''' '''
'''
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 numpy as np
import pytest
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.fswAlgorithms import MRP_Steering # import the module that is to be tested
from Basilisk.fswAlgorithms import rateServoFullNonlinear
from Basilisk.fswAlgorithms import fswMessages
from Basilisk.simulation import simFswInterfaceMessages
from Basilisk.utilities import macros
from Basilisk.utilities import RigidBodyKinematics
# 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]@pytest.mark.parametrize("K1", [0.15, 0])
@pytest.mark.parametrize("K3", [1, 0])
@pytest.mark.parametrize("omegaMax", [1.5 * macros.D2R, 0.001])
def test_mrp_steering_tracking(show_plots,K1, K3, omegaMax):
r"""
**Validation Test Description**
This unit test is an integrated test of this module with :ref:`rateServoFullNonlinear` as well,
comparing the desired torques computed :math:`{\bf L}_r` with truth values computed in the test.
**Test Parameters**
This test checks a set of gains ``K1``, ``K3`` and ``omegaMax`` on a rigid body with no external
torques, and with a fixed input reference attitude message. The commanded rate solution
is evaluated against python computed values at 0s, 0.5s, 1.0s, 1.5s and 2s to within a
tolerance of :math:`10^{-12}`.
:param show_plots: flag indicating if plots should be shown.
:param K1: The control gain :math:`K_1`
:param K3: The control gain :math:`K_3`
:param omegaMax: The control gain :math:`\omega_{\text{max}}`
:return: void
"""
[testResults, testMessage] = mrp_steering_tracking(show_plots,K1, K3, omegaMax)
assert testResults < 1, testMessage
def mrp_steering_tracking(show_plots,K1, K3, omegaMax):
# 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
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(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = MRP_Steering.MRP_SteeringConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "MRP_Steering"
servoConfig = rateServoFullNonlinear.rateServoFullNonlinearConfig()
servoWrap = unitTestSim.setModelDataWrap(servoConfig)
servoWrap.ModelTag = "rate_servo"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
unitTestSim.AddModelToTask(unitTaskName, servoWrap, servoConfig)
# Initialize the test module configuration data
moduleConfig.inputGuidName = "inputGuidName"
moduleConfig.outputDataName = "rate_steering"
servoConfig.inputGuidName = moduleConfig.inputGuidName
servoConfig.vehConfigInMsgName = "vehicleConfigName"
servoConfig.rwParamsInMsgName = "rwa_config_data_parsed"
servoConfig.rwAvailInMsgName = "rw_availability"
servoConfig.inputRWSpeedsName = "reactionwheel_speeds"
servoConfig.inputRateSteeringName = moduleConfig.outputDataName
servoConfig.outputDataName = "outputName"
moduleConfig.K1 = K1
moduleConfig.K3 = K3
moduleConfig.omega_max = omegaMax
servoConfig.Ki = 0.01
servoConfig.P = 150.0
servoConfig.integralLimit = 2. / servoConfig.Ki * 0.1
servoConfig.knownTorquePntB_B = [0., 0., 0.]
