def test_velocity(self):
for body in self.conn.space_center.bodies.values():
if body.orbit is None:
continue
# Check body velocity in body's reference frame
v = body.velocity(body.reference_frame)
self.assertClose((0,0,0), v)
# Check body velocity in parent body's non-rotating reference frame
v = body.velocity(body.orbit.body.non_rotating_reference_frame)
if body.orbit.inclination == 0:
self.assertClose(0, v[1])
else:
self.assertNotClose(0, v[1])
self.assertClose(body.orbit.speed, norm(v))
# Check body velocity in parent body's reference frame
v = body.velocity(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertClose(0, v[1])
else:
self.assertNotClose(0, v[1])
angular_velocity = body.orbit.body.angular_velocity(body.orbit.body.non_rotating_reference_frame)
self.assertClose(0, angular_velocity[0])
self.assertClose(0, angular_velocity[2])
rotational_speed = dot((0,1,0), angular_velocity)
position = list(body.position(body.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
#TODO: large error
self.assertClose(abs(rotational_speed + body.orbit.speed), norm(v), error=200)
def test_velocity(self):
for body in self.conn.space_center.bodies.values():
if body.orbit is None:
continue
# Check body velocity in body's reference frame
v = body.velocity(body.reference_frame)
self.assertClose((0, 0, 0), v)
# Check body velocity in parent body's non-rotating reference frame
v = body.velocity(body.orbit.body.non_rotating_reference_frame)
self.assertClose(body.orbit.speed, norm(v))
# Check body velocity in parent body's reference frame
v = body.velocity(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertClose(0, v[1])
else:
self.assertNotClose(0, v[1])
angular_velocity = body.orbit.body.angular_velocity(
body.orbit.body.non_rotating_reference_frame)
self.assertClose(0, angular_velocity[0])
self.assertClose(0, angular_velocity[2])
rotational_speed = dot((0, 1, 0), angular_velocity)
position = list(body.position(body.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
#TODO: large error
self.assertClose(abs(rotational_speed + body.orbit.speed),
norm(v),
error=200)
def test_transform_position_between_vessel_and_celestial_bodies(self):
p0 = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_kerbin)
p1 = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_sun)
p2 = self.sc.transform_position((0,0,0), self.ref_kerbin, self.ref_sun)
p3 = tuple(x-y for (x,y) in zip(p1,p2))
#TODO: sometimes there is a large difference?!?! but only sometimes...
self.assertClose(norm(p0), norm(p3), error=500)
def check_speeds(self, flight):
up_direction = vector(flight.up_direction)
velocity = vector(flight.velocity)
vertical_speed = dot(velocity, up_direction)
horizontal_speed = norm(velocity) - vertical_speed
self.assertClose(norm(velocity), flight.speed, error=1)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=1)
self.assertClose(vertical_speed, flight.vertical_speed, error=1)
def test_transform_position_between_vessel_and_celestial_bodies(self):
p0 = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_kerbin)
p1 = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_sun)
p2 = self.sc.transform_position((0,0,0), self.ref_kerbin, self.ref_sun)
p3 = tuple(x-y for (x,y) in zip(p1,p2))
#TODO: sometimes there is a large difference?!?! but only sometimes...
