#
# Unit Test Script
# Module Name: dvAccumulation
# Creation Date: October 5, 2018
#
import inspect
import os
import numpy as np
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import dvAccumulation
from Basilisk.utilities import SimulationBaseClass, unitTestSupport
from Basilisk.utilities import macros
from numpy import random
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
[docs]def generateAccData():
""" Returns a list of random AccPktDataFswMsg."""
accPktList = list()
for _ in range(120):
accPacketData = messaging.AccPktDataMsgPayload()
accPacketData.measTime = abs(int(random.normal(5e7, 1e7)))
accPacketData.accel_B = random.normal(0.1, 0.2, 3) # Acceleration in platform frame [m/s2]
accPktList.append(accPacketData)
return accPktList
[docs]def test_dv_accumulation():
""" Test dvAccumulation. """
[testResults, testMessage] = dvAccumulationTestFunction()
assert testResults < 1, testMessage
[docs]def dvAccumulationTestFunction():
""" Test the dvAccumulation module. Setup a simulation, """
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)
# Test quicksort routine
# Generate (1) random packet measurement times and (2) completely inverted measurement times
randMeasTimes = []
invMeasTimes = []
randData = messaging.AccDataMsgPayload()
invData = messaging.AccDataMsgPayload()
for i in range(0, messaging.MAX_ACC_BUF_PKT):
randMeasTimes.append(random.randint(0, 1000000))
randData.accPkts[i].measTime = randMeasTimes[i]
invMeasTimes.append(messaging.MAX_ACC_BUF_PKT - i)
invData.accPkts[i].measTime = invMeasTimes[i]
# Run module quicksort function
dvAccumulation.dvAccumulation_QuickSort(randData.accPkts[0], 0, messaging.MAX_ACC_BUF_PKT - 1)
dvAccumulation.dvAccumulation_QuickSort(invData.accPkts[0], 0, messaging.MAX_ACC_BUF_PKT - 1)
# Check that sorted packets properly
randMeasTimes.sort()
invMeasTimes.sort()
for i in range(0, messaging.MAX_ACC_BUF_PKT):
if randData.accPkts[i].measTime != randMeasTimes[i]:
testFailCount += 1
if invData.accPkts[i].measTime != invMeasTimes[i]:
testFailCount += 1
# Test Module
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# This is needed if multiple unit test scripts are run
# This create a fresh and consistent simulation environment for each test run
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Add a new task to the process
# Construct the dvAccumulation module
# Set the names for the input messages
module = dvAccumulation.dvAccumulation()
# This calls the algContain to setup the selfInit, update, and reset
module.ModelTag = "dvAccumulation"
# Add the module to the task
unitTestSim.AddModelToTask(unitTaskName, module)
dataLog = module.dvAcumOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
# Create the input message.
inputAccData = messaging.AccDataMsgPayload()
# Set this as the packet data in the acceleration data
random.seed(12345)
inputAccData.accPkts = generateAccData()
inMsg = messaging.AccDataMsg()
module.accPktInMsg.subscribeTo(inMsg)
# Initialize the simulation
unitTestSim.InitializeSimulation()
inMsg.write(inputAccData)
# Step the simulation to 3*process rate so 4 total steps including zero
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
# Create the input message again to simulate multiple acceleration inputs.
inputAccData = messaging.AccDataMsgPayload()
# Set this as the packet data in the acceleration data. Test the module with different inputs.
inputAccData.accPkts = generateAccData()
# Write this message
inMsg.write(inputAccData)
# Step the simulation to 3*process rate so 4 total steps including zero
unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation
unitTestSim.ExecuteSimulation()
outputNavMsgData = dataLog.vehAccumDV
timeMsgData = dataLog.timeTag
# print(outputNavMsgData)
# print(timeMsgData)
trueDVVector = [[4.82820079e-03, 7.81971465e-03, 2.29605663e-03],
[ 4.82820079e-03, 7.81971465e-03, 2.29605663e-03],
[ 4.82820079e-03, 7.81971465e-03, 2.29605663e-03],
[ 6.44596343e-03, 9.00203561e-03, 2.60580728e-03],
[ 6.44596343e-03, 9.00203561e-03, 2.60580728e-03]]
trueTime = np.array([7.2123026e+07, 7.2123026e+07, 7.2123026e+07, 7.6667436e+07, 7.6667436e+07]) * macros.NANO2SEC
accuracy = 1e-6
unitTestSupport.writeTeXSnippet("toleranceValue", str(accuracy), path)
# At each timestep, make sure the vehicleConfig values haven't changed from the initial values
testFailCount, testMessages = unitTestSupport.compareArrayND(trueDVVector, outputNavMsgData,
accuracy,
"dvAccumulation output",
2, testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareArrayND([trueTime], [timeMsgData],
accuracy, "timeTag", 5,
testFailCount, testMessages)
snippentName = "passFail"
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(snippentName, passedText, path)
return [testFailCount, ''.join(testMessages)]
if __name__ == '__main__':
test_dv_accumulation()