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Implement unit tests for sunlineSRuKF
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‎src/components/sunline_srukf/.all_path‎

Whitespace-only changes.

‎src/components/sunline_srukf/test/component-sunline_srukf-implementation-tester.adb‎

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--------------------------------------------------------------------------------
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-- Sunline_Srukf Component Tester Body
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--------------------------------------------------------------------------------
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package body Component.Sunline_Srukf.Implementation.Tester is
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---------------------------------------
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-- Initialize heap variables:
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---------------------------------------
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procedure Init_Base (Self : in out Instance) is
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begin
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-- Initialize tester heap:
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-- Connector histories:
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Self.Data_Product_Fetch_T_Service_History.Init (Depth => 100);
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Self.Data_Product_T_Recv_Sync_History.Init (Depth => 100);
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-- Data product histories:
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Self.Sunline_Srukf_State_History.Init (Depth => 100);
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end Init_Base;
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procedure Final_Base (Self : in out Instance) is
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begin
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-- Destroy tester heap:
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-- Connector histories:
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Self.Data_Product_Fetch_T_Service_History.Destroy;
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Self.Data_Product_T_Recv_Sync_History.Destroy;
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-- Data product histories:
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Self.Sunline_Srukf_State_History.Destroy;
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end Final_Base;
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---------------------------------------
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-- Test initialization functions:
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---------------------------------------
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procedure Connect (Self : in out Instance) is
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begin
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Self.Component_Instance.Attach_Data_Product_Fetch_T_Request (To_Component => Self'Unchecked_Access, Hook => Self.Data_Product_Fetch_T_Service_Access);
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Self.Component_Instance.Attach_Data_Product_T_Send (To_Component => Self'Unchecked_Access, Hook => Self.Data_Product_T_Recv_Sync_Access);
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Self.Attach_Tick_T_Send (To_Component => Self.Component_Instance'Unchecked_Access, Hook => Self.Component_Instance.Tick_T_Recv_Sync_Access);
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end Connect;
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-- Helper function for returning data dependencies:
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function Return_Data_Dependency (Self : in out Instance; Arg : in Data_Product_Fetch.T) return Data_Product_Return.T is
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use Data_Product_Types;
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use Data_Product_Enums.Fetch_Status;
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use Sys_Time;
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-- Set default return values. These will be overridden below based on test configuration and
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-- the ID requested.
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Id_To_Return : Data_Product_Types.Data_Product_Id := Self.Data_Dependency_Return_Id_Override;
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Length_To_Return : Data_Product_Types.Data_Product_Buffer_Length_Type := Self.Data_Dependency_Return_Length_Override;
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Return_Status : Data_Product_Enums.Fetch_Status.E := Self.Data_Dependency_Return_Status_Override;
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Buffer_To_Return : Data_Product_Types.Data_Product_Buffer_Type;
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Time_To_Return : Sys_Time.T := Self.Data_Dependency_Timestamp_Override;
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begin
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-- Determine return data product ID:
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if Id_To_Return = 0 then
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case Arg.Id is
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-- ID for Spacecraft_Attitude:
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when 0 => Id_To_Return := 0;
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-- If ID can not be found, then return ID out of range error.
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when others =>
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if Return_Status = Data_Product_Enums.Fetch_Status.Success then
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Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
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end if;
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end case;
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end if;
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-- Determine return data product length:
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if Length_To_Return = 0 then
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case Arg.Id is
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-- Length for Spacecraft_Attitude:
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when 0 => Length_To_Return := Nav_Att.Size_In_Bytes;
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-- If ID can not be found, then return ID out of range error.
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when others =>
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if Return_Status = Data_Product_Enums.Fetch_Status.Success then
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Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
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end if;
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end case;
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end if;
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-- Determine return timestamp:
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if Time_To_Return = (0, 0) then
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Time_To_Return := Self.System_Time;
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end if;
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-- Fill the data product buffer:
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if Return_Status = Data_Product_Enums.Fetch_Status.Success then
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case Arg.Id is
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-- Length for Spacecraft_Attitude:
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when 0 =>
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Buffer_To_Return (Buffer_To_Return'First .. Buffer_To_Return'First + Nav_Att.Size_In_Bytes - 1) :=
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Nav_Att.Serialization.To_Byte_Array (Self.Spacecraft_Attitude);
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-- Do not fill. The ID is not recognized.
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when others =>
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Return_Status := Data_Product_Enums.Fetch_Status.Id_Out_Of_Range;
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end case;
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end if;
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-- Return the data product with the status:
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return (
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The_Status => Return_Status,
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The_Data_Product => (
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Header => (
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Time => Time_To_Return,
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Id => Id_To_Return,
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Buffer_Length => Length_To_Return
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),
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Buffer => Buffer_To_Return
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)
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);
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end Return_Data_Dependency;
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---------------------------------------
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-- Invokee connector primitives:
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---------------------------------------
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-- Fetch a data product item from the database.
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overriding function Data_Product_Fetch_T_Service (Self : in out Instance; Arg : in Data_Product_Fetch.T) return Data_Product_Return.T is
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To_Return : constant Data_Product_Return.T := Self.Return_Data_Dependency (Arg);
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begin
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-- Push the argument onto the test history for looking at later:
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Self.Data_Product_Fetch_T_Service_History.Push (Arg);
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return To_Return;
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end Data_Product_Fetch_T_Service;
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-- The data product invoker connector
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overriding procedure Data_Product_T_Recv_Sync (Self : in out Instance; Arg : in Data_Product.T) is
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begin
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-- Push the argument onto the test history for looking at later:
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Self.Data_Product_T_Recv_Sync_History.Push (Arg);
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-- Dispatch the data product to the correct handler:
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Self.Dispatch_Data_Product (Arg);
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end Data_Product_T_Recv_Sync;
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-----------------------------------------------
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-- Data product handler primitive:
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-----------------------------------------------
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-- Description:
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-- Data products for the Sunline SRuKF component.
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-- Output state from the sunline SRuKF algorithm (timeTag, sigma_BN, omega_BN_B,
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-- vehSunPntBdy).
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overriding procedure Sunline_Srukf_State (Self : in out Instance; Arg : in Sunline_Srukf_Output.T) is
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begin
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-- Push the argument onto the test history for looking at later:
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Self.Sunline_Srukf_State_History.Push (Arg);
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end Sunline_Srukf_State;
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end Component.Sunline_Srukf.Implementation.Tester;

