#
# 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.
#
import inspect
import math
import os
import matplotlib.pyplot as plt
import numpy
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import inertialUKF # import the module that is to be tested
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
textSnippetPassed = r'\textcolor{ForestGreen}{' + "PASSED" + '}'
textSnippetFailed = r'\textcolor{Red}{' + "Failed" + '}'
def setupFilterData(filterObject):
filterObject.alpha = 0.02
filterObject.beta = 2.0
filterObject.kappa = 0.0
filterObject.switchMag = 1.2
ST1Data = inertialUKF.STMessage()
ST1Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
ST2Data = inertialUKF.STMessage()
ST2Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
STList = [ST1Data, ST2Data]
filterObject.STDatasStruct.STMessages = STList
filterObject.STDatasStruct.numST = len(STList)
filterObject.stateInit = [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
filterObject.covarInit = [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.04, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.004, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.004, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.004]
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = qNoiseIn[0:3, 0:3]*0.0017*0.0017
qNoiseIn[3:6, 3:6] = qNoiseIn[3:6, 3:6]*0.00017*0.00017
filterObject.qNoise = qNoiseIn.reshape(36).tolist()
lpDataUse = inertialUKF.LowPassFilterData()
lpDataUse.hStep = 0.5
lpDataUse.omegCutoff = 15.0/(2.0*math.pi)
filterObject.gyroFilt = [lpDataUse, lpDataUse, lpDataUse]
# 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_
[docs]def all_inertial_kfTest(show_plots):
"""Module Unit Tests"""
# the following two tests appear to be broken
# [testResults, testMessage] = statePropInertialAttitude(show_plots)
# assert testResults < 1, testMessage
# [testResults, testMessage] = statePropRateInertialAttitude(show_plots)
# assert testResults < 1, testMessage
[testResults, testMessage] = stateUpdateInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = stateUpdateRWInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = filterMethods()
assert testResults < 1, testMessage
# [testResults, testMessage] = faultScenarios()
# assert testResults < 1, testMessage
def test_FilterMethods():
[testResults, testMessage] = filterMethods()
assert testResults < 1, testMessage
[docs]def filterMethods():
"""Module Unit Test"""
testFailCount = 0
testMessages = []
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(1.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
accuracy = 1E-10
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "inertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
st1 = messaging.STAttMsgPayload()
st1.timeTag = macros.sec2nano(1.25)
st1.MRP_BdyInrtl = [0.1, 0.2, 0.3]
st2 = messaging.STAttMsgPayload()
st2.timeTag = macros.sec2nano(1.0)
st2.MRP_BdyInrtl = [0.2, 0.2, 0.3]
st3 = messaging.STAttMsgPayload()
st3.timeTag = macros.sec2nano(0.75)
st3.MRP_BdyInrtl = [0.3, 0.2, 0.3]
ST1Data = inertialUKF.STMessage()
ST2Data = inertialUKF.STMessage()
ST3Data = inertialUKF.STMessage()
STList = [ST1Data, ST2Data, ST3Data]
state = inertialUKF.new_doubleArray(6)
stateInput = numpy.array([1., 0., 0., 0.1, 0.1, 0.1])
for i in range(len(stateInput)):
inertialUKF.doubleArray_setitem(state, i, stateInput[i])
wheelAccel = numpy.array([-5, 5]) / 1. * numpy.array([1., 1])
angAccel = -0.5 * (wheelAccel[0] + wheelAccel[1]) * numpy.array([1., 0., 0])
expectedRate = numpy.array(stateInput[3:]) + angAccel
inertialUKF.inertialStateProp(moduleConfig, state, 0.5)
stateOut = []
for j in range(6):
stateOut.append(inertialUKF.doubleArray_getitem(state, j))
if numpy.linalg.norm(expectedRate - numpy.array(stateOut)[3:]) > accuracy:
testFailCount += 1
