Source code for test_thrMomentumManagement

#
#  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
#  copyright notice and this permission notice appear in all copies.
#
#  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
#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
#  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:        thrMomentumManagement
#   Author:             Hanspeter Schaub
#   Creation Date:      August 18, 2016
#

import inspect
import os

import pytest

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








# 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 thrMomentumManagement            # import the module that is to be tested
from Basilisk.utilities import macros
from Basilisk.utilities import fswSetupRW
from Basilisk.architecture import messaging


# 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("hsMinCheck", [ (0), (1) ]) # update "module" in this function name to reflect the module name def test_thrMomentumManagement(show_plots, hsMinCheck): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = thrMomentumManagementTestFunction(show_plots, hsMinCheck) assert testResults < 1, testMessage
def thrMomentumManagementTestFunction(show_plots, hsMinCheck): 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 = thrMomentumManagement.thrMomentumManagement() module.ModelTag = "thrMomentumManagement" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) # Initialize the test module configuration data if hsMinCheck: module.hs_min = 1000./6000.*100. # Nms else: module.hs_min = 100./6000.*100. # Nms # wheelSpeeds Message rwSpeedMessage = messaging.RWSpeedMsgPayload() rwSpeedMessage.wheelSpeeds = [10.0, -25.0, 50.0, 100.] rwSpeedInMsg = messaging.RWSpeedMsg().write(rwSpeedMessage) # wheelConfigData Message fswSetupRW.clearSetup() Js = 0.1 fswSetupRW.create([1.0, 0.0, 0.0], Js) fswSetupRW.create([0.0, 1.0, 0.0], Js) fswSetupRW.create([0.0, 0.0, 1.0], Js) fswSetupRW.create([0.5773502691896258, 0.5773502691896258, 0.5773502691896258], Js) rwConfigInMsg = fswSetupRW.writeConfigMessage() # Setup logging on the test module output message so that we get all the writes to it dataLog = module.deltaHOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) # setup message connections module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg) module.rwConfigDataInMsg.subscribeTo(rwConfigInMsg) # 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(0.5)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() # set the filtered output truth states if hsMinCheck == 1: trueVector = [ [0.0, 0.0, 0.0] ]*2 else: trueVector = [ [-5.914369484146579, -2.858300248464629, -9.407020039211664] ]*2 # compare the module results to the truth values accuracy = 1e-12 unitTestSupport.writeTeXSnippet("toleranceValue", str(accuracy), path) testFailCount, testMessages = unitTestSupport.compareArray(trueVector, dataLog.torqueRequestBody, accuracy, "torqueRequestBody", testFailCount, testMessages) snippetName = "passFail" + str(hsMinCheck) if testFailCount == 0: colorText = 'ForestGreen' print("PASSED: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}' else: colorText = 'Red' print("Failed: " + module.ModelTag) passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}' unitTestSupport.writeTeXSnippet(snippetName, passedText, 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_thrMomentumManagement( # update "module" in function name True, 0 # hsMinCheck )