''' '''
'''
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 VSCMG sim module
# Author: John Alcorn
# Creation Date: November 14, 2016
#
import pytest
import sys, os, inspect
import numpy as np
import ctypes
import math
import csv
import logging
from Basilisk.utilities import MessagingAccess
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
from Basilisk.simulation import vscmgStateEffector
from Basilisk.simulation import sim_model
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.simulation import spacecraftPlus
# 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 writeNewVSCMGCmds(self,u_s_cmd,u_g_cmd,numVSCMG):
NewVSCMGCmdsVec = vscmgStateEffector.VSCMGCmdVector(numVSCMG) # create standard vector from SWIG template (see .i file)
cmds = vscmgStateEffector.VSCMGCmdSimMsg()
for i in range(0,numVSCMG):
cmds.u_s_cmd = u_s_cmd[i]
cmds.u_g_cmd = u_g_cmd[i]
NewVSCMGCmdsVec[i] = cmds # set the data
self.NewVSCMGCmds = NewVSCMGCmdsVec # set in module (should this be indented?)
def defaultVSCMG():
VSCMG = vscmgStateEffector.VSCMGConfigSimMsg()
VSCMG.rGB_B = [[0.],[0.],[0.]]
VSCMG.gsHat0_B = [[1.],[0.],[0.]]
VSCMG.gtHat0_B = [[1.],[0.],[0.]]
VSCMG.ggHat_B = [[1.],[0.],[0.]]
VSCMG.w2Hat0_B = [[0.],[1.],[0.]]
VSCMG.w3Hat0_B = [[0.],[0.],[1.]]
VSCMG.theta = 0.
VSCMG.u_s_current = 0.
VSCMG.u_s_max = 0.
VSCMG.u_s_min = 0.
VSCMG.u_s_f = 0.
VSCMG.u_g_current = 0.
VSCMG.u_g_max = 0.
VSCMG.u_g_min = 0.
VSCMG.u_g_f = 0.
VSCMG.Omega = 0.
VSCMG.gamma = 0.
VSCMG.gammaDot = 0.
VSCMG.Omega_max = 1000.
VSCMG.gammaDot_max = -1
VSCMG.IW1 = 0.
VSCMG.IW2 = 0.
VSCMG.IW3 = 0.
VSCMG.U_s = 0.
VSCMG.U_d = 0.
VSCMG.massW = 0.
VSCMG.massG = 0.
VSCMG.wheelLinearFrictionRatio = 0.
VSCMG.VSCMGModel = 0
return VSCMG
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,'friction')
])
# provide a unique test method name, starting with test_
def test_unitSimVSCMG(show_plots, useFlag, testCase):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitSimVSCMG(show_plots, useFlag, testCase)
assert testResults < 1, testMessage
def unitSimVSCMG(show_plots, useFlag, testCase):
testFail = False
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
# configure module
VSCMG = vscmgStateEffector.VSCMGStateEffector()
VSCMG.ModelTag = "VSCMG"
numVSCMG = 2
VSCMGs = []
for i in range(0,numVSCMG):
VSCMGs.append(defaultVSCMG())
expOut = dict() # expected output
print(testCase)
if testCase is 'basic':
pass
elif testCase is 'saturation':
VSCMGs[0].u_s_max = 1.
VSCMGs[1].u_s_max = 2.
VSCMGs[0].u_g_max = 1.
VSCMGs[1].u_g_max = 2.
u_s_cmd = [-1.2,1.5]
u_g_cmd = [-1.2,1.5]
writeNewVSCMGCmds(VSCMG,u_s_cmd,u_g_cmd,len(VSCMGs))
expOut['u_s_current'] = [-1.,1.5]
elif testCase is 'minimum':
VSCMGs[0].u_s_min = .1
VSCMGs[1].u_s_min = .0
VSCMGs[0].u_g_min = .1
VSCMGs[1].u_g_min = .0
u_s_cmd = [-.09,0.0001]
u_g_cmd = [-.09,0.0001]
writeNewVSCMGCmds(VSCMG,u_s_cmd,u_g_cmd,len(VSCMGs))
expOut['u_s_current'] = [0.,0.0001]
elif testCase is 'friction':
u_s_f = [0.1,0.]
u_g_f = [0.1,0.]
Omega = [-20.,0.]
Omega_max = [100.,0.]
gammaDot = [-20.,0.]
gammaDot_max = [100.,0.]
wheelLinearFrictionRatio = [0.1,0.]
gimbalLinearFrictionRatio = [0.1,0.]
for i in range(0,numVSCMG):
VSCMGs[i].u_s_f = u_s_f[i]
VSCMGs[i].Omega = Omega[i]
VSCMGs[i].Omega_max = Omega_max[i]
VSCMGs[i].wheelLinearFrictionRatio = wheelLinearFrictionRatio[i]
VSCMGs[i].u_g_f = u_g_f[i]
VSCMGs[i].gammaDot = gammaDot[i]
VSCMGs[i].gammaDot_max = gammaDot_max[i]
VSCMGs[i].gimbalLinearFrictionRatio = gimbalLinearFrictionRatio[i]
u_s_cmd = [-1.,0.]
u_g_cmd = [-1.,0.]
writeNewVSCMGCmds(VSCMG,u_s_cmd,u_g_cmd,len(VSCMGs))
expOut['u_s_current'] = np.asarray(u_s_cmd) + np.asarray(u_s_f)
else:
raise Exception('invalid test case')
for i in range(0,len(VSCMGs)):
VSCMG.AddVSCMG(VSCMGs[i])
VSCMG.ConfigureVSCMGRequests(0.)
if not 'accuracy' in vars():
accuracy = 1e-10
for outputName in list(expOut.keys()):
for i in range(0,numVSCMG):
if expOut[outputName][i] != getattr(VSCMG.VSCMGData[i],outputName):
print("expected: " + str(expOut[outputName][i]))
print("got :" + str(getattr(VSCMG.VSCMGData[i],outputName)))
testFail = 1
break
if testFail:
break
if testFail:
testFailCount += 1
testMessages.append("FAILED: " + VSCMG.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 ")
# 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
# stand-along python script
if __name__ == "__main__":
test_unitSimVSCMG(
False, # show_plots
False, # useFlag
'friction' # testCase
)