#
# 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: sunlineEphem()
# Author: John Martin
# Creation Date: November 30, 2018
#
import matplotlib.pyplot as plt
import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import sunlineEphem # 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
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
[docs]
class DataStore:
"""Container for developer defined variables to be used in test data post-processing and plotting.
Attributes:
variableState (list): an example variable to hold test result data.
"""
def __init__(self):
self.variableState = None # replace/add with appropriate variables for test result data storing
[docs]
def plotData(self):
"""All test plotting to be performed here.
"""
plt.figure(1) # plot a sample variable.
plt.plot(self.variableState[:, 0]*macros.NANO2SEC, self.variableState[:, 1], label='Sample Variable')
plt.legend(loc='upper left')
plt.xlabel('Time [s]')
plt.ylabel('Variable Description [unit]')
plt.show()
@pytest.fixture(scope="module")
def plotFixture(show_plots):
dataStore = DataStore()
yield dataStore
if show_plots:
dataStore.plotData()
# 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_module(show_plots): # update "module" in this function name to reflect the module name
"""Module Unit Test"""
# 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] = sunlineEphemTestFunction(show_plots)
assert testResults < 1, testMessage
def sunlineEphemTestFunction(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
sunlineEphemObj = sunlineEphem.sunlineEphem()
sunlineEphemObj.ModelTag = "sunlineEphem" # update python name of test module
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, sunlineEphemObj)
# Create input message and size it because the regular creator of that message
# is not part of the test.
vehAttData = messaging.NavAttMsgPayload()
vehPosData = messaging.NavTransMsgPayload()
sunData = messaging.EphemerisMsgPayload()
# Artificially put sun at the origin.
sunData.r_BdyZero_N = [0.0, 0.0, 0.0]
vehAttInMsg = messaging.NavAttMsg().write(vehAttData)
# Place spacecraft unit length away on each coordinate axis
vehAttData.sigma_BN = [0.0, 0.0, 0.0]
TestVectors = [[-1.0, 0.0, 0.0],
[0.0, -1.0, 0.0],
[0.0, 0.0, -1.0],
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 0.0, 1.0]]
estVector = np.zeros((6, 3))
vehPosInMsg = messaging.NavTransMsg()
sunDataInMsg = messaging.EphemerisMsg().write(sunData)
sunlineEphemObj.sunPositionInMsg.subscribeTo(sunDataInMsg)
sunlineEphemObj.scPositionInMsg.subscribeTo(vehPosInMsg)
sunlineEphemObj.scAttitudeInMsg.subscribeTo(vehAttInMsg)
dataLog = sunlineEphemObj.navStateOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
for i in range(len(TestVectors)):
testVec = TestVectors[i]
vehPosData.r_BN_N = testVec
vehPosInMsg.write(vehPosData)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
estVector[i] = dataLog.vehSunPntBdy[-1]
# reset the module to test this functionality
sunlineEphemObj.Reset(1)
# set the filtered output truth states
trueVector = [
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 0.0, 1.0],
[-1.0, 0.0, 0.0],
[0.0, -1.0, 0.0],
[0.0, 0.0, -1.0]
]
# compare the module results to the truth values
accuracy = 1e-12
for i in range(0,len(trueVector)):
# check a vector values
if not unitTestSupport.isArrayEqual(estVector[i], trueVector[i], 3, accuracy):
testFailCount += 1
testMessages.append("FAILED: " + sunlineEphemObj.ModelTag + " Module failed sunlineEphem " +
" unit test at t=" + str(dataLog.times()[i]*macros.NANO2SEC) + "sec\n")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + sunlineEphemObj.ModelTag)
else:
print(testMessages)
# 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_module( # update "subModule" in function name
False # show_plots
)