''' '''
'''
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
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
from Basilisk import __path__
bskPath = __path__[0]
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.fswAlgorithms import cheby_pos_ephem
from Basilisk.simulation import sim_model
import ctypes
from Basilisk.topLevelModules import pyswice
from Basilisk.utilities.pyswice_spk_utilities import spkRead
import matplotlib.pyplot as plt
orbitPosAccuracy = 1.0
orbitVelAccuracy = 0.01
# 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 chebyPosFitAllTest(show_plots):
[testResults, testMessage] = test_sineCosine(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_earthOrbitFit(show_plots)
assert testResults < 1, testMessage
[docs]def test_sineCosine(show_plots):
"""Module Unit Test"""
# 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
orbitRadius = 70000.0
numCurvePoints = 365*3+1
curveDurationDays = 365.0*3
degChebCoeff =21
angleSpace = numpy.linspace(-3*math.pi, 3*math.pi, numCurvePoints)
cosineValues = numpy.cos(angleSpace)*orbitRadius
sineValues = numpy.sin(angleSpace)*orbitRadius
oopValues = numpy.sin(angleSpace) + orbitRadius
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/naif0012.tls')
et = pyswice.new_doubleArray(1)
timeStringMid = '2019 APR 1 12:12:12.0 (UTC)'
pyswice.str2et_c(timeStringMid, et)
fitTimes = numpy.linspace(-1, 1, numCurvePoints)
chebCosCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, cosineValues, degChebCoeff)
chebSinCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, sineValues, degChebCoeff)
cheboopCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, oopValues, degChebCoeff)
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
TotalSim = SimulationBaseClass.SimBaseClass()
FSWUnitTestProc = TotalSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
FSWUnitTestProc.addTask(TotalSim.CreateNewTask(unitTaskName, macros.sec2nano(8640.0)))
chebyFitModel = cheby_pos_ephem.ChebyPosEphemData()
chebyFitModelWrap = TotalSim.setModelDataWrap(chebyFitModel)
chebyFitModelWrap.ModelTag = "chebyFitModel"
TotalSim.AddModelToTask(unitTaskName, chebyFitModelWrap, chebyFitModel)
chebyFitModel.posFitOutMsgName = "cheb_pos_est"
chebyFitModel.clockCorrInMsgName = "vehicle_clock_ephem_corr"
totalList = numpy.array(chebCosCoeff).tolist()
totalList.extend(numpy.array(chebSinCoeff).tolist())
totalList.extend(numpy.array(cheboopCoeff).tolist())
chebyFitModel.ephArray[0].posChebyCoeff = totalList
chebyFitModel.ephArray[0].nChebCoeff = degChebCoeff+1
chebyFitModel.ephArray[0].ephemTimeMid = pyswice.doubleArray_getitem(et, 0)
chebyFitModel.ephArray[0].ephemTimeRad = curveDurationDays/2.0*86400.0
clockCorrData = cheby_pos_ephem.TDBVehicleClockCorrelationFswMsg()
clockCorrData.vehicleClockTime = 0.0
clockCorrData.ephemerisTime = chebyFitModel.ephArray[0].ephemTimeMid - \
chebyFitModel.ephArray[0].ephemTimeRad
TotalSim.TotalSim.CreateNewMessage(unitProcessName, chebyFitModel.clockCorrInMsgName,
clockCorrData.getStructSize(), 2, "TDBVehicleClockCorrelationMessage")
TotalSim.TotalSim.WriteMessageData(chebyFitModel.clockCorrInMsgName,
clockCorrData.getStructSize(), 0, clockCorrData)
xFitData = numpy.polynomial.chebyshev.chebval(fitTimes, chebCosCoeff)
TotalSim.TotalSim.logThisMessage(chebyFitModel.posFitOutMsgName)
TotalSim.InitializeSimulation()
TotalSim.ConfigureStopTime(int(curveDurationDays*86400.0*1.0E9))
TotalSim.ExecuteSimulation()
posChebData = TotalSim.pullMessageLogData(chebyFitModel.posFitOutMsgName + ".r_BdyZero_N",
list(range(3)))
angleSpaceFine = numpy.linspace(-3*math.pi, 3*math.pi, numCurvePoints*10-9)
cosineValuesFine = numpy.cos(angleSpaceFine)*orbitRadius
sineValuesFine = numpy.sin(angleSpaceFine)*orbitRadius
oopValuesFine = numpy.sin(angleSpaceFine) + orbitRadius
maxErrVec = [max(abs(posChebData[:,1] - cosineValuesFine)),
max(abs(posChebData[:,2] - sineValuesFine)),
max(abs(posChebData[:,3] - oopValuesFine))]
print("Sine Wave error: " + str(max(maxErrVec)))
assert max(maxErrVec) < orbitPosAccuracy
if testFailCount == 0:
