Source code for test_thruster_integrated_sim


# ISC License
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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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from Basilisk.architecture import messaging
from Basilisk.simulation import fuelTank
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spacecraft
from Basilisk.simulation import thrusterDynamicEffector
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import simIncludeThruster
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions
import numpy


# 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() # need to update how the RW states are defined
# provide a unique test method name, starting with test_
def test_thrusterIntegratedTest(show_plots):
    [testResults, testMessage] = thrusterIntegratedTest(show_plots)
    assert testResults < 1, testMessage

[docs] def thrusterIntegratedTest(show_plots): """Module Unit Test""" # 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 scObject = spacecraft.Spacecraft() scObject.ModelTag = "spacecraftBody" 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(0.1) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # add thruster devices thFactory = simIncludeThruster.thrusterFactory() TH1 = thFactory.create( 'MOOG_Monarc_1', [1,0,0], # location in B-frame [0,1,0], # thruster force direction in B-frame thrBlowDownCoeff=[0, 0, 0.9], # polynomial coefficients for fuel mass to thrust blow down model in descending order ispBlowDownCoeff=[0, 0, 227.5] # polynomial coefficients for fuel mass to Isp blow down model in descending order ) # create thruster object container and tie to spacecraft object thrustersDynamicEffector = thrusterDynamicEffector.ThrusterDynamicEffector() thFactory.addToSpacecraft("Thrusters", thrustersDynamicEffector, scObject) # create tank object container unitTestSim.fuelTankStateEffector = fuelTank.FuelTank() tankModel = fuelTank.FuelTankModelConstantVolume() unitTestSim.fuelTankStateEffector.setTankModel(tankModel) tankModel.propMassInit = 40.0 tankModel.r_TcT_TInit = [[0.0],[0.0],[0.0]] unitTestSim.fuelTankStateEffector.r_TB_B = [[0.0],[0.0],[0.0]] tankModel.radiusTankInit = 46.0 / 2.0 / 3.2808399 / 12.0 unitTestSim.fuelTankStateEffector.addThrusterSet(thrustersDynamicEffector) scObject.addStateEffector(unitTestSim.fuelTankStateEffector) fuelLog = unitTestSim.fuelTankStateEffector.fuelTankOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, fuelLog) # set thruster commands ThrustMessage = messaging.THRArrayOnTimeCmdMsgPayload() ThrustMessage.OnTimeRequest = [9.9] thrCmdMsg = messaging.THRArrayOnTimeCmdMsg().write(ThrustMessage) thrustersDynamicEffector.cmdsInMsg.subscribeTo(thrCmdMsg) # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, unitTestSim.fuelTankStateEffector) unitTestSim.AddModelToTask(unitTaskName, thrustersDynamicEffector) unitTestSim.AddModelToTask(unitTaskName, scObject) unitTestSim.earthGravBody = gravityEffector.GravBodyData() unitTestSim.earthGravBody.planetName = "earth_planet_data" unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters! unitTestSim.earthGravBody.isCentralBody = True scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody]) # 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]] unitTestSim.InitializeSimulation() # Get access to dynManager's translational state posRef = scObject.dynManager.getStateObject(scObject.hub.nameOfHubPosition) sigmaRef = scObject.dynManager.getStateObject(scObject.hub.nameOfHubSigma) stopTime = 60.0*10.0 unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime)) unitTestSim.ExecuteSimulation() dataPos = posRef.getState() dataSigma = sigmaRef.getState() dataPos = [dataPos[0][0], dataPos[1][0], dataPos[2][0]] dataSigma = [dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]] truePos = [-6.7815933935338277e+06, 4.9468685979815889e+06, 5.4867416696776701e+06] trueSigma = [1.4401781243854264e-01, -6.4168702021364002e-02, 3.0166086824900967e-01] accuracy = 1e-8 numpy.testing.assert_allclose(dataPos, truePos, rtol=accuracy, verbose=True) accuracy = 1e-7 numpy.testing.assert_allclose(dataSigma, trueSigma, rtol=accuracy, verbose=True) accuracy = 1e-9 numpy.testing.assert_allclose(thrustersDynamicEffector.fuelMass, fuelLog.fuelMass[-1], rtol=accuracy, verbose=True) if testFailCount == 0: print("PASSED: " + " Thruster Integrated Sim Test") assert testFailCount < 1, testMessages # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__": test_thrusterIntegratedTest(False)