Source code for test_cModuleTemplateParametrized

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

import inspect
import os

import numpy as np
import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)







# 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
import matplotlib.pyplot as plt
from Basilisk.moduleTemplates import cModuleTemplate                # import the module that is to be tested
from Basilisk.utilities import macros
from Basilisk.architecture import messaging                      # import the message definitions
from Basilisk.architecture import bskLogging


# 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.  Note that the order in that you add the parametrize method
# matters for the documentation in that it impacts the order in which the test arguments are shown.
# The first parametrize arguments are shown last in the pytest argument list
[docs] @pytest.mark.parametrize("accuracy", [1e-12]) @pytest.mark.parametrize("param1, param2", [ (1, 1) ,(1, 3) ,(2, 2) ]) # update "module" in this function name to reflect the module name def test_module(show_plots, param1, param2, accuracy): 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. Note that the ``pytest`` HTML report will list each parameterized test case individually. This way it is clear what set of parameters passed. But, this also means that this doc-string content will be copied into each report so each test description is individually complete. If there is a discussion you want to include that is specific to the a parameterized test case, then include this at the end of the file with a conditional print() statement that only executes for that particular parameterized test. **Test Parameters** As this is a parameterized unit test, note that the test case parameters values are shown automatically in the pytest HTML report. This sample script has the parameters param1 and param 2. Provide a description of what each parameter controls. This is a convenient location to include the accuracy variable used in the validation test. Args: param1 (int): Dummy test parameter for this parameterized unit test param2 (int): Dummy test parameter for this parameterized unit test accuracy (float): absolute accuracy value used in the validation tests **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]`` **Figure Discussion** If the test script produces figures you might include a brief discussion on what the simulation results show. Discuss why these results validate the operation of the BSK module. **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. 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 [testResults, testMessage] = fswModuleTestFunction(show_plots, param1, param2, accuracy) assert testResults < 1, testMessage
def fswModuleTestFunction(show_plots, param1, param2, accuracy): 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 = [param1, param2, 0.7] # Set up a list as a 3-vector inputMsg = messaging.CModuleTemplateMsg().write(inputMessageData) module.dataInMsg.subscribeTo(inputMsg) # 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) # 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 BSK module internal varialbe log from the simulation run. # Note, this should only be done for debugging as it is a slow process variableState = unitTestSupport.addTimeColumn(moduleLog.times(), getattr(moduleLog, variableName)) # set the filtered output truth states trueVector = [] if param1 == 1: if param2 == 1: trueVector = [ [2.0, 1.0, 0.7], [3.0, 1.0, 0.7], [4.0, 1.0, 0.7], [2.0, 1.0, 0.7], [3.0, 1.0, 0.7] ] else: if param2 == 3: trueVector = [ [2.0, 3.0, 0.7], [3.0, 3.0, 0.7], [4.0, 3.0, 0.7], [2.0, 3.0, 0.7], [3.0, 3.0, 0.7] ] else: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed with unsupported input parameters") else: if param1 == 2: trueVector = [ [3.0, 2.0, 0.7], [4.0, 2.0, 0.7], [5.0, 2.0, 0.7], [3.0, 2.0, 0.7], [4.0, 2.0, 0.7] ] else: testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed with unsupported input parameters") # compare the module results to the truth values dummyTrue = [1.0, 2.0, 3.0, 1.0, 2.0] testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.dataVector, accuracy, "Output Vector", testFailCount, testMessages) variableState = np.transpose(variableState)[1] testFailCount, testMessages = unitTestSupport.compareDoubleArray(dummyTrue, variableState, accuracy, "dummy parameter", testFailCount, testMessages) # 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(0.6)) # run an additional 0.6 seconds unitTestSim.ExecuteSimulation() # If the argument provided at commandline "--show_plots" evaluates as true, # plot all figures # plot a sample variable. plt.close("all") # close all prior figures so we start with a clean slate plt.figure(1) plt.plot(dataLog.times()*macros.NANO2SEC, variableState, label='Case param1 = ' + str(param1) + ' and param2 = ' + str(param2)) plt.legend(loc='upper left') 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() # print out success message if no error were found if testFailCount == 0: print("PASSED: " + module.ModelTag) # 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_module( # update "module" in function name False, 1, # param1 value 1, # param2 value 1e-12 # accuracy )