Source code for test_simpleNav


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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import math
import os

import matplotlib.pyplot as plt
import numpy
from Basilisk.architecture import messaging
from Basilisk.simulation import simpleNav
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport


def listNorm(inputList):
   normValue = 0.0
   for elem in inputList:
      normValue += elem*elem
   normValue = math.sqrt(normValue)
   i=0
   while i<len(inputList):
      inputList[i] = inputList[i]/normValue
      i += 1

# 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(True)

[docs] def test_unitSimpleNav(show_plots): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = unitSimpleNav(show_plots) assert testResults < 1, testMessage
def unitSimpleNav(show_plots): path = os.path.dirname(os.path.abspath(__file__)) testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages # Create a sim module as an empty container 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() unitTestProc = unitTestSim.CreateNewProcess(unitProcessName) # create the task and specify the integration update time unitTestProc.addTask(unitTestSim.CreateNewTask(unitTaskName, int(1E8))) #Now initialize the modules that we are using. I got a little better as I went along sNavObject = simpleNav.SimpleNav() unitTestSim.AddModelToTask(unitTaskName, sNavObject) spiceMessage = messaging.SpicePlanetStateMsgPayload() stateMessage = messaging.SCStatesMsgPayload() vehPosition = [10000.0, 0.0, 0.0] sunPosition = [10000.0, 1000.0, 0.0] stateMessage.r_BN_N = vehPosition spiceMessage.PositionVector = sunPosition spiceMessage.PlanetName = "sun" # Inertial State output Message scStateMsg = messaging.SCStatesMsg().write(stateMessage) sNavObject.scStateInMsg.subscribeTo(scStateMsg) # Sun Planet Data Message sunStateMsg = messaging.SpicePlanetStateMsg().write(spiceMessage) sNavObject.sunStateInMsg.subscribeTo(sunStateMsg) sNavObject.ModelTag = "SimpleNavigation" posBound = numpy.array([1000.0] * 3) velBound = numpy.array([1.0] * 3) attBound = numpy.array([5E-3] * 3) rateBound = numpy.array([0.02] * 3) sunBound = numpy.array([5.0 * math.pi / 180.0] * 3) dvBound = numpy.array([0.053] * 3) posSigma = 5.0 velSigma = 0.035 attSigma = 1.0 / 360.0 * math.pi / 180.0 rateSigma = 0.05 * math.pi / 180.0 sunSigma = math.pi / 180.0 dvSigma = 0.1 * math.pi / 180.0 pMatrix = [[posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., posSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., velSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., attSigma, 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., rateSigma, 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., sunSigma, 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma, 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma, 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., dvSigma], ] errorBounds = [[1000.], [1000.], [1000.], [1.], [1.], [1.], [0.005], [0.005], [0.005], [0.02], [0.02], [0.02], [5.0 * math.pi / 180.0], [5.0 * math.pi / 180.0], [5.0 * math.pi / 180.0], [0.053], [0.053], [0.053]] sNavObject.walkBounds = errorBounds sNavObject.PMatrix = pMatrix sNavObject.crossTrans = True sNavObject.crossAtt = False # setup logging dataAttLog = sNavObject.attOutMsg.recorder() dataTransLog = sNavObject.transOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataAttLog) unitTestSim.AddModelToTask(unitTaskName, dataTransLog) unitTestSim.InitializeSimulation() unitTestSim.ConfigureStopTime(int(60 * 144.0 * 1E9)) unitTestSim.ExecuteSimulation() # pull simulation data posNav = dataTransLog.r_BN_N velNav = dataTransLog.v_BN_N attNav = dataAttLog.sigma_BN rateNav = dataAttLog.omega_BN_B dvNav = dataTransLog.vehAccumDV sunNav = dataAttLog.vehSunPntBdy sunHatPred = numpy.array(sunPosition)-numpy.array(vehPosition) listNorm(sunHatPred) countAllow = posNav.shape[0] * 0.3/100. posDiffCount = 0 velDiffCount = 0 attDiffCount = 0 