# 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.
#
# Unit Test Script
# Module Name: velocityPoint
# Author: Mar Cols
# Creation Date: January 22, 2016
#
import pytest
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.fswAlgorithms import velocityPoint # import the module that is to be tested
from Basilisk.utilities import macros
import numpy as np
from Basilisk.utilities import astroFunctions as af
from Basilisk.architecture import messaging
# 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(conditionstring)
# provide a unique test method name, starting with test_
[docs]def test_velocityPoint(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = velocityPointTestFunction(show_plots)
assert testResults < 1, testMessage
def velocityPointTestFunction(show_plots):
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array 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 = velocityPoint.velocityPointConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "velocityPoint"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
# Initialize the test module configuration data
moduleConfig.mu = af.mu_E
a = af.E_radius * 2.8
e = 0.0
i = 0.0
Omega = 0.0
omega = 0.0
f = 60 * af.D2R
(r, v) = af.OE2RV(af.mu_E, a, e, i, Omega, omega, f)
r_BN_N = r
v_BN_N = v
planetPos = np.array([0.0, 0.0, 0.0])
planetVel = np.array([0.0, 0.0, 0.0])
# Create input message and size it because the regular creator of that message
# is not part of the test.
#
# Navigation Input Message
#
NavStateOutData = messaging.NavTransMsgPayload() # Create a structure for the input message
NavStateOutData.r_BN_N = r_BN_N
NavStateOutData.v_BN_N = v_BN_N
navInMsg = messaging.NavTransMsg().write(NavStateOutData)
#
# Spice Input Message
#
CelBodyData = messaging.EphemerisMsgPayload()
CelBodyData.r_BdyZero_N = planetPos
CelBodyData.v_BdyZero_N = planetVel
celBodyInMsg = messaging.EphemerisMsg().write(CelBodyData)
# Setup logging on the test module output message so that we get all the writes to it
dataLog = moduleConfig.attRefOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
# connect Messages
moduleConfig.transNavInMsg.subscribeTo(navInMsg)
moduleConfig.celBodyInMsg.subscribeTo(celBodyInMsg)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Set the simulation time.
# NOTE: the total simulation time may be longer than this value. The
# simulation is stopped at the next logging event on or after the
# simulation end time.
unitTestSim.ConfigureStopTime(macros.sec2nano(1.)) # seconds to stop simulation
# Begin the simulation time run set above
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)
#
# check sigma_RN
#
# set the filtered output truth states
trueVector = [
[0., 0., 0.267949192431],
[0., 0., 0.267949192431],
[0., 0., 0.267949192431]
]
# compare the module results to the truth values
accuracy = 1e-12
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.sigma_RN, accuracy,
'sigma_RN', testFailCount, testMessages)
#
# check omega_RN_N
#
# set the filtered output truth states
trueVector = [
[0., 0., 0.000264539877],
[0., 0., 0.000264539877],
[0., 0., 0.000264539877]
]
# compare the module results to the truth values
accuracy = 1e-12
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.omega_RN_N, accuracy,
'omega_RN_N', testFailCount, testMessages)
#
# check domega_RN_N
#
# set the filtered output truth states
trueVector = [
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0]
]
# compare the module results to the truth values
accuracy = 1e-12
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.domega_RN_N, accuracy,
'domega_RN_N', testFailCount, testMessages)
# Note that we can continue to step the simulation however we feel like.
# Just because we stop and query data does not mean everything has to stop for good
unitTestSim.ConfigureStopTime(macros.sec2nano(0.6)) # run an additional 0.6 seconds
unitTestSim.ExecuteSimulation()
if testFailCount:
print(testMessages)
else:
print("Passed")
# each test method requires a single assert method to be called
# this check below just makes sure no sub-test failures were found
return [testFailCount, ''.join(testMessages)]
#
# This statement below ensures that the unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_velocityPoint(False)