testMessages.append("Failed to capture wheel acceleration in inertialStateProp")
setupFilterData(moduleConfig)
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
moduleConfig.STDatasStruct.STMessages = STList
moduleConfig.STDatasStruct.numST = len(STList)
unitTestSim.AddVariableForLogging('inertialUKF.stSensorOrder', testProcessRate, 0, 3, 'double')
# create ST input messages
st1InMsg = messaging.STAttMsg().write(st1)
st2InMsg = messaging.STAttMsg().write(st2)
st3InMsg = messaging.STAttMsg().write(st3)
# make input messages but don't write to them
rwSpeedInMsg = messaging.RWSpeedMsg()
rwConfigInMsg = messaging.RWArrayConfigMsg()
gyroInMsg = messaging.AccDataMsg()
# connect messages
moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
moduleConfig.STDatasStruct.STMessages[1].stInMsg.subscribeTo(st2InMsg)
moduleConfig.STDatasStruct.STMessages[2].stInMsg.subscribeTo(st3InMsg)
moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
# Star Tracker Read Message and Order method
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(1E9)
unitTestSim.ExecuteSimulation()
stOrdered = unitTestSim.GetLogVariableData('inertialUKF.stSensorOrder')
if numpy.linalg.norm(numpy.array(stOrdered[0]) - numpy.array([0., 2, 1, 0, 0])) > accuracy:
testFailCount += 1
testMessages.append("ST order test failed")
unitTestSupport.writeTeXSnippet("toleranceValue00", str(accuracy), path)
if testFailCount == 0:
print('Passed: test_FilterMethods')
unitTestSupport.writeTeXSnippet("passFail00", textSnippetPassed, path)
else:
print('Failed: test_FilterMethods')
unitTestSupport.writeTeXSnippet("passFail00", textSnippetFailed, path)
return [testFailCount, ''.join(testMessages)]
def test_stateUpdateInertialAttitude(show_plots):
[testResults, testMessage] = stateUpdateInertialAttitude(show_plots)
assert testResults < 1, testMessage
[docs]def stateUpdateInertialAttitude(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
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
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
moduleConfig.maxTimeJump = 10
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
stMessage1 = messaging.STAttMsgPayload()
stMessage1.MRP_BdyInrtl = [0.3, 0.4, 0.5]
st1InMsg = messaging.STAttMsg()
stMessage2 = messaging.STAttMsgPayload()
stMessage2.MRP_BdyInrtl = [0.3, 0.4, 0.5]
st2InMsg = messaging.STAttMsg()
# stateTarget = testVector.tolist()
# stateTarget.extend([0.0, 0.0, 0.0])
# moduleConfig.state = [0.7, 0.7, 0.0]
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35, 'double')
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate*10, 0, 5, 'double')
# make input messages but don't write to them
rwSpeedInMsg = messaging.RWSpeedMsg()
rwConfigInMsg = messaging.RWArrayConfigMsg()
gyroInMsg = messaging.AccDataMsg()
# connect messages
moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
moduleConfig.STDatasStruct.STMessages[1].stInMsg.subscribeTo(st2InMsg)
moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
unitTestSim.InitializeSimulation()
for i in range(20000):
if i > 21:
stMessage1.timeTag = int(i*0.5*1E9)
stMessage2.timeTag = int(i*0.5*1E9)
st1InMsg.write(stMessage1, unitTestSim.TotalSim.CurrentNanos)
st2InMsg.write(stMessage2, unitTestSim.TotalSim.CurrentNanos)
unitTestSim.ConfigureStopTime(macros.sec2nano((i+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-5
unitTestSupport.writeTeXSnippet("toleranceValue11", str(accuracy), path)
for i in range(3):
if(covarLog[-1, i*6+1+i] > covarLog[0, i*6+1+i]):
testFailCount += 1
testMessages.append("Covariance update failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
if(abs(stateLog[-1, i+1] - stMessage1.MRP_BdyInrtl[i]) > accuracy):
print(abs(stateLog[-1, i+1] - stMessage1.MRP_BdyInrtl[i]))
testFailCount += 1