‎src/components/sunline_srukf/test/component-sunline_srukf-implementation-tester.ads‎

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--------------------------------------------------------------------------------
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-- Sunline_Srukf Component Tester Spec
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--------------------------------------------------------------------------------
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-- Includes:
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with Component.Sunline_Srukf_Reciprocal;
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with Printable_History;
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with Data_Product_Return.Representation;
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with Data_Product_Fetch.Representation;
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with Data_Product.Representation;
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with Nav_Att;
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with Data_Product;
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with Sunline_Srukf_Output.Representation;
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-- Sunline SRuKF pass-through algorithm wrapping the C++ SunlineSRuKFAlgorithm.
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package Component.Sunline_Srukf.Implementation.Tester is
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use Component.Sunline_Srukf_Reciprocal;
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-- Invoker connector history packages:
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package Data_Product_Fetch_T_Service_History_Package is new Printable_History (Data_Product_Fetch.T, Data_Product_Fetch.Representation.Image);
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package Data_Product_Fetch_T_Service_Return_History_Package is new Printable_History (Data_Product_Return.T, Data_Product_Return.Representation.Image);
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package Data_Product_T_Recv_Sync_History_Package is new Printable_History (Data_Product.T, Data_Product.Representation.Image);
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-- Data product history packages:
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package Sunline_Srukf_State_History_Package is new Printable_History (Sunline_Srukf_Output.T, Sunline_Srukf_Output.Representation.Image);
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-- Component class instance:
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type Instance is new Component.Sunline_Srukf_Reciprocal.Base_Instance with record
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-- The component instance under test:
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Component_Instance : aliased Component.Sunline_Srukf.Implementation.Instance;
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-- Connector histories:
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Data_Product_Fetch_T_Service_History : Data_Product_Fetch_T_Service_History_Package.Instance;
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Data_Product_T_Recv_Sync_History : Data_Product_T_Recv_Sync_History_Package.Instance;
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-- Data product histories:
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Sunline_Srukf_State_History : Sunline_Srukf_State_History_Package.Instance;
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-- Data dependency return values. These can be set during unit test
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-- and will be returned to the component when a data dependency call
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-- is made.
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Spacecraft_Attitude : Nav_Att.T;
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-- The return status for the data dependency fetch. This can be set
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-- during unit test to return something other than Success.
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Data_Dependency_Return_Status_Override : Data_Product_Enums.Fetch_Status.E := Data_Product_Enums.Fetch_Status.Success;
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-- The ID to return with the data dependency. If this is set to zero then
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-- the valid ID for the requested dependency is returned, otherwise, the
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-- value of this variable is returned.
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Data_Dependency_Return_Id_Override : Data_Product_Types.Data_Product_Id := 0;
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-- The length to return with the data dependency. If this is set to zero then
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-- the valid length for the requested dependency is returned, otherwise, the
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-- value of this variable is returned.
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Data_Dependency_Return_Length_Override : Data_Product_Types.Data_Product_Buffer_Length_Type := 0;
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-- The timestamp to return with the data dependency. If this is set to (0, 0) then
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-- the system_Time (above) is returned, otherwise, the value of this variable is returned.
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Data_Dependency_Timestamp_Override : Sys_Time.T := (0, 0);
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end record;
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type Instance_Access is access all Instance;
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---------------------------------------
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-- Initialize component heap variables:
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---------------------------------------
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procedure Init_Base (Self : in out Instance);
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procedure Final_Base (Self : in out Instance);
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---------------------------------------
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-- Test initialization functions:
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---------------------------------------
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procedure Connect (Self : in out Instance);
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---------------------------------------
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-- Invokee connector primitives:
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---------------------------------------
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-- Fetch a data product item from the database.
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overriding function Data_Product_Fetch_T_Service (Self : in out Instance; Arg : in Data_Product_Fetch.T) return Data_Product_Return.T;
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-- The data product invoker connector
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overriding procedure Data_Product_T_Recv_Sync (Self : in out Instance; Arg : in Data_Product.T);
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-----------------------------------------------
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-- Data product handler primitives:
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-----------------------------------------------
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-- Description:
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-- Data products for the Sunline SRuKF component.
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-- Output state from the sunline SRuKF algorithm (timeTag, sigma_BN, omega_BN_B,
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-- vehSunPntBdy).
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overriding procedure Sunline_Srukf_State (Self : in out Instance; Arg : in Sunline_Srukf_Output.T);
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end Component.Sunline_Srukf.Implementation.Tester;

