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add unit test verifying fix
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@Natsoulas
Natsoulas committed Dec 25, 2024
1 parent b67bf6e commit aea06af
Showing 1 changed file with 105 additions and 37 deletions.
142 changes: 105 additions & 37 deletions src/tests/test_messaging.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
#
# Integrated tests
#
# Purpose: This script runs a series of test to ensure that the messaging
# Purpose: This script runs a series of test to ensure that the messaging
# interface is properly set up for C and Cpp messages
# Author: Benjamin Bercovici
# Creation Date: June 4th, 2021
Expand All @@ -29,6 +29,10 @@

from Basilisk.architecture import bskLogging
from Basilisk.architecture import messaging
from Basilisk.moduleTemplates import cppModuleTemplate
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
import numpy as np


# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
Expand All @@ -47,6 +51,7 @@ def messaging_unit_tests():
test_c_msg_subscription_check()
test_cpp_2_c_msg_subscription_check()
test_c_2_cpp_msg_subscription_check()
test_standalone_message_scope()



Expand All @@ -56,13 +61,13 @@ def test_cpp_msg_subscription_check():
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages


# Try out all the existing cpp messages
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]

for el in cppMessages:

# Create three messages
msgA = eval("messaging." + el + "()")
msgB = eval("messaging." + el + "()")
Expand All @@ -86,8 +91,8 @@ def test_cpp_msg_subscription_check():
if msgC_subscriber.isSubscribedTo(msgA) != 0:
testFailCount += 1
testMessages.append(el + ": msgC_subscriber.isSubscribedTo(msgA) should be False")


# Change subscription pattern
msgB_subscriber.subscribeTo(msgC) # Subscribe B to C
msgC_subscriber.subscribeTo(msgA) # Subscribe C to A
Expand All @@ -103,8 +108,8 @@ def test_cpp_msg_subscription_check():
testFailCount += 1
testMessages.append(el + ": msgC_subscriber.isSubscribedTo(msgB) should be False")



if testFailCount == 0:
print("PASSED")
else:
Expand All @@ -122,14 +127,14 @@ def test_c_msg_subscription_check():
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages


# Try out all the existing c messages
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]



for el in cMessages:

# Create three messages
msgA = eval("messaging." + el + "()")
msgB = eval("messaging." + el + "()")
Expand All @@ -149,8 +154,8 @@ def test_c_msg_subscription_check():
if msgC.isSubscribedTo(msgA) != 0:
testFailCount += 1
testMessages.append(el + ": msgC.isSubscribedTo(msgA) should be False")


# Change subscription pattern
msgB.subscribeTo(msgC) # Subscribe B to C
msgC.subscribeTo(msgA) # Subscribe C to A
Expand All @@ -166,8 +171,8 @@ def test_c_msg_subscription_check():
testFailCount += 1
testMessages.append(el + ": msgC.isSubscribedTo(msgB) should be False")



if testFailCount == 0:
print("PASSED")
else:
Expand All @@ -176,34 +181,34 @@ def test_c_msg_subscription_check():


def test_c_2_cpp_msg_subscription_check():

bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages


# Try out all the existing messages
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]

# Find common messages
common_messages = [el for el in cppMessages if el + "_C" in cMessages]


for el in common_messages:

# Create c and cpp messages
msgA = eval("messaging." + el + "()")
msgB = eval("messaging." + el + "()")

msgC = eval("messaging." + el + "_C()")
msgD = eval("messaging." + el + "_C()")


# Subscribe
msgC.subscribeTo(msgA) # Subscribe C to A
msgD.subscribeTo(msgB) # Subscribe D to B

# Check
if msgC.isSubscribedTo(msgA) != 1:
testFailCount += 1
Expand All @@ -217,7 +222,7 @@ def test_c_2_cpp_msg_subscription_check():
if msgC.isSubscribedTo(msgB) != 0:
testFailCount += 1
testMessages.append(el + ": msgC.isSubscribedTo(msgB) should be False")

