Source code for test_motorVoltageInterface


# 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:        motorVoltageInterface
#   Author:             João Vaz Carneiro
#   Creation Date:      February 13, 2021
#

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
from Basilisk.simulation import motorVoltageInterface           # import the module that is to be tested
from Basilisk.utilities import macros
from Basilisk.architecture import messaging


def addTimeColumn(time, data):
    return np.transpose(np.vstack([[time], np.transpose(data)]))

# 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.
[docs] @pytest.mark.parametrize("voltage", [ (5.0) ,(-7.5) ,(0.0) ]) # update "module" in this function name to reflect the module name def test_module(show_plots, voltage): r""" **Test Parameters** Three base voltages are tested where :math:`V_0\in(5.0,-7.5,0.0)`. The input voltages are then setup as .. math:: {\bf V}=V_0 \begin{bmatrix} 1\\ 1\\ 1 \end{bmatrix} + \begin{bmatrix} 0.0\\ 1.0\\ 1.5 \end{bmatrix} Other inputs to the module are: .. code-block:: python :linenos: testModule.voltage2TorqueGain =[ 1.32, 0.99, 1.31] # [Nm/V] conversion gain testModule.scaleFactor =[ 1.01, 1.00, 1.02] #[unitless] scale factor testModule.bias =[0.01, 0.02, 0.04] # [Nm] bias """ # each test method requires a single assert method to be called [testResults, testMessage] = run(show_plots, voltage) assert testResults < 1, testMessage
def run(show_plots, voltage): 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 testModule = motorVoltageInterface.MotorVoltageInterface() testModule.ModelTag = "motorVoltageInterface" # set module parameters(s) testModule.setGains(np.array([1.32, 0.99, 1.31])) # [Nm/V] conversion gain testModule.setScaleFactors(np.array([1.01, 1.00, 1.02])) # [ul] error scale factor testModule.setBiases(np.array([0.01, 0.02, 0.04])) # [Nm] Torque bias from converter output # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, testModule) # Create input message and size it because the regular creator of that message # is not part of the test. voltageData = messaging.ArrayMotorVoltageMsgPayload() voltageData.voltage = [voltage, voltage+1.0, voltage+1.5] voltageMsg = messaging.ArrayMotorVoltageMsg().write(voltageData) testModule.motorVoltageInMsg.subscribeTo(voltageMsg) # Setup logging on the test module output message so that we get all the writes to it dataLog = testModule.motorTorqueOutMsg.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(1.0)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. moduleOutput = dataLog.motorTorque[:, :3] # set truth states voltageTrue = np.array([1.0, 1.0, 1.0])*voltage + np.array([0.0, 1.0, 1.5]) trueVector = [ voltageTrue[0] * testModule.voltage2TorqueGain[0][0]*testModule.scaleFactor[0][0] + testModule.bias[0][0], voltageTrue[1] * testModule.voltage2TorqueGain[1][0]*testModule.scaleFactor[1][0] + testModule.bias[1][0], voltageTrue[2] * testModule.voltage2TorqueGain[2][0]*testModule.scaleFactor[2][0] + testModule.bias[2][0] ] trueVector = np.array([trueVector, trueVector, trueVector]) # compare the module results to the truth values accuracy = 1e-12 testFailCount, testMessages = unitTestSupport.compareArray(trueVector, moduleOutput, accuracy, "Output Vector", testFailCount, testMessages) moduleOutput = addTimeColumn(dataLog.times(), moduleOutput) resultTable = moduleOutput resultTable[:, 0] = macros.NANO2SEC * resultTable[:, 0] diff = np.delete(moduleOutput, 0, 1) - trueVector resultTable = np.insert(resultTable, list(range(2, 2 + len(diff.transpose()))), diff, axis=1) tableName = "baseVoltage" + str(voltage) tableHeaders = ["time [s]", "$u_{s,1}$ (Nm)", "Error", "$u_{s,2}$ (Nm)", "Error", "$u_{u,3}$ (Nm)", "Error"] caption = 'RW motoor torque output for Base Voltaget = ' + str(voltage) + 'V.' unitTestSupport.writeTableLaTeX( tableName, tableHeaders, caption, resultTable, path) # print out success message if no error were found snippetName = "passFail" + '{:1.1f}'.format(voltage) if testFailCount == 0: colorText = "ForestGreen" print("PASSED: " + testModule.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = "Red" passedText = r'\textcolor{' + colorText + '}{' + "FAILED" + '}' unitTestSupport.writeTeXSnippet(snippetName, 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_module( # update "module" in function name False, 5.0, # param1 value )