# ISC License
#
# Copyright (c) 2026, 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
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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import pytest
from Basilisk.architecture import messaging
from Basilisk.architecture.bskLogging import BasiliskError
from Basilisk.simulation import MtbEffector, spacecraft
from Basilisk.utilities import SimulationBaseClass, macros
[docs]
@pytest.mark.parametrize("validationPath", ["attachment", "reset"])
@pytest.mark.parametrize("missingInput", ["mtbCmdInMsg", "magInMsg", "mtbParamsInMsg"])
def test_mtbEffector_validation(validationPath, missingInput):
"""Attachment initialization and direct Reset() must reject missing required inputs."""
simulation = SimulationBaseClass.SimBaseClass()
process = simulation.CreateNewProcess("process")
timeStep = macros.sec2nano(0.1) # [ns]
process.addTask(simulation.CreateNewTask("task", timeStep))
spacecraftObject = spacecraft.Spacecraft()
spacecraftObject.hub.mHub = 100.0 # [kg]
spacecraftObject.hub.IHubPntBc_B = [[10.0, 0.0, 0.0],
[0.0, 20.0, 0.0],
[0.0, 0.0, 30.0]] # [kg m^2]
mtbEffector = MtbEffector.MtbEffector()
inputMessages = {
"mtbCmdInMsg": messaging.MTBCmdMsg().write(messaging.MTBCmdMsgPayload()),
"magInMsg": messaging.MagneticFieldMsg().write(messaging.MagneticFieldMsgPayload()),
"mtbParamsInMsg": messaging.MTBArrayConfigMsg().write(messaging.MTBArrayConfigMsgPayload())
}
for inputName, inputMessage in inputMessages.items():
if inputName != missingInput:
getattr(mtbEffector, inputName).subscribeTo(inputMessage)
spacecraftObject.addDynamicEffector(mtbEffector)
simulation.AddModelToTask("task", spacecraftObject)
with pytest.raises(BasiliskError, match=missingInput):
if validationPath == "reset":
mtbEffector.Reset(0)
else:
simulation.InitializeSimulation()