Source code for test_meanOEFeedback

#
#  ISC License
#
#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
#   Unit Test Script
#   Module Name:        meanOEFeedback
#   Author:             Hirotaka Kondo
#   Creation Date:      March 27, 2020
#

import pytest
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import meanOEFeedback  # 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 orbitalMotion
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions


# 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] @pytest.mark.parametrize("useClassicElem", [True, False]) @pytest.mark.parametrize("accuracy", [1e-6]) def test_meanOEFeedback(show_plots, useClassicElem, accuracy): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = meanOEFeedbackTestFunction(show_plots, useClassicElem, accuracy) assert testResults < 1, testMessage
def meanOEFeedbackTestFunction(show_plots, useClassicElem, accuracy): 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 meanOEFeedback as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # Create test thread testProcessRate = macros.sec2nano(0.1) # process rate testProc = unitTestSim.CreateNewProcess(unitProcessName) # create new process testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # create new task # Construct algorithm and associated C++ container module = meanOEFeedback.meanOEFeedback() module.ModelTag = "meanOEFeedback" # update python name of test meanOEFeedback module.targetDiffOeMean = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] module.mu = orbitalMotion.MU_EARTH * 1e9 # [m^3/s^2] module.req = orbitalMotion.REQ_EARTH * 1e3 # [m] module.J2 = orbitalMotion.J2_EARTH # [] module.K = [1e7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e7] if(useClassicElem): module.oeType = 0 # 0: classic else: module.oeType = 1 # 1: equinoctial # Add test meanOEFeedback to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) # Create input message and size it because the regular creator of that message # is not part of the test. # # Chief Navigation Message # oe = orbitalMotion.ClassicElements() oe.a = 20000e3 # [m] oe.e = 0.1 oe.i = 0.2 oe.Omega = 0.3 oe.omega = 0.4 oe.f = 0.5 (r_BN_N, v_BN_N) = orbitalMotion.elem2rv(orbitalMotion.MU_EARTH*1e9, oe) chiefNavStateOutData = messaging.NavTransMsgPayload() # Create a structure for the input message chiefNavStateOutData.timeTag = 0 chiefNavStateOutData.r_BN_N = r_BN_N chiefNavStateOutData.v_BN_N = v_BN_N chiefNavStateOutData.vehAccumDV = [0, 0, 0] chiefInMsg = messaging.NavTransMsg().write(chiefNavStateOutData) # # Deputy Navigation Message # oe2 = orbitalMotion.ClassicElements() oe2.a = (1 + 0.0006) * 7000e3 # [m] oe2.e = 0.2 + 0.0005 oe2.i = 0.0 + 0.0004 oe2.Omega = 0.0 + 0.0003 oe2.omega = 0.0 + 0.0002 oe2.f = 0.0001 (r_BN_N2, v_BN_N2) = orbitalMotion.elem2rv(orbitalMotion.MU_EARTH*1e9, oe2) deputyNavStateOutData = messaging.NavTransMsgPayload() # Create a structure for the input message deputyNavStateOutData.timeTag = 0 deputyNavStateOutData.r_BN_N = r_BN_N2 deputyNavStateOutData.v_BN_N = v_BN_N2 deputyNavStateOutData.vehAccumDV = [0, 0, 0] deputyInMsg = messaging.NavTransMsg().write(deputyNavStateOutData) # Setup logging on the test meanOEFeedback output message so that we get all the writes to it dataLog = module.forceOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) # connect messages module.chiefTransInMsg.subscribeTo(chiefInMsg) module.deputyTransInMsg.subscribeTo(deputyInMsg) # 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(testProcessRate) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. forceOutput = dataLog.forceRequestInertial # set the filtered output truth states if useClassicElem: trueVector = [[-849.57347406544340628897771239280701, 1849.77641265032843875815160572528839, 136.07817734479317550722043961286545]] else: trueVector = [[-1655.37188207880308254971168935298920, 1788.61776379042521512019447982311249, 52.54814237453938119415397522971034]] # compare the meanOEFeedback results to the truth values for i in range(0, len(trueVector)): # check a vector values if not unitTestSupport.isArrayEqual(forceOutput[i], trueVector[i], 3, accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed " + ".forceRequestInertial" + " 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: " + module.ModelTag) print("This test uses an accuracy value of " + str(accuracy)) # 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_meanOEFeedback( False, # show_plots True, # useClassicElem 1e-6 # accuracy )