print("PASSED: " + " Sine and Cosine curve fit")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def test_earthOrbitFit(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
numCurvePoints = 365*3+1
curveDurationSeconds = 3*5950.0
degChebCoeff =23
integFrame = "j2000"
zeroBase = "Earth"
dateSpice = "2015 February 10, 00:00:00.0 TDB"
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/naif0012.tls')
et = pyswice.new_doubleArray(1)
pyswice.str2et_c(dateSpice, et)
etStart = pyswice.doubleArray_getitem(et, 0)
etEnd = etStart + curveDurationSeconds
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/de430.bsp')
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/naif0012.tls')
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/de-403-masses.tpc')
pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/pck00010.tpc')
pyswice.furnsh_c(path + '/hst_edited.bsp')
hubblePosList = []
hubbleVelList = []
timeHistory = numpy.linspace(etStart, etEnd, numCurvePoints)
for timeVal in timeHistory:
stringCurrent = pyswice.et2utc_c(timeVal, 'C', 4, 1024, "Yo")
stateOut = spkRead('HUBBLE SPACE TELESCOPE', stringCurrent, integFrame, zeroBase)
hubblePosList.append(stateOut[0:3].tolist())
hubbleVelList.append(stateOut[3:6].tolist())
hubblePosList = numpy.array(hubblePosList)
hubbleVelList = numpy.array(hubbleVelList)
fitTimes = numpy.linspace(-1, 1, numCurvePoints)
chebCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, hubblePosList, degChebCoeff)
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
TotalSim = SimulationBaseClass.SimBaseClass()
FSWUnitTestProc = TotalSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
FSWUnitTestProc.addTask(TotalSim.CreateNewTask(unitTaskName, macros.sec2nano(curveDurationSeconds/(numCurvePoints-1))))
chebyFitModel = cheby_pos_ephem.ChebyPosEphemData()
chebyFitModelWrap = TotalSim.setModelDataWrap(chebyFitModel)
chebyFitModelWrap.ModelTag = "chebyFitModel"
TotalSim.AddModelToTask(unitTaskName, chebyFitModelWrap, chebyFitModel)
chebyFitModel.posFitOutMsgName = "cheb_pos_est"
chebyFitModel.clockCorrInMsgName = "vehicle_clock_ephem_corr"
totalList = chebCoeff[:,0].tolist()
totalList.extend(chebCoeff[:,1].tolist())
totalList.extend(chebCoeff[:,2].tolist())
chebyFitModel.ephArray[0].posChebyCoeff = totalList
chebyFitModel.ephArray[0].nChebCoeff = degChebCoeff+1
chebyFitModel.ephArray[0].ephemTimeMid = etStart + curveDurationSeconds/2.0
chebyFitModel.ephArray[0].ephemTimeRad = curveDurationSeconds/2.0
clockCorrData = cheby_pos_ephem.TDBVehicleClockCorrelationFswMsg()
clockCorrData.vehicleClockTime = 0.0
clockCorrData.ephemerisTime = chebyFitModel.ephArray[0].ephemTimeMid - \
chebyFitModel.ephArray[0].ephemTimeRad
TotalSim.TotalSim.CreateNewMessage(unitProcessName, chebyFitModel.clockCorrInMsgName,
clockCorrData.getStructSize(), 2, "TDBVehicleClockCorrelationMessage")
TotalSim.TotalSim.WriteMessageData(chebyFitModel.clockCorrInMsgName,
clockCorrData.getStructSize(), 0, clockCorrData)
TotalSim.TotalSim.logThisMessage(chebyFitModel.posFitOutMsgName)
TotalSim.InitializeSimulation()
TotalSim.ConfigureStopTime(int(curveDurationSeconds*1.0E9))
TotalSim.ExecuteSimulation()
posChebData = TotalSim.pullMessageLogData(chebyFitModel.posFitOutMsgName + ".r_BdyZero_N",
list(range(3)))
velChebData = TotalSim.pullMessageLogData(chebyFitModel.posFitOutMsgName + ".v_BdyZero_N",
list(range(3)))
maxErrVec = [abs(max(posChebData[:,1] - hubblePosList[:,0])),
abs(max(posChebData[:,2] - hubblePosList[:,1])),
abs(max(posChebData[:,3] - hubblePosList[:,2]))]
maxVelErrVec = [abs(max(velChebData[:,1] - hubbleVelList[:,0])),
abs(max(velChebData[:,2] - hubbleVelList[:,1])),
abs(max(velChebData[:,3] - hubbleVelList[:,2]))]
print("Hubble Orbit Accuracy: " + str(max(maxErrVec)))
print("Hubble Velocity Accuracy: " + str(max(maxVelErrVec)))
assert (max(maxErrVec)) < orbitPosAccuracy
assert (max(maxVelErrVec)) < orbitVelAccuracy
plt.figure()
plt.plot(velChebData[:,0]*1.0E-9, velChebData[:,1], velChebData[:,0]*1.0E-9, hubbleVelList[:,0])
if(show_plots):
plt.show()
plt.close('all')
if testFailCount == 0:
print("PASSED: " + " Orbit curve fit")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
chebyPosFitAllTest(False)