#
# 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.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# 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: lowPassFilterTorqueCommand
# Author: Hanspeter Schaub
# Creation Date: December 9, 2015
#
import math
import matplotlib.pyplot as plt
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import lowPassFilterTorqueCommand # import the module that is to be tested
# Import all of the modules that we are going to call 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
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
# 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_lowPassFilterControlTorque(show_plots): # update "subModule" in this function name to reflect the module name
"""Module Unit Test"""
[testResults, testMessage] = subModuleTestFunction(show_plots)
assert testResults < 1, testMessage
def subModuleTestFunction(show_plots):
# zero all unit test result gather variables
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()
# this create a fresh and consistent simulation environment for each test run
# Create test thread
testProcessRate = macros.sec2nano(0.5) # process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
module = lowPassFilterTorqueCommand.lowPassFilterTorqueCommand()
module.ModelTag = "lowPassFilterTorqueCommand" # python name of test module.
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, module)
# Initialize the test module configuration data
module.wc = 0.1*math.pi*2 # [rad/s] continous time critical filter frequency
module.h = 0.5 # [s] filter time step
module.reset = 1 # flag to initialize module states on first run
# Create input message and size it because the regular creator of that message
# is not part of the test.
inputMessageData = messaging.CmdTorqueBodyMsgPayload()
inputMessageData.torqueRequestBody = [1.0, -0.5, 0.7]
inMsg = messaging.CmdTorqueBodyMsg().write(inputMessageData)
# setup msg connection
module.cmdTorqueInMsg.subscribeTo(inMsg)
# Setup logging on the test module output message so that we get all the writes to it
outLog = module.cmdTorqueOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, outLog)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Step the simulation to 3*process rate so 4 total steps including zero
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
module.Reset(1) # this module reset function needs a time input (in NanoSeconds)
unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
LrF = outLog.torqueRequestBody
# set the filtered output truth states
LrFtrue = [
[0.2734574719946391,-0.1367287359973196,0.1914202303962474],
[0.4721359549995794,-0.2360679774997897,0.3304951684997055],
[0.6164843223022588,-0.3082421611511294,0.4315390256115811],
[0.2734574719946391,-0.1367287359973196,0.1914202303962474],
[0.4721359549995794,-0.2360679774997897,0.3304951684997055],
]
# compare the module and truth results
for i in range(0,len(LrFtrue)):
if not unitTestSupport.isArrayEqual(LrF[i], LrFtrue[i], 3, 1e-12):
testFailCount += 1
testMessages.append("FAILED: " + module.ModelTag + " Module failed LrFtrue unit test at t=" + str(LrF[i,0]*unitTestSupport.NANO2SEC) + "sec\n")
# If the argument provided at commandline "--show_plots" evaluates as true,
# plot all figures
if show_plots:
plt.show()
plt.close('all')
# 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_lowPassFilterControlTorque(False)