#
# 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 numpy
import pytest
from Basilisk.architecture import sim_model
from Basilisk.simulation import stateArchitecture
# 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() # need to update how the RW states are defined
# provide a unique test method name, starting with test_
[docs]@pytest.mark.parametrize("function", ["stateData"
, "stateArchitectureTest"
, "stateProperties"
, "EigenConversions"
])
def test_stateArchitectureAllTests(show_plots, function):
"""Module Unit Test"""
[testResults, testMessage] = eval(function + '(show_plots)')
assert testResults < 1, testMessage
[docs]def stateData(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
stateUse = [[10.0], [20.0]]
stateName = "position"
newState = stateArchitecture.StateData(stateName, stateUse)
newState.setState(stateUse)
predictedDerivative = [[0.0], [0.0]]
if(newState.getRowSize() != len(stateUse)):
testFailCount += 1
testMessages.append("State row sized incorrectly")
if(newState.getColumnSize() != len(stateUse[0])):
testFailCount += 1
testMessages.append("State column sized incorrectly")
if(newState.getName() != stateName):
testFailCount += 1
testMessages.append("State name incorrect")
if(newState.getState() != stateUse):
testFailCount += 1
testMessages.append("State equality check failure.")
if(newState.getStateDeriv() != predictedDerivative):
testFailCount += 1
testMessages.append("State derivative zero check failure.")
derivativeInc = [[1.0], [2.5]]
newState.setDerivative(derivativeInc)
newState.propagateState(0.1)
predictedDerivativeNum = numpy.array(predictedDerivative) + numpy.array(derivativeInc)
obsDerivativeNum = numpy.array(newState.getStateDeriv())
if(obsDerivativeNum.tolist() != predictedDerivativeNum.tolist()):
testFailCount += 1
testMessages.append("State derivative update check failure.")
stateUpdateNum = numpy.array(newState.getState())
predUpStateNum = numpy.array(stateUse) + predictedDerivativeNum*0.1
if(stateUpdateNum.tolist() != stateUpdateNum.tolist()):
testFailCount += 1
testMessages.append("State propagation update check failure.")
priorState = stateUpdateNum
scaleFactor = 0.25
priorState *= scaleFactor
outState = newState*scaleFactor
newState.scaleState(scaleFactor)
stateUpdateNum = numpy.array(newState.getState())
if(stateUpdateNum.tolist() != priorState.tolist()):
testFailCount += 1
testMessages.append("State scaling update check failure.")
if(outState.getState() != newState.getState()):
testFailCount += 1
testMessages.append("State scaling via * operator check failure.")
dummyState = stateArchitecture.StateData()
if(dummyState.getRowSize() != 0):
testFailCount += 1
testMessages.append("Dummy state row sized incorrectly")
if(dummyState.getColumnSize() != 0):
testFailCount += 1
testMessages.append("Dummy state column sized incorrectly")
dummyState.setState(newState.getState())
outState = dummyState + newState
if(outState.getState() != (2.0*stateUpdateNum).tolist()):
testFailCount += 1
testMessages.append("Plus operator failed on StateData")
if testFailCount == 0:
print("PASSED: " + " State data")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def stateProperties(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
newManager = stateArchitecture.DynParamManager()
gravList = [[9.81], [0.0], [0.1]]
gravName = "g_N"
newManager.createProperty(gravName, gravList)
propRef = newManager.getPropertyReference(gravName)
if propRef != gravList:
testFailCount += 1
testMessages.append("Create and property reference matching failed.")
newGravList = [[0.0], [9.81], [-0.1]]
newManager.setPropertyValue(gravName, newGravList)
propRef = newManager.getPropertyReference(gravName)
if propRef != newGravList:
testFailCount += 1
testMessages.append("Set and property reference matching failed.")
newGravList = [[0.0], [9.81*2], [-0.1]]
newManager.createProperty(gravName, newGravList)
propRef = newManager.getPropertyReference(gravName)
if propRef != newGravList:
testFailCount += 1
testMessages.append("Set and property reference matching failed.")
