# ISC License
#
# Copyright (c) 2016, 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.
#
# Unit Test Script
# Module Name: thrForceMapping
# Author: Hanspeter Schaub
# Creation Date: July 4, 2016
#
import inspect
import os
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
import pytest
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.fswAlgorithms import thrForceMapping
from Basilisk.utilities import macros
from Basilisk.utilities import fswSetupThrusters
from Basilisk.utilities import simHelpers
from Basilisk.architecture import messaging
import numpy as np
# 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(conditionstring)
# Provide a unique test method name, starting with 'test_'.
# The following 'parametrize' function decorator provides the parameters and expected results for each
# of the multiple test runs for this test.
[docs]
@pytest.mark.parametrize("useDVThruster", [True, False])
@pytest.mark.parametrize(["useCOMOffset","dropThruster", "use2ndLoop"],[
(False, 0, False),
(False, 1, True),
(False, 2, True), # Any time we drop a thruster we should recompute the solution
(True, 0, False)]) # We don't handle the case where there is a dropped thruster and and COM offset--see performance analysis.
@pytest.mark.parametrize("asymmetricDrop", [False])
@pytest.mark.parametrize("numControlAxis", [1, 2, 3])
@pytest.mark.parametrize("saturateThrusters", [0,1,2])
@pytest.mark.parametrize("misconfigThruster", [False])
# update "module" in this function name to reflect the module name
def test_module(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop, numControlAxis, saturateThrusters, misconfigThruster, use2ndLoop):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = thrusterForceTest(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop,
numControlAxis, saturateThrusters, misconfigThruster, use2ndLoop)
assert testResults < 1, testMessage
def thrusterForceTest(show_plots, useDVThruster, useCOMOffset, dropThruster, asymmetricDrop, numControlAxis,
saturateThrusters, misconfigThruster,use2ndLoop):
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
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(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
module = thrForceMapping.thrForceMapping()
module.ModelTag = "thrForceMapping"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, module)
# Initialize the test module configuration data
module.use2ndLoop = use2ndLoop
# write vehicle configuration message
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
if useCOMOffset == 1:
CoM_B = [0.03,0.001,0.02]
else:
CoM_B = [0,0,0]
vehicleConfigOut.CoM_B = CoM_B
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
# Create input message and size it because the regular creator of that message
# is not part of the test.
inputMessageData = messaging.CmdTorqueBodyMsgPayload() # Create a structure for the input message
requestedTorque = [1.0, -0.5, 0.7] # Set up a list as a 3-vector
if saturateThrusters>0: # default angErrThresh is 0, thus this should trigger scaling
requestedTorque = [10.0, -5.0, 7.0]
if saturateThrusters==2: # angle is set and small enough to trigger scaling
module.angErrThresh = 10.0*macros.D2R
if saturateThrusters==3: # angle is too large enough to trigger scaling
module.angErrThresh = 40.0*macros.D2R
inputMessageData.torqueRequestBody = requestedTorque # write torque request to input message
cmdTorqueInMsg = messaging.CmdTorqueBodyMsg().write(inputMessageData)
module.epsilon = 0.0005
fswSetupThrusters.clearSetup()
MAX_EFF_CNT = messaging.MAX_EFF_CNT
rcsLocationData = np.zeros((MAX_EFF_CNT, 3))
rcsDirectionData = np.zeros((MAX_EFF_CNT, 3))
controlAxes_B = np.array([
[1, 0, 0],
[0, 1, 0],
[0, 0, 1]
])
controlAxes_B = controlAxes_B[0:numControlAxis]
if len(controlAxes_B) == 0:
controlAxes_B = np.array([[]])
controlAxes_B = np.reshape(controlAxes_B, (1, 3 * numControlAxis))
module.controlAxes_B = controlAxes_B[0].tolist()
if useDVThruster:
# DV thruster setup
module.thrForceSign = -1
numThrusters = 6
rcsLocationData[0:6] = [ \
[0, 0.413, -0.1671],
[0, -0.413, -0.1671],
[0.35766849176297305, 0.20650000000000013, -0.1671],
[0.3576684917629732, -0.20649999999999988, -0.1671],
[-0.35766849176297333, 0.20649999999999968, -0.1671],
[-0.35766849176297305, -0.20650000000000018, -0.1671] \
]
