#
# ISC License
#
# Copyright (c) 2021, 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: mtbMomentumManagement
# Author: Henry Macanas
# Creation Date: 02 23, 2021
#
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
import numpy as np
from Basilisk.architecture import bskLogging
from Basilisk.architecture import messaging # import the message definitions
from Basilisk.fswAlgorithms import mtbMomentumManagement # import the module that is to be tested
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
# CONSTANTS
MAX_EFF_CNT = 36
# 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_mtbMomentumManagement(): # update "module" in this function name to reflect the module name
r"""
**Validation Test Description**
This script tests that the module returns expected non-zero and zero
outputs.
**Description of Variables Being Tested**
The variables being checked are:
variables
- ``mtbDipoleCmds[MAX_EFF_CNT]``
- ``motorTorque[MAX_EFF_CNT]``
"""
# each test method requires a single assert method to be called
# pass on the testPlotFixture so that the main test function may set the DataStore attributes
[testResults, testMessage] = mtbMomentumManagementModuleTestFunction()
assert testResults < 1, testMessage
def mtbMomentumManagementModuleTestFunction():
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)
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.01) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
module = mtbMomentumManagement.mtbMomentumManagement()
module.cGain = 0.005
module.wheelSpeedBiases = [0., 0., 0, 0.]
module.ModelTag = "mtbMomentumManagement" # update python name of test module
unitTestSim.AddModelToTask(unitTaskName, module)
# wheelConfigData message (array is ordered c11, c22, c33, c44, ...)
rwConfigParams = messaging.RWArrayConfigMsgPayload()
beta = 45. * np.pi / 180.
rwConfigParams.GsMatrix_B = [0., np.cos(beta), np.sin(beta), 0., np.sin(beta), -np.cos(beta), np.cos(beta), -np.sin(beta), 0., -np.cos(beta), -np.sin(beta), 0.]
rwConfigParams.JsList = [0.002, 0.002, 0.002, 0.002]
rwConfigParams.numRW = 4
rwParamsInMsg = messaging.RWArrayConfigMsg().write(rwConfigParams)
# mtbConfigData message (array is ordered c11, c22, c33, c44, ...)
mtbConfigParams = messaging.MTBArrayConfigMsgPayload()
mtbConfigParams.numMTB = 3
# row major toque bar alignments
mtbConfigParams.GtMatrix_B = [
1., 0., 0.,
0., 1., 0.,
0., 0., 1.
]
mtbConfigParams.maxMtbDipoles = [10.]*mtbConfigParams.numMTB
mtbParamsInMsg = messaging.MTBArrayConfigMsg().write(mtbConfigParams)
# TAMSensorBodyMsg message (leads to non-invertible matrix)
tamSensorBodyInMsgContainer = messaging.TAMSensorBodyMsgPayload()
tamSensorBodyInMsgContainer.tam_B = [ 5E3 * 0.03782347, 5E3 * 0.49170516, 5E3 * -0.8699399]
tamSensorBodyInMsg = messaging.TAMSensorBodyMsg().write(tamSensorBodyInMsgContainer)
# rwSpeeds message
rwSpeedsInMsgContainer = messaging.RWSpeedMsgPayload()
rwSpeedsInMsgContainer.wheelSpeeds = [100., 200., 300., 400.]
rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer)
# attControl message
rwMotorTorqueInMsgContainer = messaging.ArrayMotorTorqueMsgPayload()
rwMotorTorqueInMsgContainer.motorTorque = [0., 0., 0., 0.]
rwMotorTorqueInMsg = messaging.ArrayMotorTorqueMsg().write(rwMotorTorqueInMsgContainer)
# Setup logging on the test module output message so that we get all the writes to it
resultMtbCmdOutMsg = module.mtbCmdOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, resultMtbCmdOutMsg)
resultRwMotorTorqueOutMsg = module.rwMotorTorqueOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, resultRwMotorTorqueOutMsg)
# connect the message interfaces
module.rwParamsInMsg.subscribeTo(rwParamsInMsg)
module.mtbParamsInMsg.subscribeTo(mtbParamsInMsg)
module.tamSensorBodyInMsg.subscribeTo(tamSensorBodyInMsg)
module.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg)
module.rwMotorTorqueInMsg.subscribeTo(rwMotorTorqueInMsg)
# 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(0.0)) # seconds to stop simulation
accuracy = 1E-8
'''
TEST 0:
Check that mtbDipoleCmds and are non-zero.
'''
unitTestSim.InitializeSimulation()
unitTestSim.ExecuteSimulation()
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.],
resultMtbCmdOutMsg.mtbDipoleCmds[0][0:3],
accuracy,
"tauMtbRequestOutMsg",
testFailCount, testMessages, ExpectedResult=0)
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0., 0.],
resultRwMotorTorqueOutMsg.motorTorque[0][0:4],
accuracy,
"rwMotorTorqueOutMsg",
testFailCount, testMessages, ExpectedResult=0)
'''
TEST 1:
Check that the mtbDipoleCmds are zero and that the resulting
torque on the body is zero when the b field is zero.
'''
tamSensorBodyInMsgContainer.tam_B = [0., 0., 0.]
tamSensorBodyInMsg = messaging.TAMSensorBodyMsg().write(tamSensorBodyInMsgContainer)
module.tamSensorBodyInMsg.subscribeTo(tamSensorBodyInMsg)
unitTestSim.InitializeSimulation()
unitTestSim.ExecuteSimulation()
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.],
resultMtbCmdOutMsg.mtbDipoleCmds[0][0:3],
accuracy,
"tauMtbRequestOutMsg",
testFailCount, testMessages, ExpectedResult=1)
Gs = np.array(rwConfigParams.GsMatrix_B[0:12]).reshape(4, 3).T
tauBody = Gs @ np.array(resultRwMotorTorqueOutMsg.motorTorque[0][0:4])
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.],
tauBody,
accuracy,
"rwMotorTorqueOutMsg",
testFailCount, testMessages, ExpectedResult=1)
# reset the module to test this functionality
module.Reset(0) # this module reset function needs a time input (in NanoSeconds)
# each test method requires a single assert method to be called
# this check below just makes sure no sub-test failures were found
print("fail count", testFailCount)
return [testFailCount, ''.join(testMessages)]
#
# This statement below ensures that the unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_mtbMomentumManagement()