''' '''
'''
 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 sys, os, inspect
import numpy
import pytest
import math







from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
from Basilisk.simulation import spacecraftPlus
from Basilisk.simulation import sim_model
import ctypes
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spice_interface
from Basilisk.utilities import simIncludeThruster
from Basilisk.simulation import thrusterDynamicEffector
from Basilisk.simulation import fuelTank

# 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_
def thrusterIntegratedTest(show_plots):
    [testResults, testMessage] = test_thrusterIntegratedTest(show_plots)
    assert testResults < 1, testMessage

def test_thrusterIntegratedTest(show_plots):
    # 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
    
    scObject = spacecraftPlus.SpacecraftPlus()
    scObject.ModelTag = "spacecraftBody"
    
    unitTaskName = "unitTask"  # arbitrary name (don't change)
    unitProcessName = "TestProcess"  # arbitrary name (don't change)
    thrusterCommandName = "acs_thruster_cmds"
    
    #   Create a sim module as an empty container
    unitTestSim = SimulationBaseClass.SimBaseClass()
    unitTestSim.TotalSim.terminateSimulation()
    
    # Create test thread
    testProcessRate = macros.sec2nano(0.1)  # update process rate update time
    testProc = unitTestSim.CreateNewProcess(unitProcessName)
    testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))

    # add thruster devices
    thFactory = simIncludeThruster.thrusterFactory()
    TH1 = thFactory.create(
        'MOOG_Monarc_1',
        [1,0,0],                # location in B-frame
        [0,1,0]                 # thruster force direction in B-frame
    )

    # create thruster object container and tie to spacecraft object
    thrustersDynamicEffector = thrusterDynamicEffector.ThrusterDynamicEffector()
    thFactory.addToSpacecraft("Thrusters",
                              thrustersDynamicEffector,
                              scObject)

    # create tank object container
    unitTestSim.fuelTankStateEffector = fuelTank.FuelTank()
    unitTestSim.fuelTankStateEffector.setTankModel(fuelTank.TANK_MODEL_CONSTANT_VOLUME)
    tankModel = fuelTank.cvar.FuelTankModelConstantVolume
    tankModel.propMassInit = 40.0
    tankModel.r_TcT_TInit = [[0.0],[0.0],[0.0]]
    unitTestSim.fuelTankStateEffector.r_TB_B = [[0.0],[0.0],[0.0]]
    tankModel.radiusTankInit = 46.0 / 2.0 / 3.2808399 / 12.0

    unitTestSim.fuelTankStateEffector.addThrusterSet(thrustersDynamicEffector)
    scObject.addStateEffector(unitTestSim.fuelTankStateEffector)

    # set thruster commands
    ThrustMessage = thrusterDynamicEffector.THRArrayOnTimeCmdIntMsg()
    msgSize = ThrustMessage.getStructSize()
    ThrustMessage.OnTimeRequest = [9.9]
    unitTestSim.TotalSim.CreateNewMessage(unitProcessName, thrusterCommandName, msgSize, 2)
    unitTestSim.TotalSim.WriteMessageData(thrusterCommandName, msgSize, 0, ThrustMessage)

    # Add test module to runtime call list
    unitTestSim.AddModelToTask(unitTaskName, thrustersDynamicEffector)
    unitTestSim.AddModelToTask(unitTaskName, scObject)
    
    unitTestSim.earthGravBody = gravityEffector.GravBodyData()
    unitTestSim.earthGravBody.bodyInMsgName = "earth_planet_data"
    unitTestSim.earthGravBody.outputMsgName = "earth_display_frame_data"
    unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
    unitTestSim.earthGravBody.isCentralBody = True
    unitTestSim.earthGravBody.useSphericalHarmParams = False

    earthEphemData = spice_interface.SpicePlanetStateSimMsg()
    earthEphemData.J2000Current = 0.0
    earthEphemData.PositionVector = [0.0, 0.0, 0.0]
    earthEphemData.VelocityVector = [0.0, 0.0, 0.0]
    earthEphemData.J20002Pfix = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
    earthEphemData.J20002Pfix_dot = [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
    earthEphemData.PlanetName = "earth"

    scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector([unitTestSim.earthGravBody])

    unitTestSim.TotalSim.logThisMessage(scObject.scStateOutMsgName, testProcessRate)

    msgSize = earthEphemData.getStructSize()
    unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
        unitTestSim.earthGravBody.bodyInMsgName, msgSize, 2)
    unitTestSim.TotalSim.WriteMessageData(unitTestSim.earthGravBody.bodyInMsgName, msgSize, 0, earthEphemData)

