#
# 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.
#
#
# Unit Test Script
# Module Name: thrMomentumManagement
# Author: Hanspeter Schaub
# Creation Date: August 18, 2016
#
import inspect
import os
import pytest
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.fswAlgorithms import thrMomentumManagement # import the module that is to be tested
from Basilisk.utilities import macros
from Basilisk.utilities import fswSetupRW
from Basilisk.architecture import messaging
# 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_'.
# The following 'parametrize' function decorator provides the parameters and expected results for each
# of the multiple test runs for this test.
[docs]@pytest.mark.parametrize("hsMinCheck", [
(0),
(1)
])
# update "module" in this function name to reflect the module name
def test_thrMomentumManagement(show_plots, hsMinCheck):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = thrMomentumManagementTestFunction(show_plots, hsMinCheck)
assert testResults < 1, testMessage
def thrMomentumManagementTestFunction(show_plots, hsMinCheck):
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)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = thrMomentumManagement.thrMomentumManagementConfig()
moduleWrap = unitTestSim.setModelDataWrap(moduleConfig)
moduleWrap.ModelTag = "thrMomentumManagement"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
# Initialize the test module configuration data
if hsMinCheck:
moduleConfig.hs_min = 1000./6000.*100. # Nms
else:
moduleConfig.hs_min = 100./6000.*100. # Nms
# wheelSpeeds Message
rwSpeedMessage = messaging.RWSpeedMsgPayload()
rwSpeedMessage.wheelSpeeds = [10.0, -25.0, 50.0, 100.]
rwSpeedInMsg = messaging.RWSpeedMsg().write(rwSpeedMessage)
# wheelConfigData Message
fswSetupRW.clearSetup()
Js = 0.1
fswSetupRW.create([1.0, 0.0, 0.0], Js)
fswSetupRW.create([0.0, 1.0, 0.0], Js)
fswSetupRW.create([0.0, 0.0, 1.0], Js)
fswSetupRW.create([0.5773502691896258, 0.5773502691896258, 0.5773502691896258], Js)
rwConfigInMsg = fswSetupRW.writeConfigMessage()
# Setup logging on the test module output message so that we get all the writes to it
dataLog = moduleConfig.deltaHOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
# setup message connections
moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
moduleConfig.rwConfigDataInMsg.subscribeTo(rwConfigInMsg)
# 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(0.5)) # seconds to stop simulation
# Begin the simulation time run set above
unitTestSim.ExecuteSimulation()
# set the filtered output truth states
if hsMinCheck == 1:
trueVector = [
[0.0, 0.0, 0.0]
]*2
else:
trueVector = [
[-5.914369484146579, -2.858300248464629, -9.407020039211664]
]*2
# compare the module results to the truth values
accuracy = 1e-12
unitTestSupport.writeTeXSnippet("toleranceValue", str(accuracy), path)
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.torqueRequestBody, accuracy,
"torqueRequestBody", testFailCount, testMessages)
snippetName = "passFail" + str(hsMinCheck)
if testFailCount == 0:
colorText = 'ForestGreen'
print("PASSED: " + moduleWrap.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
print("Failed: " + moduleWrap.ModelTag)
passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}'
unitTestSupport.writeTeXSnippet(snippetName, passedText, path)
# each test method requires a single assert method to be called
# this check below just makes sure no sub-test failures were found
return [testFailCount, ''.join(testMessages)]
#
# This statement below ensures that the unitTestScript can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_thrMomentumManagement( # update "module" in function name
True,
0 # hsMinCheck
)