Source code for test_thruster_dynamics_attached_body

# ISC License
#
# Copyright (c) 2022, 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.

import inspect
import math
import os

import numpy as np
import pytest

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

from Basilisk.utilities import SimulationBaseClass, unitTestSupport, macros, RigidBodyKinematics as rbk
from Basilisk.simulation import spacecraft, thrusterDynamicEffector
from Basilisk.architecture import messaging
from Basilisk.architecture import sysModel
import matplotlib.pyplot as plt


def thrusterEffectorAllTests(show_plots):
    [testResults, testMessage] = test_unitThrusters(show_plots)


# uncomment this line if this test has an expected failure, adjust message as needed
# @pytest.mark.xfail(True)


[docs] @pytest.mark.parametrize("long_angle, lat_angle, location, rate", [ (30., 15., [[1.125], [0.5], [2.0]], macros.sec2nano(0.01)), # 1 thruster, thrust on ]) # provide a unique test method name, starting with test_ def test_unitThrusters(show_plots, long_angle, lat_angle, location, rate): r""" This unit test checks the functionality of attaching a dynamic thruster to a body other than the hub. Although the attached body is fixed with respect to the hub, the point where the thruster is attached now has an additional offset and a different orientation. The unit test sets up the thruster as normal, but then converts the direction and location to take into account the attached body for testing purposes. The thruster is set to fire for the first half of the simulation, and then turn off. As with the other tests, the expected forces and torques are compared with the values from the module to check that everything matches accordingly. """ # each test method requires a single assert method to be called [testResults, testMessage] = unitThrusters(show_plots, long_angle, lat_angle, location, rate) assert testResults < 1, testMessage
# Run the test def unitThrusters(show_plots, long_angle, lat_angle, location, rate): __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages # Create a simulation and set the rate TotalSim = SimulationBaseClass.SimBaseClass() testRate = int(rate) # Parametrized rate of test # Create the process and task unitTaskName1 = "unitTask1" # arbitrary name (don't change) unitTaskName2 = "unitTask2" # arbitrary name (don't change) unitTaskName3 = "unitTask3" # arbitrary name (don't change) unitProcessName1 = "TestProcess1" # arbitrary name (don't change) unitProcessName2 = "TestProcess2" # arbitrary name (don't change) unitProcessName3 = "TestProcess3" # arbitrary name (don't change) testProc1 = TotalSim.CreateNewProcess(unitProcessName1, 10) testProc1.addTask(TotalSim.CreateNewTask(unitTaskName1, testRate)) testProc2 = TotalSim.CreateNewProcess(unitProcessName2, 0) testProc2.addTask(TotalSim.CreateNewTask(unitTaskName2, testRate)) testProc3 = TotalSim.CreateNewProcess(unitProcessName3, 5) testProc3.addTask(TotalSim.CreateNewTask(unitTaskName3, testRate)) # Create the spacecraft object scObject = spacecraft.Spacecraft() scObject.ModelTag = "spacecraftBody" # Define initial conditions of the spacecraft scObject.hub.mHub = 750.0 scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]] scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]] scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]] scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]] scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]] # Constants for thruster creation g = 9.80665 Isp = 226.7 # Create the thrusters thrusterSet = thrusterDynamicEffector.ThrusterDynamicEffector() thrusterSet.ModelTag = "ACSThrusterDynamics" # Create thruster characteristic parameters (position, angle thrust, ISP, time of thrust) for thruster 1 long_angle_deg = long_angle # Parametrized angle of thrust lat_angle_deg = lat_angle long_angle_rad = long_angle_deg * math.pi / 180.0 lat_angle_rad = lat_angle_deg * math.pi / 180.0 thruster = thrusterDynamicEffector.THRSimConfig() thruster.thrLoc_B = location # Parametrized location for thruster thruster.thrDir_B = [[math.cos(long_angle_rad) * math.cos(lat_angle_rad)], [math.sin(long_angle_rad) * math.cos(lat_angle_rad)], [math.sin(lat_angle_rad)]] thruster.MaxThrust = 10.0 thruster.steadyIsp = 226.7 thruster.MinOnTime = 0.006 thruster.cutoffFrequency = 5 thruster.MaxSwirlTorque = 0.0 # Set up the dcm and location dcm_BF = np.array([[-1, 0, 0], [0, 1, 0], [0, 0, -1]]) r_FB_B = [0, 0, 1] # Create the module pyModule = attachedBodyModule(dcm_BF, r_FB_B, True, 100) pyModule.ModelTag = "attachedBody" TotalSim.AddModelToTask(unitTaskName3, pyModule) # Attach