rcsDirectionData[0:6] = [ \
[0.0, 0.0, 1.0],
[0.0, 0.0, 1.0],
[0.0, 0.0, 1.0],
[0.0, 0.0, 1.0],
[0.0, 0.0, 1.0],
[0.0, 0.0, 1.0] \
]
else:
# RCS thruster setup
module.thrForceSign = +1
numThrusters = 8
rcsLocationData[0:8] = [ \
[-0.86360, -0.82550, 1.79070],
[-0.82550, -0.86360, 1.79070],
[0.82550, 0.86360, 1.79070],
[0.86360, 0.82550, 1.79070],
[-0.86360, -0.82550, -1.79070],
[-0.82550, -0.86360, -1.79070],
[0.82550, 0.86360, -1.79070],
[0.86360, 0.82550, -1.79070] \
]
rcsDirectionData[0:8] = [ \
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0] \
]
if dropThruster > 0:
if (dropThruster % 2==0) and asymmetricDrop: # Drop thrusters that don't share the same torque direction
removedThrusters = 0
for i in range(0, numThrusters, 2):
rcsLocationData[i] = [0.0, 0.0, 0.0]
rcsDirectionData[i] = [0.0, 0.0, 0.0]
removedThrusters += 1
if removedThrusters < dropThruster:
rcsLocationData[1] = [0.0, 0.0, 0.0]
removedThrusters += 1
else:
for i in range(dropThruster):
rcsLocationData[numThrusters - 1 - i, :] = [0.0, 0.0, 0.0]
rcsDirectionData[numThrusters - 1 - i, :] = [0.0, 0.0, 0.0]
indices = []
for i in range(numThrusters):
if np.linalg.norm(rcsLocationData[i]) == 0:
indices = np.append(indices, i)
offset = 0
for i in indices:
idx = (int) (i - offset)
rcsLocationData = np.delete(rcsLocationData, idx, axis=0)
rcsDirectionData = np.delete(rcsDirectionData, idx, axis=0)
rcsLocationData = np.append(rcsLocationData,[[0.0, 0.0, 0.0]], axis=0)
rcsDirectionData = np.append(rcsDirectionData, [[0.0, 0.0, 0.0]], axis=0)
offset = offset + 1
numThrusters = numThrusters - dropThruster
maxThrust = 0.95
if useDVThruster:
maxThrust = 10.0
for i in range(numThrusters):
if misconfigThruster and i == 0:
maxThrustConfig = 0.0
else:
maxThrustConfig = maxThrust
fswSetupThrusters.create(rcsLocationData[i], rcsDirectionData[i], maxThrustConfig)
thrConfigInMsg = fswSetupThrusters.writeConfigMessage()
# Setup logging on the test module output message so that we get all the writes to it
dataLog = module.thrForceCmdOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
# connect messages
module.cmdTorqueInMsg.subscribeTo(cmdTorqueInMsg)
module.thrConfigInMsg.subscribeTo(thrConfigInMsg)
module.vehConfigInMsg.subscribeTo(vcInMsg)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Set the simulation time.
# NOTE: the total simulation time may be longer than this value. The
# simulation is stopped at the next logging event on or after the
# simulation end time.
unitTestSim.ConfigureStopTime(macros.sec2nano(0.5)) # seconds to stop simulation
# Begin the simulation time run set above
unitTestSim.ExecuteSimulation()
# This pulls the actual data log from the simulation run.
moduleOutput = dataLog.thrForce
if misconfigThruster:
return [testFailCount, ''.join(testMessages)] # We don't handle cases where a thruster is configured incorrectly.
if useDVThruster and numControlAxis == 3:
return [testFailCount, ''.join(testMessages)] # 3 control axes doesn't work for dv thrusters (only two axes controllable)
results = thrForceMapping.Results_thrForceMapping(requestedTorque, module.controlAxes_B,
vehicleConfigOut.CoM_B, rcsLocationData,
rcsDirectionData, module.thrForceSign,
module.thrForcMag, module.angErrThresh,
numThrusters, module.epsilon, use2ndLoop)
F, DNew = results.results_thrForceMapping()
trueVector = np.zeros((2, MAX_EFF_CNT))
trueVector[0,:] = F
trueVector[1,:] = F
C = np.reshape(controlAxes_B, (numControlAxis, 3))
CT = np.transpose(C)
D = np.cross(rcsDirectionData,rcsLocationData-CoM_B)
receivedTorque = -1.0*np.array([np.matmul(np.transpose(D), np.transpose(moduleOutput[0]))])
receivedTorque = np.append(np.array([]), receivedTorque)
Lr_offset = np.array([0.0, 0.0, 0.0])
Lr_B = np.array([0.0, 0.0, 0.0])
for i in range(0,numThrusters):
if module.thrForceSign < 0 and module.thrForcMag[i] >= 0:
Lr_offset -= module.thrForcMag[i]*np.cross(rcsLocationData[i,:]-CoM_B,rcsDirectionData[i,:]) # off pulsing
Lr_B = requestedTorque + Lr_offset
# This computes the requested torque direction and the received torque directions
Lr_Req_B_Unit = Lr_B / np.linalg.norm(Lr_B)
Lr_Rec_B_Unit = receivedTorque / np.linalg.norm(receivedTorque)
# This is the requested and recieved torque projected onto the control axes
Lr_Req_Bar_B = np.matmul(CT, np.matmul(C, Lr_B))
Lr_Rec_Bar_B = np.matmul(CT, np.matmul(C, receivedTorque))
