# 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
from Basilisk.simulation import spacecraft
from Basilisk.utilities import macros
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import extForceTorque
# 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 extForceBodyAndTorqueAllTest():
[testResults, testMessage] = test_extForceBodyAndTorque()
assert testResults < 1, testMessage
[testResults, testMessage] = test_extForceInertialAndTorque()
assert testResults < 1, testMessage
[docs]def test_extForceBodyAndTorque():
"""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
scObject = spacecraft.Spacecraft()
scObject.ModelTag = "spacecraftBody"
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(0.1) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, scObject)
unitTestSim.earthGravBody = gravityEffector.GravBodyData()
unitTestSim.earthGravBody.planetName = "earth_planet_data"
unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
unitTestSim.earthGravBody.isCentralBody = True
unitTestSim.earthGravBody.useSphericalHarmParams = False
scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody])
# Define initial conditions
scObject.hub.mHub = 750.0
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]]
scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]]
scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]]
scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]]
scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]]
unitTestSim.InitializeSimulation()
extFTObject = extForceTorque.ExtForceTorque()
extFTObject.ModelTag = "externalDisturbance"
extFTObject.extTorquePntB_B = [[-1], [1], [-1]]
extFTObject.extForce_B = [[1], [2], [3]]
scObject.addDynamicEffector(extFTObject)
unitTestSim.AddModelToTask(unitTaskName, extFTObject)
posRef = scObject.dynManager.getStateObject("hubPosition")
sigmaRef = scObject.dynManager.getStateObject("hubSigma")
stopTime = 60.0*10.0
unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
unitTestSim.ExecuteSimulation()
dataPos = posRef.getState()
dataSigma = sigmaRef.getState()
dataPos = [[dataPos[0][0], dataPos[1][0], dataPos[2][0]]]
dataSigma = [[dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]]
truePos = [
[-6.78136423e+06, 4.94628599e+06, 5.48655395e+06]
]
trueSigma = [
[4.91025978e-01, -4.21586707e-01, 3.61459503e-01]
]
accuracy = 1e-8
for i in range(0,len(truePos)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: External Body Force and Torque failed pos unit test")
for i in range(0,len(trueSigma)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: External Body Force and Torque failed attitude unit test")
if testFailCount == 0:
print("PASSED: " + " External Body Force and Torque Inegrated Sim Test")
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def test_extForceInertialAndTorque():
# 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
scObject = spacecraft.Spacecraft()
scObject.ModelTag = "spacecraftBody"
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(0.1) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, scObject)
unitTestSim.earthGravBody = gravityEffector.GravBodyData()
unitTestSim.earthGravBody.planetName = "earth_planet_data"
unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
unitTestSim.earthGravBody.isCentralBody = True
unitTestSim.earthGravBody.useSphericalHarmParams = False
scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody])
# Define initial conditions of the spacecraft
scObject.hub.mHub = 750.0
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]]
scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]]
scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]]
scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]]
scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]]
unitTestSim.InitializeSimulation()
extFTObject = extForceTorque.ExtForceTorque()
extFTObject.ModelTag = "externalDisturbance"
extFTObject.extTorquePntB_B = [[-1], [1], [-1]]
extFTObject.extForce_N = [[-1], [-0.5], [0.5]]
scObject.addDynamicEffector(extFTObject)
unitTestSim.AddModelToTask(unitTaskName, extFTObject)
posRef = scObject.dynManager.getStateObject("hubPosition")
sigmaRef = scObject.dynManager.getStateObject("hubSigma")
stopTime = 60.0*10.0
unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
unitTestSim.ExecuteSimulation()
dataPos = posRef.getState()
dataSigma = sigmaRef.getState()
dataPos = [[dataPos[0][0], dataPos[1][0], dataPos[2][0]]]
dataSigma = [[dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]]
truePos = [
[-6.78183900e+06, 4.94674963e+06, 5.48686274e+06]
]
trueSigma = [
[4.91025978e-01, -4.21586707e-01, 3.61459503e-01]
]
accuracy = 1e-8
for i in range(0,len(truePos)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: External Inertial Force and Torque failed pos unit test")
for i in range(0,len(trueSigma)):
# check a vector values
if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: External Inertial Force and Torque failed attitude unit test")
if testFailCount == 0:
print("PASSED: " + " External Inertial Force and Torque Inegrated Sim Test")
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
test_extForceBodyAndTorque()