''' '''
'''
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: MagneticFieldWMM
# Author: Hanspeter Schaub
# Creation Date: June 18, 2019
#
import pytest
import os, inspect
import numpy as np
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskPath = path.split('src')[0]
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.simulation import magneticFieldWMM
from Basilisk.simulation import simMessages
from Basilisk.utilities import macros
from Basilisk.utilities import orbitalMotion
from Basilisk.utilities import RigidBodyKinematics as rbk
# 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(conditionstring)
# Provide a unique test method name, starting with 'test_'.
# The following 'parametrize' function decorator provides the parameters and expected results for each
# of the multiple test runs for this test.
[docs]@pytest.mark.parametrize("decimalYear, Height, Lat, Lon, BxTrue, ByTrue, BzTrue", [
(2015, 0, 80, 0, 6636.6, -451.9, 54408.9)
, (2015, 0, 0, 120, 39521.1, 377.7, -11228.8)
, (2015, 0, -80, 240, 5796.3, 15759.1, -52927.1)
, (2015, 100, 80, 0, 6323.4, -477.6, 52249.1)
, (2015, 100, 0, 120, 37538.1, 351.1, -10751.1)
, (2015, 100, -80, 240, 5612.2, 14789.3, -50385.8)
, (2017.5, 0, 80, 0, 6605.2, -298.7, 54506.3)
, (2017.5, 0, 0, 120, 39569.4, 252.3, -11067.9)
, (2017.5, 0, -80, 240, 5864.6, 15764.1, -52706.1)
, (2017.5, 100, 80, 0, 6294.3, -331.1, 52337.8)
, (2017.5, 100, 0, 120, 37584.4, 235.7, -10600.5)
, (2017.5, 100, -80, 240, 5674.9, 14793.1, -50179.5)
])
@pytest.mark.parametrize("useDefault, useMsg", [
(False, False)
, (False, True)
, (True, True)
])
@pytest.mark.parametrize("useMinReach", [ True, False])
@pytest.mark.parametrize("useMaxReach", [ True, False])
@pytest.mark.parametrize("usePlanetEphemeris", [ True, False])
# update "module" in this function name to reflect the module name
def test_module(show_plots, decimalYear, Height, Lat, Lon, BxTrue, ByTrue, BzTrue, useDefault, useMsg, useMinReach, useMaxReach, usePlanetEphemeris):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = run(show_plots, decimalYear, Height, Lat, Lon, BxTrue, ByTrue, BzTrue, useDefault, useMsg, useMinReach, useMaxReach, usePlanetEphemeris)
assert testResults < 1, testMessage
def run(show_plots, decimalYear, Height, Lat, Lon, BxTrue, ByTrue, BzTrue, useDefault, useMsg, useMinReach, useMaxReach, usePlanetEphemeris):
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()
# terminateSimulation() is needed if multiple unit test scripts are run
# that run a simulation for the test. 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
testModule = magneticFieldWMM.MagneticFieldWMM()
testModule.ModelTag = "WMM"
testModule.dataPath = bskPath + '/supportData/MagneticField/'
if not useDefault:
testModule.epochDateFractionalYear = decimalYear
if useMsg:
testModule.epochInMsgName = "simEpoch"
epochMsg = simMessages.EpochSimMsg()
dt = unitTestSupport.decimalYearToDateTime(decimalYear)
epochMsg.year = dt.year
epochMsg.month = dt.month
epochMsg.day = dt.day
epochMsg.hours = dt.hour
epochMsg.minutes = dt.minute
epochMsg.seconds = dt.second
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
testModule.epochInMsgName,
epochMsg)
if not useDefault:
testModule.epochDateFractionalYear = decimalYear + 1.0
minReach = -1.0
if useMinReach:
minReach = (orbitalMotion.REQ_EARTH+200.)*1000.0 # meters
testModule.envMinReach = minReach
maxReach = -1.0
if useMaxReach:
maxReach = (orbitalMotion.REQ_EARTH-200.)*1000.0 # meters
testModule.envMaxReach = maxReach
planetPosition = np.array([0.0, 0.0, 0.0])
refPlanetDCM = np.array(((1, 0, 0), (0, 1, 0), (0, 0, 1)))
if usePlanetEphemeris:
planetStateMsg = simMessages.SpicePlanetStateSimMsg()
planetPosition = [1000.0, 2000.0, -1000.0]
planetStateMsg.PositionVector = planetPosition
refPlanetDCM = np.array(((-1, 0, 0), (0, -1, 0), (0, 0, 1)))
planetStateMsg.J20002Pfix = refPlanetDCM.tolist()
planetStateMsgName = "planet_ephemeris"
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
planetStateMsgName,
planetStateMsg)
