''' '''
'''
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.
'''
#
# Ephemeris Converter Unit Test
#
# Purpose: Test the proper function of the ephemeris_converter module.
# Author: Thibaud Teil
#
from Basilisk.utilities import unitTestSupport
from Basilisk.utilities import SimulationBaseClass
from Basilisk.simulation import spice_interface
from Basilisk.simulation import ephemeris_converter
from Basilisk.utilities import macros
from Basilisk import __path__
bskPath = __path__[0]
# provide a unique test method name, starting with test_
[docs]def test_ephemConvert(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitephemeris_converter(show_plots)
assert testResults < 1, testMessage
def unitephemeris_converter(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
sim = SimulationBaseClass.SimBaseClass()
simulationTime = macros.sec2nano(30.)
numDataPoints = 600
samplingTime = simulationTime // (numDataPoints-1)
DynUnitTestProc = sim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
DynUnitTestProc.addTask(sim.CreateNewTask(unitTaskName, samplingTime))
# List of planets tested
planets = ['sun', 'earth', 'mars barycenter']
# Initialize the spice module
spiceObject = spice_interface.SpiceInterface()
spiceObject.ModelTag = "SpiceInterfaceData"
spiceObject.SPICEDataPath = bskPath + '/supportData/EphemerisData/'
spiceObject.outputBufferCount = 10000
spiceObject.planetNames = spice_interface.StringVector(["earth", "mars barycenter", "sun"])
spiceObject.UTCCalInit = "2015 February 10, 00:00:00.0 TDB"
sim.AddModelToTask(unitTaskName, spiceObject)
# Initialize the ephermis module
ephemObject = ephemeris_converter.EphemerisConverter()
ephemObject.ModelTag = 'EphemData'
messageMap = {}
for planet in planets:
messageMap[planet + '_planet_data'] = planet + '_ephemeris_data'
ephemObject.messageNameMap = ephemeris_converter.map_string_string(messageMap)
sim.AddModelToTask(unitTaskName, ephemObject)
# Configure simulation
sim.ConfigureStopTime(int(simulationTime))
sim.AddVariableForLogging('EphemData.messagesLinked')
sim.AddVariableForLogging('EphemData.numOutputBuffers')
for planet in planets:
sim.TotalSim.logThisMessage(planet + '_planet_data', 5*samplingTime)
sim.TotalSim.logThisMessage(planet + '_ephemeris_data', 5*samplingTime)
# Execute simulation
sim.InitializeSimulation()
sim.ExecuteSimulation()
# Get the link confirmation
linkMessagesCheck = sim.GetLogVariableData('EphemData.messagesLinked')
for i in range(len(linkMessagesCheck[:,0])):
if linkMessagesCheck[i,1] - 1.0 > 1E-12:
testFailCount += 1
testMessages.append("FAILED: Messages not linked succesfully")
# Get the position, velocities and time for the message before and after the copy
accuracy = 1e-12
for planet in planets:
ephemPlanetPosData = sim.pullMessageLogData(planet + '_ephemeris_data' + '.r_BdyZero_N', list(range(3)))
spicePlanetPosData = sim.pullMessageLogData(planet + '_planet_data' + '.PositionVector', list(range(3)))
ephemPlanetVelData = sim.pullMessageLogData(planet + '_ephemeris_data' + '.v_BdyZero_N', list(range(3)))
spicePlanetVelData = sim.pullMessageLogData(planet + '_planet_data' + '.VelocityVector', list(range(3)))
testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetPosData[:,1:4], ephemPlanetPosData, accuracy, "Position", testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetVelData[:,1:4], ephemPlanetVelData, accuracy, "Velocity", 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_ephemConvert(False)