self.assertClose(norm(p0), norm(p3), error=500)
def check_speeds(self, flight):
""" Check flight.velocity agrees with flight.*_speed """
up_direction = (0,1,0)
velocity = vector(flight.velocity)
vertical_speed = dot(velocity, up_direction)
horizontal_speed = norm(velocity) - vertical_speed
self.assertClose(norm(velocity), flight.speed, error=1)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=1)
self.assertClose(vertical_speed, flight.vertical_speed, error=1)
def check_speeds(self, flight):
""" Check flight.velocity agrees with flight.*_speed """
up_direction = (0,1,0)
velocity = vector(flight.velocity)
vertical_speed = dot(velocity, up_direction)
horizontal_speed = norm(velocity) - vertical_speed
self.assertClose(norm(velocity), flight.speed, error=1)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=1)
self.assertClose(vertical_speed, flight.vertical_speed, error=1)
def test_transform_velocity_between_celestial_bodies(self):
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_mun, self.ref_nr_kerbin)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_mun)
self.assertClose(self.mun.orbit.speed, norm(v1))
self.assertClose(self.mun.orbit.speed, norm(v2))
self.assertClose(v1, tuple(-x for x in v2))
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_sun)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_sun, self.ref_nr_kerbin)
self.assertClose(self.kerbin.orbit.speed, norm(v1))
self.assertClose(self.kerbin.orbit.speed, norm(v2))
self.assertClose(v1, tuple(-x for x in v2))
def test_transform_velocity_between_celestial_bodies(self):
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_mun, self.ref_nr_kerbin)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_mun)
self.assertClose(self.mun.orbit.speed, norm(v1))
self.assertClose(self.mun.orbit.speed, norm(v2))
self.assertClose(v1, tuple(-x for x in v2))
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_sun)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_sun, self.ref_nr_kerbin)
self.assertClose(self.kerbin.orbit.speed, norm(v1))
self.assertClose(self.kerbin.orbit.speed, norm(v2))
self.assertClose(v1, tuple(-x for x in v2))
def check_radius_and_speed(self, obj, orbit):
# Compute position from orbital elements
pos = compute_position(obj, orbit.body.non_rotating_reference_frame)
# Compute radius from position
radius = norm(pos) * 1000000
self.assertClose(radius, orbit.radius, error=1)
# Compute speed from radius
speed = math.sqrt(orbit.body.gravitational_parameter * ((2 / radius) - (1 / orbit.semi_major_axis)))
self.assertClose(speed, orbit.speed, error=1)
def test_angular_velocity(self):
for body in self.conn.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertClose((0,0,0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertClose((0,-1,0), normalize(av))
self.assertClose(body.rotational_speed, norm(av))
def check_radius_and_speed(self, obj, orbit):
# Compute position from orbital elements
pos = compute_position(obj, orbit.body.non_rotating_reference_frame)
# Compute radius from position
radius = norm(pos) * 1000000
self.assertClose(radius, orbit.radius, error=1)
# Compute speed from radius
speed = math.sqrt(orbit.body.gravitational_parameter *
((2 / radius) - (1 / orbit.semi_major_axis)))
self.assertClose(speed, orbit.speed, error=1)
def test_angular_velocity(self):
for body in self.conn.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertClose((0, 0, 0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertClose((0, -1, 0), normalize(av))
self.assertClose(body.rotational_speed, norm(av))
def check_speed(self, flight, ref):
up = normalize(vector(self.vessel.position(ref)) - vector(self.vessel.orbit.body.position(ref)))
v = self.vessel.velocity(ref)
speed = norm(v)
vertical_speed = dot(v, up)
horizontal_speed = speed - abs(vertical_speed)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(vertical_speed, flight.vertical_speed, error=0.5)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=0.5)
def check_speed(self, flight, ref):
up = normalize(vector(self.vessel.position(ref)) - vector(self.vessel.orbit.body.position(ref)))
v = self.vessel.velocity(ref)
speed = norm(v)
vertical_speed = dot(v, up)
horizontal_speed = math.sqrt(speed*speed - vertical_speed*vertical_speed)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(vertical_speed, flight.vertical_speed, error=0.5)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=0.5)
def check_directions(self, flight):
""" Check flight.direction against flight.heading and flight.pitch """
direction = vector(flight.direction)
up_direction = (1,0,0)