testModule.planetPosInMsgName = planetStateMsgName
# add spacecraft to environment model
sc0StateMsgName = "sc0_state"
sc1StateMsgName = "sc1_state"
testModule.addSpacecraftToModel(sc0StateMsgName)
testModule.addSpacecraftToModel(sc1StateMsgName)
unitTestSim.AddModelToTask(unitTaskName, testModule)
# define the spacecraft locations
r0 = (orbitalMotion.REQ_EARTH + Height) * 1000.0 # meters
phi = Lat * macros.D2R
long = Lon * macros.D2R
r0P = np.array([np.cos(phi)*np.cos(long),np.cos(phi)*np.sin(long),np.sin(phi)])*r0
r0N = np.dot(refPlanetDCM.transpose(),r0P)
# create the input messages
sc0StateMsg = simMessages.SCPlusStatesSimMsg() # Create a structure for the input message
sc0StateMsg.r_BN_N = np.array(r0N) + np.array(planetPosition)
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
sc0StateMsgName,
sc0StateMsg)
sc1StateMsg = simMessages.SCPlusStatesSimMsg() # Create a structure for the input message
sc1StateMsg.r_BN_N = np.array(r0N) + np.array(planetPosition)
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
sc1StateMsgName,
sc1StateMsg)
# Setup logging on the test module output message so that we get all the writes to it
unitTestSim.TotalSim.logThisMessage(testModule.envOutMsgNames[0], testProcessRate)
unitTestSim.TotalSim.logThisMessage(testModule.envOutMsgNames[1], testProcessRate)
# Need to call the self-init and cross-init methods
print("\nhere")
unitTestSim.InitializeSimulation()
print("\nhere")
unitTestSim.TotalSim.SingleStepProcesses()
# Set the simulation time.
# NOTE: the total simulation time may be longer than this value. The
# simulation is stopped at the next logging event on or after the
# simulation end time.
# unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
# Begin the simulation time run set above
# 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)
mag0Data = unitTestSim.pullMessageLogData(testModule.envOutMsgNames[0] + ".magField_N", list(range(3)))*1e9
mag1Data = unitTestSim.pullMessageLogData(testModule.envOutMsgNames[1] + ".magField_N", list(range(3)))*1e9
def wmmInertial(pos_N, Bx, By, Bz, phi, long, refPlanetDCM, minReach, maxReach):
radius = np.linalg.norm(pos_N)
B_M = np.array([Bx, By, Bz])
M2 = rbk.euler2(phi + np.pi/2.0)
M3 = rbk.euler3(-long)
PM = np.dot(M3,M2)
NM = np.dot(refPlanetDCM.transpose(), PM)
magField_N = [np.dot(NM, B_M).tolist()]
if radius < minReach:
magField_N = [[0.0, 0.0, 0.0]]
if radius > maxReach and maxReach > 0:
magField_N = [[0.0, 0.0, 0.0]]
return magField_N
# compare the module results to the truth values
accuracy = 1e-1
unitTestSupport.writeTeXSnippet("unitTestToleranceValue", str(accuracy), path)
# check the exponential atmosphere results
#
# check spacecraft 0 neutral density results
if len(mag0Data) > 0:
trueMagField = wmmInertial(r0N, BxTrue, ByTrue, BzTrue, phi, long, refPlanetDCM, minReach, maxReach)
testFailCount, testMessages = unitTestSupport.compareArray(
trueMagField, mag0Data, accuracy, "SC0 mag vector",
testFailCount, testMessages)
if len(mag1Data) > 0:
testFailCount, testMessages = unitTestSupport.compareArrayRelative(
trueMagField, mag1Data, accuracy, "SC1 mag vector",
testFailCount, testMessages)
# print out success or failure message
snippentName = "unitTestPassFail" + str(useDefault) + str(useMinReach) + str(useMaxReach) + str(usePlanetEphemeris)
if testFailCount == 0:
colorText = 'ForestGreen'
print("PASSED: " + testModule.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
print("Failed: " + testModule.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}'
unitTestSupport.writeTeXSnippet(snippentName, passedText, path)
# 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 unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_module( # update "module" in function name
False, # showplots
2017.5, # decimalYear
100, # Height (km)
0, # latitude (deg)
120, # longitude (deg)
37584.4, # BxTrue (nT)
235.7, # ByTrue (nT)
-10600.5, # BzTrue (nT)
False, # useDefault
False, # useMsg
False, # useMinReach
False, # useMaxReach
False # usePlanetEphemeris
)