# 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 inspect
import os
from Basilisk.simulation import fuelTank
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# 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_
[docs]def test_tankModelConstantVolume(show_plots=False):
"""Module Unit Test"""
[testResults, testMessage] = tankModelConstantVolume(show_plots)
assert testResults < 1, testMessage
[docs]def test_tankModelConstantDensity(show_plots=False):
"""Module Unit Test"""
[testResults, testMessage] = tankModelConstantDensity(show_plots)
assert testResults < 1, testMessage
[docs]def test_tankModelEmptying(show_plots=False):
"""Module Unit Test"""
[testResults, testMessage] = tankModelEmptying(show_plots)
assert testResults < 1, testMessage
[docs]def test_tankModelCentrifugalBurn(show_plots=False):
"""Module Unit Test"""
[testResults, testMessage] = tankModelCentrifugalBurn(show_plots)
assert testResults < 1, testMessage
[docs]def tankModelConstantVolume(show_plots):
"""Module Unit 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.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
model = fuelTank.cvar.FuelTankModelConstantVolume
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[50,0,0,0,50,0,0,0,50]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-10,0,0,0,-10,0,0,0,-10],
[-10,0,0,0,-10,0,0,0,-10]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'ConstVolPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelConstantDensity(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
model = fuelTank.cvar.FuelTankModelConstantDensity
model.propMassInit = 10;
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[31.498026247371826,0,0,0,31.498026247371826,0,0,0,31.498026247371826]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-16.666666666666668,0,0,0,-16.666666666666668,0,0,0,-16.666666666666668],
[-10.499342082457275,0,0,0,-10.499342082457275,0,0,0,-10.499342082457275]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
print(dataIPrimeTank, idx)
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank constant volume unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'ConstDensPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelEmptying(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
model = fuelTank.cvar.FuelTankModelEmptying
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[100,0,0,0,100,0,0,0,100],
[50.0,0,0,0,50.0,0,0,0,50]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0],
[-8.75,0,0,0,-8.75,0,0,0,-12.5]
]
true_r_TcT_T = [
[1,1,1-5.0],
[1,1,1],
[1,1,1.0-15.0/8.0]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,-3.0/8.0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,-17.0/30.0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqual(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank emptying unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'EmptyingPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelUniformBurn(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
model = fuelTank.cvar.FuelTankModelUniformBurn
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
model.lengthTank = 5;
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[83.33333333333334,0,0,0,83.33333333333334,0,0,0,125],
[41.66666666666667,0,0,0,41.66666666666667,0,0,0,62.5]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-8.3333333333334,0,0,0,-8.3333333333334,0,0,0,-12.5],
[-8.3333333333334,0,0,0,-8.3333333333334,0,0,0,-12.5]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank centrifugal burn unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'UniformBurnPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def tankModelCentrifugalBurn(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
model = fuelTank.cvar.FuelTankModelCentrifugalBurn
model.propMassInit = 10
model.r_TcT_TInit = [[1],[1],[1]]
model.radiusTankInit = 5
model.lengthTank = 5
trials = [(0, 0), (10, -1), (5, -1)] #mFuel, mDotFuel
true_ITankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[83.33333333333334,0,0,0,83.33333333333334,0,0,0,125],
[57.291666666666671,0,0,0,57.291666666666671,0,0,0,93.75]
]
true_IPrimeTankPntT_T = [
[0,0,0,0,0,0,0,0,0],
[-2.0833333333333335,0,0,0,-2.0833333333333335,0,0,0,0.0],
[-8.3333333333333339,0,0,0,-8.3333333333333339,0,0,0,-12.500000000000002]
]
true_r_TcT_T = [
[1,1,1],
[1,1,1],
[1,1,1]
]
true_rPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
true_rPPrime_TcT_T = [
[0,0,0],
[0,0,0],
[0,0,0]
]
accuracy = 1e-8
for idx, trial in enumerate(trials):
model.computeTankProps(trial[0])
model.computeTankPropDerivs(*trial)
dataITank = model.ITankPntT_T
dataITank = [dataITank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataITank, true_ITankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed ITankPntT_T test")
dataIPrimeTank = model.IPrimeTankPntT_T
dataIPrimeTank = [dataIPrimeTank[i][j] for i in range(3) for j in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataIPrimeTank, true_IPrimeTankPntT_T[idx],9,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed IPrimeTankPntT_T test")
dataR = model.r_TcT_T
dataR = [dataR[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataR, true_r_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed r_TcT_T test")
dataRPrime = model.rPrime_TcT_T
dataRPrime = [dataRPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPrime, true_rPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed rPrime_TcT_T test")
dataRPPrime = model.rPPrime_TcT_T
dataRPPrime = [dataRPPrime[i][0] for i in range(3)]
if not unitTestSupport.isArrayEqualRelative(dataRPPrime, true_rPPrime_TcT_T[idx],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: Fuel Tank uniform burn unit test failed rPPrime_TcT_T test")
if testFailCount == 0:
print("PASSED: " + " Fuel Tank constant volume unit test")
snippetName = 'CentrifugalPassFail'
passFail(testFailCount, snippetName)
assert testFailCount < 1, testMessages
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
def passFail(testFailCountInput, snippetName):
if testFailCountInput < 1:
textMsg = 'PASSED'
textColor = 'ForestGreen'
else:
textMsg = 'FAILED'
textColor = 'Red'
texSnippet = r'\textcolor{' + textColor + '}{'+ textMsg + '}'
unitTestSupport.writeTeXSnippet(snippetName, texSnippet, path)
if __name__ == "__main__":
# tankModelConstantVolume(True)
tankModelConstantDensity(True)
# tankModelEmptying(False)