Source code for test_inertial3D

#
#  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.
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#  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:        inertial3D
#   Author:             Mar Cols
#   Creation Date:      January 6, 2015
#

import inspect
import os

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 inertial3D                   # import the module that is to be tested
from Basilisk.utilities import macros


# 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_inertial3D(show_plots): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = subModuleTestFunction(show_plots) assert testResults < 1, testMessage
def subModuleTestFunction(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) # 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 = inertial3D.inertial3D() module.ModelTag = "inertial3D" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) vector = [0.1, 0.2, 0.3] module.sigma_R0N = vector # Setup logging on the test module output message so that we get all the writes to it dataLog = module.attRefOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) # 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.)) # seconds to stop simulation # Begin the simulation time run set above 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) # # check sigma_BR # moduleOutput = dataLog.sigma_RN # set the filtered output truth states trueVector = [ [0.1, 0.2, 0.3], [0.1, 0.2, 0.3], [0.1, 0.2, 0.3] ] # compare the module results to the truth values accuracy = 1e-12 for i in range(0,len(trueVector)): # check a vector values if not unitTestSupport.isArrayEqual(moduleOutput[i],trueVector[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed sigma_RN unit test at t=" + str(moduleOutput[i,0]*macros.NANO2SEC) + "sec\n") # # check omega_RN_N # moduleOutput = dataLog.omega_RN_N # set the filtered output truth states trueVector = [ [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0] ] # compare the module results to the truth values accuracy = 1e-12 unitTestSupport.writeTeXSnippet("toleranceValue", str(accuracy), path) for i in range(0,len(trueVector)): # check a vector values if not unitTestSupport.isArrayEqual(moduleOutput[i],trueVector[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed omega_RN_N unit test at t=" + str(moduleOutput[i,0]*macros.NANO2SEC) + "sec\n") # # check domega_RN_B # moduleOutput = dataLog.domega_RN_N # set the filtered output truth states trueVector = [ [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0] ] # compare the module results to the truth values accuracy = 1e-12 for i in range(0,len(trueVector)): # check a vector values if not unitTestSupport.isArrayEqual(moduleOutput[i],trueVector[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: " + module.ModelTag + " Module failed domega_RN_N unit test at t=" + str(moduleOutput[i,0]*macros.NANO2SEC) + "sec\n") snippentName = "passFail" if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' print("Failed: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippentName, 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_inertial3D(False)