#
# Unit Test Script
# Module Name: ephemDifference
# Creation Date: October 16, 2018
#
import inspect
import os
import pytest
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
from Basilisk.utilities import SimulationBaseClass, unitTestSupport, macros
from Basilisk.fswAlgorithms import ephemDifference
from Basilisk.utilities import astroFunctions
from Basilisk.architecture import messaging
[docs]@pytest.mark.parametrize("ephBdyCount", [3, 0])
def test_ephemDifference(ephBdyCount):
""" Test ephemDifference. """
[testResults, testMessage] = ephemDifferenceTestFunction(ephBdyCount)
assert testResults < 1, testMessage
[docs]def ephemDifferenceTestFunction(ephBdyCount):
""" Test the ephemDifference module. Setup a simulation, """
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)) # Add a new task to the process
ephemDiff = ephemDifference.ephemDifference()
# This calls the algContain to setup the selfInit, update, and reset
ephemDiff.ModelTag = "ephemDifference"
# Add the module to the task
unitTestSim.AddModelToTask(unitTaskName, ephemDiff)
# Create the input message.
inputEphemBase = messaging.EphemerisMsgPayload() # The clock correlation message ?
# Get the Earth's position and velocity
position, velocity = astroFunctions.Earth_RV(astroFunctions.JulianDate([2018, 10, 16]))
inputEphemBase.r_BdyZero_N = position
inputEphemBase.v_BdyZero_N = velocity
inputEphemBase.timeTag = 1234.0
ephBaseInMsg = messaging.EphemerisMsg().write(inputEphemBase)
ephemDiff.ephBaseInMsg.subscribeTo(ephBaseInMsg)
functions = [astroFunctions.Mars_RV, astroFunctions.Jupiter_RV, astroFunctions.Saturn_RV]
changeBodyList = list()
ephInMsgList = list()
if ephBdyCount == 3:
for i in range(ephBdyCount):
# Create the change body message
changeBodyMsg = ephemDifference.EphemChangeConfig()
changeBodyList.append(changeBodyMsg)
# Create the input message to the change body config
inputMsg = messaging.EphemerisMsgPayload()
position, velocity = functions[i](astroFunctions.JulianDate([2018, 10, 16]))
inputMsg.r_BdyZero_N = position
inputMsg.v_BdyZero_N = velocity
inputMsg.timeTag = 321.0
# Set this message
ephInMsgList.append(messaging.EphemerisMsg().write(inputMsg))
changeBodyMsg.ephInMsg.subscribeTo(ephInMsgList[-1])
ephemDiff.changeBodies = changeBodyList
# the logging setup must occur on the actual ephemDiff.changeBodies[i].ephOutMsg as we are providing
# pointers to the message payload. Logging changeBodyList.ephOutMsg won't work as this message has a
# different location.
dataLogList = list()
for i in range(ephBdyCount):
dataLogList.append(ephemDiff.changeBodies[i].ephOutMsg.recorder())
unitTestSim.AddModelToTask(unitTaskName, dataLogList[i])
# Initialize the simulation
unitTestSim.InitializeSimulation()
# The result isn't going to change with more time. The module will continue to produce the same result
unitTestSim.ConfigureStopTime(0) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
if ephBdyCount == 3:
trueRVector = [[69313607.6209608, -75620898.04028425, -5443274.17030424],
[-5.33462105e+08, -7.56888610e+08, 1.17556184e+07],
[9.94135029e+07, -1.54721593e+09, 1.65081472e+07]]
trueVVector = [[15.04232523, -1.13359121, 0.47668898],
[23.2531093, -33.17628299, -0.22550391],
[21.02793499, -25.86425597, -0.38273815]]
posAcc = 1e1
velAcc = 1e-4
unitTestSupport.writeTeXSnippet("toleranceValuePos", str(posAcc), path)
unitTestSupport.writeTeXSnippet("toleranceValueVel", str(velAcc), path)
for i in range(ephBdyCount):
outputData_R = dataLogList[i].r_BdyZero_N
outputData_V = dataLogList[i].v_BdyZero_N
timeTag = dataLogList[i].timeTag
# print(timeTag)
# print(outputData_R)
# At each timestep, make sure the vehicleConfig values haven't changed from the initial values
testFailCount, testMessages = unitTestSupport.compareArrayND([trueRVector[i]], outputData_R,
posAcc,
"ephemDifference position output body " + str(i),
2, testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayND([trueVVector[i]], outputData_V,
velAcc,
"ephemDifference velocity output body " + str(i),
2, testFailCount, testMessages)
if timeTag[0] != 321.0:
testFailCount += 1
testMessages.append("ephemDifference timeTag output body " + str(i))
if ephemDiff.ephBdyCount is not ephBdyCount:
testFailCount += 1
testMessages.append("input/output message count is wrong.")
snippentName = "passFail" + str(ephBdyCount)
if testFailCount == 0:
colorText = 'ForestGreen'
print("PASSED: " + ephemDiff.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
print("Failed: " + ephemDiff.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}'
unitTestSupport.writeTeXSnippet(snippentName, passedText, path)
return [testFailCount, ''.join(testMessages)]
if __name__ == '__main__':
test_ephemDifference(3)