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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 scalarJointStatesToRWSpeed
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
[docs]
@pytest.mark.parametrize("numJoints", [1, 3, 8])
def test_scalarJointStatesToRWSpeed(numJoints: int):
r"""
**Verification Test Description**
This unit test verifies that the ``ScalarJointStatesToRWSpeed`` adapter
module correctly maps a set of ``ScalarJointStateMsgPayload`` input messages
into a single ``RWSpeedMsgPayload`` output message using an order-preserving
mapping.
**Test Parameters**
Args:
numJoints (int): Number of scalar joint input messages.
**Description of Variables Being Tested**
Each element of the output reaction wheel speed vector is checked to ensure
that it matches the corresponding joint angular rate provided in the input
messages.
"""
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 = scalarJointStatesToRWSpeed.ScalarJointStatesToRWSpeed()
adapter.ModelTag = "scalarJointStatesToRWSpeed"
adapter.setNumJoints(numJoints)
testSim.AddModelToTask(taskName, adapter)
jointRates = [(jointIdx + 1) * 0.2 for jointIdx in range(numJoints)]
msgs = []
for jointIdx in range(numJoints):
payload = messaging.ScalarJointStateMsgPayload(
state=jointRates[jointIdx]
)
msg = messaging.ScalarJointStateMsg().write(payload)
adapter.jointStateInMsgs[jointIdx].subscribeTo(msg)
msgs.append(msg)
testSim.InitializeSimulation()
testSim.ConfigureStopTime(macros.sec2nano(timeStepSec))
testSim.ExecuteSimulation()
rwSpeedPayload = adapter.rwSpeedOutMsg.read()
for jointIdx in range(numJoints):
np.testing.assert_allclose(
rwSpeedPayload.wheelSpeeds[jointIdx],
jointRates[jointIdx],
atol=1e-14,
rtol=0.0
)
if __name__ == "__main__":
test_scalarJointStatesToRWSpeed(3)