messages pyModule.scInMsg.subscribeTo(scObject.scStateOutMsg) thrusterSet.addThruster(thruster, pyModule.bodyOutMsg) # Define the location and direction with respect to the platform loc = np.array([thruster.thrLoc_B[0][0], thruster.thrLoc_B[1][0], thruster.thrLoc_B[2][0]]) dir = np.array([thruster.thrDir_B[0][0], thruster.thrDir_B[1][0], thruster.thrDir_B[2][0]]) # Update the direction and location of the thruster to the hub dir = dcm_BF.dot(dir) loc = dcm_BF.dot(loc) + r_FB_B # Add the thrusters to the spacecraft scObject.addDynamicEffector(thrusterSet) # Save state dataRec = thrusterSet.thrusterOutMsgs[0].recorder(testRate) # Add both modules and the recorder to tasks TotalSim.AddModelToTask(unitTaskName1, scObject) TotalSim.AddModelToTask(unitTaskName2, thrusterSet) TotalSim.AddModelToTask(unitTaskName2, dataRec) # Define the start of the thrust and its duration testDurationTime = 2.0 # Log variables of interest thrusterSetLog = thrusterSet.logger(["forceExternal_B", "torqueExternalPntB_B"]) TotalSim.AddModelToTask(unitTaskName2, thrusterSetLog) # Initialize the simulation TotalSim.InitializeSimulation() # Close all plots plt.close("all") # Configure a single thruster firing, create a message for it ThrustMessage = messaging.THRArrayOnTimeCmdMsgPayload() thrDuration = testDurationTime / 2 ThrustMessage.OnTimeRequest = [thrDuration] thrCmdMsg = messaging.THRArrayOnTimeCmdMsg().write(ThrustMessage) thrusterSet.cmdsInMsg.subscribeTo(thrCmdMsg) # Run the simulation TotalSim.ConfigureStopTime(macros.sec2nano(testDurationTime)) TotalSim.ExecuteSimulation() # Gather the Force, Torque and Mass Rate results thrForce = unitTestSupport.addTimeColumn(thrusterSetLog.times(), thrusterSetLog.forceExternal_B) thrTorque = unitTestSupport.addTimeColumn(thrusterSetLog.times(), thrusterSetLog.torqueExternalPntB_B) # Generate the truth data (force, torque and mass rate) expectedThrustData = np.zeros([3, np.shape(thrForce)[0]]) expectedTorqueData = np.zeros([3, np.shape(thrTorque)[0]]) for i in range(np.shape(thrForce)[0]): # Compute the thrust force (zero at the first time step) if i < int(round(macros.sec2nano(thrDuration) / testRate)) + 1 and i != 0: thrustFactor = 1 else: thrustFactor = 0 force = thrustFactor * thruster.MaxThrust * dir expectedThrustData[0:3, i] = force # Compute the torque expectedTorqueData[0:3, i] = np.cross(loc, force) # Modify expected values for comparison and define errorTolerance TruthForce = np.transpose(expectedThrustData) TruthTorque = np.transpose(expectedTorqueData) ErrTolerance = 1E-3 # Compare Force values thrForce = np.delete(thrForce, 0, axis=1) # remove time column testFailCount, testMessages = unitTestSupport.compareArray(TruthForce, thrForce, ErrTolerance, "Force", testFailCount, testMessages) # Compare Torque values thrTorque = np.delete(thrTorque, 0, axis=1) # remove time column testFailCount, testMessages = unitTestSupport.compareArray(TruthTorque, thrTorque, ErrTolerance, "Torque", testFailCount, testMessages) if testFailCount == 0: print("PASSED") else: print(testMessages) # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)] class attachedBodyModule(sysModel.SysModel): def __init__(self, dcm_BF, r_FB_B, modelActive=True, modelPriority=-1): super(attachedBodyModule, self).__init__() # Input spacecraft state structure message self.scInMsg = messaging.SCStatesMsgReader() self.scMsgBuffer = None # Output body state message self.bodyOutMsg = messaging.SCStatesMsg() # Save dcm and location self.dcm_BF = dcm_BF self.r_FB_B = r_FB_B def UpdateState(self, CurrentSimNanos): # Read input message self.scMsgBuffer = self.scInMsg() # Write output message self.writeOutputMsg(CurrentSimNanos) def writeOutputMsg(self, CurrentSimNanos): # Create output message buffer bodyOutMsgBuffer = messaging.SCStatesMsgPayload() # Grab the spacecraft hub states sigma_BN = self.scMsgBuffer.sigma_BN dcm_BN = rbk.MRP2C(sigma_BN) omega_BN_B = self.scMsgBuffer.omega_BN_B r_BN_N = self.scMsgBuffer.r_BN_N # Compute the attached body states relative to the hub dcm_FB = np.transpose(self.dcm_BF) sigma_FB = rbk.C2MRP(dcm_FB) sigma_FN = rbk.addMRP(np.array(sigma_BN), sigma_FB) omega_FB_F = dcm_FB.dot(omega_BN_B) r_FN_N = r_BN_N + np.transpose(dcm_BN).dot(np.array(self.r_FB_B)) # Write the output message information bodyOutMsgBuffer.sigma_BN = sigma_FN bodyOutMsgBuffer.omega_BN_B = omega_FB_F bodyOutMsgBuffer.r_BN_N = r_FN_N self.bodyOutMsg.write(bodyOutMsgBuffer, CurrentSimNanos, self.moduleID) if __name__ == "__main__": unitThrusters(False, 30., 15., [[1.125], [0.5], [2.0]], macros.sec2nano(0.01))