''' '''
'''
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 numpy
import pytest
import math
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
from Basilisk.simulation import spacecraftPlus
from Basilisk.simulation import sim_model
import ctypes
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spice_interface
from Basilisk.utilities import simIncludeThruster
from Basilisk.simulation import thrusterDynamicEffector
from Basilisk.fswAlgorithms import vehicleConfigData
from Basilisk.simulation import fuelTank
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# 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_
[docs]def test_tankModelTest(show_plots):
"""Module Unit Test"""
[testResults, testMessage] = tankModelConstantVolume(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = tankModelConstantDensity(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = tankModelEmptying(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = tankModelUniformBurn(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = tankModelCentrifugalBurn(show_plots)
assert testResults < 1, testMessage
def tankModelConstantVolume(show_plots):
# 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
model = fuelTank.cvar.FuelTankModelConstantVolume
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[50,0,0,0,50,0,0,0,50]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-10,0,0,0,-10,0,0,0,-10],
[-10,0,0,0,-10,0,0,0,-10]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [0] + [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [0] + [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [0] + [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [0] + [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [0] + [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'ConstVolPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelConstantDensity(show_plots):
# 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
model = fuelTank.cvar.FuelTankModelConstantDensity
model.propMassInit = 10;
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[31.498026247371826,0,0,0,31.498026247371826,0,0,0,31.498026247371826]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-16.666666666666668,0,0,0,-16.666666666666668,0,0,0,-16.666666666666668],
[-10.499342082457275,0,0,0,-10.499342082457275,0,0,0,-10.499342082457275]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [0] + [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [0] + [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
print(dataIPrimeTank, idx)
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [0] + [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [0] + [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [0] + [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'ConstDensPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelEmptying(show_plots):
# 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
model = fuelTank.cvar.FuelTankModelEmptying
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[50.0,0,0,0,50.0,0,0,0,50]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0],
[-8.75,0,0,0,-8.75,0,0,0,-12.5]
]
true_r_TcT_T = [
[1,1,1-5.0],
[1,1,1],
[1,1,1.0-15.0/8.0]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,-3.0/8.0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,-17.0/30.0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [0] + [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqual(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [0] + [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [0] + [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [0] + [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [0] + [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'EmptyingPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelUniformBurn(show_plots):
# 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
model = fuelTank.cvar.FuelTankModelUniformBurn
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
model.lengthTank = 5;
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[83.33333333333334,0,0,0,83.33333333333334,0,0,0,125],
[41.66666666666667,0,0,0,41.66666666666667,0,0,0,62.5]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-8.3333333333334,0,0,0,-8.3333333333334,0,0,0,-12.5],
[-8.3333333333334,0,0,0,-8.3333333333334,0,0,0,-12.5]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [0] + [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [0] + [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [0] + [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [0] + [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [0] + [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'UniformBurnPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelCentrifugalBurn(show_plots):
# 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
model = fuelTank.cvar.FuelTankModelCentrifugalBurn
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
model.lengthTank = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[83.33333333333334,0,0,0,83.33333333333334,0,0,0,125],
[57.291666666666671,0,0,0,57.291666666666671,0,0,0,93.75]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-2.0833333333333335,0,0,0,-2.0833333333333335,0,0,0,0.0],
[-8.3333333333333339,0,0,0,-8.3333333333333339,0,0,0,-12.500000000000002]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [0] + [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [0] + [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [0] + [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [0] + [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [0] + [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'CentrifugalPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def passFail(testFailCountInput, snippetName):
if testFailCountInput < 1:
textMsg = 'PASSED'
textColor = 'ForestGreen'
else:
textMsg = 'FAILED'
textColor = 'Red'
texSnippet = r'\textcolor{' + textColor + '}{'+ textMsg + '}'
unitTestSupport.writeTeXSnippet(snippetName, texSnippet, path)
if __name__ == "__main__":
tankModelEmptying(False)