#
# ISC License
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# Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import saturationSingleActuator
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
[docs]
@pytest.mark.parametrize("saturationEnabled", [False, True])
def test_saturationSingleActuator(saturationEnabled: bool):
r"""
**Verification Test Description**
This unit test verifies that the ``SaturationSingleActuator`` module
independently applies minimum and maximum limits when saturation is enabled,
and passes commands through unchanged when saturation is disabled.
"""
taskName = "unitTask"
processName = "testProcess"
testSim = SimulationBaseClass.SimBaseClass()
timeStepSec = 0.1
processRate = macros.sec2nano(timeStepSec)
testProcess = testSim.CreateNewProcess(processName)
testProcess.addTask(testSim.CreateNewTask(taskName, processRate))
limiter = saturationSingleActuator.SaturationSingleActuator()
limiter.ModelTag = "saturationSingleActuator"
limiter.setSaturationEnabled(saturationEnabled)
limiter.setMinInput(-0.2)
limiter.setMaxInput(0.15)
testSim.AddModelToTask(taskName, limiter)
testValues = [-0.5, -0.2, -0.1, 0.0, 0.1, 0.15, 0.3]
for value in testValues:
payload = messaging.SingleActuatorMsgPayload()
payload.input = value
inMsg = messaging.SingleActuatorMsg().write(payload)
limiter.actuatorInMsg.subscribeTo(inMsg)
testSim.InitializeSimulation()
testSim.ConfigureStopTime(macros.sec2nano(timeStepSec))
testSim.ExecuteSimulation()
outValue = limiter.actuatorOutMsg.read().input
if saturationEnabled:
truth = max(-0.2, min(value, 0.15))
else:
truth = value
np.testing.assert_allclose(outValue, truth, atol=1e-14, rtol=0.0)
if __name__ == "__main__":
test_saturationSingleActuator(True)