#
# 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 arrayMotorTorqueToSingleActuators
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
[docs]
@pytest.mark.parametrize("numActuators", [1, 3, 8])
def test_arrayMotorTorqueToSingleActuators(numActuators: int):
r"""
**Verification Test Description**
This unit test verifies that the ``ArrayMotorTorqueToSingleActuators`` adapter
module correctly maps an ``ArrayMotorTorqueMsgPayload`` input message into a
set of scalar ``SingleActuatorMsgPayload`` output messages using an
order-preserving mapping.
**Test Parameters**
Args:
numActuators (int): Number of scalar actuator output messages.
**Description of Variables Being Tested**
Each scalar actuator output message is checked to ensure that it matches the
corresponding element of the input motor torque array.
"""
taskName = "unitTask"
processName = "testProcess"
testSim = SimulationBaseClass.SimBaseClass()
timeStepSec = 0.1
processRate = macros.sec2nano(timeStepSec)
testProcess = testSim.CreateNewProcess(processName)
testProcess.addTask(testSim.CreateNewTask(taskName, processRate))
adapter = arrayMotorTorqueToSingleActuators.ArrayMotorTorqueToSingleActuators()
adapter.ModelTag = "arrayMotorTorqueToSingleActuators"
adapter.setNumActuators(numActuators)
testSim.AddModelToTask(taskName, adapter)
torques = [(actIdx + 1) * 0.05 for actIdx in range(numActuators)]
inputPayload = messaging.ArrayMotorTorqueMsgPayload(motorTorque=torques)
inputMsg = messaging.ArrayMotorTorqueMsg().write(inputPayload)
adapter.torqueInMsg.subscribeTo(inputMsg)
testSim.InitializeSimulation()
testSim.ConfigureStopTime(macros.sec2nano(timeStepSec))
testSim.ExecuteSimulation()
for actIdx in range(numActuators):
cmdLast = adapter.actuatorOutMsgs[actIdx].read().input
truth = torques[actIdx]
np.testing.assert_allclose(cmdLast, truth, atol=1e-14, rtol=0.0)
if __name__ == "__main__":
test_arrayMotorTorqueToSingleActuators(3)