You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
179 lines
6.5 KiB
179 lines
6.5 KiB
import os
|
|
|
|
from sympy.functions.elementary.trigonometric import (cos, sin)
|
|
from sympy.external import import_module
|
|
from sympy.testing.pytest import skip
|
|
from sympy.parsing.autolev import parse_autolev
|
|
|
|
antlr4 = import_module("antlr4")
|
|
|
|
if not antlr4:
|
|
disabled = True
|
|
|
|
FILE_DIR = os.path.dirname(
|
|
os.path.dirname(os.path.abspath(os.path.realpath(__file__))))
|
|
|
|
|
|
def _test_examples(in_filename, out_filename, test_name=""):
|
|
|
|
in_file_path = os.path.join(FILE_DIR, 'autolev', 'test-examples',
|
|
in_filename)
|
|
correct_file_path = os.path.join(FILE_DIR, 'autolev', 'test-examples',
|
|
out_filename)
|
|
with open(in_file_path) as f:
|
|
generated_code = parse_autolev(f, include_numeric=True)
|
|
|
|
with open(correct_file_path) as f:
|
|
for idx, line1 in enumerate(f):
|
|
if line1.startswith("#"):
|
|
break
|
|
try:
|
|
line2 = generated_code.split('\n')[idx]
|
|
assert line1.rstrip() == line2.rstrip()
|
|
except Exception:
|
|
msg = 'mismatch in ' + test_name + ' in line no: {0}'
|
|
raise AssertionError(msg.format(idx+1))
|
|
|
|
|
|
def test_rule_tests():
|
|
|
|
l = ["ruletest1", "ruletest2", "ruletest3", "ruletest4", "ruletest5",
|
|
"ruletest6", "ruletest7", "ruletest8", "ruletest9", "ruletest10",
|
|
"ruletest11", "ruletest12"]
|
|
|
|
for i in l:
|
|
in_filepath = i + ".al"
|
|
out_filepath = i + ".py"
|
|
_test_examples(in_filepath, out_filepath, i)
|
|
|
|
|
|
def test_pydy_examples():
|
|
|
|
l = ["mass_spring_damper", "chaos_pendulum", "double_pendulum",
|
|
"non_min_pendulum"]
|
|
|
|
for i in l:
|
|
in_filepath = os.path.join("pydy-example-repo", i + ".al")
|
|
out_filepath = os.path.join("pydy-example-repo", i + ".py")
|
|
_test_examples(in_filepath, out_filepath, i)
|
|
|
|
|
|
def test_autolev_tutorial():
|
|
|
|
dir_path = os.path.join(FILE_DIR, 'autolev', 'test-examples',
|
|
'autolev-tutorial')
|
|
|
|
if os.path.isdir(dir_path):
|
|
l = ["tutor1", "tutor2", "tutor3", "tutor4", "tutor5", "tutor6",
|
|
"tutor7"]
|
|
for i in l:
|
|
in_filepath = os.path.join("autolev-tutorial", i + ".al")
|
|
out_filepath = os.path.join("autolev-tutorial", i + ".py")
|
|
_test_examples(in_filepath, out_filepath, i)
|
|
|
|
|
|
def test_dynamics_online():
|
|
|
|
dir_path = os.path.join(FILE_DIR, 'autolev', 'test-examples',
|
|
'dynamics-online')
|
|
|
|
if os.path.isdir(dir_path):
|
|
ch1 = ["1-4", "1-5", "1-6", "1-7", "1-8", "1-9_1", "1-9_2", "1-9_3"]
|
|
ch2 = ["2-1", "2-2", "2-3", "2-4", "2-5", "2-6", "2-7", "2-8", "2-9",
|
|
"circular"]
|
|
ch3 = ["3-1_1", "3-1_2", "3-2_1", "3-2_2", "3-2_3", "3-2_4", "3-2_5",
|
|
"3-3"]
|
|
ch4 = ["4-1_1", "4-2_1", "4-4_1", "4-4_2", "4-5_1", "4-5_2"]
|
|
chapters = [(ch1, "ch1"), (ch2, "ch2"), (ch3, "ch3"), (ch4, "ch4")]
|
|
for ch, name in chapters:
|
|
for i in ch:
|
|
in_filepath = os.path.join("dynamics-online", name, i + ".al")
|
|
out_filepath = os.path.join("dynamics-online", name, i + ".py")
|
|
_test_examples(in_filepath, out_filepath, i)
|
|
|
|
|
|