testMessages.append("State update failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
stMessage1.MRP_BdyInrtl = [1.2, 0.0, 0.0]
stMessage2.MRP_BdyInrtl = [1.2, 0.0, 0.0]
for i in range(20000):
if i > 20:
stMessage1.timeTag = int((i+20000)*0.25*1E9)
stMessage2.timeTag = int((i+20000)*0.5*1E9)
st1InMsg.write(stMessage1, unitTestSim.TotalSim.CurrentNanos)
st2InMsg.write(stMessage2, unitTestSim.TotalSim.CurrentNanos)
unitTestSim.ConfigureStopTime(macros.sec2nano((i+20000+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
for i in range(3):
if(covarLog[-1, i*6+1+i] > covarLog[0, i*6+1+i]):
testFailCount += 1
testMessages.append("Covariance update large failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(stateLog[:,0]*1.0E-9, stateLog[:,i+1], label='State_' +str(i))
plt.legend()
plt.ylim([-1, 1])
unitTestSupport.writeFigureLaTeX('Test11', 'Test 1 State convergence', plt, 'width=0.9\\textwidth, keepaspectratio', path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(covarLog[:,0]*1.0E-9, covarLog[:,i*moduleConfig.numStates+i+1], label='Covar_' +str(i))
plt.legend()
plt.ylim([0, 2.E-7])
unitTestSupport.writeFigureLaTeX('Test12', 'Test 1 Covariance convergence', plt, 'width=0.9\\textwidth, keepaspectratio', path)
if(show_plots):
plt.show()
plt.close('all')
# print out success message if no error were found
if testFailCount == 0:
print('Passed: test_StateUpdateInertialAttitude')
else:
print('Failed: test_StateUpdateInertialAttitude')
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def BROKENtest_statePropInertialAttitude(show_plots):
[testResults, testMessage] = statePropInertialAttitude(show_plots)
assert testResults < 1, testMessage
[docs]def statePropInertialAttitude(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
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
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35)
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate*10, 0, 5)
# make input messages but don't write to them
rwSpeedInMsg = messaging.RWSpeedMsg()
rwConfigInMsg = messaging.RWArrayConfigMsg()
gyroInMsg = messaging.AccDataMsg()
st1InMsg = messaging.STAttMsg()
st2InMsg = messaging.STAttMsg()
# connect messages
moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
moduleConfig.STDatasStruct.STMessages[1].stInMsg.subscribeTo(st2InMsg)
moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(8000.0))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-10
unitTestSupport.writeTeXSnippet("toleranceValue22", str(accuracy), path)
for i in range(6):
if(abs(stateLog[-1, i+1] - stateLog[0, i+1]) > accuracy):
testFailCount += 1
testMessages.append("State propagation failure")
unitTestSupport.writeTeXSnippet('passFail22', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail22', textSnippetPassed, path)
for i in range(6):
if(covarLog[-1, i*6+i+1] <= covarLog[0, i*6+i+1]):
testFailCount += 1
testMessages.append("State covariance failure i="+str(i))
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state propagation")
else:
print('Failed: test_StatePropInertialAttitude')
print(testMessages)
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def test_stateUpdateRWInertialAttitude(show_plots):
[testResults, testMessage] = stateUpdateRWInertialAttitude(show_plots)
assert testResults < 1, testMessage
[docs]def stateUpdateRWInertialAttitude(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
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
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
rwArrayConfigOut = messaging.RWArrayConfigMsgPayload()
rwArrayConfigOut.numRW = 3
rwConfigInMsg = messaging.RWArrayConfigMsg().write(rwArrayConfigOut)
rwSpeedIntMsg = messaging.RWSpeedMsgPayload()
rwSpeedIntMsg.wheelSpeeds = [0.1, 0.01, 0.1]
rwSpeedIntMsg.wheelThetas = [0.,0.,0.]
