Source code for test_stateArchitecture

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#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import numpy
import pytest
from Basilisk.architecture import sim_model
from Basilisk.simulation import stateArchitecture


# 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() # need to update how the RW states are defined
# provide a unique test method name, starting with test_


[docs] @pytest.mark.parametrize("function", ["stateData" , "stateArchitectureTest" , "stateProperties" , "EigenConversions" ]) def test_stateArchitectureAllTests(show_plots, function): """Module Unit Test""" [testResults, testMessage] = eval(function + '(show_plots)') assert testResults < 1, testMessage
[docs] def stateData(show_plots): """Module Unit Test""" # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages stateUse = [[10.0], [20.0]] stateName = "position" newState = stateArchitecture.StateData(stateName, stateUse) newState.setState(stateUse) predictedDerivative = [[0.0], [0.0]] if(newState.getRowSize() != len(stateUse)): testFailCount += 1 testMessages.append("State row sized incorrectly") if(newState.getColumnSize() != len(stateUse[0])): testFailCount += 1 testMessages.append("State column sized incorrectly") if(newState.getName() != stateName): testFailCount += 1 testMessages.append("State name incorrect") if(newState.getState() != stateUse): testFailCount += 1 testMessages.append("State equality check failure.") if(newState.getStateDeriv() != predictedDerivative): testFailCount += 1 testMessages.append("State derivative zero check failure.") derivativeInc = [[1.0], [2.5]] newState.setDerivative(derivativeInc) newState.propagateState(0.1) predictedDerivativeNum = numpy.array(predictedDerivative) + numpy.array(derivativeInc) obsDerivativeNum = numpy.array(newState.getStateDeriv()) if(obsDerivativeNum.tolist() != predictedDerivativeNum.tolist()): testFailCount += 1 testMessages.append("State derivative update check failure.") stateUpdateNum = numpy.array(newState.getState()) predUpStateNum = numpy.array(stateUse) + predictedDerivativeNum*0.1 if(stateUpdateNum.tolist() != stateUpdateNum.tolist()): testFailCount += 1 testMessages.append("State propagation update check failure.") priorState = stateUpdateNum scaleFactor = 0.25 priorState *= scaleFactor outState = newState*scaleFactor newState.scaleState(scaleFactor) stateUpdateNum = numpy.array(newState.getState()) if(stateUpdateNum.tolist() != priorState.tolist()): testFailCount += 1 testMessages.append("State scaling update check failure.") if(outState.getState() != newState.getState()): testFailCount += 1 testMessages.append("State scaling via * operator check failure.") dummyState = stateArchitecture.StateData() if(dummyState.getRowSize() != 0): testFailCount += 1 testMessages.append("Dummy state row sized incorrectly") if(dummyState.getColumnSize() != 0): testFailCount += 1 testMessages.append("Dummy state column sized incorrectly") dummyState.setState(newState.getState()) outState = dummyState + newState if(outState.getState() != (2.0*stateUpdateNum).tolist()): testFailCount += 1 testMessages.append("Plus operator failed on StateData") if testFailCount == 0: print("PASSED: " + " State data") # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
[docs] def stateProperties(show_plots): """Module Unit Test""" # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages newManager = stateArchitecture.DynParamManager() gravList = [[9.81], [0.0], [0.1]] gravName = "g_N" newManager.createProperty(gravName, gravList) propRef = newManager.getPropertyReference(gravName) if propRef != gravList: testFailCount += 1 testMessages.append("Create and property reference matching failed.") newGravList = [[0.0], [9.81], [-0.1]] newManager.setPropertyValue(gravName, newGravList) propRef = newManager.getPropertyReference(gravName) if propRef != newGravList: testFailCount += 1 testMessages.append("Set and property reference matching failed.") newGravList = [[0.0], [9.81*2], [-0.1]] newManager.createProperty(gravName, newGravList) propRef = newManager.getPropertyReference(gravName) if propRef != newGravList: testFailCount += 1 testMessages.append("Set and property reference matching failed.") wrongGravList = [[0.0], [9.81], [-0.1]] newManager.setPropertyValue(gravName+"Scott", newGravList) propRef = newManager.getPropertyReference(gravName+"Scott") if propRef != None: testFailCount += 1 testMessages.append("Set and property reference matching failed.") massList = [[1500.0]] massName = "mass" newManager.createProperty(massName, massList) massRef = newManager.getPropertyReference(massName) if massRef != massList: testFailCount += 1 testMessages.append("1x1 Eigen property creation failed.") if testFailCount == 0: print("PASSED: " + " State properties") # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
