''' '''
'''
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 sys, os, inspect
import matplotlib.pyplot as plt
import numpy
import pytest
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
splitPath = path.split('simulation')
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport
from Basilisk.simulation import spacecraftPlus
from Basilisk.simulation import dualHingedRigidBodyStateEffector
from Basilisk.simulation import gravityEffector
from Basilisk.utilities import macros
[docs]@pytest.mark.parametrize("useFlag, testCase", [
(False,'NoGravity'),
(False,'Gravity')
])
# 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_dualHingedRigidBody(show_plots,useFlag,testCase):
"""Module Unit Test"""
[testResults, testMessage] = dualHingedRigidBodyTest(show_plots,useFlag,testCase)
assert testResults < 1, testMessage
def dualHingedRigidBodyTest(show_plots,useFlag,testCase):
# 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 = spacecraftPlus.SpacecraftPlus()
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(0.0001) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
unitTestSim.panel1 = dualHingedRigidBodyStateEffector.DualHingedRigidBodyStateEffector()
unitTestSim.panel2 = dualHingedRigidBodyStateEffector.DualHingedRigidBodyStateEffector()
# Define Variable for panel 1
unitTestSim.panel1.mass1 = 50.0
unitTestSim.panel1.IPntS1_S1 = [[50.0, 0.0, 0.0], [0.0, 25.0, 0.0], [0.0, 0.0, 25.0]]
unitTestSim.panel1.d1 = 0.75
unitTestSim.panel1.l1 = 1.5
unitTestSim.panel1.k1 = 100.0
unitTestSim.panel1.c1 = 0.0
unitTestSim.panel1.rH1B_B = [[0.5], [0.0], [1.0]]
unitTestSim.panel1.dcmH1B = [[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 1.0]]
unitTestSim.panel1.nameOfTheta1State = "dualHingedRigidBody1Theta1"
unitTestSim.panel1.nameOfTheta1DotState = "dualHingedRigidBody1ThetaDot1"
unitTestSim.panel1.mass2 = 50.0
unitTestSim.panel1.IPntS2_S2 = [[50.0, 0.0, 0.0], [0.0, 25.0, 0.0], [0.0, 0.0, 25.0]]
unitTestSim.panel1.d2 = 0.75
unitTestSim.panel1.l2 = 1.5
unitTestSim.panel1.k2 = 100.0
unitTestSim.panel1.c2 = 0.0
unitTestSim.panel1.nameOfTheta2State = "dualHingedRigidBody1Theta2"
unitTestSim.panel1.nameOfTheta2DotState = "dualHingedRigidBody1ThetaDot2"
unitTestSim.panel1.theta1Init = 5*numpy.pi/180.0
unitTestSim.panel1.theta1DotInit = 0.0
unitTestSim.panel1.theta2Init = 0.0
unitTestSim.panel1.theta2DotInit = 0.0
# Define Variables for panel 2
unitTestSim.panel2.mass1 = 50.0
unitTestSim.panel2.IPntS1_S1 = [[50.0, 0.0, 0.0], [0.0, 25.0, 0.0], [0.0, 0.0, 25.0]]
unitTestSim.panel2.d1 = 0.75
unitTestSim.panel2.l1 = 1.5
unitTestSim.panel2.k1 = 100.0
unitTestSim.panel2.c1 = 0.0
unitTestSim.panel2.rH1B_B = [[-0.5], [0.0], [1.0]]
unitTestSim.panel2.dcmH1B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
unitTestSim.panel2.nameOfTheta1State = "dualHingedRigidBody2Theta1"
unitTestSim.panel2.nameOfTheta1DotState = "dualHingedRigidBody2ThetaDot1"
unitTestSim.panel2.mass2 = 50.0
unitTestSim.panel2.IPntS2_S2 = [[50.0, 0.0, 0.0], [0.0, 25.0, 0.0], [0.0, 0.0, 25.0]]
unitTestSim.panel2.d2 = 0.75
unitTestSim.panel2.l2 = 1.5
unitTestSim.panel2.k2 = 100.0
unitTestSim.panel2.c2 = 0.0
unitTestSim.panel2.nameOfTheta2State = "dualHingedRigidBody2Theta2"
unitTestSim.panel2.nameOfTheta2DotState = "dualHingedRigidBody2ThetaDot2"
unitTestSim.panel2.theta1Init = 5*numpy.pi/180.0
unitTestSim.panel2.theta1DotInit = 0.0
unitTestSim.panel2.theta2Init = 0.0
unitTestSim.panel2.theta2DotInit = 0.0
# Add panels to spaceCraft
# this next line is not working
scObject.addStateEffector(unitTestSim.panel1)
scObject.addStateEffector(unitTestSim.panel2)
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]]
# Set the initial values for the states
scObject.hub.r_CN_NInit = [[0.1], [-0.4], [0.3]]
scObject.hub.v_CN_NInit = [[-0.2], [0.5], [0.1]]
scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
scObject.hub.omega_BN_BInit = [[0.1], [-0.1], [0.1]]
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, scObject)
if testCase == 'Gravity':
unitTestSim.earthGravBody = gravityEffector.GravBodyData()
unitTestSim.earthGravBody.bodyInMsgName = "earth_planet_data"
unitTestSim.earthGravBody.outputMsgName = "earth_display_frame_data"
unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
unitTestSim.earthGravBody.isCentralBody = True
unitTestSim.earthGravBody.useSphericalHarmParams = False
scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector([unitTestSim.earthGravBody])
scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]]
scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]]