wrongGravList = [[0.0], [9.81], [-0.1]]
newManager.setPropertyValue(gravName+"Scott", newGravList)
propRef = newManager.getPropertyReference(gravName+"Scott")
if propRef != None:
testFailCount += 1
testMessages.append("Set and property reference matching failed.")
massList = [[1500.0]]
massName = "mass"
newManager.createProperty(massName, massList)
massRef = newManager.getPropertyReference(massName)
if massRef != massList:
testFailCount += 1
testMessages.append("1x1 Eigen property creation failed.")
if testFailCount == 0:
print("PASSED: " + " State properties")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def stateArchitectureTest(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
newManager = stateArchitecture.DynParamManager()
positionName = "position"
stateDim = [3, 1]
posState = newManager.registerState(stateDim[0], stateDim[1], positionName)
velocityName = "velocity"
stateDim = [3, 1]
velState = newManager.registerState(stateDim[0], stateDim[1], velocityName)
flexName = "Array1_flex"
flexDim = [2, 1]
flexState = newManager.registerState(flexDim[0], flexDim[1], flexName)
if posState.getRowSize() != stateDim[0] or posState.getColumnSize() != stateDim[1]:
testFailCount += 1
testMessages.append("Position state returned improper size")
if velState.getName() != velocityName:
testFailCount += 1
testMessages.append("Failed to return proper state name for velocity")
if(newManager.registerState(stateDim[0], stateDim[1], positionName).getName() != positionName):
testFailCount += 1
testMessages.append("Failed to return proper state name in overload of call")
newManager.registerState(stateDim[0], stateDim[1]+2, positionName)
positionStateLookup = newManager.getStateObject("Array1_flex")
if(positionStateLookup.getName() != flexName):
testFailCount += 1
testMessages.append("State lookup for solar array flex failed")
vectorFactor = 4.0
vecStart = [[1.0], [2.0], [3.5]]
posState.setState(vecStart)
velState.setState(vecStart)
vectorStart = newManager.getStateVector()
vectorComposite = vectorStart + vectorStart*vectorFactor + vectorStart*vectorFactor
numpyOutput = numpy.array(vecStart) + numpy.array(vecStart)*vectorFactor + numpy.array(vecStart)*vectorFactor
newManager.updateStateVector(vectorComposite)
if(velState.getState() != numpyOutput.tolist()):
testFailCount += 1
testMessages.append("Velocity state update via state-manager failed")
dt = 1.0;
posState.setDerivative(vecStart)
newManager.propagateStateVector(dt)
numpyOutput += numpy.array(vecStart)*dt
if(posState.getState() != numpyOutput.tolist()):
testFailCount += 1
testMessages.append("Position state propagation via state-manager failed")
if testFailCount == 0:
print("PASSED: " + " State manager")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def EigenConversions(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
inputArray = [[3.0], [1.0], [2.0]]
outputArray = sim_model.new_doubleArray(3)
stateArchitecture.eigenVector3d2CArray(inputArray, outputArray)
flatList = [y for x in inputArray for y in x]
for i in range(len(flatList)):
if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)):
testFailCount += 1
testMessages.append("3-vector conversion failed")
inputArray = [[0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]]
outputArray = sim_model.new_doubleArray(9)
stateArchitecture.eigenMatrix3d2CArray(inputArray, outputArray)
flatList = [y for x in inputArray for y in x]
for i in range(len(flatList)):
if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)):
print(sim_model.doubleArray_getitem(outputArray, i))
testFailCount += 1
testMessages.append("3x3 matrix conversion failed")
inputArray = [[0.0, 1.0, 0.0, 2.0], [0.0, 0.0, 1.0, 0.5], [1.0, 0.0, 0.0, 2.7]]
outputArray = sim_model.new_doubleArray(12)
stateArchitecture.eigenMatrixXd2CArray(inputArray, outputArray)
flatList = [y for x in inputArray for y in x]
for i in range(len(flatList)):
if(flatList[i] != sim_model.doubleArray_getitem(outputArray, i)):
print(sim_model.doubleArray_getitem(outputArray, i))
testFailCount += 1
testMessages.append("3x4 matrix conversion failed")
if testFailCount == 0:
print("PASSED: " + " Eigen Conversions")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
stateArchitectureAllTest(False)