[docs] def stateArchitectureTest(show_plots): """Module Unit Test""" # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages newManager = stateArchitecture.DynParamManager() positionName = "position" stateDim = [3, 1] posState = newManager.registerState(stateDim[0], stateDim[1], positionName) velocityName = "velocity" stateDim = [3, 1] velState = newManager.registerState(stateDim[0], stateDim[1], velocityName) flexName = "Array1_flex" flexDim = [2, 1] flexState = newManager.registerState(flexDim[0], flexDim[1], flexName) if posState.getRowSize() != stateDim[0] or posState.getColumnSize() != stateDim[1]: testFailCount += 1 testMessages.append("Position state returned improper size") if velState.getName() != velocityName: testFailCount += 1 testMessages.append("Failed to return proper state name for velocity") if(newManager.registerState(stateDim[0], stateDim[1], positionName).getName() != positionName): testFailCount += 1 testMessages.append("Failed to return proper state name in overload of call") newManager.registerState(stateDim[0], stateDim[1]+2, positionName) positionStateLookup = newManager.getStateObject("Array1_flex") if(positionStateLookup.getName() != flexName): testFailCount += 1 testMessages.append("State lookup for solar array flex failed") vectorFactor = 4.0 vecStart = [[1.0], [2.0], [3.5]] posState.setState(vecStart) velState.setState(vecStart) vectorStart = newManager.getStateVector() vectorComposite = vectorStart + vectorStart*vectorFactor + vectorStart*vectorFactor numpyOutput = numpy.array(vecStart) + numpy.array(vecStart)*vectorFactor + numpy.array(vecStart)*vectorFactor newManager.updateStateVector(vectorComposite) if(velState.getState() != numpyOutput.tolist()): testFailCount += 1 testMessages.append("Velocity state update via state-manager failed") dt = 1.0; posState.setDerivative(vecStart) newManager.propagateStateVector(dt) numpyOutput += numpy.array(vecStart)*dt if(posState.getState() != numpyOutput.tolist()): testFailCount += 1 testMessages.append("Position state propagation via state-manager failed") if testFailCount == 0: print("PASSED: " + " State manager") # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
[docs] def EigenConversions(show_plots): """Module Unit Test""" # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages inputArray = [[3.0], [1.0], [2.0]] outputArray = sim_model.new_doubleArray(3) stateArchitecture.eigenVector3d2CArray(inputArray, outputArray) flatList = [y for x in inputArray for y in x] for i in range(len(flatList)): if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)): testFailCount += 1 testMessages.append("3-vector conversion failed") inputArray = [[0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]] outputArray = sim_model.new_doubleArray(9) stateArchitecture.eigenMatrix3d2CArray(inputArray, outputArray) flatList = [y for x in inputArray for y in x] for i in range(len(flatList)): if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)): print(sim_model.doubleArray_getitem(outputArray, i)) testFailCount += 1 testMessages.append("3x3 matrix conversion failed") inputArray = [[0.0, 1.0, 0.0, 2.0], [0.0, 0.0, 1.0, 0.5], [1.0, 0.0, 0.0, 2.7]] outputArray = sim_model.new_doubleArray(12) stateArchitecture.eigenMatrixXd2CArray(inputArray, outputArray) flatList = [y for x in inputArray for y in x] for i in range(len(flatList)): if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)): print(sim_model.doubleArray_getitem(outputArray, i)) testFailCount += 1 testMessages.append("3x4 matrix conversion failed") if testFailCount == 0: print("PASSED: " + " Eigen Conversions") # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__": stateArchitectureAllTest(False)