# 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: rateMsgConverter
# Author: Hanspeter Schaub
# Creation Date: June 30, 2018
#
import inspect
import os
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
from Basilisk.fswAlgorithms import rateMsgConverter
from Basilisk.utilities import macros
from Basilisk.architecture import messaging
# 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_'.
# update "module" in this function name to reflect the module name
[docs]
def test_module(show_plots):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = rateMsgConvertFunction(show_plots)
assert testResults < 1, testMessage
def rateMsgConvertFunction(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 = rateMsgConverter.rateMsgConverter()
module.ModelTag = "rateMsgConverter"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, module)
# Create input message and size it because the regular creator of that message
# is not part of the test.
inputMessageData = messaging.IMUSensorBodyMsgPayload()
inputMessageData.AngVelBody = [-0.1, 0.2, -0.3]
inMsg = messaging.IMUSensorBodyMsg().write(inputMessageData)
module.imuRateInMsg.subscribeTo(inMsg)
# Setup logging on the test module output message so that we get all the writes to it
dataLog = module.navRateOutMsg.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()
# compare the module results to the truth values
accuracy = 1e-12
print("accuracy = " + str(accuracy))
# This pulls the actual data log from the simulation run.
moduleOutput = dataLog.omega_BN_B
# 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]
]
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, moduleOutput,
accuracy, "Output Vector",
testFailCount, testMessages)
moduleOutput = dataLog.sigma_BN
# 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]
]
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, moduleOutput,
accuracy, "Output MRP Vector",
testFailCount, testMessages)
moduleOutput = dataLog.vehSunPntBdy
# 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]
]
testFailCount, testMessages = unitTestSupport.compareArray(trueVector, moduleOutput,
accuracy, "Output sun heading Vector",
testFailCount, testMessages)
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
else:
print("Failed: " + 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_module(False)