Source code for test_unitSpacecraftLocation


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# Copyright (c) 2016-2017, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import inspect
import os

import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import spacecraftLocation
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import orbitalMotion
from Basilisk.utilities import unitTestSupport

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

[docs] @pytest.mark.parametrize("defaultPolarRadius", [False, True]) @pytest.mark.parametrize("defaultPlanet", [False, True]) @pytest.mark.parametrize("latitude", [55, 65, 115]) @pytest.mark.parametrize("maxRange", [-1, 3000.*1000]) @pytest.mark.parametrize("cone", [0, 1, -1]) def test_spacecraftLocation(show_plots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone): """ Tests whether spacecraftLocation: 1. defaults planet polar radius to equatorial radius if the polar radius is not set 2. checks that the zero default planet states are used if the planet is not provided 3. checks that the planet oblateness is accounted for 4. checks if the optional sensor boresight axis is properly accounted for :return: """ # each test method requires a single assert method to be called [testResults, testMessage] = run(show_plots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone) assert testResults < 1, testMessage
def run(showplots, defaultPolarRadius, defaultPlanet, latitude, maxRange, cone): testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages simTaskName = "simTask" simProcessName = "simProcess" scSim = SimulationBaseClass.SimBaseClass() dynProcess = scSim.CreateNewProcess(simProcessName) simulationTimeStep = macros.sec2nano(1.) dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep)) # Initialize new atmosphere and drag model, add them to task module = spacecraftLocation.SpacecraftLocation() module.ModelTag = "scLocation" module.rEquator = orbitalMotion.REQ_EARTH * 1000. if not defaultPolarRadius: module.rPolar = orbitalMotion.REQ_EARTH * 1000. * 0.5 if maxRange: module.maximumRange = maxRange if cone != 0: module.aHat_B = [0, 0, cone] module.theta = 80. * macros.D2R scSim.AddModelToTask(simTaskName, module) # create planet message planetPos = np.array([0.0, 0.0, 0.0]) if not defaultPlanet: planet_message = messaging.SpicePlanetStateMsgPayload() planet_message.J20002Pfix = rbk.euler3(np.radians(-90.)).tolist() planetPos = np.array([orbitalMotion.AU * 1000, 0.0, 0.0]) planet_message.PositionVector = planetPos planetMsg = messaging.SpicePlanetStateMsg().write(planet_message) module.planetInMsg.subscribeTo(planetMsg) # create primary spacecraft state message alt = 1000. * 1000 # meters scMsgData = messaging.SCStatesMsgPayload() r = orbitalMotion.REQ_EARTH * 1000. + alt scMsgData.r_BN_N = planetPos + np.array([r, 0.0, 0.0]) scMsgData.sigma_BN = [1.0, 0.0, 0.0] scMsg = messaging.SCStatesMsg().write(scMsgData) module.primaryScStateInMsg.subscribeTo(scMsg) sc1MsgData = messaging.SCStatesMsgPayload() angle = np.radians(latitude) sc1MsgData.r_BN_N = planetPos + np.array([r * np.cos(angle), 0.0, r * np.sin(angle)]) sc1Msg = messaging.SCStatesMsg().write(sc1MsgData) module.addSpacecraftToModel(sc1Msg) # Run the sim scSim.InitializeSimulation() # check polar planet radius default behavior if defaultPolarRadius and module.rPolar < 0: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed default polar radius check.") scSim.TotalSim.SingleStepProcesses() accessMsg = module.accessOutMsgs[0].read() if latitude == 55 or (latitude == 65 and not defaultPolarRadius): trueAccess = 1 if maxRange > 0: if accessMsg.slantRange > maxRange: trueAccess = 0 if cone == 1: trueAccess = 0 if accessMsg.hasAccess != trueAccess: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed access test.") if accessMsg.slantRange <= 1e-6: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed positive slant range test.") if (latitude == 65 and defaultPolarRadius) or latitude == 115: # should not have access if accessMsg.hasAccess != 0: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed negative have access test.") if np.abs(accessMsg.slantRange) > 1e-6: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed negative slant range test.") if testFailCount == 0: print("PASSED: " + module.ModelTag) else: print(testMessages) return [testFailCount, ''.join(testMessages)] if __name__ == '__main__': run(False , False # defaultPolarRadius , True # defaultPlanet , 55 # true latitude angle (deg) , -7000.*1000 # max range , 1 # cone case, 0-> no cone, 1 -> [0, 1, 0], -1 -> [0, -1, 0] )