Source code for test_rwConfigData

#
#   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()