# 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
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 partitionedStorageUnit
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
def test_module(show_plots):
# each test method requires a single assert method to be called
[testResults, testMessage] = test_storage_limits(show_plots)
assert testResults < 1, testMessage
[docs]def test_storage_limits(show_plots):
"""
Tests:
1. Whether the partitionedStorageUnit can add multiple nodes (core base class functionality);
2. That the partitionedStorageUnit correctly evaluates how much stored data it should have given a pair of
1200 baud input messages.
: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(0.1) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
test_storage_unit = partitionedStorageUnit.PartitionedStorageUnit()
test_storage_unit.storageCapacity = 2400. # bit capacity.
dataMsg1 = messaging.DataNodeUsageMsgPayload()
dataMsg1.baudRate = 1200. # baud
dataMsg1.dataName = "node_1_msg"
dat1Msg = messaging.DataNodeUsageMsg().write(dataMsg1)
dataMsg2 = messaging.DataNodeUsageMsgPayload()
dataMsg2.baudRate = 1200. # baud
dataMsg2.dataName = "node_2_msg"
dat2Msg = messaging.DataNodeUsageMsg().write(dataMsg2)
# Test the addNodeToStorage method:
test_storage_unit.addDataNodeToModel(dat1Msg)
test_storage_unit.addDataNodeToModel(dat2Msg)
unitTestSim.AddModelToTask(unitTaskName, test_storage_unit)
dataLog = test_storage_unit.storageUnitDataOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, dataLog)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(5.0))
unitTestSim.ExecuteSimulation()
storedDataLog = dataLog.storageLevel
capacityLog = dataLog.storageCapacity
netBaudLog = dataLog.currentNetBaud
# Check 1 - is net baud rate equal to 2400.?
for ind in range(0,len(netBaudLog)):
currentBaud = netBaudLog[ind]
if currentBaud !=2400.:
testFailCount +=1
testMessages.append("FAILED: PartitionedStorageUnit did not correctly log the net baud rate.")
#print(netBaudLog)
if not unitTestSupport.isDoubleEqualRelative((2400.),storedDataLog[-1], 1e-8):
testFailCount+=1
testMessages.append("FAILED: PartitionedStorageUnit did not track integrated data. Returned "+str(storedDataLog[-1,1])+", expected "+str((2400.)))
#print(storedDataLog)
for ind in range(0,len(storedDataLog)):
if storedDataLog[ind] > capacityLog[ind]:
testFailCount +=1
testMessages.append("FAILED: PartitionedStorageUnit's stored data exceeded its capacity.")
if storedDataLog[ind] < 0.:
testFailCount +=1
testMessages.append("FAILED: PartitionedStorageUnit's stored data was negative.")
if testFailCount:
print(testMessages)
else:
print("Passed")
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
print(test_module(False))