‎src/components/sunline_srukf/test/env.py‎

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from environments import test # noqa: F401

‎src/components/sunline_srukf/test/sunline_srukf.tests.yaml‎

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---
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description: This is a unit test suite for the Sunline SRuKF component
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tests:
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- name: Test
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description: Run algorithm to ensure integration is sound.

‎src/components/sunline_srukf/test/sunline_srukf_tests-implementation.adb‎

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--------------------------------------------------------------------------------
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-- Sunline_Srukf Tests Body
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--------------------------------------------------------------------------------
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with Basic_Assertions; use Basic_Assertions;
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with Nav_Att;
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with Sunline_Srukf_Output;
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with Packed_F32x3.Assertion; use Packed_F32x3.Assertion;
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package body Sunline_Srukf_Tests.Implementation is
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-------------------------------------------------------------------------
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-- Fixtures:
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-------------------------------------------------------------------------
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overriding procedure Set_Up_Test (Self : in out Instance) is
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begin
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-- Allocate heap memory to component:
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Self.Tester.Init_Base;
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-- Make necessary connections between tester and component:
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Self.Tester.Connect;
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-- Call component init here.
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Self.Tester.Component_Instance.Init;
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-- Call the component set up method that the assembly would normally call.
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Self.Tester.Component_Instance.Set_Up;
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end Set_Up_Test;
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overriding procedure Tear_Down_Test (Self : in out Instance) is
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begin
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-- Free component heap:
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Self.Tester.Component_Instance.Destroy;
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Self.Tester.Final_Base;
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end Tear_Down_Test;
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-------------------------------------------------------------------------
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-- Tests:
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-------------------------------------------------------------------------
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-- Run algorithm to ensure integration is sound.
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-- The sunlineSRuKF algorithm is a pass-through: it copies sigma_BN,
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-- omega_BN_B, vehSunPntBdy, and timeTag from input to output.
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overriding procedure Test (Self : in out Instance) is
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T : Component.Sunline_Srukf.Implementation.Tester.Instance_Access renames Self.Tester;
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-- Test data structure for pass-through verification
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type Test_Vector is record
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Att_Input : Nav_Att.T;
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Expected_Sigma_Bn : Packed_F32x3.T;
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Expected_Omega_Bn_B : Packed_F32x3.T;
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Expected_Veh_Sun_Pnt_Bdy : Packed_F32x3.T;
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end record;
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-- Test cases: verify several different attitude values pass through correctly
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Test_Cases : constant array (1 .. 3) of Test_Vector := [
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-- Case 1: Typical attitude values
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(
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Att_Input => (
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Time_Tag => 11.11,
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Sigma_Bn => [0.1, 0.01, -0.1],
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Omega_Bn_B => [1.0, -0.5, 0.25],
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Veh_Sun_Pnt_Bdy => [0.577, 0.577, 0.577]
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),
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Expected_Sigma_Bn => [0.1, 0.01, -0.1],
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Expected_Omega_Bn_B => [1.0, -0.5, 0.25],
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Expected_Veh_Sun_Pnt_Bdy => [0.577, 0.577, 0.577]
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),
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-- Case 2: Zero values
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(
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Att_Input => (
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Time_Tag => 0.0,
