Source code for test_magneticFieldCenteredDipole


# 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
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.


#
#   Unit Test Script
#   Module Name:        magneticField - Centered Dipole Model
#   Author:             Hanspeter Schaub
#   Creation Date:      March 10, 2019
#

import inspect
import os

import numpy as np
import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)

# 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.simulation import magneticFieldCenteredDipole
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
from Basilisk.utilities import orbitalMotion
from Basilisk.utilities import simSetPlanetEnvironment


# 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_'.
# The following 'parametrize' function decorator provides the parameters and expected results for each
#   of the multiple test runs for this test.
[docs] @pytest.mark.parametrize("useDefault", [ True, False]) @pytest.mark.parametrize("useMinReach", [ True, False]) @pytest.mark.parametrize("useMaxReach", [ True, False]) @pytest.mark.parametrize("usePlanetEphemeris", [ True, False]) # update "module" in this function name to reflect the module name def test_module(show_plots, useDefault, useMinReach, useMaxReach, usePlanetEphemeris): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = run(show_plots, useDefault, useMinReach, useMaxReach, usePlanetEphemeris) assert testResults < 1, testMessage
def run(show_plots, useDefault, useMinReach, useMaxReach, usePlanetEphemeris): 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 testModule = magneticFieldCenteredDipole.MagneticFieldCenteredDipole() testModule.ModelTag = "CenteredDipole" if useDefault: refg10 = 0.0 # Tesla refg11 = 0.0 # Tesla refh11 = 0.0 # Tesla refPlanetRadius = 0.0 # meters else: simSetPlanetEnvironment.centeredDipoleMagField(testModule, "earth") refg10 = testModule.g10 refg11 = testModule.g11 refh11 = testModule.h11 refPlanetRadius = testModule.planetRadius minReach = -1.0 if useMinReach: minReach = (orbitalMotion.REQ_EARTH+300.)*1000.0 # meters testModule.envMinReach = minReach maxReach = -1.0 if useMaxReach: maxReach = (orbitalMotion.REQ_EARTH+100.) # meters testModule.envMaxReach = maxReach planetPosition = np.array([0.0, 0.0, 0.0]) refPlanetDCM = np.array(((1, 0, 0), (0, 1, 0), (0, 0, 1))) if usePlanetEphemeris: planetStateMsg = messaging.SpicePlanetStateMsgPayload() planetPosition = [1000.0, 2000.0, -1000.0] planetStateMsg.PositionVector = planetPosition refPlanetDCM = np.array(((-1, 0, 0), (0, -1, 0), (0, 0, 1))) planetStateMsg.J20002Pfix = refPlanetDCM.tolist() planetMsg = messaging.SpicePlanetStateMsg().write(planetStateMsg) testModule.planetPosInMsg.subscribeTo(planetMsg) # add spacecraft to environment model sc0StateMsg = messaging.SCStatesMsg() sc1StateMsg = messaging.SCStatesMsg() testModule.addSpacecraftToModel(sc0StateMsg) testModule.addSpacecraftToModel(sc1StateMsg) unitTestSim.AddModelToTask(unitTaskName, testModule) # define the spacecraft locations r0 = 6571 * 1000.0 # meters r1 = 6600 * 1000.0 # meters # # setup orbit and simulation time oe = orbitalMotion.ClassicElements() mu = 0.3986004415E+15 # meters^3/s^2 oe.a = r0 oe.e = 0.0 oe.i = 45.0 * macros.D2R oe.Omega = 30.0 * macros.D2R oe.omega = 120.0 * macros.D2R oe.f = 0.0 * macros.D2R r0N, v0N = orbitalMotion.elem2rv(mu, oe) oe.a = r1 r1N, v1N = orbitalMotion.elem2rv(mu, oe) # create the input messages sc0StateMsgData = messaging.SCStatesMsgPayload() # Create a structure for the input message sc0StateMsgData.r_BN_N = np.array(r0N) + np.array(planetPosition) sc0StateMsg.write(sc0StateMsgData) sc1StateMsgData = messaging.SCStatesMsgPayload() # Create a structure for the input message sc1StateMsgData.r_BN_N = np.array(r1N) + np.array(planetPosition) sc1StateMsg.write(sc1StateMsgData) # Setup logging on the test module output message so that we get all the writes to it dataLog0 = testModule.envOutMsgs[0].recorder() dataLog1 = testModule.envOutMsgs[1].recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog0) unitTestSim.AddModelToTask(unitTaskName, dataLog1) # 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(1.0)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. mag0Data = dataLog0.magField_N mag1Data = dataLog1.magField_N def centeredDipole(pos_N, X, refPlanetRadius, refPlanetDCM, minReach, maxReach): radius = np.linalg.norm(pos_N) planetPos_E = refPlanetDCM.dot(pos_N) rHat_E = planetPos_E/radius magField_E = (refPlanetRadius/radius)**3 * (3*rHat_E*np.dot(rHat_E, X)-X) magField_N = [((refPlanetDCM.transpose()).dot(magField_E)).tolist()]*3 if radius < minReach: magField_N = [[0.0, 0.0, 0.0]]*3 if radius > maxReach and maxReach > 0: magField_N = [[0.0, 0.0, 0.0]]*3 return magField_N # compare the module results to the truth values accuracy = 1e-5 unitTestSupport.writeTeXSnippet("unitTestToleranceValue", str(accuracy), path) # check the exponential atmosphere results # # check spacecraft 0 neutral density results if len(mag0Data) > 0: trueMagField = centeredDipole(r0N, np.array([refg11, refh11, refg10]), refPlanetRadius, refPlanetDCM, minReach, maxReach) testFailCount, testMessages = unitTestSupport.compareArrayRelative( trueMagField, mag0Data, accuracy, "SC0 mag vector", testFailCount, testMessages) if len(mag1Data) > 0: trueMagField = centeredDipole(r1N, np.array([refg11, refh11, refg10]), refPlanetRadius, refPlanetDCM, minReach, maxReach) testFailCount, testMessages = unitTestSupport.compareArrayRelative( trueMagField, mag1Data, accuracy, "SC1 mag vector", testFailCount, testMessages) # print out success or failure message snippentName = "unitTestPassFail" + str(useDefault) + str(useMinReach) + str(useMaxReach) + str(usePlanetEphemeris) if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + testModule.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' print("Failed: " + testModule.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippentName, passedText, path) # 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 "module" in function name False, # showplots False, # useDefault False, # useMinReach False, # useMaxReach True # usePlanetEphemeris )