Source code for test_oeStateEphem


# 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.
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# 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
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# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.


import inspect
import math
import os

import matplotlib.pyplot as plt
import numpy
import pytest
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import oeStateEphem
from Basilisk.topLevelModules import pyswice
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import orbitalMotion
from Basilisk.utilities import unitTestSupport
from Basilisk.utilities.pyswice_spk_utilities import spkRead

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
splitPath = path.split('fswAlgorithms')
from Basilisk import __path__
bskPath = __path__[0]

orbitPosAccuracy = 10000.0
orbitVelAccuracy = 1.0
unitTestSupport.writeTeXSnippet("tolerancePosValue", str(orbitPosAccuracy), path)
unitTestSupport.writeTeXSnippet("toleranceVelValue", str(orbitVelAccuracy), path)


[docs] @pytest.mark.parametrize('validChebyCurveTime, anomFlag', [ (True, 0), (True, 1), (True, -1), (False, -1) ]) def test_chebyPosFitAllTest(show_plots, validChebyCurveTime, anomFlag): """Module Unit Test""" [testResults, testMessage] = chebyPosFitAllTest(show_plots, validChebyCurveTime, anomFlag) assert testResults < 1, testMessage
def chebyPosFitAllTest(show_plots, validChebyCurveTime, anomFlag): # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. #__tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages numCurvePoints = 4*8640+1 curveDurationSeconds = 4*86400 logPeriod = curveDurationSeconds // (numCurvePoints - 1) degChebCoeff = 14 integFrame = "j2000" zeroBase = "Earth" centralBodyMu = 3.98574405096E14 dateSpice = "2015 April 10, 00:00:00.0 TDB" pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/naif0012.tls') et = pyswice.new_doubleArray(1) pyswice.str2et_c(dateSpice, et) etStart = pyswice.doubleArray_getitem(et, 0) etEnd = etStart + curveDurationSeconds pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/de430.bsp') pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/naif0012.tls') pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/de-403-masses.tpc') pyswice.furnsh_c(bskPath + '/supportData/EphemerisData/pck00010.tpc') pyswice.furnsh_c(path + '/TDRSS.bsp') tdrssPosList = [] tdrssVelList = [] timeHistory = numpy.linspace(etStart, etEnd, numCurvePoints) position = numpy.array(3) velocity = numpy.array(3) rpArray = [] eccArray = [] incArray = [] OmegaArray = [] omegaArray = [] anomArray = [] anomPrev = 0.0 anomCount = 0 for timeVal in timeHistory: stringCurrent = pyswice.et2utc_c(timeVal, 'C', 4, 1024, "Yo") stateOut = spkRead('-221', stringCurrent, integFrame, zeroBase) position = stateOut[0:3]*1000.0 velocity = stateOut[3:6]*1000.0 orbEl = orbitalMotion.rv2elem(centralBodyMu, position, velocity) tdrssPosList.append(position) tdrssVelList.append(velocity) rpArray.append(orbEl.rPeriap) eccArray.append(orbEl.e) incArray.append(orbEl.i) OmegaArray.append(orbEl.Omega) omegaArray.append(orbEl.omega) if anomFlag == 1: currentAnom = orbitalMotion.E2M(orbitalMotion.f2E(orbEl.f, orbEl.e), orbEl.e) else: currentAnom = orbEl.f if currentAnom < anomPrev: anomCount += 1 anomArray.append(2*math.pi*anomCount + currentAnom) anomPrev = currentAnom tdrssPosList = numpy.array(tdrssPosList) tdrssVelList = numpy.array(tdrssVelList) fitTimes = numpy.linspace(-1, 1, numCurvePoints) chebRpCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, rpArray, degChebCoeff) chebEccCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, eccArray, degChebCoeff) chebIncCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, incArray, degChebCoeff) chebOmegaCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, OmegaArray, degChebCoeff) chebomegaCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, omegaArray, degChebCoeff) chebAnomCoeff = numpy.polynomial.chebyshev.chebfit(fitTimes, anomArray, degChebCoeff) unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container sim = SimulationBaseClass.SimBaseClass() FSWUnitTestProc = sim.CreateNewProcess(unitProcessName) # create the dynamics task and specify the integration update time FSWUnitTestProc.addTask(sim.CreateNewTask(unitTaskName, macros.sec2nano(logPeriod))) oeStateModel = oeStateEphem.oeStateEphem() oeStateModel.ModelTag = "oeStateModel" sim.AddModelToTask(unitTaskName, oeStateModel) oeStateModel.muCentral = centralBodyMu oeStateModel.ephArray[0].rPeriapCoeff = chebRpCoeff.tolist() oeStateModel.ephArray[0].eccCoeff = chebEccCoeff.tolist() oeStateModel.ephArray[0].incCoeff = chebIncCoeff.tolist() oeStateModel.ephArray[0].argPerCoeff = chebomegaCoeff.tolist() oeStateModel.ephArray[0].anomCoeff = chebAnomCoeff.tolist() oeStateModel.ephArray[0].RAANCoeff = chebOmegaCoeff.tolist() oeStateModel.ephArray[0].nChebCoeff = degChebCoeff + 1 oeStateModel.ephArray[0].ephemTimeMid = etStart + curveDurationSeconds/2.0 oeStateModel.ephArray[0].ephemTimeRad = curveDurationSeconds/2.0 if not (anomFlag == -1): oeStateModel.ephArray[0].anomalyFlag = anomFlag clockCorrData = messaging.TDBVehicleClockCorrelationMsgPayload() clockCorrData.vehicleClockTime = 0.0 clockCorrData.ephemerisTime = oeStateModel.ephArray[0].ephemTimeMid - oeStateModel.ephArray[0].ephemTimeRad clockInMsg = messaging.TDBVehicleClockCorrelationMsg().write(clockCorrData) oeStateModel.clockCorrInMsg.subscribeTo(clockInMsg) dataLog = oeStateModel.stateFitOutMsg.recorder() sim.AddModelToTask(unitTaskName, dataLog) if not validChebyCurveTime: sim.InitializeSimulation() # increase the run time by one logging period so that the sim time is outside the # valid chebychev curve duration sim.ConfigureStopTime(int((curveDurationSeconds + logPeriod) * 1.0E9)) sim.ExecuteSimulation() else: sim.InitializeSimulation() sim.ConfigureStopTime(int(curveDurationSeconds*1.0E9)) sim.ExecuteSimulation() posChebData = dataLog.r_BdyZero_N velChebData = dataLog.v_BdyZero_N if not validChebyCurveTime: lastLogidx = (curveDurationSeconds + logPeriod) // logPeriod - 1 secondLastPos = posChebData[lastLogidx + 1, 0:] - tdrssPosList[lastLogidx, :] lastPos = posChebData[lastLogidx, 0:] - tdrssPosList[lastLogidx, :] if not numpy.array_equal(secondLastPos, lastPos): testFailCount += 1 testMessages.append("FAILED: Expected Chebychev position to rail high or low " + str(secondLastPos) + " != " + str(lastPos)) secondLastVel = velChebData[lastLogidx + 1, 0:] - tdrssVelList[lastLogidx, :] lastVel = velChebData[lastLogidx, 0:] - tdrssVelList[lastLogidx, :] if not numpy.array_equal(secondLastVel, lastVel): testFailCount += 1 testMessages.append("FAILED: Expected Chebychev velocity to rail high or low " + str(secondLastVel) + " != " + str(lastVel)) else: maxErrVec = [abs(max(posChebData[:, 0] - tdrssPosList[:, 0])), abs(max(posChebData[:, 1] - tdrssPosList[:, 