#
# Unit Test Script
# Module Name: thrustRWDesat
# Creation Date: October 5, 2018
#
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import thrustRWDesat
from Basilisk.utilities import SimulationBaseClass, unitTestSupport, macros, fswSetupThrusters
[docs]def test_thrustRWDesat():
""" Test thrustRWDesat. """
[testResults, testMessage] = thrustRWDesatTestFunction()
assert testResults < 1, testMessage
[docs]def thrustRWDesatTestFunction():
""" Test the thrustRWDesat 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()
# This is needed if multiple unit test scripts are run
# This create a fresh and consistent simulation environment for each test run
# 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
# Construct the thrustRWDesat module
# Set the names for the input messages
module = thrustRWDesat.thrustRWDesat()
# Set the necessary data in the module. NOTE: This information is more or less random
module.thrFiringPeriod = .5 # The amount of time to rest between thruster firings [s]
module.DMThresh = 20 # The point at which to stop decrementing momentum [r/s]
module.currDMDir = [1, 0, 0] # The current direction of momentum reduction
module.maxFiring = 5 # Maximum time to fire a jet for [s]
# This calls the algContain to setup the selfInit, update, and reset
module.ModelTag = "thrustRWDesat"
# Add the module to the task
unitTestSim.AddModelToTask(unitTaskName, module)
numRW = 3
inputRWConstellationMsg = messaging.RWConstellationMsgPayload()
inputRWConstellationMsg.numRW = numRW
# Initialize the msg that gives the speed of the reaction wheels
inputSpeedMsg = messaging.RWSpeedMsgPayload()
gsHat = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
# Iterate over all of the reaction wheels, create a rwConfigElementFswMsg, and add them to the rwConstellationFswMsg
rwConfigElementList = list()
for rw in range(numRW):
rwConfigElementMsg = messaging.RWConfigElementMsgPayload()
rwConfigElementMsg.gsHat_B = gsHat[rw] # Spin axis unit vector of the wheel in structure # [1, 0, 0]
rwConfigElementMsg.Js = 0.08 # Spin axis inertia of wheel [kgm2]
rwConfigElementMsg.uMax = 0.2 # maximum RW motor torque [Nm]
# Add this to the list
rwConfigElementList.append(rwConfigElementMsg)
inputSpeedMsg.wheelSpeeds = [20, 10, 30] # The current angular velocities of the RW wheel
# Set the array of the reaction wheels in RWConstellationFswMsg to the list created above
inputRWConstellationMsg.reactionWheels = rwConfigElementList
# Initialize the msg that gives the mass properties. This just needs the center of mass value
inputVehicleMsg = messaging.VehicleConfigMsgPayload()
inputVehicleMsg.CoM_B = [0, 0, 0] # This is random.
# setup thruster cluster message
fswSetupThrusters.clearSetup()
rcsLocationData = [
[-0.86360, -0.82550, 1.79070],
[-0.82550, -0.86360, 1.79070],
[0.82550, 0.86360, 1.79070],
[0.86360, 0.82550, 1.79070],
[-0.86360, -0.82550, -1.79070],
[-0.82550, -0.86360, -1.79070],
[0.82550, 0.86360, -1.79070],
[0.86360, 0.82550, -1.79070]
]
rcsDirectionData = [
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0],
[-1.0, 0.0, 0.0],
[0.0, -1.0, 0.0],
[0.0, 1.0, 0.0],
[1.0, 0.0, 0.0]
]
for i in range(len(rcsLocationData)):
fswSetupThrusters.create(rcsLocationData[i], rcsDirectionData[i], 2.0)
thrConfigInMsg = fswSetupThrusters.writeConfigMessage()
numThrusters = fswSetupThrusters.getNumOfDevices()
# Set these messages
rwSpeedInMsg = messaging.RWSpeedMsg().write(inputSpeedMsg)
rwConstInMsg = messaging.RWConstellationMsg().write(inputRWConstellationMsg)
vcConfigInMsg = messaging.VehicleConfigMsg().write(inputVehicleMsg)
dataLog = module.thrCmdOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
module.rwSpeedInMsg.subscribeTo(rwSpeedInMsg)
module.rwConfigInMsg.subscribeTo(rwConstInMsg)
module.vecConfigInMsg.subscribeTo(vcConfigInMsg)
module.thrConfigInMsg.subscribeTo(thrConfigInMsg)
# Initialize the simulation
unitTestSim.InitializeSimulation()
# Step the simulation to 9*process rate so 10 total steps including zero
unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
# This doesn't work if only 1 number is passed in as the second argument, but we don't need the second
outputThrData = dataLog.OnTimeRequest[:, :numThrusters]
# print(outputThrData)
# This is just what is outputted...
trueVector = [[0., 0., 0., 0., 0., 0., 0., 0.],
[0.00000000e+00, 1.97181559e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.0, 0.0, 0.0],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.0, 1.28062495e+00, 0.0, 0.0],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.0, 1.28062495e+00, 0.0, 0.0],
[ 0.00000000e+00, 1.97181559e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.0, 0.0, 0.0]]
accuracy = 1e-6
# At each timestep, make sure the vehicleConfig values haven't changed from the initial values
testFailCount, testMessages = unitTestSupport.compareArrayND(trueVector, outputThrData,
accuracy,
"ThrustRWDesat output",
numThrusters, testFailCount, testMessages)
if testFailCount == 0:
print("Passed")
return [testFailCount, ''.join(testMessages)]
if __name__ == '__main__':
test_thrustRWDesat()