Source code for test_extPulsedTorque


# 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
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.


#
#   Integrated Unit Test Script
#   Purpose:  Run the external pulsed torque disturance dynEffector
#   Author:  Hanspeter Schaub
#   Creation Date:  March 26, 2017
#

import numpy as np
import pytest
from Basilisk.simulation import ExtPulsedTorque
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)


[docs] @pytest.mark.parametrize("offCount", [ (3) ,(0) ]) # provide a unique test method name, starting with test_ def test_module(show_plots, offCount): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = run( show_plots, offCount) assert testResults < 1, testMessage
def run(show_plots, offCount): 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))) testObject = ExtPulsedTorque.ExtPulsedTorque() testObject.ModelTag = "externalPulsedTorque" # These don't do anything. They are here to confirm they don't do anything testObject.readInputMessages() testObject.writeOutputMessages(0) testObject.pulsedTorqueExternalPntB_B = [[-1], [1],[ -1]] testObject.countOnPulse = 1 testObject.countOff = offCount scSim.AddModelToTask(unitTaskName, testObject) # # Setup data logging # testObjectLog = testObject.logger("torqueExternalPntB_B") scSim.AddModelToTask(unitTaskName, testObjectLog) # # initialize the simulation # scSim.InitializeSimulation() # # run the simulation # DT = 0.1 testProcessRate = macros.sec2nano(DT) for tStop in range(1, 11): scSim.ConfigureStopTime(macros.sec2nano(tStop*DT)) scSim.ExecuteSimulation() testObject.computeForceTorque(scSim.TotalSim.CurrentNanos, testProcessRate) scSim.TotalSim.SingleStepProcesses() # log the data dataTorque = testObjectLog.torqueExternalPntB_B[1:,:] np.set_printoptions(precision=16) # # set true position information # if (offCount == 3): trueTorque_B = [ [0.0, 0.0, 0.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [0.0, 0.0, 0.0] , [0.0, 0.0, 0.0] , [0.0, 0.0, 0.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [0.0, 0.0, 0.0] , [0.0, 0.0, 0.0] , [0.0, 0.0, 0.0] ] if (offCount == 0): trueTorque_B = [ [0.0, 0.0, 0.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] , [-1.0, 1.0, -1.0] , [1.0, -1.0, 1.0] ] # compare the module results to the truth values accuracy = 1e-12 if (len(trueTorque_B) != len(dataTorque)): testFailCount += 1 testMessages.append("FAILED: ExtPulsedTorque 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: ExtPulsedTorque failed torque unit test at t=" + str(dataTorque[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_module(False, # show_plots 3 # offCount )