Source code for test_cModuleTemplate

#
#  ISC License
#
#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
#   Unit Test Script
#   Module Name:        cModuleTemplate
#   Author:             (First Name) (Last Name)
#   Creation Date:      Month Day, Year
#

# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.

import matplotlib.pyplot as plt
import numpy as np
from Basilisk.architecture import bskLogging
from Basilisk.architecture import messaging  # import the message definitions
from Basilisk.moduleTemplates import cModuleTemplate  # 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_module(show_plots): # update "module" in this function name to reflect the module name r""" **Validation Test Description** Compose a general description of what is being tested in this unit test script. Add enough information so the reader understands the purpose and limitations of the test. As this test script is not parameterized, only one version of this script will run. **Description of Variables Being Tested** Here discuss what parameters are being checked. For example, in this file we are checking the values of the variables - ``dummy`` - ``dataVector[3]`` **General Documentation Comments** If the script generates figures, these figures will be automatically pulled from ``matplotlib`` and included below. Make sure that the figures have appropriate axes labels and a figure title if needed. The figures content should be understood by just looking at the figure. At the end of the script where a print statement says that the script passes, also add a print statement saying what accuracy tolerance(s) were used. Don't use any of the AutoTeX methods we used to use as the goal is to have all the validation reporting contained within this HTML ``pytest`` report. """ # 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] = fswModuleTestFunction(show_plots) assert testResults < 1, testMessage
def fswModuleTestFunction(show_plots): 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(0.5) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Construct algorithm and associated C++ container module = cModuleTemplate.cModuleTemplate() module.ModelTag = "cModuleTemplate" # update python name of test module # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) # Initialize the test module configuration data module.dummy = 1 # update module parameter with required values module.dumVector = [1., 2., 3.] # Create input message and size it because the regular creator of that message # is not part of the test. inputMessageData = messaging.CModuleTemplateMsgPayload() # Create a structure for the input message inputMessageData.dataVector = [1.0, -0.5, 0.7] # Set up a list as a 3-vector inputMsg = messaging.CModuleTemplateMsg().write(inputMessageData) # Setup logging on the test module output message so that we get all the writes to it dataLog = module.dataOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) variableName = "dummy" # name the module variable to be logged moduleLog = module.logger(variableName) unitTestSim.AddModelToTask(unitTaskName, moduleLog) # connect the message interfaces module.dataInMsg.subscribeTo(inputMsg) # 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(1.0)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # reset the module to test this functionality module.Reset(1) # this module reset function needs a time input (in NanoSeconds) # run the module again for an additional 1.0 seconds unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. # Note that range(3) will provide [0, 1, 2] Those are the elements you get from the vector (all of them) variableState = unitTestSupport.addTimeColumn(moduleLog.times(), getattr(moduleLog, variableName)) # set the filtered output truth states trueVector = [ [2.0, -0.5, 0.7], [3.0, -0.5, 0.7], [4.0, -0.5, 0.7], [2.0, -0.5, 0.7], [3.0, -0.5, 0.7] ] # compare the module results to the truth values accuracy = 1e-12 dummyTrue = [1.0, 2.0, 3.0, 1.0, 2.0] variableStateNoTime = np.transpose(variableState)[1] for i in range(0, len(trueVector)): # check a vector values if not unitTestSupport.isArrayEqual(dataLog.dataVector[i], trueVector[i], 3, accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed dataVector" + " unit test at t=" + str(dataLog.times()[i]*macros.NANO2SEC) + "sec\n") # check a scalar double value if not unitTestSupport.isDoubleEqual(variableStateNoTime[i], dummyTrue[i], accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed " + variableName + " unit test at t=" + str(variableState[i, 0]*macros.NANO2SEC) + "sec\n") # Note that we can continue to step the simulation however we feel like. # Just because we stop and query data does not mean everything has to stop for good unitTestSim.ConfigureStopTime(macros.sec2nano(2.6)) # run an additional 0.6 seconds unitTestSim.ExecuteSimulation() # print out success message if no error were found if testFailCount == 0: print("PASSED: " + module.ModelTag) print("This test uses an accuracy value of " + str(accuracy)) else: print("FAILED " + module.ModelTag) print(testMessages) plt.close("all") # close all prior figures so we start with a clean slate plt.figure(1) plt.plot(variableState[:, 0] * macros.NANO2SEC, variableState[:, 1]) plt.xlabel('Time [s]') plt.ylabel('Variable Description [unit]') plt.suptitle('Title of Sample Plot') plt.figure(2) for idx in range(3): plt.plot(dataLog.times() * macros.NANO2MIN, dataLog.dataVector[:, idx], color=unitTestSupport.getLineColor(idx, 3), label=r'$s_' + str(idx) + '$') plt.legend(loc='lower right') plt.xlabel('Time [min]') plt.ylabel(r'Msg Output Vector States') if show_plots: plt.show() # 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__": fswModuleTestFunction( True # show_plots )