#
# ISC License
#
# Copyright (c) 2022, Autonomous Vehicle Systems Lab, University of Colorado 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.
#
#
from math import pi
import numpy as np
import pytest
from Basilisk.simulation import hingedBodyLinearProfiler
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
[docs]@pytest.mark.parametrize("startTime, endTime, startTheta, endTheta", [
(macros.sec2nano(1), macros.sec2nano(2), 0, pi/180)
])
def test_hingedBodyLinearProfiler(show_plots, startTime, endTime, startTheta, endTheta):
r"""
**Validation Test Description**
For a given deployment, checks that the theta before, during, and after deployment are correct.
**Test Parameters**
Discuss the test parameters used.
Args:
startTime (uint64_t): starting time in nanoseconds
endTime (uint64_t): ending time in nanoseconds
startTheta (double): starting angle of deployment in radians
endTheta (double): ending angle of deployment in radians
**Description of Variables Being Tested**
For a deployment from 0 to 1 degree, starting at 1 second and ending at 2 seconds into the simulation, checks that the angle and angle rates are as expected before, during, and after deployment.
Before deployment, theta should be 0 and ``thetaDot`` 0. During deployment, ``thetaDot`` should be 1 degree per second, with theta varying linearly. After deployment, theta should be 1 degree and ``thetaDot`` 0.
"""
[testResults, testMessage] = hingedBodyLinearProfilerTestFunction(show_plots, startTime, endTime, startTheta, endTheta)
assert testResults < 1, testMessage
[docs]def hingedBodyLinearProfilerTestFunction(show_plots, startTime, endTime, startTheta, endTheta):
"""Test method"""
testFailCount = 0
testMessages = []
unitTaskName = "unitTask"
unitProcessName = "TestProcess"
# accuracy to which double values compared
accuracy = 1e-12
unitTestSim = SimulationBaseClass.SimBaseClass()
testProcessRate = macros.sec2nano(0.5)
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# setup module to be tested
module = hingedBodyLinearProfiler.HingedBodyLinearProfiler()
module.ModelTag = "hingedBodyLinearProfilerTag"
unitTestSim.AddModelToTask(unitTaskName, module)
module.startTime = startTime
module.endTime = endTime
module.startTheta = startTheta
module.endTheta = endTheta
# set up output message recorder objects
dataLog = module.hingedRigidBodyReferenceOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(3))
unitTestSim.ExecuteSimulation()
# pull module data and make sure it is correct
trueTheta = np.array([0, 0, 0, pi/360, pi/180, pi/180, pi/180]);
trueThetaDot = np.array([0, 0, pi/180, pi/180, pi/180, 0, 0])
testFailCount, testMessages = unitTestSupport.compareVector(trueTheta, dataLog.theta, accuracy, "theta", testFailCount, testMessages)
testFailCount, testMessages = unitTestSupport.compareVector(trueThetaDot, dataLog.thetaDot, accuracy, "thetaDot", testFailCount, testMessages)
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
else:
print(testMessages)
return [testFailCount, "".join(testMessages)]
if __name__ == "__main__":
test_hingedBodyLinearProfiler(False, macros.sec2nano(1), macros.sec2nano(2), 0, pi/180)