Source code for test_reactionWheelStateEffector_ConfigureRWRequests


# 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.


#
#   Integrated Unit Test Script
#   Purpose:  Run a test of the reaction wheel sim module
#   Author:  John Alcorn
#   Creation Date:  November 14, 2016
#

import inspect
import os

import numpy as np
import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))

from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
from Basilisk.simulation import reactionWheelStateEffector
from Basilisk.architecture import messaging


# methods
def listStack(vec,simStopTime,unitProcRate):
    # returns a list duplicated the number of times needed to be consistent with module output
    return [vec] * int(simStopTime/(float(unitProcRate)/float(macros.sec2nano(1))))


def writeNewRWCmds(self, u_cmd, numRW):
    # create standard vector from SWIG template (see .i file)
    NewRWCmdsVec = messaging.RWCmdMsgPayloadVector(numRW)

    cmds = messaging.RWCmdMsgPayload()
    for i in range(0, numRW):
        cmds.u_cmd = u_cmd[i]
        NewRWCmdsVec[i] = cmds  # set the data
        self.NewRWCmds = NewRWCmdsVec  # set in module


def defaultReactionWheel():
    RW = messaging.RWConfigMsgPayload()
    RW.rWB_B = [[0.], [0.], [0.]]
    RW.gsHat_B = [[1.], [0.], [0.]]
    RW.w2Hat0_B = [[0.], [1.], [0.]]
    RW.w3Hat0_B = [[0.], [0.], [1.]]
    RW.RWModel = reactionWheelStateEffector.BalancedWheels
    return RW


def asEigen(v):
    out = []
    for i in range(0, len(v)):
        out.append([v[i]])
    return out

# 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


# 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("useFlag, testCase", [ (False, 'saturation'), (False, 'minimum'), (False, 'speedSaturation'), (False, 'powerSaturation') ]) # provide a unique test method name, starting with test_ def test_unitSimReactionWheel(show_plots, useFlag, testCase): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = unitSimReactionWheel(show_plots, useFlag, testCase) assert testResults < 1, testMessage
def unitSimReactionWheel(show_plots, useFlag, testCase): testFail = False testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages # configure module ReactionWheel = reactionWheelStateEffector.ReactionWheelStateEffector() ReactionWheel.ModelTag = "ReactionWheel" numRW = 2 RWs = [] for i in range(0, numRW): RWs.append(defaultReactionWheel()) expOut = dict() # expected output print(testCase) if testCase == 'basic': pass elif testCase == 'saturation': RWs.append(defaultReactionWheel()) RWs[0].u_max = 1. RWs[1].u_max = 2. RWs[2].u_max = 2. u_cmd = [-1.2, 1.5, 2.5] writeNewRWCmds(ReactionWheel, u_cmd, len(RWs)) expOut['u_current'] = [-1., 1.5, 2.] elif testCase == 'minimum': RWs[0].u_min = .1 RWs[1].u_min = .0 u_cmd = [-.09, 0.0001] writeNewRWCmds(ReactionWheel, u_cmd, len(RWs)) expOut['u_current'] = [0., 0.0001] elif testCase == 'speedSaturation': RWs.append(defaultReactionWheel()) RWs[0].Omega_max = 50. RWs[1].Omega_max = 50. RWs[2].Omega_max = 50. RWs[0].Omega = 49. RWs[1].Omega = 51. RWs[2].Omega = -52. u_cmd = [1.5, 1.5, 1.5] writeNewRWCmds(ReactionWheel, u_cmd, len(RWs)) expOut['u_current'] = [1.5, 0.0, 1.5] elif testCase == 'powerSaturation': RWs.append(defaultReactionWheel()) RWs[0].P_max = 1. RWs[1].P_max = 1. RWs[2].P_max = 1. RWs[0].Omega = 50. RWs[1].Omega = 50. RWs[2].Omega = 50. u_cmd = [0.01, -0.04, 0.04] writeNewRWCmds(ReactionWheel, u_cmd, len(RWs)) expOut['u_current'] = [0.01, -0.02, 0.02] else: raise Exception('invalid test case') for i in range(0, len(RWs)): ReactionWheel.addReactionWheel(RWs[i]) ReactionWheel.ConfigureRWRequests(0.) if 'accuracy' not in vars(): accuracy = 1e-10 for outputName in list(expOut.keys()): for i in range(0, len(RWs)): if expOut[outputName][i] != ReactionWheel.ReactionWheelData[i].u_current: print("expected: " + str(expOut[outputName][i])) print("got :" + str(ReactionWheel.ReactionWheelData[i].u_current)) testFail = 1 break if testFail: break if testFail: testFailCount += 1 testMessages.append("FAILED: " + ReactionWheel.ModelTag + " Module failed " + outputName + " unit test") np.set_printoptions(precision=16) # print out success message if no errors were found if testFailCount == 0: print("PASSED ") colorText = 'ForestGreen' passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' passedText = r'\textcolor{' + colorText + '}{' + "FAILED" + '}' # Write some snippets for AutoTex snippetName = testCase + 'PassFail' 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 unit test script can be run as a # standalone python script if __name__ == "__main__": test_unitSimReactionWheel( False, # show_plots False, # useFlag 'speedSaturation' # testCase )