Source code for test_extForceTorque


# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
#   Integrated Unit Test Script
#   Purpose:  Run the external ForceTorque dynEffector by specifying the forces and torques
#             in either messages and/or direct array input
#   Author:  Hanspeter Schaub
#   Creation Date:  Oct. 30, 2016
#

import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import extForceTorque
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(True)

# The following 'parametrize' function decorator provides the parameters and expected results for each
#   of the multiple test runs for this test.
# 0 - no external force/torque is set
# 1 - external force/torque is set directly from python as an Eigen Vector
# 2 - external force/torque is set through input message
# 3 - external force/torque is set through both a Class array and input message
caseList = []
for i in range(0, 4):
    for j in range(0, 4):
        for k in range(0, 4):
            caseList.append([i,j,k])
[docs] @pytest.mark.parametrize("torqueInput, forceNInput, forceBInput", caseList) # provide a unique test method name, starting with test_ def test_unitDynamicsModes(show_plots, torqueInput, forceNInput, forceBInput): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = unitDynamicsModesTestFunction( show_plots, torqueInput, forceNInput, forceBInput) assert testResults < 1, testMessage
def unitDynamicsModesTestFunction(show_plots, torqueInput, forceNInput, forceBInput): testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages unitTaskName = "unitTask" unitProcessName = "testProcess" scSim = SimulationBaseClass.SimBaseClass() # # create the dynamics simulation process # dynProcess = scSim.CreateNewProcess(unitProcessName) # create the dynamics task and specify the integration update time dynProcess.addTask(scSim.CreateNewTask(unitTaskName, macros.sec2nano(0.1))) extFTObject = extForceTorque.ExtForceTorque() extFTObject.ModelTag = "externalDisturbance" if torqueInput==1 or torqueInput==3: extFTObject.extTorquePntB_B = [[-1], [1],[ -1]] if torqueInput==2 or torqueInput==3: msgData = messaging.CmdTorqueBodyMsgPayload() msgData.torqueRequestBody = [-1.0, 1.0, -1.0] cmdTorqueMsg = messaging.CmdTorqueBodyMsg().write(msgData) extFTObject.cmdTorqueInMsg.subscribeTo(cmdTorqueMsg) if forceNInput==1 or forceNInput==3: extFTObject.extForce_N = [[-10.], [-5.], [5.]] if forceNInput==2 or forceNInput==3: msgData = messaging.CmdForceInertialMsgPayload() msgData.forceRequestInertial = [-10.0, -5.0, 5.0] cmdForceInertialMsg = messaging.CmdForceInertialMsg().write(msgData) extFTObject.cmdForceInertialInMsg.subscribeTo(cmdForceInertialMsg) if forceBInput==1 or forceBInput==3: extFTObject.extForce_B = [[10.], [20.], [30.]] if forceBInput==2 or forceBInput==3: msgData = messaging.CmdForceBodyMsgPayload() msgData.forceRequestBody = [10.0, 20.0, 30.0] cmdForceBodyMsg = messaging.CmdForceBodyMsg().write(msgData) extFTObject.cmdForceBodyInMsg.subscribeTo(cmdForceBodyMsg) scSim.AddModelToTask(unitTaskName, extFTObject) # # Setup data logging # extFTObjectLog = extFTObject.logger(["forceExternal_N", "forceExternal_B", "torqueExternalPntB_B"]) scSim.AddModelToTask(unitTaskName, extFTObjectLog) # # initialize the simulation # scSim.InitializeSimulation() scSim.ConfigureStopTime(macros.sec2nano(0.001)) # # run the simulation # scSim.ExecuteSimulation() extFTObject.computeForceTorque(scSim.TotalSim.CurrentNanos, macros.sec2nano(0.1)) scSim.TotalSim.SingleStepProcesses() # log the data dataForceN = [extFTObjectLog.forceExternal_N[-1]] dataForceB = [extFTObjectLog.forceExternal_B[-1]] dataTorque = [extFTObjectLog.torqueExternalPntB_B[-1]] np.set_printoptions(precision=16) # # set true position information # if torqueInput == 3: trueTorque_B = [ [-2., 2., -2.] ] elif torqueInput>0: trueTorque_B = [ [-1., 1., -1.] ] else: trueTorque_B = [ [0, 0, 0] ] if forceBInput == 3: trueForceB = [ [20, 40, 60] ] elif forceBInput>0: trueForceB = [ [10, 20, 30] ] else: trueForceB = [ [0, 0, 0] ] if forceNInput == 3: trueForceN = [ [-20., -10., 10.] ] elif forceNInput > 0: trueForceN = [ [-10., -5., 5.] ] else: trueForceN = [ [0, 0, 0] ] # compare the module results to the truth values accuracy = 1e-12 if (len(trueTorque_B) != len(dataTorque)): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed torque unit test (unequal array sizes)\n") else: for i in range(0,len(trueTorque_B)): # check a vector values if not unitTestSupport.isArrayEqual(dataTorque[i],trueTorque_B[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed torque unit test at t=" + str(dataTorque[i,0]*macros.NANO2SEC) + "sec\n") if (len(trueForceN) != len(dataForceN)): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed force_N unit test (unequal array sizes)\n") else: for i in range(0,len(trueForceN)): # check a vector values if not unitTestSupport.isArrayEqual(dataForceN[i],trueForceN[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed force_N unit test at t=" + str(dataForceN[i,0]*macros.NANO2SEC) + "sec\n") if (len(trueForceB) != len(dataForceB)): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed force_B unit test (unequal array sizes)\n") else: for i in range(0, len(trueForceB)): # check a vector values if not unitTestSupport.isArrayEqual(dataForceB[i], trueForceB[i], 3, accuracy): testFailCount += 1 testMessages.append("FAILED: ExtForceTorque failed force_B unit test at t="+str( dataForceB[i, 0]*macros.NANO2SEC)+"sec\n") # print out success message if no error were found if testFailCount == 0: print("PASSED ") # 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 unit test scrip can be run as a # stand-along python script # if __name__ == "__main__": test_unitDynamicsModes(False, # show_plots 1, # torqueInput 0, # forceNInput 0 # forceBInput )