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Thibaud Teiltteil
Thibaud Teil
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tteil
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add interface unit test
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‎src/simulation/vizard/cielimInterface/tests/test_cielimInterface.py

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# ISC License
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#
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# Copyright (c) 2024, University of Colorado at Boulder
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#
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# Permission to use, copy, modify, and/or distribute this software for any
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# purpose with or without fee is hereby granted, provided that the above
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# copyright notice and this permission notice appear in all copies.
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#
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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import tempfile, sys
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from Basilisk import __path__
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bskPath = __path__[0]
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sys.path.append(bskPath + "/../../src/utilities/vizProtobuffer/")
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import cielimMessage_pb2
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import delimited_protobuf
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import numpy as np
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import pytest
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from Basilisk.architecture import messaging
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from Basilisk.utilities import SimulationBaseClass
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importErr = False
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reasonErr = ""
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try:
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from Basilisk.simulation import cielimInterface
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except ImportError:
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importErr = True
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reasonErr = "\nCielim Interface not built ---check build option"
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@pytest.mark.skipif(importErr, reason=reasonErr)
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def test_interface():
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read_write_test()
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def read_write_test():
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tmpdir = tempfile.TemporaryDirectory()
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unit_task_name = "unitTask"
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unit_process_name = "TestProcess"
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unit_test_sim = SimulationBaseClass.SimBaseClass()
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# Create test thread
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test_process_rate = int(1E9) # update process rate update time
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test_process = unit_test_sim.CreateNewProcess(unit_process_name)
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test_process.addTask(unit_test_sim.CreateNewTask(unit_task_name, test_process_rate))
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module = cielimInterface.CielimInterface()
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module.ModelTag = "cielim_interface"
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module.setOpNavMode(cielimInterface.ClosedLoopMode_OPEN_LOOP)
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module.setSaveFile(tmpdir.name + "/test_proto")
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unit_test_sim.AddModelToTask(unit_task_name, module)
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# Create epoch message
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epoch_payload = messaging.EpochMsgPayload()
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epoch_payload.year = 2050
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epoch_payload.month = 2
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epoch_payload.day = 15
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epoch_payload.hours = 22
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epoch_payload.minutes = 8
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epoch_payload.seconds = 58
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epoch_message = messaging.EpochMsg().write(epoch_payload)
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module.epochMessage.subscribeTo(epoch_message)
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# Create camera rendering message
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rendering_payload = messaging.CameraRenderingMsgPayload()
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rendering_payload.cameraId = 1
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rendering_payload.cosmicRayStdDeviation = 0.1
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rendering_payload.enableStrayLight = True
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rendering_payload.starField = True
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rendering_payload.rendering = "Lumen"
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rendering_payload.smear = True
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rendering_message = messaging.CameraRenderingMsg().write(rendering_payload)
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module.cameraRenderingMessage.subscribeTo(rendering_message)
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# Create asteroid parameter message
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asteroid_parameter_payload = messaging.CelestialBodyParametersMsgPayload()
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asteroid_parameter_payload.bodyName = "asteroid_b612"
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asteroid_parameter_payload.shapeModel = "Bennu"
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asteroid_parameter_payload.perlinNoise = 0.5
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asteroid_parameter_payload.proceduralRocks = 1.5
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asteroid_parameter_payload.brdf = "Lambertian"
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asteroid_parameter_payload.reflectanceParameters = [0.5]
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asteroid_parameter_payload.meanRadius = 50000
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asteroid_parameter_payload.principalAxisDistortion = [10, 5, 10]
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asteroid_parameter_message = messaging.CelestialBodyParametersMsg().write(asteroid_parameter_payload)
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module.celestialParametersMessage.subscribeTo(asteroid_parameter_message)
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# Create camera message
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camera_payload = messaging.CameraModelMsgPayload()
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camera_payload.timeTag = int(0.5*1E9)
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camera_payload.cameraId = 1
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camera_payload.parentName = "cielim_sat"
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camera_payload.fieldOfView = [20*np.pi/180, 15*np.pi/180]
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camera_payload.bodyToCameraMrp = [1/3,-1/3,-1/3]
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camera_payload.cameraBodyFramePosition = [1,1,1]
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camera_payload.resolution = [4000, 3000]
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camera_payload.renderRate = 10000
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camera_payload.focalLength = 0.1
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camera_payload.readNoise = 1
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camera_payload.systemGain = 0.5
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camera_payload.gaussianPointSpreadFunction = 2
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camera_payload.exposureTime = 0.1
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camera_message = messaging.CameraModelMsg().write(camera_payload)
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module.cameraModelMessage.subscribeTo(camera_message)
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# Create spacecraft message
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spacecraft_payload = messaging.SCStatesMsgPayload()
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spacecraft_payload.r_BN_N = [0,0,-5E4]
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spacecraft_payload.v_BN_N = [4, 5, 6]
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spacecraft_payload.sigma_BN = [np.sqrt(2)/2, 0, -np.sqrt(2)/2]
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spacecraft_message = messaging.SCStatesMsg().write(spacecraft_payload)
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module.spacecraftMessage.subscribeTo(spacecraft_message)
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# Create spice body messages using a similar structure to the factory (for ease of implementation)
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class GravBodies:
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planetName = ""
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isCentralBody = False
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planetBodyInMsg = messaging.SpicePlanetStateMsg()
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grav_bodies = []
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bodies_message_list = []
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sun = GravBodies()
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sun.planetName = "sun_planet_data"
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sun_data = messaging.SpicePlanetStateMsgPayload()
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sun_data.PositionVector = [10E10,0,0]
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sun_data.VelocityVector = [4, 5, 6]
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sun_data.J20002Pfix = np.eye(3)
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sun.planetBodyInMsg = messaging.SpicePlanetStateMsg().write(sun_data)
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grav_bodies.append(sun)
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bodies_message_list.append(sun_data)
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asteroid_b612 = GravBodies()
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asteroid_b612.planetName = "asteroid_b612"
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asteroid_b612.isCentralBody = True
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asteroid_data = messaging.SpicePlanetStateMsgPayload()
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asteroid_data.PositionVector = [0,0,0]
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asteroid_data.VelocityVector = [4, 5, 6]
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asteroid_data.J20002Pfix = -np.eye(3)
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asteroid_b612.planetBodyInMsg = messaging.SpicePlanetStateMsg().write(asteroid_data)
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grav_bodies.append(asteroid_b612)
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bodies_message_list.append(asteroid_data)
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for gravBody in grav_bodies:
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body = cielimInterface.SpiceBody()
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body.name = gravBody.planetName
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body.isCentralBody = gravBody.isCentralBody
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body.spiceStateMessage.subscribeTo(gravBody.planetBodyInMsg)
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module.addCelestialBody(body)
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# Run block
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unit_test_sim.InitializeSimulation()
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unit_test_sim.ConfigureStopTime(int(1e9))
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unit_test_sim.ExecuteSimulation()
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module.closeProtobufFile()
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# Read the existing address book.
