Source code for test_rwMotorVoltage

# 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
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# 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
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# 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:        rwMotorVoltage
#   Author:             Hanspeter Schaub
#   Creation Date:      January 16, 2017
#

import inspect
import os

import numpy as np
import pytest

# 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                  # general support file with common unit test functions
from Basilisk.fswAlgorithms import rwMotorVoltage
from Basilisk.utilities import fswSetupRW
from Basilisk.utilities import macros
from Basilisk.architecture import messaging


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

def addTimeColumn(time, data):
    return np.transpose(np.vstack([[time], np.transpose(data)]))

# 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_'.
# 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("useLargeVoltage, useAvailability, useTorqueLoop, testName", [ (False, False, False, "One") , (True, False, False, "Two") , (False, True, False, "Three") , (False, False, True, "Four") ]) # update "module" in this function name to reflect the module name def test_module(show_plots, useLargeVoltage, useAvailability, useTorqueLoop, testName): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = run(show_plots, useLargeVoltage, useAvailability, useTorqueLoop, testName) assert testResults < 1, testMessage
def run(show_plots, useLargeVoltage, useAvailability, useTorqueLoop, testName): 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 = rwMotorVoltage.rwMotorVoltage() module.ModelTag = "rwMotorVoltage" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) # Initialize the test module configuration data # set module parameters module.VMin = 1.0 # Volts module.VMax = 11.0 # Volts if useTorqueLoop: module.K = 1.5 rwSpeedMessage = messaging.RWSpeedMsgPayload() rwSpeedMessage.wheelSpeeds = [1.0, 2.0, 1.5, -3.0] # rad/sec Omega's rwSpeedInMsg = messaging.RWSpeedMsg().write(rwSpeedMessage) module.rwSpeedInMsg.subscribeTo(rwSpeedInMsg) unitTestSupport.writeTeXSnippet("Omega1", r"$\bm\Omega = " \ + str(rwSpeedMessage.wheelSpeeds[0:4]) + "$" , path) # # create BSK messages # # Create RW configuration parameter input message GsMatrix_B = [ [1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 1.0, 1.0] # the create routine below normalizes these vectors ] fswSetupRW.clearSetup() for i in range(4): fswSetupRW.create(GsMatrix_B[i], # spin axis 0.1, # kg*m^2 J2 0.2) # Nm uMax rwConfigInMsg = fswSetupRW.writeConfigMessage() module.rwParamsInMsg.subscribeTo(rwConfigInMsg) numRW = fswSetupRW.getNumOfDevices() # Create RW motor torque input message usMessageData = messaging.ArrayMotorTorqueMsgPayload() if useLargeVoltage: usMessageData.motorTorque = [0.5, 0.0, -0.15, -0.5] # [Nm] RW motor torque cmds else: usMessageData.motorTorque = [0.05, 0.0, -0.15, -0.2] # [Nm] RW motor torque cmds rwMotorTorqueInMsg = messaging.ArrayMotorTorqueMsg().write(usMessageData) module.torqueInMsg.subscribeTo(rwMotorTorqueInMsg) # create RW availability message if useAvailability: rwAvailabilityMessage = messaging.RWAvailabilityMsgPayload() rwAvailArray = np.zeros(messaging.MAX_EFF_CNT, dtype=int) rwAvailArray.fill(messaging.AVAILABLE) rwAvailArray[2] = messaging.UNAVAILABLE # make 3rd RW unavailable rwAvailabilityMessage.wheelAvailability = rwAvailArray rwAvailInMsg = messaging.RWAvailabilityMsg().write(rwAvailabilityMessage) module.rwAvailInMsg.subscribeTo(rwAvailInMsg) # Setup logging on the test module output message so that we get all the writes to it dataLog = module.voltageOutMsg.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() if useTorqueLoop: rwSpeedMessage.wheelSpeeds = [1.1, 2.1, 1.1, -4.1] # rad/sec Omega's rwSpeedInMsg.write(rwSpeedMessage) unitTestSupport.writeTeXSnippet("Omega2", r"$\bm\Omega = " \ + str(rwSpeedMessage.wheelSpeeds[0:4]) + "$" , path) unitTestSim.ConfigureStopTime(macros.sec2nano(1.5)) # seconds to stop simulation unitTestSim.ExecuteSimulation() # reset the module to test this functionality module.Reset(1) # this module reset function needs a time input (in NanoSeconds) # run the module again for an additional 1.0 seconds unitTestSim.ConfigureStopTime(macros.sec2nano(3.0)) # seconds to stop simulation unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. moduleOutput = dataLog.voltage[:, :numRW] print(moduleOutput) # set the filtered output truth states trueVector=[]; if not useLargeVoltage and not useAvailability and not useTorqueLoop: trueVector = [ [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] ] if useLargeVoltage and not useAvailability and not useTorqueLoop: trueVector = [ [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] , [11., 0., -8.5, -11.] ] if not useLargeVoltage and useAvailability and not useTorqueLoop: trueVector = [ [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] , [3.5, 0., 0., -11.] ] if not useLargeVoltage and not useAvailability and useTorqueLoop: trueVector = [ [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [5.75, -2.5, -11., -9.5] , [3.5, 0., -8.5, -11.] , [3.5, 0., -8.5, -11.] , [7.25, 0., -11., -11.] ] # compare the module results to the truth values accuracy = 1e-10 testFailCount, testMessages = unitTestSupport.compareArray(trueVector, moduleOutput, accuracy, "Output Vector", testFailCount, testMessages) # If the argument provided at commandline "--show_plots" evaluates as true, # plot all figures # plot a sample variable. # plt.close("all") # close all prior figures so we start with a clean slate # plt.figure(1) # plt.plot(variableState[:, 0]*macros.NANO2SEC, variableState[:, 1], # label='Case useLargeVoltage = ' + str(useLargeVoltage)) # plt.legend(loc='upper left') # plt.xlabel('Time [s]') # plt.ylabel('Variable Description [unit]') # if show_plots: # plt.show() # plt.close('all') # print out success message if no error were found snippentName = "passFail" + testName if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippentName, passedText, path) # write TeX Tables for documentation moduleOutput = addTimeColumn(dataLog.times(), dataLog.voltage)[:, :numRW+1] resultTable = moduleOutput resultTable[:, 0] = macros.NANO2SEC * resultTable[:, 0] diff = np.delete(moduleOutput, 0, 1) - trueVector resultTable = np.insert(resultTable, list(range(2, 2 + len(diff.transpose()))), diff, axis=1) tableName = "test" + str(useLargeVoltage) + str(useAvailability) + str(useTorqueLoop) tableHeaders = ["time [s]", "$V_{s,1}$", "Error", "$V_{s,2}$", "Error", "$V_{s,3}$", "Error", "$V_{s,4}$", "Error"] caption = 'RW voltage output for case {\\tt useLargeVoltage = ' + str(useLargeVoltage) \ + ', useAvailability = ' + str(useAvailability) \ + ', useTorqueLoop = ' + str(useTorqueLoop) + '}.' unitTestSupport.writeTableLaTeX( tableName, tableHeaders, caption, resultTable, path) unitTestSupport.writeTeXSnippet("us"+ str(useLargeVoltage) + str(useAvailability) + str(useTorqueLoop) , "$\\bm u_s = " + str(usMessageData.motorTorque[0:numRW]) + "$" , 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 unitTestScript can be run as a # stand-along python script # if __name__ == "__main__": test_module( # update "module" in function name False ,False # useLargeVoltage ,False # useAvailability ,True # useTorqueLoop ,"Four" # testName )