# This computes the projected requested and received control torque directions
Lr_Req_Bar_B_Unit = Lr_Req_Bar_B/np.linalg.norm(Lr_Req_Bar_B)
Lr_Rec_Bar_B_Unit = Lr_Rec_Bar_B/np.linalg.norm(Lr_Rec_Bar_B)
if np.linalg.norm(Lr_Rec_Bar_B) == 0.0:
Lr_Rec_Bar_B_Unit = [0.0, 0.0, 0.0]
accuracy = 1E-6
# Check that Python Math and C Math are Identical
testFailCount, testMessages = unitTestSupport.compareArrayND(np.array([F]), np.array([moduleOutput[0]]), accuracy,
"CompareForces",
MAX_EFF_CNT, testFailCount, testMessages)
# Checks to make sure that no forces are negative
if not useDVThruster and np.any(moduleOutput[0] < 0):
testFailCount += 1
print("A negative force exists in the C RCS solution. This is not allowed!\n")
if not useDVThruster and np.any(F < 0):
testFailCount += 1
print("A negative force exists in the Python RCS solution. This is not allowed!\n")
if testFailCount > 0:
return [testFailCount, ''.join(testMessages)]
# Check that Torques are Sensible
print("\nReq Lr_Bar [B]: " + str(Lr_Req_Bar_B))
print("Rec Lr_Bar [B]: " + str(Lr_Rec_Bar_B))
testFailCount, testMessages = unitTestSupport.compareArrayND(np.array([Lr_Req_Bar_B_Unit]),
np.array([Lr_Rec_Bar_B_Unit]), accuracy,
"CompareTorques",
3, testFailCount, testMessages)
snippetName = "LrData_" + str(useDVThruster) + "_" + str(dropThruster) + "_" + str(numControlAxis) + "_" + str(useCOMOffset) + "____" + str(asymmetricDrop) + "_" + str(saturateThrusters) + "_" + str(misconfigThruster)
snippetTex = "DV Thrusters:\t" + str(useDVThruster) + "\n"
snippetTex += "Number of Dropped Thrusters:\t" + str(dropThruster)+ "\n"
snippetTex += "Number of Control Axes:\t" + str(numControlAxis) + "\n"
snippetTex += "COM Offset:\t" + str(useCOMOffset) + "\n\n"
snippetTex += "Was the drop asymmetric about the COM?\t" + str(asymmetricDrop) + "\n"
snippetTex += "Number of Saturated Thrusters:\t" + str(saturateThrusters) + "\n"
snippetTex += "Misconfigured Thruster?:\t" + str(misconfigThruster) + "\n\n"
snippetTex += "Original [B]:\t" + str(requestedTorque) + "\n"
snippetTex += "Requested (Original + Offset) [B]:\t" + str(Lr_B) + "\n"
snippetTex += "Received [B]:\t\t" + str(receivedTorque) + "\n\n"
snippetTex += "Requested Unit:\t\t" + str(Lr_Req_B_Unit) + "\n"
snippetTex += "Received Unit:\t\t" + str(Lr_Rec_B_Unit) + "\n\n"
snippetTex += "Requested On Control Axes (Original + Offset) [B]:\t" + str(Lr_Req_Bar_B) + "\n"
snippetTex += "Received On Control Axes [B]:\t\t" + str(Lr_Rec_Bar_B) + "\n\n"
snippetTex += "Requested On Control Axes Unit:\t\t" + str(Lr_Req_Bar_B_Unit) + "\n"
snippetTex += "Received On Control Axes Unit:\t\t" + str(Lr_Rec_Bar_B_Unit) + "\n\n"
snippetTex += "D-Matrix:\n" + str(D) + "\n\n"
snippetTex += "Forces:\n" + str(np.transpose(F)) + "\n\n"
directory = "Nom/UnitVec/"
# Any solutions that dont have the correct torque, but do have the correct unit direction are called successful.
if testFailCount > 0:
simHelpers.writeTeXSnippet(directory+"Failed/"+snippetName, snippetTex, path)
print("FAILED: " + module.ModelTag)
testMessages.append("FAILED: " + module.ModelTag + " Module failed unit test at t=" +
str(dataLog.times()[0] * macros.NANO2SEC) +
"sec\n")
else:
simHelpers.writeTeXSnippet(directory+"/Passed/" + snippetName, snippetTex, path)
print("PASSED: " + module.ModelTag)
simHelpers.writeTeXSnippet('toleranceValue', str(accuracy), path)
snippentName = "passFail_" + str(useDVThruster) + "_" + str(useCOMOffset) + "_" + str(dropThruster) + "_" + str(
numControlAxis) + "_" + str(saturateThrusters) + "_" + str(misconfigThruster)
if testFailCount == 0:
colorText = 'ForestGreen'
print("PASSED: " + module.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
print("Failed: " + module.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}'
simHelpers.writeTeXSnippet(snippentName, passedText, path)
if testFailCount > 0:
print("Python:\t " + str(F))
print("C: \t:" + str(moduleOutput[0]))
return [testFailCount, ''.join(testMessages)]
#
# This statement below ensures that the unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_module( # update "module" in function name
False,
False, # useDVThruster
False, # use COM offset
2, # num drop thruster(s)
False, # asymmetric drop
3, # num control axis
2, # saturateThrusters
False, # misconfigThruster
False # Use 2nd loop
)