1])), abs(max(posChebData[:,2] - tdrssPosList[:, 2]))] maxVelErrVec = [abs(max(velChebData[:, 0] - tdrssVelList[:, 0])), abs(max(velChebData[:, 1] - tdrssVelList[:, 1])), abs(max(velChebData[:, 2] - tdrssVelList[:, 2]))] if max(maxErrVec) >= orbitPosAccuracy: testFailCount += 1 testMessages.append("FAILED: maxErrVec >= orbitPosAccuracy, TDRSS Orbit Accuracy: " + str(max(maxErrVec))) if max(maxVelErrVec) >= orbitVelAccuracy: testFailCount += 1 testMessages.append("FAILED: maxVelErrVec >= orbitVelAccuracy, TDRSS Velocity Accuracy: " + str(max(maxVelErrVec))) plt.close("all") # plot the fitted and actual position coordinates plt.figure(1) fig = plt.gcf() ax = fig.gca() ax.ticklabel_format(useOffset=False, style='plain') for idx in range(0, 3): plt.plot(dataLog.times()*macros.NANO2HOUR, posChebData[:, idx]/1000, color=unitTestSupport.getLineColor(idx, 3), linewidth=0.5, label='$r_{fit,' + str(idx) + '}$') plt.plot(dataLog.times()*macros.NANO2HOUR, tdrssPosList[:, idx]/1000, color=unitTestSupport.getLineColor(idx, 3), linestyle='dashed', linewidth=2, label='$r_{true,' + str(idx) + '}$') plt.legend(loc='lower right') plt.xlabel('Time [h]') plt.ylabel('Inertial Position [km]') # plot the fitted and actual velocity coordinates plt.figure(2) for idx in range(0, 3): plt.plot(dataLog.times()*macros.NANO2HOUR, velChebData[:, idx]/1000, color=unitTestSupport.getLineColor(idx, 3), linewidth=0.5, label='$v_{fit,' + str(idx) + '}$') plt.plot(dataLog.times()*macros.NANO2HOUR, tdrssVelList[:, idx]/1000, color=unitTestSupport.getLineColor(idx, 3), linestyle='dashed', linewidth=2, label='$v_{true,' + str(idx) + '}$') plt.legend(loc='lower right') plt.xlabel('Time [h]') plt.ylabel('Velocity [km/s]') # plot the difference in position coordinates plt.figure(3) arrayLength = posChebData[:, 0].size for idx in range(0,3): plt.plot(dataLog.times() * macros.NANO2HOUR, posChebData[:, idx] - tdrssPosList[:, idx], color=unitTestSupport.getLineColor(idx, 3), linewidth=0.5, label=r'$\Delta r_{' + str(idx) + '}$') plt.plot(dataLog.times() * macros.NANO2HOUR, orbitPosAccuracy*numpy.ones(arrayLength), color='r', linewidth=1) plt.plot(dataLog.times() * macros.NANO2HOUR, -orbitPosAccuracy * numpy.ones(arrayLength), color='r', linewidth=1) plt.legend(loc='lower right') plt.xlabel('Time [h]') plt.ylabel('Position Difference [m]') # plot the difference in velocity coordinates plt.figure(4) arrayLength = velChebData[:, 0].size for idx in range(0,3): plt.plot(dataLog.times() * macros.NANO2HOUR, velChebData[:, idx] - tdrssVelList[:, idx], color=unitTestSupport.getLineColor(idx, 3), linewidth=0.5, label=r'$\Delta v_{' + str(idx) + '}$') plt.plot(dataLog.times() * macros.NANO2HOUR, orbitVelAccuracy*numpy.ones(arrayLength), color='r', linewidth=1) plt.plot(dataLog.times() * macros.NANO2HOUR, -orbitVelAccuracy * numpy.ones(arrayLength), color='r', linewidth=1) plt.legend(loc='lower right') plt.xlabel('Time [h]') plt.ylabel('Velocity Difference [m/s]') if show_plots: plt.show() plt.close('all') snippentName = "passFail" + str(validChebyCurveTime) if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + oeStateModel.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' print("Failed: " + oeStateModel.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippentName, passedText, path) # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)] if __name__ == "__main__": chebyPosFitAllTest(True, # showPlots True, # validChebyCurveTime 1) # anomFlag