Source code for test_mtbMomentumManagementSimple

#
#  ISC License
#
#  Copyright (c) 2021, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
#   Unit Test Script
#   Module Name:        mtbMomentumManagement
#   Author:             Henry Macanas
#   Creation Date:      07 07, 2021
#
# import packages as needed e.g. 'numpy', 'ctypes, 'math' etc.
import numpy as np
from Basilisk.architecture import bskLogging
from Basilisk.architecture import messaging  # import the message definitions
from Basilisk.fswAlgorithms import mtbMomentumManagementSimple  # import the module that is to be tested
# Import all of the modules that we are going to be called 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


# 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_mtbMomentumManagementSimple(): # update "module" in this function name to reflect the module name r""" **Validation Test Description** This script tests that the module returns expected non-zero and zero outputs. **Description of Variables Being Tested** The output torque message is being recorded and the following variable is being checked. - ``torqueRequestBody`` """ # each test method requires a single assert method to be called # pass on the testPlotFixture so that the main test function may set the DataStore attributes [testResults, testMessage] = mtbMomentumManagementSimpleTestFunction() assert testResults < 1, testMessage
def mtbMomentumManagementSimpleTestFunction(): 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) bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING) # Create a sim module as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # Create test thread testProcessRate = macros.sec2nano(0.01) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Construct algorithm and associated C++ container module = mtbMomentumManagementSimple.mtbMomentumManagementSimple() module.Kp = 0.003 module.ModelTag = "mtbMomentumManagementSimple" # update python name of test module unitTestSim.AddModelToTask(unitTaskName, module) # wheelConfigData message (column major format) rwConfigParams = messaging.RWArrayConfigMsgPayload() beta = 45. * np.pi / 180. rwConfigParams.GsMatrix_B = [0., np.cos(beta), np.sin(beta), 0., np.sin(beta), -np.cos(beta), np.cos(beta), -np.sin(beta), 0., -np.cos(beta), -np.sin(beta), 0.] rwConfigParams.JsList = [0.002, 0.002, 0.002, 0.002] rwConfigParams.numRW = 4 rwParamsInMsg = messaging.RWArrayConfigMsg().write(rwConfigParams) # rwSpeeds message rwSpeedsInMsgContainer = messaging.RWSpeedMsgPayload() rwSpeedsInMsgContainer.wheelSpeeds = [100., 200., 300., 400.] rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer) # Setup logging on the test module output message so that we get all the writes to it resultTauMtbRequestOutMsg = module.tauMtbRequestOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, resultTauMtbRequestOutMsg) # connect the message interfaces module.rwParamsInMsg.subscribeTo(rwParamsInMsg) module.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg) # 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(0.0)) # seconds to stop simulation accuracy = 1E-8 ''' TEST 1: Check that tauMtbRequestOutMsg is non-zero when the wheel speeds are non-zero. ''' unitTestSim.InitializeSimulation() unitTestSim.ExecuteSimulation() Gs = np.array([ [0., 0., np.cos(beta), -np.cos(beta)], [np.cos(beta), np.sin(beta), -np.sin(beta), -np.sin(beta)], [np.sin(beta), -np.cos(beta), 0., 0.]]) wheelSpeeds = np.array(rwSpeedsInMsgContainer.wheelSpeeds[0:4]) hWheels_W = wheelSpeeds * rwConfigParams.JsList[0] hWheels_B = Gs @ hWheels_W tauExpected = - module.Kp * hWheels_B testFailCount, testMessages = unitTestSupport.compareVector(tauExpected, resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3], accuracy, "tauMtbRequestOutMsg", testFailCount, testMessages, ExpectedResult=1) ''' TEST 2: Check that tauMtbRequestOutMsg is the zero vector when the wheels speeds are zero. ''' rwSpeedsInMsgContainer.wheelSpeeds = [0., 0., 0., 0.] rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer) module.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg) unitTestSim.InitializeSimulation() unitTestSim.ExecuteSimulation() testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.], resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3], accuracy, "tauMtbRequestOutMsg", testFailCount, testMessages, ExpectedResult=1) ''' TEST 3: Check that tauMtbRequestOutMsg is the zero vector when the wheels speeds are non-zero and the feedback gain is zero. ''' rwSpeedsInMsgContainer.wheelSpeeds = [100., 200., 300., 400.] rwSpeedsInMsg = messaging.RWSpeedMsg().write(rwSpeedsInMsgContainer) module.rwSpeedsInMsg.subscribeTo(rwSpeedsInMsg) module.Kp = 0. unitTestSim.InitializeSimulation() unitTestSim.ExecuteSimulation() testFailCount, testMessages = unitTestSupport.compareVector([0., 0., 0.], resultTauMtbRequestOutMsg.torqueRequestBody[0][0:3], accuracy, "tauMtbRequestOutMsg", testFailCount, testMessages, ExpectedResult=1) # reset the module to test this functionality module.Reset(0) # this module reset function needs a time input (in NanoSeconds) print("Accuracy used: " + str(accuracy)) if testFailCount == 0: print("PASSED: mtbMomentumManagementSimple unit test") else: print("Failed: mtbMomentumManagementSimple unit test") return [testFailCount, ''.join(testMessages)] # # This statement below ensures that the unitTestScript can be run as a # stand-along python script # if __name__ == "__main__": test_mtbMomentumManagementSimple()