north_direction = (0,1,0)
self.assertClose(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertClose(flight.pitch, pitch, error=2)
# Check vessel direction vector agrees with heading angle
up_component = dot(direction, up_direction) * vector(up_direction)
north_component = normalize(vector(direction) - up_component)
self.assertCloseDegrees(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=1)
def check_directions(self, flight):
""" Check flight.direction against flight.heading and flight.pitch """
direction = vector(flight.direction)
up_direction = (1,0,0)
north_direction = (0,1,0)
self.assertClose(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertClose(flight.pitch, pitch, error=2)
# Check vessel direction vector agrees with heading angle
up_component = dot(direction, up_direction) * vector(up_direction)
north_component = normalize(vector(direction) - up_component)
self.assertCloseDegrees(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=1)
def check_directions(self, flight, check_against_orbital=True):
direction = vector(flight.direction)
up_direction = vector(flight.up_direction)
north_direction = vector(flight.north_direction)
self.assertClose(1, norm(direction))
self.assertClose(1, norm(up_direction))
self.assertClose(1, norm(north_direction))
self.assertClose(0, dot(up_direction, north_direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertClose(flight.pitch, pitch, error=2)
# Check vessel direction vector agrees with heading angle
up_component = dot(direction, up_direction) * vector(up_direction)
north_component = vector(direction) - up_component
north_component = north_component / norm(north_component)
self.assertClose(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=1)
if check_against_orbital == True:
# Check vessel directions agree with orbital directions
# (we are in a 0 degree inclined orbit, so they should do)
self.assertClose(1, dot(up_direction, vector(flight.radial)))
self.assertClose(1, dot(north_direction, vector(flight.normal)))
def test_position(self):
for body in self.conn.space_center.bodies.values():
# Check body position in body's reference frame
p = body.position(body.reference_frame)
self.assertClose((0,0,0), p)
# Check body position in parent body's reference frame
if body.orbit is not None:
p = body.position(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertClose(0, p[1])
else:
self.assertNotClose(0, p[1])
self.assertClose(body.orbit.radius, norm(p), error=10)
def test_position(self):
for body in self.conn.space_center.bodies.values():
# Check body position in body's reference frame
p = body.position(body.reference_frame)
self.assertClose((0, 0, 0), p)
# Check body position in parent body's reference frame
if body.orbit is not None:
p = body.position(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertClose(0, p[1])
else:
self.assertNotClose(0, p[1])
self.assertClose(body.orbit.radius, norm(p), error=10)
def test_flight_orbit_body_non_rotating_reference_frame(self):
ref = self.vessel.orbit.body.non_rotating_reference_frame
flight = self.vessel.flight(ref)
self.check_properties_not_affected_by_reference_frame(flight)
speed = 2246.1
self.assertClose(speed, norm(flight.velocity), error=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0,1,0)))
velocity = direction * speed
self.assertClose(velocity, flight.velocity, error=2)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(speed, flight.horizontal_speed, error=0.5)
self.assertClose(0, flight.vertical_speed, error=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
def test_flight_orbit_body_non_rotating_reference_frame(self):
ref = self.vessel.orbit.body.non_rotating_reference_frame
flight = self.vessel.flight(ref)
self.check_properties_not_affected_by_reference_frame(flight)
speed = 2246.1
self.assertClose(speed, norm(flight.velocity), error=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0,1,0)))
velocity = direction * speed
self.assertClose(velocity, flight.velocity, error=2)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(speed, flight.horizontal_speed, error=0.5)
self.assertClose(0, flight.vertical_speed, error=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
def test_pre_attached_ports(self):
""" Test ports that were pre-attached in the VAB """
bottom_port = next(
iter(
filter(
lambda p: p.part.parent.title ==
'Clamp-O-Tron Docking Port', self.parts.docking_ports)))
top_port = bottom_port.part.parent.docking_port
launch_clamp = bottom_port.part.children[0].launch_clamp
self.assertEqual(self.state.docked, top_port.state)
self.assertEqual(self.state.docked, bottom_port.state)
