage = fswMessages.RWAvailabilityFswMsg()
if useRwAvailability is not "NO":
moduleConfig.rwAvailInMsgName = "rw_availability"
if useRwAvailability is "ON":
rwAvailabilityMessage.wheelAvailability = [MRP_Feedback.AVAILABLE, MRP_Feedback.AVAILABLE,
MRP_Feedback.AVAILABLE, MRP_Feedback.AVAILABLE]
elif useRwAvailability is "OFF":
rwAvailabilityMessage.wheelAvailability = [MRP_Feedback.UNAVAILABLE, MRP_Feedback.UNAVAILABLE,
MRP_Feedback.UNAVAILABLE, MRP_Feedback.UNAVAILABLE]
else:
print("WARNING: unknown rw availability status")
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.rwAvailInMsgName,
rwAvailabilityMessage)
else:
# set default availability
rwAvailabilityMessage.wheelAvailability = [MRP_Feedback.AVAILABLE, MRP_Feedback.AVAILABLE,
MRP_Feedback.AVAILABLE, MRP_Feedback.AVAILABLE]
LrTrue = findTrueTorques(moduleConfig, guidCmdData, rwSpeedMessage, vehicleConfigOut, jsList,
rwNum, GsMatrix_B, rwAvailabilityMessage)
# Setup logging on the test module output message so that we get all the writes to it
unitTestSim.TotalSim.logThisMessage(moduleConfig.outputDataName, testProcessRate)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Step the simulation to 3*process rate so 4 total steps including zero
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
moduleWrap.Reset(1) # this module reset function needs a time input (in NanoSeconds)
unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
# This pulls the actual data log from the simulation run.
# Note that range(3) will provide [0, 1, 2] Those are the elements you get from the vector (all of them)
moduleOutputName = "torqueRequestBody"
moduleOutput = unitTestSim.pullMessageLogData(moduleConfig.outputDataName + '.' + moduleOutputName,
list(range(3)))
# compare the module results to the truth values
accuracy = 1e-8
for i in range(0, len(LrTrue)):
# check vector values
if not unitTestSupport.isArrayEqual(moduleOutput[i], LrTrue[i], 3, accuracy):
testFailCount += 1
testMessages.append("FAILED: " + moduleWrap.ModelTag + " Module failed " + moduleOutputName + " unit test at t=" + str(moduleOutput[i,0]*macros.NANO2SEC) + "sec\n")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag)
else:
print("Failed: " + moduleWrap.ModelTag)
# 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)]
def findTrueTorques(moduleConfig,guidCmdData,rwSpeedMessage,vehicleConfigOut,jsList,numRW,GsMatrix_B,rwAvailMsg):
Lr = []
#Read in variables
L = np.asarray(moduleConfig.knownTorquePntB_B)
steps = [0, 0, .5, 0, .5]
omega_BR_B = np.asarray(guidCmdData.omega_BR_B)
omega_RN_B = np.asarray(guidCmdData.omega_RN_B)
omega_BN_B = omega_BR_B + omega_RN_B #find body rate
domega_RN_B = np.asarray(guidCmdData.domega_RN_B)
sigma_BR = np.asarray(guidCmdData.sigma_BR)
Isc = np.asarray(vehicleConfigOut.ISCPntB_B)
Isc = np.reshape(Isc, (3, 3))
Ki = moduleConfig.Ki
K = moduleConfig.K
P = moduleConfig.P
jsVec = jsList
GsMatrix_B_array = np.asarray(GsMatrix_B)
GsMatrix_B_array = np.reshape(GsMatrix_B_array[0:numRW * 3], (numRW, 3))
sigmaInt = np.asarray([0, 0, 0])
#Compute toruqes
for i in range(len(steps)):
dt = steps[i]
if dt == 0:
sigmaInt = np.asarray([0, 0, 0])
#evaluate integral term
if Ki > 0: #if integral feedback is on
sigmaInt = K * dt * sigma_BR + sigmaInt
for n in range(3):
if abs(sigmaInt[n]) > moduleConfig.integralLimit:
sigmaInt[n] *= moduleConfig.integralLimit/sigmaInt[n] #check elementwise if integral term is greater than limit; preserve direction (+/-)
zVec = sigmaInt + Isc.dot(omega_BR_B)
else: #integral gain turned off/negative setting
zVec = np.asarray([0, 0, 0])
#compute torque Lr
Lr0 = K * sigma_BR # +K*sigmaBR
Lr1 = Lr0 + P * omega_BR_B # +P*deltaOmega
Lr2 = Lr1 + P * Ki * zVec # +P*Ki*z
GsHs = np.array([0,0,0])
if numRW>0:
for i in range(numRW):
if rwAvailMsg.wheelAvailability[i] == 0: #Make RW availability check
GsHs = GsHs + np.dot(GsMatrix_B_array[i, :], jsVec[i]*(np.dot(omega_BN_B, GsMatrix_B_array[i, :])+rwSpeedMessage.wheelSpeeds[i]))
#J_s*(dot(omegaBN_B,Gs_vec)+Omega_wheel)
Lr3 = Lr2 - np.cross((omega_RN_B+Ki*zVec), (Isc.dot(omega_BN_B)+GsHs)) # -[v3Tilde(omega_r+Ki*z)]([I]omega + [Gs]h_s)
Lr4 = Lr3 + Isc.dot(-domega_RN_B + np.cross(omega_BN_B, omega_RN_B)) #+[I](-d(omega_r)/dt + omega x omega_r)
Lr5 = Lr4 + L
Lr5 = -Lr5
Lr.append(np.ndarray.tolist(Lr5))
return Lr
# This statement below ensures that the unitTestScript can be run as a stand-along python scripts
# automatically executes the test_MRP_Feedback() method
#
if __name__ == "__main__":
test_MRP_Feedback(False, # showplots
0.01, # intGain
4, # rwNum
0.0, # integralLimit
"NO" # useRwAvailability ("NO", "ON", "OFF")
)