# 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.
#
# Integrated Unit Test Script
# Purpose: Run a test of the reaction wheel sim module
# Author: John Alcorn
# Creation Date: November 14, 2016
#
import inspect
import os
import numpy as np
import pytest
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
from Basilisk.simulation import reactionWheelStateEffector
from Basilisk.architecture import messaging
# methods
def listStack(vec,simStopTime,unitProcRate):
# returns a list duplicated the number of times needed to be consistent with module output
return [vec] * int(simStopTime/(float(unitProcRate)/float(macros.sec2nano(1))))
def writeNewRWCmds(self, u_cmd, numRW):
# create standard vector from SWIG template (see .i file)
NewRWCmdsVec = messaging.RWCmdMsgPayloadVector(numRW)
cmds = messaging.RWCmdMsgPayload()
for i in range(0, numRW):
cmds.u_cmd = u_cmd[i]
NewRWCmdsVec[i] = cmds # set the data
self.NewRWCmds = NewRWCmdsVec # set in module
def defaultReactionWheel():
RW = messaging.RWConfigMsgPayload()
RW.rWB_B = [[0.], [0.], [0.]]
RW.gsHat_B = [[1.], [0.], [0.]]
RW.w2Hat0_B = [[0.], [1.], [0.]]
RW.w3Hat0_B = [[0.], [0.], [1.]]
RW.RWModel = reactionWheelStateEffector.BalancedWheels
return RW
def asEigen(v):
out = []
for i in range(0, len(v)):
out.append([v[i]])
return out
# 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
# 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("useFlag, testCase", [
(False, 'saturation'),
(False, 'minimum'),
(False, 'speedSaturation'),
(False, 'powerSaturation')
])
# provide a unique test method name, starting with test_
def test_unitSimReactionWheel(show_plots, useFlag, testCase):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitSimReactionWheel(show_plots, useFlag, testCase)
assert testResults < 1, testMessage
def unitSimReactionWheel(show_plots, useFlag, testCase):
testFail = False
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
# configure module
ReactionWheel = reactionWheelStateEffector.ReactionWheelStateEffector()
ReactionWheel.ModelTag = "ReactionWheel"
numRW = 2
RWs = []
for i in range(0, numRW):
RWs.append(defaultReactionWheel())
expOut = dict() # expected output
print(testCase)
if testCase == 'basic':
pass
elif testCase == 'saturation':
RWs.append(defaultReactionWheel())
RWs[0].u_max = 1.
RWs[1].u_max = 2.
RWs[2].u_max = 2.
u_cmd = [-1.2, 1.5, 2.5]
writeNewRWCmds(ReactionWheel, u_cmd, len(RWs))
expOut['u_current'] = [-1., 1.5, 2.]
elif testCase == 'minimum':
RWs[0].u_min = .1
RWs[1].u_min = .0
u_cmd = [-.09, 0.0001]
writeNewRWCmds(ReactionWheel, u_cmd, len(RWs))
expOut['u_current'] = [0., 0.0001]
elif testCase == 'speedSaturation':
RWs.append(defaultReactionWheel())
RWs[0].Omega_max = 50.
RWs[1].Omega_max = 50.
RWs[2].Omega_max = 50.
RWs[0].Omega = 49.
RWs[1].Omega = 51.
RWs[2].Omega = -52.
u_cmd = [1.5, 1.5, 1.5]
writeNewRWCmds(ReactionWheel, u_cmd, len(RWs))
expOut['u_current'] = [1.5, 0.0, 1.5]
elif testCase == 'powerSaturation':
RWs.append(defaultReactionWheel())
RWs[0].P_max = 1.
RWs[1].P_max = 1.
RWs[2].P_max = 1.
RWs[0].Omega = 50.
RWs[1].Omega = 50.
RWs[2].Omega = 50.
u_cmd = [0.01, -0.04, 0.04]
writeNewRWCmds(ReactionWheel, u_cmd, len(RWs))
expOut['u_current'] = [0.01, -0.02, 0.02]
else:
raise Exception('invalid test case')
for i in range(0, len(RWs)):
ReactionWheel.addReactionWheel(RWs[i])
ReactionWheel.ConfigureRWRequests(0.)
if 'accuracy' not in vars():
accuracy = 1e-10
for outputName in list(expOut.keys()):
for i in range(0, len(RWs)):
if expOut[outputName][i] != ReactionWheel.ReactionWheelData[i].u_current:
print("expected: " + str(expOut[outputName][i]))
print("got :" + str(ReactionWheel.ReactionWheelData[i].u_current))
testFail = 1
break
if testFail:
break
if testFail:
testFailCount += 1
testMessages.append("FAILED: " + ReactionWheel.ModelTag + " Module failed " +
outputName + " unit test")
np.set_printoptions(precision=16)
# print out success message if no errors were found
if testFailCount == 0:
print("PASSED ")
colorText = 'ForestGreen'
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
passedText = r'\textcolor{' + colorText + '}{' + "FAILED" + '}'
# Write some snippets for AutoTex
snippetName = testCase + 'PassFail'
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 unit test script can be run as a
# standalone python script
if __name__ == "__main__":
test_unitSimReactionWheel(
False, # show_plots
False, # useFlag
'speedSaturation' # testCase
)