def test_output_01():
|
|
"""Autolev example calculates the position, velocity, and acceleration of a
|
|
point and expresses in a single reference frame::
|
|
|
|
(1) FRAMES C,D,F
|
|
(2) VARIABLES FD'',DC''
|
|
(3) CONSTANTS R,L
|
|
(4) POINTS O,E
|
|
(5) SIMPROT(F,D,1,FD)
|
|
-> (6) F_D = [1, 0, 0; 0, COS(FD), -SIN(FD); 0, SIN(FD), COS(FD)]
|
|
(7) SIMPROT(D,C,2,DC)
|
|
-> (8) D_C = [COS(DC), 0, SIN(DC); 0, 1, 0; -SIN(DC), 0, COS(DC)]
|
|
(9) W_C_F> = EXPRESS(W_C_F>, F)
|
|
-> (10) W_C_F> = FD'*F1> + COS(FD)*DC'*F2> + SIN(FD)*DC'*F3>
|
|
(11) P_O_E>=R*D2>-L*C1>
|
|
(12) P_O_E>=EXPRESS(P_O_E>, D)
|
|
-> (13) P_O_E> = -L*COS(DC)*D1> + R*D2> + L*SIN(DC)*D3>
|
|
(14) V_E_F>=EXPRESS(DT(P_O_E>,F),D)
|
|
-> (15) V_E_F> = L*SIN(DC)*DC'*D1> - L*SIN(DC)*FD'*D2> + (R*FD'+L*COS(DC)*DC')*D3>
|
|
(16) A_E_F>=EXPRESS(DT(V_E_F>,F),D)
|
|
-> (17) A_E_F> = L*(COS(DC)*DC'^2+SIN(DC)*DC'')*D1> + (-R*FD'^2-2*L*COS(DC)*DC'*FD'-L*SIN(DC)*FD'')*D2> + (R*FD''+L*COS(DC)*DC''-L*SIN(DC)*DC'^2-L*SIN(DC)*FD'^2)*D3>
|
|
|
|
"""
|
|
|
|
if not antlr4:
|
|
skip('Test skipped: antlr4 is not installed.')
|
|
|
|
autolev_input = """\
|
|
FRAMES C,D,F
|
|
VARIABLES FD'',DC''
|
|
CONSTANTS R,L
|
|
POINTS O,E
|
|
SIMPROT(F,D,1,FD)
|
|
SIMPROT(D,C,2,DC)
|
|
W_C_F>=EXPRESS(W_C_F>,F)
|
|
P_O_E>=R*D2>-L*C1>
|
|
P_O_E>=EXPRESS(P_O_E>,D)
|
|
V_E_F>=EXPRESS(DT(P_O_E>,F),D)
|
|
A_E_F>=EXPRESS(DT(V_E_F>,F),D)\
|
|
"""
|
|
|
|
sympy_input = parse_autolev(autolev_input)
|
|
|
|
g = {}
|
|
l = {}
|
|
exec(sympy_input, g, l)
|
|
|
|
w_c_f = l['frame_c'].ang_vel_in(l['frame_f'])
|
|
# P_O_E> means "the position of point E wrt to point O"
|
|
p_o_e = l['point_e'].pos_from(l['point_o'])
|
|
v_e_f = l['point_e'].vel(l['frame_f'])
|
|
a_e_f = l['point_e'].acc(l['frame_f'])
|
|
|
|
# NOTE : The Autolev outputs above were manually transformed into
|
|
# equivalent SymPy physics vector expressions. Would be nice to automate
|
|
# this transformation.
|
|
expected_w_c_f = (l['fd'].diff()*l['frame_f'].x +
|
|
cos(l['fd'])*l['dc'].diff()*l['frame_f'].y +
|
|
sin(l['fd'])*l['dc'].diff()*l['frame_f'].z)
|
|
|
|
assert (w_c_f - expected_w_c_f).simplify() == 0
|
|
|
|
expected_p_o_e = (-l['l']*cos(l['dc'])*l['frame_d'].x +
|
|
l['r']*l['frame_d'].y +
|
|
l['l']*sin(l['dc'])*l['frame_d'].z)
|
|
|
|
assert (p_o_e - expected_p_o_e).simplify() == 0
|
|
|
|
expected_v_e_f = (l['l']*sin(l['dc'])*l['dc'].diff()*l['frame_d'].x -
|
|
l['l']*sin(l['dc'])*l['fd'].diff()*l['frame_d'].y +
|
|
(l['r']*l['fd'].diff() +
|
|
l['l']*cos(l['dc'])*l['dc'].diff())*l['frame_d'].z)
|
|
assert (v_e_f - expected_v_e_f).simplify() == 0
|
|
|
|
expected_a_e_f = (l['l']*(cos(l['dc'])*l['dc'].diff()**2 +
|
|
sin(l['dc'])*l['dc'].diff().diff())*l['frame_d'].x +
|
|
(-l['r']*l['fd'].diff()**2 -
|
|
2*l['l']*cos(l['dc'])*l['dc'].diff()*l['fd'].diff() -
|
|
l['l']*sin(l['dc'])*l['fd'].diff().diff())*l['frame_d'].y +
|
|
(l['r']*l['fd'].diff().diff() +
|
|
l['l']*cos(l['dc'])*l['dc'].diff().diff() -
|
|
l['l']*sin(l['dc'])*l['dc'].diff()**2 -
|
|
l['l']*sin(l['dc'])*l['fd'].diff()**2)*l['frame_d'].z)
|
|
assert (a_e_f - expected_a_e_f).simplify() == 0
|