#
# ISC License
#
# Copyright (c) 2021, 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.
#
#
# Unit Test Script
# Module Name: mtbMomentumManagement
# Author: Henry Macanas
# Creation Date: 07 07, 2021
#
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
import numpy as np
from Basilisk.architecture import bskLogging
from Basilisk.architecture import messaging # import the message definitions
from Basilisk.fswAlgorithms import mtbMomentumManagementSimple # import the module that is to be tested
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport # 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(conditionstring)
# provide a unique test method name, starting with test_
[docs]def test_mtbMomentumManagementSimple(): # update "module" in this function name to reflect the module name
r"""
**Validation Test Description**
This script tests that the module returns expected non-zero and zero
outputs.
**Description of Variables Being Tested**
The output torque message is being recorded and the following variable is being checked.
- ``torqueRequestBody``
"""
# each test method requires a single assert method to be called
# pass on the testPlotFixture so that the main test function may set the DataStore attributes
[testResults, testMessage] = mtbMomentumManagementSimpleTestFunction()
assert testResults < 1, testMessage
def mtbMomentumManagementSimpleTestFunction():
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.01) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = mtbMomentumManagementSimple.mtbMomentumManagementSimpleConfig() # update with current values
moduleConfig.Kp = 0.003
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "mtbMomentumManagementSimple" # update python name of test module
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
# wheelConfigData message (column major format)
rwConfigParams = messaging.RWArrayConfigMsgPayload()
beta = 45. * np.pi / 180.
rwConfigParams.GsMatrix_B = [0., np.cos(beta), np.sin(beta), 0., np.sin(beta), -np.cos(beta), np.cos(beta), -np.sin(beta), 0., -np.cos(beta), -np.sin(beta), 0.]
rwConfigParams.JsList = [0.002, 0.002, 0.002, 0.002]
rwConfigParams.numRW = 4
rwParamsInMsg = messaging.RWArrayConfigMsg().write(rwConfigParams)
# rwSpeeds message
rwSpeedsInMsgContainer = messaging.RWSpeedMsgPayload()
rwSpeedsInMsgContainer.wheelSpeeds = [100., 200., 300., 400.]
rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer)
# Setup logging on the test module output message so that we get all the writes to it
resultTauMtbRequestOutMsg = moduleConfig.tauMtbRequestOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, resultTauMtbRequestOutMsg)
# connect the message interfaces
moduleConfig.rwParamsInMsg.subscribeTo(rwParamsInMsg)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Set the simulation time.
# NOTE: the total simulation time may be longer than this value. The
# simulation is stopped at the next logging event on or after the
# simulation end time.
unitTestSim.ConfigureStopTime(macros.sec2nano(0.0)) # seconds to stop simulation
accuracy = 1E-8
'''
TEST 1:
Check that tauMtbRequestOutMsg is non-zero when the wheel speeds
are non-zero.
'''
unitTestSim.InitializeSimulation()
unitTestSim.ExecuteSimulation()
Gs = np.array([
[0., 0., np.cos(beta), -np.cos(beta)],
[np.cos(beta), np.sin(beta), -np.sin(beta), -np.sin(beta)],
[np.sin(beta), -np.cos(beta), 0., 0.]])
wheelSpeeds = np.array(rwSpeedsInMsgContainer.wheelSpeeds[0:4])
hWheels_W = wheelSpeeds * rwConfigParams.JsList[0]
hWheels_B = Gs @ hWheels_W
tauExpected = - moduleConfig.Kp * hWheels_B
testFailCount, testMessages = unitTestSupport.compareVector(tauExpected,
resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3],
accuracy,
"tauMtbRequestOutMsg",
testFailCount, testMessages, ExpectedResult=1)
'''
TEST 2:
Check that tauMtbRequestOutMsg is the zero vector when the wheels
speeds are zero.
'''
rwSpeedsInMsgContainer.wheelSpeeds = [0., 0., 0., 0.]
rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg)
unitTestSim.InitializeSimulation()
unitTestSim.ExecuteSimulation()
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.],
resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3],
accuracy,
"tauMtbRequestOutMsg",
testFailCount, testMessages, ExpectedResult=1)
'''
TEST 3:
Check that tauMtbRequestOutMsg is the zero vector when the wheels
speeds are non-zero and the feedback gain is zero.
'''
rwSpeedsInMsgContainer.wheelSpeeds = [100., 200., 300., 400.]
rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer)
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg)
moduleConfig.Kp = 0.
unitTestSim.InitializeSimulation()
unitTestSim.ExecuteSimulation()
testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.],
resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3],
accuracy,
"tauMtbRequestOutMsg",
testFailCount, testMessages, ExpectedResult=1)
# reset the module to test this functionality
moduleWrap.Reset(0) # this module reset function needs a time input (in NanoSeconds)
print("Accuracy used: " + str(accuracy))
if testFailCount == 0:
print("PASSED: mtbMomentumManagementSimple unit test")
else:
print("Failed: mtbMomentumManagementSimple unit test")
return [testFailCount, ''.join(testMessages)]
#
# This statement below ensures that the unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_mtbMomentumManagementSimple()