rateDiffCount = 0 dvDiffCount = 0 sunDiffCount = 0 i=0 while i< posNav.shape[0]: posVecDiff = posNav[i,0:] - vehPosition velVecDiff = velNav[i,0:] attVecDiff = attNav[i,0:] rateVecDiff = rateNav[i,0:] dvVecDiff = dvNav[i,0:] sunVecDiff = math.acos(numpy.dot(sunNav[i, 0:], sunHatPred)) j=0 while j<3: if(abs(posVecDiff[j]) > posBound[j]): posDiffCount += 1 if(abs(velVecDiff[j]) > velBound[j]): velDiffCount += 1 if(abs(attVecDiff[j]) > attBound[j]): attDiffCount += 1 if(abs(rateVecDiff[j]) > rateBound[j]): rateDiffCount += 1 if(abs(dvVecDiff[j]) > dvBound[j]): dvDiffCount += 1 j+=1 if(abs(sunVecDiff) > 4.0*math.sqrt(3.0)*sunBound[0]): sunDiffCount += 1 i+= 1 errorCounts = [posDiffCount, velDiffCount, attDiffCount, rateDiffCount, dvDiffCount, sunDiffCount] for count in errorCounts: if count > countAllow: testFailCount += 1 testMessages.append("FAILED: Too many error counts -" + str(count)) sigmaThreshold = 0.8 posDiffCount = 0 velDiffCount = 0 attDiffCount = 0 rateDiffCount = 0 dvDiffCount = 0 sunDiffCount = 0 i=0 while i< posNav.shape[0]: posVecDiff = posNav[i,0:] - vehPosition velVecDiff = velNav[i,0:] attVecDiff = attNav[i,0:] rateVecDiff = rateNav[i,0:] dvVecDiff = dvNav[i,0:] sunVecDiff = math.acos(numpy.dot(sunNav[i, 0:], sunHatPred)) j=0 while j<3: if(abs(posVecDiff[j]) > posBound[j]*sigmaThreshold): posDiffCount += 1 if(abs(velVecDiff[j]) > velBound[j]*sigmaThreshold): velDiffCount += 1 if(abs(attVecDiff[j]) > attBound[j]*sigmaThreshold): attDiffCount += 1 if(abs(rateVecDiff[j]) > rateBound[j]*sigmaThreshold): rateDiffCount += 1 if(abs(dvVecDiff[j]) > dvBound[j]*sigmaThreshold): dvDiffCount += 1 j+=1 if(abs(sunVecDiff) > 4.0*math.sqrt(3.0)*sunBound[0]*sigmaThreshold): sunDiffCount += 1 i+= 1 errorCounts = [posDiffCount, velDiffCount, attDiffCount, rateDiffCount, dvDiffCount, sunDiffCount] for count in errorCounts: if count < 1: testFailCount += 1 testMessages.append("FAILED: Too few error counts -" + str(count)) plt.figure(1) plt.clf() plt.figure(1, figsize=(7, 5), dpi=80, facecolor='w', edgecolor='k') plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,0], label='x-position') plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,1], label='y-position') plt.plot(dataTransLog.times() * 1.0E-9, posNav[:,2], label='z-position') plt.legend(loc='upper left') plt.xlabel('Time (s)') plt.ylabel('Position (m)') unitTestSupport.writeFigureLaTeX('SimpleNavPos', 'Simple Navigation Position Signal', plt, r'height=0.4\textwidth, keepaspectratio', path) if show_plots: plt.show() plt.close('all') plt.figure(2) plt.clf() plt.figure(2, figsize=(7, 5), dpi=80, facecolor='w', edgecolor='k') plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 0], label='x-rotation') plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 1], label='y-rotation') plt.plot(dataAttLog.times() * 1.0E-9, attNav[:, 2], label='z-rotation') plt.legend(loc='upper left') plt.xlabel('Time (s)') plt.ylabel('Attitude (rad)') unitTestSupport.writeFigureLaTeX('SimpleNavAtt', 'Simple Navigation Att Signal', plt, r'height=0.4\textwidth, keepaspectratio', path) if show_plots: plt.show() plt.close('all') # Corner case usage pMatrixBad = [[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.], [0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]] # stateBoundsBad = [[0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.]] stateBoundsBad = [[0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.]] sNavObject.walkBounds = stateBoundsBad sNavObject.PMatrix = pMatrixBad # sNavObject.inputStateName = "random_name" # sNavObject.inputSunName = "weirdly_not_the_sun" unitTestSim.InitializeSimulation() unitTestSim.ConfigureStopTime(int(1E8)) unitTestSim.ExecuteSimulation() # print out success message if no error were found if testFailCount == 0: print("PASSED") assert testFailCount < 1, 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 unit test scrip can be run as a # stand-along python script if __name__ == "__main__": unitSimpleNav(True)