unitTestSim.TotalSim.logThisMessage(scObject.scStateOutMsgName, testProcessRate)
unitTestSim.InitializeSimulation()
# Add energy and momentum variables to log
unitTestSim.AddVariableForLogging(scObject.ModelTag + ".totOrbEnergy", testProcessRate, 0, 0, 'double')
unitTestSim.AddVariableForLogging(scObject.ModelTag + ".totOrbAngMomPntN_N", testProcessRate, 0, 2, 'double')
unitTestSim.AddVariableForLogging(scObject.ModelTag + ".totRotAngMomPntC_N", testProcessRate, 0, 2, 'double')
unitTestSim.AddVariableForLogging(scObject.ModelTag + ".totRotEnergy", testProcessRate, 0, 0, 'double')
stopTime = 1.0
unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
unitTestSim.ExecuteSimulation()
orbEnergy = unitTestSim.GetLogVariableData(scObject.ModelTag + ".totOrbEnergy")
orbAngMom_N = unitTestSim.GetLogVariableData(scObject.ModelTag + ".totOrbAngMomPntN_N")
rotAngMom_N = unitTestSim.GetLogVariableData(scObject.ModelTag + ".totRotAngMomPntC_N")
rotEnergy = unitTestSim.GetLogVariableData(scObject.ModelTag + ".totRotEnergy")
initialOrbAngMom_N = [
[orbAngMom_N[0,1], orbAngMom_N[0,2], orbAngMom_N[0,3]]
]
finalOrbAngMom = [
[orbAngMom_N[-1,0], orbAngMom_N[-1,1], orbAngMom_N[-1,2], orbAngMom_N[-1,3]]
]
initialRotAngMom_N = [
[rotAngMom_N[0,1], rotAngMom_N[0,2], rotAngMom_N[0,3]]
]
finalRotAngMom = [
[rotAngMom_N[-1,0], rotAngMom_N[-1,1], rotAngMom_N[-1,2], rotAngMom_N[-1,3]]
]
initialOrbEnergy = [
[orbEnergy[0,1]]
]
finalOrbEnergy = [
[orbEnergy[-1,0], orbEnergy[-1,1]]
]
initialRotEnergy = [
[rotEnergy[int(len(rotEnergy)/2)+1,1]]
]
finalRotEnergy = [
[rotEnergy[-1,0], rotEnergy[-1,1]]
]
plt.close('all')
plt.figure()
plt.clf()
plt.plot(orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,1] - orbAngMom_N[0,1])/orbAngMom_N[0,1], orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,2] - orbAngMom_N[0,2])/orbAngMom_N[0,2], orbAngMom_N[:,0]*1e-9, (orbAngMom_N[:,3] - orbAngMom_N[0,3])/orbAngMom_N[0,3])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
unitTestSupport.writeFigureLaTeX("ChangeInOrbitalAngularMomentum" + testCase, "Change in Orbital Angular Momentum " + testCase, plt, r"width=0.8\textwidth", path)
plt.figure()
plt.clf()
plt.plot(orbEnergy[:,0]*1e-9, (orbEnergy[:,1] - orbEnergy[0,1])/orbEnergy[0,1])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
unitTestSupport.writeFigureLaTeX("ChangeInOrbitalEnergy" + testCase, "Change in Orbital Energy " + testCase, plt, r"width=0.8\textwidth", path)
plt.figure()
plt.clf()
plt.plot(rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,1] - rotAngMom_N[0,1])/rotAngMom_N[0,1], rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,2] - rotAngMom_N[0,2])/rotAngMom_N[0,2], rotAngMom_N[:,0]*1e-9, (rotAngMom_N[:,3] - rotAngMom_N[0,3])/rotAngMom_N[0,3])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
unitTestSupport.writeFigureLaTeX("ChangeInRotationalAngularMomentum" + testCase, "Change in Rotational Angular Momentum " + testCase, plt, r"width=0.8\textwidth", path)
plt.figure()
plt.clf()
plt.plot(rotEnergy[:,0]*1e-9, (rotEnergy[:,1] - rotEnergy[0,1])/rotEnergy[0,1])
plt.xlabel("Time (s)")
plt.ylabel("Relative Difference")
unitTestSupport.writeFigureLaTeX("ChangeInRotationalEnergy" + testCase, "Change in Rotational Energy " + testCase, plt, r"width=0.8\textwidth", path)
if show_plots:
plt.show()
plt.close("all")
accuracy = 1e-10
for i in range(0,len(initialOrbAngMom_N)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalOrbAngMom[i],initialOrbAngMom_N[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Dual Hinged Rigid Body Integrated Test failed orbital angular momentum unit test")
for i in range(0,len(initialRotAngMom_N)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalRotAngMom[i],initialRotAngMom_N[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Dual Hinged Rigid Body Integrated Test failed rotational angular momentum unit test")
for i in range(0,len(initialOrbEnergy)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalOrbEnergy[i],initialOrbEnergy[i],1,accuracy):
testFailCount += 1
testMessages.append("FAILED: Dual Hinged Rigid Body Integrated Test failed orbital energy unit test")
for i in range(0,len(initialRotEnergy)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(finalRotEnergy[i],initialRotEnergy[i],1,accuracy):
testFailCount += 1
testMessages.append("FAILED: Dual Hinged Rigid Body Integrated Test failed rotational energy unit test")
if testFailCount == 0:
print("PASSED: " + " Dual Hinged Rigid Body Test")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
dualHingedRigidBodyTest(True,False,'Gravity')