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Sigma_Bn => [0.0, 0.0, 0.0],
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Omega_Bn_B => [0.0, 0.0, 0.0],
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Veh_Sun_Pnt_Bdy => [0.0, 0.0, 0.0]
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),
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Expected_Sigma_Bn => [0.0, 0.0, 0.0],
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Expected_Omega_Bn_B => [0.0, 0.0, 0.0],
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Expected_Veh_Sun_Pnt_Bdy => [0.0, 0.0, 0.0]
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),
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-- Case 3: Negative values
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(
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Att_Input => (
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Time_Tag => 99.99,
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Sigma_Bn => [-0.3, 0.2, -0.15],
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Omega_Bn_B => [-2.0, 3.0, -1.5],
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Veh_Sun_Pnt_Bdy => [-1.0, 0.0, 0.0]
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),
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Expected_Sigma_Bn => [-0.3, 0.2, -0.15],
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Expected_Omega_Bn_B => [-2.0, 3.0, -1.5],
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Expected_Veh_Sun_Pnt_Bdy => [-1.0, 0.0, 0.0]
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)
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];
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begin
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-- Run each test case
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for I in Test_Cases'Range loop
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-- Set data dependency via tester
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T.Spacecraft_Attitude := Test_Cases (I).Att_Input;
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-- Call algorithm by sending tick
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T.Tick_T_Send ((Time => T.System_Time, Count => 0));
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-- Verify data product was produced
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Natural_Assert.Eq (T.Data_Product_T_Recv_Sync_History.Get_Count, I);
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Natural_Assert.Eq (T.Sunline_Srukf_State_History.Get_Count, I);
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-- Check output matches expected pass-through values
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declare
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Output : constant Sunline_Srukf_Output.T := T.Sunline_Srukf_State_History.Get (I);
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begin
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Packed_F32x3_Assert.Eq (
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Output.Sigma_Bn,
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Test_Cases (I).Expected_Sigma_Bn,
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Epsilon => 0.0001
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);
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Packed_F32x3_Assert.Eq (
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Output.Omega_Bn_B,
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Test_Cases (I).Expected_Omega_Bn_B,
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Epsilon => 0.0001
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);
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Packed_F32x3_Assert.Eq (
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Output.Veh_Sun_Pnt_Bdy,
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Test_Cases (I).Expected_Veh_Sun_Pnt_Bdy,
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Epsilon => 0.0001
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);
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end;
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end loop;
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end Test;
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end Sunline_Srukf_Tests.Implementation;

‎src/components/sunline_srukf/test/sunline_srukf_tests-implementation.ads‎

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--------------------------------------------------------------------------------
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-- Sunline_Srukf Tests Spec
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--------------------------------------------------------------------------------
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-- This is a unit test suite for the Sunline SRuKF component
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package Sunline_Srukf_Tests.Implementation is
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-- Test data and state:
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type Instance is new Sunline_Srukf_Tests.Base_Instance with private;
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type Class_Access is access all Instance'Class;
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private
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-- Fixture procedures:
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overriding procedure Set_Up_Test (Self : in out Instance);
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overriding procedure Tear_Down_Test (Self : in out Instance);
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-- Run algorithm to ensure integration is sound.
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overriding procedure Test (Self : in out Instance);
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-- Test data and state:
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type Instance is new Sunline_Srukf_Tests.Base_Instance with record
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null;
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end record;
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end Sunline_Srukf_Tests.Implementation;

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