self.assertEqual(top_port.part, bottom_port.docked_part)
self.assertEqual(bottom_port.part, top_port.docked_part)
# Undock
mass_before = self.vessel.mass
undocked = top_port.undock()
self.vessel = self.conn.space_center.active_vessel
mass_after = self.vessel.mass
self.assertEqual(bottom_port.docked_part, None)
self.assertEqual(top_port.docked_part, None)
# Undocking
self.assertNotEqual(self.vessel, undocked)
self.assertLess(mass_after, mass_before)
self.assertClose(mass_after, mass_before - undocked.mass)
self.assertEqual(self.state.undocking, top_port.state)
self.assertEqual(self.state.undocking, bottom_port.state)
self.assertEqual(bottom_port.docked_part, None)
self.assertEqual(top_port.docked_part, None)
# Drop the port
launch_clamp.release()
while top_port.state == self.state.undocking:
pass
# Undocked
self.assertEqual(self.state.ready, top_port.state)
self.assertEqual(self.state.ready, bottom_port.state)
self.assertEqual(bottom_port.docked_part, None)
self.assertEqual(top_port.docked_part, None)
distance = norm(top_port.position(bottom_port.reference_frame))
self.assertGreater(distance, top_port.reengage_distance)
self.assertLess(distance, top_port.reengage_distance * 2)
def test_pre_attached_ports(self):
""" Test ports that were pre-attached in the VAB """
bottom_port = filter(lambda p: p.part.parent.title == 'Clamp-O-Tron Docking Port', self.parts.docking_ports)[0]
top_port = bottom_port.part.parent.docking_port
launch_clamp = bottom_port.part.children[0].launch_clamp
self.assertEquals(self.state.docked, top_port.state)
self.assertEquals(self.state.docked, bottom_port.state)
self.assertEquals(top_port.part, bottom_port.docked_part)
self.assertEquals(bottom_port.part, top_port.docked_part)
# Undock
mass_before = self.vessel.mass
undocked = top_port.undock()
self.vessel = self.conn.space_center.active_vessel
mass_after = self.vessel.mass
self.assertEquals(bottom_port.docked_part, None)
self.assertEquals(top_port.docked_part, None)
# Undocking
self.assertNotEqual(self.vessel, undocked)
self.assertLess(mass_after, mass_before)
self.assertClose(mass_after, mass_before - undocked.mass)
self.assertEquals(self.state.undocking, top_port.state)
self.assertEquals(self.state.undocking, bottom_port.state)
self.assertEquals(bottom_port.docked_part, None)
self.assertEquals(top_port.docked_part, None)
# Drop the port
launch_clamp.release()
while top_port.state == self.state.undocking:
pass
# Undocked
self.assertEquals(self.state.ready, top_port.state)
self.assertEquals(self.state.ready, bottom_port.state)
self.assertEquals(bottom_port.docked_part, None)
self.assertEquals(top_port.docked_part, None)
distance = norm(top_port.position(bottom_port.reference_frame))
self.assertGreater(distance, top_port.reengage_distance)
self.assertLess(distance, top_port.reengage_distance*1.5)
def check(self, node, deltav):
self.assertClose(deltav[0], node.prograde)
self.assertClose(deltav[1], node.normal)
self.assertClose(deltav[2], node.radial)
self.assertClose(norm(deltav), node.delta_v)
self.assertClose(norm(deltav), node.remaining_delta_v, 0.2)
bv = node.burn_vector(node.reference_frame)
self.assertClose(norm(deltav), norm(bv))
self.assertClose((0,1,0), normalize(bv))
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertClose(norm(deltav), norm(orbital_bv))
self.assertClose((-deltav[2],deltav[0],deltav[1]), orbital_bv)
d = node.direction(node.reference_frame)
self.assertClose((0,1,0), d)
orbital_d = node.direction(node.orbital_reference_frame)
self.assertClose(normalize((-deltav[2],deltav[0],deltav[1])), orbital_d)
def check(self, node, deltav):
self.assertClose(deltav[0], node.prograde)
self.assertClose(deltav[1], node.normal)
self.assertClose(deltav[2], node.radial)
self.assertClose(norm(deltav), node.delta_v)
self.assertClose(norm(deltav), node.remaining_delta_v, 0.2)
bv = node.burn_vector(node.reference_frame)
self.assertClose(norm(deltav), norm(bv))
self.assertClose((0,1,0), normalize(bv))
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertClose(norm(deltav), norm(orbital_bv))
self.assertClose((-deltav[2],deltav[0],deltav[1]), orbital_bv)
d = node.direction(node.reference_frame)
self.assertClose((0,1,0), d)
orbital_d = node.direction(node.orbital_reference_frame)
self.assertClose(normalize((-deltav[2],deltav[0],deltav[1])), orbital_d)
def check_orbital_vectors(self, flight):
# Check orbital direction vectors
prograde = vector(flight.prograde)
retrograde = vector(flight.retrograde)
normal = vector(flight.normal)
normal_neg = vector(flight.normal_neg)
radial = vector(flight.radial)