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file_handle = open(module.getSaveFilename(), "rb")
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cielim_message = delimited_protobuf.read(file_handle, cielimMessage_pb2.CielimMessage)
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np.testing.assert_equal(cielim_message.currentTime.frameNumber, 1)
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np.testing.assert_equal(cielim_message.currentTime.simTimeElapsed, test_process_rate)
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np.testing.assert_equal(cielim_message.epoch.year, epoch_payload.year)
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np.testing.assert_equal(cielim_message.epoch.month, epoch_payload.month)
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np.testing.assert_equal(cielim_message.epoch.day, epoch_payload.day)
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np.testing.assert_equal(cielim_message.epoch.hours, epoch_payload.hours)
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np.testing.assert_equal(cielim_message.epoch.minutes, epoch_payload.minutes)
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np.testing.assert_equal(cielim_message.epoch.seconds, epoch_payload.seconds)
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np.testing.assert_equal(cielim_message.spacecraft.spacecraftName, "cielim_sat")
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np.testing.assert_equal(cielim_message.spacecraft.position, spacecraft_payload.r_BN_N)
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np.testing.assert_equal(cielim_message.spacecraft.velocity, spacecraft_payload.v_BN_N)
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np.testing.assert_equal(cielim_message.spacecraft.attitude, spacecraft_payload.sigma_BN)
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np.testing.assert_equal(cielim_message.camera.cameraId, camera_payload.cameraId)
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np.testing.assert_equal(cielim_message.camera.parentName, "cielim_sat")
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np.testing.assert_equal(cielim_message.camera.fieldOfView,camera_payload.fieldOfView)
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np.testing.assert_equal(cielim_message.camera.resolution, camera_payload.resolution)
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np.testing.assert_equal(cielim_message.camera.cameraPositionInBody, camera_payload.cameraBodyFramePosition)
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np.testing.assert_equal(cielim_message.camera.bodyFrameToCameraMrp, camera_payload.bodyToCameraMrp)
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np.testing.assert_equal(cielim_message.camera.renderRate, camera_payload.renderRate)
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np.testing.assert_equal(cielim_message.camera.focalLength, camera_payload.focalLength)
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np.testing.assert_equal(cielim_message.camera.exposureTime, camera_payload.exposureTime)
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np.testing.assert_equal(cielim_message.camera.pointSpreadFunction, camera_payload.gaussianPointSpreadFunction)
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np.testing.assert_equal(cielim_message.camera.systemGain, camera_payload.systemGain)
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np.testing.assert_equal(cielim_message.camera.readNoise, camera_payload.readNoise)
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np.testing.assert_equal(cielim_message.camera.renderParameters.cosmicRayStdDeviation, rendering_payload.cosmicRayStdDeviation)
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np.testing.assert_equal(cielim_message.camera.renderParameters.enableStrayLight, rendering_payload.enableStrayLight)
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np.testing.assert_equal(cielim_message.camera.renderParameters.starField, rendering_payload.starField)
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np.testing.assert_equal(cielim_message.camera.renderParameters.rendering, rendering_payload.rendering)
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np.testing.assert_equal(cielim_message.camera.renderParameters.enableSmear, rendering_payload.smear)
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i = 0
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for message, body in zip(bodies_message_list, grav_bodies):
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name = body.planetName
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central = body.isCentralBody
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np.testing.assert_equal(cielim_message.celestialBodies[i].bodyName, name)
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np.testing.assert_equal(cielim_message.celestialBodies[i].position, message.PositionVector)
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np.testing.assert_equal(cielim_message.celestialBodies[i].velocity, message.VelocityVector)
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np.testing.assert_equal(cielim_message.celestialBodies[i].attitude, np.array(message.J20002Pfix).flatten())
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np.testing.assert_equal(cielim_message.celestialBodies[i].centralBody, central)
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if (name == asteroid_parameter_payload.bodyName):
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.shapeModel, asteroid_parameter_payload.shapeModel)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.perlinNoiseStdDeviation, asteroid_parameter_payload.perlinNoise)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.proceduralRocks, asteroid_parameter_payload.proceduralRocks)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.brdfModel, asteroid_parameter_payload.brdf)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.reflectanceParameters, asteroid_parameter_payload.reflectanceParameters)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.meanRadius, asteroid_parameter_payload.meanRadius)
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np.testing.assert_equal(cielim_message.celestialBodies[i].models.principalAxisDistortion, asteroid_parameter_payload.principalAxisDistortion)
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i += 1
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if __name__ == "__main__":
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test_interface()

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