#
# ISC License
#
# Copyright (c) 2023, 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.
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# 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.
#
import pytest
import os
import inspect
import numpy as np
from Basilisk.utilities import SimulationBaseClass
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
from Basilisk.fswAlgorithms import scanningInstrumentController
from Basilisk.architecture import bskLogging
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)
#Test cases:
#1: attitude compliant, rate disabled, device status written, controller status of 1
#2: attitude noncompliant, rate disabled, device status written, controller status of 1
#3: attitude compliant, rate disabled, device status not written, no controller status
#4: attitude compliant, rate disabled, device status of 1, controller status of 0
#5: attitude compliant, rate disabled, device status of 0, controller status of 1
#6: attitude compliant, rate disabled, device status not written, controller status of 1
#7: attitude compliant, rate disabled, rate noncompliant, device status not written, no
# controller status
#8: attitude compliant, rate enabled, rate noncompliant, device status not written, no
# controller status
#9: attitude compliant, rate enabled, rate compliant, device status not written, no
# controller status
#10: attitude noncompliant, rate enabled, rate compliant
tests = [(0.1, 0.01, 0, 0, 0, 1, 1, [1, 1, 1]),
(0.1, 0.2, 0, 0, 0, 1, 1, [0, 0, 0]),
(0.1, 0.01, 0, 0, 0, None, None, [0, 0, 0]),
(0.1, 0.01, 0, 0, 0, 1, 0, [1, 1, 1]),
(0.1, 0.01, 0, 0, 0, 0, 1, [0, 0, 0]),
(0.1, 0.01, 0, 0, 0, None, 1, [1, 1, 1]),
(0.1, 0.01, 0, 0.01, 0.1, None, 1, [1, 1, 1]),
(0.1, 0.01, 1, 0.01, 0.1, None, 1, [0, 0, 0]),
(0.1, 0.01, 1, 0.01, 0.001, 1, None, [1, 1, 1]),
(0.1, 0.2, 1, 0.01, 0.001, 1, None, [0, 0, 0])
]
[docs]@pytest.mark.parametrize('att_limit, att_mag, use_rate_limit,rate_limit,omega_mag' +
',deviceStatus,controlStatus,expected_result', tests)
def test_scanningInstrumentController(att_limit, att_mag, use_rate_limit, rate_limit,
omega_mag, deviceStatus, controlStatus,
expected_result):
r"""
**Validation Test Description**
This test verifies if the module is working properly checking for input conditions
such as rate limit, attitude error, and device status.
**Test Parameters**
Args:
att_limit (float): The attitude error tolerance
att_mag (float): The magnitude of the attitude
use_rate_limit (int): Determines if the rate limit requirement is enabled
rate_limit (float): The rate limit requirement
omega_mag (float): The magnitude of the angular velocity
deviceStatus (int): The instrument status (on/off)
controlStatus (int): The controller status (on/off)
expected_result (list): The expected output of the module
**Description of Variables Being Tested**
The test checks the data stored in deviceCmdOutMsg and compares it to the expected
result.
"""
module_results = scanningInstrumentControllerTestFunction(att_limit,
att_mag, use_rate_limit, rate_limit, omega_mag,
deviceStatus, controlStatus, expected_result)
np.testing.assert_array_equal(module_results, expected_result)
[docs]def scanningInstrumentControllerTestFunction(att_limit = 0.1, att_mag = 0.1,
use_rate_limit=1, rate_limit=0.01, omega_mag=0.001,
deviceStatus=None, controlStatus=None, expected_result=None):
"""Test method"""
unitTaskName = "unitTask"
unitProcessName = "TestProcess"
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
unitTestSim = SimulationBaseClass.SimBaseClass()
testProcessRate = macros.sec2nano(1.0)
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# setup module to be tested
module = scanningInstrumentController.scanningInstrumentController()
module.ModelTag = "scanningInstrumentControllerTag"
unitTestSim.AddModelToTask(unitTaskName, module)
#Initializing the test module configuration data
module.useRateTolerance = use_rate_limit # rate limit enabled
module.rateErrTolerance = rate_limit # rate limit
module.attErrTolerance = att_limit # attitude error tolerance
# Configure blank module input messages
accessInMsgData = messaging.AccessMsgPayload()
accessInMsgData.hasAccess = 1 # set access to true
accessInMsg = messaging.AccessMsg().write(accessInMsgData)
attGuidInMsgData = messaging.AttGuidMsgPayload()
attGuidInMsgData.sigma_BR = [att_mag, 0, 0]
attGuidInMsgData.omega_BR_B = [omega_mag, 0.0, 0.0]
attGuidInMsg = messaging.AttGuidMsg().write(attGuidInMsgData)
if deviceStatus is not None:
deviceStatusInMsgData = messaging.DeviceStatusMsgPayload()
deviceStatusInMsgData.deviceStatus = deviceStatus
deviceStatusInMsg = messaging.DeviceStatusMsg().write(deviceStatusInMsgData)
module.deviceStatusInMsg.subscribeTo(deviceStatusInMsg)
if controlStatus is not None:
module.controllerStatus = controlStatus
# subscribe input messages to module
module.accessInMsg.subscribeTo(accessInMsg)
module.attGuidInMsg.subscribeTo(attGuidInMsg)
# setup output message recorder objects
deviceCmdOutMsgRec = module.deviceCmdOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, deviceCmdOutMsgRec)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0))
unitTestSim.ExecuteSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(2.0))
unitTestSim.ExecuteSimulation()
return deviceCmdOutMsgRec.deviceCmd
if __name__ == "__main__":
test_scanningInstrumentController(0.1, 0.01, 0, 0, 0, 1, 1, [1, 1, 1])