radial_neg = vector(flight.radial_neg)
self.assertClose(1, norm(prograde))
self.assertClose(1, norm(retrograde))
self.assertClose(1, norm(normal))
self.assertClose(1, norm(normal_neg))
self.assertClose(1, norm(radial))
self.assertClose(1, norm(radial_neg))
self.assertClose(prograde, [-x for x in retrograde], error=0.01)
self.assertClose(radial, [-x for x in radial_neg], error=0.01)
self.assertClose(normal, [-x for x in normal_neg], error=0.01)
self.assertClose(0, dot(prograde, radial), error=0.01)
self.assertClose(0, dot(prograde, normal), error=0.01)
self.assertClose(0, dot(radial, normal), error=0.01)
def check_orbital_vectors(self, flight):
""" Check orbital direction vectors """
prograde = vector(flight.prograde)
retrograde = vector(flight.retrograde)
normal = vector(flight.normal)
anti_normal = vector(flight.anti_normal)
radial = vector(flight.radial)
anti_radial = vector(flight.anti_radial)
self.assertClose(1, norm(prograde))
self.assertClose(1, norm(retrograde))
self.assertClose(1, norm(normal))
self.assertClose(1, norm(anti_normal))
self.assertClose(1, norm(radial))
self.assertClose(1, norm(anti_radial))
self.assertClose(prograde, [-x for x in retrograde], error=0.01)
self.assertClose(radial, [-x for x in anti_radial], error=0.01)
self.assertClose(normal, [-x for x in anti_normal], error=0.01)
self.assertClose(0, dot(prograde, radial), error=0.01)
self.assertClose(0, dot(prograde, normal), error=0.01)
self.assertClose(0, dot(radial, normal), error=0.01)
def check_orbital_vectors(self, flight):
""" Check orbital direction vectors """
prograde = vector(flight.prograde)
retrograde = vector(flight.retrograde)
normal = vector(flight.normal)
anti_normal = vector(flight.anti_normal)
radial = vector(flight.radial)
anti_radial = vector(flight.anti_radial)
self.assertClose(1, norm(prograde))
self.assertClose(1, norm(retrograde))
self.assertClose(1, norm(normal))
self.assertClose(1, norm(anti_normal))
self.assertClose(1, norm(radial))
self.assertClose(1, norm(anti_radial))
self.assertClose(prograde, [-x for x in retrograde], error=0.01)
self.assertClose(radial, [-x for x in anti_radial], error=0.01)
self.assertClose(normal, [-x for x in anti_normal], error=0.01)
self.assertClose(0, dot(prograde, radial), error=0.01)
self.assertClose(0, dot(prograde, normal), error=0.01)
self.assertClose(0, dot(radial, normal), error=0.01)
def test_transform_velocity_with_rotational_velocity(self):
d = 100000 + 600000
v = self.sc.transform_velocity((d,0,0), (0,0,0), self.ref_kerbin, self.ref_nr_kerbin)
self.assertClose(d * self.kerbin.rotational_speed, norm(v))
def test_transform_velocity_between_vessel_and_celestial_bodies(self):
v0 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_kerbin)
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_sun)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_sun)
v3 = tuple(x-y for (x,y) in zip(v1,v2))
self.assertClose(norm(v0), norm(v3))
def test_transform_velocity_between_vessel_and_celestial_body(self):
v = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_kerbin)
self.assertClose(self.vessel.orbit.speed, norm(v))
def test_transform_position_between_vessel_and_celestial_body(self):
p = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_kerbin)
self.assertClose(self.vessel.orbit.radius, norm(p), error=0.01)
def check(self, node, v):
self.assertEqual(v[0], node.prograde)
self.assertEqual(v[1], node.normal)
self.assertEqual(v[2], node.radial)
self.assertEqual([0,0,norm(v)], vector(node.vector))
self.assertEqual(norm(v), node.delta_v)
def undock_and_dock(self, port1, port2):
vessel = self.sc.active_vessel
# Do it twice - once to undock pre-attached ports, once to undock ports docked in flight
for i in range(2):
# Kill rotation
vessel.control.sas = True
time.sleep(3)
vessel.control.sas = False
time.sleep(1)
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Undock
mass_before = vessel.mass
undocked = port1.undock()
vessel = self.sc.active_vessel
self.assertNotEqual(vessel, undocked)
self.assertEqual(self.state.undocking, port1.state)
self.assertEqual(self.state.undocking, port2.state)
self.assertEqual(None, port2.docked_part)
self.assertEqual(None, port1.docked_part)
mass_after = vessel.mass
self.assertLess(mass_after, mass_before)
self.assertClose(mass_after, mass_before - undocked.mass)
# Move backwards to reengage distance
vessel.control.rcs = True
vessel.control.forward = 0.5
time.sleep(0.5)
vessel.control.forward = 0
while port1.state == self.state.undocking:
pass
self.assertEqual(self.state.ready, port1.state)
self.assertEqual(self.state.ready, port2.state)