# Create input message and size it because the regular creator of that message
# is not part of the test.
# attGuidOut Message:
guidCmdData = fswMessages.AttGuidFswMsg() # Create a structure for the input message
inputMessageSize = guidCmdData.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName, moduleConfig.inputGuidName,
inputMessageSize, 2)# number of buffers (leave at 2 as default, don't make zero)
sigma_BR = np.array([0.3, -0.5, 0.7])
guidCmdData.sigma_BR = sigma_BR
omega_BR_B = np.array([0.010, -0.020, 0.015])
guidCmdData.omega_BR_B = omega_BR_B
omega_RN_B = np.array([-0.02, -0.01, 0.005])
guidCmdData.omega_RN_B = omega_RN_B
domega_RN_B = np.array([0.0002, 0.0003, 0.0001])
guidCmdData.domega_RN_B = domega_RN_B
unitTestSim.TotalSim.WriteMessageData(moduleConfig.inputGuidName, inputMessageSize,
0, guidCmdData)
# vehicleConfigData Message:
vehicleConfigOut = fswMessages.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize() # 18 doubles + 1 32bit integer
unitTestSim.TotalSim.CreateNewMessage(unitProcessName, servoConfig.vehConfigInMsgName,
inputMessageSize, 2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(servoConfig.vehConfigInMsgName,
inputMessageSize,
0, vehicleConfigOut)
# wheelSpeeds Message
rwSpeedMessage = simFswInterfaceMessages.RWSpeedIntMsg()
inputMessageSize = rwSpeedMessage.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
servoConfig.inputRWSpeedsName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
Omega = [10.0, 25.0, 50.0, 100.0]
rwSpeedMessage.wheelSpeeds = Omega
unitTestSim.TotalSim.WriteMessageData(servoConfig.inputRWSpeedsName,
inputMessageSize,
0,
rwSpeedMessage)
# wheelConfigData message
jsList = []
GsMatrix_B = []
def writeMsgInWheelConfiguration():
rwConfigParams = fswMessages.RWArrayConfigFswMsg()
inputMessageSize = rwConfigParams.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName, servoConfig.rwParamsInMsgName,
inputMessageSize, 2) # number of buffers (leave at 2 as default)
rwConfigParams.GsMatrix_B = [
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
0.5773502691896258, 0.5773502691896258, 0.5773502691896258
]
rwConfigParams.JsList = [0.1, 0.1, 0.1, 0.1]
rwConfigParams.numRW = 4
unitTestSim.TotalSim.WriteMessageData(servoConfig.rwParamsInMsgName, inputMessageSize,
0, rwConfigParams)
jsList = rwConfigParams.JsList
GsMatrix_B = rwConfigParams.GsMatrix_B
return jsList, GsMatrix_B
if len(servoConfig.rwParamsInMsgName) > 0:
writeMsgInWheelConfiguration()
# wheelAvailability message
rwAvailList = []
#rwAvailabilityMessage = fswMessages.RWAvailabilityFswMsg()
def writeMsgInWheelAvailability():
rwAvailabilityMessage = rateServoFullNonlinear.RWAvailabilityFswMsg()
inputMessageSize = rwAvailabilityMessage.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName, servoConfig.rwAvailInMsgName,
inputMessageSize, 2) # number of buffers (leave at 2 as default)
rwAvail = [rateServoFullNonlinear.AVAILABLE, rateServoFullNonlinear.AVAILABLE, rateServoFullNonlinear.AVAILABLE, rateServoFullNonlinear.AVAILABLE]
rwAvailabilityMessage.wheelAvailability = rwAvail
unitTestSim.TotalSim.WriteMessageData(servoConfig.rwAvailInMsgName, inputMessageSize,
0, rwAvailabilityMessage)
rwAvailList.append(rwAvail)
return rwAvailList
if len(servoConfig.rwAvailInMsgName) > 0:
writeMsgInWheelAvailability()
# Setup logging on the test module output message so that we get all the writes to it
unitTestSim.TotalSim.logThisMessage(servoConfig.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()
