Source code for test_CMsgTimeWritten

#
#  ISC License
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#  Copyright (c) 2023, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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from Basilisk.architecture import bskLogging
from Basilisk.moduleTemplates import cModuleTemplate
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport as uts


def test_CMsgTimeWritten():
    """
    testing recording timeWritten in C-wrapped message
    """

    bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
    testFailCount = 0  # zero unit test result counter
    testMessages = []  # create empty array to store test log messages

    #  Create a sim module as an empty container
    scSim = SimulationBaseClass.SimBaseClass()

    #  create the simulation process
    dynProcess = scSim.CreateNewProcess("dynamicsProcess")

    # create the dynamics task and specify the integration update time
    dynProcess.addTask(scSim.CreateNewTask("dynamicsTask", macros.sec2nano(1.)))

    # create modules
    mod1 = cModuleTemplate.cModuleTemplateConfig()
    mod1Wrap = scSim.setModelDataWrap(mod1)
    mod1Wrap.ModelTag = "cModule1"
    scSim.AddModelToTask("dynamicsTask", mod1Wrap, mod1)
    mod1.dataInMsg.subscribeTo(mod1.dataOutMsg)

    # setup message recording
    msgRec = mod1.dataOutMsg.recorder()
    scSim.AddModelToTask("dynamicsTask", msgRec)

    #  initialize Simulation:
    scSim.InitializeSimulation()

    #   configure a simulation stop time time and execute the simulation run
    scSim.ConfigureStopTime(macros.sec2nano(1.0))
    scSim.ExecuteSimulation()

    testFailCount, testMessages = uts.compareVector(msgRec.timesWritten()
                                                    , msgRec.times()
                                                    , 0.01
                                                    , "recorded msg timesWritten was not correct."
                                                    , testFailCount
                                                    , testMessages)

    # each test method requires a single assert method to be called
    # this check below just makes sure no sub-test failures were found
    assert testFailCount < 1, testMessages


if __name__ == "__main__":
    CMsgTimeWritten()