#
# 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.
#
import pytest
import os, inspect
import numpy as np
import math
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)
# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
from Basilisk.simulation import simpleInstrument
from Basilisk.simulation import simMessages
from Basilisk.simulation import simFswInterfaceMessages
from Basilisk.utilities import macros
# update "module" in this function name to reflect the module name
[docs]def test_module():
"""Module Unit Test"""
# each test method requires a single assert method to be called
default_results, default_message = test_default()
status_results, status_message = test_status()
testResults = sum([default_results, status_results])
testMessage = [default_message, status_message]
assert testResults < 1, testMessage
[docs]def test_default():
"""
**Validation Test Description**
1. Whether the simpleInstrument provides the right output message (baudRate) while on;
2. Whether the simpleInstrument provides the right output message (baudRate) while off.
:param show_plots: Not used; no plots to be shown.
:return:
"""
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
testModule = simpleInstrument.SimpleInstrument()
testModule.ModelTag = "instrument1"
testModule.nodeBaudRate = 9600. # baud
unitTestSim.AddModelToTask(unitTaskName, testModule)
unitTestSim.TotalSim.logThisMessage(testModule.nodeDataOutMsgName, testProcessRate)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
# Begin the simulation time run set above
unitTestSim.ExecuteSimulation()
# This pulls the actual data log from the simulation run.
# Note that range(3) will provide [0, 1, 2] Those are the elements you get from the vector (all of them)
generatedData = unitTestSim.pullMessageLogData(testModule.nodeDataOutMsgName + ".baudRate")
# compare the module results to the truth values
accuracy = 1e-16
trueData = 9600. #Module should be on
testFailCount, testMessages = unitTestSupport.compareDoubleArray(
[trueData]*3, generatedData, accuracy, "dataOutput",
testFailCount, testMessages)
# 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)]
def test_status():
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
testModule = simpleInstrument.SimpleInstrument()
testModule.ModelTag = "instrument1"
testModule.nodeStatusInMsgName="DataStatusMsg"
testModule.nodeBaudRate = 9600. # baud
unitTestSim.AddModelToTask(unitTaskName, testModule)
# create the input messages
dataStatusMsg = simFswInterfaceMessages.DeviceStatusIntMsg() # Create a structure for the input message
dataStatusMsg.deviceStatus=0
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
testModule.nodeStatusInMsgName,
dataStatusMsg)
# Setup logging on the test module output message so that we get all the writes to it
unitTestSim.TotalSim.logThisMessage(testModule.nodeDataOutMsgName, testProcessRate)
# Need to call the self-init and cross-init methods
unitTestSim.InitializeSimulation()
# Set the simulation time.
# NOTE: the total simulation time may be longer than this value. The
# simulation is stopped at the next logging event on or after the
# simulation end time.
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
# Begin the simulation time run set above
unitTestSim.ExecuteSimulation()
# This pulls the actual data log from the simulation run.
# Note that range(3) will provide [0, 1, 2] Those are the elements you get from the vector (all of them)
drawData = unitTestSim.pullMessageLogData(testModule.nodeDataOutMsgName + ".baudRate")
# compare the module results to the truth values
accuracy = 1e-16
trueData = 0.0 #Module should be off
testFailCount, testMessages = unitTestSupport.compareDoubleArray(
[trueData]*3, drawData, accuracy, "instrumentStatusTest",
testFailCount, testMessages)
# 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 unitTestScript can be run as a
# stand-alone python script
#
if __name__ == "__main__":
test_module()