''' '''
'''
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 os, inspect
import numpy
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
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
from Basilisk.topLevelModules import pyswice
from Basilisk.utilities.pyswice_spk_utilities import spkRead
from Basilisk.simulation import spacecraftPlus
from Basilisk.utilities import simIncludeGravBody
# 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 gravityEffectorAllTest(show_plots):
[testResults, testMessage] = test_singleGravityBody(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_multiBodyGravity(show_plots)
assert testResults < 1, testMessage
[docs]def test_singleGravityBody(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
# 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
unitTestSim = SimulationBaseClass.SimBaseClass()
scObject = spacecraftPlus.SpacecraftPlus()
scObject.ModelTag = "spacecraftBody"
DynUnitTestProc = unitTestSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
DynUnitTestProc.addTask(unitTestSim.CreateNewTask(unitTaskName, macros.sec2nano(10.0)))
# setup Gravity Bodies
gravFactory = simIncludeGravBody.gravBodyFactory()
gravBodies = gravFactory.createBodies(['earth', 'sun', 'moon', 'jupiter barycenter'])
gravBodies['earth'].isCentralBody = True
gravBodies['earth'].useSphericalHarmParams = True
simIncludeGravBody.loadGravFromFile(path + '/../_UnitTest/GGM03S.txt'
, gravBodies['earth'].spherHarm
, 40
)
stringCurrent = "2016 MAY 1 00:32:30.0"
gravFactory.createSpiceInterface(bskPath +'/supportData/EphemerisData/', stringCurrent)
gravFactory.spiceObject.zeroBase = 'Earth'
scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector(list(gravFactory.gravBodies.values()))
unitTestSim.AddModelToTask(unitTaskName, gravFactory.spiceObject, None, 10)
# Use the python spice utility to load in spacecraft SPICE ephemeris data
# Note: this following SPICE data only lives in the Python environment, and is
# separate from the earlier SPICE setup that was loaded to BSK. This is why
# all required SPICE libraries must be included when setting up and loading
# SPICE kernals in Python.
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 + '/../_UnitTest/hst_edited.bsp')
unitTestSim.AddModelToTask(unitTaskName, scObject, None, 9)
stateOut = spkRead('HUBBLE SPACE TELESCOPE', stringCurrent, 'J2000', 'EARTH')
scObject.hub.mHub = 100
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
scObject.hub.r_CN_NInit = (1000.0*stateOut[0:3].reshape(3,1)).tolist()
velStart = 1000.0*stateOut[3:6]
scObject.hub.v_CN_NInit = (velStart.reshape(3,1)).tolist()
scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
scObject.hub.omega_BN_BInit = [[0.001], [-0.002], [0.003]]
unitTestSim.InitializeSimulation()
posRef = scObject.dynManager.getStateObject("hubPosition")
velRef = scObject.dynManager.getStateObject("hubVelocity")
scObject.hub.mHub = 100
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
dt = 50.0
totalTime = 20000.0
currentTime = 0.0
posArray = []
velArray = []
posError = []
while(currentTime < totalTime):
unitTestSim.ConfigureStopTime(macros.sec2nano(currentTime + dt))
unitTestSim.ExecuteSimulation()
stateOut = spkRead('HUBBLE SPACE TELESCOPE', gravFactory.spiceObject.getCurrentTimeString(), 'J2000', 'EARTH')
posCurr = posRef.getState()
posCurr = [y for x in posCurr for y in x]
posArray.append(posCurr)
velCurr = velRef.getState()
velCurr = [y for x in velCurr for y in x]
velArray.append(velCurr)
posDiff = numpy.array(posCurr) - stateOut[0:3]*1000.0
posRow = [unitTestSim.TotalSim.CurrentNanos*1.0E-9]
posRow.extend(posDiff.tolist())
posError.append(posRow)
assert numpy.linalg.norm(posDiff) < 1000.0
currentTime += dt
stateOut = spkRead('HUBBLE SPACE TELESCOPE', gravFactory.spiceObject.getCurrentTimeString(), 'J2000', 'EARTH')
posArray = numpy.array(posArray)
posError = numpy.array(posError)
gravFactory.unloadSpiceKernels()
pyswice.unload_c(bskPath + '/supportData/EphemerisData/de430.bsp')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/naif0012.tls')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/de-403-masses.tpc')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/pck00010.tpc')
pyswice.unload_c(path + '/../_UnitTest/hst_edited.bsp')