# Change subscription pattern
msgC.subscribeTo(msgB) # Subscribe C to B
msgD.subscribeTo(msgA) # Subscribe D to A
Expand All @@ -236,8 +241,8 @@ def test_c_2_cpp_msg_subscription_check():
testFailCount += 1
testMessages.append(el + ": msgD.isSubscribedTo(msgB) should be False")



if testFailCount == 0:
print("PASSED")
else:
Expand All @@ -249,18 +254,18 @@ def test_cpp_2_c_msg_subscription_check():
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages


# Try out all the existing messages
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]
cppMessages = [ el for el in dir(messaging) if el.endswith("Msg")]
cMessages = [ el for el in dir(messaging) if el.endswith("Msg_C")]

# Find common messages
common_messages = [el for el in cppMessages if el + "_C" in cMessages]


for el in common_messages:

# Create c and cpp messages
msgA = eval("messaging." + el + "_C()")
msgB = eval("messaging." + el + "_C()")
Expand All @@ -271,7 +276,7 @@ def test_cpp_2_c_msg_subscription_check():
# Create subscribers to pair messages
msgC_subscriber = msgC.addSubscriber()
msgD_subscriber = msgD.addSubscriber()

# Subscribe
msgC_subscriber.subscribeTo(msgA) # Subscribe C to A
msgD_subscriber.subscribeTo(msgB) # Subscribe D to B
Expand All @@ -289,7 +294,7 @@ def test_cpp_2_c_msg_subscription_check():
if msgC_subscriber.isSubscribedTo(msgB) != 0:
testFailCount += 1
testMessages.append(el + ": msgC_subscriber.isSubscribedTo(msgB) should be False")

# Change subscription pattern
msgC_subscriber.subscribeTo(msgB) # Subscribe C to B
msgD_subscriber.subscribeTo(msgA) # Subscribe D to A
Expand All @@ -308,15 +313,78 @@ def test_cpp_2_c_msg_subscription_check():
testFailCount += 1
testMessages.append(el + ": msgD_subscriber.isSubscribedTo(msgB) should be False")



if testFailCount == 0:
print("PASSED")
else:
[print(msg) for msg in testMessages]
assert(testFailCount == 0)


def test_standalone_message_scope():
"""
Test that subscribed messages don't get garbage collected when going out of scope
"""
bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages

# Create a sim module as an empty container
scSim = SimulationBaseClass.SimBaseClass()

# create the simulation process
dynProcess = scSim.CreateNewProcess("dynamicsProcess")

# create the dynamics task and specify the integration update time
dynProcess.addTask(scSim.CreateNewTask("dynamicsTask", macros.sec2nano(1.)))

# create modules
mod1 = cppModuleTemplate.CppModuleTemplate()
mod1.ModelTag = "cppModule1"
scSim.AddModelToTask("dynamicsTask", mod1)

# setup message recording
msgRec = mod1.dataOutMsg.recorder()
scSim.AddModelToTask("dynamicsTask", msgRec)

# Create a local scope to test message lifetime
def addLocalStandaloneMessage(module):
"""Create a stand-alone message in local scope and subscribe to it"""
msgData = messaging.CModuleTemplateMsgPayload()
msgData.dataVector = [10., 20., 30.]
msg = messaging.CModuleTemplateMsg().write(msgData)
module.dataInMsg.subscribeTo(msg)

# Subscribe to the input message in a local scope
addLocalStandaloneMessage(mod1)

# initialize Simulation:
scSim.InitializeSimulation()

# configure a simulation stop time and execute the simulation run
scSim.ConfigureStopTime(macros.sec2nano(3.0))
scSim.ExecuteSimulation()

# Verify output matches expected values
expected = np.array([
[11., 20., 30.],
[12., 20., 30.],
[13., 20., 30.],
[14., 20., 30.]
])

if not (msgRec.dataVector == expected).all():
testFailCount += 1
testMessages.append("Output data does not match expected values")

if testFailCount == 0:
print("PASSED")
else:
[print(msg) for msg in testMessages]
assert testFailCount < 1, testMessages



if __name__ == "__main__":
messaging_unit_tests()

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