''' '''
'''
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 the external pulsed torque disturance dynEffector
# Author: Hanspeter Schaub
# Creation Date: March 26, 2017
#
import pytest
import sys, os, inspect
import numpy as np
import ctypes
import math
import csv
import logging
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.utilities import macros
from Basilisk.simulation import ExtPulsedTorque
# 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
# @pytest.mark.xfail(True)
[docs]@pytest.mark.parametrize("offCount", [
(3)
,(0)
])
# provide a unique test method name, starting with test_
def test_module(show_plots, offCount):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = run(
show_plots, offCount)
assert testResults < 1, testMessage
def run(show_plots, offCount):
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
unitTaskName = "unitTask"
unitProcessName = "testProcess"
scSim = SimulationBaseClass.SimBaseClass()
#
# create the dynamics simulation process
#
dynProcess = scSim.CreateNewProcess(unitProcessName)
# create the dynamics task and specify the integration update time
dynProcess.addTask(scSim.CreateNewTask(unitTaskName, macros.sec2nano(0.1)))
testObject = ExtPulsedTorque.ExtPulsedTorque()
testObject.ModelTag = "externalPulsedTorque"
# These don't do anything. They are here to confirm they don't do anything
testObject.readInputMessages()
testObject.writeOutputMessages(0)
testObject.pulsedTorqueExternalPntB_B = [[-1], [1],[ -1]]
testObject.countOnPulse = 1
testObject.countOff = offCount
scSim.AddModelToTask(unitTaskName, testObject)
#
# initialize the simulation
#
scSim.InitializeSimulation()
#
# Setup data logging
#
DT = 0.1
testProcessRate = macros.sec2nano(DT)
variableTorque = "torqueExternalPntB_B" # name the module variable to be logged
scSim.AddVariableForLogging (testObject.ModelTag + "." + variableTorque, testProcessRate, 0, 2, 'double')
#
# run the simulation
#
for tStop in range (1,11):
scSim.ConfigureStopTime(macros.sec2nano(tStop*DT))
scSim.ExecuteSimulation()
testObject.computeForceTorque(scSim.TotalSim.CurrentNanos)
scSim.TotalSim.SingleStepProcesses()
scSim.RecordLogVars()
# log the data
dataTorque = scSim.GetLogVariableData(testObject.ModelTag+"."+variableTorque)
np.set_printoptions(precision=16)
# Remove time zero from list
dataTorque = dataTorque[1:len(dataTorque),:]
#
# set true position information
#
if (offCount == 3):
trueTorque_B = [
[0.0, 0.0, 0.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [0.0, 0.0, 0.0]
, [0.0, 0.0, 0.0]
, [0.0, 0.0, 0.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [0.0, 0.0, 0.0]
, [0.0, 0.0, 0.0]
, [0.0, 0.0, 0.0]
]
if (offCount == 0):
trueTorque_B = [
[0.0, 0.0, 0.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
, [-1.0, 1.0, -1.0]
, [1.0, -1.0, 1.0]
]
# compare the module results to the truth values
accuracy = 1e-12
if (len(trueTorque_B) != len(dataTorque)):
testFailCount += 1
testMessages.append("FAILED: ExtPulsedTorque failed torque unit test (unequal array sizes)\n")
else:
for i in range(0,len(trueTorque_B)):
# check a vector values
if not unitTestSupport.isArrayEqual(dataTorque[i],trueTorque_B[i],3,accuracy):
testFailCount += 1
testMessages.append("FAILED: ExtPulsedTorque failed torque unit test at t=" + str(dataTorque[i,0]*macros.NANO2SEC) + "sec\n")
# print out success message if no error 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 scrip can be run as a
# stand-along python script
#
if __name__ == "__main__":
test_module(False, # show_plots
0 # offCount
)