print(numpy.max(abs(posError[:,1:4])))
plt.close("all")
plt.figure()
plt.plot(posError[:,0], posError[:,1:4])
plt.xlabel('Time (s)')
plt.ylabel('Position Difference (m)')
if testFailCount == 0:
print("PASSED: " + " Single body with spherical harmonics")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def test_multiBodyGravity(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
# 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
unitTestSim = SimulationBaseClass.SimBaseClass()
scObject = spacecraftPlus.SpacecraftPlus()
scObject.ModelTag = "spacecraftBody"
DynUnitTestProc = unitTestSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
DynUnitTestProc.addTask(unitTestSim.CreateNewTask(unitTaskName, macros.sec2nano(5.0)))
# setup Gravity Bodies
gravFactory = simIncludeGravBody.gravBodyFactory()
gravBodies = gravFactory.createBodies(['earth', 'mars barycenter', 'sun', 'moon', 'jupiter barycenter'])
gravBodies['sun'].isCentralBody = True
stringCurrent = "2008 September 19, 04:00:00.0"
gravFactory.createSpiceInterface(bskPath +'/supportData/EphemerisData/', stringCurrent)
gravFactory.spiceObject.zeroBase = 'Earth'
scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector(list(gravFactory.gravBodies.values()))
unitTestSim.AddModelToTask(unitTaskName, gravFactory.spiceObject, None, 10)
# Use the python spice utility to load in spacecraft SPICE ephemeris data
# Note: this following SPICE data only lives in the Python environment, and is
# separate from the earlier SPICE setup that was loaded to BSK. This is why
# all required SPICE libraries must be included when setting up and loading
# SPICE kernals in Python.
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 + '/../_UnitTest/nh_pred_od077.bsp')
unitTestSim.AddModelToTask(unitTaskName, scObject, None, 9)
stateOut = spkRead('NEW HORIZONS', stringCurrent, 'J2000', 'SUN')
scObject.hub.mHub = 100
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
scObject.hub.r_CN_NInit = (1000.0*stateOut[0:3].reshape(3,1)).tolist()
velStart = 1000.0*stateOut[3:6]
scObject.hub.v_CN_NInit = (velStart.reshape(3,1)).tolist()
scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
scObject.hub.omega_BN_BInit = [[0.001], [-0.002], [0.003]]
unitTestSim.InitializeSimulation()
posRef = scObject.dynManager.getStateObject("hubPosition")
velRef = scObject.dynManager.getStateObject("hubVelocity")
dt = 50.0
totalTime = 20000.0
currentTime = 0.0
posArray = []
velArray = []
posError = []
posInc = []
while currentTime < totalTime:
unitTestSim.ConfigureStopTime(macros.sec2nano(currentTime + dt))
unitTestSim.ExecuteSimulation()
timeString = pyswice.et2utc_c(gravFactory.spiceObject.J2000Current, 'C', 4, 1024, "Yo")
stateOut = spkRead('NEW HORIZONS', timeString, 'J2000', 'SUN')
posCurr = posRef.getState()
posCurr = [y for x in posCurr for y in x]
posArray.append(posCurr)
velCurr = velRef.getState()
velCurr = [y for x in velCurr for y in x]
velArray.append(velCurr)
posDiff = numpy.array(posCurr) - stateOut[0:3]*1000.0
posRow = [unitTestSim.TotalSim.CurrentNanos*1.0E-9]
posRow.extend(posDiff.tolist())
posError.append(posRow)
assert numpy.linalg.norm(posDiff) < 1000.0
if currentTime > 0.0 + dt/2.0:
posJump = stateOut[0:3]*1000.0 - numpy.array(posPrevious)
posInc.append(posJump.tolist())
posPrevious = stateOut[0:3]*1000.0
currentTime += dt
stateOut = spkRead('NEW HORIZONS', gravFactory.spiceObject.getCurrentTimeString(), 'J2000', 'SUN')
posArray = numpy.array(posArray)
posError = numpy.array(posError)
posInc = numpy.array(posInc)
gravFactory.unloadSpiceKernels()
pyswice.unload_c(bskPath + '/supportData/EphemerisData/de430.bsp')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/naif0012.tls')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/de-403-masses.tpc')
pyswice.unload_c(bskPath + '/supportData/EphemerisData/pck00010.tpc')
pyswice.unload_c(path + '/../_UnitTest/nh_pred_od077.bsp')
plt.close("all")
plt.figure()
plt.plot(posError[:,0], posError[:,1:4])
plt.xlabel('Time (s)')
plt.ylabel('Position Difference (m)')
if(show_plots):
plt.show()
plt.close('all')
if testFailCount == 0:
print("PASSED: " + " multi-point source bodies")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
gravityEffectorAllTest(False)