rwSpeedInMsg = messaging.RWSpeedMsg().write(rwSpeedIntMsg)
stMessage1 = messaging.STAttMsgPayload()
stMessage1.MRP_BdyInrtl = [0.3, 0.4, 0.5]
st1InMsg = messaging.STAttMsg()
stMessage2 = messaging.STAttMsgPayload()
stMessage2.MRP_BdyInrtl = [0.3, 0.4, 0.5]
st2InMsg = messaging.STAttMsg()
# stateTarget = testVector.tolist()
# stateTarget.extend([0.0, 0.0, 0.0])
# moduleConfig.state = [0.7, 0.7, 0.0]
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate * 10, 0, 35, 'double')
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate * 10, 0, 5, 'double')
# make input messages but don't write to them
gyroInMsg = messaging.AccDataMsg()
# connect messages
moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
moduleConfig.STDatasStruct.STMessages[1].stInMsg.subscribeTo(st2InMsg)
moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
unitTestSim.InitializeSimulation()
for i in range(20000):
if i > 20:
stMessage1.timeTag = int(i * 0.5 * 1E9)
stMessage2.timeTag = int(i * 0.5 * 1E9)
st1InMsg.write(stMessage1, unitTestSim.TotalSim.CurrentNanos)
st2InMsg.write(stMessage2, unitTestSim.TotalSim.CurrentNanos)
if i==10000:
rwSpeedIntMsg.wheelSpeeds = [0.5, 0.1, 0.05]
rwSpeedInMsg.write(rwSpeedIntMsg, 0)
unitTestSim.ConfigureStopTime(macros.sec2nano((i + 1) * 0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-5
unitTestSupport.writeTeXSnippet("toleranceValue33", str(accuracy), path)
for i in range(3):
if (covarLog[-1, i * 6 + 1 + i] > covarLog[0, i * 6 + 1 + i]):
testFailCount += 1
testMessages.append("Covariance update with RW failure")
if (abs(stateLog[-1, i + 1] - stMessage1.MRP_BdyInrtl[i]) > accuracy):
print(abs(stateLog[-1, i + 1] - stMessage1.MRP_BdyInrtl[i]))
testFailCount += 1
testMessages.append("State update with RW failure")
unitTestSupport.writeTeXSnippet('passFail33', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail33', textSnippetPassed, path)
stMessage1.MRP_BdyInrtl = [1.2, 0.0, 0.0]
stMessage2.MRP_BdyInrtl = [1.2, 0.0, 0.0]
for i in range(20000):
if i > 20:
stMessage1.timeTag = int((i + 20000) * 0.25 * 1E9)
stMessage2.timeTag = int((i + 20000) * 0.5 * 1E9)
st1InMsg.write(stMessage1, unitTestSim.TotalSim.CurrentNanos)
st2InMsg.write(stMessage2, unitTestSim.TotalSim.CurrentNanos)
unitTestSim.ConfigureStopTime(macros.sec2nano((i + 20000 + 1) * 0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
for i in range(3):
if (covarLog[-1, i * 6 + 1 + i] > covarLog[0, i * 6 + 1 + i]):
testFailCount += 1
testMessages.append("Covariance update large failure")
unitTestSupport.writeTeXSnippet('passFail33', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail33', textSnippetPassed, path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(stateLog[:, 0] * 1.0E-9, stateLog[:, i + 1], label='State_' +str(i))
plt.legend()
plt.ylim([-1, 1])
unitTestSupport.writeFigureLaTeX('Test31', 'Test 3 State convergence', plt, 'width=0.7\\textwidth, keepaspectratio', path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(covarLog[:, 0] * 1.0E-9, covarLog[:, i * moduleConfig.numStates + i + 1], label='Covar_' +str(i))
plt.legend()
plt.ylim([0., 2E-7])
unitTestSupport.writeFigureLaTeX('Test32', 'Test 3 Covariance convergence', plt, 'width=0.7\\textwidth, keepaspectratio', path)
if (show_plots):
plt.show()
plt.close('all')
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state update with RW")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def BROKENtest_StatePropRateInertialAttitude(show_plots):
[testResults, testMessage] = statePropRateInertialAttitude(show_plots)
assert testResults < 1, testMessage
[docs]def statePropRateInertialAttitude(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
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
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
moduleConfig.alpha = 0.02
moduleConfig.beta = 2.0
moduleConfig.kappa = 0.0
moduleConfig.switchMag = 1.2
moduleConfig.stateInit = [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
moduleConfig.covarInit = [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.04, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.004, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.004, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.004]
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = qNoiseIn[0:3, 0:3] * 0.0017 * 0.0017
qNoiseIn[3:6, 3:6] = qNoiseIn[3:6, 3:6] * 0.00017 * 0.00017
moduleConfig.qNoise = qNoiseIn.reshape(36).tolist()
ST1Data = inertialUKF.STMessage()
ST1Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
STList = [ST1Data]
moduleConfig.STDatasStruct.STMessages = STList
moduleConfig.STDatasStruct.numST = len(STList)
lpDataUse = inertialUKF.LowPassFilterData()
lpDataUse.hStep = 0.5
lpDataUse.omegCutoff = 15.0 / (2.0 * math.pi)
moduleConfig.gyroFilt = [lpDataUse, lpDataUse, lpDataUse]
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
vcInMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
stateInit = [0.0, 0.0, 0.0, math.pi/18.0, 0.0, 0.0]
moduleConfig.stateInit = stateInit
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35)
unitTestSim.AddVariableForLogging('InertialUKF.sigma_BNOut', testProcessRate*10, 0, 2)
unitTestSim.AddVariableForLogging('InertialUKF.omega_BN_BOut', testProcessRate*10, 0, 2)
stMessage1 = messaging.STAttMsgPayload()
stMessage1.MRP_BdyInrtl = [0., 0., 0.]