    # Define initial conditions of the spacecraft
    scObject.hub.mHub = 750.0
    scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
    scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]]
    scObject.hub.r_CN_NInit = [[-4020338.690396649],	[7490566.741852513],	[5248299.211589362]]
    scObject.hub.v_CN_NInit = [[-5199.77710904224],	[-3436.681645356935],	[1041.576797498721]]
    scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]]
    scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]]

    unitTestSim.InitializeSimulation()

    # Get access to dynManager's translational state
    posRef = scObject.dynManager.getStateObject("hubPosition")
    sigmaRef = scObject.dynManager.getStateObject("hubSigma")


    stopTime = 60.0*10.0
    unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
    unitTestSim.ExecuteSimulation()

    dataPos = posRef.getState()
    dataSigma = sigmaRef.getState()
    dataPos = [[stopTime, dataPos[0][0], dataPos[1][0], dataPos[2][0]]]
    dataSigma = [[stopTime, dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]]

    truePos = [
                [-6.7815933935338277e+06, 4.9468685979815889e+06, 5.4867416696776701e+06]
                ]

    trueSigma = [
                [1.4401781243854264e-01, -6.4168702021364002e-02, 3.0166086824900967e-01]
                ]

    moduleOutputr_N = unitTestSim.pullMessageLogData(scObject.scStateOutMsgName + '.r_BN_N',
                                                  range(3))
    moduleOutputSigma = unitTestSim.pullMessageLogData(scObject.scStateOutMsgName + '.sigma_BN',
                                                  range(3))

    accuracy = 1e-8
    for i in range(0,len(truePos)):
        # check a vector values
        if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy):
            testFailCount += 1
            testMessages.append("FAILED: Thruster Integrated Test failed pos unit test")

    accuracy = 1e-7
    for i in range(0,len(trueSigma)):
        # check a vector values
        if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy):
            testFailCount += 1
            print dataSigma[i]
            testMessages.append("FAILED: Thruster Integrated Test failed attitude unit test")

    if testFailCount == 0:
        print "PASSED: " + " Thruster Integrated Sim Test"

    assert testFailCount < 1, testMessages

    # return fail count and join into a single string all messages in the list
    # testMessage
    return [testFailCount, ''.join(testMessages)]

if __name__ == "__main__":
    test_thrusterIntegratedTest(False)

''' '''
'''
 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 sys, os, inspect
import numpy
import pytest
import math







from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
from Basilisk.simulation import spacecraftPlus
from Basilisk.simulation import sim_model
import ctypes
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spice_interface
from Basilisk.utilities import simIncludeThruster
from Basilisk.simulation import thrusterDynamicEffector
from Basilisk.simulation import fuelTank

# 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_
def thrusterIntegratedTest(show_plots):
    [testResults, testMessage] = test_thrusterIntegratedTest(show_plots)
    assert testResults < 1, testMessage

def test_thrusterIntegratedTest(show_plots):
    # 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
    
    scObject = spacecraftPlus.SpacecraftPlus()
    scObject.ModelTag = "spacecraftBody"
    
    unitTaskName = "unitTask"  # arbitrary name (don't change)
    unitProcessName = "TestProcess"  # arbitrary name (don't change)
    thrusterCommandName = "acs_thruster_cmds"
    
    #   Create a sim module as an empty container
    unitTestSim = SimulationBaseClass.SimBaseClass()
    unitTestSim.TotalSim.terminateSimulation()
    
    # Create test thread
    testProcessRate = macros.sec2nano(0.1)  # update process rate update time
    testProc = unitTestSim.CreateNewProcess(unitProcessName)
    testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))

    # add thruster devices
    thFactory = simIncludeThruster.thrusterFactory()
    TH1 = thFactory.create(
        'MOOG_Monarc_1',
        [1,0,0],                # location in B-frame
        [0,1,0]                 # thruster force direction in B-frame
    )

    # create thruster object container and tie to spacecraft object
    thrustersDynamicEffector = thrusterDynamicEffector.ThrusterDynamicEffector()
    thFactory.addToSpacecraft("Thrusters",
                              thrustersDynamicEffector,
                              scObject)

    # create tank object container
    unitTestSim.fuelTankStateEffector = fuelTank.FuelTank()
    unitTestSim.fuelTankStateEffector.setTankModel(fuelTank.TANK_MODEL_CONSTANT_VOLUME)
    tankModel = fuelTank.cvar.FuelTankModelConstantVolume
    tankModel.propMassInit = 40.0
    tankModel.r_TcT_TInit = [[0.0],[0.0],[0.0]]
    unitTestSim.fuelTankStateEffector.r_TB_B = [[0.0],[0.0],[0.0]]
    tankModel.radiusTankInit = 46.0 / 2.0 / 3.2808399 / 12.0

    unitTestSim.fuelTankStateEffector.addThrusterSet(thrustersDynamicEffector)
    scObject.addStateEffector(unitTestSim.fuelTankStateEffector)