self.assertEqual(None, port2.docked_part)
self.assertEqual(None, port1.docked_part)
distance = norm(port1.position(port2.reference_frame))
self.assertGreater(distance, port1.reengage_distance)
self.assertLess(distance, port1.reengage_distance * 1.1)
time.sleep(0.5)
# Check undocking when not docked
self.assertEqual(None, port1.undock())
self.assertEqual(None, port2.undock())
# Move forward
vessel.control.forward = -0.5
time.sleep(1)
vessel.control.forward = 0
vessel.control.rcs = False
while port1.state == self.state.ready:
pass
# Docking
self.assertEqual(self.state.docking, port1.state)
self.assertEqual(self.state.docking, port2.state)
while port1.state == self.state.docking:
pass
# Docked
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Get the new vessel
vessel = self.sc.active_vessel
def undock_and_dock(self, port1, port2):
vessel = self.sc.active_vessel
# Do it twice - once to undock pre-attached ports, once to undock ports docked in flight
for i in range(2):
# Kill rotation
if i > 0:
vessel.control.sas = True
time.sleep(3)
vessel.control.sas = False
time.sleep(1)
self.assertEquals(self.state.docked, port1.state)
self.assertEquals(self.state.docked, port2.state)
self.assertEquals(port1.part, port2.docked_part)
self.assertEquals(port2.part, port1.docked_part)
# Undock
mass_before = vessel.mass
undocked = port1.undock()
vessel = self.sc.active_vessel
self.assertNotEqual(vessel, undocked)
self.assertEquals(self.state.undocking, port1.state)
self.assertEquals(self.state.undocking, port2.state)
self.assertEquals(None, port2.docked_part)
self.assertEquals(None, port1.docked_part)
mass_after = vessel.mass
self.assertLess(mass_after, mass_before)
self.assertClose(mass_after, mass_before - undocked.mass)
# Move backwards to reengage distance
vessel.control.rcs = True
vessel.control.forward = -0.25
time.sleep(0.5)
vessel.control.forward = 0
while port1.state == self.state.undocking:
pass
self.assertEquals(self.state.ready, port1.state)
self.assertEquals(self.state.ready, port2.state)
self.assertEquals(None, port2.docked_part)
self.assertEquals(None, port1.docked_part)
distance = norm(port1.position(port2.reference_frame))
self.assertGreater(distance, port1.reengage_distance)
self.assertLess(distance, port1.reengage_distance*1.05)
time.sleep(0.5)
# Check undocking when not docked
self.assertEquals(None, port1.undock())
self.assertEquals(None, port2.undock())
# Move forward
vessel.control.forward = 0.25
time.sleep(1)
vessel.control.forward = 0
vessel.control.rcs = False
while port1.state == self.state.ready:
pass
# Docking
self.assertEquals(self.state.docking, port1.state)
self.assertEquals(self.state.docking, port2.state)
while port1.state == self.state.docking:
pass
# Docked
self.assertEquals(self.state.docked, port1.state)
self.assertEquals(self.state.docked, port2.state)
self.assertEquals(port1.part, port2.docked_part)
self.assertEquals(port2.part, port1.docked_part)
# Get the new vessel
vessel = self.sc.active_vessel
def test_transform_position_between_celestial_bodies(self):
p = self.sc.transform_position((0,0,0), self.ref_kerbin, self.ref_mun)
self.assertClose(self.mun.orbit.radius, norm(p))
p = self.sc.transform_position((0,0,0), self.ref_sun, self.ref_kerbin)
self.assertClose(self.kerbin.orbit.radius, norm(p))
def test_transform_position_between_vessel_and_celestial_body(self):
p = self.sc.transform_position((0,0,0), self.ref_vessel, self.ref_kerbin)
self.assertClose(self.vessel.orbit.radius, norm(p), error=0.01)
def test_transform_velocity_between_vessel_and_celestial_body(self):
v = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_kerbin)
self.assertClose(self.vessel.orbit.speed, norm(v))
def test_transform_velocity_with_rotational_velocity(self):
d = 100000 + 600000
v = self.sc.transform_velocity((d,0,0), (0,0,0), self.ref_kerbin, self.ref_nr_kerbin)
self.assertClose(d * self.kerbin.rotational_speed, norm(v))
def test_transform_position_between_celestial_bodies(self):
p = self.sc.transform_position((0,0,0), self.ref_kerbin, self.ref_mun)
self.assertClose(self.mun.orbit.radius, norm(p))
p = self.sc.transform_position((0,0,0), self.ref_sun, self.ref_kerbin)
self.assertClose(self.kerbin.orbit.radius, norm(p))
def test_transform_velocity_between_vessel_and_celestial_bodies(self):
v0 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_kerbin)
v1 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_vessel, self.ref_nr_sun)
v2 = self.sc.transform_velocity((0,0,0), (0,0,0), self.ref_nr_kerbin, self.ref_nr_sun)
v3 = tuple(x-y for (x,y) in zip(v1,v2))
self.assertClose(norm(v0), norm(v3))