stMessage1.timeTag = int(1* 1E9)
st1InMsg = messaging.STAttMsg()
# make input messages but don't write to them
rwSpeedInMsg = messaging.RWSpeedMsg()
rwConfigInMsg = messaging.RWArrayConfigMsg()
gyroInMsg = messaging.AccDataMsg()
# connect messages
moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
unitTestSim.InitializeSimulation()
st1InMsg.write(stMessage1, int(1 * 1E9))
gyroBufferData = messaging.AccDataMsgPayload()
for i in range(3600*2+1):
gyroBufferData.accPkts[i%inertialUKF.MAX_ACC_BUF_PKT].measTime = (int(i*0.5*1E9))
gyroBufferData.accPkts[i%inertialUKF.MAX_ACC_BUF_PKT].gyro_B = \
[math.pi/18.0, 0.0, 0.0]
gyroInMsg.write(gyroBufferData, (int(i*0.5*1E9)))
unitTestSim.ConfigureStopTime(macros.sec2nano((i+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
sigmaLog = unitTestSim.GetLogVariableData('InertialUKF.sigma_BNOut')
omegaLog = unitTestSim.GetLogVariableData('InertialUKF.omega_BN_BOut')
accuracy = 1.0E-3
unitTestSupport.writeTeXSnippet("toleranceValue44", str(accuracy), path)
for i in range(3):
if(abs(omegaLog[-1, i+1] - stateInit[i+3]) > accuracy):
print(abs(omegaLog[-1, i+1] - stateInit[i+3]))
testFailCount += 1
testMessages.append("State omega propagation failure")
unitTestSupport.writeTeXSnippet('passFail44', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail44', textSnippetPassed, path)
for i in range(6):
if(covarLog[-1, i*6+i+1] <= covarLog[0, i*6+i+1]):
testFailCount += 1
testMessages.append("State covariance failure")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state rate propagation")
else:
print("Failed: " + testMessages[0])
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def BROKENtest_FaultScenarios(show_plots):
[testResults, testMessage] = faultScenarios(show_plots)
assert testResults < 1, testMessage
[docs]def faultScenarios(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
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))
# Clean methods for Measurement and Time Updates
moduleConfigClean1 = inertialUKF.InertialUKFConfig()
moduleConfigClean1.numStates = 6
moduleConfigClean1.state = [0., 0., 0., 0., 0., 0.]
moduleConfigClean1.statePrev = [0., 0., 0., 0., 0., 0.]
moduleConfigClean1.sBar = [0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.]
moduleConfigClean1.sBarPrev = [1., 0., 0., 0., 0., 0.,
0., 1., 0., 0., 0., 0.,
0., 0., 1., 0., 0., 0.,
0., 0., 0., 1., 0., 0.,
0., 0., 0., 0., 1., 0.,
0., 0., 0., 0., 0., 1.]
moduleConfigClean1.covar = [0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.]
moduleConfigClean1.covarPrev = [2., 0., 0., 0., 0., 0.,
0., 2., 0., 0., 0., 0.,
0., 0., 2., 0., 0., 0.,
0., 0., 0., 2., 0., 0.,
0., 0., 0., 0., 2., 0.,
0., 0., 0., 0., 0., 2.]