    # set thruster commands
    ThrustMessage = thrusterDynamicEffector.THRArrayOnTimeCmdIntMsg()
    msgSize = ThrustMessage.getStructSize()
    ThrustMessage.OnTimeRequest = [9.9]
    unitTestSim.TotalSim.CreateNewMessage(unitProcessName, thrusterCommandName, msgSize, 2)
    unitTestSim.TotalSim.WriteMessageData(thrusterCommandName, msgSize, 0, ThrustMessage)

    # Add test module to runtime call list
    unitTestSim.AddModelToTask(unitTaskName, thrustersDynamicEffector)
    unitTestSim.AddModelToTask(unitTaskName, scObject)
    
    unitTestSim.earthGravBody = gravityEffector.GravBodyData()
    unitTestSim.earthGravBody.bodyInMsgName = "earth_planet_data"
    unitTestSim.earthGravBody.outputMsgName = "earth_display_frame_data"
    unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters!
    unitTestSim.earthGravBody.isCentralBody = True
    unitTestSim.earthGravBody.useSphericalHarmParams = False

    earthEphemData = spice_interface.SpicePlanetStateSimMsg()
    earthEphemData.J2000Current = 0.0
    earthEphemData.PositionVector = [0.0, 0.0, 0.0]
    earthEphemData.VelocityVector = [0.0, 0.0, 0.0]
    earthEphemData.J20002Pfix = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
    earthEphemData.J20002Pfix_dot = [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
    earthEphemData.PlanetName = "earth"

    scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector([unitTestSim.earthGravBody])

    unitTestSim.TotalSim.logThisMessage(scObject.scStateOutMsgName, testProcessRate)

    msgSize = earthEphemData.getStructSize()
    unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
        unitTestSim.earthGravBody.bodyInMsgName, msgSize, 2)
    unitTestSim.TotalSim.WriteMessageData(unitTestSim.earthGravBody.bodyInMsgName, msgSize, 0, earthEphemData)

    # Define initial conditions of the spacecraft
    scObject.hub.mHub = 750.0
    scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]]
    scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]]
    scObject.hub.r_CN_NInit = [[-4020338.690396649],	[7490566.741852513],	[5248299.211589362]]
    scObject.hub.v_CN_NInit = [[-5199.77710904224],	[-3436.681645356935],	[1041.576797498721]]
    scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]]
    scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]]

    unitTestSim.InitializeSimulation()

    # Get access to dynManager's translational state
    posRef = scObject.dynManager.getStateObject("hubPosition")
    sigmaRef = scObject.dynManager.getStateObject("hubSigma")


    stopTime = 60.0*10.0
    unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime))
    unitTestSim.ExecuteSimulation()

    dataPos = posRef.getState()
    dataSigma = sigmaRef.getState()
    dataPos = [[stopTime, dataPos[0][0], dataPos[1][0], dataPos[2][0]]]
    dataSigma = [[stopTime, dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]]

    truePos = [
                [-6.7815933935338277e+06, 4.9468685979815889e+06, 5.4867416696776701e+06]
                ]

    trueSigma = [
                [1.4401781243854264e-01, -6.4168702021364002e-02, 3.0166086824900967e-01]
                ]

    moduleOutputr_N = unitTestSim.pullMessageLogData(scObject.scStateOutMsgName + '.r_BN_N',
                                                  range(3))
    moduleOutputSigma = unitTestSim.pullMessageLogData(scObject.scStateOutMsgName + '.sigma_BN',
                                                  range(3))

    accuracy = 1e-8
    for i in range(0,len(truePos)):
        # check a vector values
        if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy):
            testFailCount += 1
            testMessages.append("FAILED: Thruster Integrated Test failed pos unit test")

    accuracy = 1e-7
    for i in range(0,len(trueSigma)):
        # check a vector values
        if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy):
            testFailCount += 1
            print dataSigma[i]
            testMessages.append("FAILED: Thruster Integrated Test failed attitude unit test")

    if testFailCount == 0:
        print "PASSED: " + " Thruster Integrated Sim Test"

    assert testFailCount < 1, testMessages

    # return fail count and join into a single string all messages in the list
    # testMessage
    return [testFailCount, ''.join(testMessages)]

if __name__ == "__main__":
    test_thrusterIntegratedTest(False)

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. # general support file with common unit test functions # 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_ # 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. # zero unit test result counter # create empty list to store test log messages # arbitrary name (don't change) # arbitrary name (don't change) #   Create a sim module as an empty container # Create test thread # update process rate update time # add thruster devices # location in B-frame # thruster force direction in B-frame # create thruster object container and tie to spacecraft object # create tank object container # set thruster commands # Add test module to runtime call list # meters! # Define initial conditions of the spacecraft # Get access to dynManager's translational state # check a vector values # check a vector values # return fail count and join into a single string all messages in the list # testMessage