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