#
# Unit Test Script
# Module Name: rwConfigData
# Creation Date: October 5, 2018
#
import numpy as np
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import rwConfigData
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
[docs]
def test_rwConfigData():
"""Module Unit Test"""
[testResults, testMessage] = rwConfigDataTestFunction()
assert testResults < 1, testMessage
[docs]
def rwConfigDataTestFunction():
""" Test the rwConfigData module """
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 is needed if multiple unit test scripts are run
# This create a fresh and consistent simulation environment for each test run
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Add a new task to the process
# Construct the cssComm module
module = rwConfigData.rwConfigData()
# Create the messages
rwConstellationFswMsg = messaging.RWConstellationMsgPayload()
numRW = 3
rwConstellationFswMsg.numRW = 3
gsHat_initial = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
js_initial = np.array([0.08, 0.09, 0.07])
uMax_initial = np.array([0.2, 0.1, 0.3])
# Iterate over all of the reaction wheels, create a rwConfigElementFswMsg, and add them to the rwConstellationFswMsg
rwConfigElementList = list()
for rw in range(numRW):
rwConfigElementMsg = messaging.RWConfigElementMsgPayload()
rwConfigElementMsg.gsHat_B = gsHat_initial[rw] # Spin axis unit vector of the wheel in structure # [1, 0, 0]
rwConfigElementMsg.Js = js_initial[rw] # Spin axis inertia of wheel [kgm2]
rwConfigElementMsg.uMax = uMax_initial[rw] # maximum RW motor torque [Nm]
# Add this to the list
rwConfigElementList.append(rwConfigElementMsg)
# Set the array of the reaction wheels in RWConstellationFswMsg to the list created above
rwConstellationFswMsg.reactionWheels = rwConfigElementList
# Set these messages
rwConstInMsg = messaging.RWConstellationMsg().write(rwConstellationFswMsg)
module.rwConstellationInMsg.subscribeTo(rwConstInMsg)
module.ModelTag = "rwConfigData"
# Add the module to the task
unitTestSim.AddModelToTask(unitTaskName, module)
# Log the output message
dataLog = module.rwParamsOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
# Initialize the simulation
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(testProcessRate)
unitTestSim.ExecuteSimulation()
# Get the output from this simulation
JsListLog = dataLog.JsList[:, :numRW]
uMaxLog = dataLog.uMax[:, :numRW]
GsMatrix_B_Log = dataLog.GsMatrix_B[:, :(3*numRW)]
accuracy = 1e-6
# At each timestep, make sure the vehicleConfig values haven't changed from the initial values
testFailCount, testMessages = unitTestSupport.compareArrayND([js_initial]*2, JsListLog, accuracy,
"rwConfigData JsList",
3, testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayND([uMax_initial]*2, uMaxLog, accuracy,
"rwConfigData uMax",
3, testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayND([gsHat_initial.flatten()]*2, GsMatrix_B_Log, accuracy,
"rwConfigData GsMatrix_B",
3*numRW, testFailCount, testMessages)
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
return [testFailCount, ''.join(testMessages)]
if __name__ == '__main__':
test_rwConfigData()