Source code for test_simpleInstrument

#
# ISC License
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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import inspect
import os

import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)

# 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.simulation import simpleInstrument
from Basilisk.architecture import messaging
from Basilisk.utilities import macros



[docs] @pytest.mark.parametrize("function", ["checkDefault" , "checkStatus" ]) def test_simpleInstrumentAll(show_plots, function): """Module Unit Test""" [testResults, testMessage] = eval(function + '()') assert testResults < 1, testMessage
[docs] def checkDefault(): """ **Validation Test Description** 1. Whether the simpleInstrument provides the right output message (baudRate) while on; 2. Whether the simpleInstrument provides the right output message (baudRate) while off. :param show_plots: Not used; no plots to be shown. :return: """ 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)) testModule = simpleInstrument.SimpleInstrument() testModule.ModelTag = "instrument1" testModule.nodeBaudRate = 9600. # baud unitTestSim.AddModelToTask(unitTaskName, testModule) dataLog = testModule.nodeDataOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) unitTestSim.InitializeSimulation() unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # This pulls the actual data log from the simulation run. generatedData = dataLog.baudRate # compare the module results to the truth values accuracy = 1e-16 trueData = 9600. # Module should be on testFailCount, testMessages = unitTestSupport.compareDoubleArray( [trueData]*3, generatedData, accuracy, "dataOutput", testFailCount, testMessages) if testFailCount: print(testMessages) else: print("Passed") # 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)]
def checkStatus(): 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) 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)) testModule = simpleInstrument.SimpleInstrument() testModule.ModelTag = "instrument1" testModule.nodeBaudRate = 9600. # baud unitTestSim.AddModelToTask(unitTaskName, testModule) # create the input messages dataCmdMsg = messaging.DeviceCmdMsgPayload() # Create a structure for the input message dataCmdMsg.deviceCmd = 0 statMsg = messaging.DeviceCmdMsg().write(dataCmdMsg) testModule.nodeStatusInMsg.subscribeTo(statMsg) # Setup logging on the test module output message so that we get all the writes to it dataLog = testModule.nodeDataOutMsg.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() # This pulls the actual data log from the simulation run. drawData = dataLog.baudRate # compare the module results to the truth values accuracy = 1e-16 trueData = 0.0 # Module should be off testFailCount, testMessages = unitTestSupport.compareDoubleArray( [trueData]*3, drawData, accuracy, "instrumentStatusTest", testFailCount, testMessages) if testFailCount: print(testMessages) else: print("Passed") # 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-alone python script # if __name__ == "__main__": # checkDefault() checkStatus()