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# Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado Boulder
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import pytest
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
from Basilisk.moduleTemplates import autoCppModule
[docs]@pytest.mark.parametrize("accuracy", [1e-12])
@pytest.mark.parametrize("param1, param2", [
(1, 1)
,(1, 3)
])
def test_autoCppModule(show_plots, param1, param2, accuracy):
r"""
**Validation Test Description**
Compose a general description of what is being tested in this unit test script.
**Test Parameters**
Discuss the test parameters used.
Args:
param1 (int): Dummy test parameter for this parameterized unit test
param2 (int): Dummy test parameter for this parameterized unit test
accuracy (float): absolute accuracy value used in the validation tests
**Description of Variables Being Tested**
Here discuss what variables and states are being checked.
"""
[testResults, testMessage] = autoCppModuleTestFunction(show_plots, param1, param2, accuracy)
assert testResults < 1, testMessage
[docs]def autoCppModuleTestFunction(show_plots, param1, param2, accuracy):
"""Test method"""
testFailCount = 0
testMessages = []
unitTaskName = "unitTask"
unitProcessName = "TestProcess"
unitTestSim = SimulationBaseClass.SimBaseClass()
testProcessRate = macros.sec2nano(0.5)
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# setup module to be tested
module = autoCppModule.AutoCppModule()
module.ModelTag = "autoCppModuleTag"
unitTestSim.AddModelToTask(unitTaskName, module)
# Configure blank module input messages
someInMsgData = messaging.AttRefMsgPayload()
someInMsg = messaging.AttRefMsg().write(someInMsgData)
some2InMsgData = messaging.AttRefMsgPayload()
some2InMsg = messaging.AttRefMsg().write(some2InMsgData)
anotherInMsgData = messaging.CSSConfigMsgPayload()
anotherInMsg = messaging.CSSConfigMsg().write(anotherInMsgData)
anotherCppInMsgData = messaging.CSSConfigLogMsgPayload()
anotherCppInMsg = messaging.CSSConfigLogMsg().write(anotherCppInMsgData)
# subscribe input messages to module
module.someInMsg.subscribeTo(someInMsg)
module.some2InMsg.subscribeTo(some2InMsg)
module.anotherInMsg.subscribeTo(anotherInMsg)
module.anotherCppInMsg.subscribeTo(anotherCppInMsg)
# setup output message recorder objects
some2OutMsgRec = module.some2OutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, some2OutMsgRec)
someOutMsgRec = module.someOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, someOutMsgRec)
anotherCppOutMsgRec = module.anotherCppOutMsg.recorder()
unitTestSim.AddModelToTask(unitTaskName, anotherCppOutMsgRec)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(1.0))
unitTestSim.ExecuteSimulation()
# pull module data and make sure it is correct
if testFailCount == 0:
print("PASSED: " + module.ModelTag)
else:
print(testMessages)
return [testFailCount, "".join(testMessages)]
if __name__ == "__main__":
test_autoCppModule(False, 1, 1, 1e-12)