inertialUKF.inertialUKFCleanUpdate(moduleConfigClean1)
if numpy.linalg.norm(numpy.array(moduleConfigClean1.covarPrev) - numpy.array(moduleConfigClean1.covar)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean Covar failed")
if numpy.linalg.norm(numpy.array(moduleConfigClean1.statePrev) - numpy.array(moduleConfigClean1.state)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean States failed")
if numpy.linalg.norm(numpy.array(moduleConfigClean1.sBar) - numpy.array(moduleConfigClean1.sBarPrev)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean sBar failed")
# inertialStateProp rate test with time step difference
moduleConfigClean1.rwConfigParams.numRW = 2
moduleConfigClean1.rwSpeeds.wheelSpeeds = [10, 5]
moduleConfigClean1.rwSpeedPrev.wheelSpeeds = [15, 10]
moduleConfigClean1.rwConfigParams.JsList = [1., 1.]
moduleConfigClean1.rwConfigParams.GsMatrix_B = [1., 0., 0., 1., 0., 0.]
moduleConfigClean1.speedDt = 1.
#moduleConfigClean1.IInv = [1., 0., 0., 0., 1., 0., 0., 0., 1.]
# Bad Time and Measurement Update
st1 = messaging.STAttMsgPayload()
st1.timeTag = macros.sec2nano(1.)
st1.MRP_BdyInrtl = [0.1, 0.2, 0.3]
ST1Data = inertialUKF.STMessage()
ST1Data.noise = [1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
STList = [ST1Data]
# make input messages but don't write to them
# rwSpeedInMsg = messaging.RWSpeedMsg()
# rwConfigInMsg = messaging.RWArrayConfigMsg()
# gyroInMsg = messaging.AccDataMsg()
# connect messages
# moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
# moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
# moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
# moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
# moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
#
# moduleConfigClean1.navStateOutMsgName = "inertial_state_estimate"
# moduleConfigClean1.filtDataOutMsgName = "inertial_filter_data"
# moduleConfigClean1.massPropsInMsgName = "adcs_config_data"
# moduleConfigClean1.rwSpeedsInMsgName = "reactionwheel_output_states"
# moduleConfigClean1.rwParamsInMsgName = "rwa_config_data_parsed"
# moduleConfigClean1.gyrBuffInMsgName = "gyro_buffer_data"
moduleConfigClean1.alpha = 0.02
moduleConfigClean1.beta = 2.0
moduleConfigClean1.kappa = 0.0
moduleConfigClean1.switchMag = 1.2
moduleConfigClean1.countHalfSPs = moduleConfigClean1.numStates
moduleConfigClean1.STDatasStruct.STMessages = STList
moduleConfigClean1.STDatasStruct.numST = len(STList)
moduleConfigClean1.wC = [-1] * (moduleConfigClean1.numStates * 2 + 1)
moduleConfigClean1.wM = [-1] * (moduleConfigClean1.numStates * 2 + 1)
retTime = inertialUKF.inertialUKFTimeUpdate(moduleConfigClean1, 1)
retMease = inertialUKF.inertialUKFMeasUpdate(moduleConfigClean1, 1)
if retTime == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Time update")
if retMease == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Meas update")
moduleConfigClean1.wC = [1] * (moduleConfigClean1.numStates * 2 + 1)
moduleConfigClean1.wM = [1] * (moduleConfigClean1.numStates * 2 + 1)
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = -qNoiseIn[0:3, 0:3] * 0.0017 * 0.0017
qNoiseIn[3:6, 3:6] = -qNoiseIn[3:6, 3:6] * 0.00017 * 0.00017
moduleConfigClean1.qNoise = qNoiseIn.reshape(36).tolist()
retTime = inertialUKF.inertialUKFTimeUpdate(moduleConfigClean1, 1)
retMease = inertialUKF.inertialUKFMeasUpdate(moduleConfigClean1, 1)
if retTime == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Time update")
if retMease == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Meas update")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: state rate propagation")
else:
print(testMessages)
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
# filterMethods()
# stateUpdateInertialAttitude(True)
# statePropInertialAttitude(True) # Broken test
# stateUpdateRWInertialAttitude(True)
# statePropRateInertialAttitude(True)
# faultScenarios(True)
all_inertial_kfTest(True)