servoWrap.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(servoConfig.outputDataName + '.' + moduleOutputName,
list(range(3)))
# Compute true values
trueVals = findTrueTorques(moduleConfig, servoConfig, guidCmdData, rwSpeedMessage, vehicleConfigOut, rwAvailList)
# set the filtered output truth states
# compare the module results to the truth values
accuracy = 1e-12
for i in range(0, len(trueVals)):
# check a vector values
if not unitTestSupport.isArrayEqual(moduleOutput[i], trueVals[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(moduleOutput)
# If the argument provided at commandline "--show_plots" evaluates as true,
# plot all figures
if show_plots:
plt.show()
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag)
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def findTrueValues(guidCmdData,moduleConfig):
omegaMax = moduleConfig.omega_max
sigma = np.asarray(guidCmdData.sigma_BR)
K1 = np.asarray(moduleConfig.K1)
K3 = np.asarray(moduleConfig.K3)
Bmat = RigidBodyKinematics.BmatMRP(sigma)
omegaAst = []#np.asarray([0, 0, 0])
omegaAst_P = []
for i in range(len(sigma)):
steerRate = -1*(2*omegaMax/np.pi)*np.arctan((K1*sigma[i]+K3*sigma[i]*sigma[i]*sigma[i])*np.pi/(2*omegaMax))
omegaAst.append(steerRate)
#print omegaAst
if 1:#moduleConfig.ignoreOuterLoopFeedforward: #should be "if not"
sigmaP = 0.25*Bmat.dot(omegaAst)
for i in range(len(sigma)):
omegaAstRate = (K1+3*K3*sigma[i]**2)/(1+((K1*sigma[i]+K3*sigma[i]**3)**2)*(np.pi/(2*omegaMax))**2)*sigmaP[i]
omegaAst_P.append(-omegaAstRate)
else:
omegaAst_P = np.asarray([0, 0, 0])
return omegaAst, omegaAst_P
def findTrueTorques(moduleConfig,servoConfig, guidCmdData,rwSpeedMessage,vehicleConfigOut, rwAvailMsg):
Lr = []
#Read in variables
numRW = servoConfig.rwConfigParams.numRW
L = np.asarray(servoConfig.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)
omega_BastR_B, omegap_BastR_B = findTrueValues(guidCmdData, moduleConfig)
omega_BastN_B = omega_BastR_B+omega_RN_B
omega_BBast_B = omega_BN_B - omega_BastN_B
Isc = np.asarray(vehicleConfigOut.ISCPntB_B)
Isc = np.reshape(Isc, (3, 3))
Ki = servoConfig.Ki
P = servoConfig.P
jsVec = servoConfig.rwConfigParams.JsList[0:numRW]
#GsMatrix_B_array = np.asarray(GsMatrix)
GsMatrix = (servoConfig.rwConfigParams.GsMatrix_B)
GsMatrix_B_array = np.reshape(GsMatrix[0:numRW * 3], (numRW, 3))
#Compute toruqes
for i in range(len(steps)):
dt = steps[i]
if dt == 0:
zVec = np.asarray([0, 0, 0])
#evaluate integral term
if Ki > 0 and abs(servoConfig.integralLimit) > 0: #if integral feedback is on
zVec = dt * omega_BBast_B + zVec # z = integral(del_omega)
# Make sure each component is less than the integral limit
for i in range(3):
if zVec[i] > servoConfig.integralLimit:
zVec[i] = zVec[i]/abs(zVec[i])*servoConfig.integralLimit
else: #integral gain turned off/negative setting
zVec = np.asarray([0, 0, 0])
#compute torque Lr
Lr0 = Ki * zVec # +K*sigmaBR
Lr1 = Lr0 + P * omega_BBast_B # +P*deltaOmega
GsHs = np.array([0,0,0])
if numRW > 0:
for i in range(numRW):
if rwAvailMsg[0][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)
Lr2 = Lr1 - np.cross(omega_BastN_B, (Isc.dot(omega_BN_B)+GsHs)) # - omega_BastN x ([I]omega + [Gs]h_s)
Lr3 = Lr2 - Isc.dot(omegap_BastR_B + domega_RN_B - np.cross(omega_BN_B, omega_RN_B))
# - [I](d(omega_B^ast/R)/dt + d(omega_r)/dt - omega x omega_r)
Lr4 = Lr3 + L
Lr4 = -Lr4
Lr.append(np.ndarray.tolist(Lr4))
return Lr
if __name__ == "__main__":
test_mrp_steering_tracking(False, 0.15)